CN207807739U - A kind of light-duty Multi-shaft mechanical arm - Google Patents
A kind of light-duty Multi-shaft mechanical arm Download PDFInfo
- Publication number
- CN207807739U CN207807739U CN201721747867.9U CN201721747867U CN207807739U CN 207807739 U CN207807739 U CN 207807739U CN 201721747867 U CN201721747867 U CN 201721747867U CN 207807739 U CN207807739 U CN 207807739U
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- forearm
- principal arm
- rotary joint
- joint
- driving device
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Abstract
The utility model discloses a kind of light-duty Multi-shaft mechanical arms, including pedestal, shoulder mounting base, principal arm and forearm, shoulder mounting base is rotatablely connected with pedestal, principal arm is rotatablely connected with shoulder mounting base, forearm is rotatablely connected with principal arm, forearm is equipped with end mounting flange and wrist swinging joint, end mounting flange is installed in wrist swinging joint, forearm rotary joint driving device is equipped in the middle part of principal arm, it is connected by forearm rotary joint between principal arm and forearm, it is sequentially connected between forearm rotary joint driving device and forearm, wrist oscillatory gearing mechanism and end flange rotating driving device are equipped in the middle part of forearm, wrist oscillatory gearing mechanism is sequentially connected with wrist swinging joint, end flange rotating driving device is sequentially connected with end mounting flange.The operation stability of Multi-shaft mechanical arm can be improved in the utility model, and can reduce cost, maintains easily.
Description
Technical field
The utility model is related to a kind of industrial automation equipments, more specifically, it relates to a kind of light-duty Multi-shaft mechanical arm.
Background technology
Mechanical arm is one kind of industrial robot, it is by operation machine, controller, servo drive system and detection sensing device
It constitutes, is a kind of apery operation, automatically controls, repeat programming, the automated production of several work can be completed in three dimensions
Equipment.Production efficiency can be greatly improved in mechanical arm, stabilize and increase product quality, improve worker's working condition, improve industry
Production mechanization and the degree of automation, in extraordinary temperature, high pressure, more dust, high noisy and field with radioactivity and pollution
It closes, mechanical arm is even more that can play very big effect, can be replaced severe into dangerous, harmful, toxic, low temperature and high fever etc. is engaged in
Heavy, the dull duplication of labour is completed in work in environment, using extremely wide in the production links such as welding, spray painting, carrying.It is existing
Some tradition machinery arm configurations, motor is all mounted on joint, although this structure simple and compact, applies in multi-joint machinery
When in arm, the weight of motor itself becomes a part for cantilever dead weight, and the load in subordinate joint is made to steeply rise, while increasing outstanding
The inertia of arm, makes operation stability reduce.In addition, Multi-shaft mechanical arm on the market mostly uses motor+RV retarders or humorous at present
The mode of wave retarder is driven, and cost is higher.The invention of Publication No. CN105215986A disclosed one on January 6th, 2016
Kind of multi-spindle machining hand, including rotating seat and be sequentially connected to rotating seat second and third, four, five and six transmission mechanisms, second passes
Motivation structure includes robot's arm and the second servo motor, and third transmission mechanism includes arm in large arm pipe, the first robot,
Arm, third servo motor and the second retarder in two robots, the 4th transmission mechanism include middle arm pipe, the 4th servo motor and
Third speed reducer, the 5th transmission mechanism include the first robot forearm, installation cavity, the second robot forearm, the 5th servo motor
With the 4th speed reducer, the 6th transmission mechanism includes rotary flange, the 6th servo motor and the 5th speed reducer.The utility model uses
The drive mechanism of the dedicated RV series reductions of servo motor cooperation robot of high-quality, realizes high-precision, efficient machine
Tool is driven, and easy to operate, compact-sized, parts are few, and failure rate is low, has good ambient adaptability, is ensured precision and is used to
Amount.But the multi-spindle machining hand is also as described above, and motor is all mounted on joint, easily steeply rises the load in subordinate joint, together
The inertia of Shi Zengjia cantilevers, makes operation stability reduce.
Utility model content
In existing Multi-shaft mechanical arm, motor is generally all mounted on joint, easily steeply rises the load in subordinate joint,
The inertia for increasing cantilever simultaneously, makes operation stability reduce, to overcome this defect, the utility model, which provides one kind, to be mitigated
Subordinate's joint load reduces cantilever inertia, improves the light-duty Multi-shaft mechanical arm of operation stability.
The technical solution of the utility model is：A kind of light-duty Multi-shaft mechanical arm, including pedestal, shoulder mounting base, principal arm and
Forearm, shoulder mounting base are rotatablely connected with pedestal, and principal arm is rotatablely connected with shoulder mounting base, and forearm is rotatablely connected with principal arm, preceding
Arm is equipped with end mounting flange and wrist swinging joint, and end mounting flange is installed in wrist swinging joint, in the middle part of principal arm
It equipped with forearm rotary joint driving device, is connected by forearm rotary joint between principal arm and forearm, forearm rotary joint driving dress
It sets and is sequentially connected between forearm, wrist oscillatory gearing mechanism and end flange rotating driving device, wrist pendulum are equipped in the middle part of forearm
Dynamic driving device is sequentially connected with wrist swinging joint, and end flange rotating driving device is sequentially connected with end mounting flange.
Forearm rotary joint driving device can drive forearm to be moved relative to principal arm, and wrist oscillatory gearing mechanism drives wrist swinging joint
It is moved relative to forearm, end flange rotating driving device drives end mounting flange to be moved relative to wrist swinging joint.Before
Arm rotary joint driving device, wrist oscillatory gearing mechanism, end flange rotating driving device are all not installed at joint, therefore
The defect of existing conventional multi-spindle machining arm configuration can be overcome, therefore subordinate's joint load can be mitigated, cantilever inertia is reduced, improve fortune
Row stability.
Preferably, shoulder mounting base includes mounting base main body, rotary joint, rotary joint driving device, shoulder joint drive
Dynamic device and principal arm rotary joint, mounting base main body are connect by rotary joint with pedestal, and principal arm is connected by principal arm rotary joint
It is connected in mounting base main body, rotary joint driving device, shoulder joint driving device are fixedly arranged in mounting base main body, and rotary joint drives
Dynamic device is sequentially connected with rotary joint, is connected with shoulder sprocket wheel on rotary joint, shoulder sprocket coaxiality is fixedly attached to rotation
Outside joint, shoulder sprocket wheel, rotary joint are both secured on pedestal, and mounting base main body is rotatablely connected with rotary joint, rotary joint
The output end of driving device is connected with drive sprocket, and drive sprocket is connect with shoulder sprocket wheel by driving chain.This light-duty multiaxis machine
The pedestal of tool arm can be directly anchored to ground, could be secured in other racks.Under the driving of rotary joint driving device, shoulder
Mounting base, principal arm and forearm can surround movement of the rotary joint work relative to pedestal；Under the driving of shoulder joint driving device, principal arm
Movement of the principal arm rotary joint work relative to shoulder mounting base can be surrounded with forearm.
Preferably, principal arm rotary joint is rotatably connected in shoulder mounting base, it is fixedly connected on principal arm rotary joint
Principal arm sprocket wheel, principal arm sprocket wheel are connected on principal arm, and the output end of shoulder joint driving device is connected with driving synchronous pulley, and driving synchronizes
Belt wheel is rotatably connected on by being driven one principal arm driving wheel of band connection, principal arm driving wheel in mounting base main body, principal arm driving wheel
Shaft is equipped with a principal arm drive sprocket, and principal arm driving wheel is sequentially connected with principal arm drive sprocket, principal arm drive sprocket and master
Arm sprocket wheel is connected by driving chain.It is arranged through this structure, it can simple drive mechanism realization shoulder joint driving dress
The driving to principal arm is set, this multi-spindle machining arm configuration is simplified, reduces cost.
