CN202895243U - Axial arm - Google Patents
Axial arm Download PDFInfo
- Publication number
- CN202895243U CN202895243U CN 201220584764 CN201220584764U CN202895243U CN 202895243 U CN202895243 U CN 202895243U CN 201220584764 CN201220584764 CN 201220584764 CN 201220584764 U CN201220584764 U CN 201220584764U CN 202895243 U CN202895243 U CN 202895243U
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- CN
- China
- Prior art keywords
- bearing
- belt
- housing
- fixedly connected
- belt wheel
- 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.)
- Withdrawn - After Issue
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Abstract
An axial arm comprises an elbow joint and a wrist joint. A first casing in the wrist joint supports a first bearing, a first belt pulley is fixedly connected on a first belt pulley shaft, the first belt pulley shaft is rotationally connected with the first casing through the first bearing, the first bearing is supported on the first belt pulley through a first sleeve, a first shaft is fixedly connected with the first casing, a second casing in the elbow joint is used for supporting a second bearing and is rotationally connected with a second belt pulley shaft through the second bearing, a second shaft is fixedly connected with the second casing and is rotationally connected with the second belt pulley shaft through a third bearing, the second bearing is supported on a second belt pulley through a second sleeve, the second belt pulley is fixedly connected on the second belt pulley shaft, and the second belt pulley shaft is fixedly connected on the first casing. The axial arm is good in rigidity, and internal wiring space is optimized.
Description
Technical field
The utility model relates to robot, relates in particular to a kind of axial type arm of robot.
Background technology
Mechanical arm is the automated machine device that obtains at present broad practice in the robot technical field, can both see its figure, especially robot field in fields such as industry manufacturing, therapeutic treatment, entertainment service, military affairs and space probations.
For the control of industrial machine human arm, all be a simple servo control mechanism to be used as in each joint of arm process, this method has been ignored the transmission space layout of whole arm structure.Robot arm is used for supporting ancon and wrist, and grabbing workpiece is sent to assigned address.Existing robot arm adopts the bearings mounted version of belt wheel at ancon and wrist.But because bearing size is less, and generally adopt belt wheel and bearing centralized arrangement, although axial space availability ratio is high, radial space is little, causes inner cabling space little, inconvenient cabling, and the arm rigidity is bad, and service life is limited.
The utility model content
In view of this, be necessary to provide a kind of axial type arm, can strengthen the rigidity of arm, optimize cabling space.
The axial type arm that the utility model provides, comprise: elbow joint and wrist joint, wherein said wrist joint comprises: the first housing, first set, clutch shaft bearing, the first belt shaft, the first axle and the first belt wheel, the described clutch shaft bearing of described the first housings support, described the first belt wheel is fixedly connected on described the first belt shaft, described the first belt shaft consists of revolution by described clutch shaft bearing and described the first housing and is connected, described clutch shaft bearing is supported on described the first belt wheel by described first set, and described the first axle is fixedly connected with described the first housing; And described elbow joint comprises: the second housing, the second cover, the second bearing, the second belt shaft, the second axle, the second belt wheel, the 3rd bearing and the 3rd belt wheel, described the second housing is used for supporting described the second bearing, and consisting of revolution by described the second bearing and described the second belt shaft is connected, described the second axle is fixedly connected with described the second housing, consisting of revolution by described the 3rd bearing and described the second belt shaft is connected, described the second bearing is supported on described the second belt wheel by described the second cover, and described the second belt wheel is fixedly connected on described the second belt shaft; Wherein, described the second belt shaft is fixedly connected on described the first housing.
Axial type arm provided by the utility model utilizes the first housing to support for clutch shaft bearing, and the second housing is the second bearings, good rigidly, and optimized inner space, be convenient to cabling.
Description of drawings
Fig. 1 is the front view of axial type arm in the utility model one embodiment;
Fig. 2 is the A-A sectional view of axial type arm in the utility model one embodiment;
Fig. 3 is the enlarged drawing of circle part among Fig. 2; And
Fig. 4 is the explosion figure of axial type arm in the utility model one embodiment.
The specific embodiment
The below describes embodiment of the present utility model in detail, and the example of described embodiment is shown in the drawings, and wherein identical or similar label represents identical or similar element or the element with identical or similar functions from start to finish.Be exemplary below by the embodiment that is described with reference to the drawings, only be used for explaining the utility model, and can not be interpreted as restriction of the present utility model.
In description of the present utility model, term " interior ", " outward ", " vertically ", " laterally ", " on ", orientation or the position relationship of the indications such as D score, " top ", " end " be based on orientation shown in the drawings or position relationship, it only is the utility model rather than require the utility model with specific orientation structure and operation, therefore can not be interpreted as restriction of the present utility model for convenience of description.
See also Fig. 1, be depicted as the front view of axial type arm in the utility model one embodiment.In the present embodiment, described axial type arm comprises first segment arm and second section arm, and wherein, the first segment arm position that links to each other with the second section arm is elbow joint, is wrist joint away from continuous position on the first segment arm.
See also Fig. 2 and Fig. 3, Figure 2 shows that the A-A sectional view of axial type arm in the utility model one embodiment, Figure 3 shows that the enlarged drawing of circle part among Fig. 2.
In the present embodiment, described wrist joint comprises: the first housing 1, first set 2, clutch shaft bearing 3, the first belt shaft 4, the first axle 6 and the first belt wheel 7, described the first housing 1 supports described clutch shaft bearing 3.
In the present embodiment, described the first belt wheel 7 is fixedly connected on described the first belt shaft 4, described the first belt shaft 4 consists of revolution by described clutch shaft bearing 3 with described the first housing 1 and is connected, described clutch shaft bearing 3 is supported on described the first belt wheel 7 by described first set 2, and described the first axle 6 is fixedly connected with described the first housing 1.
Described elbow joint comprises: the second housing 13, the second cover the 18, second bearing 14, the second belt shaft 17, the second axle 15, the second belt wheel 19, the 3rd bearing 11 and the 3rd belt wheel 10.
In the present embodiment, described the second housing 13 is used for supporting described the second bearing 14, described the second housing 13 consists of revolution by described the second bearing 14 with described the second belt shaft 17 and is connected, described the second axle 15 is fixedly connected with described the second housing 13, consisting of revolution by described the 3rd bearing 11 with described the second belt shaft 17 is connected, described the second bearing 14 is supported on described the second belt wheel 19 by described the second cover 18, and described the second belt wheel 19 is fixedly connected on described the second belt shaft 17.
In the present embodiment, described the second belt shaft 17 is fixedly connected on described the first housing 1.
In the present embodiment, described axial type arm also comprises driving-belt 8, is arranged in the first arm, and wherein said the 3rd belt wheel 10 is fixedly connected on the second axle 15, flexibly connects by described driving-belt 8 and described the first belt wheel 7.
In the present embodiment, described axial type arm also comprises strainer 9, is arranged in the first arm, and strainer 9 one ends are fixedly connected on the first housing 1, and the other end is cylindrical portion, contacts with described driving-belt 8.In the present embodiment, described driving-belt 8 flexibly connects through strainer 9 and described the first belt wheel 7 and the 3rd belt wheel 10 formations, and described strainer 9 is used for described driving-belt 8 is carried out tensioning.
In the present embodiment, described axial type arm also comprises gland 12, is fixedly connected on described the first housing 1.
See also Fig. 4, be depicted as the explosion figure of axial type arm in the utility model one embodiment.
In the present embodiment, the first housing 1 comprises housing component 1A and housing component 1B, and described carpal structure utilizes housing component 1A and housing component 1B to support as clutch shaft bearing 3, and the second belt shaft 17 is fixedly connected on housing component 1A.
In the present embodiment, the second housing 13 comprises housing component 13A, housing component 13B and housing component 13C, and the structure of described elbow joint utilizes housing component 13A, housing component 13B and housing component 13C to support as the second bearing 14.
In the present embodiment, described wrist joint adopts the first belt wheel 7 outside versions that clutch shaft bearing 3 is installed, described elbow joint adopts the second belt wheel 19 outside the second bearing 14 and the 3rd belt wheel 10 outside versions that the 3rd bearing 11 is installed of installing, and effectively increases elbow joint and carpal rigidity.
In the present embodiment, it is the first housing 1, clutch shaft bearing 3, the first belt wheel 7 successively that carpal structure adopts along the transmission axis 5 of the first axle 6, the structure sampling of elbow joint is the second housing 13, the second bearing 14, the second belt wheel 19, the 3rd bearing 11, the 3rd belt wheel 10 along the second axle 15 transmission axis 16 successively, optimize the radial space of axial type arm, be convenient to the inner cabling of axial type arm.
Axial type arm in the utility model embodiment utilizes the first housing 1 to support for clutch shaft bearing 3, the second housing 13 is that the second bearing 14 supports, the first belt wheel 7 outside clutch shaft bearings 3 of installing, the second belt wheel 19 outside the second bearing 14 and the 3rd belt wheel 10 outside the 3rd bearings 11 of installing installed, then effectively strengthened the rigidity of axial type arm, optimize inner space, be convenient to the inner cabling of axial type arm.
Although the utility model is described with reference to current preferred embodiments; but those skilled in the art will be understood that; above-mentioned preferred embodiments only is used for illustrating the utility model; be not to limit protection domain of the present utility model; any within spirit of the present utility model and principle scope; any modification of doing, equivalence replacement, improvement etc. all should be included within the rights protection scope of the present utility model.
Claims (4)
1. axial type arm comprises: elbow joint and wrist joint, wherein:
Described wrist joint comprises: the first housing, first set, clutch shaft bearing, the first belt shaft, the first axle and the first belt wheel, the described clutch shaft bearing of described the first housings support, described the first belt wheel is fixedly connected on described the first belt shaft, described the first belt shaft consists of revolution by described clutch shaft bearing and described the first housing and is connected, described clutch shaft bearing is supported on described the first belt wheel by described first set, and described the first axle is fixedly connected with described the first housing;
Described elbow joint comprises: the second housing, the second cover, the second bearing, the second belt shaft, the second axle, the second belt wheel, the 3rd bearing and the 3rd belt wheel, described the second housing is used for supporting described the second bearing, and consisting of revolution by described the second bearing and described the second belt shaft is connected, described the second axle is fixedly connected with described the second housing, consisting of revolution by described the 3rd bearing and described the second belt shaft is connected, described the second bearing is supported on described the second belt wheel by described the second cover, and described the second belt wheel is fixedly connected on described the second belt shaft;
Wherein, described the second belt shaft is fixedly connected on described the first housing.
2. axial type arm as claimed in claim 1 is characterized in that, also comprises driving-belt, and wherein said the 3rd belt wheel is fixedly connected on the second axle, flexibly connects by described driving-belt and described the first belt wheel.
3. axial type arm as claimed in claim 2 is characterized in that, also comprises strainer, is used for described band is carried out tensioning.
4. axial type arm as claimed in claim 3 is characterized in that, also comprises gland, is fixedly connected on described the first housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220584764 CN202895243U (en) | 2012-11-08 | 2012-11-08 | Axial arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220584764 CN202895243U (en) | 2012-11-08 | 2012-11-08 | Axial arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202895243U true CN202895243U (en) | 2013-04-24 |
Family
ID=48115958
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220584764 Withdrawn - After Issue CN202895243U (en) | 2012-11-08 | 2012-11-08 | Axial arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202895243U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802127A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Axial type arm |
| CN105415399A (en) * | 2015-12-29 | 2016-03-23 | 苏州卓德电子有限公司 | Horizontal fine adjustment device for mechanical arm |
| CN111993458A (en) * | 2020-08-19 | 2020-11-27 | 珠海格力智能装备有限公司 | Transmission mechanism and robot with same |
-
2012
- 2012-11-08 CN CN 201220584764 patent/CN202895243U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802127A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Axial type arm |
| CN105415399A (en) * | 2015-12-29 | 2016-03-23 | 苏州卓德电子有限公司 | Horizontal fine adjustment device for mechanical arm |
| CN111993458A (en) * | 2020-08-19 | 2020-11-27 | 珠海格力智能装备有限公司 | Transmission mechanism and robot with same |
| CN111993458B (en) * | 2020-08-19 | 2021-12-21 | 珠海格力智能装备有限公司 | Transmission mechanism and robot with same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130424 Effective date of abandoning: 20150923 |
|
| RGAV | Abandon patent right to avoid regrant |