CN211220688U - Education type four-axis arm - Google Patents
Education type four-axis arm Download PDFInfo
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- CN211220688U CN211220688U CN201922140773.0U CN201922140773U CN211220688U CN 211220688 U CN211220688 U CN 211220688U CN 201922140773 U CN201922140773 U CN 201922140773U CN 211220688 U CN211220688 U CN 211220688U
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Abstract
The utility model discloses an education type four-axis arm, including base, rotary mechanism, big arm, forearm and actuating mechanism, rotary mechanism can rotate around self axle center install in the base, big arm install in rotary mechanism is last, through rotary mechanism drives big arm winds rotary mechanism's axle center rotates, the forearm install in on the big arm, through big arm drives the operation of back-and-forth movement is accomplished to the forearm, actuating mechanism install in on the forearm, through the forearm drives actuating mechanism accomplishes the operation that reciprocates, and passes through actuating mechanism accomplishes the education action. The utility model discloses a connecting rod and hold-in range hybrid drive's design for the motor only provides rotary power, avoids the direct atress of connecting rod and crooked, has improved the transmission precision, and the shock resistance is good, and the teaching effect is guaranteed, and the repacking is convenient, the facilitate promotion.
Description
Technical Field
The utility model relates to an arm technical field especially relates to an education type four-axis arm.
Background
The lightweight four-axis robot arm is widely applied to the fields of science and technology museum exhibition, robot education, family assistants and the like, a bottom support is a first axis of the robot arm, a stepping motor is fixedly installed on a base, the first axis, a second axis and a third axis are all driven by the stepping motor and adopt connecting rod transmission or first synchronous belt transmission, the first axis is a rotary joint, the second axis and the third axis are rotary joints, the fourth axis is clamped at the tail end of the robot arm and is driven by a steering engine, and various accessories can be clamped at the tail end of the fourth axis so as to realize the functions of object grabbing and carrying, 3D printing, laser cutting, writing and drawing and the like; however, the connecting rod transmission mechanism of the existing four-axis mechanical arm is low in transmission precision, poor in shock resistance, small in bearing, easy to stress and bend and poor in use experience.
Accordingly, the prior art is deficient and needs improvement.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the not enough of prior art, provide an education type four-axis arm.
The technical scheme of the utility model as follows: the utility model provides an education type four-axis arm which characterized in that includes: the device comprises a base, a rotating mechanism, a big arm, a small arm and an actuating mechanism; the rotating mechanism can be rotatably arranged in the base around the axis of the rotating mechanism; the large arm is arranged on the rotating mechanism and is driven to rotate around the axis of the rotating mechanism by the rotating mechanism; the small arm is arranged on the large arm, and the large arm drives the small arm to complete the operation of moving back and forth; the executing mechanism is arranged on the small arm, the small arm drives the executing mechanism to complete the up-and-down movement operation, and the executing mechanism completes the teaching action.
Preferably, the rotating mechanism includes a rotating table, a rotating shaft, a first rotating gear, a first synchronous belt, and a first stepping motor; the rotating shaft can be rotatably arranged in the base around the axis of the rotating shaft, the first rotating gear is sleeved on the rotating shaft, and the rotating shaft rotates along with the rotation of the first rotating gear; the rotating table is arranged on the rotating shaft above the first rotating gear and is driven to rotate around the axis of the rotating shaft through the rotating shaft; first step motor install in on the revolving stage, first step motor's output is worn out downwards the revolving stage, just first step motor's output is worn out one of revolving stage is served and is equipped with first drive gear, first drive gear with first rotating gear passes through first synchronous belt realizes the meshing connection, through first step motor drives first drive gear rotates.
Preferably, the rotating table is provided with a mounting rack, the large arm is mounted on one side of the mounting rack, and the large arm rotates along with the rotation of the mounting rack; the large arm is composed of a first arm support and a first transmission mechanism, an installation rod is arranged in the installation frame, the first arm support is installed on the installation rod, the first transmission mechanism is installed on the installation rod on one side of the first arm support, the small arm is rotatably installed on one side of the first arm support and is connected with the first transmission mechanism, and the small arm is driven by the first transmission mechanism to move back and forth.
Preferably, first drive mechanism includes second step motor, second hold-in range, second rotating gear and first connecting rod, second rotating gear in first cantilever crane inboard can rotate around self axle center install in on the installation pole, first connecting rod fixed mounting in on the second rotating gear, first connecting rod follows the second rotating gear rotates and rotates, the second step motor install in the right side of mounting bracket, wear out left the output of second step motor the mounting bracket, just wear out the output of second step motor one of mounting bracket is served the cover and is equipped with second drive gear, second drive gear with second rotating gear passes through the meshing connection is realized to the second hold-in range, through the second step motor drives two drive gear rotates.
Preferably, the small arm is composed of a second arm support and a second transmission mechanism; the second arm support is arranged on the first arm support and is connected with the first connecting rod, and the first connecting rod drives the second arm support to move back and forth; the second transmission mechanism is arranged on the other side of the mounting frame and connected with the executing mechanism, and the executing mechanism is driven by the second transmission mechanism to move up and down.
Preferably, the second transmission mechanism comprises a third stepping motor, a third synchronous belt, a third rotating gear, a second connecting rod, a first connecting piece and a third connecting rod, the third rotating gear is arranged on the mounting rod on the left side of the second rotating gear and can rotate around the axis of the third rotating gear, the second connecting rod is fixedly arranged on the third rotating gear, the second connecting rod rotates along with the rotation of the third rotating gear, the first connecting piece is connected with the second connecting rod and rotates along with the rotation of the second connecting rod, the third connecting rod is connected with the first connecting piece, the third connecting rod rotates along with the rotation of the first connecting piece, the actuating mechanism is rotatably arranged at the tail end of the second arm support, and the third connecting rod is connected with the actuating mechanism, and the actuating mechanism is driven by the third connecting rod to move up and down.
Preferably, the actuating mechanism comprises a pen, a clamp, a second connecting piece and a rotating shaft, the rotating shaft can be rotatably installed on the second arm support around the axis of the rotating shaft, the second connecting piece is installed on the rotating shaft and connected with the third connecting rod, the clamp is detachably installed on the second connecting piece in a plug-in connection mode, a butterfly screw is arranged below the second connecting piece and used for fixing the clamp on the second connecting piece, and the pen is detachably installed in the clamp in a plug-in connection mode.
By adopting the scheme, the utility model discloses following beneficial effect has:
1. the utility model has the advantages that the motor only provides the rotation power through the design of the connecting rod and the synchronous belt hybrid transmission, the connecting rod is prevented from being directly stressed and bent, the transmission precision is improved, the shock resistance is good, the teaching effect is ensured, the modification is convenient, and the popularization is convenient;
2. the connecting piece of actuating mechanism sets up easy plug mouth among the preferred scheme to the design of cooperation butterfly screw fixation can adapt multiple actuating mechanism, and the commonality is good.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a cross-sectional view of the three-dimensional structure of the present invention;
FIG. 3 is a schematic view of the three-dimensional structure of the present invention with the shells of the large arm and the small arm removed;
fig. 4 is a schematic view of the three-dimensional structure of the present invention after the casing and the arm support of the large arm and the small arm are removed.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1-4, the utility model provides an education type four-axis arm, including base 1, rotary mechanism 2, big arm 3, forearm 4 and actuating mechanism 5, rotary mechanism 2 can rotate around self axle center install in the base 1, big arm 3 install in rotary mechanism 2 is last, through rotary mechanism 2 drives big arm 3 winds rotary mechanism 2's axle center rotates, forearm 4 install in on the big arm 3, through big arm 3 drives forearm 4 accomplishes the operation of back-and-forth movement, actuating mechanism 5 install in on the forearm 4, through forearm 4 drives actuating mechanism 5 accomplishes the operation that reciprocates, and pass through actuating mechanism 5 accomplishes the teaching action.
In the present embodiment, the rotating mechanism 2 includes a rotating table 21, a rotating shaft 22, a first rotating gear 23, a first timing belt 24, and a first stepping motor 25; the rotating shaft 22 can be rotatably installed in the base 1 around the axis thereof, the first rotating gear 23 is sleeved on the rotating shaft 22, and the rotating shaft 22 rotates along with the rotation of the first rotating gear 23; the rotating table 21 is mounted on the rotating shaft 22 above the first rotating gear 23, and the rotating table 21 is driven by the rotating shaft 22 to rotate around the axis of the rotating shaft 22 when in use; first step motor 25 install in on the revolving stage 21, wear out downwards the output of first step motor 25 revolving stage 21, just the output of first step motor 25 is worn out one of revolving stage 21 is served and is equipped with a transmission gear, a transmission gear with first rotating gear 23 passes through first synchronous belt 24 realizes the meshing and connects, passes through during the use first step motor 25 drives first transmission gear rotates, first transmission gear passes through first synchronous belt 24 drives first rotating gear 23 rotates.
In this embodiment, the rotating platform 21 is provided with a mounting frame, and the large arm 3 is mounted on the right side of the mounting frame and rotates along with the rotation of the mounting frame when in use; the large arm 3 is composed of a first arm support 31 and a first transmission mechanism, an installation rod is arranged in the installation frame, the first arm support 31 is installed on the installation rod, the first transmission mechanism is installed on the installation rod on the inner side of the first arm support 31, the small arm 4 is rotatably installed on the inner side of the first arm support 31, the small arm 4 is connected with the first transmission mechanism, and the small arm 4 is driven by the first transmission mechanism to move back and forth when in use;
the first transmission mechanism comprises a second stepping motor 32, a second synchronous belt 33, a second rotating gear 34 and a first connecting rod 35, the second rotating gear 34 is arranged on the installation rod in a manner that the inner side of the first arm support 31 can rotate around the axis of the first rotating gear, the first connecting rod 35 is fixedly arranged on the second rotating gear 34, the first connecting rod 35 rotates along with the second rotating gear 34, the second stepping motor 32 is arranged on the right side of the installation rack, the output end of the second stepping motor 32 penetrates out of the installation rack leftwards, a second transmission gear is sleeved on one section of the installation rack, the second transmission gear and the second rotating gear 34 are meshed and connected through the second synchronous belt 33, and the second stepping motor 32 drives the second transmission gear to rotate during use, the second transmission gear drives the second rotating gear 34 to rotate through the second synchronous belt 33;
in order to prevent the personnel from accidentally injuring the personnel by extending the hands into the first arm support 31, the left side, the right side and the rear side of the first arm support 31 are respectively provided with a protective shell, so that the protective shell plays a role in protection and dust prevention.
In this embodiment, the small arm 4 is composed of a second arm support 41 and a second transmission mechanism, the second arm support 41 is mounted on the first arm support 31, the second arm support 41 is connected with the first connecting rod 35, the first connecting rod 35 drives the second arm support 41 to move back and forth, the second transmission mechanism is mounted on the left side of the mounting frame, the second transmission mechanism is connected with the executing mechanism 5, and the executing mechanism 5 is driven by the second transmission mechanism to move up and down;
the second transmission mechanism comprises a third stepping motor 42, a third synchronous belt 43, a third rotating gear 44, a second connecting rod 45, a first connecting piece 46 and a third connecting rod 47, the third rotating gear 44 is rotatably mounted on the mounting rod around the axis of the third rotating gear 34 on the left side, the second connecting rod 45 is fixedly mounted on the third rotating gear 44, the second connecting rod 45 rotates along with the third rotating gear 44, the first connecting piece 46 is connected with the second connecting rod 45, when in use, the first connecting piece 46 rotates along with the second connecting rod 45, specifically, the first connecting piece 46 is a triangular first connecting piece 46, the third connecting rod 47 is connected with the first connecting piece 46, when in use, the third connecting rod 47 rotates along with the first connecting piece 46, the actuating mechanism 5 is rotatably mounted at the tail end of the second arm support 41, the third connecting rod 47 is connected with the actuating mechanism 5, and the actuating mechanism 5 is driven by the third connecting rod 47 to move up and down when the device is used;
a PCB 411 is arranged on the upper side of the second arm support 41, the PCB 411 is provided with a control switch, correspondingly, a power interface is arranged on the base 1, and the PCB 411 is respectively electrically connected with the power interface, the first stepping motor 25, the second stepping motor 32 and the third stepping motor 42 and used for controlling the operation of the first stepping motor 25, the second stepping motor 32 and the third stepping motor 42;
in order to prevent the personnel from accidentally injuring the personnel by extending the hands into the second arm support 41, the left side, the right side and the upper side of the second arm support 41 are respectively provided with a protective shell, so that the protective shell plays a role in protection and dust prevention.
In this embodiment, the actuating mechanism 5 includes a pen 51, a clamp 52, a second connecting member 53 and a rotating shaft, the rotating shaft is rotatably mounted on the second arm support 41 around its axis, the second connecting member 53 is mounted on the rotating shaft, and the second connecting member 53 is connected to the third connecting rod 47, specifically, the second connecting member 53 is a triangular connecting member, the clamp 52 is detachably mounted on the second connecting member 53 in a plug-in connection manner, a butterfly screw 54 is provided below the second connecting member 53 for fixing the clamp 52 on the second connecting member 53, the pen 51 is detachably mounted in the clamp 52 in a plug-in connection manner, and the operation of fixing the pen 51 in the clamp 52 is realized by one screw;
in order to improve the stability of the pen 51, a spring is arranged in the clamp 52 and plays a balance role on the pen 51;
it should be noted that the executing mechanism 5 may also adopt accessories such as a sucker, a clamping jaw, a laser cutter, a spherical clamping jaw and the like to replace the pen 51, so as to realize different functions of grabbing, carrying, laser cutting and the like of objects, and realize teaching actions of different scenes.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the utility model has the advantages that the motor only provides the rotation power through the design of the connecting rod and the synchronous belt hybrid transmission, the connecting rod is prevented from being directly stressed and bent, the transmission precision is improved, the shock resistance is good, the teaching effect is ensured, the modification is convenient, and the popularization is convenient;
2. the connecting piece of actuating mechanism sets up easy plug mouth among the preferred scheme to the design of cooperation butterfly screw fixation can adapt multiple actuating mechanism, and the commonality is good.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. The utility model provides an education type four-axis arm which characterized in that includes: the device comprises a base, a rotating mechanism, a big arm, a small arm and an actuating mechanism; the rotating mechanism can be rotatably arranged in the base around the axis of the rotating mechanism; the large arm is arranged on the rotating mechanism and is driven to rotate around the axis of the rotating mechanism by the rotating mechanism; the small arm is arranged on the large arm, and the large arm drives the small arm to complete the operation of moving back and forth; the executing mechanism is arranged on the small arm, the small arm drives the executing mechanism to complete the up-and-down movement operation, and the executing mechanism completes the teaching action.
2. The educational four-axis robot arm of claim 1, wherein the rotation mechanism comprises a rotation table, a rotation shaft, a first rotation gear, a first synchronization belt, and a first stepper motor; the rotating shaft can be rotatably arranged in the base around the axis of the rotating shaft, the first rotating gear is sleeved on the rotating shaft, and the rotating shaft rotates along with the rotation of the first rotating gear; the rotating table is arranged on the rotating shaft above the first rotating gear and is driven to rotate around the axis of the rotating shaft through the rotating shaft; first step motor install in on the revolving stage, first step motor's output is worn out downwards the revolving stage, just first step motor's output is worn out one of revolving stage is served and is equipped with first drive gear, first drive gear with first rotating gear passes through first synchronous belt realizes the meshing connection, through first step motor drives first drive gear rotates.
3. The educational four-axis robot arm according to claim 2, wherein the rotary table is provided with a mounting frame, the large arm is mounted on one side of the mounting frame, and the large arm rotates along with the rotation of the mounting frame; the large arm is composed of a first arm support and a first transmission mechanism, an installation rod is arranged in the installation frame, the first arm support is installed on the installation rod, the first transmission mechanism is installed on the installation rod on one side of the first arm support, the small arm is rotatably installed on one side of the first arm support and is connected with the first transmission mechanism, and the small arm is driven by the first transmission mechanism to move back and forth.
4. The educational four-axis robot arm according to claim 3, wherein the first transmission mechanism comprises a second stepping motor, a second timing belt, a second rotating gear, and a first link, the second rotating gear is arranged on the mounting rod on the inner side of the first arm support and can rotate around the axis of the second rotating gear, the first connecting rod is fixedly arranged on the second rotating gear and rotates along with the rotation of the second rotating gear, the second stepping motor is arranged on the right side of the mounting rack, the output end of the second stepping motor penetrates out of the mounting rack leftwards, and a second transmission gear is sleeved on one end of the output end of the second stepping motor, which penetrates out of the mounting rack, the second transmission gear and the second rotating gear are meshed and connected through the second synchronous belt, and the second stepping motor drives the two transmission gears to rotate.
5. The educational four-axis manipulator according to claim 4, wherein the forearm is comprised of a second arm support and a second transmission mechanism; the second arm support is arranged on the first arm support and is connected with the first connecting rod, and the first connecting rod drives the second arm support to move back and forth; the second transmission mechanism is arranged on the other side of the mounting frame and connected with the executing mechanism, and the executing mechanism is driven by the second transmission mechanism to move up and down.
6. The educational four-axis manipulator according to claim 5, wherein the second transmission mechanism comprises a third stepping motor, a third synchronous belt, a third rotary gear, a second connecting rod, a first connecting member and a third connecting rod, the third rotary gear is rotatably mounted on the mounting rod around its axis at the left side of the second rotary gear, the second connecting rod is fixedly mounted on the third rotary gear, the second connecting rod rotates along with the rotation of the third rotary gear, the first connecting member is connected with the second connecting rod, the first connecting member rotates along with the rotation of the second connecting rod, the third connecting rod is connected with the first connecting member, the third connecting rod rotates along with the rotation of the first connecting member, the actuator is rotatably mounted at the end of the second arm support, and the third connecting rod is connected with the actuator, the third connecting rod drives the actuating mechanism to move up and down.
7. The educational four-axis mechanical arm of claim 6, wherein the actuator comprises a pen, a clamp, a second connecting member and a rotating shaft, the rotating shaft is rotatably mounted on the second arm support around the axis of the rotating shaft, the second connecting member is mounted on the rotating shaft, the second connecting member is connected with the third connecting rod, the clamp is detachably mounted on the second connecting member in a plug-in connection manner, a butterfly screw is arranged below the second connecting member for fixing the clamp on the second connecting member, and the pen is detachably mounted in the clamp in a plug-in connection manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922140773.0U CN211220688U (en) | 2019-11-29 | 2019-11-29 | Education type four-axis arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922140773.0U CN211220688U (en) | 2019-11-29 | 2019-11-29 | Education type four-axis arm |
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| Publication Number | Publication Date |
|---|---|
| CN211220688U true CN211220688U (en) | 2020-08-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922140773.0U Active CN211220688U (en) | 2019-11-29 | 2019-11-29 | Education type four-axis arm |
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| Country | Link |
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| CN (1) | CN211220688U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113059953A (en) * | 2021-05-07 | 2021-07-02 | 北京理工大学珠海学院 | Writing robot and writing method and control method thereof |
-
2019
- 2019-11-29 CN CN201922140773.0U patent/CN211220688U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113059953A (en) * | 2021-05-07 | 2021-07-02 | 北京理工大学珠海学院 | Writing robot and writing method and control method thereof |
| CN113059953B (en) * | 2021-05-07 | 2024-05-03 | 北京理工大学珠海学院 | Writing robot, writing method and control method thereof |
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