CN206588986U - Multiple degrees of freedom steering wheel is combined the unit and using the desktop level mechanical arm of the device - Google Patents
Multiple degrees of freedom steering wheel is combined the unit and using the desktop level mechanical arm of the device Download PDFInfo
- Publication number
- CN206588986U CN206588986U CN201720154507.1U CN201720154507U CN206588986U CN 206588986 U CN206588986 U CN 206588986U CN 201720154507 U CN201720154507 U CN 201720154507U CN 206588986 U CN206588986 U CN 206588986U
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- China
- Prior art keywords
- steering wheel
- shaped connector
- bottom plate
- freedom
- multiple degrees
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Abstract
The utility model is related to a kind of multiple degrees of freedom steering wheel combination unit and the desktop level mechanical arm using the device, multiple degrees of freedom steering wheel combination unit includes connector body, the first steering wheel (1), the second steering wheel (2) and the 3rd steering wheel (3), the the first U-shaped connector (4) and the second U-shaped connector (5) that connector body is oppositely arranged by opening are constituted, and three steering wheels are used for realizing three degree of freedom；Two linking arms being connected with each U-shaped connector of the device are also included using the desktop level mechanical arm of the device.Compared with prior art, the utility model has the advantages that multi freedom design, simple and compact for structure, firm and reliable connection.
Description
Technical field
The utility model is related to a kind of mechanical arm connector, combines the unit and adopts more particularly, to a kind of multiple degrees of freedom steering wheel
With the desktop level mechanical arm of the device.
Background technology
Desktop level mechanical arm has been got growing concern for, and for multivariant mechanical arm, one kind is convenient
The multiple degrees of freedom combination unit of making is particularly important, and usual steering wheel is all the U-shaped plate group obtained by two after bending
Conjunction is formed, and this device can only at most combine two steering wheels, by many secondary designs, has obtained multiple degrees of freedom steering wheel combination unit,
The Combination Design of more freedom is completed using less structure space.
A kind of utility model patent of existing CN203956927U " steering wheel connector suitable for anthropomorphic robot " is just
Combined, can just be obtained after this structure needs are processed by two U-shaped connectors, if using 3D printing, can be non-
Often it is easily deformed.
The content of the invention
The purpose of this utility model is exactly the defect in order to overcome above-mentioned prior art presence and provides a kind of multiple degrees of freedom
Design, simple and compact for structure, firm and reliable connection multiple degrees of freedom steering wheel combination unit and the desktop level machinery using the device
Arm.
The purpose of this utility model can be achieved through the following technical solutions：
A kind of multiple degrees of freedom steering wheel combination unit, including connector body, the first steering wheel, the second steering wheel and the 3rd steering wheel,
The the first U-shaped connector and the second U-shaped connector that described connector body is oppositely arranged by opening are constituted, each U-shaped connector
Constituted by bottom plate and two side plates for being arranged on bottom plate both sides, the first steering wheel is arranged on the bottom plate of the first U-shaped connector, the
The bottom plate drive connection of two steering wheels and the second U-shaped connector, is rotated, the one of the first U-shaped connector for band follower link body
One side plate of individual side plate and the second U-shaped connector is turned by the 3rd steering wheel and the steering wheel being connected in the 3rd steering wheel rotary shaft
Another side plate of dynamic connection, another side plate of the first U-shaped connector and the second U-shaped connector rotates connection.
As preferred technical scheme, the first described steering wheel is located at the inner face side of the bottom plate of the first U-shaped connector,
The rotary shaft of first steering wheel is located on the bottom plate of the first U-shaped connector.
As preferred technical scheme, the inner face of the bottom plate of the bottom plate of the first U-shaped connector and the second U-shaped connector it
Between distance and the size of the first steering wheel match.
As preferred technical scheme, the second described steering wheel is located at the outer face side of the bottom plate of the second U-shaped connector,
And the steering wheel and the second U-shaped connector by being connected in the steering wheel rotary shaft are connected.
As preferred technical scheme, the 3rd described steering wheel is located at the outer face one of second one side plate of U-shaped connector
Side, and be fixedly connected with the second U-shaped connector, the rotary shaft of the 3rd steering wheel is located on the second U-shaped connector, is connected to the 3rd
Steering wheel in steering wheel rotary shaft is fixedly connected with a side plate of the first U-shaped connector.
As preferred technical scheme, the rotary shaft of the first steering wheel and the second steering wheel is coaxially disposed.
As preferred technical scheme, the bottom plate and side plate of each U-shaped connector are the D printouts of environmental-protecting material, profile
For regular shape or printing as needed.
The assembly method of multiple degrees of freedom steering wheel combination unit, comprises the following steps：
(1) bottom plate of the second steering wheel and the second U-shaped connector is connected, then connected the second U-shaped by screw
Two side plates of part are connected with the bottom plate of the second U-shaped connector；
(2) the 3rd steering wheel is arranged on a side plate of the second U-shaped connector, by a steering wheel and turn of the 3rd steering wheel
Moving axis is connected, and is then connected by screw a side plate of the first U-shaped connector with the steering wheel；
(3) bottom plate of the first U-shaped connector is connected with the first steering wheel, and by the bottom plate and step of the first U-shaped connector
(2) the side plate connection of the first U-shaped connector described in, then connects another side plate of the first U-shaped connector and the second U-shaped
The corresponding side plate of fitting rotates connection, and it is connected with the bottom plate of the first U-shaped connector, completes the dress of the combination unit
Match somebody with somebody.
, can be with the smooth assembling for efficiently completing the combination unit by above-mentioned assembly method.
A kind of desktop level mechanical arm, desktop level mechanical arm includes described multiple degrees of freedom steering wheel and combined the unit and the first company
Arm and the second linking arm are connect, the first described linking arm passes through the steering wheel being arranged in the first steering wheel rotary shaft and described connection
Part body rotates connection, and the second described linking arm is fixedly connected with the second steering wheel.
Compared with prior art, the utility model has the advantages that：
(1) the utility model is realized many by the relative U-shaped connector of two openings plus three steering wheels in small space
Individual free degree requirement.
(2) the utility model is without complicated technological requirement, and required precision is low, and part is adapted to beat using the 3D of environmental-protecting material
Print, according to steering wheel size, the appropriate increase size living for reducing connector can just complete the spelling of entirety by way of combination
Dress, can free DIY, and material environment friendly is healthy.
(3) simple and compact for structure, firm and reliable connection.The first U-shaped connector that connector body is oppositely arranged by opening
With the second U-shaped connector composition, the first steering wheel is located at the inner face side of the bottom plate of the first U-shaped connector, and the second steering wheel is located at
The outer face side of the bottom plate of second U-shaped connector, the 3rd steering wheel is located at the outer face one of second one side plate of U-shaped connector
Side, along with the bottom plate of the first U-shaped connector and the distance between the inner face of bottom plate of the second U-shaped connector and the first steering wheel
Size match that (the distance between inner face of two bottom plates to the greatest extent may be used on the premise of not influenceing two U-shaped connectors to rotate
Can it is small) so that the part-structure is compact, can reduce using the combination unit desktop level mechanical arm rotation process in the 3rd
The load of steering wheel so that structure is relatively reliable.
Brief description of the drawings
Fig. 1 is the structural representation that multiple degrees of freedom steering wheel of the present utility model is combined the unit；
Fig. 2 is the structural representation of desktop of the present utility model level mechanical arm.
In figure, 1 is the first steering wheel, and 2 be the second steering wheel, and 3 be the 3rd steering wheel, and 4 be the first U-shaped connector, and 5 be the second U-shaped
Connector, 6 be bottom plate, and 7 be side plate, and 8 be steering wheel, and 9 be the first linking arm, and 10 be the second linking arm, and I is first free degree, II
For second free degree, III is Three Degree Of Freedom.
Embodiment
The utility model is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of multiple degrees of freedom steering wheel combination unit, as shown in figure 1, including connector body, the first steering wheel 1, the second steering wheel 2
5 groups of the first U-shaped connector 4 and the second U-shaped connector being oppositely arranged with the 3rd steering wheel 3, described connector body by opening
Into each U-shaped connector is constituted by bottom plate 6 with two side plates 7 for being arranged on the both sides of bottom plate 6, and the first steering wheel 1 is arranged on the first U
On the bottom plate 6 of shape connector 4, the bottom plate 6 of the second steering wheel 2 and the second U-shaped connector 5 is connected, for band follower link sheet
Body is rotated, a side plate 7 of the U-shaped connector 5 of a side plate 7 and second of the first U-shaped connector 4 by the 3rd steering wheel 3 and
The steering wheel 8 being connected in the rotary shaft of the 3rd steering wheel 3 rotates connection, another U-shaped company of side plate 7 and second of the first U-shaped connector 4
Another side plate 7 of fitting 5 rotates connection, and the bottom plate 6 and side plate 7 of each U-shaped connector are the 3D printing part of environmental-protecting material, outside
Shape is regular shape or printed as needed that selection profile is regular shape in the present embodiment.
Specifically, the first steering wheel 1 is located at the inner face side of the bottom plate 6 of the first U-shaped connector 4, the rotation of the first steering wheel 1
Axle is located on the bottom plate 6 of the first U-shaped connector 4.First free degree I is provided.The U of bottom plate 6 and the 2nd of first U-shaped connector 4
The size of the distance between inner face of bottom plate 6 of shape connector 5 and the first steering wheel 1 matches, i.e., the inner face of two bottom plates
The distance between it is small as far as possible on the premise of not influenceing two U-shaped connectors to rotate.Second steering wheel 2 connects positioned at the second U-shaped
The outer face side of the bottom plate 6 of fitting 5, and passed by the steering wheel 8 and the second U-shaped connector 5 being connected in the steering wheel rotary shaft
There is provided the second free degree II for dynamic connection.The 3rd described steering wheel 3 is located at the outer face one of second 5 one side plates 7 of U-shaped connector
Side, and be fixedly connected with the second U-shaped connector 5, the rotary shaft of the 3rd steering wheel 3 is located on the second U-shaped connector 5, is connected to
Steering wheel 8 in the rotary shaft of 3rd steering wheel 3 is fixedly connected with that there is provided Three Degree Of Freedom with a side plate 7 of the first U-shaped connector 4
III.In the present embodiment, the rotary shaft of the first steering wheel 1 and the second steering wheel 2 is coaxially disposed, this ensure that same in rotation process
Axle.
The assembly method of multiple degrees of freedom steering wheel combination unit, comprises the following steps：
(1) bottom plate 6 of the second steering wheel 2 and the second U-shaped connector 5 is connected, then connected the second U-shaped by screw
Two side plates 7 of fitting 5 are connected with the bottom plate 6 of the second U-shaped connector 5；
(2) the 3rd steering wheel 3 is arranged on a side plate 7 of the second U-shaped connector 5, by a steering wheel of steering wheel 8 and the 3rd
One side plate 7 of the first U-shaped connector 4 and the steering wheel 8, are then connected by screw by 3 rotary shaft connection；
(3) bottom plate 6 of the first U-shaped connector 4 is connected with the first steering wheel 1, and by the bottom plate 6 of the first U-shaped connector 4 with
The side plate 7 of the first U-shaped connector 4 described in step 2 is connected, then by another side plate 7 of the first U-shaped connector 4 and
The corresponding side plate 7 of two U-shaped connectors 5 rotates connection, and it is connected with the bottom plate 6 of the first U-shaped connector 4, completes the group
Attach together the assembling put.
, can smoothly installation on the basis of being assembled according to the method described above.
Embodiment 2
The present embodiment provides the multiple degrees of freedom steering wheel combination unit in a kind of desktop level mechanical arm, including embodiment 1, also wraps
The first linking arm 9 and the second linking arm 10 are included, the first linking arm 9 passes through the steering wheel 8 being arranged in the rotary shaft of the first steering wheel 1 and institute
The connector body stated rotates connection, and the second linking arm 10 is fixedly connected with the second steering wheel 2, as shown in Figure 2.By using more certainly
Combined the unit by degree steering wheel, mechanical arm has multi freedom design, and compact conformation, firm and reliable connection.
Claims (8)
1. a kind of multiple degrees of freedom steering wheel combination unit, it is characterised in that including connector body, the first steering wheel (1), the second steering wheel
(2) the first U-shaped connector (4) and the second U-shaped that and the 3rd steering wheel (3), described connector body is oppositely arranged by opening connect
Fitting (5) constitute, each U-shaped connector by bottom plate (6) and be arranged on bottom plate (6) both sides two side plates (7) composition, the first rudder
Machine (1) is arranged on the bottom plate (6) of the first U-shaped connector (4), the bottom plate (6) of the second steering wheel (2) and the second U-shaped connector (5)
Drive connection, is rotated, a side plate (7) of the first U-shaped connector (4) and the second U-shaped connector for band follower link body
(5) a side plate (7) is rotated by the 3rd steering wheel (3) and the steering wheel (8) being connected in the 3rd steering wheel (3) rotary shaft to be connected
Connect, another side plate (7) of another side plate (7) of the first U-shaped connector (4) and the second U-shaped connector (5) rotates connection.
2. multiple degrees of freedom steering wheel combination unit according to claim 1, it is characterised in that described the first steering wheel (1) position
In the inner face side of the bottom plate (6) of the first U-shaped connector (4), the rotary shaft of the first steering wheel (1) is located in the connection of the first U-shaped
On the bottom plate (6) of part (4).
3. multiple degrees of freedom steering wheel combination unit according to claim 2, it is characterised in that the bottom of the first U-shaped connector (4)
The size of the distance between plate (6) and inner face of bottom plate (6) of the second U-shaped connector (5) and the first steering wheel (1) matches.
4. multiple degrees of freedom steering wheel combination unit according to claim 1, described the second steering wheel (2) connects positioned at the second U-shaped
The outer face side of the bottom plate (6) of fitting (5), and be connected by the steering wheel (8) being connected in the steering wheel rotary shaft with the second U-shaped
Part (5) is connected.
5. multiple degrees of freedom steering wheel combination unit according to claim 1, it is characterised in that the 3rd described steering wheel (3) position
It is fixedly connected in the outer face side of second (5) side plates (7) of U-shaped connector, and with the second U-shaped connector (5), the 3rd rudder
The rotary shaft of machine (3) is located on the second U-shaped connector (5), is connected to steering wheel (8) in the 3rd steering wheel (3) rotary shaft and the
One side plate (7) of one U-shaped connector (4) is fixedly connected.
6. multiple degrees of freedom steering wheel combination unit according to claim 1, it is characterised in that the first steering wheel (1) and the second rudder
The rotary shaft of machine (2) is coaxially disposed.
7. multiple degrees of freedom steering wheel combination unit according to claim 1, it is characterised in that the bottom plate (6) of each U-shaped connector
And side plate (7) is the 3D printing part of environmental-protecting material, profile is regular shape or printing as needed.
8. a kind of desktop level mechanical arm, it is characterised in that desktop level mechanical arm is included as described in claim 1~7 is any
Multiple degrees of freedom steering wheel is combined the unit and the first linking arm (9) and the second linking arm (10), and described the first linking arm (9) is by setting
The steering wheel (8) put in the first steering wheel (1) rotary shaft is connected with described connector body rotation, the second described linking arm
(10) it is fixedly connected with the second steering wheel (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720154507.1U CN206588986U (en) | 2017-02-21 | 2017-02-21 | Multiple degrees of freedom steering wheel is combined the unit and using the desktop level mechanical arm of the device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720154507.1U CN206588986U (en) | 2017-02-21 | 2017-02-21 | Multiple degrees of freedom steering wheel is combined the unit and using the desktop level mechanical arm of the device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206588986U true CN206588986U (en) | 2017-10-27 |
Family
ID=60125390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720154507.1U Expired - Fee Related CN206588986U (en) | 2017-02-21 | 2017-02-21 | Multiple degrees of freedom steering wheel is combined the unit and using the desktop level mechanical arm of the device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206588986U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826921A (en) * | 2017-02-21 | 2017-06-13 | 上海建桥学院 | Multiple degrees of freedom steering wheel is combined the unit and its assembly method and application |
-
2017
- 2017-02-21 CN CN201720154507.1U patent/CN206588986U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826921A (en) * | 2017-02-21 | 2017-06-13 | 上海建桥学院 | Multiple degrees of freedom steering wheel is combined the unit and its assembly method and application |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20171027 Termination date: 20200221 |