CN106584506A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN106584506A CN106584506A CN201510684612.1A CN201510684612A CN106584506A CN 106584506 A CN106584506 A CN 106584506A CN 201510684612 A CN201510684612 A CN 201510684612A CN 106584506 A CN106584506 A CN 106584506A
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- drive mechanism
- connector
- mechanical arm
- base plate
- shoulder
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Abstract
The invention relates to the field of mechanical automation and provides a mechanical arm. The mechanical arm comprises a mounting base plate, a first transmission mechanism, a first driving mechanism, a shoulder connecting piece, a big arm connecting piece, an elbow connecting piece, a second transmission mechanism, a second driving mechanism, and a small arm connecting piece, wherein the first transmission mechanism is rotatably connected to the mounting base plate; the first driving mechanism is used for driving the first transmission mechanism; the shoulder connecting piece, the big arm connecting piece and the elbow connecting piece are connected in sequence; the shoulder connecting piece is connected with the first transmission mechanism; the first driving mechanism drives the first transmission mechanism to rotate and then drives the shoulder connecting piece, the big arm connecting piece and the elbow connecting piece to rotate synchronously; the second transmission mechanism is rotatably connected to the elbow connecting piece; the second driving mechanism is used for driving the second transmission mechanism; the small arm connecting piece is connected with the second transmission mechanism; the second driving mechanism drives the second transmission mechanism to rotate and then drives the small arm connecting piece to rotate. By adopting the mechanical arm provided by the invention, the requirements for low cost and the simple assembly way can be both met.
Description
Technical field
The present invention relates to field of mechanical automation control, more particularly to a kind of mechanical arm.
Background technology
In automation control area, the arm degree of freedom that current service robot is used is more, typically
There is 5-7 degree of freedom；Reducing gear is coordinated to realize using brush direct current motor more at present multivariant
Control and motion, but, in brush direct current motor, due to the presence of brush and diverter, cause it
Complex structure, poor reliability, failure are more and maintenance workload is big；Meanwhile, price is costly simultaneously
And it is larger to conduct oneself with dignity.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem, there is provided a kind of cheap, deadweight compared with
Mechanical arm light and that simple motion can be realized.
For achieving the above object, the present invention is employed the following technical solutions：
The invention provides a kind of mechanical arm, including,
Installation base plate；
First drive mechanism, first drive mechanism is rotatably attached on installation base plate；
First drive mechanism, first drive mechanism is used to drive first drive mechanism；
Shoulder connector, large arm connector and the ancon connector being sequentially connected, the shoulder connection
Part is connected with the first drive mechanism, and first drive mechanism drives the first drive mechanism to rotate, and then
Drive shoulder connector, large arm connector and ancon connector synchronous axial system；
Second drive mechanism, second drive mechanism is rotatably attached on ancon connector；
Second drive mechanism, second drive mechanism is used to drive second drive mechanism；
Forearm connector, the forearm connector is connected with the second drive mechanism, second driving machine
Structure drives the second drive mechanism to rotate, and then drives forearm connector to rotate.
In some embodiments, first drive mechanism includes gear and hollow axis mechanism, the gear
In hollow axis mechanism, the hollow axis mechanism is arranged on installation base plate；Described first drives
Mechanism drives pinion rotation, and then is rotated by the hollow axis mechanism of gear driven.
In some embodiments, backboard is provided with the installation base plate, the hollow axis mechanism is by the back of the body
Plate is fixed on installation base plate.
In some embodiments, first drive mechanism and/or the second drive mechanism are steering wheel.
In some embodiments, the shoulder connector is arranged in a mutually vertical manner with the large arm connector.
In some embodiments, first drive mechanism is fixed on installation base plate.
In some embodiments, drive mechanism installing plate is provided with the installation base plate, described first drives
Motivation structure is arranged on the drive mechanism installing plate.
In some embodiments, second drive mechanism is arranged on the ancon connector.
In some embodiments, between the shoulder connector and large arm connector, large arm connector and elbow
It is fixedly connected by screw between portion's connector.
In some embodiments, the shoulder connector, large arm connector, ancon connector and forearm
At least one of connector is cuboid hollow structure.
The beneficial effects of the present invention is：Using the present invention provide mechanical arm, each ingredient it
Between connected mode it is simple, it is cheap, conduct oneself with dignity compared with light and manner of execution is simple to operation；Can be with
Meet simultaneously and cheap and assembling mode is simply required.
Description of the drawings
Fig. 1 is the mechanical arm for providing of the invention overall structure diagram in one embodiment.
Fig. 2 is the mechanical arm for providing of the invention overall structure diagram in another embodiment.
Description of reference numerals：
Installation base plate 10；Backboard 102；Drive mechanism installing plate 104；First drive mechanism 20；
Gear 202；Hollow axis mechanism 204；First drive mechanism 30；Shoulder connector 40；Greatly
Arm connector 50；Ancon connector 60；Second drive mechanism 70；Second drive mechanism 80；
Forearm connector 90.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, its
In from start to finish same or similar label represent same or similar element or with same or like work(
The element of energy.It is exemplary below with reference to the embodiment of Description of Drawings, it is intended to for explaining this
Invention, and be not considered as limiting the invention.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length
Degree ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " water
It is flat ", " top ", " bottom " " interior ", the orientation of the instruction such as " outward " or position relationship be based on side shown in the drawings
Position or position relationship, are for only for ease of the description present invention and simplify description, rather than indicate or imply
The device or element of indication must have specific orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying
Relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ",
One or more this feature can be expressed or be implicitly included to the feature of " second ".The present invention's
In description, " multiple " are meant that two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " setting ", " company
Connect ", the term such as " fixation " should be interpreted broadly, for example, it may be being fixedly connected, or removable
Connection is unloaded, or is integrally connected；Can be mechanically connected, or electrically connect；Can be direct
It is connected, it is also possible to be indirectly connected to by intermediary, can be the connection of two element internals.For
For one of ordinary skill in the art, above-mentioned term can be as the case may be understood in the present invention
Concrete meaning.
As shown in Figure 1 or 2, the invention provides a kind of mechanical arm, including：
Installation base plate 10, in one embodiment of the present of invention, the installation base plate 10 is located at whole mechanical hand
One end end of arm, for being fixedly connected with other external means of support in mechanical arm use environment,
On the one hand the fixation to mechanical arm is played, on the other hand, mechanical arm is supported on into the support
On device, it is easy to the motion of mechanical arm, such as rotates.
First drive mechanism 20, shown first drive mechanism 20 is rotatably attached to installation base plate 10
On.First, the first drive mechanism 20 is connected on installation base plate 10, and this connection can be fixed
Connection can also be the connection of other modes；Secondly, the first drive mechanism being connected with installation base plate 10
20 can rotate, as shown in figure 1, the first drive mechanism 20 can be rotated on installation base plate 10,
And then the rotation of drive shoulder connector 40.
First drive mechanism 30, first drive mechanism 30 is used to drive the first drive mechanism 20.The
One drive mechanism 30 can drive the first drive mechanism 20 as the power source of the first drive mechanism 20
Rotation, and then drive the action of whole mechanical arm.
Shoulder connector 40, large arm connector 50 and the ancon connector 60 being sequentially connected, wherein,
Shoulder connector 40 is connected with the first drive mechanism 20, and the first drive mechanism 30 drives the first driver
Structure 20 is rotated, and then drives shoulder connector 40, large arm connector 50 and ancon connector 60 same
Step is rotated.As shown in figure 1, above-mentioned shoulder connector 40, large arm connector 50 and ancon connector
Be sequentially connected between 60, can be fixedly connected can also be other modes connection, its Main Function
Exactly realize the transmission of athletic performance；The rotation of the first drive mechanism 20, drive shoulder connector 40,
Large arm connector 50 and the synchronous axial system of ancon connector 60, and then drive the dynamic of whole mechanical arm
Make.As shown in figure 1, driving shoulder connector 40, large arm connector 50 and ancon connector 60
In the rotation with surface parallel with the place plane of installation base plate 10.
Second drive mechanism 70, second drive mechanism 70 is rotatably attached to ancon connector 60
On.First, the second drive mechanism 70 is connected on ancon connector 60, can be fixedly connected
It can be the connection of other modes；Secondly, second drive mechanism 70 can be relative to ancon connector
60 rotate；As shown in figure 1, in one embodiment of the present of invention, the second drive mechanism 70 is to be interspersed in
Rotary shaft in ancon connector 60, the rotation of second drive mechanism 70 can drive forearm connector
90 rotation.
Second drive mechanism 80, for driving the rotation of the second drive mechanism 70.As shown in figure 1, on
Stating the second drive mechanism 80 can be arranged on ancon connector 60, and drive on ancon connector 60
The rotation of the second drive mechanism 70 for arranging, and then drive the swing of forearm connector 90.
Forearm connector 90, above-mentioned forearm connector 90 is connected with the second drive mechanism 70, by second
Drive mechanism 70 drives the forearm connector 90 to rotate；Specifically, driven by the second drive mechanism 80
Dynamic second drive mechanism 70 is rotated, and then drives forearm connector 90 to rotate.
In one embodiment of the present of invention, as shown in Figure 1 or 2, the first drive mechanism 20 includes tooth
Wheel 202 and hollow axis mechanism 204, the gear 202 is arranged in hollow axis mechanism 204, and first drives
Mechanism 30 drives said gear 202 to rotate, and by the gear 202 rotation of hollow axis mechanism 204 is driven,
And then drive shoulder connector 40 to rotate by hollow axis mechanism 204.Wherein, above-mentioned hollow axis mechanism 204
On installation base plate 10.Above-mentioned hollow axis mechanism 204 is that outside can be solid with installation base plate 10
Fixed connection, inside has can be along the part of the outside of hollow axis mechanism 204 rotation, and the part is by gear
202 drive and rotate, and then drive shoulder connector 40 to rotate.
In one embodiment of the present of invention, as shown in Fig. 2 backboard 102 is provided with installation base plate 10,
Above-mentioned hollow axis mechanism 204 is fixed on installation base plate 10 by the backboard 102.Being somebody's turn to do in the present invention
In embodiment, as shown in Fig. 2 being provided with installation through-hole on installation base plate 10, hollow axis mechanism 204 is pacified
It is mounted in the installation through-hole；In one preferred version, hollow axis mechanism 204 can be configured to cylinder
The end of shape structure, wherein one end can be positioned in installation through-hole；Meanwhile, through installation through-hole
One end is connected with above-mentioned backboard 102, with the backboard 102 with hollow axis mechanism 204, consolidate
It is scheduled on installation base plate 10.In preferred version, backboard 102 can select to pass through with installation base plate 10
The mode of mode connects for screw is fixed；Certainly, however it is not limited to the fixed form.
In one embodiment of the present of invention, the first drive mechanism 30 and/or the second drive mechanism 80 are rudder
Machine.One of first drive mechanism 30 and the second drive mechanism 80 can be steering wheel, it is also possible to two
Person is steering wheel.Selection steering wheel is drive mechanism, and its cost of the first is relatively low, and it two is drive mechanism
Simply, it is easy for installation.
In one embodiment of the present of invention, as shown in figure 1, shoulder connector 40 and large arm connector 50
It is arranged in a mutually vertical manner.
In order to preferably embody the integrated centralized structure of whole mechanical arm, first can be driven
Motivation structure 30 is fixed on installation base plate 10, directly by the first driving on installation base plate 10
Mechanism 30 drives the rotation of the first drive mechanism 20.
Further, in one embodiment of the present of invention, for the first drive mechanism more convenient to install
30, driving machine is set on installation base plate 10 also for environmental requirement is preferably coordinated in installation environment
Structure installing plate 104, then the first drive mechanism 30 is arranged on the drive mechanism installing plate 104.Should
Drive mechanism installing plate 104 can adjust it in installation base plate according to environment or the needs of design requirement
Position on 10 so as to be more suitable for installing the first drive mechanism 30.
In another embodiment of the present invention, the second drive mechanism 80 is alternatively provided at ancon connector 60
On.In the present invention, it is preferable that ancon connector 60 can be designed to hollow rectangular structure, this
When, the second drive mechanism 80 may be mounted inside the hollow cavity of ancon connector 60, Neng Gougeng
The rotation of the second drive mechanism 70 of convenient driving.
Further, in one embodiment of the present of invention, the connection between above-mentioned each part, such as shoulder
Connection, large arm connector 50 between portion's connector 40 and large arm connector 50 and ancon connector 60
Between connection, can be fixedly connected by screw；It is simple to operate and cheap.
As shown in Figure 1 or 2, in an alternative embodiment of the invention, shoulder connector 40, large arm
At least one of connector 50, ancon connector 60 and forearm connector 90 is rectangular structure.
Certainly, most preferably above-mentioned is all rectangular structure, can design the chi of cuboid between each part
It is very little of different sizes, so can preferably connect or fixed two adjacent parts；Such as shoulder connection
Part 40 is hollow rectangular structure, while the length and width of its cross section cuboid are all higher than large arm connector
50 size, so, during installation, can be by one end of large arm connector 50 insertion shoulder connection
The inside of part 40, then be fixed together both by other modes such as screw or welding.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ",
The description of " specific example " or " some examples " etc. means to combine the concrete spy that the embodiment or example are described
Levy, structure, material or feature are contained at least one embodiment of the present invention or example.At this
In description, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
And, the specific features of description, structure, material or feature can be in one or more any realities
Apply and combined in an appropriate manner in example or example.
Although being described to the various embodiments described above, those skilled in the art once obtain
Cicada basic creative concept, then can make other change and modification to these embodiments, so with
The scope of patent protection for being only embodiments of the invention, not thereby limiting the present invention, can be with
It is understood by, above-described embodiment is exemplary, it is impossible to be interpreted as limitation of the present invention, this area
Those of ordinary skill without departing from the present invention principle and objective in the case of within the scope of the invention
Above-described embodiment can be changed, be changed, being replaced and modification.
Claims (10)
1. a kind of mechanical arm, it is characterised in that include,
Installation base plate；
First drive mechanism, first drive mechanism is rotatably attached on installation base plate；
First drive mechanism, first drive mechanism is used to drive first drive mechanism；
Shoulder connector, large arm connector and the ancon connector being sequentially connected, the shoulder connection
Part is connected with the first drive mechanism, and first drive mechanism drives the first drive mechanism to rotate, and then
Drive shoulder connector, large arm connector and ancon connector synchronous axial system；
Second drive mechanism, second drive mechanism is rotatably attached on ancon connector；
Second drive mechanism, second drive mechanism is used to drive second drive mechanism；
Forearm connector, the forearm connector is connected with the second drive mechanism, second driving machine
Structure drives the second drive mechanism to rotate, and then drives forearm connector to rotate.
2. mechanical arm according to claim 1, it is characterised in that first drive mechanism
Including gear and hollow axis mechanism, the gear is arranged in hollow axis mechanism, the hollow axis mechanism
On installation base plate；First drive mechanism drives pinion rotation, and then by gear driven
Empty axis mechanism is rotated.
3. mechanical arm according to claim 2, it is characterised in that set on the installation base plate
Backboard is equipped with, the hollow axis mechanism is fixed on installation base plate by backboard.
4. mechanical arm according to claim 1, it is characterised in that first drive mechanism
And/or second drive mechanism be steering wheel.
5. mechanical arm according to claim 1, it is characterised in that the shoulder connector with
The large arm connector is arranged in a mutually vertical manner.
6. mechanical arm according to claim 1, it is characterised in that first drive mechanism
It is fixed on installation base plate.
7. mechanical arm according to claim 1, it is characterised in that set on the installation base plate
Drive mechanism installing plate is equipped with, first drive mechanism is arranged on the drive mechanism installing plate.
8. mechanical arm according to claim 1, it is characterised in that second drive mechanism
It is arranged on the ancon connector.
9. mechanical arm according to claim 1, it is characterised in that the shoulder connector with
It is fixedly connected by screw between large arm connector, between large arm connector and ancon connector.
10. mechanical arm according to claim 1, it is characterised in that the shoulder connector,
At least one of large arm connector, ancon connector and forearm connector is cuboid hollow structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684612.1A CN106584506A (en) | 2015-10-20 | 2015-10-20 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684612.1A CN106584506A (en) | 2015-10-20 | 2015-10-20 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106584506A true CN106584506A (en) | 2017-04-26 |
Family
ID=58555292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510684612.1A Pending CN106584506A (en) | 2015-10-20 | 2015-10-20 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106584506A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994017964A1 (en) * | 1993-02-09 | 1994-08-18 | Kinetic Rehabilitation Instruments, Inc. | Robotic arm for wheelchair |
| CN101045302A (en) * | 2007-04-18 | 2007-10-03 | 上海山思智能科技有限公司 | Multi-freedon arm of human imitating robot |
| CN202315291U (en) * | 2011-09-30 | 2012-07-11 | 西北农林科技大学 | Symmetrical ten-degree-of-freedom gymnastics robot |
| CN103252077A (en) * | 2012-10-26 | 2013-08-21 | 上海未来伙伴机器人有限公司 | Chess playing robot |
| CN103465272A (en) * | 2013-09-29 | 2013-12-25 | 哈尔滨工业大学 | Six-degree-of-freedom humanoid robot arm |
| CN104511909A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Robot arm |
-
2015
- 2015-10-20 CN CN201510684612.1A patent/CN106584506A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994017964A1 (en) * | 1993-02-09 | 1994-08-18 | Kinetic Rehabilitation Instruments, Inc. | Robotic arm for wheelchair |
| CN101045302A (en) * | 2007-04-18 | 2007-10-03 | 上海山思智能科技有限公司 | Multi-freedon arm of human imitating robot |
| CN202315291U (en) * | 2011-09-30 | 2012-07-11 | 西北农林科技大学 | Symmetrical ten-degree-of-freedom gymnastics robot |
| CN103252077A (en) * | 2012-10-26 | 2013-08-21 | 上海未来伙伴机器人有限公司 | Chess playing robot |
| CN104511909A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Robot arm |
| CN103465272A (en) * | 2013-09-29 | 2013-12-25 | 哈尔滨工业大学 | Six-degree-of-freedom humanoid robot arm |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Hunnan New District Jinhui street in Shenyang of Liaoning province 110168 City No. 16 Applicant after: Shenyang Xinsong Robert Automation Co., Ltd. Applicant after: Chinese Academy of Sciences Holdings Limited Address before: Hunnan New District Jinhui street in Shenyang of Liaoning province 110168 City No. 16 Applicant before: Shenyang Xinsong Robert Automation Co., Ltd. Applicant before: State owned Assets Management Co., Ltd. |
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| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170426 |
|
| RJ01 | Rejection of invention patent application after publication |