CN208117831U - A kind of mechanical arm and robot - Google Patents
A kind of mechanical arm and robot Download PDFInfo
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- CN208117831U CN208117831U CN201820497438.9U CN201820497438U CN208117831U CN 208117831 U CN208117831 U CN 208117831U CN 201820497438 U CN201820497438 U CN 201820497438U CN 208117831 U CN208117831 U CN 208117831U
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- joint arm
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- 230000001360 synchronised Effects 0.000 claims abstract description 165
- 229920001971 elastomer Polymers 0.000 claims description 4
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract 2
- 239000007787 solid Substances 0.000 description 7
- 230000004048 modification Effects 0.000 description 3
- 238000006011 modification reaction Methods 0.000 description 3
- 230000000875 corresponding Effects 0.000 description 2
- JOYRKODLDBILNP-UHFFFAOYSA-N ethyl urethane Chemical compound CCOC(N)=O JOYRKODLDBILNP-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Abstract
The utility model discloses a kind of mechanical arm and a kind of robots, including at least three joint arms；It is connected between adjacent joint arm by rotating assembly, there is the first and second synchronous pulley on rotating assembly, first synchronous pulley and previous stage joint arm are relatively fixed, second synchronous pulley and rear stage joint arm are relatively fixed, in each joint arm, with the first synchronous pulley and its with the second synchronous pulley pass through synchronous band connection；The first end of head end joint arm has third synchronous pulley and a driving device, and third synchronous pulley and passes through synchronous band connection between relatively-stationary second synchronous pulley of first end of the rear stage joint arm of head end joint arm second end connection；The second end of end joint arm has installation axle and the 4th synchronous pulley, and the 4th synchronous pulley is fixedly connected between relatively-stationary first synchronous pulley of the first end of the previous stage joint arm of end joint arm with installation rotating assembly through synchronous band connection.Structure is complicated, not easy to operate when solving the problems, such as in the prior art using interlocking mechanism arm.
Description
Technical field
The utility model relates to automation field, in particular to a kind of mechanical arm and robot.
Background technique
With the development of science and technology, mechanical arm more and more obtains the application of people.
A kind of robot suitable for long and narrow tunnel automatic obstacle avoiding of the prior art as shown in Fig. 1, is related to one kind
The two of car body are arranged in mechanical arm, including camera 10, mechanical arm 11, movable motor 12, traveling crawler 13, traveling crawler 13
Side, mechanical arm 11 is arranged on the car body, and camera 10 is set in the end joint arm of mechanical arm 11.
Mechanical arm 11 includes that more piece joint arm in order to realize to the driving of joint arm each in mechanical arm, is generally adopted in the prior art
It carries out in two ways, one is be respectively arranged with a driving motor between every two adjacent section section arms and driven, separately
One is being driven by the way of the linkage of each joint arm, still, the driving motor for needing to use in first way compares
More, the cost of entire mechanical arm is relatively high；It is more multiple for realizing the structure to link between each joint arm in the second way
It is miscellaneous also, not easy to operate.
Utility model content
The utility model provides a kind of mechanical arm and robot, to solve in the prior art using knot when interlocking mechanism arm
Complicated, the not easy to operate problem of structure.
The utility model embodiment provides a kind of mechanical arm, which includes at least three joint arms and fixed plate；Wherein：
It is rotatablely connected between per two adjacent section section arms by rotating assembly, and it is same that first is provided on the rotating assembly
Belt wheel and the second synchronous pulley are walked, first synchronous pulley and the second end of previous stage joint arm are relatively fixed, and described second is same
It walks belt wheel and the first end of rear stage joint arm is relatively fixed, and in each joint arm, it is same with the first of previous stage joint arm junction
Step belt wheel and its with the second synchronous pulley of rear stage joint arm junction pass through synchronous band connection；
The first end of head end joint arm is fixed in fixed plate, and equipped with third synchronous pulley and for driving the third
The driving device of synchronous pulley movement, and the third synchronous pulley and the rear stage section being connect with the head end joint arm second end
Pass through synchronous band connection between relatively-stationary second synchronous pulley of the first end of arm；
The second end of end joint arm, which is provided with, to be rotated relative to the end joint arm around self-axis line, for installing
The stage+module axis and the 4th synchronous pulley of equipment platform, and the 4th synchronous pulley and the stage+module rotating assembly are solid
It is fixed to connect and pass through between relatively-stationary first synchronous pulley of the second end of the previous stage joint arm of the end joint arm synchronous
Band connection.
In mechanical arm provided by the utility model, it is rotatablely connected between every two adjacent sections joint arm by rotating assembly, and
The first synchronous pulley and the second synchronous pulley are provided on rotating assembly, wherein the of the second synchronous pulley and rear stage joint arm
One end is relatively fixed, and the movement of previous stage joint arm drives the movement of rear stage joint arm；Due to the first synchronous pulley and previous stage joint arm
Second end is relatively fixed, and when rear stage joint arm rotates shaft assembly rotation relative to previous stage joint arm, the first synchronous pulley is with after
Relative motion can be generated between level-one joint arm；And in each section section arm, with the first synchronous pulley of previous stage joint arm junction and
With the second synchronous pulley of rear stage joint arm junction by synchronous band connection, so as to drive entire mechanical arm swing.With
Illustrate for head end joint arm, the second joint arm and third joint arm, is fixed on the side in fixed plate in the first end of head end joint arm, if
It is equipped with third synchronous pulley and driving device, driving device drives third synchronous pulley, due to third synchronous pulley and the second section
By synchronous band connection between relatively-stationary second synchronous pulley of the first end of arm, so third synchronous pulley driving and second
Relatively-stationary second synchronous pulley of the first end of joint arm；Since the second synchronous pulley is opposite with the first end of the second joint arm solid
It is fixed, then the second synchronous pulley drives the second joint arm while moving, and due to relative motion principle, it is opposite with head end joint arm solid
Relative motion is generated between fixed relatively-stationary second synchronous pulley of the first synchronous pulley and the second joint arm, is driven and third section
The relatively-stationary first synchronous pulley movement of arm first end, the movement of the first synchronous pulley drive the movement of third arm, and then after drive
Continuous joint arm movement, to drive entire manipulator motion.
It is same by rotating assembly and the first synchronous pulley and second between every two adjacent section section arms in above-mentioned mechanical arm
Belt wheel cooperation is walked, while can be realized as the movement of each joint arm in mechanical arm by corresponding synchronous belt, structure is simple, and is convenient for
Manipulation.
Preferably, between every two adjacent sections joint arm, the rotating assembly packet that is arranged between previous stage joint arm and rear stage joint arm
It includes central spindle and is sheathed on the axle sleeve that can be rotated on the outside of the central spindle and relative to the central spindle, the central spindle is fixed on described latter
In the first end of grade joint arm, the axle sleeve is fixed in the second end of the previous stage joint arm, and first synchronous pulley is fixed
In the central spindle, second synchronous pulley is fixed on the axle sleeve.
Preferably, between every two adjacent sections joint arm, the rotating assembly that is provided between previous stage joint arm and later section joint arm
Including central spindle and be sheathed on the axle sleeve that can be rotated on the outside of the central spindle and relative to the central spindle, the central spindle be fixed on it is described after
In the first end of level-one joint arm, the axle sleeve is fixed in the second end of the previous stage joint arm, and second synchronous pulley is solid
It is scheduled in the central spindle, second synchronous pulley is fixed on the axle sleeve.
Preferably, the diameter dimension of the central spindle is less than the size of first synchronous pulley；
The diameter dimension of the central spindle is less than the size of second synchronous pulley.
Preferably, between every two adjacent sections joint arm, first synchronous pulley is fixed on the second of the previous stage joint arm
On end, second synchronous pulley is fixed in the first end of the rear stage joint arm.
Preferably, the driving device is steering engine or stepper motor.
Preferably, the head end joint arm is provided with the through-hole for installing the driving device, the axial line of the through-hole
It is parallel with fixed plate.
Preferably, the synchronous belt is rubber synchronous belt；Alternatively,
The synchronous belt is polyurethane synchronous belt.
Preferably, the utility model embodiment also provides a kind of robot, including any described in above-mentioned technical proposal
Mechanical arm.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly introduced, it should be apparent that, the accompanying drawings in the following description is only some implementations of the utility model
Example, for those of ordinary skill in the art, without any creative labor, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is a kind of the utility model embodiment mechanical arm in the prior art；
Fig. 2 a-2b is one kind provided by the embodiment of the utility model；
Fig. 3 is the first way that the previous joint arm of the utility model embodiment is connect with latter joint arm；
Another connection type of Fig. 4 between the previous joint arm of the utility model embodiment and latter joint arm；
Fig. 5 is relatively-stationary second of first end of the second synchronous pulley of the utility model embodiment and rear stage joint arm
Implementation.
Specific embodiment
It is practical to this below in conjunction with attached drawing in order to keep the purpose of this utility model, technical solution and advantage clearer
It is novel to be described in further detail, it is clear that described embodiment is only the utility model some embodiments, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work
Under the premise of all other embodiment obtained, fall within the protection scope of the utility model.
The utility model embodiment provides a kind of mechanical arm, which includes at least three joint arms and fixed plate；Wherein：
It is rotatablely connected between per two adjacent section section arms by rotating assembly 114, and is arranged on the rotating assembly 114
There are the first synchronous pulley 106 and the second synchronous pulley 107, the second end phase of first synchronous pulley 106 and previous stage joint arm
To fixation, second synchronous pulley 107 and the first end of rear stage joint arm are relatively fixed, and in each joint arm, and previous
First synchronous pulley of grade joint arm junction and its with the second synchronous pulley of rear stage joint arm junction pass through synchronous band connection；
The first end of head end joint arm is fixed in fixed plate 108, and equipped with third synchronous pulley 109 and for driving
State third synchronous pulley 109 movement driving device 110, and the third synchronous pulley 109 and with the head end joint arm second
It holds and is connected between relatively-stationary second synchronous pulley 107 of first end of the rear stage joint arm of connection by synchronous belt 111；
The second end of end joint arm, which is provided with, to be rotated relative to the end joint arm around self-axis line, for installing
The stage+module axis and the 4th synchronous pulley 112 of equipment platform 114, and the 4th synchronous pulley 112 and the stage+module
Rotating assembly 114 be fixedly connected and with relatively-stationary first synchronous belt of the second end of the previous stage joint arm of the end joint arm
It is connected between wheel 106 by synchronous belt 111.
In mechanical arm provided by the utility model, it is rotatablely connected between every two adjacent sections joint arm by rotating assembly 114, and
And the first synchronous pulley 106 and the second synchronous pulley 107 are provided on rotating assembly, wherein the second synchronous pulley 107 with it is latter
The first end of grade joint arm is relatively fixed, and the movement of previous stage joint arm drives the movement of rear stage joint arm；Due to the first synchronous pulley 106 with
The second end of previous stage joint arm is relatively fixed, when rear stage joint arm rotates the rotation of shaft assembly 114 relative to previous stage joint arm, the
Relative motion can be generated between one synchronous pulley 106 and rear stage joint arm；And in each section section arm, with previous stage joint arm junction
The first synchronous pulley and connect with the second synchronous pulley 107 of rear stage joint arm junction by synchronous belt 111, so as to
Drive entire mechanical arm swing.Illustrate by taking head end joint arm, the second joint arm and third joint arm as an example, it is solid in the first end of head end joint arm
It is scheduled on the side in fixed plate, is provided with third synchronous pulley 109 and driving device 110, driving device 110 drives third same
Belt wheel 109 is walked, due between relatively-stationary second synchronous pulley 107 of the first end of third synchronous pulley 109 and the second joint arm
It is connected by synchronous belt 111, so the driving of third synchronous pulley 109 is synchronous with the first end of the second joint arm relatively-stationary second
Belt wheel 107；Since the second synchronous pulley 107 and the first end of the second joint arm are relatively fixed, then the second synchronous pulley 107 moves
While drive the second joint arm, and due to relative motion principle, with relatively-stationary first synchronous pulley 106 of head end joint arm with
Relative motion is generated between relatively-stationary second synchronous pulley 107 of second joint arm, is driven opposite with third joint arm first end solid
Fixed the first synchronous pulley 106 movement, the movement of the first synchronous pulley 106 drive the movement of third arm, and then drive subsequent joint arm fortune
It is dynamic, to drive entire manipulator motion.
It is same by rotating assembly and the first synchronous pulley and second between every two adjacent section section arms in above-mentioned mechanical arm
Belt wheel cooperation is walked, while can be realized as the movement of each joint arm in mechanical arm by corresponding synchronous belt, structure is simple, and is convenient for
Manipulation.
It as illustrated in figures 2 a-2b, is a kind of mechanical arm provided by the utility model introduced by taking three section section arms as an example, wherein
Fig. 2 a is a kind of side view of mechanical arm provided by the utility model, and Fig. 2 b is a kind of master of mechanical arm provided by the utility model
View, as it can be seen that mechanical arm includes three section section arms, the first joint arm 100, the second joint arm 101 and third joint arm 102 in Fig. 2 a, 2b；
It is wherein connected between the first joint arm 100 and the second joint arm 101 by first rotating shaft 104, the second joint arm 101 and the
It is connected between three joint arms 103 by the second shaft 105, and the first synchronous belt between the first joint arm 100 and the second joint arm 101
It is relatively fixed between wheel 106 and the first joint arm 100；It is relatively fixed between second synchronous pulley 107 and the second joint arm 102.
In a kind of optional embodiment, between every two adjacent sections joint arm, set between previous stage joint arm and rear stage joint arm
The rotating assembly 114 set is including central spindle 1140 and is sheathed on the axle sleeve that can be rotated on the outside of the central spindle and relative to the central spindle
1141, the central spindle 1140 is fixed in the first end of the rear stage joint arm, and the axle sleeve 1141 is fixed on the previous stage
In the second end of joint arm, first synchronous pulley 106 is fixed in the central spindle, and second synchronous pulley 107 is fixed on
On the axle sleeve 1141.
As shown in figure 3, being the first way that previous joint arm is connect with latter joint arm, as it can be seen that the first synchronous pulley in figure
106 are fixed in central spindle 1140, and the second synchronous pulley 107 is fixed on axle sleeve 1141.
In another optional embodiment, between every two adjacent sections joint arm, previous stage joint arm and later section joint arm it
Between the rotating assembly 114 that is provided with include central spindle 1140 and be sheathed on the outside of the central spindle and can be rotated relative to the central spindle
Axle sleeve 1141, the central spindle 1140 are fixed in the first end of the rear stage joint arm, the axle sleeve 1141 be fixed on it is described before
In the second end of level-one joint arm, second synchronous pulley 107 is fixed in the central spindle 1140, second synchronous pulley
107 are fixed on the axle sleeve 1141.
As shown in figure 4, being another connection type between previous joint arm and latter joint arm, visible second synchronization in figure
Belt wheel 107 is fixed in central spindle 1140, and the first synchronous pulley 106 is fixed on axle sleeve 1141.
Specifically, the diameter dimension of the central spindle 1140 is less than the size of first synchronous pulley 106；
The diameter dimension of the central spindle 1140 is less than the size of second synchronous pulley 107.
As shown in Figure 3,4, in order to make the first synchronous pulley 106 and the second synchronous pulley 107 pass through central spindle 1140, then
Size of the diameter dimension of central spindle 1140 less than the first synchronous pulley 106 and the second synchronous pulley 107.
In addition to this another embodiment, between every two adjacent sections joint arm, first synchronous pulley 106 is solid
It is scheduled in the second end of the previous stage joint arm, second synchronous pulley 107 is fixed on the first end of the rear stage joint arm
On.
