CN219006120U - Mechanical arm layout structure and operation robot - Google Patents
Mechanical arm layout structure and operation robot Download PDFInfo
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- CN219006120U CN219006120U CN202320149084.XU CN202320149084U CN219006120U CN 219006120 U CN219006120 U CN 219006120U CN 202320149084 U CN202320149084 U CN 202320149084U CN 219006120 U CN219006120 U CN 219006120U
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Abstract
The utility model provides a mechanical arm layout structure and an operation robot, wherein the mechanical arm layout structure comprises a first mechanical arm and a second mechanical arm which are oppositely arranged, the first mechanical arm comprises a first adduction actuator for driving the first mechanical arm, the second mechanical arm comprises a second adduction actuator for driving the second mechanical arm, the first adduction actuator and the second adduction actuator are arranged side by side to enable the root positions of the first mechanical arm and the second mechanical arm to be staggered, the first adduction actuator and the second adduction actuator of the mechanical arm layout structure are arranged side by side, and projections of the first adduction actuator and the second adduction actuator in the axial direction are overlapped, so that the whole width of the double-arm operation robot is reduced, and the problem that the robot can not meet the use requirement in a special use environment with narrow space can be solved.
Description
Technical Field
The utility model belongs to the technical field of robots, and particularly relates to a mechanical arm layout structure and an operation robot.
Background
Robots are increasingly used in various fields due to the ability to perform many complex, heavy and manually inconvenient tasks.
The traditional double-arm operation robot is generally characterized in that two independent mechanical arms are respectively fixed on two sides of a base, a first shaft motor and a second shaft motor at the root of each mechanical arm are directly and transversely connected, so that the width of the robot is equal to the width of the base plus the width of the two first shaft motors and the width of the two second shaft motors, the whole size is relatively large, and in special use environments with narrow space such as picking scenes, the robot cannot meet the use requirements.
Disclosure of Invention
The embodiment of the utility model aims to provide a mechanical arm layout structure and a working robot, which are used for solving the technical problems that the whole size of a mechanical arm of a traditional robot is large, and the robot can not meet the use requirement in a special use environment with narrow space in the prior art.
In order to achieve the above purpose, the utility model adopts the following technical scheme: the first aspect of the utility model provides a mechanical arm layout structure, which comprises a first mechanical arm and a second mechanical arm which are oppositely arranged, wherein the first mechanical arm comprises a first adduction actuator for driving the first mechanical arm, and the second mechanical arm comprises a second adduction actuator for driving the second mechanical arm;
the first adduction actuator and the second adduction actuator are arranged side by side so that root positions of the first mechanical arm and the second mechanical arm are staggered.
In an embodiment, the first adduction actuator and the second adduction actuator are arranged up and down along a vertical direction, or the first adduction actuator and the second adduction actuator are arranged back and forth along a horizontal direction, or the arrangement direction of the first adduction actuator and the second adduction actuator is inclined at a preset angle with the vertical direction.
In one embodiment, the first and second adduction actuators are positioned to overlap such that the sides of both ends are aligned respectively.
In an embodiment, the first mechanical arm and the second mechanical arm respectively include a second shaft actuator, the first adduction actuator is connected with the second shaft actuator of the first mechanical arm, and the second adduction actuator is connected with the second shaft actuator of the second mechanical arm through a transmission structure.
In an embodiment, the axial direction of the first adduction actuator and the second adduction actuator extends horizontally and horizontally, and the axial direction of the second axial actuator extends horizontally and forwards and backwards.
In one embodiment, the transmission structure comprises a driving wheel, a driven wheel and a belt, wherein the belt is sleeved on the driving wheel and the driven wheel;
the output end of the second adduction actuator is connected with the driving wheel, and the driven wheel is connected with the second shaft actuator.
In an embodiment, the first adduction actuator comprises a first actuator body and a first mounting plate, the first actuator body is mounted on the first mounting plate, the second adduction actuator comprises a second actuator body and a second mounting plate, and the second actuator body is mounted on the second mounting plate.
In an embodiment, the transmission structure further comprises a third mounting plate, and the driving wheel and the driven wheel are both mounted on the third mounting plate.
The second aspect of the present utility model provides a working robot, including a base and the above-mentioned mechanical arm layout structure, where the first adduction actuator and the second adduction actuator are arranged in the base side by side, so that the rest parts of the first mechanical arm and the second mechanical arm are respectively located at two sides of the base.
In an embodiment, the first mechanical arm and the second mechanical arm respectively comprise a second shaft actuator, two ends of the connecting piece are respectively fixed between the second shaft actuator and the first adduction actuator of the first mechanical arm and between the second shaft actuator and the second adduction actuator of the second mechanical arm, and the connecting piece is rotatably installed on the base.
The mechanical arm layout structure comprises a first mechanical arm and a second mechanical arm which are oppositely arranged, wherein the first mechanical arm comprises a first adduction actuator used for driving the first mechanical arm, the second mechanical arm comprises a second adduction actuator used for driving the second mechanical arm, the first adduction actuator and the second adduction actuator are arranged side by side to enable root positions of the first mechanical arm and the second mechanical arm to be staggered, the first adduction actuator and the second adduction actuator of the mechanical arm layout structure are arranged side by side, projections of the first adduction actuator and the second adduction actuator at least partially overlap, so that the whole width of the double-arm operation robot is reduced, and the problem that a robot cannot meet use requirements in a special use environment with narrow space can be solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a layout structure of a mechanical arm according to an embodiment of the present utility model;
fig. 2 is a schematic structural diagram of a first mechanical arm and a second mechanical arm of the mechanical arm layout structure according to an embodiment of the present utility model at a view angle after being detached;
fig. 3 is a schematic structural diagram of a first mechanical arm and a second mechanical arm of the mechanical arm layout structure according to an embodiment of the present utility model at a further view angle after being detached;
fig. 4 is a schematic structural diagram of a layout structure of a mechanical arm according to an embodiment of the present utility model;
fig. 5 is a schematic structural diagram of a first mechanical arm and a second mechanical arm of the mechanical arm layout structure according to an embodiment of the present utility model at a view angle after being detached;
fig. 6 is a schematic structural diagram of a first mechanical arm and a second mechanical arm of the mechanical arm layout structure according to an embodiment of the present utility model at a further view angle after being detached;
fig. 7 is a schematic structural diagram of a layout structure of a mechanical arm according to an embodiment of the present utility model;
fig. 8 is a schematic structural diagram of a first mechanical arm and a second mechanical arm of the mechanical arm layout structure according to an embodiment of the present utility model at a view angle after being detached;
fig. 9 is a schematic structural diagram of a first mechanical arm and a second mechanical arm of the mechanical arm layout structure according to an embodiment of the present utility model at a further view angle after being detached;
fig. 10 is a schematic structural diagram of a layout structure of a mechanical arm according to an embodiment of the present utility model.
Wherein, each reference sign in the figure:
11-a first mechanical arm;
12-a second mechanical arm;
13-a first adduction actuator;
14-a second adduction actuator;
15-a pulley structure;
131-a first actuator body;
132-a first mounting plate;
141-a second actuator body;
142-a second mounting plate;
151-a driving wheel;
152-driven wheel;
153-belt;
154-a third mounting plate;
16. 17-a second shaft actuator;
18. 19-a connector;
20-base.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.
In addition, in the present application, unless explicitly stated and limited otherwise, the terms "connected," "secured," "mounted," and the like are to be construed broadly, and may be, for example, mechanically or electrically; either directly, or indirectly through intermediaries, or in communication with each other, or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms in this application will be understood to those of ordinary skill in the art.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.
The following describes the layout structure of the mechanical arm and the working robot in detail with reference to specific embodiments.
Embodiment one:
fig. 1 is a schematic structural diagram of a layout structure of a mechanical arm according to an embodiment of the present utility model, fig. 2 is a schematic structural diagram of a first mechanical arm and a second mechanical arm of the layout structure of the mechanical arm according to an embodiment of the present utility model at a view angle after being separated, and fig. 3 is a schematic structural diagram of a first mechanical arm and a second mechanical arm of the layout structure of the mechanical arm according to an embodiment of the present utility model at a further view angle after being separated. Referring to fig. 1-3, the mechanical arm layout structure provided by the present utility model includes a first mechanical arm 11 and a second mechanical arm 12 that are disposed opposite to each other, where the first mechanical arm 11 includes a first adduction actuator 13 for driving the first mechanical arm 11, and the second mechanical arm includes a second adduction actuator 14 for driving the second mechanical arm 12;
the first adduction actuator 13 and the second adduction actuator 14 are arranged side by side, so that root positions of the first mechanical arm and the second mechanical arm are staggered. I.e. the projections of the first adduction actuator 13 of the present embodiment in the axial direction of the second adduction actuator 14 overlap.
The first mechanical arm 11 and the second mechanical arm 12 of the present embodiment are symmetrically disposed, and specific structures of the first mechanical arm 11 and the second mechanical arm 12 are not particularly limited in this embodiment, and each of the first mechanical arm 11 and the second mechanical arm 12 includes a shoulder joint actuator, an upper arm, an elbow joint actuator, a forearm, a wrist joint actuator, and an end effector. The symmetrical arrangement of the first mechanical arm 11 and the second mechanical arm 12 in this embodiment means that the first mechanical arm 11 and the second mechanical arm 12 are equal or equivalent in shape, size, length and arrangement.
The first adduction actuator 13 and the second adduction actuator 14 are arranged one above the other in this embodiment. The first adduction actuator 13 and the second adduction actuator 14 of this embodiment each include a driving motor, and the driving motor of the first adduction actuator 13 and the driving motor of the second adduction actuator 14 are disposed up and down. In this embodiment, the first adduction actuator 13 and the second adduction actuator 14 are overlapped so that two end sides thereof are aligned respectively.
Further, the first mechanical arm 11 and the second mechanical arm 12 respectively include a second shaft actuator, the first adduction actuator 13 is connected with the second shaft actuator 16 of the first mechanical arm, and the second adduction actuator 14 is connected with the second shaft actuator 17 of the second mechanical arm through a transmission structure 15. The first adduction actuator 13 and the second adduction actuator 14 of the present embodiment are first axis actuators of the mechanical arm. The axial directions of the first adduction actuator 13 and the second adduction actuator 14 extend horizontally and leftwards, the axial directions of the second shaft actuator 16 of the first mechanical arm and the second shaft actuator 17 of the second mechanical arm extend horizontally and forwards, that is, the first adduction actuator 13 is arranged vertically to the second shaft actuator 16 of the first mechanical arm, and the second adduction actuator 14 is arranged vertically to the second shaft actuator 17 of the second mechanical arm.
Further, the transmission structure 15 of the present embodiment is a belt wheel transmission structure, the transmission structure 15 includes a driving wheel 151, a driven wheel 152, and a belt 153, and the belt 153 is sleeved on the driving wheel 151 and the driven wheel 152;
the output end of the first adduction actuator 13 is connected with the first mechanical arm 11, the output end of the second adduction actuator 14 is connected with the driving wheel 151, and the driven wheel 152 is connected with the second shaft actuator 17 of the second mechanical arm. Because the first adduction actuator 13 and the second adduction actuator 14 are arranged up and down, when the mechanical arm layout structure is used for a robot, the positions of output power shafts of the two arms are also up and down and cannot be symmetrical, so that the second adduction actuator 14 of the embodiment drives the second shaft actuator 17 of the second mechanical arm through the transmission structure 15, so that the second shaft actuators 17 of the two arms can be positioned at the same horizontal position, and the external structure is symmetrical. In addition, the belt pulley has high structural strength and strong impact resistance.
In this embodiment, the first adduction actuator 13 includes a first actuator body 131 and a first mounting plate 132, the first actuator body 131 is mounted on the first mounting plate 132, the second adduction actuator 14 includes a second actuator body 141 and a second mounting plate 142, and the second actuator body 141 is mounted on the second mounting plate 142. The first actuator body 131 of the present embodiment is mounted on the first mounting plate 132, the second actuator body 141 is mounted on the second mounting plate 142, and the mechanical arm layout structure is mounted on the lifting seat through the first mounting plate 132 and the second mounting plate 142, so that the mounting mode is simple.
The transmission structure 15 of this example further includes a third mounting plate 154, and the driving wheel 151 and the driven wheel 152 are both mounted on the third mounting plate 154. In this embodiment, the driving wheel 151 and the driven wheel 152 are installed on the third mounting plate 154 by arranging the third mounting plate 154, so that the whole installation of the belt wheel structure is convenient.
Preferably, the first mechanical arm 11 and the second mechanical arm 12 of the present embodiment each include a plurality of movable joints.
The mechanical arm layout structure of the embodiment comprises a first mechanical arm and a second mechanical arm which are oppositely arranged, wherein the first mechanical arm comprises a first adduction actuator used for driving the first mechanical arm, the second mechanical arm comprises a second adduction actuator used for driving the second mechanical arm, the first adduction actuator and the second adduction actuator are arranged side by side to enable the root positions of the first mechanical arm and the second mechanical arm to be staggered, the first adduction actuator and the second adduction actuator of the mechanical arm layout structure are arranged side by side, and the projection of the first adduction actuator in the axial direction of the second adduction actuator is overlapped, so that the whole width of the double-arm operation robot is reduced, and the problem that a robot cannot meet the use requirement in a special use environment with narrow space can be solved.
Embodiment two:
fig. 4 is a schematic structural view of a layout structure of a manipulator according to an embodiment of the present utility model, fig. 5 is a schematic structural view of a first manipulator and a second manipulator of the layout structure of the manipulator according to an embodiment of the present utility model at a view angle after being separated, and fig. 6 is a schematic structural view of a first manipulator and a second manipulator of the layout structure of the manipulator according to another view angle after being separated, referring to fig. 4-6, the present embodiment provides a layout structure of a manipulator, which has a similar overall structure as the layout structure of a manipulator according to an embodiment, except that the first adduction actuator and the second adduction actuator of the present embodiment are arranged in a different manner from the embodiment.
In this embodiment, the first adduction actuator 13 and the second adduction actuator 14 are arranged one after the other. In this embodiment, the first adduction actuator 13 and the second adduction actuator 14 are overlapped to align the two side surfaces of the two ends respectively, so that the external structure is attractive.
Further, the first mechanical arm 11 and the second mechanical arm 12 respectively include a second shaft actuator, the first adduction actuator 13 is connected with the second shaft actuator 16 of the first mechanical arm, and the second adduction actuator 14 is connected with the second shaft actuator 17 of the second mechanical arm through a transmission structure 15. The first adduction actuator 13 and the second adduction actuator 14 of the present embodiment are first shaft actuators. The axial directions of the first adduction actuator 13 and the second adduction actuator 14 extend horizontally and leftwards, the axial directions of the second shaft actuator 16 of the first mechanical arm and the second shaft actuator 17 of the second mechanical arm extend horizontally and forwards, that is, the first adduction actuator 13 is arranged vertically to the second shaft actuator 16 of the first mechanical arm, and the second adduction actuator 14 is arranged vertically to the second shaft actuator 17 of the second mechanical arm.
Further, the transmission structure 15 of the present embodiment is a belt wheel transmission structure, the transmission structure 15 includes a driving wheel 151, a driven wheel 152, and a belt 153, and the belt 153 is sleeved on the driving wheel 151 and the driven wheel 152;
the output end of the first adduction actuator 13 is connected with the first mechanical arm 11, the output end of the second adduction actuator 14 is connected with the driving wheel 151, and the driven wheel 152 is connected with the second shaft actuator 17 of the second mechanical arm. The second adduction actuator 14 of this embodiment drives the second shaft actuator 17 of the second mechanical arm through the transmission structure 15, and the pulley has high structural strength and strong shock resistance.
In this embodiment, the first adduction actuator 13 includes a first actuator body 131 and a first mounting plate 132, the first actuator body 131 is mounted on the first mounting plate 132, the second adduction actuator 14 includes a second actuator body 141 and a second mounting plate 142, and the second actuator body 141 is mounted on the second mounting plate 142. The first actuator body 131 of the present embodiment is mounted on the first mounting plate 132, the second actuator body 141 is mounted on the second mounting plate 142, and the mechanical arm layout structure is mounted on the lifting seat through the first mounting plate 132 and the second mounting plate 142, so that the mounting mode is simple.
The transmission structure 15 of this example further includes a third mounting plate 154, and the driving wheel 151 and the driven wheel 152 are both mounted on the third mounting plate 154. In this embodiment, the driving wheel 151 and the driven wheel 152 are installed on the third mounting plate 154 by arranging the third mounting plate 154, so that the whole installation of the belt wheel structure is convenient.
Preferably, the first mechanical arm 11 and the second mechanical arm 12 of the present embodiment each include a plurality of movable joints.
The first adduction executor and the second adduction executor of the mechanical arm layout structure of this embodiment are arranged side by side from front to back, and the projection of first adduction executor in the axial direction of second adduction executor overlaps for mechanical arm layout structure complete machine width reduces, can solve the problem that the robot can't satisfy the user demand in the narrow special service environment in space.
Embodiment III:
fig. 7 is a schematic structural view of a layout structure of a manipulator according to an embodiment of the present utility model, fig. 8 is a schematic structural view of a first manipulator and a second manipulator of the layout structure of the manipulator according to an embodiment of the present utility model at a view angle after being separated, and fig. 9 is a schematic structural view of a first manipulator and a second manipulator of the layout structure of the manipulator according to an embodiment of the present utility model at a view angle after being separated, and referring to fig. 7-9, the present utility model provides a layout structure of a manipulator, which has a similar overall structure as the layout structure of the manipulator according to the first and second embodiments, except that the arrangement of the first and second adduction actuators of the present utility model is different from the first and second embodiments.
In this embodiment, the arrangement direction of the first adduction actuator 13 and the second adduction actuator 14 is arranged at a preset angle with respect to the vertical direction. In this embodiment, the arrangement direction of the first adduction actuator 13 and the second adduction actuator 14 is arranged at a preset angle with respect to the vertical direction, for example, the arrangement direction of the first adduction actuator 13 and the second adduction actuator 14 is arranged at 30 degrees, 45 degrees or 60 degrees with respect to the vertical direction, and the included angle between the arrangement direction of the first adduction actuator 13 and the second adduction actuator 14 and the vertical direction is not particularly limited, so that a technician can preset in advance according to actual requirements. In this embodiment, the first adduction actuator 13 and the second adduction actuator 14 are overlapped to align the two side surfaces of the two ends respectively, so that the external structure is attractive.
Further, the first mechanical arm 11 and the second mechanical arm 12 respectively include a second shaft actuator, the first adduction actuator 13 is connected with the second shaft actuator 16 of the first mechanical arm, and the second adduction actuator 14 is connected with the second shaft actuator 17 of the second mechanical arm through a transmission structure 15. The first adduction actuator 13 and the second adduction actuator 14 of the present embodiment are first shaft actuators. The axial directions of the first adduction actuator 13 and the second adduction actuator 14 extend horizontally and leftwards, the axial directions of the second shaft actuator 16 of the first mechanical arm and the second shaft actuator 17 of the second mechanical arm extend horizontally and forwards, that is, the first adduction actuator 13 is arranged vertically to the second shaft actuator 16 of the first mechanical arm, and the second adduction actuator 14 is arranged vertically to the second shaft actuator 17 of the second mechanical arm.
Further, the transmission structure 15 of the present embodiment is a belt wheel transmission structure, the transmission structure 15 includes a driving wheel 151, a driven wheel 152, and a belt 153, and the belt 153 is sleeved on the driving wheel 151 and the driven wheel 152;
the output end of the first adduction actuator 13 is connected with the first mechanical arm 11, the output end of the second adduction actuator 14 is connected with the driving wheel 151, and the driven wheel 152 is connected with the second shaft actuator 17 of the second mechanical arm. The second adduction actuator 14 of this embodiment drives the second shaft actuator 17 of the second mechanical arm through the transmission structure 15, and the pulley has high structural strength and strong shock resistance.
In this embodiment, the first adduction actuator 13 includes a first actuator body 131 and a first mounting plate 132, the first actuator body 131 is mounted on the first mounting plate 132, the second adduction actuator 14 includes a second actuator body 141 and a second mounting plate 142, and the second actuator body 141 is mounted on the second mounting plate 142. The first actuator body 131 of the present embodiment is mounted on the first mounting plate 132, the second actuator body 141 is mounted on the second mounting plate 142, and the mechanical arm layout structure is mounted on the lifting seat through the first mounting plate 132 and the second mounting plate 142, so that the mounting mode is simple.
The transmission structure 15 of this example further includes a third mounting plate 154, and the driving wheel 151 and the driven wheel 152 are both mounted on the third mounting plate 154. In this embodiment, the driving wheel 151 and the driven wheel 152 are installed on the third mounting plate 154 by arranging the third mounting plate 154, so that the whole installation of the belt wheel structure is convenient.
Preferably, the first mechanical arm 11 and the second mechanical arm 12 of the present embodiment each include a plurality of movable joints.
The first adduction executor of arm overall arrangement structure of this embodiment is arranged with the second adduction executor range direction and vertical direction and is the angle of predetermineeing, and the projection of first adduction executor in second adduction executor axial direction overlaps for arm overall arrangement structure complete machine width reduces, can solve the problem that the robot can't satisfy the user demand in the narrow special service environment in space.
Embodiment four:
fig. 10 is a schematic structural diagram of a working robot according to an embodiment of the present utility model, referring to fig. 1 to 10, the present embodiment provides a working robot, which includes a base 20 and a layout structure of mechanical arms according to the above embodiment, wherein the first adduction actuator 13 and the second adduction actuator 14 are arranged in the base 21 side by side, so that the rest of the first mechanical arm 11 and the second mechanical arm 12 are respectively located at two sides of the base 20.
The actuator in the above embodiments of the present application may be a single unit, or may be an integrated device integrated with a motor, a speed reduction unit, and a driving unit, which is commonly used in the field of robots.
Further, the working robot further comprises two connecting pieces (18 and 19), the first mechanical arm 11 and the second mechanical arm 12 respectively comprise second shaft actuators (16 and 17), two ends of the connecting piece 18 are respectively fixed on the second shaft actuator 16 and the first adduction actuator 13, two ends of the connecting piece 19 are respectively fixed on the second shaft actuator 16 and the second adduction actuator 14, and the connecting pieces (18 and 19) are rotatably installed on the base 20. The two connectors (18 and 19) of this embodiment are used to secure two second shaft actuators (16 and 17), as shown the second shaft actuator 16 is secured to the connector 18 and the second shaft actuator 17 is secured to the connector 19.
The work robot that this embodiment provided includes above-mentioned arm layout structure, arm layout structure includes relative first arm, the second arm that sets up, first arm is including the first adduction executor that is used for driving first arm, the second arm is including the second adduction executor that is used for driving the second arm, first adduction executor sets up the root position that makes first arm and second arm crisscross side by side with the second adduction executor, this arm layout structure's first adduction executor sets up side by side with the second adduction executor, first adduction executor overlaps in the projection of second adduction executor axial direction for the whole width of double-arm work robot reduces, can solve the problem that the robot can't satisfy the user demand in the special service environment of space stenosis.
The above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.
Claims (10)
1. The utility model provides a robotic arm overall arrangement structure which characterized in that:
the mechanical arm comprises a first mechanical arm and a second mechanical arm which are oppositely arranged, wherein the first mechanical arm comprises a first adduction actuator for driving the first mechanical arm, and the second mechanical arm comprises a second adduction actuator for driving the second mechanical arm;
the first adduction actuator and the second adduction actuator are arranged side by side so that root positions of the first mechanical arm and the second mechanical arm are staggered.
2. The robot arm layout structure according to claim 1, wherein: the first adduction actuator and the second adduction actuator are arranged up and down along the vertical direction, or the first adduction actuator and the second adduction actuator are arranged back and forth along the horizontal direction, or the arrangement direction of the first adduction actuator and the second adduction actuator is inclined at a preset angle with the vertical direction.
3. The robot arm layout structure according to claim 2, wherein: the first adduction actuator and the second adduction actuator are overlapped in position so that the side surfaces of the two ends of the first adduction actuator and the second adduction actuator are respectively aligned.
4. The robot arm layout structure according to claim 1, wherein: the first mechanical arm and the second mechanical arm respectively comprise a second shaft actuator, the first adduction actuator is connected with the second shaft actuator of the first mechanical arm, and the second adduction actuator is connected with the second shaft actuator of the second mechanical arm through a transmission structure.
5. The robot arm layout structure according to claim 4, wherein: the axial directions of the first adduction actuator and the second adduction actuator extend horizontally and leftwards, and the axial direction of the second axial actuator extends horizontally and forwards and backwards.
6. The robot arm layout structure according to claim 4, wherein: the transmission structure comprises a driving wheel, a driven wheel and a belt, and the belt is sleeved on the driving wheel and the driven wheel;
the output end of the second adduction actuator is connected with the driving wheel, and the driven wheel is connected with the second shaft actuator.
7. The robot arm layout structure according to claim 6, wherein: the first adduction executor comprises a first executor body and a first mounting plate, the first executor body is mounted on the first mounting plate, the second adduction executor comprises a second executor body and a second mounting plate, and the second executor body is mounted on the second mounting plate.
8. The robot arm layout structure according to claim 6, wherein: the transmission structure further comprises a third mounting plate, and the driving wheel and the driven wheel are both mounted on the third mounting plate.
9. A work robot, characterized in that: the mechanical arm layout structure comprises a base and the mechanical arm layout structure of claim 1, wherein the first adduction actuator and the second adduction actuator are arranged in the base side by side, so that the rest parts of the first mechanical arm and the second mechanical arm are respectively positioned at two sides of the base.
10. The work robot of claim 9, wherein: the mechanical arm comprises a base, a first mechanical arm, a second mechanical arm, a first adduction actuator, a second mechanical arm, a second adduction actuator, a connecting piece and a connecting piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320149084.XU CN219006120U (en) | 2023-01-16 | 2023-01-16 | Mechanical arm layout structure and operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320149084.XU CN219006120U (en) | 2023-01-16 | 2023-01-16 | Mechanical arm layout structure and operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219006120U true CN219006120U (en) | 2023-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202320149084.XU Active CN219006120U (en) | 2023-01-16 | 2023-01-16 | Mechanical arm layout structure and operation robot |
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| CN (1) | CN219006120U (en) |
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2023
- 2023-01-16 CN CN202320149084.XU patent/CN219006120U/en active Active
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