CN109895078A - A kind of big forearm linkage mechanism of robot - Google Patents
A kind of big forearm linkage mechanism of robot Download PDFInfo
- Publication number
- CN109895078A CN109895078A CN201910278251.9A CN201910278251A CN109895078A CN 109895078 A CN109895078 A CN 109895078A CN 201910278251 A CN201910278251 A CN 201910278251A CN 109895078 A CN109895078 A CN 109895078A
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- China
- Prior art keywords
- forearm
- arm
- attachment base
- connecting rod
- speed reducer
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Abstract
The invention discloses a kind of big forearm linkage mechanisms of robot, including rotating base, rotating base includes rotation pedestal and pedestal left arm and pedestal right arm, the forearm motor erecting bed for the installation of forearm driving motor is set on pedestal left arm, the large arm motor erecting bed for the installation of large arm driving motor is set on pedestal right arm, large arm driving motor drives large arm, and forearm driving motor drives forearm.Structure of the invention is firm, and bearing capacity is strong, and the smooth vibration that works is small and runs smoothly.
Description
Technical field
The present invention relates to robot part fields, more particularly, to a kind of big forearm linkage mechanism of robot.
Background technique
Robot palletizing technology is the up-and-coming youngster of material flows automation technical field, in recent years in automatic production line, object
It is used widely in the fields such as stream.With the sustainable development of Chinese national economy and the continuous expansion of production scale of enterprise and respectively
The increasingly raising of industry automation level, robot palletizing technology are being improved production efficiency, are being promoted economic benefit, guarantor with it
Card product quality improves working conditions, optimize outstanding role that operation is laid out etc. and obtain the generally favor of people,
It advances at an unprecedented rate.Big forearm linkage mechanism is also most complicated mechanism as the most crucial of robot, past
It causes the accident toward due to cooperating not smooth enough between each joint, the cooperation between each joint of big forearm linkage mechanism is closed
The hot technology for being designed to the current field of system and strength.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, a kind of big forearm gear of robot is provided
Structure, stabilized structure, bearing capacity is strong, and the smooth vibration that works is small and runs smoothly.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of big forearm linkage mechanism of robot, including rotating base, the rotating base include rotation pedestal and position
In rotation pedestal two sides and the pedestal left arm and pedestal right arm of parallelly distribute on, the pedestal left arm is equipped with for forearm driving motor
The forearm motor erecting bed of installation, the pedestal right arm are equipped with the large arm motor erecting bed installed for large arm driving motor, institute
The inner wall for stating large arm motor erecting bed is connected with the second speed reducer outer ring, and the output end of the large arm driving motor is connected with large arm
Driving motor shaft, the large arm driving motor shaft are connected with can rotate along the second speed reducer outer ring inner wall second and slow down
Machine inner ring, the inner side end of the second speed reducer inner ring are connected with large arm, and one end of the large arm is equipped with and the second speed reducer
The other end of the connected large arm mounting disc of the inner side end of inner ring, large arm is equipped with forearm attachment base, the forearm motor erecting bed
Inner wall be connected with third speed reducer outer ring, the output end of the forearm driving motor is connected with forearm driving motor shaft, institute
It states forearm driving motor shaft and is connected with the third speed reducer inner ring that can be rotated along third speed reducer outer ring inner wall, the third
The inner side end of speed reducer inner ring is connected with forearm actuating arm, and the rear end of the forearm actuating arm is equipped with and third speed reducer inner ring
Inner side end connection forearm actuating arm mounting disc, the front end of forearm actuating arm is equipped with forearm and drives arm link attachment base, institute
The inner side end for stating large arm mounting disc is connected with connecting shaft, the connecting shaft protrude into forearm actuating arm and the outer wall of connecting shaft and
It is equipped with second bearing between the inner wall of forearm actuating arm, is hinged with forearm on the forearm attachment base, the rear end of the forearm is set
There is attachment base after forearm, the front end of forearm is equipped with attachment base before forearm, is located at after forearm on forearm and connects before attachment base and forearm
Attachment base in the forearm hinged with forearm attachment base inside is equipped between seat, attachment base and forearm drive arm link after the forearm
Arm link articulated connection is driven by forearm between attachment base, the pedestal left arm is equipped with first connecting rod connector portions, described small
It is hinged with second connecting rod on the outside of one end of arm attachment base, by the between the rear end and first connecting rod connector portions of the second connecting rod
One connecting rod is articulated and connected, and is hinged with wrist brace on attachment base before the forearm, the wrist brace includes wrist brace chassis
With the wrist brace swash plate for being vertically positioned at wrist brace chassis side, wrist brace swash plate upper end is connected equipped with third connecting rod
The front end of seat, the third connecting rod attachment base and second connecting rod is articulated and connected by third connecting rod.
Spring strut connector portions, the forearm attachment base are equipped with positioned at the top of large arm motor erecting bed on the pedestal right arm
Other side outer end and spring strut connector portions between pass through buffer unit be articulated and connected.
The buffer unit includes spring strut, the spring being mounted in spring strut and the buffer bar for protruding into spring strut, described
One end of buffer bar is hinged in spring strut connector portions, and the other end of buffer bar is connected with push plate, and the push plate is located at spring strut
Interior and push plate is against the middle of spring.
One end of the spring strut is equipped with cover board, and the center of the cover board is equipped with the guide sleeve being located in spring strut, described
Buffer bar is flexible along guide sleeve.
The other end opposite with end where cover board is equipped with spring strut rotating seat, attachment base in the forearm on the spring strut
Lateral ends face be connected with forearm spring side axis, the outer end of forearm spring side axis be inserted in spring strut rotating seat and
Forearm spring side axis and spring strut rotating seat pass through articulated connection.
Forearm spring side axis is equipped with across forearm attachment base and forearm spring side axis and forearm attachment base
5th bearing.
Fourth bearing is equipped between forearm spring side axis and spring strut rotating seat.
The second connecting rod includes the front rod and back link being distributed in obtuse angle, the intersection of the front rod and back link
It is formed and connecting rod erecting bed hinged on the outside of one end of forearm attachment base.
The outside other end of attachment base is connected with Triangular Arm central axis in the forearm, and the Triangular Arm central axis passes through
Forearm attachment base and connecting rod erecting bed, between Triangular Arm central axis outer wall and the inner wall of forearm attachment base be equipped with 6th bearing, three
Crossed roller bearing is equipped between angle arm central axis outer wall and connecting rod erecting bed, the crossed roller bearing includes being connected to triangle
Crossed roller bearing inner ring on arm center axis and the crossed roller bearing outer ring being connected on connecting rod erecting bed.
The front end of the front rod and the rear end of third connecting rod are hinged, the rear end of the back link and the front end of first connecting rod
Hingedly.
The beneficial effects of the present invention are: the driving arm link cooperation of large arm, forearm, forearm actuating arm, forearm is stretched, then
It is aided with spring strut buffering, stabilized structure has fabulous bearing capacity, shakes small in handling process and run smoothly；While the
One connecting rod, second connecting rod, third connecting rod etc. are used cooperatively, flexible operation, and freedom degree is high, and rigidity is good, are carried and are stablized, and load is big,
It is not easy to shake when carrying.
Detailed description of the invention
Fig. 1 is perspective view of the invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 be Fig. 2 in A-A to cross-sectional view；
Fig. 4 is the cross-sectional view of B-B direction in Fig. 2；
Fig. 5 be Fig. 2 in C-C to cross-sectional view；
Fig. 6 is the cooperation explosive view of large arm of the invention and forearm actuating arm；
Fig. 7 is the perspective view of large arm of the invention；
Fig. 8 is the perspective view of forearm actuating arm of the invention；
Fig. 9 is the perspective view of forearm of the invention；
Figure 10 is the perspective view of wrist brace of the invention；
Figure 11 is the perspective view that the present invention is installed in robot；
Figure 12 is the perspective view of the rotating base of robot；
Figure 13 is the scheme of installation of the rotating base of robot；
Figure 14 is the top view of Figure 13；
Figure 15 be Figure 14 in D-D to cross-sectional view；
Figure 16 is the explosive view of Figure 13；
Figure 17 is the installation explosive view of the handgrip rotating electric machine of robot；
Figure 18 is the installation cross-sectional view of the handgrip rotating electric machine of robot.
In figure: robot base 1, control cabinet 11, loading stand 12, hanging ring 13, rotating base 2, rotation pedestal 21, pedestal
Rotating electric machine erecting bed 22, pedestal left arm 23, pedestal right arm 24, forearm motor erecting bed 25, first connecting rod connector portions 26, large arm
Motor erecting bed 27, spring strut connector portions 28, pedestal rotating electric machine 3, first gear 31, second gear 32, third gear 33,
Four gears 34, inner cylinder 35, the first speed reducer outer ring 36, the first speed reducer inner ring 37, first bearing 38, sealing ring 39, large arm are driven
Dynamic motor 4, forearm driving motor 41, large arm driving motor shaft 42, the second speed reducer inner ring 43, the second speed reducer outer ring 44,
Large arm end cap 45, forearm driving motor shaft 46, third speed reducer inner ring 47, third speed reducer outer ring 48, forearm actuating arm end
Lid 49, connecting shaft 410, second bearing 411, large arm 5, large arm mounting disc 51, forearm attachment base 52, forearm actuating arm 53, forearm
Actuating arm mounting disc 54, forearm driving arm link attachment base 55, forearm driving arm link 56, forearm 6, attachment base 61 after forearm,
Attachment base 62 before forearm, attachment base 63, wrist brace 7, wrist brace chassis 71, wrist brace attachment base 72, third in forearm
Connecting rod attachment base 73, wrist brace swash plate 74, handgrip rotating electric machine 8, the 5th gear 81, the 6th gear 82, the 7th gear 83,
Octadentate wheel 84, handgrip motor axis 85, the 4th speed reducer inner ring 86, the 4th speed reducer outer ring 87, handgrip connector 88, third axis
Hold 89, first connecting rod 9, second connecting rod 91, third connecting rod 92, front rod 93, back link 94, connecting rod erecting bed 95, spring strut 96,
Buffer bar 97, push plate 98, cover board 99, nut 910, guide sleeve 911, spring strut rotating seat 912, forearm spring side axis 913,
Four bearings 914, spring 915,5th bearing 916, Triangular Arm central axis 917,6th bearing 918, crossed roller bearing outer ring
919, crossed roller bearing inner ring 920.
Specific embodiment
Present invention will be further described below with reference to the accompanying drawings and specific embodiments:
As shown in Fig. 1~Figure 18, a kind of big forearm linkage mechanism of robot, including rotating base 2, the rotating base
2 include rotating pedestal 21 and positioned at rotation 21 two sides of pedestal and the pedestal left arm 23 and pedestal right arm 24 of parallelly distribute on, the bottom
Seat left arm 23 is equipped with the forearm motor erecting bed 25 installed for forearm driving motor 41, and the pedestal right arm 24 is equipped with for big
The large arm motor erecting bed 27 that arm driving motor 4 is installed, the inner wall of the large arm motor erecting bed 27 are connected with the second speed reducer
Outer ring 44, the output end of the large arm driving motor 4 are connected with large arm driving motor shaft 42, the large arm driving motor shaft
42 are connected with the second speed reducer inner ring 43 that can be rotated along 44 inner wall of the second speed reducer outer ring, the second speed reducer inner ring 43 and the
Two speed reducer outer rings 44 are a part of RV retarder, and the technology of RV retarder is the prior art, are not described in detail herein, with
Lower first speed reducer inner ring 37 and the first speed reducer outer ring 36, third speed reducer inner ring 47 and third speed reducer outer ring 48, the 4th
Speed reducer inner ring 86 and the 4th speed reducer outer ring 87 are a part of RV retarder.
The inner side end of the second speed reducer inner ring 43 is connected with large arm 5, and one end of the large arm 5 is equipped with to be subtracted with second
The other end of the connected large arm mounting disc 51 of the inner side end of fast machine inner ring 43, large arm 5 is equipped with forearm attachment base 52, passes through large arm
Driving motor 4 drives large arm 5 to swing.
The end face outside of large arm motor erecting bed 27 is connected with large arm end cap 45, and large arm end cap 45 is by the second speed reducer inner ring
43 and second speed reducer outer ring 44 be coated in.
The inner wall of the forearm motor erecting bed 25 is connected with third speed reducer outer ring 48, the forearm driving motor 41
Output end is connected with forearm driving motor shaft 46, the forearm driving motor shaft 46 be connected with can be along third speed reducer outside
The third speed reducer inner ring 47 of 48 inner walls rotation is enclosed, the inner side end of the third speed reducer inner ring 47 is connected with forearm actuating arm
53, the rear end of the forearm actuating arm 53 is equipped with the forearm actuating arm installation connecting with the inner side end of third speed reducer inner ring 47
Disk 54, the front end of forearm actuating arm 53 are equipped with forearm and drive arm link attachment base 55, and forearm driving motor 41 drives forearm driving
Arm 53 is swung.
The end face outside of forearm motor erecting bed 25 is connected with forearm actuating arm end cap 49, and forearm actuating arm end cap 49 is by
In three speed reducer outer rings 48 and third speed reducer inner ring 47 are coated on.
The inner side end of the large arm mounting disc 51 is connected with connecting shaft 410, and the connecting shaft 410 protrudes into forearm actuating arm
Second bearing 411 is equipped in 53 and between the outer wall of connecting shaft 410 and the inner wall of forearm actuating arm 53, such connecting shaft 410 rises
To the effect of support forearm actuating arm 53, so that relatively reliable when 5 each self-swinging of forearm actuating arm 53 and large arm, it is not easy bite.
Forearm 6 is hinged on the forearm attachment base 52, the rear end of the forearm 6 is equipped with attachment base 61 after forearm, forearm 6
Front end be equipped with attachment base 62 before forearm, be located on forearm 6 after forearm before attachment base 61 and forearm be equipped between attachment base 62 with
Attachment base 63 in the hinged forearm in the inside of forearm attachment base 52, attachment base 61 and forearm drive arm link attachment base after the forearm
Arm link 56 is driven to be articulated and connected by forearm between 55, i.e. the rear end of forearm driving arm link 56 is hinged on forearm actuating arm company
On bar attachment base 55, after forearm drives the front end of arm link 56 to be hinged on forearm on attachment base 61.I.e. forearm driving motor 41 is most
It is that driving forearm 6 is swung eventually.
The pedestal left arm 23 is equipped with first connecting rod connector portions 26, is hinged on the outside of one end of the forearm attachment base 52
Second connecting rod 91 is articulated and connected between the rear end and first connecting rod connector portions 26 of the second connecting rod 91 by first connecting rod 9, i.e.,
The rear end of first connecting rod 9 is hinged in first connecting rod connector portions 26, after the front end of first connecting rod 9 is hinged on second connecting rod 91
End.
Wrist brace 7 is hinged with before the forearm on attachment base 62, the wrist brace 7 includes 71 He of wrist brace chassis
It is vertically positioned at the wrist brace swash plate 74 of 71 side of wrist brace chassis, 74 upper end of wrist brace swash plate is equipped with third connecting rod
The front end of attachment base 73, the third connecting rod attachment base 73 and second connecting rod 91 is articulated and connected by third connecting rod 92.That is third
The rear end of connecting rod 92 is hinged on the front end of second connecting rod 91, and the front end of third connecting rod 92 is hinged on third connecting rod attachment base 73.
The rear end of wrist brace swash plate 74 is equipped with for the wrist brace attachment base with 62 coordination hinge of attachment base before forearm
72, attachment base 62 is located at 72 inside of wrist brace attachment base specially before forearm.
Spring strut connector portions 28, the forearm are equipped with positioned at the top of large arm motor erecting bed 27 on the pedestal right arm 24
It is articulated and connected between the other side outer end and spring strut connector portions 28 of attachment base 52 by buffer unit.
The buffer unit includes spring strut 96, the spring being mounted in spring strut 96 915 and protrudes into the slow of spring strut 96
One end of jumper bar 97, the buffer bar 97 is hinged in spring strut connector portions 28, and the other end of buffer bar 97 is connected with push plate 98,
The push plate 98 is located in spring strut 96 and push plate 98 is against the middle of spring 915.The outer diameter of push plate 98 is greater than spring 915
Internal diameter is to guarantee that push plate 98 is not fallen out.Push plate 98 is detachable installation, and push plate 98 passes through after being inserted into the end of buffer bar 97
The fixation that nut 910 realizes push plate 98 is screwed into the end of buffer bar 97.
One end of the spring strut 96 is equipped with cover board 99, and the center of the cover board 99 is equipped with the guiding being located in spring strut 96
Set 911, the buffer bar 97 are flexible along guide sleeve 911.Buffer unit one end of the invention is located on pedestal right arm 24, another
End is located at the intersection of large arm 5 and forearm 6, and waist rotating mechanism and big forearm linkage mechanism to robot play well
It is associated with buffer function, robot can realize even running under heavy load.
The other end opposite with 99 place end of cover board is equipped with spring strut rotating seat 912, the forearm on the spring strut 96
The lateral ends face of middle attachment base 63 is connected with forearm spring side axis 913, and the outer end of forearm spring side axis 913 is inserted in
In spring strut rotating seat 912 and forearm spring side axis 913 and spring strut rotating seat 912 pass through articulated connection.
Forearm spring side axis 913 is across forearm attachment base 52 and forearm spring side axis 913 and forearm attachment base
5th bearing 916 is equipped between 52.
Fourth bearing 914 is equipped between forearm spring side axis 913 and spring strut rotating seat 912.Of the invention is each
The structure of hinged place can refer to the fit structure of forearm spring side axis 913 and spring strut rotating seat 912.
The second connecting rod 91 includes the front rod 93 and back link 94 being distributed in obtuse angle, the front rod 93 and back link
94 intersection is formed and connecting rod erecting bed 95 hinged on the outside of one end of forearm attachment base 52.
The outside other end of attachment base 63 is connected with Triangular Arm central axis 917, the triangle arm center in the forearm
Axis 917 passes through forearm attachment base 52 and connecting rod erecting bed 95, the inner wall of 917 outer wall of Triangular Arm central axis and forearm attachment base 52 it
Between be equipped with 6th bearing 918, between 917 outer wall of Triangular Arm central axis and connecting rod erecting bed 95 be equipped with crossed roller bearing, it is described
Crossed roller bearing includes that the crossed roller bearing inner ring 920 being connected on Triangular Arm central axis 917 is installed with connecting rod is connected to
Crossed roller bearing outer ring 919 on platform 95.
The front end of the front rod 93 and the rear end of third connecting rod 92 are hinged, the rear end of the back link 94 and first connecting rod
9 front end is hinged.
Robot of the invention further includes robot base 1,1 upper end of robot base equipped with waist rotating mechanism, waist
Rotating mechanism is equipped with big forearm linkage mechanism, and big forearm linkage mechanism front end is equipped with handgrip rotating mechanism, handgrip rotating mechanism
Including each component for driving control handgrip connector 88 to run by handgrip rotating electric machine 8.
The upper surface of robot base 1 is equipped with loading stand 12, and waist rotating mechanism is mounted in loading stand 12, machine
Control cabinet 11 is additionally provided on people's pedestal 1, control cabinet 11 is used to control the coordination of each motor.Four angles of loading stand 12
On be equipped with hanging ring 13, the handling of robot may be implemented by hanging ring 13.
The waist rotating mechanism includes being mounted on the rotating base 2 of 1 upper end of robot base and rotating base 2 being driven to revolve
The rotation of the pedestal rotating electric machine 3 turned, i.e. pedestal rotating electric machine 3 can drive itself and rotating base 2 to rotate together.
21 upper surface of rotation pedestal is equipped with pedestal rotating electric machine 3, and rotation 21 upper surface of pedestal is rotated equipped with pedestal
Motor erecting bed 22, pedestal rotating electric machine 3 are mounted on pedestal rotating electric machine erecting bed 22.
1 upper surface of robot base is fixedly connected with the first speed reducer inner ring 37, the outer of the rotation pedestal 21
Lower end surface is fixedly connected with the first speed reducer outer ring 36 that can be rotated along 37 outer wall of the first speed reducer inner ring.
The lower end of the pedestal rotating electric machine 3 passes through rotation pedestal 21 and synchronized links have a first gear 31, and described first
Gear 31 engages second gear 32, and the second gear 32 is mounted in the first tooth shaft, and the second tooth is located in first tooth shaft
The lower section of wheel 32 is equipped with the third gear 33 with 32 synchronous rotary of second gear, engages multiple 4th teeth on the third gear 33
Wheel 34, the 4th gear 34 are mounted on 37 upper surface of the first speed reducer inner ring, and decelerating effect is played in multiple gear cooperations.
The upper and lower side outer wall of first tooth shaft, which is interference fitted, is equipped with first bearing 38, two first bearings 38 it is outer
Circle is separately mounted on rotation pedestal 21 and the first speed reducer inner ring 37, and the upper end center of loading stand 12 is connected with inner cylinder 35,
The upper end of inner cylinder 35 extends through the center of rotation pedestal 21, the inner wall of the outer wall of inner cylinder 35 and the first speed reducer inner ring 37, the
The inner wall of one tooth shaft has gap, is sealed between the outer wall of inner cylinder 35 and the center for rotating pedestal 21 by sealing ring 39.
The upper end on the wrist brace chassis 71 is connected with handgrip rotating electric machine 8, the lower end on the wrist brace chassis 71
It is connected with the 4th speed reducer outer ring 87, being equipped in the 4th speed reducer outer ring 87 can rotate along 87 inner wall of the 4th speed reducer outer ring
The 4th speed reducer inner ring 86, the lower end of the handgrip rotating electric machine 8 is equipped with the 5th gear 81 across wrist brace chassis 71,
5th gear 81 engages the 6th gear 82, and the 6th gear 82 is mounted in the second tooth shaft, and second tooth shaft is located at
The lower section of 6th gear 82 is equipped with the 7th gear 83 with 82 synchronous rotary of the 6th gear, and the equal interference of the upper and lower side of the second tooth shaft is matched
Conjunction is equipped with 3rd bearing 89, and the outer ring of upper and lower two 3rd bearings 89 is fitted in wrist brace chassis 71 and the 4th respectively and slows down
On machine inner ring 86.
7th gear 83 engages multiple eighth gears 84, and multiple eighth gears 84 are mounted on the 4th speed reducer inner ring 86
Upper surface, the center on wrist brace chassis 71 is equipped with handgrip motor axis 85, and handgrip motor axis 85 is fixedly connected on the 4th
On the lower end surface inner edge of speed reducer inner ring 86.
The lower end fitting of the 4th speed reducer inner ring 86 is equipped with handgrip connector 88, and handgrip connector 88 is for connecting
Grab the handgrip of article.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of big forearm linkage mechanism of robot, including rotating base (2), it is characterised in that: rotating base (2) packet
It includes rotation pedestal (21) and is located at the pedestal left arm (23) and pedestal right arm (24) of rotation pedestal (21) two sides and parallelly distribute on, institute
It states pedestal left arm (23) and is equipped with the forearm motor erecting bed (25) installed for forearm driving motor (41), the pedestal right arm
(24) it is equipped with the large arm motor erecting bed (27) installed for large arm driving motor (4), the large arm motor erecting bed (27)
Inner wall is connected with the second speed reducer outer ring (44), and the output end of the large arm driving motor (4) is connected with large arm driving motor and turns
Axis (42), the large arm driving motor shaft (42) are connected with can rotate along the second speed reducer outer ring (44) inner wall second and subtract
The inner side end of fast machine inner ring (43), the second speed reducer inner ring (43) is connected with large arm (5), one end of the large arm (5)
Equipped with the large arm mounting disc (51) being connected with the inner side end of the second speed reducer inner ring (43), the other end of large arm (5) is equipped with small
Arm attachment base (52), the inner wall of the forearm motor erecting bed (25) are connected with third speed reducer outer ring (48), and the forearm drives
The output end of dynamic motor (41) is connected with forearm driving motor shaft (46), and the forearm driving motor shaft (46) is connected with can
Along third speed reducer outer ring (48) inner wall rotate third speed reducer inner ring (47), the third speed reducer inner ring (47) it is interior
Side end face is connected with forearm actuating arm (53), and the rear end of the forearm actuating arm (53) is equipped with and third speed reducer inner ring (47)
The forearm actuating arm mounting disc (54) of inner side end connection, the front end of forearm actuating arm (53) are equipped with forearm driving arm link connection
Seat (55), the inner side end of the large arm mounting disc (51) are connected with connecting shaft (410), and the connecting shaft (410) protrudes into forearm
Second bearing (411) are equipped in actuating arm (53) and between the outer wall of connecting shaft (410) and the inner wall of forearm actuating arm (53), institute
It states and is hinged on forearm attachment base (52) forearm (6), the rear end of the forearm (6) is equipped with attachment base (61) after forearm, forearm (6)
Front end be equipped with attachment base (62) before forearm, be located on forearm (6) after forearm before attachment base (61) and forearm attachment base (62) it
Between be equipped with attachment base (63) in hinged forearm on the inside of forearm attachment base (52), attachment base (61) and forearm drive after the forearm
By forearm driving arm link (56) articulated connection between swing arm connecting rod attachment base (55), the pedestal left arm (23) is equipped with the
One end outside in one linkage connector portion (26), the forearm attachment base (52) is hinged with second connecting rod (91), the second connecting rod
(91) it is articulated and connected between rear end and first connecting rod connector portions (26) by first connecting rod (9), attachment base before the forearm
(62) it is hinged on wrist brace (7), the wrist brace (7) includes wrist brace chassis (71) and is vertically positioned at wrist brace
The wrist brace swash plate (74) of chassis (71) side, wrist brace swash plate (74) upper end are equipped with third connecting rod attachment base
(73), the front end of the third connecting rod attachment base (73) and second connecting rod (91) is articulated and connected by third connecting rod (92).
2. a kind of big forearm linkage mechanism of robot as described in claim 1, it is characterised in that: on the pedestal right arm (24)
Spring strut connector portions (28) are equipped with positioned at the top of large arm motor erecting bed (27), outside the other side of the forearm attachment base (52)
It is articulated and connected between end and spring strut connector portions (28) by buffer unit.
3. a kind of big forearm linkage mechanism of robot as claimed in claim 2, it is characterised in that: the buffer unit includes bullet
Spring cylinder (96), the spring (915) being mounted in spring strut (96) and the buffer bar (97) for protruding into spring strut (96), the buffer bar
(97) one end is hinged on spring strut connector portions (28), and the other end of buffer bar (97) is connected with push plate (98), the push plate
(98) it is located in spring strut (96) and push plate (98) is against the middle of spring (915).
4. a kind of big forearm linkage mechanism of robot as claimed in claim 3, it is characterised in that: the one of the spring strut (96)
End is equipped with cover board (99), and the center of the cover board (99) is equipped with the guide sleeve (911) being located in spring strut (96), the buffer bar
(97) flexible along guide sleeve (911).
5. a kind of big forearm linkage mechanism of robot as claimed in claim 4, it is characterised in that: on the spring strut (96) with
The opposite other end in end where cover board (99) is equipped with spring strut rotating seat (912), the outside one of attachment base (63) in the forearm
End face is connected with forearm spring side axis (913), and spring strut rotating seat is inserted in the outer end of forearm spring side axis (913)
(912) in and forearm spring side axis (913) and spring strut rotating seat (912) pass through articulated connection.
6. a kind of big forearm linkage mechanism of robot as claimed in claim 5, it is characterised in that: forearm spring side axis
(913) 5th bearing is equipped with across forearm attachment base (52) and forearm spring side axis (913) and forearm attachment base (52)
(916)。
7. a kind of big forearm linkage mechanism of robot as claimed in claim 5, it is characterised in that: forearm spring side axis
(913) fourth bearing (914) are equipped between spring strut rotating seat (912).
8. a kind of big forearm linkage mechanism of robot as claimed in claim 5, it is characterised in that: second connecting rod (91) packet
Include the front rod (93) and back link (94) being distributed in obtuse angle, the intersection of the front rod (93) and back link (94) formed with
Hinged connecting rod erecting bed (95) on the outside of one end of forearm attachment base (52).
9. a kind of big forearm linkage mechanism of robot as claimed in claim 8, it is characterised in that: attachment base in the forearm
(63) outside other end is connected with Triangular Arm central axis (917), and the Triangular Arm central axis (917) passes through forearm attachment base
(52) and connecting rod erecting bed (95) the 6th, is equipped between Triangular Arm central axis (917) outer wall and the inner wall of forearm attachment base (52)
Bearing (918) is equipped with crossed roller bearing, the intersection between Triangular Arm central axis (917) outer wall and connecting rod erecting bed (95)
Roller bearing includes the crossed roller bearing inner ring (920) that is connected on Triangular Arm central axis (917) and is connected to connecting rod and installs
Crossed roller bearing outer ring (919) on platform (95).
10. a kind of big forearm linkage mechanism of robot as described in claim 8 or 9, it is characterised in that: the front rod (93)
Front end and third connecting rod (92) rear end it is hinged, the rear end of the back link (94) and the front end of first connecting rod (9) are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278251.9A CN109895078A (en) | 2019-04-09 | 2019-04-09 | A kind of big forearm linkage mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278251.9A CN109895078A (en) | 2019-04-09 | 2019-04-09 | A kind of big forearm linkage mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109895078A true CN109895078A (en) | 2019-06-18 |
Family
ID=66955409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910278251.9A Pending CN109895078A (en) | 2019-04-09 | 2019-04-09 | A kind of big forearm linkage mechanism of robot |
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| CN (1) | CN109895078A (en) |
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| CN103538053A (en) * | 2012-07-17 | 2014-01-29 | 昆山华恒焊接股份有限公司 | Six-freedom-degree spray coating robot |
| CN104923431A (en) * | 2014-03-18 | 2015-09-23 | 上海飞机制造有限公司 | Spraying robot driven by multiple parallelogram links in parallel |
| CN204366948U (en) * | 2014-12-11 | 2015-06-03 | 安徽华创智能装备有限公司 | Articulated type series connection robot palletizer |
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Application publication date: 20190618 |
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