As shown in figure 5, being in order to realize that the first synchronous pulley 106 and the second end of previous stage joint arm are relatively fixed second
Relatively-stationary second of the implementation of first end of synchronous pulley 107 and rear stage joint arm, wherein a indicates the of latter joint arm
One end, b indicate the second end of previous joint arm；In figure as it can be seen that since the second synchronous pulley 107 is fixed on the first of rear stage joint arm
End, then driving rear stage joint arm while the second synchronous pulley 107 moves；Due to the first synchronous pulley 106 be fixed on it is previous
The second end of grade joint arm will generate relative motion due to relative motion principle between previous stage joint arm and rear stage joint arm, into
And entire mechanical arm is realized and is swung.
Above-mentioned, the driving device 110 is steering engine or stepper motor.
Driving device 110 is the driving force of entire mechanical arm, and steering engine and stepper motor are relatively specific for mechanical arm, Ke Yiwei
Entire mechanical arm provides good driving force.
Specifically, the stability in order to preferably keep driving motor, the head end joint arm is provided with described for installing
The axial line of the through-hole of driving device 110, the through-hole is parallel with fixed plate.
Driving device 110 is mounted on the side that head end joint arm is connected in fixed plate, in order to preferably keep driving motor
Stability, in the head end joint arm direction parallel with fixed plate, one through-hole 114 is set, and the setting of through-hole 114 with third
In the opposite head end joint arm of synchronous pulley 109；
In specific implementation, 110 one end of driving device links together after passing through through-hole with third synchronous pulley 109, when
After driving device 110 starts, third synchronous pulley 109 will rotate simultaneously with driving device.
Specifically, the synchronous belt 111 is rubber synchronous belt；Alternatively,
The synchronous belt 111 is polyurethane synchronous belt.
It is synchronous with the second joint arm relatively-stationary second that synchronous belt is mainly used for connection head end joint arm third synchronous pulley 109
On belt wheel, the second joint arm between relatively-stationary first synchronous pulley 106 of the first joint arm and the second joint arm and third joint arm
Connection with relatively-stationary second synchronous pulley 107 of the second joint arm etc., between every two sections section arm；
Rubber synchronous belt 111 and urethane synchronous belt have good high-temperature stability, are a kind of good synchronous belts, extensively
Applied to automation field.
The utility model also provides a kind of robot, including any machinery mentioned in above-mentioned specific embodiment
Arm.
Obviously, it is practical without departing from this can to carry out various modification and variations to the utility model by those skilled in the art
Novel spirit and scope.If in this way, these modifications and variations of the present invention belong to the utility model claims and
Within the scope of its equivalent technologies, then the utility model is also intended to include these modifications and variations.
Claims (9)
1. a kind of mechanical arm, which is characterized in that the mechanical arm includes at least three joint arms and fixed plate；Wherein：
It is rotatablely connected between per two adjacent section section arms by rotating assembly, and is provided with the first synchronous belt on the rotating assembly
Wheel and the second synchronous pulley, first synchronous pulley and the second end of previous stage joint arm are relatively fixed, second synchronous belt
Wheel is relatively fixed with the first end of rear stage joint arm, and the first synchronous belt in each joint arm, with previous stage joint arm junction
Wheel and its with the second synchronous pulley of rear stage joint arm junction pass through synchronous band connection；
The first end of head end joint arm is fixed in fixed plate, and equipped with third synchronous pulley and for driving the third synchronous
The driving device of belt wheel movement, and the third synchronous pulley and the rear stage joint arm being connect with the head end joint arm second end
Pass through synchronous band connection between relatively-stationary second synchronous pulley of first end；
The second end of end joint arm, which is provided with, to be rotated relative to the end joint arm around self-axis line, for installing equipment
The stage+module axis and the 4th synchronous pulley of platform, and the 4th synchronous pulley and the fixed company of the stage+module rotating assembly
It connects and is connected between relatively-stationary first synchronous pulley of the second end of the previous stage joint arm of the end joint arm by synchronous belt
It connects.
2. mechanical arm as described in claim 1, which is characterized in that between every two adjacent sections joint arm, previous stage joint arm with it is latter
The rotating assembly being arranged between grade joint arm includes central spindle and is sheathed on the outside of the central spindle and can rotate relative to the central spindle
Axle sleeve, the central spindle are fixed in the first end of the rear stage joint arm, and the axle sleeve is fixed on the of the previous stage joint arm
On two ends, first synchronous pulley is fixed in the central spindle, and second synchronous pulley is fixed on the axle sleeve.
3. mechanical arm as described in claim 1, which is characterized in that between every two adjacent sections joint arm, previous stage joint arm with it is latter
The rotating assembly being provided between section section arm includes central spindle and is sheathed on the outside of the central spindle and can rotate relative to the central spindle
Axle sleeve, the central spindle is fixed in the first end of the rear stage joint arm, and the axle sleeve is fixed on the previous stage joint arm
In second end, second synchronous pulley is fixed in the central spindle, and first synchronous pulley is fixed on the axle sleeve.
4. mechanical arm as claimed in claim 2 or claim 3, which is characterized in that it is same that the diameter dimension of the central spindle is less than described first
Walk the size of belt wheel；
The diameter dimension of the central spindle is less than the size of second synchronous pulley.
5. mechanical arm as described in claim 1, which is characterized in that between every two adjacent sections joint arm, first synchronous pulley
It is fixed in the second end of the previous stage joint arm, second synchronous pulley is fixed on the first end of the rear stage joint arm
On.
6. mechanical arm as described in claim 1, which is characterized in that the driving device is steering engine or stepper motor.
7. mechanical arm as described in claim 1, which is characterized in that the head end joint arm is provided with for installing the driving dress
The axial line of the through-hole set, the through-hole is parallel with fixed plate.
8. mechanical arm as described in claim 1, which is characterized in that the synchronous belt is rubber synchronous belt；Alternatively,
The synchronous belt is polyurethane synchronous belt.
9. a kind of robot, which is characterized in that including any of the above-described mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820497438.9U CN208117831U (en) | 2018-04-09 | 2018-04-09 | A kind of mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820497438.9U CN208117831U (en) | 2018-04-09 | 2018-04-09 | A kind of mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208117831U true CN208117831U (en) | 2018-11-20 |
Family
ID=64189961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820497438.9U Active CN208117831U (en) | 2018-04-09 | 2018-04-09 | A kind of mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208117831U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849054A (en) * | 2019-02-18 | 2019-06-07 | 浙江大华机器人技术有限公司 | Mechanical arm anti-shake apparatus and anti-fluttering method |
| CN112123314A (en) * | 2020-09-23 | 2020-12-25 | 温州职业技术学院 | Line patrol mobile carrying robot |
-
2018
- 2018-04-09 CN CN201820497438.9U patent/CN208117831U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849054A (en) * | 2019-02-18 | 2019-06-07 | 浙江大华机器人技术有限公司 | Mechanical arm anti-shake apparatus and anti-fluttering method |
| CN109849054B (en) * | 2019-02-18 | 2021-02-26 | 浙江华睿科技有限公司 | Mechanical arm anti-shaking device and anti-shaking method |
| CN112123314A (en) * | 2020-09-23 | 2020-12-25 | 温州职业技术学院 | Line patrol mobile carrying robot |
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Effective date of registration: 20201229 Address after: C10, No. 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: ZHEJIANG HUARAY TECHNOLOGY Co.,Ltd. Address before: Hangzhou City, Zhejiang province Binjiang District 310053 shore road 1187 Patentee before: ZHEJIANG DAHUA TECHNOLOGY Co.,Ltd. |
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Address after: C10, No. 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Zhejiang Huarui Technology Co.,Ltd. Address before: C10, No. 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG HUARAY TECHNOLOGY Co.,Ltd. |