CN215318698U - Six-degree-of-freedom mechanical arm with rotating platform - Google Patents

Six-degree-of-freedom mechanical arm with rotating platform Download PDF

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Publication number
CN215318698U
CN215318698U CN202121415173.1U CN202121415173U CN215318698U CN 215318698 U CN215318698 U CN 215318698U CN 202121415173 U CN202121415173 U CN 202121415173U CN 215318698 U CN215318698 U CN 215318698U
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connecting plate
degree
rotating
motor
mechanical arm
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CN202121415173.1U
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Chinese (zh)
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张天齐
顾嘉俊
施伟辰
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Shanghai Maritime University
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Shanghai Maritime University
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Abstract

The utility model belongs to the technical field of manipulators, and particularly discloses a six-degree-of-freedom mechanical arm with a rotary platform. The six electric push rods are arranged to drive and adjust the adjusting disc, and the adjusting disc drives the clamping mechanism to realize six-degree-of-freedom adjustment, so that the adjustment flexibility of the clamping mechanism is greatly increased; the rotary column can rotate under the drive of the rotary mechanism, the rotary effect of the clamping mechanism is achieved, and meanwhile, the sliding column in the telescopic mechanism can stretch relative to the adjusting disc, so that the adjusting range of the clamping mechanism is enlarged, and the workpiece is clamped flexibly and efficiently.

Description

Six-degree-of-freedom mechanical arm with rotating platform
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a six-degree-of-freedom mechanical arm with a rotating platform.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
The patent with the publication number of CN 101890722B discloses a novel three-degree-of-freedom mechanical gripper, which has an autonomous target capturing function, and by starting a capturing executing mechanism, the mechanical gripper can stretch, rotate and open and close to execute a capturing task, and after a target is captured successfully, the three-degree-of-freedom mechanical gripper and each executing mechanism of the three-degree-of-freedom gripper are locked to ensure that the capturing task is completed smoothly; although the device can realize the grabbing effect on the workpiece, the flexibility degree of the use process is lower, and therefore, the six-degree-of-freedom mechanical arm with the rotating platform is provided to solve the technical problem.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to a six-degree-of-freedom robot with a rotating platform, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a from six degree of freedom robotic arm of taking rotary platform, includes the supporting disk, it has six electric putter to be that annular array articulates on the supporting disk, and six electric putter's output upwards articulates respectively on the adjustment disk, and one side that electric putter was kept away from to the adjustment disk is equipped with the rotation post by rotary mechanism drive, rotates and is equipped with telescopic machanism on the post, and telescopic machanism keeps away from the one end of rotating the post and installs the connection pad, installs fixture on the connection pad.
Preferably, rotary mechanism is including installing the first motor on the adjustment disk, and the output shaft of first motor has drive gear, and the meshing is connected with the cover and establishes the outer ring gear of fixing on rotating the post on the drive gear, rotates the post and rotates and install on the adjustment disk.
Preferably, the telescopic mechanism comprises a limiting sleeve coaxially fixed with the rotating column, a sliding column is slidably mounted on the limiting sleeve, and one end of the sliding column, far away from the limiting sleeve, is coaxially fixed with the connecting disc; telescopic machanism still includes the joint piece fixed with the traveller, and threaded sleeve is installed perpendicularly to joint piece bottom, and threaded sleeve female connection has the threaded rod, rotates to be equipped with the second motor on the post, and the output shaft and the threaded rod coaxial fixation of second motor.
Preferably, the clamping mechanism comprises a third motor fixed on the connecting disc, the output end of the third motor is connected with a main gear, the main gear is in meshed connection with two symmetrically-arranged pinions, and each pinion is connected with a clamping assembly.
Preferably, the clamping assembly comprises a first connecting plate, a second connecting plate, a third connecting plate and a fourth connecting plate which are sequentially hinged, the second connecting plate is fixedly connected with the connecting plate, the first connecting plate and the fourth connecting plate are parallel and isometric, the third connecting plate and the second connecting plate are parallel and isometric, one end, far away from the third connecting plate, of the first connecting plate is fixedly connected with the pinion, and a clamping arm is fixed on the third connecting plate.
Preferably, a plurality of rubber strips distributed in an arc shape are arranged on the clamping arm.
Compared with the prior art, the utility model has the beneficial effects that:
the six electric push rods are arranged to drive and adjust the adjusting disc, and the adjusting disc drives the clamping mechanism to realize six-degree-of-freedom adjustment, so that the adjustment flexibility of the clamping mechanism is greatly increased, and the workpiece clamping efficiency is more efficient and flexible; the rotary column can rotate under the drive of the rotary mechanism, the rotary effect of the clamping mechanism is achieved, and meanwhile, the sliding column in the telescopic mechanism can stretch relative to the adjusting disc, so that the adjusting range of the clamping mechanism is enlarged, and the workpiece is clamped flexibly and efficiently.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1 in accordance with the present invention;
FIG. 3 is a schematic view of a specific structure of the clamping mechanism of the present invention;
FIG. 4 is a schematic diagram of a specific connection structure of the bottom surface of the connecting disc of the present invention;
fig. 5 is an enlarged view of portion B of fig. 3 according to the present invention.
In the figure: 1. a support disc; 2. an electric push rod; 3. a pinion gear; 4. a first motor; 5. a drive gear; 6. an outer ring gear; 7. a first connecting plate; 8. a connecting disc; 9. a second connecting plate; 10. a third connecting plate; 11. a fourth connecting plate; 12. a clamp arm; 13. an adhesive tape; 14. a second motor; 15. rotating the column; 16. an adjusting disk; 17. a threaded sleeve; 18. a traveler; 19. a clamping block; 20. a limiting sleeve; 21. a threaded rod; 22. a third motor; 23. a main gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a from six degree of freedom robotic arm of taking rotary platform, includes supporting disk 1, it has six electric putter 2 to be articulated in the annular array on supporting disk 1, and six electric putter 2's output upwards articulates respectively on adjusting disk 16, and one side that electric putter 2 was kept away from to adjusting disk 16 is equipped with by rotary mechanism driven rotation post 15, is equipped with telescopic machanism on the rotation post 15, and telescopic machanism keeps away from the one end of rotating post 15 and installs connection pad 8, installs fixture on connection pad 8.
Carry out the centre gripping through fixture to the work piece, six electric putter 2 that set up can drive alone and stretch out and draw back for adjustment disk 16 can deflect the regulation, makes adjustment disk 16 drive fixture and realizes deflecting, and fixture has six degree of freedom's regulation effect promptly, has made things convenient for the centre gripping efficiency and the flexibility of operation to the work piece greatly.
Example 1: the rotating mechanism comprises a first motor 4 installed on an adjusting disc 16, an output shaft of the first motor 4 is connected with a driving gear 5, an outer gear ring 6 fixed on a rotating column 15 in a sleeved mode is connected to the driving gear 5 in a meshed mode, and the rotating column 15 is installed on the adjusting disc 16 in a rotating mode.
First motor 4 drives drive gear 5 rotatory, and drive gear 5 drive is rotatory with its outer ring gear 6 of meshing, and outer ring gear 6 drive rotates post 15 and rotates, and then realizes that telescopic machanism and connection pad 8 drive fixture and carry out the rotation regulation effect of circumference for the more nimble regulation of fixture carries out the work piece centre gripping.
Example 2: the telescopic mechanism comprises a limiting sleeve 20 coaxially fixed with the rotating column 15, a sliding column 18 is slidably mounted on the limiting sleeve 20, and one end, far away from the limiting sleeve 20, of the sliding column 18 is coaxially fixed with the connecting disc 8; the telescopic mechanism further comprises a clamping block 19 fixed with the sliding column 18, a threaded sleeve 17 is vertically installed at the bottom of the clamping block 19, a threaded rod 21 is connected to the threaded sleeve 17 in an internal thread mode, the rotating column 15 is provided with a second motor 14, and an output shaft of the second motor 14 is coaxially fixed with the threaded rod 21.
The second motor 14 is started to drive the threaded rod 21 to rotate, the threaded rod 21 drives the threaded sleeve 17 in threaded connection with the threaded rod to slide, the threaded sleeve 17 drives the clamping block 19 to slide, the clamping block 19 drives the sliding column 18 to slide relative to the limiting sleeve 20, sliding adjustment of the connecting disc 8 relative to the adjusting disc 16 is achieved, namely the distance between the clamping mechanism and the adjusting disc 16 is adjusted, the clamping mechanism is wider in moving range, and clamping operation is more efficient.
Example 3: the clamping mechanism comprises a third motor 22 fixed on the connecting disc 8, the output end of the third motor 22 is connected with a main gear 23, the main gear 23 is connected with two auxiliary gears 3 which are symmetrically arranged in a meshed mode, and each auxiliary gear 3 is connected with a clamping assembly.
The third motor 22 is started to drive the main gear 23 to rotate, the main gear 23 drives the pinion 3 meshed with the main gear to rotate, the two pinions 3 rotate, the two clamping assemblies rotate in the opposite direction or in the opposite direction, and the workpiece is clamped or released conveniently.
In this embodiment, the centre gripping subassembly is including articulated first connecting plate 7, second connecting plate 9 third connecting plate 10 and the fourth connecting plate 11 that sets up in proper order, second connecting plate 9 and connection pad 8 fixed connection, first connecting plate 7 and fourth connecting plate 11 are parallel and isometric, third connecting plate 10 and second connecting plate 9 are parallel and isometric, and the one end and the pinion 3 rigid coupling of third connecting plate 10 are kept away from to first connecting plate 7, are fixed with centre gripping arm 12 on the third connecting plate 10.
In the rotating process of the pinion 3, the pinion drives the first connecting plate 7 to rotate, the first connecting plate 7 drives the third connecting plate 10 to move under the connecting action of the fourth connecting plate 11 and the second connecting plate 9, namely, the two clamping arms 12 are close to or far away from each other, and the clamping or releasing effect on the workpiece is achieved.
In this embodiment, be equipped with a plurality of adhesive tape 13 that the arc distributes on the centre gripping arm 12, the adhesive tape 13 that sets up is close to and the in-process of centre gripping work piece with the work piece contact at two centre gripping arms 12, plays the flexible protection effect to the work piece, avoids causing wearing and tearing to the work piece.
It is worth noting that: the whole device realizes control over the device through the master control button, and the device matched with the control button is common equipment, belongs to the existing mature technology, and is not repeated for the electrical connection relation and the specific circuit structure.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a from six degree of freedom robotic arm of taking rotary platform, a serial communication port, including supporting disk (1), it has six electric putter (2) to be annular array articulated on supporting disk (1), and the output of six electric putter (2) upwards articulates respectively on adjustment disk (16), and one side that electric putter (2) were kept away from in adjustment disk (16) is equipped with by rotary mechanism driven rotation post (15), is equipped with telescopic machanism on rotation post (15), and telescopic machanism keeps away from the one end of rotating post (15) and installs connection pad (8), installs fixture on connection pad (8).
2. The six-degree-of-freedom mechanical arm with the rotating platform as claimed in claim 1, wherein: the rotating mechanism comprises a first motor (4) installed on an adjusting disc (16), an output shaft of the first motor (4) is connected with a driving gear (5), an outer gear ring (6) fixed on a rotating column (15) is connected to the driving gear (5) in a sleeved mode in a meshed mode, and the rotating column (15) is installed on the adjusting disc (16) in a rotating mode.
3. The six-degree-of-freedom mechanical arm with the rotating platform as claimed in claim 1, wherein: the telescopic mechanism comprises a limiting sleeve (20) coaxially fixed with the rotating column (15), a sliding column (18) is slidably mounted on the limiting sleeve (20), and one end, far away from the limiting sleeve (20), of the sliding column (18) is coaxially fixed with the connecting disc (8); telescopic machanism still includes joint piece (19) fixed with traveller (18), and threaded sleeve (17) are installed perpendicularly to joint piece (19) bottom, and threaded sleeve (17) internal connection has threaded rod (21), is equipped with second motor (14) on rotating post (15), and the output shaft and threaded rod (21) of second motor (14) are coaxial fixed.
4. The six-degree-of-freedom mechanical arm with the rotating platform as claimed in claim 1, wherein: the clamping mechanism comprises a third motor (22) fixed on the connecting disc (8), the output end of the third motor (22) is connected with a main gear (23), two auxiliary gears (3) symmetrically arranged are connected to the main gear (23) in a meshed mode, and each auxiliary gear (3) is connected with a clamping assembly.
5. The six-degree-of-freedom mechanical arm with the rotating platform as claimed in claim 4, wherein: the clamping assembly comprises a first connecting plate (7), a second connecting plate (9), a third connecting plate (10) and a fourth connecting plate (11), wherein the first connecting plate (7), the second connecting plate (9), the second connecting plate (8) and the connecting plate (11) are sequentially hinged, the first connecting plate (7) and the fourth connecting plate (11) are parallel and isometric, the third connecting plate (10) and the second connecting plate (9) are parallel and isometric, one end, far away from the third connecting plate (10), of the first connecting plate (7) is fixedly connected with the pinion (3), and a clamping arm (12) is fixed on the third connecting plate (10).
6. The six-degree-of-freedom mechanical arm with the rotating platform as claimed in claim 5, wherein: and a plurality of rubber strips (13) distributed in an arc shape are arranged on the clamping arm (12).
CN202121415173.1U 2021-06-24 2021-06-24 Six-degree-of-freedom mechanical arm with rotating platform Active CN215318698U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202121415173.1U CN215318698U (en) 2021-06-24 2021-06-24 Six-degree-of-freedom mechanical arm with rotating platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202121415173.1U CN215318698U (en) 2021-06-24 2021-06-24 Six-degree-of-freedom mechanical arm with rotating platform

Publications (1)

Publication Number Publication Date
CN215318698U true CN215318698U (en) 2021-12-28

Family

ID=79561239

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202121415173.1U Active CN215318698U (en) 2021-06-24 2021-06-24 Six-degree-of-freedom mechanical arm with rotating platform

Country Status (1)

Country Link
CN (1) CN215318698U (en)

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