CN205521374U - Coaxial transmission structure's arm - Google Patents
Coaxial transmission structure's arm Download PDFInfo
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- CN205521374U CN205521374U CN201620321255.2U CN201620321255U CN205521374U CN 205521374 U CN205521374 U CN 205521374U CN 201620321255 U CN201620321255 U CN 201620321255U CN 205521374 U CN205521374 U CN 205521374U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 28
- 230000001360 synchronised Effects 0.000 claims description 45
- 206010051856 Primary transmission Diseases 0.000 claims description 24
- 230000035945 sensitivity Effects 0.000 abstract description 4
- 238000011038 discontinuous diafiltration by volume reduction Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 201000010099 disease Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000875 corresponding Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003252 repetitive Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Abstract
The utility model discloses a coaxial transmission structure's arm, including body subassembly, fixed arm subassembly, first joint subassembly, second joint subassembly and end, install end effector on the end, the fixed arm subassembly sets up on the body subassembly, and the vertical orientation of just following the body subassembly under the drive of body subassembly reciprocates, first joint subassembly rotates and is fixed in fixed arm subassembly below, the second joint subassembly rotates and is fixed in first joint subassembly below, second joint subassembly below is fixed in to terminal the rotation. The utility model discloses alleviate the weight of the arm body, increased the sensitivity of the arm body, and terminal volume reduction, narrow and small space operation can be stretched to the end, is applicable to the occasion high to the space requirement.
Description
Technical field
This utility model relates to robot device field, the mechanical arm of a kind of coaxial transmission structure.
Background technology
Flapping articulation four axle robot is widely applied at present, carrying, process, the environment such as assembling has very important effect, itself has that flexible movements, compact conformation, space requirement be little, repetitive positioning accuracy high, it is possible to reach accurately and fast space a bit.Flapping articulation four axle robot has the advantages such as little, flexible, the low cost of volume for six-shaft industrial robot, is widely used and would is that inexorable trend in futurity industry streamline.Strengthening the research to flapping articulation four axle robot the most necessary, the major brand of flapping articulation four axle robot includes Epson, Yamaha, Ku Kadeng enterprise the most both at home and abroad.Flapping articulation four axle robot mainly includes the axle that the axle of three gyrations and a straight line move up and down.Primary structure includes body, arm body and end, and the difference for linear motion design attitude is divided into two kinds, and a kind of straight line moves up and down and designs on body, and a kind of straight line moves up and down design at end.The design that both is different is respectively arranged with advantageous feature；Most of linear motion designs of flapping articulation four axle robot of most enterprises design at present are at end, and the defect of this design is as follows: 1, arm body is heavier, reduces the sensitivity of arm body；2, the volume of end is relatively big, and end is difficult to reach narrow space operation, it is impossible to be applicable to the occasion high to space requirement.
Utility model content
The purpose of this utility model is to provide the mechanical arm of a kind of coaxial transmission structure, with the problem solving to propose in above-mentioned background technology.
For achieving the above object, the following technical scheme of this utility model offer:
The mechanical arm of a kind of coaxial transmission structure, including body assembly, fixed arm assembly, the first joint assembly, second joint assembly and end；On described end, end effector is installed；Described fixed arm assembly is arranged on body assembly, and vertical direction along body assembly moves up and down under the drive of body assembly；Described first joint assembly rotates and is fixed on below fixed arm assembly；Described second joint assembly rotates and is fixed on below the first joint assembly；Described end rotates and is fixed on below second joint assembly.
As further program of the utility model: described body assembly includes that body base, body side plate, ballscrew nut fitting, guide rail slide block, feed screw nut fix seat and the first brushless direct-current planetary reducing motor, body side plate is vertically installed on body base, being provided with screwed hole on body base, two guide rail slide blocks are installed in parallel on body side plate；Described feed screw nut fixes seat and is slidably mounted on guide rail slide block, ballscrew nut fitting fixes seat through feed screw nut, ballscrew nut fitting two ends are separately installed with clutch shaft bearing seat and the second bearing block, clutch shaft bearing seat and the second bearing block are both secured on body side plate, ballscrew nut fitting is parallel with guide rail slide block, and two guide rail slide blocks are symmetricly set on the both sides of ballscrew nut fitting；Described first brushless direct-current planetary reducing motor is arranged on body side plate by motor fixing seat, and ballscrew nut fitting lower end is fixed with the first synchronous pulley, and the first brushless direct-current planetary reducing motor passes through Timing Belt drive connection the first synchronous pulley.
As this utility model further scheme: be also equipped with photoelectric sensor on described body side plate.
nullAs this utility model further scheme: described fixed arm assembly includes fixed arm、Second brushless direct-current planetary reducing motor、3rd brushless direct-current planetary reducing motor、Primary transmission axle and intermediate propeller shaft，Fixed arm is fixed on nut and fixes on seat，Described primary transmission axle is arranged on fixed arm by a pair first angular contact bearings and a thrust ball bearing，The outer ring of the first angular contact bearing being positioned at upside is provided with clutch shaft bearing end cap，Described primary transmission axle is hollow axle，Intermediate propeller shaft is installed in primary transmission axle by deep groove ball bearing，Second brushless direct-current planetary reducing motor and the 3rd brushless direct-current planetary reducing motor are arranged on fixed arm side by side，And second brushless direct-current planetary reducing motor and the 3rd brushless direct-current planetary reducing motor output shaft on be mounted on the second synchronous pulley，Two the second synchronous pulleys are respectively by Timing Belt drive connection primary transmission axle and intermediate propeller shaft；Described intermediate propeller shaft upper end is provided with the 3rd synchronous pulley being connected to the second synchronous pulley, and intermediate propeller shaft lower end is provided with the 4th synchronous pulley；Described primary transmission axle upper end is equipped with the first magnetic coder.
As this utility model further scheme: described first joint assembly includes the first joint arm body and two grades of rotary shafts, first joint arm body is fixed on primary transmission axle, two grades of rotary shafts are arranged in the first joint arm body by a pair second angular contact bearings, the outer ring of the second angular contact bearing being positioned at downside is provided with the second bearing (ball) cover, described two grades of rotary shaft lower ends are provided with the 5th synchronous pulley, 4th synchronous pulley passes through Timing Belt drive connection the 5th synchronous pulley, and two grades of rotary shaft upper ends are provided with the second magnetic coder；Described two grades of rotary shafts are hollow axle.
As this utility model further scheme: be provided with arm protecting envelope on described first joint arm body.
As this utility model further scheme: arrange belt locking device on the Timing Belt between the 4th synchronous pulley and the 5th synchronous pulley.
As this utility model further scheme: described second joint assembly includes second joint arm body, the 4th brushless direct-current reducing motor and three grades of rotary shafts, second joint arm body is fixed in two grades of rotary shafts, described three grades of rotary shafts are arranged in second joint arm body by a pair the third angle contact bearing, and the outer ring of the third angle contact bearing being positioned at downside is provided with the 3rd bearing (ball) cover；Being provided with anti backlash gear in described three grades of rotary shafts, the 4th brushless direct-current reducing motor is fixed on second joint arm body, and is provided with, in the rotating shaft of the 4th brushless direct-current reducing motor, the gear being meshed with anti backlash gear；Described three grades of rotary shaft upper ends are provided with the 3rd magnetic coder；Described end is fixed in three grades of rotary shafts；Described three grades of rotary shafts are hollow axle.
Compared with prior art, the beneficial effects of the utility model are:
The decelerator of return difference that this utility model uses brushless direct-current planetary reducing motor and Timing Belt deceleration to coordinate and band disappears improves driving torque and stability, it is ensured that transmission accuracy, it is ensured that cost-effective while precision.This utility model uses magnetic coder to feed back rotational angle and the zero-bit in each joint, and the control performance of the joint four axle robot that improves the standard, power-off is without back to zero position again.This utility model uses the mode of axle sleeve axle, alleviates joint weight, reduces articulation inertia, improves joint sensitivity.This utility model part control line and power line are walked in rotary shaft, it is to avoid the problem that cabling layout is in disorder, and whole structure is attractive in appearance.
Accompanying drawing explanation
Fig. 1 is the planar structure schematic diagram of the mechanical arm of coaxial transmission structure.
Fig. 2 is the perspective view of the mechanical arm of coaxial transmission structure.
Fig. 3 be coaxial transmission structure mechanical arm in the front side structure schematic diagram of body assembly.
Fig. 4 be coaxial transmission structure mechanical arm in the rear structure schematic diagram of body assembly.
Fig. 5 be coaxial transmission structure mechanical arm in the perspective view of fixed arm assembly.
Fig. 6 be coaxial transmission structure mechanical arm in the sectional structure schematic diagram of fixed arm assembly.
Fig. 7 be coaxial transmission structure mechanical arm in the perspective view of the first joint assembly.
Fig. 8 be coaxial transmission structure mechanical arm in the sectional structure schematic diagram of the first joint assembly.
Fig. 9 be coaxial transmission structure mechanical arm in the perspective view of second joint assembly.
Figure 10 be coaxial transmission structure mechanical arm in the sectional structure schematic diagram of second joint assembly.
Figure 11 is the cabling schematic diagram of the mechanical arm of coaxial transmission structure.
nullIn figure: 1. body assembly、2. fixed arm assembly、3. the first joint assembly、4. second joint assembly、5. end、6. end effector、1-1. body base、1-2. body side plate、1-3. the first synchronous pulley、1-4. clutch shaft bearing seat、1-5. ballscrew nut fitting、1-6. guide rail slide block、1-7. feed screw nut fixes seat、1-8. the second bearing block、1-9. sensor limited block、1-10 the first brushless direct-current planetary reducing motor、1-11. photoelectric sensor、1-12. motor fixing seat 2-1. fixed arm、2-2. the second brushless direct-current planetary reducing motor、2-3. the 3rd brushless direct-current planetary reducing motor、2-4. the second synchronous pulley 2-5. the first magnetic coder、2-6. the 3rd synchronous pulley、2-7. the 6th synchronous pulley、2-8. clutch shaft bearing end cap、2-9. angular contact bearing、2-10. thrust ball bearing、2-11. one-level rotary shaft、2-12. second(-)motion shaft、2-13. the 4th synchronous pulley、2-14. deep groove ball bearing 3-1. the first joint arm body、3-2. arm protecting envelope、3-3. the second magnetic coder、3-4. the second angular contact bearing、3-5. the second bearing (ball) cover、3-6. the 5th synchronous pulley、Bis-grades of rotary shafts of 3-7.、3-8. belt locking device 4-1. second joint arm body、4-2. the 4th brushless direct-current reducing motor、4-3. the 3rd magnetic coder、4-4. anti backlash gear、4-5. the 3rd bearing (ball) cover、4-6. the third angle contact bearing、Tri-grades of rotary shafts of 4-7..
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
Referring to Fig. 1～11, in this utility model embodiment, the mechanical arm of a kind of coaxial transmission structure, including body assembly 1, fixed arm assembly the 2, first joint assembly 3, second joint assembly 4 and end 5；On described end 5, end effector 6 is installed；Described body assembly 1 is as the first axle of flapping articulation four axle robot, there is linear mobility, described fixed arm assembly 2 is arranged on body assembly 1, and vertical direction along body assembly 1 moves up and down under the drive of body assembly 1, it is achieved that moving up and down of mechanical arm vertical direction；Described first joint assembly 3 rotates and is fixed on below fixed arm assembly 2, can rotate round an axle of fixed arm assembly 2, is the second axle of flapping articulation four axle robot；Described second joint assembly 4 rotates and is fixed on below the first joint assembly 3, can rotate around an axle of the first joint assembly 3, is the 3rd axle of flapping articulation four axle robot；Described end 5 rotates and is fixed on below second joint assembly 4, can rotate around second joint assembly 4, it is the 4th axle of flapping articulation four axle robot, flapping articulation four axle robot second and third, four axles there is rotational characteristic, and the second axle and the 3rd axle can be according to the differences of job demand, it is manufactured into corresponding multiple different form, as shown in Figure 2；
Described body assembly 1 includes that body base 1-1, body side plate 1-2, ballscrew nut fitting 1-5, guide rail slide block 1-6, feed screw nut fix seat 1-7 and the first brushless direct-current planetary reducing motor 1-10, body side plate 1-2 is vertically installed on body base 1-1, it is provided with screwed hole on body base 1-1, for whole robot is fixed on operating position, two guide rail slide block 1-6 are installed in parallel on body side plate 1-2；Described feed screw nut fixes seat 1-7 and is slidably mounted on guide rail slide block 1-6, ballscrew nut fitting 1-5 fixes seat 1-7 through feed screw nut, ballscrew nut fitting 1-5 two ends are separately installed with clutch shaft bearing seat 1-4 and the second bearing block 1-8, clutch shaft bearing seat 1-4 and the second bearing block 1-8 is both secured on body side plate 1-2, ballscrew nut fitting 1-5 is parallel with guide rail slide block 1-6, and two guide rail slide block 1-6 are symmetricly set on the both sides of ballscrew nut fitting 1-5；Described first brushless direct-current planetary reducing motor 1-10 is arranged on body side plate 1-2 by motor fixing seat 1-12, ballscrew nut fitting 1-5 lower end is fixed with the first synchronous pulley 1-3, first brushless direct-current planetary reducing motor 1-10 passes through Timing Belt drive connection the first synchronous pulley 1-3, first brushless direct-current planetary reducing motor 1-10 drives the first synchronous pulley 1-3 to rotate by Timing Belt, and then drive the rotation of ballscrew nut fitting 1-5, when ballscrew nut fitting 1-5 rotates, drive feed screw nut to fix seat 1-7 and move up and down along guide rail slide block 1-6；It is also equipped with photoelectric sensor 1-11, for the detection of vertical direction extreme position on described body side plate 1-2；
nullDescribed fixed arm assembly 2 includes fixed arm 2-1、Second brushless direct-current planetary reducing motor 2-2、3rd brushless direct-current planetary reducing motor 2-3、Primary transmission axle 2-11 and intermediate propeller shaft 2-12，Fixed arm 2-1 is fixed on nut and fixes on seat 1-7，And move the most in vertical direction，Described primary transmission axle 2-11 is arranged on fixed arm 2-1 by an a pair first angular contact bearing 2-9 and thrust ball bearing 2-10，The outer ring of the first angular contact bearing 2-9 being positioned at upside is provided with clutch shaft bearing end cap 2-8，The first angular contact bearing 2-9 is press against by clutch shaft bearing end cap 2-8，Prevent primary transmission axle 2-11 axial float，Described primary transmission axle 2-11 is hollow axle，Intermediate propeller shaft 2-12 is installed in primary transmission axle 2-11 by deep groove ball bearing 2-14，Second brushless direct-current planetary reducing motor 2-2 and the 3rd brushless direct-current planetary reducing motor 2-3 is arranged on fixed arm 2-1 side by side，And second brushless direct-current planetary reducing motor 2-2 and the 3rd brushless direct-current planetary reducing motor 2-3 output shaft on be mounted on the second synchronous pulley 2-4，Two the second synchronous pulley 2-4 are respectively by Timing Belt drive connection primary transmission axle 2-11 and intermediate propeller shaft 2-12；Described intermediate propeller shaft 2-12 upper end is provided with the 3rd synchronous pulley 2-6 being connected to the second synchronous pulley 2-4, intermediate propeller shaft 2-12 lower end is provided with the 4th synchronous pulley 2-13, described primary transmission axle 2-11 and intermediate propeller shaft 2-12 rotates independence each other, is independent of each other；Described primary transmission axle 2-11 upper end is equipped with the first magnetic coder 2-5；
nullDescribed first joint assembly 3 includes the first joint arm body 3-1 and two grades of rotary shafts 3-7，First joint arm body 3-1 is fixed on primary transmission axle 2-11，Primary transmission axle 2-11 drives the first joint arm body 3-1 to rotate when rotating，It is provided with arm protecting envelope 3-2 on first joint arm body 3-1，Two grades of rotary shafts 3-7 are arranged in the first joint arm body 3-1 by a pair second angular contact bearing 3-4，The outer ring of the second angular contact bearing 3-4 being positioned at downside is provided with the second bearing (ball) cover 3-5，The second angular contact bearing 3-4 is press against by the second bearing (ball) cover 3-5，Prevent two grades of rotary shaft 3-7 axial floats，Described two grades of rotary shaft 3-7 lower ends are provided with the 5th synchronous pulley 3-6，4th synchronous pulley 2-13 passes through Timing Belt drive connection the 5th synchronous pulley 3-6，On Timing Belt between 4th synchronous pulley 2-13 and the 5th synchronous pulley 3-6, belt locking device 3-8 is set，When the 4th synchronous pulley 2-13 rotates，The 5th synchronous pulley 3-6 is driven to rotate，Two grades of rotary shaft 3-7 upper ends are provided with the second magnetic coder 3-3；Described two grades of rotary shafts 3-7 are hollow axle, internal equipped with control line；
Described second joint assembly 4 includes second joint arm body 4-1, 4th brushless direct-current reducing motor 4-2 and three grades of rotary shafts 4-7, second joint arm body 4-1 is fixed in two grades of rotary shafts 3-7, when two grades of rotary shafts 3-7 rotate, second joint arm body 4-1 is driven to rotate, described three grades of rotary shafts 4-7 are arranged in second joint arm body 4-1 by a pair the third angle contact bearing 4-6, the outer ring of the third angle contact bearing 4-6 being positioned at downside is provided with the 3rd bearing (ball) cover 4-5, the third angle contact bearing 4-6 is press against by the 3rd bearing (ball) cover 4-5, prevent three grades of rotary shaft 4-7 axial floats；In described three grades of rotary shafts 4-7, anti backlash gear 4-4 is installed, 4th brushless direct-current reducing motor 4-2 is fixed on second joint arm body 4-1, and the 4th brushless direct-current reducing motor 4-2 rotating shaft on be provided with the gear being meshed with anti backlash gear 4-4, the 4th brushless direct-current reducing motor 4-2 by gear engagement drive three grades of rotary shafts 4-7 gyration；Described three grades of rotary shaft 4-7 upper ends are provided with the 3rd magnetic coder 4-3；Described end 5 is fixed in three grades of rotary shafts 4-7, so that end effector 6 is along with the action of three grades of rotary shafts 4-7 and action；Described three grades of rotary shafts 4-7 are hollow axle.
Described two grades of rotary shafts 3-7 and three grades of rotary shafts 4-7 are hollow axle, end effector 6 with control line and power line be passed in second joint assembly 4 from three grades of rotary shaft 4-7 endoporus, the described control line of the 4th brushless direct-current reducing motor 4-2 and the control line of power line and the 3rd magnetic coder 4-3 will collect control line and the power line of end effector 6, enter in the first joint assembly 3 from two grades of rotary shaft 3-7 endoporus together.First joint assembly 3, with arm protecting envelope 3-2, for protection the first joint arm body 3-1, passes shell from arm protecting envelope 3-2 from two grades of rotary shaft 3-7 endoporus whole lines out, and enters in fixed arm assembly 2.
The decelerator of return difference that this utility model uses brushless direct-current planetary reducing motor and Timing Belt deceleration to coordinate and band disappears improves driving torque and stability, it is ensured that transmission accuracy, it is ensured that cost-effective while precision.This utility model uses magnetic coder to feed back rotational angle and the zero-bit in each joint, and the control performance of the joint four axle robot that improves the standard, power-off is without back to zero position again.This utility model uses the mode of axle sleeve axle, alleviates joint weight, reduces articulation inertia, improves joint sensitivity.This utility model part control line and power line are walked in rotary shaft, it is to avoid the problem that cabling layout is in disorder, and whole structure is attractive in appearance.
It is obvious to a person skilled in the art that this utility model is not limited to the details of above-mentioned one exemplary embodiment, and in the case of without departing substantially from spirit or essential attributes of the present utility model, it is possible to realize this utility model in other specific forms.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims rather than described above, it is intended that all changes fallen in the implication of equivalency and scope of claim included in this utility model.Should not be considered as limiting involved claim by any reference in claim.
In addition, it is to be understood that, although this specification is been described by according to embodiment, but the most each embodiment only comprises an independent technical scheme, this narrating mode of description is only for clarity sake, description should can also be formed, through appropriately combined, other embodiments that it will be appreciated by those skilled in the art that as an entirety, the technical scheme in each embodiment by those skilled in the art.
Claims (8)
1. the mechanical arm of a coaxial transmission structure, it is characterised in that include body assembly (1), fixed arm assembly (2), the first joint assembly (3), second joint assembly (4) and end (5)；End effector (6) is installed on described end (5)；Described fixed arm assembly (2) is arranged on body assembly (1), and vertical direction along body assembly (1) moves up and down under the drive of body assembly (1)；Described first joint assembly (3) rotates is fixed on fixed arm assembly (2) lower section；Described second joint assembly (4) rotates is fixed on the first joint assembly (3) lower section；Described end (5) rotates and is fixed on second joint assembly (4) lower section.
The mechanical arm of coaxial transmission structure the most according to claim 1, it is characterized in that, described body assembly (1) includes that body base (1-1), body side plate (1-2), ballscrew nut fitting (1-5), guide rail slide block (1-6), feed screw nut fix seat (1-7) and the first brushless direct-current planetary reducing motor (1-10), body side plate (1-2) is vertically installed on body base (1-1), being provided with screwed hole on body base (1-1), two guide rail slide blocks (1-6) are installed in parallel on body side plate (1-2)；Described feed screw nut fixes seat (1-7) and is slidably mounted on guide rail slide block (1-6), ballscrew nut fitting (1-5) fixes seat (1-7) through feed screw nut, ballscrew nut fitting (1-5) two ends are separately installed with clutch shaft bearing seat (1-4) and the second bearing block (1-8), clutch shaft bearing seat (1-4) and the second bearing block (1-8) are both secured on body side plate (1-2), ballscrew nut fitting (1-5) is parallel with guide rail slide block (1-6), and two guide rail slide blocks (1-6) are symmetricly set on the both sides of ballscrew nut fitting (1-5)；Described first brushless direct-current planetary reducing motor (1-10) is arranged on body side plate (1-2) by motor fixing seat (1-12), ballscrew nut fitting (1-5) lower end is fixed with the first synchronous pulley (1-3), and the first brushless direct-current planetary reducing motor (1-10) passes through Timing Belt drive connection the first synchronous pulley (1-3).
The mechanical arm of coaxial transmission structure the most according to claim 2, it is characterised in that be also equipped with photoelectric sensor (1-11) on described body side plate (1-2).
null4. according to the mechanical arm of the coaxial transmission structure described in claim 1 or 2 or 3，It is characterized in that，Described fixed arm assembly (2) includes fixed arm (2-1)、Second brushless direct-current planetary reducing motor (2-2)、3rd brushless direct-current planetary reducing motor (2-3)、Primary transmission axle (2-11) and intermediate propeller shaft (2-12)，Fixed arm (2-1) is fixed on nut and fixes on seat (1-7)，Described primary transmission axle (2-11) is arranged on fixed arm (2-1) by a pair first angular contact bearings (2-9) and a thrust ball bearing (2-10)，The outer ring of the first angular contact bearing (2-9) being positioned at upside is provided with clutch shaft bearing end cap (2-8)，Described primary transmission axle (2-11) is hollow axle，Intermediate propeller shaft (2-12) is installed in primary transmission axle (2-11) by deep groove ball bearing (2-14)，Second brushless direct-current planetary reducing motor (2-2) and the 3rd brushless direct-current planetary reducing motor (2-3) are arranged on fixed arm (2-1) side by side，And second brushless direct-current planetary reducing motor (2-2) and the 3rd brushless direct-current planetary reducing motor (2-3) output shaft on be mounted on the second synchronous pulley (2-4)，Two the second synchronous pulleys (2-4) are respectively by Timing Belt drive connection primary transmission axle (2-11) and intermediate propeller shaft (2-12)；Described intermediate propeller shaft (2-12) upper end is provided with the 3rd synchronous pulley (2-6) being connected to the second synchronous pulley (2-4), and intermediate propeller shaft (2-12) lower end is provided with the 4th synchronous pulley (2-13)；Described primary transmission axle (2-11) upper end is equipped with the first magnetic coder (2-5).
The mechanical arm of coaxial transmission structure the most according to claim 4, it is characterized in that, described first joint assembly (3) includes the first joint arm body (3-1) and two grades of rotary shafts (3-7), first joint arm body (3-1) is fixed on primary transmission axle (2-11), two grades of rotary shafts (3-7) are arranged in the first joint arm body (3-1) by a pair second angular contact bearings (3-4), the outer ring of the second angular contact bearing (3-4) being positioned at downside is provided with the second bearing (ball) cover (3-5), described two grades of rotary shaft (3-7) lower ends are provided with the 5th synchronous pulley (3-6), 4th synchronous pulley (2-13) passes through Timing Belt drive connection the 5th synchronous pulley (3-6), two grades of rotary shaft (3-7) upper ends are provided with the second magnetic coder (3-3)；Described two grades of rotary shafts (3-7) are hollow axle.
The mechanical arm of coaxial transmission structure the most according to claim 5, it is characterised in that be provided with arm protecting envelope (3-2) on described first joint arm body (3-1).
The mechanical arm of coaxial transmission structure the most according to claim 6, it is characterised in that on the Timing Belt between the 4th synchronous pulley (2-13) and the 5th synchronous pulley (3-6), belt locking device (3-8) is set.
The mechanical arm of coaxial transmission structure the most according to claim 7, it is characterized in that, described second joint assembly (4) includes second joint arm body (4-1), the 4th brushless direct-current reducing motor (4-2) and three grades of rotary shafts (4-7), second joint arm body (4-1) is fixed on two grades of rotary shafts (3-7), described three grades of rotary shafts (4-7) are arranged in second joint arm body (4-1) by a pair the third angle contact bearing (4-6), and the outer ring of the third angle contact bearing (4-6) being positioned at downside is provided with the 3rd bearing (ball) cover (4-5)；On described three grades of rotary shafts (4-7), anti backlash gear (4-4) is installed, 4th brushless direct-current reducing motor (4-2) is fixed on second joint arm body (4-1), and is provided with, in the rotating shaft of the 4th brushless direct-current reducing motor (4-2), the gear being meshed with anti backlash gear (4-4)；Described three grades of rotary shaft (4-7) upper ends are provided with the 3rd magnetic coder (4-3)；Described end (5) is fixed on three grades of rotary shafts (4-7)；Described three grades of rotary shafts (4-7) are hollow axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620321255.2U CN205521374U (en) | 2016-04-15 | 2016-04-15 | Coaxial transmission structure's arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620321255.2U CN205521374U (en) | 2016-04-15 | 2016-04-15 | Coaxial transmission structure's arm |
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| CN205521374U true CN205521374U (en) | 2016-08-31 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737844A (en) * | 2017-03-07 | 2017-05-31 | 慧灵科技（深圳）有限公司 | A kind of axle robot of flapping articulation four |
| CN107471250A (en) * | 2017-09-11 | 2017-12-15 | 慧灵科技（深圳）有限公司 | A kind of flapping articulation machinery arm configuration using flat external rotor electric machine |
| CN108161919A (en) * | 2017-08-24 | 2018-06-15 | 深圳汉邦自动化设备有限公司 | A kind of method and device for the SCARA robots for improving load capacity |
-
2016
- 2016-04-15 CN CN201620321255.2U patent/CN205521374U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737844A (en) * | 2017-03-07 | 2017-05-31 | 慧灵科技（深圳）有限公司 | A kind of axle robot of flapping articulation four |
| CN108161919A (en) * | 2017-08-24 | 2018-06-15 | 深圳汉邦自动化设备有限公司 | A kind of method and device for the SCARA robots for improving load capacity |
| CN107471250A (en) * | 2017-09-11 | 2017-12-15 | 慧灵科技（深圳）有限公司 | A kind of flapping articulation machinery arm configuration using flat external rotor electric machine |
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