CN207359107U - A kind of robot arm - Google Patents
A kind of robot arm Download PDFInfo
- Publication number
- CN207359107U CN207359107U CN201721257864.7U CN201721257864U CN207359107U CN 207359107 U CN207359107 U CN 207359107U CN 201721257864 U CN201721257864 U CN 201721257864U CN 207359107 U CN207359107 U CN 207359107U
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- CN
- China
- Prior art keywords
- lifting disk
- steering engine
- robot arm
- planetary gear
- planetary
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Abstract
The utility model is suitable for robotic technology field, provide a kind of robot arm, including steering engine shell, pcb board, motor, planetary transmission system, the lifting disk being sequentially arranged at from top to bottom in steering engine shell, and the multiple pawl hooks being rotatably connected on steering engine shell；Motor is electrically connected with pcb board, the output axis connection of planetary transmission system and motor, the output axis connection of lifting disk and planetary transmission system and for moving up and down under the driving of planetary transmission system, one end of multiple pawl hooks is rotatably connected on lifting disk and for carrying out open and close movement under the drive of lifting disk respectively.The utility model uses planetary transmission system, both realized compact-sized, functional requirement is realized again, planetary transmission system is driven to rotate when pcb board is sent when order-driven motor rotates, and then lifting disk is driven to move up and down, multiple pawl hooks carry out open and close movement under the drive of lifting disk, to capture or bleed off building blocks.
Description
Technical field
The utility model belongs to robotic technology field, more particularly to a kind of robot arm.
Background technology
At present, although there is diversified block toy in society, it is a lack of a kind of small intelligent and beneficial to exploitation
The building blocks three-jaw engineering mechanism of child's intelligence.
Utility model content
The purpose of this utility model is to provide a kind of robot arm, it is intended to which solution lacks small intelligent in the prior art
Change and beneficial to the technical problem for the building blocks three-jaw engineering mechanism for developing child's intelligence.
The utility model is realized in this way：A kind of robot arm, including steering engine shell, are sequentially arranged at from top to bottom
Pcb board, motor, planetary transmission system, lifting disk in the steering engine shell, and it is rotatably connected on the steering engine shell
On multiple pawl hooks；The motor is electrically connected with the pcb board, the output of the planetary transmission system and the motor
Axis connection, the output axis connection of the lifting disk and the planetary transmission system and in the planetary train
Move up and down under the driving of system, one end of multiple pawl hooks is rotatably connected on the lifting disk and in the liter respectively
Drop and carry out open and close movement under the drive of disk.
Further, the planetary transmission system includes planetary gear upper end cover, planetary gear bottom end cover, and is fixed on
At least two-stage planet transmission mechanism between the planetary gear upper end cover and planetary gear bottom end cover, at least two-stage planet
The input terminal of transmission mechanism is connected with the motor and output terminal is connected with the lifting disk.
Further, the output terminal of planetary gear mechanism is provided with screw rod at least described in two-stage, on the lifting disk
It is provided with the screw thread coordinated with the screw rod.
Further, each planetary gear mechanism includes the sun gear as input terminal and the sun gear
Multiple planetary gears, the planet carrier for assembling the planetary gear and being used as output terminal of export-oriented engagement, and it is set in the row
Carrier is outer and is used for the gear ring engaged with multiple planetary gears.
Further, the planet carrier includes planetary gear installing plate, is fixed on the planetary gear installing plate and for dividing
Multiple planetary gear shafts of multiple planetary gears are not arranged, and are fixedly connected and as output with the planetary gear installing plate
The fixed plate at end, one end of the planetary gear shaft wear the fixed plate.
Further, at least two-stage planet transmission mechanism shares a gear ring.
Further, the steering engine shell includes the steering engine upper casing and steering engine lower casing for mutually fastening and being fixedly connected, described
Pcb board is fixedly connected on the steering engine upper casing, and the pawl hooks are rotatably connected on the steering engine lower casing.
Further, multiple leads straight up are provided with the steering engine lower casing, the outer of the lifting disk is opened
Equipped with the multiple and matched U-type groove of the lead.
Further, the outer of the lifting disk offers multiple grooves, and the robot arm further includes both ends difference
The lifting disk shaft being plugged on the both sides inner wall of the groove and the lifting disk sliding sleeve being set in the lifting disk shaft,
The end of one end of the pawl hooks offers the opening waist type groove coordinated with the lifting disk sliding sleeve.
Further, the pawl hooks are rotatably connected on the steering engine lower casing by pawl hooks shaft.
Implement a kind of robot arm of the utility model, have the advantages that：It is used for the production of building blocks class intelligence development class
Product, using planetary transmission system, had not only realized compact-sized, and but also functional requirement had been realized, when pcb board sends order-driven
Drive planetary transmission system to rotate when motor rotates, and then drive lifting disk to move up and down, multiple pawl hooks are in lifting disk
Lower progress open and close movement is driven, to capture or bleed off building blocks.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the embodiment of the utility model, will make below to required in embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the utility model,
For those of ordinary skill in the art, without creative efforts, can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is the sectional view (one) that the robot arm that the utility model embodiment provides is in open mode in three-jaw；
Fig. 2 is the sectional view (two) that the robot arm that the utility model embodiment provides is in open mode in three-jaw；
Fig. 3 is the sectional view that the robot arm that the utility model embodiment provides is in closure state in three-jaw；
Fig. 4 is the front view that the robot arm that the utility model embodiment provides is in closure state in three-jaw；
Fig. 5 is that the assembling of primary planet pinion transmission mechanism and secondary solar gear that the utility model embodiment provides is illustrated
Figure；
Fig. 6 is the dimensional structure diagram for the secondary planetary gear transmission mechanism that the utility model embodiment provides；
Fig. 7 is the part-structure schematic diagram for the robot arm that the utility model embodiment provides；
Fig. 8 is the part explosive view for the robot arm that the utility model embodiment provides.
Embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, is further elaborated the utility model.It should be appreciated that specific embodiment described herein is only explaining
The utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can directly or
It is connected on another element.When an element is known as " being connected to " another element, it can be direct or indirect connection
To another element.
It should also be noted that, the orientation term such as left and right, upper and lower in the utility model embodiment, is only opposite each other
Concept or using the normal operating condition of product as reference, and should not be regarded as restrictive.
As shown in Figures 1 to 4, the robot arm that the utility model embodiment provides includes steering engine shell, pcb board 2, electricity
Machine 4, planetary transmission system, lifting disk 16 and three pawl hooks 26.Wherein, pcb board 2, motor 4, planetary train
System and lifting disk 16 are sequentially arranged in steering engine shell from top to bottom, and motor 4 is electrically connected with pcb board 2 and can receive pcb board
Instruction, the input terminal of planetary transmission system and the output axis connection of motor 4 and can be rotated by, lifting in motor 4
The output axis connection of disk 16 and planetary transmission system and for moving up and down under the driving of planetary transmission system.Three
A pawl hooks 26 are rotatably connected on steering engine shell and along the outer equidistantly distributed of steering engine shell, the ends of one end of three pawl hooks 26
Portion is rotatably connected on lifting disk 16 and for carrying out open and close movement under the drive of lifting disk 16 respectively, and pawl hooks 26 is another
End is used to capture building blocks.As depicted in figs. 1 and 2, when lifting disk 16 moves downward, it drives the one end of pawl hooks 26 away from building blocks
Inwardly movement, and then drive pawl hooks 26 to be moved out close to one end of building blocks, opened so as to fulfill three-jaw；Such as Fig. 3 and Fig. 4 institutes
Show, when lifting disk 16 moves upwards, it drives the one end of pawl hooks 26 away from building blocks to move out, and then drives pawl hooks 26 close
One end of building blocks is inwardly moved, and is closed so as to fulfill three-jaw.Certainly, pawl hooks 26 can also be four or more.
The robot arm of the utility model embodiment is used for building blocks class intelligence development class product, using planetary train
System, had not only realized compact-sized, but also realizes functional requirement, planet is driven when pcb board 2 is sent when order-driven motor 4 rotates
Gear train assembly rotates, and then drives lifting disk 16 to move up and down, and multiple pawl hooks 26 are opened under the drive of lifting disk 16
Resultant motion, to capture or bleed off building blocks.
Specifically, planetary transmission system includes planetary gear upper end cover 5, planetary gear bottom end cover 22, and fixation is expert at
At least two-stage planet transmission mechanism between star-wheel upper end cover 5 and planetary gear bottom end cover 22, at least two-stage planet pass
The input terminal of motivation structure is connected with motor 4 and its output terminal is connected with lifting disk 16.Wherein, motor 4 is locked by the first screw 17
Tightly on planetary gear upper end cover 5, can specifically opening up circular groove on planetary gear upper end cover 5, motor 4 be fixed in groove and
The output shaft of motor 4 is connected through planetary gear upper end cover 5 with planetary gear mechanism.
Further, with reference to Fig. 6 and Fig. 7, in order to realize that the rotation of planetary gear mechanism drives the upper of lifting disk 16
Lower movement, is provided with screw rod 29, the outer wall of screw rod 29 is equipped with outer spiral shell in the output terminal of the planetary gear mechanism of at least two-stage
Line.And through hole is provided with the central area of lifting disk 16, the inner wall of the through hole is equipped with screw thread 30, the screw thread 30 for internal thread and
Coordinate with the external screw thread of screw rod 29, and then drive the up and down motion of lifting disk 16, drive three 26 open and close movements of pawl hooks.
Further, each planetary gear mechanism includes the sun gear as input terminal, is engaged with sun gear extroversion
Multiple planetary gears, for assembling planetary gear and planet carrier as output terminal, and be arranged planet carrier it is outer and for it is more
The gear ring of a planetary gear engagement.Planet carrier includes planetary gear installing plate, is fixed on planetary gear installing plate and for being arranged respectively
Multiple planetary gear shafts of multiple planetary gears, and be fixedly connected with planetary gear installing plate and be used as the fixed plate of output terminal, OK
One end of star-wheel shaft wears fixed plate.
Wherein, in the utility model embodiment, the series of planetary gear mechanism can be more than two-stage or three-level,
But in view of the function and cost realized needed for its, be using two-stage it is preferred, the planetary gear of every grade of planetary gear mechanism
Number is preferred with three, is described in detail below with two-stage planet transmission mechanism.
With reference to Fig. 5 and Fig. 6, planetary transmission system includes primary planet pinion transmission mechanism and secondary planetary gear passes
Motivation structure.Wherein, primary planet pinion transmission mechanism include as input terminal and with the level-one sun of the output axis connection of motor 4
Take turns 7, the three primary planet wheels 8 engaged export-oriented with level-one sun gear 7, for assembling primary planet wheel 8 and being used as output terminal
Primary planet carrier, and be set in outside primary planet carrier and be used for the gear ring 11 engaged with primary planet wheel 8.Primary planet carrier bag
Primary planet wheel installing plate 6 is included, is fixed on primary planet wheel installing plate 6 and for being arranged three primary planet wheels 8 respectively
Three primary planet wheel shafts 27, and be connected and use with primary planet wheel installing plate 6 by three primary planet wheel shafts 27
Make the level-one fixed plate 9 of output terminal, it is preferred that one end of primary planet wheel shaft 27 wears level-one fixed plate 9.Specifically, lead to
Cross the second screw 19 to lock level-one fixed plate 9 and primary planet wheel installing plate 6, and the level-one fixed plate 9 is used as primary planet
The output of gear drive.Preferably, three primary planet wheels shaft 27 and the second screw 19 are uniformly arranged on institute
State in level-one fixed plate 9 and primary planet wheel installing plate 6.In the present embodiment, the motor gear on motor 4 can be used as primary planet
The level-one sun gear 7 of gear drive.
Secondary solar gear 14 that secondary planetary gear transmission mechanism includes being connected as input terminal and with level-one fixed plate 9,
The three secondary planet wheels 13 engage export-oriented with secondary solar gear 14, for assembling secondary planet wheel 13 and being used as the two of output terminal
Level planet carrier, and be set in outside secondary planet frame and be used for the gear ring 11 engaged with secondary planet wheel 13.Secondary planet frame bag
Secondary planet wheel installing plate 10 is included, is fixed on secondary planet wheel installing plate 10 and for being arranged three secondary planet wheels 13 respectively
Three secondary planet wheel shafts 28, and connected by three secondary planet wheels shaft 28 with secondary planet wheel installing plate 10
Connect and be used as the two level fixed plate 15 of output terminal, it is preferred that one end of secondary planet wheel shaft 28 wears two level fixed plate 15.Tool
Body, secondary solar gear 14 is tight with the axis in level-one fixed plate 9, by the 3rd screw 20 by two level fixed plate 15 and two level
Planetary gear installing plate 10 is locked, and the output of the two level fixed plate 15 as whole planetary transmission system, is provided with
Above-mentioned screw rod 29.Preferably, three secondary planet wheels shaft 28 and the 3rd screw 20 are uniformly arranged on the two level and fix
On plate 15 and secondary planet wheel installing plate 10.
Preferably, primary planet pinion transmission mechanism and secondary planetary gear transmission mechanism share a gear ring 11, save
Cost and space, convenient dismounting easy to connect with complete machine.Specifically, gear ring 11 passes through the 4th screw 18 and planetary gear upper end
Lid 5 is fixedly connected, and gear ring 11 is fixedly connected by the 5th screw 21 with planetary gear bottom end cover 22.
Further, steering engine shell includes the steering engine upper casing 1 and steering engine lower casing 12 for mutually fastening and being fixedly connected, above-mentioned
Pcb board 2 is fixedly connected on steering engine upper casing 1 by the 6th screw 3, and above-mentioned pawl hooks 26 are rotatably connected on steering engine lower casing 12, rudder
Machine upper casing 1, gear ring 11 and steering engine lower casing 12 use screw locking.Specifically, pawl hooks shaft 25 is passed through with reference to Fig. 7 and Fig. 8, pawl hooks 26
It is rotatably connected on steering engine lower casing 12, pawl hooks 26 are matched somebody with somebody with 25 pine of pawl hooks shaft, three-jaw shaft 25 and 12 close-fitting of steering engine lower casing.
Preferably, multiple leads 31 straight up are provided with steering engine lower casing 12, the lead 31 is along under steering engine
The circumferential directions of shell 12, the multiple and matched U-type groove 33 of lead 31, the lead are offered in the outer of lifting disk 6
31 pairs of lifting disks 16 realize the positioning of circumferencial direction, are allowed to rotate, can only move up and down.In the utility model embodiment
In, lead 31 is identical with the number of U-type groove 33, can all be three or more than four, only needs both numbers equal.
Further, multiple grooves 32 are offered in the outer of lifting disk 16, it is preferred that between the groove 32 and U-type groove 33
Every setting.The robot arm of the utility model embodiment further includes both ends and is plugged in respectively on the both sides inner wall of each groove 32
Lifting disk shaft 24 and the lifting disk sliding sleeve 23 that is set in lifting disk shaft 24.
Preferably, pawl hooks 26 offer opening waist type groove 34, lifting disk sliding sleeve 23 and pawl close to one end of pawl hooks shaft 25
The opening waist type groove 34 hooked on 26 coordinates so that the sliding friction of pawl hooks 26 is changed into rolling friction, improves transmission efficiency, pawl hooks
26 sliding slot is conducive to assemble using opening waist type groove 34, convenient to load on steering engine lower casing 12.In a reality of the utility model
Apply in example, three lifting disk sliding sleeves 23 are assemblied on lifting disk 16 by three lifting disk shafts 24 respectively, lifting disk sliding sleeve 23
Match somebody with somebody with 24 pine of lifting disk shaft, lifting disk shaft 24 and 16 close-fitting of lifting disk.
In the utility model embodiment, upper casing, lower casing and the planet gear transmission system of whole steering engine are connected by screw to be fixed,
I.e. steering engine upper casing 1, steering engine lower casing 12 and planetary transmission system are connected by screw and fixed.
The transmission process of the three-jaw mechanism of the robot arm of the utility model embodiment is as follows：PCB2 sends order-driven
Motor 4 rotates, while drives level-one sun gear 7 to rotate, and level-one sun gear 7 drives primary planet wheel 8 to rotate, three primary planets
The outer rim of wheel 8 is engaged with gear ring 11, and gear ring 11 is fastened between upper end cover 5 and bottom end cover 22 and is fastened on steering engine
Between shell 1 and steering engine lower casing 12, so as to drive primary planet wheel 8 to drive primary planet wheel installing plate 6 and level-one fixed plate 9 together
Rotate, be fixed on due to secondary solar gear 14 on the axis of level-one fixed plate 9, so that level-one fixed plate 9 is both used as level-one row
The output of star gear drive, and as the input of secondary planetary gear transmission mechanism, with above-mentioned level-one sun gear 7 and level-one
Planetary gear 8, primary planet wheel installing plate 6 are similar with the transmission principle of level-one fixed plate 9, and secondary solar gear 14 drives secondary planet
Wheel 13 rotates, and the outer rim of three secondary planet wheels 13 is engaged with gear ring 11, so as to drive secondary planet wheel 13 to drive secondary planet
Wheel installing plate 10 and two level fixed plate 15 together rotate, and the rotation of two level fixed plate 15 drives lifting disk 16 with respect to two level fixed plate
About 15 helical rotations, so as to fulfill the opening and closing movement of pawl hooks 26.
In conclusion the utility model embodiment realizes three-jaw machine by the way of planet gear transmission is combined with worm drive
The folding function of structure, makes block toy more intelligent, easy to develop child's intelligence, while can operate with education papers etc..
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Any modification, equivalent substitution or improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of robot arm, it is characterised in that including steering engine shell, be sequentially arranged at from top to bottom in the steering engine shell
Pcb board, motor, planetary transmission system, lifting disk, and multiple pawl hooks being rotatably connected on the steering engine shell；
The motor is electrically connected with the pcb board, the output axis connection of the planetary transmission system and the motor, the liter
The output axis connection of disk and the planetary transmission system drops and under the driving of the planetary transmission system
Lower movement, one end of multiple pawl hooks are rotatably connected on the lifting disk and under the drives of the lifting disk respectively
Carry out open and close movement.
2. robot arm as claimed in claim 1, it is characterised in that the planetary transmission system is included on planetary gear
End cap, planetary gear bottom end cover, and at least two-stage planet being fixed between the planetary gear upper end cover and planetary gear bottom end cover
Gear drive, at least input terminal of two-stage planet transmission mechanism are connected with the motor and output terminal and the lifting
Disk connects.
3. robot arm as claimed in claim 2, it is characterised in that at least planetary gear mechanism described in two-stage is defeated
Outlet is provided with screw rod, and the screw thread coordinated with the screw rod is provided with the lifting disk.
4. robot arm as claimed in claim 2, it is characterised in that each planetary gear mechanism includes being used as
The sun gear of input terminal, multiple planetary gears engage export-oriented with the sun gear, for assembling the planetary gear and as exporting
The planet carrier at end, and be set in outside the planet carrier and be used for the gear ring engaged with multiple planetary gears.
5. robot arm as claimed in claim 4, it is characterised in that the planet carrier includes planetary gear installing plate, fixation
On the planetary gear installing plate and for being arranged multiple planetary gear shafts of multiple planetary gears respectively, and with the row
Star-wheel installing plate is fixedly connected and the fixed plate as output terminal, and one end of the planetary gear shaft wears the fixed plate.
6. robot arm as claimed in claim 4, it is characterised in that at least two-stage planet transmission mechanism shares
One gear ring.
7. such as claim 1 to 6 any one of them robot arm, it is characterised in that the steering engine shell includes mutually button
The steering engine upper casing and steering engine lower casing for closing and being fixedly connected, the pcb board are fixedly connected on the steering engine upper casing, and the pawl hooks turn
It is dynamic to be connected on the steering engine lower casing.
8. robot arm as claimed in claim 7, it is characterised in that be provided with the steering engine lower casing it is multiple straight up
Lead, the outer of the lifting disk offers multiple with the matched U-type groove of the lead.
9. robot arm as claimed in claim 7, it is characterised in that the outer of the lifting disk offers multiple grooves,
The robot arm further includes the lifting disk shaft and be set in that both ends are plugged on the both sides inner wall of the groove respectively
Lifting disk sliding sleeve in the lifting disk shaft, the end of one end of the pawl hooks offer what is coordinated with the lifting disk sliding sleeve
Be open waist type groove.
10. robot arm as claimed in claim 7, it is characterised in that the pawl hooks are rotatably connected on by pawl hooks shaft
On the steering engine lower casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721257864.7U CN207359107U (en) | 2017-09-28 | 2017-09-28 | A kind of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721257864.7U CN207359107U (en) | 2017-09-28 | 2017-09-28 | A kind of robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207359107U true CN207359107U (en) | 2018-05-15 |
Family
ID=62346328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721257864.7U Active CN207359107U (en) | 2017-09-28 | 2017-09-28 | A kind of robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207359107U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107498578A (en) * | 2017-09-28 | 2017-12-22 | 深圳市优必选科技有限公司 | A kind of robot arm |
-
2017
- 2017-09-28 CN CN201721257864.7U patent/CN207359107U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107498578A (en) * | 2017-09-28 | 2017-12-22 | 深圳市优必选科技有限公司 | A kind of robot arm |
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