CN205928638U - Multi freedom intelligent machine arm - Google Patents
Multi freedom intelligent machine arm Download PDFInfo
- Publication number
- CN205928638U CN205928638U CN201620756608.1U CN201620756608U CN205928638U CN 205928638 U CN205928638 U CN 205928638U CN 201620756608 U CN201620756608 U CN 201620756608U CN 205928638 U CN205928638 U CN 205928638U
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- support arm
- cylinder
- arm
- motor
- seat
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Abstract
The utility model relates to the technical field of machinery, the more specifically multi freedom intelligent machine arm that says so, gear connection is on the output shaft of motor in the initiative, the lower extreme swing joint of pivot is in the inside bottom of base, the upper end of pivot is passed footstock fixedly connected with and is rotated the seat, footstock fixed connection is on the top of base, the bearing sets up at the footstock and rotates between the seat, first support arm is articulated to be connected on the connecting seat, the articulated connection on first support arm of lower extreme of second support arm, the articulated third support arm that is connected with in upper end of second support arm, the fourth support arm is articulated to be connected on the third support arm, the articulated connection on rotating the seat of one end of first cylinder, the articulated connection on first support arm of the other end of first cylinder, the articulated connection on rotating the seat of one end of second cylinder, the articulated connection on the second support arm of the other end of second cylinder, the arm is provided with a plurality of degrees of freedom, rotate in a flexible way, be convenient for the snatching and carrying of article, and arm bearing capacity is strong, the load of the article that snatchs is big.
Description
Technical field
This utility model is related to field of mechanical technique, more specifically to a kind of multi-freedom intelligent mechanical arm.
Background technology
Robot is to automatically control machine（Robot）Be commonly called as, automatically control machine include all simulation behavior of men or
Thought and the machinery simulating other biological（As robot dog, Doraemon etc.）.Also have a lot of the classification to the definition of robot in the narrow sense
Method and dispute, some computer programs or even also referred to as robot.In contemporary industry, robot refers to automatically execute task
Man-made machine device, in order to replace or to assist human work.Highly emulated robot in ideal is senior integral traffic control opinion, machinery
Electronics, computer and artificial intelligence, materialogy and bionic product, current scientific circles research and develop to this direction.Machine
The indispensable part of Xie Beishi robot, mechanical arm high accuracy, high speed glue dispensing machine handss.Corresponding small lot batch manufacture mode, carries
High efficiency.In addition to dispensing operation, uv can be corresponded to and irradiate, part is placed, screw locks, the various works such as circuit board cutting
Make.
But existing mechanical arm degree of freedom is few, crawl object exists and limits, and therefore, designs a kind of multi-freedom intelligent machine
Tool arm is necessary.
Content of the invention
This utility model mainly solving the technical problems that：There is provided a kind of multi-freedom intelligent mechanical arm, mechanical arm is arranged
There are multiple degree of freedom, rotate flexibly, be easy to crawl and the conveying of object, and mechanical arm bearing capacity is strong, captured object
Load is big.
For solving above-mentioned technical problem, how freely this utility model is related to field of mechanical technique, more specifically one kind
Degree intelligent machine arm, including base, motor, driving gear, driven gear, rotating shaft, footstock, rotation seat, bearing, connecting seat, the
One support arm, second support arm, the 3rd support arm, the 4th support arm, the first cylinder, the second cylinder, the 3rd cylinder and mechanical hand drive motor.
Motor is arranged on the inside of base, and driving gear is connected on the output shaft of motor, and the lower end of rotating shaft is flexibly connected
In the bottom of chassis interior, the upper end of rotating shaft is fixedly connected with rotation seat through footstock, and footstock is fixedly connected on the top of base,
Bearing is arranged between footstock and rotation seat, and connecting seat is fixedly connected on rotation seat, and first support arm is hingedly connected to connecting seat
On, the lower end of second support arm is hingedly connected in first support arm, and the upper end of second support arm is hingedly connected with the 3rd support arm, the 4th
Arm is hingedly connected on the 3rd support arm, and one end of the first cylinder is hingedly connected on rotation seat, and the other end of the first cylinder is hinged
It is connected in first support arm, one end of the second cylinder is hingedly connected on rotation seat, and the other end of the second cylinder is hingedly connected to
In second support arm, and the second cylinder is located at the left side of the first cylinder.One end of 3rd cylinder is hingedly connected on rotation seat, the
The other end of three cylinders is hingedly connected on the 4th support arm, and the 3rd cylinder is located at the left side of the second cylinder.Mechanical hand-motion
Motor is arranged on the inside of the 4th support arm.
As the optimization further of the technical program, the connection described in a kind of this utility model multi-freedom intelligent mechanical arm
It is connected with motor I on seat and the jointed shaft of first support arm, first support arm and the jointed shaft of second support arm are connected with motor II, the
Motor III is connected with the jointed shaft of two support arms and the 3rd support arm, the jointed shaft of the 3rd support arm and the 4th support arm is connected with motor
Ⅳ.
As the optimization further of the technical program, the active described in a kind of this utility model multi-freedom intelligent mechanical arm
Gear is meshed with driven gear.
The having the beneficial effect that of this utility model a kind of multi-freedom intelligent mechanical arm：Mechanical arm is provided with multiple degree of freedom,
Rotate flexibly, be easy to crawl and the conveying of object, and mechanical arm bearing capacity is strong, the load of captured object is big.
Brief description
The utility model is described in more detail with specific implementation method below in conjunction with the accompanying drawings.
Fig. 1 is a kind of structural representation of this utility model multi-freedom intelligent mechanical arm.
In figure：Base 1；Motor 2；Driving gear 3；Driven gear 4；Rotating shaft 5；Footstock 6；Rotation seat 7；Bearing 8；Connecting seat
9；First support arm 10；Second support arm 11；3rd support arm 12；4th support arm 13；First cylinder 14；Second cylinder 15；3rd cylinder
16；Mechanical hand drive motor 17.
Specific embodiment
Specific embodiment one：
With reference to Fig. 1, present embodiment is described, this utility model is related to field of mechanical technique, more specifically a kind of
Multi-freedom intelligent mechanical arm, including：Base 1, motor 2, driving gear 3, driven gear 4, rotating shaft 5, footstock 6, rotation seat 7,
Bearing 8, connecting seat 9, first support arm 10, second support arm 11, the 3rd support arm 12, the 4th support arm 13, the first cylinder 14, the second cylinder
15th, the 3rd cylinder 16 and mechanical hand drive motor 17.
Motor 2 is arranged on the inside of base 1, and driving gear 3 is connected on the output shaft of motor 2, the lower end activity of rotating shaft 5
It is connected to the bottom within base 1, the upper end of rotating shaft 5 is fixedly connected with rotation seat 7 through footstock 6, and footstock 6 is fixedly connected on bottom
The top of seat 1, bearing 8 is arranged between footstock 6 and rotation seat 7, and connecting seat 9 is fixedly connected on rotation seat 7, first support arm 10
It is hingedly connected on connecting seat 9, the lower end of second support arm 11 is hingedly connected in first support arm 10, the upper end hinge of second support arm 11
It is connected to the 3rd support arm 12 in succession, the 4th support arm 13 is hingedly connected on the 3rd support arm 12, one end of the first cylinder 14 is articulated and connected
On rotation seat 7, the other end of the first cylinder 14 is hingedly connected in first support arm 10, and one end of the second cylinder 15 is articulated and connected
On rotation seat 7, the other end of the second cylinder 15 is hingedly connected in second support arm 11, and the second cylinder 15 is located at the first gas
The left side of cylinder 14；One end of 3rd cylinder 16 is hingedly connected on rotation seat 7, and the other end of the 3rd cylinder 16 is hingedly connected to
On four support arms 13, and the 3rd cylinder 16 is located at the left side of the second cylinder 15；Mechanical hand drive motor 17 is arranged on the 4th support arm
13 inside.
A kind of operation principle of this utility model multi-freedom intelligent mechanical arm：
Mechanical hand is arranged in the rotating shaft of mechanical hand drive motor 17, for object crawl with put down, by motor 2
Rotation drive driving gear 3 rotate, the driven gear 4 being meshed with driving gear 3 is rotated, thus being arranged on driven gear 4
On rotating shaft 5 rotate and drive rotation seat 7 to rotate, complete the spinning movement of robot, motor I drives first support arm 10 to rotate, and
And driving first support arm 10 to rotate rotation under the Auxiliary support effect of the first cylinder 14, motor II drives second support arm 11 to rotate
Bar, and drive second support arm 11 to rotate rotation under the Auxiliary support effect of the second cylinder 15, motor III drives the 3rd support arm
12 rotations, motor IV drives the 4th support arm 13 to rotate, and drives the 4th support arm under the Auxiliary support effect of the 3rd cylinder 16
13 rotations, will realize the rotation of the multiple degree of freedom of mechanical arm, rotate flexibly, are easy to crawl and conveying, motor and the hydraulic pressure of object
Support while cylinder so that mechanical arm bearing capacity is strong, the load of captured object is big.
Specific embodiment two：
With reference to Fig. 1, present embodiment is described, present embodiment is described further to embodiment one, described company
It is connected with motor I on joint chair 9 and the jointed shaft of first support arm 10, first support arm 10 and the jointed shaft of second support arm 11 are connected with
Motor II, the jointed shaft of second support arm 11 and the 3rd support arm 12 is connected with motor III, the 3rd support arm 12 and the 4th support arm 13
Motor IV is connected with jointed shaft.
Specific embodiment three：
With reference to Fig. 1, present embodiment is described, present embodiment is described further to embodiment one, described master
Moving gear 3 is meshed with driven gear 4.
Certainly, described above is not limitation of the utility model, and this utility model is also not limited to the example above, this skill
Change, remodeling, interpolation or replacement that the those of ordinary skill in art field is made in essential scope of the present utility model, also belong to
In protection domain of the present utility model.
Claims (3)
1. a kind of multi-freedom intelligent mechanical arm, including base（1）, motor（2）, driving gear（3）, driven gear（4）, rotating shaft
（5）, footstock（6）, rotation seat（7）, bearing（8）, connecting seat（9）, first support arm（10）, second support arm（11）, the 3rd support arm
（12）, the 4th support arm（13）, the first cylinder（14）, the second cylinder（15）, the 3rd cylinder（16）With mechanical hand drive motor（17）,
It is characterized in that：Motor（2）It is arranged on base（1）Inside, driving gear（3）It is connected to motor（2）Output shaft on, rotating shaft
（5）Lower end be movably connected in base（1）Internal bottom, rotating shaft（5）Upper end pass through footstock（6）It is fixedly connected with rotation seat
（7）, footstock（6）It is fixedly connected on base（1）Top, bearing（8）It is arranged on footstock（6）With rotation seat（7）Between, connecting seat
（9）It is fixedly connected on rotation seat（7）On, first support arm（10）It is hingedly connected to connecting seat（9）On, second support arm（11）Lower end
It is hingedly connected to first support arm（10）On, second support arm（11）Upper end be hingedly connected with the 3rd support arm（12）, the 4th support arm
（13）It is hingedly connected to the 3rd support arm（12）On, the first cylinder（14）One end be hingedly connected to rotation seat（7）On, the first cylinder
（14）The other end be hingedly connected to first support arm（10）On, the second cylinder（15）One end be hingedly connected to rotation seat（7）On,
Second cylinder（15）The other end be hingedly connected to second support arm（11）On, and the second cylinder（15）Positioned at the first cylinder（14）
Left side；3rd cylinder（16）One end be hingedly connected to rotation seat（7）On, the 3rd cylinder（16）The other end be hingedly connected to
4th support arm（13）On, and the 3rd cylinder（16）Positioned at the second cylinder（15）Left side；Mechanical hand drive motor（17）Install
In the 4th support arm（13）Inside.
2. a kind of multi-freedom intelligent mechanical arm according to claim 1 it is characterised in that：Described connecting seat（9）With
First support arm（10）Jointed shaft on be connected with motor I, first support arm（10）With second support arm（11）Jointed shaft on be connected with
Motor II, second support arm（11）With the 3rd support arm（12）Jointed shaft on be connected with motor III, the 3rd support arm（12）With the 4th
Arm（13）Jointed shaft on be connected with motor IV.
3. a kind of multi-freedom intelligent mechanical arm according to claim 1 it is characterised in that：Described driving gear（3）
With driven gear（4）It is meshed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620756608.1U CN205928638U (en) | 2016-07-19 | 2016-07-19 | Multi freedom intelligent machine arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620756608.1U CN205928638U (en) | 2016-07-19 | 2016-07-19 | Multi freedom intelligent machine arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205928638U true CN205928638U (en) | 2017-02-08 |
Family
ID=57929421
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620756608.1U Expired - Fee Related CN205928638U (en) | 2016-07-19 | 2016-07-19 | Multi freedom intelligent machine arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205928638U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976104A (en) * | 2017-05-11 | 2017-07-25 | 华志微创医疗科技（北京）有限公司 | A kind of space five-freedom mechanical arm |
| CN107999960A (en) * | 2017-12-30 | 2018-05-08 | 镇江同舟螺旋桨有限公司 | A kind of propeller welder |
| CN108176568A (en) * | 2018-02-07 | 2018-06-19 | 重庆新渝湘实业有限公司 | A kind of bumper spray painting Pretreatment Line device |
| CN109940632A (en) * | 2019-03-15 | 2019-06-28 | 杭州有容智控科技有限公司 | A kind of hydraulic manipulator for the replacement of full face tunnel boring machine list hobboing cutter |
| CN110193471A (en) * | 2019-05-27 | 2019-09-03 | 南京涵铭置智能科技有限公司 | A kind of domestic waste intelligent sorting device and method |
-
2016
- 2016-07-19 CN CN201620756608.1U patent/CN205928638U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976104A (en) * | 2017-05-11 | 2017-07-25 | 华志微创医疗科技（北京）有限公司 | A kind of space five-freedom mechanical arm |
| CN107999960A (en) * | 2017-12-30 | 2018-05-08 | 镇江同舟螺旋桨有限公司 | A kind of propeller welder |
| CN108176568A (en) * | 2018-02-07 | 2018-06-19 | 重庆新渝湘实业有限公司 | A kind of bumper spray painting Pretreatment Line device |
| CN109940632A (en) * | 2019-03-15 | 2019-06-28 | 杭州有容智控科技有限公司 | A kind of hydraulic manipulator for the replacement of full face tunnel boring machine list hobboing cutter |
| CN109940632B (en) * | 2019-03-15 | 2020-12-29 | 杭州有容智控科技有限公司 | Hydraulic mechanical arm for replacing single rolling cutter of full-face tunneling machine |
| CN110193471A (en) * | 2019-05-27 | 2019-09-03 | 南京涵铭置智能科技有限公司 | A kind of domestic waste intelligent sorting device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 Termination date: 20190719 |