CN102837321A - Automatic universal mechanical arm - Google Patents
Automatic universal mechanical arm Download PDFInfo
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- CN102837321A CN102837321A CN2012103477691A CN201210347769A CN102837321A CN 102837321 A CN102837321 A CN 102837321A CN 2012103477691 A CN2012103477691 A CN 2012103477691A CN 201210347769 A CN201210347769 A CN 201210347769A CN 102837321 A CN102837321 A CN 102837321A
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- arm
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- bevel gear
- rotary joint
- universal machine
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Abstract
The invention discloses an automatic universal mechanical arm; an observable wall body is arranged on a seat body of a multi-directional rotary joint; the observable wall body is provided with at least one observation hole for quickly discharging oil and observing the matching of a first bevel gear and a second bevel gear; and the observation hole is towards the transmission matching area of the second bevel gear and the first bevel gear. According to the automatic universal mechanical arm, the structure is simple, the installation of the bevel gears can be observed, operation in dark is not needed, so that the installation difficulty is reduced, an arm shaft is a thin-wall spindle, the self-weight is small, the strength is high, and the load capability is higher.
Description
Technical field
The present invention relates to the mechanical arm technical field, especially relate to a kind of automation universal machine arm.
Background technology
The automated machine arm can be realized various processing actions, has advantages such as efficient height, precision is high, action is stable, and the automated machine arm is more and more to be applied to every field, especially industrial circle, is the installations that automatically perform work.
The function ratio of existing robot general execution is more single, can only carry out the welding function like welding robot, and pouring robot can only be carried out and water pouring functions, can't satisfy effect of one machine multiple purposes.Therefore, the applicant develops the automated machine arm that can realize a plurality of spinning movements, still; The automated machine arm configuration of prior art is complicated, and the weight of mechanical arm is bigger, and needed driving power is big; The burden of mechanical arm is bigger, also influences the operation stability of mechanical arm.
In addition, mechanical arm is higher to its required precision, and the installation difficulty of mechanism's arm of prior art is bigger; Especially wherein the operation of feeling about in the dark when cooperating is being installed in the installation of the bevel gear in the rotary joint, and its quality of fit is lower; Installation process is difficulty very, needs debugging repeatedly, very trouble.
Moreover the automated machine arm receives factor affecting such as working environment, and motor, cable and be arranged on that electrical appliance part exposes on the rotary joint are damaged easily.Therefore be necessary to improve.
Summary of the invention
Deficiency to prior art exists the purpose of this invention is to provide a kind of automation universal machine arm, and it is simple in structure, can observe the installation situation of bevel gear, and the operation of need not feeling about in the dark reduces installation difficulty.
To the deficiency that prior art exists, another object of the present invention provides a kind of automation universal machine arm, and its arm axle is the thin-walled main shaft, and own wt is little, and intensity is high, and load capacity is stronger.
To achieve these goals, the technical scheme that the present invention adopted is:
A kind of automation universal machine arm comprises base, some motors and arm body, is equipped with some arm axles in the arm body; Arm axle hollow, each arm axle is according to the coaxial successively sleeve of diameter, and the little arm axle sleeve of diameter is in the axocoel of the big arm axle of diameter; Each motor connects corresponding arm axle respectively, and the end of arm body is provided with multidirectional rotary joint, and multidirectional rotary joint connects adjacent arm body; The arm body of bottom is connected in base, and motor is fixed in base, and multidirectional rotary joint comprises at least one pedestal; Pedestal offers cavity, and the end of arm axle extend in the cavity, and the end of arm axle is fixed with first bevel gear; Be provided with power transmission shaft in the cavity, power transmission shaft is fixed with second bevel gear, second bevel gear and the first awl tooth engagement; The wall body looked around of pedestal offers at least one masks peephole, is used for quick oil extraction and looks around first bevel gear and the mated condition of second bevel gear, and masks peephole is towards the transmission fit area of second bevel gear and first bevel gear.
Said masks peephole is positioned on the extended line of first bevel gear and second bevel gear engagement oblique line.
Said automation universal machine arm comprises two arm bodies, two multidirectional rotary joints, three motors and three arm axles, three corresponding respectively three arm axle first ends, multidirectional rotary joint or corresponding arm bodies that second end connection of three arm axles is corresponding of connecting of motor.
Said masks peephole has plugged 55 ° of sealing pipe plugs.
Said multidirectional rotary joint comprises two pedestals; Two pedestals offer cavity respectively; Corresponding Bevel Gear Transmission mechanism is arranged respectively in the cavity; Two pedestals are fixed into one through screw, and the side towards multidirectional rotary joint outside of two pedestals is connected to the end of two adjacent arm bodies, and two pedestals have one respectively towards the inner side of multidirectional rotary joint and can look around wall body; The wall body looked around of two pedestals offers at least one masks peephole respectively, and masks peephole is the transmission fit area of the Bevel Gear Transmission mechanism in its cavity respectively.
The bottom of the pedestal of said multidirectional rotary joint offers outage, and outage has plugged 55 ° of sealing pipe plugs.
Be filled with lubricating oil in the cavity of said pedestal, masks peephole is communicated with outage.
The thickness of the wall body at said arm axle middle part is less than the thickness of the wall body at arm axle both ends.
The rear end of said arm axle is connected with and prolongs axle, prolongation axle hollow, and the diameter of prolongation axle prolongs the thickness of a thickness of the wall body at middle part less than the wall body at prolongation axle both ends greater than the diameter of the arm axle that is connected.
Said automation universal machine arm comprises some protective covers, and each protective cover is individually fixed in arm body or multidirectional rotary joint, and protective cover coats motor, cable respectively and is arranged on circuit and the electrical equipment on the arm body.
After adopting said structure, the present invention compares the advantage that is had with prior art and is: the present invention is simple in structure, can observe the installation situation of bevel gear, and the operation of need not feeling about in the dark reduces installation difficulty,
After adopting said structure, the present invention compares second advantage that is had and is with prior art: arm axle of the present invention is the thin-walled main shaft, and own wt is little, and intensity is high, and load capacity is stronger.
After adopting said structure; The present invention compares the 3rd advantage that is had with prior art: the present invention adopts 55 ° of sealing pipe plugs to replace the gasket type plug cock of prior art; Solved the gasket type plug cock hidden danger that easy ageing is brought under adverse circumstances of prior art,, guaranteed effective transmission of each gear and reductor for multidirectional rotary joint provides more reliable totally-enclosed internal lubricating system; At utmost reduce wear, prolong working life.
After adopting said structure; The present invention compares the 3rd advantage that is had with prior art: protective cover of the present invention has increased the degree of protection of automation universal machine arm; Make exposed motor, cable and circuit and the electrical equipment that is arranged on the arm body be effectively protected; It can be worked under rugged environment, also unaffected.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Fig. 1 is the structural representation of automation universal machine arm of the present invention.
Fig. 2 is the schematic internal view of automation universal machine arm of the present invention.
Fig. 3 is the partial enlarged drawing at A place among Fig. 2.
Among the figure: 1, base 2, arm body 3, arm axle 4, multidirectional rotary joint 5, first bevel gear 6, power transmission shaft 7, second bevel gear 8, pedestal 9, can look around wall body 10, masks peephole 11, sealing pipe plug 12, protective cover 13, prolong axle.
The specific embodiment
The following stated is merely preferred embodiment of the present invention, does not therefore limit protection scope of the present invention.
Embodiment, see that Fig. 1 is to shown in Figure 3: a kind of automation universal machine arm comprises base 1, some motors and arm body 2; Be equipped with some arm axles 3 in the arm body 2, arm axle 3 hollows, each arm axle 3 is according to the coaxial successively sleeve of diameter; Little arm axle 3 sleeves of diameter are in the axocoel of the big arm axle 3 of diameter; Each motor connects corresponding arm axle 3 respectively, and the end of arm body 2 is provided with multidirectional rotary joint 4, and multidirectional rotary joint 4 connects adjacent arm body 2; The arm body 2 of bottom is connected in base 1, and motor is fixed in base 1.
In preferred embodiments; Automation universal machine arm comprises the multidirectional rotary joint of two arm bodies 2, two 4, three motors and three arm axles 3; Three corresponding respectively three arm axle 3 first ends, multidirectional rotary joint 4 that the connection of second end of three arm axles 3 is corresponding or corresponding arm bodies 2 of connecting of motor.
Multidirectional rotary joint 4 comprises at least one pedestal 8; Pedestal 8 offers cavity, and the end of arm axle 3 extend in the cavity, and the end of arm axle 3 is fixed with first bevel gear 5; Be provided with power transmission shaft 6 in the cavity; Power transmission shaft 6 is fixed with second bevel gear, 7, the second bevel gears 7 and the first awl tooth engagement, and the wall body looked around 9 of pedestal 8 offers at least one masks peephole 10; Be used for quick oil extraction and look around first bevel gear 5 and second bevel gear, 7 mated condition, masks peephole 10 is towards second bevel gear 7 and first bevel gear, 5 transmission fit area.
Masks peephole 10 is positioned on the extended line of first bevel gear 5 and second bevel gear, 7 engagement oblique lines; Can observe the engagement situation of first bevel gear 5 and second bevel gear, 7 awl teeth through masks peephole 10; First bevel gear 5 and 7 assemblings of second bevel gear have ornamental, can easily realize the precision engagement assembling of first bevel gear 5 and second bevel gear, 7 awl teeth.And, through masks peephole 10 oil extraction fast.
Masks peephole 10 has plugged 55 ° of sealing pipe plugs 11.
In preferred embodiments; Multidirectional rotary joint 4 comprises two pedestals 8; Two pedestals 8 offer cavity respectively, and corresponding Bevel Gear Transmission mechanism is arranged respectively in the cavity, and two pedestals 8 are fixed into one through screw; Sides towards multidirectional rotary joint 4 outsides of two pedestals 8 are connected to the end of two adjacent arm bodies 2; Two pedestals 8 towards multidirectional rotary joint 4 inner sides have respectively one can look around 9, two pedestals 8 of wall body the wall body looked around 9 offer at least one masks peephole 10 respectively, masks peephole 10 is the transmission fit area of the Bevel Gear Transmission mechanism in its cavity respectively.
The bottom of the pedestal 8 of multidirectional rotary joint 4 offers outage, and outage has plugged 55 ° of sealing pipe plugs 11.55 ° of sealing pipe plugs 11 replace the gasket type plug cock of prior art; Under adverse circumstances, be difficult for aging; Solved the gasket type plug cock hidden danger that easy ageing is brought under adverse circumstances of prior art,, guaranteed effective transmission of each gear and reductor for multidirectional rotary joint 4 provides more reliable totally-enclosed internal lubricating system; At utmost reduce wear, prolong working life.
Be filled with lubricating oil in the cavity of pedestal 8, masks peephole 10 is communicated with outage.The thickness of the wall body at said arm axle 3 middle parts is less than the thickness of the wall body at arm axle 3 both ends.The thickness of the wall body at arm axle 3 middle parts is 4mm.
For the arm axle 3 that wherein length is the longest; The rear end of the arm axle 3 that length is the longest is connected with and prolongs axle 13; Prolong axle 13 hollows, prolong the diameter of the diameter of axle 13 greater than the arm axle that is connected 3, the thickness of the wall body at prolongation axle 13 middle parts is less than the thickness of the wall body that prolongs axle 13 both ends.The thickness that prolongs the wall body at axle 13 middle parts is 4mm.
Arm axle 3 is the thin-walled main shaft with prolongation axle 13, the prolongation axle 13 of especially large diameter thin-walled, and own wt is little; Intensity is high, and load capacity is stronger, compares with the arm axle 3 of prior art; The weight of arm axle 3 of the present invention alleviates 20Kg at least, but nominal load increases to 170 Kg.
Automation universal machine arm comprises some protective covers 12, and each protective cover 12 is individually fixed in arm body 2 or multidirectional rotary joint 4, and protective cover 12 coats motor, cable respectively and is arranged on circuit and the electrical equipment on the arm body 2.Protective cover 12 has increased the degree of protection of automation universal machine arm, makes exposed motor, cable and circuit and the electrical equipment that is arranged on the arm body 2 be effectively protected, and it can be worked under rugged environment, and is also unaffected.
Structures such as the base 1 of automation universal machine arm and multidirectional rotary joint 4 are widely-used at present, and other structure is identical with prior art with principle, repeats no more here.
Claims (9)
1. an automation universal machine arm comprises base (1), some motors and arm body (2), is equipped with some arm axles (3) in the arm body (2); Arm axle (3) hollow, each arm axle (3) are according to the coaxial successively sleeve of diameter, and the arm axle that diameter is little (3) sleeve is in the axocoel of the big arm axle of diameter (3); Each motor connects corresponding arm axle (3) respectively, and the end of arm body (2) is provided with multidirectional rotary joint (4), and multidirectional rotary joint (4) connects adjacent arm body (2); The arm body (2) of bottom is connected in base (1); Motor is fixed in base (1), it is characterized in that: multidirectional rotary joint (4) comprises at least one pedestal (8), and pedestal (8) offers cavity; The end of arm axle (3) extend in the cavity; The end of arm axle (3) is fixed with first bevel gear (5), is provided with power transmission shaft (6) in the cavity, and power transmission shaft (6) is fixed with second bevel gear (7); Second bevel gear (7) and the first awl tooth engagement; The wall body looked around (9) of pedestal (8) offers at least one masks peephole (10), is used for quick oil extraction and looks around first bevel gear (5) and second bevel gear (7) mated condition, and masks peephole (10) is towards second bevel gear (7) and first bevel gear (5) transmission fit area.
2. a kind of automation universal machine arm according to claim 1 is characterized in that: said masks peephole (10) is positioned at first bevel gear (5) and meshes on the extended line of oblique line with second bevel gear (7).
3. a kind of automation universal machine arm according to claim 1; It is characterized in that: said automation universal machine arm comprises two arm bodies (2), two multidirectional rotary joints (4), three motors and three arm axles (3); Three corresponding respectively three arm axle (3) first ends, multidirectional rotary joint (4) or corresponding arm bodies (2) that second end connection of three arm axles (3) is corresponding of connecting of motor.
4. a kind of automation universal machine arm according to claim 1, it is characterized in that: said masks peephole (10) has plugged 55 ° of sealing pipe plugs (11).
5. a kind of automation universal machine arm according to claim 1; It is characterized in that: said multidirectional rotary joint (4) comprises two pedestals (8); Two pedestals (8) offer cavity respectively; Corresponding Bevel Gear Transmission mechanism is arranged respectively in the cavity; Two pedestals (8) are fixed into one through screw, and the side towards multidirectional rotary joint (4) outside of two pedestals (8) is connected to the end of adjacent two arm bodies (2), and two pedestals (8) have one respectively towards the inner side of multidirectional rotary joint (4) can look around wall body (9); The wall body looked around (9) of two pedestals (8) offers at least one masks peephole (10) respectively, and masks peephole (10) is the transmission fit area of the Bevel Gear Transmission mechanism in its cavity respectively.
6. according to the described a kind of automation universal machine arm of one of claim 1-5, it is characterized in that: the bottom of the pedestal (8) of said multidirectional rotary joint (4) offers outage, and outage has plugged 55 ° of sealing pipe plugs (11).
7. a kind of automation universal machine arm according to claim 6 is characterized in that: be filled with lubricating oil in the cavity of said pedestal (8), masks peephole (10) is communicated with outage.
8. a kind of automation universal machine arm according to claim 1 is characterized in that: the thickness of the wall body at said arm axle (3) middle part is less than the thickness of the wall body at arm axle (3) both ends.
9. a kind of automation universal machine arm according to claim 8; It is characterized in that: the rear end of said arm axle (3) is connected with and prolongs axle (13); Prolong axle (13) hollow; Prolong the diameter of the diameter of axle (13), prolong the thickness of a thickness of the wall body at (13) middle part less than the wall body that prolongs axle (13) both ends greater than the arm axle that is connected (3).
10. a kind of automation universal machine arm according to claim 1; It is characterized in that: said automation universal machine arm comprises some protective covers (12); Each protective cover (12) is individually fixed in arm body (2) or multidirectional rotary joint (4), and protective cover (12) coats motor, cable respectively and is arranged on circuit and the electrical equipment on the arm body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210347769.1A CN102837321B (en) | 2012-09-19 | 2012-09-19 | A kind of automation universal mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210347769.1A CN102837321B (en) | 2012-09-19 | 2012-09-19 | A kind of automation universal mechanical arm |
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| Publication Number | Publication Date |
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| CN102837321A true CN102837321A (en) | 2012-12-26 |
| CN102837321B CN102837321B (en) | 2015-10-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210347769.1A Active CN102837321B (en) | 2012-09-19 | 2012-09-19 | A kind of automation universal mechanical arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723087A (en) * | 2015-04-17 | 2015-06-24 | 安徽工程大学 | Wrist structure of manipulator arm used for assembling fasteners |
| CN105965523A (en) * | 2016-07-12 | 2016-09-28 | 迈赫机器人自动化股份有限公司 | Large-range flexible-operated robot |
| CN107848124A (en) * | 2015-07-23 | 2018-03-27 | 思想外科有限公司 | Protection drape for robot system |
| CN109048972A (en) * | 2018-08-30 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of robot arm transmission connecting mechanism |
| CN110434663A (en) * | 2019-09-05 | 2019-11-12 | 烟台大学 | A kind of strip material handling equipment and method |
| CN111055305A (en) * | 2018-10-16 | 2020-04-24 | 遨博（北京）智能科技有限公司 | Mechanical arm and joint protection mechanism thereof |
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| CN102211332A (en) * | 2011-05-09 | 2011-10-12 | 南京工业大学 | Industrial robot |
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| CN102267134A (en) * | 2011-07-12 | 2011-12-07 | 浙江万丰摩轮有限公司 | Multifunctional universal robot |
| CN202805209U (en) * | 2012-09-19 | 2013-03-20 | 浙江万丰科技开发有限公司 | Automatic universal mechanical arm |
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2012
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Patent Citations (6)
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| US4703668A (en) * | 1985-09-25 | 1987-11-03 | Champion Spark Plug Company | Wrist mechanism for a robot arm |
| CN201121237Y (en) * | 2007-11-02 | 2008-09-24 | 诸大荣 | Novel gripper loom toothed gearing box |
| CN102233584A (en) * | 2010-04-27 | 2011-11-09 | 鸿富锦精密工业（深圳）有限公司 | Arm part for robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723087A (en) * | 2015-04-17 | 2015-06-24 | 安徽工程大学 | Wrist structure of manipulator arm used for assembling fasteners |
| CN107848124A (en) * | 2015-07-23 | 2018-03-27 | 思想外科有限公司 | Protection drape for robot system |
| CN105965523A (en) * | 2016-07-12 | 2016-09-28 | 迈赫机器人自动化股份有限公司 | Large-range flexible-operated robot |
| CN109048972A (en) * | 2018-08-30 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of robot arm transmission connecting mechanism |
| CN111055305A (en) * | 2018-10-16 | 2020-04-24 | 遨博（北京）智能科技有限公司 | Mechanical arm and joint protection mechanism thereof |
| CN110434663A (en) * | 2019-09-05 | 2019-11-12 | 烟台大学 | A kind of strip material handling equipment and method |
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| Publication number | Publication date |
|---|---|
| CN102837321B (en) | 2015-10-07 |
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Address after: 312500 Shaoxing Province, Xinchang Province Chengguan town of provincial-level high-tech Industrial Park Patentee after: ZHEJIANG WANFENG TECHNOLOGY DEVELOPMENT CO., LTD. Address before: 312500 Xinchang County, Zhejiang province Wanfeng Technology Park, Shaoxing Patentee before: Zhejiang Wanfeng Technology Development Co., Ltd. |
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Address after: 312400 No. 999, Guan River South Road, Sanjiang street, Shengzhou, Shaoxing, Zhejiang Patentee after: ZHEJIANG WANFENG TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: 312500 provincial high-tech industrial park, Chengguan Town, Xinchang County, Shaoxing, Zhejiang Patentee before: ZHEJIANG WANFENG TECHNOLOGY DEVELOPMENT Co.,Ltd. |
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