CN205466194U - Desktop type four -axis arm of joint module ization - Google Patents
Desktop type four -axis arm of joint module ization Download PDFInfo
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- CN205466194U CN205466194U CN201620134475.4U CN201620134475U CN205466194U CN 205466194 U CN205466194 U CN 205466194U CN 201620134475 U CN201620134475 U CN 201620134475U CN 205466194 U CN205466194 U CN 205466194U
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- rotary support
- steering wheel
- cradle head
- postbrachium
- mechanical arm
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Abstract
The utility model discloses a desktop type four -axis arm of joint module ization can be rotatory round the center pin of horizontal direction by the 3rd steering engine driving's rotatory support, and a steering engine driving crank is rotatory, and drive connecting rod and forearm move on the plane on perpendicular ground, and second steering wheel direct drive postbrachium moves on the plane on perpendicular ground, and the motion of this three degree of freedom can realize the arbitrary position in the space that terminal arrival arm can arrive. The utility model discloses the performance accuracy is high, need not fixed can putting wantonly at the desktop, and the assembly is simple moreover, the expense is low.
Description
Technical field
This utility model relates to the desktop type four shaft mechanical arm of a kind of joint module.
Background technology
Robot field, industrial robot in order to meet the needs of actual production, be designed as large scale and
In high precision, additionally, due to the servo-driven module of its complexity, the price of entire machine is the highest, and
The fields such as the displaying of robot of science and technology center, robot teaching, and family helper robot, are not required to so
High accuracy and large-sized industrial robot, the urgent robot needing some small size prices low；China is specially
" one is many certainly for profit application number 201310101177.6 " a kind of mechanical arm " and application number 201520613719.2
Table-top machine people's system by spending " patent be all to meet the table-top machine people of the demand, it is main
Structure all have employed the structure of typical four axle robot palletizers: arm before and after motor is all on pedestal, and postbrachium is straight
Connecing motor to drive, forearm is driven by connecting rod, and ensures the rotation of forearm not by the principle of parallelogram
Moved by postbrachium and affected.
Rotation between the connecting rod of the two patent is all connected by simple linkwork, although reduces and finishes
The complexity of structure, and reduce processing charges, but the gap between axis hole have impact on the precision of motion, axle
Direct friction between hole also can increase the noise of motion；In the two patent, although be reduced machinery
The overall dimensions of arm, size is suitable for be placed on desktop, but base all must by desktop punching with
Desktop is fixing to be connected, and the motion of guarantee mechanical arm does not possess the characteristic the most arbitrarily put.
Utility model content
The utility model proposes the desktop type four shaft mechanical arm of a kind of joint module, can appoint on the table
Meaning is put, it is not necessary to desktop is fixed processing, and does not affect the normal use of mechanical arm, it is achieved perform
End connects seat end and arrives any position in the space that mechanical arm can arrive.
This utility model realizes particular by techniques below scheme:
A kind of desktop type four shaft mechanical arm of joint module, including chassis, the first steering wheel, rotary support,
Second steering wheel, the 3rd steering wheel, crank, postbrachium, connecting rod, forearm and actuating station connect seat, on described chassis
Installing rotary support, U-shaped and rotary support the underrun rotating shaft in the longitudinal section of described rotary support is installed
On chassis, described 3rd steering wheel is arranged on rotary support and drives chassis to rotate around the shaft；Described rotation
One end of crank is installed respectively, on the two side of described rotary support respectively on the two side of bearing by rotating shaft
Installed one end of postbrachium by rotating shaft, described first steering wheel and the second steering wheel are separately mounted on rotary support,
And first servo driving crank rotate, second servo driving postbrachium rotate；The described crank other end is by rotating
Joint is arranged on one end of connecting rod, and the other end of described connecting rod is arranged on one end of forearm by cradle head,
The other end of described postbrachium is arranged on the middle part of forearm by cradle head；Described actuating station connects the vertical of seat and cuts
U-shaped and two forearms the other end in face is arranged on actuating station by cradle head and connects on the U-shaped inwall of seat.
Preferably, triangle is installed by cradle head in the position at the middle part that described postbrachium end is in installation forearm
One vertex angle part of connecting rod, the corner, another two ends of described triangular coupling rod connects thin postbrachium by cradle head respectively
One end and one end of thin forearm, the other end of described thin postbrachium is connected on rotary support by cradle head,
The other end of described thin forearm is connected to actuating station by cradle head and connects on the U-shaped inwall of seat.
Preferably, between two cranks, between two postbrachiums, between two connecting rods, between two forearms all
It is parallel to each other.
Preferably, described undersurface of bottom disc is provided with callosity.
Preferably, described chassis is installed balancing weight.
Preferably, described actuating station connects fixing sucking disk assembly on the U-shaped bottom surface of seat.
Preferably, there are bearing, described bearing to be provided with in described cradle head and are respectively provided with first connecting rod connection
Part is relatively rotated with two of screwed hole and second connecting rod connection screwed hole.
What this utility model produced has the beneficial effect that this utility model mechanical arm cradle head part is by using
Consistent joint, thus ensureing while precision, reduces the expense of processing, need not situation about fixing
Actuating station connection seat can be realized down and reach any position in the space residing for device.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below by right
In embodiment or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that below,
Accompanying drawing in description is only embodiments more of the present utility model, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is schematic side view of the present utility model.
Fig. 3 is schematic top plan view of the present utility model.
Fig. 4 is the scheme of installation of Suction cup assembly.
Fig. 5 is the schematic cross-section of cradle head.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, to the technical side in this utility model embodiment
Case is clearly and completely described, it is clear that described embodiment is only that this utility model part is real
Execute example rather than whole embodiments.Based on the embodiment in this utility model, ordinary skill people
The every other embodiment that member is obtained under not making creative work premise, broadly falls into this utility model
The scope of protection.
The desktop type four shaft mechanical arm of a kind of joint module as shown in Fig. 1～5, including chassis the 1, first steering wheel
2, rotary support the 3, second steering wheel the 12, the 3rd steering wheel 13, crank 4, postbrachium 5, connecting rod 6, forearm 7
Connect seat 11 with actuating station, described chassis 1 is installed rotary support 3, the longitudinal section of described rotary support 3
U-shaped and rotary support 3 underrun rotating shaft is arranged on chassis 1, and described 3rd steering wheel 13 is arranged on
On rotary support 3 and drive the central shaft in Fig. 1 to rotate, on the two side of described rotary support 3 respectively
One end of crank 4 is installed, after the two side of described rotary support 3 is installed by rotating shaft respectively by rotating shaft
One end of arm 5, described first steering wheel 2 and the second steering wheel 12 be separately mounted on rotary support 3, and first
Steering wheel 2 drives crank 4 to rotate, the second steering wheel 12 drives postbrachium 5 to rotate.
Crank 4 other end is arranged on one end of connecting rod 6, the other end of described connecting rod 6 by cradle head 15
Be arranged on one end of forearm 7 by cradle head 15, the other end of described postbrachium 5 passes through cradle head 15
It is arranged on the middle part of forearm 7；Described actuating station connect seat 11 longitudinal section is U-shaped and two forearms 7 another
One end is arranged on actuating station by cradle head 15 and connects on the U-shaped inwall of seat 11.Between two cranks 4,
All be parallel to each other between two postbrachiums 5, between two connecting rods 6, between two forearms 7 composition double flat row four
Limit shape structure, it is ensured that the direction that actuating station connects seat 11 is the most constant.
In the present embodiment, the position at the middle part that postbrachium 5 end is in installation forearm 7 is installed by cradle head 15
One vertex angle part of triangular coupling rod 9, the corner, another two ends of described triangular coupling rod 9 is respectively by cradle head 15 even
Connecing one end and one end of thin forearm 10 of thin postbrachium 8, the other end of described thin postbrachium 8 is by cradle head even
Being connected on rotary support 3, the other end of described thin forearm 10 is connected to actuating station by cradle head and connects seat
On the U-shaped inwall of 11.
There are bearing 19, described bearing 19 to be provided with in cradle head 15 and are respectively provided with first connecting rod connection spiral shell
Two of pit 17 and second connecting rod connection screwed hole 18 relatively rotate part, and assembling is simple, and part holds
Easily processing, mechanical arm rotating part is by using consistent joint, thus while ensureing precision, reduces
The expense of processing.
Balancing weight 14 is fixed on the tail end on chassis 1, thus ensures that four shaft mechanical arms have only to by several feet
Pad 16, it is possible to be arbitrarily placed in desktop, the not run-off the straight or curved fall (also may be used along with the motion of mechanical arm
To be not added with counterweight 14, realized by the weight increasing chassis 1).Actuating station connects seat 11 and can connect various
Executive module thus complete the Suction cup assembly 20 shown in the Fig. 4 in certain function, such as example, but not only
It is limited to this.
The rotary support 3 driven by the 3rd steering wheel 13 in this utility model can rotate around horizontal direction, the
One steering wheel 2 drives crank to rotate, and drivening rod 6 and forearm 7 move in plane perpendicular to the ground, and second
Steering wheel 12 directly drives postbrachium 5 to move in plane perpendicular to the ground, and the motion of these three degree of freedom can be real
Existing end arrives any position in the space that mechanical arm can arrive, thus realizes the operation of mechanical arm, complete
Become specific function.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model,
All within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, all
Within protection domain of the present utility model should be included in.
Claims (7)
1. the desktop type four shaft mechanical arm of a joint module, it is characterized in that, including chassis (1), first steering wheel (2), rotary support (3), second steering wheel (12), 3rd steering wheel (13), crank (4), postbrachium (5), connecting rod (6), forearm (7) and actuating station connect seat (11), rotary support (3) is installed on described chassis (1), U-shaped and rotary support (3) the underrun rotating shaft in the longitudinal section of described rotary support (3) is arranged on chassis (1), described 3rd steering wheel (13) is arranged on rotary support (3) and above and drives chassis to rotate around the shaft；One end of crank (4) is installed by rotating shaft on the two side of described rotary support (3) respectively, one end of postbrachium (5) is installed by rotating shaft on the two side of described rotary support (3) respectively, described first steering wheel (2) and the second steering wheel (12) are separately mounted on rotary support (3), and the first steering wheel (2) drives crank (4) to rotate, the second steering wheel (12) drives postbrachium (5) to rotate；Described crank (4) other end is arranged on one end of connecting rod (6) by cradle head (15), the other end of described connecting rod (6) is arranged on one end of forearm (7) by cradle head (15), and the other end of described postbrachium (5) is arranged on the middle part of forearm (7) by cradle head (15)；Described actuating station is connected U-shaped and two forearms (7) the other end in longitudinal section of seat (11) and is arranged on the U-shaped inwall of actuating station connection seat (11) by cradle head (15).
The desktop type four shaft mechanical arm of a kind of joint module the most as claimed in claim 1, it is characterized in that, described postbrachium (5) end is in the position at the middle part installing forearm (7) and is installed a vertex angle part of triangular coupling rod (9) by cradle head (15), the corner, another two ends of described triangular coupling rod (9) connects one end and one end of thin forearm (10) of thin postbrachium (8) respectively by cradle head (15), the other end of described thin postbrachium (8) is connected on rotary support (3) by cradle head, the other end of described thin forearm (10) is connected to actuating station by cradle head and connects on the U-shaped inwall of seat (11).
The desktop type four shaft mechanical arm of a kind of joint module the most as claimed in claim 1, it is characterized in that, between two cranks (4), between two postbrachiums (5), between two connecting rods (6), be all parallel to each other between two forearms (7).
The desktop type four shaft mechanical arm of a kind of joint module the most as claimed in claim 1, it is characterised in that described chassis (1) bottom surface is provided with callosity (16).
The desktop type four shaft mechanical arm of a kind of joint module the most as claimed in claim 1, it is characterised in that install balancing weight (14) on described chassis (1).
The desktop type four shaft mechanical arm of a kind of joint module the most as claimed in claim 1, it is characterised in that described actuating station connects fixing sucking disk assembly (20) on the U-shaped bottom surface of seat (11).
The desktop type four shaft mechanical arm of a kind of joint module the most as claimed in claim 1, it is characterized in that, have bearing (19), described bearing (19) to be provided with in described cradle head (15) to be respectively provided with two of first connecting rod connection screwed hole (17) and second connecting rod connection screwed hole (18) and relatively rotate part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620134475.4U CN205466194U (en) | 2016-02-22 | 2016-02-22 | Desktop type four -axis arm of joint module ization |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620134475.4U CN205466194U (en) | 2016-02-22 | 2016-02-22 | Desktop type four -axis arm of joint module ization |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466194U true CN205466194U (en) | 2016-08-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620134475.4U Active CN205466194U (en) | 2016-02-22 | 2016-02-22 | Desktop type four -axis arm of joint module ization |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945009A (en) * | 2017-03-03 | 2017-07-14 | 上海建桥学院 | A kind of desktop level mechanical arm support frame |
| CN106994682A (en) * | 2017-05-27 | 2017-08-01 | 李双双 | A kind of new type mechanical device of teaching |
| CN107263508A (en) * | 2017-08-07 | 2017-10-20 | 武汉需要智能技术有限公司 | Chess playing robot |
| CN107263444A (en) * | 2017-06-21 | 2017-10-20 | 明光现代农业科技合作推广服务中心 | A kind of mechanical arm sorted for agricultural product |
| CN107618045A (en) * | 2017-09-22 | 2018-01-23 | 成都易维控科技有限公司 | A kind of mechanical arm of Real Time Drive control |
| CN107939423A (en) * | 2017-12-22 | 2018-04-20 | 长沙科达智能装备股份有限公司 | One kind is suitable for tunnel three step constructions trolley foldable arm rack |
| CN108435447A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of multi-direction apparatus for work |
| CN108435469A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of full-automatic paint spraying apparatus |
| CN108435448A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of automatically controlled end can turn to horn |
| CN108582060A (en) * | 2018-05-14 | 2018-09-28 | 南京蜘蛛侠智能机器人有限公司 | A kind of programmable mechanical arm of desktop |
| CN108639740A (en) * | 2018-05-18 | 2018-10-12 | 广西联壮科技股份有限公司 | Universal clamping robot device |
| CN108908325A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of vertical inverted dress compact small-sized four axis robot |
| CN108908324A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of compact belt driven type small-sized four axis robot |
| CN109278539A (en) * | 2018-11-05 | 2019-01-29 | 中国科学院沈阳自动化研究所 | A kind of wheeled robot Omni-mobile chassis |
| CN109531574A (en) * | 2018-12-27 | 2019-03-29 | 武汉需要智能技术有限公司 | A kind of movement derivation algorithm of the four shaft mechanical arms based on servo driving |
| CN110587571A (en) * | 2019-10-18 | 2019-12-20 | 南京蜘蛛侠智能机器人有限公司 | Mechanical arm trolley |
| CN110744537A (en) * | 2019-10-17 | 2020-02-04 | 尔智机器人(珠海)有限公司 | Three-joint robot |
| CN110817427A (en) * | 2019-11-28 | 2020-02-21 | 刘洋 | Automatic gluing mechanism for hollow glass |
| CN111604911A (en) * | 2020-06-28 | 2020-09-01 | 哈尔滨工程大学 | Auxiliary mechanical arm and auxiliary robot |
| CN113305811A (en) * | 2021-06-28 | 2021-08-27 | 深圳市越疆科技有限公司 | Driving assembly of desktop mechanical arm, desktop mechanical arm and robot |
| CN114193429A (en) * | 2020-09-18 | 2022-03-18 | 北京机械设备研究所 | Desktop-level demonstration type mechanical arm |
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
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2016
- 2016-02-22 CN CN201620134475.4U patent/CN205466194U/en active Active
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945009A (en) * | 2017-03-03 | 2017-07-14 | 上海建桥学院 | A kind of desktop level mechanical arm support frame |
| CN106994682A (en) * | 2017-05-27 | 2017-08-01 | 李双双 | A kind of new type mechanical device of teaching |
| CN107263444A (en) * | 2017-06-21 | 2017-10-20 | 明光现代农业科技合作推广服务中心 | A kind of mechanical arm sorted for agricultural product |
| CN107263508A (en) * | 2017-08-07 | 2017-10-20 | 武汉需要智能技术有限公司 | Chess playing robot |
| CN107618045A (en) * | 2017-09-22 | 2018-01-23 | 成都易维控科技有限公司 | A kind of mechanical arm of Real Time Drive control |
| CN107939423A (en) * | 2017-12-22 | 2018-04-20 | 长沙科达智能装备股份有限公司 | One kind is suitable for tunnel three step constructions trolley foldable arm rack |
| CN108435469B (en) * | 2018-03-19 | 2020-07-03 | 华南智能机器人创新研究院 | Full-automatic paint spraying equipment |
| CN108435447A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of multi-direction apparatus for work |
| CN108435448A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of automatically controlled end can turn to horn |
| CN108435469A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of full-automatic paint spraying apparatus |
| CN108582060A (en) * | 2018-05-14 | 2018-09-28 | 南京蜘蛛侠智能机器人有限公司 | A kind of programmable mechanical arm of desktop |
| CN108639740A (en) * | 2018-05-18 | 2018-10-12 | 广西联壮科技股份有限公司 | Universal clamping robot device |
| CN108908325A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of vertical inverted dress compact small-sized four axis robot |
| CN108908324A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of compact belt driven type small-sized four axis robot |
| CN109278539A (en) * | 2018-11-05 | 2019-01-29 | 中国科学院沈阳自动化研究所 | A kind of wheeled robot Omni-mobile chassis |
| CN109531574B (en) * | 2018-12-27 | 2021-10-29 | 武汉需要智能技术有限公司 | Motion solving algorithm of four-axis mechanical arm based on steering engine driving |
| CN109531574A (en) * | 2018-12-27 | 2019-03-29 | 武汉需要智能技术有限公司 | A kind of movement derivation algorithm of the four shaft mechanical arms based on servo driving |
| CN110744537A (en) * | 2019-10-17 | 2020-02-04 | 尔智机器人(珠海)有限公司 | Three-joint robot |
| CN110587571A (en) * | 2019-10-18 | 2019-12-20 | 南京蜘蛛侠智能机器人有限公司 | Mechanical arm trolley |
| CN110817427A (en) * | 2019-11-28 | 2020-02-21 | 刘洋 | Automatic gluing mechanism for hollow glass |
| CN110817427B (en) * | 2019-11-28 | 2021-05-11 | 王志伟 | Automatic gluing mechanism for hollow glass |
| CN111604911A (en) * | 2020-06-28 | 2020-09-01 | 哈尔滨工程大学 | Auxiliary mechanical arm and auxiliary robot |
| CN114193429A (en) * | 2020-09-18 | 2022-03-18 | 北京机械设备研究所 | Desktop-level demonstration type mechanical arm |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
| CN113305811A (en) * | 2021-06-28 | 2021-08-27 | 深圳市越疆科技有限公司 | Driving assembly of desktop mechanical arm, desktop mechanical arm and robot |
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN114454186B (en) * | 2022-01-15 | 2024-03-15 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
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