CN205394595U - Arm and robot - Google Patents

Arm and robot Download PDF

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Publication number
CN205394595U
CN205394595U CN201620121378.1U CN201620121378U CN205394595U CN 205394595 U CN205394595 U CN 205394595U CN 201620121378 U CN201620121378 U CN 201620121378U CN 205394595 U CN205394595 U CN 205394595U
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Prior art keywords
arm
platform
motor
mechanical arm
mechanical
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CN201620121378.1U
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Chinese (zh)
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方望来
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Shenzhen Zhongwei Create Technology Co Ltd
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Shenzhen Zhongwei Create Technology Co Ltd
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Abstract

The utility model discloses an arm and robot, arm include base, connecting seat and hand arm components, and the connecting seat sets up on the base, and the connecting seat includes platform and drive arrangement, and the platform is connected with the base with rotating, and drive arrangement sets up on the platform, and hand arm components is connected with the platform movablely, and drive arrangement connects hand arm components and is used for driving hand arm components or / and platform movement. The utility model discloses in embodiment's the arm, because drive arrangement sets up on the platform that rotates ground connection base, consequently, the base is close to to the holistic focus of arm, and inertia is less to the holistic stability of arm has been improved. The utility model discloses a robot includes foretell arm.

Description

Mechanical arm and robot
Technical field
This utility model relates to robot field, is specifically related to a kind of mechanical arm and robot.
Background technology
In existing mechanical arm, driving the motor position dispersion of arm, make mechanical arm front end quality increase, inertia increases, and reduces the stability of mechanical arm.
Utility model content
One of technical problem that this utility model is intended to solve in correlation technique at least to a certain extent.For this, the utility model proposes a kind of mechanical arm and robot.
The mechanical arm of this utility model embodiment includes:
Pedestal;And
Being arranged at the connection seat on described pedestal, described connection seat includes platform and driving device, and described platform is connected rotationally with described pedestal, and described driving device is arranged on described platform;And
Arm, described arm is connected with described platform activity ground, and described driving device connects described arm and is used for driving described arm or/and described platform moves.
In the mechanical arm of this utility model embodiment, driving device is arranged on the platform connecting pedestal rotationally, and therefore, the center of gravity of mechanical arm entirety is near pedestal, and rotary inertia is less, thus improve the stability that mechanical arm is overall.
In some embodiments, described driving device includes the first motor, the second motor and the 3rd motor, described arm includes the first arm mechanism, the second arm mechanism and connecting platform, described first arm mechanism connects described platform and described second arm mechanism, described second arm mechanism connects described first arm mechanism and described connecting platform, described first motor is used for driving described platform to rotate relative to described pedestal, described second motor is used for driving described first arm mechanism to rotate, and described 3rd motor is used for driving described second arm mechanism to rotate.
In some embodiments, mechanical arm includes first connecting rod mechanism and second connecting rod mechanism, described first connecting rod mechanism connects described platform, described first arm mechanism, described second arm mechanism and described connecting platform, and described second connecting rod mechanism connects described 3rd motor, described platform and described second arm mechanism.
In some embodiments, described first arm mechanism, described second arm mechanism and described first connecting rod mechanism collectively form parallel-crank mechanism and make described connecting platform be in level all the time.
In some embodiments, described first arm mechanism, described first connecting rod mechanism and described second connecting rod mechanism are provided with for realizing the bearing being rotationally connected.
In some embodiments, described platform includes base plate and is separately positioned on two side plates of described base plate both sides, described first motor is arranged on described base plate, and described second motor is disposed therein on a described side plate, and described 3rd motor is arranged on side plate described in another one.
In some embodiments, described second motor and described 3rd motor are symmetrical arranged relative to the pivot center of described platform.
In some embodiments, described first motor is steering wheel, motor or servomotor, and described second motor is steering wheel, motor or servomotor, and described 3rd motor is steering wheel, motor or servomotor.
In some embodiments, described first arm mechanism and described second arm mechanism are hollow structure.
In some embodiments, described mechanical arm includes the controller arranged on the platform, and described controller is used for controlling described driving device and runs.
In some embodiments, described pedestal includes sucker, and described sucker is for being fixed on plane by described mechanical arm.
In some embodiments, described pedestal is bolted on fixed mount to be fixed on described fixed mount by described mechanical arm.
In some embodiments, described mechanical arm includes fixing, with described pedestal, the support being connected.
In some embodiments, described mechanical arm includes the executor that is arranged on described connecting platform.
In some embodiments, described executor includes sucker and the 4th motor, described sucker is driven by described 4th motor, and described mechanical arm includes the motive power of air pump device arranged on the platform, and described motive power of air pump device connects described sucker and for providing suction to described sucker.
In some embodiments, described executor is holder, and described holder includes slide block and elastic component, and described elastic component connects described slide block and is used for the described slide block that resets.
In some embodiments, described executor is mechanical hand, and described mechanical hand includes mechanical finger, motor controller, and described motor connects described mechanical finger and described controller, and described controller is used for controlling described motor and drives described mechanical finger folding.
In some embodiments, described executor is 3 D-printing mechanism, and described 3 D-printing mechanism includes shower nozzle, heating and temperature detection template and air cooling mechanism.
In some embodiments, described platform is connected with described pedestal rotationally by bearing.
The robot of this utility model embodiment includes above-mentioned mechanical arm.
The robot of this utility model embodiment is owing to including above-mentioned mechanical arm, and rotary inertia is less, thus improve the stability that robot is overall.
Additional aspect of the present utility model and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by practice of the present utility model.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present utility model and advantage are from conjunction with will be apparent from easy to understand the accompanying drawings below description to embodiment, wherein:
Fig. 1 is the schematic perspective view of the mechanical arm of this utility model embodiment.
Fig. 2 is the schematic perspective view of the first arm mechanism of the mechanical arm of this utility model embodiment.
Fig. 3 is the schematic perspective view of the connecting platform of the mechanical arm of this utility model embodiment.
Fig. 4 is the connecting platform connection schematic perspective view with a kind of executor of the mechanical arm of this utility model embodiment.
Fig. 5 is the connecting platform connection schematic perspective view with another kind of executor of the mechanical arm of this utility model embodiment.
Fig. 6 is the schematic perspective view of the another kind of executor in Fig. 5.
Fig. 7 is the connecting platform connection schematic perspective view with another executor of the mechanical arm of this utility model embodiment.
Fig. 8 is the schematic perspective view of another executor in Fig. 7.
Fig. 9 is the connecting platform connection schematic perspective view with another executor of the mechanical arm of this utility model embodiment.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described further.In accompanying drawing, same or similar label represents same or similar element from start to finish or has the element of same or like function.
It addition, the embodiment of the present utility model described below in conjunction with accompanying drawing is illustrative of, only it is used for explaining embodiment of the present utility model, and it is not intended that to restriction of the present utility model.
Referring to Fig. 1, the mechanical arm 100 of this utility model embodiment includes pedestal 10, connects seat 20 and arm 30.
Connect seat 20 to be arranged on pedestal 10.Connect seat 20 and include platform 21 and driving device 22.Platform 21 is connected rotationally with pedestal 10.Driving device 22 is arranged on platform 21.Arm 30 and platform 21 are movably connected with.Driving device 22 connects arm 30 and for driving arm 30 or/and platform 21 moves.
In the mechanical arm 100 of this utility model embodiment, driving device 22 is arranged on the platform 21 connecting pedestal 10 rotationally, and therefore, the center of gravity of mechanical arm 100 entirety is near pedestal 10, and rotary inertia is less, thus improve the stability of mechanical arm 100 entirety.
In present embodiment, driving device 22 includes the first motor 22a, the second motor 22b and the 3rd motor 22c.Arm 30 includes the first arm mechanism the 31, second arm mechanism 32 and connecting platform 33.First arm mechanism 31 is connected with platform 21 and the second arm mechanism 32.Second arm mechanism 32 connects the first arm mechanism 31 and connecting platform 33.First motor 22a is used for driving platform 21 to rotate relative to pedestal 10.Second motor 22b is used for driving the first arm mechanism 31 to rotate.3rd motor 22c is used for driving the second arm mechanism 32 to rotate.
Therefore, in present embodiment, driving device 22 is used for driving arm 30 and platform 21 to move.
So, being arranged on the platform 21 connecting pedestal 10 rotationally owing to the first motor 22a, the second motor 22b and the 3rd motor 22c are, motor characteristics of compact layout, the center of gravity of mechanical arm 100 is near pedestal 10, and rotary inertia is little.Meanwhile, first arm mechanism the 31, second arm mechanism 32 and platform 21 are driven by different motors, it is to avoid influence each other.
Specifically, in present embodiment, when being driven platform 21 to rotate relative to pedestal 10 by the first motor 22a, the arm 30 being connected with platform 21 can rotate along with platform 21.Such as, when target object is positioned at arm 30 opposite direction, can first passing through and be driven platform 21 to rotate relative to pedestal 10 by the first motor 22a, thus driving arm 30 to turn to the direction identical with object, carrying out target object process to facilitate.
Specifically, in present embodiment, the first arm mechanism 31 is connected with platform 21 and the second arm mechanism 32, so, the first arm mechanism 31 can as the fulcrum of the second arm mechanism 32, thus have balance the second arm mechanism 32 stress effect.Such as, when being driven the second arm mechanism 32 to rotate by the 3rd motor 22c, the junction of the first arm mechanism 31 and the second arm mechanism 32 can make the rotary state of the second arm mechanism 32 held stationary as fulcrum.
Specifically, in present embodiment, the second arm mechanism 32 connects the first arm mechanism 31 and connecting platform 33.So, when being driven the second arm mechanism 32 to rotate by the 3rd motor 22c, the second arm mechanism 32 can drive connecting platform 33 to move, for instance, it is possible to driven the second arm mechanism 32 to carry out rotating and drive connecting platform 33 to move to appointment position by the 3rd motor 22c.
In present embodiment, mechanical arm 100 includes first connecting rod mechanism 40 and second connecting rod mechanism 50.First connecting rod mechanism 40 connecting platform the 21, first arm mechanism the 31, second arm mechanism 32 and connecting platform 33.Second connecting rod mechanism 50 connects the 3rd motor 22c, platform 21 and the second arm mechanism 32.
So, expand the scope that arm 30 runs, and improve the stability that mechanical arm 100 runs on the whole, and attachment structure is relatively simple.
Specifically, second arm mechanism 32 one end is connected with connecting platform 33, and the second arm mechanism 32 is rotationally connected with platform 21 by second connecting rod mechanism 50 away from the other end of connecting platform 33.3rd motor 22c drives the second arm mechanism 32 to rotate by driving second connecting rod mechanism 50 to carry out rotating, and so, expands the scope that arm 30 runs.
Specifically, in present embodiment, first connecting rod mechanism 40 one end and platform 21 are rotationally connected, and first connecting rod mechanism 40 is connected with connecting platform 33 away from the other end of platform 21.So, when the 3rd motor 22c drives the second arm mechanism 32 to rotate by second connecting rod mechanism 50, second arm mechanism 32 drives connecting platform 33 to move, now, the first arm mechanism 31 being connected with the second arm mechanism 32 can balance the stress of the second arm mechanism 32 as fulcrum, the first connecting rod mechanism 40 being simultaneously connected with the second arm mechanism 32 can balance power suffered when connecting platform 33 moves, and makes connecting platform 33 keep relatively stable running status.So, improve the stability that mechanical arm 100 runs on the whole.And it is possible to select different type of drive according to the arm 30 distance from the distance of target object.
In present embodiment, first arm mechanism the 31, second arm mechanism 32 and first connecting rod mechanism 40 collectively form parallel-crank mechanism makes connecting platform 33 be in level all the time.
So, when arm 30 rotates, it is possible to keep connecting platform 33 to be in level on the whole, be beneficial to center of gravity held stationary when arm 30 rotates.
Specifically, in present embodiment, first connecting rod mechanism 40 includes first connecting rod 41, second connecting rod 42 and third connecting rod 43.Wherein, first connecting rod 41 one end is rotationally connected with on platform 21, and first connecting rod 41 is connected with second connecting rod 42 away from one end of platform 21, and, first connecting rod 41 is substantially parallel with the first arm mechanism 31.
Third connecting rod 43 one end is connected with connecting platform 33, and third connecting rod 43 is connected with second connecting rod 42 away from one end of connecting platform 33, and, third connecting rod 43 is substantially parallel with the second arm mechanism 32.Second connecting rod 42 is connected with the first arm mechanism 31 and the second arm mechanism 32 simultaneously.
In present embodiment, connecting platform 33 is connected and is formed the first joint 33a with third connecting rod 43, and connecting platform 33 is connected with the second arm mechanism 32 and forms second joint 33b.Second connecting rod 42 includes rod member 42a, rod member 42b and rod member 42c.The connecting line of rod member 42a and the first joint 33a and second joint 33b is substantially parallel.So, the connecting line of third connecting rod the 43, second arm mechanism 32, rod member 42a and the first joint 33a and second joint 33b constitutes parallel-crank mechanism.
In present embodiment, the first arm mechanism 31 connects and composes the 3rd joint 31a with platform 21.First connecting rod 41 and platform 21 connect and compose the 4th joint 41a.Rod member 42b is basic parallel with the connecting line of the 3rd joint 31a and the 4th joint 41a.So, the connecting line of first connecting rod the 41, first arm mechanism 31, rod member 42b and the 3rd joint 31a and the four joint 41a constitutes parallel-crank mechanism.
In present embodiment, rod member 42a, rod member 42b and rod member 42c connect formation triangle mechanism.
In present embodiment, rod member 42a, rod member 42b and rod member 42c can be the rod member of equal length, so, it is possible to constitute equilateral triangle mechanism.
In present embodiment, the first arm mechanism 31, first connecting rod mechanism 40 and second connecting rod mechanism 50 are provided with for realizing the bearing 60 (see Fig. 2) being rotationally connected.
So, the coefficient of friction being rotationally connected reached by bearing 60 is less, thus it is smooth and easy and stable to ensure that the first arm mechanism 31, first connecting rod mechanism 40 and second connecting rod mechanism 50 run, and make mechanical arm 100 have good startability and bearing capacity, and attachment structure is relatively simple.
Specifically, in the illustrated example shown in fig. 2, the first arm mechanism 31 offers connecting hole 311.Bearing 60 is arranged in connecting hole 311.So, it is possible to wear bearing 60 thus being connected rotationally with the first arm mechanism 32 by the first arm mechanism 31 by arranging rotating shaft.
In present embodiment, bearing 60 can be rolling bearing.So, the first arm mechanism 31, first connecting rod mechanism 40 and second connecting rod mechanism 50 to be rotationally connected the frictional force at place relatively low.
In present embodiment, the rotating shaft wearing bearing 60 can be bolt.
In present embodiment, platform 21 includes base plate 211 and is separately positioned on two side plates 212 of base plate 211 both sides.First motor 22a is arranged on base plate 211.Second motor 22b is disposed therein on a side plate 212.3rd motor 22c is arranged on another one side plate 212.
So, the first motor 22a, the second motor 22b and the 3rd motor 22c distribution are similar to triangle, so, can be uniformly distributed the weight of driving device 22, make mechanical arm 100 more stable when running.
In present embodiment, the second motor 22b and the three motor 22c is symmetrical arranged relative to the pivot center of platform 21.
So, the distribution of weight of the second motor 22b and the 3rd motor 22c is more beneficial for stablizing in mechanical arm 100.
In present embodiment, the first motor 22a is steering wheel.In other embodiments, the first motor 22a can be motor or servomotor.Accordingly, it would be desirable to illustrate, the first motor 22a is not restricted to the steering wheel in present embodiment.
In present embodiment, the second motor 22b is steering wheel.In other embodiments, the second motor 22b can be motor or servomotor.Accordingly, it would be desirable to illustrate, the second motor 22b is not restricted to the steering wheel in present embodiment.
In present embodiment, the 3rd motor 22c is steering wheel.In other embodiments, the 3rd motor 22c can be motor or servomotor.Accordingly, it would be desirable to illustrate, the 3rd motor 22c is not restricted to the steering wheel in present embodiment.
In present embodiment, the first arm mechanism 31 and the second arm mechanism 32 are hollow structure.
So, it is convenient in the inner space of the first arm mechanism 31 and the second arm mechanism 32 and connects up, and keep the neat and artistic of outward appearance and mechanical arm 100 entirety, and can hold by other connecting rod as required.
In present embodiment, mechanical arm 100 includes the controller 213 being arranged on platform 21.Controller 213 is used for controlling driving device 22 and runs.So, extra installing component is few, and the complete machine integrated level of mechanical arm 100 is higher.
In present embodiment, mechanical arm 100 includes the support 70 that be connected fixing with pedestal 10.Support 70 can be used for being fixed on other object.So, the mounting structure of mechanical arm 100 is more stable.
In other embodiments, pedestal 10 can also include sucker.Mechanical arm 100 is fixed in plane by sucker.
In another other embodiments, pedestal 10 can also be bolted on fixed mount to be fixed on fixed mount by mechanical arm 100.
Accordingly, it would be desirable to illustrate, mechanical arm 100 can be fixed by different modes, is not restricted to being fixed by support 70 in present embodiment.
In present embodiment, mechanical arm 100 includes the executor 80 being arranged on connecting platform 33.So, mechanical arm 100 can realize different functions by executor 80.
Refer to Fig. 3, in present embodiment, connecting platform 33 is provided with multiple slotted eye 331 and multiple screw 332.Connecting platform 33 connects executor 80 by slotted eye 331 and screw 332.So, attachment structure is simple and stable.
In present embodiment, connecting platform 33 is formed with card slot type structure 333.Executor 80 can coordinate with the card slot type structure 333 of connecting platform 33.
So so that executor 80 is connected more stable with connecting platform 33.
Specifically, for instance, in the example depicted in fig. 4, executor 80 includes sucker 81 and the 4th motor 82.Sucker 81 is driven by the 4th motor 82.Mechanical arm 100 includes the motive power of air pump device 83 (see Fig. 1) being arranged on platform 21.Motive power of air pump device 83 connecting sucker 81 also is used for providing suction to sucker 81.
So, mechanical arm 100 can pass through sucker 81 and carry out the absorption of object.Further, sucker 81 object drawn can be driven by the 4th motor 82 axially makes rotary motion along the 4th motor 82, such that it is able to the object drawn is carried out angle adjustment.Simultaneously as motive power of air pump device 83 is arranged on platform 21, thus alleviating the integral-rotation inertia of mechanical arm 100, thus maintaining the stability in the large of mechanical arm 100.
In present embodiment, executor 80 is internally provided with compression spring 84, the side of executor 80 is provided with limit switch 85 simultaneously.Compression spring 84 is used for cushioning sucker 81 stress, and limit switch 85 is for limiting the decrement of compression spring, and so, object can more smoothly be drawn by sucker 81.
Specifically, executor 80 can be vacuum disc suction machine structure.
In the example shown in Fig. 5 and Fig. 6, executor 80a is holder, and holder includes slide block 81a and elastic component 82a.Elastic component 82a connection sliding block 81a is also used for the slide block 81a that resets.So, it is possible to realized the strip of clamping certain size scope or the function of columnar object by executor 80a.
In the example shown in Fig. 7 and Fig. 8, executor 80b is mechanical hand, and mechanical hand includes mechanical finger 81b, motor 82b and controller 83b.Motor 82b connects mechanical finger 81b and controller 83b.Controller 83b is used for controlling motor 82b and drives mechanical finger to open 81b folding.
In the example depicted in fig. 9, executor 80c is three-dimensional (3D) printing mechanism, and 3D printing mechanism includes shower nozzle 81c, heating and temperature detection template 82c and air cooling mechanism 83c.
Specifically, executor 80c is used for printing three-dimensional object.Air cooling mechanism 83c is for cooling down the material for printing objects.Heating and temperature detection template 82c are for controlling the print temperature of executor 80c.Material for printing objects is sprayed and molding by shower nozzle 81c.
In present embodiment, the platform 21 connecting seat 20 is connected with pedestal 10 rotationally by bearing 60a (see Fig. 1).So, reduce the coefficient of friction that platform 21 rotates relative to pedestal 10, and ensure that the rotating accuracy of platform 21, improve the stability of mechanical arm 100 entirety.
The robot of this utility model embodiment includes above-mentioned mechanical arm 100.
The robot of this utility model embodiment is owing to including above-mentioned mechanical arm 100, and rotary inertia is less, thus improve the stability that robot is overall.
In this utility model, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment of the present utility model or example.In this manual, the schematic representation of above-mentioned term is necessarily directed to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in one or more embodiments in office or example in an appropriate manner.Additionally, when not conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be carried out combining and combining by those skilled in the art.
Although above it has been shown and described that embodiment of the present utility model, it is understandable that, above-described embodiment is illustrative of, it is not intended that to restriction of the present utility model, above-described embodiment can be changed in scope of the present utility model, revises, replace and modification by those of ordinary skill in the art.

Claims (20)

1. a mechanical arm, it is characterised in that including:
Pedestal;And
Being arranged at the connection seat on described pedestal, described connection seat includes platform and driving device, and described platform is connected rotationally with described pedestal, and described driving device is arranged on described platform;And
Arm, described arm is connected with described platform activity ground, and described driving device connects described arm and is used for driving described arm or/and described platform moves.
2. mechanical arm as claimed in claim 1, it is characterised in that described driving device includes the first motor, the second motor and the 3rd motor;
Described arm includes the first arm mechanism, the second arm mechanism and connecting platform, and described first arm mechanism connects described platform and described second arm mechanism;
Described second arm mechanism connects described first arm mechanism and described connecting platform;
Described first motor is used for driving described platform to rotate relative to described pedestal;
Described second motor is used for driving described first arm mechanism to rotate;
Described 3rd motor is used for driving described second arm mechanism to rotate.
3. mechanical arm as claimed in claim 2, it is characterised in that described mechanical arm includes first connecting rod mechanism and second connecting rod mechanism;
Described first connecting rod mechanism connects described platform, described first arm mechanism, described second arm mechanism and described connecting platform;
Described second connecting rod mechanism connects described 3rd motor, described platform and described second arm mechanism.
4. mechanical arm as claimed in claim 3, it is characterised in that described first arm mechanism, described second arm mechanism and described first connecting rod mechanism collectively form parallel-crank mechanism makes described connecting platform be in level all the time.
5. mechanical arm as claimed in claim 3, it is characterised in that described first arm mechanism, described first connecting rod mechanism and described second connecting rod mechanism are provided with for realizing the bearing being rotationally connected.
6. mechanical arm as claimed in claim 2, it is characterized in that, described platform includes base plate and is separately positioned on two side plates of described base plate both sides, described first motor is arranged on described base plate, described second motor is disposed therein on a described side plate, and described 3rd motor is arranged on side plate described in another one.
7. mechanical arm as claimed in claim 6, it is characterised in that described second motor and described 3rd motor are symmetrical arranged relative to the pivot center of described platform.
8. mechanical arm as claimed in claim 2, it is characterised in that described first motor is steering wheel, motor or servomotor;
Described second motor is steering wheel, motor or servomotor;
Described 3rd motor is steering wheel, motor or servomotor.
9. mechanical arm as claimed in claim 2, it is characterised in that described first arm mechanism and described second arm mechanism are hollow structure.
10. mechanical arm as claimed in claim 1, it is characterised in that described mechanical arm includes the controller arranged on the platform, described controller is used for controlling described driving device and runs.
11. mechanical arm as claimed in claim 1, it is characterised in that described pedestal includes sucker, and described sucker is for being fixed on plane by described mechanical arm.
12. mechanical arm as claimed in claim 1, it is characterised in that described pedestal is bolted on fixed mount to be fixed on described fixed mount by described mechanical arm.
13. mechanical arm as claimed in claim 1, it is characterised in that described mechanical arm includes fixing, with described pedestal, the support being connected.
14. mechanical arm as claimed in claim 2, it is characterised in that described mechanical arm includes the executor being arranged on described connecting platform.
15. mechanical arm as claimed in claim 14, it is characterised in that described executor includes sucker and the 4th motor, described sucker is driven by described 4th motor;
Described mechanical arm includes the motive power of air pump device arranged on the platform, and described motive power of air pump device connects described sucker and for providing suction to described sucker.
16. mechanical arm as claimed in claim 14, it is characterised in that described executor is holder, and described holder includes slide block and elastic component, described elastic component connects described slide block and is used for the described slide block that resets.
17. mechanical arm as claimed in claim 14, it is characterised in that described executor is mechanical hand, and described mechanical hand includes mechanical finger, motor controller;
Described motor connects described mechanical finger and described controller;
Described controller is used for controlling described motor and drives described mechanical finger folding.
18. mechanical arm as claimed in claim 14, it is characterised in that described executor is 3 D-printing mechanism, described 3 D-printing mechanism includes shower nozzle, heating and temperature detection template and air cooling mechanism.
19. mechanical arm as claimed in claim 1, it is characterised in that described platform is connected with described pedestal rotationally by bearing.
20. a robot, it is characterised in that include the mechanical arm as described in claim 1-19 any one.
CN201620121378.1U 2016-02-15 2016-02-15 Arm and robot Active CN205394595U (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272432A (en) * 2016-09-28 2017-01-04 哈尔滨云控机器人科技有限公司 A kind of six degree of freedom mechanical hand
CN106393676A (en) * 2016-10-18 2017-02-15 赵凯雍 Portable 3D printer
CN106393082A (en) * 2016-11-25 2017-02-15 江门市神川自动化设备有限公司 Automatic feeding manipulator device
CN107263508A (en) * 2017-08-07 2017-10-20 武汉需要智能技术有限公司 Chess playing robot
CN108098740A (en) * 2017-12-27 2018-06-01 东北大学 A kind of loading and unloading link robot manipulator with end turn over function
CN108454089A (en) * 2018-02-08 2018-08-28 葛映东 A kind of plastic products convenient for composite plastic production produce platform
CN109397470A (en) * 2018-11-21 2019-03-01 夏栋 A kind of device and method for 3D printing sculpture
CN110181548A (en) * 2019-06-29 2019-08-30 南京奥灵克物联网科技有限公司 A kind of multi-functional handgrip of robot for Internet of Things
CN112476426A (en) * 2020-11-15 2021-03-12 周运福 Industrial mechanical arm capable of realizing rapid increase and decrease of degree of freedom

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272432A (en) * 2016-09-28 2017-01-04 哈尔滨云控机器人科技有限公司 A kind of six degree of freedom mechanical hand
CN106393676A (en) * 2016-10-18 2017-02-15 赵凯雍 Portable 3D printer
CN106393082A (en) * 2016-11-25 2017-02-15 江门市神川自动化设备有限公司 Automatic feeding manipulator device
CN107263508A (en) * 2017-08-07 2017-10-20 武汉需要智能技术有限公司 Chess playing robot
CN108098740A (en) * 2017-12-27 2018-06-01 东北大学 A kind of loading and unloading link robot manipulator with end turn over function
CN108454089A (en) * 2018-02-08 2018-08-28 葛映东 A kind of plastic products convenient for composite plastic production produce platform
CN109397470A (en) * 2018-11-21 2019-03-01 夏栋 A kind of device and method for 3D printing sculpture
CN110181548A (en) * 2019-06-29 2019-08-30 南京奥灵克物联网科技有限公司 A kind of multi-functional handgrip of robot for Internet of Things
CN112476426A (en) * 2020-11-15 2021-03-12 周运福 Industrial mechanical arm capable of realizing rapid increase and decrease of degree of freedom

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