CN208773635U - A kind of manipulator swing type mechanical arm - Google Patents
A kind of manipulator swing type mechanical arm Download PDFInfo
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- CN208773635U CN208773635U CN201821454922.XU CN201821454922U CN208773635U CN 208773635 U CN208773635 U CN 208773635U CN 201821454922 U CN201821454922 U CN 201821454922U CN 208773635 U CN208773635 U CN 208773635U
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- stepper motor
- fixedly connected
- mechanical arm
- screw rod
- swing type
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Abstract
The utility model relates to field of automated mechanical technology, and disclose a kind of manipulator swing type mechanical arm, including mounting base, turntable is fixedly connected at the top of the mounting base, the upper end of turntable is equipped with tooth socket, rotating bottom board is fixedly connected at the top of turntable, stepper motor one is fixedly connected at the top of the left end of rotating bottom board, the output shaft end of stepper motor one is socketed with driving gear one, driving gear one engages connection by tooth socket with turntable, the top of rotating bottom board is equipped with cylindrical cap, is fixedly connected with guide post at the top of rotating bottom board.Manipulator swing type mechanical arm, pass through setting guide post, stepper motor two, screw rod and slider disc, the advantages of realizing adjustable up-down, guide post is for giving slider disc positioning and guiding, by the work of stepper motor two, screw rod rotation is driven, the threaded connection of screw rod and slider disc is passed through, slider disc can be made to do straight line up and down motion along screw rod, so that large arm be driven to do longitudinal movement.
Description
Technical field
The utility model relates to field of automated mechanical technology, specially a kind of manipulator swing type mechanical arm.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument, feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently, manipulator is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy, in life now
On, under the progress of Science and Technology Day crescent benefit, robot is that flexibility ratio and endurance with the arm maximum difference for having the mankind
Degree, that is, manipulator sharpest edges it is recursive do it is same movement machinery will not always feel under normal circumstances
Tired, the application of mechanical arm also will be more and more extensive, and manipulator is that a kind of high-tech that recent decades grow up is given birth to automatically
Produce equipment, the ability to fulfil assignment in the accuracy and environment of operation, an important branch of industry mechanical arm robot, by drive
Flowing mode can be divided into fluid pressure type, pneumatic type, electrodynamic type and mechanical, and feature is that various expected make can be completed by programming
The advantage of people and robotics respectively is had concurrently in industry, construction and performance.
Manipulator be suitble to modernization Production trend, have stronger vitality, now used by mechanical arm have it is hydraulic,
The mechanical arms such as Pneumatic Transmission, but stringent, the not so leakage of fluid work to mechanical arm is required sealing device in hydraulic drive
Have a significant impact as performance, and should not in high temperature low operating temperatures, and in Pneumatic Transmission due to air have compressible characteristic,
Keep the stability of operating rate poor, impacts that big and existing mechanical arm configuration is complex, and expensive, control program is multiple
It is miscellaneous, and the angle between mechanical arm and mechanical arm is not adjustable.
Utility model content
(1) the technical issues of solving
In view of the deficiencies of the prior art, the utility model provides a kind of manipulator swing type mechanical arm, has adjustable
Section lifting, operating radius is wide, movement is steady and the advantages that convenient for operation, solves that existing stability is poor, structure is complicated and angle
Degree adjusts limited problem.
(2) technical solution
To realize that above-mentioned adjustable up-down, operating radius are wide, movement is steady and purpose convenient for operation, the utility model mention
For following technical solution: a kind of manipulator swing type mechanical arm, including mounting base, the top of the mounting base is fixed to be connected
It is connected to turntable, the upper end of the turntable is equipped with tooth socket, is fixedly connected with rotating bottom board, the rotation at the top of the turntable
Turn to be fixedly connected with stepper motor one at the top of the left end of bottom plate, the output shaft end of the stepper motor one is socketed with driving gear
One, the driving gear one engages connection by tooth socket with turntable, and the top of the rotating bottom board is equipped with cylindrical cap, the rotation
Turn to be fixedly connected with guide post at the top of bottom plate, support plate is fixedly connected at the top of the guide post, the top of the support plate is fixed
It is connected with stepper motor two, the output shaft end of the stepper motor two is fixedly connected with screw rod, the middle part screw thread of the screw rod
It is connected with slider disc, large arm is fixedly connected on the right side of the slider disc, is fixedly connected with stepping at the top of the right end of the large arm
Motor three, the output shaft end of the stepper motor three are socketed with driving gear two, and the right end of the large arm is equipped with U-lag, institute
The bottom for stating U-lag is fixedly connected with rotating seat, and forearm is fixedly connected at the top of the rotating seat, and the top of the forearm is solid
Surely it is connected with shaft, the upper end of the shaft is socketed with driven gear, and the driven gear engages connection, institute with driving gear two
It states and is fixedly connected with stepper motor four at the top of the right end of forearm, the output shaft end of the stepper motor four is socketed with mounting disc.
Preferably, the right side of the cylindrical cap is equipped with back-shaped slot, and the guide post and screw rod are installed in cylindrical cap, described big
Arm passes through back-shaped slot and extends in cylindrical cap.
Preferably, the both ends of the slider disc are equipped with through-hole, the slider disc and guide post and are socketed by through-hole, the sliding
The middle part of disk is equipped with threaded hole, and the slider disc is threadedly coupled with screw rod by threaded hole.
Preferably, the model 86BYGH100 of the stepper motor two, the statical moment of the stepper motor two are 5.5Nm,
The rotary inertia of the stepper motor two is 1.7kg/cm2.
Preferably, the diameter greater than support plate of the diameter of the cylindrical cap, and range is between 3mm-5mm, described time
The width of shape slot is greater than the width of large arm, and range is between 1cm-2cm.
Preferably, the model of the stepper motor one, stepper motor three and stepper motor four is 57BYG250B, described
The output torque of stepper motor one, stepper motor three and stepper motor four is 1.2Nm.
Preferably, the both ends of the mounting base are equipped with mounting hole one, and the both ends of the mounting disc are equipped with mounting hole two.
(3) beneficial effect
Compared with prior art, the utility model provides a kind of manipulator swing type mechanical arm, has following beneficial
Effect:
1, manipulator swing type mechanical arm is realized by setting guide post, stepper motor two, screw rod and slider disc
The advantages of adjustable up-down, guide post, by the work of stepper motor two, drive screw rod rotation for giving slider disc positioning and guiding,
By the threaded connection of screw rod and slider disc, slider disc can be made to do straight line up and down motion along screw rod, so that it is vertical to drive large arm to do
Upward movement.
2, manipulator swing type mechanical arm passes through setting turntable, tooth socket, stepper motor one, driving gear one, step
Into motor three, driving gear two and driven gear, the advantages of operating radius is wide, movement is steady and is convenient for operation is realized, by
Stepper motor one drives the rotation of driving gear one to drive turntable to rotate, to allow large arm to do circumferential movement, by master
Moving gear two is engaged with driven gear, is driven and is rotated by stepper motor three, forearm is allow to do circumferential movement, is expanded with reaching
Big freedom degree keeps its running more steady.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the top view of the utility model；
Fig. 3 is the partial front elevation view of the utility model；
Fig. 4 is the right view of the cylindrical cap of the utility model.
In figure: 1, mounting base；2, turntable；3, tooth socket；4, rotating bottom board；5, stepper motor one；6, driving gear one；
7, cylindrical cap；8, guide post；9, support plate；10, stepper motor two；11, screw rod；12, slider disc；13, large arm；14, stepper motor
Three；15, driving gear two；16, U-lag；17, rotating seat；18, forearm；19, shaft；20, driven gear；21, stepper motor
Four；22, mounting disc；23, back-shaped slot；24, through-hole；25, threaded hole；26, mounting hole one；27, mounting hole two.
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.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-4, a kind of manipulator swing type mechanical arm, including mounting base 1 are please referred to, the top of mounting base 1 is solid
Surely it is connected with turntable 2, the upper end of turntable 2 is equipped with tooth socket 3, and the top of turntable 2 is fixedly connected with rotating bottom board 4, rotates
It is fixedly connected with stepper motor 1 at the top of the left end of bottom plate 4, the output shaft end of stepper motor 1 is socketed with driving gear one
6, driving gear 1 engages connection by tooth socket 3 with turntable 2, and the top of rotating bottom board 4 is equipped with cylindrical cap 7, rotating bottom board 4
Top be fixedly connected with guide post 8, the top of guide post 8 is fixedly connected with support plate 9, and the top of support plate 9 is fixedly connected with stepping
Motor 2 10, the output shaft end of stepper motor 2 10 are fixedly connected with screw rod 11, and the middle part of screw rod 11 is threaded with sliding
Disk 12, by setting guide post 8, stepper motor 2 10, screw rod 11 and slider disc 12, the advantages of realizing adjustable up-down, guide post 8
For giving 12 positioning and guiding of slider disc, by the work of stepper motor 2 10, screw rod 11 is driven to rotate, pass through screw rod 11 and sliding
The threaded connection of disk 12 can make slider disc 12 do straight line up and down motion along screw rod 11, so that it is longitudinal to drive large arm 13 to do
Mobile, the right side of slider disc 12 is fixedly connected with large arm 13, is fixedly connected with stepper motor 3 14 at the top of the right end of large arm 13, walks
Output shaft end into motor 3 14 is socketed with driving gear 2 15, and the right end of large arm 13 is equipped with U-lag 16, the bottom of U-lag 16
Portion is fixedly connected with rotating seat 17, and the top of rotating seat 17 is fixedly connected with forearm 18, and the top of forearm 18, which is fixedly connected with, to be turned
Axis 19, the upper end of shaft 19 are socketed with driven gear 20, by the way that turntable 2, tooth socket 3, stepper motor 1, driving gear is arranged
One 6, stepper motor 3 14, driving gear 2 15 and driven gear 20 realize that operating radius is wide, movement is steady and convenient for operation
The advantages of, drive the rotation of driving gear 1 that turntable 2 is driven to rotate by stepper motor 1, so that large arm 13 be allow to do
Circumferential movement is driven by stepper motor 3 14 and is rotated, make forearm 18 by engaging for driving gear 2 15 and driven gear 20
Circumferential movement can be done, to reach expansion freedom degree, keeps its running more steady, driven gear 20 is engaged with driving gear 2 15
The right end top of connection, forearm 18 is fixedly connected with stepper motor 4 21, and the output shaft end of stepper motor 4 21 is socketed with peace
Sabot 22.
Specifically, the right side of cylindrical cap 7 is equipped with back-shaped slot 23, back-shaped slot 23 is for keeping away position, and guide post 8 and screw rod 11 are installed
In in cylindrical cap 7, large arm 13 passes through back-shaped slot 23 and extends in cylindrical cap 7.
Specifically, the both ends of slider disc 12 are equipped with through-hole 24, slider disc 12 is socketed with guide post 8 by through-hole 24, convenient for leading
The active link of column 8 and slider disc 12, the middle part of slider disc 12 are equipped with threaded hole 25, and slider disc 12 and screw rod 11 pass through threaded hole
25 are threadedly coupled, convenient for the threaded connection of slider disc 12 and screw rod 11.
Specifically, the model 86BYGH100 of stepper motor 2 10, the statical moment of stepper motor 2 10 is 5.5Nm, stepping
The rotary inertia of motor 2 10 is 1.7kg/cm2.
Specifically, the diameter greater than support plate 9 of the diameter of cylindrical cap 7, is conducive to the placement of cylindrical cap 7, and range exists
Between 3mm-5mm, the width of back-shaped slot 23 is greater than the width of large arm 13, and range avoids dry to large arm 13 between 1cm-2cm
It relates to.
Specifically, the model of stepper motor 1, stepper motor 3 14 and stepper motor 4 21 is 57BYG250B, stepping
The output torque of motor 1, stepper motor 3 14 and stepper motor 4 21 is 1.2Nm.
Specifically, the both ends of mounting base 1 are equipped with mounting hole 1, convenient for being carried out to the manipulator with swing type mechanical arm
Fixed, the both ends of mounting disc 22 are equipped with mounting hole 2 27, convenient for installing to manipulator.
It when in use, can be in advance to stepper motor 1, stepper motor 2 10, stepper motor 3 14 and stepper motor 4 21
Setting debugging is carried out, drives the rotation of driving gear 1 that turntable 2 is driven to rotate by stepper motor 1, to make turntable
The large arm 13 being arranged above 2 can do circumferential movement, drive screw rod 11 to rotate by stepper motor 2 10, by screw rod 11 and slide
The threaded connection of Moving plate 12 can make slider disc 12 do straight line up and down motion along screw rod 11, so that large arm 13 be driven to do on longitudinal direction
Movement, then drive driving gear 2 15 and driven gear 20 to rotate by stepper motor 3 14, forearm 18 allow to do week
To movement, operating radius is expanded, running is also more steady, manipulator can be fixed on forearm 18 by mounting disc 22, then
By stepper motor 4 21, manipulator rotation is driven, keeps the flexibility of manipulator stronger, is also convenient for operating.
In conclusion manipulator swing type mechanical arm, by setting guide post 8, stepper motor 2 10, screw rod 11 and is slided
Moving plate 12, the advantages of realizing adjustable up-down, guide post 8 pass through stepper motor 2 10 for giving slider disc 12 positioning and guiding
Work drives screw rod 11 to rotate, by the threaded connection of screw rod 11 and slider disc 12, slider disc 12 can be made to do directly along screw rod 11
Line moves up and down, so that large arm 13 be driven to do longitudinal movement, passes through setting turntable 2, tooth socket 3, stepper motor 1, master
Moving gear 1, stepper motor 3 14, driving gear 2 15 and driven gear 20, realize operating radius is wide, movement steadily and just
In operation the advantages of, by stepper motor 1 drive driving gear 1 rotation come drive turntable 2 rotate, to make large arm 13
Circumferential movement can be done, by engaging for driving gear 2 15 and driven gear 20, is driven and is rotated by stepper motor 3 14, made
Forearm 18 can do circumferential movement, to reach expansion freedom degree, keep its running more steady.
It should be noted that, in this document, such as the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (7)
1. a kind of manipulator swing type mechanical arm, including mounting base (1), it is characterised in that: the top of the mounting base (1)
Portion is fixedly connected with turntable (2), and the upper end of the turntable (2) is equipped with tooth socket (3), and the top of the turntable (2) is fixed
It is connected with rotating bottom board (4), stepper motor one (5), the stepping electricity is fixedly connected at the top of the left end of the rotating bottom board (4)
The output shaft end of machine one (5) is socketed with driving gear one (6), and the driving gear one (6) and turntable (2) pass through tooth socket
(3) top of engagement connection, the rotating bottom board (4) is equipped with cylindrical cap (7), is fixedly connected at the top of the rotating bottom board (4)
Guide post (8) is fixedly connected with support plate (9) at the top of the guide post (8), is fixedly connected with step at the top of the support plate (9)
Into motor two (10), the output shaft end of the stepper motor two (10) is fixedly connected with screw rod (11), the screw rod (11)
Middle part is threaded with slider disc (12), is fixedly connected with large arm (13) on the right side of the slider disc (12), the large arm (13)
Right end at the top of be fixedly connected with stepper motor three (14), the output shaft end of the stepper motor three (14) is socketed with driving tooth
Two (15) are taken turns, the right end of the large arm (13) is equipped with U-lag (16), and the bottom of the U-lag (16) is fixedly connected with rotating seat
(17), it is fixedly connected with forearm (18) at the top of the rotating seat (17), is fixedly connected with shaft at the top of the forearm (18)
(19), the upper end of the shaft (19) is socketed with driven gear (20), and the driven gear (20) is nibbled with driving gear two (15)
Close connection, be fixedly connected with stepper motor four (21) at the top of the right end of the forearm (18), the stepper motor four (21) it is defeated
Shaft end is socketed with mounting disc (22).
2. a kind of manipulator swing type mechanical arm according to claim 1, it is characterised in that: the cylindrical cap (7)
Right side is equipped with back-shaped slot (23), and the guide post (8) and screw rod (11) are installed in cylindrical cap (7), and the large arm (13) passes through back
Shape slot (23) extends in cylindrical cap (7).
3. a kind of manipulator swing type mechanical arm according to claim 1, it is characterised in that: the slider disc (12)
Both ends are equipped with through-hole (24), and the slider disc (12) and guide post (8) are socketed by through-hole (24), the middle part of the slider disc (12)
Equipped with threaded hole (25), the slider disc (12) is threadedly coupled with screw rod (11) by threaded hole (25).
4. a kind of manipulator swing type mechanical arm according to claim 1, it is characterised in that: the stepper motor two
(10) model 86BYGH100, the statical moment of the stepper motor two (10) are 5.5Nm, the stepper motor two (10)
Rotary inertia is 1.7kg/cm2.
5. a kind of manipulator swing type mechanical arm according to claim 2, it is characterised in that: the cylindrical cap (7)
The diameter greater than support plate (9) of diameter, and range, between 3mm-5mm, the width of the back-shaped slot (23) is greater than large arm
(13) width, and range is between 1cm-2cm.
6. a kind of manipulator swing type mechanical arm according to claim 1, it is characterised in that: the stepper motor one
(5), the model of stepper motor three (14) and stepper motor four (21) is 57BYG250B, the stepper motor one (5), stepping
The output torque of motor three (14) and stepper motor four (21) is 1.2Nm.
7. a kind of manipulator swing type mechanical arm according to claim 1, it is characterised in that: the mounting base (1)
Both ends be equipped with mounting hole one (26), the both ends of the mounting disc (22) are equipped with mounting hole two (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821454922.XU CN208773635U (en) | 2018-09-06 | 2018-09-06 | A kind of manipulator swing type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821454922.XU CN208773635U (en) | 2018-09-06 | 2018-09-06 | A kind of manipulator swing type mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN208773635U true CN208773635U (en) | 2019-04-23 |
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ID=66159985
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821454922.XU Active CN208773635U (en) | 2018-09-06 | 2018-09-06 | A kind of manipulator swing type mechanical arm |
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| CN (1) | CN208773635U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110508433A (en) * | 2019-08-28 | 2019-11-29 | 南京驭逡通信科技有限公司 | A kind of joint type spray robot |
| CN110961836A (en) * | 2019-12-24 | 2020-04-07 | 广东技术师范大学 | Welding automation machinery hand |
| CN111070195A (en) * | 2019-12-19 | 2020-04-28 | 南京涵铭置智能科技有限公司 | Rotary swing mechanism of transfer robot in production workshop |
| CN112025696A (en) * | 2020-09-21 | 2020-12-04 | 扬州创动智能科技有限公司 | Multi-azimuth rotating intelligent mechanical arm |
| CN112276160A (en) * | 2020-12-29 | 2021-01-29 | 阿尔法森紧固科技(常州)有限公司 | Automatic punching robot for new energy automobile wire harness fastener |
| CN112621813A (en) * | 2020-12-08 | 2021-04-09 | 洛阳师范学院 | Mechanical arm for automatic control |
| CN112894877A (en) * | 2021-01-19 | 2021-06-04 | 重庆文理学院 | Self-locking type high-load mechanical arm |
| CN112894878A (en) * | 2021-01-19 | 2021-06-04 | 重庆文理学院 | High-speed heavy-load mechanical arm |
| CN113428646A (en) * | 2021-08-27 | 2021-09-24 | 山东明福制衣有限公司 | Handling device is used in fabrics production |
| CN114454209A (en) * | 2022-01-10 | 2022-05-10 | 北京新长科科技发展有限公司 | Mechanical arm structure for mechanical equipment |
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2018
- 2018-09-06 CN CN201821454922.XU patent/CN208773635U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110508433A (en) * | 2019-08-28 | 2019-11-29 | 南京驭逡通信科技有限公司 | A kind of joint type spray robot |
| CN111070195B (en) * | 2019-12-19 | 2021-04-30 | 南京涵铭置智能科技有限公司 | Rotary swing mechanism of transfer robot in production workshop |
| CN111070195A (en) * | 2019-12-19 | 2020-04-28 | 南京涵铭置智能科技有限公司 | Rotary swing mechanism of transfer robot in production workshop |
| CN110961836A (en) * | 2019-12-24 | 2020-04-07 | 广东技术师范大学 | Welding automation machinery hand |
| CN112025696A (en) * | 2020-09-21 | 2020-12-04 | 扬州创动智能科技有限公司 | Multi-azimuth rotating intelligent mechanical arm |
| CN112621813A (en) * | 2020-12-08 | 2021-04-09 | 洛阳师范学院 | Mechanical arm for automatic control |
| CN112276160A (en) * | 2020-12-29 | 2021-01-29 | 阿尔法森紧固科技(常州)有限公司 | Automatic punching robot for new energy automobile wire harness fastener |
| CN112276160B (en) * | 2020-12-29 | 2022-05-31 | 阿尔法森紧固科技(常州)有限公司 | Automatic punching robot for new energy automobile wire harness fastener |
| CN112894877A (en) * | 2021-01-19 | 2021-06-04 | 重庆文理学院 | Self-locking type high-load mechanical arm |
| CN112894878A (en) * | 2021-01-19 | 2021-06-04 | 重庆文理学院 | High-speed heavy-load mechanical arm |
| CN112894877B (en) * | 2021-01-19 | 2024-01-30 | 重庆文理学院 | Self-locking high-load mechanical arm |
| CN112894878B (en) * | 2021-01-19 | 2024-01-30 | 重庆文理学院 | High-speed heavy-load mechanical arm |
| CN113428646A (en) * | 2021-08-27 | 2021-09-24 | 山东明福制衣有限公司 | Handling device is used in fabrics production |
| CN114454209A (en) * | 2022-01-10 | 2022-05-10 | 北京新长科科技发展有限公司 | Mechanical arm structure for mechanical equipment |
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