CN206326628U

CN206326628U - A kind of mechanical arm housing

Info

Publication number: CN206326628U
Application number: CN201621310566.5U
Authority: CN
Inventors: 张州逸
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-12-01
Filing date: 2016-12-01
Publication date: 2017-07-14
Anticipated expiration: 2026-12-01

Abstract

The utility model discloses a kind of mechanical arm housing, it is used for four axis robots, four axis robot includes forearm, it is fixed on the 3rd actuator and fourth drive member on forearm, spline screw rod, the circumference size of the small arm housing is gradually reduced from bottom to top, and it is formed with step surface along its peripheral surface, the top position that the forearm housing upper surface corresponds to the fourth drive member is provided with inside and outside first row gas port, the top position that the forearm housing upper surface corresponds to the 3rd actuator is provided with inside and outside second exhaust port.The utility model can make to be internally formed spiralling air-flow, have the exhaust outlet of the discrepancy in elevation by a pair and be internally formed circulating ventilation system, can effectively, quickly reduce the temperature of forearm enclosure interior, actuator is protected, so as to ensure that kinematic accuracy.

Description

A kind of mechanical arm housing

【Technical field】

The utility model belongs to technical field of automation, more particularly to a kind of mechanical arm housing.

【Background technology】

With it is economical continue to develop and science and technology continuous progress, for enterprise development provides strong economy and Technology pillar, promotes enterprise to be strided forward towards the direction of intelligent and highly integrated grade, and the intelligence that manipulator, which is exactly enterprise, to be researched and developed It is a kind of in the product of change.In order to mitigate the burden of operating personnel, or operating personnel's progress dangerous operation is substituted, all be unable to do without machine The application of tool hand.Go to substitute the operation of operating personnel by manipulator, thus reach the mesh for improving effect or protecting operating personnel , hence in so that manipulator is widely applied in the occasion of automated production.For manipulator, because it passes through mould The structure of apery hand and with human hand motor function, therefore manipulator be include numerous drive devices.It is mechanical in the market The most of harmonic wave speed reducing machines of reductor that hand is used, can only can bear bad during load-carrying 3.5KG, highly rotation.For four can be done For the existing manipulator of axle motion, because its each drive device sets unreasonable, therefore exist complex structure, bumpy motion and The low defect of kinematic accuracy, so that being unfavorable for existing manipulator is adapted to the high occasion of technological requirement.Due to manipulator Constantly frequently move at a high speed, the heat that its internal driving mechanism is produced is easily collected on internal so that internal temperature rise, shadow Ring the precision of mechanism operating.

Therefore, it is necessary to provide a kind of new mechanical arm housing to solve the above problems.

【Utility model content】

Main purpose of the present utility model is to provide a kind of mechanical arm housing, and it can make to be internally formed on spiral The air-flow risen, has the exhaust outlet of the discrepancy in elevation by a pair and is internally formed circulating ventilation system, can effectively, quickly reduce The temperature of forearm enclosure interior.

The utility model is achieved through the following technical solutions above-mentioned purpose：A kind of mechanical arm housing, it is used for four axles Manipulator, four axis robot includes forearm, the 3rd actuator and fourth drive member and spline spiral shell being fixed on forearm Bar, the circumference size of the small arm housing is gradually reduced from bottom to top, and is formed with step surface along its peripheral surface, institute The top position that forearm housing upper surface is stated corresponding to the fourth drive member is provided with inside and outside first row gas port, described The top position that forearm housing upper surface corresponds to the 3rd actuator is provided with inside and outside second exhaust port.

Further, the upper surface of the small arm housing sets sloping corresponding to the top position of the fourth drive member Face, the first row gas port is arranged on the slope.

Further, the forearm lower housing portion profile and the forearm circumference profiling.

Further, the upper surface end of the small arm housing is provided with the second through hole passed through for the spline screw rod.

Further, four axis robot includes driving the second actuator of the forearm rotation.

Further, the upper surface of the small arm housing is provided with positioned at the top position of second actuator and supplies wire The third through-hole passed through.

Compared with prior art, a kind of beneficial effect of mechanical arm housing of the utility model is：By small arm housing It is arranged to the structure type of " bottom is fat, top is thin " so that the heat that the second actuator, the 3rd actuator and fourth drive member are produced Amount can form the form for rising of spiraling in small arm housing, without all the time in internal endless loop state；In addition thereon Surface is provided with exhaust outlet at two, and poor with certain altitude, is easy to a wherein exhaust outlet air inlet, another exhaust outlet outlet, from And the heat of forearm enclosure interior is discharged, and extraneous cold air can enter forearm enclosure interior, so as to constitute Circulating ventilation system, effective, quickly reduction forearm enclosure interior temperature, protects actuator, so as to ensure that motion essence Degree.

【Brief description of the drawings】

Fig. 1 is the structural representation of the utility model embodiment；

Fig. 2 is the cross section structure diagram of the utility model embodiment；

Fig. 3 is the cross section structure diagram of motion module and forearm in the utility model embodiment；

Fig. 4 is the structural representation of small arm housing in the utility model embodiment；

Fig. 5 is the flow path schematic diagram of heat in small arm housing in the utility model embodiment；

Fig. 6 is one of the utility model embodiment installment state schematic diagram；

Fig. 7 is the two of the utility model embodiment installment state schematic diagram；

Numeral is represented in figure：

100 4 axis robots；1 base, 11 first installing plates, 12 second installing plates；2 first actuators；3 first slow down Machine；4 large arm；5 second actuators；6 second reductors；7 forearms, 71 first through hole, 72 is raised, 73 support columns, 74 cover plates；8 fortune Dynamic model group, 81 the 3rd actuators, 82 fourth drive members, 83 spline screw rods, 84 rotation nuts, 85 first gears, 86 spline outer barrels, 87 second gears；9 small arm housings, 91 step surfaces, 92 slopes, 93 first row gas ports, 94 second exhaust port, 95 second through holes, 96 third through-holes.

【Embodiment】

Embodiment：

Fig. 1-Fig. 7 is refer to, the present embodiment is four axis robots 100, and it includes base 1, be fixed on base 1 first Actuator 2, the first reductor 3 rotated by the driving of the first actuator 2, the large arm for being fixed on the round end of the first reductor 3 4th, the second actuator 5 of the end of large arm 4 is fixed on, the second reductor 6 rotated is driven by the second actuator 5, is fixed on The forearm 7 of the round end of second reductor 6, the motion module 8 for being fixed on the end of forearm 7 and it is fixed on the top of forearm 7 and parcel Firmly move the small arm housing 9 of module 8.

Base 1 it is L-shaped and including the first installing plate 11 and with vertically disposed second installing plate 12 of the first installing plate 11. The edge of first installing plate 11 and the second installing plate 12 has been uniformly arranged some mounting holes.Base is set into l-shaped, can It is flexible just installed according to the working environment demand of client or it is counter install, also can be by multiple the present embodiment installed in same Used in mechanism so that easy for installation agile and all-purpose.

Large arm 4 is horizontally disposed with and carried out the rotary motion of horizontal plane with forearm 7.

First reductor and the second reductor are RV reductors, and it can realize moved under high load capacity, high rotating speed steady It is qualitative, and small volume of the volume compared to harmonic wave speed reducing machine of RV reductors, help to reduce the overall space body of manipulator Product, can improve the scope of application.Joint between axle and armshaft bears torsion during rotation using RV reductors so that fortune It will not produce and rock when turning, it is ensured that kinetic stability.

The end of forearm 7 is provided with first through hole 71.

Motion module 8 includes the 3rd actuator 81 that is fixed on forearm 7 with fourth drive member 82, through first through hole 71 Spline screw rod 83, coordinate the rotation nut 84 of transmission, the first gear being fixed on below rotation nut 84 with spline screw rod 83 85th, it is set in the spline outer barrel 86 on spline screw rod 83 and positioned at the lower section of rotation nut 84 and is fixed on the top of spline outer barrel 86 Second gear 87.

Forearm 7 is provided with projection 72 around the periphery of first through hole 71, and spline outer barrel 86 is carried in projection 72, raised 72 table Face is fixed with support column 73.The top of support column 73 is provided with the cover plate 74 being fixed on support column 73.Cover plate 74 pushes down rotation spiral shell The upper surface of mother 84.3rd actuator 81 is connected with first gear 85 by belt transmission, fourth drive member 82 and second gear 87 are connected by belt transmission.

Rotation nut 84 includes nut inner ring (not indicated in figure) and can relatively rotated with the nut inner ring Nut outer ring (is not indicated) in figure.The nut outer ring is fixedly connected with cover plate 74, and first gear 85 is fixed in the nut On circle.

Spline outer barrel 86 includes outer barrel inner ring (not indicated in figure) and can relatively rotated with the outer barrel inner ring Outer barrel outer ring (is not indicated) in figure.The outer barrel outer ring is fixedly connected with projection 72, and second gear 87 is fixed in the outer barrel On circle.

Spline screw rod 83 uses ball screw spline, is to open up ball screw groove and rolling across on a shaft Spline groove, respective nut it is cylindrical on be directly loadable into straight line, the gyration device of special spring bearing.When having and When only the 3rd actuator 81 driving rotation nut 84 is rotated forward or backwards, the straight straight of spline screw rod 83 just can be realized Lower motion；When the 3rd actuator 81, driving rotation nut 84, spline outer barrel 86 are carried out respectively in the same direction simultaneously with fourth drive member 82 During rotation, it just can realize that the original place of spline screw rod 83 is rotated forward or original place return motion；The driving flower of fourth drive member that and if only if 82 When key outer barrel 86 is rotated, the screw of spline screw rod 83 just can be realized.

The athletic performance of motion module 8 is realized using spline screw drive form, only manipulator just can be realized with an axle All motions needed for end, it is on the one hand simple in construction, save material；On the other hand reduce the volume of whole device with again Amount so that wider using scope.

The small profile of arm housing 9 and the circumference profiling of forearm 7.The circumference size of small arm housing 9 is from bottom to top It is gradually reduced, and step surface 91 is formed with along its peripheral surface.The upper surface of small arm housing 9 corresponds to fourth drive member 82 Top position is provided with slope 92.Inside and outside first row gas port 93 is provided with slope 92.The small upper surface of arm housing 9 The top position of 3rd actuator 81 is provided with inside and outside second exhaust port 94.The upper surface end of small arm housing 9 End is provided with the second through hole 95 passed through for spline outer barrel 86, and its top position for being located at the second actuator 5, which is provided with, supplies wire The third through-hole 96 passed through.

Small arm housing 9 is arranged to the structure type of " bottom is fat, top is thin " so that the second actuator 5, the 3rd actuator 81 The heat produced with fourth drive member 82 can form the form for rising of spiraling in small arm housing 9, without all the time in interior Portion's endless loop state；Exhaust outlet at two is provided with its upper surface in addition, and it is poor with certain altitude, it is easy to a wherein exhaust outlet Air inlet, another exhaust outlet outlet, so that the heat inside small arm housing 9 can be discharged, and extraneous cold air can enter Enter inside small arm housing 9, so as to constitute circulating ventilation system, effectively, quickly reduce the temperature inside small arm housing 9, protect Actuator is protected, so as to ensure that kinematic accuracy.

Above-described is only some embodiments of the present utility model.For the person of ordinary skill of the art, On the premise of the utility model creation design is not departed from, various modifications and improvements can be made, these belong to this practicality New protection domain.

Claims

1. a kind of mechanical arm housing, it is used for four axis robots, it is characterised in that：Four axis robot include forearm, The 3rd actuator and fourth drive member, spline screw rod on forearm are fixed on, the circumference size of the small arm housing is under And on be gradually reduced, and be formed with step surface along its peripheral surface, the forearm housing upper surface corresponds to the 4 wheel driven The top position of moving part is provided with inside and outside first row gas port, and the forearm housing upper surface corresponds to the described 3rd driving The top position of part is provided with inside and outside second exhaust port.

2. machinery arm housing as claimed in claim 1, it is characterised in that：The upper surface of the small arm housing corresponds to institute The top position for stating fourth drive member is arranged to slope, and the first row gas port is arranged on the slope.

3. machinery arm housing as claimed in claim 1, it is characterised in that：The forearm lower housing portion profile with it is described small Arm circumference profiling.

4. machinery arm housing as claimed in claim 1, it is characterised in that：The upper surface end of the small arm housing is set There is the second through hole passed through for the spline screw rod.

5. machinery arm housing as claimed in claim 1, it is characterised in that：It is described small that four axis robot includes driving Second actuator of arm rotation.

6. machinery arm housing as claimed in claim 5, it is characterised in that：The upper surface of the small arm housing is located at described The top position of second actuator is provided with the third through-hole passed through for wire.