CN203875898U - Mechanical arm joint part of selective compliance assembly robot - Google Patents
Mechanical arm joint part of selective compliance assembly robot Download PDFInfo
- Publication number
- CN203875898U CN203875898U CN201320762540.4U CN201320762540U CN203875898U CN 203875898 U CN203875898 U CN 203875898U CN 201320762540 U CN201320762540 U CN 201320762540U CN 203875898 U CN203875898 U CN 203875898U
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- China
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- mechanical arm
- speed reducer
- harmonic speed
- servomotor
- screw
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Abstract
The utility model discloses a mechanical arm joint part of a selective compliance assembly robot. The mechanical arm joint part comprises a first mechanical arm, a harmonic wave decelerator, a cross slide block shaft coupling, a second mechanical arm, and a servo motor. The first mechanical arm is in tightly fixed connection with a flexible wheel of the harmonic wave decelerator via screws. The second mechanical arm is in tightly fixed connection with a rigid wheel of the harmonic wave decelerator via screws. The servo motor is fixedly disposed on the second mechanical arm through screws. A motor shaft of the servo motor and a wave generator of the harmonic wave decelerator are in tightly fixed connection via the cross slide block shaft coupling. The motor shaft drives the wave generator to rotate via the cross slide block shaft coupling. The inertia of a mechanical arm of an industrial robot can be greatly reduced, bearing conditions of the mechanical arm that serves as a cantilever beam are improved, and the operation speed and the control stability of the robot are effectively increased.
Description
Technical field
The utility model relates to a kind of four-degree-of-freedom plane articulation type industrial robot, is specifically related to a kind of robot arm joint component, and its second mechanical arm can rotate along horizontal plane with respect to the first mechanical arm.
Background technology
In recent ten years, robotics development is very fast, and the robot of various uses extensively obtains application in every field.Industrial Robot Technology is as the important branch of modern science and technology, and he has related to many multi-disciplinary achievements in research such as machinery, electronics, sensor, computer and artificial intelligence, has merged the advanced technology at present a lot of fields.Industrial Robot Technology also combines the multi-door most advanced and sophisticated subjects such as mechanical engineering, electrical engineering, microelectronic engineering, computer engineering, Control Engineering, bionics and artificial intelligence engineering.By the application that combines of it and computer aided design system, computer aided manufacture system, be the latest development trend of modern manufacturing industry automation.
As four-degree-of-freedom selective compliance assembly robot arm, in general, certainly expectation reduces the inertia of this selective compliance assembly robot arm's mechanical arm, and the stressing conditions while improving mechanical arm as cantilever beam is also expected that this selective compliance assembly robot arm is simple in structure, positioning precision is high and installs easy to assembly simultaneously.
Utility model content
Technical problem for above-mentioned proposition, the purpose of this utility model is to provide a kind of novel four-degree-of-freedom selective compliance assembly robot arm joint of mechanical arm parts, can reduce the inertia of selective compliance assembly robot arm's mechanical arm, also can make selective compliance assembly robot arm's joint of mechanical arm modular construction simple easy to assembly with installation.
To achieve these goals, the utility model adopts following technical scheme:
Selective compliance assembly robot arm's joint of mechanical arm parts, comprise the first mechanical arm, harmonic speed reducer, sliding cross coupling, the second mechanical arm and servomotor, described the first mechanical arm is fixedly connected with by screw with the flexbile gear of harmonic speed reducer, the second mechanical arm is fixedly connected with by screw with the firm wheel of harmonic speed reducer, servomotor is fixedly mounted on the second mechanical arm by screw, the motor shaft of servomotor is closely fixedly connected with by sliding cross coupling with the wave producer of harmonic speed reducer, motor shaft drives wave producer to rotate by sliding cross coupling, by the flexbile gear of harmonic speed reducer and the side set of just having taken turns, move, the second mechanical arm of installing on harmonic speed reducer, the central part of harmonic speed reducer of take rotates with respect to the first mechanical arm as center of rotation drives the part on the second mechanical arm and the second mechanical arm under the effect of servomotor.
Further, described screw is hexagon socket cap head screw.
Described decelerator is a kind of harmonic speed reducer, simple in structure, number of components is few, easy for installation, it only has three basic building blocks, and input and output shaft coaxial line, so simple in structure, easy for installation; Volume is little, lightweight, can reduce greatly like this inertia of this industrial robot mechanical arm, the stressing conditions while improving mechanical arm as cantilever beam.
The motor shaft of described servomotor is directly connected with the wave producer of harmonic speed reducer, the flexbile gear of described harmonic speed reducer is directly connected with the first mechanical arm, the advantage of this conduction pattern: the inertia that driving-chain compact conformation is simple, reduce mechanical arm, install easy to assemblyly, meet development trend.
The motor shaft of described servomotor is directly connected with the wave producer of harmonic speed reducer, the flexbile gear of described harmonic speed reducer is directly connected with the first mechanical arm, the advantage of this conduction pattern: the inertia that driving-chain compact conformation is simple, reduce mechanical arm, install easy to assembly.
The utlity model has following advantage: adopt harmonic speed reducer as its deceleration device, simultaneously again can be as support component, driving-chain compact conformation is simple, meets development trend, and servomotor is placed near joint, can reduce the inertia of mechanical arm.
Accompanying drawing explanation
Fig. 1 is the front-view schematic diagram of robot arm joint component.
Fig. 2 is the cross-sectional schematic of robot arm joint component.
Fig. 3 is the perspective view of robot arm joint component.
Fig. 4 is the overall schematic of the robot of applied robot's joint of mechanical arm parts.
In figure: 1. the first mechanical arm; 2. screw; 3. harmonic speed reducer; 4. servomotor; 5. the second mechanical arm.
The specific embodiment
In order to understand better the utility model, with word, by reference to the accompanying drawings the utility model is further described below.
As shown in Figure 1, selective compliance assembly robot arm's joint of mechanical arm parts, comprise the first mechanical arm 1, harmonic speed reducer 3, sliding cross coupling, the second mechanical arm 5 and servomotor 4, described the first mechanical arm 1 is fixedly connected with by screw 2 with the flexbile gear of harmonic speed reducer 3, the second mechanical arm 5 is fixedly connected with by screw 2 with the firm wheel of harmonic speed reducer 3, servomotor 4 is fixedly mounted on the second mechanical arm 5 by screw 2, the motor shaft of servomotor 4 is closely fixedly connected with by sliding cross coupling with the wave producer of harmonic speed reducer 3, motor shaft drives wave producer to rotate by sliding cross coupling, by the flexbile gear of harmonic speed reducer 3 and the side set of just having taken turns, move, the second mechanical arm 5 of installing on harmonic speed reducer 3, the central part of harmonic speed reducer 3 of take rotates with respect to the first mechanical arm 1 as center of rotation drives part on the second mechanical arm 5 and the second mechanical arm 5 under the effect of servomotor 4.
Further, described screw 2 is hexagon socket cap head screw.
What the decelerator in the utility model adopted is harmonic speed reducer 3, it comprises by sliding cross coupling and is connected in the wave producer of motor shaft, the flexbile gear that is fixed on the firm wheel on harmonic speed reducer 3 bodies and is connected in mechanical arm, and the speed reducing ratio of the harmonic speed reducer in the utility model is 50:1.
Above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.All any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in the protection domain of the utility model claim.
Claims (2)
1. selective compliance assembly robot arm's joint of mechanical arm parts, it is characterized in that: comprise the first mechanical arm (1), harmonic speed reducer (3), sliding cross coupling, the second mechanical arm (5) and servomotor (4), described the first mechanical arm (1) is fixedly connected with by screw (2) with the flexbile gear of harmonic speed reducer (3), the second mechanical arm (5) is fixedly connected with by screw (2) with the firm wheel of harmonic speed reducer (3), servomotor (4) is fixedly mounted on the second mechanical arm (5) by screw (2), the motor shaft of servomotor (4) is closely fixedly connected with by sliding cross coupling with the wave producer of harmonic speed reducer (3), motor shaft drives wave producer to rotate by sliding cross coupling, by the flexbile gear of harmonic speed reducer (3) and the just side set motion of wheel, the second mechanical arm (5) of installing on harmonic speed reducer, the central part of harmonic speed reducer (3) of take rotates with respect to the first mechanical arm (1) as center of rotation drives the part on the second mechanical arm (5) and the second mechanical arm (5) under the effect of servomotor (4).
2. selective compliance assembly robot arm's joint of mechanical arm parts according to claim 1, is characterized in that: described screw (2) is hexagon socket cap head screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320762540.4U CN203875898U (en) | 2013-11-28 | 2013-11-28 | Mechanical arm joint part of selective compliance assembly robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320762540.4U CN203875898U (en) | 2013-11-28 | 2013-11-28 | Mechanical arm joint part of selective compliance assembly robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203875898U true CN203875898U (en) | 2014-10-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320762540.4U Expired - Fee Related CN203875898U (en) | 2013-11-28 | 2013-11-28 | Mechanical arm joint part of selective compliance assembly robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203875898U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692450A (en) * | 2013-11-28 | 2014-04-02 | 华南理工大学 | Robotic arm joint part for planar joint type robots |
-
2013
- 2013-11-28 CN CN201320762540.4U patent/CN203875898U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692450A (en) * | 2013-11-28 | 2014-04-02 | 华南理工大学 | Robotic arm joint part for planar joint type robots |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141015 Termination date: 20141128 |
|
| EXPY | Termination of patent right or utility model |