CN208930251U - Forearm and articulated robot - Google Patents
Forearm and articulated robot Download PDFInfo
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- CN208930251U CN208930251U CN201821516921.3U CN201821516921U CN208930251U CN 208930251 U CN208930251 U CN 208930251U CN 201821516921 U CN201821516921 U CN 201821516921U CN 208930251 U CN208930251 U CN 208930251U
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- forearm
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Abstract
The utility model relates to the technical fields of robot, disclose forearm and articulated robot, wherein forearm is installed on the large arm end of articulated robot, described large arm one end is equipped with the driving motor for driving the forearm horizontal hunting, the forearm end is equipped with the output motor for output torque, and the shaft axis of the output motor is located at horizontal plane.Forearm and articulated robot in the utility model, due to changing the hinge angle of forearm, so that the shaft axis of final output motor is located at horizontal plane, when the object that installation needs to control in the shaft in output motor, under the drive of output motor, object can be swung in fore-and-aft plane.
Description
Technical field
The utility model relates to the technical field of robot more particularly to articulated robots.
Background technique
Plane articulation robot is a kind of robot architecture of maturation, generally has hinged large arm and forearm, wherein
Large arm is mounted on vertical pedestal, and forearm end is provided with actuating station.The two-part of large arm and forearm hingedly swings and can position
On horizontal plane in coverage area arbitrary point (x, y), and Z axis is set on the base by a kind of robot, and large arm is perpendicular along pedestal
Translation is dynamic, realizes three-dimensional localization, and the end of forearm is arranged in Z axis by another robot (scara), and actuating station can be vertical
It is mobile, to realize three-dimensional localization.
Its z-axis direction of plane articulation robot in the prior art can only move linearly, although can be in (x, y) plane
Wide swing, but object can not be driven in (x, z) plane or (x, y) plane, it is also swung in fore-and-aft plane, leads to one
A little movements can not be competent at, such as serve the tea.
Utility model content
The purpose of this utility model is to provide forearms and articulated robot, it is intended to planar multiple-articulation in the prior art
Robot can not control the problem of object wobbling action in fore-and-aft plane.
The utility model is realized in this way providing forearm, it is installed on the large arm end of articulated robot, the large arm
One end is equipped with the driving motor for driving the forearm horizontal hunting, and the forearm end is equipped with for the defeated of output torque
The shaft axis of motor out, the output motor is located at horizontal plane.
Further, described forearm one end is equipped with the mounting base installed for the driving motor output end, the driving
Motor and the mounting base coaxial line.
Further, the forearm includes multiple mounting bases detachably exchanged, the axis of at least one mounting base
Line is mutually perpendicular to the output motor axis.
Further, described forearm one end is equipped with the deformation mounting base installed for the driving motor output end, described
Deformation mounting base has and can change the distressed structure of axis angle, the distressed structure at least can be realized its axis with it is described
Output motor axis is mutually perpendicular to.
It further, further include swing arm that one end is installed in the shaft of the output motor, the other end of the swing arm
Equipped with the fixing end for fixing external structure.
The utility model additionally provides articulated robot, including large arm and the forearm for being articulated with the large arm end, institute
Large arm end is stated equipped with the driving motor for driving the forearm horizontal hunting, the forearm end, which is equipped with, is used for output torque
Output motor, the shaft axis of the output motor is located at horizontal plane.
Further, described forearm one end is equipped with the mounting base installed for the driving motor output end, the installation
Seat can change the hinge angle of the large arm and the forearm by way of deforming or replacing.
Compared with prior art, the forearm and articulated robot in the utility model, due to changing the hinged of forearm
Angle, so that the shaft axis of final output motor is located at horizontal plane, when installation needs to control in the shaft in output motor
Object when, under the drive of output motor, object can be swung in fore-and-aft plane.
Detailed description of the invention
Fig. 1 is the configuration schematic diagram of articulated robot provided by the embodiment of the utility model；
Fig. 2 is forearm structure schematic diagram provided by the embodiment of the utility model；
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
In the description of the present invention, it should be understood that term " length ", " width ", "upper", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached
Orientation or positional relationship shown in figure, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of utility model.
The meaning of " plurality " is two or more in the description of the present invention, unless otherwise clearly specific
It limits.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
The realization of the present embodiment is described in detail below in conjunction with specific attached drawing, for the ease of narration, if space is sat
Mark system (x, y, z), wherein z-axis is vertical direction.
As depicted in figs. 1 and 2, forearm 2 is provided in the present embodiment, is installed on 1 end of large arm of articulated robot 4.
Driving motor 11 is installed in one end of large arm 1, driving motor 11 is for driving forearm 2 in horizontal plane swing, i.e. (x, y) plane
It is interior.It is equipped with the output motor 21 for output torque in the end of forearm 2, the shaft axis of output motor 21 is located at horizontal plane.
Namely the torque exported when 21 shaft of output motor is located in fore-and-aft plane.It is attached in driving motor 11 and output motor 21 in Fig. 1
Closely, rotation direction, namely the rotation direction of corresponding driving object are shown with arrow respectively.
As shown in fig. 1, teapot 3 is installed in 21 shaft of output motor and is used as object 3, in the drive of output motor 21
Under, teapot 3 can rotate in perpendicular, realize the function of pouring.
Further, as shown in Fig. 2, 2 one end of forearm is equipped with the mounting base 23 installed for 11 output end of driving motor,
Driving motor 11 and 23 coaxial line of mounting base can finally realize output motor 21 by the way that the angle of mounting base 23 itself is arranged
Output shaft is in the horizontal plane.In other examples, forearm 2 can design for application specific architecture, also i.e. that mounting base 23 is fixed
For the angle for only realizing output torque in perpendicular.In the present embodiment, forearm 2 is equipped with multiple mounting bases 23 (only
Show one), it can replace between each other, and be fixed on forearm 2 using detachable.The axis of at least one mounting base 23
Line is mutually perpendicular to 21 axis of output motor, to realize output torque in perpendicular.Other mounting bases 23 can be set
Multiple angles, such as axis are parallel with 21 axis of output motor, and such as plane conventional in the prior art of forearm 2 is closed more
The torque of the same output level of machine robot 4, takes into account the repertoire of planar multiple-articulation robot 4 in the prior art, according to
It needs to replace selection mounting base 23 and forearm 2 is fixed.
In other examples, 2 one end of forearm is equipped with the deformation mounting base installed for 11 output end of driving motor, becomes
Shape mounting base has the distressed structure that can change axis angle, and distressed structure at least can be realized its axis and output motor 21
Axis is mutually perpendicular to.Namely multiple mounting bases 23 that can dismantle exchange are replaced using the deformation mounting base that itself can be deformed.
Deforming mounting base can be realized using various structures, such as swingable sleeve, and the output shaft of driving motor 11 is inserted into sleeve
It is secured to or whole deformation mounting base is fixed on forearm 2 by the way of hinged and swingable etc..
It preferably, further include swing arm 22 that one end is installed in the shaft of output motor 21, the other end of swing arm 22 is equipped with
Fixing end 221 for fixed object 3.The length of swing arm 22 for adjusting the length of the arm of force, and adapts to object 3
Shape, specific shape and structure is with no restrictions.
Articulated robot 4 is additionally provided in the present embodiment, including large arm 1 and the forearm 2 for being articulated with 1 end of large arm, greatly
1 end of arm is equipped with the driving motor 11 for driving 2 horizontal hunting of forearm, and 2 end of forearm is equipped with the output for output torque
The shaft axis of motor 21, output motor 21 is located at horizontal plane.Articulated robot 4 in the present embodiment, 2 end of forearm
The shaft axis of output motor 21 is located at horizontal plane, therefore is able to drive object 3 and rotates or swing in vertical direction, specific
Implementation is similar to before, repeats.
Similarly, 2 one end of forearm is equipped with the mounting base 23 installed for 11 output end of driving motor, and mounting base 23 can lead to
The mode of deformation or replacement is crossed, the hinge angle of large arm 1 and forearm 2 is changed, realizes that the angle of the shaft of output motor 21 becomes
Change, specific implementation does not repeat them here yet.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all practical at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the guarantor of the utility model within novel spirit and principle
Within the scope of shield.
Claims (7)
1. forearm is installed on the large arm end of articulated robot, which is characterized in that described large arm one end is equipped with for driving
The driving motor of the forearm horizontal hunting, the forearm end are equipped with the output motor for output torque, the output electricity
The shaft axis of machine is located at horizontal plane.
2. forearm as described in claim 1, which is characterized in that described forearm one end is equipped with for the driving motor output end
The mounting base of installation, the driving motor and the mounting base coaxial line.
3. forearm as claimed in claim 2, which is characterized in that the forearm includes multiple installations detachably exchanged
Seat, the axis of at least one mounting base are mutually perpendicular to the output motor axis.
4. forearm as claimed in claim 2, which is characterized in that described forearm one end is equipped with for the driving motor output end
The deformation mounting base of installation, the deformation mounting base have the distressed structure that can change axis angle, and the distressed structure is extremely
It can be realized its axis less to be mutually perpendicular to the output motor axis.
5. such as the described in any item forearms of Claims 1-4, which is characterized in that further include that one end is installed on the output motor
Shaft on swing arm, the other end of the swing arm is equipped with the fixing end for fixed object.
6. articulated robot, including large arm and the forearm for being articulated with the large arm end, which is characterized in that the large arm end
Equipped with for driving the driving motor of the forearm horizontal hunting, the forearm end is equipped with the output electricity for output torque
The shaft axis of machine, the output motor is located at horizontal plane.
7. articulated robot as claimed in claim 6, which is characterized in that described forearm one end is equipped with for the driving electricity
Machine output end installation mounting base, the mounting base can by way of deforming or replacing, change the large arm with it is described
The hinge angle of forearm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821516921.3U CN208930251U (en) | 2018-09-17 | 2018-09-17 | Forearm and articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821516921.3U CN208930251U (en) | 2018-09-17 | 2018-09-17 | Forearm and articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208930251U true CN208930251U (en) | 2019-06-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821516921.3U Active CN208930251U (en) | 2018-09-17 | 2018-09-17 | Forearm and articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208930251U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908315A (en) * | 2018-09-17 | 2018-11-30 | 深圳市越疆科技有限公司 | Forearm and articulated robot |
-
2018
- 2018-09-17 CN CN201821516921.3U patent/CN208930251U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908315A (en) * | 2018-09-17 | 2018-11-30 | 深圳市越疆科技有限公司 | Forearm and articulated robot |
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