CN207139789U - A kind of joint rigidity of robot three connection stand alone type motion arm structure - Google Patents
A kind of joint rigidity of robot three connection stand alone type motion arm structure Download PDFInfo
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- CN207139789U CN207139789U CN201720719326.9U CN201720719326U CN207139789U CN 207139789 U CN207139789 U CN 207139789U CN 201720719326 U CN201720719326 U CN 201720719326U CN 207139789 U CN207139789 U CN 207139789U
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- shoulder
- joint
- swinging axle
- motor
- arm
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Abstract
The utility model discloses a kind of joint rigidity of robot three to connect stand alone type motion arm structure, the shoulder swinging axle connected including the first motor and positioned at the first motor surface output end, by shaft coupling, shoulder swinging axle one end is fixed with the U-shaped support of shoulder, and shoulder swinging axle passes through bearing, arm L-type support surface is bolted to by shoulder swinging axle adpting flange, shoulder swinging axle adpting flange is located at shoulder and swings the tip of the axis.Side of the arm L-type support away from shoulder swinging axle adpting flange is provided with air-cooled cleaning mechanism and the second motor；The output end of second motor is provided with joint swinging axle, and joint steering wheel rack surface, which is bolted, is provided with the 3rd motor, and the 3rd motor output end is provided with the finger swinging axle vertical with joint swinging axle.The utility model simulation true man's arm has shoulder, and elbow, three big movable joints of wrist, intensity and shock resistance are enough to use on bus, train, while also allow for the cleaning to mechanical arm.
Description
Technical field
A kind of robot arm configuration is the utility model is related to, the specifically a kind of joint rigidity of robot three connection stand alone type
Arm structure is moved, belongs to robot application technology field.
Background technology
With machine man-based development, application scenario is more and more extensive, and robot arm has had many technical schemes can be with
Realize, approximate technical scheme has two joint free-standing, and three joints are free-standing, and three joint dependent formulas, these technical schemes are all
There is similar part with this programme, the most presence motions of prior art are stiff, there was only two-stage structure and true man's difference, three sections of dependents
Entering situations such as next action is discontinuous after can be only done an action, action is not abundant enough；The three of tradition machinery arm
Most without enough Hard link intensity in section self-movement, impact resistance is insufficient, can not automobile again, use on train；Cause
This, proposes a kind of joint rigidity of robot three connection stand alone type motion arm structure regarding to the issue above.
The content of the invention
The purpose of this utility model is that to solve the above problems and provides a kind of joint rigidity of robot three connection
Stand alone type motion arm structure.
The utility model is achieved through the following technical solutions above-mentioned purpose：
A kind of joint rigidity of robot three connection stand alone type motion arm structure, including the first motor and positioned at the first electricity
Machine surface output end, the shoulder swinging axle connected by shaft coupling, it is characterised in that：Described shoulder swinging axle one end is fixed with shoulder
The U-shaped support of wing, and the shoulder swinging axle is bolted to arm L-type branch through bearing, by shoulder swinging axle adpting flange
Frame surface, the shoulder swinging axle adpting flange are located at the shoulder and swing the tip of the axis；
Side of the arm L-type support away from the shoulder swinging axle adpting flange is provided with air-cooled cleaning mechanism and the
Two motors, second motor are fixed by the second motor fixed rack and the arm L-type support；Second motor it is defeated
Go out end and be provided with joint swinging axle, second motor passes through the joint swinging axle adpting flange positioned at its joint swing shaft end
Joint steering wheel support is connected to, the joint steering wheel rack surface, which is bolted, is provided with the 3rd motor, and the 3rd motor
Output end is provided with the finger swinging axle vertical with joint swinging axle, the finger swinging axle that the finger swinging axle passes through its end
Adpting flange is connected to finger bracket surface.
Preferably, the arm L-type support is provided with arm steering wheel support, and the arm steering wheel rack surface passes through bolt
It is fixed with the arm steering wheel for being socketed in joint swinging axle surface.
Preferably, it is mutually perpendicular between the shoulder swinging axle and arm L-type support, and positioned at shoulder swinging axle surface
Bearing is fixed to the U-shaped rack surface of shoulder.
Preferably, the air-cooled cleaning mechanism by blower pump, appendix, gas transmission tube fixing device, fixed sleeving, three-way pipe and
Gas nozzle is formed, and the air blowing pump output terminal, which is provided with, is wrapped in the second motor, the appendix on the 3rd motor surface.
Preferably, the gas transmission pipe surface is located at the side and arm steering wheel side and the 3rd motor side of the second motor
Place is equipped with three-way pipe, and two mouths of pipe therein of the three-way pipe are switched to appendix, and three-way pipe is corresponding another
The individual mouth of pipe is provided with gas nozzle, and the gas nozzle openings end is close to the second motor side.
Preferably, the arm steering wheel rack surface is provided with gas transmission tube fixing device, the gas transmission close to appendix side
Tube fixing device end extends to gas transmission pipe surface and forms the fixed sleeving for being socketed in gas transmission pipe surface.
Preferably, the arm L-type support swings one end to the joint swinging axle and joint steering wheel branch of axis connection with shoulder
The junction periphery of frame, which is enclosed with shoulder shell shoulder shell on described, includes the upper cover plate of shoulder first and the cover plate of upper shoulder second, and institute
The cover plate of shoulder second is stated by shoulder swinging axle to be run through.
Preferably, junction to the joint steering wheel support other end periphery of the joint swinging axle and joint steering wheel support is wrapped
It is wrapped with posterior joint cover plate and preceding joint cover plate；Knuckle support is provided between the posterior joint cover plate and preceding joint cover plate, after described
Articular shell is provided between joint cover plate, preceding joint cover plate and knuckle support.
Preferably, the finger bracket is coated with the lower cover plate of shoulder first and the lower cover plate of shoulder second, and lower shoulder first covers
Plate and the lower cover plate of shoulder second form lower shoulder shell.
Preferably, it is fitted together between the upper shoulder shell and lower shoulder shell and is provided with articular shell.
The beneficial effects of the utility model are：
1. simulation true man's arm has shoulder, elbow, three big movable joints of wrist, but every section can self-movement；With
Two joint in the industry, or the motion that can be realized that compares of three joint dependent formula robot arms are more rich, are acted closer to true man,
It is a total of to rotate and wave two big-movements, improve the overall performance of whole mechanical arm；
2. forming being rigidly connected for all parts using ring flange, support and bolt, being rigidly connected to solve typically connects
The defect that intensity deficiency is easily drooped is connect, intensity and shock resistance are enough to use on bus, train, expand mechanical arm
Application；
3. realize that the three joint two-way emulation human arm overall structures of Hard link stand alone type also solve machine using three motors
The problems such as device people motion is stiff, and stagnation has some setbacks, it is set to be moved with true man closer to by air-cooled cleaning mechanism to all parts
Timely clear up and cool, improve the stability during operation of machinery, while also allow for the cleaning to mechanical arm.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is shoulder shell, lower shoulder shell and articular shell structural representation on the utility model.
In figure：1st, the first motor, 2, shaft coupling, 3, the U-shaped support of shoulder, 4, bearing, 5, shoulder swinging axle, 501, shoulder pendulum
Moving axis adpting flange, 6, arm L-type support, the 7, second motor fixed rack, the 8, second motor, 9, joint swinging axle, 901, close
Save swinging axle adpting flange, 10, arm steering wheel, 11, joint steering wheel support, the 12, the 3rd motor, 13, finger swinging axle, 1301,
Finger swinging axle adpting flange, 14, finger bracket, 15, arm steering wheel support, 16, blower pump, 17, appendix, 18, appendix
Fixed mount, 1801, fixed sleeving, 19, three-way pipe, 1901, gas nozzle, 20, the cover plate of upper shoulder first, 21, the cover plate of upper shoulder second,
22nd, posterior joint cover plate, 23, knuckle support, 24, preceding joint cover plate, 25, the cover plate of lower shoulder first, 26, the cover plate of lower shoulder second.
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.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Refer to shown in Fig. 1-2, a kind of joint rigidity of robot three connection stand alone type motion arm structure, including the first electricity
Machine 1 and the shoulder swinging axle 5 connected in the surface output end of the first motor 1 by shaft coupling 2, the surface of shoulder swinging axle 5
The U-shaped support 3 of shoulder is fixed with, and shoulder swinging axle 5 passes through shoulder swinging axle adpting flange 501 spiral shell of the bearing 4 by its end
Tether and be connected to the surface of arm L-type support 6, on the side end face relative with shoulder swinging axle adpting flange 501 of arm L-type support 6
The second fixed motor 8 is installed provided with air-cooled cleaning mechanism and by the bolt of the second motor fixed rack 7, the second motor 8 is logical
Cross the joint swinging axle adpting flange 901 positioned at its end of output end upper joint swinging axle 9 and be connected to joint steering wheel support 11, close
The surface of section steering wheel support 11, which is bolted, is provided with the 3rd motor 12, and the output end of the 3rd motor 12 is provided with and put with joint
The vertical finger swinging axle 13 of moving axis 9, finger swinging axle 13 are connected to by the finger swinging axle adpting flange 1301 of its end
The surface of finger bracket 14.
As a kind of technical optimization scheme of the present utility model, the surface of arm L-type support 6 is provided with arm steering wheel support 15,
And the surface of arm steering wheel support 15 is bolted the arm steering wheel 10 for being socketed in the surface of joint swinging axle 9, machinery is improved
The stability of arm.
As a kind of technical optimization scheme of the present utility model, mutually hung down between shoulder swinging axle 5 and arm L-type support 6
Directly, and the bearing 4 positioned at the surface of shoulder swinging axle 5 is fixed to the U-shaped surface of support 3 of shoulder, improves the stability of mechanical arm.
As a kind of technical optimization scheme of the present utility model, air-cooled cleaning mechanism is by blower pump 16, appendix 17, gas transmission
Tube fixing device 18, fixed sleeving 1801, three-way pipe 19 and gas nozzle 1901 are formed, and the output end of blower pump 16, which is provided with, to be wrapped in
Second motor 8 and the appendix 17 on the surface of the 3rd motor 12, using blower pump 16 as air-flow source, realize air-cooled and cleaning.
As a kind of technical optimization scheme of the present utility model, the surface of appendix 17 is located at side and the hand of the second motor 8
Three-way pipe 19 is equipped with the side of arm steering wheel 10 and the side of the 3rd motor 12, two mouths of pipe therein of three-way pipe 19 are connected
To appendix 17, and another the corresponding mouth of pipe of three-way pipe 19 is provided with gas nozzle 1901, and gas nozzle openings end is close
The side of second motor 8, cooling is carried out to all parts.
As a kind of technical optimization scheme of the present utility model, the surface of arm steering wheel support 15 is close to the side of appendix 17
Gas transmission tube fixing device 18 is installed, the end of gas transmission tube fixing device 18 extends to the formation of the surface of appendix 17 and is socketed in the table of appendix 17
The fixed sleeving 1801 in face, the stability of itself when improving 17 operation of appendix.
As a kind of technical optimization scheme of the present utility model, one end that arm L-type support 6 is connected with shoulder swinging axle 5
Upper the first cover plate of shoulder 20 and the second cover plate of upper shoulder 21 are enclosed with to the junction periphery of joint swinging axle 9 and joint steering wheel support 11
The upper shoulder shell formed, and the second cover plate of upper shoulder 21 is run through by shoulder swinging axle 5, and all parts of mechanical arm are protected.
As a kind of technical optimization scheme of the present utility model, the junction of joint swinging axle 9 and joint steering wheel support 11
Posterior joint cover plate 22 and preceding joint cover plate 24, and the He of posterior joint cover plate 22 are enclosed with to the other end periphery of joint steering wheel support 11
Preceding joint cover plate 24 and the knuckle support 23 being arranged between posterior joint cover plate 22 and preceding joint cover plate 24 form articular shell,
The all parts of mechanical arm are protected.
As a kind of technical optimization scheme of the present utility model, finger bracket 14 is coated with the lower He of the first cover plate of shoulder 25
Lower the second cover plate of shoulder 26, and the first cover plate of lower shoulder 25 and lower the second cover plate of shoulder 26 form lower shoulder shell, to each portion of mechanical arm
Part is protected.
As a kind of technical optimization scheme of the present utility model, it is fitted together to and is provided with outside joint between upper shoulder shell and lower shoulder shell
Shell, all parts of mechanical arm are protected.
The utility model drives the rotational band of shoulder swinging axle 5 to start arm L types support 6 when in use, by the first motor 1
Rotate, so as to realize swing of the whole mechanical arm relative to robot, the motion in the first joint is realized, by positioned at arm L-type
The second motor 8 on support 6 rotates with movable joint swinging axle 9, realizes the motion of second joint, by positioned at joint steering wheel support
The 3rd motor 12 on 11 drives finger bracket 14 to move, and realizes the 3rd joint motions.
In the motion process of whole mechanical arm, arm L-type support 6, the second motor fixed rack 7 and joint steering wheel support
The 11 flange realization with being arranged on dynamic shoulder swinging axle 5, joint swinging axle 9 and the end of finger swinging axle 13 is rigidly connected.
In the motion process of whole mechanical arm, air-flow is produced by blower pump 16, air-flow passes through defeated positioned at blower pump 16
Air-flow is blown to by the transport of appendix 17 gone out on end to the gas nozzle 1901 on three-way pipe 19 by gas nozzle 1901
Second motor 8 and the surface of the 3rd motor 12, realize cooling and dedusting.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type is limited by appended claims rather than described above, it is intended that obtaining containing with important document in claim by falling
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (10)
1. a kind of joint rigidity of robot three connection stand alone type motion arm structure, including the first motor (1) and positioned at first
Motor (1) surface output end, the shoulder swinging axle (5) connected by shaft coupling (2), it is characterised in that：The shoulder swinging axle
(5) one end is fixed with the U-shaped support of shoulder (3), and the shoulder swinging axle (5) swings axis connection through bearing (4), by shoulder
Flange (501) is bolted to arm L-type support (6) surface, and the shoulder swinging axle adpting flange (501) is located at the shoulder
The end of swinging axle (5)；
The arm L-type support (6) away from the shoulder swinging axle adpting flange (501) side be provided with air-cooled cleaning mechanism with
And second motor (8), it is fixed with the arm L-type support (6) that second motor (8) passes through the second motor fixed rack (7)；
The output end of second motor (8) is provided with joint swinging axle (9), and second motor (8) positioned at its joint by swinging
The joint swinging axle adpting flange (901) of axle (9) end is connected to joint steering wheel support (11), the joint steering wheel support (11)
Surface, which is bolted, is provided with the 3rd motor (12), and the 3rd motor (12) output end is provided with and joint swinging axle (9)
Vertical finger swinging axle (13), the finger swinging axle (13) are connected by the finger swinging axle adpting flange (1301) of its end
It is connected to finger bracket (14) surface.
2. the joint rigidity of robot three connection stand alone type motion arm structure according to claim 1, it is characterised in that：Institute
State arm L-type support (6) and be provided with arm steering wheel support (15), arm steering wheel support (15) surface has been bolted
It is socketed in the arm steering wheel (10) on joint swinging axle (9) surface.
3. the joint rigidity of robot three connection stand alone type motion arm structure according to claim 1, it is characterised in that：Institute
State and be mutually perpendicular between shoulder swinging axle (5) and arm L-type support (6), and positioned at the bearing (4) on shoulder swinging axle (5) surface
It is fixed to the U-shaped support of shoulder (3) surface.
4. the joint rigidity of robot three connection stand alone type motion arm structure according to claim 2, it is characterised in that：Institute
Air-cooled cleaning mechanism is stated by blower pump (16), appendix (17), gas transmission tube fixing device (18), fixed sleeving (1801), three-way pipe
(19) formed with gas nozzle (1901), blower pump (16) output end, which is provided with, is wrapped in the second motor (8), the 3rd motor
(12) appendix (17) on surface.
5. the joint rigidity of robot three connection stand alone type motion arm structure according to claim 4, it is characterised in that：Institute
Appendix (17) surface is stated to be located at the side and arm steering wheel (10) side and the 3rd motor (12) side of the second motor (8)
Three-way pipe (19) is equipped with, two mouths of pipe therein of the three-way pipe (19) are switched to appendix (17), and three-way pipe (19)
Another corresponding mouth of pipe is provided with gas nozzle (1901), and the gas nozzle openings end is close to the second motor (8) side.
6. the joint rigidity of robot three connection stand alone type motion arm structure according to claim 4, it is characterised in that：Institute
State arm steering wheel support (15) surface and gas transmission tube fixing device (18) is installed close to appendix (17) side, the appendix is fixed
Frame (18) end extends to appendix (17) surface and forms the fixed sleeving (1801) for being socketed in appendix (17) surface.
7. the joint rigidity of robot three connection stand alone type motion arm structure according to claim 1, it is characterised in that：Institute
State one end to joint swinging axle (9) and joint steering wheel support (11) that arm L-type support (6) is connected with shoulder swinging axle (5)
Junction periphery, which is enclosed with shoulder shell shoulder shell on described, includes the upper cover plate of shoulder first (20) and the cover plate of upper shoulder second (21),
And the cover plate of upper shoulder second (21) is run through by shoulder swinging axle (5).
8. the joint rigidity of robot three connection stand alone type motion arm structure according to claim 7, it is characterised in that：Institute
State joint swinging axle (9) and joint steering wheel support (11) junction to joint steering wheel support (11) other end periphery be enclosed with after
Joint cover plate (22) and preceding joint cover plate (24)；Articular branches is provided between the posterior joint cover plate (22) and preceding joint cover plate (24)
Frame (23), articular shell is provided between the posterior joint cover plate (22), preceding joint cover plate (24) and knuckle support (23).
9. the joint rigidity of robot three connection stand alone type motion arm structure according to claim 8, it is characterised in that：Institute
State finger bracket (14) and be coated with the lower cover plate of shoulder first (25) and the lower cover plate of shoulder second (26), and the cover plate of lower shoulder first (25)
Lower shoulder shell is formed with the lower cover plate of shoulder second (26).
10. the joint rigidity of robot three connection stand alone type motion arm structure according to claim 9, it is characterised in that：
It is fitted together between the upper shoulder shell and lower shoulder shell and is provided with articular shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720719326.9U CN207139789U (en) | 2017-06-20 | 2017-06-20 | A kind of joint rigidity of robot three connection stand alone type motion arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720719326.9U CN207139789U (en) | 2017-06-20 | 2017-06-20 | A kind of joint rigidity of robot three connection stand alone type motion arm structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207139789U true CN207139789U (en) | 2018-03-27 |
Family
ID=61671353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720719326.9U Expired - Fee Related CN207139789U (en) | 2017-06-20 | 2017-06-20 | A kind of joint rigidity of robot three connection stand alone type motion arm structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207139789U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081739A (en) * | 2017-06-20 | 2017-08-22 | 广东锐拓精密工业有限公司 | A kind of joint rigidity of robot three connection stand alone type motion arm structure |
-
2017
- 2017-06-20 CN CN201720719326.9U patent/CN207139789U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081739A (en) * | 2017-06-20 | 2017-08-22 | 广东锐拓精密工业有限公司 | A kind of joint rigidity of robot three connection stand alone type motion arm structure |
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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: 20180327 Termination date: 20200620 |
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| CF01 | Termination of patent right due to non-payment of annual fee |