CN206953039U - A kind of pivoted arm of manipulator - Google Patents
A kind of pivoted arm of manipulator Download PDFInfo
- Publication number
- CN206953039U CN206953039U CN201720805237.6U CN201720805237U CN206953039U CN 206953039 U CN206953039 U CN 206953039U CN 201720805237 U CN201720805237 U CN 201720805237U CN 206953039 U CN206953039 U CN 206953039U
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- electric machine
- external rotor
- gear ring
- rotor electric
- bottom plate
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Abstract
The utility model discloses a kind of pivoted arm of manipulator, including rotary components and arm support, the rotary components include external rotor electric machine, bottom plate, gear ring and gear, the external rotor electric machine is located at substrate, the external rotor electric machine is fixedly connected with bottom plate, and denticle is provided with the rotor of the external rotor electric machine, and the arm support is fixedly connected with gear ring, the external rotor electric machine is located in gear ring, and the external rotor electric machine is linked by denticle and gear with gear ring；The pivoted arm small volume of the manipulator.
Description
Technical field
It the utility model is related to a kind of pivoted arm of manipulator.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry
Make, therapeutic treatment, entertainment service, military affairs, the field such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they have one it is common the characteristics of, can exactly receive instruction, be precisely positioned to three-dimensional space
Between on certain point carry out operation.
Arm typically has 3 motions:Flexible, rotation and lifting.Realize that rotation, elevating movement are by rotary components structure respectively
Into arm and lifting assembly form arm go to complete.The basic role of arm is that paw is moved into required position and born
The maximum weight of pawl grabbing workpiece, and the weight of arm in itself etc., the arm that rotary components are formed typically are connected with base, mesh
The preceding arm being made up of rotary components is typically connected with drive mechanism using reducing gear and formed, reducing gear and drive mechanism
General to use motor and decelerator, volume is larger, it is difficult to meets the needs of in the market.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of pivoted arm of the manipulator of small volume.
To solve the above problems, the utility model adopts the following technical scheme that：
A kind of pivoted arm of manipulator, including rotary components and arm support, the rotary components include external rotor electric machine, bottom
Plate, gear ring and gear, the external rotor electric machine are located at substrate, and the external rotor electric machine is fixedly connected with bottom plate, described outer
Denticle is provided with the rotor of rotor electric machine, the arm support is fixedly connected with gear ring, and the external rotor electric machine is located in gear ring, institute
External rotor electric machine is stated to link with gear ring by denticle and gear.
Preferably, the gear is connected with rotating bar, the substrate is inlaid with bearing block, the rotating bar insertion axle
In bearing.Gear and bottom plate are rotatablely connected by using rotating bar and bearing block, and rotating accuracy is high.
Preferably, being provided with motor cabinet between the external rotor electric machine and bottom plate, the external rotor electric machine and bottom plate are equal
With motor cabinet bolt connection, the external rotor electric machine is connected with bottom plate by motor cabinet.External rotor electric machine and bottom plate are and motor
Seat bolt connection, convenient disassembly, connection are reliable.
Preferably, being provided with the ball row of annular between the gear ring and bottom plate, the gear ring passes through ball with bottom plate
Row is slidably connected, and can effectively reduce the coefficient of friction in gear ring motion process.
Preferably, the gear ring outer surface is provided with annular guide channel, the substrate, which is provided with, prevents gear ring from coming off
Retainer, the retainer is connected with bed bolt, in retainer one end insertion annular guide channel.Retainer is led with annular
Groove is slidably connected, and by being provided with retainer, can improve stability, effectively prevent gear ring from coming off.
The beneficial effects of the utility model are：By being provided with denticle, and outer rotor on the rotor of external rotor electric machine
Motor is located in gear ring, and external rotor electric machine is linked by denticle and gear and gear ring, with traditional structure compared with reducing gear with
Drive mechanism combines together, overall small volume, in addition, gear is connected with rotating bar, substrate is inlaid with bearing block, rotating bar
Insert in bearing block, gear and bottom plate are rotatablely connected by using rotating bar and bearing block, and rotating accuracy is high.External rotor electric machine with
Be provided with motor cabinet between bottom plate, external rotor electric machine and bottom plate with motor cabinet bolt connection, the external rotor electric machine and bottom plate
Connected by motor cabinet, external rotor electric machine is reliable with motor cabinet bolt connection, convenient disassembly, connection with bottom plate.Gear ring and bottom
The ball row of annular is provided between plate, gear ring is slidably connected with bottom plate by ball row, can effectively reduce gear ring motion
During coefficient of friction.Gear ring outer surface is provided with annular guide channel, and substrate is provided with the retainer for preventing gear ring from coming off,
Retainer is connected with bed bolt, and in retainer one end insertion annular guide channel, retainer is slidably connected with annular guide channel, by setting
Retainer is equipped with, stability can be improved, effectively prevent gear ring from coming off.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of part sectioned view of the pivoted arm of manipulator of the utility model；
Fig. 2 is the local connection signal of a kind of external rotor electric machine of the pivoted arm of manipulator of the utility model, gear ring and gear
Figure.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.
Embodiment 1
As shown in Figure 1-2, a kind of pivoted arm of manipulator, including rotary components and arm support 1, the rotary components include outer
Rotor electric machine 2, bottom plate 3, gear ring 4 and gear 5, the external rotor electric machine 2 are located above bottom plate 3, the external rotor electric machine 2 and bottom
Plate integral type is set, and denticle 6 is provided with the rotor of the external rotor electric machine 2, denticle 6 is set with rotor for integral type, described
Arm support 1 and the bolt connection of gear ring 4, the external rotor electric machine 2 are located in gear ring 4, and the external rotor electric machine 2 passes through denticle 6 and tooth
Wheel 5 links with gear ring 4.By being provided with denticle 6 on the rotor of external rotor electric machine 2, and external rotor electric machine 2 is located at gear ring 4
Interior, external rotor electric machine 2 is linked by denticle 6 and gear 5 with gear ring 4, reducing gear and drive mechanism compared with traditional structure
Combine together, overall small volume.
The present embodiment has the beneficial effect that：By being provided with denticle, and external rotor electric on the rotor of external rotor electric machine
Machine is located in gear ring, and external rotor electric machine is linked by denticle and gear with gear ring, reducing gear and drive compared with traditional structure
Motivation structure combines together, overall small volume.
Embodiment 2
As shown in Figure 1-2, a kind of pivoted arm of manipulator, including rotary components and arm support 1, the rotary components include outer
Rotor electric machine 2, bottom plate 3, gear ring 4 and gear 5, the external rotor electric machine 2 are located above bottom plate 3, and the external rotor electric machine 2 turns
Denticle 6 is provided with son, the denticle 6 is set with rotor for integral type, the arm support 1 and the bolt connection of gear ring 4, described outer turn
Sub-motor 2 is located in gear ring 4, and the external rotor electric machine 2 is linked by denticle 6 and gear 5 with gear ring 4.The gear 5, which is connected with, to be turned
Lever 7, gear 5 are set with rotating bar 7 for integral type, and the bottom plate 3 is inlaid with bearing block 8, the insertion axle of rotating bar 7 above
In bearing 8, gear 5 and bottom plate 3 are rotatablely connected by using rotating bar 7 and bearing block 8, and rotating accuracy is high.The external rotor electric
Be provided with motor cabinet 9 between machine 2 and bottom plate 3, the external rotor electric machine 2 and bottom plate 3 with the bolt connection of motor cabinet 9, outer rotor
Motor 2 is reliable with the bolt connection of motor cabinet 9, convenient disassembly, connection with bottom plate 3.It is provided between the gear ring 4 and bottom plate 3
The ball row 11 of annular, the gear ring 4 are slidably connected by ball row 11 with bottom plate 3, can effectively reduce gear ring 4 and be moved through
Coefficient of friction in journey.The outer surface of gear ring 4 is provided with annular guide channel（It is not shown）, the bottom plate 3 is provided with and prevents above
Annular guide channel is inserted in the retainer 12 that gear ring 4 comes off, the retainer 12 and the bolt connection of bottom plate 3, described one end of retainer 12
Interior, the cell wall of annular guide channel and retainer outer surface are that polishing is set, and retainer 12 is slidably connected with annular guide channel, by setting
Retainer 12 is equipped with, stability can be improved, effectively prevents gear ring 4 from coming off.By being set on the rotor of external rotor electric machine 2
There is denticle 6, and external rotor electric machine 2 is located in gear ring 4, and external rotor electric machine 2 is linked by denticle 6 and gear 5 with gear ring 4, with
Traditional structure combines together compared to reducing gear and drive mechanism, overall small volume.
The present embodiment has the beneficial effect that：By being provided with denticle, and external rotor electric on the rotor of external rotor electric machine
Machine is located in gear ring, and external rotor electric machine is linked by denticle and gear with gear ring, reducing gear and drive compared with traditional structure
Motivation structure combines together, overall small volume, and gear is connected with rotating bar, and substrate is inlaid with bearing block, rotating bar insertion axle
In bearing, gear and bottom plate are rotatablely connected by using rotating bar and bearing block, and rotating accuracy is high.External rotor electric machine and bottom plate it
Between be provided with motor cabinet, external rotor electric machine and bottom plate pass through electricity with motor cabinet bolt connection, the external rotor electric machine with bottom plate
Support connects, and external rotor electric machine is reliable with motor cabinet bolt connection, convenient disassembly, connection with bottom plate.Between gear ring and bottom plate
The ball row of annular is provided with, gear ring is slidably connected by ball row with bottom plate, can effectively reduced in gear ring motion process
Coefficient of friction.Gear ring outer surface is provided with annular guide channel, and substrate is provided with the retainer for preventing gear ring from coming off, retainer
It is connected with bed bolt, in retainer one end insertion annular guide channel, retainer is slidably connected with annular guide channel, is protected by being provided with
Frame is held, stability can be improved, effectively prevent gear ring from coming off.
It is described above, only specific embodiment of the present utility model, but the scope of protection of the utility model is not limited to
In this, any change or replacement expected without creative work, should all cover within the scope of protection of the utility model.
Claims (5)
- A kind of 1. pivoted arm of manipulator, it is characterised in that：Including rotary components and arm support, the rotary components include outer rotor Motor, bottom plate, gear ring and gear, the external rotor electric machine are located at substrate, and the external rotor electric machine is fixedly connected with bottom plate, Denticle is provided with the rotor of the external rotor electric machine, the arm support is fixedly connected with gear ring, and the external rotor electric machine is located at tooth In circle, the external rotor electric machine is linked by denticle and gear with gear ring.
- A kind of 2. pivoted arm of manipulator according to claim 1, it is characterised in that：The gear is connected with rotating bar, described Substrate is inlaid with bearing block, and the rotating bar is inserted in bearing block.
- A kind of 3. pivoted arm of manipulator according to claim 2, it is characterised in that：Between the external rotor electric machine and bottom plate Motor cabinet is provided with, the external rotor electric machine and bottom plate pass through with motor cabinet bolt connection, the external rotor electric machine with bottom plate Motor cabinet connects.
- A kind of 4. pivoted arm of manipulator according to claim 3, it is characterised in that：It is provided between the gear ring and bottom plate The ball row of annular, the gear ring are slidably connected with bottom plate by ball row.
- A kind of 5. pivoted arm of manipulator according to claim 4, it is characterised in that：The gear ring outer surface is provided with annular Guide groove, the substrate are provided with the retainer for preventing gear ring from coming off, and the retainer is connected with bed bolt, the holding In frame one end insertion annular guide channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720805237.6U CN206953039U (en) | 2017-07-05 | 2017-07-05 | A kind of pivoted arm of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720805237.6U CN206953039U (en) | 2017-07-05 | 2017-07-05 | A kind of pivoted arm of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206953039U true CN206953039U (en) | 2018-02-02 |
Family
ID=61384203
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720805237.6U Active CN206953039U (en) | 2017-07-05 | 2017-07-05 | A kind of pivoted arm of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206953039U (en) |
-
2017
- 2017-07-05 CN CN201720805237.6U patent/CN206953039U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Rotating arm of a manipulator Effective date of registration: 20210518 Granted publication date: 20180202 Pledgee: Shunde Guangdong rural commercial bank Limited by Share Ltd. Daliang branch Pledgor: FOSHAN TONGTAISHENG PRECISION ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Registration number: Y2021980003754 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220517 Granted publication date: 20180202 Pledgee: Shunde Guangdong rural commercial bank Limited by Share Ltd. Daliang branch Pledgor: FOSHAN TONGTAISHENG PRECISION ELECTROMECHANICAL TECHNOLOGY CO.,LTD. Registration number: Y2021980003754 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Rotating arm of a manipulator Effective date of registration: 20220519 Granted publication date: 20180202 Pledgee: Guangdong Shunde Rural Commercial Bank Co.,Ltd. science and technology innovation sub branch Pledgor: FOSHAN TONGTAISHENG PRECISION ELECTROMECHANICAL TECHNOLOGY CO.,LTD. Registration number: Y2022980005938 |