It is fixedly connected with forearm driven chain preferably, being rotatably connected on forearm rotary joint on forearm rotary joint
Wheel, principal arm end are installed with joint block set, and forearm rotary joint is connected on forearm and is rotatably connected in the block set of joint, forearm
Rotary joint driving device is connect by secondary synchronization tape handler with a forearm drive sprocket, and the rotation of forearm drive sprocket connects
It is connected on principal arm, forearm drive sprocket is connect with forearm driven sprocket by driving chain.Pass through secondary synchronization tape handler
Transmission, forearm rotary joint driving device can remotely drive forearm drive sprocket, forearm rotary joint from forearm end
The load torque relative to principal arm rotary joint that driving device itself generates is relatively smaller, meanwhile, secondary synchronization V belt translation machine
Structure can fully be slowed down, and ideal movement velocity is obtained.It is opposite with secondary synchronization tape handler and the substitution of level-one chain drive
Expensive RV retarders or harmonic speed reducer, advantageously reduces cost and use, maintenance cost.
Preferably, forearm is equipped with wrist mounting base, wrist mounting base is located at forearm free end, and wrist swinging joint turns
Dynamic to be connected in wrist mounting base, end mounting flange is located in wrist swinging joint, and wrist oscillatory gearing mechanism passes through synchronization
Tape handler is connect with wrist swinging joint, and end flange rotating driving device passes through toothed belt transmission with end mounting flange
Mechanism is connected with bevel gear transmission.Wrist oscillatory gearing mechanism, end flange rotating driving device pass through toothed belt transmission
Mechanism can remotely respectively drive wrist swinging joint, end mounting flange in abscission joint.
Preferably, the bevel gear transmission includes prime bevel gear and rear class bevel gear, the rotation of prime bevel gear
It is connected in wrist swinging joint, for prime bevel gear with end flange rotating driving device by synchronous band connection, rear class bores tooth
Wheel is rotatably connected in wrist mounting base and is engaged with prime bevel gear, and end mounting flange is fixed on rear class bevel gear.It is logical
The bevel gear transmission is crossed, the final torque on the mounting flange of end can be made to export and realize direction conversion, enhance mechanical arm work
Make efficiency.
Preferably, rotary joint driving device, shoulder joint driving device and forearm rotary joint driving device are band
There is the stepper motor of planetary reduction gear and rotary encoder.Step motor control precision is high, is suitble to short distance frequent movement
It is precisely controlled, buying and use cost are relatively low, preferable economical in conjunction with having after same lower-cost planetary reduction gear
Property, compared with the Multi-shaft mechanical arm for using servo motor, harmonic speed reducer, RV retarders at present, cost is considerably lower.
Preferably, being equipped with protection shell on pedestal, shoulder mounting base, principal arm and forearm.Protect shell can be to each group
At the power plant and transmission mechanism formation effective protection on part, the hard damage contingency occurrence probability of machinery is reduced.
The utility model has the beneficial effects that：
Improve operation stability.The driving device of each active segment is all not installed at joint in the utility model, therefore can
Mitigate subordinate's joint load, cantilever inertia is reduced, to improve the overall operation stability of mechanical arm.
Cost is reduced, is maintained easily.The utility model uses relatively easy, economical driving device and drive mechanism, tool
There are better economy and maintainability.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram at another visual angle of the utility model；
Fig. 3 is a kind of structural schematic diagram of wrist mounting base in the utility model；
Fig. 4 is that the utility model removes a kind of structural schematic diagram after protection shell；
Fig. 5 is that the utility model removes another structural schematic diagram after protection shell；
Fig. 6 is a kind of structural schematic diagram of bevel gear transmission in the utility model；
Fig. 7 is a kind of structural schematic diagram of balance mechanism in the utility model；
Fig. 8 is a kind of structural schematic diagram of secondary synchronization tape handler in the utility model.
In figure, 1- pedestals, 2- shoulder mounting bases, 3- principal arms, 4- forearms, 5- wrist mounting bases, the ends 6- mounting flange, 7-
Rotary joint, 8- rotary joint driving devices, 9- shoulder joint driving devices, 10- principal arm rotary joints, 11- forearm rotary joints
Driving device, 12- forearm rotary joints, 13- wrist oscillatory gearing mechanisms, 14- end flange rotating driving devices, 15- wrists
Swinging joint, 16- prime bevel gears, 17- balance mechanisms, 18- rear class bevel gears, 19- mounting base main bodys, 20- shoulder sprocket wheels,
21- drawstrings, 22- pull rods, 23- principal arm driving wheels, 24- principal arm sprocket wheels, 25- principal arm drive sprockets, 26- drive synchronous pulley, 27-
Forearm driven sprocket, the joints 28- block set, 29- forearm drive sprockets, 30- forearm drive coordination belt wheels, 31- disc springs, 32- first
Pulley, 33- second pulleys, 34- pulley blocks, 35- disc spring mounting bases, 36- sliding shoes, 37- starting points, 38- forearm active synchronization bands
Wheel, 39- mid-ambles belt wheels,.
Specific implementation mode
The utility model is described in further detail for specific embodiment below in conjunction with the accompanying drawings.
Embodiment：
As shown in Figures 1 to 8, a kind of light-duty Multi-shaft mechanical arm, including pedestal 1, shoulder mounting base 2, principal arm 3 and forearm 4,
Pedestal 1 is directly anchored in ground or other racks, and shoulder mounting base 2 is rotatablely connected with pedestal 1, principal arm 3 and shoulder mounting base 2
Rotation connection, forearm 4 are rotatablely connected with principal arm 3, and forearm 4 swings equipped with wrist mounting base 5, end mounting flange 6, wrist and drives
Dynamic device 13, end flange rotating driving device 14 and wrist swinging joint 15, end mounting flange are installed on wrist and swing pass
On section 15,4 middle part of forearm is equipped with forearm rotary joint driving device 11, and forearm rotary joint driving device 11 is located at 4 frame of forearm
Inside frame, is connected by forearm rotary joint 12 between principal arm 3 and forearm 4, passed between forearm rotary joint driving device 11 and forearm 4
Dynamic connection, 3 middle part of principal arm are equipped with wrist oscillatory gearing mechanism 13 and end flange rotating driving device 14, wrist wobble drive dress
It sets 13 to be sequentially connected with wrist swinging joint 15, end flange rotating driving device 14 is sequentially connected with end mounting flange 6.Shoulder
Portion's mounting base 2 includes mounting base main body 19, rotary joint 7, rotary joint driving device 8, shoulder joint driving device 9 and principal arm rotation
Turn joint 10, mounting base main body 19 is connect by rotary joint 7 with pedestal 1, and principal arm 3 is connected to peace by principal arm rotary joint 10
It fills in seat main body 19, rotary joint driving device 8, shoulder joint driving device 9 are fixedly arranged in mounting base main body 19, and rotary joint drives
Dynamic device 8 is sequentially connected with rotary joint 7, is connected with shoulder sprocket wheel 20 on rotary joint 7, shoulder sprocket wheel 20 is coaxially fixedly attached
Outside rotary joint 7, shoulder sprocket wheel 20, rotary joint 7 are both secured on pedestal 1, and mounting base main body 19 passes through with rotary joint 7
Bearing is rotatablely connected, and the output end of rotary joint driving device 8 is connected with drive sprocket, and drive sprocket passes through biography with shoulder sprocket wheel 20
Dynamic chain connection, shoulder joint driving device 9 are sequentially connected with principal arm rotary joint 10.It is additionally provided with balancing machine in mounting base main body 19
Structure 17.Balance mechanism 17 is additionally provided in mounting base main body 19, balance mechanism 17 includes a pair of of disc spring 31, first pulley 32, second
Pulley 33, pulley blocks 34, disc spring mounting base 35, sliding shoe 36, a pair of of guide post, drawstring 21, disc spring mounting base 35 by screw with
Mounting base main body 19 is connected；Guide post is connected by screw and disc spring mounting base 35, and disc spring 31 is sleeved on guide post.The two of sliding shoe 36
Plastic bearing is installed in a endoporus, sliding shoe 36 is facilitated to be slided on guide post.First pulley 32 is connected with sliding shoe 36；Second
Pulley 33 is connected with disc spring mounting base 35；Pulley blocks 34 are connected with mounting base main body 19.The starting point 37 of drawstring 21 is installed with disc spring
Seat 35 is connected, and then by first pulley 32, is pierced by from the hole in disc spring mounting base 35, then by second pulley 33, then leads to
Pulley blocks 34 are crossed, last end is connected on a pull rod 22, and pull rod 22 is connected with principal arm rotary joint 10.Principal arm rotary joint 10
It is rotatably connected in shoulder mounting base 2, principal arm sprocket wheel 24 is fixedly connected on principal arm rotary joint 10, principal arm sprocket wheel 24 is connected in
On principal arm 3, the output end of shoulder joint driving device 9 is connected with driving synchronous pulley 26, and driving synchronous pulley 26 is connected by transmission belt
A principal arm driving wheel 23 is connect, principal arm driving wheel 23 is rotatably connected in mounting base main body 19, is set in the shaft of principal arm driving wheel 23
There is a principal arm drive sprocket 25, and principal arm driving wheel 23 is sequentially connected with principal arm drive sprocket 25, principal arm drive sprocket 25 and master
Arm sprocket wheel 24 is connected by driving chain.Forearm driven sprocket 27 is fixedly connected on forearm rotary joint 12,3 end of principal arm is solid
Equipped with joint block set 28, forearm rotary joint 12 is connected on forearm 4 and is rotatably connected in joint block set 28, and forearm rotation is closed
Section driving device 11 is connect by secondary synchronization tape handler with a forearm drive sprocket 29, and the rotation of forearm drive sprocket 29 connects
It is connected on principal arm 3, forearm drive sprocket 29 is connect with forearm driven sprocket 27 by driving chain.The secondary synchronization V belt translation
Mechanism includes forearm active synchronization belt wheel 38, mid-ambles belt wheel 39 and forearm drive coordination belt wheel 30, forearm active synchronization band
Wheel 38 and the output end of forearm rotary joint driving device 11 are keyed, forearm active synchronization belt wheel 38 and mid-ambles belt wheel 39
Between, mid-ambles belt wheel 39 between forearm drive coordination belt wheel 30 by synchronous band connection, forearm drive coordination belt wheel 30 with
Forearm drive sprocket 29 is fixed on same axis.Wrist mounting base 5 is located at 4 free end of forearm, and wrist swinging joint 15 is located at
In wrist mounting base 5, wrist swinging joint 15 is rotatably connected in wrist mounting base 5, and end mounting flange 6 is located at wrist swing
On joint 15, wrist oscillatory gearing mechanism 13 is connect by synchronous belt drive mechanism with wrist swinging joint 15, end flange rotation
Rotary driving device 14 is connect with end mounting flange 6 by synchronous belt drive mechanism and bevel gear transmission.The bevel gear
Transmission mechanism includes prime bevel gear 16 and rear class bevel gear 18, and prime bevel gear 16 is rotatably connected on wrist swinging joint 15
On, with end flange rotating driving device 14 by synchronous band connection, rear class bevel gear 18 is rotatably connected on prime bevel gear 16
It is engaged in wrist mounting base 5 and with prime bevel gear 16, end mounting flange 6 is fixed on rear class bevel gear 18.Rotary joint
Driving device 8, shoulder joint driving device 9, forearm rotary joint driving device 11, wrist oscillatory gearing mechanism 13 and end flange
Rotating driving device 14 is the stepper motor with planetary reduction gear and rotary encoder.Pedestal 1, shoulder mounting base 2, principal arm
3 and forearm 4 on be equipped with protection shell.
Rotary joint driving device 8 driving under, shoulder mounting base, principal arm and forearm can surround rotary joint make relative to
The movement of pedestal；Under the driving of shoulder joint driving device, principal arm and forearm can surround principal arm rotary joint and make to pacify relative to shoulder
Fill the movement of seat.Forearm rotary joint driving device 11 can drive forearm 4 to be moved relative to principal arm 3, wrist oscillatory gearing mechanism
13 driving wrist swinging joints 15 are rotated relative to forearm 4, and end flange rotating driving device 14 drives 6 phase of end mounting flange
Wrist swinging joint 15 is rotated.Forearm rotary joint driving device 11, wrist oscillatory gearing mechanism 13, end flange rotation
Driving device 14 is all not installed at joint, therefore can overcome the defect of existing conventional multi-spindle machining arm configuration, therefore can mitigate
Subordinate's joint load reduces cantilever inertia, improves operation stability.
Claims (8)
1. a kind of light-duty Multi-shaft mechanical arm, including pedestal（1）, shoulder mounting base（2）, principal arm（3）And forearm（4）, shoulder installation
Seat（2）With pedestal（1）Rotation connection, principal arm（3）With shoulder mounting base（2）Rotation connection, forearm（4）With principal arm（3）Rotation connects
It connects, forearm（4）It is equipped with end mounting flange（6）With wrist swinging joint（15）, end mounting flange be installed on wrist swing
On joint, it is characterized in that principal arm（3）Middle part is equipped with forearm rotary joint driving device（11）, principal arm（3）With forearm（4）Between pass through
Forearm rotary joint（12）Connection, forearm rotary joint driving device（11）With forearm（4）Between be sequentially connected, forearm（4）Middle part
Equipped with wrist oscillatory gearing mechanism（13）With end flange rotating driving device（14）, wrist oscillatory gearing mechanism（13）With wrist
Swinging joint（15）It is sequentially connected, end flange rotating driving device（14）With end mounting flange（6）It is sequentially connected, shoulder joint
Driving device（9）With principal arm rotary joint（10）It is sequentially connected.
2. light-duty Multi-shaft mechanical arm according to claim 1, it is characterized in that shoulder mounting base（2）Including mounting base main body
（19）, rotary joint（7）, rotary joint driving device（8）, shoulder joint driving device（9）With principal arm rotary joint（10）, installation
Seat main body（19）Pass through rotary joint（7）With pedestal（1）Connection, principal arm（3）Pass through principal arm rotary joint（10）It is connected to installation
Seat main body（19）On, rotary joint driving device（8）, shoulder joint driving device（9）It is fixedly arranged on mounting base main body（19）On, rotation
Articulated driving equipment（8）With rotary joint（7）It is sequentially connected, rotary joint（7）On be connected with shoulder sprocket wheel（20）, shoulder sprocket wheel
（20）Coaxially it is fixedly attached to rotary joint（7）Outside, shoulder sprocket wheel（20）, rotary joint（7）It is both secured to pedestal（1）On, peace
Fill seat main body（19）With rotary joint（7）Rotation connection, rotary joint driving device（8）Output end be connected with drive sprocket, drive
Movable sprocket and shoulder sprocket wheel（20）It is connected by driving chain.
3. light-duty Multi-shaft mechanical arm according to claim 1, it is characterized in that principal arm rotary joint（10）It is rotatably connected on shoulder
Portion's mounting base（2）On, principal arm rotary joint（10）On be fixedly connected with principal arm sprocket wheel（24）, principal arm sprocket wheel（24）It is connected in principal arm
（3）On, shoulder joint driving device（9）Output end be connected with driving synchronous pulley（26）, drive synchronous pulley（26）Pass through transmission
One principal arm driving wheel of band connection（23）, principal arm driving wheel（23）It is rotatably connected on mounting base main body（19）On, principal arm driving wheel
（23）Shaft be equipped with a principal arm drive sprocket（25）, and principal arm driving wheel（23）With principal arm drive sprocket（25）Transmission connects
It connects, principal arm drive sprocket（25）With principal arm sprocket wheel（24）It is connected by driving chain.
