CN210650677U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN210650677U CN210650677U CN201921470944.XU CN201921470944U CN210650677U CN 210650677 U CN210650677 U CN 210650677U CN 201921470944 U CN201921470944 U CN 201921470944U CN 210650677 U CN210650677 U CN 210650677U
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- mechanical
- mechanical arm
- section
- hydraulic cylinder
- shaft joint
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Abstract
The utility model discloses a mechanical arm, which comprises a base, a mechanical arm component and a mechanical paw component; the mechanical arm assembly comprises a first section of support of a mechanical arm, a first section of mechanical arm driving hydraulic cylinder, a first section of mechanical arm, a second section of mechanical arm driving hydraulic cylinder, a first shaft joint, a second section of mechanical arm supporting plate, a second section of mechanical arm, a third section of mechanical arm driving hydraulic cylinder, a second shaft joint, a fourth section of mechanical arm driving hydraulic cylinder, a third section of mechanical arm, a lifting arm connector and a third shaft joint; the mechanical claw assembly comprises a mechanical claw rotating motor fixing support, a mechanical claw rotating motor, a coupler, a mechanical claw shell, a mechanical claw, a clamping protective sleeve, a claw driving hydraulic cylinder, a hydraulic cylinder sleeve and a mechanical claw fixing bolt. The utility model discloses a robotic arm simple structure, the hand claw can be at 360 rotations of can revolving to it is accurate quick to press from both sides the clamp.
Description
Technical Field
The utility model relates to the technical field of robots, especially, relate to a robotic arm.
Background
With the continuous progress of science and technology, mechanical arms are widely used in industry, life and medical treatment, for example, in industry, workpieces, articles and the like need to be grabbed under high-risk severe environment, in life, articles with a long distance need to be grabbed through a mechanical arm, in medical treatment industry, some disabled people need the mechanical arm to assist in grabbing required articles, corresponding programs are basically preset for the mechanical arm in the scenes, and when the mechanical arm completes corresponding grabbing work under the driving of program instructions, the mechanical arm can only rotate locally, but cannot rotate 360 degrees.
SUMMERY OF THE UTILITY MODEL
Based on the technical problem that the background art exists, the utility model provides a robotic arm.
The utility model adopts the technical proposal that:
a mechanical arm is characterized by comprising a base, a mechanical arm component and a mechanical gripper component;
the mechanical arm assembly comprises a first mechanical arm support, a first mechanical arm driving hydraulic cylinder, a first mechanical arm section, a second mechanical arm driving hydraulic cylinder, a first shaft joint, a second mechanical arm section support plate, a second mechanical arm section, a third mechanical arm driving hydraulic cylinder, a second shaft joint, a fourth mechanical arm driving hydraulic cylinder, a third mechanical arm section, a lifting arm connector and a third shaft joint;
the mechanical claw assembly comprises a mechanical claw rotating motor fixing support, a mechanical claw rotating motor, a coupler, a mechanical claw shell, a mechanical claw, a clamping protective sleeve, a claw driving hydraulic cylinder, a hydraulic cylinder sleeve and a mechanical claw fixing bolt;
the mechanical arm first section support seat is fixedly arranged on the base, one end of the mechanical arm first section is movably arranged on the mechanical arm first section support seat, the other end of the mechanical arm first section is fixedly connected with the first shaft joint, the two ends of the mechanical arm second section are respectively movably connected with the first shaft joint and the second shaft joint, the two ends of the mechanical arm third section are respectively movably connected with the second shaft joint and the upper end surface of the mechanical paw rotating motor fixing support of the mechanical paw component, and the middle part of the mechanical arm second section is fixedly provided with a mechanical arm second section support plate;
the two ends of the first mechanical arm driving hydraulic cylinder are movably mounted on the base and the first shaft joint respectively, the two ends of the second mechanical arm driving hydraulic cylinder are movably mounted on the first mechanical arm section support and the second mechanical arm section support plate respectively, the two ends of the third mechanical arm driving hydraulic cylinder are movably mounted on the second mechanical arm section support plate and the second shaft joint respectively, the two ends of the fourth mechanical arm driving hydraulic cylinder are movably mounted on the second shaft joint and the middle part of the lifting arm connector respectively, the two end parts of the lifting arm connector are movably connected with the third section of the mechanical arm and one end of the third shaft joint respectively, and the other end of the third shaft joint is movably connected with the upper end face of a mechanical paw rotating motor fixing support of the mechanical paw;
the mechanical gripper rotating motor is arranged on the lower end face of the mechanical gripper rotating motor fixing support, the mechanical gripper rotating motor is in transmission connection with a mechanical gripper shell through a coupler, a pair of mechanical grippers are arranged in the mechanical gripper shell, a gripper driving hydraulic cylinder is connected between the two mechanical grippers, and the gripper driving hydraulic cylinder is connected with the mechanical gripper shell through a hydraulic cylinder sleeve.
The mechanical arm is characterized in that the grabbing parts of the two mechanical claws are respectively provided with a clamping protective sleeve.
The mechanical arm is characterized in that the two mechanical claws are respectively installed in the mechanical claw shell through a mechanical claw fixing bolt.
The utility model has the advantages that:
1. the arm drive adopts four pneumatic cylinders, and the motion range is wider when lifting the arm, can also strengthen its firm degree.
2. The mechanical claw can rotate 360 degrees under the driving of the mechanical claw rotating motor, so that the purpose of clamping from any angle is achieved.
3. The mechanical paw is an independent control unit driven by a paw driving hydraulic cylinder, and independent movement of an arm and the paw is achieved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the gripper of the present invention.
Reference numbers in the figures: 001 base, the first section support of 002 arm, the first section of 003 arm drive pneumatic cylinder, the first section of 004 arm, 005 arm drive pneumatic cylinder two, the 006 first axis joint, the second section backup pad of 007 arm, the second section of 008 arm, the third section of 009 arm drive pneumatic cylinder, the 010 second axis joint, the fourth section of 011 arm drive pneumatic cylinder, the third section of 012 arm, 013 arm lifting connector, the 014 third axis joint, 015 gripper rotating electrical machines fixed bolster, 016 gripper rotating electrical machines, the 017 shaft coupling, 018 gripper shell, 019 gripper, the protective sheath is got to 020 clamp, 021 gripper drive pneumatic cylinder, 022 hydraulic cylinder sleeve, 023 gripper fixing bolt.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Examples are given.
As shown in fig. 1 and 2, a robot arm includes a base 001, a robot arm assembly, and a gripper assembly;
the mechanical arm assembly comprises a first mechanical arm support 002, a first mechanical arm driving hydraulic cylinder 003, a first mechanical arm 004, a second mechanical arm driving hydraulic cylinder 005, a first shaft joint 006, a second mechanical arm support plate 007, a second mechanical arm 008, a third mechanical arm driving hydraulic cylinder 009, a second shaft joint 010, a fourth mechanical arm driving hydraulic cylinder 011, a third mechanical arm 012, a lifting arm connector 013 and a third shaft joint 014;
the mechanical claw assembly comprises a mechanical claw rotating motor fixing support 015, a mechanical claw rotating motor 016, a coupler 017, a mechanical claw shell 018, a mechanical claw 019, a clamping protective sleeve 020, a claw driving hydraulic cylinder 021, a hydraulic cylinder sleeve 022 and a mechanical claw fixing bolt 023;
the first section of the mechanical arm support 002 is fixedly arranged on the base 001, one end of the first section of the mechanical arm 004 is movably arranged on the first section of the mechanical arm support 002, the other end of the first section of the mechanical arm 004 is fixedly connected with the first shaft joint 006, the other end of the second section of the mechanical arm 008 is movably connected with the first shaft joint 006 and the second shaft joint 010 respectively, two ends of the third section of the mechanical arm 012 are movably connected with the second shaft joint 010 and the upper end face of the mechanical claw rotating motor fixing support 015 of the mechanical claw assembly respectively, and the middle part of the second section of the mechanical arm 008 is fixedly provided with a second section of the mechanical arm;
the two ends of the first mechanical arm driving hydraulic cylinder 003 are movably mounted on the base 001 and the first shaft joint 006 respectively, the two ends of the second mechanical arm driving hydraulic cylinder 005 are movably mounted on the first mechanical arm section support base 002 and the second mechanical arm section support plate 007 respectively, the two ends of the third mechanical arm driving hydraulic cylinder 009 are movably mounted on the second mechanical arm section support plate 007 and the second mechanical arm joint 010 respectively, the two ends of the fourth mechanical arm driving hydraulic cylinder 011 are movably mounted on the second shaft joint 010 and in the middle of the arm lifting connector 013 respectively, the two ends of the arm lifting connector 013 are movably connected with the third mechanical arm section 012 and one end of the third shaft joint 014 respectively, and the other end of the third shaft joint 014 is movably connected with the upper end face of the mechanical gripper rotating motor fixing support 015 of the mechanical gripper assembly;
the mechanical paw rotating motor 016 is mounted on the lower end face of the mechanical paw rotating motor fixing support 015, the mechanical paw rotating motor 016 is in transmission connection with a mechanical paw shell 018 through a coupler 017, a pair of mechanical paws 019 are mounted in the mechanical paw shell 018, a paw driving hydraulic cylinder 021 is connected between the two mechanical paws 019, the paw driving hydraulic cylinder 021 is connected with the mechanical paw shell 018 through a hydraulic cylinder sleeve 022, a rotating pair is formed, and the clamping function is achieved.
The grabbing parts of the two mechanical claws 019 are provided with clamping protective sleeves 020. Two gripper arms 019 are mounted in the gripper housing 018 by means of a gripper arm fixing bolt 023, respectively.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (3)
1. A mechanical arm is characterized by comprising a base (001), a mechanical arm component and a mechanical paw component;
the mechanical arm assembly comprises a first mechanical arm support (002), a first mechanical arm driving hydraulic cylinder (003), a first mechanical arm section (004), a second mechanical arm driving hydraulic cylinder (005), a first shaft joint (006), a second mechanical arm section support plate (007), a second mechanical arm section (008), a third mechanical arm driving hydraulic cylinder (009), a second shaft joint (010), a fourth mechanical arm driving hydraulic cylinder (011), a third mechanical arm section (012), a lifting arm connector (013) and a third shaft joint (014);
the mechanical paw component comprises a mechanical paw rotating motor fixing support (015), a mechanical paw rotating motor (016), a coupler (017), a mechanical paw shell (018), a mechanical paw (019), a clamping protective sleeve (020), a paw driving hydraulic cylinder (021), a hydraulic cylinder sleeve (022) and a mechanical paw fixing bolt (023);
the manipulator is characterized in that a first section of support seat (002) of the manipulator is fixedly arranged on a base (001), one end of a first section of support seat (004) of the manipulator is movably arranged on the first section of support seat (002) of the manipulator, the other end of the first section of support seat is fixedly connected with a first shaft joint (006), the two ends of a second section of the manipulator (008) are respectively movably connected with the first shaft joint (006) and a second shaft joint (010), the two ends of a third section of the manipulator (012) are respectively movably connected with the second shaft joint (010) and the upper end face of a manipulator claw rotating motor fixing support (015) of the manipulator claw assembly, and a second section of support plate (007) of the manipulator is fixedly arranged in the middle of the;
the two ends of a first mechanical arm driving hydraulic cylinder (003) are movably mounted on a base (001) and a first shaft joint (006) respectively, the two ends of a second mechanical arm driving hydraulic cylinder (005) are movably mounted on a first mechanical arm section support (002) and a second mechanical arm section support plate (007) respectively, the two ends of a third mechanical arm driving hydraulic cylinder (009) are movably mounted on a second mechanical arm section support plate (007) and a second shaft joint (010) respectively, the two ends of a fourth mechanical arm driving hydraulic cylinder (011) are movably mounted on the second shaft joint (010) and the middle part of a lifting arm connector (013) respectively, the two ends of the lifting arm connector (013) are movably connected with a third mechanical arm section (012) and one end of a third shaft joint (014) respectively, and the other end of the third shaft joint (014) is movably connected with the upper end face of a mechanical gripper rotating motor fixing support (015) of a mechanical gripper assembly;
the mechanical paw rotating motor is characterized in that a mechanical paw rotating motor (016) is installed on the lower end face of a mechanical paw rotating motor fixing support (015), the mechanical paw rotating motor (016) is in transmission connection with a mechanical paw shell (018) through a coupler (017), a pair of mechanical paws (019) are installed in the mechanical paw shell (018), a paw driving hydraulic cylinder (021) is connected between the two mechanical paws (019), and the paw driving hydraulic cylinder (021) is connected with the mechanical paw shell (018) through a hydraulic cylinder sleeve (022).
2. A robot arm according to claim 1, characterised in that the gripping parts of both gripper fingers (019) are provided with gripping sheaths (020).
3. A robot arm as claimed in claim 1, characterised in that the two gripper fingers (019) are each mounted in a gripper housing (018) by means of a gripper fixing bolt (023).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921470944.XU CN210650677U (en) | 2019-09-05 | 2019-09-05 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921470944.XU CN210650677U (en) | 2019-09-05 | 2019-09-05 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210650677U true CN210650677U (en) | 2020-06-02 |
Family
ID=70835353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921470944.XU Expired - Fee Related CN210650677U (en) | 2019-09-05 | 2019-09-05 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210650677U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111850661A (en) * | 2020-07-28 | 2020-10-30 | 临漳县万盈贸易有限公司 | Rotary type electroplating mechanical cantilever conductive mechanism |
| CN112238447A (en) * | 2020-08-28 | 2021-01-19 | 南京驭逡通信科技有限公司 | Industrial robot arm extension mechanism |
| CN113844882A (en) * | 2021-09-10 | 2021-12-28 | 萍乡市城南机械有限责任公司 | Machine-building user moves formula grabbing device outward |
-
2019
- 2019-09-05 CN CN201921470944.XU patent/CN210650677U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111850661A (en) * | 2020-07-28 | 2020-10-30 | 临漳县万盈贸易有限公司 | Rotary type electroplating mechanical cantilever conductive mechanism |
| CN111850661B (en) * | 2020-07-28 | 2021-08-17 | 义乌市义心科技有限责任公司 | Rotary type electroplating mechanical cantilever conductive mechanism |
| CN112238447A (en) * | 2020-08-28 | 2021-01-19 | 南京驭逡通信科技有限公司 | Industrial robot arm extension mechanism |
| CN113844882A (en) * | 2021-09-10 | 2021-12-28 | 萍乡市城南机械有限责任公司 | Machine-building user moves formula grabbing device outward |
| CN113844882B (en) * | 2021-09-10 | 2023-09-01 | 萍乡市城南机械有限责任公司 | Outdoor movable grabbing device for machine-building |
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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: 20200602 Termination date: 20210905 |
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| CF01 | Termination of patent right due to non-payment of annual fee |