CN209224051U - A kind of arm structure of industrial robot - Google Patents
A kind of arm structure of industrial robot Download PDFInfo
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- CN209224051U CN209224051U CN201822041938.4U CN201822041938U CN209224051U CN 209224051 U CN209224051 U CN 209224051U CN 201822041938 U CN201822041938 U CN 201822041938U CN 209224051 U CN209224051 U CN 209224051U
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- arm
- forearm
- fixedly connected
- telescopic arm
- far
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Abstract
This application discloses a kind of arm structures of industrial robot, including driving unit and arm component, there are two the arm components, the driving unit includes driving pedestal and driving wheel, the arm component includes the first large arm, first telescopic arm, first forearm, first large arm is fixedly connected with first hydraulic cylinder far from one end of the rotary shaft, the first hydraulic cylinder is connect with first telescopic arm, the top of first telescopic arm is vertically and fixedly provided with first support bar, the first support bar is connected with the first forearm far from one end of first telescopic arm, first forearm is fixedly connected with the first pitching motor close to one end of first telescopic arm, first forearm is fixedly connected with the first rotating hydraulic cylinder far from one end of first telescopic arm, first rotating hydraulic cylinder is far from first forearm One end is fixedly connected with the first actuator.The utility model simplifies the arm structure of industrial robot, reduces production cost.
Description
Technical field
The present disclosure relates generally to Industrial Robot Technology fields, and in particular to a kind of arm structure of industrial robot.
Background technique
Industrial robot can complete various expected tasks by programming, have people and machine concurrently on construction and performance
The advantage of device people respectively, in production line, industrial robot plays important role, can greatly increase working efficiency, existing
There is the industrial machine human arm in technology that there are multiple control structures, that is, rotate, is flexible, clamping etc., it can be tied using multiple drivings
Structure is combined in the structure on a manipulator, causes entire mechanical arm structure very complicated, and economic cost increases.
Summary of the invention
In view of drawbacks described above in the prior art or deficiency, it is intended to provide a kind of arm structure of industrial robot.
In a first aspect, simplifying construction of industrial robot manipulator, cost is reduced.
According to technical solution provided by the embodiments of the present application, a kind of arm structure of industrial robot, including driving unit
And arm component, there are two the arm components, and the driving unit includes driving pedestal and driving wheel, the driving pedestal
Bottom is fixedly connected with driving wheel by connecting shaft, and the connecting shaft is equipped with driving wheel card close to one end of the driving wheel,
The upper surface of the driving pedestal is fixedly connected with electric motor protecting frame, and the inside of the electric motor protecting frame is fixedly connected with motor,
The output end of the motor is fixedly connected with swingle, top and and rotary shaft of the swingle through the electric motor protecting frame
Be fixedly connected, the rotary shaft is flexibly connected with the arm component, the arm component include the first large arm, the second large arm,
First telescopic arm, the second telescopic arm, the first forearm and the second forearm, the rotary shaft successively with first large arm and second largest
Arm is flexibly connected, and first large arm is located at the lower section of second large arm, first large arm far from the rotary shaft one
End is fixedly connected with first hydraulic cylinder, and the first hydraulic cylinder is connect with first telescopic arm, the top of first telescopic arm
End is vertically and fixedly provided with first support bar, and it is small that the first support bar far from one end of first telescopic arm is connected with first
Arm, first forearm are fixedly connected with the first pitching motor close to one end of first telescopic arm, and first forearm is remote
One end from first telescopic arm is fixedly connected with the first turning motor, and first turning motor is far from first forearm
One end be fixedly connected with the first actuator, it is hydraulic that second large arm far from one end of the rotary shaft is fixedly connected with second
Cylinder, the second hydraulic cylinder are connect with second telescopic arm, and the top of second telescopic arm is vertically and fixedly provided with the second support
Bar, the second support bar are connected with the second forearm far from one end of second telescopic arm, and second forearm is close
One end of second telescopic arm is fixedly connected with the second pitching motor, second forearm far from second telescopic arm one
End is fixedly connected with the second turning motor, and second turning motor is fixedly connected with second far from one end of second forearm
Actuator.
In the utility model, the driving pedestal is internally provided with driving motor, the driving wheel, connecting shaft and driving
The quantity of wheel card is 4.
In the utility model, the first support bar and first forearm active connection place are provided with one first rotation
Axis, the second support bar and second forearm active connection place are provided with second rotation axis.
In the utility model, first actuator includes the first mechanical block and the first manipulator, first mechanical block
It is fixedly connected with first forearm, the lower surface of first mechanical block is fixedly connected with the first manipulator, and described second holds
Row device includes the second mechanical block and the second manipulator, and second mechanical block is fixedly connected with second forearm, and described second
The lower surface of mechanical block is fixedly connected with the second manipulator.
In the utility model, the mutual angle of revolution of first large arm and the second large arm is not 360 °, fixed described the
The angle of revolution of one large arm, second large arm will limit in a certain range.
In conclusion the above-mentioned technical proposal of the application by setting driving pedestal and driving wheel, can allow robot
Arm realization is arbitrarily moved in production line, substantially increases the working range that robot arm is capable of operation, is improved
Production efficiency；Two arm component revolutions, flexible driving are respectively independent, top-bottom cross arrangement, respectively in two different revolutions
Plane makees rotary motion and stretching motion around rotary shaft completely, simplifies construction of industrial robot manipulator, reduces cost.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the overall structure diagram that pedestal is driven in the utility model；
Fig. 3 is the overall structure diagram of the first actuator in the utility model.
Figure label: driving pedestal -1；Driving wheel -2；Connecting shaft -3；Driving wheel card -4；Electric motor protecting frame -5；Motor -6；
Swingle -7；Rotary shaft -8；First large arm -9；First telescopic arm -10；First forearm -11；First hydraulic cylinder -12；First support
Bar -13；First pitching motor -14；First turning motor -15；First actuator -16；First mechanical block -16.1；Second is mechanical
Hand -16.2；Second large arm -17；Second telescopic arm -18；Second forearm -19；Second hydraulic cylinder -20；Second support bar -21；The
Two pitching motors -22；Second turning motor -23；Second actuator -24；Second mechanical block -24.1；Second manipulator -24.2.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to FIG. 1, a kind of arm structure of industrial robot, including driving unit and arm component, the arm group
There are two parts, and the upper surface of the driving pedestal 1 is fixedly connected with electric motor protecting frame 5, and the inside of the electric motor protecting frame 5 is fixed
It is connected with motor 6, the output end of the motor 6 is fixedly connected with swingle 7, and the swingle 7 runs through the electric motor protecting frame 5
Top and be fixedly connected with rotary shaft 8, the rotary shaft 8 is flexibly connected with the arm component, and the arm component includes
First large arm 9, the second large arm 17, the first telescopic arm 10, the second telescopic arm 18, the first forearm 11 and the second forearm 19, the rotation
Shaft 8 is successively flexibly connected with first large arm 9 and the second large arm 17, and first large arm 9 is located at second large arm 17
Lower section, first large arm 9 is fixedly connected with first hydraulic cylinder 12 far from one end of the rotary shaft 8, and described first is hydraulic
Cylinder 12 is connect with first telescopic arm 10, and the top of first telescopic arm 10 is vertically and fixedly provided with first support bar 13, described
First support bar 13 is connected with the first forearm 11 far from one end of first telescopic arm 10, and first forearm 11 is close
One end of first telescopic arm 10 is fixedly connected with the first pitching motor 14, and first forearm 11 is flexible far from described first
One end of arm 10 is fixedly connected with the first turning motor 15, the one end of first turning motor 15 far from first forearm 11
It is fixedly connected with the first actuator 16, it is hydraulic that second large arm 17 far from one end of the rotary shaft 8 is fixedly connected with second
Cylinder 20, the second hydraulic cylinder 20 are connect with second telescopic arm 18, and the top of second telescopic arm 18 is vertically and fixedly provided with
Second support bar 21, the second support bar 21 are connected with the second forearm 19 far from one end of second telescopic arm 18,
Second forearm 19 is fixedly connected with the second pitching motor 22, second forearm close to one end of second telescopic arm 18
19 one end far from second telescopic arm 18 are fixedly connected with the second turning motor 23, and second turning motor 23 is far from institute
The one end for stating the second forearm 19 is fixedly connected with the second actuator 24.
Referring to FIG. 2, the driving unit includes driving pedestal 1 and driving wheel 2, the bottom of the driving pedestal 1 passes through
Connecting shaft 3 is fixedly connected with driving wheel 2, and the connecting shaft 3 is equipped with driving wheel card 4 close to one end of the driving wheel 2.
Referring to FIG. 3, first actuator 16 include the first mechanical block 16.1 and the first manipulator 16.2, described first
Mechanical block 16.1 is fixedly connected with first forearm 11, and the lower surface of first mechanical block 16.1 is fixedly connected with the first machine
Tool hand 16.2, second actuator 24 include the second mechanical block 24.1 and the second manipulator 24.2, second mechanical block
24.1 are fixedly connected with second forearm 19, and the lower surface of second mechanical block 24.1 is fixedly connected with the second manipulator
24.2。
By the control of driving motor, driving pedestal 1 can be allowed to be moved to the place for needing work, clamping driving wheel card 4,
No longer rotate driving wheel 2, the swingle 7 that motor 6 connects can drive rotary shaft 8 to make rotating motion together, and rotary shaft 8 is simultaneously
The first large arm 9 and the second large arm 17 is driven to rotate synchronously, it is round-trip that first hydraulic cylinder 12 drives the first telescopic arm 18 to do vertical line
Movement, the first pitching motor 14 drive the first forearm 11 to realize any activity of vertical direction, and the first actuator 16 is at first time
It can be realized the clamping to workpiece under the drive of rotating motor 15.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (5)
1. a kind of arm structure of industrial robot, including driving unit and arm component, there are two the arm components, special
Sign is: the driving unit includes driving pedestal (1) and driving wheel (2), and the bottom of driving pedestal (1) passes through connecting shaft
(3) it being fixedly connected with driving wheel (2), the connecting shaft (3) is equipped with driving wheel card (4) close to the one end of the driving wheel (2),
The upper surface of driving pedestal (1) is fixedly connected with electric motor protecting frame (5), and the inside of the electric motor protecting frame (5) is fixed to be connected
It is connected to motor (6), the output end of the motor (6) is fixedly connected with swingle (7), and the swingle (7) runs through the motor
The top of fender bracket (5) is simultaneously fixedly connected with rotary shaft (8), and the rotary shaft (8) is flexibly connected with the arm component, described
Arm component includes the first large arm (9), the second large arm (17), the first telescopic arm (10), the second telescopic arm (18), the first forearm
(11) it is successively flexibly connected with first large arm (9) and the second large arm (17) with the second forearm (19), the rotary shaft (8),
First large arm (9) is located at the lower section of second large arm (17), and first large arm (9) is far from the rotary shaft (8)
One end is fixedly connected with first hydraulic cylinder (12), and the first hydraulic cylinder (12) connect with first telescopic arm (10), described
The top of first telescopic arm (10) is vertically and fixedly provided with first support bar (13), and the first support bar (13) is stretched far from described first
One end of contracting arm (10) is connected with the first forearm (11), and first forearm (11) is close to first telescopic arm (10)
One end is fixedly connected with the first pitching motor (14), and the one end of first forearm (11) far from first telescopic arm (10) is solid
Surely it is connected with the first turning motor (15), the one end of first turning motor (15) far from first forearm (11) is fixed to be connected
It is connected to the first actuator (16), it is hydraulic that one end of second large arm (17) separate the rotary shaft (8) is fixedly connected with second
Cylinder (20), the second hydraulic cylinder (20) connect with second telescopic arm (18), and the top of second telescopic arm (18) is hung down
It is directly fixed with second support bar (21), the second support bar (21) is flexibly connected far from one end of second telescopic arm (18)
Have the second forearm (19), second forearm (19) is fixedly connected with the second pitching close to one end of second telescopic arm (18)
Motor (22), second forearm (19) are fixedly connected with the second turning motor far from one end of second telescopic arm (18)
(23), second turning motor (23) is fixedly connected with the second actuator (24) far from one end of second forearm (19).
2. a kind of arm structure of industrial robot according to claim 1, it is characterized in that: driving pedestal (1)
It is internally provided with driving motor, the quantity of the driving wheel (2), connecting shaft (3) and driving wheel card (4) is 4.
3. the arm structure of a kind of industrial robot according to claim 1, it is characterized in that: the first support bar (13)
First forearm (11) active connection place is provided with first rotation axis, the second support bar (21) and described second
Forearm (19) active connection place is provided with second rotation axis.
4. the arm structure of a kind of industrial robot according to claim 1, it is characterized in that: first actuator (16)
Including the first mechanical block (16.1) and the first manipulator (16.2), first mechanical block (16.1) and first forearm (11)
It is fixedly connected, the lower surface of first mechanical block (16.1) is fixedly connected with the first manipulator (16.2), and described second executes
Device (24) includes the second mechanical block (24.1) and the second manipulator (24.2), second mechanical block (24.1) and described second small
Arm (19) is fixedly connected, and the lower surface of second mechanical block (24.1) is fixedly connected with the second manipulator (24.2).
5. a kind of arm structure of industrial robot according to claim 1, it is characterized in that: first large arm (9) and
The mutual angle of revolution of second large arm (17) is not 360 °, fixed first large arm (9), the revolution of second large arm (17)
Angle will limit in a certain range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822041938.4U CN209224051U (en) | 2018-12-06 | 2018-12-06 | A kind of arm structure of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822041938.4U CN209224051U (en) | 2018-12-06 | 2018-12-06 | A kind of arm structure of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209224051U true CN209224051U (en) | 2019-08-09 |
Family
ID=67506422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822041938.4U Expired - Fee Related CN209224051U (en) | 2018-12-06 | 2018-12-06 | A kind of arm structure of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209224051U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111958632A (en) * | 2020-08-13 | 2020-11-20 | 广州超控自动化设备科技有限公司 | Arm-splitting type industrial robot |
-
2018
- 2018-12-06 CN CN201822041938.4U patent/CN209224051U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111958632A (en) * | 2020-08-13 | 2020-11-20 | 广州超控自动化设备科技有限公司 | Arm-splitting type industrial robot |
| CN111958632B (en) * | 2020-08-13 | 2021-11-16 | 芜湖藦卡机器人科技有限公司 | Arm-splitting type industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190809 Termination date: 20201206 |
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| CF01 | Termination of patent right due to non-payment of annual fee |