CN108890687A - A kind of parallel joint structure for robot - Google Patents

Abstract

The invention discloses a kind of parallel joint structures for robot, including the mechanical wall of No.1 joint shaft, positioning screw hole and No. two, the upper end of No.1 joint shaft is equipped with connecting plate, and the two sides of connecting plate are fixedly installed with sump, the side of the sump is fixedly installed with No.1 mechanical arm, the side of the No.1 mechanical arm is movably installed with No. two joint shafts, and the upper surface of No. two joint shafts is equipped with abatvoix.A kind of parallel joint structure for robot of the present invention, equipped with dust plug, sump and strong magnetic generating device, it can prevent dust impurity from resulting in blockage to positioning screw hole, and it is not easy to get rusty, moreover it is possible to provide machine oil for the articulation mechanism to play the role of lubrication, and the cargo of snatch different weight can be allowed the robot to, and the joint structure can be made more secured when being connected on robot arm, it is not easily to fall off, it is applicable in different operating situation, brings better prospect of the application.

Description

A kind of parallel joint structure for robot

Technical field

The present invention relates to machinery equipment field, in particular to a kind of parallel joint structure for robot.

Background technique

Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume The program of row, the principle program action that can also be formulated according to artificial intelligence technology.Its task is to assist or replace mankind's work Make, such as production industry, construction industry and the work of danger, the connection between its arm is by a kind of knot similar to joint Structure connection.

There are certain drawbacks in the parallel joint structure of existing robot, firstly, positioning screw hole is easy to meet with when in use To the blocking of dust impurity, and internal-flange bolt easily gets rusty, secondly, itself does not have lubricating action, needs when needing to lubricate Staff is wanted to exclusively carry out lubrication, it is troublesome in poeration, the article of robot snatch different weight can not be made, be mounted on robot Firmness is not high when on arm, is easy to fall off, and brings certain influence, for this purpose, it is proposed that a kind of for the parallel of robot Joint structure.

Summary of the invention

The main purpose of the present invention is to provide a kind of parallel joint structures for robot, can effectively solve background The problems in technology.

To achieve the above object, the technical scheme adopted by the invention is as follows：

A kind of parallel joint structure for robot, including the mechanical wall of No.1 joint shaft, positioning screw hole and No. two, institute The lower end for stating No.1 joint shaft is fixedly installed with base plate, and the inside of the base plate is fixedly installed with shock suction layer, described fixed Position screw hole is fixedly connected with base plate, and the upper end of No.1 joint shaft is equipped with connecting plate, and the two sides of connecting plate are fixed Sump is installed, the side of the sump is fixedly installed with No.1 mechanical arm, the side activity peace of the No.1 mechanical arm Equipped with No. two joint shafts, the upper surface of No. two joint shafts is equipped with abatvoix, and the upper end of the abatvoix is fixedly mounted There is No.1 motor, and the side of No.1 motor is movably installed with No. three joint shafts, the side of No. three joint shafts is fixed Linking arm is installed, the side of the linking arm is fixedly installed with strong magnetic generating device, described No. two mechanical walls and machine oil Case is fixedly connected, and the top of No. two mechanical walls is equipped with No. two motors, and the side of the positioning screw hole is equipped with dust plug.

Preferably, the quantity of the dust plug and positioning screw hole is four groups.

Preferably, the connecting plate is fixedly connected with No.1 joint shaft.

Preferably, the abatvoix and No. two joint shafts are fixedly connected.

Preferably, the quantity of No. two joint shafts, No. three joint shafts and linking arm is two groups.

Compared with prior art, the present invention has the advantages that：The parallel joint structure of the robot, passes through setting Positioning screw hole can be such that the joint structure is more accurately mounted on the arm of robot, and connecting plate is connected to two joint knots Structure becomes parallel construction, by the dust plug of setting, can be avoided and is caused by particles such as dust impurities to positioning screw hole Blocking, and is also avoided that situation of getting rusty occurs in later period bolt, and sump is provided with the machine oil with lubricating action, in machine oil The inside into the parallel construction can be conveyed, lubricating action is played, keeps its working efficiency higher, No.1 mechanical arm and No. two machinery Wall passes through No.1 motor respectively and No. two motors provide power, and No.1 mechanical arm and No. two mechanical walls is enabled to make the parallel pass The article for the robot arm snatch different weight that section structure is connected, to adapt to different working conditions, strong magnetic occurs Device itself has stronger magnetism, and what can be consolidated is sucked metal material, can be made by the way that strong magnetic generating device is arranged More firm when the parallel joint structure is connected on the arm of robot, total is simple, easy to operate, the effect used Fruit is more preferable relative to traditional approach.

Detailed description of the invention

Fig. 1 is a kind of overall structure diagram of the parallel joint structure for robot of the present invention.

Fig. 2 is a kind of partial view of the parallel joint structure for robot of the present invention.

Fig. 3 is the enlarged drawing of A in a kind of Fig. 2 for the parallel joint structure of robot of the present invention.

Fig. 4 is the structure chart of B in a kind of Fig. 2 for the parallel joint structure of robot of the present invention.

In figure：1, No.1 joint shaft；2, base plate；3, shock suction layer；4, positioning screw hole；5, connecting plate；6, sump；7, No.1 mechanical arm；8, No. two joint shafts；9, abatvoix；10, No.1 motor；11, No. three joint shafts；12, linking arm；13, Strong magnetic generating device；14, No. two mechanical walls；15, No. two motors；16, dust plug.

Specific embodiment

To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to Specific embodiment, the present invention is further explained.

As shown in Figs 1-4, a kind of parallel joint structure for robot, including No.1 joint shaft 1, positioning screw hole 4 With No. two mechanical walls 14, the lower end of No.1 joint shaft 1 is fixedly installed with base plate 2, and the inside of the base plate 2 is fixed Shock suction layer 3 is installed, the positioning screw hole 4 is fixedly connected with base plate 2, and the upper end of No.1 joint shaft 1 is equipped with connection Plate 5, and the two sides of connecting plate 5 are fixedly installed with sump 6, the side of the sump 6 is fixedly installed with No.1 mechanical arm 7, the side of the No.1 mechanical arm 7 is movably installed with No. two joint shafts 8, and the upper surface of No. two joint shafts 8 is equipped with Abatvoix 9, the upper end of the abatvoix 9 is fixedly installed with No.1 motor 10, and the side of No.1 motor 10 is movably installed with three Number joint shaft 11, the side of No. three joint shafts 11 are fixedly installed with linking arm 12, and the side of the linking arm 12 is solid Dingan County is equipped with strong magnetic generating device 13, and No. two mechanical walls 14 are fixedly connected with sump 6, and No. two mechanical walls 14 Top is equipped with No. two motors 15, and the side of the positioning screw hole 4 is equipped with dust plug 16.

Wherein, the quantity of the dust plug 16 and positioning screw hole 4 is four groups.

Wherein, the connecting plate 5 is fixedly connected with No.1 joint shaft 1.

Wherein, the abatvoix 9 is fixedly connected with No. two joint shafts 8.

Wherein, 8, No. three joint shafts 11 of No. two joint shafts and the quantity of linking arm 12 are two groups.

It should be noted that the present invention is a kind of parallel joint structure for robot, when in use, pass through setting one Number joint shaft 1 can control the change of the parallel shutdown structure general direction, and the lower end of No.1 joint shaft 1 is fixedly installed with Base plate 2 is carried the main parts size of the parallel joint structure by setting base plate 2, keeps its structure more stable, pedestal The inside of plate 2 is fixedly installed with shock suction layer 3, in parallel joint structure operating, can lead to because robot work generates vibration Some shock-absorbing substances are placed in passing shock suction layer 3, make base plate 2 that there is certain cushioning effect, positioning screw hole 4 and base plate 2 It is fixedly connected, the joint structure can be made more accurately to be mounted on the arm of robot by the way that positioning screw hole 4 is arranged, passed through The dust plug 16 of setting can be avoided and be resulted in blockage by particles such as dust impurities to positioning screw hole 4, and is also avoided that later period spiral shell There is situation of getting rusty in bolt, and connecting plate 5 is connected to two joint structures, becomes parallel configuration, and the two sides of connecting plate 5 are fixed Sump 6 is installed, sump 6 is provided with the machine oil with lubricating action, in machine oil can convey into the parallel construction Inside, play lubricating action, keep its working efficiency higher, the side of sump 6 is equipped with No.1 mechanical arm 7 and No. two mechanical walls 14, No.1 mechanical arm 7 and No. two mechanical walls 14 provide power by No.1 motor 10 and No. two motors 15 respectively, so that No.1 machine The article for the robot arm snatch different weight that tool arm 7 can be such that the parallel joint structure is connected with No. two mechanical walls 14, To adapt to different working conditions, the side of No.1 mechanical arm 7 is movably installed with No. two joint shafts 8, passes through No. two passes of setting Section shaft 8 angle subtle to the parallel joint structure with No. three joint shafts 11 regulates and controls, the upper table of No. two joint shafts 8 Face is equipped with abatvoix 9, can absorb the noise around the parallel joint structure installation environment, linking arm by the way that abatvoix 9 is arranged 12 side is fixedly installed with strong magnetic generating device 13, and strong magnetic generating device 13 itself has stronger magnetism, energy Enough firm is sucked metal material, the parallel joint structure can be made to be connected to machine by the way that strong magnetic generating device 13 is arranged It is more firm when on the arm of people, it is more practical.

The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its Equivalent thereof.

Claims (5)

1. a kind of parallel joint structure for robot, including No.1 joint shaft (1), positioning screw hole (4) and No. two machinery Wall (14), it is characterised in that：The lower end of No.1 joint shaft (1) is fixedly installed with base plate (2), the base plate (2) Inside be fixedly installed with shock suction layer (3), the positioning screw hole (4) is fixedly connected with base plate (2), No.1 joint shaft (1) upper end is equipped with connecting plate (5), and the two sides of connecting plate (5) are fixedly installed with sump (6), the sump (6) Side is fixedly installed with No.1 mechanical arm (7), and the side of the No.1 mechanical arm (7) is movably installed with No. two joint shafts (8), The upper surface of No. two joint shafts (8) is equipped with abatvoix (9), and the upper end of the abatvoix (9) is fixedly installed with No.1 electricity Machine (10), and the side of No.1 motor (10) is movably installed with No. three joint shafts (11), No. three joint shafts (11) Side is fixedly installed with linking arm (12), and the side of the linking arm (12) is fixedly installed with strong magnetic generating device (13), Described No. two mechanical walls (14) are fixedly connected with sump (6), and the top of No. two mechanical walls (14) is equipped with No. two motors (15), The side of the positioning screw hole (4) is equipped with dust plug (16).

2. a kind of parallel joint structure for robot according to claim 1, it is characterised in that：The dust plug (16) and the quantity of positioning screw hole (4) is four groups.

3. a kind of parallel joint structure for robot according to claim 1, it is characterised in that：The connecting plate (5) it is fixedly connected with No.1 joint shaft (1).

4. a kind of parallel joint structure for robot according to claim 1, it is characterised in that：The abatvoix (9) it is fixedly connected with No. two joint shafts (8).

5. a kind of parallel joint structure for robot according to claim 1, it is characterised in that：No. two joints The quantity of shaft (8), No. three joint shafts (11) and linking arm (12) is two groups.