CN207326990U - With double drive structures from pivoted arm and industrial robot - Google Patents

Abstract

The utility model provide it is a kind of have it is double drive structures from pivoted arm and industrial robot, at this there is the setting intracavitary of double rotation arm bodies from pivoted arm for driving structure to be provided with two motors, the shaft of two motors is extended in the opposite both sides of rotation arm body respectively, the second fifth wheel is both provided with the shaft of two motors, then passes through a driving member the first fifth wheel of drive connection and the second fifth wheel.The utility model have it is double drive structures from pivoted arm and industrial robot by controlling the slip of connection end both ends driving member so that different motors is drivingly connected the rotation of termination, when one of motor damage, another motor may be used to be driven, the motor of damage can be carried out maintenance again in idle, without delaying production work.

Description

With double drive structures from pivoted arm and industrial robot

Technical field

The utility model is related to industrial robot field, more particularly to it is a kind of have it is double drive structures from pivoted arm and industrial machine Device people.

Background technology

Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically Row work, is largely to drive each joint to operate by motor, wherein the motor of industrial robot of the prior art is bad It just can only completely dismantle and carry out maintenance after damage, it is more time-consuming, and when industrial robot is appointed in the production for carrying out constant tension During business, the damage of motor will cause large effect to production task.

Therefore need to provide it is a kind of have it is double drive structures solve above-mentioned technical problem from pivoted arm and industrial robot.

Utility model content

The utility model provide it is a kind of have it is double drive structures from pivoted arm and industrial robot, it is by controlling connection end The slip of both ends driving member is so that the rotation of different motor drive connection terminations, when one of motor damage, then may be used It is driven using another motor, can only just dismantle completely after solving the motor corrupted of industrial robot of the prior art Carry out maintenance, more time-consuming, the problem of large effect easily is caused to the production task of constant tension.

In order to solve the above technical problems, the technical solution of the utility model is：It is a kind of have it is double drive structures from pivoted arm, its Including：

Rotation arm body, one end of the rotation arm body are provided with a setting groove, and the middle part of the rotation arm body is also It is provided with a setting chamber；

Connection end, be rotatably arranged on it is described setting groove in, the rotation axis of the connection end with it is described from pivoted arm sheet The extending direction of body is vertical, and for drive connection is connected with the both ends of the rotation axis extending direction of the connection end One fifth wheel, first fifth wheel are located at the outside of the rotation arm body；

Two motors, are arranged on the setting intracavitary, for driving the connection end to rotate, turn of two motors Axis is extended in the opposite both sides of the rotation arm body respectively, and for drive connection is provided with the shaft of the motor Two fifth wheels；

Two sealing covers, are separately positioned on the both sides for the shaft that the motor is extended on the rotation arm body, in institute State and slide bar is provided with sealing cover；And

Driving member, for being sequentially connected first fifth wheel and second fifth wheel, the driving member are slidably connected On the slide bar, the driving member to close to the direction of first fifth wheel slide with first fifth wheel, described Second fifth wheel, which is formed, to be sequentially connected, and the driving member is slided to the direction away from first fifth wheel to depart from and described the The drive connection of one fifth wheel, second fifth wheel.

In the utility model, the driving member is made of transmission belt, first pulley and the second belt wheel, the transmission belt It is sequentially connected in the first pulley and second belt wheel, the first pulley and second belt wheel are ring-type, described First pulley is used to be slidably located on first fifth wheel to be sequentially connected with being formed, and second belt wheel is arranged for slip It is sequentially connected on second fifth wheel with being formed.

Further, the first pulley includes first circle for being used to be connected with the sliding bar of correspondence position Side plate, is provided with a first through hole for being used to be connected with the sliding bar in the middle part of first circular side panel, and described first Through hole is rotatablely connected with the slide bar at the same time；

Second belt wheel includes second circular side panel for being used to be connected with the sliding bar of correspondence position, described One is provided with the middle part of second circular side panel and is used for the second through hole for be connected with the sliding bar, second through hole and meanwhile with The slide bar rotation connection；

Further, it is both provided with the opposite both sides of the sealing cover for stirring stirring for the driving member slip Part, the position at the shifting part both ends is corresponding with first circular side panel, second circular side panel respectively, the shifting part Be provided at both ends with the holding tank being inserted into respectively for first circular side panel and second circular side panel.

Wherein, the diameter of the first pulley is more than or equal to the diameter of second belt wheel.

In addition, being provided at both ends with for rotation axis extending direction in the connection end is used for and first fifth wheel The locating slot being located by connecting, is provided with the screw thread for being fixedly connected with first fifth wheel on the bottom surface of the locating slot Hole, is provided with the providing holes passed through for first fifth wheel in the opposite two side walls of the setting groove.

Further, first fifth wheel includes boss portion corresponding with the locating slot and for described the The drive connection portion of one belt wheel transmission connection, the boss portion are rotatably connected in the providing holes, are set in the boss portion It is equipped with and the corresponding connecting hole of the threaded hole.

Further, the inside circumference of the first pulley is uniformly provided with multiple first lug bosses and the first groove, Periphery in the drive connection portion is correspondingly arranged on multiple second lug bosses and the second groove, in first lug boss Side be provided with the first arc surface, the second arc surface, first arc surface are provided with the side of second lug boss It is used to mutually extrude guiding when the first pulley is connected with the drive connection portion with second arc surface so that described First lug boss is beneficial to slip into second groove so that second lug boss is beneficial to slip into first groove.

Further, the drive connection portion is hollow annular, and the reinforcement of hub-like is provided with the drive connection portion Portion.

The utility model further includes a kind of industrial robot, it includes：

Base；

Rotating seat, is rotatably connected on the base；

Intermediate connector；

Swing arm, the both ends of the swing arm are rotatably connected on the same side of the rotating seat and the intermediate connector respectively, The rotation axis at the both ends of the swing arm is parallel, and the rotation axis of the swing arm is vertical with the rotation axis of the rotating seat；With And

It is above-mentioned to be rotatably connected on the intermediate connector from pivoted arm, one end of the rotation arm body with double drive structures On, the rotation axis of the rotation arm body is vertical with the rotation axis of swing arm, and it is ten that the rotation arm body, which includes cross section, The linkage section of shape.

The utility model is compared to the prior art, its advantage：The utility model has double rotations for driving structure Arm and industrial robot control the slip of connection end both ends driving member so that different motors is drivingly connected by shifting part The rotation of termination, when one of motor damage, may be used another motor and is driven, service life length, can be in the spare time When the motor of damage is carried out maintenance again, without delaying production work.

Brief description of the drawings

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below in embodiment Required attached drawing is briefly described, and drawings in the following description are only that the section Example of the utility model is corresponding Attached drawing.

Fig. 1 is that the structures from pivoted arm and the preferred embodiment of industrial robot with double drive structures of the utility model are shown It is intended to.

Fig. 2 be the utility model have it is double drive structures from pivoted arm and the rotation arm body of industrial robot and connecting pin The structure diagram of head.

Fig. 3 be the utility model have it is double drive structures from pivoted arm and the rotation arm body of industrial robot and connecting pin The separated structure schematic diagram of head.

Fig. 4 is the sectional view made along the A-A cutting lines in Fig. 2.

Fig. 5 is the sectional view being driven by another motor opposite with Fig. 4 to connection end.

Fig. 6 be the utility model have it is double drive structures from the driving member of pivoted arm and industrial robot, the first fifth wheel And second fifth wheel attachment structure schematic diagram.

Fig. 7 be the utility model have it is double drive structures from the driving member of pivoted arm and industrial robot, the first fifth wheel And second fifth wheel connection structure full sectional view.

Fig. 8 is that the structures from pivoted arm and the first fifth wheel of industrial robot with double drive structures of the utility model are shown It is intended to.

