CN204673643U - A kind of articulated robot arm - Google Patents
A kind of articulated robot arm Download PDFInfo
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- CN204673643U CN204673643U CN201520314440.4U CN201520314440U CN204673643U CN 204673643 U CN204673643 U CN 204673643U CN 201520314440 U CN201520314440 U CN 201520314440U CN 204673643 U CN204673643 U CN 204673643U
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- reductor
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- arm body
- hole
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Abstract
A kind of articulated robot arm, relate to robotics, its structure comprises base, multiple arm body and an end effector, the first joint shaft is provided with between described base and one of them arm body, second joint axle is equipped with between adjacent arm body and arm body, the 3rd joint shaft is provided with between arm body and described end effector described in one of them, described multiple arm body and end effector are connected successively, described first joint shaft, second joint axle and the 3rd joint shaft are equipped with power set, the power set of described first joint shaft and described second joint axle include motor and the reductor for decelerating through motor, described motor and described reductor disalignment are arranged, described motor is connected by gear with described reductor, described arm body is set to the arm body of hollow, the arm body of described hollow is provided with the through hole for threading, described through hole is connected with the axis hole of described reductor.
Description
Technical field
The utility model relates to robotics, particularly relates to a kind of articulated robot arm.
Background technology
Robot arm obtains in robotics the most at present and the automated machine device of practical application, can see its figure in fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs and space probations.Robot arm for industry manufacture is mainly used in being picked up by article and being shifted.
Prior art be generally manipulator for industry manufacture, generally comprise support, to be fixed on the ground by support or on ceiling, robot arm realizes under the support of support straight on or directly under rectilinear motion, because it can only rectilinear motion, therefore, will from one place to another, its stroke is comparatively far away, relatively consuming time, and need support to fix, not only occupation of land side but also heavier.
Meanwhile, the inconvenient inner wiring of the design of manipulator.
Summary of the invention
The purpose of this utility model is avoid weak point of the prior art and provide a kind of articulated robot arm, and this articulated robot arm facilitates internal wiring, can grab article more exactly, can stroke be shortened, save time, small volume, take up room little, cost is low.
The purpose of this utility model is achieved through the following technical solutions:
A kind of articulated robot arm is provided, comprise the base be sequentially connected in series, multiple arm body and end effector, the first joint shaft is provided with between described base and adjacent with base arm body, second joint axle is equipped with between the arm body of the arbitrary neighborhood in described multiple arm body and arm body, the 3rd joint shaft is provided with between described end effector and the arm body be adjacent, described base, multiple arm body and end effector are equipped with power set, be arranged at the described power set of base for driving described multiple arm body and end effector along described base rotation, the described power set being arranged at certain arm body rotate along this arm body for other arm body and end effector driving the side away from described base being positioned at this arm body, the power set being arranged at the arm body adjacent with described end effector rotate along this arm body for driving described end effector, the power set being arranged at end effector rotate for driving described end effector, the power set of described first joint shaft and described second joint axle include motor and the reductor for decelerating through motor, described motor and described reductor disalignment are arranged, described motor is connected by gear with described reductor, described arm body is set to the arm body of hollow, the arm body of described hollow is provided with the through hole for threading, described through hole is connected with the axis hole of described reductor.
Described joint shaft is provided with seven, and described power set are provided with seven, comprises the first power set, the second power set, the 3rd power set, the 4th power set, the 5th power set, the 6th power set and the 7th power set respectively.
Described first power set comprise the first motor, the first gear and the first reductor, described first motor is connected with described first reductor by the first gear, described articulated robot arm comprises the first through hole, and described first through hole is connected with the axis hole of described first reductor.
Described second power set comprise the second motor, the second gear and the second reductor, described second motor is connected with described second reductor by the second gear, described articulated robot arm comprises the second through hole, and described second through hole is connected with the axis hole of described second reductor.
Described 3rd power set comprise the 3rd motor, the 3rd gear and the 3rd reductor, described 3rd motor is connected with described 3rd reductor by the 3rd gear, described articulated robot arm comprises third through-hole, and described third through-hole is connected with the axis hole of described 3rd reductor.
Described 4th power set comprise the 4th motor, the 4th gear and the 4th reductor, described 4th motor is connected with described 4th reductor by the 4th gear, described articulated robot arm comprises fourth hole, and described fourth hole is connected with the axis hole of described 4th reductor.
Described 5th power set comprise the 5th motor, the 5th gear and the 5th reductor, described 5th motor is connected with described 5th reductor by the 5th gear, described articulated robot arm comprises fifth hole, and described fifth hole is connected with the axis hole of described 5th reductor.
Described 6th power set comprise the 6th motor, the 6th gear and the 6th reductor, described 6th motor is connected with described 6th reductor by the 6th gear, described articulated robot arm comprises the 6th through hole, and described 6th through hole is connected with the axis hole of described 6th reductor.
Described 7th power set comprise the 7th motor and the 7th reductor, and described 7th motor is coaxially connected with described 7th reductor.
Two adjacent described motors are for vertically arranging or be arrangeding in parallel.
The beneficial effects of the utility model: the utility model is arranged by motor and described reductor disalignment, described motor is connected by gear with described reductor, described arm body is set to the arm body of hollow, the arm body of described hollow is provided with the through hole for threading, described through hole is connected with the axis hole of described reductor, motor and speed reducer disalignment is arranged, motor and speed reducer is connected by gear, namely motor is biased is arranged, recycling gear is connected with reductor, the axis hole of reductor can be made for passing electric wire, arm body in conjunction with hollow can pass from the axis hole of reductor and through hole by supply lines simultaneously, facilitate internal wiring, by arm body is movably set in base, compared with the manipulator of prior art, its small volume, take up room little, by arranging multiple arm body, staff can be simulated movable flexibly, the motion of any route can be realized, shorten stroke, save time, .The stressed of robot arm of the present embodiment is 3 kilograms.
Accompanying drawing explanation
Accompanying drawing is utilized to be described further utility model, but the embodiment in accompanying drawing does not form any restriction of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the following drawings.
Fig. 1 is the overall structure schematic diagram of a kind of articulated robot arm of the present utility model.
Fig. 2 is the structural representation at first visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Fig. 3 is the structural representation at second visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Fig. 4 is the structural representation at the 3rd visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Fig. 5 is the structural representation at the 4th visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Fig. 6 is the structural representation at the 5th visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Fig. 7 is the structural representation at the 6th visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Fig. 8 is the structural representation at the 7th visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Fig. 9 is the structural representation at the 8th visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Figure 10 is the structural representation at the 9th visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Figure 11 is the structural representation at the tenth visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Figure 12 is the structural representation at the 11 visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Figure 13 is the structural representation at the 12 visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Figure 14 is the structural representation at the 13 visual angle of the hidden parts shell of a kind of articulated robot arm of the present utility model.
Include in figure:
1---the first motor; 2---the first gear; 3---the first through hole;
4---the second motor; 5---the second gear; 6---the second through hole;
7---the 3rd motor; 8---the 3rd gear; 9---third through-hole;
10---the 4th motor; 11---the 4th gear; 12---fourth hole;
13---the 5th motor; 14---the 5th gear; 15---the 5th gear;
16---the 6th motor; 17---the 6th gear; 18---the 6th through hole;
19---the 7th motor; 20---base, 21---end effector.
Detailed description of the invention
With the following Examples the utility model is further described.
A kind of articulated robot arm of the present embodiment, as shown in Fig. 1 to Figure 14, comprise the base 20 be sequentially connected in series, multiple arm body and end effector 21, the first joint shaft is provided with between described base 20 and adjacent with base 20 arm body, second joint axle is equipped with between the arm body of the arbitrary neighborhood in described multiple arm body and arm body, the 3rd joint shaft is provided with between described end effector 21 and the arm body be adjacent, described base 20, multiple arm body and end effector 21 are equipped with power set, the described power set being arranged at base 20 rotate along described base 20 for driving described multiple arm body and end effector 21, the described power set being arranged at certain arm body rotate along this arm body for other arm body and end effector 21 driving the side away from described base being positioned at this arm body, the power set being arranged at the arm body adjacent with described end effector 21 rotate along this arm body for driving described end effector 21, the power set being arranged at end effector 21 rotate for driving described end effector 21, the power set of described first joint shaft and described second joint axle include motor and the reductor for decelerating through motor, described motor and described reductor disalignment are arranged, described motor is connected by gear with described reductor, described arm body is set to the arm body of hollow, the arm body of described hollow is provided with the through hole for threading, described through hole is connected with the axis hole of described reductor.
The present embodiment is arranged by motor and described reductor disalignment, described motor is connected by gear with described reductor, described arm body is set to the arm body of hollow, the arm body of described hollow is provided with the through hole for threading, described through hole is connected with the axis hole of described reductor, motor and speed reducer disalignment is arranged, motor and speed reducer is connected by gear, namely motor is biased is arranged, recycling gear is connected with reductor, the axis hole of reductor can be made for passing electric wire, arm body in conjunction with hollow can pass from the axis hole of reductor and through hole by supply lines simultaneously, facilitate internal wiring, by arm body is movably set in base 20, compared with the manipulator of prior art, its small volume, take up room little, by arranging multiple arm body, staff can be simulated movable flexibly, the motion of any route can be realized, shorten stroke, save time, .The stressed of robot arm 1 of the present embodiment is 3 kilograms.
End effector 21, for simulating staff, can capture article, is shifted and puts down.
Wherein, described joint shaft is provided with seven, described power set are provided with seven, comprise the first power set, the second power set, the 3rd power set, the 4th power set, the 5th power set, the 6th power set and the 7th power set respectively, the present embodiment is seven articulated robot arms 1, seven joint shafts can make robot arm 1 activity more flexible, closer to staff.
Two adjacent described motors, for vertically arranging or be arrangeding in parallel, make each arm body be linear arm body.
Wherein, described first power set comprise the first motor 1, first gear 2 and the first reductor, described first motor 1 is connected with described first reductor by the first gear 2, described tow-armed robot comprises the first through hole 3, described first through hole 3 is connected with the axis hole of described first reductor, the extended line in the extended line in the axle center of the first motor 1 and the axle center of the first reductor be arranged in parallel, base 20 is located at by first motor 1, rotates to the 5th arm body and end effector 21 for driving the first arm body simultaneously.
Wherein, described second power set comprise the second motor 4, second gear 5 and the second reductor, described second motor 4 is connected with described second reductor by the second gear 5, described tow-armed robot comprises the second through hole 6, described second through hole 6 is connected with the axis hole of described second reductor, the extended line in the extended line in the axle center of the second motor 4 and the axle center of the second reductor be arranged in parallel, and the second motor 4 rotates to the 5th arm body and end effector 21 for driving the second arm body simultaneously.
Described 3rd power set comprise the 3rd motor 7, the 3rd gear 8 and the 3rd reductor, described 3rd motor 7 is connected with described 3rd reductor by the 3rd gear 8, described tow-armed robot comprises third through-hole 9, described third through-hole 9 is connected with the axis hole of described 3rd reductor, the extended line in the axle center of the 3rd motor 7 is vertical with the extended line in the axle center of the 3rd reductor to be arranged, and the 3rd motor 7 rotates to the 5th arm body and end effector 21 for driving the 3rd arm body simultaneously.
Described 4th power set comprise the 4th motor 10, the 4th gear 11 and the 4th reductor, described 4th motor 10 is connected with described 4th reductor by the 4th gear 11, described tow-armed robot comprises fourth hole 12, described fourth hole 12 is connected with the axis hole of described 4th reductor, the extended line in the extended line in the axle center of the 4th motor 10 and the axle center of the 4th reductor be arranged in parallel, and the 4th motor 10 rotates for driving the 4th arm body, the 5th arm body and end effector 21 simultaneously.
Described 5th power set comprise the 5th motor 13, the 5th gear 14 and the 5th reductor, described 5th motor 13 is connected with described 5th reductor by the 5th gear 14, described tow-armed robot comprises fifth hole 15, described fifth hole 15 is connected with the axis hole of described 5th reductor, the extended line in the axle center of the 5th motor 13 is vertical with the extended line in the axle center of the 5th reductor to be arranged, and the 5th motor 13 rotates for driving the 5th arm body and end effector 21 simultaneously.
Described 6th power set comprise the 6th motor 16, the 6th gear 17 and the 6th reductor, described 6th motor 16 is connected with described 6th reductor by the 6th gear 17, described tow-armed robot comprises the 6th through hole 18, described 6th through hole 18 is connected with the axis hole of described 6th reductor, the extended line in the extended line in the axle center of the 6th motor 16 and the axle center of the 6th reductor be arranged in parallel, and the 6th motor 16 rotates along a direction for driving end effector 21.
Described 7th power set comprise the 7th motor 19 and the 7th reductor, described 7th motor 19 is coaxially connected with described 7th reductor, 7th motor 19 drives end effector 21 to rotate, and the 7th motor 19 is coaxially connected with the 7th reductor, can improve the precision of end effector 21.
Finally should be noted that; above embodiment is only in order to illustrate the technical solution of the utility model; but not the restriction to the utility model protection domain; although done to explain to the utility model with reference to preferred embodiment; those of ordinary skill in the art is to be understood that; can modify to the technical solution of the utility model or equivalent replacement, and not depart from essence and the scope of technical solutions of the utility model.
Claims (10)
1. an articulated robot arm, it is characterized in that: comprise the base be sequentially connected in series, multiple arm body and end effector, the first joint shaft is provided with between described base and adjacent with base arm body, second joint axle is equipped with between the arm body of the arbitrary neighborhood in described multiple arm body and arm body, the 3rd joint shaft is provided with between described end effector and the arm body be adjacent, described base, multiple arm body and end effector are equipped with power set, be arranged at the described power set of base for driving described multiple arm body and end effector along described base rotation, the described power set being arranged at certain arm body rotate along this arm body for other arm body and end effector driving the side away from described base being positioned at this arm body, the power set being arranged at the arm body adjacent with described end effector rotate along this arm body for driving described end effector, the power set being arranged at end effector rotate for driving described end effector, the power set of described first joint shaft and described second joint axle include motor and the reductor for decelerating through motor, described motor and described reductor disalignment are arranged, described motor is connected by gear with described reductor, described arm body is set to the arm body of hollow, the arm body of described hollow is provided with the through hole for threading, described through hole is connected with the axis hole of described reductor.
2. a kind of articulated robot arm as claimed in claim 1, it is characterized in that: described joint shaft is provided with seven, described power set are provided with seven, comprise the first power set, the second power set, the 3rd power set, the 4th power set, the 5th power set, the 6th power set and the 7th power set respectively.
3. a kind of articulated robot arm as claimed in claim 2, it is characterized in that: described first power set comprise the first motor, the first gear and the first reductor, described first motor is connected with described first reductor by the first gear, described articulated robot arm comprises the first through hole, and described first through hole is connected with the axis hole of described first reductor.
4. a kind of articulated robot arm as claimed in claim 2, it is characterized in that: described second power set comprise the second motor, the second gear and the second reductor, described second motor is connected with described second reductor by the second gear, described articulated robot arm comprises the second through hole, and described second through hole is connected with the axis hole of described second reductor.
5. a kind of articulated robot arm as claimed in claim 2, it is characterized in that: described 3rd power set comprise the 3rd motor, the 3rd gear and the 3rd reductor, described 3rd motor is connected with described 3rd reductor by the 3rd gear, described articulated robot arm comprises third through-hole, and described third through-hole is connected with the axis hole of described 3rd reductor.
6. a kind of articulated robot arm as claimed in claim 2, it is characterized in that: described 4th power set comprise the 4th motor, the 4th gear and the 4th reductor, described 4th motor is connected with described 4th reductor by the 4th gear, described articulated robot arm comprises fourth hole, and described fourth hole is connected with the axis hole of described 4th reductor.
7. a kind of articulated robot arm as claimed in claim 2, it is characterized in that: described 5th power set comprise the 5th motor, the 5th gear and the 5th reductor, described 5th motor is connected with described 5th reductor by the 5th gear, described articulated robot arm comprises fifth hole, and described fifth hole is connected with the axis hole of described 5th reductor.
8. a kind of articulated robot arm as claimed in claim 2, it is characterized in that: described 6th power set comprise the 6th motor, the 6th gear and the 6th reductor, described 6th motor is connected with described 6th reductor by the 6th gear, described articulated robot arm comprises the 6th through hole, and described 6th through hole is connected with the axis hole of described 6th reductor.
9. a kind of articulated robot arm as claimed in claim 2, is characterized in that: described 7th power set comprise the 7th motor and the 7th reductor, and described 7th motor is coaxially connected with described 7th reductor.
10. a kind of articulated robot arm as claimed in claim 1, is characterized in that: two adjacent described motors are for vertically arranging or be arrangeding in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520314440.4U CN204673643U (en) | 2015-05-15 | 2015-05-15 | A kind of articulated robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520314440.4U CN204673643U (en) | 2015-05-15 | 2015-05-15 | A kind of articulated robot arm |
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| CN204673643U true CN204673643U (en) | 2015-09-30 |
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| CN201520314440.4U Active CN204673643U (en) | 2015-05-15 | 2015-05-15 | A kind of articulated robot arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818524A (en) * | 2018-06-27 | 2018-11-16 | 广州市蚺灵科技有限公司 | A kind of mechanical arm that high-freedom degree can be reconfigured quickly |
| CN109262601A (en) * | 2018-09-28 | 2019-01-25 | 中科新松有限公司 | Light-type mechanical arm and robot with it |
| CN109732560A (en) * | 2019-03-14 | 2019-05-10 | 北京物资学院 | A kind of air brushing robot |
-
2015
- 2015-05-15 CN CN201520314440.4U patent/CN204673643U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818524A (en) * | 2018-06-27 | 2018-11-16 | 广州市蚺灵科技有限公司 | A kind of mechanical arm that high-freedom degree can be reconfigured quickly |
| CN109262601A (en) * | 2018-09-28 | 2019-01-25 | 中科新松有限公司 | Light-type mechanical arm and robot with it |
| CN109732560A (en) * | 2019-03-14 | 2019-05-10 | 北京物资学院 | A kind of air brushing robot |
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| GR01 | Patent grant |