CN207087870U - Six-joint robot joint arrangement - Google Patents
Six-joint robot joint arrangement Download PDFInfo
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- CN207087870U CN207087870U CN201721365761.2U CN201721365761U CN207087870U CN 207087870 U CN207087870 U CN 207087870U CN 201721365761 U CN201721365761 U CN 201721365761U CN 207087870 U CN207087870 U CN 207087870U
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- cover plate
- handgrip
- pillar
- chute
- tumbler
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Abstract
It the utility model is related to robotic technology field, disclose a kind of six-joint robot joint arrangement, including clip claw assembly, tumbler, mechanical arm and linear actuating device, the clip claw assembly is installed on one end of the tumbler, the other end of the tumbler is hinged with the mechanical arm, one end of the linear actuating device is hinged with the tumbler, and the other end is hinged with the mechanical arm, and the linear actuating device can drive the tumbler to be rotated relative to the mechanical arm.Based on said structure, because the linear actuating device of use can provide power of the power much larger than the direction of rotation that existing motor provides of linear movement direction, so that the joint arrangement has bigger twisting resistance, and then enable the larger object of the six-joint robot lifting weight with the joint arrangement.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly to a kind of six-joint robot joint arrangement.
Background technology
Industrial robot is a kind of automatic makeup with crawl and locomotive function used during automated production
Put, it is a kind of new device to grow up during mechanization, automated production.In recent years, as electronic technology is special
The extensive use of not dead electronic computer, the development and production of robot turn into one developed rapidly in high-tech sector
Door emerging technology, it more promotes the development of manipulator so that manipulator can be better achieved with mechanization and automate
Organically combine.
During robot is specifically used, joint arrangement will be generally clamped installed in the mechanical arm front end of robot, is led to
Cross hydraulic cylinder or cylinder driving handgrip clamps object, to complete to capture mobile process.
During the utility model is realized, though it is found by the applicant that the six-joint robot of correlation technique is provided with clamping dress
Put, but because the junction in its joint is using the rotation driving of the motor articulation so that the six-joint robot can not be lifted
The larger object of weight.
Utility model content
The utility model embodiment is mainly solving the technical problems that provide a kind of six axle machines simple in construction, driving force is strong
Device person joint's device.
In order to solve the above technical problems, the technical scheme that the utility model embodiment uses is：A kind of six axles are provided
Joint of robot device, including：Clip claw assembly, tumbler, mechanical arm and linear actuating device, the clip claw assembly are installed on institute
One end of tumbler is stated, the other end of the tumbler is hinged with the mechanical arm, one end of the linear actuating device and institute
State tumbler to be hinged, the other end is hinged with the mechanical arm, and the linear actuating device can drive the tumbler relative to institute
State mechanical arm rotation.
In certain embodiments, the clip claw assembly includes:For clamping the clamping device, supporting mechanism, connection of object
Part, pillar and drive mechanism, the clamping device are installed on the supporting mechanism, and the clamping device is cut with scissors with the supporting mechanism
Connect, and be connected by the pillar with the connector；The drive mechanism respectively with the supporting mechanism and the connection
Part is connected, and the supporting mechanism can be driven to rotate and drive the connector to be moved reciprocatingly relative to the supporting mechanism.
In certain embodiments, the clamping device includes the first handgrip and the second handgrip, first handgrip and second
Handgrip is hingedly connected to the both sides of the supporting mechanism；
The both sides of the connector are respectively arranged with the first straight runner and the second straight runner；
The pillar includes the first pillar and the second pillar, and first pillar is through the first straight runner and the first handgrip
One end is hinged, and first pillar can slide along first straight runner, and second pillar is straight sliding through described second
One end of groove and the second handgrip is hinged, and second pillar can slide along second straight runner.
In certain embodiments, the supporting mechanism includes supporting part and resettlement section, one end of the supporting part with it is described
One end of resettlement section is fixedly connected；
The supporting part includes the first cover plate, second cover plate parallel with first cover plate, is connected to first lid
Connecting cover plate between plate and second cover plate, first be connected between first cover plate and second cover plate are fixed
Post and the second fixed column being connected between first cover plate and second cover plate；
First handgrip is provided with the first fixing hole, and second handgrip is provided with the second fixing hole, and described first is solid
Fixed column passes through first fixing hole, and second fixed column passes through second fixing hole so that first handgrip and
Two handgrips are hingedly connected to the both sides of the supporting mechanism.
In certain embodiments, the drive mechanism includes hydraulic cylinder and motor, and the hydraulic cylinder is fixed on the collecting
In portion, and it is connected with the connector, the hydraulic cylinder can drive the connector to do linear reciprocation relative to the support member
Motion；
The one end of the motor respectively with the resettlement section and the tumbler is fixedly connected, and the motor can drive institute
Support member is stated to rotate relative to the tumbler.
In certain embodiments, the drive mechanism also includes spring, and the spring housing is located at the piston of the hydraulic cylinder
On bar, its one end is fixedly connected with the cylinder barrel of the hydraulic cylinder, and the other end is fixedly connected with the resettlement section.
In certain embodiments, the connecting cover plate is provided with connecting hole；
The connector includes connecting portion and horizontal part, and one end of the connecting portion is fixedly connected with the horizontal part, institute
The other end for stating connecting portion is fixedly connected through the connecting hole with the piston rod of the hydraulic cylinder.
In certain embodiments, first cover plate is provided with the first chute, and the quantity of first chute has two, two
First chute is symmetrical arranged, and second cover plate is provided with second chute, and the quantity of second chute has two, and two
Individual second chute is symmetrical arranged, and first chute is identical with the second chute shape, and is oppositely arranged；
The pillar is each passed through first chute and second chute, and can be in first chute and described
Slided in two chutes.
In certain embodiments, the pillar includes the first pillar and the second pillar, and first pillar includes the first limit
Position portion, connecting portion and second connecting portion, first limiting section are located at one end of the connecting portion, and second limiting section is located at
The other end of the connecting portion, the second pillar include the first limiting section, connecting portion and second connecting portion, and first limiting section is set
In one end of the connecting portion, second limiting section is located at the other end of the connecting portion；
The connecting portion of first pillar sequentially passes through wherein 1 first chute, first straight runner and wherein one
Second chute, and be hinged with first handgrip；
The connecting portion of second pillar sequentially passes through another first chute, second straight runner and another described
Second chute, and be hinged with second handgrip.
In certain embodiments, the side of the tumbler is provided with the first articulated section, and the side of the mechanical arm is set
There is the second articulated section, one end of the linear actuating device is hinged with first articulated section, and the other end is be hinged with described second
Portion is hinged.
The beneficial effect of the utility model embodiment is：The situation of prior art is different from, the utility model embodiment carries
For a kind of six-joint robot joint arrangement, including clip claw assembly, tumbler, mechanical arm and linear actuating device, the set of jaws
Part is installed on one end of the tumbler, and the other end of the tumbler is hinged with the mechanical arm, the linear actuating device
One end be hinged with the tumbler, the other end is hinged with the mechanical arm, and the linear actuating device can drive the rotation
Part rotates relative to the mechanical arm.Based on said structure, because the linear actuating device of use can provide linear movement direction
Power much larger than existing motor provide direction of rotation power so that the joint arrangement has bigger torsion
Power, and then enable the larger object of the six-joint robot lifting weight with the joint arrangement.
Brief description of the drawings
One or more embodiments are illustrative by the picture in corresponding accompanying drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in accompanying drawing are expressed as similar element, removed
Non- have a special statement, and composition does not limit the figure in accompanying drawing.
Fig. 1 is the structural representation for the six-joint robot joint arrangement that the utility model wherein embodiment provides；
The six-joint robot joint arrangement that Fig. 2 provides for the utility model wherein embodiment disassembles schematic diagram；
Fig. 3 is the structural representation of the supporting mechanism shown in Fig. 1；
Fig. 4 is the structural representation of another angle of the supporting mechanism shown in Fig. 1；
Fig. 5 is the structural representation of the first pillar and the second pillar shown in Fig. 1；
Fig. 6 is that another structural representation for the six-joint robot joint arrangement that the utility model wherein embodiment provides is decomposed
Figure.
Embodiment
For the ease of understanding the application, with reference to the accompanying drawings and detailed description, the application is carried out in more detail
It is bright.It should be noted that when element is expressed " being fixed on " another element, it can directly on another element or
There may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it can be straight
Another element is connected in succession or there may be one or more elements placed in the middle therebetween.Term used in this specification
The orientation or position relationship of the instruction such as " vertical ", " horizontal ", "left", "right", " on ", " under ", " interior ", " outer ", " bottom "
Described based on orientation shown in the drawings or position relationship, to be for only for ease of description the application and simplifying, rather than instruction or
Imply that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that
Limitation to the application.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that instruction or hint
Relative importance.
Unless otherwise defined, technology all used in this specification and scientific terminology are led with belonging to the technology of the application
The implication that the technical staff in domain is generally understood that is identical.Term in this specification used in the description of the present application is to be
The purpose of description specific embodiment, it is not intended to limit the application.Term "and/or" includes used in this specification
The arbitrary and all combination of one or more related Listed Items.
As long as in addition, technical characteristic involved in the application different embodiments disclosed below non-structure each other
It is be combined with each other into conflict can.
Referring to Fig. 1, the structure that Fig. 1 is the six-joint robot joint arrangement that the utility model wherein embodiment provides is shown
It is intended to.In an embodiment of the present utility model, a kind of six-joint robot joint arrangement include clip claw assembly 100, tumbler 60,
Mechanical arm 70 and linear actuating device 80.Clip claw assembly 100 is installed on one end of the tumbler 60, the other end of tumbler 60
Be hinged with mechanical arm 70, one end of linear actuating device 80 is be hinged with tumbler 60, and the other end is be hinged with mechanical arm 70, and this is linear
The powered rotatable part 60 of drive device 80 rotates relative to mechanical arm 80.
Above-mentioned clip claw assembly 100 includes:For clamping clamping device 10, supporting mechanism 20, connector 30, the pillar of object
40 and drive mechanism 50.Clamping device 10 is installed on supporting mechanism 20, and clamping device 10 is be hinged with supporting mechanism 20, and passes through
Pillar 40 is connected with connector 30.Drive mechanism 50 is connected with supporting mechanism 20 and connector 30 respectively, can drive supporting mechanism
20 rotations and drive connection part 30 move reciprocatingly relative to supporting mechanism 20.When the drive connection part 30 of drive mechanism 50 is relative
When supporting mechanism 20 moves along a straight line, connector 30 drives the relative support mechanism 20 of clamping device 10 to move reciprocatingly, so that
Clamping device 10 completes clamping and unclamps work.
Fig. 2-Fig. 5 is referred to, above-mentioned clamping device 10 includes the first handgrip 11 and the second handgrip 12.First handgrip 11,
Two handgrips 12 are installed on the both sides of supporting mechanism 20, and are connected respectively with connector 30, and two pillars 40 divide through supporting mechanism
20th, connector 30, the first handgrip 11 and the second handgrip 12.First handgrip 11 includes the first fixing hole 110, the first bar portion 111, the
Two bar portions 112 and the first angle 113.First bar portion 111 with the second bar portion 112 is angled is fixedly connected, the first angle 113
The formed angle between the first bar portion 111 and the second bar portion 112.First fixing hole 110 is located at the first bar portion 111 and the second bar
The junction in portion 112, and be vertically arranged with the plane where the first angle 113.First fixing hole 110 connects with supporting mechanism 20
Connect, for making the first bar portion 111 and the second bar portion 112 be rotated around supporting mechanism 20.
Wherein, the first bar portion 111 substantially rectangular shape, including the first groove 1111 and first through hole 1112.First
Groove 1111 is located at the one end of the first bar portion 111 away from the second thick stick portion 112, and parallel with the plane where the first angle 113 opens
If.First groove 111 is connected with connector 30, for being connected with connector 30.First through hole 1112 is remote located at the first bar portion 111
From the one end in the second thick stick portion 112, and the first groove 1111 is passed through, it is vertical with the plane where the first angle 113 to open up.First is logical
Hole 1112 is connected with pillar 40, for driving the first bar portion 111 to be rotated around the first fixing hole 110, so as to drive the
Two bar portions 112 rotate around the first fixing hole 110.
Wherein, the second bar portion 112 substantially rectangular shape, it is solid for surrounding first under the drive of the first bar portion 111
Determine hole to rotate, so as to capture object.
Second handgrip 12 includes the second fixing hole 120, the 3rd bar portion 121, the 4th bar portion 122 and the second angle 123.Second
The fixing hole 110 of fixing hole 120 and first, the 3rd bar portion 121 and the first bar portion 111, the 4th bar portion 122 and the second bar portion 112,
The setting of two angles 123 and the first angle 113 and effect all same, here is omitted.Correspondingly, the 3rd bar portion 121 includes
Second groove 1211 and the second through hole 1212.
It is understood that in some other embodiments, the first angle 113 and the second angle 123 can be according to reality
The size decision of the occasion of application, the object of crawl, for example, when capturing wisp, the first angle 113 and the second angle 123
Can set it is smaller, such as 100 degree, when capturing big object, the first angle 113 and the second angle 123 can set it is larger, such as
170 degree.
It is understood that in some other embodiments, the second bar portion 112 can set recess (not shown), the 4th
Bar portion 122 can set protruding end (not shown), by the cooperation of recess and protruding end, make the second bar portion 112 and the 4th bar portion
122 more firmly grip objects.
It is understood that in some other embodiments, the material of the second bar portion 112 and the 4th bar portion 122 is heat-resisting
Material, and anti-slip veins (not shown) can be set so that clamping device 10 adapts to more capture environment, and expansion uses model
Enclose.
It is understood that in some other embodiments, clamping device 10 can also include the 3rd handgrip (not shown),
3rd handgrip is set and effect is identical with the first handgrip 11 and the second handgrip 12.
Above-mentioned supporting mechanism 20 includes supporting part 21 and resettlement section 22, and supporting part 21 is connected with resettlement section 22.Supporting part 21
Including the first fixed column 211, the second fixed column 212, the first cover plate 212, the second cover plate 213 and connecting cover plate 214, and first
The first host cavity (not indicating) is formed between the cover plate 213 of cover plate 212 and second.First cover plate 212 is parallel with the second cover plate 213 to be set
Put, and one end of the first cover plate 212 and the second cover plate 213 is connected with connecting cover plate 214 respectively.Connecting cover plate 214 vertical first
The cover plate 213 of cover plate 212 and second.The other end of first cover plate 212 and the second cover plate 213 respectively with the first fixed column 211, second
Fixed column 212 is connected, and the first fixed column 211, the second fixed column 212 are symmetrical arranged.First fixed column 211 is fixed through first
Hole 110, for making the first fixing hole 110 be rotated around the first fixed column 211.Second fixed column 212 passes through the second fixing hole
120, for making the second fixing hole 12 be rotated around the second fixed column 212.First host cavity is used to house connector 30, and part
House the first handgrip 11 and the second handgrip 12.
Wherein, the first cover plate 212 is provided with the first chute 2120, and the quantity of the first chute 2120 has two, two first cunnings
Groove 2120 is symmetrical arranged.Second cover plate 213 is provided with the second chute 2130, and the quantity of the second chute 2130 has two, two second
Chute 2130 is symmetrical arranged.First chute 2120 is identical with the shape of the second chute 2130, and is oppositely arranged, for for support column
30 slide along the first chute 2120 and the second chute 2130.
Wherein, connecting cover plate 214 is provided with connecting hole 2143, and connecting hole 2143 is located at the center of connecting cover plate 214, and connected component
Support part 21 and resettlement section 22.Connecting hole 2143 is used to pass through connector 30, so that connector 30 can be in supporting mechanism 20
Motion.
Wherein, the diameter of the first fixed column 211 is smaller than the diameter of the first fixing hole 110 of the first handgrip 11, makes first to grab
Hand 11 can rotate around the first fixed column 211.The diameter of second fixed column 212 is than the second fixing hole 120 of the second handgrip 12
Diameter is small, the second handgrip 12 is rotated around the second fixed column 212.
22 generally hollow cuboid of resettlement section, (is not indicated) provided with the second host cavity, and the second host cavity, which is used to house, to be driven
Motivation structure 50.Second host cavity and the first host cavity are connected by connecting hole 2143, enable connector 30 in the second host cavity
Moved with the first host cavity.
Above-mentioned connector 30 includes horizontal part 31 and connecting portion 32, horizontal part 31 and the vertical connection of connecting portion 32.Horizontal part
31 substantially long plate shapes, are contained in the first host cavity, for connecting the first handgrip 11 and the second handgrip 12.Horizontal part 31 opens up
There are the first straight runner 311 and the second straight runner 312, the first straight runner 311 is identical with the structure of the second straight runner 312, and on even
Socket part 32 is symmetrical arranged.First straight runner 311 located at the first handgrip 11 the first groove 1111 in, and with the first handgrip 11
First through hole 1112 is relative, the second straight runner 312 in the second groove 1211 of the second handgrip 12, and with the second handgrip 12
The second through hole 1212 it is relative.32 substantially cylindrical shape of connecting portion, is fixedly connected with horizontal part 31, through connecting hole
2143, the second host cavity is contained in, for connecting drive mechanism 50.
Above-mentioned pillar 40 includes the first pillar 41 and the second pillar 42.First pillar 41 is slided through the first of supporting mechanism 20
The chute 2130 of groove 2120 and second, the first through hole 1112 of the first handgrip 11, the first straight runner 311 of connector 30 so that the
One handgrip 11 and connector 30 can move under the drive of the first pillar 41 along the first chute 2120 and the second chute 2130,
Meanwhile first handgrip 11 and connector 30 rotated around the first pillar 41.Second pillar 42 through supporting mechanism 20 the
One chute 2120 and the second chute 2130, the second through hole 1212 of the second handgrip 12, the second straight runner 312 of connector 30, make
Obtain the second handgrip 12 and connector 30 can be transported under the drive of the second pillar 42 along the first chute 2120 and the second chute 2130
It is dynamic, meanwhile, the second handgrip 12 and connector 30 rotate around the second pillar 42.
Wherein, the first pillar 41 is identical with the structure of the second pillar 42, as shown in figure 5, the first pillar 41 is spacing including first
Portion 411, connecting portion 412 and second connecting portion 412, the first limiting section 411 are located at one end of connecting portion 412, the second limiting section 412
Located at the other end of connecting portion 412.Between first limiting section 411 and connecting portion 412, the second limiting section 413 and connecting portion 412
Connection can be made the first limiting section 411 and the second limiting section 413 easily disassembled, be easily installed with bolt connection.First limiting section
411 substantially short cylindrical shapes, the width of the first chute 2120 is had a diameter larger than, for being arranged on the top of the first chute 2120,
The first pillar 41 is set to be slided along the first chute 2120.The substantially short cylindrical shape of second limiting section 413, has a diameter larger than
The width of second chute 2130, for being arranged on the lower section of the second chute 2130, enable the first pillar 41 along the second chute
2130 slide.Similarly, the second pillar 42 includes the first limiting section 421, the limiting section 423 of connecting portion 422 and second, and first is spacing
Portion 421 is located at one end of connecting portion 422, and the second limiting section 422 is located at the other end of connecting portion 422.First limiting section 421 is substantially
For short cylindrical shape, the width of the first chute 2120 is had a diameter larger than, for being arranged on the top of the first chute 2120, makes second
Post 42 can slide along the first chute 2120.The substantially short cylindrical shape of second limiting section 423, has a diameter larger than the second chute
2130 width, for being arranged on the lower section of the second chute 2130, the second pillar 42 is set to be slided along the second chute 2130.
Above-mentioned drive mechanism 50 includes hydraulic cylinder 51 and motor 52, and hydraulic cylinder 51 is contained in the resettlement section of supporting mechanism 20
22, it is connected with connector 30, for drive connection part 30, relative support mechanism 20 is moved, and motor 52 is connected with hydraulic cylinder 51, is used
Moved in driving hydraulic cylinder 51.
It is understood that in some other embodiments, hydraulic cylinder 51 can be replaced with cylinder, as long as being capable of the company of driving
Fitting 30 moves.
It is understood that in some other embodiments, the drive mechanism 50 also includes spring 53, and spring 53 is arranged
In on the piston rod of hydraulic cylinder 51, its one end is fixedly connected with the cylinder barrel of hydraulic cylinder 51, and the other end is fixedly connected with resettlement section 22.
It is rapid and steady to adjust clamping dynamics for the active force of buffering hydraulic cylinder 51, improve the precision of clamp assemblies 100.
It is understood that in some other embodiments, clamp assemblies 100 can also include sensor and sensing controls
Device (not shown), for sensor on the first handgrip 11 and the second handgrip 12 of clamping device 10, induction controller is located at motor
On 52, and clamping condition is passed to induction controller, passes through sensing by sensor and induction controller by wireless connection
Motor 52 is adjusted controller, so as to adjust clamping dynamics, improves the precision of clamp assemblies 100.
Incorporated by reference to Fig. 1 and Fig. 6, motor 52 is fixed on one end of tumbler 60, the other end and mechanical arm of tumbler 60
70 one end is hinged.The side of tumbler 60 is provided with the first articulated section 61, and the side of mechanical arm 70 is provided with the second articulated section
71, one end of linear actuating device 80 is be hinged with the first articulated section 61, and the other end and the second articulated section 71 are be hinged.Specifically, line
Property drive device 80 can be one kind in cylinder, hydraulic cylinder or linear electric machine.
When assembling the clamp assemblies 100 of the present embodiment, the first fixing hole 110 of the first handgrip 11 is installed to supporting mechanism
In 20 the first fixed column 211, the second fixing hole 120 of the second handgrip 12 is installed to the second fixed column of supporting mechanism 20
On 212.Connector 30 is placed into the first host cavity, connecting portion 30 is passed through connecting hole 2143, and make the first straight runner 311
The first groove 1111 of the first handgrip 11 is directed at, while the second straight runner 312 is directed at the second groove 1211 of the second handgrip 12.Will
First limiting section 411 of the first pillar 41 is connected with connecting portion 412, is then passed through from the first chute 2120, and logical through first
The straight runner 311 of hole 1112 and first, is passed from the second chute 2130, is then connected connecting portion 412 with the second limiting section 412.
Finally, hydraulic cylinder 51 is placed to the second host cavity of supporting mechanism 20, and is connected with connector 30, motor 52 connects with hydraulic cylinder 51
Connect, complete the assembling of clamp assemblies 100.
In the embodiment of the present application, when motor 52 controls hydraulic cylinder 51 to promote connector 30 to move, connector 30 drives
First pillar 41, the second pillar 42 move, meanwhile, the first pillar 41 drives the first bar portion 111 along the first chute 2120 and second
Chute 2130 moves, and the second pillar drives the second bar portion 121 to be moved along the first chute 2120 and the second chute 2130, also, by
It is hinged in the first handgrip 11 by the first fixing hole 110 with supporting mechanism 20, the second handgrip 12 passes through the second fixing hole 120 and branch
Support mechanism 20 is be hinged, and the first bar portion 111 of the first handgrip 11, the second bar portion 121 of the second handgrip 12 are rotating around the first fixed column
211st, second 212 are fixed rotated to close to the direction of the axis of supporting mechanism 20.Second bar portion 112 and the 4th bar portion
122 rotate to the direction away from the axis of supporting mechanism 20.Now, 100 open-shaped state of clamp assemblies.When motor 52
When controlling hydraulic cylinder 51 to stretch connector 30 to move, with above motion process on the contrary, clamp assemblies 100 are into closure state.
The situation of prior art is different from, the utility model embodiment provides a kind of six-joint robot joint arrangement, including
Clip claw assembly, tumbler, mechanical arm and linear actuating device, the clip claw assembly is installed on one end of the tumbler, described
The other end of tumbler is hinged with the mechanical arm, and one end of the linear actuating device is hinged with the tumbler, the other end
It is hinged with the mechanical arm, the linear actuating device can drive the tumbler to be rotated relative to the mechanical arm.Based on upper
Structure is stated, because the linear actuating device of use can provide the power of linear movement direction much larger than the rotation that existing motor provides
Turn the power in direction, so that the joint arrangement has bigger twisting resistance, and then cause six axles with the joint arrangement
Robot being capable of the larger object of lifting weight.
Embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in
Other related technical areas, similarly it is included in scope of patent protection of the present utility model.
Claims (9)
- A kind of 1. six-joint robot joint arrangement, it is characterised in that including：Clip claw assembly, tumbler, mechanical arm and Linear Driving Device, the clip claw assembly is installed on one end of the tumbler, and the other end of the tumbler is cut with scissors with the mechanical arm Connect, one end of the linear actuating device is hinged with the tumbler, and the other end is hinged with the mechanical arm, the Linear Driving Device can drive the tumbler to be rotated relative to the mechanical arm.
- 2. six-joint robot joint arrangement according to claim 1, it is characterised in thatThe clip claw assembly includes:For clamping clamping device, supporting mechanism, connector, pillar and the drive mechanism of object, institute State clamping device and be installed on the supporting mechanism, the clamping device is hinged with the supporting mechanism, and passes through the pillar It is connected with the connector；The drive mechanism is connected with the supporting mechanism and the connector respectively, can drive the branch Support mechanism rotates and drives the connector to be moved reciprocatingly relative to the supporting mechanism.
- 3. six-joint robot joint arrangement according to claim 2, it is characterised in thatThe clamping device includes the first handgrip and the second handgrip, and first handgrip and the second handgrip are hingedly connected to the branch The both sides of support mechanism；The both sides of the connector are respectively arranged with the first straight runner and the second straight runner；The pillar includes the first pillar and the second pillar, and first pillar passes through one end of the first straight runner and the first handgrip It is be hinged, and first pillar can slide along first straight runner, second pillar through second straight runner and One end of second handgrip is hinged, and second pillar can slide along second straight runner.
- 4. six-joint robot joint arrangement according to claim 3, it is characterised in thatThe supporting mechanism includes supporting part and resettlement section, and company is fixed in one end of one end of the supporting part and the resettlement section Connect；The supporting part include the first cover plate, second cover plate parallel with first cover plate, be connected to first cover plate and Connecting cover plate between second cover plate, the first fixed column being connected between first cover plate and second cover plate And it is connected to the second fixed column between first cover plate and second cover plate；First handgrip is provided with the first fixing hole, and second handgrip is provided with the second fixing hole, first fixed column Through first fixing hole, second fixed column passes through second fixing hole so that first handgrip and second is grabbed Hand is hingedly connected to the both sides of the supporting mechanism.
- 5. six-joint robot joint arrangement according to claim 4, it is characterised in that the drive mechanism includes hydraulic cylinder And motor, the hydraulic cylinder are fixed in the resettlement section, and it is connected with the connector, the hydraulic cylinder can drive the company Fitting does straight reciprocating motion relative to the support member；The one end of the motor respectively with the resettlement section and the tumbler is fixedly connected, and the motor can drive the support Part rotates relative to the tumbler.
- 6. six-joint robot joint arrangement according to claim 5, it is characterised in that the drive mechanism also includes bullet Spring, the spring housing is on the piston rod of the hydraulic cylinder, and its one end is fixedly connected with the cylinder barrel of the hydraulic cylinder, the other end It is fixedly connected with the resettlement section.
- 7. six-joint robot joint arrangement according to claim 6, it is characterised in thatThe connecting cover plate is provided with connecting hole；The connector includes connecting portion and horizontal part, and one end of the connecting portion is fixedly connected with the horizontal part, the company The other end of socket part is fixedly connected through the connecting hole with the piston rod of the hydraulic cylinder.
- 8. six-joint robot joint arrangement according to claim 4, it is characterised in thatFirst cover plate is provided with the first chute, and the quantity of first chute has two, and two first chutes are symmetrically set Put, second cover plate is provided with the second chute, and the quantity of second chute there are two, and two second chutes are symmetrically set Put, first chute is identical with the second chute shape, and is oppositely arranged；The pillar is each passed through first chute and second chute, and can be slided in first chute and described second Slided in groove.
- 9. according to the six-joint robot joint arrangement described in claim any one of 1-8, it is characterised in thatThe side of the tumbler is provided with the first articulated section, and the side of the mechanical arm is provided with the second articulated section, the line One end of property drive device is hinged with first articulated section, and the other end is hinged with second articulated section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721365761.2U CN207087870U (en) | 2017-10-20 | 2017-10-20 | Six-joint robot joint arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721365761.2U CN207087870U (en) | 2017-10-20 | 2017-10-20 | Six-joint robot joint arrangement |
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| Publication Number | Publication Date |
|---|---|
| CN207087870U true CN207087870U (en) | 2018-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721365761.2U Expired - Fee Related CN207087870U (en) | 2017-10-20 | 2017-10-20 | Six-joint robot joint arrangement |
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| CN (1) | CN207087870U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111069957A (en) * | 2019-12-23 | 2020-04-28 | 东莞市蓝企信息科技有限公司 | Material clamping robot for three-way pipe joint |
| CN116038754A (en) * | 2023-03-28 | 2023-05-02 | 之江实验室 | Arm wrist joint, arm and humanoid robot |
-
2017
- 2017-10-20 CN CN201721365761.2U patent/CN207087870U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111069957A (en) * | 2019-12-23 | 2020-04-28 | 东莞市蓝企信息科技有限公司 | Material clamping robot for three-way pipe joint |
| CN111069957B (en) * | 2019-12-23 | 2021-03-19 | 深圳市明战精密科技有限公司 | Material clamping robot for three-way pipe joint |
| CN116038754A (en) * | 2023-03-28 | 2023-05-02 | 之江实验室 | Arm wrist joint, arm and humanoid robot |
| CN116038754B (en) * | 2023-03-28 | 2023-07-07 | 之江实验室 | Arm wrist joint, arm and humanoid robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yu Fengwu Inventor after: Wang Sheng Inventor before: Yu Fengwu Inventor before: Wang Sheng |
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| CB03 | Change of inventor or designer information | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180313 Termination date: 20191020 |
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| CF01 | Termination of patent right due to non-payment of annual fee |