Embodiment

The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiment in the utility model, those skilled in the art are obtained without making creative work The every other embodiment obtained, shall fall within the protection scope of the present invention.

It just can only completely dismantle and carry out maintenance after the motor corrupted of industrial robot of the prior art, it is relatively time-consuming to take Power, and when industrial robot is carrying out the production task of constant tension, the damage of motor will cause production task larger Influence.

The following is it is provided by the utility model it is a kind of can solve above technical problem have it is double drive structures from pivoted arm and The preferred embodiment of industrial robot.

Refer to Fig. 1, Fig. 2 and Fig. 3, wherein Fig. 1 be the utility model have it is double drive structures from pivoted arm and industrial machine The structure diagram of the preferred embodiment of device people, Fig. 2 be the utility model have it is double drive structures from pivoted arm and industrial machine The rotation arm body of people and the structure diagram of connection end, Fig. 3 be the utility model have it is double drive structures from pivoted arm and The rotation arm body of industrial robot and the separated structure schematic diagram of connection end.

In figure, the similar unit of structure is to be given the same reference numerals.

It is provided by the utility model to be with double preferred embodiments from pivoted arm and industrial robot for driving structures：A kind of work Industry robot, it includes base 11, rotating seat 12, intermediate connector 14, swing arm 13, rotation arm body 15, connection end 16, electricity Machine, sealing cover 17 and driving member 21；

Wherein, rotating seat 12 is rotatablely connected on the pedestal 11；

The both ends of swing arm 13 are rotatably connected on the same side of rotating seat 12 and intermediate connector 14, the both ends of swing arm 13 respectively Rotation axis it is parallel, the rotation axis of swing arm 13 is vertical with the rotation axis of rotating seat 12；

One end of rotation arm body 15 is rotatably connected on intermediate connector 14, the rotation axis and pendulum of rotation arm body 15 The rotation axis of arm 13 is vertical, and the other end of rotation arm body 15 is provided with a setting groove 151, and the middle part of rotation arm body 15 is also It is provided with a setting chamber 152；

Connection end 16, which is rotatably arranged on, to be set in groove 151, rotation axis and the rotation arm body 15 of connection end 16 Extending direction is vertical, and the first connection for drive connection is connected with the both ends of the rotation axis extending direction of connection end 16 Wheel 24, the first fifth wheel 24 is located at the outside of rotation arm body 15；

Two motors, which are arranged on, to be set in chamber 152, is rotated for being drivingly connected termination 16, the shaft of two motors is prolonged respectively Go out in the opposite both sides of rotation arm body 15, the second fifth wheel 27 for drive connection is provided with the shaft of motor；

Two sealing covers 17 are separately positioned on the both sides for the shaft that motor is extended on rotation arm body 15, in sealing cover 17 On be provided with slide bar 171；

Driving member 21 is used for the first fifth wheel 24 of drive connection and the second fifth wheel 27, driving member 21 are slidably connected at slide bar On 171, driving member 21 is slided to form biography with the first fifth wheel 24, the second fifth wheel 27 to close to the direction of the first fifth wheel 24 Dynamic connection, driving member 21 are slided to the direction away from the first fifth wheel 24 to depart from and the first fifth wheel 24, the second fifth wheel 27 Drive connection.

So can be by controlling the slip of 16 both ends driving member 21 of connection end so that different motors is drivingly connected The rotation of termination 16, when one of motor damage, may be used another motor and is driven, service life length, can be Idle again carries out maintenance the motor of damage, without delaying production work.

It refer to Fig. 4, Fig. 5, Fig. 6 and Fig. 8, wherein Fig. 4 is the sectional view made along the A-A cutting lines in Fig. 2, Fig. 5 For the sectional view being driven by another motor opposite with Fig. 4 to connection end, Fig. 6 is that having for the utility model is double The attachment structure schematic diagram from the driving member of pivoted arm and industrial robot, the first fifth wheel and the second fifth wheel of structure is driven, Fig. 8 be the utility model have it is double drive structures from pivoted arm and the structure diagram of the first fifth wheel of industrial robot.

