CN208323435U - Six degree of freedom is without dead angle radio tank mechanical arm - Google Patents
Six degree of freedom is without dead angle radio tank mechanical arm Download PDFInfo
- Publication number
- CN208323435U CN208323435U CN201820650372.2U CN201820650372U CN208323435U CN 208323435 U CN208323435 U CN 208323435U CN 201820650372 U CN201820650372 U CN 201820650372U CN 208323435 U CN208323435 U CN 208323435U
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- Prior art keywords
- arm
- gear
- hole
- far
- shaft
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Abstract
The utility model discloses a kind of six degree of freedoms without dead angle radio tank mechanical arm, including master arm, one end of the master arm offers mounting groove, servo motor is fixedly installed in mounting groove, the output shaft of the servo motor extends to outside mounting groove and is fixedly installed with turntable, turntable is fixedly installed with slave arm far from the side of servo motor, the slave arm opens up fluted far from one end of disk, middle position in the groove is equipped with working arm, and working arm extends to outside groove, through-hole is offered on the side inner wall of groove, first rotating shaft is rotatably equipped in the through-hole, and the both ends of first rotating shaft extend respectively to outside through-hole.The utility model structure is simple, and the working arm in mechanical arm can be made to be moved to any position and worked, and provides convenience for robot when carrying out complex work, machine task efficiency and operating accuracy is greatly improved.
Description
Technical field
The utility model relates to mechanical arm technical fields more particularly to six degree of freedom without dead angle radio tank mechanical arm.
Background technique
Mechanical arm is the automated machine device that most broad practice is obtained in robotic technology field, is made in industry
It makes, therapeutic treatment, entertainment service, military affairs, the fields such as semiconductors manufacture and space probation can see its figure, machine at present
Device people is widely used in the industry spots such as automatic transporting, assembly, welding, spraying, but the mechanical arm of robot leads at present
The often installation oil cylinder between slave arm and working arm is stretched or is bent to control working arm, but such method works the crook of the arm
Bent limitation causes radio tank mechanical arm that can not carry out operation to each orientation at work, and there is also more
Dead angle.
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and the six degree of freedom proposed is without dead angle
Radio tank mechanical arm.
To achieve the goals above, the utility model adopts the technical scheme that
Six degree of freedom is equipped with servo motor without dead angle radio tank mechanical arm, including master arm, the side of the master arm,
It is screwed on the output shaft of the servo motor and slave arm is installed, the slave arm is opened far from the side of servo motor
Equipped with groove, the middle position in the groove is equipped with working arm, and working arm extends to outside groove, on the side inner wall of groove
Through-hole is offered, first rotating shaft is rotatably equipped in the through-hole, and the both ends of first rotating shaft extend respectively to outside through-hole, first
Shaft is located at one end in groove and is welded on working arm on the side of through-hole, and the other end of first rotating shaft is welded with the first tooth
Wheel, the side of through-hole are equipped with the second shaft being welded on slave arm, and the second shaft is arranged far from rotating outside one end of slave arm
There is second gear, and second gear is engaged with first gear, the second shaft is equipped with far from the side of through-hole and is mounted on slave arm
Asynchronous machine, be welded with third gear on the output shaft of asynchronous machine, and third gear is engaged with second gear.
Preferably, the side on the working arm far from first rotating shaft is welded with third shaft, and third shaft is far from work
One end of arm is rotatably installed on the side inner wall in groove far from through-hole.
Preferably, it is rotatably equipped with bearing in the through-hole, first rotating shaft is rotatably installed in bearing.
Preferably, the path length of the first gear is twice of second gear path length, and the path length of second gear is third tooth
Twice for taking turns path length.
Preferably, the side of the master arm offers the first card slot, the side that the first card slot is open far from the first card slot
It is screwed on inner wall and servo motor is installed, and the output shaft of servo motor extends to outside the first card slot, servo motor
Model ECMA-C20807SS.
Preferably, second shaft is equipped with the second card slot being provided on slave arm, the second card far from the side of through-hole
It is screwed in slot and asynchronous machine is installed, the model YB3 of asynchronous machine.
Compared with prior art, the utility model has the beneficial effects that
In the utility model, pass through master arm, servo motor, slave arm, groove, working arm, through-hole, first rotating shaft,
It is smooth without dead angle remote control that one gear, the second shaft, second gear, asynchronous machine, third gear construct a kind of six degree of freedom jointly
Gram mechanical arm, is rotated by Serve Motor Control slave arm, by asynchronous machine, first gear, second gear, third gear,
First rotating shaft arbitrarily adjusts the angle to control working arm, the stress of moment when reducing asynchronous machine starting by second gear,
The utility model structure is simple, and the working arm in mechanical arm can be made to be moved to any position and worked, be robot into
It is provided convenience when row complex work, machine task efficiency and operating accuracy is greatly improved.
Detailed description of the invention
Fig. 1 be the utility model proposes schematic cross-sectional view of the six degree of freedom without dead angle radio tank mechanical arm；
Fig. 2 be the utility model proposes side structure schematic view of the six degree of freedom without dead angle radio tank mechanical arm.
In figure: 1 master arm, 2 servo motors, 3 slave arms, 4 grooves, 5 working arms, 6 through-holes, 7 first rotating shafts, 8 first teeth
Wheel, 9 second shafts, 10 second gears, 11 asynchronous machines, 12 third gears.
Specific embodiment
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.1-2, six degree of freedom is without dead angle radio tank mechanical arm, including master arm 1, the side of the master arm 1
It equipped with servo motor 2, is screwed on the output shaft of the servo motor 2 and slave arm 3 is installed, the slave arm 3 is remote
Side from servo motor 2 opens up fluted 4, and the middle position in the groove 4 is equipped with working arm 5, and working arm 5 extends to
Outside groove 4, through-hole 6 is offered on the side inner wall of groove 4, and first rotating shaft 7, and first turn are rotatably equipped in the through-hole 6
The both ends of axis 7 extend respectively to outside through-hole 6, and first rotating shaft 7 is located at one end in groove 4 and is welded on working arm 5 close to the one of through-hole 6
On side, the other end of first rotating shaft 7 is welded with first gear 8, and the side of through-hole 6 is equipped with second turn be welded on slave arm 3
Axis 9, turning set is equipped with second gear 10, and second gear 10 and first gear 8 outside second one end of shaft 9 far from slave arm 3
Engagement, the second shaft 9 are equipped with the asynchronous machine 11 being mounted on slave arm 3, the output of asynchronous machine 11 far from the side of through-hole 6
Third gear 12 is welded on axis, and third gear 12 is engaged with second gear 10, far from first rotating shaft 7 on the working arm 5
Side be welded with third shaft, third shaft is rotatably installed in groove 4 one far from through-hole 6 far from one end of working arm 5
On the inner wall of side, bearing is rotatably equipped in the through-hole 6, first rotating shaft 7 is rotatably installed in bearing, the first gear 8
Path length is twice of 10 path length of second gear, and the path length of second gear 10 is twice of 12 path length of third gear, the master arm 1
Side offer the first card slot, be screwed to be equipped on the side inner wall that the first card slot is open far from the first card slot and watch
Motor 2 is taken, and the output shaft of servo motor 2 extends to outside the first card slot, the model ECMA-C20807SS of servo motor 2,
Second shaft 9 is equipped with the second card slot being provided on slave arm 3 far from the side of through-hole 6, passes through screw in the second card slot
It is fixedly installed with asynchronous machine 11, the model YB3 of asynchronous machine 11.
Firstly, can control servo motor 2 on master arm 1 when six degree of freedom is worked without dead angle radio tank mechanical arm
It drives slave arm 3 to rotate, positions the operative orientation of working arm 5, then control the asynchronous machine 11 on slave arm 3, asynchronous machine
11 rotations drive third gear 12 to rotate, and under the supporting role of the second shaft 9, third gear 12 is by driving second gear
10, so that the first tooth is driven, 8, first gear 8 is acted on by driving first rotating shaft 7 to rotate, and in the Auxiliary support of third shaft
Lower drive working arm 5 rotates, and can make the adjustment angle of 5 360 deg of working arm, so that it is distant without dead angle to construct six degree of freedom
Control tank mechanical arm.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
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 (6)
1. six degree of freedom is without dead angle radio tank mechanical arm, including master arm (1), which is characterized in that the one of the master arm (1)
Side is equipped with servo motor (2), is screwed on the output shaft of the servo motor (2) and is equipped with slave arm (3), it is described from
Swing arm (3) opens up fluted (4) far from the side of servo motor (2), and the middle position in the groove (4) is equipped with working arm
(5), and working arm (5) extends to groove (4) outside, offers on the side inner wall of groove (4) through-hole (6), in the through-hole (6)
It is rotatably equipped with first rotating shaft (7), and the both ends of first rotating shaft (7) extend respectively to through-hole (6) outside, first rotating shaft (7) is located at
Groove (4) interior one end is welded on working arm (5) on the side of through-hole (6), and the other end of first rotating shaft (7) is welded with first
Gear (8), the side of through-hole (6) are equipped with the second shaft (9) being welded on slave arm (3), and the second shaft (9) is far from slave arm
(3) turning set is equipped with second gear (10) outside one end, and second gear (10) is engaged with first gear (8), the second shaft (9)
Side far from through-hole (6) is equipped with the asynchronous machine (11) being mounted on slave arm (3), welds on the output shaft of asynchronous machine (11)
It is connected to third gear (12), and third gear (12) is engaged with second gear (10).
2. six degree of freedom according to claim 1 is without dead angle radio tank mechanical arm, which is characterized in that the working arm
(5) side on far from first rotating shaft (7) is welded with third shaft, and third shaft is rotatablely installed far from one end of working arm (5)
On side inner wall in groove (4) far from through-hole (6).
3. six degree of freedom according to claim 1 is without dead angle radio tank mechanical arm, which is characterized in that the through-hole (6)
It is inside rotatably equipped with bearing, first rotating shaft (7) is rotatably installed in bearing.
4. six degree of freedom according to claim 1 is without dead angle radio tank mechanical arm, which is characterized in that the first gear
(8) path length is twice of second gear (10) path length, and the path length of second gear (10) is twice of third gear (12) path length.
5. six degree of freedom according to claim 1 is without dead angle radio tank mechanical arm, which is characterized in that the master arm
(1) side offers the first card slot, is screwed installation on the side inner wall that the first card slot is open far from the first card slot
Have servo motor (2), and the output shaft of servo motor (2) extends to outside the first card slot, the model ECMA- of servo motor (2)
C20807SS。
6. six degree of freedom according to claim 1 is without dead angle radio tank mechanical arm, which is characterized in that second shaft
(9) side far from through-hole (6) is equipped with the second card slot being provided on slave arm (3), is screwed peace in the second card slot
Equipped with asynchronous machine (11), the model YB3 of asynchronous machine (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820650372.2U CN208323435U (en) | 2018-05-03 | 2018-05-03 | Six degree of freedom is without dead angle radio tank mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820650372.2U CN208323435U (en) | 2018-05-03 | 2018-05-03 | Six degree of freedom is without dead angle radio tank mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208323435U true CN208323435U (en) | 2019-01-04 |
Family
ID=64779937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820650372.2U Expired - Fee Related CN208323435U (en) | 2018-05-03 | 2018-05-03 | Six degree of freedom is without dead angle radio tank mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208323435U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732568A (en) * | 2019-03-12 | 2019-05-10 | 苏州科技大学 | A kind of mechanical arm automation hoist |
-
2018
- 2018-05-03 CN CN201820650372.2U patent/CN208323435U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732568A (en) * | 2019-03-12 | 2019-05-10 | 苏州科技大学 | A kind of mechanical arm automation hoist |
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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: 20190104 Termination date: 20200503 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |