CN208215338U - A kind of single machine axis connection formula multi-freedom joint mechanical arm - Google Patents
A kind of single machine axis connection formula multi-freedom joint mechanical arm Download PDFInfo
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- CN208215338U CN208215338U CN201820426307.1U CN201820426307U CN208215338U CN 208215338 U CN208215338 U CN 208215338U CN 201820426307 U CN201820426307 U CN 201820426307U CN 208215338 U CN208215338 U CN 208215338U
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Abstract
The utility model discloses a kind of single machine axis to join formula multi-freedom joint mechanical arm, including principal arm, it further include first rotating arm component, second rotating arm component and third rotating arm component, the principal arm is provided with driving assembly, wherein driving assembly connects first rotating arm component, first rotating arm component end connects the second rotating arm component, wherein the second rotating arm component end connects third rotating arm component, the first rotating arm component, second rotating arm component and third rotating arm component can axially rotate respectively around itself, wherein the second rotating arm component can be rotated around first rotating arm component end, wherein third rotating arm component can be rotated around the second rotating arm component end.The utility model reduces the usage amount of servo motor and speed reducer, reduces the cost of production cost, use cost and later period maintenance.
Description
Technical field
The utility model relates to joint of robot mechanical arm technical field, in particular to a kind of single machine axis joins formula multiple degrees of freedom
Articulated mechanical arm.
Background technique
In existing technical background, each joint of robot is equipped with a servo motor, and matches
Deceleration mechanism, the angular displacement in association joint and the relative coordinate displacement of executing agency are adjusted to adjust with this, such structure matches
Set scheme, though can achieve the purpose that control adjustment constrains each joint and connected joint rod piece mechanical arm, because its servo motor,
Speed reducer cannot connect shared, cause its production cost, use cost, the increased costs such as later period maintenance, and each joint
Motion path constrains the multidimensional flexibility and operating characteristics of articulated mechanical arm in a planar dimensions.
Utility model content
In order to solve the problems, such as that existing articulated mechanical arm exists, it is how free that the utility model provides a kind of single machine axis connection formula
Spend articulated mechanical arm.
In order to solve the above technical problems, the technical solution adopted in the utility model is: a kind of single machine axis connection formula multiple degrees of freedom
Articulated mechanical arm, including principal arm, further include first rotating arm component, the second rotating arm component and third rotating arm component, described
Principal arm is provided with driving assembly, and wherein driving assembly connects first rotating arm component, the connection of first rotating arm component end
Second rotating arm component, wherein the second rotating arm component end connects third rotating arm component, the first rotating arm component, the
Two rotating arm components and third rotating arm component can axially rotate respectively around itself, wherein the second rotating arm component can be around the first rotation
Tumbler assembly end rotation, wherein third rotating arm component can be rotated around the second rotating arm component end.
Preferably, the driving component includes servomotor, gear reducer gear and driven gear, and wherein servo motor is arranged
In on mechanical arm principal arm, the servo motor output end connects reducer gear, and wherein reducer gear and driven gear cooperate,
The driven gear drives the rotation of first rotating arm component.
Preferably, the first rotating arm component includes the first rotary shaft, the first universal driving shaft, first mechanical arm rod piece, the
One rotating arm principal arm, first rotating arm bearing block, the first rotation axle lock nut, the first universal driving shaft umbrella wheel, the first rotary joint
Umbrella wheel, the first joint shaft, first interlock bearing housing, the first connection bolt and the first electromagnetic clutch, wherein the first universal driving shaft
One end connects driven gear, and the other end of first universal driving shaft sequentially passes through first rotating arm principal arm, the first electromagnetic clutch
The first universal driving shaft umbrella wheel, first rotating arm principal arm one end and the first rotation are connected with the cavity among first mechanical arm rod piece
Axle lock nut connection, is wherein configured with first rotating arm bearing block, first electromagnetic clutch in first rotating arm principal arm chamber
Device is internally provided with the first electromagnetic clutch input shaft and the first electromagnetic clutch output shaft, wherein the first rotary shaft is mounted on
On one rotating arm bearing block, first rotary shaft one end is connected by the first connection bolt with first mechanical arm rod piece, simultaneously
First connection bolt is connected with the first electromagnetic clutch output shaft, and first universal driving shaft is across the cavity of the first rotary shaft and the
One electromagnetic clutch input shaft is connected, wherein the first universal driving shaft is fixed on first mechanical arm rod piece by the first gearing bearing housing
On, when the first electromagnetic clutch is in bonding state, the first mechanical arm rod piece is by the first rotary shaft around the first universal driving shaft
Rotation；
The first universal driving shaft umbrella wheel and the first rotary joint umbrella wheel of first mechanical arm rod piece intersection cooperate, wherein the
One rotary joint umbrella wheel is connected with the first joint shaft, and described first rotary joint umbrella wheel one end connects the first universal driving shaft, the other end
The second rotating arm component is connected, the power of the first universal driving shaft is gone into the second rotating arm component, first joint shaft and first
Electromagnetic clutch input shaft is connected, and the first electromagnetic clutch output shaft is connected with first mechanical arm rod piece, when the first electromagnetism
For clutch in bonding state, the first universal driving shaft is by driving the first universal driving shaft umbrella wheel that the first electromagnetic clutch output shaft is driven to turn
It is dynamic, then the second rotating arm component is driven to rotate around the first joint shaft.
Preferably, second rotating arm component includes the second rotary shaft, the second universal driving shaft, second mechanical arm rod piece, the
Two rotating arm principal arms, the second rotating arm bearing block, the second rotation axle lock nut, the second universal driving shaft umbrella wheel, the second rotary joint
Umbrella wheel, second joint axis, second interlock bearing housing, the second connection bolt and the second electromagnetic clutch, wherein the second universal driving shaft
One end connects the second rotary joint umbrella wheel of first rotating arm component end, and the other end of second universal driving shaft sequentially passes through the
Cavity among two rotating arm principal arms, the second electromagnetic clutch and second mechanical arm rod piece connects the second universal driving shaft umbrella wheel, described
Second rotating arm principal arm side is connect with the second rotation axle lock nut, wherein configured with the second rotation in the second rotating arm principal arm chamber
Rotary arm bearing seat, second electromagnetic clutch is internally provided with the second electromagnetic clutch input shaft and the second electromagnetic clutch is defeated
Shaft, wherein the second rotary shaft is mounted on the second rotating arm bearing block, second rotary shaft one end passes through the second connection spiral shell
Bolt is connected with second mechanical arm rod piece, while the second connection bolt is connected with the second electromagnetic clutch output shaft, and described second
The cavity that moving axis passes through the second rotary shaft is connected with the second electromagnetic clutch input shaft, wherein the second universal driving shaft is interlocked by second
Bearing housing is fixed on second mechanical arm rod piece, when the second electromagnetic clutch is in bonding state, the second mechanical arm bar
Part is rotated by the second rotary shaft around the second universal driving shaft；
The second universal driving shaft umbrella wheel and the second rotary joint umbrella wheel of second mechanical arm rod piece intersection cooperate, wherein the
Two rotary joint umbrella wheels are connected with second joint axis, and described second rotary joint umbrella wheel one end connects the second universal driving shaft, the other end
Third rotating arm component is connected, the power of the second universal driving shaft is gone into third rotating arm component, the second joint axis and second
Electromagnetic clutch input shaft is connected, and the second electromagnetic clutch output shaft is connected with second mechanical arm rod piece, when the second electromagnetism
For clutch in bonding state, the second universal driving shaft is by driving the second universal driving shaft umbrella wheel that the second electromagnetic clutch output shaft is driven to turn
It is dynamic, then third rotating arm component is driven to rotate around second joint axis.
Preferably, when the first electromagnetic clutch is in bonding state, the first universal driving shaft is by driving the first universal driving shaft umbrella wheel
It drives the first electromagnetic clutch output shaft to rotate, then second mechanical arm rod piece is driven to rotate around the first joint shaft.
Preferably, the third rotating arm component includes third universal driving shaft, third mechanical arm rod piece, third universal driving shaft umbrella
Wheel, third rotary joint umbrella wheel, third interlock bearing housing, third connection bolt and third electromagnetic clutch, and wherein third joins
Moving axis one end connects the third rotary joint umbrella wheel of the second rotating arm component end, and the other end of the third universal driving shaft is successively worn
It crosses third electromagnetic clutch and connects third universal driving shaft umbrella wheel, the third electromagnetic clutch with the cavity among third mechanical arm rod piece
Device is internally provided with third electromagnetic clutch input shaft and third electromagnetic clutch output shaft, wherein third connection bolt and third
Electromagnetic clutch output shaft is connected, and the third universal driving shaft is connected with third electromagnetic clutch input shaft, wherein third universal driving shaft
It is fixed on third mechanical arm rod piece, when third electromagnetic clutch is in bonding state, the third mechanical arm rod piece is around third
Universal driving shaft rotation；
The third universal driving shaft umbrella wheel and the third rotary joint umbrella wheel of third mechanical arm rod piece intersection cooperate, wherein the
Three rotary joint umbrella wheels interlock bearing housing with third and are connected, the third electromagnetic clutch output shaft and third mechanical arm rod piece
It is connected.
Preferably, when the second electromagnetic clutch is in bonding state, the second universal driving shaft is by driving the second universal driving shaft umbrella wheel
It drives the second electromagnetic clutch output shaft to rotate, then third mechanical arm rod piece is driven to rotate around second joint axis.
Compared with the prior art, the advantages of the utility model are:
(1) the utility model configures corresponding speed reducer using a servo motor, passes through the universal driving shaft that is mutually related, connection
Moving axis umbrella wheel and rotary joint umbrella wheel cooperate electromagnetic clutch, keep each rotating arm component independent or operation is completed in collaboration
Order, the utility model reduce the usage amount of servo motor and speed reducer, reduce production cost and use cost, reduce
The cost of later period maintenance；
(2) each rotating arm component of the utility model can be around axial rotation, wherein the second rotating arm component can be around the first rotation
The rotation of arm component end, third rotating arm component can be rotated around the second rotating arm component end, and multivariant pass can be realized
Mechanical arm is saved, there is multidimensional flexibility, and strong operability.
Detailed description of the invention
The schematic view of the front view of Fig. 1, the utility model；
The overlooking structure diagram of Fig. 2, the utility model；
The structural schematic diagram of Fig. 3, the utility model principal arm and first rotating arm component；
The structural schematic diagram of Fig. 4, the second rotating arm component of the utility model；
The structural schematic diagram of Fig. 5, the utility model third rotating arm component.
Description of symbols:
1 principal arm, 2 servo motors, 3 reducer gears, the first rotary shaft of 4-1, the second rotary shaft of 4-2, the first electromagnetism of 5-1 from
Clutch input shaft, 5-2 the second electromagnetic clutch input shaft, 5-3 third electromagnetic clutch input shaft, the first universal driving shaft of 6-1,6-2
Second universal driving shaft, 6-3 third universal driving shaft, 7-1 first mechanical arm rod piece, 7-2 second mechanical arm rod piece, 7-3 third machinery armed lever
Part, 8-1 first rotating arm principal arm, 8-2 the second rotating arm principal arm, 9 driven gears, 10-1 the first electromagnetic clutch output shaft, 10-
2 second electromagnetic clutch output shafts, 10-3 third electromagnetic clutch output shaft, 11-1 first rotating arm bearing block, 11-2 second
Rotating arm bearing block, 12-1 first rotate axle lock nut, and 12-2 second rotates axle lock nut, 13-1 the first universal driving shaft umbrella
Wheel, 13-2 the second universal driving shaft umbrella wheel, 13-3 third universal driving shaft umbrella wheel, 14-1 the first rotary joint umbrella wheel, the rotation of 14-2 second are closed
Save umbrella wheel, 14-3 third rotary joint umbrella wheel, the first joint shaft of 15-1,15-2 second joint axis, the gearing axle bearing of 16-1 first
Seat, 16-2 second interlock bearing housing, and 16-3 third interlocks bearing housing, the connection bolt of 17-1 first, the connection spiral shell of 17-2 second
Bolt, 17-3 third connect bolt, the first electromagnetic clutch of 18-1, the second electromagnetic clutch of 18-2,18-3 third electromagnetic clutch.
Specific embodiment
Specific embodiment of the present invention is described with reference to the accompanying drawings and embodiments:
It should be noted that structure, ratio, the size etc. illustrated in this specification institute attached drawing, only to cooperate explanation
The revealed content of book is not intended to limit the utility model enforceable so that those skilled in the art understands and reads
Qualifications, the modification of any structure, the change of proportionate relationship or the adjustment of size, can be generated not influencing the utility model
The effect of and the purpose that can reach under, should all still fall in the range of the revealed technology contents of the utility model can cover.
Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, also
Only being illustrated convenient for narration, rather than to limit the enforceable range of the utility model, relativeness is altered or modified,
Under the content of no substantial changes in technology, when being also considered as the enforceable scope of the utility model.
As shown in Fig. 1 ~ 5, the utility model discloses a kind of single machine axis to join formula multi-freedom joint mechanical arm, including principal arm
1, it further include first rotating arm component, the second rotating arm component and third rotating arm component, the principal arm 1 is provided with driving group
Part, wherein driving assembly connects first rotating arm component, and first rotating arm component end connects the second rotating arm component,
In the second rotating arm component end connect third rotating arm component, the first rotating arm component, the second rotating arm component and the
Three rotating arm components can axially rotate respectively around itself, wherein the second rotating arm component can be revolved around first rotating arm component end
Turn, wherein third rotating arm component can be rotated around the second rotating arm component end.
As shown in Fig. 1 ~ 3, it is preferred that the driving component includes servo motor 2, reducer gear 3 and driven gear 9,
Wherein servo motor 2 is set on mechanical arm principal arm 1, and 2 output end of servo motor connects reducer gear 3, wherein slowing down
Machine gear 3 and driven gear 9 cooperate, and the driven gear 9 drives the rotation of first rotating arm component.
As shown in Fig. 1 ~ 3, it is preferred that the first rotating arm component include the first rotary shaft 4-1, the first universal driving shaft 6-1,
First mechanical arm rod piece 7-1, first rotating arm principal arm 8-1, first rotating arm bearing block 11-1, the first rotation axle lock nut
12-1, the first universal driving shaft umbrella wheel 13-1, the first rotary joint umbrella wheel 14-1, the first joint shaft 15-1, first interlock bearing housing
16-1, the first connection bolt 17-1 and the first electromagnetic clutch 18-1, wherein first one end universal driving shaft 6-1 connects driven gear 9,
The other end of the first universal driving shaft 6-1 sequentially passes through first rotating arm principal arm 8-1, the first electromagnetic clutch 18-1 and the first machine
Cavity among tool armed lever part 7-1 connects the first universal driving shaft umbrella wheel 13-1, described one end first rotating arm principal arm 8-1 and the first rotation
The 12-1 connection of shaft locking nut is wherein configured with first rotating arm bearing block 11-1 in first rotating arm principal arm 8-1 chamber, described
First electromagnetic clutch 18-1 is internally provided with the first electromagnetic clutch input shaft 5-1 and the first electromagnetic clutch output shaft 10-
1, wherein the first rotary shaft 4-1 is mounted on first rotating arm bearing block 11-1, described one end first rotary shaft 4-1 passes through first
Connection bolt 17-1 is connected with first mechanical arm rod piece 7-1, while the first connection bolt 17-1 and the first electromagnetic clutch export
Axis 10-1 is connected, and the first universal driving shaft 6-1 passes through the cavity and the first electromagnetic clutch input shaft 5-1 of the first rotary shaft 4-1
It is connected, is fixed on first mechanical arm rod piece 7-1 wherein the first universal driving shaft 6-1 interlocks bearing housing 16-1 by first, when the
For one electromagnetic clutch 18-1 in bonding state, the first mechanical arm rod piece 7-1 is by the first rotary shaft 4-1 around the first linkage
Axis 6-1 rotation；
The first rotary joint umbrella wheel 14-1 of the first universal driving shaft umbrella wheel 13-1 and the intersection first mechanical arm rod piece 7-1
Cooperation, wherein the first rotary joint umbrella wheel 14-1 is connected with the first joint shaft 15-1, the first rotary joint umbrella wheel 14-1 mono-
The first universal driving shaft 6-1 of end connection, the other end connect the second rotating arm component, the power of the first universal driving shaft 6-1 are gone to the second rotation
Tumbler assembly, the first joint shaft 15-1 are connected with the first electromagnetic clutch input shaft 5-1, and first electromagnetic clutch is defeated
Shaft 10-1 is connected with first mechanical arm rod piece 7-1, when the first electromagnetic clutch 18-1 is in bonding state, the first universal driving shaft 6-
1 drives the first electromagnetic clutch output shaft 10-1 rotation by the first universal driving shaft umbrella wheel 13-1 of drive, then drives the second rotating arm
Component is rotated around the first joint shaft 15-1.
As shown in Fig. 1,2,4, it is preferred that second rotating arm component includes including the second rotary shaft 4-2, the second linkage
Axis 6-2, second mechanical arm rod piece 7-2, the second rotating arm principal arm 8-2, the second rotating arm bearing block 11-2, the second rotation shaft locking
Nut 12-2, the second universal driving shaft umbrella wheel 13-2, the second rotary joint umbrella wheel 14-2, second joint axis 15-2, the second couple axle axis
A 16-2, the second connection bolt 17-2 and the second electromagnetic clutch 18-2 are held, wherein the first rotation of second one end universal driving shaft 6-2 connection
Second rotary joint umbrella wheel 14-2 of tumbler assembly end, the other end of the second universal driving shaft 6-2 sequentially pass through the second rotation
Cavity among arm principal arm 8-2, the second electromagnetic clutch 18-2 and second mechanical arm rod piece 7-2 connects the second universal driving shaft umbrella wheel
13-2, the second rotating arm side principal arm 8-2 is connect with the second rotation axle lock nut 12-2, wherein the second rotating arm principal arm
In 8-2 chamber configured with the second rotating arm bearing block 11-2, the second electromagnetic clutch 18-2 be internally provided with the second electromagnetism from
Clutch input shaft 5-2 and the second electromagnetic clutch output shaft 10-2, wherein the second rotary shaft 4-2 is mounted on the second rotating arm bearing
On seat 11-2, described one end second rotary shaft 4-2 is connected by the second connection bolt 17-2 with second mechanical arm rod piece 7-2, together
When second connection bolt 17-2 be connected with the second electromagnetic clutch output shaft 10-2, the second universal driving shaft 6-2 across second revolve
The cavity of shaft 4-2 is connected with the second electromagnetic clutch input shaft 5-2, wherein the second universal driving shaft 6-2 passes through the second couple axle axis
A 16-2 is held to be fixed on second mechanical arm rod piece 7-2, when the second electromagnetic clutch 18-2 is in bonding state, second machine
Tool armed lever part 7-2 is rotated by the second rotary shaft 4-2 around the second universal driving shaft 6-2, and the second rotating arm component one dimension can be completed
The angular adjustment of degree.
The second rotary joint umbrella wheel 14-2 of the second universal driving shaft umbrella wheel 13-2 and the intersection second mechanical arm rod piece 7-2
Cooperation, wherein the second rotary joint umbrella wheel 14-2 is connected with second joint axis 15-2, the second rotary joint umbrella wheel 14-2 mono-
The second universal driving shaft 6-2 of end connection, the other end connect third rotating arm component, and the power of the second universal driving shaft 6-2 is gone to third rotation
Tumbler assembly, the second joint axis 15-2 are connected with the second electromagnetic clutch input shaft 5-2, and second electromagnetic clutch is defeated
Shaft 10-2 is connected with second mechanical arm rod piece 7-2, when the second electromagnetic clutch 18-2 is in bonding state, the second universal driving shaft 6-
2 drive the second electromagnetic clutch output shaft 10-2 rotation by the second universal driving shaft umbrella wheel 13-2 of drive, then drive third rotating arm
Component is rotated around second joint axis 15-2, completes third rotating arm component in the angular adjustment of another dimension.
As shown in Fig. 1 ~ 4, it is preferred that when the first electromagnetic clutch 18-1 is in bonding state, the first universal driving shaft 6-1 passes through
It drives the first universal driving shaft umbrella wheel 13-1 to drive the first electromagnetic clutch output shaft 10-1 rotation, then drives second mechanical arm rod piece 7-
2 rotate around the first joint shaft 15-1, complete the second rotating arm component in the angular adjustment of another dimension.
As shown in Fig. 1,2,5, it is preferred that the third rotating arm component includes third universal driving shaft 6-3, third machinery armed lever
Part 7-3, third universal driving shaft umbrella wheel 13-3, third rotary joint umbrella wheel 14-3, third interlock bearing housing 16-3, third connects spiral shell
Bolt 17-3 and third electromagnetic clutch 18-3, wherein the one end third universal driving shaft 6-3 connects the third of the second rotating arm component end
Rotary joint umbrella wheel 14-3, the other end of the third universal driving shaft 6-3 sequentially pass through third electromagnetic clutch 18-3 and third machine
Cavity among tool armed lever part 7-3 connects third universal driving shaft umbrella wheel 13-3, and the third electromagnetic clutch 18-3 is internally provided with
Third electromagnetic clutch input shaft 5-3 and third electromagnetic clutch output shaft 10-3, wherein third connects bolt 17-3 and third
Electromagnetic clutch output shaft 10-3 is connected, and the third universal driving shaft 6-3 is connected with third electromagnetic clutch input shaft 5-3, wherein
Third universal driving shaft 6-3 is fixed on third mechanical arm rod piece 7-3, described when third electromagnetic clutch 18-3 is in bonding state
Third mechanical arm rod piece 7-3 is rotated around third universal driving shaft 6-3, and the angle tune of one dimension of third rotating arm component can be completed
Section.
The third rotary joint umbrella wheel 14-3 of the third universal driving shaft umbrella wheel 13-3 and the intersection third mechanical arm rod piece 7-3
Cooperation, wherein third rotary joint umbrella wheel 14-3 interlocks bearing housing 16-3 with third and is connected, and the third electromagnetic clutch is defeated
Shaft 10-3 is connected with third mechanical arm rod piece 7-3.
As shown in Fig. 1 ~ 5, it is preferred that when the second electromagnetic clutch 18-2 is in bonding state, the second universal driving shaft 6-2 passes through
It drives the second universal driving shaft umbrella wheel 13-2 to drive the second electromagnetic clutch output shaft 10-2 rotation, then drives third mechanical arm rod piece 7-
3 rotate around second joint axis 15-2, complete third rotating arm component in the angular adjustment of another dimension.
The working principle of the utility model is as follows:
The servo motor 2 being arranged on mechanical arm principal arm 1 drives reducer gear 3, and reducer gear 3 drives driven gear 9,
Since the first universal driving shaft of connection of driven gear 9 6-1, the first universal driving shaft 6-1 interlock bearing housing 16-1 connection first by first
Mechanical arm rod piece 17-1, therefore the first universal driving shaft 6-1 drives first mechanical arm rod piece 17-1 to rotate around the first universal driving shaft 6-1, by
It is connect, therefore can led to the first electromagnetic clutch 18-1 by the first electromagnetic clutch input shaft 5-1 in the first universal driving shaft 6-1
Cross the rotation of the first electromagnetic clutch 18-1 control first mechanical arm rod piece 17-1.
The other end of first universal driving shaft 6-1 connects the first universal driving shaft umbrella wheel 13-1, the first universal driving shaft umbrella wheel 13-1 connection the
One rotary joint umbrella wheel 14-1, while the second universal driving shaft 6-2 of first rotary joint umbrella wheel 14-1 the second rotating arm component of connection,
Other first rotary joint umbrella wheel 14-1 connection the first joint shaft 15-1, therefore the first universal driving shaft 6-1 imparts power to second
Second universal driving shaft 6-2, the second universal driving shaft 6-2 of rotating arm component interlocks bearing housing 16-2 connection second mechanical arm by second
Rod piece 17-2, therefore second mechanical arm rod piece 17-2 is rotated around the second universal driving shaft 6-2, similarly third mechanical arm rod piece 17-3 is around
Three universal driving shaft 6-3 rotation.
Since the first universal driving shaft 6-1 passes through the first universal driving shaft umbrella wheel 13-1 and the first rotary joint umbrella wheel 14-1 connection first
Joint shaft 15-1, therefore the first universal driving shaft 6-1 drives the second rotating arm component to rotate around the first joint shaft 15-1, similarly the second rotation
Tumbler assembly imparts power to third rotating arm component according to same principle, and third rotating arm component can be around the second rotating arm
The second joint axis 15-2 of component end rotates.
The utility model configures corresponding speed reducer using a servo motor, passes through the universal driving shaft that is mutually related, linkage
Axis umbrella wheel and rotary joint umbrella wheel cooperate electromagnetic clutch, keep each rotating arm component independent or operation life is completed in collaboration
It enables, the utility model reduces the usage amount of servo motor and speed reducer, reduces production cost and use cost, after reducing
The cost of phase maintenance.
Each rotating arm component of the utility model can be around axial rotation, wherein the second rotating arm component can be around first rotating arm group
The rotation of part end, third rotating arm component can be rotated around the second rotating arm component end, and multivariant joint machine can be realized
Tool arm has multidimensional flexibility, and strong operability.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the utility model is not limited to
Above embodiment can also not depart from the utility model within the knowledge of a person skilled in the art
It is made a variety of changes under the premise of objective.
Many other changes and modifications may be made without departing from the spirit and scope of the utility model.It should be appreciated that this reality
It is not limited to specific embodiment with novel, the scope of the utility model is defined by the following claims.The present embodiment is not detailed
The well-known components and common structure or conventional means of the component and the structure category industry that carefully describe, do not describe one by one here.
Claims (7)
1. a kind of single machine axis joins formula multi-freedom joint mechanical arm, including principal arm (1), it is characterised in that: further include the first rotation
Arm component, the second rotating arm component and third rotating arm component, the principal arm (1) are provided with driving assembly, wherein driving assembly
First rotating arm component is connected, first rotating arm component end connects the second rotating arm component, wherein the second rotating arm group
Part end connects third rotating arm component, the first rotating arm component, the second rotating arm component and third rotating arm component point
It can not axially be rotated around itself, wherein the second rotating arm component can be rotated around first rotating arm component end, wherein third rotates
Arm component can be rotated around the second rotating arm component end.
2. a kind of single machine axis according to claim 1 joins formula multi-freedom joint mechanical arm, it is characterised in that: the driving
Component includes servo motor (2), reducer gear (3) and driven gear (9), and wherein servo motor (2) is set to mechanical arm master
On arm (1), servo motor (2) output end connects reducer gear (3), wherein reducer gear (3) and driven gear (9)
Cooperation, the driven gear (9) drive the rotation of first rotating arm component.
3. a kind of single machine axis according to claim 2 joins formula multi-freedom joint mechanical arm, it is characterised in that: described first
Rotating arm component includes the first rotary shaft (4-1), the first universal driving shaft (6-1), first mechanical arm rod piece (7-1), first rotating arm
Principal arm (8-1), first rotating arm bearing block (11-1), the first rotation axle lock nut (12-1), the first universal driving shaft umbrella wheel (13-
1), the first rotary joint umbrella wheel (14-1), the first joint shaft (15-1), first interlock bearing housing (16-1), the first connection spiral shell
Bolt (17-1) and the first electromagnetic clutch (18-1), wherein the first universal driving shaft one end (6-1) connection driven gear (9), described the
The other end of one universal driving shaft (6-1) sequentially passes through first rotating arm principal arm (8-1), the first electromagnetic clutch (18-1) and the first machine
The intermediate cavity of tool armed lever part (7-1) connects the first universal driving shaft umbrella wheel (13-1), described first rotating arm principal arm one end (8-1) with
First rotation axle lock nut (12-1) connection, is wherein configured with first rotating arm bearing in first rotating arm principal arm (8-1) chamber
Seat (11-1), first electromagnetic clutch (18-1) are internally provided with the first electromagnetic clutch input shaft (5-1) and the first electricity
Magnet clutch output shaft (10-1), wherein the first rotary shaft (4-1) is mounted on first rotating arm bearing block (11-1), described
One rotary shaft one end (4-1) is connected by the first connection bolt (17-1) with first mechanical arm rod piece (7-1), while the first connection
Bolt (17-1) is connected with the first electromagnetic clutch output shaft (10-1), and first universal driving shaft (6-1) passes through the first rotary shaft
The cavity of (4-1) is connected with the first electromagnetic clutch input shaft (5-1), wherein the first universal driving shaft (6-1) passes through the first couple axle
Bearing block (16-1) is fixed on first mechanical arm rod piece (7-1), when the first electromagnetic clutch (18-1) is in bonding state, institute
It states first mechanical arm rod piece (7-1) and is rotated by the first rotary shaft (4-1) around the first universal driving shaft (6-1)；
First rotary joint umbrella wheel (14- of the first universal driving shaft umbrella wheel (13-1) and the intersection first mechanical arm rod piece (7-1)
1) cooperate, wherein the first rotary joint umbrella wheel (14-1) is connected with the first joint shaft (15-1), the first rotary joint umbrella wheel
The one end (14-1) connects the first universal driving shaft (6-1), and the other end connects the second rotating arm component, by the dynamic of the first universal driving shaft (6-1)
Power goes to the second rotating arm component, and first joint shaft (15-1) is connected with the first electromagnetic clutch input shaft (5-1), described
First electromagnetic clutch output shaft (10-1) is connected with first mechanical arm rod piece (7-1), when the first electromagnetic clutch (18-1) exists
When bonding state, the first universal driving shaft (6-1) is by driving the first universal driving shaft umbrella wheel (13-1) to drive the output of the first electromagnetic clutch
Axis (10-1) rotation, then the second rotating arm component is driven to rotate around the first joint shaft (15-1).
4. a kind of single machine axis according to claim 3 joins formula multi-freedom joint mechanical arm, it is characterised in that: described second
Rotating arm component includes the second rotary shaft (4-2), the second universal driving shaft (6-2), second mechanical arm rod piece (7-2), the second rotating arm
Principal arm (8-2), the second rotating arm bearing block (11-2), the second rotation axle lock nut (12-2), the second universal driving shaft umbrella wheel (13-
2), the second rotary joint umbrella wheel (14-2), second joint axis (15-2), second interlock bearing housing (16-2), the second connection spiral shell
Bolt (17-2) and the second electromagnetic clutch (18-2), wherein the second universal driving shaft one end (6-2) connects first rotating arm component end
The second rotary joint umbrella wheel (14-2), the other end of second universal driving shaft (6-2) sequentially passes through the second rotating arm principal arm (8-
2), the second electromagnetic clutch (18-2) cavity intermediate with second mechanical arm rod piece (7-2) connects the second universal driving shaft umbrella wheel (13-
2), the second rotating arm principal arm side (8-2) is connect with the second rotation axle lock nut (12-2), wherein the second rotating arm master
The second rotating arm bearing block (11-2) is configured in arm (8-2) chamber, second electromagnetic clutch (18-2) is internally provided with the
Two electromagnetic clutch input shafts (5-2) and the second electromagnetic clutch output shaft (10-2), wherein the second rotary shaft (4-2) is mounted on
On second rotating arm bearing block (11-2), described second rotary shaft one end (4-2) passes through the second connection bolt (17-2) and second
