CN205996967U - Articulated arm mechanical hand - Google Patents
Articulated arm mechanical hand Download PDFInfo
- Publication number
- CN205996967U CN205996967U CN201620784003.3U CN201620784003U CN205996967U CN 205996967 U CN205996967 U CN 205996967U CN 201620784003 U CN201620784003 U CN 201620784003U CN 205996967 U CN205996967 U CN 205996967U
- Authority
- CN
- China
- Prior art keywords
- arm body
- arm
- servo motor
- electric cabinet
- reductor
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of articulated arm mechanical hand, including electric cabinet and the mechanical arm assembly being connected on electric cabinet, this mechanical arm assembly includes the first arm body, the second arm body and one grabbing assembly for crawl object, and the first arm body and the second arm body are the list structure body in lateral arrangement；First arm body can electric cabinet vertical position be relatively adjustably connected on electric cabinet by lift drive mechanism, and the first arm body can also rotate relative to electric cabinet simultaneously；Second arm body is undertaken on the one end in the first arm body length direction, and can rotate relative to the first arm body；Grabbing assembly is undertaken on the second arm body one end away from the first arm body, and grabbing assembly can also rotate relative to the second arm body；In this articulated arm mechanical hand, the movement locus of grabbing assembly are a side face, and grabbing assembly can touch the arbitrfary point on this side face, thus greatly expanding the gripping surface of grabbing assembly, are applicable to the production line of multiple arrangement forms, and the suitability is wide.
Description
Technical field
This utility model is related to mechanical hand technical field, specifically provides a kind of articulated arm mechanical hand.
Background technology
Mechanical hand, can imitate some holding functions of staff and arm, in order to capture, to carry object or operation by fixed routine
The automatic pilot of instrument.It can replace the heavy labor of people to realize the mechanization and the automatization that produce, can be in harmful ring
Operate to protect personal safety under border, thus be widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.
Mechanical hand mostly is articulated structure, that is, include multiple mechanical arms, and activity between adjacent two mechanical arms
Connect, be capable of walking between multiple stations for the mechanical hand；But existing articulated robot manipulator structure there are following
Not enough：The movement locus of grabbing assembly generally remain point-blank although with linear type arrangement production line no-float,
But the production line of nonlinear type arrangement can not be effectively applicable to, thus the application of existing articulated mechanical hand there are one
Fixed limitation.
In view of this, the special proposition present invention.
Content of the invention
In order to overcome drawbacks described above, this utility model provides a kind of articulated arm mechanical hand, this mechanical hand not only structure
Rationally, compact, positioning precision height, flexible operation and safety；Could be applicable to the production line of variform, the suitability is wide.
This utility model be employed technical scheme comprise that to solve its technical problem：A kind of articulated arm mechanical hand, bag
Include electric cabinet and the mechanical arm assembly being connected on described electric cabinet, this mechanical arm assembly includes the first arm body, the second arm
For capturing the grabbing assembly of object, described first arm body and the second arm body are the list structure in lateral arrangement to body and
Body；Described first arm body can be adjustably connected to described electricity by relatively described electric cabinet vertical position by a lift drive mechanism
On control case, described first arm body can also rotate relative to described electric cabinet simultaneously；Described second arm body is undertaken in described first arm
On the one end in body length direction, and can rotate relative to described first arm body；Described grabbing assembly is undertaken in described second arm body
On one end away from described first arm body, and described grabbing assembly can also rotate relative to described second arm body.
As further improvement of the utility model, described lift drive mechanism includes the first servo motor, the first ball
Screw arbor assembly, the first belt pulley set, the first synchronous belt, the first linear slide rail and lifting fixed seat, wherein, described first servo
Motor positioning is built in described electric cabinet, and described first ball screw assembly includes one and is vertically built in described electric cabinet
The first screw rod and be slidedly arranged on the first nut on described first screw rod, described first belt pulley set is by a pair first belt pulleys
Composition, this distinguishes an axle of the output shaft located at described first servo motor for the fixed cover and described first screw rod to the first belt pulley
On end, and this connects also by described first synchronous belt drive to the first belt pulley；Described first linear slide rail is also vertically
Positioning be built in described electric cabinet, described lifting fixed seat be undertaken on described first linear slide rail, and with described First Line
Property slide rail constitute and match and be slidably connected, and described lifting fixed seat is also located by connecting with described first nut simultaneously；
In addition, described first arm body is undertaken in described lifting fixed seat, and can also be in the band of described lifting fixed seat
Under dynamic, relatively described electric cabinet moves up and down positioning.
The structure that can also rotate relative to described electric cabinet as further improvement of the utility model, described first arm body
For：It is additionally provided with the first rotary drive mechanism, this first rotary drive mechanism includes the second servo motor, the first reductor and rotation
Main shaft, described second servo motor positioning is arranged in described lifting fixed seat, and the input shaft of described first reductor is connected to
The output shaft of described second servo motor, the output shaft of described first reductor is located by connecting in an axle of described live spindle
Side, and another axle side of described live spindle is also located by connecting with the other end in described first arm body length direction.
As further improvement of the utility model, described first arm body and the second arm body are hollow form；And described
Two arm bodies are undertaken on the one end in described first arm body length direction, and the structure that can rotate relative to described first arm body is：
It is additionally provided with the second rotary drive mechanism, this second rotary drive mechanism includes the 3rd servo motor, the second reductor, the second belt
Wheel group and the second synchronous belt, wherein said 3rd servo motor positioning is inserted in described live spindle, and simultaneously described the
The also activity of the output shaft of three servo motors is inserted in the described first arm body other end；Described second reductor positioning is built in institute
State in first arm body one end, and the output shaft of the second reductor also to stretch out in described first arm external；Described second belt pulley set
Be made up of a pair second belt pulleys, this to the second belt pulley respectively fixed cover located at the output shaft of described 3rd servo motor and institute
State on the input shaft of the second reductor, and this connects also by described second synchronous belt drive to the second belt pulley；
In addition, the other end of described second arm body is located by connecting on the output shaft of described second reductor.
As further improvement of the utility model, described grabbing assembly is undertaken in described second arm body away from described first
On one end of arm body, and the structure that described grabbing assembly can also rotate relative to described second arm body is：It is additionally provided with the 3rd rotation
Drive mechanism, the 3rd rotary drive mechanism includes the 4th servo motor and the 3rd reductor, described 4th servo motor positioning
It is inserted in one end of described second arm body, described 3rd reductor is placed in described second arm in vitro, and described 3rd reductor
Input shaft be located by connecting with the output shaft of described 4th servo motor, the output shaft of described 3rd reductor is located by connecting in institute
State grabbing assembly.
As further improvement of the utility model, described grabbing assembly includes arm support and grippers, and described arm support is served as reasons
The T-type structure body that the first linking arm all in long strip-board shape and the second linking arm are connected and constitute, and described first linking arm
Dorsad one end of described second linking arm is located by connecting on the output shaft of described 3rd reductor；Described grippers be sucker,
One of jaw and electric magnet, and described grippers are located by connecting on described second linking arm.
As further improvement of the utility model, described electric cabinet is vertical placement, and it has a setting housing, receipts
Hold housing and a case, described case positioning is arranged on the top of described setting housing, and described lift drive mechanism is received
It is dissolved in described case；One vertical U-shaped breach is also provided with described case, described case positioning is inserted in
In described U-shaped breach, and described case also covers at outside described first rotary drive mechanism simultaneously；
In addition, described first rotary drive mechanism also includes one the 3rd Timing Belt, the input shaft of described first reductor
It is in transmission connection by the output shaft of described 3rd Timing Belt and described second servo motor；And described live spindle is movably set in
In described lifting fixed seat.
As further improvement of the utility model, described electric cabinet is the hollow rectangular structure of horizontal placement, described
Lift drive mechanism is contained in this hollow rectangular structure, also the upper surface in this hollow rectangular structure offer one and its
The impenetrating mouth that inner chamber connects, described lifting fixed seat relatively described impenetrating mouth can be stretched out and bounce back；
In addition, described second servo motor positioning is arranged on the top of described lifting fixed seat, described live spindle position
In the top of described second servo motor, the lower axle side of described live spindle is by described first reductor and described second servo
The output shaft of motor is located by connecting, and the upper shaft side of described live spindle is connected with the other end positioning in described first arm body length direction
Connect.
As further improvement of the utility model, also multiple regulation lower margins are provided with the bottom surface of described electric cabinet,
The plurality of regulation lower margin can drive described electric cabinet to carry out up and down running fix a little.
The beneficial effects of the utility model are：Compared to prior art, the fortune of grabbing assembly in this articulated arm mechanical hand
Dynamic rail mark is a side face, and grabbing assembly can touch the arbitrfary point on this side face, thus greatly expanding grabbing assembly
Gripping surface；Thus, this articulated arm mechanical hand is applicable to the production line of multiple arrangement forms, and the suitability is wide.Additionally, this pass
The quick action of joint arm formula mechanical hand, flexible operation, and positioning precision is high, stationarity, safety are good.
Brief description
Fig. 1 be articulated arm mechanical hand described in the utility model the first embodiment in zero-bit state (inoperative shape
Under state) perspective view；
Fig. 2 is the side structure schematic view of articulated arm mechanical hand shown in Fig. 1；
Fig. 3 is the overlooking the structure diagram of articulated arm mechanical hand shown in Fig. 1；
Fig. 4 is the annexation structural representation of each drive mechanism in articulated arm mechanical hand shown in Fig. 1；
Fig. 5 is the structural representation of lift drive mechanism described in articulated arm mechanical hand shown in Fig. 1；
Fig. 6 is the structural representation of the first rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 1；
Fig. 7 is the structural representation of the second rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 1；
Fig. 8 is the structural representation of the 3rd rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 1；
Fig. 9 be articulated arm mechanical hand described in the utility model second embodiment in zero-bit state (inoperative shape
Under state) perspective view；
Figure 10 is the main structure diagram of articulated arm mechanical hand shown in Fig. 9；
Figure 11 is the annexation structural representation of each drive mechanism in articulated arm mechanical hand shown in Fig. 9；
Figure 12 is the structural representation of lift drive mechanism described in articulated arm mechanical hand shown in Fig. 9；
Figure 13 is the structural representation of the first rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 9；
Figure 14 is the structural representation of the second rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 9；
Figure 15 is the structural representation of the 3rd rotary drive mechanism described in articulated arm mechanical hand shown in Fig. 9.
In conjunction with accompanying drawing, make the following instructions：
1 first arm body 2 second arm body
3 grabbing assembly 30 arm support
31 grippers 4 electric cabinet
40 setting housing 41 cases
42 case 5 lift drive mechanism
50 first servo motor 51 first screw rod
52 first nut 53 first synchronous belt
54 first linear slide rail 55 lifts fixed seat
6 first rotary drive mechanism 60 second servo motor
61 first reductor 62 live spindle
7 second rotary drive mechanism 70 the 3rd servo motor
71 second reductor 72 second synchronous belt
8 the 3rd rotary drive mechanism 80 the 4th servo motor
81 the 3rd reductor 9 adjusts lower margin
Specific embodiment
Referring to figure, preferred embodiment of the present utility model is described in detail.
The utility model discloses a kind of articulated arm mechanical hand, including electric cabinet 4 be connected on described electric cabinet 4
Mechanical arm assembly, this mechanical arm assembly includes the first arm body 1, the second arm body 2 and supplies to capture the grabbing assembly of object
3, described first arm body 1 and the second arm body 2 are in lateral arrangement and section is pancake list structure body (as finger-type)；Institute
State the first arm body 1 by a lift drive mechanism 5 can relatively described electric cabinet 4 vertical position be adjustably connected to described automatically controlled
On case 4, described first arm body 1 can also rotate relative to described electric cabinet 4 simultaneously；Described second arm body 2 is undertaken in described first
On one end of arm body 1 length direction, and can rotate relative to described first arm body 1；Described grabbing assembly 3 is undertaken in described second
On arm body 2 one end away from described first arm body 1, and described grabbing assembly 3 can also rotate relative to described second arm body 2.
The articulated arm mechanical hand realizing above-mentioned functions can have various shapes and structure, is illustrated below：
First embodiment：
Refer to shown in accompanying drawing 1-8, it is the first embodiment structure of articulated arm mechanical hand of the present invention.
In the present embodiment, described electric cabinet 4 is vertical placement, and it has a setting housing 40, a case 41 and
One case 42, described case 41 positioning is arranged on the top of described setting housing 40, also on described case 41
It is provided with a vertical U-shaped breach, described case 42 positioning is inserted in described U-shaped breach.
Described lift drive mechanism 5 is contained in described case 41, and described lift drive mechanism 5 includes first and watches
Take motor 50, the first ball screw assembly, the first belt pulley set, the first synchronous belt 53, the first linear slide rail 54 and lifting solid
Reservation 55, wherein, described first servo motor 50 positioning is built in described electric cabinet 4, described first ball screw assembly bag
Include first screw rod 51 and being vertically built in described electric cabinet 4 and be slidedly arranged on the first nut on described first screw rod 51
52, described first belt pulley set is made up of a pair first belt pulleys, this to the first belt pulley respectively fixed cover located at described first
On one axle head of the output shaft of servo motor 50 and described first screw rod 51, and this is same also by described first to the first belt pulley
Step belt 53 is in transmission connection；Described first linear slide rail 54 also vertically positions and is built in described electric cabinet 4, and described lifting is solid
Reservation 55 is undertaken on described first linear slide rail 54, and constitutes with described first linear slide rail 54 and match and be slidably connected, and
Described lifting fixed seat 55 is also located by connecting with described first nut 52 simultaneously；
In addition, described first arm body 1 is undertaken in described lifting fixed seat 55, and can also be in described lifting fixed seat 55
Drive under relatively described electric cabinet 4 move up and down positioning.
In the present embodiment, the structure that described first arm body 1 can also rotate relative to described electric cabinet 4 is：It is additionally provided with
One rotary drive mechanism 6, this first rotary drive mechanism 6 is contained in described case 42 that (as described case 42 covers at institute
State outside the first rotary drive mechanism 6), and this first rotary drive mechanism 6 include the second servo motor 60, the first reductor 61,
3rd Timing Belt and live spindle 62, described second servo motor 60 positioning is arranged in described lifting fixed seat 55, and described the
The input shaft of one reductor 61 is in transmission connection by the output shaft of described 3rd Timing Belt and described second servo motor 60, described
The output shaft of the first reductor 61 is located by connecting in an axle side of described live spindle 62, and described live spindle 62 is movably set in
In described lifting fixed seat 55, and another axle side of described live spindle 62 is also another with described first arm body 1 length direction
End is located by connecting.
Preferably, described first arm body 1 and the second arm body 2 are hollow form；And described second arm body 2 is undertaken in described
On one end of one arm body 1 length direction, and the structure that can rotate relative to described first arm body 1 is：It is additionally provided with the second rotation to drive
Motivation structure 7, this second rotary drive mechanism 7 includes the 3rd servo motor 70, the second reductor 71, the second belt pulley set and second
Synchronous belt 72, wherein said 3rd servo motor 70 positioning is inserted in described live spindle 62 that (described live spindle 62 is
Hollow structure), and the output shaft also activity of described 3rd servo motor 70 simultaneously is inserted in described first arm body 1 other end；
Described second reductor 71 positioning is built in described first arm body 1 one end, and the output shaft of the second reductor 71 also stretches out in
Outside described first arm body 1；Described second belt pulley set is made up of a pair second belt pulleys, and this is to the second belt pulley fixed cover respectively
On the output shaft of described 3rd servo motor 70 and the input shaft of described second reductor 71, and this is to the second belt pulley also
It is in transmission connection by described second synchronous belt 72；In addition, the other end of described second arm body 2 is located by connecting and subtracts in described second
On the output shaft of fast machine 71.
In the present embodiment, described grabbing assembly 3 is undertaken in described second arm body 2 one end away from described first arm body 1
On, and the structure that described grabbing assembly 3 can also rotate relative to described second arm body 2 is：It is additionally provided with the 3rd rotary drive mechanism
8, the 3rd rotary drive mechanism 8 includes the 4th servo motor 80 and the 3rd reductor 81, and described 4th servo motor 80 positions
It is inserted in one end of described second arm body 2, described 3rd reductor 81 is placed in outside described second arm body 2, and the described 3rd subtracts
The input shaft of fast machine 81 is located by connecting with the output shaft of described 4th servo motor 80, and the output shaft of described 3rd reductor 81 is fixed
Position is connected to described grabbing assembly 3.
Preferably, described grabbing assembly 3 includes arm support 30 and grippers 31, and described arm support 30 is by all in long strip-board shape
The T-type structure body that first linking arm and the second linking arm are connected and constitute, and described first linking arm is dorsad described second even
The one end connecing arm is located by connecting on the output shaft of described 3rd reductor 81；Described grippers 31 are sucker, jaw and electromagnetism
One of ferrum, and described grippers 31 are located by connecting on described second linking arm.
In the present embodiment, be also provided with the bottom surface of described electric cabinet 4 multiple regulation lower margins 9, the plurality of adjustably
Foot 9 can drive described electric cabinet 4 to carry out up and down running fix a little.
Second embodiment：
Refer to shown in accompanying drawing 9-15, it is the second embodiment structure of articulated arm mechanical hand of the present invention.
In the present embodiment, described electric cabinet 4 is the hollow rectangular structure of horizontal placement；Described lift drive mechanism 5
It is contained in this hollow rectangular structure, described lift drive mechanism 5 includes the first servo motor 50, the first ball screw group
Part, the first belt pulley set, the first synchronous belt 53, the first linear slide rail 54 and lifting fixed seat 55, wherein, described first servo
Motor 50 positioning be built in described electric cabinet 4, described first ball screw assembly include one be vertically built in described automatically controlled
The first screw rod 51 and one in case 4 is slidedly arranged on the first nut 52 on described first screw rod 51, and described first belt pulley set is by one
First belt pulley is formed, this to the first belt pulley respectively fixed cover located at the output shaft of described first servo motor 50 and described
On one axle head of the first screw rod 51, and this is in transmission connection also by described first synchronous belt 53 to the first belt pulley；Described
One linear slide rail 54 also vertically positions and is built in described electric cabinet 4, and described lifting fixed seat 55 is undertaken in described First Line
Property slide rail 54 on, and constitute with described first linear slide rail 54 and match and be slidably connected, and described lifting fixed seat 55 is also simultaneously
It is located by connecting with described first nut 52；In addition, described first arm body 1 is undertaken in described lifting fixed seat 55, and can also
Under the drive of described lifting fixed seat 55, relatively described electric cabinet 4 moves up and down positioning；And also tie in this hollow cuboid
The upper surface of structure offers an impenetrating mouth connecting with its inner chamber, and described lifting fixed seat 55 can be stretched relatively described impenetrating mouth
Go out and bounce back.
In the present embodiment, the structure that described first arm body 1 can also rotate relative to described electric cabinet 4 is：It is additionally provided with
One rotary drive mechanism 6, this first rotary drive mechanism 6 includes the second servo motor 60, the first reductor 61 and live spindle
62, described second servo motor 60 positioning is arranged on the top of described lifting fixed seat 55, and described live spindle 62 is located at institute
State the top of the second servo motor 60, the lower axle side of described live spindle 62 is watched with described second by described first reductor 61
The output shaft taking motor 60 is located by connecting (the i.e. output of the input shaft of described first reductor 61 and described second servo motor 60
Axle is located by connecting), the upper shaft side of described live spindle 62 is located by connecting with the other end of described first arm body 1 length direction.Separately
Outward, it is additionally provided with an outer casing, described outer casing covers at outside described second servo motor and the first reductor, and simultaneously described
Outer casing is also located by connecting in described lifting fixed seat 15.
Preferably, described first arm body 1 and the second arm body 2 are hollow form；And described second arm body 2 is undertaken in described
On one end of one arm body 1 length direction, and the structure that can rotate relative to described first arm body 1 is：It is additionally provided with the second rotation to drive
Motivation structure 7, this second rotary drive mechanism 7 includes the 3rd servo motor 70, the second reductor 71, the second belt pulley set and second
Synchronous belt 72, wherein said 3rd servo motor 70 positioning is inserted in described live spindle 62 that (described live spindle 62 is
Hollow structure), and the output shaft also activity of described 3rd servo motor 70 simultaneously is inserted in described first arm body 1 other end；
Described second reductor 71 positioning is built in described first arm body 1 one end, and the output shaft of the second reductor 71 also stretches out in
Outside described first arm body 1；Described second belt pulley set is made up of a pair second belt pulleys, and this is to the second belt pulley fixed cover respectively
On the output shaft of described 3rd servo motor 70 and the input shaft of described second reductor 71, and this is to the second belt pulley also
It is in transmission connection by described second synchronous belt 72；
In addition, the other end of described second arm body 2 is located by connecting on the output shaft of described second reductor 71.
In the present embodiment, described grabbing assembly 3 is undertaken in described second arm body 2 one end away from described first arm body 1
On, and the structure that described grabbing assembly 3 can also rotate relative to described second arm body 2 is：It is additionally provided with the 3rd rotary drive mechanism
8, the 3rd rotary drive mechanism 8 includes the 4th servo motor 80 and the 3rd reductor 81, and described 4th servo motor 80 positions
It is inserted in one end of described second arm body 2, described 3rd reductor 81 is placed in outside described second arm body 2, and the described 3rd subtracts
The input shaft of fast machine 81 is located by connecting with the output shaft of described 4th servo motor 80, and the output shaft of described 3rd reductor 81 is fixed
Position is connected to described grabbing assembly 3.
Preferably, described grabbing assembly 3 includes arm support 30 and grippers 31, and described arm support 30 is by all in long strip-board shape
The T-type structure body that first linking arm and the second linking arm are connected and constitute, and described first linking arm is dorsad described second even
The one end connecing arm is located by connecting on the output shaft of described 3rd reductor 81；Described grippers 31 are sucker, jaw and electromagnetism
One of ferrum, and described grippers 31 are located by connecting on described second linking arm.
In the present embodiment, be also provided with the bottom surface of described electric cabinet 4 multiple regulation lower margins 9, the plurality of adjustably
Foot 9 can drive described electric cabinet 4 to carry out up and down running fix a little.
Claims (9)
1. a kind of articulated arm mechanical hand, including electric cabinet (4) with the mechanical arm assembly that is connected on described electric cabinet (4),
This mechanical arm assembly includes the first arm body (1), the second arm body (2) and one grabbing assembly (3) for crawl object, described
First arm body (1) and the second arm body (2) are the list structure body in lateral arrangement；It is characterized in that：Described first arm body (1)
Described electric cabinet (4) can be adjustably connected to by relatively described electric cabinet (4) vertical position by a lift drive mechanism (5)
On, described first arm body (1) can also rotate relative to described electric cabinet (4) simultaneously；Described second arm body (2) is undertaken in described
On one end of one arm body (1) length direction, and can rotate relative to described first arm body (1)；Described grabbing assembly (3) is undertaken in
On described second arm body (2) one end away from described first arm body (1), and described grabbing assembly (3) can also relatively described
Two arm body (2) rotations.
2. articulated arm mechanical hand according to claim 1 it is characterised in that：Described lift drive mechanism (5) includes the
One servo motor (50), the first ball screw assembly, the first belt pulley set, the first synchronous belt (53), the first linear slide rail
(54) and lifting fixed seat (55), wherein, described first servo motor (50) positioning is built in described electric cabinet (4), described
First ball screw assembly include first screw rod (51) and being vertically built in described electric cabinet (4) be slidedly arranged on described
The first nut (52) on first screw rod (51), described first belt pulley set is made up of a pair first belt pulleys, and this is to the first skin
Belt wheel distinguishes fixed cover on the output shaft of described first servo motor (50) and an axle head of described first screw rod (51), and
This is in transmission connection also by described first synchronous belt (53) to the first belt pulley；Described first linear slide rail (54) is also vertically
Positioning is built in described electric cabinet (4), and described lifting fixed seat (55) is undertaken on described first linear slide rail (54), and with
Described first linear slide rail (54) constitutes to match and is slidably connected, and simultaneously described lifting fixed seat (55) also with described first spiral shell
Cap (52) is located by connecting；
In addition, described first arm body (1) is undertaken on described lifting fixed seat (55), and can also be in described lifting fixed seat
(55) under drive, relatively described electric cabinet (4) moves up and down positioning.
3. articulated arm mechanical hand according to claim 2 it is characterised in that：Described first arm body (1) can also be relatively
The structure that described electric cabinet (4) rotates is：It is additionally provided with the first rotary drive mechanism (6), this first rotary drive mechanism (6) includes
Second servo motor (60), the first reductor (61) and live spindle (62), described second servo motor (60) positioning is arranged at
On described lifting fixed seat (55), the input shaft of described first reductor (61) is connected to the defeated of described second servo motor (60)
Shaft, the output shaft of described first reductor (61) is located by connecting in an axle side of described live spindle (62), and described rotation
Another axle side of main shaft (62) is also located by connecting with the other end of described first arm body (1) length direction.
4. articulated arm mechanical hand according to claim 3 it is characterised in that：Described first arm body (1) and the second arm body
(2) it is hollow form；And described second arm body (2) is undertaken on one end of described first arm body (1) length direction, and being capable of phase
The structure that described first arm body (1) is rotated is：It is additionally provided with the second rotary drive mechanism (7), this second rotary drive mechanism (7)
Including the 3rd servo motor (70), the second reductor (71), the second belt pulley set and the second synchronous belt (72), wherein said
Three servo motors (70) positioning is inserted in described live spindle (62), and the output shaft of described 3rd servo motor (70) simultaneously
Also activity is inserted in described first arm body (1) other end；Described second reductor (71) positioning is built in described first arm body
(1) in one end, and the output shaft of the second reductor (71) also stretches out in described first arm body (1) outward；Described second belt pulley set
It is made up of a pair second belt pulleys, this distinguishes the output shaft located at described 3rd servo motor (70) for the fixed cover to the second belt pulley
On the input shaft of described second reductor (71), and this is driven also by described second synchronous belt (72) to the second belt pulley
Connect；
In addition, the other end of described second arm body (2) is located by connecting on the output shaft of described second reductor (71).
5. articulated arm mechanical hand according to claim 1 it is characterised in that：Described grabbing assembly (3) is undertaken in described
On second arm body (2) one end away from described first arm body (1), and described grabbing assembly (3) can also relatively described second arm
The structure that body (2) rotates is：It is additionally provided with the 3rd rotary drive mechanism (8), the 3rd rotary drive mechanism (8) includes the 4th servo
Motor (80) and the 3rd reductor (81), described 4th servo motor (80) positioning is inserted in one end of described second arm body (2)
In, described 3rd reductor (81) is placed in described second arm body (2) outward, and the input shaft of described 3rd reductor (81) with described
The output shaft of the 4th servo motor (80) is located by connecting, and the output shaft of described 3rd reductor (81) is located by connecting in described crawl
Assembly (3).
6. articulated arm mechanical hand according to claim 5 it is characterised in that：Described grabbing assembly (3) includes arm support
(30) and grippers (31), described arm support (30) be to be connected by the first linking arm all in long strip-board shape and the second linking arm and
The T-type structure body constituting, and described first linking arm dorsad one end of described second linking arm is located by connecting and subtracts in the described 3rd
On the output shaft of fast machine (81)；Described grippers (31) are one of sucker, jaw and electric magnet, and described grippers (31)
It is located by connecting on described second linking arm.
7. articulated arm mechanical hand according to claim 3 it is characterised in that：Described electric cabinet (4) is vertical placement, its
There is a setting housing (40), a case (41) and a case (42), described case (41) positioning is arranged at described
Erect on the top of housing (40), described lift drive mechanism (5) is contained in described case (41)；Also in described collecting
One vertical U-shaped breach is provided with housing (41), described case (42) positioning is inserted in described U-shaped breach, and institute simultaneously
State case (42) and also cover at described first rotary drive mechanism (6) outward；
In addition, described first rotary drive mechanism (6) also includes one the 3rd Timing Belt, the input of described first reductor (61)
Axle is in transmission connection by the output shaft of described 3rd Timing Belt and described second servo motor (60)；And described live spindle (62)
It is movably set on described lifting fixed seat (55).
8. articulated arm mechanical hand according to claim 3 it is characterised in that：Described electric cabinet (4) is horizontal placement
Hollow rectangular structure, described lift drive mechanism (5) is contained in this hollow rectangular structure, also ties in this hollow cuboid
The upper surface of structure offers an impenetrating mouth connecting with its inner chamber, and described lifting fixed seat (55) being capable of relatively described impenetrating mouth
Stretch out and bounce back；
In addition, described second servo motor (60) positioning is arranged on the top of described lifting fixed seat (55), described rotation master
Axle (62) is located at the top of described second servo motor (60), slows down by described first in the lower axle side of described live spindle (62)
Machine (61) is located by connecting with the output shaft of described second servo motor (60), the upper shaft side of described live spindle (62) and described the
The other end of one arm body (1) length direction is located by connecting.
9. articulated arm mechanical hand according to claim 1 it is characterised in that：Also on the bottom surface of described electric cabinet (4)
It is provided with multiple regulations lower margin (9), the plurality of regulation lower margin (9) can drive described electric cabinet (4) to be moved a little up and down
Positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620784003.3U CN205996967U (en) | 2016-07-25 | 2016-07-25 | Articulated arm mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620784003.3U CN205996967U (en) | 2016-07-25 | 2016-07-25 | Articulated arm mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205996967U true CN205996967U (en) | 2017-03-08 |
Family
ID=58202109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620784003.3U Active CN205996967U (en) | 2016-07-25 | 2016-07-25 | Articulated arm mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205996967U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002984A (en) * | 2016-07-25 | 2016-10-12 | 昆山威创自动化科技有限公司 | Articulated arm type manipulator |
| CN107283406A (en) * | 2017-08-25 | 2017-10-24 | 太仓望虞机械科技有限公司 | A kind of wall-mounted portable mechanical arm |
| CN108161992A (en) * | 2018-02-05 | 2018-06-15 | 北京金雨科创自动化技术股份有限公司 | Connect up mechanical system |
| CN109173048A (en) * | 2018-08-21 | 2019-01-11 | 何增义 | A kind of nerve rehabilitation assistor |
| WO2020094093A1 (en) * | 2018-11-07 | 2020-05-14 | 引先自动化科技（苏州）有限公司 | Cassette transfer arm and transport system comprising same |
-
2016
- 2016-07-25 CN CN201620784003.3U patent/CN205996967U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002984A (en) * | 2016-07-25 | 2016-10-12 | 昆山威创自动化科技有限公司 | Articulated arm type manipulator |
| CN107283406A (en) * | 2017-08-25 | 2017-10-24 | 太仓望虞机械科技有限公司 | A kind of wall-mounted portable mechanical arm |
| CN108161992A (en) * | 2018-02-05 | 2018-06-15 | 北京金雨科创自动化技术股份有限公司 | Connect up mechanical system |
| CN108161992B (en) * | 2018-02-05 | 2024-04-02 | 北京金雨科创自动化技术股份有限公司 | Wiring method of wiring mechanical system |
| CN109173048A (en) * | 2018-08-21 | 2019-01-11 | 何增义 | A kind of nerve rehabilitation assistor |
| WO2020094093A1 (en) * | 2018-11-07 | 2020-05-14 | 引先自动化科技（苏州）有限公司 | Cassette transfer arm and transport system comprising same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205996967U (en) | Articulated arm mechanical hand | |
| CN205685336U (en) | Large-scale four axis robot | |
| CN205987111U (en) | But height -adjusting's surveillance camera head | |
| CN202934565U (en) | Five-shaft double-arm multifunctional robot | |
| CN105983959B (en) | Multi-joint manipulator | |
| CN106002961B (en) | Five axis robot of parallel-moving type | |
| CN102358447A (en) | Packing machine | |
| CN203254410U (en) | Mobile object-fetching robot | |
| CN108015757A (en) | A kind of simple industry mechanical arm of teaching | |
| CN106002984B (en) | Articulated arm manipulator | |
| CN104410217B (en) | Rotor special vertical extractor | |
| CN109877206A (en) | A kind of stamping device of the electric machine iron core steel disc with automatic pick-and-place apparatus | |
| CN208147348U (en) | A kind of numerically-controlled machine tool that can change operating position | |
| CN206011060U (en) | Five axis robot of parallel-moving type | |
| CN204221781U (en) | A kind of manipulator | |
| CN214924419U (en) | Manipulator for transferring parts | |
| CN206068936U (en) | A kind of electrokinetic cell pallet automatic stacking buffer storage | |
| CN207643129U (en) | Stamping mechanical arm | |
| CN213111976U (en) | Hose winding structure with adjustable position | |
| CN110900750A (en) | Door plate hot press | |
| CN206216861U (en) | A kind of Height Adjustable Blank drawing machine of trays | |
| CN215363725U (en) | Pick-and-place manipulator of vacuum cup processing equipment | |
| CN206663229U (en) | A kind of parts intelligent flexible hangs manipulator | |
| CN209850950U (en) | Adjustable connecting rod type grabbing manipulator | |
| CN211491987U (en) | Door plate hot press |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |