CN204712054U - A kind of robot arm - Google Patents
A kind of robot arm Download PDFInfo
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- CN204712054U CN204712054U CN201520345400.6U CN201520345400U CN204712054U CN 204712054 U CN204712054 U CN 204712054U CN 201520345400 U CN201520345400 U CN 201520345400U CN 204712054 U CN204712054 U CN 204712054U
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- arm body
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- end effector
- motor
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Abstract
A kind of robot arm, relate to robotics, its structure comprises the base be sequentially connected in series, multiple arm body and end effector, the first joint portion is provided with between base and adjacent with base arm body, second joint portion is equipped with between the arm body of the arbitrary neighborhood in multiple arm body and arm body, third joint is provided with between end effector and the arm body be adjacent, base, multiple arm body and end effector are equipped with power set, be arranged at the power set of base for driving multiple arm body and end effector along base rotation, the power set being arranged at certain arm body rotate along this arm body for other arm body and end effector driving the side away from base being positioned at this arm body, the power set being arranged at the arm body adjacent with end effector rotate along this arm body for driving end effector, the power set being arranged at end effector rotate for driving end effector, power set comprise motor and the reductor for decelerating through motor, the utility model is motor adjustment rotating speed by reductor, the torque of motor can be changed, make robot can grab article more exactly.
Description
Technical field
The utility model relates to robotics, particularly relates to a kind of robot arm.
Background technology
Robot arm obtains in robotics the most at present and the automated machine device of practical application, can see its figure in fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs and space probations.Robot arm for industry manufacture is mainly used in being picked up by article and being shifted.
Prior art be generally manipulator for industry manufacture, its structure generally comprises support, to be fixed on the ground by support or on ceiling (side walls), robot arm realizes under the support of support straight on or directly under rectilinear motion, because it can only rectilinear motion, therefore, will from one place to another, its stroke is comparatively far away, relatively consuming time, and need support to fix, not only occupation of land side is simultaneously but also heavier.
Utility model content
The purpose of this utility model is avoid weak point of the prior art and provide a kind of robot arm, and this robot arm can grab article more exactly, can shorten stroke, save time, small volume, takes up room little.
The purpose of this utility model is achieved through the following technical solutions:
A kind of robot arm is provided, comprise the base be sequentially connected in series, multiple arm body and end effector, the first joint portion is provided with between described base and adjacent with base arm body, second joint portion is equipped with between the arm body of the arbitrary neighborhood in described multiple arm body and arm body, third joint is provided with between described end effector and the arm body be adjacent, described base, multiple arm body and end effector are equipped with power set, be arranged at the described power set of base for driving described multiple arm body and end effector along described base rotation, the described power set being arranged at certain arm body rotate along this arm body for other arm body and end effector driving the side away from described base being positioned at this arm body, the power set being arranged at the arm body adjacent with described end effector rotate along this arm body for driving described end effector, the power set being arranged at end effector rotate for driving described end effector, described power set comprise motor and the reductor for decelerating through motor.
Described motor and speed reducer is all coaxially arranged.
Described arm body is provided with four, comprise the first arm body, the second arm body, the 3rd arm body and the 4th arm body, described power set are provided with six, are respectively the first power set, the second power set, the 3rd power set, the 4th power set, the 5th power set and the 6th power set.
Described first power set comprise the first motor and the first reductor, described second power set comprise the second motor and the second reductor, described 3rd power set comprise the 3rd motor and the 3rd reductor, described 4th power set comprise the 4th motor and the 4th reductor, described 5th power set comprise the 5th motor and the 5th reductor, and described 6th power set comprise the 6th motor and the 6th reductor.
Described 5th power set are the power set for driving described end effector to rotate in one direction, and the 5th reductor in described 5th power set is connected by the first belt with between described end effector.
Described 6th power set are the power set for driving described end effector to rotate in the other directions, and the 6th reductor in described 6th power set is connected by the second belt with between described end effector.
The beneficial effects of the utility model: the stressed of robot arm of the present utility model is 10 kilograms, it comprises the base be sequentially connected in series, multiple arm body and end effector, the first joint portion is provided with between described base and adjacent with base arm body, second joint portion is equipped with between the arm body of the arbitrary neighborhood in described multiple arm body and arm body, third joint is provided with between described end effector and the arm body be adjacent, described base, multiple arm body and end effector are equipped with power set, be arranged at the described power set of base for driving described multiple arm body and end effector along described base rotation, the described power set being arranged at certain arm body rotate along this arm body for other arm body and end effector driving the side away from described base being positioned at this arm body, the power set being arranged at the arm body adjacent with described end effector rotate along this arm body for driving described end effector, the power set being arranged at end effector rotate for driving described end effector, described power set comprise motor and the reductor for decelerating through motor, the utility model is motor adjustment rotating speed by reductor, the torque of motor can be changed, make robot can grab article more exactly, by arm body is movably set in base, compared with the manipulator of prior art, its small volume, take up room little, by arranging multiple arm body, staff can be simulated movable flexibly, the motion of any route can be realized, shorten stroke, save time.
Accompanying drawing explanation
Accompanying drawing is utilized to be described further utility model, but the embodiment in accompanying drawing does not form any restriction of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the following drawings.
Fig. 1 is the overall structure schematic diagram of a kind of robot arm of the present utility model.
Fig. 2 is the structural representation of the first motor of a kind of robot arm of the present utility model.
Fig. 3 is the structural representation of the second motor of a kind of robot arm of the present utility model.
Fig. 4 is the structural representation of the 3rd motor of a kind of robot arm of the present utility model.
Fig. 5 is the structural representation of the 4th motor of a kind of robot arm of the present utility model.
Fig. 6 is the structural representation at the 5th motor of a kind of robot arm of the present utility model and first visual angle of the 6th motor.
Fig. 7 is the structural representation at the 5th motor of a kind of robot arm of the present utility model and second visual angle of the 6th motor.
Include in figure:
1---base; 2---the first arm body; 3---the second arm body; 4---the 3rd arm body; 5---the 4th arm body;
6---end effector; 7---the first motor; 8---the second motor; 9---the 3rd motor;
10---the 4th motor; 11---the 6th motor; 12---the 5th motor; 13---the second belt;
14---the first belt.
Detailed description of the invention
With the following Examples the utility model is further described.
A kind of robot arm of the present embodiment, as shown in Figures 1 to 7, comprise the base 1 be sequentially connected in series, multiple arm body and end effector 6, the first joint portion is provided with between described base 1 and adjacent with base arm body, second joint portion is equipped with between the arm body of the arbitrary neighborhood in described multiple arm body and arm body, third joint is provided with between described end effector 6 and the arm body be adjacent, described base 1, multiple arm body and end effector 6 are equipped with power set, the described power set being arranged at base 1 rotate along described base 1 for driving described multiple arm body and end effector 6, the described power set being arranged at certain arm body rotate along this arm body for other arm body and end effector 6 driving the side away from described base 1 being positioned at this arm body, the power set being arranged at the arm body adjacent with described end effector 6 rotate along this arm body for driving described end effector 6, the power set being arranged at end effector 6 rotate for driving described end effector 6, described power set comprise motor and the reductor for decelerating through motor.
The robot arm of the present embodiment is motor adjustment rotating speed by reductor, can change the torque of motor, make robot can grab article more exactly, by arm body is movably set in base 1, compared with the manipulator of prior art, its small volume, takes up room little, by arranging multiple arm body, staff can be simulated movable flexibly, the motion of any route can be realized, shorten stroke, save time.The stressed of robot arm of the present embodiment is 10 kilograms.
The first embodiment is that described motor and speed reducer is all coaxially arranged, and coaxially arranges escapable cost, convenient installation.
The second embodiment is that described arm body is provided with four, comprise the first arm body 2, second arm body 43, 3rd arm body and the 4th arm body 5, described power set are provided with six, be respectively the first power set, second power set, 3rd power set, 4th power set, 5th power set and the 6th power set, i.e. six-joint robot arm, staff can be simulated better, flexible operating, as shown in the arrow A in Fig. 1, wherein the first power set rotate on base 1 for driving the first arm body 2, first arm body 2 drives other arm body and end effector 6 to rotate simultaneously, as indicated by arrow b in fig. 1, second power set rotate on the first arm body 2 for driving the second arm body 43, drive the 3rd arm body simultaneously, 4th arm body 5 and end effector 6 rotate, as shown in the arrow C in Fig. 1, 3rd power set rotate on the second arm body 43 for driving the 3rd arm body, drive the 4th arm body 5 and end effector 6 to rotate simultaneously, as shown in the arrow D in Fig. 1, 4th power set rotate on the 3rd arm body for driving the 4th arm body 5, drive end effector 6 to rotate simultaneously, as shown in the arrow E in Fig. 1, 5th power set drive end effector 6 to move up and down, as shown in the arrow F in Fig. 1, 6th power set drive the rotation of end effector 6 self.
Described first power set comprise the first motor 7 and the first reductor, described second power set comprise the second motor 8 and the second reductor, described 3rd power set comprise the 3rd motor 9 and the 3rd reductor, described 4th power set comprise the 4th motor 10 and the 4th reductor, described 6th power set comprise the 6th motor 11 and the 6th reductor, and described 5th power set comprise the 5th motor 12 and the 5th reductor.
Described 5th power set are the power set for driving described end effector 6 to rotate in one direction, be connected by the first belt 14 between its 5th reductor with described end effector 6, connected by belt, with utilize compared with reductor directly connects with end effector 6, the volume of the 4th arm body 5 be connected with end effector 6 can be made less, take up room little.
Described 6th power set are the power set for driving described end effector 6 to rotate in the other directions, be connected by the second belt 13 between its 6th reductor with described end effector 6, connected by belt, with utilize compared with reductor directly connects with end effector 6, the volume of the 4th arm body 5 be connected with end effector 6 can be made less, take up room little.
Finally should be noted that; above embodiment is only in order to illustrate the technical solution of the utility model; but not the restriction to the utility model protection domain; although done to explain to the utility model with reference to preferred embodiment; those of ordinary skill in the art is to be understood that; can modify to the technical solution of the utility model or equivalent replacement, and not depart from essence and the scope of technical solutions of the utility model.
Claims (6)
1. a robot arm, it is characterized in that: comprise the base be sequentially connected in series, multiple arm body and end effector, the first joint portion is provided with between described base and adjacent with base arm body, second joint portion is equipped with between the arm body of the arbitrary neighborhood in described multiple arm body and arm body, third joint is provided with between described end effector and the arm body be adjacent, described base, multiple arm body and end effector are equipped with power set, be arranged at the described power set of base for driving described multiple arm body and end effector along described base rotation, the described power set being arranged at certain arm body rotate along this arm body for other arm body and end effector driving the side away from described base being positioned at this arm body, the power set being arranged at the arm body adjacent with described end effector rotate along this arm body for driving described end effector, the power set being arranged at end effector rotate for driving described end effector, described power set comprise motor and the reductor for decelerating through motor.
2. a kind of robot arm as claimed in claim 1, is characterized in that: described motor and speed reducer is all coaxially arranged.
3. a kind of robot arm as claimed in claim 1, it is characterized in that: described arm body is provided with four, comprise the first arm body, the second arm body, the 3rd arm body and the 4th arm body, described power set are provided with six, are respectively the first power set, the second power set, the 3rd power set, the 4th power set, the 5th power set and the 6th power set.
4. a kind of robot arm as claimed in claim 3, it is characterized in that: described first power set comprise the first motor and the first reductor, described second power set comprise the second motor and the second reductor, described 3rd power set comprise the 3rd motor and the 3rd reductor, described 4th power set comprise the 4th motor and the 4th reductor, described 5th power set comprise the 5th motor and the 5th reductor, and described 6th power set comprise the 6th motor and the 6th reductor.
5. a kind of robot arm as claimed in claim 4, it is characterized in that: described 5th power set are the power set for driving described end effector to rotate in one direction, and the 5th reductor in described 5th power set is connected by the first belt with between described end effector.
6. a kind of robot arm as claimed in claim 5, it is characterized in that: described 6th power set are the power set for driving described end effector to rotate in the other directions, and the 6th reductor in described 6th power set is connected by the second belt with between described end effector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520345400.6U CN204712054U (en) | 2015-05-26 | 2015-05-26 | A kind of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520345400.6U CN204712054U (en) | 2015-05-26 | 2015-05-26 | A kind of robot arm |
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| Publication Number | Publication Date |
|---|---|
| CN204712054U true CN204712054U (en) | 2015-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520345400.6U Active CN204712054U (en) | 2015-05-26 | 2015-05-26 | A kind of robot arm |
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| CN (1) | CN204712054U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346265A (en) * | 2016-11-15 | 2017-01-25 | 方桥清 | Gantry type multi-axis three-dimensional robot |
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
| CN109153132A (en) * | 2016-04-27 | 2019-01-04 | 奥维罗有限责任公司 | For the programmable motor-driven movable joint for automatically moving machine |
-
2015
- 2015-05-26 CN CN201520345400.6U patent/CN204712054U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109153132A (en) * | 2016-04-27 | 2019-01-04 | 奥维罗有限责任公司 | For the programmable motor-driven movable joint for automatically moving machine |
| CN106346265A (en) * | 2016-11-15 | 2017-01-25 | 方桥清 | Gantry type multi-axis three-dimensional robot |
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 523000 first floor, No. 688-33, Fumin industrial town, Dalang, Dongguan, Guangdong Patentee after: Guangdong Zhong Cong Intelligent Equipment Co., Ltd. Address before: Room 503, 505, 507, 509 and 511, No. 6 Industrial South Road, Songshan Lake High-tech Industrial Development Zone, Dongguan City, Guangdong Province Patentee before: Guangdong Science and Technology Ltd. of Zhong Cong robot |