CN207480633U - A kind of second armed lever of sixdegree-of-freedom simulation - Google Patents
A kind of second armed lever of sixdegree-of-freedom simulation Download PDFInfo
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- CN207480633U CN207480633U CN201721112633.7U CN201721112633U CN207480633U CN 207480633 U CN207480633 U CN 207480633U CN 201721112633 U CN201721112633 U CN 201721112633U CN 207480633 U CN207480633 U CN 207480633U
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- joint
- armed lever
- side plate
- sixdegree
- freedom simulation
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Abstract
The utility model is related to a kind of the second armed levers of sixdegree-of-freedom simulation, it includes the first side plate, the second side plate and connecting cross beam, first side plate, second side plate combine to form I-shaped structure with the connecting cross beam, one end of the I-shaped structure is second joint movable end, and the other end of the I-shaped structure is third joint motion end；A kind of second armed lever of sixdegree-of-freedom simulation provided by the utility model compared with prior art, has the advantages that light quality, arm length degree are big.
Description
Technical field
The utility model is related to robotic technology fields, and in particular to a kind of the second armed lever of sixdegree-of-freedom simulation.
Background technology
Robot is typical electromechanical integrated product, generally by basic machine, control system, driver and sensor
It is formed Deng four parts.Wherein basic machine, typically a mechanical arm executive control system can refer in determining environment
Fixed operation.The mechanical arm of typical industry robot is generally made of end effector, wrist, arm, waist and pedestal.Machinery
Arm mostly using jointed robot structure, generally has 6 degree of freedom, wherein 3 positions for being used for determining end effector, in addition
3 directions (posture) for being then used for determining end executive device.End executive device on mechanical arm can be according to operation needs
It changes welding gun, sucker into, pull the power tools such as arm.
Since control system is mainly to be moved by each armed lever of control machinery arm, realize mechanical arm according to scheduled rail
Mark completes corresponding action, and therefore, whether the structure of each armed lever of mechanical arm rationally directly affect mechanical arm can be complete
Into corresponding work.In the prior art, for each armed lever of mechanical arm mostly using entity structure, mechanical arm total quality is larger, from
And it is dumb that mechanical arm is caused to act at work, operation precision is low.
Utility model content
The purpose of the utility model is to overcome shortcoming and deficiency of the prior art, provide a kind of light quality, arm exhibition
Second armed lever of the big sixdegree-of-freedom simulation of length.
To achieve the above object, a kind of second armed lever of sixdegree-of-freedom simulation of the utility model offer includes the first side
Plate, the second side plate and connecting cross beam, first side plate, second side plate combine to form I-shaped with the connecting cross beam
Structure, one end of the I-shaped structure is second joint movable end, and the other end of the I-shaped structure is closed for third
Save movable end；
The second joint movable end includes second joint driving portion and second joint follower, the second joint driving
Portion is loop configuration with the second joint follower and its outer diameter is identical, and the second joint driving portion and described second closes
Section follower is oppositely arranged and axis overlaps, and the inside of the second joint driving portion is installed equipped with the second axis driving element flange
Position, the inside of the second joint follower are equipped with the second axle bearing installation position；
The third joint motion end includes third joint drive portion and third joint follower, the third joint drive
Portion is loop configuration with third joint follower and its outer diameter is identical, and the third joint drive portion and the third are closed
Section follower is oppositely arranged and axis overlaps, and the inside in the third joint drive portion is installed equipped with third axis driving element flange
Position, the inside of third joint follower are equipped with third axle bearing installation position.
As an improvement of the above technical solution, the connecting cross beam is the oval tubulose from intermediate toward the gradual thickening in both sides.
As an improvement of the above technical solution, the connecting cross beam is connect with first side plate, second side plate
The side of end is the arc surface seamlessly transitted.
As an improvement of the above technical solution, the third joint motion end and the second joint movable end are in axial phase
Mutually it is arranged in parallel.
As an improvement of the above technical solution, it is connected between the connecting cross beam and first side plate, the second side plate
A plurality of reinforcing rib, a plurality of reinforcing rib are arranged along the radial direction of the port of the connecting cross beam in scattering form.
As an improvement of the above technical solution, the I-shaped structure uses high-strength aluminum alloy die casting one-pass molding system
Into.
As an improvement of the above technical solution, the second joint movable end is equipped with second joint and aligns pin hole, institute
State the side that second joint contraposition pin hole is arranged on the second joint driving portion.
As an improvement of the above technical solution, the third joint motion end is equipped with third joint contraposition pin hole, institute
State the side that third joint contraposition pin hole is arranged on the third joint drive portion.
A kind of second armed lever of sixdegree-of-freedom simulation provided by the utility model compared with prior art, has such as
Lower advantageous effect：1st, light quality：Since the first side plate, the second side plate are slab structure, the second armed lever is effectively reduced
Quality, due to quality mitigate so that the second armed lever is more flexible in action process, and kinematic accuracy is greatly improved.2nd, arm exhibition
Length is big：It combines to form I-shaped structure with connecting cross beam using the first side plate, the second side plate is stated, the I-shaped structure
One end for second joint movable end, the other end of the I-shaped structure is third joint motion end so that six degree of freedom
The length of the arm exhibition of mechanical arm greatly increases.
Description of the drawings
In order to illustrate more clearly of the technical solution of the utility model embodiment, the attached drawing of embodiment will be made below simple
Ground introduction.
Fig. 1 is a kind of structure diagram of the second armed lever of sixdegree-of-freedom simulation that the utility model embodiment provides；
Fig. 2 is a kind of knot at another visual angle of the second armed lever of sixdegree-of-freedom simulation that the utility model embodiment provides
Structure schematic diagram；
Fig. 3 is a kind of structure diagram for sixdegree-of-freedom simulation that the utility model embodiment provides.
Wherein：The first side plates of 1-；The second side plates of 2-；3- connecting cross beams；31- arc surfaces；4- reinforcing ribs；5- second joints are lived
Moved end；51- second joint driving portions；511- the second axis driving element flanges installation position；512- second joints align pin hole；
52- second joint followers；The second axle bearings of 521- installation position；6- third joint motions end；61- third joint drives portion；
611- third axis driving element flanges installation position；612- third joint contraposition pin holes；62- thirds joint follower；621-
Three axle bearing installation positions；
100th, pedestal；101st, the first armed lever；102nd, the second armed lever；103rd, third armed lever；104th, the 4th armed lever；105th,
Five armed levers.
Specific 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
It clearly and completely describes, 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 of ordinary skill in the art are without creative efforts
All other embodiments obtained shall fall within the protection scope of the present invention.
Referring to shown in Fig. 1-2, the utility model provide a kind of second armed lever of sixdegree-of-freedom simulation include the first side plate,
Second side plate and connecting cross beam, first side plate, second side plate combine to form I-shaped knot with the connecting cross beam
Structure, one end of the I-shaped structure is second joint movable end, and the other end of the I-shaped structure is third joint
Movable end；The second joint movable end includes second joint driving portion and second joint follower, the second joint driving
Portion is loop configuration with the second joint follower and its outer diameter is identical, and the second joint driving portion and described second closes
Section follower is oppositely arranged and axis overlaps, and the inside of the second joint driving portion is installed equipped with the second axis driving element flange
Position, the inside of the second joint follower are equipped with the second axle bearing installation position；It is closed including third at the third joint motion end
Save driving portion and third joint follower, the third joint drive portion and third joint follower be loop configuration and
Its outer diameter is identical, and the third joint drive portion and third joint follower are oppositely arranged and axis overlaps, the third
The inside in joint drive portion is equipped with third axis driving element flange installation position, and the inside of third joint follower is equipped with third
Axle bearing installation position.A kind of second armed lever of sixdegree-of-freedom simulation provided by the utility model, compared with prior art, tool
It has the advantages that：1st, light quality：Since the first side plate, the second side plate are slab structure, second is effectively reduced
The quality of armed lever, since quality mitigates so that the second armed lever is more flexible in action process, and kinematic accuracy is greatly improved.2、
Arm length degree is big：It combines to form I-shaped structure with connecting cross beam using the first side plate, the second side plate is stated, the I-shaped
One end of structure is second joint movable end, and the other end of the I-shaped structure is third joint motion end so that six certainly
The length opened up by the arm of degree mechanical arm greatly increases.
More, in the present embodiment, the connecting cross beam is the oval tubulose from intermediate toward the gradual thickening in both sides, into one
Step, the connecting cross beam and the side of end that first side plate, second side plate are connect are the circular arc seamlessly transitted
Face, such setting can eliminate sixdegree-of-freedom simulation generated deformation and the problem of stress concentration during the motion.
More, in the present embodiment, in order to meet sixdegree-of-freedom simulation operational requirements, the third joint motion end
With the second joint movable end in axial arranged in parallel.
More, in the present embodiment, it is connected between the connecting cross beam and first side plate, the second side plate a plurality of
Reinforcing rib, a plurality of reinforcing rib are arranged along the radial direction of the port of the connecting cross beam in scattering form.Such structure causes
The everywhere uniform force of armed lever, is avoided armed lever and is ruptured caused by unbalance stress.
More, in the present embodiment, the I-shaped structure is made of high-strength aluminum alloy die casting one-pass molding,
Because die cast can pressurize to the ontology in die cavity at the time of molding, pressurize, ensure that body interior without sand holes, improves what material combined
Compactness greatly ensures ontology rigid, using I-shaped structure made of high-strength aluminum alloy in comparable size material
The middle intensity that can reach No. 35 steel.
More, in the present embodiment, the second joint movable end is equipped with second joint and aligns pin hole, and described the
Two joint contraposition pin holes are arranged on the side of the second joint driving portion.Further, on the third joint motion end
Equipped with third joint contraposition pin hole, the third joint contraposition pin hole is arranged on the side in the third joint drive portion.
Setting allows mechanical arm that co-ordinate system location is accurately positioned in this way, improves manipulator motion precision；In addition, in transportational process
By aligning in pin hole in the second joint and being inserted into positioning pin in third joint contraposition pin hole, described six can be positioned certainly
By the relative position of the pedestal 100 of degree mechanical arm, the first armed lever 101 and the second armed lever 102, sixdegree-of-freedom simulation is prevented because of fortune
It is defeated that sixdegree-of-freedom simulation is caused to shift, damage and the damage to ontology are generated to motor.
It is shown in Figure 3, it is provided by the utility model to additionally provide a kind of sixdegree-of-freedom simulation, including being sequentially connected
Pedestal 100, the first armed lever 101, the second armed lever 102, third armed lever 103, the 4th armed lever 104 and the 5th armed lever 105.Described first
Armed lever 101 is connect with second armed lever 102 by second joint movable end, the third armed lever 103 and second armed lever
102 are connected by third joint motion end.
A kind of second armed lever of sixdegree-of-freedom simulation provided by the utility model compared with prior art, has such as
Lower advantageous effect：1st, light quality：Since the first side plate, the second side plate are slab structure, the second armed lever is effectively reduced
Quality, due to quality mitigate so that the second armed lever is more flexible in action process, and kinematic accuracy is greatly improved.2nd, arm exhibition
Length is big：It combines to form I-shaped structure with connecting cross beam using the first side plate, the second side plate is stated, the I-shaped structure
One end for second joint movable end, the other end of the I-shaped structure is third joint motion end so that six degree of freedom
The length of the arm exhibition of mechanical arm greatly increases.
In the description of the present invention, it is to be appreciated that term the indicating positions such as " on ", " under ", "left", "right" or
Position relationship is based on orientation shown in the drawings or position relationship, is for only for ease of description the utility model and simplifies description,
Rather than the device or element of instruction or hint meaning must have specific orientation and specific azimuth configuration and operation,
It is thus impossible to it is construed as a limitation of the present invention.In addition, " first ", " second " are merely due to describe purpose, and be not understood that
To indicate or implying relative importance or the implicit quantity for indicating indicated technical characteristic.Therefore, define " first ",
One or more this feature can be expressed or be implicitly included to the feature of " second ".In the description of the utility model, unless
It is otherwise noted, " multiple " are meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation "
" connected " " connection " etc. should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally connect
It connects；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected with by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, concrete condition can be regarded and understands above-mentioned art
Concrete meaning of the language in the utility model.
The above is the preferred embodiment of the utility model, it is noted that for the ordinary skill of the art
For personnel, under the premise of principle described in the utility model is not departed from, several improvements and modifications can also be made, these improvement
The scope of protection of the utility model is also should be regarded as with retouching.
Claims (8)
1. a kind of the second armed lever of sixdegree-of-freedom simulation, it is characterised in that：It is horizontal including the first side plate, the second side plate and connection
Beam, first side plate, second side plate combine to form I-shaped structure with the connecting cross beam, the I-shaped knot
One end of structure is second joint movable end, and the other end of the I-shaped structure is third joint motion end；
The second joint movable end include second joint driving portion and second joint follower, the second joint driving portion with
The second joint follower is loop configuration and its outer diameter is identical, the second joint driving portion and the second joint from
Dynamic portion is oppositely arranged and axis overlaps, and the inside of the second joint driving portion is equipped with the second axis driving element flange installation position,
The inside of the second joint follower is equipped with the second axle bearing installation position；
The third joint motion end include third joint drive portion and third joint follower, the third joint drive portion with
Third joint follower is loop configuration and its outer diameter is identical, the third joint drive portion and the third joint from
Dynamic portion is oppositely arranged and axis overlaps, and the inside in the third joint drive portion is equipped with third axis driving element flange installation position,
The inside of third joint follower is equipped with third axle bearing installation position.
2. the second armed lever of sixdegree-of-freedom simulation according to claim 1, which is characterized in that the connecting cross beam be from
The intermediate oval tubulose toward the gradual thickening in both sides.
3. the second armed lever of sixdegree-of-freedom simulation according to claim 2, which is characterized in that the connecting cross beam and institute
State the first side plate, the side of end that second side plate connects is the arc surface seamlessly transitted.
4. the second armed lever of sixdegree-of-freedom simulation according to claim 1, which is characterized in that the third joint motion
End is with the second joint movable end in axial arranged in parallel.
5. the second armed lever of sixdegree-of-freedom simulation according to claim 1, which is characterized in that the connecting cross beam and institute
It states and a plurality of reinforcing rib is connected between the first side plate, the second side plate, a plurality of reinforcing rib is along the port of the connecting cross beam
Radially arrange in scattering form.
6. the second armed lever of sixdegree-of-freedom simulation according to claim 1, which is characterized in that the I-shaped structure
It is made of high-strength aluminum alloy die casting one-pass molding.
7. the second armed lever of sixdegree-of-freedom simulation according to claim 1, which is characterized in that the second joint activity
End is equipped with second joint and aligns pin hole, and the second joint contraposition pin hole is arranged on the side of the second joint driving portion
Side.
8. the second armed lever of sixdegree-of-freedom simulation according to claim 1, which is characterized in that the third joint motion
End is equipped with third joint contraposition pin hole, and the third joint contraposition pin hole is arranged on the side in the third joint drive portion
Side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721112633.7U CN207480633U (en) | 2017-08-31 | 2017-08-31 | A kind of second armed lever of sixdegree-of-freedom simulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721112633.7U CN207480633U (en) | 2017-08-31 | 2017-08-31 | A kind of second armed lever of sixdegree-of-freedom simulation |
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| Publication Number | Publication Date |
|---|---|
| CN207480633U true CN207480633U (en) | 2018-06-12 |
Family
ID=62481250
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721112633.7U Active CN207480633U (en) | 2017-08-31 | 2017-08-31 | A kind of second armed lever of sixdegree-of-freedom simulation |
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| CN (1) | CN207480633U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818520A (en) * | 2018-09-13 | 2018-11-16 | 珠海格力电器股份有限公司 | Robot linking arm and robot with it |
-
2017
- 2017-08-31 CN CN201721112633.7U patent/CN207480633U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818520A (en) * | 2018-09-13 | 2018-11-16 | 珠海格力电器股份有限公司 | Robot linking arm and robot with it |
| CN108818520B (en) * | 2018-09-13 | 2023-10-03 | 珠海格力电器股份有限公司 | Robot connecting arm and robot with same |
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