CN212825490U - Two-degree-of-freedom smart mechanical arm - Google Patents
Two-degree-of-freedom smart mechanical arm Download PDFInfo
- Publication number
- CN212825490U CN212825490U CN202021882812.0U CN202021882812U CN212825490U CN 212825490 U CN212825490 U CN 212825490U CN 202021882812 U CN202021882812 U CN 202021882812U CN 212825490 U CN212825490 U CN 212825490U
- Authority
- CN
- China
- Prior art keywords
- driving motor
- top end
- plate
- arm
- bottom plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 238000003466 welding Methods 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 8
- 244000309464 bull Species 0.000 abstract description 7
- 230000005484 gravity Effects 0.000 abstract description 7
- 208000004350 Strabismus Diseases 0.000 abstract 1
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a two degree of freedom dexterous type arms, including gag lever post, arm and bottom plate, the bottom of bottom plate evenly is provided with stable structure, the second bull stick is installed through the pivot in the top of bottom plate, and installs first bull stick through the pivot on the bottom plate top of second bull stick one side, first bull stick and second bull stick are connected through the belt, the top of bottom plate is provided with the backup pad, and installs driving motor on one side on backup pad top, one side that driving motor was kept away from to the backup pad top is provided with the base, and the both sides of base bottom all install the fixed block, the bottom of fixed block all extends to the inside of backup pad. The utility model discloses a place the device in the position of pointing, under the action of gravity of device self, the supporting legs takes place to squint, to extending all around to reduce the focus of device, make the device more stable, be favorable to increasing the precision of device.
Description
Technical Field
The utility model relates to a manipulator technical field specifically is two degree of freedom dexterous type arms.
Background
The mechanical arm is a complex system with high precision, multiple input and multiple output, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The mechanical arm is mainly a three-degree-of-freedom mechanical arm or a mechanical arm with more than three degrees of freedom, and the existing mechanical arms have many defects:
the first and the traditional mechanical arms are driven by a plurality of motors to cause larger accumulated errors, so that the use precision is insufficient;
secondly, the traditional mechanical arm is inconvenient to carry out the function of quick assembly and disassembly on the mechanical arm, so that the mechanical arm cannot be quickly replaced or maintained after being damaged;
third, the conventional robot arm has poor stability in use, resulting in a reduction in the precision of the device.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide two degree of freedom dexterous type arms to solve the problem that the use motor that proposes among the above-mentioned background art is too much, the arm is maintained trouble and poor stability.
In order to achieve the above object, the utility model provides a following technical scheme: a two-degree-of-freedom smart mechanical arm comprises a limiting rod, a mechanical arm and a bottom plate, wherein a stable structure is uniformly arranged at the bottom end of the bottom plate, a second rotating rod is installed at the top end of the bottom plate through a rotating shaft, a first rotating rod is installed at the top end of the bottom plate on one side of the second rotating rod through a rotating shaft, the first rotating rod and the second rotating rod are connected through a belt, a supporting plate is arranged above the bottom plate, a driving motor is installed on one side of the top end of the supporting plate, a base is arranged on one side, far away from the driving motor, of the upper portion of the supporting plate, fixed blocks are installed on two sides of the bottom end of the base, the bottom end of each fixed block extends into the supporting plate, a servo motor is installed on one side, close to the driving motor, of the inner portion of the base, a lead screw, the roof is installed on the top of lead screw, the gag lever post is installed to one side that servo motor was kept away from on the base top, one side that driving motor was kept away from to sleeve top and bottom all is provided with the mounting panel, the cover shell is installed to one side that driving motor was kept away from to the sleeve, the arm is installed to one side that driving motor was kept away from to the cover shell, the outer wall cover of cover shell is equipped with the thread bush, and the thread bush is kept away from the arm outer wall cover of driving motor one side and is equipped with the baffle, the arm outer wall cover that driving motor one side was kept away from to the baffle is equipped with auxiliary spring, and auxiliary spring keeps away from the arm outer wall cover of driving motor one side and is equipped with the fixed plate, the inserted bar is all installed.
The top end of the limiting rod penetrates through the inside of the sleeve, and the top end of the limiting rod is connected to the bottom end of the top plate.
One side of the mechanical arm close to the driving motor penetrates through the interior of the casing, and one side of the mechanical arm close to the driving motor extends to the interior of the sleeve.
The stabilizing structure comprises a buffer spring, supporting legs and guide rods, wherein the supporting legs are uniformly installed at the bottom end of the bottom plate through articulated elements, the guide rods are installed on one sides of the supporting legs through the articulated elements, the top ends of the guide rods extend to the top of the bottom plate, the buffer spring is sleeved on the outer wall of the guide rods at the bottom end of the bottom plate, and the top ends of the buffer spring are welded with the bottom plate.
The top end of the first rotating rod penetrates through the upper portion of the supporting plate, and the top end of the first rotating rod is connected to the bottom end of the base.
The top end of the second rotating rod penetrates through the inside of the supporting plate, and the top end of the second rotating rod is connected to the bottom end of the driving motor.
Compared with the prior art, the utility model has the advantages that:
(1) the device is placed at a pointing position through the supporting legs, the guide rod and the buffer spring, and the supporting legs are deviated and extend to the periphery under the action of the gravity of the device, so that the gravity center of the device is reduced, and the device is more stable; the guide rod moves while the supporting leg deflects, so that the buffer spring deforms, the buffer is increased, the damping function of the device is increased to a certain extent, and the stability of the device is improved by the structure;
(2) through the arrangement of the lead screw, the limiting rod, the sleeve servo motor and the driving motor, when the device works, the servo motor and the driving motor are respectively started, the servo motor works, the lead screw rotates, the sleeve moves under the matching of sleeve threads, and simultaneously, under the action of the limiting rod, the sleeve can only move up and down, so that the mechanical arm is driven to adjust up and down, the driving motor works, the second rotating rod rotates, under the action of a belt, the first rotating rod rotates to drive the base to rotate, so that the mechanical arm is rotated and adjusted, two-degree-of-freedom flexible movement of the mechanical arm is realized, the motors are less in use, and the structure enables the adjustment precision of the device to be higher;
(3) through being provided with the thread bush, the cover shell, auxiliary spring and arm, the staff rotates the thread bush, under the cooperation of cover shell external screw thread, can make the thread bush break away from the cover shell, the auxiliary spring compression, work directly stimulates the arm after that, make the inserted bar on the arm fixed plate break away from the mounting panel and can dismantle the arm, can maintain the arm, otherwise can install the arm fast, this structure has realized the quick assembly disassembly function to the arm, the device of being convenient for is maintained.
Drawings
FIG. 1 is a schematic sectional view of the front view of the present invention;
fig. 2 is a schematic view of the structure of the present invention;
fig. 3 is a schematic top view of the present invention;
fig. 4 is an enlarged schematic structural diagram of a in fig. 1 according to the present invention.
In the figure: 1. a servo motor; 2. a screw rod; 3. a sleeve; 4. a top plate; 5. a limiting rod; 6. a mechanical arm; 7. a base; 8. a fixed block; 9. stabilizing the structure; 901. a buffer spring; 902. supporting legs; 903. a guide bar; 10. a support plate; 11. a first rotating lever; 12. a belt; 13. a drive motor; 14. a second rotating rod; 15. a base plate; 16. a fixing plate; 17. an auxiliary spring; 18. inserting a rod; 19. mounting a plate; 20. a threaded sleeve; 21. a housing; 22. a separator.
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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a two-degree-of-freedom smart mechanical arm comprises a limiting rod 5, a mechanical arm 6 and a bottom plate 15, wherein stable structures 9 are uniformly arranged at the bottom end of the bottom plate 15;
the stabilizing structure 9 comprises a buffer spring 901, supporting legs 902 and guide rods 903, the supporting legs 902 are uniformly mounted at the bottom end of the bottom plate 15 through hinges, the guide rods 903 are mounted at one sides of the supporting legs 902 through the hinges, the top ends of the guide rods 903 extend to the upper side of the bottom plate 15, the buffer spring 901 is sleeved on the outer wall of the guide rods 903 at the bottom end of the bottom plate 15, and the top ends of the buffer spring 901 are welded with the bottom plate 15;
as shown in fig. 1, 2 and 3, when the mechanism is used, under the action of the gravity of the device, the supporting legs 902 deflect and extend to the periphery, so that the center of gravity of the device is lowered, the device is more stable, and when the supporting legs 902 deflect, the guide rods 903 move, so that the buffer springs 901 deform, the buffer is increased, and the damping function of the device is increased to a certain extent;
a second rotating rod 14 is mounted at the top end of the bottom plate 15 through a rotating shaft, a first rotating rod 11 is mounted at the top end of the bottom plate 15 on one side of the second rotating rod 14 through a rotating shaft, the first rotating rod 11 and the second rotating rod 14 are connected through a belt 12, a support plate 10 is arranged above the bottom plate 15, a driving motor 13 is mounted on one side of the top end of the support plate 10, and the type of the driving motor 13 can be 86 BL;
the top end of the second rotating rod 14 penetrates through the inside of the supporting plate 10, and the top end of the second rotating rod 14 is connected to the bottom end of the driving motor 13;
as shown in fig. 1 and 2, when the mechanism is used, the driving motor 13 is operated, the second rotating rod 14 rotates, and the first rotating rod 11 can be rotated under the action of the belt 12;
a base 7 is arranged on one side, far away from the driving motor 13, above the supporting plate 10, fixing blocks 8 are arranged on two sides of the bottom end of the base 7, and the bottom ends of the fixing blocks 8 extend into the supporting plate 10;
the top end of the first rotating rod 11 penetrates above the supporting plate 10, and the top end of the first rotating rod 11 is connected to the bottom end of the base 7;
as shown in fig. 1 and 2, when the mechanism is used, the first rotating rod 11 rotates to drive the base 7 to rotate, so that the mechanical arm 6 is subjected to rotation adjustment;
a servo motor 1 is installed on one side, close to a driving motor 13, in a base 7, the type of the servo motor 1 can be RDX-201-V36F5E13, a screw rod 2 is installed at the top end of the servo motor 1, the top end of the screw rod 2 extends to the upper side of the base 7, a sleeve 3 is sleeved on the outer wall of the screw rod 2 above the base 7, a top plate 4 is installed at the top end of the screw rod 2, and a limiting rod 5 is installed on one side, far away from the servo motor 1, of the top end of the base 7;
the top end of the limiting rod 5 penetrates through the sleeve 3, and the top end of the limiting rod 5 is connected to the bottom end of the top plate 4;
as shown in fig. 1 and 2, when the mechanism is used, the screw rod 2 rotates, the sleeve 3 moves under the matching of the threads of the sleeve 3, and meanwhile, the sleeve 3 can only move up and down under the action of the limiting rod 5, so that the mechanical arm 6 is driven to adjust up and down;
mounting plates 19 are arranged on the top end and the bottom end of the sleeve 3 at the sides far away from the driving motor 13, a sleeve 21 is arranged on one side of the sleeve 3 far away from the driving motor 13, and a mechanical arm 6 is arranged on one side of the sleeve 21 far away from the driving motor 13;
one side of the mechanical arm 6 close to the driving motor 13 penetrates through the interior of the casing 21, and one side of the mechanical arm 6 close to the driving motor 13 extends to the interior of the sleeve 3;
as shown in fig. 1, 2, 3 and 4, when the mechanism is used, the mechanical arm 6 can be installed inside the sleeve 3, so that the fixing function of the mechanical arm 6 is realized;
the outer wall cover of cover shell 21 is equipped with thread bush 20, and the outer wall cover of the arm 6 that driving motor 13 one side was kept away from to thread bush 20 is equipped with baffle 22, the outer wall cover of the arm 6 that driving motor 13 one side was kept away from to baffle 22 is equipped with auxiliary spring 17, and auxiliary spring 17 keeps away from the outer wall cover of the arm 6 of driving motor 13 one side and is equipped with fixed plate 16, inserted bar 18 is all installed to the top and the bottom that fixed plate 16 is close to driving motor 13 one side, and one side that inserted bar 18 is close to driving motor 13 all runs through to one side that mounting panel 19.
The working principle is as follows: when the device is used, firstly, the device is placed at a pointed position, the supporting legs 902 deflect and extend around under the action of gravity of the device, so that the gravity center of the device is reduced, the device is more stable, and the guide rods 903 move when the supporting legs 902 deflect, so that the buffer springs 901 deform, the buffer is increased, and the damping function of the device is increased to a certain extent.
Afterwards, the device carries out the during operation, servo motor 1 and driving motor 13 are opened respectively, servo motor 1 work, lead screw 2 rotates, under the cooperation of 3 screw threads of sleeve, sleeve 3 takes place the activity, simultaneously under the effect of gag lever post 5, sleeve 3 can only do and reciprocate, thereby drive arm 6 and adjust from top to bottom, driving motor 13 work, second bull stick 14 rotates, under the effect of belt 12, first bull stick 11 rotates, it rotates to drive base 7, thereby make arm 6 rotate the regulation, the two degrees of freedom dexterous activities of arm 6 have been realized, and the motor uses less.
Finally, after the device is used for a long time, the mechanical arm 6 needs to be maintained, the worker rotates the threaded sleeve 20, under the matching of the external threads of the sleeve 21, the threaded sleeve 20 can be separated from the sleeve 21, the auxiliary spring 17 is compressed, the mechanical arm 6 is directly pulled in work, the inserting rod 18 on the fixing plate 16 of the mechanical arm 6 is separated from the mounting plate 19, the mechanical arm 6 can be detached, the mechanical arm 6 can be maintained, and otherwise, the mechanical arm 6 can be rapidly mounted.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. The utility model provides a two degree of freedom dexterous arms, includes gag lever post (5), arm (6) and bottom plate (15), its characterized in that: the bottom of the bottom plate (15) is uniformly provided with a stable structure (9), the top end of the bottom plate (15) is provided with a second rotating rod (14) through a rotating shaft, the top end of the bottom plate (15) on one side of the second rotating rod (14) is provided with a first rotating rod (11) through a rotating shaft, the first rotating rod (11) and the second rotating rod (14) are connected through a belt (12), a supporting plate (10) is arranged above the bottom plate (15), a driving motor (13) is arranged on one side of the top end of the supporting plate (10), a base (7) is arranged on one side, far away from the driving motor (13), above the supporting plate (10), fixed blocks (8) are arranged on two sides of the bottom end of the base (7), the bottom end of each fixed block (8) extends to the inside of the supporting plate (10), and a servo motor (1) is arranged on one side, close to the driving motor, and the top end of the servo motor (1) is provided with a screw rod (2), the top end of the screw rod (2) extends to the upper part of the base (7), the outer wall of the screw rod (2) above the base (7) is sleeved with a sleeve (3), the top end of the screw rod (2) is provided with a top plate (4), one side of the top end of the base (7), far away from the servo motor (1), is provided with a limiting rod (5), one sides of the top end and the bottom end of the sleeve (3), far away from the driving motor (13), are respectively provided with a mounting plate (19), one side of the sleeve (3), far away from the driving motor (13), is provided with a sleeve housing (21), one side of the sleeve housing (21), far away from the driving motor (13), is provided with a mechanical arm (6), the outer wall of the sleeve housing (21) is sleeved with a threaded sleeve (20), and the outer, arm (6) outer wall cover that driving motor (13) one side was kept away from in baffle (22) is equipped with auxiliary spring (17), and auxiliary spring (17) keep away from arm (6) outer wall cover of driving motor (13) one side and be equipped with fixed plate (16), inserted bar (18) are all installed to top and bottom that fixed plate (16) are close to driving motor (13) one side, and one side that inserted bar (18) are close to driving motor (13) all runs through to one side that mounting panel (19) are close to driving motor (13).
2. The two degree-of-freedom smart robot arm of claim 1, wherein: the top end of the limiting rod (5) penetrates through the interior of the sleeve (3), and the top end of the limiting rod (5) is connected to the bottom end of the top plate (4).
3. The two degree-of-freedom smart robot arm of claim 1, wherein: one side of the mechanical arm (6) close to the driving motor (13) penetrates through the interior of the casing (21), and one side of the mechanical arm (6) close to the driving motor (13) extends to the interior of the sleeve (3).
4. The two degree-of-freedom smart robot arm of claim 1, wherein: stabilizing structure (9) includes buffer spring (901), supporting legs (902) and guide arm (903), supporting legs (902) are evenly installed in the bottom of bottom plate (15) through the articulated elements, guide arm (903) are all installed through the articulated elements to one side of supporting legs (902), and the top of guide arm (903) all extends to the top of bottom plate (15), buffer spring (901) all overlaps guide arm (903) outer wall of locating bottom plate (15) bottom, and the top and bottom plate (15) welding of buffer spring (901).
5. The two degree-of-freedom smart robot arm of claim 1, wherein: the top end of the first rotating rod (11) penetrates to the upper part of the supporting plate (10), and the top end of the first rotating rod (11) is connected to the bottom end of the base (7).
6. The two degree-of-freedom smart robot arm of claim 1, wherein: the top end of the second rotating rod (14) penetrates through the inside of the supporting plate (10), and the top end of the second rotating rod (14) is connected to the bottom end of the driving motor (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021882812.0U CN212825490U (en) | 2020-09-02 | 2020-09-02 | Two-degree-of-freedom smart mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021882812.0U CN212825490U (en) | 2020-09-02 | 2020-09-02 | Two-degree-of-freedom smart mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212825490U true CN212825490U (en) | 2021-03-30 |
Family
ID=75147431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021882812.0U Expired - Fee Related CN212825490U (en) | 2020-09-02 | 2020-09-02 | Two-degree-of-freedom smart mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212825490U (en) |
-
2020
- 2020-09-02 CN CN202021882812.0U patent/CN212825490U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108591756A (en) | A kind of shock-absorption adjusting device for mechanical equipment | |
| CN212825490U (en) | Two-degree-of-freedom smart mechanical arm | |
| CN213197553U (en) | Anti-shake mechanical arm | |
| CN214942759U (en) | Support arrangement for large-scale cantilever steel construction | |
| CN212044808U (en) | Automatic industrial manipulator | |
| CN219504077U (en) | Case material loading equipment mechanism | |
| CN217992536U (en) | Assembly manipulator convenient to rotate | |
| CN111981285B (en) | Computer component turning device | |
| CN210307811U (en) | Power device and robot with same | |
| CN211709367U (en) | Installation base for industrial robot | |
| CN109848980B (en) | Full hydraulic cylinder driving five-degree-of-freedom telescopic mechanical arm base | |
| CN219678952U (en) | Power supply device with protection function | |
| CN221539806U (en) | Mechanical power grabbing type manipulator | |
| CN221363993U (en) | Sheet metal shell of numerical control machine tool | |
| CN221849665U (en) | Polishing equipment for lenses | |
| CN219529211U (en) | Bracket for installing gearbox of wind turbine generator | |
| CN219582209U (en) | Hub excircle processing device | |
| CN217861291U (en) | Quick changing mechanism for industrial robot end tool | |
| CN211639659U (en) | Supporting and positioning device for mounting industrial robot chassis | |
| CN219727880U (en) | Rotation device of current collecting system | |
| CN214561075U (en) | Industrial robot rotating base convenient to adjust | |
| CN221882623U (en) | Monitoring and observing device based on construction engineering investigation | |
| CN218407938U (en) | Vertical axial-flow deep well fire pump sealing device | |
| CN215000677U (en) | Concatenation screen installing support with flexible function | |
| CN218226352U (en) | Automatic shell assembly device that closes is used in remote controller production |
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: 20210330 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |