CN102837321B - A kind of automation universal mechanical arm - Google Patents
A kind of automation universal mechanical arm Download PDFInfo
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- CN102837321B CN102837321B CN201210347769.1A CN201210347769A CN102837321B CN 102837321 B CN102837321 B CN 102837321B CN 201210347769 A CN201210347769 A CN 201210347769A CN 102837321 B CN102837321 B CN 102837321B
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- arm
- bevel gear
- wall body
- rotary joint
- axle
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- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 238000007599 discharging Methods 0.000 claims abstract description 5
- 230000001681 protective effect Effects 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 9
- 239000010687 lubricating oil Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 description 4
- 230000032683 aging Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Gear Transmission (AREA)
Abstract
The invention discloses a kind of automation universal mechanical arm, it arranges one at the pedestal in multidirectional rotary joint can look around wall body, wall body can be looked around and offer at least one masks peephole, for quick oil-discharging and the mated condition of looking around the first bevel gear and the second bevel gear, masks peephole is towards the transmission fitting area of the second bevel gear and the first bevel gear.The thickness being arranged in the wall body in the middle part of the some arm axles in mechanical arm arm body is less than the thickness of the wall body at arm axle both ends; The rear end of arm axle is connected with extending shaft, extending shaft hollow, and the diameter of extending shaft is greater than the diameter of connected arm axle, and the thickness of the wall body in the middle part of extending shaft is less than the thickness of the wall body at extending shaft both ends.Structure of the present invention is simple, can observe the installation situation of bevel gear, not need operation of feeling about in the dark, and reduce installation difficulty, arm axle is thin-walled main shaft, and own wt is little, and intensity is high, and load capacity is stronger.
Description
Technical field
The present invention relates to mechanical arm technical field, especially relate to a kind of automation universal mechanical arm.
Background technology
Automatic manipulator can realize various processing action, has the advantages such as efficiency is high, precision is high, having stable behavior, and automatic manipulator is more and more is applied to every field, especially industrial circle, is the installations automatically performing work.
The function ratio of existing robot general execution is more single, and as welding robot can only perform welding function, pouring robot can only perform and water pouring functions, cannot meet the effect of a tractor serves several purposes.Therefore, applicant develops the automatic manipulator that can realize multiple spinning movement, but, the automatic manipulator complex structure of prior art, the weight of mechanical arm is comparatively large, and required driving power is large, the burden of mechanical arm is comparatively large, also affects 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 larger, the installation of the bevel gear especially wherein in rotary joint, operation of feeling about in the dark when installing and coordinating, its quality of fit is lower, installation process is very difficult, needs repeatedly to debug, and extremely bothers.
Moreover automatic manipulator affects by factors such as working environments, motor, cable and be arranged on electrical appliance part on rotary joint and expose, easily damaged.Therefore be necessary to be improved.
Summary of the invention
For the deficiency that prior art exists, the object of this invention is to provide a kind of automation universal mechanical arm, its structure is simple, can observe the installation situation of bevel gear, not need operation of feeling about in the dark, and reduces installation difficulty.
For the deficiency that prior art exists, another object of the present invention is to provide a kind of automation universal mechanical arm, and its arm axle is thin-walled main shaft, and own wt is little, and intensity is high, and load capacity is stronger.
To achieve these goals, the technical solution adopted in the present invention is:
A kind of automation universal mechanical arm, comprise base, some motors and arm body, some arm axles are equipped with in arm body, arm axle hollow, each arm axle is according to diameter successively coaxial sleeve, the little arm axle sleeve of diameter is in the axocoel of the large arm axle of diameter, each motor connects corresponding arm axle respectively, the end of arm body is provided with multidirectional rotary joint, multidirectional rotary joint connects adjacent arm body, the arm body of bottom is connected to base, motor is fixed on base, multidirectional rotary joint comprises at least one pedestal, pedestal offers cavity, arm the tip of the axis extend in cavity, arm the tip of the axis is fixed with the first bevel gear, power transmission shaft is provided with in cavity, power transmission shaft is fixed with the second bevel gear, second bevel gear engages with the first bevel gear, the wall body looked around of pedestal offers at least one masks peephole, for quick oil-discharging and the mated condition of looking around the first bevel gear and the second bevel gear, masks peephole is towards the transmission fitting area of the second bevel gear and the first bevel gear, the thickness of the wall body in the middle part of described arm axle is less than the thickness of the wall body at arm axle both ends, the rear end of described arm axle is connected with extending shaft, extending shaft hollow, and the diameter of extending shaft is greater than the diameter of connected arm axle, and the thickness of the wall body in the middle part of extending shaft is less than the thickness of the wall body at extending shaft both ends.
Described masks peephole is positioned at the first bevel gear and engages on the extended line of oblique line with the second bevel gear.
Described automation universal mechanical arm comprises two arm bodies, two multidirectional rotary joints, three motors and three arm axles, and three motors are connected respectively three arm axle first ends, and the second end of three arm axles connects corresponding multidirectional rotary joint or the arm body of correspondence.
Described masks peephole has plugged 55 ° of sealing pipe plugs.
Described multidirectional rotary joint comprises two pedestals, two pedestals offer cavity respectively, corresponding bevel gear transmission is had respectively in cavity, two pedestals are screwed integral, the side towards outside, multidirectional rotary joint of two pedestals is connected to the end of two adjacent arm bodies, two pedestals have one respectively towards the side of multidirectional rotary intra articular can look around wall body, the wall body looked around of two pedestals offers at least one masks peephole respectively, and masks peephole is respectively towards the transmission fitting area of the bevel gear transmission in its cavity.
The bottom of the pedestal in described multidirectional rotary joint offers outage, and outage has plugged 55 ° of sealing pipe plugs.
Be filled with lubricating oil in the cavity of described pedestal, masks peephole is communicated with outage.
The thickness of the wall body in the middle part of described arm axle is less than the thickness of the wall body at arm axle both ends.
The rear end of described arm axle is connected with extending shaft, extending shaft hollow, and the diameter of extending shaft is greater than the diameter of connected arm axle, and the thickness of the wall body in the middle part of extending shaft is less than the thickness of the wall body at extending shaft both ends.
Described automation universal mechanical arm comprises some protective covers, and each protective cover is individually fixed in arm body or multidirectional rotary joint, and protective cover is coated motor, cable and the circuit be arranged on arm body and electrical equipment respectively.
Adopt after said structure, the present invention compared to the prior art advantageously: structure of the present invention is simple, can observe the installation situation of bevel gear, not need operation of feeling about in the dark, reduction installation difficulty,
After adopting said structure, the second advantage that the present invention is compared to the prior art had is: arm axle of the present invention is thin-walled main shaft, and own wt is little, and intensity is high, and load capacity is stronger.
After adopting said structure, the 3rd advantage that the present invention is compared to the prior art had is: the present invention adopts 55 ° of sealing pipe plugs to replace the gasket type plug cock of prior art, the gasket type plug cock the solving prior art easy aging hidden danger brought in the presence of a harsh environment, for multidirectional rotary joint provides more reliable totally-enclosed internal lubricating system, ensure effective transmission of each gear and reductor, at utmost reduce wear, extend working life.
After adopting said structure; the 3rd advantage that the present invention is compared to the prior art had is: protective cover of the present invention adds the degree of protection of automation universal mechanical arm; exposed motor, cable and the circuit be arranged on arm body and electrical equipment are effectively protected; it is enable to work under rugged environment, also unaffected.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the structural representation of automation universal mechanical arm of the present invention.
Fig. 2 is the schematic internal view of automation universal mechanical arm of the present invention.
Fig. 3 is the partial enlarged drawing at A place in Fig. 2.
In 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, wall body 10, masks peephole 11, sealing pipe plug 12, protective cover 13, extending shaft can be looked around.
Detailed description of the invention
The following stated is only preferred embodiment of the present invention, does not therefore limit protection scope of the present invention.
Embodiment, see shown in Fig. 1 to Fig. 3: a kind of automation universal mechanical arm, comprise base 1, some motors and arm body 2, some arm axles 3 are equipped with in arm body 2, arm axle 3 hollow, each arm axle 3 is according to diameter successively coaxial sleeve, little arm axle 3 sleeve of diameter is in the axocoel of the large arm axle 3 of diameter, each motor connects corresponding arm axle 3 respectively, the end of arm body 2 is provided with multidirectional rotary joint 4, multidirectional rotary joint 4 connects adjacent arm body 2, and the arm body 2 of bottom is connected to base 1, and motor is fixed on base 1.
In better embodiment, automation universal mechanical arm comprises two arm bodies, 4, three, 2, two multidirectional rotary joints motor and three arm axles 3, three motors are connected respectively three arm axle 3 first ends, and the second end of three arm axles 3 connects corresponding multidirectional rotary joint 4 or the arm body 2 of correspondence.
Multidirectional rotary joint 4 comprises at least one pedestal 8, pedestal 8 offers cavity, the end of arm axle 3 extend in cavity, the end of arm axle 3 is fixed with the first bevel gear 5, power transmission shaft 6 is provided with in cavity, power transmission shaft 6 is fixed with the second bevel gear 7, second bevel gear 7 engages with the first bevel gear, the wall body looked around 9 of pedestal 8 offers at least one masks peephole 10, for quick oil-discharging and look around the first bevel gear 5 and the second bevel gear 7 mated condition, masks peephole 10 is towards the second bevel gear 7 and the first bevel gear 5 transmission fitting area.
Masks peephole 10 is positioned at the first bevel gear 5 and engages on the extended line of oblique line with the second bevel gear 7, that can observe that the first bevel gear 5 and the second bevel gear 7 bore tooth by masks peephole 10 engages situation, first bevel gear 5 and the second bevel gear 7 are assembled has ornamental, easily can realize precision that the first bevel gear 5 and the second bevel gear 7 bore tooth and engage and assemble.Further, can quick oil-discharging by masks peephole 10.
Masks peephole 10 has plugged 55 ° of sealing pipe plugs 11.
In better embodiment, multidirectional rotary joint 4 comprises two pedestals 8, two pedestals 8 offer cavity respectively, corresponding bevel gear transmission is had respectively in cavity, two pedestals 8 are screwed integral, the side towards outside, multidirectional rotary joint 4 of two pedestals 8 is connected to the end of two adjacent arm bodies 2, two pedestals 8 have one respectively towards the side of inside, 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, masks peephole 10 is respectively towards the transmission fitting area of the bevel gear transmission in its cavity.
The bottom of the pedestal 8 in 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, not easily aging in the presence of a harsh environment, the gasket type plug cock the solving prior art easy aging hidden danger brought in the presence of a harsh environment, for multidirectional rotary joint 4 provides more reliable totally-enclosed internal lubricating system, ensure effective transmission of each gear and reductor, at utmost reduce wear, extend 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 in the middle part of described arm axle 3 is less than the thickness of the wall body at arm axle 3 both ends.The thickness of the wall body in the middle part of arm axle 3 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 extending shaft 13, extending shaft 13 hollow, the diameter of extending shaft 13 is greater than the diameter of connected arm axle 3, and the thickness of the wall body in the middle part of extending shaft 13 is less than the thickness of the wall body at extending shaft 13 both ends.The thickness of the wall body in the middle part of extending shaft 13 is 4mm.
Arm axle 3 and extending shaft 13 are thin-walled main shaft, the extending shaft 13 of especially large diameter thin-walled, and own wt is little, intensity is high, and load capacity is stronger, compared with the arm axle 3 of prior art, the weight of arm axle 3 of the present invention at least alleviates 20Kg, but nominal load increases to 170Kg.
Automation universal mechanical 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 is coated motor, cable and the circuit be arranged on arm body 2 and electrical equipment respectively.Protective cover 12 adds the degree of protection of automation universal mechanical arm, exposed motor, cable and the circuit be arranged on arm body 2 and electrical equipment is effectively protected, enables it work under rugged environment, also unaffected.
The structures such as the base 1 of automation universal mechanical arm and multidirectional rotary joint 4 have widely used at present, other structure and principle same as the prior art, repeat no more here.
Claims (8)
1. an automation universal mechanical arm, comprise base (1), some motors and arm body (2), some arm axles (3) are equipped with in arm body (2), arm axle (3) hollow, each arm axle (3) is according to diameter successively coaxial sleeve, arm axle (3) sleeve that diameter is little is in the axocoel of the large arm axle (3) of diameter, each motor connects corresponding arm axle (3) respectively, the end of arm body (2) is provided with multidirectional rotary joint (4), multidirectional rotary joint (4) connects adjacent arm body (2), the arm body (2) of bottom is connected to base (1), motor is fixed on base (1), it is characterized in that: multidirectional rotary joint (4) comprise at least one pedestal (8), pedestal (8) offers cavity, the end of arm axle (3) extend in cavity, the end of arm axle (3) is fixed with the first bevel gear (5), power transmission shaft (6) is provided with in cavity, power transmission shaft (6) is fixed with the second bevel gear (7), second bevel gear (7) engages with the first bevel gear, the wall body looked around (9) of pedestal (8) offers at least one masks peephole (10), for quick oil-discharging and look around the first bevel gear (5) and the second bevel gear (7) mated condition, masks peephole (10) is towards the second bevel gear (7) and the first bevel gear (5) transmission fitting area, the thickness of the wall body at described arm axle (3) middle part is less than the thickness of the wall body at arm axle (3) both ends, the rear end of described arm axle (3) is connected with extending shaft (13), extending shaft (13) hollow, the diameter of extending shaft (13) is greater than the diameter of connected arm axle (3), and the thickness of the wall body at extending shaft (13) middle part is less than the thickness of the wall body at extending shaft (13) both ends.
2. a kind of automation universal mechanical arm according to claim 1, is characterized in that: described masks peephole (10) is positioned at the first bevel gear (5) and engages on the extended line of oblique line with the second bevel gear (7).
3. a kind of automation universal mechanical arm according to claim 1, it is characterized in that: described automation universal mechanical arm comprises two arm bodies (2), two multidirectional rotary joints (4), three motors and three arm axles (3), three motors are connected respectively three arm axle (3) first ends, and the second end of three arm axles (3) connects corresponding multidirectional rotary joint (4) or the arm body (2) of correspondence.
4. a kind of automation universal mechanical arm according to claim 1, is characterized in that: described masks peephole (10) has plugged 55 ° of sealing pipe plugs (11).
5. a kind of automation universal mechanical arm according to claim 1, it is characterized in that: described multidirectional rotary joint (4) comprises two pedestals (8), two pedestals (8) offer cavity respectively, corresponding bevel gear transmission is had respectively in cavity, two pedestals (8) are screwed integral, the side outside towards multidirectional rotary joint (4) of two pedestals (8) is connected to the end of two adjacent arm bodies (2), two pedestals (8) have one respectively towards the side that multidirectional rotary joint (4) are inner and can look around wall body (9), the wall body looked around (9) of two pedestals (8) offers at least one masks peephole (10) respectively, masks peephole (10) is respectively towards the transmission fitting area of the bevel gear transmission in its cavity.
6. according to a kind of automation universal mechanical arm one of claim 1-5 Suo Shu, it is characterized in that: the bottom of the pedestal (8) of described multidirectional rotary joint (4) offers outage, outage has plugged 55 ° of sealing pipe plugs (11).
7. a kind of automation universal mechanical arm according to claim 6, it is characterized in that: be filled with lubricating oil in the cavity of described pedestal (8), masks peephole (10) is communicated with outage.
8. a kind of automation universal mechanical arm according to claim 1, it is characterized in that: described automation universal mechanical 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) is coated motor, cable and the circuit be arranged on arm body (2) and electrical equipment respectively.
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 CN102837321A (en) | 2012-12-26 |
| CN102837321B true 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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Families Citing this family (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 |
| US20180200014A1 (en) * | 2015-07-23 | 2018-07-19 | Think Surgical, Inc. | Protective drape for robotic systems |
| 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 |
| CN110434663B (en) * | 2019-09-05 | 2024-08-09 | 烟台大学 | Strip-shaped material loading and unloading device and method |
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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 rapier transmission box of rapier loom |
| CN102211332A (en) * | 2011-05-09 | 2011-10-12 | 南京工业大学 | Industrial robot |
| 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 |
| 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 |
-
2012
- 2012-09-19 CN CN201210347769.1A patent/CN102837321B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 rapier transmission box of rapier loom |
| 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 |
| CN102211332A (en) * | 2011-05-09 | 2011-10-12 | 南京工业大学 | Industrial robot |
| 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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| CN102837321A (en) | 2012-12-26 |
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