CN201792342U - Separating joint-connection-type robot arm - Google Patents
Separating joint-connection-type robot arm Download PDFInfo
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- CN201792342U CN201792342U CN2010201655794U CN201020165579U CN201792342U CN 201792342 U CN201792342 U CN 201792342U CN 2010201655794 U CN2010201655794 U CN 2010201655794U CN 201020165579 U CN201020165579 U CN 201020165579U CN 201792342 U CN201792342 U CN 201792342U
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Abstract
The utility model relates to a separating joint-connection-type robot arm. An arm joint consists of motors, speed reducers and joint connecting devices. Each joint connecting device is a detachable structure, a main connecting block is connected with an auxiliary connecting block to form each joint connecting device, one end of the main connecting block is vertically fixedly connected with one end of the auxiliary connecting block in a fitting plug manner, and the other end of the main connecting block and the other end of the auxiliary connecting block are respectively connected with each motor and each speed reducer. The joint connecting devices are serially connected with each other to form the robot arm through the motors and the speed reducers which are spaced adjacently. The separating joint-connection-type robot arm is simple in structure, attractive in appearance, light in weight and fewer in used materials, and adopts a modular structure so that the appearance of the robot arm is more similar as a human arm.
Description
Technical field
The utility model relates to a kind of separate type joint connecting-type robot arm.
Background technology
At present, apery service robot arm joint syndeton all is all-in-one-piece.Its part processing inconvenience, rigidity are lower, yielding.Usually improve its rigidity by the structure of setting up floor, increasing connector, cause complex structure, the screw connection space is too small and robot arm is overweight, causes arm to have a down dip, stretch problems such as not straight.In addition in the time need carrying out maintenance, repair to certain part of robot arm, need dismounting motor mounting part position, influence part refitting precision, increase workload and labour intensity, defective such as lose time.
The utility model content
The purpose of this utility model is at the problems referred to above, and a kind of novel separate type joint connecting-type robot arm is provided.By monolithic construction is changed into split-type, strengthened installation mating part contact-making surface, both improved rigidity, make again and can also reduce simultaneously module maintenance, the workload when changing by easy to process, good looking appearance, simplified the dismounting operation, the time of saves valuable, increase work efficiency.
For achieving the above object, the utility model design is: joint connector is divided into major and minor connecting-type piece in the connecting-type robot arm of the utility model separate type joint, main connecting-type piece one end links to each other with the joint with the circular port device, be screwed into concave hole and joint locking by 12 high-intensity bolts, its dome-type profile has avoided stress to concentrate, and has beautified outward appearance, has more apery type characteristics, the other end links to each other with secondary connecting-type piece by slot, and by 4 bolt lockings.The secondary connecting-type piece other end also is that the circular port mode connects next joint.Owing to adopt insertion slot type to connect, strengthened installation mating part contact-making surface, thereby improved the rigidity of jockey.
According to above-mentioned utility model design, the utility model adopts following technical proposals:
A kind of separate type joint connecting-type robot arm is made up of motor, decelerator and joint connector.It is characterized in that described joint connector is the detachable structure, it connects a secondary connecting-type piece by a main connecting-type piece and constitutes, one end of described main connecting-type piece is fixedlyed connected with the vertical inserting of an end of secondary connecting-type piece, and the other end of the other end of main connecting-type piece and secondary connecting-type piece respectively is connected with decelerator (12) with a described motor (11) respectively; A plurality of described joint connectors are connected into robot arm by adjacent separately motor (11) and decelerator (12).
Described joint connector detachable structure is: an end of described main connecting-type piece is half flat tenon, one end of described secondary connecting-type piece is the sector housing, sector that this sector housing forms and the flat tenon inserting of living the connecting-type piece, described sector bottom periphery is divided equally screw perforation, described flat tenon end face has the screw of aiming at it, screw passes described screw perforation and screw spins, and main connecting-type piece is fixedlyed connected with secondary connecting-type piece.
Each with a described motor and decelerator syndeton is the other end of the main connecting-type piece other end and secondary connecting-type piece respectively in the described joint connector: the other end of the described main connecting-type piece other end and secondary connecting-type piece is hemispherical shell; There is circular hole at the hemispherical shell center, the joint body of rod of coupling is passed and can freely swing; Uniform bolt penetration hole is arranged by domed ends involutory be connected of bolt near the hemispherical shell periphery with a corresponding motor and decelerator.
The utility model has following substantial characteristics and technological progress compared with prior art:
(1) under the situation that satisfies jockey intensity and function of use, joint connector is divided into major and minor two connecting-type pieces, and main connecting-type piece inserts to form in the slot of secondary connecting-type piece and cooperates, and fastening with screw, strengthen installation mating part contact-making surface, improved rigidity.
(2) design of this jockey helps part manufacturing processing, reduces the processing conditions requirement.
(3) design of this jockey helps joint module repair demolition and module assembling, reduces live load.
(4) this jockey rigidity height, stress deformation is little, helps the action that robot arm is accurately finished design.
(5) this jockey is designed to detachable, helps joint module design and assembling.
(6) this jockey compact conformation, good looking appearance make arm have more the profile of apery, satisfy people's aesthetic standard.
(7) this jockey structure major-minor end is designed to the hemispherical profile, has avoided stress to concentrate, and prevents to scrape and hurts sb.'s feelings, and has improved security performance, and this is most important at service robot.
Description of drawings
Fig. 1 formula separate type of the present utility model joint connecting-type robot arm structural perspective.
Fig. 2 is the stereogram that the utility model major-minor connecting-type piece connects.
Fig. 3 is a main connecting-type block structure stereogram of the present utility model.
Fig. 4 is a secondary connecting-type block structure stereogram of the present utility model.
The specific embodiment
Details are as follows in conjunction with the accompanying drawings for preferred embodiment of the present utility model:
Embodiment one: referring to Fig. 1, Fig. 2 and Fig. 3, a kind of separate type joint connecting-type robot arm is made up of motor 11, decelerator 12 and joint connector 1,2.Joint connector is the detachable structure, it connects a secondary connecting-type piece 1 by a main connecting-type piece 3 and constitutes, one end of described main connecting-type piece 3 is fixedlyed connected with the vertical inserting of an end of secondary connecting-type piece 1, and the other end of the other end of main connecting-type piece 3 and secondary connecting-type piece 1 respectively is connected a plurality of described joint connectors by adjacent motor and decelerator are connected into robot arm separately with a described motor respectively with decelerator.
Embodiment two: referring to Fig. 1, Fig. 2 and Fig. 3, present embodiment and embodiment one are basic identical, and special feature is as follows:
The fixedly connected structure of the vertical inserting of described detachable is: an end of described main connecting-type piece 3 is half flat tenon 5, one end of described secondary connecting-type piece 1 is the sector housing, sector 2 that this sector housing forms and flat tenon 5 insertings of living connecting-type piece 3, described sector 2 bottom periphery are divided equally screw perforation 8, described flat tenon 5 end faces have the screw of aiming at it 6, screw passes described screw perforation 8 and spins with screw 6, and main connecting-type piece 3 is fixedlyed connected with secondary connecting-type piece 1.
Each with a motor 11 and decelerator 12 syndetons is the other end of main connecting-type piece 3 other ends and secondary connecting-type piece 1 respectively in the described joint connector: the other end of described main connecting-type piece 3 other ends and secondary connecting-type piece 1 is hemispherical shell 4,10; There is circular hole at hemispherical shell 4,10 centers, the joint body of rod of coupling is passed and can freely swing; There is uniform bolt penetration hole 7,9 to be connected with the domed ends of decelerator 12 is involutory with a corresponding motor 11 near hemispherical shell 4,10 peripheries by bolt.
Embodiment three: referring to Fig. 1, Fig. 2 and Fig. 3, this separate type joint connecting-type robot arm and embodiment two are basic identical, and special feature is that joint connector comprises main connecting-type piece 3 and secondary connecting-type piece 1, and main connecting-type piece 3 has screwed hole on the bottom surface.Design slot 2 on the secondary connecting-type piece 1, tapped through hole is offered in slot 2 bottom surfaces.Main connecting-type piece 3 inserts with the form of flat tenon 5 to form in the sector 2 of secondary connecting-type piece 1 and cooperates, and fastening with screw.Main connecting-type piece 3 other ends link to each other with the joint with circular port, are screwed into concave hole and joint locking by 12 high-intensity bolts 4, and its dome-type profile has avoided stress to concentrate, and has beautified outward appearance, has more apery type characteristics.The secondary connecting-type piece other end also is that through hole passes through 12 bolts 4 and realizes being connected with next joint.Secondary connecting-type piece 1 has increased reinforcement and has been connected with insertion slot type and has increased contact area, has guaranteed the high rigidity of this jockey.Simultaneously the utility model compact conformation, good looking appearance make arm have more the profile of apery, satisfy people's aesthetic standard.
Claims (3)
1. separate type joint connecting-type robot arm, form by motor (11), decelerator (12) and joint connector, it is characterized in that described joint connector is the detachable structure, it connects a secondary connecting-type piece (1) by a main connecting-type piece (3) and constitutes, one end of described main connecting-type piece (3) is fixedlyed connected with the vertical inserting of an end of secondary connecting-type piece (1), and the other end of the other end of main connecting-type piece (3) and secondary connecting-type piece (1) respectively is connected with decelerator (12) with a described motor (11) respectively; A plurality of described joint connectors are by adjacent motor (11) and decelerator (12) are connected into robot arm separately.
2. according to claims 1 described separate type joint connecting-type robot arm, the detachable structure that it is characterized in that described joint connector is: an end of described main connecting-type piece (3) is half flat tenon (5), one end of described secondary connecting-type piece (1) is the sector housing, sector (2) that this sector housing forms and flat tenon (5) inserting of living connecting-type piece (3), described sector (2) bottom periphery is divided equally screw perforation (8), described flat tenon (5) end face has the screw of aiming at it (6), screw passes described screw perforation (8) and spins with screw (6), and main connecting-type piece (3) is fixedlyed connected with secondary connecting-type piece (1).
3. according to claims 1 described separate type joint connecting-type robot arm, it is characterized in that each with a described motor (11) with the structure that decelerator (12) is connected is respectively for the other end of main connecting-type piece (3) other end and secondary connecting-type piece (1) in the described joint connector: the other end of described main connecting-type piece (3) other end and secondary connecting-type piece (1) is hemispherical shell (4,10); There is circular hole at hemispherical shell (4,10) center, the joint body of rod of coupling is passed and can freely swing; Uniform bolt penetration hole (7,9) is arranged by domed ends involutory be connected of bolt near hemispherical shell (4,10) periphery with a corresponding motor (11) and decelerator (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201655794U CN201792342U (en) | 2010-04-20 | 2010-04-20 | Separating joint-connection-type robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201655794U CN201792342U (en) | 2010-04-20 | 2010-04-20 | Separating joint-connection-type robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201792342U true CN201792342U (en) | 2011-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201655794U Expired - Fee Related CN201792342U (en) | 2010-04-20 | 2010-04-20 | Separating joint-connection-type robot arm |
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| Country | Link |
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| CN (1) | CN201792342U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103817687A (en) * | 2014-03-11 | 2014-05-28 | 北京中盛华旭电子科技有限公司 | Six degrees of freedom lightweight modular robot |
| CN104097201A (en) * | 2013-04-02 | 2014-10-15 | 上银科技股份有限公司 | Multi-axis robot |
| CN104385265A (en) * | 2014-07-02 | 2015-03-04 | 中国科学院合肥物质科学研究院 | Robot with redundant degree of freedom |
| CN105522589A (en) * | 2015-11-06 | 2016-04-27 | 中国矿业大学 | Modular foldable-type mechanical arm unit |
| CN107363860A (en) * | 2017-09-09 | 2017-11-21 | 尔智机器人（上海）有限公司 | A kind of joint and mechanical arm |
| CN109895112A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot head skeleton and robot |
| CN109895111A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot neck component and robot |
| CN110000769A (en) * | 2019-05-23 | 2019-07-12 | 深圳航天科技创新研究院 | Both arms cooperation robot |
| CN117921736A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Reconfigurable mechanical arm based on variable stiffness joint |
-
2010
- 2010-04-20 CN CN2010201655794U patent/CN201792342U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104097201A (en) * | 2013-04-02 | 2014-10-15 | 上银科技股份有限公司 | Multi-axis robot |
| CN104097201B (en) * | 2013-04-02 | 2016-01-20 | 上银科技股份有限公司 | multi-axis robot |
| CN103817687A (en) * | 2014-03-11 | 2014-05-28 | 北京中盛华旭电子科技有限公司 | Six degrees of freedom lightweight modular robot |
| CN104385265A (en) * | 2014-07-02 | 2015-03-04 | 中国科学院合肥物质科学研究院 | Robot with redundant degree of freedom |
| CN105522589A (en) * | 2015-11-06 | 2016-04-27 | 中国矿业大学 | Modular foldable-type mechanical arm unit |
| CN107363860A (en) * | 2017-09-09 | 2017-11-21 | 尔智机器人（上海）有限公司 | A kind of joint and mechanical arm |
| CN109895112A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot head skeleton and robot |
| CN109895111A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot neck component and robot |
| CN109895112B (en) * | 2019-03-01 | 2021-10-01 | 达闼科技（北京）有限公司 | Robot head skeleton and robot |
| CN110000769A (en) * | 2019-05-23 | 2019-07-12 | 深圳航天科技创新研究院 | Both arms cooperation robot |
| CN117921736A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Reconfigurable mechanical arm based on variable stiffness joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110413 Termination date: 20120420 |