CN108436901A - A kind of robot arm equipment - Google Patents
A kind of robot arm equipment Download PDFInfo
- Publication number
- CN108436901A CN108436901A CN201810236633.0A CN201810236633A CN108436901A CN 108436901 A CN108436901 A CN 108436901A CN 201810236633 A CN201810236633 A CN 201810236633A CN 108436901 A CN108436901 A CN 108436901A
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- CN
- China
- Prior art keywords
- gear
- chamber
- bevel gear
- cavity
- block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot arm equipment,Including babinet,Opening up rotation chamber is installed in the babinet,The rotation cavity wall is installed with the ring gear of annular,It is installed with power motor in the lower end wall of the rotation chamber,The output shaft upper surface of the power motor is installed with driving gear,Engagement is provided with the planetary gear of annular array between the driving gear and the ring gear,The planetary gear lower face is installed with solid block,It is slidably provided with push plate in the solid block,The spin to offset with the rotation chamber lower end wall is installed in the push plate lower face,The planetary gear upper surface is installed with solid column,The solid outer surface of column is rotatably provided with frame,Apparatus of the present invention are simple in structure,It is easy to use,This device uses planet gear type structure,And use more compact design,Realize mechanical arm free movement in spatial dimension,To effectively increase productivity.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of robot arm equipment.
Background technology
With the development of science and technology, social progress, country promotes always high-tech development, mechanical arm to be used as and independently set
It is standby to be widely applied to field of industrial processing, but industrial robot expensive and internal structure zero can not easily be replaced
Component, this device effectively solve the problems, such as this.
Invention content
The purpose of the present invention is to provide a kind of robot arm equipment, can overcome the drawbacks described above of the prior art.
According to the present invention, a kind of robot arm equipment of apparatus of the present invention, including babinet is installed in the babinet
Opening up rotation chamber, the rotation cavity wall are installed with the ring gear of annular, are installed in the lower end wall of the rotation chamber dynamic
The output shaft upper surface of force motor, the power motor is installed with driving gear, is nibbled between the driving gear and the ring gear
The planetary gear for being provided with annular array is closed, the planetary gear lower face is installed with solid block, is slidably set in the solid block
It is equipped with push plate, the spin to offset with the rotation chamber lower end wall, the planetary gear upper end are installed in the push plate lower face
Face is installed with solid column, and the solid outer surface of column is rotatably provided with frame, and the frame upper surface is installed with shell, the shell
Be installed with drive cavity in vivo, be installed with rotary electric machine in the drive cavity right end wall, the output shaft of the rotary electric machine with it is described
Drive cavity left end wall is rotatably assorted connection, and the output shaft outer surface of the rotary electric machine is installed with master gear, on the master gear
Side's engagement is provided with from gear, described that shaft is installed with out of gear, and the shaft rotatably passes through the transmission cavity wall
And exterior space is stretched out, it is provided with concave block above the shaft, downward opening cavity, the cavity are installed in the concave block
Inner wall is fixed with the shaft, and the concave block upper surface is installed with the rotary column upwardly extended, the company's of being provided with block above the concave block,
It is described to be even installed with bevel gear chamber in block, the rotary column rotatably stretch into the bevel gear intracavitary and on the bevel gear chamber
End wall is rotatably assorted connection, and the rotary column outer surface is installed with fixed bevel gear, and the rotary column outer surface is rotatably provided with
Lazy bevel gear, bevel gear motor is installed in the bevel gear chamber right end wall, and the output shaft left side of the bevel gear motor is solid
Equipped with the master bevel gear engaged with the lazy bevel gear and fixed bevel gear, it is provided with positioned at the company above the bevel gear chamber
Cunning chamber in block, the ring cavity of annular setting is installed in the sliding chamber left hand end wall, and the ring cavity and sliding intracavitary are provided with upwards
Extend solid bar, the solid bar is fixed by bolt and the even block, and ventilation device is provided in the wall of the rotation bottom of chamber, described logical
Wind apparatus includes the wrapping slot being arranged in the power motor periphery, is provided in the wrapping slot and is bonded with the power motor
Radiating block, be provided with the heat emission hole communicated up and down in the radiating block, the wrapping slot left end is provided with to be communicated with external
Suction tank, is equipped with ventilation blower in the suction tank, the wrapping slot right end be provided with the external outgassing groove communicated, so as to
Generated heat distributes when being run the power motor by the ventilation blower.
Further technical solution, the equivalent width of the width and the sliding chamber of the solid bar make the solid bar stretch into institute
It after stating sliding chamber, is caught in after turning an angle in the ring cavity in the ring cavity, to improve the convenience of device.
Further technical solution, the solid column, frame and planetary gear are an integral structure, to improve device
Stability.
Further technical solution, the shell stretch into the cavity, and the center line of the shaft is to the cavity
The distance of upper end wall is more than the center line of the shaft to the distance of the shell upper surface, to improve the work model of device
It encloses.
Further technical solution, the driving gear, planetary gear and ring gear are located at same horizontal line, and nibble each other
It closes, to improve transmission stability.
The beneficial effects of the invention are as follows：
In the initial state due to apparatus of the present invention, the power motor, rotary electric machine and bevel gear motor are in and are stopped
State, the concave block are in vertical state, can be in follow-up work to make above structure be located at initial position in the initial state
It is adjusted in work, effectively improves the working regularity of device.
When device is run, the power motor drives the driving gear rotation, then is engaged with the driving gear
Planetary gear is rotated relative to the ring gear, then the frame is rotated, and the spring in the spring cavity is at this time
Compressive state closely offsets the spin in the push plate lower face with the rotation chamber lower end wall, the frame member rear-guard
The housing into rotation is moved, the rotary electric machine drives the master gear rotation, after the slave gear rotation engaged with the master gear,
So that the concave block is swung, drives the master bevel gear to rotate after the bevel gear motor work, the master bevel gear is made to enclose
It is rotated around the fixed bevel gear, the lazy bevel gear is dallied in the rotary column outer surface, then after the even block rotation, is made
With the solid fixed actuator motions of bar to designated position, then above-mentioned motion structure interlocked, make and institute in a small range
It states solid bar fixed actuator and the work such as is processed, use plyability to move to realize, realize and connected using more structures
It is dynamic, it realizes and the work such as is processed using actuator, effectively increase the reliability of device.
When replacing actuator, unscrew the bolt in the ring cavity, by the solid bar rotation °, makes the screw-in of the solid bar
The sliding intracavitary, and extracted out out of described solid bar, to improve the convenient disassembly of device.
Apparatus of the present invention are simple in structure, easy to use, this device uses planet gear type structure, and is set using more compact
Meter, realizes mechanical arm free movement in spatial dimension, to effectively increase productivity.
The above, the specific implementation mode only invented, but invent protection domain be not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should all be covered within the protection domain of invention.Therefore, the protection domain of invention
It should be determined by the scope of protection defined in the claims.
Description of the drawings
It, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution in the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only to invent
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of overall structure diagram of robot arm equipment of the present invention；
Fig. 2 is the schematic diagram in the directions A-A in Fig. 1；
Fig. 3 is the schematic diagram in the directions B-B in Fig. 1.
Specific implementation mode
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
This specification（Including any accessory claim, abstract and attached drawing）Disclosed in any feature, except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
It is an example in a series of equivalent or similar characteristics.
As shown in Figs. 1-3, a kind of robot arm equipment of the invention, including babinet 100, it is solid in the babinet 100
Equipped with opening up rotation chamber 102, rotation 102 inner wall of chamber is installed with the ring gear 108 of annular, the rotation chamber 102
Power motor 101 is installed in lower end wall, the output shaft upper surface of the power motor 101 is installed with driving gear 106, described
Engagement is provided with the planetary gear 109 of annular array between driving gear 106 and the ring gear 108, under the planetary gear 109
End face is installed with solid block 105, and described consolidate in block 105 is slidably provided with push plate 103, fixed in 103 lower face of the push plate
There are the spin to offset with rotation 102 lower end wall of chamber, 109 upper surface of the planetary gear to be installed with solid column 110, the solid column
110 outer surfaces are rotatably provided with frame 111, and 111 upper surface of the frame is installed with shell 113, consolidates in the shell 113
Equipped with drive cavity 112, rotary electric machine 114, the output shaft of the rotary electric machine 114 are installed in 112 right end wall of the drive cavity
It is rotatably assorted and connect with 112 left end wall of the drive cavity, the output shaft outer surface of the rotary electric machine 114 is installed with master gear
115, the engagement of the top of the master gear 115 is provided with from gear 116, described to be installed with shaft 117 out of gear 116, described turn
Axis 117 rotatably passes through 112 inner wall of the drive cavity and stretches out exterior space, and 117 top of the shaft is provided with concave block
118, downward opening cavity 119 is installed in the concave block 118,119 inner wall of the cavity is fixed with the shaft 117, institute
It states 118 upper surface of concave block and is installed with the rotary column 120 upwardly extended, the 118 top company of being provided with block 121 of the concave block, the even block
Be installed with bevel gear chamber 125 in 121, the rotary column 120 rotatably stretch into the bevel gear chamber 125 and with the bevel gear
125 upper end wall of chamber is rotatably assorted connection, and 120 outer surface of the rotary column is installed with fixed bevel gear 122,120 appearance of the rotary column
Face is rotatably provided with lazy bevel gear 130, and bevel gear motor 123, the cone are installed in 125 right end wall of the bevel gear chamber
The output shaft left side of gear motor 123 is installed with the master bevel gear engaged with the lazy bevel gear 130 and fixed bevel gear 122
124,125 top of the bevel gear chamber is provided in the cunning chamber 126 connected in block 121,126 left hand end wall of sliding chamber
It is installed with the ring cavity 127 of annular setting, is provided in the ring cavity 127 and sliding chamber 126 and upwardly extends solid bar 128, the solid bar
128 are fixed by bolt and the even block 121, and ventilation device, the ventilation device packet are provided in 102 bottom wall of rotation chamber
The wrapping slot 84 being arranged in 101 periphery of the power motor is included, is provided in the wrapping slot 84 and is pasted with the power motor 101
The radiating block 83 of conjunction, is provided with the heat emission hole communicated up and down in the radiating block 83,84 left end of wrapping slot be provided with outside
The suction tank 82 that portion communicates is equipped with ventilation blower 81 in the suction tank 82, and 84 right end of wrapping slot is provided with and external phase
Logical outgassing groove 85, generated heat distributes when so as to be run the power motor 101 by the ventilation blower 81.
Valuably, wherein the equivalent width of the width and the sliding chamber 126 of the solid bar 128 makes the solid bar 128 stretch
It after entering the sliding chamber 126, is caught in after turning an angle in the ring cavity 127 in the ring cavity 127, to improve device
Convenience.
Valuably, wherein the solid column 110, frame 111 and planetary gear 109 are an integral structure, to improve dress
The stability set.
Valuably, wherein the shell 113 stretches into the cavity 119, and the center line of the shaft 117 is described in
The distance of 119 upper end wall of cavity is more than the center line of the shaft 117 to the distance of 113 upper surface of the shell, to improve
The working range of device.
Valuably, wherein the driving gear 106, planetary gear 109 and ring gear 108 are located at same horizontal line, and each other
Engagement, to improve transmission stability.
In the initial state, the power motor 101, rotary electric machine 114 and bevel gear motor 123 are in apparatus of the present invention
Stop working state, the concave block 118 are in vertical state.
When device is run, the power motor 101 drive the driving gear 106 rotate, then with the driving gear
The planetary gear 109 of 106 engagements is rotated relative to the ring gear 108, then the frame 111 is rotated, described at this time
Spring in spring cavity 104 is in compressive state, by spin and 102 lower end of rotation chamber in 103 lower face of the push plate
Wall closely offsets, and the frame 111 drives the shell 113 to rotate after rotating, and the rotary electric machine 114 drives the master gear
115 rotations make the concave block 118 be swung, the bevel gear after the slave gear 116 engaged with the master gear 115 rotates
Motor 123 work after drive the master bevel gear 124 rotate, make the master bevel gear 124 around the fixed bevel gear 122 into
Row rotation, the lazy bevel gear 130 120 outer surface of the rotary column dally, then it is described even block 121 rotate after, make with it is described solid
128 fixed actuator motions of bar are interlocked to designated position, then above-mentioned motion structure, are made and the solid bar in a small range
128 fixed actuators such as are processed at the work.
When replacing actuator, unscrew the bolt in the ring cavity 127, the solid bar 128 is rotated 180 °, is made described solid
In the screw-in of the bar 128 sliding chamber 126, and the extraction out of described solid bar 128.
The beneficial effects of the invention are as follows：In the initial state due to apparatus of the present invention, the power motor, rotary electric machine and
Bevel gear motor is in stop working state, and the concave block is in vertical state, to make above structure position in the initial state
It in initial position, can be adjusted in follow-up work, effectively improve the working regularity of device.
When device is run, the power motor drives the driving gear rotation, then is engaged with the driving gear
Planetary gear is rotated relative to the ring gear, then the frame is rotated, and the spring in the spring cavity is at this time
Compressive state closely offsets the spin in the push plate lower face with the rotation chamber lower end wall, the frame member rear-guard
The housing into rotation is moved, the rotary electric machine drives the master gear rotation, after the slave gear rotation engaged with the master gear,
So that the concave block is swung, drives the master bevel gear to rotate after the bevel gear motor work, the master bevel gear is made to enclose
It is rotated around the fixed bevel gear, the lazy bevel gear is dallied in the rotary column outer surface, then after the even block rotation, is made
With the solid fixed actuator motions of bar to designated position, then above-mentioned motion structure interlocked, make and institute in a small range
It states solid bar fixed actuator and the work such as is processed, use plyability to move to realize, realize and connected using more structures
It is dynamic, it realizes and the work such as is processed using actuator, effectively increase the reliability of device.
When replacing actuator, unscrew the bolt in the ring cavity, by the solid bar rotation °, makes the screw-in of the solid bar
The sliding intracavitary, and extracted out out of described solid bar, to improve the convenient disassembly of device.
Apparatus of the present invention are simple in structure, easy to use, this device uses planet gear type structure, and is set using more compact
Meter, realizes mechanical arm free movement in spatial dimension, to effectively increase productivity.
The above, the specific implementation mode only invented, but invent protection domain be not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should all be covered within the protection domain of invention.Therefore, the protection domain of invention
It should be determined by the scope of protection defined in the claims.
Claims (5)
1. a kind of robot arm equipment, including babinet, opening up rotation chamber, the rotation are installed in the babinet
Cavity wall is installed with the ring gear of annular, and power motor, the output of the power motor are installed in the lower end wall of the rotation chamber
Axis upper surface is installed with driving gear, and the planet tooth for being provided with annular array is engaged between the driving gear and the ring gear
Wheel, the planetary gear lower face are installed with solid block, and described consolidate in block is slidably provided with push plate, in the push plate lower face
It is installed with the spin to offset with the rotation chamber lower end wall, the planetary gear upper surface is installed with solid column, the solid column appearance
Face is rotatably provided with frame, and the frame upper surface is installed with shell, and drive cavity, the transmission are installed in the shell
Rotary electric machine is installed in chamber right end wall, the output shaft of the rotary electric machine is rotatably assorted with the drive cavity left end wall and connect,
The output shaft outer surface of the rotary electric machine is installed with master gear, above the master gear engagement is provided with from gear, it is described from
Shaft is installed in gear, the shaft rotatably passes through the transmission cavity wall and stretches out exterior space, in the shaft
Side is provided with concave block, downward opening cavity is installed in the concave block, the cavity interior walls are fixed with the shaft, described recessed
Block upper surface is installed with the rotary column upwardly extended, company of being provided with block above the concave block, and bevel gear chamber is installed in company's block,
The rotary column rotatably stretches into the bevel gear intracavitary and is rotatably assorted with the bevel gear chamber upper end wall and connect, the rotary column
Outer surface is installed with fixed bevel gear, and the rotary column outer surface is rotatably provided with lazy bevel gear, the bevel gear chamber right end
Bevel gear motor is installed in wall, the output shaft left side of the bevel gear motor is installed with and the lazy bevel gear and fixed cone
The master bevel gear of gear engagement, the bevel gear chamber top are provided with the cunning chamber in the even block, described sliding chamber or so end
The ring cavity of annular setting is installed in wall, the ring cavity and sliding intracavitary are provided with and upwardly extend solid bar, and the solid bar passes through bolt
It is fixed with the even block, ventilation device is provided in the wall of the rotation bottom of chamber, the ventilation device includes being arranged in the power
The wrapping slot of motor periphery is provided with the radiating block being bonded with the power motor in the wrapping slot, is set in the radiating block
It is equipped with the heat emission hole communicated up and down, the wrapping slot left end is provided with the suction tank communicated with outside, is installed in the suction tank
There are ventilation blower, the wrapping slot right end to be provided with the outgassing groove communicated with outside, so as to described be moved by the ventilation blower
Generated heat distributes when force motor operation.
2. a kind of robot arm equipment as described in claim 1, it is characterised in that：The width of the solid bar and the cunning
The equivalent width of chamber is caught in the ring cavity after so that the solid bar is stretched into the sliding chamber after turning an angle in the ring cavity
It is interior.
3. a kind of robot arm equipment as described in claim 1, it is characterised in that：The solid column, frame and planet tooth
Wheel is an integral structure.
4. a kind of robot arm equipment as described in claim 1, it is characterised in that：The shell stretches into the cavity
It is interior, and the distance of the center line of the shaft to the cavity upper end wall is more than the center line of the shaft to the shell upper end
The distance in face.
5. a kind of robot arm equipment as described in claim 1, it is characterised in that：The driving gear, planetary gear
It is located at same horizontal line with ring gear, and is engaged with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810236633.0A CN108436901A (en) | 2018-03-21 | 2018-03-21 | A kind of robot arm equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810236633.0A CN108436901A (en) | 2018-03-21 | 2018-03-21 | A kind of robot arm equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108436901A true CN108436901A (en) | 2018-08-24 |
Family
ID=63196316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810236633.0A Withdrawn CN108436901A (en) | 2018-03-21 | 2018-03-21 | A kind of robot arm equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108436901A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181497A (en) * | 2019-05-14 | 2019-08-30 | 浙江树人学院（浙江树人大学） | A kind of space mechanism people of Collaborative Control and its control method |
-
2018
- 2018-03-21 CN CN201810236633.0A patent/CN108436901A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181497A (en) * | 2019-05-14 | 2019-08-30 | 浙江树人学院（浙江树人大学） | A kind of space mechanism people of Collaborative Control and its control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180824 |
|
| WW01 | Invention patent application withdrawn after publication |