CN105751243A - Mechanical arm with adjustable length - Google Patents
Mechanical arm with adjustable length Download PDFInfo
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- CN105751243A CN105751243A CN201410779835.1A CN201410779835A CN105751243A CN 105751243 A CN105751243 A CN 105751243A CN 201410779835 A CN201410779835 A CN 201410779835A CN 105751243 A CN105751243 A CN 105751243A
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- 238000010586 diagram Methods 0.000 description 12
- 230000000875 corresponding effect Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
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Abstract
The invention discloses a mechanical arm with adjustable length, which comprises a base, a first arm, a stroke adjusting seat and a second arm. The first arm is pivoted to the base by taking a first axis as a rotating shaft. The stroke adjusting seat is arranged on the first arm in a way of adjusting the distance to the first axis. The second arm is pivoted to the stroke adjusting seat by a second axis rotating shaft.
Description
Technical field
The present invention relates to a kind of mechanical arm, particularly relate to a kind of length-adjustable mechanical arm.
Background technology
Along with the evolution of science and technology, automated machine operation replaces manual work gradually, so that product manufacturing is towards the full-automatic direction evolution manufactured and assemble, and then avoids personnel to be subjected to employment injuries, the more likely quality consistency of improving product.In recent years, dealer develops a kind of selectivity and is obedient to the people (SelectiveComplianceAssemblyRobotArm that puts together machines, it is called for short SCARA), this robot comprises three mechanical arms, and possess three rotating shafts and a linear axes, and carry out circular motion around one rotating shaft, in other words, this robot can be categorized as cylindrical robot.Specifically, two rotating shaft definable one X/Y plane motions, and then determine wrist joint position, one rotating shaft and a linear axes (Z axis) then become a wrist joint, for completing workpiece motion in this plane vertical, the original place including workpiece rotates and moves up and down (Z axis).This robot can be used for assembly work, as a pin is inserted a circular hole, therefore is applied to assembling printed circuit board and electronic component.Additionally, this kind of another feature of robot is two arms is the member structure of series connection, the arm of similar people, can put in and limited space carry out operation and recoverable, so being suitable for again the carrying of workpiece and picking and placeing object.
In carrying with the process picking and placeing workpiece, the position of Chang Yinwei workpiece is different from weight, it may occur that mechanical arm stroke is not enough or the situation that load is inadequate.But, because the structure length of SCARA mechanical arm is fixing, and cannot adjust.Therefore when having different strokes or loading demand, it is necessary to change the mechanical arm of different size.Common mechanical arm is fixed, therefore when changing mechanical arm, it is necessary to expend the substantial amounts of time and cost is replaced, be also required to purchase multiple mechanical arm, in response to different demands, so multiple mechanical arms, to be added significantly to equipment cost simultaneously.
Further, when the stroke of SCARA mechanical arm is longer, the motor power element watt number of its configuration and reductor can be that multiple increases by general dealer, can increase stroke and to extract heavier object.But, when using the motor power element and reductor that horsepower is bigger, its equipment cost can be greatly improved.But, when needs increase stroke and can alleviate load, it is still desirable to purchase the mechanical arm of another lengthening, so too increase equipment cost.
Therefore, it is presently required a kind of mechanical arm robot, during to solve to change stroke or load when needs, and the problem needing the mechanical arm more renewed.
Summary of the invention
In view of the above problems, a kind of length-adjustable mechanical arm of disclosure, a mechanical arm is arranged on another mechanical arm by it in the way of detachable, during for solving to change stroke or load when needs, and the problem needing to change mechanical arm.
One embodiment of the invention discloses a kind of length-adjustable mechanical arm, and it comprises a pedestal, one first arm, one stroke adjustment seat and one second arm.First arm is hubbed at pedestal with a first axle for rotating shaft.Traffic control system seat is located at the first arm in the way of can tune to the distance of first axle.Second arm is hubbed at Traffic control system seat with one second axis rotating shaft.
Another embodiment of the present invention discloses a kind of length-adjustable mechanical arm, and it comprises a pedestal, one first arm, one second arm, one stroke adjustment seat and one the 3rd arm.First arm is hubbed at pedestal with a first axle for rotating shaft.Second arm is hubbed at the first arm with one second axis rotating shaft.Traffic control system seat is located at the second arm in the way of can tune to the distance of the second axis.3rd arm is hubbed at Traffic control system seat with one the 3rd axis rotating shaft.
Summary, length-adjustable mechanical arm disclosed according to embodiments of the present invention, in the way of can tune to the distance of first axle, it is located at the first arm by Traffic control system seat, is arranged at the position of the first arm changing the second arm, and then adjusts the overall stroke of length-adjustable mechanical arm.When stroke reduces, its load is more little;When stroke increases, its load is more big.So, other robotic arm can be changed, i.e. adjustable load and stroke, significantly reduce equipment cost and assemble replacing construction.
The above explanation about present invention and the explanation of following embodiment are in order to demonstrate and to explain principles of the invention, and provide the claim of the present invention further to explain.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of a length-adjustable mechanical arm of one embodiment of the invention;
Fig. 2 is the decomposing schematic representation of a length-adjustable mechanical arm of one embodiment of the invention;
Fig. 3 is the upper schematic diagram of one first arm of one embodiment of the invention;
Fig. 4 is the schematic perspective view of the one stroke adjustment seat of one embodiment of the invention;
Fig. 5 is the upper schematic diagram of the Traffic control system seat of one embodiment of the invention;
Fig. 6 is the first start upper schematic diagram of the length-adjustable mechanical arm of one embodiment of the invention;
Fig. 7 is the second start upper schematic diagram of the length-adjustable mechanical arm of one embodiment of the invention;
Fig. 8 is the 3rd start upper schematic diagram of the length-adjustable mechanical arm of one embodiment of the invention;
Fig. 9 is the 4th start upper schematic diagram of the length-adjustable mechanical arm of one embodiment of the invention;
Figure 10 is the schematic perspective view of a length-adjustable mechanical arm of another embodiment of the present invention;
Figure 11 is the illustrative view of the length-adjustable mechanical arm of another embodiment of the present invention;
Figure 12 is the schematic perspective view of a length-adjustable mechanical arm of further embodiment of this invention;
Figure 13 is the close-up schematic view that one second arm of further embodiment of this invention and one stroke adjust seat;
Figure 14 is the partial exploded view that one second arm of further embodiment of this invention and one stroke adjust seat;
Figure 15 is the first illustrative view of a length-adjustable mechanical arm of further embodiment of this invention;
Figure 16 is the second illustrative view of a length-adjustable mechanical arm of further embodiment of this invention.
Symbol description
1000,2000,3000 length-adjustable mechanical arm
1 pedestal
2 first arms
21 first boards
22 fixing plates
221a first fixes groove
221b second fixes groove
The fixing groove of 221c the 3rd
The fixing groove of 221d the 4th
The fixing groove of 221e the 5th
The fixing groove of 221f the 6th
The fixing groove of 221g the 7th
The fixing groove of 221h the 8th
The fixing groove of 221i the 9th
The fixing groove of 221j the tenth
The fixing groove of 221k the 11st
The fixing groove of 221l the 12nd
222a wears groove in the first location
222b wears groove in the second location
222c the 3rd wears groove in location
222d the 4th wears groove in location
222e the 5th wears groove in location
222f the 6th wears groove in location
222g the 7th wears groove in location
222h the 8th wears groove in location
23 slide rails
24 dynamical elements
25 annular aperture
3 Traffic control system seats
31 pedestals
32 pivot joint platforms
33 linear mobile modules
33a the first fixing hole
33b the second fixing hole
33c the 3rd fixing hole
33d the 4th fixing hole
34a the first fixing hole
34b the second fixing hole
34c the 3rd fixing hole
34d the 4th fixing hole
34e the 5th fixing hole
34f the 6th fixing hole
35a, 35b, 35c, 35d, 35e, 35f positional punch
36 first hole, dynamical element location
37a the first positional punch
37b the second positional punch
38a first assists fixing hole
38b second assists fixing hole
4 second arms
41 second boards
41a the first fixture
41b the second fixture
41c the 3rd fixture
41d the 4th fixture
42 move rod member
42a the first keeper
42b the second keeper
43 dynamical elements
43a first fixes groove
43b second fixes groove
The fixing groove of 43c the 3rd
The fixing groove of 43d the 4th
The fixing groove of 43e the 5th
The fixing groove of 43f the 6th
44a, 44b first locating slot
44c, 44d second locating slot
44e, 44f the 3rd locating slot
45 keepers
46 dynamical element fixtures
47a first assists fixing groove
47b second assists fixing groove
5 the 3rd arms
6 the 4th arms
7 the 5th arms
8 the 6th arms
9 connecting tubes
A1 first axle
A2 the second axis
A3 the 3rd axis
A4 four axistyle
A5 the 5th axis
A6 the 6th axis
B1 is axial
C1 the first line segment
C2 the second line segment
C3 the 3rd line segment
C4 the 4th line segment
C5 the 5th line segment
The total radius of turn of D1, D2, D3, D4
F1, F2 straight line
G1 the first length
G2 the second length
G3 the 3rd length
H1, H2, H3 second radius of turn of arm
L1 the second radius of turn
L2, L3, L4, L5 first radius of turn
M1, m2 line
Detailed description of the invention
Hereinafter detailed features and the advantage of the present invention are described in embodiments in detail, its content is enough to make any art of being familiar with understand the technology contents of the present invention and implement according to this, and according to content disclosed in this specification, claim and accompanying drawing, any art of being familiar with can be readily understood upon purpose and the advantage that the present invention is correlated with.Below example further describes the viewpoint of the present invention, but non-to limit scope of the invention anyways.
The present invention provides a kind of length-adjustable mechanical arm 1000, in order to extract and to place a workpiece, or in order to an object to be processed.
Refer to Fig. 1 and Fig. 2, wherein Fig. 1 is the schematic perspective view of length-adjustable according to an embodiment of the invention mechanical arm 1000, and Fig. 2 is the decomposing schematic representation of length-adjustable according to an embodiment of the invention mechanical arm 1000.
A kind of length-adjustable mechanical arm 1000 of disclosure, it comprises pedestal 1,1 first arm 2, one stroke adjusts seat 3 and one second arm 4.First arm 2 is hubbed at pedestal 1 with a first axle A1 for rotating shaft.Traffic control system seat 3 is located at the first arm 2 in the way of can tune to the distance of first axle A1.Second arm 4 is hubbed at Traffic control system seat 3 with one second axis A2 rotating shaft.In the present embodiment, length-adjustable mechanical arm 1000 also comprises a connecting tube 9, and its two ends connect pedestal 1 and the second arm 4 respectively.Electric connection line (not illustrating) can be housed in connecting tube 9, give the second arm 4 in order to transmit electric power and signal.In other words, the length-adjustable mechanical arm 1000 of this embodiment is both arms (doublejointed) robot.
The detailed construction of each element introduced below.Pedestal 1 can have one first dynamical element (not illustrating, for instance rotation motor collocation acceleration and deceleration machine), may be used to drive the first arm 2 to pivot along first axle A1.Refer to Fig. 1 to Fig. 3, wherein Fig. 3 is the upper schematic diagram of one first arm 2 according to an embodiment of the invention.First arm 2 comprises the first board 21 and fixing plate 22, and the first board 21 has annular aperture 25, and the first board 21 can be connected with other fixtures by annular aperture 25 and be articulated in pedestal 1, and fixing plate 22 is fixedly arranged on the first board 21.Fixing plate 22 has multiple fixing groove.
Refer to Fig. 2, Fig. 4 and Fig. 5, wherein Fig. 4 is that one stroke adjusts the schematic perspective view of seat 3 according to an embodiment of the invention, and Fig. 5 is the upper schematic diagram of Traffic control system seat 3 according to an embodiment of the invention.Traffic control system seat 3 has pedestal 31 and the pivot joint platform 32 being connected to each other, and the first board 21 is arranged on the fixing plate 22 of the first arm 2 in a movable manner, to change the Traffic control system seat 3 distance relative to first axle A1.Second arm 4 comprises one second board 41, and moves rod member 42 and a dynamical element 43 (such as rotation motor), and mobile rod member 42 and dynamical element 43 are respectively arranged at the opposite end of the second board 41.Pedestal 31 has multiple first hole 36, dynamical element location, and multiple dynamical element fixtures 46 (as shown in Figure 2) can be arranged in hole 36, location, and is fixed on dynamical element 43, so that the second arm 4 is hubbed at Traffic control system seat 3.So, the second board 41 can pivot along the second axis A2 relative to Traffic control system seat 3.Additionally, mobile rod member 42 can in rotary moving along the 3rd axis A3 relative to the second board 41 and or axially B1 carry out rectilinear motion, workpiece is processed or extracts.This processing mode is only for example, and is not used to limit the present invention.In the present embodiment, first axle A1 is substantially parallel to the second axis A2 and the 3rd axis A3, but is not used to limit the present invention.
So, owing to the second arm 4 is hubbed on Traffic control system seat 3, and Traffic control system seat 3 is arranged on the first arm 2 in a movable manner, so when Traffic control system seat 3 changes the distance with first axle A1, second arm 4 distance relative to first axle A1 can be changed simultaneously, and then change the stroke (i.e. radius of turn) of length-adjustable mechanical arm 1000 entirety.
In the present embodiment introduced below, how adjustment seat is arranged at structure and the mode of the fixing plate 22 of the first arm 2 in a movable manner, first refer to Fig. 3, the fixing plate 22 of the first arm 2 has multiple fixing groove, the such as one first fixing groove 221b of fixing groove 221a and one second, the distance wherein fixing the first fixing groove 221a to first axle A1 of plate 22 fixes the distance of groove 221b to first axle A1 more than second.
Refer to Fig. 4, Traffic control system seat 3 first board 21 has one first fixing hole 33a, one second fixing hole 33b, one the 3rd fixing hole 33c and one the 4th fixing hole 33d.Wherein, first fixing hole 33a alternatively corresponds to the first fixing groove 221b of fixing groove 221a or second, so that Traffic control system seat 3 has a primary importance (as shown in Figure 6 relative to the first arm 2, it is the first start upper schematic diagram of length-adjustable according to an embodiment of the invention mechanical arm 1000) and a second position (as shown in Figure 8, for the 3rd start upper schematic diagram of length-adjustable according to an embodiment of the invention mechanical arm 1000).
Length-adjustable mechanical arm 1000 also comprises one first fixture 41a, the second fixture 41b, the 3rd fixture 41c, the 4th fixture 41d, first fixture 41a can be arranged in the first fixing hole 33a, second fixture 41b can be arranged in the second fixing hole 33b, 3rd fixture 41c can be arranged in the 3rd fixing hole 33c, and the 4th fixture 41d can be arranged in the 4th fixing hole 33d.For the first fixture 41a, after the first fixture 41a is arranged in the first fixing hole 33a, it is securable in the first fixing groove 221b of fixing groove 221a or second, so that Traffic control system seat 3 can be firmly fixed to primary importance or the second position.In more detail, when primary importance (as shown in Figure 6), first arm 2 has the first radius of turn L2 (distance of first axle A1 to second axis A2), second arm 4 has the second radius of turn L1 (distance of the second axis A2 to the 3rd axis A3), and the totalling of its first radius of turn L2 and the second radius of turn L1 is total radius of turn D1 of length-adjustable mechanical arm 1000.When the second position (as shown in Figure 8), first arm 2 has the first radius of turn L4 (distance of first axle A1 to second axis A2), second arm 4 has the second radius of turn L1 (distance of the second axis A2 to the 3rd axis A3), and the totalling of its first radius of turn L4 and the second radius of turn L1 is total radius of turn D3 of length-adjustable mechanical arm 1000.During due to the second position total radius of turn D3 of length-adjustable mechanical arm 1000 less than when primary importance total radius of turn D1 of length-adjustable mechanical arm 1000, by above-mentioned structure, by adjusting Traffic control system seat 3 in the position of the fixing plate 22 of the first arm 2, and the stroke of length-adjustable mechanical arm 1000 can be changed easily.Additionally, due to the stroke less (total radius of turn D3 is less than total radius of turn D1) during the second position, when moment of torsion is constant when radius is less, load can be increased, and do not affect the overall operation of length-adjustable mechanical arm 1000 simultaneously.
Refer to Fig. 5 and Fig. 6, in the present embodiment, first fixing hole 33a of Traffic control system seat 3, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole 33d are positioned at relative four corners of Traffic control system seat 3, and the line m2 of the line m1 and the second fixing hole 33b to the 3rd fixing hole 33c of the first fixing hole 33a to the 4th fixing hole 33d intersects on the second axis A2.Refer to Fig. 3, the fixing plate 22 of the first arm 2 has one the 3rd fixing groove 221c, one the 4th fixing groove 221d, one the 5th fixing groove 221f of fixing groove 221e and the 6th.In the present embodiment and section Example, the distance of the 3rd fixing groove 221c to first axle A1 is the distance of fixing groove 221d to first axle A1 more than the 4th, the distance of the 6th fixing groove 221f to first axle A1 is the distance of fixing groove 221c to first axle A1 more than the 3rd, and the distance of the 5th fixing groove 221e to first axle A1 is the distance of fixing groove 221a to first axle A1 more than first.Refer to Fig. 6, when primary importance, first fixture 41a, the second fixture 41b, the 3rd fixture 41c and the 4th fixture 41d are arranged in the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole 33d respectively, to be individually fixed in the first fixing groove 221a, the 5th fixing groove 221e, the 3rd fixing groove 221f of fixing groove 221c and the 6th.When the second position, first fixture 41a, the second fixture 41b, the 3rd fixture 41c and the 4th fixture 41d are arranged in the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole 33d respectively, to be fixed in the second fixing groove 221b, the first fixing groove 221a, the 4th fixing groove 221c of fixing groove 221d and the 3rd.
So, owing to the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole 33d are positioned at relative four corners of Traffic control system seat 3, and first the line m2 of line m1 and the second fixing hole 33b to the 3rd fixing hole 33c of fixing hole 33a to the 4th fixing hole 33d intersect on the second axis A2, Traffic control system seat 3 can be made more stably to be arranged on fixing plate 22, stability during to promote the setting of entirety and to operate.
But, the number of above-mentioned fixing piece and fixing hole is not used to limit the present invention, and in other embodiments, it is possible to only have one first fixture 41a, the Traffic control system seat 3 that so also can reach this case is fixed on the effect of fixing plate 22.
In other embodiments, it is possible to only there is the first fixture 41a and the second fixture 41b.When the second position (as shown in Figure 8), the first fixing hole 33a fixes groove 221a corresponding to the second fixing groove 221b, the second fixing hole 33b corresponding to first.So, the first fixture 41a is fixed on the first fixing hole 33a corresponding to the second fixing groove 221b, and the second fixture 41b is fixed in the fixing groove 221a of the second fixing hole 33b and the first.Compared to only the first fixture 41a, (there are two fixtures) when increasing by the second fixture 41b, the steadiness of the first arm 2 can be fixed on by lift stroke adjustment seat 3.
In addition, due to when primary importance and the second position, first fixture 41a and the second fixture 41b is securable in the first fixing groove 221a respectively, so, repeatable utilize identical fixing groove (the first fixing groove 221a) in diverse location (primary importance and the second position), the setting of fixing groove can be reduced, with letter cost-saving, and increase location accuracy.
Above-mentioned first fixture 41a, the second fixture 41b, the 3rd fixture 41c and the 4th fixture 41d can be a screw, and the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole 33d can be corresponding screw, but above-mentioned citing is not used to limit the present invention.
Refer to Fig. 2, Fig. 5 and Fig. 6, length-adjustable mechanical arm 1000 also comprises one first keeper 42a and one second keeper 42b, Traffic control system seat 3 has one first positional punch 37a and one second positional punch 37b, first positional punch 37a is adjacent to the first fixing hole 33a, and the second positional punch 37b is adjacent to the 4th fixing hole 33d.Fixing plate 22 also has that groove 222a is worn in the first location, groove 222b is worn in the second location, the 3rd location wears groove 222c and groove 222d is worn in the 4th location, is respectively adjacent in the first fixing groove 221a, the 6th fixing groove 221f, the second fixing groove 221c of fixing groove 221b and the 3rd.So, when primary importance, the first keeper 42a and the second keeper 42b is arranged in the first positional punch 37a and the second positional punch 37b respectively, be respectively positioned in the first location wear groove 222a and second location wear in groove 222b.When the second position, the first keeper 42a and the second keeper 42b is arranged in the first positional punch 37a and the second positional punch 37b respectively, wears groove 222c and the 4th location is worn in groove 222d being respectively positioned in the 3rd location.Thus, after Traffic control system seat 3 is fixed on the first arm 2, by the setting of the first keeper 42a and the second keeper 42b, lift stroke the accuracy that seat 3 positions can be adjusted.In addition, the first positional punch 37a and the second positional punch 37b of the present embodiment are positioned at the diagonal angle of the first board 21, only increase the setting of two keepers (the first keeper 42a and the second keeper 42b), Traffic control system seat 3 can be strengthened in the steadiness in the direction, sagittal plane of the second axis A2.In the present embodiment, the first keeper 42a and the second keeper 42b is latch (Pin), but is not used to limit the present invention.
Except can being located in primary importance and the second position except above-mentioned Traffic control system seat 3, the Traffic control system seat 3 of the present embodiment also can be located in other positions on the first arm 2, and then adjusts the stroke of length-adjustable mechanical arm 1000.
Refer to Fig. 3, in the present embodiment and other embodiments, the fixing plate 22 of the first arm 2 also has the 7th fixing groove 221g, the 8th fixing groove 221h, the 9th fixing groove 221i, the tenth fixing groove 221j, the 11st fixing groove 221l of fixing groove 221k and the 12nd.In the present embodiment, 5th fixing groove 221e, the 8th fixing groove 221h, the first fixing groove 221a, the 7th fixing groove 221g, the second fixing groove 221k of fixing groove 221b and the 11st sequentially connect F1 in line, and the 6th fixing groove 221f, the tenth fixing groove 221j, the 3rd fixing groove 221c, the 9th fixing groove 221i, the 4th fixing groove 221l of fixing groove 221d and the 12nd sequentially connect F2 in line.Additionally, straight line F1 and straight line F2 is substantial parallel in the present embodiment.Furthermore, the distance of the 5th fixing groove 221e to first axle A1 is the distance of fixing groove 221k to first axle A1 more than the 11st, and the distance of the 6th fixing groove 221f to first axle A1 fixes the distance of groove 221i to first axle A1 more than the 9th.In addition, between the 3rd fixing groove 221j of fixing groove 221c and the tenth, there is the first line segment C1, the 9th fixing groove 221c of fixing groove 221i and the 3rd has the second line segment C2, the 4th fixing groove 221i of fixing groove 221d and the 9th has the 3rd line segment C3, the 12nd fixing groove 221d of fixing groove 221l and the 4th has the 4th line segment C4, and the 12nd fixing groove 221l and first axle A1 has the 5th line segment C5 along straight line F1.In addition, fixing plate 22 also has that groove 222e is worn in the 5th location, groove 222f is worn in the 6th location, groove 222g is worn in the 7th location and groove 222h is worn in the 8th location, is respectively adjacent in the 7th fixing groove 221g, the tenth fixing groove 221j, the 11st fixing groove 221i of fixing groove 221k and the 9th.
Traffic control system seat 3 has one the 3rd position (as shown in Figure 7 relative to the first arm 2, it is the second start upper schematic diagram of length-adjustable according to an embodiment of the invention mechanical arm 1000) and one the 4th position (as it is shown in figure 9, being the 4th start upper schematic diagram of length-adjustable according to an embodiment of the invention mechanical arm 1000).Shown in Fig. 7, first fixture 41a of Traffic control system seat 3, the second fixture 41b, the 3rd fixture 41c and the 4th fixture 41d are arranged in the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole 33d respectively, to be individually fixed in the 7th fixing groove 221g, the 8th fixing groove 221h, the 9th fixing groove 221j of fixing groove 221i and the tenth.Now, Traffic control system seat 3 covers the first fixing groove 221c of fixing groove 221a and the 3rd.Furthermore, the first keeper 42a and the second keeper 42b is arranged in the first positional punch 37a and the second positional punch 37b respectively, wears groove 222e and the 6th location is worn in groove 222f being respectively positioned in the 5th location.
Shown in Fig. 9, when four positions, first fixture 41a, the second fixture 41b, the 3rd fixture 41c and the 4th fixture 41d are arranged in the first fixing hole 33a, the second fixing hole 33b, the 3rd fixing hole 33c and the 4th fixing hole 33d respectively, to be fixed in the 11st fixing groove 221k, the 7th fixing groove 221g, the 12nd fixing groove 221i of fixing groove 221l and the 9th.Now, Traffic control system seat 3 covers the second fixing groove 221d of fixing groove 221b and the 4th.Furthermore, the first keeper 42a and the second keeper 42b is arranged in the first positional punch 37a and the second positional punch 37b respectively, wears groove 222g and the 8th location is worn in groove 222h being respectively positioned in the 7th location.
Be with, when primary importance (as shown in Fig. 3 and Fig. 6), total radius of turn D1 of length-adjustable mechanical arm 1000 is the first radius of turn L2 and the second radius of turn L1 sum, and the first radius of turn L2 is the first line segment C1, the second line segment C2, the 3rd line segment C3, the 4th line segment C4 and the 5th line segment C5 sum.
When three positions (as shown in Fig. 3 and Fig. 7), total radius of turn D2 of length-adjustable mechanical arm 1000 is the first radius of turn L3 and the second radius of turn L1 sum, and the first radius of turn L3 is the second line segment C2, the 3rd line segment C3, the 4th line segment C4 and the 5th line segment C5 sum (namely decreasing the first line segment C1 relative to primary importance).
When the second position (as shown in Fig. 3 and Fig. 8), total radius of turn D3 of length-adjustable mechanical arm 1000 is the first radius of turn L4 and the second radius of turn L1 sum, and the first radius of turn L4 is the 3rd line segment C3, the 4th line segment C4 and the 5th line segment C5 sum (namely decreasing the second line segment C2 relative to the 3rd position).
When four positions (as shown in Fig. 3 and Fig. 9), total radius of turn D4 of length-adjustable mechanical arm 1000 is the first radius of turn L5 and the second radius of turn L1 sum, and the first radius of turn L5 is the 4th line segment C4 and the 5th line segment C5 sum (namely decreasing the 3rd line segment C3 relative to the second position).
Summary, by arranging multiple fixing hole on the first arm 2, Traffic control system seat 3 can be selectively fixed to fixing hole partly by fixture, to adjust the overall stroke (total radius of turn) of length-adjustable mechanical arm 1000.Additionally, when selecting diverse location, it is possible to utilize the fixing hole that part is identical, and make that fixing hole is located at by fixture and fixed journey system adjusts seat 3, so can save the setting of fixing hole.Furthermore, it is possible to keeper is set and is inserted in corresponding positional punch and locating slot, for increasing accuracy and the degree of stability of location.
In other embodiments, also different structures is had to make Traffic control system seat 3 be fixed on the first arm 2 in a movable manner, and then adjust the distance of Traffic control system seat 3 to first axle A1, referring to Figure 10, it is the schematic perspective view of a length-adjustable mechanical arm 2000 according to another embodiment of the present invention.The present embodiment is similar with the above embodiments, therefore something in common repeats no more.
In the present embodiment, first arm 2 comprises slide rail 23 and one first board 21, slide rail 23 is fixedly installed on the first board 21, Traffic control system seat 3 comprises pedestal 31, the pivot joint platform 32 and a linear mobile module 33 that are connected to each other, pivot joint platform 32 is fixed on pedestal 31, and the second arm 4 is hubbed on pivot joint platform 32.Linear mobile module 33 is arranged on slide rail 23 in a movable manner, to adjust the distance of Traffic control system seat 3 to first axle A1.Wherein, linear mobile module 33 can comprise dynamical element (such as linear motor or stepper motor) and brake, and dynamical element is in order to drive the first board 21 and the second arm 4 to move, and brake is in order to provide resistance to brake in motor.So, Traffic control system seat 3 can move relative to the first arm 2, and to change the stroke of length-adjustable mechanical arm 2000, such as Figure 11, it is the illustrative view of length-adjustable according to another embodiment of the present invention mechanical arm 2000.
Except the mechanical arm of above-mentioned Dual-arm, it is can also be applied to the mechanical arm of other multi-arm types.Refer to the schematic perspective view that Figure 12 to Figure 14, Figure 12 are the length-adjustable mechanical arm 2000 of according to further embodiment of this invention.Figure 13 is the close-up schematic view that one second arm 4 according to further embodiment of this invention and one stroke adjust seat 3.Figure 14 is the partial exploded view that one second arm 4 according to further embodiment of this invention and one stroke adjust seat 3.
In the present embodiment and other embodiment, disclosing a kind of length-adjustable mechanical arm 3000, it comprises pedestal 1,1 first arm 2,1 second arm 4, one stroke adjusts seat 3 and one the 3rd arm 5.First arm 2 is hubbed at pedestal 1 with a first axle A1 for rotating shaft.Second arm 4 is hubbed at the first arm 2 with one second axis A2 for rotating shaft.Traffic control system seat 3 is located at the second arm 4 in the way of can tune to the distance of the second axis A2.3rd arm 5 is hubbed at Traffic control system seat 3 with one the 3rd axis A3 for rotating shaft.First arm 2 comprises a dynamical element 24, to drive the second arm 4 to pivot.In the present embodiment, length-adjustable mechanical arm 3000 also comprises one the 4th arm 6, the 5th arm 7 and one the 6th arm 8.4th arm 6 is hubbed at the 3rd arm 5 with a four axistyle A4 for rotating shaft, and the 5th arm 7 is hubbed at the 4th arm 6 with one the 5th axis A5 for rotating shaft.6th arm 8 is hubbed at the 5th arm 7 with one the 6th axis A6 for rotating shaft.First axle A1 and the second axis A2 is substantially perpendicular to one another, the second substantial parallel 3rd axis A3 of axis A2, but is not used to limit the present invention.
Referring to Figure 13 and Figure 14, length-adjustable mechanical arm 3000 also comprises one first fixture 41a, and Traffic control system seat 3 has one first fixing hole 34a, and the second arm 4 has the one first fixing groove 43b of fixing groove 43a and one second.Wherein, the distance of the first fixing groove 43a to second axis A2 is the distance of fixing groove 43b to second axis A2 more than second, first fixing hole 34a alternatively corresponds to the first fixing groove 43b of fixing groove 43a or second, so that Traffic control system seat 3 has a primary importance (as shown in Figure 12 and Figure 13) and the second position (as shown in figure 15, it is the first illustrative view of the length-adjustable mechanical arm 3000 according to further embodiment of this invention) relative to the second arm 4.Therefore when primary importance, the first fixture 41a is fixed in the fixing groove 43a of the first fixing hole 34a and first;When the second position, the first fixture 41a is fixed in the fixing groove 43b of the first fixing hole 34a and second.
In the present embodiment and other embodiment, Traffic control system seat 3 can comprise multiple fixing hole.Go back to Figure 13 and Figure 14, length-adjustable mechanical arm 3000 also comprises one second fixture 41b, Traffic control system seat 3 has one second fixing hole 34b and one the 3rd fixing hole 34c, second arm 4 has one the 3rd fixing groove 43c, first fixing hole 34a alternatively corresponds to the 3rd fixing groove 43c, so that Traffic control system seat 3 has one the 3rd position (as shown in figure 16 relative to the second arm 4, it is the second illustrative view of the length-adjustable mechanical arm 3000 of according to further embodiment of this invention), second fixing groove 43b is between the first fixing groove 43c of fixing groove 43a and the 3rd.Wherein, when the second position (as shown in Figure 14 and Figure 15), the second fixture 41b is fixed in the fixing groove 43a of the second fixing hole 34b and first;When three positions (as shown in Figure 14 and Figure 16), the first fixture 41a is fixed in the fixing groove 43c of the first fixing hole 34a and the 3rd, and the second fixture 41b is fixed in the fixing groove 43a of the 3rd fixing hole 34c and first.
In the present embodiment and other embodiment, Traffic control system seat 3 also has one first auxiliary fixing hole 38a and one second auxiliary fixing hole 38b, and the second arm 4 also has the one first fixing groove 47a of auxiliary, the one second auxiliary fixing groove 43d of fixing groove 47b and the 4th.Traffic control system seat 3 has one the 4th fixing hole 34d, and the first auxiliary fixing groove 47a and second fixing groove 47b of auxiliary is between the first fixing groove 43d of fixing groove 43a and the 4th, with shape in line.When primary importance (as shown in Figure 12 to Figure 14), the second fixture 41b is fixed in the fixing groove 47a of the first auxiliary fixing hole 38a and first auxiliary.Furthermore, when primary importance, one the 4th fixture 41d can be arranged in the second auxiliary fixing hole 38b and be fixed on the fixing groove 47b of the second auxiliary.
In the present embodiment and other embodiment, as shown in Figure 13 and Figure 14, also comprise one the 3rd fixture 41c and the 4th fixture 41d, Traffic control system seat 3 has one the 5th fixing hole 34e and one the 6th fixing hole 34f, second arm 4 has one the 4th fixing groove 43d, one the 5th fixing groove 43f of fixing groove 43e and the 6th, 5th fixing groove 43e between the 4th fixing groove 43f of fixing groove 43d and the 6th, and the distance put to the second axis A2 of the 4th fixing groove 43d more than the 6th the distance of fixing groove 43f to second axis A2.So, the 4th fixing groove 43d, the 5th fixing groove 43f of fixing groove 43e and the 6th essentially form a straight line, and substantially parallel to the straight line that the first fixing groove 43a, the second fixing groove 43b of fixing groove 43b and the 3rd are formed.In more detail, the line that the first fixing groove 43a, the second fixing groove 43b and the 3rd fix groove 43c is substantially perpendicular to the line of the 4th fixing groove 43d, the 5th fixing groove 43f of fixing groove 43e and the 6th.
Summary, when primary importance, first fixture 41a is fixed in the fixing groove 43a of the first fixing hole 34a and first, second fixture 41b is fixed in the fixing groove 47a of the first auxiliary fixing hole 38a and first auxiliary, 3rd fixture 41c is fixed in the fixing groove 43d of the 4th fixing hole 34d and the 4th, and the 4th fixture 41d is fixed in the fixing groove 47b of the second auxiliary fixing hole 38b and second auxiliary.It is overlapped in the second arm 4 owing to Traffic control system seat 3 only has the first fixing hole 34a, the 4th fixing hole 34d, the first auxiliary fixing hole 38a and the second auxiliary fixing hole 38b, therefore uses four fixtures to lock, raising Traffic control system seat 3 is arranged at the steadiness of the second arm 4.Now, the distance of the first fixing hole 34a to second axis A2 is the first length G1, the second length G2 and the 3rd length G3 sum, so that the second arm 4 has radius of turn H1.
When the second position (as shown in Figure 14 and Figure 15), first fixture 41a is fixed in the fixing groove 43b of the first fixing hole 34a and second, second fixture 41b is fixed in the fixing groove 43a of the second fixing hole 34b and first, 3rd fixture 41c is fixed in the fixing groove 43e of the 4th fixing hole 34d and the 5th, and the 4th fixture 41d is fixed in the fixing groove 43d of the 5th fixing hole 34e and the 4th.Owing to the first fixing hole 34a, the second fixing hole 34b, the 4th fixing hole 34d and the 5th fixing hole 34e constitute now maximum between Traffic control system seat 3 and the second arm 4 overlapping area, therefore institute is in this four fixing hole, can improve Traffic control system seat 3 and be arranged at the steadiness of the second arm 4.Now, the distance of the first fixing hole 34a to second axis A2 is the second length G2 and the 3rd length G3 sum.So represent the radius of turn H1 of the second arm 4 when the radius of turn H2 of the second arm 4 is less than primary importance during the second position.
When three positions (as shown in Figure 14 and Figure 16), first fixture 41a is fixed in the fixing groove 43c of the first fixing hole 34a and the 3rd, second fixture 41b is fixed in the fixing groove 43a of the 3rd fixing hole 34c and first, 3rd fixture 41c is fixed in the fixing groove 43f of the 4th fixing hole 34d and the 6th, and the 4th fixture 41d is fixed in the fixing groove 43d of the 6th fixing hole 34f and the 4th.Owing to the first fixing hole 34a, the second fixing hole 34b, the 4th fixing hole 34d and the 6th fixing hole 34f constitute now maximum between Traffic control system seat 3 and the second arm 4 overlapping area, therefore lock in this four fixing hole, Traffic control system seat 3 can be improved and be arranged at the steadiness of the second arm 4.Now, the distance of the first fixing hole 34a to second axis A2 is the 3rd length G3.So represent the radius of turn H2 of the second arm 4 when the radius of turn H3 of the second arm 4 is less than the second position during three positions.
nullIn addition,Length-adjustable mechanical arm 3000 also comprises multiple keeper 45 (Figure 14 for a keeper 45),Traffic control system seat 3 also has positional punch 35a、35b、35c、35d、35e、35f,Second arm 4 has the first locating slot 44a、44b、Second locating slot 44c、44d and the 3rd locating slot 44e、44f,When primary importance,Positional punch 35a、35b corresponds to the first locating slot 44a、44b,And keeper 45 is arranged at positional punch 35a、35b and the first locating slot 44a、In 44b,When the second position,Positional punch 35a、35b、35c、35d corresponds to the second locating slot 44c、44d and the first locating slot 44a、44b,And keeper 45 is arranged at positional punch 35a、35b、35c、35d and the first locating slot 44a、44b and the second locating slot 44c、In 44d,When three positions,Positional punch 35a、35b、35c、35d、35e、35f corresponds to the 3rd locating slot 44e、44f、Second locating slot 44c、44d and the first locating slot 44a、44b,And keeper 45 is arranged at positional punch 35a、35b、35c、35d、35e、35f and the first locating slot 44a、44b、Second locating slot 44a、44b and the 3rd locating slot 44e、In 44f.It is arranged at positional punch 35a, 35b, 35c, 35d, 35e, 35f by keeper 45, it is positioned in the first locating slot 44a, 44b, second locating slot 44c, 44d and the 3rd locating slot 44e, 44f with selectivity when the diverse location, to add the effect of strong fix.
Therefore by arranging multiple fixing hole on the first arm 2, Traffic control system seat 3 can be selectively fixed to fixing hole partly by fixture, to adjust the overall stroke (total radius of turn) of length-adjustable mechanical arm 3000.Additionally, when selecting diverse location, it is possible to utilize the fixing hole that part is identical, and make that fixing hole is located at by fixture and fixed journey system adjusts seat 3, so can save the setting of fixing hole.
Summary, length-adjustable mechanical arm disclosed according to embodiments of the present invention, in the way of can tune to the distance of first axle, it is located at the first arm by Traffic control system seat, is arranged at the position of the first arm changing the second arm, and then adjusts the overall stroke of length-adjustable mechanical arm.When stroke reduces, its load is more little;When stroke increases, its load is more big.So, other robotic arm can be changed, i.e. adjustable load and stroke, significantly reduce equipment cost and assemble replacing construction.
In some embodiments, by arranging multiple fixing hole on the first arm, Traffic control system seat can be selectively fixed to the fixing hole of part by fixture, to adjust the overall stroke of length-adjustable mechanical arm.Additionally, may also set up keeper and be inserted in corresponding positional punch and locating slot, for increasing accuracy and the degree of stability of location.
In another part embodiment, the linear mobile module of Traffic control system seat bag is arranged on the slide rail of the first arm in a movable manner, to adjust the Traffic control system seat distance to first axle.So, Traffic control system seat can move relative to the first arm, to change the stroke of length-adjustable mechanical arm.
Claims (17)
1. a length-adjustable mechanical arm, it comprises:
Pedestal;
First arm, is hubbed at this pedestal with a first axle for rotating shaft;
Traffic control system seat, is located at this first arm in the way of can tune to the distance of this first axle;And
Second arm, is hubbed at the trip and adjusts seat with one second axis for rotating shaft.
2. length-adjustable mechanical arm as claimed in claim 1, also comprise the first fixture, the trip adjustment seat has the first fixing hole, this first arm has the first fixing groove and the second fixing groove, wherein this first fixing groove to the distance of this first axle more than the distance of this second fixing groove to this first axle, this first fixing hole alternatively corresponds to this first fixing groove or this second fixing groove, so that the trip adjustment seat has primary importance and the second position relative to this first arm;
Wherein, when the trip adjustment seat is positioned at this primary importance, this first fixture is fixed in this first fixing hole and this first fixing groove;And
When the trip adjustment seat is positioned at this second position, this first fixture is fixed in this first fixing hole and this second fixing groove.
3. length-adjustable mechanical arm as claimed in claim 2, also comprise the second fixture, the trip adjustment seat also has the second fixing hole, when the trip adjustment seat is positioned at this second position, this first fixing hole is corresponding to this second fixing groove, this second fixing hole is corresponding to this first fixing groove, so that this first fixture is fixed on this first fixing hole and this second fixing groove, and this second fixture is fixed in this second fixing hole and this first fixing groove.
4. length-adjustable mechanical arm as claimed in claim 3, also comprise the 3rd fixture and the 4th fixture, this first arm has the 3rd fixing groove, 4th fixing groove, 5th fixing groove and the 6th fixing groove, the trip adjustment seat also has the 3rd fixing hole and the 4th fixing hole, the trip adjusts this first fixing hole of seat, this second fixing hole, 3rd fixing hole and the 4th fixed hole position adjust relative four corners of seat in the trip, 3rd fixes the groove distance to this first axle fixes the groove distance to this first axle more than the 4th, 6th fixes the groove distance to this first axle fixes the groove distance to this first axle more than the 3rd, 5th fixing groove to the distance of this first axle more than the distance of this first fixing groove to this first axle;
Wherein, when the trip adjustment seat is positioned at this primary importance, this first fixture, this second fixture, the 3rd fixture and the 4th fixture are arranged in this first fixing hole, this second fixing hole, the 3rd fixing hole and the 4th fixing hole respectively, and are individually fixed in this first fixing groove, the 5th fixing groove, the 3rd fixing groove and the 6th fixing groove;And
When the trip adjustment seat is positioned at this second position, this first fixture, this second fixture, the 3rd fixture and the 4th fixture are arranged in this first fixing hole, this second fixing hole, the 3rd fixing hole and the 4th fixing hole respectively, and are individually fixed in this second fixing groove, this first fixing groove, the 4th fixing groove and the 3rd fixing groove.
5. length-adjustable mechanical arm as claimed in claim 4, wherein this first fixing hole intersects on this second axis to the line of the 4th fixing hole and the line of this second fixing hole to the 3rd fixing hole.
6. length-adjustable mechanical arm as claimed in claim 4, wherein in line, the line of the 6th fixing groove, the 3rd fixing groove and the 4th fixing groove constitutes another straight line to the line structure of the 5th fixing groove, this first fixing groove and this second fixing groove.
7. length-adjustable mechanical arm as claimed in claim 4, also comprise the first keeper and the second keeper, the trip adjustment seat also has the first positional punch and the second positional punch, this first arm also has that groove is worn in the first location, groove is worn in the second location, the 3rd location wears groove and groove is worn in the 4th location, and groove is worn in this first location, groove is worn in the second location, groove is worn in the 3rd location and the 4th location is worn groove and is respectively adjacent in this first fixing groove, the 6th fixing groove, this second fixing groove and the 3rd fixing groove for this;
Wherein, when the trip adjustment seat is positioned at this primary importance, this first keeper and this second keeper are arranged in this first positional punch and this second positional punch respectively, and are respectively positioned in this first location and wear groove and this second location is worn in groove;And
When the trip adjustment seat is positioned at this second position, this first keeper and this second keeper are arranged in this first positional punch and this second positional punch respectively, and are respectively positioned in the 3rd location and wear groove and the 4th location is worn in groove.
8. length-adjustable mechanical arm as claimed in claim 1, wherein this first arm comprises slide rail and the first board, this slide rail is fixedly installed on this first board, the trip adjustment seat comprises be connected to each other one linear mobile module and a pivot joint platform, this pivot joint platform is fixed on this linear mobile module, this second arm is hubbed on this pivot joint platform, and this linear mobile module is arranged on this slide rail in a movable manner, to adjust the trip adjustment seat distance to this first axle.
9. a length-adjustable mechanical arm, it comprises:
Pedestal;
First arm, is hubbed at this pedestal with a first axle for rotating shaft;
Second arm, is hubbed at this first arm with one second axis for rotating shaft;
Traffic control system seat, is located at this second arm in the way of can tune to the distance of this second axis;And
3rd arm, is hubbed at the trip and adjusts seat with one the 3rd axis for rotating shaft.
10. length-adjustable mechanical arm as claimed in claim 9, also comprise the first fixture, the trip adjustment seat has the first fixing hole, this second arm has the first fixing groove and the second fixing groove, wherein this first fixing groove to the distance of this second axis more than the distance of this second fixing groove to this second axis, this first fixing hole alternatively corresponds to this first fixing groove or this second fixing groove, so that the trip adjustment seat has primary importance and the second position relative to this second arm;
Wherein, when the trip adjustment seat is positioned at this primary importance, this first fixture is fixed in this first fixing hole and this first fixing groove;And
When this second position, this first fixture is fixed in this first fixing hole and this second fixing groove.
11. length-adjustable mechanical arm as claimed in claim 10, also comprise the second fixture, the trip adjustment seat also has the second fixing hole and the 3rd fixing hole, this second arm has the 3rd fixing groove, this first fixing hole alternatively corresponds to the 3rd fixing groove, so that the trip adjustment seat has the 3rd position relative to this second arm, this second fixing groove is between this first fixing groove and the 3rd fixing groove;
Wherein, when the trip adjustment seat is positioned at this second position, this second fixture is fixed in this second fixing hole and this first fixing groove;And
When the trip adjustment seat is positioned at three positions, this first fixture is fixed in this first fixing hole and the 3rd fixing groove, and this second fixture is fixed in the 3rd fixing hole and this first fixing groove.
12. length-adjustable mechanical arm as claimed in claim 11, wherein the trip adjustment seat also has the first auxiliary fixing hole, this second arm also has the fixing groove of the first auxiliary, when the trip adjustment seat is positioned at this primary importance, this second fixture is fixed in this first auxiliary fixing hole and this fixing groove of the first auxiliary.
13. length-adjustable mechanical arm as claimed in claim 12, also comprise the 3rd fixture and the 4th fixture, the trip adjustment seat also has the 4th fixing hole, the 5th fixing hole and the 6th fixing hole, this second arm also has the 4th fixing groove, the 5th fixing groove and the 6th fixing groove, 5th fixing groove between the 4th fixing groove and the 6th fixing groove, and the distance put to the second axis of the 4th fixing groove more than the 6th fixing groove to the distance of this second axis;
Wherein, when the trip adjustment seat is positioned at this primary importance, the 3rd fixture is fixed in the 4th fixing hole and the 4th fixing groove;
When the trip adjustment seat is positioned at this second position, the 3rd fixture is fixed in the 4th fixing hole and the 5th fixing groove, and the 4th fixture is fixed in the 5th fixing hole and the 4th fixing groove;And
When the trip adjustment seat is positioned at three positions, the 3rd fixture is fixed in the 4th fixing hole and the 6th fixing groove, and the 4th fixture is fixed in the 6th fixing hole and the 4th fixing groove.
14. length-adjustable mechanical arm as claimed in claim 13, wherein the trip adjustment seat also has the second auxiliary fixing hole, this second arm also has the fixing groove of the second auxiliary, this fixing groove of the first auxiliary and this fixing groove of the second auxiliary are between this first fixing hole and the 4th fixing hole, when the trip adjustment seat is positioned at this primary importance, the 4th fixture is arranged in this second auxiliary fixing hole and is fixed on this fixing groove of the second auxiliary.
15. length-adjustable mechanical arm as claimed in claim 9, also comprise keeper, the trip adjustment seat has positional punch, this second arm has the first locating slot and the second locating slot, when the trip adjustment seat is positioned at this primary importance, this positional punch corresponds to this first locating slot, and this keeper is arranged in this positional punch and this first locating slot, when the trip adjustment seat is positioned at this second position, this positional punch corresponds to this second locating slot, and this keeper is arranged in this positional punch and this second locating slot.
16. length-adjustable mechanical arm as claimed in claim 9, also comprise:
4th arm, is hubbed at the 3rd arm with a four axistyle for rotating shaft;
5th arm, is hubbed at the 4th arm with one the 5th axis for rotating shaft;And
6th arm, is hubbed at the 5th arm with one the 6th axis for rotating shaft.
17. length-adjustable mechanical arm as claimed in claim 9, wherein this first axle is substantially perpendiculared to one another with this second axis, and this second axis and the 3rd axis are substantially parallel to each other.
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TW103140528 | 2014-11-21 | ||
TW103140528A TWI558524B (en) | 2014-11-21 | 2014-11-21 | Articulated robot having adjustable-length arm |
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CN105751243B CN105751243B (en) | 2017-11-10 |
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CN107457771A (en) * | 2017-08-17 | 2017-12-12 | 临沂大学 | A kind of streamline processes heavy-duty machinery arm device |
CN113211492A (en) * | 2020-02-06 | 2021-08-06 | 三和技研股份有限公司 | Mechanical arm capable of adjusting bearing position |
DE102018102681B4 (en) | 2017-02-16 | 2022-05-05 | Fanuc Corporation | Horizontal articulated robot and method for its inverted installation |
Families Citing this family (1)
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TWI668541B (en) | 2017-09-29 | 2019-08-11 | 財團法人工業技術研究院 | System and method for calibrating tool center point of robot |
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Also Published As
Publication number | Publication date |
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TWI558524B (en) | 2016-11-21 |
TW201618910A (en) | 2016-06-01 |
CN105751243B (en) | 2017-11-10 |
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