CN209111077U - A kind of robot without spacious amount pose moving assembly - Google Patents

Abstract

The utility model discloses a non-spacing position and attitude moving assembly of a robot, which comprises a driving device. The middle position of the lower end surface of the outer wall of the driving device is fixedly connected to a mechanical arm connecting rod, and the upper end surface of the driving device is provided with a groove. A rotating shaft is installed inside the groove, the left end of the rotating shaft is rotatably installed on the left end face of the driving device through the first bearing, and the left end face of the rotating shaft is fixed by the bearing end cover, the outer wall of the middle section of the rotating shaft is sleeved with a hinge table, and the right end of the rotating shaft extends to In the inner cavity of the right end of the driving device, the utility model eliminates the gap left between the joints by improving the installation method between the joints, so that the movement position accuracy of the mechanical arm is higher, and the utility model has high practical value.

Description

A robot's unrestricted pose moving component

technical field

The utility model relates to the technical field of robot motion equipment, in particular to a non-opening position and attitude moving component of a robot.

Background technique

Robot kinematics includes forward kinematics and inverse kinematics. Forward kinematics is to give the joint variables of the robot and calculate the position and attitude of the robot end; inverse kinematics is to know the position and attitude of the robot end and calculate all the corresponding positions of the robot. joint variables. The pose of the robot mainly refers to the position and attitude of the robot hand in space, and sometimes the position and attitude of other movable rods in space are also used.

Since the current robot is used for industrial operations, the required precision is high, especially the positional accuracy of the manipulator is particularly important, and the current installation of the rotating connection assembly of the robot arm leaves a certain room for movement between the components. As a result, the pose accuracy after the movement of the mechanical claw is low, and the error is large.

Utility model content

The purpose of the present invention is to provide a non-opening position and attitude moving assembly of a robot, so as to solve the problems raised in the above-mentioned background technology.

To achieve the above object, the utility model provides the following technical solutions:

A robot's position-free movement assembly, comprising a driving device, the middle position of the lower end face of the outer wall of the driving device is fixedly connected with a mechanical arm connecting rod, the upper end face of the driving device is provided with a groove, and a rotating shaft is installed inside the groove , the left end of the rotating shaft is rotatably mounted on the left end face of the driving device through the first bearing, and the left end face of the rotating shaft is fixed by the bearing end cover, the outer wall of the middle section of the rotating shaft is sleeved with a hinge platform, and the right end of the rotating shaft extends into the right end of the driving device The rotating shaft is located on the outer wall of the inner cavity of the driving device and is provided with a limiting block, the right end face of the rotating shaft is rotatably connected to the inside of the connecting block through the second bearing, and the left and right end faces of the hinge table are provided with through holes, which closely fit the rotating shaft The upper end face of the hinged table is fixedly welded with a mechanical claw connecting rod at the middle position, the left and right ends of the upper end face of the hinged table are provided with threaded holes, and the hinged table is connected with the threaded holes through bolts and fixedly installed on the outer wall of the rotating shaft. The limit block and the rotating shaft are integrally manufactured, and the outer wall of the limit block is fixedly sleeved with a worm wheel, the left end face of the worm wheel is provided with a long groove, the size of the long groove is matched with the limit block, and the right end face of the worm wheel is installed on the The left end face of the connecting block and the lower end of the worm wheel are engaged with the worm, the right end of the worm is rotatably connected to the right end face of the drive device, and the other end of the worm is connected to the drive motor, which is installed on the lower end face of the inner cavity of the drive device.

Preferably, the lower end of the mechanical claw connecting rod is vertically welded on the upper end surface of the hinge table, and the upper end of the mechanical claw connecting rod is connected to the mechanical claw.

Preferably, the connecting block and the driving device are manufactured integrally, and the connecting block is vertically arranged on the upper end of the right end surface of the inner cavity of the driving device.

Preferably, the drive motor is electrically connected to the control host of the robot.

Compared with the prior art, the beneficial effects of the present utility model are: the utility model is fixed and installed by setting the bolts of the hinge platform and the rotating shaft, so that the positional connection between the mechanical claw and the rotating shaft is fixed, and the gap of the longitudinal position of the mechanical claw is eliminated. By setting the cooperation between the worm wheel and the worm, the worm wheel is used to drive the rotating shaft to rotate, so that the rotation is stable. At the same time, due to the self-locking connection between the worm wheel and the worm, the worm can only be driven by the worm. The position movement caused by the torque transmission process also makes the movement of the mechanical claw safer; by setting the limit block, the installation between the worm gear and the rotating shaft is made closer. Compared with the prior art, the utility model eliminates the gap left between the joints by improving the installation method between the joints, so that the movement position accuracy of the mechanical arm is higher and has higher practical value.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

2 is a side view of a three-dimensional structure of the present utility model;

FIG. 3 is a sectional view of the drive device of the present invention.

In the picture: 1 driving device, 2 mechanical arm connecting rod, 3 mechanical claw connecting rod, 4 driving motor, 5 worm, 6 worm gear, 7 hinge table, 8 locking bolts, 9 rotating shaft, 10 bearing end cover, 11 first bearing , 12 second bearing, 13 connecting block, 14 mechanical claw, 15 limit block.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

Please refer to Figures 1-3, the utility model provides a technical solution:

A robot-free pose moving assembly, comprising a drive device 1, the lower end surface of the outer wall of the drive device 1 is fixedly connected to a mechanical arm connecting rod 2 in the middle position, the upper end surface of the drive device 1 is provided with a groove, and the groove is installed inside the groove. There is a rotating shaft 9, the left end of the rotating shaft 9 is rotatably installed on the left end face of the driving device 1 through the first bearing 11, and the left end face of the rotating shaft 9 is fixed by the bearing end cover 10, the outer wall of the middle section of the rotating shaft 9 is sleeved with a hinged table 7, and the rotating shaft 9 The right end of the rotating shaft 9 extends to the inner cavity of the right end of the driving device 1, the rotating shaft 9 is located on the outer wall of the inner cavity of the driving device 1, and a limiting block 15 is arranged. The driving device 1 is manufactured in one piece, and the connecting block 13 is vertically arranged on the upper end of the right end surface of the inner cavity of the driving device 1 .

The left and right end faces of the hinged table 7 are provided with through holes, which are closely fitted with the rotating shaft 9. The middle position of the upper end surface of the hinged table 7 is fixedly welded with a mechanical claw connecting rod 3, and the lower end of the mechanical claw connecting rod 3 is vertically welded to the hinged table. 7, the upper end of the mechanical claw connecting rod 3 is connected to the mechanical claw 14, the left and right ends of the upper end surface of the hinge table 7 are provided with threaded holes, and the hinge table 7 is connected with the threaded holes through the bolts 8 and fixedly installed on the rotating shaft 9. The outer wall of the worm gear 6, the limit block 15 and the rotating shaft 9 are integrally manufactured, and the outer wall of the limit block 15 is fixedly sleeved with the worm wheel 6, and the left end surface of the worm wheel 6 is provided with a long groove. The size of the long groove is matched with the limit block 15, And the right end face of the worm wheel 6 is installed on the left end face of the connecting block 13, the lower end of the worm wheel 6 is engaged with the worm 5, the right end of the worm 5 is rotated and connected to the right end face of the drive device 1, and the other end of the worm 5 is connected to the drive motor 4, the drive motor. 4 is installed on the lower end face of the inner cavity of the drive device 1 . The driving motor 4 is electrically connected to the control host of the robot.

Working principle: First, use the cooperation of the long groove of the worm gear 6 and the limit block 15 to fix the worm gear 6 on the outer wall of the rotating shaft 9, and use the bolts 8 to fix the hinge table 7 and the rotating shaft 9. At this time, start the drive motor 4, and use the drive The motor 4 drives the worm 5 to rotate, and the worm 5 drives the worm wheel 6 to rotate, which in turn drives the rotating shaft 9 to rotate, so as to adjust the circumferential angle position of the mechanical claw 14 .

During the adjustment process, since the hinge table 7 and the rotating shaft 9 are fixed by bolts, the self-locking between the worm gear 6 and the worm 5, the worm gear 6 and the rotating shaft 9 are fixed by the limit block 15, so that each connection is There is no room for movement, thereby improving the 14-position accuracy of the mechanical gripper.

Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes and modifications can be made to these embodiments without departing from the principles and spirit of the present invention , alternatives and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (4)

1. A robot-free position and posture moving assembly, comprising a driving device (1), characterized in that: the middle position of the lower end face of the outer wall of the driving device (1) is fixedly connected to a mechanical arm connecting rod (2), and the driving device The upper end face of (1) is provided with a groove, and a rotating shaft (9) is installed inside the groove. The left end face of (9) is fixed by the bearing end cover (10), the hinge table (7) is sleeved on the outer wall of the middle section of the rotating shaft (9), and the right end of the rotating shaft (9) extends to the inner cavity of the right end of the driving device (1), The rotating shaft (9) is located on the outer wall of the inner cavity of the driving device (1) and is provided with a limiting block (15). The left and right end faces of (7) are provided with through holes, which are closely fitted with the rotating shaft (9). The left and right ends of the upper end face are provided with threaded holes, and the hinge table (7) is connected with the threaded holes through bolts (8) and fixedly installed on the outer wall of the rotating shaft (9). ) is manufactured in one piece, and the outer wall of the limit block (15) is fixedly sleeved with a worm wheel (6), the left end face of the worm wheel (6) is provided with a long groove, and the size of the long groove is matched with the limit block (15). , and the right end face of the worm wheel (6) is installed on the left end face of the connecting block (13), the lower end of the worm wheel (6) is engaged with the worm (5), and the right end of the worm (5) is rotatably connected to the drive device (1). On the right end face, the other end of the worm (5) is connected to the drive motor (4), and the drive motor (4) is installed on the lower end face of the inner cavity of the drive device (1). 2. The non-exhaustive pose moving assembly of a robot according to claim 1, characterized in that: the lower end of the mechanical claw connecting rod (3) is vertically welded on the upper end face of the hinge table (7), and the mechanical claw The upper end of the connecting rod (3) is connected with the mechanical claw (14). 3. The non-opening position and posture moving assembly of a robot according to claim 1, characterized in that: the connecting block (13) and the driving device (1) are integrally manufactured, and the connecting block (13) is vertically arranged on the The right end surface of the inner cavity of the driving device (1) is on the upper end. 4 . The robot's position-and-posture moving assembly without open space according to claim 1 , wherein the drive motor ( 4 ) is electrically connected to the control host of the robot. 5 .