Mechanical arm rod piece (7-2) is connected, while the second connection bolt (17-2) is connected with the second electromagnetic clutch output shaft (10-2), institute
The cavity that the second universal driving shaft (6-2) is stated across the second rotary shaft (4-2) is connected with the second electromagnetic clutch input shaft (5-2),
In the second universal driving shaft (6-2) by second interlock bearing housing (16-2) be fixed on second mechanical arm rod piece (7-2), when second
For electromagnetic clutch (18-2) in bonding state, the second mechanical arm rod piece (7-2) is by the second rotary shaft (4-2) around second
Universal driving shaft (6-2) rotation；
Second rotary joint umbrella wheel (14- of the second universal driving shaft umbrella wheel (13-2) and the intersection second mechanical arm rod piece (7-2)
2) cooperate, wherein the second rotary joint umbrella wheel (14-2) is connected with second joint axis (15-2), the second rotary joint umbrella wheel
The one end (14-2) connects the second universal driving shaft (6-2), and the other end connects third rotating arm component, by the dynamic of the second universal driving shaft (6-2)
Power goes to third rotating arm component, and the second joint axis (15-2) is connected with the second electromagnetic clutch input shaft (5-2), described
Second electromagnetic clutch output shaft (10-2) is connected with second mechanical arm rod piece (7-2), when the second electromagnetic clutch (18-2) exists
When bonding state, the second universal driving shaft (6-2) is by driving the second universal driving shaft umbrella wheel (13-2) to drive the output of the second electromagnetic clutch
Axis (10-2) rotation, then third rotating arm component is driven to rotate around second joint axis (15-2).
5. a kind of single machine axis according to claim 4 joins formula multi-freedom joint mechanical arm, it is characterised in that: when the first electricity
For magnet clutch (18-1) in bonding state, the first universal driving shaft (6-1) is by driving the first universal driving shaft umbrella wheel (13-1) to drive the
The rotation of one electromagnetic clutch output shaft (10-1), then second mechanical arm rod piece (7-2) is driven to rotate around the first joint shaft (15-1).
6. a kind of single machine axis according to claim 4 joins formula multi-freedom joint mechanical arm, it is characterised in that: the third
Rotating arm component includes third universal driving shaft (6-3), third mechanical arm rod piece (7-3), third universal driving shaft umbrella wheel (13-3), third rotation
Turn joint umbrella wheel (14-3), third interlocks bearing housing (16-3), third connection bolt (17-3) and third electromagnetic clutch
(18-3), wherein third universal driving shaft one end (6-3) connects the third rotary joint umbrella wheel (14-3) of the second rotating arm component end,
The other end of the third universal driving shaft (6-3) sequentially passes through third electromagnetic clutch (18-3) and third mechanical arm rod piece (7-3)
Intermediate cavity connects third universal driving shaft umbrella wheel (13-3), and the third electromagnetic clutch (18-3) is internally provided with third electromagnetism
Clutch input shaft (5-3) and third electromagnetic clutch output shaft (10-3), wherein third connection bolt (17-3) and third are electric
Magnet clutch output shaft (10-3) is connected, and the third universal driving shaft (6-3) is connected with third electromagnetic clutch input shaft (5-3),
Wherein third universal driving shaft (6-3) is fixed on third mechanical arm rod piece (7-3), when third electromagnetic clutch (18-3) is combining shape
When state, the third mechanical arm rod piece (7-3) rotates around third universal driving shaft (6-3)；
The third rotary joint umbrella wheel (14- of the third universal driving shaft umbrella wheel (13-3) and the intersection third mechanical arm rod piece (7-3)
3) cooperate, wherein third rotary joint umbrella wheel (14-3) and third gearing bearing housing (16-3) are connected, the third electromagnetism from
Clutch output shaft (10-3) is connected with third mechanical arm rod piece (7-3).
7. a kind of single machine axis according to claim 6 joins formula multi-freedom joint mechanical arm, it is characterised in that: when the second electricity
For magnet clutch (18-2) in bonding state, the second universal driving shaft (6-2) is by driving the second universal driving shaft umbrella wheel (13-2) to drive the
The rotation of two electromagnetic clutch output shafts (10-2), then third mechanical arm rod piece (7-3) is driven to rotate around second joint axis (15-2).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312140A (en) * | 2018-03-28 | 2018-07-24 | 陕西蓝智机器人有限公司 | A kind of single machine axis connection formula multi-freedom joint mechanical arm |
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2018
- 2018-03-28 CN CN201820426307.1U patent/CN208215338U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312140A (en) * | 2018-03-28 | 2018-07-24 | 陕西蓝智机器人有限公司 | A kind of single machine axis connection formula multi-freedom joint mechanical arm |
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