CN206501125U - Bionic mechanical arm - Google Patents
Bionic mechanical arm Download PDFInfo
- Publication number
- CN206501125U CN206501125U CN201621164857.8U CN201621164857U CN206501125U CN 206501125 U CN206501125 U CN 206501125U CN 201621164857 U CN201621164857 U CN 201621164857U CN 206501125 U CN206501125 U CN 206501125U
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- limiter
- iii
- executing agency
- controlling organization
- 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
Abstract
The utility model discloses a kind of bionic mechanical arm, including：Executing agency and controlling organization, the two wirelessly transmits signal, wherein, executing agency includes five steering wheels and a gripper, controlling organization includes four limiters, two supports, a link and a finger frame, after energization, the control steering wheel I of limiter IV works, and the control steering wheel II of limiter III works, the control steering wheel III of limiter II works, the control steering wheel IV of limiter I works, and finger frame control steering wheel V works, the action of executing agency and the action Complete Synchronization of controlling organization.It is of the present utility model to be beneficial in that：(1) controlling organization wirelessly transmits signal with executing agency, and far distance controlled can be achieved, more extensive using scope；(2) changed using limiter come pickup position, accurately positioning action can be carried out；(3) for different geographical environments, object of different shapes, gripper is optionally changed, with very high use value.
Description
Technical field
The utility model is related to a kind of mechanical arm, and in particular to a kind of bionic mechanical arm, belongs to field of mechanical technique.
Background technology
Existing common mechanical arm is controlled by computer, mobile phone, and by wire transmission signal.
Such mechanical arm is only suitable for amusement as toy, without very high use value, and positioning action
Inaccurately, transmission range is limited, is extremely difficult to be synchronized with the movement with self-demand.
Utility model content
To solve the deficiencies in the prior art, the purpose of this utility model is that offer one kind can long-distance transmissions, positional operand
Make accurate, the bionic mechanical arm with very high use value.
In order to realize above-mentioned target, the utility model is adopted the following technical scheme that：
A kind of bionic mechanical arm, it is characterised in that including：Executing agency (1) and controlling organization (2), controlling organization (2)
Control signal is sent to executing agency (1) in the way of being wirelessly transferred, wherein,
Foregoing executing agency (1) includes five steering wheels (11,13,15,16,17) and a gripper (18), steering wheel I (11)
Positioned at bottommost, rotating disk (12) is installed thereon, steering wheel I (11) is used to drive rotating disk (12) to rotate in the horizontal plane；Steering wheel II
(13) it is located above rotating disk (12), U-shaped steel disc (14) is installed thereon, steering wheel II (13) is used to drive U-shaped steel disc (14) to exist
Swung on vertical plane；Steering wheel III (15) is arranged on the top of U-shaped steel disc (14), and it can swing relative to U-shaped steel disc (14), pendulum
Dynamic face is on vertical plane；Steering wheel IV (16) is located at the side of steering wheel III (15), and the two is fixedly connected, keeps geo-stationary, steering wheel
The output shaft of IV (16) is provided with gripper (18) thereon towards upper, and steering wheel IV (16) rotates for driving mechanical pawl (18)；Rudder
Machine V (17) is arranged on gripper (18), and grasping movement is completed for driving mechanical pawl (18)；
Foregoing controlling organization (2) include four limiters (26,27,28,29), the support (22,24) of two L-types, one
Link (23) and a finger frame (25), limiter IV (29) are located at bottommost, and it is arranged on base (21), limiter III
(28) it is connected by support (22) with limiter IV (29), limiter II (27) is connected by link (23) and limiter III (28)
Connect, limiter I (26) is connected by support (24) with limiter II (27), finger frame (25) is arranged on limiter I (26)；
After energization, limiter IV (29) control steering wheel I (11) work, limiter III (28) control steering wheel II (13) work,
Limiter II (27) control steering wheel III (15) work, limiter I (26) control steering wheel IV (16) work, finger frame (25) control flaps
Machine V (17) works, the action of executing agency (1) and the action Complete Synchronization of controlling organization (2).
Foregoing bionic mechanical arm, it is characterised in that in controlling organization (2), foregoing steering wheel II (13) and rotating disk
(12) it is to be fixedly connected between.
Foregoing bionic mechanical arm, it is characterised in that in executing agency (1), foregoing limiter IV (29) and base
(21) it is interference fit between.
Foregoing bionic mechanical arm, it is characterised in that be made of 3D printing technique.
It is of the present utility model to be beneficial in that：
(1) controlling organization and both executing agencies transmission of control signals in the way of being wirelessly transferred, can be achieved remote control
System is more extensive using scope；
(2) changed using limiter come pickup position, accurately positioning action can be carried out；
(3) for different geographical environments, object of different shapes, gripper is optionally changed, with very high
Use value.
Brief description of the drawings
Fig. 1 is the composition structural representation of the executing agency of bionic mechanical arm of the present utility model；
Fig. 2 is the composition structural representation of the controlling organization of bionic mechanical arm of the present utility model.
The implication of reference in figure：1- executing agencies, 2- controlling organizations, 11- steering wheels I, 12- rotating disks, 13- steering wheels II,
14-U shaped steel piece, 15- steering wheels III, 16- steering wheels IV, 17- steering wheels V, 18- grippers, 21- bases, 22- supports, 23- links,
24- supports, 25- finger frames, 26- limiters I, 27- limiters II, 28- limiters III, 29- limiters IV.
Embodiment
Make specific introduce to the utility model below in conjunction with the drawings and specific embodiments.
Bionic mechanical arm of the present utility model includes：Executing agency and controlling organization, are made of 3D printing technique,
And controlling organization sends control signal in the way of being wirelessly transferred to executing agency.
First, executing agency
Reference picture 1, executing agency 1 includes：Steering wheel I 11, steering wheel II 13, steering wheel III 15, steering wheel IV 16, steering wheel V 17 and machine
Machinery claw 18.Wherein：
Steering wheel I 11 is located at bottommost, and rotating disk 12 is provided with thereon, and steering wheel I 11 is used to drive rotating disk 12 to revolve in the horizontal plane
Turn；
Steering wheel II 13 is located above rotating disk 12, and is fixedly mounted on a turntable 12, and U-shaped steel disc is provided with steering wheel II 13
14, steering wheel II 13 is used to drive U-shaped steel disc 14 to swing on vertical plane；
Steering wheel III 15 is arranged on the top of U-shaped steel disc 14, and it can swing relative to U-shaped steel disc 14, and plane of oscillation is vertical
On face；
Steering wheel IV 16 is located at the side of steering wheel III 15, and steering wheel IV 16 is fixedly connected with steering wheel III 15, keeps geo-stationary, rudder
The output shaft of machine IV 16 is provided with gripper 18 thereon towards upper, and steering wheel IV 16 rotates for driving mechanical pawl 18；
Steering wheel V 17 is arranged on gripper 18, and grasping movement is completed for driving mechanical pawl 18.
2nd, controlling organization
Controlling organization 2 includes：Limiter I 26, limiter II 27, limiter III 28, limiter IV 29, the support 22 of L-type,
Support 24, link 23 and the finger frame 25 of L-type.Wherein：
Limiter IV 29 is located at bottommost, and it is arranged on base 21, and the two is interference fit；
Limiter III 28 is connected by the support 22 of L-type with limiter IV 29；
Limiter II 27 is connected by yi word pattern link 23 with limiter III 28；
Limiter I 26 is connected by the support 24 of L-type with limiter II 27；
Finger frame 25 is arranged on limiter I 26.
3rd, control planning
Control planning between controlling organization 2 and executing agency 1 is as follows：
The control steering wheel I 11 of limiter IV 29 works；
The control steering wheel II 13 of limiter III 28 works；
The control steering wheel III 15 of limiter II 27 works；
The control steering wheel IV 16 of limiter I 26 works；
The control steering wheel V 17 of finger frame 25 works.
After energization, operating personnel are inserted a finger into the hole of finger frame 25, and movable arm and finger send control signal, hold
Row authorities are to the corresponding action of execution after corresponding signal, and the action of executing agency 1 and the action of controlling organization 2 are completely same
Step.
In actual life, bionic mechanical arm of the present utility model not only can help chemical industry personnel to capture some human hands
It is difficult the thing of crawl (for example：Noxious material, high temp objects), and may also help in police to be difficult bomb disposal article carry out
Remote explosion, with very high use value.
It should be noted that above-described embodiment does not limit the utility model in any form, all use equivalent substitutions or wait
The technical scheme that the mode of effect conversion is obtained, all falls within protection domain of the present utility model.
Claims (4)
1. a kind of bionic mechanical arm, it is characterised in that including：Executing agency (1) and controlling organization (2), controlling organization (2) with
The mode being wirelessly transferred sends control signal to executing agency (1), wherein,
The executing agency (1) includes five steering wheels (11,13,15,16,17) and a gripper (18), and steering wheel I (11) is located at
Bottommost, is provided with rotating disk (12) thereon, and steering wheel I (11) is used to drive rotating disk (12) to rotate in the horizontal plane；Steering wheel II (13)
Above rotating disk (12), U-shaped steel disc (14) is installed thereon, steering wheel II (13) is used to drive U-shaped steel disc (14) vertical
Swung on face；Steering wheel III (15) is arranged on the top of U-shaped steel disc (14), and it can swing relative to U-shaped steel disc (14), plane of oscillation
On vertical plane；Steering wheel IV (16) is located at the side of steering wheel III (15), and the two is fixedly connected, keeps geo-stationary, steering wheel IV
(16) output shaft is provided with gripper (18) thereon towards upper, and steering wheel IV (16) rotates for driving mechanical pawl (18)；Steering wheel
V (17) are arranged on gripper (18), and grasping movement is completed for driving mechanical pawl (18)；
The controlling organization (2) includes four limiters (26,27,28,29), the support (22,24) of two L-types, a connection
Frame (23) and a finger frame (25), limiter IV (29) are located at bottommost, and it is arranged on base (21), limiter III (28)
It is connected by support (22) with limiter IV (29), limiter II (27) is connected by link (23) with limiter III (28),
Limiter I (26) is connected by support (24) with limiter II (27), and finger frame (25) is arranged on limiter I (26)；
After energization, limiter IV (29) sends control signal control steering wheel I (11) work in the way of being wirelessly transferred to steering wheel I (11)
Make, limiter III (28) sends control signal control steering wheel II (13) to steering wheel II (13) in the way of being wirelessly transferred and worked, limit
Position device II (27) sends control signal control steering wheel III (15) to steering wheel III (15) in the way of being wirelessly transferred and worked, limiter I
(26) send control signal control steering wheel IV (16) to steering wheel IV (16) in the way of being wirelessly transferred to work, finger frame (25) is with nothing
The mode of line transmission sends control signal control steering wheel V (17) to steering wheel V (17) and worked, the action and control of executing agency (1)
The action Complete Synchronization of mechanism (2) processed.
2. bionic mechanical arm according to claim 1, it is characterised in that in controlling organization (2), the steering wheel II
(13) it is to be fixedly connected between rotating disk (12).
3. bionic mechanical arm according to claim 1, it is characterised in that in executing agency (1), the limiter IV
(29) it is interference fit between base (21).
4. the bionic mechanical arm according to claim 1,2 or 3, it is characterised in that be made of 3D printing technique.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621164857.8U CN206501125U (en) | 2016-10-25 | 2016-10-25 | Bionic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621164857.8U CN206501125U (en) | 2016-10-25 | 2016-10-25 | Bionic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206501125U true CN206501125U (en) | 2017-09-19 |
Family
ID=59842411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621164857.8U Active CN206501125U (en) | 2016-10-25 | 2016-10-25 | Bionic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206501125U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272485A (en) * | 2016-10-25 | 2017-01-04 | 西安思源学院 | Bionic mechanical arm |
-
2016
- 2016-10-25 CN CN201621164857.8U patent/CN206501125U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272485A (en) * | 2016-10-25 | 2017-01-04 | 西安思源学院 | Bionic mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103895011A (en) | Hot forging feeding electric-joint manipulator and operating method thereof | |
| CN105014687A (en) | Mechanical arm with multi-rotor-wing unmanned aerial vehicle | |
| CN203825839U (en) | Unmanned aerial vehicle moving trajectory following shot teaching apparatus | |
| CN203895043U (en) | Welding robot practical training system | |
| CN210210398U (en) | Swing arm mechanism with tail end kept horizontal passively | |
| CN206501125U (en) | Bionic mechanical arm | |
| CN106128277A (en) | A kind of Novel industrial robot multi-functional training operation platform | |
| CN108638015B (en) | Master-slave mechanical arm synchronous tracking control method based on quantitative communication | |
| CN104860066A (en) | Carrying device of glass baseplate | |
| CN202542387U (en) | Steering synchronization system of multi-wheel system mobile robot | |
| CN204751495U (en) | Glass base plate transport device | |
| CN206840135U (en) | A kind of robot device | |
| CN206306116U (en) | A kind of teaching and produce six dual-purpose shaft devices | |
| CN105729463A (en) | Six-axis mechanical arm | |
| CN206550578U (en) | Air-actuated turnover platform | |
| CN102423741A (en) | Operating mechanism of automatic dispenser | |
| CN106272485A (en) | Bionic mechanical arm | |
| CN104167144B (en) | Mechanical tower demonstrates mechanism | |
| CN207902602U (en) | A kind of small-sized absorption type mobile device | |
| CN203288154U (en) | Three-freedom-degree table tennis carrying manipulator | |
| CN107457773A (en) | A kind of defective products reclaimer robot based on Maltese cross movement | |
| CN106239509A (en) | A kind of precision machinery people | |
| CN203343679U (en) | Robot welding device | |
| CN205391723U (en) | Six sufficient remote -controlled robots | |
| CN205003947U (en) | Real model of instructing of three freedoms motion control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |