CN205799498U - Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm - Google Patents
Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm Download PDFInfo
- Publication number
- CN205799498U CN205799498U CN201620762822.8U CN201620762822U CN205799498U CN 205799498 U CN205799498 U CN 205799498U CN 201620762822 U CN201620762822 U CN 201620762822U CN 205799498 U CN205799498 U CN 205799498U
- Authority
- CN
- China
- Prior art keywords
- forearm
- drive shaft
- gear
- fixed
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses the six axle all-purpose robots being arranged with mechanical hand on a kind of forearm, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, the forearm that is arranged in large arm, waist rotation member rotates around base body, and large arm rotates around waist rotation member；The quantity of described forearm is two, the respectively first forearm and the second forearm, and two forearms are arranged in large arm by split mechanism；Article two, forearm is provided with mechanical arm assembly, and mechanical arm assembly includes arm, the swing arm being articulated in arm front end, the mechanical hand that is fixed in the rotating disk of swing arm front end；Two forearms of the present utility model both can be rotated by the relatively large arm of split mechanism, and two forearms also can make relative rotation, to adapt to various processing operating mode, the working performance of hoisting machine people under the driving of split mechanism.
Description
Technical field
This utility model relates to robotics, and six axles being specifically related on a kind of forearm be arranged with mechanical hand are general
Robot.
Background technology
The utility application of Application No. CN201210566463.5 discloses and is arranged with machinery on a kind of forearm
The robot of hands assembly, including base body, waist rotation member, large arm, axle bed, forearm, waist rotation member rotates around base body, large arm around
Waist rotation member rotates.Light-duty six axle all-purpose robots of the prior art, it has a forearm, makes the work of whole robot
Efficiency is difficult to get a promotion.
Utility model content
This utility model is for above-mentioned technical problem, it is provided that be arranged with six axle general-purpose machinerys of mechanical hand on a kind of forearm
People.
For reaching above-mentioned purpose, a kind of forearm of the present utility model is arranged with six axle all-purpose robots of mechanical hand, bag
The waist rotation member include base body, being articulated on base body, the large arm being articulated on waist rotation member, the forearm that is arranged in large arm,
Waist rotation member rotates around base body, and large arm rotates around waist rotation member；Large arm upper end is fixed with the first driving motor；Forearm is provided with
Mechanical arm assembly；
Described forearm includes that the first forearm and the second forearm, the first forearm and the second forearm are arranged on greatly by split mechanism
On arm；Split mechanism includes drive shaft, a pair cylinder ring, the first forearm driving means；Described first forearm includes the first forearm
With the first postbrachium；Described second forearm includes the second forearm and the second postbrachium；First postbrachium is inverted " Qian "；Second postbrachium in
Inverted " Qian "；The upper surface of the first postbrachium is fixed on the rear end of the first forearm；Before the upper surface of the second postbrachium is fixed on second
The rear end of arm；On the lateral surface of two support wall in order that a pair cylinder ring one end is fixed on the second postbrachium lower end, the other end is articulated in
On two supporting walls of the first postbrachium lower end；Drive shaft one end is through the first postbrachium side supporting walls and is fixed on the second postbrachium
On the supporting walls of lower end two, the other end and first drive that the output shaft of motor is fixing to be connected；First forearm driving means is arranged on circle
Between the band of column and the first postbrachium；
Described mechanical arm assembly, the swing arm including arm, being articulated in arm front end, drives what swing arm swung first to drive
The second driver element that moving cell, the mechanical hand being fixed in the rotating disk of swing arm front end and driving rotating disk rotate；Described pendulum
Centrage during movable arm swinging is mutually perpendicular to the rotation centerline of rotating disk.
Preferred as technique scheme, the first forearm driving means includes the second driving motor, the first gear and
Two gears；Second drives motor to be horizontally fixed on the medial surface of side supporting walls of the first postbrachium；First gear is fixed on
On two output shafts driving motor；Second gear is fixed on the outer circumference face of cylinder ring；Second gear and the first gear are nibbled
Close.
Preferred as technique scheme, drive shaft one end is at cylinder ring through the position of the first postbrachium, drive shaft
Diameter is less than the internal diameter of cylinder ring.
Preferred as technique scheme, the first forearm front end offers the first installing hole；Second forearm front end is offered
There is the second installing hole.
Preferred as technique scheme, mechanical hand includes housing, drives motor, longitudinal cleft hand drive mechanism and laterally
Cleft hand drives structure；Housing is the cuboid that inside offers square groove；Shell top wall face offers some supported holes；Support
It is fixed with support bar between the sidewall of hole；Longitudinal cleft hand drive mechanism includes that the first drive shaft, the second drive shaft and a pair are the most bent
Handle endplay device；Laterally cleft hand drive structure include the first drive shaft, the second drive shaft, the 3rd drive shaft, the 4th drive shaft and
A pair horizontal crank and rocker mechanism；Motor level is driven to be fixed on the left side of housing to the left；Drive motor output shaft and first
Drive shaft is fixing to be connected；
First drive shaft, the second drive shaft horizontal cross be arranged in parallel；First drive shaft, the second drive shaft are articulated in housing
Between the sidewall of left and right；First shaft center is fixed with the first gear；Second shaft center is fixed with eighth gear；The July 1st
Gear engages with eighth gear；A pair longitudinal crank and rocker mechanism is separately mounted in the first drive shaft, the second drive shaft；
The first worm screw and the second worm screw it is respectively fixed with in first drive shaft, the second drive shaft；3rd drive shaft, 4 wheel driven
The horizontal vertical equity of moving axis is arranged；3rd drive shaft, the 4th drive shaft are articulated between housing front-rear side walls；In 3rd drive shaft
The heart is fixed with the first worm gear；4th shaft center is fixed with the second worm gear；First worm screw engages with the first worm gear；Second worm screw
Engage with the second worm gear；A pair horizontal crank and rocker mechanism is separately mounted in the 3rd drive shaft, the 4th drive shaft.
Preferred as technique scheme, longitudinal crank and rocker mechanism include a pair longitudinal crank, a pair longitudinal rod,
Vertical supporting bar and longitudinal cleft hand；Longitudinal crank one end is fixed in the first drive shaft or the second drive shaft, the other end is hinged
There is longitudinal rod；A pair longitudinal rod other end is fixed with vertical supporting bar；Longitudinal cleft hand one end is hinged on vertical supporting bar,
Middle part is hinged on support bar, the other end passes shell top wall face.
Preferred as technique scheme, horizontal crank and rocker mechanism include a pair horizontal crank, a pair transverse link,
Transverse support bar and horizontal cleft hand；Horizontal crank one end is fixed in the 3rd drive shaft or the 4th drive shaft, the other end is hinged
There is transverse link；A pair transverse link other end is fixed with transverse support bar；Laterally cleft hand one end be hinged in transverse support bar,
Middle part is hinged on support bar, the other end passes shell top wall face.
Preferred as technique scheme, described first driver element includes the 4th motor, the connection being arranged on arm
Connect the first gear unit of the 4th motor and swing arm；Described first gear unit includes being articulated on arm and be coaxially disposed
4th gear and the 5th gear, the 6th gear being articulated on arm and being coaxially disposed and the first synchronous pulley, it is articulated in arm
On the 3rd axle, the second synchronous pulley of being fixedly mounted on the 3rd axle；It is provided with the 3rd on the output shaft of described 4th motor
Gear, the 3rd gear and the engagement of the 4th gear, the 5th gear and the 6th gear engage, and the first synchronous pulley passes through Timing Belt and the
Two synchronous pulleys couple, and the 3rd axle is fixing with swing arm to be connected.
The beneficial effects of the utility model are: two forearms both can be rotated by the relatively large arm of split mechanism, two
Forearm also can make relative rotation under the driving of split mechanism, to adapt to various processing operating mode, and the operation effect of hoisting machine people
Rate；Make the combination of longitudinal cleft hand and the combination of horizontal cleft hand can while action and motion amplitude identical, in order to mechanical claw hand is comprehensive
And firmly grasp workpiece exactly.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 be forearm of the present utility model face structural representation；
Fig. 3 is the side-looking structural representation of forearm of the present utility model；
Fig. 4 is the cross-sectional view of A-A in Fig. 3 of the present utility model；
Fig. 5 is arm structure schematic diagram of the present utility model；
Fig. 6 is the structural representation of mechanical hand of the present utility model；
Fig. 7 is the structural representation of manipulator transmission mechanism of the present utility model；
Fig. 8 is the structural representation of longitudinal cleft hand drive mechanism of the present utility model；
Fig. 9 is the structural representation that horizontal cleft hand of the present utility model drives structure；
In figure, 10, base body；20, large arm；21, first motor is driven；22, the first forearm；221, the first forearm；222、
First postbrachium；223, second motor is driven；2231, the first gear；23, the second forearm；231, the second forearm；232, after second
Arm；233, drive shaft；234, cylinder ring；2341, the second gear；30, waist rotation member；
50, arm；51, the 3rd gear；52, the 4th gear；54, the 6th gear；55, the first synchronous pulley；56, the 3rd
Axle；57, the second synchronous pulley；58, Timing Belt；59, swing arm；591, rotating disk；
60, mechanical hand；600, housing；601, support bar；61, motor is driven；62, longitudinal cleft hand drive mechanism；621,
One drive shaft；6211, the 7th gear；6212, the first worm screw；622, the second drive shaft；6221, eighth gear；6222, the second snail
Bar；623, longitudinal crank；624, longitudinal rod；625, vertical supporting bar；626, longitudinal cleft hand；63, horizontal cleft hand drives structure；
631, the 3rd drive shaft；6311, the first worm gear；632, the 4th drive shaft；6321, the second worm gear；633, horizontal crank；634, horizontal
To connecting rod；635, transverse support bar；636, horizontal cleft hand.
Detailed description of the invention
As shown in Figure 1 to 4, a kind of forearm is arranged with six axle all-purpose robots of mechanical hand, including base body 10, pivot
The waist rotation member 30 being connected on base body 10, the large arm 20 being articulated on waist rotation member 30, the forearm that is arranged in large arm 20, waist
Rotation member 30 rotates around base body 10, and large arm 20 rotates around waist rotation member 30；Large arm 20 upper end is fixed with the first driving motor
21；Forearm is provided with mechanical arm assembly；
As shown in Figure 1 to 4, described forearm includes the first forearm 22 and the second forearm 23, and the first forearm 22 and second is little
Arm 23 is arranged in large arm 20 by split mechanism；Split mechanism includes that drive shaft 233, a pair cylinder ring the 234, first forearm drive
Dynamic device；Described first forearm 22 includes the first forearm 221 and the first postbrachium 222；Described second forearm 23 includes the second forearm
231 and second postbrachium 232；First postbrachium 222 is in inverted " Qian "；Second postbrachium 232 is in inverted " Qian "；First postbrachium 222
Upper surface be fixed on the rear end of the first forearm 221；The upper surface of the second postbrachium 232 is fixed on the rear end of the second forearm 231；One
On the lateral surface of two support wall in order that cylinder ring 234 one end is fixed on the second postbrachium 232 lower end, after the other end is articulated in first
On two supporting walls of arm 222 lower end；After drive shaft 233 one end passes the first postbrachium 222 side supporting walls and is fixed on second
On lower end two supporting walls of arm 232, the other end and first drive that the output shaft of motor 21 is fixing to be connected；First forearm driving means
It is arranged between cylinder ring 234 and the first postbrachium 222；
As shown in Figure 1 to 4, described mechanical arm assembly, the swing arm 59 including arm 50, being articulated in arm 50 front end,
Drive the first driver element, the mechanical hand 60 being fixed in swing arm 59 front end rotating disk 591 and driving that swing arm 59 swings
The second driver element that rotating disk 591 rotates；Centrage when described swing arm 59 swings and the rotation centerline of rotating disk 591
It is mutually perpendicular to.
As shown in Figure 3, Figure 4, the first forearm driving means includes second driving motor the 223, first gear 2231 and second
Gear 2241；On the medial surface of the side supporting walls that the second driving motor 223 is horizontally fixed on the first postbrachium 222；First gear
On 2231 output shafts being fixed on the second driving motor 223；Second gear 2241 is fixed on the outer circumference face of cylinder ring 234
On；Second gear 2241 engages with the first gear 2231.
As shown in Figure 4, drive shaft 233 one end is at cylinder ring 234 through the position of the first postbrachium 222, and drive shaft 233 is straight
Footpath is less than the internal diameter of cylinder ring 234.
As it is shown on figure 3, the first forearm 221 front end offers the first installing hole；Second forearm 231 front end offers the second peace
Dress hole.
As shown in Fig. 5～Fig. 9, mechanical hand 60 includes housing 600, drives motor 61, longitudinal cleft hand drive mechanism 62 and horizontal stroke
Structure 63 is driven to cleft hand；Housing 600 is the internal cuboid offering square groove；If housing 600 upper wall surface offers the Heavenly Stems and Earthly Branches
Support hole；Support bar 601 it is fixed with between supported hole sidewall；Longitudinal cleft hand drive mechanism 62 includes the first drive shaft 621, second drives
Moving axis 622 and a pair longitudinal crank and rocker mechanism；Laterally cleft hand drives structure 63 to include first drive shaft the 621, second drive shaft
622, the 3rd drive shaft the 631, the 4th drive shaft 632 and a pair horizontal crank and rocker mechanism；Motor 61 level is driven to fix to the left
Left side at housing 600；Drive motor 61 output shaft and the first fixing connection of drive shaft 621；
As shown in Fig. 5～Fig. 9, first drive shaft the 621, second drive shaft 622 horizontal cross be arranged in parallel；First drive shaft
621, the second drive shaft 622 is articulated between housing about 600 sidewall；First drive shaft 621 center is fixed with the first gear
6211；Second drive shaft 622 center is fixed with eighth gear 6221；The July 1st, gear 6211 engaged with eighth gear 6221；One
Longitudinal crank and rocker mechanism is separately mounted in first drive shaft the 621, second drive shaft 622；
As shown in Fig. 5～Fig. 9, first drive shaft the 621, second drive shaft 622 is respectively fixed with the first worm screw 6212 and
Second worm screw 6222；3rd drive shaft the 6231, the 4th horizontal vertical equity of drive shaft 632 is arranged；3rd drive shaft the 631, the 4th
Drive shaft 632 is articulated between housing 600 front-rear side walls；3rd drive shaft 631 center is fixed with the first worm gear 6311；4 wheel driven
Moving axis 632 center is fixed with the second worm gear 6321；First worm screw 6212 engages with the first worm gear 6311；Second worm screw 6222 and
Two worm gears 6321 engage；A pair horizontal crank and rocker mechanism is separately mounted in the 3rd drive shaft the 631, the 4th drive shaft 632.
As shown in Figure 8, longitudinal crank and rocker mechanism includes a pair longitudinal crank 623, a pair longitudinal rod 624, longitudinal direction
Strut 625 and longitudinal cleft hand 626；Longitudinal crank 623 one end is fixed in the first drive shaft 621 or the second drive shaft 622, separately
One end is hinged with longitudinal rod 624；A pair longitudinal rod 624 other end is fixed with vertical supporting bar 625；Longitudinal cleft hand 626 1
End is hinged on vertical supporting bar 625, middle part is hinged on support bar 601, the other end passes housing 600 upper wall surface.
As it is shown in figure 9, laterally crank and rocker mechanism includes a pair horizontal crank 633, a pair transverse link 634, laterally props up
Strut 635 and horizontal cleft hand 636；Laterally crank 623 one end is fixed in the 3rd drive shaft 631 or the 4th drive shaft 632, separately
One end is hinged with transverse link 634；A pair transverse link 634 other end is fixed with transverse support bar 635；Laterally cleft hand 636 1
End is hinged in transverse support bar 635, middle part is hinged on support bar 601, the other end passes housing 600 upper wall surface.
As it is shown in figure 5, described first driver element include being arranged on arm 50 the 4th motor, couple the 4th motor with
First gear unit of swing arm 59；Described first gear unit includes the 4th gear being articulated on arm 50 and being coaxially disposed
52 and the 5th gear, the 6th gear 54 and the first synchronous pulley 55 that are articulated on arm 50 and are coaxially disposed, be articulated in arm
The 3rd axle 56 on 50, the second synchronous pulley 57 being fixedly mounted on the 3rd axle 56；Pacify on the output shaft of described 4th motor
Equipped with the 3rd gear 51, the 3rd gear 51 engages with the 4th gear 52, and the 5th gear and the 6th gear 54 engage, the first Timing Belt
Wheel 55 is coupled with the second synchronous pulley 57 by Timing Belt 58, and the 3rd axle 56 is fixing with swing arm 59 to be connected.
Concrete operations are as follows: when needing forearm unitary rotation, only need to start the first driving motor 21, and first drives motor 21 to carry
Dynamic drive shaft 233 rotates, and drive shaft 233 drives the second forearm 23 to rotate, owing to second drives motor the 223, first gear 2231
With the existence of the second gear 2341, the first forearm 22 rotates with the second forearm 23 the most together；
When the first forearm 22 and the second forearm 23 do relative motion, start the second driving motor 223 by the first gear
2231 and second gear 2241 make the first forearm 22 around cylinder ring 234 (the i.e. second forearm 23) rotate；
Mechanical hand 60 operates as follows: drive motor 61 to drive the first drive shaft 621；First drive shaft 621 is by the 7th tooth
Wheel 6211, eighth gear 6221 drive the second drive shaft 622 to rotate；Such first drive shaft 621 and the second drive shaft 622 are the most logical
Cross a pair longitudinal crank and rocker mechanism and drive a pair longitudinal cleft hand 626 relative motion；Meanwhile, the first drive shaft 621 is passed through
First worm screw 6212 and the first worm gear 6311 drive the 3rd drive shaft 631 to rotate, and the second drive shaft 622 is by the second worm screw 6222
Driving the 4th drive shaft 632 to rotate with the second worm gear 6321, the 3rd drive shaft 631 and the 4th drive shaft 632 are just horizontal by a pair
A pair horizontal cleft hand 636 relative motion is driven to crank and rocker mechanism；So longitudinal cleft hand 626 and the same luck of horizontal cleft hand 636
Move and amplitude is identical；
Structure 623 phase is driven at the first driver element, the second driver element, longitudinal cleft hand drive mechanism 62 and horizontal cleft hand
Under coordinating mutually, mechanical hand 60 can firmly grasp workpiece comprehensive and exactly.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to this
The thought of utility model, the most all will change, and this specification content should not be understood
For to restriction of the present utility model.
Claims (8)
1. it is arranged with six axle all-purpose robots of mechanical hand on forearm, including base body (10), is articulated in base body (10)
On waist rotation member (30), the large arm (20) being articulated on waist rotation member (30), the forearm that is arranged in large arm (20), waist transfer part
Part (30) rotates around base body (10), and large arm (20) rotates around waist rotation member (30)；Large arm (20) upper end is fixed with the first driving
Motor (21)；Forearm is provided with mechanical arm assembly；
It is characterized in that: described forearm includes the first forearm (22) and the second forearm (23), the first forearm (22) and the second forearm
(23) it is arranged in large arm (20) by split mechanism；Split mechanism include drive shaft (233), a pair cylinder ring (234), first
Forearm driving means；Described first forearm (22) includes the first forearm (221) and the first postbrachium (222)；Described second forearm
(23) the second forearm (231) and the second postbrachium (232) are included；First postbrachium (222) is in inverted " Qian "；Second postbrachium (232)
In inverted " Qian "；The upper surface of the first postbrachium (222) is fixed on the rear end of the first forearm (221)；Second postbrachium (232) upper
End face is fixed on the rear end of the second forearm (231)；A pair cylinder ring (234) one end is fixed on the two of the second postbrachium (232) lower end
On the lateral surface of support wall in order, the other end is articulated on two supporting walls of the first postbrachium (222) lower end；Drive shaft (233) one end
Through the first postbrachium (222) side supporting walls and be fixed on lower end two supporting walls of the second postbrachium (232), the other end and
The one fixing connection of output shaft driving motor (21)；First forearm driving means is arranged on cylinder ring (234) and the first postbrachium
(222) between；
Described mechanical arm assembly, the swing arm (59) including arm (50), being articulated in arm (50) front end, driving swing arm (59)
The first driver element swung, the mechanical hand (60) being fixed on swing arm (59) front end rotating disk (591) and driving rotating disk
(591) the second driver element rotated；Centrage when described swing arm (59) swings and the center of rotation of rotating disk (591)
Line is mutually perpendicular to.
Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm the most according to claim 1, it is characterised in that: the
One forearm driving means includes the second driving motor (223), the first gear (2231) and the second gear (2241)；Second drives electricity
On the medial surface of the side supporting walls that machine (223) is horizontally fixed on the first postbrachium (222)；First gear (2231) is fixed on second
Drive on the output shaft of motor (223)；Second gear (2241) is fixed on the outer circumference face of cylinder ring (234)；Second tooth
Wheel (2241) engages with the first gear (2231).
Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm the most according to claim 1, it is characterised in that: drive
Moving axis (233) one end is cylinder ring (234) place through the position of the first postbrachium (222), and drive shaft (233) diameter is less than cylinder ring
(234) internal diameter.
Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm the most according to claim 1, it is characterised in that: the
One forearm (221) front end offers the first installing hole；Second forearm (231) front end offers the second installing hole.
Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm the most according to claim 1, it is characterised in that: machine
Tool hands (60) includes housing (600), drives motor (61), longitudinal cleft hand drive mechanism (62) and horizontal cleft hand to drive structure
(63)；Housing (600) is the internal cuboid offering square groove；Housing (600) upper wall surface offers some supported holes；Support
Support bar (601) it is fixed with between the sidewall of hole；Longitudinal cleft hand drive mechanism (62) includes the first drive shaft (621), the second driving
Axle (622) and a pair longitudinal crank and rocker mechanism；Laterally cleft hand drives structure (63) to include the first drive shaft (621), second drive
Moving axis (622), the 3rd drive shaft (631), the 4th drive shaft (632) and a pair horizontal crank and rocker mechanism；Drive motor (61)
Level is fixed on the left side of housing (600) to the left；Drive motor (61) output shaft and the fixing connection of the first drive shaft (621)；
First drive shaft (621), the second drive shaft (622) horizontal cross be arranged in parallel；First drive shaft (621), the second driving
Axle (622) is articulated between the sidewall of housing (600) left and right；First drive shaft (621) center is fixed with the first gear (6211)；The
Two drive shafts (622) center is fixed with eighth gear (6221)；The gear July 1st (6211) engages with eighth gear (6221)；One
Longitudinal crank and rocker mechanism is separately mounted in the first drive shaft (621), the second drive shaft (622)；
It is respectively fixed with the first worm screw (6212) and the second worm screw in first drive shaft (621), the second drive shaft (622)
(6222)；3rd drive shaft (6231), the 4th drive shaft (632) horizontal vertical equity are arranged；3rd drive shaft (631), the 4th
Drive shaft (632) is articulated between housing (600) front-rear side walls；3rd drive shaft (631) center is fixed with the first worm gear
(6311)；4th drive shaft (632) center is fixed with the second worm gear (6321)；First worm screw (6212) and the first worm gear (6311)
Engagement；Second worm screw (6222) engages with the second worm gear (6321)；A pair horizontal crank and rocker mechanism is separately mounted to the 3rd and drives
In moving axis (631), the 4th drive shaft (632).
Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm the most according to claim 5, it is characterised in that: vertical
A pair longitudinal crank (623), a pair longitudinal rod (624), vertical supporting bar (625) and longitudinal direction pawl is included to crank and rocker mechanism
Hands (626)；Longitudinal crank (623) one end is fixed on the first drive shaft (621) or the second drive shaft (622) is upper, other end hinge
It is connected to longitudinal rod (624)；A pair longitudinal rod (624) other end is fixed with vertical supporting bar (625)；Longitudinal cleft hand (626)
One end is hinged on vertical supporting bar (625), middle part is hinged on support bar (601), the other end passes housing (600) upper wall
Face.
Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm the most according to claim 5, it is characterised in that: horizontal
A pair horizontal crank (633), a pair transverse link (634), transverse support bar (635) and horizontal pawl is included to crank and rocker mechanism
Hands (636)；Laterally crank (623) one end is fixed on the 3rd drive shaft (631) or the 4th drive shaft (632) is upper, other end hinge
It is connected to transverse link (634)；A pair transverse link (634) other end is fixed with transverse support bar (635)；Laterally cleft hand (636)
One end is hinged in transverse support bar (635), middle part is hinged on support bar (601), the other end passes housing (600) upper wall
Face.
Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm the most according to claim 5, it is characterised in that: institute
State the 4th motor that the first driver element includes being arranged on arm (50), the first biography coupling the 4th motor and swing arm (59)
Moving cell；Described first gear unit includes being articulated in the 4th gear (52) and the 5th tooth that arm (50) is upper and is coaxially disposed
Wheel, be articulated in arm (50) upper and be coaxially disposed the 6th gear (54) and the first synchronous pulley (55), be articulated in arm (50)
On the 3rd axle (56), the second synchronous pulley (57) of being fixedly mounted on the 3rd axle (56)；The output shaft of described 4th motor
On the 3rd gear (51) is installed, the 3rd gear (51) engages with the 4th gear (52), and the 5th gear and the 6th gear (54) are nibbled
Closing, the first synchronous pulley (55) is coupled with the second synchronous pulley (57) by Timing Belt (58), the 3rd axle (56) and swing arm
(59) fixing connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762822.8U CN205799498U (en) | 2016-07-18 | 2016-07-18 | Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762822.8U CN205799498U (en) | 2016-07-18 | 2016-07-18 | Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799498U true CN205799498U (en) | 2016-12-14 |
Family
ID=57508026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620762822.8U Expired - Fee Related CN205799498U (en) | 2016-07-18 | 2016-07-18 | Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799498U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041908A (en) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | Six-axis universal robot with small arms provided with mechanical arms correspondingly |
-
2016
- 2016-07-18 CN CN201620762822.8U patent/CN205799498U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041908A (en) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | Six-axis universal robot with small arms provided with mechanical arms correspondingly |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103465272A (en) | Six-degree-of-freedom humanoid robot arm | |
| CN203752149U (en) | Six-axis robot | |
| CN105965471B (en) | A kind of six axle all-purpose robots for being provided with lifting roller | |
| CN104552288A (en) | Flexible six-shaft robot | |
| CN105563458B (en) | A kind of parallel robot of four-bar linkage | |
| CN203092563U (en) | Wrist transmission device of industrial robots | |
| CN105965472A (en) | Movable light six-shaft universal robot | |
| CN205799498U (en) | Six axle all-purpose robots of mechanical hand it are arranged with on a kind of forearm | |
| CN105881573B (en) | A kind of mechanical arm assembly of all-purpose robot | |
| CN201701439U (en) | Rectangular coordinate type and articulated type combined Chinese traditional massage robot | |
| CN106041909A (en) | Six-axis universal robot with mechanical paws arranged on small arms | |
| CN207807739U (en) | A kind of light-duty Multi-shaft mechanical arm | |
| CN205704181U (en) | A kind of mechanical arm assembly of robot | |
| CN206344142U (en) | A kind of light-duty multi-axis robot | |
| CN106041908A (en) | Six-axis universal robot with small arms provided with mechanical arms correspondingly | |
| CN201792339U (en) | Centralized rear transmission multi-joint robot | |
| CN110788848B (en) | Energy-saving type industrial robot with rear-mounted driving unit | |
| CN105058385A (en) | Series robot | |
| CN106078725A (en) | A kind of six axle all-purpose robots captured for material | |
| CN205835334U (en) | A kind of six axle all-purpose robots captured for material | |
| CN205704255U (en) | A kind of mechanical arm assembly of all-purpose robot | |
| CN205799497U (en) | A pair forearm is provided with six axle all-purpose robots of mechanical claw hand | |
| CN204784506U (en) | Decelerator for SCARA industrial robot | |
| CN204750345U (en) | Novel climbing robot | |
| CN205799478U (en) | A kind of six axle all-purpose robots being provided with lifting roller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170607 Address after: 529040 Guangdong province Jiangmen Jianghai Road No. 38 building Ca Mau (by 201) Patentee after: Jiangmen Fashion Technology Co.,Ltd. Address before: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Effective date of registration: 20170607 Address after: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Patentee before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 Termination date: 20210718 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |