CN207901199U - A kind of elbow joint of mechanical arm - Google Patents
A kind of elbow joint of mechanical arm Download PDFInfo
- Publication number
- CN207901199U CN207901199U CN201820039885.XU CN201820039885U CN207901199U CN 207901199 U CN207901199 U CN 207901199U CN 201820039885 U CN201820039885 U CN 201820039885U CN 207901199 U CN207901199 U CN 207901199U
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- CN
- China
- Prior art keywords
- chain
- belt translation
- elbow joint
- mechanical arm
- transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Transmission Devices (AREA)
- Manipulator (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
The utility model discloses a kind of elbow joint of mechanical arm, including large arm, forearm, drive component and transmission component, the large arm is connected with small arm swing, and the large arm is internally provided with mounting base；The drive component and transmission component are arranged inside mounting base；The transmission component includes perpendicular type planetary reduction gear, V belt translation and the chain drive being sequentially connected successively；The chain drive is connect with forearm.The elbow joint of the mechanical arm, by the combined driving of V belt translation and chain drive, structure is compacter, and layout is more reasonable, realizes freely swinging for elbow joint, and easily manufactured, at low cost.
Description
Technical field
The utility model is related to field of mechanical technique, more specifically to a kind of elbow joint of mechanical arm.
Background technology
The field that mechanical arm uses is more and more extensive, since existing mechanical arm is upper complicated in setting, not enough tightly
It gathers, and of high cost, so that mechanical arm, by great limitation, is constraining the development of mechanical arm using process, therefore,
Urgent need will design a kind of compact-sized, low cost, and it is closed in the elbow of the more flexible mechanical arm of elbow joint
Section.
Chinese patent literature（The day for announcing：On September 28th, 2011, notification number：CN 101913144B）Disclose a kind of machine
The mobile mechanical arm of people's technical field, including：Mobile platform and the mechanical arm being set on mobile platform and two-dimensional rotary cloud
Platform, the mechanical arm include：Waist joint, shoulder joint, large arm, elbow joint, forearm, wrist joint and paw, wherein：Waist joint connects
Connect shoulder joint, the both ends of large arm are connected with shoulder joint and elbow joint respectively, the both ends of forearm respectively with elbow joint and wrist joint
It is connected, paw is connected with carpal end.The utility model working space is extensive.Since manipulator is fixed on mobile platform
On, therefore mobile operation can be carried out, it is spatially unrestricted；2DOF visual performance with similar human eye, can be applicable in
In remote operation and control, it is also possible to carry out image information samples；The mechanism can realize six-axis linkage, and whole system
There are higher rigidity, attitude adjustment degree and reliability.
Above-mentioned technical proposal discloses a kind of mobile mechanical arm, wherein also include elbow joint, but the elbow joint uses
Be traditional design method.
Utility model content
It is not compact purpose of the utility model is to solve existing mechanical arm is complicated, it is of high cost the problems such as, and
A kind of smart structural design is provided, compact in design, manufacture installation is simple, at low cost, the elbow joint of more flexible mechanical arm.
Technical solution is used by the utility model realizes its first technical purpose：A kind of elbow joint of mechanical arm,
Including large arm, forearm, drive component and transmission component, the large arm is connected with small arm swing, setting inside the large arm
There is mounting base；The drive component and transmission component are arranged inside mounting base；The transmission component includes being driven successively
Perpendicular type planetary reduction gear, V belt translation and the chain drive of connection；The chain drive is connect with forearm.
The elbow joint of the mechanical arm carries out completely new design by the transmission component between large arm, forearm, by transmission group
Part is set as V belt translation and the combined driving of chain drive so that entire design structure is compacter, and layout is more reasonable, greatly
Setting mounting base makes total be integrated into large arm for installing the required driving device of elbow joint and transmission component inside arm
Inside ensures not interfering with its flexibility ratio when elbow joint acts.Freely swinging for elbow joint is realized, and easily manufactured,
It is at low cost.
Preferably, the perpendicular type planetary reduction gear is connect with drive component, the perpendicular type planetary reduction gear
On be provided with output shaft, the V belt translation is connected with exporting axis.
Preferably, the V belt translation includes level synchronization V belt translation and secondary synchronization V belt translation, the level-one is same
It is connected by transmission shaft driven between step V belt translation and secondary synchronization V belt translation, and level synchronization V belt translation axis and secondary synchronization
Belt tensioner pulley is respectively equipped on V belt translation.
Preferably, the chain drive includes chain, minor sprocket, big sprocket wheel, chain transmission axle and chain tension gear,
The minor sprocket is arranged on the transmission shaft of secondary synchronization V belt translation, and the big sprocket wheel is arranged in chain transmission axle, institute
Around being located on minor sprocket and big sprocket wheel, the chain tension gear is pressed on chain the chain stated, and forearm setting exists
In chain transmission axle.
Preferably, the chain transmission axle by bearing support in mounting base.
Preferably, the drive component is the motor with encoder and band-type brake.Such motor signal is transmitted more
Accurately, control is more convenient, and operation is safer.
The utility model has the beneficial effects that：The elbow joint of the mechanical arm passes through the combined type of V belt translation and chain drive
Transmission so that entire design structure is compacter, and layout is more reasonable, realizes freely swinging for elbow joint, and manufacturer
Just, at low cost.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the elbow joint of the utility model mechanical arm；
Fig. 2 is the elbow joint drive component of the utility model mechanical arm and a kind of structural schematic diagram of transmission component；
Fig. 3 is the structural schematic diagram of the elbow joint drive component and another angle of transmission component of the utility model mechanical arm；
Fig. 4 is a kind of sectional view of the elbow joint large arm of the utility model mechanical arm；
Fig. 5 is A-A sectional views in Fig. 4；
Fig. 6 is the partial enlarged view in Fig. 5；
In figure：1, large arm, 2, mounting base, 3, forearm, 4, drive component, 5, transmission component, 6, perpendicular type planetary reduction gear,
7, V belt translation, 8, chain drive, 9, output shaft, 10, level synchronization V belt translation, 11, secondary synchronization V belt translation, 12, transmission shaft,
13, belt tensioner pulley, 14, chain, 15, minor sprocket, 16, big sprocket wheel, 17, chain transmission axle, 18, chain tension gear, 24, bearing.
Specific implementation mode
It is described in further detail below by specific embodiment and in conjunction with attached drawing to the technical solution of the utility model.
Embodiment 1：
In Fig. 1, Fig. 2, embodiment shown in Fig. 3, a kind of elbow joint of mechanical arm, including large arm 1, forearm 3, driving group
Part 4 and transmission component 5, large arm 1 and forearm 3 swing connection, and large arm 1 is internally provided with mounting base 2；Drive component 4 and transmission group
Part 5 is arranged inside mounting base 2；Transmission component 5 includes perpendicular type planetary reduction gear 6, V belt translation 7 and the chain being sequentially connected successively
Item transmission 8；Chain drive 8 is connect with forearm 3.
Drive component 4 is the motor with encoder and band-type brake.
Perpendicular type planetary reduction gear 6 is connect with drive component 4, and output shaft 9, band are provided on perpendicular type planetary reduction gear 6
Transmission 7 is connect with output shaft 9.
If Fig. 4, Fig. 5, Fig. 6 V belt translation 7 includes level synchronization V belt translation 10 and secondary synchronization V belt translation 11, level synchronization band
It is sequentially connected by transmission shaft 12 between transmission 10 and secondary synchronization V belt translation 11, and level synchronization V belt translation 10 and two level are same
It is respectively equipped with belt tensioner pulley 13 on step V belt translation 11.
Chain drive 8 includes chain 14, minor sprocket 15, big sprocket wheel 16, chain transmission axle 17 and chain tension gear 18, chainlet
Wheel 15 is arranged on the transmission shaft of secondary synchronization V belt translation 11, and big sprocket wheel 16 is arranged in chain transmission axle 17,14 winding of chain
On minor sprocket 15 and big sprocket wheel 16, chain tension gear 18 is pressed on chain 14, and forearm 3 is arranged in chain transmission axle 17.
Chain transmission axle 17 is supported on by bearing 24 in mounting base 2.
The method of operating of the elbow joint of the mechanical arm, includes the following steps：
Step 1：Start motor, motor drives right angle planetary reduction gear to act and outputs power by output shaft；
Step 2：Right angle planetary reduction gear drives the level synchronization V belt translation action being connected with exporting axis, level synchronization band to pass
Dynamic to deliver power to secondary synchronization V belt translation by transmission shaft, secondary synchronization V belt translation transfers power to three by transmission shaft
Grade chain drive；
Step 3：Power is transmitted to big sprocket wheel by three-level chain drive by minor sprocket, chain, and big sprocket wheel drives thereon
Chain transmission axle drives small arm swing in turn.
The elbow joint of the mechanical arm, including large arm 1, forearm 3 and drive component 4 and transmission component 5.Large arm 1, inside include
Mounting base 2, elbow joint drive component and transmission component are mounted on inside mounting base.
Drive component 4 selects the motor with encoder and band-type brake, power is passed to perpendicular type planetary reduction gear 6, then pass to
Level synchronization V belt translation 10, then secondary synchronization V belt translation 11 is passed to by transmission shaft, then pass to three-level chain biography by passing to axis
Dynamic 8, to drive forearm 3 to swing, realize the driving of elbow joint.
Level synchronization V belt translation and secondary synchronization V belt translation are equipped with belt tensioner pulley, and chain drive 8 is equipped with chain tension
Wheel.
The elbow joint of the mechanical arm realizes elbow joint swing, smart structural design, compact in design, manufacture view, installation
Simply, at low cost.
Claims (6)
1. a kind of elbow joint of mechanical arm, it is characterised in that：Including large arm（1）, forearm（3）, drive component（4）And transmission component
（5）, the large arm（1）And forearm（3）Swing connection, the large arm（1）It is internally provided with mounting base（2）；The drive
Dynamic component（4）And transmission component（5）It is arranged in mounting base（2）It is internal；The transmission component（5）Including what is be sequentially connected successively
Perpendicular type planetary reduction gear（6）, V belt translation（7）And chain drive（8）；The chain drive（8）With forearm（3）Connection.
2. a kind of elbow joint of mechanical arm according to claim 1, it is characterised in that：The perpendicular type planetary reduction gear
（6）With drive component（4）Connection, the perpendicular type planetary reduction gear（6）On be provided with output shaft（9）, the V belt translation
（7）With output shaft（9）Connection.
3. a kind of elbow joint of mechanical arm according to claim 2, it is characterised in that：The V belt translation（7）Including one
Grade toothed belt transmission（10）With secondary synchronization V belt translation（11）, the level synchronization V belt translation（10）With secondary synchronization V belt translation
（11）Between pass through transmission shaft（12）It is sequentially connected, and level synchronization V belt translation（10）With secondary synchronization V belt translation（11）Upper point
It She You not belt tensioner pulley（13）.
4. a kind of elbow joint of mechanical arm according to claim 3, it is characterised in that：The chain drive（8）Including
Chain（14）, minor sprocket（15）, big sprocket wheel（16）, chain transmission axle（17）And chain tension gear（18）, the minor sprocket
（15）It is arranged in secondary synchronization V belt translation（11）Transmission shaft on, the big sprocket wheel（16）It is arranged in chain transmission axle（17）
On, the chain（14）Around being located at minor sprocket（15）And big sprocket wheel（16）On, the chain tension gear（18）It is pressed on chain
Item（14）On, the forearm（3）It is arranged in chain transmission axle（17）On.
5. a kind of elbow joint of mechanical arm according to claim 4, it is characterised in that：The chain transmission axle（17）It is logical
Cross bearing（24）It is supported in mounting base.
6. a kind of elbow joint of mechanical arm according to claim 1 to 5 any one, it is characterised in that：Drive component（4）
For the motor with encoder and band-type brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820039885.XU CN207901199U (en) | 2018-01-10 | 2018-01-10 | A kind of elbow joint of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820039885.XU CN207901199U (en) | 2018-01-10 | 2018-01-10 | A kind of elbow joint of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207901199U true CN207901199U (en) | 2018-09-25 |
Family
ID=63567142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820039885.XU Expired - Fee Related CN207901199U (en) | 2018-01-10 | 2018-01-10 | A kind of elbow joint of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207901199U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046636A (en) * | 2020-08-26 | 2020-12-08 | 深圳市优必选科技股份有限公司 | Leg mechanism and multi-legged robot |
-
2018
- 2018-01-10 CN CN201820039885.XU patent/CN207901199U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046636A (en) * | 2020-08-26 | 2020-12-08 | 深圳市优必选科技股份有限公司 | Leg mechanism and multi-legged robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180925 Termination date: 20210110 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |