CN208034680U - A kind of four-degree-of-freedom mechanical arm based on Arduino platforms - Google Patents
A kind of four-degree-of-freedom mechanical arm based on Arduino platforms Download PDFInfo
- Publication number
- CN208034680U CN208034680U CN201820433730.4U CN201820433730U CN208034680U CN 208034680 U CN208034680 U CN 208034680U CN 201820433730 U CN201820433730 U CN 201820433730U CN 208034680 U CN208034680 U CN 208034680U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- waist
- retarder
- pedestal
- slot
- 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 four-degree-of-freedom mechanical arms based on Arduino platforms, including mechanical arm body, the machinery arm body includes waist retarder and pedestal, the waist retarder is cylindrical structure, and the exterior bottom of waist retarder is equidistantly opened up there are four limiting slot, the first sliding groove is offered in the top inner wall and bottom interior wall of limiting slot, the top center position of the pedestal offers circular mounting hole, and the outside sliding contact of the side wall of circular mounting hole and waist retarder, the limited block in limiting slot is fixed on the side wall of circular mounting hole, and the first sliding block being slidably connected with the first sliding groove is respectively and fixedly provided at the top and bottom of limited block, the side wall of circular mounting hole is further opened with an arcuate movement slot.The utility model is economical and practical, since the screw through hole on pedestal can be finely adjusted, and then is conducive to mechanical arm body and carries out Fast Installation in rack.
Description
Technical field
The utility model is related to four-degree-of-freedom mechanical arm technical field more particularly to it is a kind of based on Arduino platforms four
Degree-of-freedom manipulator.
Background technology
Fruits and vegetables harvesting is important link in agricultural production process, to raise labour productivity and operation quality, reduces labor
Fatigue resistance improves working environment, realizes harvest operation mechanization, automation and intelligence, is accordingly used in the four selfs of fruit and vegetable picking
It is come into being by degree mechanical arm, and four-degree-of-freedom mechanical arm is all to carry out operation and control by Arduino platforms, by retrieval
It is found that the four-degree-of-freedom mechanical arm for fruit and vegetable picking is suggested in Patent No. " CN107322637A ", Patent No.
A kind of four-degree-of-freedom mechanical arm of " CN107322637A " includes waist retarder and is arranged in waist retarder exterior bottom
Pedestal, and screw through hole is carried on pedestal, since pedestal is the exterior bottom for being directly anchored to waist retarder, when on pedestal
When screw through hole is not at screw hole corresponding in rack on same vertical axis so that screw rod is logical in corresponding screw rod
It is not easy to be installed in hole and screw hole.
For the problems of a kind of four-degree-of-freedom mechanical arm for solving Patent No. " CN107322637A ", it is proposed that
A kind of four-degree-of-freedom mechanical arm based on Arduino platforms.
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and the one kind proposed is based on
The four-degree-of-freedom mechanical arm of Arduino platforms.
To achieve the goals above, the utility model uses following technical solution：
A kind of four-degree-of-freedom mechanical arm based on Arduino platforms, including mechanical arm body, the machinery arm body include
Waist retarder and pedestal, the waist retarder is cylindrical structure, and the exterior bottom of waist retarder equidistantly opens up
There are four limiting slot, the first sliding groove, the center of top of the pedestal are offered in the top inner wall and bottom interior wall of limiting slot
Position offers circular mounting hole, and the outside sliding contact of the side wall of circular mounting hole and waist retarder, circular mounting hole
Side wall on be fixed with the limited block in limiting slot, and be respectively and fixedly provided at the top and bottom of limited block and the first sliding groove slide
The side wall of first sliding block of connection, circular mounting hole is further opened with an arcuate movement slot, and arcuate movement slot is lived far from arc
Circular trough is offered on the side inner wall of dynamic channel opening, circular trough is rotatablely equipped on the side inner wall far from round channel opening
Axis, and shaft is equipped with lead screw close to the side screw thread of round channel opening, lead screw is located at the welding of one end inside arcuate movement slot
There is the arc antiskid plate being slidably installed with arcuate movement slot, and the side that arc antiskid plate is located at outside arcuate movement slot subtracts with waist
The outside of fast device is in close contact, and the outside fixing sleeve of shaft is equipped with the first bevel gear, and the first bevel gear is engaged with and is located at
The second bevel gear above shaft is equipped with the connection vertical pivot being rotatablely installed with pedestal at the top of the second bevel gear, and even
The top for connecing vertical pivot is equipped with round turntable above pedestal.
Preferably, the arcuate movement slot is between two adjacent limited blocks, the top inner wall of arcuate movement slot and
Second sliding slot is offered in bottom interior wall, and the internal slide of second sliding slot is connected be fixedly mounted with arc antiskid plate
Two sliding blocks.
Preferably, the bottom of the waist retarder and the bottom of pedestal are on the same horizontal plane, and the top of pedestal
Portion is opened up there are four screw through hole, and four screw through holes are distributed in the surrounding of circular mounting hole in a ring, and screw through hole passes through spiral shell
Bar is fixed on the rack in corresponding screw hole.
Preferably, the shaft offers the thread groove being connect with wire rod thread close to the side of round channel opening.
Preferably, circular through hole is offered in the top inner wall of the circular trough, and is fixed on the side wall of circular through hole
Bearing, the inside of bearing is fixedly mounted with the outside for connecting vertical pivot, and bearing is located at the top of the second bevel gear.
Preferably, the outer sheath of the round turntable is equipped with Anti-slip cover, and the outside of the inside of Anti-slip cover and round turntable
Between be filled with glue.
Preferably, the mechanical arm body is also electrically connected with Arduino platforms.
Pass through round turntable, even in the utility model, in a kind of four-degree-of-freedom mechanical arm based on Arduino platforms
Connect vertical pivot, bearing, the second bevel gear, the first bevel gear, shaft, thread groove, lead screw, arc antiskid plate, the second sliding block and
Second sliding slot in arcuate movement groove sidewall matches, when the waist retarder in mechanical arm body is placed into the specific bit of rack
It postpones, along carrying out rotation round turntable clockwise so that the outside phase point of arc antiskid plate and waist retarder on lead screw
From, and then waist retarder unlocks in the inside of circular mounting hole, passes through waist retarder, limiting slot, the first sliding groove, base
Seat, circular mounting hole, limited block and the first sliding block match, when waist retarder unlocks in the inside of circular mounting hole
Afterwards, pedestal is pulled so that the first sliding block on limited block is slided in the inside of the first sliding groove, until the screw rod on pedestal is logical
Corresponding screw hole is on same vertical axis in hole and rack, further along rotating counterclockwise round turntable so that lead screw
On arc antiskid plate and waist retarder on the outside of be in close contact, and then waist retarder is in the inside of circular mounting hole
It is locked, is conducive to mechanical arm body and carries out Fast Installation in rack, the utility model is economical and practical, due on pedestal
Screw through hole can be finely adjusted, and then be conducive to mechanical arm body and carried out Fast Installation in rack.
Description of the drawings
Fig. 1 be the utility model proposes a kind of four-degree-of-freedom mechanical arm based on Arduino platforms stereogram；
Fig. 2 be the utility model proposes a kind of four-degree-of-freedom mechanical arm based on Arduino platforms in waist retarder
Main structure diagram；
Fig. 3 be the utility model proposes a kind of four-degree-of-freedom mechanical arm based on Arduino platforms in pedestal vertical view
Structural schematic diagram；
Fig. 4 be the utility model proposes the structure of A-A of four-degree-of-freedom mechanical arm based on Arduino platforms a kind of show
It is intended to.
In figure：1 mechanical arm body, 2 waist retarders, 3 limiting slots, 4 the first sliding grooves, 5 pedestals, 6 screw through holes, 7 circles
Mounting hole, 8 limited blocks, 9 first sliding blocks, 10 arcuate movement slots, 11 circular troughs, 12 shafts, 13 thread grooves, 14 lead screws, 15 arcs
Antiskid plate, 16 second sliding blocks, 17 second sliding slots, 18 connection vertical pivots, 19 second bevel gears, 20 first bevel gears, 21 circles
Turntable.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Referring to Fig.1-4, a kind of four-degree-of-freedom mechanical arm based on Arduino platforms, including mechanical arm body 1, mechanical arm
Main body 1 includes waist retarder 2 and pedestal 5, and waist retarder 2 is cylindrical structure, and the exterior bottom etc. of waist retarder 2
Spacing is opened up there are four limiting slot 3, and the first sliding groove 4 is offered in the top inner wall and bottom interior wall of limiting slot 3, pedestal 5
Top center position offers circular mounting hole 7, and the outside sliding contact of the side wall of circular mounting hole 7 and waist retarder 2,
The limited block 8 in limiting slot 3 is fixed on the side wall of circular mounting hole 7, and the top and bottom of limited block 8 are respectively and fixedly provided with
The side wall of the first sliding block 9 being slidably connected with the first sliding groove 4, circular mounting hole 7 is further opened with an arcuate movement slot 10, and arc
Circular trough 11 is offered on the side inner wall that shape loose slot 10 is open far from arcuate movement slot 10, circular trough 11 is far from circular trough 11
Shaft 12 is rotatablely equipped on the side inner wall of opening, and the side screw thread that shaft 12 is open close to circular trough 11 is equipped with lead screw
14, lead screw 14 is located at one end inside arcuate movement slot 10 and is welded with the arc antiskid plate being slidably installed with arcuate movement slot 10
15, and arc antiskid plate 15 is located at the side outside arcuate movement slot 10 and the outside close contact of waist retarder 2, shaft 12
Outside fixing sleeve is equipped with the first bevel gear 20, and the first bevel gear 20 is engaged with the second umbrella shape tooth above shaft 12
Wheel 19, the top of the second bevel gear 19 is equipped with the connection vertical pivot 18 being rotatablely installed with pedestal 5, and connects the top of vertical pivot 18
Round turntable 21 positioned at 5 top of pedestal is installed, arcuate movement slot 10 between two adjacent limited blocks 8, live by arc
Offer second sliding slot 17 in the top inner wall and bottom interior wall of dynamic slot 10, and the internal slide of second sliding slot 17 be connected with
The second sliding block 16 that arc antiskid plate 15 is fixedly mounted, the bottom of waist retarder 2 and the bottom of pedestal 5 are in the same level
On face, and the top of pedestal 5 is opened up there are four screw through hole 6, and four screw through holes 6 are distributed in circular mounting hole 7 in a ring
Surrounding, screw through hole 6 are fixed on the rack by screw rod in corresponding screw hole, shaft 12 be open close to circular trough 11 one
Side offers the thread groove 13 being threadedly coupled with lead screw 14, circular through hole is offered in the top inner wall of circular trough 11, and round
Bearing is fixed on the side wall of through-hole, the inside of bearing is fixedly mounted with the outside for connecting vertical pivot 18, and bearing is located at the second umbrella
The outer sheath of the top of shape gear 19, round turntable 21 is equipped with Anti-slip cover, and the outside of the inside of Anti-slip cover and round turntable 21
Between be filled with glue, mechanical arm body 1 is also electrically connected with Arduino platforms, by round turntable 21, connection vertical pivot 18,
Bearing, the second bevel gear 19, the first bevel gear 20, shaft 12, thread groove 13, lead screw 14, arc antiskid plate 15, second are slided
Second sliding slot 17 on 10 side wall of block 16 and arcuate movement slot matches, when the waist retarder 2 in mechanical arm body 1 is placed into
Behind the designated position of rack, rotation round turntable 21 is carried out along clockwise so that the arc antiskid plate 15 on lead screw 14 and waist
The outside of portion's retarder 2 is separated, and then waist retarder 2 unlocks in the inside of circular mounting hole 7, is slowed down by waist
Device 2, limiting slot 3, the first sliding groove 4, pedestal 5, circular mounting hole 7, limited block 8 and the first sliding block 9 match, when waist retarder
2 after the inside of circular mounting hole 7 unlocks, and pulls pedestal 5 so that the first sliding block 9 on limited block 8 is in the first sliding groove 4
Inside slided, until screw hole corresponding in screw through hole 6 and the rack on pedestal 5 is in same vertical axis
On, further along rotating counterclockwise round turntable 21 so that the outside of arc antiskid plate 15 on lead screw 14 and waist retarder 2 into
Row is in close contact, and then waist retarder 2 is locked in the inside of circular mounting hole 7, is conducive to mechanical arm body 1 in rack
Upper carry out Fast Installation, the utility model is economical and practical, since the screw through hole 6 on pedestal 5 can be finely adjusted, so that it is advantageous
Fast Installation is carried out in rack in mechanical arm body 1.
