CN206568142U - One kind takes thing trolley mechanical arm - Google Patents

One kind takes thing trolley mechanical arm Download PDF

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Publication number
CN206568142U
CN206568142U CN201621372223.1U CN201621372223U CN206568142U CN 206568142 U CN206568142 U CN 206568142U CN 201621372223 U CN201621372223 U CN 201621372223U CN 206568142 U CN206568142 U CN 206568142U
Authority
CN
China
Prior art keywords
connecting rod
plate
rotating part
left connecting
hinged
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
Application number
CN201621372223.1U
Other languages
Chinese (zh)
Inventor
官俊伟
梁顺可
梁宝舜
杨自立
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou College of South China University of Technology
Original Assignee
Guangzhou College of South China University of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangzhou College of South China University of Technology filed Critical Guangzhou College of South China University of Technology
Priority to CN201621372223.1U priority Critical patent/CN206568142U/en
Application granted granted Critical
Publication of CN206568142U publication Critical patent/CN206568142U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

One kind takes thing trolley mechanical arm, including arm and handgrip, handgrip includes handgrip body, drive the first motor of handgrip body folding and the second motor of driving handgrip body rotation, handgrip body includes installing plate, left jig arm and right jig arm, right jig arm and left jig arm are symmetrical, left jig arm includes the first left connecting rod, second left connecting rod and the 3rd left connecting rod, first left connecting rod includes the first circular rotating part and is connected to the first bar portion of the first rotating part side, first rotating part is pivotally connected on a mounting board, the edge of first rotating part is provided with the first teeth portion, the end of first bar portion and one end of the second left connecting rod are hinged, the other end of second left connecting rod is provided with the first grip slipper, one end of 3rd left connecting rod is hinged on a mounting board, the other end of 3rd left connecting rod is hinged on the centre position of the second left connecting rod.Gripping structure is simple, and manufacturing cost is low, disclosure satisfy that most consumers consuming capacity;Gripping structure is compact, small volume, is convenient for carrying.

Description

One kind takes thing trolley mechanical arm
Technical field
The utility model, which is related to, takes thing dolly.
Background technology
Manipulator can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object or operation The automatic pilot of instrument.Manipulator is the industrial robot occurred earliest, is also the modern machines people occurred earliest, it can Instead of the heavy labor of people to realize the mechanization and automation of production, it can be operated under harmful environment to protect personal peace Entirely, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Manipulator does not possess mobile energy in itself Power, existing large-scale manipulator build is huge, it is necessary to which larger car body could be transported to it, and this kind of manipulator is at family The outer trouble that operates, it is difficult to apply in daily life, it is therefore desirable to a kind of smaller manipulator of build.
The content of the invention
Technical problem to be solved in the utility model be to provide it is a kind of take thing trolley mechanical arm, robot manipulator structure letter Single, manufacturing cost is low;Robot manipulator structure is compact, and volume is smaller.
In order to solve the above technical problems, the technical solution of the utility model is:One kind takes thing trolley mechanical arm, including arm With the handgrip for being arranged on arm front end;
The handgrip includes the of handgrip body, the first motor for driving handgrip body folding and driving handgrip body rotation Two motors, the handgrip body includes installing plate, left jig arm and right jig arm, and the side of the installing plate is provided with the first connection method Orchid, the output shaft of second motor is provided with the second adpting flange, and the first adpting flange is connected with the second adpting flange by bolt Connect;The opposite side of the installing plate stretches out provided with the first mounting seat, and first motor is fixed in the first mounting seat;Institute Stating left jig arm includes the first left connecting rod, the second left connecting rod and the 3rd left connecting rod, and the first left connecting rod includes the first circular rotating part With the first bar portion for being connected to the first rotating part side, first rotating part is pivotally connected on a mounting board, the side of the first rotating part Edge is provided with the first teeth portion, and the end and one end of the second left connecting rod of first bar portion are hinged, and the other end of the second left connecting rod is set There is the first grip slipper, one end of the 3rd left connecting rod is hinged on a mounting board, and the other end of the 3rd left connecting rod is hinged on second The centre position of left connecting rod;The right jig arm includes the first right connecting rod, the second right connecting rod and the 3rd right connecting rod, the first right connecting rod bag Include the second rotating part of circle and be connected to the second bar portion of the second rotating part side, the output of the first motor and the second rotating part Connection, the edge of the second rotating part is provided with the second teeth portion engaged with the first teeth portion, and the end of second bar portion is right with second One end of connecting rod is hinged, and the other end of the second right connecting rod is provided with the second grip slipper, and the first grip slipper and the second grip slipper composition are pressed from both sides Mechanism is held, one end of the 3rd right connecting rod is hinged on a mounting board, and the other end of the 3rd right connecting rod is hinged on the second right connecting rod Centre position;
The arm is formed by connecting including more than two joints, and the joint includes support, connecting seat and electric rotating machine, The support includes bottom plate and is arranged between the side plate of bottom plate both sides, both sides side plate to form revolution space;The connecting seat bag Include the first connecting plate and be arranged on the second connecting plate of the first connecting plate both sides, the electric rotating machine is fixed on the first connecting plate On, wherein the second connecting plate of side and the side plate of side are pivotally connected, and the output shaft of electric rotating machine is connected through the second of opposite side It is connected after plate with the side plate of opposite side;The first connecting plate between adjacent segment is connected with each other.
As an improvement, first left connecting rod, the second left connecting rod, the 3rd left connecting rod, the first right connecting rod, the second right connecting rod, The pivot end of 3rd right connecting rod or hinged end are circle, and are provided with circular circle centre position in circular hole, circular hole and are provided with rotary shaft.
As an improvement, second left connecting rod is outwards bent to form v-shaped structure in centre position in 160 °;Described second is right Connecting rod is outwards bent to form v-shaped structure in centre position in 160 °.
As an improvement, the installing plate is in octagon, the front end of installing plate is trapezoidal, the 3rd left connecting rod and the 3rd right side One end of connecting rod is hinged on the front end of installing plate, and the second adpting flange is arranged on the rear end of installing plate, the first rotating part and second Rotating part is arranged on installing plate center edge portion.
As an improvement, altogether provided with two joints, the bottom plate of the first knuckle support is fixed on dolly, and the second motor is fixed On the first connecting plate of second joint.
The beneficial effect that the utility model is brought compared with prior art is:
Gripping structure of the present utility model is simple, and manufacturing cost is low, disclosure satisfy that most consumers consuming capacity;Handgrip Compact conformation, small volume is convenient for carrying;By the use of dolly as the carrier of manipulator, it can make manipulator that there is locomotivity, machine Tool hand take thing action become simpler.
Brief description of the drawings
Fig. 1 is to take thing vehicle structure schematic diagram.
Fig. 2 is gripping structure schematic diagram.
Fig. 3 is handgrip decomposition view.
Embodiment
With reference to Figure of description, the utility model is described in further detail.
As shown in figure 1, one kind takes thing dolly, including car body 3 and the manipulator on car body 3, including arm 2 and setting Handgrip 1 in the front end of arm 2.
As shown in Figure 2,3, the handgrip 1 includes handgrip body 13, the and of the first motor 12 of the folding of driving handgrip body 13 Drive the second motor 11 of the rotation of handgrip body 13.Handgrip body 13 includes installing plate 131, left jig arm and right jig arm.The peace It is in octagon to fill plate 131, and the rear end of installing plate 131 is provided with the first adpting flange 138, and the output shaft of second motor 11 is set There is the second adpting flange 112, the first adpting flange 138 is bolted with the second adpting flange 112, and the second motor 11 drives Installing plate 131 rotates.The middle part side of the installing plate 131 stretches out provided with the first mounting seat 139, first motor 12 It is fixed in the first mounting seat 139.The left jig arm includes the first left connecting rod 132, the second left connecting rod 134 and the 3rd left connecting rod 133;First left connecting rod 132 includes the first rotating part 1321 of circle and is connected to the first bar portion of the side of the first rotating part 1321 1322, first rotating part 1321 is articulated on installing plate 131, and the edge of the first rotating part 1321 is provided with the first teeth portion 1323, the first teeth portion 1323 is distributed in the circumference range of a quarter of the first rotating part 1321, the end of first bar portion 1322 Portion and one end of the second left connecting rod 134 are hinged;The other end of second left connecting rod 134 is provided with the first grip slipper 1341, the first clamping Seat 1341 is provided with anti-slop serrations;One end of 3rd left connecting rod 133 is hinged on installing plate 131, the 3rd left connecting rod 133 it is another One end is hinged on the centre position of the second left connecting rod 134, and second left connecting rod 134 is in centre position outwards in 160 ° of bents Forming V-shape structure.The right jig arm includes the first right connecting rod 135, the second right connecting rod 136 and the 3rd right connecting rod 137;First right connecting rod 135 include the second rotating part 1351 of circle and are connected to the second bar portion 1352 of the side of the second rotating part 1351, the first motor 12 output is connected with the second rotating part 1351, and the edge of the second rotating part 1351 is provided with engaged with the first teeth portion 1323 second Teeth portion 1353, the second teeth portion 1353 is distributed in the circumference range of a quarter of the second rotating part 1351, second bar portion 1352 End and one end of the second right connecting rod 136 be hinged;The other end of second right connecting rod 136 is provided with the second grip slipper 1361, first The grip slipper 1361 of grip slipper 1341 and second constitutes clamping device, and the second grip slipper 1361 is provided with anti-slop serrations;Described 3rd is right One end of connecting rod 137 is hinged on installing plate 131, and the other end of the 3rd right connecting rod 137 is hinged on the centre of the second right connecting rod 136 Position, second right connecting rod 136 is outwards bent to form v-shaped structure in centre position in 160 °.The front end of installing plate 131 is in ladder One end of shape, the 3rd left connecting rod 133 and the 3rd right connecting rod 137 is hinged on the front end of installing plate 131, the second adpting flange 112 are arranged on the rear end of installing plate 131, and the first rotating part 1321 and the second rotating part 1351 are arranged on the middle part side of installing plate 131 Edge;This kind of compact conformation, and interference is not mutually produced between part.First left connecting rod 132, the second left connecting rod 134, Three left connecting rods 133, the first right connecting rod 135, the second right connecting rod 136, the pivot end of the 3rd right connecting rod 137 or hinged end are circle Shape, and be provided with circular circle centre position in circular hole, circular hole provided with rotary shaft.
As shown in figure 1, the arm 2 is formed by connecting including more than two joints 21, the joint 21 includes support, connected Joint chair and electric rotating machine 215, the support include bottom plate and are arranged on the side plates 211 of the both sides of bottom plate 212, both sides side plate 211 it Between form revolution space.The connecting seat includes the first connecting plate 213 and is arranged on the second connection of the both sides of the first connecting plate 213 Plate 214, the electric rotating machine 215 is fixed on the first connecting plate 213, wherein the second connecting plate and the side plate of side of side 211 pivot joints, the output shaft of electric rotating machine 215 is connected after passing through the second connecting plate 214 of opposite side with the side plate 211 of opposite side, Electric rotating machine 215 rotate after joint can be driven to rotate so that realize the handgrip positioned at front end up and down take thing to act.This implementation The arm of example is altogether provided with two joints, and the bottom plate 212 of the first knuckle support is fixed on the car body of dolly, and the second motor is fixed On the first connecting plate 213 of second joint.The first connecting plate 213 between adjacent segment is connected with each other.
Gripping structure of the present utility model is simple, and manufacturing cost is low, disclosure satisfy that most consumers consuming capacity;Handgrip Compact conformation, small volume is convenient for carrying;By the use of dolly as the carrier of manipulator, it can make manipulator that there is locomotivity, machine Tool hand take thing action become simpler.

Claims (5)

1. one kind takes thing trolley mechanical arm, including arm and the handgrip for being arranged on arm front end, it is characterised in that:
The handgrip includes the second electricity of handgrip body, the first motor for driving handgrip body folding and the body rotation of driving handgrip Machine, the handgrip body includes installing plate, left jig arm and right jig arm, and the side of the installing plate is provided with the first adpting flange, institute The output shaft for stating the second motor is provided with the second adpting flange, and the first adpting flange is bolted with the second adpting flange;Institute The opposite side for stating installing plate stretches out provided with the first mounting seat, and first motor is fixed in the first mounting seat;The left side Jig arm includes the first left connecting rod, the second left connecting rod and the 3rd left connecting rod, and the first left connecting rod includes the first rotating part and the company of circle The first bar portion of the first rotating part side is connected on, on a mounting board, the edge of the first rotating part is set for the first rotating part pivot joint There is the first teeth portion, the end and one end of the second left connecting rod of first bar portion are hinged, the other end of the second left connecting rod is provided with the One grip slipper, one end of the 3rd left connecting rod is hinged on a mounting board, and the other end of the 3rd left connecting rod is hinged on the second left company The centre position of bar;The right jig arm includes the first right connecting rod, the second right connecting rod and the 3rd right connecting rod, and the first right connecting rod includes circle Second rotating part of shape and the second bar portion for being connected to the second rotating part side, the output of the first motor connect with the second rotating part Connect, the edge of the second rotating part is provided with the second teeth portion engaged with the first teeth portion, the end of second bar portion and the second right company One end of bar is hinged, and the other end of the second right connecting rod is provided with the second grip slipper, and the first grip slipper and the second grip slipper composition are clamped Mechanism, one end of the 3rd right connecting rod is hinged on a mounting board, and the other end of the 3rd right connecting rod is hinged on the second right connecting rod Centre position;
The arm is formed by connecting including more than two joints, and the joint includes support, connecting seat and electric rotating machine, described Support includes bottom plate and is arranged between the side plate of bottom plate both sides, both sides side plate to form revolution space;The connecting seat includes the One connecting plate and the second connecting plate for being arranged on the first connecting plate both sides, the electric rotating machine are fixed on the first connecting plate, its Second connecting plate of middle side and the side plate of side are pivotally connected, the output shaft of electric rotating machine through after the second connecting plate of opposite side with The side plate connection of opposite side;The first connecting plate between adjacent segment is connected with each other.
2. one kind according to claim 1 takes thing trolley mechanical arm, it is characterised in that:First left connecting rod, second left side Connecting rod, the 3rd left connecting rod, the first right connecting rod, the second right connecting rod, the pivot end of the 3rd right connecting rod or hinged end are circle, and Circular circle centre position, which is provided with circular hole, circular hole, is provided with rotary shaft.
3. one kind according to claim 1 takes thing trolley mechanical arm, it is characterised in that:Second left connecting rod is in interposition Put and be outwards bent to form v-shaped structure in 160 °;Second right connecting rod is in centre position outwards in 160 ° of bent forming V-shape knots Structure.
4. one kind according to claim 1 takes thing trolley mechanical arm, it is characterised in that:The installing plate is in octagon, peace The front end for filling plate is trapezoidal, and one end of the 3rd left connecting rod and the 3rd right connecting rod is hinged on the front end of installing plate, the second connection Flange is arranged on the rear end of installing plate, and the first rotating part and the second rotating part are arranged on installing plate center edge portion.
5. one kind according to claim 1 takes thing trolley mechanical arm, it is characterised in that:Altogether provided with two joints, first The bottom plate of knuckle support is fixed on dolly, and the second motor is fixed on the first connecting plate of second joint.
CN201621372223.1U 2016-12-14 2016-12-14 One kind takes thing trolley mechanical arm Expired - Fee Related CN206568142U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621372223.1U CN206568142U (en) 2016-12-14 2016-12-14 One kind takes thing trolley mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621372223.1U CN206568142U (en) 2016-12-14 2016-12-14 One kind takes thing trolley mechanical arm

Publications (1)

Publication Number Publication Date
CN206568142U true CN206568142U (en) 2017-10-20

Family

ID=60063599

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621372223.1U Expired - Fee Related CN206568142U (en) 2016-12-14 2016-12-14 One kind takes thing trolley mechanical arm

Country Status (1)

Country Link
CN (1) CN206568142U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107932024A (en) * 2017-12-31 2018-04-20 苏州通锦精密工业股份有限公司 A kind of clamping jaw

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107932024A (en) * 2017-12-31 2018-04-20 苏州通锦精密工业股份有限公司 A kind of clamping jaw
CN107932024B (en) * 2017-12-31 2023-07-25 苏州通锦精密工业股份有限公司 Clamping jaw

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Date Code Title Description
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20171020

Termination date: 20181214

CF01 Termination of patent right due to non-payment of annual fee