CN207189652U - A kind of desktop type six degree of freedom arm robot - Google Patents
A kind of desktop type six degree of freedom arm robot Download PDFInfo
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- CN207189652U CN207189652U CN201720608053.0U CN201720608053U CN207189652U CN 207189652 U CN207189652 U CN 207189652U CN 201720608053 U CN201720608053 U CN 201720608053U CN 207189652 U CN207189652 U CN 207189652U
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Abstract
The utility model discloses a kind of desktop type six degree of freedom arm robot, by central controller, motor drive module, power supply, base, main body turning, mechanical arm transmission mechanism, execution direction switching mechanism, shaft device, S H shaft devices；It is characterized in that：Main body turning is housed on the base, motor drive module and power supply are housed inside main body turning, central controller is located on rear side of main body turning, S H shaft devices are placed with left and right sides of main body turning, centre is placed with shaft device, S H shaft devices are connected with mechanical arm transmission mechanism, are provided with mechanical arm transmission mechanism and perform direction switching mechanism, the utility model has the advantages that：The space availability ratio of mechanical arm is improved, reduces the floor space of mechanical arm；The robot performance produced is also had a distinct increment, and a kind of full-featured teaching equipment is provided for robot teaching classroom, and can be widely used in education and instruction use and the personal secondary development of robot field.
Description
Technical field
It the utility model is related to a kind of robot field, and in particular to a kind of desktop type six degree of freedom arm robot.
Background technology
With developing rapidly for modern science and technology, robot industry development is more and more rapider, enters robotics field
Crowd is more and more, and the demand for educating equipment and physical model is also increasing.Meanwhile automated production machine in factory
The application of people is more and more, and more factories increase production using the strategy of machine substitute human labor.Major colleges and universities and part middle and primary schools open
If robotics course, while some robot models are proposed for teaching.Under this overall situation, robot technology is
Popularization.But the existing robot field in China falls behind much relative to foreign technology, and the structure of institute production machine people is set
Count unreasonable, technique is cumbersome, be not easy to production and processing, high processing costs and not environmentally, the robot performance that produces it is also poor,
It can not meet customer need；The utility model proposes a kind of desktop type six degree of freedom arm robot can preferably solve this
A little problems, the arm robot is compact-sized, exquisite, and external hardware device enriches, and is advantageous to produce and process, reduction is produced into
This, and its mechanical structure is built using the combination of cutting acrylic board and copper post, it is green without molding processing model；Adopt
With the side suspension S-H shaft devices of fuselage two, the space availability ratio of mechanical arm is improved, reduces the floor space of mechanical arm；Production
The robot performance gone out also has a distinct increment, and robotics researcher is verified the robot motion's phase of oneself whenever and wherever possible
Algorithm is closed, and a kind of full-featured teaching equipment is provided for robot teaching classroom, and education religion can be widely used in
Learn use and the personal secondary development of robot field.
The content of the invention
The utility model is mainly solving the technical problems that provide a kind of desktop type six degree of freedom arm robot, this is arm-type
Robot architecture is compact, exquisite, and external hardware device enriches, and is advantageous to produce and process, and reduces production cost, and sub- using cutting
Its mechanical structure is built in the combination of gram force plate and copper post, green without molding processing model；Using the side suspension S- of fuselage two
H shaft devices, the space availability ratio of mechanical arm is improved, reduce the floor space of mechanical arm；The robot performance produced
Have a distinct increment, robotics researcher is verified the robot motion's related algorithm of oneself whenever and wherever possible, and be machine
Device people educates classroom and provides a kind of full-featured teaching equipment, and can be widely used in education and instruction use and robot
The personal secondary development in field.
1. in order to solve the above technical problems, a kind of technical scheme that the utility model uses is：A kind of desktop type six is freely
Arm robot is spent, by central controller, motor drive module, power supply, base, main body turning, mechanical arm transmission mechanism, execution
Direction switching mechanism, shaft device, S-H shaft devices composition；It is characterized in that：Main body turning is housed on the base, rotated
Fuselage interior is equipped with motor drive module and power supply, and central controller is located on rear side of main body turning, is put at left and right sides of main body turning
S-H shaft devices are equipped with, centre is placed with shaft device, and S-H shaft devices are connected with mechanical arm transmission mechanism, is driven in mechanical arm
It is provided with mechanism and performs direction switching mechanism.
Further, the base is made up of sucker, 6807ZZ bearings and six pieces of acrylic cutting sheets, it is characterised in that：
Its profile is stacked by six pieces of acrylics and formed, wherein six pieces of acrylic cutting sheets have all reserved installation screw hole, is consolidated by screw
It is scheduled on together, four suckers are separately mounted to two pieces of acrylic board corners of bottommost, three pieces on top of 6807ZZ bearing holder (housing, cover)s
Outside the cylinder that disc acrylic cutting sheet is combined into, while stack and be reserved with and rotate in the acrylic cutting sheets of the superiors
The interface of axle fixture.
Further, the main body turning is made up of ten pieces of acrylic cutting sheets and three copper posts, it is characterised in that：It is described
Ten pieces of acrylics are divided into three parts, and Part I is stacked by five pieces of disc acrylic cutting sheets and formed, and one is fixed on by screw
Rise, as the interface with base, wherein, two pieces of disc acrylic cutting sheets of upper part are incomplete disks, are reserved
Screw installation groove and acrylic mounting groove, while the inner circle anchor ring of three pieces of disc acrylic cutting sheets of lower part is lucky
It is bonded with the 6807ZZ bearings installed on base, Part II is made up of the mounting seat of S-H shaft devices two pieces of acrylic cutting sheets,
Two pieces of acrylic cutting sheets are respectively S axles rotate steering wheel mounting seat, H axle rotate steering wheel mounting seats, are placed in Part I heap
Folded acrylic board both sides, vertically can closely it be embedded in the acrylic mounting groove described in Part I, by screw insertion the
In screw installation groove described in a part, meanwhile, with three between S axles rotate steering wheel mounting seat and H axle rotate steering wheel mounting seats
Root copper post supports, and is screwed, and three pieces of acrylic boards of Part III are mutually embedded, can be with by mounting hole reserved above
In the S axles rotate steering wheel mounting seat and H axle rotate steering wheel mounting seats of Part II, as central controller mounting seat.
Further, the shaft device is made up of a rotary shaft fixture, a rotary shaft steering wheel, and its feature exists
In：Rotary shaft steering wheel is arranged on the imperfect disc acrylic cutting sheet in the Part I of the main body turning by screw
On, it is connected by rotary shaft fixture with the interface of the base topmost.
Further, the mechanical arm transmission mechanism is divided into two parts, it is characterised in that：Part I is one parallel
Quadrilateral structure, two of which shape identical acrylic cutting sheet leave multiple mounting holes, and the first from left right side is relative to pass through three
Root copper post and screw connection turn into the large arm of mechanical arm, and being also provided with a plastic fixtures by screw in one end of large arm makees
For the interface of S axle fixtures in connection S-H shaft devices, one is long and the other is short, and two pieces of acrylic cutting sheets are embedding by identical reserving hole
Enter 6000 zanjon bearings composition connecting rod, shorter acrylic cutting sheet by screw install another plastic fixtures be used as connect S-
The interface of H axles fixture in H shaft devices, and the polished rod that can match identical acrylic cutting sheet lower end in the large arm is reserved
Hole, separately there are two pieces of identical acrylic cutting sheets, i.e. elbow joint stator, the elbow of mechanical arm is mounted for by copper post and screw
Portion, the 6000 zanjon bearing embedded holes reserved on ancon can be with described connecting rod one end and large arm one end by the insertion bearing
Connection, parallelogram sturcutre is formed, Part II is by the elbow joint stator, wherein, one piece of acrylic cutting sheet
As M128 bearing installation sheets, MR128 bearing mounting holes are left above, after being embedded in MR128 bearings, are rotated optical axis and be may be inserted into
M128 bearings and smooth rotation, while rotate optical axis and put plastic light axle sleeve, left in plastic light axle sleeve by steering wheel electric wire
Space.
Further, the S-H shaft devices by S axles rotate steering wheel, S axles fixture, H axles rotate steering wheel, H axles fixture,
An and support polished rod composition, it is characterised in that：The S axles rotate steering wheel that S axles rotate steering wheel is arranged on the main body turning is pacified
The side of seat is filled, while the plastic fixtures in the mechanical arm transmission mechanism large arm are connected by S axles fixture, is realized arm-type
The function of robot flexion movement, H axles rotate steering wheel are arranged on the side of the H axle rotate steering wheel mounting seats of the main body turning,
The plastic fixtures installed in the shorter acrylic cutting sheet of mechanical arm transmission mechanism are connected by H axles fixture simultaneously, it is real
Show the function of arm robot elevating movement, support polished rod is inserted in two plastic fixtures, as mechanical arm transmission mechanism
Support bar.
Further, the execution direction switching mechanism is by X-axis rotate steering wheel, Y-axis rotate steering wheel, Y-axis fixture, Z axis
Rotate steering wheel, Z axis fixture, yielding coupling, two 6000 deep groove ball bearings, a plastic bushing, a polished rod fixture,
One U-shaped plastics, three pieces of acrylic cutting plates and three copper post compositions, it is characterised in that：Z axis rotate steering wheel is arranged on Z axis
In rotate steering wheel mounting seat, by connecting Z axis fixture, and then yielding coupling is connected, finally connect the mechanical arm transmission
Rotation optical axis in mechanism, the function of being rotated along Z-direction is realized, the rotation optical axis other end in the mechanical arm transmission mechanism
Polished rod fixture is connected, while polished rod fixture is embedded in U-shaped plastics, U-shaped plastics are also the mounting seat of Y-axis rotate steering wheel simultaneously,
Two pieces of wrist acrylic cutting sheets turn into the wrist part structure of arm robot, while be embedded in X-axis rotation by copper post and screw connection
Come about the mounting seat of machine, the Y-axis rotate steering wheel being installed on U-shaped plastics connects the wrist part structure by Y-axis fixture, simultaneously
M4 screws pass through 6000 deep groove ball bearings of embedded U-shaped plastics and put wrist part structure described in sleeve pipe connection.
Further, six rotate steering wheels use 5V operating voltages, electric current 0.5A, stepping accuracy 5%, maximum
Statical moment is 0.55N.M.
Further, the central controller is using STM32 controllers, the microcontroller of the controller
STM32F103RCT6。
The beneficial effects of the utility model are:The arm robot is compact-sized, exquisite, and external hardware device enriches, and has
Beneficial to production and processing, production cost is reduced, and its mechanical structure is built using the combination of cutting acrylic board and copper post, without opening
Mould processing model, it is green；Using the side suspension S-H shaft devices of fuselage two, the space availability ratio of mechanical arm is improved, is reduced
The floor space of mechanical arm；The robot performance produced also has a distinct increment；Enable robotics researcher whenever and wherever possible
The robot motion's related algorithm of oneself is verified, and a kind of full-featured teaching equipment is provided for robot teaching classroom,
And education and instruction use and the personal secondary development of robot field can be widely used in.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the understructure figure of the present utility model for being connected with rotary shaft fixture.
Fig. 3 is the main body turning structure chart of the present utility model equipped with rotary shaft steering wheel.
Fig. 4 is mechanical transmissioning machine composition of the present utility model.
Fig. 5 is equipped with Z axis rotate steering wheel, Z axis in execution direction switching mechanism in mechanical transmission mechanism of the present utility model
The elbow joint structure figure of fixture, yielding coupling.
Fig. 6 is S-H shaft devices structure chart of the present utility model.
Fig. 7 is wrist mechanism structure chart in execution direction switching mechanism of the present utility model.
In figure, 1, base, 2, main body turning, 3, mechanical arm transmission mechanism, 4, perform direction switching mechanism, 5, sucker,
6th, the large arm in mechanical arm transmission mechanism, 7, plastic light axle sleeve, 8, H axle rotate steering wheels, 9, S axle rotate steering wheels, 10, X-axis rotation
Steering wheel, 11, Y-axis rotate steering wheel, 12, central controller mounting seat, 13, polished rod fixture, 14, copper post, 15, Z axis rotate steering wheel,
16th, yielding coupling, 17,6807ZZ bearings, 18, rotary shaft fixture, 19, S axle rotate steering wheel mounting seats, 20, H axles rotation rudder
Machine mounting seat, 21, rotary shaft steering wheel mounting seat, 22, rotary shaft steering wheel, 23, rotation optical axis, 24, Z axis rotate steering wheel mounting seat,
25th, the longer acrylic cutting sheet of parallelogram sturcutre, 26, the shorter acrylic cutting sheet of parallelogram sturcutre, 27, plastics it is solid
Determine part, 28,6000 deep groove ball bearings, 29, MR128 bearings, 30, Z axis fixture, 31 H axle fixtures, 32, S axle fixtures,
33rd, polished rod is supported, 34, plastic bushing, 35, U-shaped plastics, 36, elbow joint stator, 37, X-axis rotate steering wheel mounting seat, 38, wrist
Portion's acrylic cutting sheet, 39, Y-axis fixture, 40, M128 bearing installation sheets, 41, central controller, 42, power supply, 43, motor drives
Dynamic model block.
Embodiment
Embodiment of the present utility model is described in further detail below in conjunction with brief description of the drawings, but the present embodiment and not had to
It is every to use similar structure of the present utility model and its similar change in limitation the utility model, the utility model all should be included in
Protection domain.
Refer to Fig. 1-7, a kind of desktop type six degree of freedom arm robot of the utility model, by central controller 41, electricity
Machine drive module 43, power supply 42, base 1, main body turning 2, mechanical arm transmission mechanism 3, execution direction switching mechanism 4, rotary shaft
Device, S-H shaft devices；It is characterized in that：Main body turning 2 is housed, the inside of main body turning 2 is equipped with motor driving mould on the base
Block 43 and power supply 42, central controller 41 are located at the rear side of main body turning 2, and the left and right sides of main body turning 2 is placed with S-H shaft devices,
The space availability ratio of mechanical arm is improved, reduces the floor space of mechanical arm；Centre is placed with shaft device, S-H axles dress
Put and be connected with mechanical arm transmission mechanism 3, be provided with mechanical arm transmission mechanism 3 and perform direction switching mechanism 4；During power supply 42 is
Centre controller 41 and motor drive module 43 are powered, and are decomposed the mobile route of arm robot by central controller 41,
Sectional straight line path is decomposed to, each section of straight line path generates one group of NC code, the anglec of rotation of mainly six steering wheels
Information is spent, by parsing NC codes, progressively motor drive module 43, until each section of path is completed, and then control machine
People is precisely accomplished corresponding actions instruction.
The base is made up of sucker 5,6807ZZ bearings 17 and six pieces of acrylic cutting sheets, it is characterised in that：Its profile
Stacked and formed by six pieces of acrylics, wherein six pieces of acrylic cutting sheets have all reserved installation screw hole, be screwed in one
Rise, four suckers 5 are separately mounted to two pieces of acrylic board corners of bottommost, and 6807ZZ bearings 17 are enclosed on three pieces of disks on top
Outside the cylinder that shape acrylic cutting sheet is combined into, while stack to be reserved with the acrylic cutting sheets of the superiors and consolidate with rotary shaft
Determine the interface of part 18.
The main body turning 2 is made up of ten pieces of acrylic cutting sheets and three copper posts 14, it is characterised in that：Described ten pieces of Asias
Gram force is divided into three parts, and Part I is stacked by five pieces of disc acrylic cutting sheets and formed, is fixed together by screw, as
With the interface of base, wherein, two pieces of disc acrylic cutting sheets of upper part are incomplete disks, have reserved screw installation
Groove and acrylic mounting groove, at the same the inner circle anchor ring of three pieces of disc acrylic cutting sheets of lower part just with base
The 6807ZZ bearings 17 of installation are bonded, and Part II is made up of the mounting seat of S-H shaft devices, two pieces of Asias two pieces of acrylic cutting sheets
Gram force cutting sheet is respectively S axles rotate steering wheel mounting seat 19, H axles rotate steering wheel mounting seat 20, is placed in and is stacked in Part I
Acrylic board both sides, can vertically closely be embedded in Part I described in acrylic mounting groove in, by screw be embedded in first
In screw installation groove described in part, meanwhile, used between S axles rotate steering wheel mounting seat 19 and H axles rotate steering wheel mounting seat 20
Three copper posts 14 support, and are screwed, and three pieces of acrylic boards of Part III are mutually embedded, pass through mounting hole reserved above
The S axles rotate steering wheel mounting seat 19 of Part II can be mounted in in H axles rotate steering wheel mounting seat 20, pacifying as central controller
Fill seat 12.
The shaft device is made up of 18, rotary shaft steering wheels 22 of a rotary shaft fixture, it is characterised in that：Rotation
Rotating shaft steering wheel 22 is arranged on the imperfect disc acrylic cutting sheet in the Part I of the main body turning 2 by screw
On, it is connected by rotary shaft fixture 18 with the interface of the topmost of base 1, whirler can be realized by rotary shaft steering wheel
The function that body 2 rotates horizontally.
The mechanical arm transmission mechanism is by 14, eight 11 pieces of acrylic cutting sheets, six roots of sensation copper post 6000 deep groove ball bearings
28th, 29, one, MR128 bearings, 7, two, a plastic light axle sleeve plastic fixtures 27 and a rotation optical axis 23 form, its
It is characterised by：The mechanical arm transmission mechanism is divided into two parts, and Part I is a parallelogram sturcutre, two of which
Shape identical acrylic cutting sheet leaves multiple mounting holes, the first from left right side relative to by three copper posts 14 and screw connection into
For the large arm 6 of mechanical arm, a plastic fixtures 27 are also provided with by screw in one end of large arm and are used as connection S-H shaft devices
The interface of middle S axles fixture 32, two pieces of acrylic cutting sheets that one is long and the other is short are embedded in 6000 zanjon axles by identical reserving hole
Hold 28 composition connecting rods, shorter acrylic cutting sheet 26, which by screw installs another plastic fixtures 27 and is used as connection S-H axles, to be filled
The interface of middle H axles fixture 31 is put, and the polished rod preformed hole of identical acrylic cutting sheet lower end in the large arm 6 can be matched,
Separately there are two pieces of identical acrylic cutting sheets, i.e. elbow joint stator 36, the elbow of mechanical arm is mounted for by copper post and screw
Portion, the 6000 zanjon bearing embedded holes reserved on ancon can be with described connecting rod one end and large arm one end by the insertion bearing
Connection, parallelogram sturcutre is formed, Part II is by the elbow joint stator 36, wherein, one piece of acrylic cutting
Piece leaves MR128 bearing mounting holes, after being embedded in MR128 bearings 29, rotating optical axis 23 can above as M128 bearings installation sheet 40
To insert bearing and smooth rotation, while rotate optical axis 23 and put plastic light axle sleeve 7, left in plastic light axle sleeve 7 and pass through steering wheel
The space of electric wire.
The S-H shaft devices by S axles rotate steering wheel 9, S axles fixture 32, H axles rotate steering wheel 8, H axles fixture 31 and
A piece support polished rod 33 forms, it is characterised in that：The S axles rotate steering wheel that S axles rotate steering wheel 9 is arranged on the main body turning is installed
The side of seat 19, while the plastic fixtures 27 in the mechanical arm transmission mechanism large arm 6 are connected by S axles fixture 32, it is real
The function of existing arm robot flexion movement, H axles rotate steering wheel 8 are arranged on the H axle rotate steering wheel mounting seats of the main body turning
20 side, while connect what is installed in the shorter acrylic cutting sheet 26 of the mechanical arm transmission mechanism by H axles fixture 31
Plastic fixtures 27, the function of arm robot elevating movement is realized, support polished rod 33 is inserted in two plastic fixtures 27, is made
For the support bar of mechanical arm transmission mechanism.
The execution direction switching mechanism 4 is revolved by X-axis rotate steering wheel 10, Y-axis rotate steering wheel 11, Y-axis fixture 39, Z axis
Come about machine 15, Z axis fixture 24, yielding coupling 16, two 6000 deep groove ball bearings, 28, plastic bushings 34, a light
35, three pieces of acrylic cutting plates of the U-shaped plastics of bar fixture 13, one and three copper posts 14 form, it is characterised in that：Z axis revolves
Machine 15 of coming about is arranged in Z axis rotate steering wheel mounting seat 24, by connecting Z axis fixture 30, and then connects yielding coupling 16,
The rotation optical axis 23 in the mechanical arm transmission mechanism is finally connected, realizes the function of being rotated along Z-direction, the mechanical arm passes
Rotation optical axis other end connection polished rod fixture 13 in motivation structure, the execution direction switching mechanism are divided into two parts, wherein
A part is sequentially connected the rotation in Z axis fixture 24, yielding coupling 16, mechanical arm transmission mechanism by Z axis rotate steering wheel 15
Polished rod one end forms；Polished rod fixture 13 is embedded in U-shaped plastics 35 simultaneously, and U-shaped plastics 35 are also the peace of Y-axis rotate steering wheel 11 simultaneously
Seat is filled, two pieces of wrist acrylic cutting sheets 38 are connected as large arm 6 in the mechanical arm transmission mechanism by copper post 14 and screw
Connect, turn into the wrist part structure of arm robot, while the mounting seat 37 of embedded X-axis rotate steering wheel, be installed on U-shaped plastics 35
Y-axis rotate steering wheel 11 connects the wrist part structure by Y-axis fixture 39, while M4 screws pass through embedded U-shaped plastics 35
6000 deep groove ball bearings 28 simultaneously put sleeve pipe 34 and connect the wrist part structure, finally realize the function of being rotated along Y direction.
Operation principle of the present utility model is：Computer Design control program is first passed through, is then embedded in its control program
Into central controller, six steering wheels of 6DOF arm robot are controlled, realize 6DOF arm robot
Corresponding psychomotor task is completed in a variety of motions；Being mainly designed to for control program is arm-type by using 6DOF
Each arm relevant parameter of robot itself carries out forward kinematics solution calculating or Inverse Kinematics Solution calculates, and passes through the knot being calculated
Fruit, is converted into the rotation angle information of each steering wheel, and drives steering wheel to be rotated accordingly.
Six rotate steering wheels use 5V operating voltages, electric current 0.5A, stepping accuracy 5%, and maximum static moment is
0.55N.M。
The central controller is using STM32 controllers, the microcontroller of the controller
STM32F103RCT6。
A kind of project of motion control of desktop type six degree of freedom arm robot of the utility model is as follows：
（1）The mobile route of arm robot is decomposed, decomposes to sectional straight line path.
（2）Each section of straight line path generates one group of NC code, the rotation angle information of mainly six steering wheels.
(3) by parsing NC codes, progressively motor rotates, until each section of path is completed.
Embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or other phases are used in indirectly
The technical field of pass, similarly it is included in the utility model patent protection domain.
Claims (9)
- A kind of 1. desktop type six degree of freedom arm robot, by central controller, motor drive module, power supply, base, whirler Body, mechanical arm transmission mechanism, perform direction switching mechanism, shaft device, S-H shaft devices composition；It is characterized in that：The bottom Main body turning is housed on seat, motor drive module and power supply are housed inside main body turning, after central controller is located at main body turning Side, the main body turning left and right sides are placed with S-H shaft devices, and centre is placed with shaft device, and S-H shaft devices are connected with mechanical arm Transmission mechanism, it is provided with mechanical arm transmission mechanism and performs direction switching mechanism.
- A kind of 2. desktop type six degree of freedom arm robot according to claim 1, it is characterised in that：Base by sucker, 6807ZZ bearings and six pieces of acrylic cutting sheet compositions；Wherein six pieces of acrylic cutting sheets have reserved installation screw hole, pass through spiral shell Silk is fixed together, and four suckers are separately mounted to two pieces of acrylic board corners of bottommost, and 6807ZZ bearing holder (housing, cover)s are on top Outside the cylinder that three pieces of disc acrylic cutting sheets are combined into, at the same stack be reserved with the acrylic cutting sheets of the superiors with The interface of rotary shaft fixture.
- A kind of 3. desktop type six degree of freedom arm robot according to claim 1, it is characterised in that：Main body turning is by ten Block acrylic cutting sheet and three copper post compositions；Ten pieces of acrylics are divided into three parts, and Part I is by five pieces of disc acrylics Cutting sheet is stacked and formed, and is fixed together by screw, as the interface with base, wherein, sub- gram of two pieces of discs of upper part Power cutting sheet is incomplete disk, has reserved screw installation groove and acrylic mounting groove, while three pieces of circles of lower part The inner circle anchor ring of dish type acrylic cutting sheet is bonded with the 6807ZZ bearings installed on base just, and Part II is by two pieces of Asias gram Power cutting sheet forms the mounting seat of S-H shaft devices, and two pieces of acrylic cutting sheets are respectively S axles rotate steering wheel mounting seat, the rotation of H axles Steering wheel mounting seat, it is placed on the acrylic board both sides that Part I stacks, vertically can be closely embedded in described in Part I Acrylic mounting groove in, by screw be embedded in Part I described in screw installation groove in, meanwhile, S axles rotate steering wheel installation Supported, be screwed, three pieces of acrylic boards of Part III are mutual with three copper posts between seat and H axle rotate steering wheel mounting seats It is embedded, the S axles rotate steering wheel mounting seat of Part II can be mounted in by mounting hole reserved above and H axles rotate steering wheel is installed On seat, as central controller mounting seat.
- A kind of 4. desktop type six degree of freedom arm robot according to claim 1, it is characterised in that：Shaft device by One rotary shaft fixture, a rotary shaft steering wheel composition；Rotary shaft steering wheel is arranged on the of the main body turning by screw In imperfect disc acrylic cutting sheet in a part, connected by the interface of rotary shaft fixture and the base topmost Connect.
- A kind of 5. desktop type six degree of freedom arm robot according to claim 1, it is characterised in that：Mechanical arm driver Structure is by 11 pieces of acrylic cutting sheets, six roots of sensation copper post, eight 6000 deep groove ball bearings, a MR128 bearing, a plastics polished rod Set, two plastic fixtures and one rotate polished rod composition；The mechanical arm transmission mechanism is divided into two parts, Part I It is a parallelogram sturcutre, two of which shape identical acrylic cutting sheet leaves multiple mounting holes, the right phase of a first from left To the large arm for turning into mechanical arm by three copper posts and screw connection, a modeling is also provided with by screw in one end of large arm Expect interface of the fixture as S axle fixtures in connection S-H shaft devices, one is long and the other is short, and two pieces of acrylic cutting sheets pass through identical Reserving hole is embedded in 6000 zanjon bearings composition connecting rod, and shorter acrylic cutting sheet installs another plastic fixtures by screw As the interface of H axle fixtures in connection S-H shaft devices, and identical acrylic cutting sheet lower end in the large arm can be matched Polished rod preformed hole, separately there is two pieces of identical acrylic cutting sheets, the first from left right side relative to by three copper posts and screw connection into For the elbow joint of mechanical arm, the ancon of mechanical arm, the 6000 zanjon bearings reserved on ancon are mounted for by copper post and screw Embedded hole can be connected by the insertion bearing with described connecting rod one end and large arm one end, form parallelogram sturcutre, the Two parts are by the elbow joint stator, wherein, one piece of acrylic cutting sheet leaves above as M128 bearing installation sheets MR128 bearing mounting holes, after being embedded in MR128 bearings, rotate optical axis and may be inserted into M128 bearings and smooth rotation, while rotate light Plastic light axle sleeve on axle sleeve, the space by steering wheel electric wire is left in plastic light axle sleeve.
- A kind of 6. desktop type six degree of freedom arm robot according to claim 1, it is characterised in that：S-H shaft devices are by S Axle rotate steering wheel, S axles fixture, H axles rotate steering wheel, H axles fixture and a support polished rod composition；It is characterized in that：S Axle rotate steering wheel is arranged on the side of the S axle rotate steering wheel mounting seats of the main body turning, while connects institute by S axles fixture The plastic fixtures in mechanical arm transmission mechanism large arm are stated, H axles rotate steering wheel is arranged on the H axle rotate steering wheels of the main body turning The side of mounting seat, while connect what is installed in the shorter acrylic cutting sheet of mechanical arm transmission mechanism by H axles fixture Plastic fixtures, insertion support polished rod, the support bar as mechanical arm transmission mechanism in two plastic fixtures.
- A kind of 7. desktop type six degree of freedom arm robot according to claim 1, it is characterised in that：Perform direction interpreter Structure is by X-axis rotate steering wheel, Y-axis rotate steering wheel, Z axis rotate steering wheel, Z axis fixture, yielding coupling, two 6000 deep-groove ball axles Hold, a plastic bushing, a polished rod fixture, a U-shaped plastics, two pieces of acrylic cutting plates and three copper post compositions； It is characterized in that：Z axis rotate steering wheel is arranged in Z axis rotate steering wheel mounting seat, by connecting Z axis fixture, and then connects bullet Property shaft coupling, finally connects the rotation optical axis in the mechanical arm transmission mechanism, the rotation light in the mechanical arm transmission mechanism The axle other end connects polished rod fixture, while polished rod fixture is embedded in U-shaped plastics, and U-shaped plastics are also Y-axis rotate steering wheel simultaneously Mounting seat, two pieces of wrist acrylic cutting sheets turn into the wrist part structure of arm robot by copper post and screw connection, while embedding Enter the mounting seat of X-axis rotate steering wheel, the Y-axis rotate steering wheel being installed on U-shaped plastics connects the wrist knot by Y-axis fixture Structure, while M4 screws pass through 6000 deep groove ball bearings of embedded U-shaped plastics and put wrist part structure described in sleeve pipe connection.
- A kind of 8. desktop type six degree of freedom arm robot according to claim 6, it is characterised in that：S axles rotate steering wheel with And H axle rotate steering wheels are separately mounted to main body turning both sides, it is characterised in that：Respectively by connecting S axles fixture, H axles are fixed Part shares a support polished rod.
- A kind of 9. desktop type six degree of freedom arm robot according to claim 1, it is characterised in that：Central controller uses Be STM32 controllers, the microcontroller of the controller is STM32F103RCT6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720608053.0U CN207189652U (en) | 2017-05-27 | 2017-05-27 | A kind of desktop type six degree of freedom arm robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720608053.0U CN207189652U (en) | 2017-05-27 | 2017-05-27 | A kind of desktop type six degree of freedom arm robot |
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| CN207189652U true CN207189652U (en) | 2018-04-06 |
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| CN201720608053.0U Expired - Fee Related CN207189652U (en) | 2017-05-27 | 2017-05-27 | A kind of desktop type six degree of freedom arm robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994682A (en) * | 2017-05-27 | 2017-08-01 | 李双双 | A kind of new type mechanical device of teaching |
| CN108376509A (en) * | 2018-04-09 | 2018-08-07 | 重庆鲁班机器人技术研究院有限公司 | Teaching mechanical arm system and its control method |
| CN108748108A (en) * | 2018-07-05 | 2018-11-06 | 上海建桥学院 | A kind of robot arm device for placing motor |
| CN108927799A (en) * | 2018-09-10 | 2018-12-04 | 广东宏穗晶科技服务有限公司 | A kind of machining robot mechanical arm |
| CN109079738A (en) * | 2018-08-24 | 2018-12-25 | 北京秘塔网络科技有限公司 | A kind of adaptive AGV robot and adaptive navigation method |
| CN110181548A (en) * | 2019-06-29 | 2019-08-30 | 南京奥灵克物联网科技有限公司 | A kind of multi-functional handgrip of robot for Internet of Things |
| CN111376231A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Collaboration robot |
| CN111482981A (en) * | 2020-05-20 | 2020-08-04 | 广东顺德邦诺机械有限公司 | XY axle pivoted sucking disc device |
| WO2021179141A1 (en) * | 2020-03-09 | 2021-09-16 | 深圳市大疆创新科技有限公司 | Mechanical arm, movable machine and assembly method for mechanical arm |
| CN115302488A (en) * | 2022-08-30 | 2022-11-08 | 浙江工业大学 | Wearable outer limb robot |
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2017
- 2017-05-27 CN CN201720608053.0U patent/CN207189652U/en not_active Expired - Fee Related
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| CN106994682A (en) * | 2017-05-27 | 2017-08-01 | 李双双 | A kind of new type mechanical device of teaching |
| CN108376509A (en) * | 2018-04-09 | 2018-08-07 | 重庆鲁班机器人技术研究院有限公司 | Teaching mechanical arm system and its control method |
| CN108748108A (en) * | 2018-07-05 | 2018-11-06 | 上海建桥学院 | A kind of robot arm device for placing motor |
| CN109079738A (en) * | 2018-08-24 | 2018-12-25 | 北京秘塔网络科技有限公司 | A kind of adaptive AGV robot and adaptive navigation method |
| CN109079738B (en) * | 2018-08-24 | 2022-05-06 | 北京密塔网络科技有限公司 | Self-adaptive AGV robot and self-adaptive navigation method |
| CN108927799A (en) * | 2018-09-10 | 2018-12-04 | 广东宏穗晶科技服务有限公司 | A kind of machining robot mechanical arm |
| CN111376231A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Collaboration robot |
| CN110181548A (en) * | 2019-06-29 | 2019-08-30 | 南京奥灵克物联网科技有限公司 | A kind of multi-functional handgrip of robot for Internet of Things |
| WO2021179141A1 (en) * | 2020-03-09 | 2021-09-16 | 深圳市大疆创新科技有限公司 | Mechanical arm, movable machine and assembly method for mechanical arm |
| CN111482981A (en) * | 2020-05-20 | 2020-08-04 | 广东顺德邦诺机械有限公司 | XY axle pivoted sucking disc device |
| CN111482981B (en) * | 2020-05-20 | 2022-11-25 | 广东顺德邦诺机械有限公司 | XY axle pivoted sucking disc device |
| CN115302488A (en) * | 2022-08-30 | 2022-11-08 | 浙江工业大学 | Wearable outer limb robot |
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