In the utility model, after the waist retarder 2 in mechanical arm body 1 is placed into the designated position of rack, first
Along rotation round turntable 21 is carried out clockwise, since connection vertical pivot 18 is mounted on by bearing in circular through hole, and connect perpendicular
The bottom of axis 18 is equipped with the second bevel gear 19 inside circular trough 11, and connection vertical pivot 18 drives the second bevel gear 19
It is rotated in the inside of circular trough 11, since the second bevel gear 19 and the first bevel gear 20 are meshed, and the first umbrella shape
Gear 20 is fixedly set in the outside of shaft 12, and the second bevel gear 19 drives shaft 12 in circle by the first bevel gear 20
It is rotated on the side wall of slot 11, shaft 12 drives thread groove 13 to be rotated in the inside of circular trough 11, due to thread groove 13
It is meshed with lead screw 14, and lead screw 14 is located at one end in arcuate movement slot 10 and is fixed with arc antiskid plate 15, shaft 12 passes through
Lead screw 14 drives arc antiskid plate 15 to carry out horizontal position movement, and arc antiskid plate 15 drives the second sliding block 16 in second sliding slot 17
Inside slided so that arc antiskid plate 15 carries out position movement to the direction far from waist retarder 2, until arc is anti-
Slide plate 15 and the outside of waist retarder 2 are separated, and then waist retarder 2 unlocks in the inside of circular mounting hole 7, so
Post-tensioning moving base 5, pedestal 5 drive the limited block 8 on 7 side wall of circular mounting hole to carry out position movement, limit in the inside of limiting slot 3
Position block 8 drives the first sliding block 9 to be slided in the inside of the first sliding groove 4, until the screw through hole 6 on pedestal 5 and institute in rack
Corresponding screw hole is on same vertical axis, further along round turntable 21 is rotated counterclockwise, since connection vertical pivot 18 passes through
Bearing is mounted in circular through hole, and the bottom for connecting vertical pivot 18 is equipped with the second bevel gear inside circular trough 11
19, connection vertical pivot 18 drives the second bevel gear 19 to be rotated in the inside of circular trough 11, due to 19 He of the second bevel gear
First bevel gear 20 is meshed, and the first bevel gear 20 is fixedly set in the outside of shaft 12, and the second bevel gear 19 is logical
Crossing the first bevel gear 20 drives shaft 12 to be rotated on the side wall of circular trough 11, and shaft 12 drives thread groove 13 in circle
The inside of slot 11 is rotated, since thread groove 13 and lead screw 14 are meshed, and lead screw 14 be located in arcuate movement slot 10 one
End is fixed with arc antiskid plate 15, and shaft 12 drives arc antiskid plate 15 to carry out horizontal position movement by lead screw 14, and arc is anti-
Slide plate 15 drives the second sliding block 16 to be slided in the inside of second sliding slot 17 so that arc antiskid plate 15 slows down to close to waist
The direction of device 2 carries out position movement, until arc antiskid plate 15 and the outside of waist retarder 2 are in close contact, and then waist
Portion's retarder 2 is locked in the inside of circular mounting hole 7, at this time the screw through hole 6 on pedestal 5 by screw rod in rack
It is fixed in screw hole, and then is conducive to mechanical arm body 1 and carries out Fast Installation in rack.
The preferable specific implementation mode of the above, only the utility model, but the scope of protection of the utility model is not
Be confined to this, any one skilled in the art within the technical scope disclosed by the utility model, according to this practicality
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (7)
1. a kind of four-degree-of-freedom mechanical arm based on Arduino platforms, including mechanical arm body（1）, the machinery arm body（1）
Including waist retarder（2）And pedestal（5）, which is characterized in that the waist retarder（2）For cylindrical structure, and waist subtracts
Fast device（2）Exterior bottom equidistantly open up there are four limiting slot（3）, limiting slot（3）Top inner wall and bottom interior wall on
Offer the first sliding groove（4）, the pedestal（5）Top center position offer circular mounting hole（7）, and circular mounting hole
（7）Side wall and waist retarder（2）Outside sliding contact, circular mounting hole（7）Side wall on be fixed with positioned at limiting slot
（3）Interior limited block（8）, and limited block（8）Top and bottom be respectively and fixedly provided with and the first sliding groove（4）First to be slidably connected is slided
Block（9）, circular mounting hole（7）Side wall be further opened with an arcuate movement slot（10）, and arcuate movement slot（10）Far from arc
Loose slot（10）Circular trough is offered on the side inner wall of opening（11）, circular trough（11）Far from circular trough（11）The side of opening
Shaft is rotatablely equipped on inner wall（12）, and shaft（12）Close to circular trough（11）The side screw thread of opening is equipped with lead screw
（14）, lead screw（14）Positioned at arcuate movement slot（10）Internal one end is welded with and arcuate movement slot（10）The arc being slidably installed
Antiskid plate（15）, and arc antiskid plate（15）Positioned at arcuate movement slot（10）Outer side and waist retarder（2）Outside it is tight
Contiguity is touched, shaft（12）Outside fixing sleeve be equipped with the first bevel gear（20）, and the first bevel gear（20）It is engaged with and is located at
Shaft（12）Second bevel gear of top（19）, the second bevel gear（19）Top be equipped with and pedestal（5）Rotational installation
Connection vertical pivot（18）, and connect vertical pivot（18）Top be equipped with positioned at pedestal（5）The round turntable of top（21）.
2. a kind of four-degree-of-freedom mechanical arm based on Arduino platforms according to claim 1, which is characterized in that described
Arcuate movement slot（10）Positioned at two adjacent limited blocks（8）Between, arcuate movement slot（10）Top inner wall and bottom interior wall
On offer second sliding slot（17）, and second sliding slot（17）Internal slide be connected with and arc antiskid plate（15）It is fixedly mounted
The second sliding block（16）.
3. a kind of four-degree-of-freedom mechanical arm based on Arduino platforms according to claim 1, which is characterized in that described
Waist retarder（2）Bottom and pedestal（5）Bottom be on the same horizontal plane, and pedestal（5）Top offer four
A screw through hole（6）, four screw through holes（6）It is distributed in circular mounting hole in a ring（7）Surrounding.
4. a kind of four-degree-of-freedom mechanical arm based on Arduino platforms according to claim 1, which is characterized in that described
Shaft（12）Close to circular trough（11）The side of opening offers and lead screw（14）The thread groove of threaded connection（13）.
5. a kind of four-degree-of-freedom mechanical arm based on Arduino platforms according to claim 1, which is characterized in that described
Circular trough（11）Top inner wall on offer circular through hole, and bearing is fixed on the side wall of circular through hole, the inside of bearing
With connect vertical pivot（18）Outside be fixedly mounted, and bearing is located at the second bevel gear（19）Top.
6. a kind of four-degree-of-freedom mechanical arm based on Arduino platforms according to claim 1, which is characterized in that described
Round turntable（21）Outer sheath Anti-slip cover, and the inside of Anti-slip cover and round turntable are housed（21）Outside between be filled with glue
Water.
7. a kind of four-degree-of-freedom mechanical arm based on Arduino platforms according to claim 1, which is characterized in that described
Mechanical arm body（1）Also it is electrically connected with Arduino platforms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820433730.4U CN208034680U (en) | 2018-03-29 | 2018-03-29 | A kind of four-degree-of-freedom mechanical arm based on Arduino platforms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820433730.4U CN208034680U (en) | 2018-03-29 | 2018-03-29 | A kind of four-degree-of-freedom mechanical arm based on Arduino platforms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208034680U true CN208034680U (en) | 2018-11-02 |
Family
ID=63945392
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820433730.4U Expired - Fee Related CN208034680U (en) | 2018-03-29 | 2018-03-29 | A kind of four-degree-of-freedom mechanical arm based on Arduino platforms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208034680U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110123332A (en) * | 2019-06-25 | 2019-08-16 | 李秦 | Irregular wound measuring scale |
| CN111257433A (en) * | 2020-03-23 | 2020-06-09 | 燕山大学 | Ultrasonic automatic flaw detection device for large-scale casting and forging |
-
2018
- 2018-03-29 CN CN201820433730.4U patent/CN208034680U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110123332A (en) * | 2019-06-25 | 2019-08-16 | 李秦 | Irregular wound measuring scale |
| CN110123332B (en) * | 2019-06-25 | 2022-04-05 | 中国人民解放军空军军医大学 | Irregular wound measuring ruler |
| CN111257433A (en) * | 2020-03-23 | 2020-06-09 | 燕山大学 | Ultrasonic automatic flaw detection device for large-scale casting and forging |
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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: 20181102 Termination date: 20190329 |