CN205870598U - Can multidirectional pivoted concertina type robotic arm - Google Patents
Can multidirectional pivoted concertina type robotic arm Download PDFInfo
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- CN205870598U CN205870598U CN201620846863.5U CN201620846863U CN205870598U CN 205870598 U CN205870598 U CN 205870598U CN 201620846863 U CN201620846863 U CN 201620846863U CN 205870598 U CN205870598 U CN 205870598U
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- mechanical arm
- gear
- rotating shaft
- arm
- motor
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 230000000994 depressogenic effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011796 hollow space material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The utility model discloses a can multidirectional pivoted concertina type robotic arm, including first gear of engaged with and second gear, first gear is worn to establish in first pivot to be connected with first support through first pivot, the second gear is worn to establish in the second pivot, and is connected with the second support through the second pivot, is equipped with the linking arm between first pivot and the second pivot, wherein first pivot is connected with a drive arrangement, and first support is connected with the 2nd drive arrangement, and the second support is connected with telescopic external mechanization tool arm, external mechanization tool arm includes first arm and second arm, and wherein second arm one end sets up in the cavity cavity of first arm, is equipped with rack and pinion mechanism between first arm and the second arm. Can realize the flexible of robotic arm and all -round rotation to have simple structure, with low costs, stable in structure, the reliable characteristics of transmission.
Description
Technical field
This utility model relates to the technical field of mechanical arm, particularly to a kind of can the concertina type mechanical hand of multiple-directional rotating
Arm.
Background technology
Articulated robot, also referred to as joint arm robot or joint Manipulator arm, be modal in current industrial circle
One of form of industrial robot, is suitable for the machine automatization equalization of many industrial circles.For articulated robot, joint
It it is its important component part, it is achieved that the relative motion of mechanical arm.
At present, most of articulated robots, a kind of relative motion between its every two mechanical arms, when joint machine
When people needs more complicated action or needs to arrive wider regional extent, need with multiple arms and the combination of multiple joint
Becoming, its structure is complicated, bulky.
Utility model content
The purpose of utility model: this utility model disclose a kind of can the concertina type mechanical arm of multiple-directional rotating, its structure letter
Single, low cost, it is possible to achieve the flexible and all-direction rotation of mechanical arm, thus can reduce the mechanical hand of articulated robot
Arm and the quantity in joint, simplify articulated robot structure.
Technical scheme: in order to realize object above, the utility model discloses a kind of can multiple-directional rotating concertina type machinery
Arm, including the first gear being meshed and the second gear, the first gear is located in the first rotating shaft, and by the first rotating shaft with
First support is connected, and the second gear is located in the second rotating shaft, and is connected with the second support by the second rotating shaft, first turn
It is provided with linking arm between axle and the second rotating shaft；Wherein the first rotating shaft is connected with the first driving means, and the first support and second drives
Dynamic device is connected, and the second support is connected with telescopic outside robotic arm；Described outside robotic arm includes the first mechanical arm
With the second mechanical arm, wherein second mechanical arm one end is arranged in the hollow cavity of the first mechanical arm, the first mechanical arm and second
Pinion and rack it is provided with between mechanical arm.This design is rotated around axis X by the second driving means driving mechanical joint,
Rotated around the first gear by the first driving means and first gear driven the second gear and the second support, therefore can be real
Flexible and the all-direction rotation of existing mechanical arm, and there is the feature of simple in construction, low cost, Stability Analysis of Structures, reliable transmission.
Further, above-mentioned a kind of can the concertina type mechanical arm of multiple-directional rotating, described first support include base plate and point
Not being arranged on two side plates at base plate two ends, the first rotating shaft two ends are connected with two side plates respectively, the second driving means and the end
Plate is connected.This design compact conformation, simple, the axis X of mechanical joint is perpendicular with the first rotating shaft；Mechanical joint rotates
Precision is high, controllability is good.
Further, above-mentioned a kind of can the concertina type mechanical arm of multiple-directional rotating, described first gear is respectively arranged at two ends with
Baffle plate, and baffle plate is higher than the tooth top of the first gear.The position-limiting action to the second gear is played in this design, due to support, connection
The gap that the parts such as arm produce when mounted, when the second driving means driving mechanical joint rotates around axis X, the first gear
There is the trend driving the second gear to rotate around axis X, can collide and shift between the gear teeth, if things go on like this, may result in
The abrasion of the gear teeth and fracture, and baffle plate and the end contact of the second gear, stress, can significantly alleviate abrasion between the gear teeth and
Clash into, improve service life.
Further, above-mentioned a kind of can the concertina type mechanical arm of multiple-directional rotating, described first driving means includes first
Motor, the first motor gear being arranged on the first motor, and the first biography being meshed with the first motor gear
Moving gear, wherein the first travelling gear is arranged in the first rotating shaft.This design simple in construction, stable drive, can be by control
The angular displacement of motor processed, controls the second gear and the turned position of the second support, thus reaches the mesh being accurately positioned
's；Can also device combined with induction, arrive set position.
Further, above-mentioned a kind of can the concertina type mechanical arm of multiple-directional rotating, described second driving means includes second
Motor, the second motor gear being arranged on the second motor, and the second biography being meshed with the second motor gear
Moving gear, wherein the second travelling gear is connected with base plate by the 3rd rotating shaft, and the axis of the 3rd rotating shaft is by the first gear
The center of circle.This design simple in construction, stable drive, reach the purpose being accurately positioned again by motor, and machinery closes
The rotation of joint can stop at any time and start, and is maintained at arbitrary position；3rd shaft axis passes through the first gear center of circle
Design, make mechanical joint by the region spherically shape that can arrive of rotation.
Further, above-mentioned a kind of can the concertina type mechanical arm of multiple-directional rotating, described second support is provided with group leader's circle
Hole, and connect by slotted hole and the first mechanical arm are fixing.This design can adjust the installation site of outside machinery wall, is suitable for
Property is wide.
Further, above-mentioned a kind of can the concertina type mechanical arm of multiple-directional rotating, also include pedestal, pedestal and the 3rd rotating shaft
Between connected by bearing, the second motor is arranged on pedestal, and pedestal and three-mechanical arm are fixing to be connected.
Further, above-mentioned a kind of can the concertina type mechanical arm of multiple-directional rotating, described pinion and rack includes arranging
The first tooth bar on the first mechanical arm hollow cavity inwall, is arranged on the second tooth bar of the second mechanical arm outer surface, Yi Jifen
The little gear not being meshed with the first tooth bar, the second tooth bar, its medium and small gear is by the 3rd step motor drive.This design structure
Simple and reliable, stroke accurately can be controlled by motor, in conjunction with outside sensor, mechanical arm can be made
Arrive desired position.
Further, above-mentioned a kind of can the concertina type mechanical arm of multiple-directional rotating, described first mechanical arm and the second machinery
Being provided with one group of ball between arm, the first mechanical arm is provided with the depressed part that shape adapts.The design of this ball is by the first machine
Sliding friction between mechanical arm and the second mechanical arm is converted into rolling friction, makes the flexible more smooth and easy of mechanical arm.
Technique scheme is it can be seen that this utility model has the advantages that one described in the utility model
Can the concertina type mechanical arm of multiple-directional rotating, its simple in construction, low cost, Stability Analysis of Structures, reliable transmission；Mechanical hand can be realized
Flexible and the all-direction rotation of arm, its region that can arrive is in spherical space, can be implemented in the standard in region simultaneously
Determine position, can arrive, with device combined with induction, the position set；Its running accuracy is high, and controllability is good；Additionally also has the suitability
Well, the feature of length in service life.
Accompanying drawing explanation
Fig. 1 be described in the utility model a kind of can the structural representation of concertina type mechanical arm of multiple-directional rotating；
Fig. 2 be described in the utility model a kind of can the structural representation in joint of concertina type mechanical arm of multiple-directional rotating
Figure；
In figure: 1-the first gear, 2-the second gear, 3-the first rotating shaft, 4-the first support, 41-base plate, 42-side plate, 5-
Two rotating shafts, 6-the second support, 61-slotted hole, 7-linking arm, 8-the first driving means, 81-the first motor, 82-the first electricity
Machine gear, 83-the first travelling gear, 9-the second driving means, 91-the second motor, 92-the second motor gear, 93-second
Travelling gear, 10-baffle plate, 11-the 3rd rotating shaft, 12-pedestal, 13-outside robotic arm, 131-the first mechanical arm, 132-the second machine
Mechanical arm, 14-pinion and rack, 141-the first tooth bar, 142-the second tooth bar, the little gear of 143-, 15-three-mechanical arm, 16-rolls
Pearl.
Detailed description of the invention
Below in conjunction with the accompanying drawings, this utility model detailed description of the invention is described in detail.
Embodiment
Of the present utility model a kind of can the concertina type mechanical arm of multiple-directional rotating, as depicted in figs. 1 and 2, including being meshed
The first gear 1 and the second gear 2, the first gear 1 is respectively arranged at two ends with baffle plate 10, and baffle plate 10 is higher than the tooth of the first gear 1
Top, plays position-limiting action to the second gear 2；First gear 1 is located in the first rotating shaft 3, and by the first rotating shaft 3 and first
Frame 4 is connected, and the second gear 2 is located in the second rotating shaft 5, and is connected with the second support 6 by the second rotating shaft 5, first turn
It is provided with linking arm 7 between axle 3 and the second rotating shaft 5；First support 4 includes base plate 41 and is separately positioned on two of base plate 41 two ends
Side plate 42, the first rotating shaft 3 two ends are connected with two side plates 42 respectively, and the second driving means 9 is connected with base plate 41；Wherein
One rotating shaft 3 is connected with the first driving means 8, and the first driving means 8 includes the first motor 81, is arranged on the first stepping electricity
The first motor gear 82 on machine 81, and the first travelling gear 83 being meshed with the first motor gear 82, wherein first pass
Moving gear 83 is arranged in the first rotating shaft 3；Second driving means 9 includes the second motor 91, is arranged on the second motor
The second motor gear 92 on 91, and the second travelling gear 93, wherein the second transmission being meshed with the second motor gear 92
Gear 93 is connected with base plate 41 by the 3rd rotating shaft 11, and the center of circle that the axis of the 3rd rotating shaft 11 is by the first gear 1.
Second support 6 is provided with group leader's circular hole 61, and is connected by slotted hole 61 is fixing with the first mechanical arm 131；This reality
A kind of the concertina type mechanical arm of multiple-directional rotating can also include pedestal 12 with novel, pass through between pedestal 12 and the 3rd rotating shaft 11
Bearing connects, and the second motor 91 is arranged on pedestal 12, and pedestal 12 is fixing with three-mechanical arm 15 to be connected.
First gear the 1, first travelling gear 83 is fixing with the first rotating shaft 3 respectively to be connected, and bearing and the is passed through in the first rotating shaft 3
One support 4 is rotationally connected；The base plate 41 of the first support 4 is fixing with the 3rd rotating shaft 11 to be connected, the second travelling gear 93 and the 3rd turn
Axle 11 is fixing to be connected；Second gear 2 is fixing with the second rotating shaft 5 to be connected.
Linking arm 7 one end and the first rotating shaft 3 are rotationally connected, the other end and the second rotating shaft 5 are rotationally connected.Second support 6 with
Connection can be fixed between linking arm 7；Can also be rotationally connected by bearing, and add driving means, itself and the second support 6 phase
Connect, the second support 6 can be driven to rotate relative to linking arm 7, be used for replacing the second above-mentioned support 6 fixing with linking arm 7 even
The scheme connect.
Second support 6 is connected with telescopic outside robotic arm 13；Described outside robotic arm 13 includes the first mechanical arm
131 and second mechanical arm 132, wherein second mechanical arm 132 one end is arranged in the hollow cavity of the first mechanical arm 131, and first
It is provided with pinion and rack 14 between mechanical arm 131 and the second mechanical arm 132；Pinion and rack 14 includes being arranged on the first machine
The first tooth bar 141 on mechanical arm 131 hollow cavity inwall, is arranged on the second tooth bar 142 of the second mechanical arm 132 outer surface, with
And the little gear 143 being meshed with first tooth bar the 141, second tooth bar 142 respectively, its medium and small gear 143 is by the 3rd motor
Drive.One group of ball 16, the first mechanical arm 131 hollow cavity inwall it is provided with between first mechanical arm 131 and the second mechanical arm 132
It is provided with the depressed part that shape adapts.
During work, the second driving means 9 and the first driving means 8 are the most independent drive systems, and by control are all
System is controlled, and makes mechanical joint turn to the position set, and two kinds of rotations of mechanical joint can be carried out simultaneously；It is around axle
Line X can carry out the rotation of 360 °, and the rotatable scope around the first gear 1 can reach about 300 ° and (be unable to reach 360 ° of rotations
Turning is to dodge pedestal 12), two kinds of rotations combine can with driving mechanical arm realize comprehensive, rotate flexibly；Turning
While Dong, mechanical arm can stretch, and flexible is also to be driven by independent drive system；Therefore mechanical arm can arrive
Region, can form the spherical form hollow space of self structure (removing dodge), in this region, can in conjunction with outside
The control system in portion and sensing device, it is achieved be accurately positioned.
The above is only preferred implementation of the present utility model, it should be noted that for the ordinary skill of the art
For personnel, on the premise of without departing from this utility model principle, it is also possible to make some improvement, these improve and also should be regarded as this
The protection domain of utility model.
Claims (9)
1. one kind can the concertina type mechanical arm of multiple-directional rotating, it is characterised in that: include the first gear (1) and second being meshed
Gear (2), the first gear (1) is located in the first rotating shaft (3), and is connected with the first support (4) by the first rotating shaft (3),
Second gear (2) is located in the second rotating shaft (5), and is connected with the second support (6) by the second rotating shaft (5), the first rotating shaft
(3) and being provided with linking arm (7) between the second rotating shaft (5), wherein the first rotating shaft (3) is connected with the first driving means (8), and first
Support (4) is connected with the second driving means (9), and the second support (6) is connected with telescopic outside robotic arm (13)；
Described outside robotic arm (13) includes the first mechanical arm (131) and the second mechanical arm (132), wherein the second mechanical arm
(132) in one end is arranged on the hollow cavity of the first mechanical arm (131), the first mechanical arm (131) and the second mechanical arm (132) it
Between be provided with pinion and rack (14).
The most according to claim 1 a kind of can the concertina type mechanical arm of multiple-directional rotating, it is characterised in that: described first
Frame (4) includes base plate (41) and is separately positioned on two side plates (42) at base plate (41) two ends, the first rotating shaft (3) two ends respectively with
Two side plates (42) are connected, and the second driving means (9) is connected with base plate (41).
The most according to claim 1 a kind of can the concertina type mechanical arm of multiple-directional rotating, it is characterised in that: described first tooth
Wheel (1) is respectively arranged at two ends with baffle plate (10), and baffle plate (10) is higher than the tooth top of the first gear (1).
The most according to claim 1 a kind of can the concertina type mechanical arm of multiple-directional rotating, it is characterised in that: described first drives
Dynamic device (8) includes the first motor (81), the first motor gear (82) being arranged on the first motor (81), and
The first travelling gear (83) being meshed with the first motor gear (82), wherein the first travelling gear (83) is arranged on the first rotating shaft
(3) on.
The most according to claim 2 a kind of can the concertina type mechanical arm of multiple-directional rotating, it is characterised in that: described second drives
Dynamic device (9) includes the second motor (91), the second motor gear (92) being arranged on the second motor (91), and
The second travelling gear (93) being meshed with the second motor gear (92), wherein the second travelling gear (93) passes through the 3rd rotating shaft
(11) it is connected with base plate (41), and the center of circle that the axis of the 3rd rotating shaft (11) is by the first gear (1).
The most according to claim 1 a kind of can the concertina type mechanical arm of multiple-directional rotating, it is characterised in that: described second
Frame (6) is provided with group leader's circular hole (61), and is connected by slotted hole (61) and the first mechanical arm (131) are fixing.
The most according to claim 5 a kind of can the concertina type mechanical arm of multiple-directional rotating, it is characterised in that: also include pedestal
(12), being connected by bearing between pedestal (12) with the 3rd rotating shaft (11), the second motor (91) is arranged on pedestal (12),
Pedestal (12) is fixing with three-mechanical arm (15) to be connected.
The most according to claim 1 a kind of can the concertina type mechanical arm of multiple-directional rotating, it is characterised in that: described gear teeth
Bar mechanism (14) includes the first tooth bar (141) being arranged on the first mechanical arm (131) hollow cavity inwall, is arranged on the second machine
Second tooth bar (142) of mechanical arm (132) outer surface, and be meshed with the first tooth bar (141), the second tooth bar (142) respectively
Little gear (143), its medium and small gear (143) is by the 3rd step motor drive.
The most according to claim 1 a kind of can the concertina type mechanical arm of multiple-directional rotating, it is characterised in that: described first machine
Being provided with one group of ball (16) between mechanical arm (131) and the second mechanical arm (132), the first mechanical arm (131) is provided with shape and fits mutually
The depressed part answered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620846863.5U CN205870598U (en) | 2016-08-08 | 2016-08-08 | Can multidirectional pivoted concertina type robotic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620846863.5U CN205870598U (en) | 2016-08-08 | 2016-08-08 | Can multidirectional pivoted concertina type robotic arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205870598U true CN205870598U (en) | 2017-01-11 |
Family
ID=57701349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620846863.5U Withdrawn - After Issue CN205870598U (en) | 2016-08-08 | 2016-08-08 | Can multidirectional pivoted concertina type robotic arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205870598U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041997A (en) * | 2016-08-08 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Telescopic mechanical arm capable of rotating in omnibearing manner |
| CN111379940A (en) * | 2019-01-01 | 2020-07-07 | 上海互联网软件集团有限公司 | An electrically adjustable display device and all-in-one machine |
-
2016
- 2016-08-08 CN CN201620846863.5U patent/CN205870598U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041997A (en) * | 2016-08-08 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Telescopic mechanical arm capable of rotating in omnibearing manner |
| CN106041997B (en) * | 2016-08-08 | 2019-01-29 | 江苏捷帝机器人股份有限公司 | It is a kind of can all-direction rotation concertina type mechanical arm |
| CN111379940A (en) * | 2019-01-01 | 2020-07-07 | 上海互联网软件集团有限公司 | An electrically adjustable display device and all-in-one machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170111 Effective date of abandoning: 20190129 |