4. light-duty Multi-shaft mechanical arm according to claim 1, it is characterized in that forearm rotary joint（12）On be fixedly connected with
Forearm driven sprocket（27）, principal arm（3）End is installed with joint block set（28）, forearm rotary joint（12）It is connected in forearm（4）
It goes up and is rotatably connected on joint block set（28）On, forearm rotary joint driving device（11）By secondary synchronization tape handler with
One forearm drive sprocket（29）Connection, forearm drive sprocket（29）It is rotatably connected on principal arm（3）On, forearm drive sprocket（29）With
Forearm driven sprocket（27）It is connected by driving chain.
5. light-duty Multi-shaft mechanical arm according to claim 1, it is characterized in that forearm（4）It is equipped with wrist mounting base（5）, wrist
Portion's mounting base（5）Positioned at forearm（4）Free end, wrist swinging joint（15）Positioned at wrist mounting base（5）On, wrist swinging joint
（15）It is rotatably connected on wrist mounting base（5）On, end mounting flange（6）Positioned at wrist swinging joint（15）On, wrist is swung
Driving device（13）Pass through synchronous belt drive mechanism and wrist swinging joint（15）Connection, end flange rotating driving device（14）
With end mounting flange（6）It is connected with bevel gear transmission by synchronous belt drive mechanism.
6. light-duty Multi-shaft mechanical arm according to claim 5, it is characterized in that the bevel gear transmission includes prime cone
Gear（16）With rear class bevel gear（18）, prime bevel gear（16）It is rotatably connected on wrist swinging joint（15）On, prime bores tooth
Wheel（16）With end flange rotating driving device（14）Pass through synchronous band connection, rear class bevel gear（18）It is rotatably connected on wrist peace
Fill seat（5）It is upper and with prime bevel gear（16）Engagement, end mounting flange（6）It is fixed on rear class bevel gear（18）On.
7. light-duty Multi-shaft mechanical arm according to claim 1, it is characterized in that rotary joint driving device（8）, shoulder joint drive
Dynamic device（9）With forearm rotary joint driving device（11）It is the stepper motor with planetary reduction gear and rotary encoder.
8. light-duty Multi-shaft mechanical arm according to any one of claim 1 to 7, it is characterized in that pedestal（1）, shoulder mounting base
（2）, principal arm（3）And forearm（4）On be equipped with protection shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721747867.9U CN207807739U (en) | 2017-12-14 | 2017-12-14 | A kind of light-duty Multi-shaft mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721747867.9U CN207807739U (en) | 2017-12-14 | 2017-12-14 | A kind of light-duty Multi-shaft mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207807739U true CN207807739U (en) | 2018-09-04 |
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ID=63331539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721747867.9U Expired - Fee Related CN207807739U (en) | 2017-12-14 | 2017-12-14 | A kind of light-duty Multi-shaft mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207807739U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972021A (en) * | 2017-12-14 | 2018-05-01 | 杭州娃哈哈精密机械有限公司 | A kind of Multi-shaft mechanical arm |
| CN109591048A (en) * | 2019-01-31 | 2019-04-09 | 浙江钱江机器人有限公司 | A kind of wrist joint structure of robot |
-
2017
- 2017-12-14 CN CN201721747867.9U patent/CN207807739U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972021A (en) * | 2017-12-14 | 2018-05-01 | 杭州娃哈哈精密机械有限公司 | A kind of Multi-shaft mechanical arm |
| CN109591048A (en) * | 2019-01-31 | 2019-04-09 | 浙江钱江机器人有限公司 | A kind of wrist joint structure of robot |
| CN109591048B (en) * | 2019-01-31 | 2024-02-20 | 浙江钱江机器人有限公司 | Wrist joint structure of robot |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180904 Termination date: 20211214 |
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| CF01 | Termination of patent right due to non-payment of annual fee |