CN207548791U - Shaft bearing-type mechanical arm and its robot - Google Patents
Shaft bearing-type mechanical arm and its robot Download PDFInfo
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- CN207548791U CN207548791U CN201720671474.8U CN201720671474U CN207548791U CN 207548791 U CN207548791 U CN 207548791U CN 201720671474 U CN201720671474 U CN 201720671474U CN 207548791 U CN207548791 U CN 207548791U
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- arm
- shaft
- speed reducer
- bearing
- pedestal
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Abstract
The utility model discloses a kind of shaft bearing-type mechanical arm and its robot, shaft bearing-type mechanical arm includes pedestal, arm and speed reducer；The arm is set to the pedestal by shaft in a manner of swingable；The speed reducer is removably fixed to the pedestal and for driving the arm swing；Heavy load robot includes big arm component and small arm component and the equipment driven by the small arm component, and the big arm component and small arm component are respectively formed the shaft bearing-type mechanical arm；This shaft bearing-type mechanical arm and robot can use small-power speed reducer to drive arm swing, ensure that arm has enough bearing capacitys, so as to significantly reduce volume, dead weight and the production cost of mechanical arm or robot, in addition, after speed reducer is dismantled, it can be rotated by manpower actuating arm, therefore, this mechanical arm and robot can be driven by motor can also be driven by manpower, and versatility is higher.
Description
Technical field
The utility model is related to robot field, specifically a kind of shaft bearing-type mechanical arm and its robot.
Background technology
Stone material such as marble and granite etc. are widely used as external, interior material or flooring material under construction.
All it is irregular shape after this stone mining, needs to can be only achieved ideal using effect by multiple process.Stone material
Processing is a tradition, time-honored industry.In terms of future development, it is engaged in the people of stone material carrying, cutting, sanding and polishing work
Will it is fewer and fewer in addition later nobody be ready to be engaged in this occupation.Stone material manufacturing enterprise have to look for one it is alternative
Artificial machine goes to complete the processing of stone material product, so the various processing of stone machineries that have been born, realize and shape at the beginning of stone material is carried out
The processes such as cutting, polishing, polishing, profiling.
In the prior art, stone machining processing load is bigger, when generally carrying up to a hundred kilograms of work heads, and work
The big impact generated, it is desirable that structural arm has very big load capacity, so existing automatic processing device is all using gantry
Formula structure.But this planer-type mechanical arm is long, and it is bulky, larger space is occupied, it is complicated, it is of high cost,
Not working, function is also single, is difficult to realize arc machining and abnormity is processed.Swing arm robot technology comparative maturity, energy
Enough realize the various tracks such as straight line, circular arc, the abnormity in plane, but swing arm robot is to connect speed reducer again by joint arm
The structure type of connecting joint arm, i.e. cascaded structure.The load of work head is leaned on transmitted between joint arm and speed reducer completely, for
It carries for hundreds of kilograms of stone machining equipment, this requires speed reducer performance is very high, up to a hundred kilograms of workbench should be carried
Dead weight, carry again up to a hundred kilograms work when shock loading.Industrial robot generally uses RV speed reducers or harmonic reduction
Machine, current speed reducer are difficult to meet the requirements, and the impact force in work head process can be all transmitted on speed reducer, are held
Easily cause speed reducer damage.Speed reducer is the core component of robot, and high-precision speed reducer is mainly by import, large-scale speed reducer valency
Lattice are very expensive, by the price of speed reducer and determining for performance double factor, determine that current swing arm robot architecture cannot
It is suitble to processing of stone machinery.There is a kind of swing arm mechanical arm manually pushed currently on the market, without speed reducer and motor, pass through
The head plane rocking of the thrust swing arm front end of people realizes the actions such as arc cutting, polishing, and labor intensity is big, and efficiency is low,
It is more original.
For solution problem above, need a kind of arm exhibition longer, the working range of stone machining equipment can be increased substantially, and
Avoid the shaft bearing-type mechanical arm and robot of new structure that speed reducer destroys.
Utility model content
In view of this, the purpose of the utility model is to overcome in the prior art the defects of, a kind of shaft bearing-type machine is provided
Tool arm and the robot mechanical arm and the load moment of robot end undertake mainly by shaft, and motor and speed reducer is solely subjected to revolve
Torque makes the motor and speed reducer of equal torque improve the lifting capacity of several times, mechanical arm and the robot ratio of the structure
The bearing capacity of the swing arm robot of existing same size improves several times.Arm exhibition and carrying energy ability can be increased substantially, and
Speed reducer is avoided to damage.
