CN208744827U - A kind of Three Degree Of Freedom crawl mechanical arm - Google Patents
A kind of Three Degree Of Freedom crawl mechanical arm Download PDFInfo
- Publication number
- CN208744827U CN208744827U CN201821392999.9U CN201821392999U CN208744827U CN 208744827 U CN208744827 U CN 208744827U CN 201821392999 U CN201821392999 U CN 201821392999U CN 208744827 U CN208744827 U CN 208744827U
- Authority
- CN
- China
- Prior art keywords
- feeding
- pedestal
- lifting
- degree
- mechanical arm
- 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.)
- Active
Links
Abstract
The utility model provides a kind of Three Degree Of Freedom crawl mechanical arm, including feed mechanism, elevating mechanism and the rotating mechanism that elevating mechanism can be driven to rotate；Feed mechanism includes feeding pedestal, the feed screw that feeding platform can be driven to move horizontally and feeding motor, and feed screw is rotatably arranged on feeding pedestal, and feed screw through feeds platform, and feed screw is connect with feeding motor；Rotating mechanism and feeding platform consolidate, and elevating mechanism is arranged on rotating mechanism；Elevating mechanism includes lifting motor, the elevating screw that hoistable platform can be driven to move up and down, lifting pedestal, gripper connector and gripper.A kind of Three Degree Of Freedom described in the utility model grabs mechanical arm, tradition machinery arm configuration is complex, and during operating with, since structure is complex, so control difficulty is larger, there is the problems such as the cost is relatively high and maintenance is complicated for industrial application.
Description
Technical field
The invention belongs to machinery equipment field, grabs mechanical arm more particularly, to a kind of Three Degree Of Freedom.
Background technique
Currently, in the prior art, used crawl mechanical arm is generally 6DOF, tradition realizes the machine of 6 freedom degrees
Tool arm configuration is complex, and during operating with, since structure is complex, so control difficulty is larger, for
There is the problems such as the cost is relatively high and maintenance is complicated in industrial application.
Summary of the invention
In view of this, the invention is directed to a kind of Three Degree Of Freedom crawl mechanical arm, solves tradition machinery arm knot
Structure is complex, and during operating with, and since structure is complex, so control difficulty is larger, industry is answered
With existing, the cost is relatively high and safeguards the problems such as complicated.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of Three Degree Of Freedom crawl mechanical arm, including feed mechanism, elevating mechanism and can drive elevating mechanism to rotate
Rotating mechanism；
The feed mechanism includes feeding pedestal, feeding platform, feeding platform can be driven to move horizontally on pedestal
Feed screw and feeding motor, the feed screw are rotatably arranged on the feeding pedestal, and the feed screw is through described
Feeding platform, the feed screw are connect with the feeding motor；
The rotating mechanism and the feeding platform consolidate, and the elevating mechanism is arranged on the rotating mechanism；
The elevating mechanism include lifting motor, hoistable platform, the elevating screw that hoistable platform can be driven to move up and down,
Lifting pedestal, gripper connector and gripper, the elevating screw are rotatably arranged on the lifting pedestal, the lifting silk
Thick stick runs through the hoistable platform, and the elevating screw is connect with the lifting motor, and the hoistable platform is equipped with gripper, institute
It states and is equipped with micromotor in hoistable platform, the Miniature electric machine output shaft and the gripper consolidate, the lifting pedestal and institute
State rotating mechanism consolidation.
Further, the feeding pedestal is equipped with feeding position limiting structure, and the feeding position limiting structure includes left limit device
And right limit device, the left limit device and right limit device are arranged in the feed screw left and right end portions.
Further, the left limit device and right limit device are attached with the feeding pedestal by bolt.
Further, the lifting pedestal is equipped with lifting position limiting structure, and the lifting position limiting structure includes upper limit device
And lower retainer, the upper limit device and lower retainer are arranged in the elevating screw left and right end portions.
Further, the upper limit device and lower retainer are attached with the lifting pedestal by bolt.
Further, the hoistable platform is connect by gripper connector with the gripper.
Further, the feeding motor is connect by feeding shaft coupling with the feed screw.
Further, the lifting motor is connect by going up and down shaft coupling with the elevating screw.
Compared with the existing technology, a kind of crawl of Three Degree Of Freedom described in the invention mechanical arm has the advantage that
A kind of Three Degree Of Freedom crawl mechanical arm described in the invention, by lifting motor, feeding motor, electric rotating
Lifting, translation and rotation control to gripper can be realized in the control of machine, and control is unclamped in the crawl of cooperative mechanical pawl, whole
Realize the Three Degree Of Freedom control to gripper.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention wound
The illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.?
In attached drawing:
Fig. 1 is a kind of mechanical arm configuration schematic diagram of Three Degree Of Freedom crawl described in the invention embodiment；
Fig. 2 is a kind of Three Degree Of Freedom crawl mechanical arm front view described in the invention embodiment；
Fig. 3 is a kind of Three Degree Of Freedom crawl mechanical arm side view described in the invention embodiment.
Description of symbols:
1- feeds motor；2- feed screw；3- feeds pedestal；4- feeding platform；5- rotating platform；6- rotating electric machine；7-
Lower retainer；8- lifting pedestal；9- hoistable platform；10- upper limit device；11- lifting motor；12- gripper connector；13- machine
Machinery claw；14- elevating screw；15- rotating platform connector；16- pedestal；17- goes up and down shaft coupling；19- corner connector；20- feeding connection
Axis device；21- left limit device；22- right limit device；23- lifting support.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
A kind of Three Degree Of Freedom crawl mechanical arm, as shown in Figure 1, including feed mechanism, elevating mechanism and lifting can be driven
The rotating mechanism of mechanism rotation；
Rotating mechanism selects a kind of adjustable rotary support device, including the connection of motor, lifting support 23, rotating platform
Part 15 and pedestal 16；
Lifting support 23 is connect by rotating platform connector with rotating mechanism, and lifting support 23 passes through multiple corner connectors 19
It is arranged in 15 upper surface of rotating platform connector, pedestal 16 and rotating mechanism are affixed, and pedestal 16 is arranged below rotating mechanism；
Motor driven connection traversing mechanism, lifting support 23 are equipped with fixed locking mechanism, and fixed locking mechanism can be
It is slided on lifting support 23.
The setting of lifting pedestal 8 passes through locking mechanism and lifting support in 15 upper surface of rotating platform connector, lifting pedestal 8
23 progress are affixed.
Feed mechanism includes feeding pedestal 3, feeding platform 4, feeding platform 4 can be driven to move horizontally on pedestal 3
Feed screw 2 and feeding motor 1, feed screw 2 are rotatably arranged on feeding pedestal 3, and feed screw 2 through feeds platform 4,
Feed screw 2 is connect with feeding motor 1；
Rotating mechanism and feeding platform 4 consolidate, and elevating mechanism is arranged on rotating mechanism；
Elevating mechanism includes lifting motor 11, hoistable platform 9, the elevating screw that hoistable platform 9 can be driven to move up and down
14, lifting pedestal 8, gripper connector 12 and gripper 13, elevating screw 14 are rotatably arranged on lifting pedestal 8, go up and down silk
Thick stick 14 runs through hoistable platform 9, and elevating screw 14 is connect with lifting motor 11, and hoistable platform 9 is equipped with gripper 13, hoistable platform
Micromotor is equipped in 9, Miniature electric machine output shaft and gripper 13 consolidate, and lifting pedestal 8 and rotating mechanism consolidate.
It feeds pedestal 3 and is equipped with feeding position limiting structure, feeding position limiting structure includes left limit device 21 and right limit device 22, a left side
Limiter 21 and right limit device 22 are arranged in 2 left and right end portions of feed screw.
Pedestal 16 is affixed by bolt and feeding platform 4.
Left limit device 21 and right limit device 22 are attached with feeding pedestal 3 by bolt.
Lifting pedestal 8 is equipped with lifting position limiting structure, and lifting position limiting structure includes upper limit device 10 and lower retainer 7, on
Limiter 10 and lower retainer 7 are arranged in 14 left and right end portions of elevating screw.
Upper limit device 10 and lower retainer 7 are attached with lifting pedestal 8 by bolt.
Left limit device 21, right limit device 22, upper limit device 10 and lower retainer 7 include limit plate and limit sensors,
Limit sensors are arranged on limit plate, and limit sensors are connect with PLC controller,
PLC controller control connection feeding motor 1, lifting motor 11, micromotor and rotating electric machine, by feeding motor
1 driving feed screw 2, feed screw 2 further drive rotating platform connector 15 mobile by feeding platform 5, when feeding is flat
When platform 5 is close to left limit device 21 and right limit device 22, limit sensors issue alarm, further transmit a signal to PLC control
Device processed, PLC controller implement power-off to feeding motor 1.
When hoistable platform 9 is close to upper limit device 10 and lower retainer 7, limit sensors issue alarm, further will
Signal is transferred to PLC controller, and PLC controller is implemented to power off to lifting motor 9.
It can further effectively prevent grasping by left limit device 21, right limit device 22, upper limit device 10 and lower retainer 7
Make that accident occurs in use process, and then improves the safety of operator.
Hoistable platform 9 connect by gripper connector 12 with gripper 13, feeding motor 1 by feed shaft coupling 20 and
Feed screw 2 connects, and lifting motor 11 is connect by going up and down shaft coupling 17 with elevating screw 14.
The above is only the preferred embodiments of the invention, are not intended to limit the invention creation, all in the present invention
Within the spirit and principle of creation, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the invention
Within the scope of shield.
Claims (8)
1. a kind of Three Degree Of Freedom grabs mechanical arm, it is characterised in that: including feed mechanism, elevating mechanism and elevator can be driven
The rotating mechanism of structure rotation；
The feed mechanism includes feeding pedestal (3), feeding platform (4), can drive feeding platform (4) water on pedestal (3)
The dynamic feed screw (2) of translation and feeding motor (1), the feed screw (2) are rotatably arranged on the feeding pedestal (3),
The feed screw (2) runs through the feeding platform (4), and the feed screw (2) connect with the feeding motor (1)；
The rotating mechanism and the feeding platform (4) consolidate, and the elevating mechanism is arranged on the rotating mechanism；
The elevating mechanism includes lifting motor (11), hoistable platform (9), the liter that hoistable platform (9) can be driven to move up and down
Lead screw (14), lifting pedestal (8), gripper connector (12) and gripper (13), elevating screw (14) the rotation setting are dropped
On the lifting pedestal (8), the elevating screw (14) runs through the hoistable platform (9), the elevating screw (14) and institute
Lifting motor (11) connection is stated, the hoistable platform (9) is equipped with gripper (13), is equipped in the hoistable platform (9) miniature
Motor, the Miniature electric machine output shaft and the gripper (13) consolidate, and the lifting pedestal (8) and the rotating mechanism are solid
Knot.
2. a kind of Three Degree Of Freedom according to claim 1 grabs mechanical arm, it is characterised in that: on the feeding pedestal (3)
Equipped with feeding position limiting structure, the feeding position limiting structure includes left limit device (21) and right limit device (22), the left limit device
(21) and right limit device (22) is arranged in the feed screw (2) left and right end portions.
3. a kind of Three Degree Of Freedom according to claim 2 grabs mechanical arm, it is characterised in that: the left limit device (21) and
Right limit device (22) is attached with the feeding pedestal (3) by bolt.
4. a kind of Three Degree Of Freedom according to claim 1 grabs mechanical arm, it is characterised in that: on the lifting pedestal (8)
Equipped with lifting position limiting structure, the lifting position limiting structure includes upper limit device (10) and lower retainer (7), the upper limit device
(10) and lower retainer (7) is arranged in the elevating screw (14) left and right end portions.
5. a kind of Three Degree Of Freedom according to claim 4 grabs mechanical arm, it is characterised in that: the upper limit device (10) and
Lower retainer (7) is attached with the lifting pedestal (8) by bolt.
6. a kind of Three Degree Of Freedom according to claim 1 grabs mechanical arm, it is characterised in that: the hoistable platform (9) is logical
Gripper connector (12) is crossed to connect with the gripper (13).
7. a kind of Three Degree Of Freedom according to claim 1 grabs mechanical arm, it is characterised in that: the feeding motor (1) is logical
Feeding shaft coupling (20) is crossed to connect with the feed screw (2).
8. a kind of Three Degree Of Freedom according to claim 1 grabs mechanical arm, it is characterised in that: the lifting motor (11) is logical
Lifting shaft coupling (17) is crossed to connect with the elevating screw (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821392999.9U CN208744827U (en) | 2018-08-28 | 2018-08-28 | A kind of Three Degree Of Freedom crawl mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821392999.9U CN208744827U (en) | 2018-08-28 | 2018-08-28 | A kind of Three Degree Of Freedom crawl mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208744827U true CN208744827U (en) | 2019-04-16 |
Family
ID=66081333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821392999.9U Active CN208744827U (en) | 2018-08-28 | 2018-08-28 | A kind of Three Degree Of Freedom crawl mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208744827U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255439A (en) * | 2019-06-27 | 2019-09-20 | 郑州铁路职业技术学院 | A kind of railway loading and unloading transfer device |
| CN112635090A (en) * | 2020-12-18 | 2021-04-09 | 杭州景业智能科技股份有限公司 | Bag replacing device for radioactive materials and automatic packaging system |
| CN115179225A (en) * | 2022-08-15 | 2022-10-14 | 徐州金马回转支承制造有限公司 | Positioning tool for machining and mounting slewing bearing |
-
2018
- 2018-08-28 CN CN201821392999.9U patent/CN208744827U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255439A (en) * | 2019-06-27 | 2019-09-20 | 郑州铁路职业技术学院 | A kind of railway loading and unloading transfer device |
| CN112635090A (en) * | 2020-12-18 | 2021-04-09 | 杭州景业智能科技股份有限公司 | Bag replacing device for radioactive materials and automatic packaging system |
| CN112635090B (en) * | 2020-12-18 | 2023-08-22 | 杭州景业智能科技股份有限公司 | Bag changing device for radioactive materials and automatic packaging system |
| CN115179225A (en) * | 2022-08-15 | 2022-10-14 | 徐州金马回转支承制造有限公司 | Positioning tool for machining and mounting slewing bearing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208744827U (en) | A kind of Three Degree Of Freedom crawl mechanical arm | |
| CN104310206B (en) | Tube coupling handling turning device and method thereof | |
| CN109573856A (en) | A kind of intelligence boom hoisting | |
| CN206665785U (en) | A kind of feeding device | |
| CN205472265U (en) | Overhead hoisting remote control anchor clamps | |
| CN106736078A (en) | A kind of AC traction electric motor rotor turning device | |
| CN109305566A (en) | A kind of heap stacking machine, grabbing device and catching mechanism | |
| CN208008353U (en) | A kind of small crane for substation's hotline maintenance | |
| CN215208173U (en) | Crane steering device | |
| CN213473919U (en) | Movable conveying device for crane electric control equipment | |
| CN112938518A (en) | Discharging device of Z-shaped elevator | |
| CN208378170U (en) | A kind of novel glass electric insulator steel foot suspender | |
| CN206305650U (en) | A kind of AC traction electric motor rotor turning device | |
| CN211283484U (en) | Remote numerical control crane | |
| CN218462120U (en) | Production operation panel of low-voltage electrical complete equipment | |
| CN106348032B (en) | A kind of accumulator protection valve transmission device | |
| CN207774335U (en) | A kind of mould steel plate hay stacker | |
| CN206813924U (en) | A kind of transmission system and bearing platform group | |
| CN206437619U (en) | A kind of automatic rotary feeding mechanism of cell panel | |
| CN206645729U (en) | A kind of arm and mechanical control equipment | |
| CN210214635U (en) | Universal vertical lifting arm for crane | |
| CN214716183U (en) | Mixing arrangement is used in water based paint processing | |
| CN220078338U (en) | Lifting appliance for mechanical manufacturing | |
| CN214733714U (en) | Door plate hoisting device | |
| CN220412613U (en) | Intelligent plate pile lifting sling with automatic detection function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |