CN208196791U - Robot linkage and its mechanical arm - Google Patents
Robot linkage and its mechanical arm Download PDFInfo
- Publication number
- CN208196791U CN208196791U CN201820017484.4U CN201820017484U CN208196791U CN 208196791 U CN208196791 U CN 208196791U CN 201820017484 U CN201820017484 U CN 201820017484U CN 208196791 U CN208196791 U CN 208196791U
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- joint
- connecting rod
- shell
- mechanical arm
- driving device
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Abstract
The utility model discloses a kind of robot linkage and its mechanical arms, the connecting rod is arranged between two joints of mechanical arm, connecting rod include plate and along plate both ends outwardly convex at circular connecting pin, wherein mechanical arm, including pedestal and the first joint, first connecting rod, second joint, third joint, the 4th joint, second connecting rod and the 5th joint that are successively set on pedestal.The connecting rod of the utility model is that plate body structure does not need further progress processing, under the effectively firm connection effect of guarantee, is occupied little space, and processing cost is low.The first connecting rod of the mechanical arm of the utility model is connected to the end of the first joint and second joint, the connection type connected between this joint by side connecting rod, the rotating range in joint can effectively be expanded, the needs that theoretically can satisfy 360 ° of rotations, can increase robot uses working environment.
Description
Technical field
The utility model belongs to vehicle technology field, and in particular to a kind of robot linkage and its mechanical arm.
Background technique
Industrial machinery arm is multi-joint or multivariant mechanical device towards industrial circle, can be used for repeatedly holding
The set movement of row is completed or auxiliary production activity.In recent years, the demand of the miniaturization of mechanical arm more highlights, and factory is when more
Time can be substituted in narrow space with the lesser robot of a size manually to work.Meanwhile in narrow space
It also can be relatively high for the requirement on flexibility of robot.On the other hand, in some environments, the shell of mechanical arm needs more
Unlike material is changed into be applicable in different working environments, so design is a more flexibly, and the robot of easily replacement shell is
A kind of demand in market.
Summary of the invention
In view of the deficiencies in the prior art, the utility model provides a kind of robot linkage and its mechanical arm, solution
Certainly tradition machinery arm configuration occupied space is big, and space limits and is not easy the problem of replacing shell.
In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution is achieved:
A kind of robot linkage, the connecting rod are arranged between two joints of mechanical arm, the connecting rod include plate and
Molding is integrally machined at circular connecting pin, the plate and the connecting pin at its both ends along plate both ends outwardly convex；It is described
Connecting pin diameter be greater than plate width.
Optionally, the plate is engraved structure.
A kind of mechanical arm is also disclosed in the utility model, including pedestal and the first joint being successively set on pedestal, first
Connecting rod, second joint, third joint, the 4th joint, second connecting rod and the 5th joint, the both ends of the first connecting rod connect respectively
The end in the first joint and second joint is connect, the both ends of the second connecting rod are connected to the end and in the 4th joint
The side in five joints, the first connecting rod and second connecting rod are connecting rod described in the utility model.
Optionally, the pedestal, the first joint, first connecting rod, second joint, third joint, the 4th joint, second connect
It is arranged with and matches with respective shape and there are the first shells in gap outside bar and the 5th joint.
Optionally, the pedestal, the first joint, first connecting rod, second joint, third joint, the 4th joint, second connect
Connecting hole is provided on bar and the 5th joint；The inner face of the first shell is provided with hollow cylindrical protrusion, described
It is raised corresponding with the described connecting hole；The cable hole for cabling is provided in first shell outside the pedestal.
Optionally, the second shell that first joint includes driving device and is set in outside driving device；Described
Pedestal, second joint, third joint, the 4th joint, the structure in the 5th joint are identical as the structure in the first joint；Described first
Two connecting pins of connecting rod are connect with the driving device in the first joint, the driving device of second joint respectively, and described second connects
The both ends of bar are connect with the driving device in the 4th joint, the second shell in the 5th joint respectively.
Optionally, first joint is fixed in the driving device of pedestal by L-type connector, and described second closes
It is connected between the second shell of section and the second shell in third joint by L-type connector, the driving dress in the third joint
It sets and is connect between the second shell in the 4th joint by L-type connector, the second shell in the 5th joint is connected by L-type
Fitting is fixed on the connecting pin of second connecting rod.
Optionally, the L-type connector is L-type plate, and one end of L-type plate is provided with first passed through for second shell
Through-hole, the other end of L-type plate are provided with multiple the second through-holes connecting with driving device, the bending place setting of the L-type plate
There is ribs；The ring flange fixed with L type connector is provided in the second shell.
Optionally, the second protrusion for connecting camera is provided on the side wall in the 5th joint.
Optionally, the driving device includes that motor, encoder, brake, retarder connect orchid, the coding with method
Device is connected to one end of motor, and the brake, retarder method connection orchid are connected to the other end of motor in turn.
Compared with prior art, the utility model has the beneficial effects that
(1) it is dumbbell shaped plate body structure that the utility model, which is used to connect the connecting rod between joint of mechanical arm, compared to tradition
Column connecting rod (for hollow structure, being used for motor cabling), the plate body structure of the utility model does not need further progress processing,
In the case where guaranteeing effectively firm connection effect, occupy little space, and processing cost is low.
(2) first connecting rod is connected to the end of the first joint and second joint, same 4th joint and the 5th joint
In this way, the connection type connected between this joint by side connecting rod, can effectively expand the rotating range in joint, it is theoretical
On can satisfy 360 ° rotation needs, can increase robot use working environment.
(3) outer cover of the mechanical arm of the utility model be equipped with one layer there are the first of gap between arm segments
Shell, cabling and coiling of the gap for the motor of driving device.This cabling mode can make mechanical arm using conventional
And the joint drive scheme of non-hollow, the motor and other drive members that specially design hollow structure are not needed, is effectively reduced
Production cost；The program is readily produced, and greatly extends the selection space of shutdown drive scheme.
Other feature and advantage of the utility model will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the connecting rod of the utility model.
Fig. 2 is the structural schematic diagram of the mechanical arm of the utility model.
Fig. 3 is the explosive view for being arranged with the mechanical arm of the first shell.
Fig. 4 is the structural schematic diagram of pedestal.
Fig. 5 is the attachment structure schematic diagram of first connecting rod and the first joint, second joint.
Fig. 6 is the structural schematic diagram of the driving device of the utility model.
Each label indicates in figure are as follows: 1- pedestal, the first joint 2-, and 3- first connecting rod, 4- second joint, 5- third joint,
The 4th joint 6-, 7- second connecting rod, the 5th joint 8-, 9- first shell, 10- connecting hole, 11- driving device, 12- second shell
Body, 13-L type connector；
(3-1)-plate, (3-2)-connecting pin；(8-1)-the second protrusion；
(9-1)-the first protrusion, (9-2)-cable hole；
(11-1)-motor, (11-2)-encoder, (11-3)-brake, (11-4)-retarder, the connection of (11-5)-method are blue；
(12-1)-ring flange；
(13-1)-first through hole, (13-2)-the second through-hole, (13-3)-ribs.
Explanation is further explained in detail below in conjunction with particular content of the drawings and specific embodiments to the utility model.
Specific embodiment
Be given below specific embodiment of the present utility model, it should be noted that the utility model be not limited to it is following
Specific embodiment, all equivalent transformations made on the basis of the technical solutions of the present application each fall within the protection scope of the utility model.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower " typically refer to
It is defined on the basis of the drawing of respective drawings, " inside and outside " refers to the inner and outer of corresponding component profile." inner face " the i.e. shell of shell
With the face of the contacts such as joint, connecting rod.
The utility model discloses a kind of robot linkages, as shown in Figure 1, two joints of mechanical arm are arranged in the connecting rod
Between, the connecting rod include plate 3-1 and along plate 3-1 both ends outwardly convex at circular connecting pin 3-2, wherein connecting pin 3-2
Diameter be greater than the width (i.e. along the linear distance of connecting pin edge direction in Fig. 1) of plate 3-1, plate 3-1 and its both ends
Connecting pin 3-2 is integrally machined molding, so that connecting rod is in " dumbbell " shape；In addition, even extreme thickness is consistent with panel thickness, connection
Arc-shaped transition section is arranged in end and the junction of plate, optimizes the structure of connecting rod.Compared to traditional column connecting rod (hollow structure,
For motor cabling), the plate body structure of the utility model does not need further progress processing, is guaranteeing effectively firm connection effect
It under fruit, occupies little space, and processing cost is low.
Further, in the embodiments of the present invention, plate 3-1 is set as engraved structure.To reach loss of weight
Effect.
The invention also discloses a kind of mechanical arm, including pedestal 1 and the first joint 2 being successively set on pedestal 1,
First connecting rod 3, second joint 4, third joint 5, the 4th joint 6, second connecting rod 7 and the 5th joint 8, the both ends of first connecting rod 3
It is connected to the end in the first joint 2 and second joint 4, the both ends of second connecting rod 7 are connected to the end in the 4th joint 6
With the side in the 5th joint 8, first connecting rod 3 and second connecting rod 7 are connecting rod disclosed by the utility model.First connecting rod is connected
In the end in the first joint 2 and second joint 4, same 4th joint and the 5th joint are also in this way, the connection of side connecting rod in this way
Mode can effectively expand the rotating range in the first joint and second joint 4, theoretically can satisfy the needs of 360 ° of rotations,
Robot can be increased uses working environment.
Further, in the embodiments of the present invention, pedestal 1, the first joint 2, first connecting rod 3, second joint
4, it is arranged with outside third joint 5, the 4th joint 6, second connecting rod 7 and the 5th joint 8 between matching and exist with respective shape
The first shell 9 of gap.Cabling and the coiling for facilitating the motor of driving device, do not need special core motor, reduce production
Cost.
Specifically, in the embodiments of the present invention, pedestal 1, the first joint 2, first connecting rod 3, second joint 4,
Connecting hole 10 is provided on third joint 5, the 4th joint 6, second connecting rod 7 and the 5th joint 8；The inner face of first shell 9 is set
It is equipped with the first protrusion of hollow cylindrical 9-1, the first protrusion 9-1 is corresponding with connecting hole 10.Protrusion makes first shell and second
There are gap, the cabling of the motor for driving device and coiling between shell, this cabling mode can make mechanical arm adopt
With routine and the joint drive scheme of non-hollow, the motor and other drive members that specially design hollow structure are not needed, is had
Effect reduces production cost；The program is readily produced, and greatly extends the selection space of shutdown drive scheme.In addition, by convex
It rises and is set as hollow, be used for mounting screw, hollow protrusion is passed through by screw and is connect with connecting hole, to reach fixed first shell
The effect of body, meanwhile, it is also convenient for changing shell, is replaced with the shell of the different materials such as rubber, plastics or metal as needed, is increased
A possibility that adding the use scope and working environment of robot.
In addition, being provided with the cable hole 9-2 for cabling in first shell 9 outside pedestal 1.Motor in mechanical arm is walked
Line is finally pierced by from the cable hole.
Specifically, the first joint 2 includes that driving device 11 is filled with driving is set in the embodiments of the present invention
Set the second shell 12 outside 11；Pedestal 1, second joint 4, third joint 5, the 4th joint 6, the 5th joint 8 structure and first
The structure in joint 2 is identical；Two connecting pin 3-2 of first connecting rod 3 respectively with the driving device in the first joint 2, second joint 4
Driving device connection, the both ends of second connecting rod 7 respectively with the driving device in the 4th joint 6, the second shell 12 in the 5th joint 8
Connection.The mechanical arm can realize the rotation of six degree of freedom.
Specifically, the first joint 2 is fixed on pedestal by L-type connector 13 in the embodiments of the present invention
In driving device 11, pass through L-type connector 13 between the second shell 12 of second joint 4 and the second shell 12 in third joint 5
Connection is connected between the driving device 11 in third joint 5 and the second shell 12 in the 4th joint 6 by L-type connector 13, the 5th
The second shell 12 in joint 8 is fixed on the connecting pin of second connecting rod 7 by L-type connector 13.
Specifically, L-type connector 13 is L-type plate, and one end of L-type plate is provided in the embodiments of the present invention
For the first through hole 13-1 that second shell 12 passes through, the other end of L-type connector is provided with multiple to be connect with driving device 11
The second through-hole 13-2；The ring flange 12-1 fixed with L-type connector, the ring flange and first are provided in second shell 12
The edge of through-hole 13-1 connects, wherein processes screw hole on the edge of first through hole 13-1, is also provided with screw on ring flange
L-type connector is connected on ring flange by hole by bolt, easy for assemble or unload.Specifically, driving device 11 includes motor
11-1, encoder 11-2, brake 11-3 and retarder 11-4, encoder 11-2 are connected to one end of motor 11-1, and brake 11-3
It is connected to the other end of motor 11-1 in turn with retarder 11-4.L-type connector passes through the second through-hole 13-2 and driving device end
The connecting flange 11-5 connection at end, it is easy to connect and effective.Further, the bending place of L-type plate is provided with ribs 13-3, increases
The intensity for adding L-type plate prevents from being broken in bending place.
Further, it in the embodiments of the present invention, is provided on the side wall in the 5th joint 8 for connecting camera shooting
Second protrusion 8-1 of head, wherein camera is fixed on the 5th joint, it can be achieved that mechanical by way of bolting or bonding
The function of arm self monitor.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way, it is same as long as it is without prejudice to the thought of the utility model
It should be considered as content disclosed in the utility model.
Claims (8)
1. a kind of mechanical arm, including pedestal (1) and the first joint (2) being successively set on pedestal (1), first connecting rod (3),
Two joints (4), third joint (5), the 4th joint (6), second connecting rod (7) and the 5th joint (8), which is characterized in that described
The both ends of first connecting rod (3) are connected to the end in the first joint (2) and second joint (4), the second connecting rod (7)
Both ends are connected to the end in the 4th joint (6) and the side in the 5th joint (8)；
The first connecting rod (3) include plate (3-1) and along plate (3-1) both ends outwardly convex at circular connecting pin (3-
2), the connecting pin (3-2) at the plate (3-1) and its both ends is integrally machined molding；The diameter of the connecting pin (3-2) is big
In the width of plate (3-1)；The second connecting rod (7) is identical as the shape of first connecting rod (3)；The plate (3-1) is
Engraved structure.
2. mechanical arm as described in claim 1, which is characterized in that the pedestal (1), the first joint (2), first connecting rod
(3), second joint (4), third joint (5), the 4th joint (6), second connecting rod (7) and the 5th joint (8) be arranged with outside with
Respective shape matches and there are the first shell in gap (9).
3. mechanical arm as claimed in claim 2, which is characterized in that the pedestal (1), the first joint (2), first connecting rod
(3), the company of being provided on second joint (4), third joint (5), the 4th joint (6), second connecting rod (7) and the 5th joint (8)
Connect hole (10)；The inner face of the first shell (9) is provided with hollow cylindrical protrusion (9-1), the protrusion (9-1) and institute
The connecting hole (10) stated is corresponding；
The cable hole (9-2) for cabling is provided in the first shell (9) of the pedestal (1) outside.
4. mechanical arm as described in claim 1, which is characterized in that first joint (2) include driving device (11) and
It is set in the second shell (12) of driving device (11) outside；The pedestal (1), second joint (4), third joint (5), the 4th
Joint (6), the structure in the 5th joint (8) are identical as the structure of the first joint (2)；Two connections of the first connecting rod (3)
End (3-2) is connect with the driving device of the driving device of the first joint (2), second joint (4) respectively, the second connecting rod
(7) both ends are connect with the driving device in the 4th joint (6), the second shell (12) in the 5th joint (8) respectively.
5. mechanical arm as claimed in claim 4, which is characterized in that first joint (2) is solid by L-type connector (13)
It is scheduled in the driving device (11) of pedestal, the second shell (12) of the second joint (4) and the second shell of third joint (5)
It is connected between body (12) by L-type connector (13), the driving device (11) in the third joint (5) and the 4th joint (6)
Second shell (12) between connected by L-type connector (13), the second shell (12) in the 5th joint (8) passes through L
Type connector (13) is fixed on the connecting pin of second connecting rod (7).
6. mechanical arm as claimed in claim 5, which is characterized in that the L-type connector (13) be L-type plate, the one of L-type plate
End is provided with the first through hole (13-1) passed through for second shell (12), and the other end of L-type plate is provided with multiple and driving and fills
The second through-hole (13-2) of (11) connection is set, the bending place of the L-type plate is provided with ribs (13-3)；
The ring flange (12-1) fixed with L-type connector is provided in the second shell (12).
7. the mechanical arm as described in claim 1 to 6 any one, which is characterized in that on the side wall in the 5th joint (8)
It is provided with second raised (8-1) for connecting camera.
8. the mechanical arm as described in claim 4 to 6 any one, which is characterized in that the driving device (11) includes electricity
Machine (11-1), encoder (11-2), brake (11-3), retarder (11-4) connect blue (11-5), the encoder with method
(11-2) is connected to one end of motor (11-1), and the brake (11-3), retarder (11-4) method connect blue (11-5) successively
It is connected to the other end of motor (11-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820017484.4U CN208196791U (en) | 2018-01-05 | 2018-01-05 | Robot linkage and its mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820017484.4U CN208196791U (en) | 2018-01-05 | 2018-01-05 | Robot linkage and its mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208196791U true CN208196791U (en) | 2018-12-07 |
Family
ID=64490985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820017484.4U Active CN208196791U (en) | 2018-01-05 | 2018-01-05 | Robot linkage and its mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208196791U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702732A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of seven freedom cooperation robot |
| CN109895112A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot head skeleton and robot |
| CN109895133A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of manipulator and robot |
| CN111761573A (en) * | 2020-07-20 | 2020-10-13 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hydro-electric hybrid seven-degree-of-freedom mechanical arm |
| CN113696226A (en) * | 2021-08-13 | 2021-11-26 | 万勋科技(深圳)有限公司 | Mechanical arm protection method and mechanical arm |
| CN114434434A (en) * | 2020-11-02 | 2022-05-06 | 北京配天技术有限公司 | Mechanical arm |
-
2018
- 2018-01-05 CN CN201820017484.4U patent/CN208196791U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702732A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of seven freedom cooperation robot |
| CN109895112A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot head skeleton and robot |
| CN109895133A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of manipulator and robot |
| CN109895112B (en) * | 2019-03-01 | 2021-10-01 | 达闼科技（北京）有限公司 | Robot head skeleton and robot |
| CN111761573A (en) * | 2020-07-20 | 2020-10-13 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hydro-electric hybrid seven-degree-of-freedom mechanical arm |
| CN111761573B (en) * | 2020-07-20 | 2022-02-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hydro-electric hybrid seven-degree-of-freedom mechanical arm |
| CN114434434A (en) * | 2020-11-02 | 2022-05-06 | 北京配天技术有限公司 | Mechanical arm |
| CN114434434B (en) * | 2020-11-02 | 2024-02-09 | 北京配天技术有限公司 | Mechanical arm |
| CN113696226A (en) * | 2021-08-13 | 2021-11-26 | 万勋科技(深圳)有限公司 | Mechanical arm protection method and mechanical arm |
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