CN206551007U - A kind of desk-top joint industry mechanical arm of 6 axle 5 - Google Patents
A kind of desk-top joint industry mechanical arm of 6 axle 5 Download PDFInfo
- Publication number
- CN206551007U CN206551007U CN201720119712.4U CN201720119712U CN206551007U CN 206551007 U CN206551007 U CN 206551007U CN 201720119712 U CN201720119712 U CN 201720119712U CN 206551007 U CN206551007 U CN 206551007U
- Authority
- CN
- China
- Prior art keywords
- arm
- servomotor
- axle
- cylinder
- palm
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model is related to a kind of desk-top joint industry mechanical arm of 6 axle 5, solve traditional manual moving method, make industry mechanical arm the same according to the hand of people using single chip control module (70), manipulator is set to capture object automatically in situ by system control module (43), lifting, turning to mobile, object decline and unload object for object is completed, so as to reach that manipulator captures and moves the purpose that goods is loaded and unloaded automatically.This method can make production technology become more simplified, it is to avoid the manual danger for moving object, and object is captured at any time and is moved is not influenceed by environmental change, reduces production cost.Simultaneously, manipulator can disposably complete to capture automatically, clamp, lifted, being turned to, being declined, being unloaded the continuous action of thing, dependable performance, simple in construction, easy to operate, production efficiency are high, adapt to carry out the automatic frequent handling for capturing object in frequent operation and automatic processing system on automatic production line, multiple functional, strong adaptability, failure are few, service life is long.
Description
【Technical field】
The present invention relates to a kind of manipulator of industrial automatic transporting, that is to say, that grabs object from Jia Chu on fixing point
A kind of manipulator moved automatically for being moved to and being put down at second is taken, precisely a kind of joint industry mechanical arm of desk-top six axle 5.
【Background technology】
It is well known that the position movement of object is the indispensable process of all trades and professions, manual handling object is with its people
Economic fast development, it is impossible to fully meet the demand in market.Particularly present warehouse logisticses are with making full use of space rack code
Pile deposits goods, very inconvenient using artificial cat ladder palletization operations, and labor intensity is big, low production efficiency.Also those machineries add
Workpiece in work workshop, blank surface is coarse, up and down lathe need position movement, repetitive operation often frequently, labor intensity is non-
Chang great, easily hinders hand using crawl object by hand, is harmful to the health.Also some speeds of production are fast, processing temperature is high, tailing cutting edge of a knife or a sword
Profit, high humidity, corrosivity are strong, dangerous big place, and security incident easily occurs for crawl by hand.For those repetitive operations frequency
Operation in the high production line of rate, is loaded and unloaded even more not all right using crawl object by hand.
Therefore, people are highly desirable a kind of both economical, can at any time capture and move again, production efficiency is high, simple in construction, behaviour
Make it is convenient, using safety, easy maintenance, multiple functional, strong adaptability, cost is low, failure is few, the automatic gripper of service life length
Industry mechanical arm.
The present invention relates to the desk-top joint industry mechanical arm of 6 axle 5 of one kind, traditional manual moving method is solved, list is utilized
Piece machine control module makes industry mechanical arm the same according to the hand of people, manipulator is grabbed automatically in situ by system control module
Object is taken, lifting, turning to mobile, object decline and unload object, so as to reach that manipulator is captured with removing automatically for object is completed
Move the purpose that goods is loaded and unloaded.
This method can make production technology become more simplified, it is to avoid the manual danger for moving object, and object is captured at any time
Move is not influenceed by environmental change, reduces production cost.Meanwhile, manipulator can disposably complete to capture automatically, clamp, carry
The continuous action of thing is risen, turned to, declining, unloading, dependable performance, simple in construction, easy to operate, production efficiency are high, adapting to automatic
Carry out the frequent handling of automatic crawl object on streamline in frequent operation and automatic processing system, multiple functional, strong adaptability,
Failure is few, service life is long.
【The content of the invention】
The utility model technical issues that need to address are：Overcome the shortcomings of that there is provided one for the existing object transport of crawl by hand
The industry mechanical arm that object moves handling can be captured automatically by planting.
Technical solution of the present utility model is：A kind of industry mechanical arm with following structure is provided, including：Platform
Seat, palm, forearm, arm, column, system control module, power supply, it also includes photoelectrical coupler, pressure sensor, described
Palm, forearm, arm, column are sequentially installed with seat；Palm is arranged on the front end of forearm, the external screw thread and forearm of palm rear end
The internal thread of front end is fixedly connected；Forearm is arranged on the front end of arm, and arm is arranged on the connector in the upper end of column, arm
Lower end external screw thread is fixedly connected with the internal thread of column upper end；The lower end of column is arranged on the upper of pedestal by bearing and gland
End, system control sytsem module and power supply are arranged on screw in the inner chamber of pedestal.
During work, close a switch the circuit that switches on power, under the control of system control module, according to certain job order
The rotation for making each servomotor drive palm, forearm, arm, column to carry out certain angle around pedestal respectively.Pass through each photoelectric transfer
The angular signal that sensor is sent is conveyed to single chip control module, and single chip control module is by after signal transacting, then output order
Go to control the rotation of each servomotor to system control module.When the gripper that photoelectric sensor is sent in palm is reached in goods
When, single chip control module to system control module, drives output order after signal transacting in palm by servomotor
Gripper captures goods.When pressure sensor reaches certain pressure, send signal and be conveyed to single chip control module, single-chip microcomputer control
Molding block is by after signal transacting, and output order controls the grasp force of crawl goods to system control module.Be simultaneously emitted by instruction to
Each servomotor drives palm, forearm, arm, column to carry out the rotation of opposing angular around pedestal respectively, completes the act of goods
Rise, turn to mobile, goods decline and unload goods, so as to reach the automatic crawl of manipulator with moving the mesh that object is loaded and unloaded
's.
After above structure, the utility model is transported goods using machine automatization, with following remarkable advantage and beneficial
Effect：A kind of joint industry mechanical arm of desk-top 6 axle 5 can utilize single chip control module and supporting machine as the hand of people
Tool hand, can capture automatically in situ goods, the disposable clamping for completing goods, lift, goods turn to it is mobile and from another orientation
Goods is declined and goods is unloaded, so as to reach that manipulator can capture and move automatically goods, reach the mesh of automatic loading and unloading goods
's；Handling goods operating frequency height, high, simple in construction production efficiency, convenient operation and control, easy maintenance, strong adaptability, failure
Less, service life is long.
【Brief description of the drawings】
Fig. 1 is a kind of main sectional view schematic diagram of the desk-top joint industry mechanical arm of 6 axle 5 of the utility model, and Fig. 2 is this practicality
Left view schematic diagram in a kind of new desk-top joint industry mechanical arm Fig. 1 of 6 axle 5, Fig. 3 is the desk-top joint of 6 axle 5 of the utility model
Top view schematic diagram in industry mechanical arm Fig. 1, Fig. 4 is in a kind of desk-top joint industry mechanical arm Fig. 1 of 6 axle 5 of the utility model
Circuit diagram.
Accompanying drawing primary symbols explanation
Shown in Fig. 1,2,3,4：1. bolt, 2. side's bushings, 3. pressure sensors, 4. grippers, 5. palms, 6. first
Connecting rod, 7. first bearing pins, 8. second connecting rods, 9. the 3rd bearing pins, 10. second bearing pins, 11. the 4th bearing pins, 12. palms, 13. spiral shells
Nail, 14. square nuts, 15. leading screws, 16. coupling bands, 17. flat keys, 18. first motor shafts, 19. first servomotors, 20. bolts,
21. bearing, 22. flat keys, 23. bushings, 24. worm gears, 25. worm screws, 26. square shafts, 27. connectors, 28. bolts, 29. coupling bands,
30. flat key, 31. the 3rd servomotors, 32. privates beams, 33. stud cylinders, 34. bolts, 35. glands, 36. bolts, 37. is flat
Key, 38. the 4th motor shafts, 39. pedestals, 40. power supplys, 41. bearings, 42. the 4th servomotors, 43. system control modules, 44.
Privates beam, 45. the 5th apertures, 46. bearings, 47. the 4th photoelectric sensors, 48. columns, 49. the 3rd apertures, 50. the 3rd
Photoelectric sensor, 51. second bundle conductors, 52. arms, 53. second servomotors, 54. arms cylinder, 55. second motor shafts, 56.
First aperture, 57. screws, 58. second photoelectric sensors, 59. first bundle conductors, 60. forearms, 61. small arm cylinders, 62. screws,
63. palm lid, 64. rectangular channels, 65. first photoelectric sensors, 66. neck bush, 67. second controllers, 68. first controllers,
69. switch, 70. single chip control modules, 71. photoelectrical couplers.
【Embodiment】
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Reference picture 1, Fig. 2, Fig. 3, Fig. 4, the desk-top joint industry mechanical arm of 6 axle 5 of one kind of the present utility model, including a platform
Seat 39, for installing the task of appliance controling element and support manipulator total weight.Desk-top 5 joint industry mechanical arm is by pedestal
39th, palm 5, forearm 60, arm 52, column 48, system control module 43, power supply 40, it is characterised in that：It also includes photoelectricity coupling
Clutch 71, pressure sensor 3, the upper end of the pedestal 39 are sequentially installed with palm 5, forearm 60, arm 52, column 48, palm 5
Installed in the front end of forearm 60, the external screw thread of the rear end of palm 5 is connected with the internal thread of the small front end of arm cylinder 61, and forearm 60 is arranged on
The internal thread of 33 upper ends of external screw thread and column of the lower end of connector 27 in the front end of arm 52, forearm 60 is connected, column
48 lower end bearing 41, bearing 46 and gland 35 are arranged on the upper end of pedestal 39；System control module 43 and power supply 40 are used
Screw is arranged in the inner chamber of pedestal 39.
Palm 5 is by palm 12, the first servomotor 19, gripper 4, first connecting rod 6, second connecting rod 8, the first bearing pin 7, second
In bearing pin 10, the 3rd bearing pin 9, the 4th bearing pin 11, coupling band 16, square nut 14, leading screw 15, square bushing 2, composition, palm 5
First servomotor 19 is packed in the rear end of palm 12 with bolt 62 in the inner chamber of the small front center of arm cylinder 61；Palm 12
In square nut 14 and leading screw 15 the dress rectangular channel 64 at middle part, the right-hand member coupling band 16 and the motor shaft of flat key 17 and first of leading screw 15
18 are connected, and the front end of leading screw 15 is mounted in square bushing 2, and square bushing 2 is packed in palm 12 with bolt 1；Gripper 4 is mounted in palm
5 front end, is connected by the bearing pin 10 of first connecting rod 6 and second with the side of square nut 14, sensible first connecting rod 6 and first
Bearing pin 7 is connected with one end of gripper 4；The bearing pin 11 of second connecting rod 8 and the 4th is connected with the side of palm 12, second connecting rod 8
It is connected with the 3rd bearing pin 9 with one end of gripper 4.
Forearm 60 is made up of small arm cylinder 61, the second servomotor 53, the internal thread of the front end of small arm cylinder 61 in forearm 60 with
The threaded post of the rear end of palm 12 is connected, the set corresponding with the screw 57 on 54 front ends of arm cylinder of the annular groove outside the small rear end of arm cylinder 61
Load is connect, and the axle journal in the middle part of the small rear end of arm cylinder 61 is packed in the inner ring of bearing 21；Second servomotor 53 is fixedly mounted with bolt 20
In the inner chamber of 54 front ends of arm cylinder, the second motor shaft 53 is connected with flat key 22 with the endoporus in the middle part of the small rear end of arm cylinder 61.
Arm 52 by connector 27, the 3rd servomotor 31, worm screw 25, worm gear 24, square shaft 26, arm cylinder 54, bushing 23,
Neck bush 65 is constituted, and the lower end threaded post of connector 27 in arm 52 is connected with the internal thread of the upper end of stud cylinder 33, and the 3rd watches
Motor 31 is taken in the inner chamber of the upper end of stud cylinder 33, the middle part of the lower end of connector 27 is packed in bolt 28；Under worm screw 25
End is connected with coupling band 29 and flat key 30 with the rotating shaft of the 3rd servomotor 31, and the upper end axle journal of worm screw 25 is solid with bushing 23
Mounted in the top of connector 27；Worm gear 24 is intermeshed with worm screw 25 and installed in the middle part of connector 27, passes through square shaft 26, snail
The circular hole of wheel 24,54 rear end both sides of arm cylinder again with neck bush 65 respectively with the front end both sides of connector 27 is hinged.
Column 48 is made up of stud cylinder 33, the 4th servomotor 42, gland 35, the upper end of stud cylinder 33 in column 48 it is interior
Screw thread is connected with the threaded post of the lower end of connector 27, and the axle journal in the middle part of the lower end of stud cylinder 33 is packed in the inner ring of bearing 41；
4th servomotor 42 is packed in bolt 36 in the inner chamber of the upper center of pedestal 39, and the 4th motor shaft 38 is with flat key 37 with standing
Endoporus in the middle part of the lower end of column casing 33 is connected.Bearing 46 is housed, the top of bearing 46 is used on the flange at outside the lower end of stud cylinder 33
Gland 35 and bolt 34 are packed on the edge of the upper end of pedestal 39.
System control module 43 is by single chip control module 70, the first controller 68, second controller 67, switch 69, electricity
Source 40, pressure pass sensor 3, photoelectricity photoelectrical coupler 71 and constituted, and system control module 43 is used for control machinery hand and completes goods
Crawl, the action lifting, rotate, put down and unload.Single chip control module 70, the first controller 68 and second controller 67
It is welded on the circuit board in system control module 43, in system control module 43 is screwed in the middle part of the lower end of pedestal 39
In chamber.Pressure in system control module 43 passes sensor 3 and is arranged in gripper 4, for detecting the clamping of the goods clamping of gripper 4
Power.The input C that pressure passes sensor 3 is attempted by the A of circuit points, and the output end H that pressure passes sensor 3 is connected on single-chip microcomputer control
On the P1.1 interfaces of molding block 70.
Photoelectrical coupler 71 is by the first photoelectric sensor 65, the second photoelectric sensor 58, the 3rd photoelectric sensor the 50, the 4th
Photoelectric sensor 47 is constituted, and the first photoelectric sensor 65 is used for detecting the degree of accuracy of handling goods.In photoelectricity photoelectrical coupler 71
The first photoelectric sensor 65 be arranged in palm 5, the input B in the first photoelectric sensor 65 be attempted by the A points of circuit with
On the RST interfaces of single chip control module 70, the input circuit end G of the first photoelectric sensor 65 is attempted by cold end L points
On, the output end M of the first photoelectric sensor 65 is connected with the P1.0 interfaces of single chip control module 70, the first photoelectric sensor
65 output loop end N is attempted by cold end L points；The second photoelectric sensor 58 in photoelectricity photoelectrical coupler 71 is installed
In forearm 60, the second photoelectric sensor 58 is used for detecting the degree of accuracy that forearm 60 rotates.The input of second photoelectric sensor 58
End D is attempted by the RST interfaces of the A of circuit points and single chip control module 70, the input circuit end I of the second photoelectric sensor 58
It is attempted by cold end L points, the output end O of the second photoelectric sensor 58 and the P1.2 interface phases of single chip control module 70
Connection, the output loop end P of the second photoelectric sensor 58 is attempted by cold end L points；In photoelectricity photoelectrical coupler 71
Three photoelectric sensors 50 are arranged in arm 52, and the 3rd photoelectric sensor 50 is used for detecting the degree of accuracy that arm 52 is rotated.3rd
The input E of photoelectric sensor 50 is attempted by the RST interfaces of the A of circuit points and single chip control module 70, the 3rd photoelectric transfer
The input circuit end J of sensor 50 is attempted by cold end L points, output end Q and the single-chip microcomputer control of the 3rd photoelectric sensor 37
The P1.3 interfaces of molding block 70 are connected, and the output loop end R of the 3rd photoelectric sensor 50 is attempted by cold end L points；Light
The 4th photoelectric sensor 47 in electric light electric coupler 71 is arranged in column 48, and the 4th photoelectric sensor 47 is used for detecting column
The degree of accuracy of 48 rotations.The input F of 4th photoelectric sensor 47 is attempted by the A points and single chip control module 70 of power supply 40
On RST interfaces, the input circuit end K of the 4th photoelectric sensor 47 is attempted by cold end L points, the 4th photoelectric sensor 47
Output end S be connected with the P1.3 interfaces of single chip control module 70, the output loop end T of the 4th photoelectric sensor 47 simultaneously connects
On cold end L points；The E1 negative poles of power supply 40 in system control module 43 are connected on Z points, the E1 positive poles in power supply 40 with
One end of switch 69 is connected, on another A points for terminating at circuit of switch 69；Power supply 40 in system control module 43
E2 negative poles are connected on Z points, and the E2 positive poles in power supply 40 are connected with one end of switch 69, and the another of switch 69 terminates at circuit
Y points on, the output interface GND of single chip control module 70 is connected on cold end w points；The input of first controller 68
Output end P0.0, P0.1, P0.2, P0.3, P0.4 interface of INI, IN2, IN3, IN4, IN5 interface and single chip control module 70
Correspondence is connected, and the ENB interfaces of the first controller 68 are attempted by the A of circuit points, and the Vss interfaces of the first controller 68 are attempted by
On the Y points of circuit；The output end OUT1 and OUT2 of first controller 68 is connected on the first servomotor respectively through the first bundle conductor 59
On 19 transmission of electricity post, the output end OUT3 and OUT4 of the first controller 68 is connected on the second servo electricity respectively through the second bundle conductor 57
On the transmission of electricity post of machine 53, the output end GND of the first controller 68 is attempted by the W of circuit points；The input of second controller 67
INI, IN2, IN3, IN4, IN5 interface and output end P2.0, P2.1, P2.2, P2.3, P2.4 of single chip control module 70 connect
Mouth correspondence is connected, and the ENB interfaces of second controller 67 are connected on the A of circuit points, and the Vss interfaces of second controller 67 are attempted by
On the Y points of circuit；The output end OUT1 and OUT2 privates beam 32 of second controller 67 is connected on the 3rd servomotor 31 respectively
Transmission of electricity post on, the output end OUT3 and OUT4 privates beam 44 of second controller 67 is connected on the 4th servomotor 42 respectively
Transmission of electricity post on, the output end GND of second controller 67 is attempted by the W of circuit points.
The working method of this desk-top joint industry mechanical arm of 6 axle 5 is as follows：
During work, close a switch 69 circuits for switching on power 40 circuits, under the control of system control module 38, according to one
Fixed job order makes each servomotor drive palm 5, forearm 60, arm 52, column 48 to carry out certain angle around pedestal 39 respectively
The rotation of degree.Pass through the second photoelectric sensor 58, the 3rd photoelectric sensor 50, the 4th photoelectric sensor in photoelectrical coupler 71
47 angular signals sent are conveyed to single chip control module, and single chip control module 70 is by after signal transacting, then output order
To the first controller 68 and second controller 67 in system control module 38, pass through the first controller 68 and second controller 67
The second servomotor 52, the 3rd servomotor 31, the 4th servomotor 42 is set to make the control of the angle and direction of rotation rotated forward
System, drives palm 5, forearm 59, arm 52, column 48 to make the rotation of positive angle around pedestal 39, complete manipulator rotation,
Decline, open, stretching into the action of goods clump.When the first photoelectric sensor 65, which detects gripper 4, reaches cargo centre, single-chip microcomputer
Output order after signal transacting to the first controller 68 in system control module 38, is made the first controller 68 by control module 70
The prograde circuit of the first servomotor 19 is connected, drives the leading screw 15 in palm 5 to rotate by the first servomotor 19, leading screw 15 is again
Square nut 14 is driven to be moved rearwards by, square nut 14 drives first connecting rod 6 to be moved rearwards by by the second bearing pin 10, in second connecting rod 8
Be hinged under effect and make gripper 4 to contract, gripper 4 just captures goods from opening to contract automatically, so as to reach manipulator
The automatic purpose for grabbing goods.When goods promptly arrives certain pressure, the pressure sensor 3 in gripper 4 sends signal and is conveyed to monolithic
Machine control module 70, single chip control module 70 is by output order after signal transacting to the first control in system control module 38
Device 68, the first controller 68 cuts off the circuit of the first servomotor 19, the first servomotor 19 is shut down, pressure sensing
Device 3 is used for the grasp for controlling gripper 4 to capture goods.Meanwhile, send finger again in certain clamping force effect lower pressure sensor 3
Make to single chip control module 70, the output order of single chip control module 70 is to the first controller 68 in system control module 38
With second controller 67, by the first controller 68 and second controller 67 make the second servomotor 52, the 3rd servomotor 31,
4th servomotor 42 makees the control of counter-rotational angle and direction of rotation, drives palm 5, forearm 59, arm 52, column 48
Make the rotation of opposing angular around pedestal 39, complete the action lifted, turn to mobile goods decline of goods.Unloaded when reaching
During position, the first photoelectric sensor 65 in palm 5 is signaled to single chip control module 70, and single chip control module 70 will
Output order makes the first controller 68 connect first and watched to the first controller 68 in system control module 38 after signal transacting
The circuit for reversing of motor 19 is taken, drives the leading screw 15 in palm 5 to reversely rotate by the first servomotor 19, leading screw 15 is again
Square nut 14 is driven to move forward, square nut 14 drives first connecting rod 6 to move forward by the second bearing pin 10, in second connecting rod 8
Be hinged under effect and open gripper 4 to unload goods, so as to reach the purpose that manipulator is unloaded automatically.
Power cutoff switchs 69 manipulators and is just stopped, and go round and begin again above-mentioned action, so as to realize the desk-top joint of 6 axle 5
Industry mechanical arm grab goods, automatic crawl with moving the purpose that goods is loaded and unloaded.
Claims (5)
1. a kind of desk-top joint industry mechanical arm of 6 axle 5, including：Pedestal (39), palm (5), forearm (60), arm (52), column
(48), system control module (43), power supply (40), it is characterised in that：It also includes photoelectrical coupler (71), pressure sensor
(3) palm (5), forearm (60), arm (52), column (48), are sequentially installed with the pedestal (39), palm (5) is arranged on
The front end of forearm (60), the external screw thread of palm (5) rear end is fixedly connected with the internal thread of forearm (60) front end；Forearm (60) is installed
Front end in arm (52), arm (52) is arranged on the outer of connector (27) lower end in the upper end of column (48), arm (52)
Screw thread is fixedly connected with the internal thread of column (48) upper end, and the lower end of column (48) passes through bearing (41), bearing (46) and gland
(35) upper end of pedestal (39) is arranged on, system control module (43) and power supply (40) are arranged on the inner chamber of pedestal (39) with screw
In.
2. a kind of desk-top joint industry mechanical arm of 6 axle 5 as claimed in claim 1, it is characterised in that：The palm (5) is by hand
Plate (12), the first servomotor (19), gripper (4), first connecting rod (6), second connecting rod (8), the first bearing pin (7), the second bearing pin
(10), the 3rd bearing pin (9), the 4th bearing pin (11), coupling band (16), square nut (14), leading screw (15), square bushing (2) composition, hand
The first servomotor (19) in (5) is slapped in the inner chamber of small arm cylinder (61) front center, palm is packed in bolt (62)
(12) rear end.
3. a kind of desk-top joint industry mechanical arm of 6 axle 5 as claimed in claim 1, it is characterised in that：The forearm (60) is by small
After the internal thread and palm (12) of small arm cylinder (61) front end in arm cylinder (61), the second servomotor (53) composition, forearm (60)
The threaded post at end is connected, the suit corresponding with the screw (57) on arm cylinder (54) front end of the annular groove outside small arm cylinder (61) rear end
Axle journal in the middle part of connection, small arm cylinder (61) rear end is packed in the inner ring of bearing (21)；Second servomotor (53) uses bolt
(20) in the inner chamber for being packed in arm cylinder (54) front end, the second servomotor (53) is with flat key (22) and small arm cylinder (61) rear end
The endoporus in portion is connected.
4. a kind of desk-top joint industry mechanical arm of 6 axle 5 as claimed in claim 1, it is characterised in that：The arm (52) is by even
Joint (27), the 3rd servomotor (31), worm screw (25), worm gear (24), square shaft (26), arm cylinder (54), bushing (23), axle bush
Connector (27) the lower end threaded post covered in (65) composition, arm (52) is connected with the internal thread of stud cylinder (33) upper end, the
Three servomotors (31) are packed in connector (27) lower end in the inner chamber of stud cylinder (33) upper end with bolt (28)
Portion；The lower end of worm screw (25) is connected with coupling band (29) and flat key (30) with the rotating shaft of the 3rd servomotor (31), worm screw
(25) upper end axle journal is packed in the top of connector (27) with bushing (23), and worm gear (24) is intermeshed and pacified with worm screw (25)
Middle part mounted in connector (27), by square shaft (26), worm gear (24), arm cylinder (54) rear end both sides again with neck bush (65) point
Circular hole not with connector (27) front end both sides is hinged.
5. a kind of desk-top joint industry mechanical arm of 6 axle 5 as claimed in claim 1, it is characterised in that：The column (48) is by standing
The internal thread of stud cylinder (33) upper end in column casing (33), the 4th servomotor (42), gland (35) composition, column (48) and company
The threaded post of joint (27) lower end is connected, and the axle journal in the middle part of stud cylinder (33) lower end is packed in the inner ring of bearing (41)；The
Four servomotors (42) are packed in bolt (36) in the inner chamber of pedestal (39) upper center, and the 4th motor shaft (38) uses flat key
(37) it is connected with the endoporus in the middle part of stud cylinder (33) lower end, bearing is housed on the flange at the outside of stud cylinder (33) lower end
(46), bearing (46) top is packed on the edge of pedestal (39) upper end with gland (35) and bolt (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720119712.4U CN206551007U (en) | 2017-01-28 | 2017-01-28 | A kind of desk-top joint industry mechanical arm of 6 axle 5 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720119712.4U CN206551007U (en) | 2017-01-28 | 2017-01-28 | A kind of desk-top joint industry mechanical arm of 6 axle 5 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206551007U true CN206551007U (en) | 2017-10-13 |
Family
ID=60010615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720119712.4U Expired - Fee Related CN206551007U (en) | 2017-01-28 | 2017-01-28 | A kind of desk-top joint industry mechanical arm of 6 axle 5 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206551007U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155721A (en) * | 2019-06-06 | 2019-08-23 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Transmission machine arm |
| CN110817415A (en) * | 2019-11-29 | 2020-02-21 | 安徽悦得自动化有限公司 | Multi-axis linkage robot arm for material handling |
-
2017
- 2017-01-28 CN CN201720119712.4U patent/CN206551007U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155721A (en) * | 2019-06-06 | 2019-08-23 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Transmission machine arm |
| CN110817415A (en) * | 2019-11-29 | 2020-02-21 | 安徽悦得自动化有限公司 | Multi-axis linkage robot arm for material handling |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102672713B (en) | Bionic manipulator | |
| CN105583819A (en) | Palletizing robot with grabbing function | |
| CN105537899A (en) | Robot-assisting motor stator carrying system | |
| CN206551007U (en) | A kind of desk-top joint industry mechanical arm of 6 axle 5 | |
| CN103921162A (en) | Automatic feeding and discharging device applied to numerically-controlled machine tool | |
| CN104690741A (en) | Manipulator tail end actuator | |
| CN202399269U (en) | Bionic mechanical hand | |
| CN111661546A (en) | Intelligent robot storage letter sorting unit | |
| CN110722585A (en) | Multi-station robot clamping jaw | |
| CN104741926A (en) | Multi-process automatic machining system | |
| CN205363936U (en) | Reinforcing bar and pipe fitting sharing type machinery tongs | |
| CN104015090A (en) | Material fetching and collecting method for numerical-control machining and robot for implementing material fetching and collecting method | |
| CN205111418U (en) | Automatic material feeding unit that gets of CNC milling machine | |
| CN213084686U (en) | Industrial robot motion control device | |
| CN113352100A (en) | Automatic assembling machine for graphite electrode and joint robot | |
| CN205363177U (en) | Motor stator handling system is assisted by robot | |
| CN104191433A (en) | Manipulator internal-grab device based on worm-gear and crank-link transmission | |
| CN206795833U (en) | A kind of desktop six-shaft industrial robot | |
| CN217942663U (en) | Tool robot gripper device | |
| CN207205961U (en) | A kind of Digit Control Machine Tool automatic blanking device | |
| CN207678097U (en) | A kind of tin furnace tool charging and discharging mechanism | |
| CN207326368U (en) | A kind of double electric screwdriver auto lock filatures | |
| CN104842019A (en) | Hobbing machine feeding and discharging device | |
| CN205835317U (en) | A kind of multi-joint manipulator | |
| CN106313063A (en) | Electromechanically-controlled large-load palletizing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: LINGNAN INSTITUTE OF TECHNOLOGY Document name: Notification to Pay the Fees |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171013 Termination date: 20200128 |