CN209551695U - A kind of mechanical arm that can be translated in rectangular co-ordinate - Google Patents
A kind of mechanical arm that can be translated in rectangular co-ordinate Download PDFInfo
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- CN209551695U CN209551695U CN201820189319.7U CN201820189319U CN209551695U CN 209551695 U CN209551695 U CN 209551695U CN 201820189319 U CN201820189319 U CN 201820189319U CN 209551695 U CN209551695 U CN 209551695U
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Abstract
The utility model discloses the mechanical arms that one kind can translate in rectangular co-ordinate, including mechanical large arm, mechanical forearm, mechanical arm rotary joint, mechanical arm large arm pitching joint, mechanical arm forearm pitching joint, mechanical arm wrist pitching joint and mechanical arm gripper, the two sides in the mechanical arm large arm pitching joint are connected with mechanical arm rotary joint and mechanical large arm respectively, mechanical large arm is connected with mechanical forearm and the junction of mechanical large arm and machinery forearm is arranged in mechanical arm forearm pitching joint, mechanical forearm is connected with mechanical arm gripper and the junction of mechanical forearm and mechanical arm gripper is arranged in mechanical arm wrist pitching joint.The movement of mechanical arm gripper more than one directional combination on front and back, upper and lower and three axis of orientations in left and right may be implemented in this product, arc track movement is converted into the compound movement of straight line, directly it is moved to target position, facilitate operation, shorten the time that mechanical arm gripper is moved to specified target position, improves the accuracy for being moved to target position.
Description
Technical field
The utility model relates to mechanical arm field, specifically a kind of mechanical arm that can be translated in rectangular co-ordinate.
Background technique
With the development of science and technology with the quickening of process of industrialization, many machines are instead of traditional manual operation, mechanical arm
It is exactly representative therein.Mechanical arm refers to high-precision, and high speed glue dispensing machine hand, mechanical arm is multiple-input and multiple-output, a height
Non-linear, close coupling complication system, because of its unique operating flexibility, in industry assembling, the fields such as safety anti-explosive are obtained
To extensive use.Mechanical arm is a complication system, and it is uncertain that there is Parameter Perturbation, external interference and Unmarried pregnancies etc.
Property, thus there is also uncertainties for the modeler model of mechanical arm, for different tasks, need to plan joint of mechanical arm sky
Between motion profile, thus cascade constitute end pose.
Existing machinery arm can only realize the movement of simple joint, and by individually operating to multiple simple joints, realize hand
Pawl is close to the target positioned at front and back side, upper and lower sides, left and right sides or other orientation, because movement is individually to control some every time
Joint carries out circular motion, after the adjusting that angle is completed to the multiple joints of mechanical arm, does not ensure that final gripper reaches and is expected
Target position, so that gripper shift position and target position there are deviation, need to carry out duplicate adjusting and be just able to achieve target position
The crawl of glove body.
Utility model content
The purpose of this utility model is to provide the mechanical arms that one kind can translate in rectangular co-ordinate, to solve above-mentioned back
The problem of being proposed in scape technology.
To achieve the above object, the utility model provides the following technical solutions:
A kind of mechanical arm that can be translated in rectangular co-ordinate, including mechanical large arm, mechanical forearm, mechanical arm rotation pass
Section, mechanical arm large arm pitching joint, mechanical arm forearm pitching joint, mechanical arm wrist pitching joint and mechanical arm gripper, it is described
The two sides in mechanical arm large arm pitching joint are connected with mechanical arm rotary joint and mechanical large arm respectively, mechanical large arm and mechanical forearm
The junction of mechanical large arm and mechanical forearm, mechanical forearm and mechanical arm hand is arranged in connected and mechanical arm forearm pitching joint
Pawl is connected and the junction of mechanical forearm and mechanical arm gripper is arranged in mechanical arm wrist pitching joint, and mechanical arm rotation is closed
Section, mechanical arm large arm pitching joint, mechanical arm forearm pitching joint and mechanical arm wrist pitching joint with controller independent electrical
Connection.
As a further solution of the present invention: being provided with camera module on mechanical arm gripper.
As a further solution of the present invention: mechanical large arm, mechanical forearm and mechanical arm gripper are all made of engineering plastic
Expect material production.
Compared with prior art, the utility model has the beneficial effects that this product is not increasing tradition machinery shoulder joint number
On the basis of, by the use of adjustment and New Algorithm to joint, mechanical arm gripper may be implemented in front and back, upper and lower and left and right
On three axis of orientations keep both direction shaft position it is constant, realize single direction axis on movement or any two direction and
The arc track movement of existing machinery arm gripper is converted to straight line or the compound movement of straight line by the movement of three directional combinations,
It directly is moved to target position, facilitates operation, the time that mechanical arm gripper is moved to specified target position can be greatly shortened, and
Improve the accuracy for being moved to target position.
Detailed description of the invention
The first structural schematic diagram when Fig. 1 is the mechanical arm level that can be translated in rectangular co-ordinate.
Fig. 2 is the first structural schematic diagram when the mechanical arm that can translate in rectangular co-ordinate is vertical.
Fig. 3 is second of structural schematic diagram when the mechanical arm that can translate in rectangular co-ordinate is vertical.
Fig. 4 is the third structural schematic diagram when the mechanical arm that can translate in rectangular co-ordinate is vertical.
Second of structural schematic diagram when Fig. 5 is the mechanical arm level that can be translated in rectangular co-ordinate.
The third structural schematic diagram when Fig. 6 is the mechanical arm level that can be translated in rectangular co-ordinate.
Wherein: 1- mechanical arm rotary joint, 2- mechanical arm large arm pitching joint, 3- mechanical arm forearm pitching joint, 4- machine
Tool arm wrist pitching joint, 5- mechanical arm gripper, 6- machinery large arm, 7- machinery forearm.
Specific embodiment
The technical solution of the patent is explained in further detail With reference to embodiment.
Please refer to Fig. 1-6, a kind of mechanical arm that can be translated in rectangular co-ordinate, including mechanical large arm 6, mechanical forearm 7,
Mechanical arm rotary joint 1, mechanical arm large arm pitching joint 2, mechanical arm forearm pitching joint 3,4 and of mechanical arm wrist pitching joint
Mechanical arm gripper 5, the two sides in the mechanical arm large arm pitching joint 2 respectively with mechanical arm rotary joint 1 and mechanical 6 phase of large arm
Even, mechanical large arm 6 is connected with mechanical forearm 7 and the setting of mechanical arm forearm pitching joint 3 is in mechanical large arm 6 and mechanical forearm 7
Junction, mechanical forearm 7 be connected with mechanical arm gripper 5 and mechanical arm wrist pitching joint 4 be arranged in mechanical forearm 7 and machine
The junction of tool arm gripper 5, mechanical arm rotary joint 1, mechanical arm large arm pitching joint 2, mechanical arm forearm pitching joint 3 and machine
Tool arm wrist pitching joint 4 is independently electrically connected with controller.Camera module, camera mould are provided on mechanical arm gripper 5
Front and back equally may be implemented in block, up and down, on three axis of orientations in left and right, keeps both direction shaft position constant, realizes single direction
The aggregate motion of movement or any two direction or three directions on axis, completes the accurate observation of multi-faceted full angle.
Mechanical large arm 6, mechanical forearm 7 and mechanical arm gripper 5 are all made of the production of engineering plastics material.
The working principle of the utility model is: existing mechanical arm individually controls various joints, by each joint
Control, realize mechanical arm gripper 5 close to target position, but moving process mechanical arm gripper 5 is all to make spinning movement to connect
Close-target position, this adjusting to multiple single joints, is difficult the target position that operating robotic arm gripper 5 accurately reaches.This
Product is by (including mechanical arm rotary joint 1, mechanical arm large arm pitching joint 2, mechanical arm is small to the multiple joints of mechanical arm configuration
Arm pitching joint 3, mechanical arm wrist pitching joint 4) planning of science activities and processing are carried out, pass through the collaboration work of multiple joint of mechanical arm
Make, while controlling each joint of mechanical arm and being run with friction speed, realizes the final running track of mechanical arm gripper 5 for straight line fortune
It is dynamic, on three axis of orientations in left and right, both direction shaft position can be kept constant in front and back, up and down, realized on single direction axis
5 front and back of mechanical arm gripper, up and down, left and right directions translation are realized in movement；It can also be on any both direction axis or three sides
To axis aggregate motion, can fast move to target position.Before this product carries out control mechanical arm gripper 5 using controller rocking bar
Afterwards, up and down, the translational motion of left and right directions pushes rocking bar, realizes the translation of mechanical arm gripper 5.For example push rocking bar forward, then
Mechanical arm gripper 5 is translated toward front, and side direction pushes rocking bar, then realizes the compound direction of mechanical arm gripper 5, i.e., oblique movement, behaviour
Clear logic is controlled to be illustrated, it is easy to operate, convenient for users to operation, reduce user's maloperation.This product can control mechanical arm
The speed of 5 translational velocity of gripper realizes the control of mobile mechanical arm speed speed by the size of promotion rocking bar amplitude of fluctuation,
It most can achieve 1cm/s slowly, guarantee that mechanical arm gripper 5 can accurately be moved to the position that sets the goal.
It should be strongly noted that the movement of simple joint is the application of the prior art in the application, multiple joints are independently assisted
It is the innovative point of the application with movement, solves the problems, such as that complicated for operation and movement cannot be accurately positioned.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (3)
1. the mechanical arm that one kind can translate in rectangular co-ordinate, which is characterized in that including mechanical large arm, mechanical forearm, machinery
Arm rotary joint, mechanical arm large arm pitching joint, mechanical arm forearm pitching joint, mechanical arm wrist pitching joint and mechanical arm hand
Pawl, the two sides in the mechanical arm large arm pitching joint are connected with mechanical arm rotary joint and mechanical large arm respectively, mechanical large arm with
Mechanical forearm is connected and mechanical arm forearm pitching joint is arranged in the junction of mechanical large arm and mechanical forearm, mechanical forearm and
Mechanical arm gripper is connected and the junction of mechanical forearm and mechanical arm gripper, mechanical arm is arranged in mechanical arm wrist pitching joint
Rotary joint, mechanical arm large arm pitching joint, mechanical arm forearm pitching joint and mechanical arm wrist pitching joint are and controller
Independent electrical connection.
2. the mechanical arm according to claim 1 that can be translated in rectangular co-ordinate, which is characterized in that the mechanical arm hand
Camera module is provided on pawl.
3. the mechanical arm according to claim 1 that can be translated in rectangular co-ordinate, which is characterized in that described mechanical big
Arm, mechanical forearm and mechanical arm gripper are all made of the production of engineering plastics material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820189319.7U CN209551695U (en) | 2018-02-05 | 2018-02-05 | A kind of mechanical arm that can be translated in rectangular co-ordinate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820189319.7U CN209551695U (en) | 2018-02-05 | 2018-02-05 | A kind of mechanical arm that can be translated in rectangular co-ordinate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209551695U true CN209551695U (en) | 2019-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820189319.7U Active CN209551695U (en) | 2018-02-05 | 2018-02-05 | A kind of mechanical arm that can be translated in rectangular co-ordinate |
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| CN (1) | CN209551695U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153988A (en) * | 2018-02-05 | 2019-08-23 | 北京华信智航科技有限公司 | A kind of mechanical arm that can be translated in rectangular co-ordinate |
| CN112873204A (en) * | 2021-01-13 | 2021-06-01 | 深圳瀚维智能医疗科技有限公司 | Robot calibration method, device, equipment and computer readable storage medium |
| CN114905499A (en) * | 2021-02-08 | 2022-08-16 | 广东博智林机器人有限公司 | Lifting method and device and pipeline installation robot |
-
2018
- 2018-02-05 CN CN201820189319.7U patent/CN209551695U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153988A (en) * | 2018-02-05 | 2019-08-23 | 北京华信智航科技有限公司 | A kind of mechanical arm that can be translated in rectangular co-ordinate |
| CN112873204A (en) * | 2021-01-13 | 2021-06-01 | 深圳瀚维智能医疗科技有限公司 | Robot calibration method, device, equipment and computer readable storage medium |
| CN112873204B (en) * | 2021-01-13 | 2022-08-05 | 深圳瀚维智能医疗科技有限公司 | Robot calibration method, device, equipment and computer readable storage medium |
| CN114905499A (en) * | 2021-02-08 | 2022-08-16 | 广东博智林机器人有限公司 | Lifting method and device and pipeline installation robot |
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