CN207309941U - Mechanical arm type robot - Google Patents
Mechanical arm type robot Download PDFInfo
- Publication number
- CN207309941U CN207309941U CN201720740793.XU CN201720740793U CN207309941U CN 207309941 U CN207309941 U CN 207309941U CN 201720740793 U CN201720740793 U CN 201720740793U CN 207309941 U CN207309941 U CN 207309941U
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- China
- Prior art keywords
- motor
- component
- type robot
- mechanical arm
- bevel gear
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- 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.)
- Expired - Fee Related
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- 210000000707 wrist Anatomy 0.000 claims abstract description 28
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 description 12
- 230000003028 elevating effect Effects 0.000 description 6
- 239000002360 explosive Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- Toys (AREA)
Abstract
The utility model provides a kind of mechanical arm type robot, including base, further includes：The waist seat revolving platform being rotatably connected with the base；The big arm component being connected with the waist seat revolving platform pitching；The small arm component being connected by shoulder joints with the big arm component pitching；The wrist component being connected with the small arm component pitching, the wrist component are rotated by two orthogonal bevel gear drivings, and wherein first bevel gear is connected with the palm retainer plate of the wrist component, and second bevel gear is driven by the first motor and operated.By upper, the constraint of crossbeam, vertical beam is broken away from, can arbitrarily be rotated between small arm component, big arm component, and wrist component can rotate, and add the flexibility of robot.
Description
Technical field
It the utility model is related to a kind of mechanical arm type robot.
Background technology
Mechanical arm type robot is a kind of new device to grow up during mechanization, automated production.Existing
For in production process, mechanical arm type robot is widely deployed in automatic assembly line, the accuracy of mechanical manual task and each
The ability to fulfil assignment in kind environment, has vast potential for future development in all fields of national economy.
Existing machinery arm robot such as Application No. 200920025193.0 discloses a kind of mini two axis servounit
Arm, the prior art realize operation of the mechanical arm type robot for diverse location, it is necessary to by servomotor, stepper motor and
The driving of cylinder, to be moved respectively along row arm, pulling arm and upper underarm.
Obviously, crossbeam, vertical beam is needed to realize horizontal, longitudinal movement of mechanical arm type robot using above-mentioned design,
It is constrained, its limited displacement underaction.Also, the movement of mechanical arm type robot can be only realized using crossbeam, vertical beam,
Flexibly turn to not realize with pitching adjustment for wrist.
Utility model content
The main purpose of the utility model is that a kind of mechanical arm type robot is provided, including base, further include：
The waist seat revolving platform being rotatably connected with the base；
The big arm component being connected with the waist seat revolving platform pitching；
The small arm component being connected by shoulder joints with the big arm component pitching；And
The wrist component being connected with the small arm component pitching, the wrist component are driven by two orthogonal bevel gears
Dynamic rotation, wherein first bevel gear is connected with the palm retainer plate of the wrist component, and second bevel gear is driven by the first motor
Operating.
By upper, the constraint of crossbeam, vertical beam is broken away from, can arbitrarily be rotated between small arm component, big arm component, and wrist component can
With rotation, the flexibility of robot is added.
Wherein, the wrist component includes a three-port structure shell, and the top port of the shell accommodates the palm and fixes
Circle and first bevel gear；
One of bottom port of the shell accommodates the second bevel gear, another bottom port of the shell and one
Shaft output terminal connects, and the second bevel gear and shaft are driven by a motor operate respectively.
By upper, first gear is driven to rotate by second bevel gear axis, so as to drive palm fixing end to rotate, you can with reality
The rotation of existing wrist；Drive wrist component integrally to carry out elevating movement by shaft, thus can increase the flexibility ratio of mechanical arm.
Wherein, the second bevel gear is connected with the output terminal of the second shaft, the input terminal of second shaft connection the
One big belt wheel, first big belt wheel pass through first the first small pulley of synchronous band connection, first small pulley and the first motor
Output axis connection.
By upper, second bevel gear can be driven to rotate by the first motor, to drive wrist component to rotate.
Wherein, the input terminal of the shaft connects the second big belt wheel, and second big belt wheel passes through the second synchronous band connection
Second small pulley, the output axis connection of second small pulley and the second motor.
By upper, by the second motor can drive shaft rotate, so as to drive wrist component integrally to carry out elevating movement.
Wherein, the waist seat revolving platform includes a cavity, and the 3rd motor, the 3rd motor are provided with the cavity
Stator be connected with the base, the rotor of the 3rd motor is fixed on the cavity hatch of the waist seat revolving platform by a ring flange
Place.
By upper, the 3rd motor driving flange disk operating, so that ring flange drives the rotation of waist seat revolving platform, so as to fulfill appointing
The control for angle of anticipating.
Wherein, the waist seat revolving platform further includes a circular through hole, the plane where the circular through hole and the cavity
The plane at place is mutually perpendicular to；
The 4th motor, the rotor of the 4th motor and the near-end of the big arm component are fixed with the circular through hole
Connection, the stator of the 4th motor are connected with the circular through hole of the waist seat revolving platform.
By upper, the elevating movement of the 4th big arm component of motor direct-drive, so that mechanical arm can carry out any angle
Pitching adjustment.
Wherein, the shoulder joints include the first circular through hole to accommodate the 4th motor, and the 4th motor is determined
The sub distal end with the big arm component is connected, and the rotor of the 4th motor is connected with the circular through hole.
By upper, the elevating movement of the 4th motor direct-drive shoulder joints, so that mechanical arm can carry out any angle
Pitching adjustment.
Wherein, on the side wall of big arm component and small arm component, solar cell plate module is equipped with, with the motor
It is electrically connected.
It is the acquisition that can be achieved for robotically-driven required electric energy by green energy resource by upper.
Brief description of the drawings
Fig. 1 is the structure diagram of mechanical arm type robot；
Fig. 2 is each component explosive view of mechanical arm type robot；
Fig. 3 is the explosive view of small arm component and wrist components.
Embodiment
Mechanical arm type robot described in the utility model is described in detail referring to Fig. 1~Fig. 3.The application machine
Tool arm robot includes the base 100 that is rotatablely connected successively, waist seat revolving platform 200, big arm component 300, shoulder joints 400,
Small arm component 500 and wrist component 600.
As shown in Figure 1, Figure 2, the waist seat revolving platform 200 includes a cavity and a circular through hole, in the cavity
The first motor 201 and the second motor 205 are installed with being respectively used to accommodate at circular through hole.Wherein, the plane where the cavity
It is mutually perpendicular to the plane where the circular through hole, i.e. the installation site of the first motor 201 and the second motor 205 is in axial direction
On be mutually perpendicular to.
First motor 201 is used to drive waist seat revolving platform 200 to rotate.Specifically, the centre bit in base 100 installs
It is equipped with 201 matched deck of the first motor, the bottom stator card of the first motor 201 and at the deck, passes through first group
Bolt 202 is fixed.
The rotor of first motor 201 is connected by second group of bolt 203 with a ring flange 204.The ring flange 204 is also
The cavity hatch of the waist seat revolving platform 200 are fixed on by second group of bolt 203.Thus, the first motor 201 can be passed through
The rotation of shaft and drive waist seat revolving platform 200 to rotate.
Second motor 205 is used to drive big 300 elevating movement of arm component.Second motor 205 is installed on the revolution of waist seat
At the circular through hole of platform 200, the near-end of big arm component 300 is provided with the matched groove of rotor with second motor 205, with
The rotor of second motor 205 is fixed by the 3rd group of bolt 206.The stator of second motor 205 coordinates flange by bolt
The circular through hole of disk and the waist seat revolving platform 200 is fixed.
The distal end of big arm component 300 is rotatably connected with the shoulder joints 400.Specifically, in the shoulder joints
The first circular through hole 401 is provided with 400, the 3rd motor 402 is installed on first circular through hole 401.Big arm component
300 distal end be provided with the matched groove of 402 stator of the 3rd motor, by bolt by the stator of the 3rd motor 402 with
The distal end of big arm component 300 is fixed.Cooperation and the shoulder joints of the rotor of 3rd motor 402 by bolt and ring flange
400 the second circular through hole 401 connects.Shoulder joints 400 are driven to carry out pitching fortune from there through the rotation of the 3rd motor 402
It is dynamic.
With reference to shown in Fig. 2, Fig. 3, the shoulder joints 400 are an integral structure with the small arm component 500, described small
The front end of arm component 500 connects the wrist component 600.A generally rectangular box structure for the small arm component 500, at this
The driving part that 600 component of driving wrist component carries out pitching and rotary motion is installed, concrete structure exists in body structure
It is described in detail hereinafter.
The wrist component 600 includes the housing 627 of a three-way shape, in the top end of the three-way shape housing 627
Mouth fixes the stationary part of a palm fixing end 612 by the 4th group of bolt 613.The palm fixing end 612 is consolidated including palm
Fixed circle and connected first bevel gear composition.That is, turning for palm retainer plate can be driven by the rotation of first bevel gear
It is dynamic.The palm retainer plate by magnetic connection or the mode such as can be bolted and connect manipulator (not shown), the connection mode
Belong to the prior art, repeat no more.
Wherein, driving wrist component 600 to carry out rotating driving part includes：
The 4th motor 601 and the first gear reducer 602 being sequentially connected, the two is perpendicular in the axial direction.First gear reducer 605
Output shaft and small arm component 500 axial direction it is perpendicular.First gear reducer 605 passes through the first motor fixing seat 603 and
Five groups of bolts 604 are fixed with the small arm component 500.The first small band is connected with the output shaft of first gear reducer 605
Wheel 605.First small pulley 605 connects the first big belt wheel 608 by the first synchronous belt 607, and first big belt wheel 608 passes through
First rotating shaft 610 connects second bevel gear 611.It is corresponding, further include the accessories such as bearing, the axle sleeve of first rotating shaft 610.Described
Two bevel gears 611 are contained in the port of one of 627 bottom of three-way shape housing, vertical with the first bevel gear axis to nibble
Close.Thus, after the 4th motor 601 starts, its shaft drives the shaft operating of the first gear reducer 602, so as to drive first small
Belt wheel 605 rotates, by synchronous belt 607 by transferring kinetic energy to the first big belt wheel 608, to drive and first big belt wheel 608
The second bevel gear 611 connected by first rotating shaft 610, it is final to drive first bevel gear axis to rotate, that is, realize wrist component
600 rotation.
The driving part that driving wrist component 600 carries out pitching includes：
The 5th motor 615 and the second gear reducer 616 being sequentially connected, the two is perpendicular in the axial direction.Second gear reducer 616
Output shaft be oppositely arranged with the first gear reducer 602, it is and perpendicular with the axial direction of small arm component 500.Second gear reducer 616
Fixed by the second motor fixing seat 617 and the 6th group of bolt 618 with the small arm component 500.In second gear reducer 616
Output shaft on be connected with the second small pulley 619.Second small pulley 619 connects the second big belt wheel by the second synchronous belt 622
621, second big belt wheel 621 connects the second shaft 620, and second shaft 620 is consolidated by bearing 624 and the grade of end cap 623
It is scheduled at another port of 627 bottom of three-way shape housing, can be specifically fixed using the 6th group of bolt 625.Thus,
616 output shaft of the second gear reducer is driven to rotate by the rotation of the 5th motor 615, so as to drive the second shaft 620 to rotate, finally
By transferring kinetic energy to three-way shape housing 627, to realize the elevating movement of wrist component 600.
In addition, above-mentioned driving wrist component 600 rotate/driving part of pitching in, can also directly be carried by motor
For power.
In two sides of the small arm component 500, baffle 614 is respectively fitted with.
Further, on the side wall of the baffle 614 and big arm component 300, it is equipped with solar cell plate module
(not shown), with each motor, deceleration mechatronics, by the cooperation of storage battery and inverter, converts the solar into
Electric energy, powers to each motor and speed reducer.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all in this practicality
Within new spirit and principle, any modification, equivalent replacement, improvement and so on, should be included in the guarantor of the utility model
Within the scope of shield.
Claims (8)
1. a kind of mechanical arm type robot, including base (100), it is characterised in that further include：
The waist seat revolving platform (200) being rotatably connected with the base (100)；
The big arm component (300) being connected with waist seat revolving platform (200) pitching；
The small arm component (500) being connected by shoulder joints (400) with big arm component (300) pitching；And
The wrist component (600) being connected with small arm component (500) pitching, the wrist component (600) are mutually hung down by two
Straight bevel gear driving rotation, wherein first bevel gear is connected with the palm retainer plate of the wrist component (600), the second cone tooth
Wheel is driven by the first motor and operated.
2. mechanical arm type robot according to claim 1, it is characterised in that the wrist component (600) includes one or three
Logical structural housing (627), the top port of the shell (627) accommodate the palm retainer plate and first bevel gear；
One of bottom port of the shell (627) accommodates the second bevel gear, another bottom end of the shell (627)
Mouth is connected with a shaft (620) output terminal, and the second bevel gear and shaft (620) are driven by a motor operate respectively.
3. mechanical arm type robot according to claim 2, it is characterised in that the second bevel gear and one second shaft
(610) output terminal connection, the input terminal of second shaft (610) connect the first big belt wheel (608), first big belt wheel
(608) the first small pulley (605) is connected by the first synchronous belt (607), first small pulley (605) is defeated with the first motor
Go out axis connection.
4. mechanical arm type robot according to claim 2, it is characterised in that the input terminal connection of the shaft (620)
Second big belt wheel (621), second big belt wheel (621) connect the second small pulley (619), institute by the second synchronous belt (622)
State the output axis connection of the second small pulley (619) and the second motor.
5. mechanical arm type robot according to claim 1, it is characterised in that the waist seat revolving platform (200) includes one
Cavity, is provided with the 3rd motor (201) in the cavity, and stator and the base (100) of the 3rd motor (201) connect
Connect, the rotor of the 3rd motor (201) is fixed on the cavity hatch of the waist seat revolving platform (200) by a ring flange (204).
6. mechanical arm type robot according to claim 5, it is characterised in that the waist seat revolving platform (200) further includes
One circular through hole, the plane where the circular through hole are mutually perpendicular to the plane where the cavity；
The 4th motor (205), rotor and the big arm component of the 4th motor (205) are fixed with the circular through hole
(300) near-end connection, the stator of the 4th motor (205) are connected with the circular through hole of the waist seat revolving platform (200).
7. mechanical arm type robot according to claim 6, it is characterised in that the shoulder joints (400) include first
Circular through hole (401) is to accommodate the 4th motor (402), stator and the big arm component of the 4th motor (402)
(300) distal end connection, the rotor of the 4th motor (402) are connected with the circular through hole (401).
8. according to any mechanical arm type robot of claim 1~7, it is characterised in that in big arm component (300) and
On the side wall of small arm component (500), solar cell plate module is equipped with, is electrically connected with the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720740793.XU CN207309941U (en) | 2017-06-23 | 2017-06-23 | Mechanical arm type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720740793.XU CN207309941U (en) | 2017-06-23 | 2017-06-23 | Mechanical arm type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207309941U true CN207309941U (en) | 2018-05-04 |
Family
ID=62436348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720740793.XU Expired - Fee Related CN207309941U (en) | 2017-06-23 | 2017-06-23 | Mechanical arm type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207309941U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108763991A (en) * | 2018-05-28 | 2018-11-06 | 孙丽君 | A kind of data acquisition device of rocker-arm Omnidirectional rotation |
| CN109893398A (en) * | 2019-04-04 | 2019-06-18 | 广东铭凯医疗机器人有限公司 | A kind of bionical healing robot |
| CN111283721A (en) * | 2018-12-10 | 2020-06-16 | 沈阳新松机器人自动化股份有限公司 | Hinge type robot joint |
| CN113771055A (en) * | 2021-09-14 | 2021-12-10 | 深圳市国匠数控科技有限公司 | Environment-friendly automatic grabbing equipment based on material taking of gravure electronic engraving machine |
-
2017
- 2017-06-23 CN CN201720740793.XU patent/CN207309941U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108763991A (en) * | 2018-05-28 | 2018-11-06 | 孙丽君 | A kind of data acquisition device of rocker-arm Omnidirectional rotation |
| CN108763991B (en) * | 2018-05-28 | 2021-01-12 | 盐城中咏投资发展有限公司 | Rocker arm type omni-directional rotating data acquisition device |
| CN111283721A (en) * | 2018-12-10 | 2020-06-16 | 沈阳新松机器人自动化股份有限公司 | Hinge type robot joint |
| CN111283721B (en) * | 2018-12-10 | 2022-07-26 | 沈阳新松机器人自动化股份有限公司 | Hinge type robot joint |
| CN109893398A (en) * | 2019-04-04 | 2019-06-18 | 广东铭凯医疗机器人有限公司 | A kind of bionical healing robot |
| CN113771055A (en) * | 2021-09-14 | 2021-12-10 | 深圳市国匠数控科技有限公司 | Environment-friendly automatic grabbing equipment based on material taking of gravure electronic engraving machine |
| CN113771055B (en) * | 2021-09-14 | 2022-05-10 | 深圳市国匠数控科技有限公司 | Environment-friendly automatic grabbing equipment based on material taking of gravure electronic engraving machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180504 |