CN209297615U - A kind of multi-joint teaching mechanical arm - Google Patents
A kind of multi-joint teaching mechanical arm Download PDFInfo
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- CN209297615U CN209297615U CN201822186806.0U CN201822186806U CN209297615U CN 209297615 U CN209297615 U CN 209297615U CN 201822186806 U CN201822186806 U CN 201822186806U CN 209297615 U CN209297615 U CN 209297615U
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- arm
- rotation
- rotating mechanism
- plate
- side plate
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Abstract
The utility model relates to teaching equipment fields, more particularly to a kind of multi-joint teaching mechanical arm comprising fixing seat, pedestal, the first arm, the second arm, rotation seat, power tool mounting base, base rotation mechanism, the first rotating mechanism, the second rotating mechanism, third rotating mechanism and the 4th rotating mechanism；Base rotation mechanism is mounted on pedestal, the rotation output end of base rotation mechanism is connect to drive pedestal to rotate relative to fixing seat with fixing seat, the first end of first arm and pedestal are hinged, first rotating mechanism drives the first arm relative to base rotation, the first end of second arm and the second end of the first arm are hinged, second rotating mechanism drives the second arm to roll over relative to first, the second end of rotation seat and the second arm is hinged, third rotating mechanism driving rotation seat is rolled over relative to second, 4th rotating mechanism is mounted on rotation seat, power tool mounting base is mounted on the rotation output end of the 4th rotating mechanism；It can complete complicated movement.
Description
Technical field
The utility model relates to teaching equipment field more particularly to a kind of multi-joint teaching mechanical arms.
Background technique
It with the booming of robot technology and is widely applied, the teaching experiment of mechanical arm is opened up successively by universities
It opens, in order to meet the needs of mechanical arm teaching, universities can carry out teaching using teaching mechanical arm, i.e. faculty passes through
Teaching machine controls the joint motions of mechanical arm, so that manipulator motion is to scheduled position or completes specific movement.
In the prior art, general teaching mechanical arm only has two or three joints, this makes teaching mechanical arm not
Complicated movement can be completed, faculty only can be carried out limited amount and the simple content of courses, be unfavorable for mechanical arm teaching
Deeply carry out.
For this reason, it may be necessary to propose to improve aiming at the problems existing in the prior art.
Innovation and creation content
The purpose of this utility model is to provide a kind of multi-joint teaching mechanical arms can be complete with more joint
At complicated movement, meet teaching request.
To achieve the above object, the utility model provides a kind of multi-joint teaching mechanical arm comprising fixing seat,
Pedestal, the first arm, the second arm, rotation seat, power tool mounting base, base rotation mechanism, the first rotating mechanism, second turn
Motivation structure, third rotating mechanism and the 4th rotating mechanism；The base rotation mechanism is mounted on the pedestal, the base rotation
The rotation output end of mechanism is connect to drive the pedestal to rotate relative to the fixing seat with the fixing seat, the first arm
First end and the pedestal are hinged, and the first rotating mechanism drives the first arm relative to the base rotation, and the of the second arm
One end and the second end of the first arm are hinged, and the second rotating mechanism drives the second arm to roll over relative to first, and described turn
The second end of dynamic seat and the second arm is hinged, and third rotating mechanism drives the rotation seat to roll over relative to second, and the 4th
Rotating mechanism is mounted on the rotation seat, and the power tool mounting base is mounted on the rotation output end of the 4th rotating mechanism.
Further, the pedestal includes bottom plate and the first side plate and the second side plate that upwardly extend from the bottom plate, institute
It states base rotation mechanism and is mounted on the bottom plate and between the first side plate and the second side plate, the base rotation mechanism turns
Dynamic output end passes through the bottom plate.
Further, the first rotating mechanism is mounted on the first side plate, and the rotation output end of the first rotating mechanism passes through first
With the circumferentially fixed connection of the first arm after side plate, the first arm is first axle relative to the pivot center of the base rotation,
The rotation of first rotating mechanism is defeated conllinear with first axle.
Further, the second rotating mechanism is mounted on the second side plate, and the rotation output end of the second rotating mechanism passes through second
With the circumferentially fixed connection of a swing arm after side plate, the end of the swing arm and the first end of a drive rod are hinged, the drive rod
Second end and second arm are hinged, the first arm relative to the base rotation pivot center be first axle, second
The rotation of rotating mechanism is defeated conllinear with first axle.
Further, the first arm is including two blocks of the first arm plates disposed in parallel and between two piece of first arm plate
And the first connecting rod for connecting two piece of first arm plate, two piece of first arm plate are cut with scissors with the first side plate and the second side plate respectively
It connects.
Further, the swing arm and drive rod are between two piece of first arm plate.
Further, the second arm is including two blocks of the second arm plates disposed in parallel and between two piece of second arm plate
And the second connecting rod for connecting two piece of second arm plate, two piece of second arm plate are hinged with two piece of first arm plate respectively.
Further, third rotating mechanism is between two piece of second arm plate.
Further, the rotation seat is between two piece of second arm plate.
Further, the rotation output end of third rotating mechanism drives the rotation seat to rotate by driving belt.
A kind of multi-joint teaching mechanical arm provided by the utility model, increases in the end of the second arm by third
The rotation seat of rotating mechanism driving rotation and the power tool mounting base rotated by the driving of the 4th rotating mechanism, so that being closed this kind more
Complicated movement can be completed there are five cradle head by saving teaching mechanical arm and having altogether, be conducive to mechanical arm teaching deeply into
Row.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the multi-joint teaching mechanical arm of the utility model；
Fig. 2 is schematic perspective view of the multi-joint teaching mechanical arm of the utility model in another angle.
[description of symbols]
1- pedestal, 11- base rotation mechanism, 12- bottom plate, the first side plate of 13-, the second side plate of 14-；
The first arm of 2-, the first arm of 21- plate, 22- first connecting rod；
The second arm of 3-, the second arm of 31- plate, 32- second connecting rod；
4- rotation seat；
5- power tool mounting base；
The first rotating mechanism of 6-；
The second rotating mechanism of 7-, 71- swing arm, 72- drive rod；
8- third rotating mechanism, 81- driving belt；
The 4th rotating mechanism of 9-；
10- fixing seat.
Specific embodiment
It elaborates below in conjunction with specific embodiment to the invention.
The utility model provides a kind of multi-joint teaching mechanical arm, as depicted in figs. 1 and 2 comprising fixing seat 10, bottom
Seat the 1, first arm 2, the second arm 3, rotation seat 4, power tool mounting base 5, base rotation mechanism 11, the first rotating mechanism 6,
Second rotating mechanism 7, third rotating mechanism 8 and the 4th rotating mechanism 9；Base rotation mechanism 11 is mounted on pedestal 1, base rotation
The rotation output end of mechanism 11 is connect to drive pedestal 1 to rotate relative to fixing seat 10 with fixing seat 10, and the first of the first arm 2
End and pedestal 1 are hinged, and the first rotating mechanism 6 drives the first arm 2 to rotate relative to pedestal 1, the first end of the second arm 3 and the
The second end of one arm 2 is hinged, and the second rotating mechanism 7 drives the second arm 3 to rotate relative to the first arm 2, rotation seat 4 and the
The second end of two arms 3 is hinged, and third rotating mechanism 8 drives rotation seat 4 to rotate relative to the second arm 3, the 4th rotating mechanism 9
It is mounted on rotation seat 4, power tool mounting base 5 is mounted on the rotation output end of the 4th rotating mechanism 9.
In use or teaching, fixing seat 10 is placed on training platform, and base rotation mechanism 11 drives entire pedestal 1 opposite
It is rotated in fixing seat 10, above-mentioned is first cradle head；First arm 2 is hinged with pedestal 1 and passes through 6 band of the first rotating mechanism
The rotation of dynamic first arm 2, above-mentioned is second cradle head；Second arm 3 and the first arm 2 hingedly and by second rotate
Mechanism 7 drives the rotation of the second arm 3, and above-mentioned is third cradle head；Rotation seat 4 and the second arm 3 are hinged and pass through third
Rotating mechanism 8 drives rotation seat 4 to rotate, and above-mentioned is the 4th cradle head；4th rotating mechanism 9 drives power tool mounting base
5 rotations, above-mentioned is the 5th joint.Power tool for teaching is mounted on power tool mounting base 5, is shown by the multi-joint
It teaches mechanical arm to drive and carries out complicated operation teaching.
Based on above-mentioned structure, this kind of multi-joint teaching mechanical arm is increased in the end of the second arm 3 and is rotated by third
The rotation seat 4 of the driving rotation of mechanism 8 and the power tool mounting base 5 rotated by the driving of the 4th rotating mechanism 9, so that being closed this kind more
Complicated movement can be completed there are five cradle head by saving teaching mechanical arm and having altogether, be conducive to mechanical arm teaching deeply into
Row.
In the present embodiment, pedestal 1 includes bottom plate 12 and the first side plate 13 upwardly extended from bottom plate 12 and the second side plate
14, base rotation mechanism 11 is mounted on bottom plate 12 and between the first side plate 13 and the second side plate 14, base rotation mechanism 11
Rotation output end pass through bottom plate 12.
In the present embodiment, the first rotating mechanism 6 is mounted on the first side plate 13, the rotation output end of the first rotating mechanism 6
After the first side plate 13 with the circumferentially fixed connection of the first arm 2, i.e. first when the rotation output end of the first rotating mechanism 6 rotates
Arm 2 rotates simultaneously, and the first arm 2 is first axle relative to the pivot center that pedestal 1 rotates, and the first rotating mechanism 6 turns
It moves defeated conllinear with first axle.Second rotating mechanism 7 is mounted on the second side plate 14, and the rotation output end of the second rotating mechanism 7 is worn
The swing arm 71 when the rotation output end of i.e. the second rotating mechanism 7 rotates with the circumferentially fixed connection of a swing arm 71 is crossed after the second side plate 14
It rotates simultaneously, the end of swing arm 71 and the first end of a drive rod 72 are hinged, and the second end of drive rod 72 and the second arm 3 are cut with scissors
It connects, the pivot center that the first arm 2 is rotated relative to pedestal 1 is first axle, and the rotation of the second rotating mechanism 7 is defeated and first axle
Line is conllinear.Based on above-mentioned structure, the first rotating mechanism 6 is for driving the rotation of the first arm 2, and the second rotating mechanism 7 is for driving
Dynamic second arm 3 rotation, and the first rotating mechanism 6 and the second rotating mechanism 7 are separately mounted to the first side plate 13 and the second side plate
On 14, and axis collinear, such first rotating mechanism 6 and the second rotating mechanism 7 are symmetrical arranged, so that the multi-joint teaching is mechanical
Two lateral balances of arm, and it is beautiful.
In the present embodiment, the first arm 2 is including two blocks of the first arm plates 21 disposed in parallel and positioned at this two piece first
Between arm plate 21 and for connecting the first connecting rod 22 of two piece of first arm plate 21, two piece of first arm plate 21 respectively with the first side
Plate 13 and the second side plate 14 are hinged.Preferably, swing arm 71 and drive rod 72 are located between two piece of first arm plate 21.Based on above-mentioned
Structure, the first arm 2 is easy to manufacture, and quality is lighter, and inner hollow, and first connecting rod 22 and some cables can be placed on two
Between the first arm of block plate 21, the first arm 2 plays the function of storage.
In the present embodiment, the second arm 3 is including two blocks of the second arm plates 31 disposed in parallel and positioned at this two piece second
Between arm plate 31 and for connecting the second connecting rod 32 of two piece of second arm plate 31, two piece of second arm plate 31 respectively with two pieces the
One arm plate 21 is hinged.Preferably, third rotating mechanism 8 is located between two piece of second arm plate 31.It is further preferred that rotation seat 4
Between two piece of second arm plate 31.Based on above-mentioned structure, the second arm 3 is easy to manufacture, and quality is lighter, and in inside
Sky, third rotating mechanism 8, rotation seat 4 and some cables can be placed between two piece of second arm plate 31, and the second arm 3 plays
The function of storage.
In the present embodiment, the rotation output end of third rotating mechanism 8 drives rotation seat 4 to rotate by driving belt 81.
It is driven using driving belt 81, can simplify structure, manufacture easy to produce is carried out using other drive mechanisms certainly
It is driven also possible, such as gear drive, similar replacement is also fallen within the protection scope of the utility model.
In the absence of conflict, the feature in the above embodiments and embodiment can be combined with each other.
Finally it should be noted that above embodiments are only to illustrate the technical solution of the invention, rather than to this hair
It is bright create protection scope limitation, although being explained in detail referring to preferred embodiment to the invention, this field it is general
Lead to it will be appreciated by the skilled person that can be modified or replaced equivalently to the technical solution of the invention, without departing from this
The spirit and scope of innovation and creation technical solution.
Claims (10)
1. a kind of multi-joint teaching mechanical arm, it is characterised in that: including fixing seat, pedestal, the first arm, the second arm, rotation
Seat, power tool mounting base, base rotation mechanism, the first rotating mechanism, the second rotating mechanism, third rotating mechanism and the 4th turn
Motivation structure；
The base rotation mechanism is mounted on the pedestal, and the rotation output end of the base rotation mechanism and the fixing seat connect
It connects to drive the pedestal to rotate relative to the fixing seat, the first end of the first arm and the pedestal are hinged, the first rotation
Mechanism drives the first arm relative to the base rotation, and the first end of the second arm and the second end of the first arm are hinged, the
Two rotating mechanisms drive the second arm to roll over relative to first, and the second end of the rotation seat and the second arm is hinged, the
Three rotating mechanisms drive the rotation seat to roll over relative to second, and the 4th rotating mechanism is mounted on the rotation seat, described
Power tool mounting base is mounted on the rotation output end of the 4th rotating mechanism.
2. multi-joint teaching mechanical arm according to claim 1, it is characterised in that: the pedestal includes bottom plate and from described
The first side plate and the second side plate that bottom plate upwardly extends, the base rotation mechanism are mounted on the bottom plate and are located at the first side plate
Between the second side plate, the rotation output end of the base rotation mechanism passes through the bottom plate.
3. multi-joint teaching mechanical arm according to claim 2, it is characterised in that: the first rotating mechanism is mounted on the first side
Plate, the rotation output end of the first rotating mechanism are passed through with the circumferentially fixed connection of the first arm after the first side plate, and the first arm is opposite
It is first axle in the pivot center of the base rotation, the rotation of the first rotating mechanism is defeated conllinear with first axle.
4. multi-joint teaching mechanical arm according to claim 3, it is characterised in that: the second rotating mechanism is mounted on second side
Plate, the rotation output end of the second rotating mechanism pass through after the second side plate with the circumferentially fixed connection of a swing arm, the end of the swing arm
Hinged with the first end of a drive rod, the second end of the drive rod and second arm are hinged, and the first arm is relative to institute
The pivot center for stating base rotation is first axle, and the rotation of the second rotating mechanism is defeated conllinear with first axle.
5. multi-joint teaching mechanical arm according to claim 4, it is characterised in that: the first arm includes two pieces and is arranged in parallel
The first arm plate and between two piece of first arm plate and for connecting the first connecting rod of two piece of first arm plate, this two pieces
First arm plate is hinged with the first side plate and the second side plate respectively.
6. multi-joint teaching mechanical arm according to claim 5, it is characterised in that: the swing arm and drive rod are positioned at described
Between two piece of first arm plate.
7. multi-joint teaching mechanical arm according to claim 5, it is characterised in that: the second arm includes two pieces and is arranged in parallel
The second arm plate and between two piece of second arm plate and for connecting the second connecting rod of two piece of second arm plate, this two pieces
Second arm plate is hinged with two piece of first arm plate respectively.
8. multi-joint teaching mechanical arm according to claim 7, it is characterised in that: third rotating mechanism is located at described two pieces
Between second arm plate.
9. multi-joint teaching mechanical arm according to claim 7, it is characterised in that: the rotation seat is located at described two pieces the
Between two arm plates.
10. multi-joint teaching mechanical arm according to claim 1, it is characterised in that: the rotation of third rotating mechanism exports
End drives the rotation seat to rotate by driving belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822186806.0U CN209297615U (en) | 2018-12-25 | 2018-12-25 | A kind of multi-joint teaching mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822186806.0U CN209297615U (en) | 2018-12-25 | 2018-12-25 | A kind of multi-joint teaching mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209297615U true CN209297615U (en) | 2019-08-23 |
Family
ID=67648469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822186806.0U Active CN209297615U (en) | 2018-12-25 | 2018-12-25 | A kind of multi-joint teaching mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209297615U (en) |
-
2018
- 2018-12-25 CN CN201822186806.0U patent/CN209297615U/en active Active
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