CN206475204U - A kind of six degree of freedom mechanical arm based on fischer model - Google Patents
A kind of six degree of freedom mechanical arm based on fischer model Download PDFInfo
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- CN206475204U CN206475204U CN201720129707.1U CN201720129707U CN206475204U CN 206475204 U CN206475204 U CN 206475204U CN 201720129707 U CN201720129707 U CN 201720129707U CN 206475204 U CN206475204 U CN 206475204U
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- worm
- support frame
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- wheel gearing
- motor
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Abstract
The utility model discloses a kind of six degree of freedom mechanical arm based on fischer model, including pedestal, it is connected with the first Worm and worm-wheel gearing being controlled by automaton on pedestal in turn in series, second Worm and worm-wheel gearing, 3rd Worm and worm-wheel gearing, 4th Worm and worm-wheel gearing, 5th Worm and worm-wheel gearing and the 6th gear drive, wherein, each Worm and worm-wheel gearing includes motor, the worm gear being engaged by motor-driven worm screw and with worm screw, each Worm and worm-wheel gearing is arranged on respective support frame, wherein, the support frame of first Worm and worm-wheel gearing is fixed on pedestal, the support frame of remaining Worm and worm-wheel gearing at different levels is fixedly connected with the worm gear in upper level Worm and worm-wheel gearing.The utility model can be used as robot teaching's teaching aid.
Description
Technical field
The utility model belongs to mechanical arm technical field, and in particular to a kind of six degree of freedom machinery based on fischer model
Arm.
Background technology
In terms of industrial expansion, especially intelligence manufacture, robot automation, increasing educational institution, section
Grind applicable industry robot of mechanism and carry out teaching, training, expansion scientific research project, existing industrial robot generally has structure
The deficiencies such as volume is big, weight is big, construction cycle length, the research and development for being not easy to robot control system and manufacturing cost height.Existing skill
Have that one kind to be supplied is simple in construction, lightweight, the construction cycle is short in art, to be easy to research and development robot control system, manufacturing cost low
Multi-freedom-degreemanipulator manipulator arm, applied to robot teaching's teaching aid, as platform of development machines people's control system etc. should
Use scene.
Utility model content
The utility model aims to overcome that the deficiencies in the prior art, and there is provided a kind of six degree of freedom machine based on fischer model
The model buildings standard component provided in tool arm, the mechanical arm application market by Hui Yu companies is built, with structure letter
It is single, lightweight, build conveniently, the construction cycle is short, be easy to research and development robot control system, the low advantage of manufacturing cost, especially fit
For robot teaching's teaching aid, it is used as the application scenarios such as the platform of development machines people's control system.
The purpose of this utility model is achieved through the following technical solutions：
Connect successively in series on a kind of six degree of freedom mechanical arm based on fischer model, including pedestal, pedestal
It is connected to the first Worm and worm-wheel gearing being controlled by automaton, the second Worm and worm-wheel gearing, the 3rd
Worm and worm-wheel gearing, the 4th Worm and worm-wheel gearing, the 5th Worm and worm-wheel gearing and the 6th gear drive machine
Structure, wherein, the snail that each Worm and worm-wheel gearing includes motor, is engaged by motor-driven worm screw and with worm screw
Wheel, each Worm and worm-wheel gearing is arranged on respective support frame, wherein, the support of the first Worm and worm-wheel gearing
Frame is fixed on pedestal, the support frame of remaining Worm and worm-wheel gearing at different levels with upper level Worm and worm-wheel gearing
Worm gear is fixedly connected；6th gear drive include the 6th motor, by the 6th motor-driven driving gear and with
The driven gear of driving gear engagement, the 6th gear drive is arranged on the 6th support frame, the 6th support frame and the
The worm gear of five Worm and worm-wheel gearings is fixedly connected.
The operation principle of the above-mentioned six degree of freedom mechanical arm based on fischer model is：Above-mentioned mechanical arm is by five worm gears
Worm gearing and a wheel drive mechanism concatenate to form six degree of freedom series connection mechanical arm, and every grade of transmission mechanism provides one certainly
By spending, the end of the mechanical arm is arranged as required to specific end effector, and control is sent by automaton during work
Instruction, controls motor in transmission mechanisms at different levels to rotate the angle set, the combination of actions of transmission mechanisms at different levels constitutes end together
Hold the movement locus of actuator so that end effector is moved by the path of setting.
A preferred scheme of the present utility model, wherein, first Worm and worm-wheel gearing include the first motor, with
First worm screw of the first electric machine main shaft connection and the first worm gear being engaged with the first worm screw, the first Worm Wheel System machine
Structure is arranged on the first support frame, and the axis horizontal of first worm screw is set, and the axis of first worm gear is vertically arranged.It is logical
Cross the first Worm and worm-wheel gearing using said structure form so that the first worm gear can be rotated in the horizontal plane, so that
The free degree rotated in the horizontal plane is provided for end effector.
A preferred scheme of the present utility model, wherein, second Worm and worm-wheel gearing include the second motor, with
Second worm screw of the second electric machine main shaft connection and the second worm gear being engaged with the second worm screw, the second Worm Wheel System machine
Structure is arranged on the second support frame, and second support frame is fixed on the top of the first worm gear and upwardly extended, second snail
The axis horizontal of bar is set, and the axis of second worm gear is also horizontally disposed.By using the second snail of said structure form
Worm and gear transmission mechanism so that the second worm gear can be in vertical rotation in surface, so as to be provided for end effector in vertical guide
The free degree of rotation.
A preferred scheme of the present utility model, wherein, the 3rd Worm and worm-wheel gearing include the 3rd motor, with
3rd worm screw of the 3rd electric machine main shaft connection and the 3rd worm gear being engaged with the 3rd worm screw, the 3rd Worm Wheel System machine
Structure is arranged on the 3rd support frame, and the 3rd support frame is fixed on the side of the second worm gear；3rd support frame and
First order rotational angle position-limit mechanism is provided between two support frames, the first order rotational angle position-limit mechanism includes being arranged on second
Two first order limit switches on support frame and two first order trigger member being located on the 3rd support frame, described two
One-level limit switch is respectively arranged at the extreme position of the slewing area of two first order trigger member.Above-mentioned 3rd worm and gear
Horizontal axis when transmission mechanism works around the second worm gear is rotated, and the axis of the 3rd worm screw therein is change in the course of work
, and rotary motion is exported by the 3rd worm gear；The scope of activities of whole 3rd Worm and worm-wheel gearing is by first order angle of rotation
Spend position-limit mechanism to limit, after first order trigger member moves to extreme position and triggers that the first order is spacing to be opened, stopping is rotated forward.
A preferred scheme of the present utility model, wherein, the 4th Worm and worm-wheel gearing includes the 4th motor, the
Drive link is connected with four worm screws and the 4th worm gear being engaged with the 4th worm screw, the 4th electric machine main shaft, the drive link
End be connected by boring tooth transmission mechanism with the 4th worm screw；4th Worm and worm-wheel gearing is arranged at the 4th support frame
On, the 4th support frame is fixed on the side of the 3rd worm gear；Provided with the between 4th support frame and the 3rd support frame
Two grades of rotational angle position-limit mechanisms, the second level rotational angle position-limit mechanism includes two second be arranged on the 3rd support frame
Level limit switch and two second level trigger member being located on the 4th support frame, described two second level limit switches are set respectively
It is placed in the extreme position of the slewing area of two second level trigger member.In 4th Worm and worm-wheel gearing of said structure,
By setting drive link so that can distance away, so that prolonged mechanical arm between the 4th worm screw and the 4th motor
Length, while also make it that the weight distribution on the 4th support frame is more balanced so that the steadily of centre of gravity of mechanical arm；In addition, setting
Second level rotational angle position-limit mechanism, can limit the scope of activities of whole 4th Worm and worm-wheel gearing, its operation principle
It is similar to first order rotational angle position-limit mechanism.
A preferred scheme of the present utility model, wherein, the 5th Worm and worm-wheel gearing includes the 5th motor, the
Five worm screws and the 5th worm gear being engaged with the 5th worm screw, by successively between the main shaft of the 5th motor and the 5th worm screw
Three roller gears connection of engagement；5th Worm and worm-wheel gearing is arranged on the 5th support frame, the 5th support
Frame is fixed on the 4th worm gear.In 5th Worm and worm-wheel gearing of said structure, pass through the main shaft in the 5th motor and
It is driven between five worm screws by three roller gears engaged successively so that the 5th motor, the 5th worm screw and the 5th snail
The arrangement taken turns on the 5th support frame is more reasonable, and weight distribution is uniform, improves the stability of mechanical arm.
A preferred scheme of the present utility model, wherein, the 6th support frame is fixed on the 5th worm gear；Described 6th
Third level rotational angle position-limit mechanism is provided between support frame and the 5th support frame, the third level rotational angle position-limit mechanism includes
Two third level limit switches being arranged on the 5th support frame and two third level trigger member being located on the 6th support frame,
Described two third level limit switches are respectively arranged at the extreme position of the slewing area of two third level trigger member.Above-mentioned knot
In structure, third level rotational angle position-limit mechanism is set, the scope of activities of whole 6th gear drive, its work can be limited
Principle is similar to first order rotational angle position-limit mechanism.
A preferred scheme of the present utility model, wherein, the first order trigger member, second level trigger member and the third level
Trigger member is superimposed to be formed by square part.So the length of trigger member can be adjusted as needed, so as to change corresponding driver
The scope of activities of structure, meets diversified job requirement.
A preferred scheme of the present utility model, wherein, first motor, the second motor, the 3rd motor, the 4th electricity
Machine, the 5th motor and the 6th motor are direct current generator.
A preferred scheme of the present utility model, wherein, the driven gear in the 6th gear drive is provided with
Pneumatic manipulator mechanism；The Pneumatic manipulator mechanism include be fixed on pedestal air pump, be fixed on the driven tooth
Cylinder and two mechanical paws being rotationally connected with the driven gear on wheel；It is rotatably connected on the push rod of the cylinder
Two panels connection sheet, two panels connection sheet connects two mechanical paws respectively.Above-mentioned Pneumatic manipulator mechanism is set to be held as end
Row device, it is possible to achieve work is carried in clamping；The connection sheet of connection mechanical paw is pulled by the push rod of cylinder, so that manipulator
Pawl closure catches article, and the connection sheet is equivalent to the passages through which vital energy circulates of human body, and which is simple in construction and controls accurate.
The utility model has following beneficial effect compared with prior art：
1st, mechanical arm of the present utility model has six degree of freedom, can realize and rotate from six positions, so as to spirit
Each position that end effector is moved in the range of arm length by ground living.
2nd, mechanical arm of the present utility model using fischer model manufacture have simple in construction, the lightweight, construction cycle it is short,
It is easy to research and development robot control system, the low advantage of manufacturing cost.Suitable for such as robot teaching's teaching aid, it is used as development machines
The application scenarios such as people's control system platform.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model embodiment；
Fig. 2 is the another angled arrangement schematic diagram of the utility model embodiment；
Fig. 3 show the 5th Worm and worm-wheel gearing structural representation.
Embodiment
The utility model is described in further detail with reference to embodiment and accompanying drawing, but implementation of the present utility model
Mode not limited to this.
Referring to a kind of six degree of freedom mechanical arm based on fischer model shown in Fig. 1, Fig. 2 and Fig. 3, including pedestal 1, base
Seat 1 on be connected with turn in series be controlled by automaton 32 the first Worm and worm-wheel gearing A,
Second Worm and worm-wheel gearing B, the 3rd Worm and worm-wheel gearing C, the 4th Worm and worm-wheel gearing D, the 5th worm gear snail
Bar transmission mechanism E and the 6th gear drive F, wherein, each Worm and worm-wheel gearing includes motor, driven by motor
Dynamic worm screw and the worm gear being engaged with worm screw, each Worm and worm-wheel gearing are arranged on respective support frame, its
In, the first Worm and worm-wheel gearing D support frame is fixed on pedestal, the support frame of remaining Worm and worm-wheel gearing at different levels
It is fixedly connected with the worm gear in upper level Worm and worm-wheel gearing；The 6th gear drive F includes the 6th motor
25th, the driving gear 22 driven by the 6th motor 25 and the driven gear 23 engaged with driving gear 22, the 6th gear are passed
Motivation structure F is arranged on the 6th support frame 21, and the worm gear 19 of the 6th support frame 21 and the 5th Worm and worm-wheel gearing E is fixed
Connection.
Referring to Fig. 1, Fig. 2 and Fig. 3, the first Worm and worm-wheel gearing A includes the first motor 4, led with the first motor 4
First worm screw 2 of axle connection and the first worm gear 3 being engaged with the first worm screw 2, first Worm and worm-wheel gearing A are set
In on the first support frame, the axis horizontal of first worm screw 2 is set, and the axis of first worm gear 3 is vertically arranged.By adopting
With the first Worm and worm-wheel gearing A of above-mentioned structure type so that the first worm gear 3 can be rotated in the horizontal plane, so as to be
End effector provides the free degree rotated in the horizontal plane.
Referring to Fig. 1, Fig. 2 and Fig. 3, the second Worm and worm-wheel gearing B include the second motor 8, with the second motor 8
Second worm screw 6 of main shaft connection and the second worm gear 7 being engaged with the second worm screw 6, second Worm and worm-wheel gearing B are set
It is placed on the second support frame 5, second support frame 5 is fixed on the top of the first worm gear 3 and upwardly extended, second worm screw
6 axis horizontal is set, and the axis of second worm gear 7 is also horizontally disposed.By using the second snail of said structure form
Worm and gear transmission mechanism B so that the second worm gear 7 can be in vertical rotation in surface, so as to be provided for end effector in vertical guide
The free degree of interior rotation.
Referring to Fig. 1, Fig. 2 and Fig. 3, the 3rd Worm and worm-wheel gearing C includes the 3rd motor 12 and the 3rd motor 12
3rd worm screw 10 of main shaft connection and the 3rd worm gear 11 being engaged with the 3rd worm screw 10, the 3rd Worm and worm-wheel gearing
C is arranged on the 3rd support frame 9, and the 3rd support frame 9 is fixed on the side of the second worm gear 11；3rd support frame 9
And second be provided with first order rotational angle position-limit mechanism between support frame 5, the first order rotational angle position-limit mechanism includes setting
Two first order limit switches 26 on the second support frame 5 and two first order trigger member being located on the 3rd support frame
27, described two first order limit switches 26 are respectively arranged at the extreme position of the slewing area of two first order trigger member 27
Place.Horizontal axis during above-mentioned 3rd Worm and worm-wheel gearing C work around the second worm gear 7 is rotated, the 3rd worm screw 9 therein
Axis in the course of work be change, and rotary motion is exported by the 3rd worm gear 11；Whole 3rd Worm and worm-wheel gearing C
Scope of activities limited by first order rotational angle position-limit mechanism, when first order trigger member move to extreme position and trigger first
Level it is spacing open after, stopping rotate forward.
Referring to Fig. 1, Fig. 2 and Fig. 3, the 4th Worm and worm-wheel gearing D include the 4th motor 16, the 4th worm screw 14 with
And the 4th worm gear 15 being engaged with the 4th worm screw 14, drive link 36 is connected with the main shaft of the 4th motor 16, the drive link
36 end is connected by boring tooth transmission mechanism 38 with the 4th worm screw 14；4th Worm and worm-wheel gearing D is arranged at the 4th
On support frame 13, the 4th support frame 13 is fixed on the side of the 3rd worm gear 11；4th support frame 13 and the 3rd
Second level rotational angle position-limit mechanism is provided between support 9, the second level rotational angle position-limit mechanism includes being arranged on the 3rd
Two second level limit switches 28 on support 9 and two second level trigger member 39 being located on the 4th support frame 13, it is described
Two second level limit switches 28 are respectively arranged at the extreme position of the slewing area of two second level trigger member 39.Above-mentioned knot
In 4th Worm and worm-wheel gearing D of structure, by setting drive link 36 so that can between the 4th worm screw 14 and the 4th motor 16
With distance away, so that the length of prolonged mechanical arm, while also causing weight distribution on the 4th support frame 13 more
It is balanced so that the steadily of centre of gravity of mechanical arm；In addition, setting second level rotational angle position-limit mechanism, whole 4th snail can be limited
Worm and gear transmission mechanism D scope of activities, its operation principle is similar to first order rotational angle position-limit mechanism.
Referring to Fig. 1, Fig. 2 and Fig. 3, the 5th Worm and worm-wheel gearing E include the 5th motor 20, the 5th worm screw 18 with
And the 5th worm gear 19 being engaged with the 5th worm screw 18, by successively between the main shaft of the 5th motor 20 and the 5th worm screw 18
Three roller gears 37 of engagement are connected；5th Worm and worm-wheel gearing E is arranged on the 5th support frame 17, and the described 5th
Support frame 17 is fixed on the 4th worm gear 15.In 5th Worm and worm-wheel gearing E of said structure, by the 5th motor 20
Main shaft and the 5th worm screw 18 between be driven by three roller gears 37 engaged successively so that the 5th motor 20,
The arrangement of five worm screws 18 and the 5th worm gear 19 on the 5th support frame 17 is more reasonable, and weight distribution is uniform, improves mechanical arm
Stability.
Referring to Fig. 1, Fig. 2 and Fig. 3, the 6th support frame 21 is fixed on the 5th worm gear 19；6th support frame 21
And the 5th be provided with third level rotational angle position-limit mechanism between support frame 17, the third level rotational angle position-limit mechanism includes setting
Two third level limit switches 30 on the 5th support frame 17 and two third level trigger member being located on the 6th support frame
31, described two third level limit switches 30 are respectively arranged at the extreme position of the slewing area of two third level trigger member 31
Place.In said structure, third level rotational angle position-limit mechanism is set, whole 6th gear drive F activity can be limited
Scope, its operation principle is similar to first order rotational angle position-limit mechanism.
Referring to Fig. 1, Fig. 2 and Fig. 3, the first order trigger member 27, second level trigger member 39 and third level trigger member 31
It is superimposed to be formed by square part.So the length of trigger member can be adjusted as needed, so as to change the work of corresponding transmission mechanism
Dynamic scope, meets diversified job requirement.
Referring to Fig. 1, Fig. 2 and Fig. 3, first motor 4, the second motor 8, the 3rd motor 12, the electricity of the 4th motor the 16, the 5th
The motor 25 of machine 20 and the 6th is direct current generator.
Referring to Fig. 1, Fig. 2 and Fig. 3, the driven gear 22 in the 6th gear drive F is provided with Pneumatic manipulator
Pawl mechanism G；The Pneumatic manipulator mechanism G include be fixed on pedestal air pump, be fixed on the driven gear 22
Cylinder 23 and two mechanical paws 34 being rotationally connected with the driven gear 22；Connection is rotated on the push rod of the cylinder 23
There is two panels connection sheet 35, two panels connection sheet 35 connects two mechanical paws 34 respectively.Above-mentioned Pneumatic manipulator mechanism G is set to make
For end effector, it is possible to achieve work is carried in clamping；The connection sheet of connection mechanical paw 34 is pulled by the push rod of cylinder 33
35, so that mechanical paw closure catches article, the connection sheet 35 is equivalent to the passages through which vital energy circulates of human body, and which is simple in construction and controls
System is accurate.
The operation principle to the six degree of freedom mechanical arm of the present utility model based on fischer model is made below in conjunction with the accompanying drawings
Further description：
Referring to Fig. 1, Fig. 2 and Fig. 3, above-mentioned mechanical arm is by five Worm and worm-wheel gearings and a wheel drive mechanism string
Connect to form six degree of freedom series connection mechanical arm, every grade of transmission mechanism provides one degree of freedom, and the end of the mechanical arm is set as needed
Specific end effector is put, control instruction is sent by automaton during work, controls motor in transmission mechanisms at different levels to turn
The angle of dynamic setting, the combination of actions of transmission mechanisms at different levels constitutes the movement locus of end effector together so that hold end
Row device is moved by the path of setting.
Above-mentioned is the utility model preferably embodiment, but embodiment of the present utility model is not by the above
Limitation, it is other it is any without departing from Spirit Essence of the present utility model and the change made under principle, modification, replacement, combine, it is simple
Change, should be equivalent substitute mode, be included within protection domain of the present utility model.
Claims (10)
1. a kind of six degree of freedom mechanical arm based on fischer model, including pedestal, it is characterised in that：With the side of series connection on pedestal
Formula is connected with the first Worm and worm-wheel gearing being controlled by automaton, the second Worm Wheel System machine in turn
Structure, the 3rd Worm and worm-wheel gearing, the 4th Worm and worm-wheel gearing, the 5th Worm and worm-wheel gearing and the 6th gear
Transmission mechanism, wherein, each Worm and worm-wheel gearing includes motor, is engaged by motor-driven worm screw and with worm screw
Worm gear, each Worm and worm-wheel gearing is arranged on respective support frame, wherein, the first Worm and worm-wheel gearing
Support frame is fixed on pedestal, the support frame of remaining Worm and worm-wheel gearing at different levels with upper level Worm and worm-wheel gearing
In worm gear be fixedly connected；6th gear drive include the 6th motor, by the 6th motor-driven driving gear with
And the driven gear engaged with driving gear, the 6th gear drive is arranged on the 6th support frame, the 6th support frame
It is fixedly connected with the worm gear of the 5th Worm and worm-wheel gearing.
2. a kind of six degree of freedom mechanical arm based on fischer model according to claim 1, it is characterised in that described
One Worm and worm-wheel gearing includes the first motor, the first worm screw being connected with the first electric machine main shaft and matched with the first worm screw
The first worm gear closed, first Worm and worm-wheel gearing is arranged on the first support frame, the axis horizontal of first worm screw
Set, the axis of first worm gear is vertically arranged.
3. a kind of six degree of freedom mechanical arm based on fischer model according to claim 2, it is characterised in that described
Two Worm and worm-wheel gearings include the second motor, the second worm screw being connected with the second electric machine main shaft and matched with the second worm screw
The second worm gear closed, second Worm and worm-wheel gearing is arranged on the second support frame, and second support frame is fixed on the
The top of one worm gear is simultaneously upwardly extended, and the axis horizontal of second worm screw is set, and the axis of second worm gear is also level
Set.
4. a kind of six degree of freedom mechanical arm based on fischer model according to claim 3, it is characterised in that described
Three Worm and worm-wheel gearings include the 3rd motor, the 3rd worm screw being connected with the 3rd electric machine main shaft and matched with the 3rd worm screw
The 3rd worm gear closed, the 3rd Worm and worm-wheel gearing is arranged on the 3rd support frame, and the 3rd support frame is fixed on the
On the side of two worm gears；First order rotational angle position-limit mechanism is provided between 3rd support frame and the second support frame, this
One-level rotational angle position-limit mechanism includes two first order limit switches being arranged on the second support frame and is located at the 3rd
Two first order trigger member on support, described two first order limit switches are respectively arranged at turn of two first order trigger member
The extreme position of dynamic scope.
5. a kind of six degree of freedom mechanical arm based on fischer model according to claim 4, it is characterised in that described
Four Worm and worm-wheel gearings include the 4th motor, the 4th worm screw and the 4th worm gear being engaged with the 4th worm screw, described the
Drive link is connected with four electric machine main shafts, the end of the drive link is connected by boring tooth transmission mechanism with the 4th worm screw；4th
Worm and worm-wheel gearing is arranged on the 4th support frame, and the 4th support frame is fixed on the side of the 3rd worm gear；It is described
Second level rotational angle position-limit mechanism, the second level rotational angle position-limit mechanism are provided between 4th support frame and the 3rd support frame
Touched including two second level limit switches being arranged on the 3rd support frame and two second level being located on the 4th support frame
Outbox, described two second level limit switches are respectively arranged at the extreme position of the slewing area of two second level trigger member.
6. a kind of six degree of freedom mechanical arm based on fischer model according to claim 5, it is characterised in that described
Five Worm and worm-wheel gearings include the 5th motor, the 5th worm screw and the 5th worm gear being engaged with the 5th worm screw, described the
Connected between the main shaft of five motors and the 5th worm screw by three roller gears engaged successively；5th Worm Wheel System machine
Structure is arranged on the 5th support frame, and the 5th support frame is fixed on the 4th worm gear.
7. a kind of six degree of freedom mechanical arm based on fischer model according to claim 6, it is characterised in that described
Six support frames are fixed on the 5th worm gear；It is spacing provided with third level rotational angle between 6th support frame and the 5th support frame
Mechanism, the third level rotational angle position-limit mechanism includes two third level limit switches being arranged on the 5th support frame and set
Two third level trigger member on the 6th support frame, described two third level limit switches are respectively arranged at two third level and touched
The extreme position of the slewing area of outbox.
8. a kind of six degree of freedom mechanical arm based on fischer model according to claim 7, it is characterised in that described
One-level trigger member, second level trigger member and third level trigger member are superimposed to be formed by square part.
9. a kind of six degree of freedom mechanical arm based on fischer model according to claim 6 or 7 or 8, it is characterised in that
First motor, the second motor, the 3rd motor, the 4th motor, the 5th motor and the 6th motor are direct current generator.
10. according to a kind of any described six degree of freedom mechanical arms based on fischer model of claim 1-8, its feature exists
In the driven gear in the 6th gear drive is provided with Pneumatic manipulator mechanism；The Pneumatic manipulator machine
Structure is including the air pump being fixed on pedestal, the cylinder being fixed on the driven gear and is rotationally connected with the driven gear
Two mechanical paws；Two panels connection sheet is rotatably connected on the push rod of the cylinder, two panels connection sheet connects two machines respectively
Tool paw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720129707.1U CN206475204U (en) | 2017-02-13 | 2017-02-13 | A kind of six degree of freedom mechanical arm based on fischer model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720129707.1U CN206475204U (en) | 2017-02-13 | 2017-02-13 | A kind of six degree of freedom mechanical arm based on fischer model |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206475204U true CN206475204U (en) | 2017-09-08 |
Family
ID=59747650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720129707.1U Expired - Fee Related CN206475204U (en) | 2017-02-13 | 2017-02-13 | A kind of six degree of freedom mechanical arm based on fischer model |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206475204U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108327573A (en) * | 2018-04-25 | 2018-07-27 | 广州市君望机器人自动化有限公司 | Mobile self charger |
-
2017
- 2017-02-13 CN CN201720129707.1U patent/CN206475204U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108327573A (en) * | 2018-04-25 | 2018-07-27 | 广州市君望机器人自动化有限公司 | Mobile self charger |
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