CN209491777U - Mechanical wrist revolving structure - Google Patents
Mechanical wrist revolving structure Download PDFInfo
- Publication number
- CN209491777U CN209491777U CN201822075026.9U CN201822075026U CN209491777U CN 209491777 U CN209491777 U CN 209491777U CN 201822075026 U CN201822075026 U CN 201822075026U CN 209491777 U CN209491777 U CN 209491777U
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- rotating
- seat
- rotating shaft
- pivoting portion
- ring seat
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Abstract
The utility model discloses a kind of mechanical wrist revolving structures, specifically include that an ontology, have a first pivoting portion and a second pivoting portion, constitute an accommodating space therebetween；One first rotating shaft, rotation are set in first pivoting portion, and are driven by one first drive motor；One rotating seat, the through-hole for running through rotating seat with one, rotating seat is placed in accommodating space, and one end is coaxially interlocked with the first rotating shaft, and another end rotation is set in the second pivoting portion of ontology, and rotating seat opposing body is enable to carry out pendulum motion；One rotating disk, perpendicular to through-hole central axis and revolve on rotating seat, rotating disk sets an operation object with for group；One second rotating shaft, rotation are set in second pivoting portion, and are driven by one second drive motor.
Description
Technical field
The utility model relates to a kind of mechanical wrists, particularly relate to a kind of revolving structure form of mechanical wrist.
Background technique
Common mechanical arm is formed by connecting by one or more groups of joints, and has the specific action for imitating human arm
Automatic control device, and correspond to according to the group number in its joint the freedom degree of aforementioned mechanical arm.The characteristics of due to mechanical arm
It is that accurate and steadily rule movement can be repeated in predefined paths, therefore has been widely used in manufacturing industry, especially
In the working environment of high-risk (such as: welding, high temperature, high pressure, casting etc.) to replace manual operation, in addition to having safety
Except the advantages of property, its precision and quality can also be improved.
Such mechanical arm structural form finds that there are still following problems points in actual use experience: operating in long-time
Afterwards, when the rotary joint position of mechanical arm is abnormal or damages, due to design on not in view of need to be easy dismantling be only capable of by
Entire rotary joint is replaced after removing, and can not be individually replaced the higher component of coefficient of losses, keeps maintenance upper fairly time consuming, inconvenient,
In addition, the stability of entire mechanism action also has to be hoisted, there is improved necessity.
Utility model content
The purpose of this utility model is to provide a kind of mechanical wrist revolving structures.
In order to achieve the above objectives, the utility model uses following technical scheme:
A kind of mechanical wrist revolving structure specifically includes that an ontology, and body end, which extends outwardly, to be equipped with mutually in opposite one
First pivoting portion and a second pivoting portion, and ontology is empty corresponding to an accommodating is more constituted between first pivoting portion and second pivoting portion
Between, and body interior is equipped with one first drive motor and one second drive motor；One first rotating shaft, rotation are set to first pivoting portion
On, and there is first end and second end, the first rotating shaft first end extends towards accommodating space direction, and the first rotating shaft second end is set
There is one first effector, and the first effector is connected using one first driving member with the first drive motor, and the first driving horse is enabled
It is rotated up to the first driving member and the first effector the first rotating shaft of driving is sequentially penetrated relative to first pivoting portion；One rotating seat,
In a column structure, and there is a first end, a second end and a through-hole, first end and the second end are corresponding positioned at rotation
The two opposite sides of swivel base, and through-hole through rotating seat and is extended through for the second end from first end；And wherein rotating seat holds
It is placed in accommodating space, first end is coaxially connected in the first end of the first rotating shaft and synchronous with the first rotating shaft relative to
One articulated section turn, and the second end rotation is set in the second pivoting portion of ontology, and rotating seat opposing body is enable to carry out swing fortune
It is dynamic；One rotating disk, perpendicular to through-hole central axis and revolve on rotating seat, rotating disk sets an operation object with for group；
One second rotating shaft, rotation are set in second pivoting portion, and have first end and second end, and the second rotating shaft first end is towards in through-hole
Extend and penetrate a transmission means driving rotating disk relative to rotating seat turn, and the second rotating shaft second end be equipped with one second by
Dynamic portion, and the second effector is connected using one second driving member with the second drive motor, and the second drive motor is enabled sequentially to penetrate
Second driving member and the second effector drive the second rotating shaft to rotate relative to second pivoting portion；Again the second rotating shaft not with it is logical
Hole inner wall face contact；A bearing is installed in rotating seat, the first end of the second rotating shaft is planted with one heart to be fixed in bearing, is used
Improve the stability of the second rotating shaft operating；One first ring seat, is mounted in the first pivoting portion of ontology, and the first rotating shaft runs through
First ring seat, and a first bearing is equipped between the first ring seat and the first rotating shaft；One second ring seat is mounted on the of ontology
On two articulated sections；And one rotation be set to the second ring seat in connecting cylinder, one end of connecting cylinder is coaxially fixedly arranged on the second of rotating seat
End, and connecting cylinder inner space is connected with the through-hole of rotating seat, the another end of connecting cylinder is mounted in the second ring seat, and second
A second bearing is equipped between ring seat and connecting cylinder；Another second rotating shaft runs through connecting cylinder, and the second rotating shaft and connecting cylinder it
Between be equipped with an at least 3rd bearing.
Unique design is innovated whereby, and for so that the utility model is compareed prior art, the second rotating shaft and rotating disk are can
The mode of disassembly is respectively corresponded to be connect with second pivoting portion and rotating seat, therefore user can be by the second rotating shaft and its structure of connection
Part removes, or rotating disk is removed together with operation object, therefore can be further simplified maintenance or change process, and special tool is practical
Progressive.
Detailed description of the invention
Fig. 1 is the combination stereogram of the first embodiment of the utility model.
Fig. 2 is the perspective view of Fig. 1.
Fig. 3 is the assembled sectional view of Fig. 1.
Fig. 4 is the exploded perspective view of Fig. 1.
Specific embodiment
As shown in Figure 1,2,3, 4, the utility model mechanical wrist revolving structure includes: an ontology 10,10 end of ontology to
It is outer extend be equipped with mutually be in opposite a first pivoting portion 11 and a second pivoting portion 12, ontology 10 correspond to first pivoting portion 11 and
An accommodating space 13 is more constituted between second pivoting portion 12, and is equipped with one first drive motor 14 and one second inside ontology 10 and is driven
Dynamic motor 15；One first rotating shaft 20, rotation are set in first pivoting portion 11, and have first end 21 and second end 22, and first time
20 first end 21 of shaft extends towards 13 direction of accommodating space, and 20 second end 22 of the first rotating shaft is equipped with one first effector 23, and
First effector 23 is connected using one first driving member 24 with the first drive motor 14, and the first drive motor 14 is enabled sequentially to penetrate
First driving member 24 and the first effector 23 drive the first rotating shaft 20 to rotate relative to first pivoting portion 11；One rotating seat 30,
In a column structure, and there is a first end 31, a second end 32 and a through-hole 33, first end 31 and the second end 32
The corresponding two opposite sides for being located at rotating seat 30, and through-hole 33 through rotating seat 30 and is extended through for second end from first end 31
Portion 32；And wherein rotating seat 30 is placed in accommodating space 13, first end 31 is coaxially connected with first in the first rotating shaft 20
End 21 is simultaneously synchronous with the first rotating shaft 20 relative to 11 turn of first pivoting portion, and the rotation of the second end 32 is set to the second of ontology 10
On articulated section 12,30 opposing body 10 of rotating seat is enable to carry out pendulum motion；One rotating disk 40, perpendicular to the central axis of through-hole 33
Line and revolve on rotating seat 30, rotating disk 40 sets an operation object (not shown) with for group；One second rotating shaft 50, rotation is set
In in second pivoting portion 12, and there is first end 51 and second end 52,50 first end 51 of the second rotating shaft is towards extending in through-hole 33
And through a transmission means driving rotating disk 40 relative to 30 turn of rotating seat, and 50 second end 52 of the second rotating shaft is equipped with one the
Two effectors 53, and the second effector 53 is connected using one second driving member 54 with the second drive motor 15, and the second driving is enabled
Motor 15 sequentially drives the second rotating shaft 50 to revolve relative to second pivoting portion 12 through the second driving member 54 and the second effector 53
Turn；Again the second rotating shaft 50 not with 33 inner wall face contact of through-hole；A bearing 35, the second rotating shaft 50 are installed in rotating seat 30
First end 51 with one heart plant be fixed in bearing 35, use improve the second rotating shaft 50 operating stability.One first ring seat
60, it is mounted in the first pivoting portion 11 of ontology 10, the first rotating shaft 20 runs through the first ring seat 60, and the first ring seat 60 and the
A first bearing 61 is equipped between single-revolution axis 20；One second ring seat 70, is mounted in the second pivoting portion 12 of ontology 10；And
One rotation is set to the connecting cylinder 80 in the second ring seat 70, and one end of connecting cylinder 80 is coaxially fixedly arranged on the second end 32 of rotating seat 30,
And 80 inner space of connecting cylinder is connected with the through-hole 33 of rotating seat 30, the another end of connecting cylinder 80 is mounted in the second ring seat 70,
And second is equipped with a second bearing 81 between ring seat 70 and connecting cylinder 80；Another second rotating shaft 50 runs through connecting cylinder 80, and second
An at least 3rd bearing 82 is equipped between rotating shaft 50 and connecting cylinder 80.In the preferred embodiment, the first ring seat 60 and second
Ring seat 70 is utilized respectively a plurality of locking part correspondences and is fixed on first pivoting portion 11 and second pivoting portion 12.In other embodiment party
In formula, mode can also be set through spiral shell between the first ring seat 60 and first pivoting portion 11 and fixed, the second ring seat 70 and second pivoting portion
Also it can pass through spiral shell between 12 to set mode and fix.
As shown in Fig. 1,2,4, in this example, an at least service hatch 34 is further included, an at least service hatch 34 is set to rotating seat 30
Side wall on, and be connected with through-hole 33；And 20 first end of the first rotating shaft, 21 part is placed in through-hole 33, can pass through whereby
Service hatch 34 set by the side wall of rotating seat 30 and observed or judge that each component is abnormal, damage situation, and can rapidly into
Row troubleshooting, to shorten the repair time of mechanical wrist revolving structure.
The transmission means are equipped with an active umbrella tooth 56 in 50 first end of the second rotating shaft, 51 coaxial rings, and rotating disk 40 includes
There is a transmission shaft 41, transmission shaft 41 has first end 42 and second end 43, and 41 first end 42 of transmission shaft is coaxially fixed in rotating disk
40, and 41 second end 43 of transmission shaft runs through 30 side wall of rotating seat and towards 33 internal stretch of through-hole, and 41 second end 43 of transmission shaft is same
Collar is equipped with a driven umbrella tooth 44, and driven umbrella tooth 44 is meshed with active umbrella tooth 56.In addition, driven umbrella tooth 44 and active umbrella tooth 56
It can be set to the identical number of teeth, reduce design, assembling and operational difficulty, different gear ratios also can be selected, make rotating disk
Achieve the effect that different rotating speeds (deceleration) when 40 rotation.
As shown in Figure 3,4, in this example, a third ring seat 45 is further included, third ring seat 45 is set on 30 side wall of rotating seat,
Transmission shaft 41 runs through third ring seat 45, and a fourth bearing 46 is equipped between third ring seat 45 and transmission shaft 41.
The rotating disk 40 is installed on rotating seat 30 through an at least fixing piece 47 in a manner of demountable.
Appoint one of them in the group that first driving member 24 and 54 system of the second driving member are made of belt and cable wire.
It is made up of and designs above structure, hereby the repair demolition situation of the utility model is described as follows: as shown in figure 4,
Firstly, when being such as intended to repair movement to rotating disk 40, since rotating disk 40 is that dismountable mode is connected on rotating seat 30,
It only needs rotating disk 40 can rapidly be unloaded to 47 removal of fixing piece.Furthermore it is such as intended to repair the second rotating shaft 50 dynamic
When making, since the component of the second rotating shaft 50 and its connection is equally that dismountable mode is connected to second pivoting portion 12, therefore its
Disassembly process is first to unload the side plate that ontology 10 closes on the second rotating shaft 50, then by the second driving member 54, the second effector 53
Extraction, then due to there is second bearing 81 between the second ring seat 70 and connecting cylinder 80, so that when the second 70 removal of ring seat, it will not
Interfere connecting cylinder 80, and can individually separate the second ring seat 70 with second pivoting portion 12.Finally the second rotating shaft 50 is connected certainly
It extracts out in connect cylinder 80, is separated with ontology 10, further connecting cylinder 80 can spin removal on swivel base 30 at this time, and it can be by active umbrella
Tooth 56,3rd bearing 82 are sequentially removed, the purpose that can easily reach maintenance whereby or change.
In addition, the first rotating shaft 20 also can use the mode of similar aforementioned second rotating shaft, 50 removal, and with ontology 10
Separation, the purpose reaching maintenance or changeing.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art can readily occur in variation in technical scope disclosed by the utility model
Or replacement, it should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with the power
Subject to the protection scope that benefit requires.
Claims (8)
1. a kind of mechanical wrist revolving structure, characterized by comprising:
One ontology, body end, which extends outwardly, to be equipped with mutually in opposite a first pivoting portion and a second pivoting portion, and ontology pair
Should more constitute an accommodating space between first pivoting portion and second pivoting portion, but body interior be equipped with one first drive motor and
One second drive motor；
One first rotating shaft, rotation are set in first pivoting portion, and have first end and second end, and first end is towards accommodating space direction
Extending, second end is equipped with one first effector, and the first effector is connected using one first driving member with the first drive motor,
The first drive motor is enabled sequentially to penetrate the first driving member and the first effector the first rotating shaft of driving relative to first pivoting portion rotation
Turn；
One rotating seat is in a column structure, and has a first end, a second end and a through-hole, first end and second
The corresponding two opposite sides for being located at rotating seat in end, and through-hole through rotating seat and is extended through for the second end from first end；
And wherein rotating seat is placed in accommodating space, first end is coaxially connected with the first end in the first rotating shaft and turns round with first
Axis is synchronous relative to first pivoting portion turn, and the second end rotation is set in the second pivoting portion of ontology；
One rotating disk, perpendicular to through-hole central axis and revolve on rotating seat, rotating disk sets an operation object with for group；
One second rotating shaft, rotation are set in second pivoting portion, and have first end and second end, and the second rotating shaft first end is towards logical
Extend in hole and through a transmission means driving rotating disk relative to rotating seat turn, and the second rotating shaft second end is equipped with one the
Two effectors, and the second effector is connected using one second driving member with the second drive motor, enables the second drive motor sequentially
The second rotating shaft is driven to rotate relative to second pivoting portion through the second driving member and the second effector；One is installed in rotating seat
Bearing, the first end of the second rotating shaft is planted with one heart to be fixed in bearing；
One first ring seat, is mounted in the first pivoting portion of ontology, the first rotating shaft run through the first ring seat, and the first ring seat with
A first bearing is equipped between first rotating shaft；
One second ring seat, is mounted in the second pivoting portion of ontology；And
One rotation is set to the connecting cylinder in the second ring seat, and one end of connecting cylinder is coaxially fixedly arranged on the second end of rotating seat, and connects
Cylinder inner space be connected with the through-hole of rotating seat, the another end of connecting cylinder is mounted in the second ring seat, and the second ring seat with connect
A second bearing is equipped between cylinder；Another second rotating shaft runs through connecting cylinder, and is equipped at least between the second rotating shaft and connecting cylinder
One 3rd bearing.
2. mechanical wrist revolving structure according to claim 1, it is characterised in that further include an at least service hatch, be set to rotation
On the side wall of seat, and it is connected with through-hole.
3. mechanical wrist revolving structure according to claim 1 or claim 2, it is characterised in that the first rotating shaft first end locally accommodates
In through-hole.
4. mechanical wrist revolving structure according to claim 3, it is characterised in that the transmission means lie in the second rotating shaft
First end coaxial rings are equipped with an active umbrella tooth, and rotating disk includes a transmission shaft, and transmission shaft has first end and second end, transmission
Axis first end is coaxially fixed in rotating disk, and transmission shaft second end is through rotating seat side wall and towards through-hole internal stretch, transmission shaft
Second end is equipped with a driven umbrella tooth, and driven umbrella tooth is meshed with active umbrella tooth.
5. mechanical wrist revolving structure according to claim 4, it is characterised in that further include a third ring seat, third ring seat group
On rotating seat side wall, transmission shaft runs through third ring seat, and a fourth bearing is equipped between third ring seat and transmission shaft.
6. mechanical wrist revolving structure according to claim 5, it is characterised in that driven umbrella tooth and active umbrella tooth can be selected not
Same gear ratio.
7. mechanical wrist revolving structure according to claim 6, it is characterised in that rotating disk is through an at least fixing piece with can
The mode of removal is installed on rotating seat.
8. mechanical wrist revolving structure according to claim 7, it is characterised in that the first driving member and the second driving member by
Appoint one of them in the group that belt and cable wire are constituted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822075026.9U CN209491777U (en) | 2018-12-11 | 2018-12-11 | Mechanical wrist revolving structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822075026.9U CN209491777U (en) | 2018-12-11 | 2018-12-11 | Mechanical wrist revolving structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209491777U true CN209491777U (en) | 2019-10-15 |
Family
ID=68152844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822075026.9U Active CN209491777U (en) | 2018-12-11 | 2018-12-11 | Mechanical wrist revolving structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209491777U (en) |
-
2018
- 2018-12-11 CN CN201822075026.9U patent/CN209491777U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant |