CN107696061A - Robot arm - Google Patents
Robot arm Download PDFInfo
- Publication number
- CN107696061A CN107696061A CN201710988467.5A CN201710988467A CN107696061A CN 107696061 A CN107696061 A CN 107696061A CN 201710988467 A CN201710988467 A CN 201710988467A CN 107696061 A CN107696061 A CN 107696061A
- Authority
- CN
- China
- Prior art keywords
- gear
- actuator
- transmission mechanism
- fixedly connected
- robot arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
Abstract
The present invention provides a kind of robot arm, it includes pedestal and the frame with pedestal rotation connection, frame includes gear-box, the first actuator and the first transmission mechanism, first actuator is arranged on gear-box, it includes the first drive shaft, first transmission mechanism includes intermeshing at least two gear and the fixing axle being fixedly connected with pedestal, one of gear are fixedly connected with the first drive shaft, and another gear is rotatablely connected with fixing axle and is fixedly connected with gear-box.Above-mentioned robot arm manufacturing cost is low and compact-sized.
Description
Technical field
The present invention relates to a kind of robot arm.
Background technology
Fig. 1 show a kind of simple schematic diagram of robot 100.The robot 100 is six-shaft industrial robot, and it includes
Pedestal 11, the frame 12 that can be rotatablely connected around first axle 161 and pedestal 11, company can be rotated around second axis 162 and frame 12
The large arm 13 connect, the wrist 14 that can be rotatablely connected around the 3rd axis 163 with large arm 13, and can be around four axistyle 164 and wrist
14 the 4th mechanical arms 15 being rotatably connected.The six-shaft industrial robot also includes the 5th mechanical arm and the 6th mechanical arm (is schemed not
Show).5th mechanical arm and the 6th mechanical arm can rotate rotating around the 5th axis 165 and the 6th axis 166.Wherein, the 6th machinery
Arm can install end effector, such as cutter, fixture or sensor, to perform corresponding task.
The frame 12 and large arm 13 of robot 100 are driven by motor and reductor (not shown).The reductor generally selects
Select RV (rotary vector) reductors or all HD (harmonic drive) reductor.RV reductors and HD reductor prices
Costliness, and when installing, RV reductors, HD reductors and the motor that is attached thereto are both needed to be installed in the housing of robot 100, make
The structure of robot 100 is complex and must make machine according to the size of RV reductors or HD reductors come design robot 100
The appearance and size of people 100 is excessive.
In view of the foregoing, it is necessary to provide a kind of cost relatively low and compact-sized robot arm.
The content of the invention
A kind of robot arm, including pedestal and the frame with pedestal rotation connection, the frame include gear-box, first
Actuator and the first transmission mechanism, first actuator are arranged on the gear-box, and it includes the first drive shaft, first transmission
Mechanism includes intermeshing at least two gear and the fixing axle being fixedly connected with pedestal, one of gear and first drive
Moving axis is fixedly connected, and another gear is rotatablely connected with fixing axle and is fixedly connected with gear-box.
In above-mentioned robot arm, the first transmission mechanism uses at least two gear drives, due at least two tooth
Wheel can use ordinary gear, so, the manufacturing cost of robots arm can be reduced, and gear drive is used, can basis
Need to design speed reducing ratio, make the overall dimensions of the first and second transmission mechanisms smaller, so that the structure of robot arm is tight
Gather.
Brief description of the drawings
Fig. 1 is a kind of simple schematic diagram of robot.
Fig. 2 is the three-dimensional assembly diagram of the robot arm of embodiment of the present invention.
Fig. 3 is the diagrammatic cross-section of the first casing of the robot arm shown in Fig. 2.
Fig. 4 is the diagrammatic cross-section of the second casing of the robot arm shown in Fig. 2.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 2, the robot arm 200 of embodiment of the present invention includes pedestal 20 and is rotatablely connected with pedestal 20
Frame 30.
Please refer to Fig. 3 and Fig. 4, frame 30 includes gear-box 31, the first actuator 33, the second actuator 35 and is located at
It is used for the first transmission mechanism 36 and the second transmission mechanism 37 of passing power in gear-box 31.
Gear-box 31 includes body 311 and the first lid 313 and the second lid 315 of enclosed body 311.Body 311 wraps
Include the first casing 3111 and the second casing 3113 of interconnection.First lid 313 is used to close the first casing 3111, the second lid
Body 315 is used to close the second casing 3113, and the first casing 3111 is engaged to form accommodation space for holding with the first lid 313
Receive the first transmission mechanism 36, the second casing 3113 be engaged with the second lid 315 to be formed accommodation space be used for accommodate second be driven
Mechanism 37.In present embodiment, the first casing 3111 and the second casing 3113 are arranged in a mutually vertical manner.
First actuator 33 is fixedly installed on the lateral wall of the first casing 3111, and the second actuator 35 is fixedly installed on
On the lateral wall of two lids 315.First actuator 33 includes the first drive shaft 331, and the second actuator 35 includes the second drive shaft
351, the first drive shaft 331 is arranged on the first casing 3111, and the second drive shaft 351 is arranged on the second lid 315.This implementation
In mode, the first actuator 33 and the second actuator 35 are motor.
First transmission mechanism 36 includes gap adjusting mechanism 360, first gear 361, second gear 362, the 3rd gear
363rd, the 4th gear 364, fixing axle 365, clutch shaft bearing 366, second bearing 367,3rd bearing 368 and fourth bearing 369.The
One gear 361 is engaged with second gear 362, and second gear 362 is fixedly connected with the 3rd gear 363, the 3rd gear 363 and the 4th
Gear 364 is engaged, and the 4th gear 364 is rotationally sheathed in fixing axle 365.First gap adjusting mechanism 360 is used to adjust
Gap between 3rd gear 363 and the 4th gear 364.
Clutch shaft bearing 366 and 3rd bearing 368 are arranged on the first casing 3111, second bearing 367 and fourth bearing 369
It is arranged on the first lid 313.Clutch shaft bearing 366 and second bearing 367 are mutually aligned, 3rd bearing 368 and fourth bearing 369
It is mutually aligned.
First gear 361 is fixedly connected with the first drive shaft 331.3rd gear 363 includes gear shaft (figure is not marked), gear
The both ends of axle are respectively arranged on clutch shaft bearing 366 and second bearing 367.The gear shaft of the gear 363 of second gear 362 and the 3rd
It is fixedly connected.4th gear 364 is fixedly connected with gear-box 31.The both ends of fixing axle 365 are arranged in the He of 3rd bearing 368 respectively
In fourth bearing 369, and fixing axle 365 is fixedly connected with pedestal 20.
The gear shaft of 3rd gear 363 offers accepting hole 3631 on the end face of clutch shaft bearing 366.Accepting hole 3631
For blind hole.
Gap adjusting mechanism 360 includes elastic component 3601, locking part 3603 and keeper 3605.Elastic component 3601 and positioning
Part 3605 is contained in the accepting hole 3631 of the 3rd gear 363 successively.Locking part 3603 wears the first casing 3111, and with elasticity
Part 3601 offsets.In present embodiment, keeper 3605 is guiding steel ball, and elastic component 3601 is cylindrical compression spring,
Locking part 3603 is set screw.Elastic component 3601 is sheathed on keeper 3605, can using instruments such as screwdriver (not shown)
Regulation locking part 3603 screws togather position in the first casing 3111, to adjust between the 3rd gear 363 and the 4th gear 364
Gap.
When first actuator 33 starts, first gear 361 is driven to rotate by the first drive shaft 331, the band of first gear 361
Dynamic second gear 362 rotates, and second gear 362 drives the 3rd gear 363 to be rotated on clutch shaft bearing 366 and second bearing 367,
3rd gear 363 drives the 4th gear 364 to rotate, because the 4th gear 364 is fixedly connected with gear-box 31, so that gear-box
31 rotate around fixing axle 365.
In present embodiment, first to fourth gear 361,362,363,364 is involute spur gearing, and first drives
Rotation axis, second gear 362 and the rotation axis of the 4th gear 364 of axle 331 are parallel to each other.First to fourth gear 361,
362nd, 363,364 ordinary gear can be used, cost can be reduced using RV reductors or HD reductors relative to prior art.It is logical
Overregulate that the number of teeth of first to fourth gear 361,362,363,364 is poor, can adjust the total reduction ratio of the first transmission mechanism, example
Such as, the total reduction ratio of the first transmission mechanism can be 55, and wherein first gear 361 engages the speed reducing ratio realized with second gear 362
For 11, it is 5 that the 3rd gear 363, which engages the speed reducing ratio realized with the 4th gear 364, is distributed using above-mentioned speed reducing ratio, can make first
The overall dimensions of transmission mechanism are smaller.
It is appreciated that the first transmission mechanism 36 can also only include the gear 364 of first gear 361 and the 4th, and the first tooth
The gear 364 of wheel 361 and the 4th engages.
Second transmission mechanism 37 is similar to the structure of the first transmission mechanism 36, and the second transmission mechanism 37 includes gap adjusting mechanism
370th, the 5th gear 371, the 6th gear 372, the 7th gear 373, eighth gear 374, output shaft 375,5th bearing 376,
Six bearings 377,7th bearing 378 and 8th bearing 379.5th gear 371 engages with the 6th gear 372, the 6th gear 372 with
7th gear 373 is fixedly connected, and the 7th gear 373 engages with eighth gear 374, and eighth gear 374 is fixed with output shaft 375 to be connected
Connect.The gap adjusting mechanism 370 of second transmission mechanism 37 is identical with the structure of gap adjusting mechanism 360 of the first transmission mechanism 36,
Gap adjusting mechanism 370 is used to adjust the gap between the 7th gear 373 and eighth gear 374.
5th bearing 376 and 7th bearing 378 are arranged on the second casing 3113,6th bearing 377 and 8th bearing 379
It is arranged on the second lid 315.5th bearing 376 and 6th bearing 377 are mutually aligned, 7th bearing 378 and 8th bearing 379
It is mutually aligned.
When second actuator 35 starts, the 5th gear 371 is driven to rotate by the second drive shaft 351, the band of the 5th gear 371
Dynamic 6th gear 372 rotates, and the 6th gear 372 drives the 7th gear 373 to be rotated in 5th bearing 376 and 6th bearing 377,
7th gear 373 drives eighth gear 374 to rotate, defeated so as to drive because eighth gear 374 is fixedly connected with output shaft 375
Shaft 375 rotates in 7th bearing 378 and 8th bearing 379.
In present embodiment, the 5th to eighth gear 371,372,373,374 is involute spur gearing, the second driving
The rotation axis of axle 351, the 6th gear 372 and the rotation axis of eighth gear 374 and the rotation axis of output shaft 375 are mutually flat
Go and be mutually offset.5th can use ordinary gear to eighth gear 371,372,373,374, be used relative to prior art
RV reductors or HD reductors can reduce cost.The number of teeth by regulation the 5th to eighth gear 371,372,373,374 is poor, can
The total reduction ratio of the second transmission mechanism is adjusted, for example, the total reduction ratio of the second transmission mechanism can be 55, wherein the 5th gear 371
It is 11 that the speed reducing ratio realized is engaged with the 6th gear 372, and the 7th gear 373 engages the speed reducing ratio realized with eighth gear 374 and is
5, distributed using above-mentioned speed reducing ratio, the overall dimensions of the second transmission mechanism can be made smaller.
It is appreciated that the second transmission mechanism 37 can also only include the 5th gear 371 and eighth gear 374, and the 5th tooth
Wheel 371 and eighth gear 374 engage.
In addition, those skilled in the art can also do other changes in spirit of the invention, certainly, these are according to present invention essence
The change that god is done, it should all be included in scope of the present invention.
Claims (4)
1. a kind of robot arm, including pedestal and the frame with pedestal rotation connection, it is characterised in that：The frame includes tooth
Roller box, the first actuator and the first transmission mechanism, first actuator are arranged on the gear-box, and it includes the first drive shaft,
First transmission mechanism includes intermeshing at least two gear and the fixing axle being fixedly connected with pedestal, one of gear
It is fixedly connected with first drive shaft, another gear is rotatablely connected with fixing axle and is fixedly connected with gear-box.
2. robot arm as claimed in claim 1, it is characterised in that：The gear-box includes the first casing being connected with each other
With the second casing, first transmission mechanism is contained in first casing, and first actuator is arranged on first casing, should
Robot arm also includes the second actuator and the second transmission mechanism, and second actuator is arranged on second casing, its
Including the second drive shaft, second transmission mechanism includes intermeshing at least two gear and output shaft, one of gear
It is fixedly connected with second drive shaft, another gear is fixedly connected with output shaft.
3. robot arm as claimed in claim 2, it is characterised in that：First actuator and second actuator are
Motor.
4. robot arm as claimed in claim 2, it is characterised in that：The rotation axis of second drive shaft and the output
Axle is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710988467.5A CN107696061A (en) | 2017-10-21 | 2017-10-21 | Robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710988467.5A CN107696061A (en) | 2017-10-21 | 2017-10-21 | Robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107696061A true CN107696061A (en) | 2018-02-16 |
Family
ID=61182064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710988467.5A Pending CN107696061A (en) | 2017-10-21 | 2017-10-21 | Robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107696061A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259337A (en) * | 2010-05-28 | 2011-11-30 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| CN102950601A (en) * | 2011-08-31 | 2013-03-06 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
-
2017
- 2017-10-21 CN CN201710988467.5A patent/CN107696061A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259337A (en) * | 2010-05-28 | 2011-11-30 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| CN102950601A (en) * | 2011-08-31 | 2013-03-06 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180216 |
|
| WD01 | Invention patent application deemed withdrawn after publication |