Specifically, driving member 21 is made of transmission belt 25,23 and second belt wheel 26 of first pulley, the transmission of transmission belt 25 connects It is connected on 23 and second belt wheel 26 of first pulley, 23 and second belt wheel 26 of first pulley is ring-type, and first pulley 23 is used to slide It is set on the first fifth wheel 24 and is sequentially connected with being formed, the second belt wheel 26 is used to be slidably located on the second fifth wheel 27 with shape Into drive connection.

Wherein, first pulley 23 includes first circular side panel for being used to be slidably connected with the slide bar 171 of correspondence position 231, the middle part of the first circular side panel 231 is provided with a first through hole for being used to be slidably connected with slide bar 171, and first through hole is at the same time It is rotatablely connected with slide bar 171, can be relatively rotated with slide bar 171 when first pulley 23 is being rotated；

Second belt wheel 26 includes second circular side panel 261 for being used to be slidably connected with the slide bar 171 of correspondence position, and second The middle part of circular side panel 261 is provided with second through hole for being used to be slidably connected with slide bar 171, the second through hole while and slide bar 171 rotation connections.

In addition, being both provided with the shifting part 22 for stirring the slip of driving member 21 in the opposite both sides of sealing cover 17, stir The position at 22 both ends of part is corresponding with the first circular side panel 231, the second circular side panel 261 respectively, and shifting part 22 is provided at both ends with The holding tank being inserted into respectively for the first circular side panel 231 and the second circular side panel 261, makes it to drive the force of shifting part 22 First pulley 23, the second belt wheel 26 are slided along slide bar 171, to control driving member 21 to be connected to close to the first fifth wheel 24, second The direction of wheel 27 is slided to be sequentially connected, or is slided to the direction away from the first fifth wheel 24, the second fifth wheel 27 with de- From drive connection.

Wherein, the diameter of first pulley 23 is more than or equal to the diameter of the second belt wheel 26 so that motor and connection end 16 it Between form speed reducing ratio, while there is the driving torque of bigger.

In addition, being provided at both ends with for rotation axis extending direction in connection end 16 is used to position with the first fifth wheel 24 The locating slot 161 of connection, is provided with the threaded hole for being fixedly connected with the first fifth wheel 24 on the bottom surface of locating slot 161 162, the providing holes 153 passed through for the first fifth wheel 24 is provided with the opposite two side walls that groove 151 is set.

First fifth wheel 24 includes corresponding with locating slot 161 boss portion 241 and for being passed with first pulley 23 The drive connection portion 242 of dynamic connection, boss portion 241 are rotatably connected in providing holes 153, be provided with boss portion 241 with The corresponding connecting hole 244 of threaded hole 162,

In addition, the inside circumference of first pulley 23 is uniformly provided with multiple first lug boss, 232 and first grooves, passing The periphery of rotation connection 242 is correspondingly arranged on multiple second lug boss, 243 and second grooves, in the first lug boss 232 Side is provided with the first arc surface, and the second arc surface 2431, the first arc surface and are provided with the side of the second lug boss 243 Two arc surfaces 2431 are used to mutually extrude guiding when first pulley 23 and drive connection portion 242 connect so that the first lug boss 232 are beneficial to slip into the second groove so that the second lug boss 243 is beneficial to slip into the first groove.

Fig. 7 is refer to, wherein Fig. 7 is the transmissions from pivoted arm and industrial robot with double drive structures of the utility model The full sectional view of the connection structure of part, the first fifth wheel and the second fifth wheel.

Drive connection portion 242 is hollow annular, and the strengthening portion of hub-like is provided with drive connection portion 242.

Rotation arm body 15 in this preferred embodiment includes the linkage section that cross section is crosswise.

The operation principle of the utility model：First by base 11, rotating seat 12, swing arm 13, intermediate connector 14, from pivoted arm Body 15 is rotatablely connected successively；

Then take connection end 16 and be placed into the setting groove 151 of rotation arm body 15, then take the first fifth wheel 24, Boss portion 241 is inserted into providing holes 153, and ensures the connecting hole 244 in boss portion 241 and the threaded hole on connection end 16 162 align, and are then screwed connection, and first fifth wheel 24 at 16 both ends of connection end is all assembled；

Two motors are fixedly installed to and are set in chamber 152, are provided with the side wall of setting chamber 152 corresponding with motor solid Determine mounting hole, the second fifth wheel 27 is connected in the shaft of motor；

Afterwards, the sealing cover 17 equipped with driving member 21 is taken, wherein driving member 21 passes through 23 and second belt wheel 26 of first pulley It is slidably connected on slide bar 171, and the first circular side panel 231 or the second circular side panel 261 is inserted in the receiving of shifting part 22 In groove；

Then, the sealing cover 17 equipped with driving member 21 is fixedly connected with rotation arm body 15, wherein sealing cover 17 is fixed While good fixation can also be played to motor；

All shifting parts 22 on one of sealing cover 17 are finally stirred so that 23 and second belt wheel 26 of first pulley exists Slided on slide bar 171 to close to the direction of the first fifth wheel 24, the second fifth wheel 27, the first lug boss in first pulley 23 232 gradually extrude with the second lug boss 243 on the first fifth wheel 24；

Wherein, due to being provided with the first arc surface in the side of the first lug boss 232, in the side of the second lug boss 243 It is provided with the second arc surface 2431 so that the first lug boss 232 can gradually slide into the second groove on the first fifth wheel 24 Interior, the second lug boss 243 can be slided into gradually in the first groove in first pulley 23, connected so as to form stable transmission Connect；

Second belt wheel 26 and the second fifth wheel 27 are similarly sequentially connected according to above-mentioned operation principle；

Completely after transmission well, starting the corresponding motor in the side just can drive connection end 16 to rotate；

When one of motor damage, shifting part 22 is stirred so that driving member 21 departs from and corresponding two fifth wheels It is sequentially connected, then stirs the shifting part 22 of opposite side so that the driving member 21 of opposite side is passed with corresponding two fifth wheels Dynamic connection, opening corresponding motor afterwards can work on.

So complete this preferred embodiment have it is double drive structures from pivoted arm and the connection end of industrial robot The process being driven by different motors.

This preferred embodiment controls connection end from pivoted arm and industrial robot with double drive structures by shifting part The slip of both ends driving member is so that the rotation of different motor drive connection terminations, when one of motor damage, then may be used It is driven using another motor, service life length, again can carry out maintenance the motor of damage in idle, without delaying life Produce work.

In conclusion although the utility model is disclosed above with preferred embodiment, above preferred embodiment is not used To limit the utility model, those of ordinary skill in the art, without departing from the spirit and scope of the utility model, can make It is various to change and retouch, therefore the scope of protection of the utility model is subject to the scope that claim defines.

Claims (10)

1. it is a kind of have it is double drive structures from pivoted arm, it is characterised in that including：

Rotation arm body, one end of the rotation arm body are provided with a setting groove, are also set up in the middle part of the rotation arm body There is a setting chamber；

Connection end, is rotatably arranged in the setting groove, the rotation axis of the connection end and the rotation arm body Extending direction is vertical, is connected with the both ends of the rotation axis extending direction of the connection end and connects for the first of drive connection Cock wheel, first fifth wheel are located at the outside of the rotation arm body；

Two motors, are arranged on the setting intracavitary, for driving the connection end to rotate, the shaft point of two motors Do not extend in the opposite both sides of the rotation arm body, be provided with the shaft of the motor and connect for the second of drive connection Cock wheel；

Two sealing covers, are separately positioned on the both sides for the shaft that the motor is extended on the rotation arm body, described close Slide bar is provided with capping；And

Driving member, for being sequentially connected first fifth wheel and second fifth wheel, the driving member are slidably connected at institute State on slide bar, the driving member to close to first fifth wheel direction slide with first fifth wheel, described second Fifth wheel, which is formed, to be sequentially connected, and the driving member is slided to the direction away from first fifth wheel to be connected with departing from described first The drive connection of cock wheel, second fifth wheel.

2. it is according to claim 1 have it is double drive structures from pivoted arm, it is characterised in that the driving member by transmission belt, First pulley and the second belt wheel composition, the transmission belt are sequentially connected in the first pulley and second belt wheel, institute It is ring-type to state first pulley and second belt wheel, and the first pulley is used to be slidably located on first fifth wheel with shape Into drive connection, second belt wheel is used to be slidably located on second fifth wheel to be sequentially connected with being formed.

3. it is according to claim 2 have it is double drive structures from pivoted arm, it is characterised in that the first pulley includes one and uses A use is provided with the middle part of the first circular side panel that the sliding bar with correspondence position is connected, first circular side panel In the first through hole being connected with the sliding bar, the first through hole is rotatablely connected with the slide bar at the same time；

Second belt wheel includes one and is used for the second circular side panel for being connected with the sliding bar of correspondence position, and described second One is provided with the middle part of circular side panel and is used for the second through hole for be connected with the sliding bar, second through hole and meanwhile with it is described Slide bar is rotatablely connected.

4. it is according to claim 3 have it is double drive structures from pivoted arm, it is characterised in that the sealing cover it is opposite two Side is both provided with the shifting part slided for stirring the driving member, and the position at the shifting part both ends is justified with described first respectively Shape side plate, second circular side panel correspond to, and the shifting part is provided at both ends with for first circular side panel and described The holding tank that second circular side panel is inserted into respectively.

5. it is according to claim 2 have it is double drive structures from pivoted arm, it is characterised in that the diameter of the first pulley is big In the diameter equal to second belt wheel.

6. it is according to claim 2 have it is double drive structures from pivoted arm, it is characterised in that in the rotation of the connection end The locating slot being provided at both ends with for being located by connecting with first fifth wheel of axis extending direction, at the bottom of the locating slot The threaded hole for being fixedly connected with first fifth wheel is provided with face, in the opposite two side walls of the setting groove It is provided with the providing holes passed through for first fifth wheel.

7. it is according to claim 6 have it is double drive structures from pivoted arm, it is characterised in that first fifth wheel include with The corresponding boss portion of the locating slot and the drive connection portion for being sequentially connected with the first pulley, the boss portion It is rotatably connected in the providing holes, is provided with the boss portion and the corresponding connecting hole of the threaded hole.

8. it is according to claim 7 have it is double drive structures from pivoted arm, it is characterised in that in the circumference of the first pulley Side is uniformly provided with multiple first lug bosses and the first groove, and the periphery in the drive connection portion is correspondingly arranged on more A second lug boss and the second groove, the first arc surface is provided with the side of first lug boss, raised described second The side in portion is provided with the second arc surface, and first arc surface and second arc surface are used in the first pulley and institute Guiding is mutually extruded when stating the connection of drive connection portion so that first lug boss is beneficial to slip into second groove so that Second lug boss is beneficial to slip into first groove.

9. it is according to claim 7 have it is double drive structures from pivoted arm, it is characterised in that the drive connection portion is hollow Ring-type, the strengthening portion of hub-like is provided with the drive connection portion.

A kind of 10. industrial robot, it is characterised in that including

Base；

Rotating seat, is rotatably connected on the base；

Intermediate connector；

Swing arm, the both ends of the swing arm are rotatably connected on the same side of the rotating seat and the intermediate connector respectively, described The rotation axis at the both ends of swing arm is parallel, and the rotation axis of the swing arm is vertical with the rotation axis of the rotating seat；And

In claim 1-9 it is any have it is double drive structures be rotatably connected on institute from pivoted arm, one end of the rotation arm body State on intermediate connector, the rotation axis of the rotation arm body is vertical with the rotation axis of swing arm, the rotation arm body bag Include the linkage section that cross section is crosswise.