The heavy load mechanical arm of the utility model, including pedestal, arm and speed reducer；The arm is by shaft with swingable
Mode is set to the pedestal；The speed reducer is removably fixed to the pedestal and for the arm to be driven to put
It is dynamic；
Further, the speed reducer is disk output type speed reducer；The arm is equipped with driving motor corresponding position for subtracting
The positioning convex ring that the output panel cooperation of fast machine is positioned；
Further, the speed reducer by with the shaft it is coaxial in a manner of close to roller end set；
Further, the output panel of the speed reducer is fixedly connected by fastener with arm, the arm surface formed for
During installation bit space is allowed to what the fastener was stepped down；
Further, the arm is rotatably assorted by journal bearing and the shaft, and passes through thrust bearing rotatable support
On the pedestal；
Further, the pedestal is equipped with the bearing block for installing the thrust bearing；The arm bottom is equipped with and is coated at
The bearing block and the sealing bulge loop that labyrinth sealing is collectively formed with the bearing block；
Further, the pedestal is fixed in the shaft lower end, and the upper end stretches out pedestal and forms cantilever design upwards；It is described
Arm shaft and the length of pedestal secure fit are more than the 1/3 of its total length；
The invention also discloses a kind of robot of the shaft bearing-type mechanical arm described in application, including big arm component
The equipment driven with small arm component and by the small arm component；The big arm component is held including that can form the shaft
Large arm, large arm bearing, large arm shaft and the large arm speed reducer of load formula mechanical arm；It is the large arm, large arm bearing, large arm shaft, big
Arm speed reducer is respectively as the arm of shaft bearing-type mechanical arm, pedestal, shaft and speed reducer；The small arm component is included with large arm
Form forearm, forearm shaft and the forearm speed reducer of the shaft bearing-type mechanical arm for pedestal, the forearm, forearm shaft,
Forearm speed reducer is respectively as the arm of shaft bearing-type mechanical arm, shaft and speed reducer；
Further, the equipment is set to institute in a manner of it can vertically lift and can be rotated around horizontal direction
State forearm；
Further, the forearm outer end is vertically sliding combined with lifting seat, and the lifting seat passes through feed screw nut
Mechanism drives it vertically to be lifted, and the lifting seat is equipped with the rotation that simultaneously latched position can be rotated around horizontal direction
Seat, the equipment are fixed on the rotating seat；
The beneficial effects of the utility model are：The shaft bearing-type mechanical arm of the utility model, arm is by shaft can put
Dynamic mode is set on pedestal, wherein, can be to be rotatably assorted or be fixed to each other between shaft and arm, when between shaft and arm
When being fixed to each other, shaft should coordinate with base rotation, ensure that arm can be swung relative to pedestal, in the utility model, suffered by arm
Load moment born mainly by shaft, the output terminal of speed reducer only provides the turning moment of arm swing, therefore, this shaft carrying
Volume, dead weight and lower-cost small-power speed reducer may be used in formula mechanical arm, so as to which the body of this mechanical arm be greatly lowered
Product, dead weight and production cost, meanwhile, ensure that the shaft bearing-type mechanical arm has enough lifting capacities；In addition, speed reducer and
For driving the driving motor of speed reducer is detachable to be fixed on pedestal, after driving motor and retarder dismounting, can lead to
Remarkable power drive arm rotation, therefore, this mechanical arm can be driven by motor and can also be driven by manpower, and versatility is higher,
On the other hand, this mechanical arm is when dismounting driving device is safeguarded, without removing arm simultaneously, and then improves the inspection of this mechanical arm
Repair the convenience of maintenance.
Description of the drawings
The utility model is further described with reference to the accompanying drawings and examples：
Fig. 1 is the structure diagram of the shaft bearing-type mechanical arm of the utility model；
Fig. 2 is the structure diagram of the robot of the utility model.
Specific embodiment
Fig. 1 is the structure diagram of the shaft bearing-type mechanical arm of the utility model, as shown in the figure, heavily loaded in the present embodiment
Lotus mechanical arm, including pedestal 1, arm 11 and speed reducer 10；The arm 11 is set to the bottom by shaft 2 in a manner of swingable
Seat 1；The speed reducer 10 is removably fixed to the pedestal 1 and for the arm 11 to be driven to swing, certainly, this reality
The speed reducer 10 for applying example drives rotation by a driving motor 9, and the power of driving motor 9 after the deceleration of speed reducer 10 by exporting
To arm 11, the shaft bearing-type mechanical arm of the present embodiment, arm 11, which may be rotatably mounted at, to be set in the shaft 2 of pedestal 1, therefore,
Load moment suffered by arm 11 is born mainly by shaft 2, and the output terminal of speed reducer 10 only provides the turning moment of the swing of arm 11,
Therefore, volume, dead weight and lower-cost small-power speed reducer may be used in this shaft bearing-type mechanical arm, so as to significantly drop
Volume, dead weight and the production cost of low mechanical arm, meanwhile, ensure that the shaft bearing-type mechanical arm has enough load-carrying energy
Power；The pedestal 1 in the present embodiment includes 2 bearing of shaft being coaxially disposed and speed reducer bearing 10 and is fixedly connected on institute
State the linking arm 11 between 2 bearing of shaft and motor support base 10；2 bearing of shaft and speed reducer bearing 10 are respectively to application
In the installation shaft 2 and speed reducer 10；Wherein 2 mounting hole of shaft of 2 bearing of shaft and the speed reducer of speed reducer bearing 10 is pacified
Dress hole disposably processes to be formed；Ensure shaft 2 and the concentricity of speed reducer output shaft；In addition, 10 detachable fixation of speed reducer
On pedestal 1, after speed reducer 10 is dismantled, it can be swung by manpower actuating arm 11, therefore, this mechanical arm can pass through motor
Driving can also be driven by manpower, and versatility is higher, in addition, this mechanical arm is when dismantling maintenance of motor, without removing simultaneously
Arm 11, and then improve the convenience of this mechanical arm repair and maintenance.
In the present embodiment, the speed reducer 10 is harmonic wave speed reducing machine or RV speed reducers, and is disk output type speed reducer；
The arm 11 is equipped with the positioning convex ring 7 for being positioned with the cooperation of the output panel 8 of speed reducer 10, peace with 10 corresponding position of speed reducer
When filling speed reducer, the output panel 8 of speed reducer can be matched in 7 inner circle of positioning convex ring, it is ensured that the relative position of speed reducer and arm 11
Precision ensures speed reducer and the concentricity of shaft 2.
In the present embodiment, the speed reducer 10 by with shaft 2 it is coaxial in a manner of close to 2 end set of shaft；Therefore,
The output panel 8 of speed reducer 10 can be directly sequentially connected by fasteners such as bolts in arm 11 so as to which corresponding actuating arm 11 is swung, this
This arrangement of embodiment can effectively shorten transmission chain, improve the compactedness and reliability of mechanical arm entirety.
In the present embodiment, the output panel 8 of the speed reducer 10 is fixedly connected by fastener with arm 11,11 surface of arm
It is recessed to allow bit space 6 to what the fastener was stepped down when mounted；Install speed reducer 10 when, speed reducer it is defeated
Placing 8 is positioned with the mutual cooperation of positioning convex ring 7, and (herein, arm 11 is " interior close to one end of pedestal 1 for the inner end of arm 11
End ", one end far from pedestal 1 are " outer end ") outer wall is recessed inwardly to be formed and allows bit space 6,6 inner wall of bit space is allowed along vertical side
To equipped with bolt mounting holes, pass through the mounting hole that arm 11 is made to be fixedly connected with the output panel 8 of speed reducer using bolt.
In the present embodiment, the arm 11 is rotatably assorted by journal bearing and the shaft 2, and pass through thrust bearing 3 can
Rotating support is on the pedestal 1, and in the present embodiment, journal bearing is using deep groove ball bearing and needle bearing 5 jointly to arm 11
Supported, reliability is higher, the moment of flexure that arm 11 generates by deep groove ball bearing and needle bearing 5 by carrying, and 11 edge of arm
The component of vertical direction is carried by thrust bearing 3, and arm 11 forms the bearing saddle bore for installing bearing, deep groove ball bearing and rolling
Needle bearing 5 is installed between bearing saddle bore and shaft 2.
In the present embodiment, the pedestal 1 is equipped with the bearing block for installing the thrust bearing 3；11 bottom of arm is set
There is the sealing bulge loop 4 for being coated at the bearing block and labyrinth sealing being collectively formed with the bearing block；Seal bulge loop 4 and thrust
The bearing block of bearing 3 forms labyrinth channel, and pass through labyrinth passage and thrust bearing 3 is sealed after coaxially cooperating,
Impurity is avoided to enter in bearing；In addition, when the load suffered by arm 11 is excessive, sealing bulge loop 4 will be downwardly against pedestal 1 and right
Arm 11 forms supporting role, and arm 11 is avoided further to deform.
In the present embodiment, the pedestal 1 is fixed in 2 lower end of shaft, and the upper end stretches out pedestal 1 and forms cantilever upwards
11 structures；The length of the shaft 2 and 1 secure fit of pedestal is more than the 1/3 of its total length；In the present embodiment, due to mechanical arm
Suffered load is carried by shaft 2, and shaft 2 is fixed 11 structure of cantilever in one end, therefore, to ensure the firm of shaft 2
Degree, therefore, to assure that the length of its secure fit avoids excessive deformation in work from being even broken.
The structure diagram of the heavy load mechanical arm of the utility model is illustrated in figure 2, is the heavy load of the utility model
Mechanical arm, the equipment driven including 15 component of large arm and 20 component of forearm and by 20 component of forearm；It is described big
Large arm 15,15 bearing 12 of large arm, large arm shaft 13, the large arm that 15 component of arm includes to be formed the shaft bearing-type mechanical arm subtract
Fast machine 26 and large arm driving motor 14；The large arm 15,15 bearing 12 of large arm, large arm shaft 13, large arm speed reducer 26 and large arm
Driving motor 14 is respectively as the arm of shaft bearing-type mechanical arm, pedestal, shaft, speed reducer and driving motor；The forearm 20
Component includes the forearm 20, forearm shaft 16, the forearm speed reducer that form the shaft bearing-type mechanical arm for pedestal with large arm 15
26 and forearm driving motor 17, the forearm 20, forearm shaft 16, forearm speed reducer 27 and forearm driving motor 17 make respectively
For the arm of shaft bearing-type mechanical arm, shaft, speed reducer and driving motor, 15 component of large arm of the robot in the present embodiment and
20 component of forearm is respectively formed the shaft bearing-type machinery arm configuration, 20 component of forearm further increase mechanical arm arm exhibition and from
By spending, in addition, 20 component of forearm, by the use of large arm 15 as pedestal, therefore, 15 outer end of large arm of the present embodiment extends longitudinally out
Forearm shaft seating 18 and forearm speed reducer bearing 19, respectively to being applied to install forearm shaft 16 and forearm speed reducer 27, this
Volume, dead weight and lower-cost small-power speed reducing motor driving large arm 15 may be used in robot or forearm 20 is swung, so as to
Volume, dead weight and the production cost of robot is greatly lowered.
In the present embodiment, the equipment by can vertically lift and around horizontal direction rotate in a manner of be set to
20 outer end of forearm, equipment shown in Fig. 2 are cutting machine 24, and cutting machine 24 includes a motor and is fixed on motor output
Cutter plate on axis；When cutting machine 24 for cut when, motor should turn to horizontal attitude, when need using equipment into
When row drilling or grinding plane, can turn to the motor around horizontal direction is vertically arranged its output shaft, then output shaft again
Upper installation drill bit or grinding knife tool drill or be ground accordingly.
In the present embodiment, the pedestal, large arm 15 and forearm 20 are hollow-core construction, and the inside of three is respectively formed free
Chamber, three are the structure of integral type, using the pedestal of this structure, large arm 15 and forearm 20；Be conducive to oneself of reduction three
Weight increases the brachium of mechanical arm, reduces large arm 15 and forearm 20 is conducted oneself with dignity generated moment of flexure.
In the present embodiment, the shaft bearing-type mechanical arm is vertically sliding combined with lifting seat 22, the lifting
Seat 22 drives it vertically to reciprocatingly slide by 21 nut of screw, 23 mechanism, and the lifting seat 22 is equipped with can be around level side
The rotating seat 25 is fixed on to rotation and the rotating seat 25 of latched position, the equipment；The lifting seat 22 is along vertical side
To equipped with the sliding rail being slidably matched with 20 outer end of forearm；Wherein, the screw 21 of 21 nut of screw, 23 mechanism is set to lifting seat 22,
Nut 23 is set to 20 outer end of forearm, and the motor driving rotation of screw 21 on lifting seat 22 lifts entire lifting seat 22, this reality
It applies in example, equipment is fixed on rotating seat 25, and rotating seat 25 is connected to lifting seat 22 around horizontal direction, passes through rotating seat 25
Equipment, which can be adjusted, makes it be rotated around horizontal direction to adjust its posture, will by fasteners such as bolts after adjusting
Rotating seat 25 is fixed to each other with lifting seat 22.
Finally illustrate, above example is merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng
The utility model is described in detail according to preferred embodiment, it will be understood by those of ordinary skill in the art that, it can be to this
The technical solution of utility model is modified or replaced equivalently, without departing from the objective and model of technical solutions of the utility model
It encloses, should all cover in the right of the utility model.
Claims (8)
1. a kind of shaft bearing-type mechanical arm, it is characterised in that：Including pedestal, arm and speed reducer；The arm is by shaft with can
The mode of swing is set to the pedestal；The speed reducer is removably fixed to the pedestal and is used to drive described
Arm swing；The speed reducer is disk output type speed reducer；The arm is equipped with disk output type speed reducer corresponding position for defeated with disk
Go out the positioning convex ring that the output panel cooperation of formula speed reducer is positioned；The speed reducer is close in the mode coaxial with the shaft
Roller end is set.
2. shaft bearing-type mechanical arm according to claim 1, it is characterised in that：The output panel of the speed reducer passes through tight
Firmware is fixedly connected with arm, and the arm surface forms to allow bit space to what the fastener was stepped down when mounted.
3. shaft bearing-type mechanical arm according to claim 1, it is characterised in that：The arm by journal bearing with it is described
Shaft is rotatably assorted, and passes through thrust bearing rotatable support on the pedestal.
4. shaft bearing-type mechanical arm according to claim 3, it is characterised in that：The pedestal is equipped with described for installing
The bearing block of thrust bearing；The arm bottom is equipped with and is coated at the bearing block and labyrinth sealing is collectively formed with the bearing block
Sealing bulge loop.
5. shaft bearing-type mechanical arm according to claim 1, it is characterised in that：The bottom is fixed in the shaft lower end
Seat, the upper end stretch out pedestal and form cantilever design upwards；The length of the shaft and pedestal secure fit is more than its total length
1/3。
6. a kind of robot of shaft bearing-type mechanical arm using described in claim 1-5 any claims, feature exist
In：The equipment driven including big arm component and small arm component and by the small arm component；The big arm component includes
Large arm, large arm bearing, large arm shaft and the large arm speed reducer of the shaft bearing-type mechanical arm can be formed；The large arm, large arm
Bearing, large arm shaft and large arm speed reducer are respectively to should be used as arm, pedestal, shaft and the speed reducer of shaft bearing-type mechanical arm；
Forearm, forearm shaft and the forearm that the small arm component includes being formed the shaft bearing-type mechanical arm using large arm as pedestal subtract
Fast machine, the forearm, forearm shaft and forearm speed reducer are respectively to should be used as the arm of shaft bearing-type mechanical arm, shaft and subtract
Fast machine.
7. robot according to claim 6, it is characterised in that：The equipment is can vertically lift and can
Mode around horizontal direction rotation is set to the forearm.
8. robot according to claim 7, it is characterised in that：The forearm outer end is vertically sliding combined with liter
Seat drops, and the lifting seat drives it vertically to be lifted by leading screw and nut mechanism, and the lifting seat is equipped with can be around
Horizontal direction rotates and the rotating seat of latched position, the equipment are fixed on the rotating seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720671474.8U CN207548791U (en) | 2017-06-09 | 2017-06-09 | Shaft bearing-type mechanical arm and its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720671474.8U CN207548791U (en) | 2017-06-09 | 2017-06-09 | Shaft bearing-type mechanical arm and its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207548791U true CN207548791U (en) | 2018-06-29 |
Family
ID=62671748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720671474.8U Expired - Fee Related CN207548791U (en) | 2017-06-09 | 2017-06-09 | Shaft bearing-type mechanical arm and its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207548791U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097253A (en) * | 2017-06-09 | 2017-08-29 | 重庆盛学科技有限公司 | Heavy load mechanical arm and heavy load robot |
-
2017
- 2017-06-09 CN CN201720671474.8U patent/CN207548791U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097253A (en) * | 2017-06-09 | 2017-08-29 | 重庆盛学科技有限公司 | Heavy load mechanical arm and heavy load robot |
| CN107097253B (en) * | 2017-06-09 | 2023-12-22 | 重庆文理学院 | Heavy load mechanical arm and heavy load robot |
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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: 20180629 |
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| CF01 | Termination of patent right due to non-payment of annual fee |