CN205572428U - Big arm of articulated robot and forearm transmission system - Google Patents
Big arm of articulated robot and forearm transmission system Download PDFInfo
- Publication number
- CN205572428U CN205572428U CN201620226065.2U CN201620226065U CN205572428U CN 205572428 U CN205572428 U CN 205572428U CN 201620226065 U CN201620226065 U CN 201620226065U CN 205572428 U CN205572428 U CN 205572428U
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- CN
- China
- Prior art keywords
- forearm
- worm
- synchronous pulley
- transmission system
- large arm
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- 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.)
- Expired - Fee Related
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- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a big arm of articulated robot and forearm transmission system, doublestage reduction gear unit is all adopted in the motion of big arm of articulated robot and forearm, the drive of first order adoption servo motor is slowed down through a pair of synchronous pulley and is spreaded into the worm axle into, the worm is adopted to the second level, the worm wheel slows down, drive big arm respectively through the output of worm wheel center pin, with pass through the crank, the connecting rod drives the forearm and makes rotary motion, two servo motor and reduction gear unit fitting up are on same base, adopt the symmetrical arrangement design for big revolution of arm plane, the utility model discloses because the worm and wormwheel transmission has irreversible auto -lock nature, meet the condition such as external outage or transmission system mechanical breakdown and can not take place incidents such as the arm drops suddenly by a wide margin, left out the inside brake equipment of servo motor simultaneously, this transmission system compares with the reduction gears (like harmonic speed reducer ware or RV planetary gear reducer ) that traditional articulated robot adopted, action safe and reliable, transmission system 0.
Description
Technical field
This utility model relates to a kind of robotics, especially prosthetic robot large arm and forearm drive system.
Background technology
Lifting along with cost of labor, the decline of manufacturing industry production cost has been difficult to recompression in tradition is processed and has declined, simultaneously, along with the Internet and the combination application of automatic control technology, machine is substituted and is the most gradually promoted, production efficiency is stable, lower labor cost, such as electron trade, articulated robot is mostly applied in automobile making, but, the reducing gear that tradition prosthetic robot uses is harmonic speed reducer or RV planetary reducer, servomotor needs band brake (brake gear), meet the security incidents such as the extraneous situation generation mechanical arm such as power-off braker fault or drive system mechanical breakdown can the most significantly drop.
Utility model content
nullThe purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art，A kind of prosthetic robot large arm and forearm drive system are provided，The motion of prosthetic robot large arm and forearm all uses double reduction transmission,The first order uses motor to drive through a pair synchronous pulley incoming worm shaft of deceleration,The second level uses worm screw、Worm gear reducer,Large arm is driven respectively through the output of worm gear central shaft，And pass through crank、Connecting rod drives forearm to make gyration，Two servomotors and deceleration transmission parts are arranged on same base，Use relative to large arm plane of rotation and be arranged symmetrically with design，Worm and Worm Gear Driving has irreversible self-locking performance,Meet the extraneous situation such as power-off or drive system mechanical breakdown and the security incidents such as mechanical arm the most significantly drops will not occur,Eliminate the brake gear within servomotor simultaneously，Compared with the reducing gear (such as harmonic speed reducer or RV planetary reducer) that tradition prosthetic robot uses,Action is safe and reliable,With low cost.
For reaching above-mentioned purpose, this utility model provides a kind of prosthetic robot large arm and forearm drive system, including servomotor, synchronous pulley one, synchronous pulley two, worm screw, worm gear, crank, connecting rod, large arm, forearm, wrist, hands refers to, described large arm upper end connects forearm, back sets connecting rod, lower end sets worm gear, described connecting rod lower end sets crank, the described crank other end is connected with worm gear center output shaft, described worm gear lower end sets worm screw, described worm screw left end sets synchronous pulley two, described synchronous pulley two engages with the synchronous pulley one of lower end, described synchronous pulley one is fixed in the servomotor rotary shaft of left end, described forearm lower end sets wrist, described wrist lower end sets finger.
Arrange further, described servomotor totally 2, and the deceleration transmission parts of worm screw, worm gear composition are arranged on same base, are symmetrical arranged relative to large arm.
The beneficial effects of the utility model are: Worm and Worm Gear Driving has irreversible self-locking performance, when meeting the extraneous situation such as power-off or drive system mechanical breakdown, the security incidents such as forearm the most significantly drops will not occur, eliminate the brake gear within servomotor simultaneously, this drive system is compared with the reducing gear (such as harmonic speed reducer or RV planetary reducer) that tradition prosthetic robot uses, action is safe and reliable, with low cost.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present utility model；
Fig. 2 is the left view of Fig. 1.
In figure: servomotor 1, synchronous pulley 1, synchronous pulley 23, worm screw 4, worm gear 5, crank 6, connecting rod 7, large arm 8, forearm 9, wrist 10, finger 11.
Detailed description of the invention
nullAs shown in Fig. 1～Fig. 2: the technical solution of the utility model is described in further detail，Prosthetic robot large arm and forearm drive system，Including servomotor 1、Synchronous pulley 1、Synchronous pulley 23、Worm screw 4、Worm gear 5、Crank 6、Connecting rod 7、Large arm 8、Forearm 9、Wrist 10、Finger 11，Described large arm 8 upper end connects forearm 9，Back sets connecting rod 7，Lower end sets worm gear 5，Described connecting rod 7 lower end sets crank 6，Described crank 6 other end is coaxially connected with worm gear 5，Described worm gear 5 lower end sets worm screw 4，Described worm screw 4 left end sets synchronous pulley 23，Described synchronous pulley 23 engages with the synchronous pulley 1 of lower end，Described synchronous pulley 1 is fixed in servomotor 1 rotary shaft of left end，Described forearm 9 lower end sets wrist 10，Described wrist 10 lower end sets finger 11，Worm screw 4 of the present utility model、Worm gear 5 transmission has irreversible self-locking performance,When meeting the extraneous situation such as power-off or drive system mechanical breakdown，The security incidents such as large arm 8 and forearm 9 significantly drop suddenly will not occur,Eliminate the brake gear within servomotor 1 simultaneously，This drive system is compared with the reducing gear (such as harmonic speed reducer or RV planetary reducer) that tradition prosthetic robot uses,Action is safe and reliable,With low cost.
Described servomotor totally 2, and worm screw 4, worm gear 5 composition deceleration transmission parts be arranged on same base, relative to large arm 8 centre of gyration plane symmetry arrange.
The above; it is only this utility model preferably detailed description of the invention; but protection domain of the present utility model is not limited thereto; any those familiar with the art is in the technical scope that this utility model discloses; the change that can readily occur in or replacement, all should contain within protection domain of the present utility model.
Claims (2)
- null1. prosthetic robot large arm and forearm drive system，It is characterized in that: include servomotor (1)、Synchronous pulley one (2)、Synchronous pulley two (3)、Worm screw (4)、Worm gear (5)、Crank (6)、Connecting rod (7)、Large arm (8)、Forearm (9)、Wrist (10)、Finger (11)，Described large arm (8) upper end connects forearm (9)，Back sets connecting rod (7)，Lower end sets worm gear (5)，Described connecting rod (7) lower end sets crank (6)，Described crank (6) other end is connected with worm gear (5) center output shaft，Described worm gear (5) lower end sets worm screw (4)，Described worm screw (4) left end sets synchronous pulley two (3)，Described synchronous pulley two (3) engages with the synchronous pulley one (2) of lower end，Described synchronous pulley one (2) is fixed in servomotor (1) rotary shaft of left end，Described forearm (9) lower end sets wrist (10)，Described wrist (10) lower end sets finger (11).
- Prosthetic robot large arm and forearm drive system the most according to claim 1, it is characterized in that: described servomotor (1) totally 2, the deceleration transmission parts formed with worm screw (4), worm gear (5) are arranged on same base, are symmetrical arranged relative to large arm (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620226065.2U CN205572428U (en) | 2016-03-22 | 2016-03-22 | Big arm of articulated robot and forearm transmission system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620226065.2U CN205572428U (en) | 2016-03-22 | 2016-03-22 | Big arm of articulated robot and forearm transmission system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205572428U true CN205572428U (en) | 2016-09-14 |
Family
ID=56866637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620226065.2U Expired - Fee Related CN205572428U (en) | 2016-03-22 | 2016-03-22 | Big arm of articulated robot and forearm transmission system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205572428U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107640602A (en) * | 2016-07-21 | 2018-01-30 | 宜宾诺菲特机器人制造有限公司 | Top fills two axle automatic setting machine device people |
| CN110274795A (en) * | 2019-08-13 | 2019-09-24 | 赵健 | A kind of oil exploitation sample oil reservoir sampler |
| CN110281276A (en) * | 2019-06-28 | 2019-09-27 | 北京理工大学 | A kind of shock proof robot Arm structure |
| CN112092010A (en) * | 2020-09-16 | 2020-12-18 | 芯导精密(北京)设备有限公司 | Novel mechanical arm transmission structure and mechanical arm comprising same |
-
2016
- 2016-03-22 CN CN201620226065.2U patent/CN205572428U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107640602A (en) * | 2016-07-21 | 2018-01-30 | 宜宾诺菲特机器人制造有限公司 | Top fills two axle automatic setting machine device people |
| CN110281276A (en) * | 2019-06-28 | 2019-09-27 | 北京理工大学 | A kind of shock proof robot Arm structure |
| CN110274795A (en) * | 2019-08-13 | 2019-09-24 | 赵健 | A kind of oil exploitation sample oil reservoir sampler |
| CN112092010A (en) * | 2020-09-16 | 2020-12-18 | 芯导精密(北京)设备有限公司 | Novel mechanical arm transmission structure and mechanical arm comprising same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160914 Termination date: 20210322 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |