CN208744830U - Robot linking arm and robot with it - Google Patents
Robot linking arm and robot with it Download PDFInfo
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- CN208744830U CN208744830U CN201821480554.6U CN201821480554U CN208744830U CN 208744830 U CN208744830 U CN 208744830U CN 201821480554 U CN201821480554 U CN 201821480554U CN 208744830 U CN208744830 U CN 208744830U
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- support bar
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- arm body
- linking arm
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Abstract
The utility model provides a kind of robot linking arm and the robot with it, wherein robot linking arm includes: arm body；First support bar, first end are arranged on arm body, and the first motor of robot is fixed on arm body and the second end with first support bar is connect；Second support bar, first end are arranged on arm body, and second support bar is located at the ipsilateral of arm body with first support bar, and the lifters of robot are fixed on arm body and the second end with second support bar is connect.The technical solution of the application efficiently solves the problems, such as linking arm structure end weight weight in the prior art.
Description
Technical field
The utility model relates to intelligence manufacture fields, in particular to a kind of robot linking arm and with its machine
Device people.
Background technique
With the popularization and application of industrial automation, the use of manipulator is more and more extensive, is related to all trades and professions.
The artificial high speed height of SCARA machine, precision face articulated robot.As shown in Figure 1 to Figure 3, the end of traditional SCARA robot
Structure is equipped with ball-screw spline 4, motor 2a, motor 2b, planetary reduction gear 5, synchronous pulley 6, synchronous belt 7 on forearm 1,
And forearm 1 is equipped with the motor leading screw bearing 3 for fixing ball-screw spline 4, motor 2a and motor 2b.Robot end
Structure is fixed on robot's arm by motor 2c and reducer structure, and motor 2c drives robot end structure in horizontal plane
It inside makes rotating motion, end structure total quality will affect the service performance of motor 2c.
The weight of end structure influences robot overall performance very big.Forearm 1 and motor lead screw shown in Fig. 2 to Fig. 4 b
The weight of support 3 itself is important factor in order.In addition the motor 2 on forearm 1, synchronous pulley 6, synchronous belt 7, planetary reduction gear 5,
The topology layouts such as ball-screw spline 4 can also have an impact to the performance of robot overall operation.
Motor leading screw bearing 3 as shown in Figures 2 and 3 is an overall structure, and structure is complicated, and processing is inconvenient, and weight is big,
And feed screw nut 8 and 9 mounting distance of splined nut are big, cause the length of the lead screw shaft of ball-screw spline 4 to increase, forearm 1
End overall structure increase, so that the center of gravity of end entirety is biased to the lead screw shaft of ball-screw spline 4, increase in Fig. 1 electricity
The output torque of machine 2c, so that the movement of forearm 1 is unstable, to reduce overall performance.
In view of the above-mentioned problems, the Chinese patent that Authorization Notice No. is CN 206036162U discloses a kind of lead screw mounting base
And the robot with it specifically solves existing robot for motor, ball-screw spline in above-mentioned file
The problem of erection support being supported is difficult to is provided with the company that support tube body is connected with support tube body on the connecting arm
Fishplate bar.
But above structure cannot mitigate the end weight of forearm structure, lead to the forearm of robot during the motion
There is jiggly situation.
Utility model content
The utility model is intended to provide a kind of robot linking arm and the robot with it, to solve to connect in the prior art
Connect the problem of arm configuration end weight weight.
To achieve the goals above, one aspect according to the present utility model provides a kind of robot linking arm, packet
It includes: arm body；First support bar, first end are arranged on arm body, and the first motor of robot passes through second with first support bar
End connects and is fixed on arm body；Second support bar, first end are arranged on arm body, and second support bar is located at first support bar
Arm body it is ipsilateral, the lifters of robot are fixed on arm body and the second end with second support bar is connect.
Further, robot linking arm further include: third support rod, first end are arranged on arm body, third support rod
Be located at the ipsilateral of arm body with first support bar, third support rod between first support bar and second support bar, robot
Second motor is fixed on arm body and connecting with the second end of third support rod.
Further, first support bar, second support bar and third support rod and arm body are an integral molding structure.
Further, the height of third support rod is higher than the height of first support bar.
Further, the height of second support bar is higher than the height of first support bar.
Further, first support bar is multiple, and the line at the center of multiple first support bars limits a rectangle；
And/or second support bar be it is multiple, the line at the center of multiple second support bars limits a rectangle.
Further, the cross section of first support bar is square, and square side length a meets: 8mm < a < 10mm.
Further, the height b1 of first support bar meets: 30mm≤b1≤40mm.
Further, lifters include lifting shaft, the first nut and the second nut, and the first nut passes through second support bar
It is fixed on arm body.
Further, installation through-hole is provided on arm body, the second nut is mounted in installation through-hole.
Another aspect according to the present utility model provides a kind of robot, including robot linking arm, the robot
Linking arm is above-mentioned robot linking arm.
Using the technical solution of the utility model, the first end of first support bar is arranged on arm body, and the first of robot
Motor is fixed on arm body and the second end with first support bar is connect.The first end of second support bar is arranged in arm body
On, second support bar is located at the ipsilateral of arm body with first support bar, and the lifters of robot pass through second with second support bar
End connects and is fixed on arm body.In this application, by above-mentioned first support bar and second support bar instead of existing skill
Motor leading screw bearing in art, first support bar and second support bar quality are lighter, alleviate the end weight of arm body structure in this way
Amount, therefore the technical solution of the application efficiently solves the problems, such as robot linking arm structure end weight weight.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide a further understanding of the present invention, this is practical
Novel illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.
In the accompanying drawings:
Fig. 1 shows the overall structure diagram of the robot of the prior art；
Fig. 2 shows the structural schematic diagrams of the forearm of the robot of Fig. 1 and end structure；
Fig. 3 shows the structural schematic diagram of the forearm of the robot of Fig. 1；
Fig. 4 a and Fig. 4 b show the schematic perspective view of the motor lead screw support base of the robot of Fig. 1；
Fig. 5 shows the structural schematic diagram of the embodiment of robot linking arm according to the present utility model；
Fig. 6 shows the robot linking arm and first motor of Fig. 5, the second motor and lifters fit structure are illustrated
Figure；
Fig. 7 shows the robot linking arm and first motor, the section view of the second motor and lifters fit structure of Fig. 6
Schematic diagram；And
Fig. 8 shows the another of the robot linking arm of Fig. 6 and first motor, the second motor and lifters fit structure
The schematic cross-sectional view of position.
Wherein, the above drawings include the following reference numerals:
1, forearm；2a, motor；2b, motor；2c, motor；3, motor leading screw bearing；4, ball-screw spline；5, planet
Retarder；6, synchronous pulley；7, synchronous belt；8, feed screw nut；9, splined nut；10, arm body；11, installation through-hole；100, first
Motor；20, first support bar；200, lifters；210, lifting shaft；220, the first nut；230, the second nut；30, second
Strut；300, the second motor；40, third support rod.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to this is practical
Novel and its application or any restrictions used.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, is fallen within the protection scope of the utility model.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
Up to the unlimited the scope of the utility model processed of formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each shown in attached drawing
The size of a part is not to draw according to actual proportionate relationship.For skill known to person of ordinary skill in the relevant
Art, method and apparatus may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as awarding
Weigh part of specification.In shown here and discussion all examples, any occurrence should be construed as merely example
Property, not as limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar
Label and letter similar terms are indicated in following attached drawing, therefore, once be defined in a certain Xiang Yi attached drawing, then with
In attached drawing afterwards do not need that it is further discussed.
As shown in Figures 5 to 7, the robot linking arm of the present embodiment includes: arm body 10, first support bar 20 and second
Strut 30.Wherein, the first end of first support bar 20 is arranged on arm body 10, and the first motor 100 of robot is by with first
The second end of support rod 20 is connected and is fixed on arm body 10.The first end of second support bar 30 is arranged on arm body 10, and second
Support rod 30 and first support bar 20 are located at the ipsilateral of arm body 10, the lifters 200 of robot by with second support bar 30
Second end is connected and is fixed on arm body 10.
Using the technical solution of the present embodiment, the first motor 100 of robot passes through the second end with first support bar 20
It connects and is fixed on arm body 10.Second support bar 30 is located at the ipsilateral of arm body 10, the lifting of robot with first support bar 20
Part 200 is fixed on arm body 10 and connecting with the second end of second support bar 30.In the present embodiment, pass through above-mentioned
One support rod 20 and second support bar 30 are instead of motor leading screw bearing in the prior art, first support bar 20 and the second support
30 mass of bar is lighter, alleviates the end weight of 10 structure of arm body in this way, and the technical solution of the present embodiment efficiently solves machine
The problem of device people's linking arm structure end weight weight.
As shown in Figures 5 to 7, in the present embodiment, robot linking arm further includes third support rod 40.Third support rod
40 first end is arranged on arm body 10, and third support rod 40 is located at the ipsilateral of arm body 10, third support with first support bar 20
Bar 40 between first support bar 20 and second support bar 30, the second motor 300 of robot by with third support rod 40
Second end connection and be fixed on arm body 10.In the present embodiment, third support rod 40 is for fixing the second motor 300.The
The quality of three support rods 40 is also very light, therefore, first support bar 20, third support rod 40 and second support bar 30 jointly instead of
Motor leading screw bearing in the prior art realizes the fixation to first motor 100, the second motor 300 and lifters 200.
In addition, the motor leading screw bearing in compared with the existing technology, first support bar 20 and third support rod 40 make first motor 100
Fixation with the second motor 300 is located closer to the rotation center of robot linking arm, that is, the left end of Fig. 7.Therefore, this reality
The technical solution of example is applied in the case where solving the problems, such as robot linking arm structure end weight weight, additionally it is possible to so that end structure
Whole center of gravity to the rotation center of the robot linking arm deviate, the output that motor is rotated with swing arm body 10 can be reduced in this way
Robot overall performance can be improved in torque.
The knot as shown in fig. 6, first support bar 20, second support bar 30 and third support rod 40 and arm body 10 are integrally formed
Structure.The processing is simple for above structure, easy to accomplish.Preferably, arm body 10, first support bar can be manufactured by the way of casting
20, second support bar 30 and third support rod 40.
It should be noted that the cross section of the first, second, and third support rod in the application can according to need progress
Selection, can be rectangle, rectangular, round etc..First, second, and third support rod can may be hollow knot for solid construction
Structure.
As shown in Figure 5 and Figure 6, first motor 100 is connect by motor plate with first support bar 20.Meanwhile with first electricity
The synchronous pulley that machine 100 cooperates is located at the lower section of motor plate.Second motor 300 is connect by motor plate with third support rod 40.
Meanwhile being located at the lower section of motor plate with the synchronous pulley of the second motor 300 cooperation.In the present embodiment, third support rod 40
Height b2 is higher than the height b1 of first support bar 20.Above structure makes the synchronous pulley cooperated with first motor 100 and with the
The synchronous pulley of two motors 300 cooperation is in different height, and then two transmission belts with the cooperation of above-mentioned two synchronous pulley
In different height, and then will not be interfered in transmission.Preferably, b2=b1+16mm.
As shown in Figure 5 and Figure 6, for the ease of transmission, in the present embodiment, the height b3 of second support bar 30 is higher than first
The height b1 of support rod 20.Preferably, b3-b1 >=3mm.
As shown in Figure 5 and Figure 6, first support bar 20 is multiple, and the line at the center of multiple first support bars 20 limits
One rectangle.Second support bar 30 be it is multiple, the line at the center of multiple second support bars 30 limits a rectangle.In this reality
It applies in example, first support bar 20 is four, and the line at the center of four first support bars 20 limits out a rectangle, the second support
Bar 30 is four, and the line at the center of four second support bars 30 limits a rectangle, so that 20 He of first support bar
Second support bar 30 can preferably bear the weight of institute's support construction, also, the weight of born structure can be in center
Position improves the stability of structure.
In other embodiments not shown in the figure, the line at the center of multiple first support bars can also limit other
Shape, such as round, trapezoidal, parallelogram shape.The line at the center of multiple second support bars can also limit other
Shape, such as round, trapezoidal, parallelogram shape.The quantity of first support bar and second support bar can be one, two
A, three or five or more.
In the present embodiment, as shown in Figure 5 and Figure 6, the cross section of first support bar 20 is square, square side length
A meets: 8mm < a < 10mm.The height b1 of first support bar 20 meets: 30mm≤b1≤40mm.Above-mentioned size can be preferably
Take into account stability and weight.
As shown in Fig. 5, Fig. 7 and Fig. 8, lifters 200 include lifting shaft 210, the first nut 220 and the second nut 230,
First nut 220 is fixed on arm body 10 by second support bar 30.First nut 220 can directly connect with second support bar 30
It connects, or is connect by nut mounting plate with second support bar 30.In the present embodiment, lifting shaft 210 is ball-screw spline
Axis, the first nut 220 are feed screw nut, and the second nut 230 is splined nut.
In the present embodiment, those skilled in the art is it is recognised that same in first motor 100 and/or the second motor 300
In the case where Shi Zuoyong, linear motion, rotation can be may be implemented in lifting shaft 210 in the first nut 220 and the second nut 230
Movement or screw.
As shown in fig. 6, being provided with installation through-hole 11 on arm body 10, the second nut 230 is mounted in installation through-hole 11.It is above-mentioned
Structure enables the second nut 230 to be directly installed on arm body 10.Preferably, installation through-hole 11 is circular hole.
As shown in figure 5, in the present embodiment, robot linking arm includes arm body 10, first support bar 20, second support bar
30, third support rod 40 and installation through-hole 11.Original integrated motor leading screw bearing is simplified to 12 rectangular branch by the structure
Strut member, for supporting first motor 100, the first nut 220 and the second motor 300.First motor 100 and its planetary reduction gear
Device, mounting plate and synchronous pulley are fixed in first support bar 20.Second motor 300 and its mounting plate, synchronous pulley are fixed on
On third support rod 40.First nut 220, the synchronous pulley of lifting shaft 210, the first nut 220 mounting plate be fixed on
On two support rods 30.Second nut 230 is fixed on arm body 10, specifically in installation through-hole 11.The robot connects arm configuration
It can solve the problems, such as that motor leading screw bearing is difficult to, while greatly reducing the weight of motor leading screw bearing with monoblock cast,
Reduce end overall structure quality.
Present invention also provides a kind of robot, which includes above-mentioned robot linking arm.The arm body of linking arm
The end weight of structure is light, and the technical solution of the present embodiment efficiently solves asking for robot linking arm structure end weight weight
Topic.
In the description of the present invention, it should be understood that the noun of locality such as " front, rear, top, and bottom, left and right ", " laterally,
Vertically, vertically, it is horizontal " and " pushing up, bottom " etc. indicated by orientation or positional relationship be normally based on orientation or position shown in the drawings
Relationship is set, is merely for convenience of describing the present invention and simplifying the description, in the absence of explanation to the contrary, these nouns of locality
Do not indicate that and imply that signified device or element must have a particular orientation or be constructed and operated in a specific orientation, because
This should not be understood as the limitation to scope of protection of the utility model；The noun of locality " inside and outside " refers to the wheel relative to each component itself
Wide is inside and outside.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of utility model protection range.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (11)
1. a kind of robot linking arm characterized by comprising
Arm body (10)；
First support bar (20), first end are arranged on the arm body (10), the first motor (100) of robot by with it is described
The second end of first support bar (20) is connected and is fixed on the arm body (10)；
Second support bar (30), first end be arranged on the arm body (10), the second support bar (30) with described first
Strut (20) is located at the ipsilateral of the arm body (10), the lifters (200) of the robot by with the second support bar
(30) second end is connected and is fixed on the arm body (10).
2. robot linking arm according to claim 1, which is characterized in that the robot linking arm further include:
Third support rod (40), first end be arranged on the arm body (10), the third support rod (40) with described first
Strut (20) is located at the ipsilateral of the arm body (10), and the third support rod (40) is located at the first support bar (20) and described
Between second support bar (30), the second motor (300) of the robot passes through the second end with the third support rod (40)
It connects and is fixed on the arm body (10).
3. robot linking arm according to claim 2, which is characterized in that the first support bar (20), described second
Support rod (30) and the third support rod (40) are an integral molding structure with the arm body (10).
4. robot linking arm according to claim 2, which is characterized in that the height of the third support rod (40) is higher than
The height of the first support bar (20).
5. robot linking arm according to claim 1, which is characterized in that the height of the second support bar (30) is higher than
The height of the first support bar (20).
6. robot linking arm according to claim 1, which is characterized in that
The first support bar (20) be it is multiple, the line at the center of multiple first support bars (20) limits a square
Shape；And/or
The second support bar (30) be it is multiple, the line at the center of multiple second support bars (30) limits a square
Shape.
7. robot linking arm according to claim 1, which is characterized in that the cross section of the first support bar (20) is
The side length a of square, the square meets: 8mm < a < 10mm.
8. robot linking arm according to claim 1, which is characterized in that the height b1 of the first support bar (20) is full
Foot: 30mm≤b1≤40mm.
9. robot linking arm according to claim 1, which is characterized in that the lifters (200) include lifting shaft
(210), the first nut (220) and the second nut (230), first nut (220) pass through the second support bar (30)
It is fixed on the arm body (10).
10. robot linking arm according to claim 9, which is characterized in that it is logical to be provided with installation on the arm body (10)
Hole (11), second nut (230) are mounted in the installation through-hole (11).
11. a kind of robot, including robot linking arm, which is characterized in that the robot linking arm is claims 1 to 10
Any one of described in robot linking arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821480554.6U CN208744830U (en) | 2018-09-10 | 2018-09-10 | Robot linking arm and robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821480554.6U CN208744830U (en) | 2018-09-10 | 2018-09-10 | Robot linking arm and robot with it |
Publications (1)
| Publication Number | Publication Date |
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| CN208744830U true CN208744830U (en) | 2019-04-16 |
Family
ID=66084058
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821480554.6U Active CN208744830U (en) | 2018-09-10 | 2018-09-10 | Robot linking arm and robot with it |
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| Country | Link |
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| CN (1) | CN208744830U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748123A (en) * | 2018-09-10 | 2018-11-06 | 珠海格力电器股份有限公司 | Robot linking arm and robot with it |
-
2018
- 2018-09-10 CN CN201821480554.6U patent/CN208744830U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748123A (en) * | 2018-09-10 | 2018-11-06 | 珠海格力电器股份有限公司 | Robot linking arm and robot with it |
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