CN205969113U - Simple manipulator - Google Patents
Simple manipulator Download PDFInfo
- Publication number
- CN205969113U CN205969113U CN201620839285.2U CN201620839285U CN205969113U CN 205969113 U CN205969113 U CN 205969113U CN 201620839285 U CN201620839285 U CN 201620839285U CN 205969113 U CN205969113 U CN 205969113U
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- CN
- China
- Prior art keywords
- servomotor
- principal arm
- manipulator
- servo motor
- forearm
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Abstract
The utility model discloses a simple manipulator, including base, roating seat, main arm, forearm, servo motor no. 1, servo motor no. 2, servo motor no. 3, servo motor no. 4, servo motor no. 5, servo motor six, above -mentioned each servo motor connection control mechanism through each servo motor of control mechanism control, has realized this manipulator nimble removal in different planes, compares traditional manipulator, and its home range is bigger, and the flexibility is stronger, has consequently improved the work efficiency of this manipulator. In addition, in this manipulator, the main arm is less with the volume of forearm for the volume of whole manipulator is less, and the required energy consumption of its during operation is also less, moves also more in a flexible way, and work efficiency is higher, and main arm, forearm are comparatively simple with being connected of other parts, make the structure of whole manipulator also simple comparatively, and consequently, the cost of manufacture of this manipulator is less relatively.
Description
Technical field
This utility model is related to mechanical hand technical field and in particular to a kind of Simple manipulator.
Background technology
Mechanical hand be in industry replace people complete high-volume, the automatic producing device of high-quality requirement, it include hand and
Motion, includes multiple connected arms in motion, complete various rotations, swing, movement by arm or answer
Resultant motion, to realize the action specifying, changes position and the posture of crawled object.
Existing mechanical hand mainly includes multiple mechanical arms being sequentially connected and can moving, and activity between each mechanical arm connects
Connect and each mechanical arm all can be freely-movable,
But generally existing problems with：The mobilizable joint of mechanical hand is less, causes the range of activity of mechanical hand less, leads
The kinematic dexterity of cause mechanical hand is poor, and work efficiency is relatively low；Mechanical arm volume is larger, controls the structure of each shoulder joint more multiple
Miscellaneous, cause the problem that cost is big, energy consumption is big, because volume is larger, it is mobile more slow, the work efficiency to mechanical hand itself
There is also impact.
In sum, in order to solve the technical problem that above-mentioned mechanical hand exists, need to design a kind of small volume, structure letter
Singly, run the relatively flexible and higher Simple manipulator of work efficiency.
Utility model content
The purpose of this utility model be for prior art exist the problems referred to above it is proposed that a kind of small volume, structure letter
Singly, run the relatively flexible and higher Simple manipulator of work efficiency.
The purpose of this utility model can be realized by following technical proposal：A kind of Simple manipulator, including base, rotation
Seat, principal arm, forearm, servomotor one, servomotor two, servomotor three, servomotor four, servomotor five, servomotor
Six；
Described rotating seat is mounted on base, and on rotating seat, right angle setting is fixed with servomotor one, servo
The output shaft of motor one is connected and fixed on base, and the housing of servomotor one is fixed on rotating base；
The upper end of described rotating seat is articulated and connected principal arm by servomotor two, and the shell of servomotor two is fixed on principal arm
On, servomotor two output shaft is connected rotating seat；
Described principal arm includes principal arm one, principal arm two, L-shaped adapter, servomotor three, servomotor four, principal arm one, principal arm
Two are connected by L-shaped adapter, and L-shaped adapter is provided with servomotor three, servomotor four, servomotor three, servomotor
Four are arranged in a mutually vertical manner；
The housing of servomotor three is mounted on L-shaped adapter, and its output shaft is connected principal arm one front end；
The housing of servomotor four is mounted on the end of principal arm two, and its output shaft is connected on L-shaped adapter；
Principal arm is articulated and connected by servomotor five with forearm, and the housing of servomotor five is mounted on forearm, and it is defeated
Shaft is connected the front end of principal arm two；Forearm front end is provided with servomotor six, and the output shaft of servomotor six connects mounting seat；
Different power tools can be installed according to the job content needs of mechanical hand, such as grabbing device, spraying dress in mounting seat
Put, brush material device；
Above-mentioned each servomotor connection control mechanism, controls each servomotor by controlling organization it is achieved that this mechanical hand
Flexibly move in Different Plane, compare traditional mechanical hand, its range of activity is bigger, and motility is higher, therefore improve this
The work efficiency of mechanical hand.
In addition, in this mechanical hand, the small volume of principal arm and forearm is so that the small volume of whole mechanical hand, its work
The energy consumption of Shi Suoxu is also less, and mobile also relatively flexible, work efficiency is higher, and the connection of principal arm, forearm and other parts is more
Simply so that the structure of whole mechanical hand is also by a relatively simple, therefore, the cost of manufacture of this mechanical hand is relatively small.
Brief description
Fig. 1 is structural representation of the present utility model.
Specific embodiment
Below in conjunction with the accompanying drawings specific embodiment of the present utility model is described further.Here it should be noted that
Explanation for these embodiments is used to help understand this utility model, but does not constitute to restriction of the present utility model.This
Outward, as long as involved technical characteristic in each embodiment of this utility model disclosed below does not constitute conflict each other
Just can be mutually combined.
As shown in figure 1, a kind of Simple manipulator, including base 1, rotating seat 2, principal arm 3, forearm 4, L-shaped adapter 33, watch
Take motor 1, servomotor 2 62, servomotor 3 63, servomotor 4 64, servomotor 5 65, servomotor 6 66；
Described rotating seat 2 is mounted on base 1, and on rotating seat 2, right angle setting is fixed with servomotor 1,
The output shaft of servomotor 1 is connected and fixed on base 1, and the housing of servomotor 1 is fixed on rotating base 1；
The upper end of described rotating seat 2 is articulated and connected principal arm 3 by servomotor 2 62, and the shell of servomotor 2 62 is fixed
On principal arm 3, servomotor 2 62 output shaft is connected rotating seat 2；
Described principal arm 3 includes principal arm 1, principal arm 2 32, L-shaped adapter 33, servomotor 3 63, servomotor 4 64,
Principal arm 1, principal arm 2 32 are connected by L-shaped adapter 33, and L-shaped adapter 33 is provided with servomotor 3 63, servomotor four
64, servomotor 3 63, servomotor 4 64 are arranged in a mutually vertical manner；
The housing of servomotor 3 63 is mounted on L-shaped adapter 33, and its output shaft is connected before principal arm 3 one
End；
The housing of servomotor 4 64 is mounted on the end of principal arm 3 two, and its output shaft is connected L-shaped adapter 33
On；
Principal arm 3 is articulated and connected by servomotor 5 65 with forearm 4, and the housing of servomotor 5 65 is mounted on forearm
4, its output shaft is connected the front end of principal arm 3 two；Forearm 4 front end is provided with servomotor 6 66, the output of servomotor 6 66
Axle connects mounting seat 5；
Different power tools can be installed according to the job content needs of Simple manipulator in mounting seat 5, such as capture
Device, spray equipment, brush material device；
Preferably, described Simple manipulator is also equipped with grabbing device, spray equipment, brush material device, such as handgrip, spray gun, brush
Son etc..
Preferably, described principal arm is provided with several material reducing holes it is ensured that the colleague of mechanical hand intensity, mitigates its own weight
Amount；
Above-mentioned each servomotor connection control mechanism, controls each servomotor by controlling organization it is achieved that this mechanical hand
Flexibly move in Different Plane, compare traditional mechanical hand, its range of activity is bigger, and motility is higher, therefore improve this
The work efficiency of mechanical hand.
In addition, in this mechanical hand, the small volume of principal arm 3 and forearm 4 is so that the small volume of whole mechanical hand, its work
When making, required energy consumption is also less, and mobile also relatively flexible, work efficiency is higher, and the connection of principal arm 3, forearm 4 and other parts
Relatively simple so that the structure of whole mechanical hand is also by a relatively simple, therefore, the cost of manufacture of this mechanical hand is relatively small.
Above in association with accompanying drawing, embodiment of the present utility model is explained in detail, but this utility model is not limited to be retouched
The embodiment stated.For a person skilled in the art, in the case of without departing from this utility model principle and spirit, right
These embodiments carry out multiple changes, modification, replacement and modification, still fall within protection domain of the present utility model.
Claims (5)
1. a kind of Simple manipulator, including base, rotating seat, principal arm, forearm, L-shaped adapter, servomotor one, servomotor
2nd, servomotor three, servomotor four, servomotor five, servomotor six it is characterised in that：
Described rotating seat is mounted on base, and on rotating seat, right angle setting is fixed with servomotor one, servomotor
One output shaft is connected and fixed on base, and the housing of servomotor one is fixed on rotating base；
The upper end of described rotating seat is articulated and connected principal arm by servomotor two, the shell of servomotor two be fixed on principal arm it
On, servomotor two output shaft is connected rotating seat；
Described principal arm includes principal arm one, principal arm two, L-shaped adapter, servomotor three, servomotor four, principal arm one, principal arm two-way
Cross L-shaped adapter to connect, L-shaped adapter is provided with servomotor three, servomotor four, servomotor three, servomotor four phase
Mutually it is vertically arranged；
The housing of servomotor three is mounted on L-shaped adapter, and its output shaft is connected principal arm one front end；
The housing of servomotor four is mounted on the end of principal arm two, and its output shaft is connected on L-shaped adapter；
Principal arm is articulated and connected by servomotor five with forearm, and the housing of servomotor five is mounted on forearm, its output shaft
Be connected the front end of principal arm two；
Forearm front end is provided with servomotor six, and the output shaft of servomotor six connects mounting seat.
2. Simple manipulator according to claim 1 it is characterised in that：Described mounting seat is provided with grabbing device.
3. Simple manipulator according to claim 1 it is characterised in that：Described mounting seat is provided with spray equipment.
4. Simple manipulator according to claim 1 it is characterised in that：Described mounting seat is provided with brush material device.
5. according to described Simple manipulator arbitrary in claim 1-4 it is characterised in that：Described principal arm is provided with several and subtracts
Material hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620839285.2U CN205969113U (en) | 2016-08-04 | 2016-08-04 | Simple manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620839285.2U CN205969113U (en) | 2016-08-04 | 2016-08-04 | Simple manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205969113U true CN205969113U (en) | 2017-02-22 |
Family
ID=58029009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620839285.2U Expired - Fee Related CN205969113U (en) | 2016-08-04 | 2016-08-04 | Simple manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205969113U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106808481A (en) * | 2017-03-24 | 2017-06-09 | 浙江格瑶电子科技有限公司 | A kind of lion dance robot |
| CN106826859A (en) * | 2017-03-24 | 2017-06-13 | 浙江格瑶电子科技有限公司 | A kind of energy-conservation lion dance robot |
| CN106826862A (en) * | 2017-03-24 | 2017-06-13 | 浙江格瑶电子科技有限公司 | A kind of flexible lion dance robot |
| CN106826860A (en) * | 2017-03-24 | 2017-06-13 | 浙江格瑶电子科技有限公司 | A kind of new lion dance robot |
| CN107097219A (en) * | 2017-05-02 | 2017-08-29 | 广东长盈精密技术有限公司 | Mechanical arm |
| 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 |
| CN107756442A (en) * | 2017-10-13 | 2018-03-06 | 江苏捷帝机器人股份有限公司 | A kind of paint-spray robot of wu-zhi-shan pig forearm and its processing technology |
| WO2019037364A1 (en) * | 2017-08-21 | 2019-02-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Robot connecting arm and robot having same |
| CN114888789A (en) * | 2022-04-16 | 2022-08-12 | 国网吉林省电力有限公司四平供电公司 | Mechanical arm of live working vehicle |
-
2016
- 2016-08-04 CN CN201620839285.2U patent/CN205969113U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106808481A (en) * | 2017-03-24 | 2017-06-09 | 浙江格瑶电子科技有限公司 | A kind of lion dance robot |
| CN106826859A (en) * | 2017-03-24 | 2017-06-13 | 浙江格瑶电子科技有限公司 | A kind of energy-conservation lion dance robot |
| CN106826862A (en) * | 2017-03-24 | 2017-06-13 | 浙江格瑶电子科技有限公司 | A kind of flexible lion dance robot |
| CN106826860A (en) * | 2017-03-24 | 2017-06-13 | 浙江格瑶电子科技有限公司 | A kind of new lion dance robot |
| CN107097219A (en) * | 2017-05-02 | 2017-08-29 | 广东长盈精密技术有限公司 | Mechanical arm |
| 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 |
| WO2019037364A1 (en) * | 2017-08-21 | 2019-02-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Robot connecting arm and robot having same |
| CN107756442A (en) * | 2017-10-13 | 2018-03-06 | 江苏捷帝机器人股份有限公司 | A kind of paint-spray robot of wu-zhi-shan pig forearm and its processing technology |
| CN114888789A (en) * | 2022-04-16 | 2022-08-12 | 国网吉林省电力有限公司四平供电公司 | Mechanical arm of live working vehicle |
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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 |
Granted publication date: 20170222 Termination date: 20170804 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |