CN206605481U - A kind of All-dimensional manipulator arm - Google Patents
A kind of All-dimensional manipulator arm Download PDFInfo
- Publication number
- CN206605481U CN206605481U CN201720250329.2U CN201720250329U CN206605481U CN 206605481 U CN206605481 U CN 206605481U CN 201720250329 U CN201720250329 U CN 201720250329U CN 206605481 U CN206605481 U CN 206605481U
- Authority
- CN
- China
- Prior art keywords
- knuckle
- cross bar
- support frame
- motor
- base
- 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
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Abstract
The utility model discloses a kind of All-dimensional manipulator arm, including main body, the bottom of main body is provided with base, the top of base is provided with support frame base, the top of support frame base is provided with support frame, one end of support frame is provided with the first cross bar, one end of first cross bar is provided with rotary cylinder, the side of rotary cylinder is provided with first knuckle motor, the side of first knuckle motor is provided with mechanical palms, the side of mechanical palms is provided with first knuckle, the side of first knuckle is provided with second knuckle motor, the side of second knuckle motor is provided with angular transducer, the side of angular transducer is provided with second knuckle, the utility model structure is novel, use cost is low, it is simple in construction, install easy to process, provided with the first cross bar and the second cross bar, substantially comprehensive crawl is realized, it is advantageously implemented the effect for gripping simple article, also for some high-risk work, the operation of exquisiteness can be carried out, solve manual unsafe factor.
Description
Technical field
The utility model is related to frame for movement technical field, and in particular to a kind of All-dimensional manipulator arm.
Background technology
With continuing to develop for electronic technology, indivedual places start automatic robot occur, and those robots can pass through
Preset program, which is operated research of the people to manipulator, to be had a lot, is widely used in every field.German DLR series mechanicals
Hand has had four generation products, and the purpose of development is provided in cabin and serviced out of my cabin in space.The machinery of Shadow companies of Britain
Hand The Smart Award Hand have with the identical free degree of human hand, finger motion space and grip.Its size with
Human hand is close, weighs about 5-10 kilograms, and the actuating speed of its " finger " is about the half of the finger constant speed of people.Beijing Institute of Aeronautics has been sent out
Cloth three generations's BH manipulators, wherein BH-3 types are comparative maturities, have sold to Hong Kong, Australia as laboratory experiment mould
Type.The beginning of domestic manipulator research has been started in the issue of BH Dextrous Hands series, has filled up grinding for country's multi-finger clever hand at that time
Study carefully blank, be the manufacture of China multifinger hand and solid foundation has been established in the development of control technology, but the machine found out at present
The field of tool arm application is different, and expensive, complex operation, and single direction can only be operated, it is impossible to realize complete
The fine and smooth operation in orientation.
Utility model content
The purpose of this utility model is that provides a kind of All-dimensional manipulator arm to solve the above problems, so as to solve
Certainly above mentioned problem
In order to solve the above-mentioned technical problem, the utility model provides following technical scheme：
The utility model provides a kind of All-dimensional manipulator arm, including main body, and the bottom of the main body is provided with base, institute
The top for stating base is provided with support frame base, and the top of support frame as described above base is provided with support frame, and one end of support frame as described above is set
There is the first cross bar, one end of first cross bar is provided with rotary cylinder, and the side of the rotary cylinder drives provided with first knuckle
Motor, the side of the first knuckle motor is provided with mechanical palms, and the side of the mechanical palms is provided with first knuckle, institute
The side for stating first knuckle is provided with second knuckle motor, and the side of the second knuckle motor is provided with angle sensor
Device, the side of the angular transducer is provided with second knuckle.
As a kind of optimal technical scheme of the present utility model, the side of first cross bar is provided with the first slider, institute
The bottom for stating the first slider is provided with the second slider, and the bottom of first cross bar is provided with the second cross bar, second cross bar
One end be provided with clamping bar, the bottom of the clamping bar is provided with the clamping plate.
As a kind of optimal technical scheme of the present utility model, the side of the base is provided with motor, the one of the motor
Side is provided with trailing wheel, and the side of support frame as described above base is provided with front-wheel.
The beneficial effect that the utility model is reached is：New structure is novel, use cost is low, simple in construction, installs and adds
Work is convenient, provided with the first cross bar and the second cross bar, and comprehensive crawl is realized substantially, and strong applicability is advantageously implemented gripping letter
The effect of single article, also for some high-risk work, can carry out the operation of exquisiteness, solve it is manual it is dangerous because
Element.
Brief description of the drawings
Accompanying drawing is used for providing further understanding to of the present utility model, and constitutes a part for specification, with this practicality
New embodiment is used to explain the utility model together, does not constitute to limitation of the present utility model.In the accompanying drawings：
Fig. 1 is overall structure diagram of the present utility model；
In figure：1st, main body；2nd, support frame；3rd, the first cross bar；4th, the second cross bar；5th, base；6th, trailing wheel；7th, motor；8th, prop up
Support base；9th, front-wheel；10th, clamping plate；11st, clamping bar；12nd, first knuckle；13rd, second knuckle motor；14th, angle sensor
Device；15th, second knuckle；16th, mechanical palms；17th, first knuckle driver；18th, rotary cylinder；19th, the first slider；20th,
Two sliders.
Embodiment
Preferred embodiment of the present utility model is illustrated below in conjunction with accompanying drawing, it will be appreciated that described herein excellent
Select embodiment to be merely to illustrate and explain the utility model, be not used to limit the utility model.
Embodiment 1
As shown in figure 1, the utility model provides a kind of All-dimensional manipulator arm, including main body 1, the bottom of main body 1
Provided with base 5, base 5 is used to support fixation, and the top of base 5 is provided with support frame base 8, and support frame base 8 is used for branch
Support and electric rotating machine is provided with fixing support rack 2, support frame base 8, support frame 2 can be driven to rotate, the top of support frame base 8
Provided with support frame 2, support frame 2 is used for supportive body 1 and support frame 2 is provided with slide rail, is slided for the first slider 19 and second
Sliding up and down for device 20 is moved, one end of support frame 2 is provided with the first cross bar 3, and the first cross bar 3 is used for solid mechanical arm, the first cross bar 3
One end be provided with rotary cylinder 18, the driving mechanical palm 16 of rotary cylinder 18 rotates, for some exquisiteness operations, rotary cylinder 18
Side be provided with first knuckle motor 17, first knuckle motor 17 is used to drive first knuckle, first knuckle driving
The side of motor 17 is provided with mechanical palms 16, and mechanical palms 16 are used to fix first knuckle 12, and the side of mechanical palms 16 is provided with
First knuckle 12, first knuckle 12 is used to grip some, and the operation such as taking and placing, the side of first knuckle 12 is driven provided with second knuckle
Dynamic motor 13, second knuckle motor 13 is used to drive second knuckle 15, and the side of second knuckle motor 13 is provided with angle
Sensor 14 is spent, angular transducer 14 is used in mechanical arm work read gripping angle, improves the accuracy of mechanical arm, angle is passed
The side of sensor 14 is provided with second knuckle 15, and second knuckle 15 is used to grip some, the operation such as taking and placing.
The side of first cross bar 3 is provided with the first slider 19, and the bottom of the first slider 19 is provided with the second slider 20, the
One slider 19 and the second slider 20 are used to slide up and down on support frame, increase the flexibility of mechanical arm, the first cross bar 3
Bottom is provided with the second cross bar 4, and the second cross bar 4 is used for fixation, and one end of the second cross bar 4 is provided with clamping bar 11, the bottom of clamping bar 11
Portion is provided with clamping plate 10, and 11 points of clamping bar is preceding clamping bar and rear clamping bar, and 10 points of clamping plate is front plate and rear plate, and rear clamping bar is pressed from both sides after driving
Plate, with front plate meeting and gripping article.
The side of base 5 is provided with motor 7, and the side of motor 7, which is provided with trailing wheel 6, motor 7, is provided with intelligent chip, can be with defeated
Enter preset program control main body 1 to be operated, motor 7 is that trailing wheel 6 provides power, and trailing wheel 6 drives main body 1 to move, support frame bottom
The side of seat 8 is provided with front-wheel 9, and front-wheel 9 can be moved left and right, and controls the direction of main body 1.
During specific work, preset program is inputted in intelligent chip first, control is new to be operated, after motor 7 is
Wheel 6 provides power, and trailing wheel 6 drives the movement front-wheel 9 of main body 1 to move left and right, controls the direction of main body 1, the first slider 19
It is used to slide up and down on support frame with the second slider 20, the first slider 19 and the second slider 20 drive the first cross bar 3
Slided up and down with the second cross bar 4, improve new flexibility, the driving mechanical palm 16 of rotary cylinder 18 rotates, first knuckle drives
Dynamic motor 17 is used to drive first knuckle, and second knuckle motor 13 is used to drive the angular transducer 14 of second knuckle 15 to be used for
Gripping angle is read in mechanical arm work, the accuracy of mechanical arm is improved, mechanical arm carries out some folders for some dangerous works
Take, the operation such as taking and placing, one end of the second cross bar 4 is provided with clamping bar 11, and 11 points of clamping bar is preceding clamping bar and rear clamping bar, before 10 points of clamping plate is
Clamping plate and rear plate, rear clamping bar drive rear plate, with front plate meeting and gripping article, the first cross bar 3 and the second cross bar 4 mutually association
Adjust, realize substantially realizes comprehensive crawl, strong applicability substantially.
The beneficial effect that the utility model is reached is：New structure is novel, use cost is low, simple in construction, installs and adds
Work is convenient, provided with the first cross bar and the second cross bar, and comprehensive crawl is realized substantially, and strong applicability is advantageously implemented gripping letter
The effect of single article, also for some high-risk work, can carry out the operation of exquisiteness, solve it is manual it is dangerous because
Element.
Finally it should be noted that：Preferred embodiment of the present utility model is the foregoing is only, this is not limited to
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it can still modify to the technical scheme described in foregoing embodiments, or to which part technical characteristic
Carry out equivalent substitution.It is all it is of the present utility model spirit and principle within, any modification, equivalent substitution and improvements made etc.,
It should be included within protection domain of the present utility model.
Claims (2)
1. a kind of All-dimensional manipulator arm, including main body (1), it is characterised in that the bottom of the main body (1) is provided with base (5),
The top of the base (5) is provided with support frame base (8), and the top of support frame as described above base (8) is provided with support frame (2), described
One end of support frame (2) is provided with the first cross bar (3), and one end of first cross bar (3) is provided with rotary cylinder (18), the rotation
The side of cylinder (18) is provided with first knuckle motor (17), and the side of the first knuckle motor (17) is provided with machinery
Palm (16), the side of the mechanical palms (16) is provided with first knuckle (12), and the side of the first knuckle (12) is provided with the
Two finger joint motors (13), the side of the second knuckle motor (13) is provided with angular transducer (14), the angle
The side of sensor (14) is provided with second knuckle (15), and the side of first cross bar (3) is provided with the first slider (19), described
The bottom of first slider (19) is provided with the second slider (20), and the bottom of first cross bar (3) is provided with the second cross bar (4),
One end of second cross bar (4) is provided with clamping bar (11), and the bottom of the clamping bar (11) is provided with clamping plate (10).
2. a kind of All-dimensional manipulator arm according to claim 1, it is characterised in that the side of the base (5) is provided with
Motor (7), the side of the motor (7) is provided with trailing wheel (6), and the side of support frame as described above base (8) is provided with front-wheel (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720250329.2U CN206605481U (en) | 2017-03-15 | 2017-03-15 | A kind of All-dimensional manipulator arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720250329.2U CN206605481U (en) | 2017-03-15 | 2017-03-15 | A kind of All-dimensional manipulator arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206605481U true CN206605481U (en) | 2017-11-03 |
Family
ID=60165844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720250329.2U Expired - Fee Related CN206605481U (en) | 2017-03-15 | 2017-03-15 | A kind of All-dimensional manipulator arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206605481U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176498A (en) * | 2018-10-25 | 2019-01-11 | 胡友红 | A kind of industrial robot grabbing device |
| CN113634702A (en) * | 2021-10-12 | 2021-11-12 | 徐州达一重锻科技有限公司 | Clamping device with good centering effect |
-
2017
- 2017-03-15 CN CN201720250329.2U patent/CN206605481U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176498A (en) * | 2018-10-25 | 2019-01-11 | 胡友红 | A kind of industrial robot grabbing device |
| CN113634702A (en) * | 2021-10-12 | 2021-11-12 | 徐州达一重锻科技有限公司 | Clamping device with good centering effect |
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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 |
Granted publication date: 20171103 Termination date: 20180315 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |