CN206066491U - Hollow wiring type parallel manipulator arm - Google Patents
Hollow wiring type parallel manipulator arm Download PDFInfo
- Publication number
- CN206066491U CN206066491U CN201620924195.3U CN201620924195U CN206066491U CN 206066491 U CN206066491 U CN 206066491U CN 201620924195 U CN201620924195 U CN 201620924195U CN 206066491 U CN206066491 U CN 206066491U
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- CN
- China
- Prior art keywords
- arm
- penetration pipe
- hollow
- decelerator
- type structure
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of hollow wiring type parallel manipulator arm, including first rotating arm (22), second turning arm (38), lifting arm (60), the first rotating arm and the first decelerator (14), first penetration pipe (11) connects, first penetration pipe, first decelerator is respectively provided with the first hollow type structure (71), there is on first rotating arm middle cable-through hole (72), second turning arm and the second decelerator (28), second penetration pipe (30) connects, second penetration pipe, second decelerator is respectively provided with the second hollow type structure (73).The wiring route of this utility model mechanical arm electric wire is passed through from first, second hollow penetration pipe, wherein through the middle cable-through hole of first rotating arm, so that the wiring route of whole electric wire is all completed in the inside of first, second turning arm, be capable of achieving 360 degree of first, second turning arm it is accessible, swimmingly rotate, and each turning arm is the characteristics of have outward appearance clean and tidy.
Description
Technical field
The present invention relates to a kind of robot of industrial use, is specifically related to a kind of mechanical hand for being applied to industrial robot
Arm.
Background technology
At present, industrial robot application is quite varied.Particularly in the industry neck such as spraying, welding, assembling, carrying
Domain, using machine man-hour, its work efficiency is higher, significantly reduces the labor intensity of operator.Use for carrying
For way, robot carries out the working conditions such as feeding, blanking, and typically using outside wire structures, arm is rotated through for its robot
There is circuitry obstacle in journey, and outside wiring causes outward appearance not clean and tidy enough.Using single armed extended position structure, during shutdown or fortune
During defeated work, which takes up an area, and space is big, and work covers insufficient space.
The content of the invention
It is an object of the invention to overcome the shortcomings of above-mentioned, and one kind is provided and is routed in inside arm, is rotated and there is no line
The hollow wiring type parallel manipulator arm that roadblock hinders.
The purpose of the present invention is by following technical solution realizing：Hollow wiring type parallel manipulator arm, including the first rotation
Pivoted arm, the second turning arm, lifting arm, the first rotating arm are connected with the first decelerator, the first penetration pipe, first threading
Pipe, the first decelerator are respectively provided with the first hollow type structure, have middle cable-through hole on first rotating arm, second turning arm with
Second decelerator, the connection of the second penetration pipe, second penetration pipe, the second decelerator are respectively provided with the second hollow type structure.
First hollow type structure of the first penetration pipe on the first rotating arm adopts the first hollow penetration pipe and the
One oil enveloping structure；Second hollow type structure of the second penetration pipe on second turning arm using the second hollow penetration pipe and
Second oil enveloping structure.
After the present invention, the wiring route of mechanical arm electric wire is passed through from first, second hollow penetration pipe, its
The middle middle cable-through hole through first rotating arm, so that the wiring route of whole electric wire is all in first, second turning arm
Inside completes, be capable of achieving 360 degree of first, second turning arm it is accessible, swimmingly rotate, and each turning arm has outward appearance whole
Clean the characteristics of.First, second oil sealing is respectively intended to the excellent sealing for ensureing the gear train under first, second decelerator.
Description of the drawings
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of hollow wiring type parallel manipulator arm of the invention.
Specific embodiment
Referring to the drawings 1, hollow wiring type parallel manipulator arm of the invention, including first rotating arm 22, the second turning arm 38,
Lifting arm 60, the first rotating arm 22 (successively) are connected with the first decelerator 14, the first penetration pipe 11, first penetration pipe
11st, the first decelerator 14 (harmonic) is respectively provided with the first hollow type structure 71, during on first rotating arm 22, (its middle) has
Between cable-through hole 72, second turning arm 38 (successively) is connected with the second decelerator 28, the second penetration pipe 30, second penetration pipe
30th, the second decelerator 28 (harmonic) is respectively provided with the second hollow type structure 73.The lifting arm 60 and first rotating arm 22, second
Turning arm 38 is sequentially connected.
First hollow type structure 71 of the first penetration pipe 11 on the first rotating arm adopts the first hollow penetration pipe
With 74 structure of the first oil sealing, the wiring route of electric wire is made to pass through from the first hollow penetration pipe, the first oil sealing 74 is used for ensureing
The excellent sealing of the first gear group under the first decelerator；The second hollow type structure 73 and the first hollow type on second turning arm
The version of structure 71 is identical, and the second hollow type structure 73 of the second penetration pipe 30 on second turning arm is using hollow
75 structure of the second penetration pipe and the second oil sealing, the wiring route of electric wire is passed through from the second hollow penetration pipe, second is oily
Envelope 75 is used for the excellent sealing for ensureing the second gear group under the second decelerator.
Arrow as shown in Figure 1 indicates, electric wire (containing gas circuit) 76 from the first penetration pipe 11 (and first decelerator 14) the
One hollow type structure 71 is passed through after pushing, then through the middle cable-through hole 72 of first rotating arm 22, finally by the second penetration pipe
The second hollow type structure 73 of 30 (and second decelerators 28).The wiring route of whole electric wire is all in first, second turning arm
Mechanical arm inside complete, so as to be capable of achieving 360 the degree of first, second turning arm it is accessible, swimmingly rotate, and each revolves
The characteristics of pivoted arm has outward appearance clean and tidy.
Claims (2)
1. hollow wiring type parallel manipulator arm, including first rotating arm (22), the second turning arm (38), lifting arm (60), its
It is characterised by：The first rotating arm (22) is connected with the first decelerator (14), the first penetration pipe (11), first penetration pipe
(11), the first decelerator (14) is respectively provided with the first hollow type structure (71), has middle cable-through hole on first rotating arm (22)
(72), second turning arm (38) is connected with the second decelerator (28), the second penetration pipe (30), second penetration pipe (30),
Second decelerator (28) is respectively provided with the second hollow type structure (73).
2. hollow wiring type parallel manipulator arm according to claim 1, it is characterised in that：On the first rotating arm
First hollow type structure (71) of the first penetration pipe (11) is using the first hollow penetration pipe and the first oil sealing (74) structure, described
Second hollow type structure (73) of the second penetration pipe (30) on the second turning arm is oily using the second hollow penetration pipe and second
Envelope (75) structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620924195.3U CN206066491U (en) | 2016-08-18 | 2016-08-18 | Hollow wiring type parallel manipulator arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620924195.3U CN206066491U (en) | 2016-08-18 | 2016-08-18 | Hollow wiring type parallel manipulator arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066491U true CN206066491U (en) | 2017-04-05 |
Family
ID=58430964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620924195.3U Expired - Fee Related CN206066491U (en) | 2016-08-18 | 2016-08-18 | Hollow wiring type parallel manipulator arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066491U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113091A (en) * | 2016-08-18 | 2016-11-16 | 海尚集团有限公司 | Hollow wiring type parallel manipulator arm |
-
2016
- 2016-08-18 CN CN201620924195.3U patent/CN206066491U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113091A (en) * | 2016-08-18 | 2016-11-16 | 海尚集团有限公司 | Hollow wiring type parallel manipulator arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170405 Termination date: 20190818 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |