CN209682190U - A kind of six shaft mechanical arms of B axle protection - Google Patents
A kind of six shaft mechanical arms of B axle protection Download PDFInfo
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- CN209682190U CN209682190U CN201920060185.3U CN201920060185U CN209682190U CN 209682190 U CN209682190 U CN 209682190U CN 201920060185 U CN201920060185 U CN 201920060185U CN 209682190 U CN209682190 U CN 209682190U
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- arm
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- driver
- wrist
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Abstract
The utility model provides a kind of six shaft mechanical arms of B axle protection, the utility model relates to mechanical arm technical fields, driver left pivot movement is connected with lower arm, and the insertion of lower arm bottom surface is provided with sole piece, sole piece top surface is fixed with the bracket being integrated with, and several cable aperture are uniformly provided at left and right sides of bracket, it is corresponded to each other between cable aperture, can cable have one small section of length in fork arm, the activity of drive mechanism can be cooperated, sensor insertion is arranged in lower arm top surface, and button is electrically connected in the middle part of transducer tip, lower arm rear and front end and be located at sensor rear and front end fixed plate has been bolted, and insertion is provided with rubber arc block on the inside of fixed plate, the rotation of lower arm and upper arm can timely be stopped, to prevent wrist rotary course to be broken off；Rotation can also be driven by structure by solving cable, cause to wind between cable, and it is easy to appear rotations at work for mechanical arm wrist excessively, and the problem of the case where fracture.
Description
Technical field
The utility model relates to mechanical arm technical field, specially a kind of six shaft mechanical arms of B axle protection.
Background technique
Six shaft mechanical arms of existing B axle protection, six shaft mechanical arms are driven by cooperating between six drive mechanisms, institute
It is closer with the cable arrangement inside mechanical arm, in addition the activity of six shaft mechanical arms is stronger, in mechanical arm structure driven process
In, cable can also be driven rotation by structure, cause to wind between cable, or even directly twist into two parts cable, the arrangement side of cable
Formula is affected in six shaft mechanical arms, secondly, the upper arm U axis in six axis is the biggish structure of bearing capacity in joint of mechanical arm,
It is easy to appear rotations at work excessively, and the case where fracture, so, it is proposed that cable has one small section of length in fork arm
Degree, can cooperate the activity of drive mechanism, can timely stop the rotation of lower arm and upper arm, to prevent wrist rotary course from being rolled over
It is disconnected, to solve the above problems.
Utility model content
In order to solve the above technical problems, the purpose of the utility model is to provide a kind of six shaft mechanical arms of B axle protection.
In order to achieve the above purpose, the utility model uses technical solution below: a kind of six axis machines of B axle protection
Tool arm, six shaft mechanical arms of the B axle protection include pedestal and driver, and the driver and pedestal top are sequentially connected, institute
It states driver left pivot movement and is connected with lower arm, and the insertion of lower arm bottom surface is provided with sole piece, the sole piece top surface is fixed with is with it
The bracket of one, and several cable aperture are uniformly provided at left and right sides of bracket, it is corresponded to each other between the cable aperture, and top of support
Face front and rear sides are provided with impenetrating mouth, and the sole piece bottom surface is provided through motion bar, and motion bar top is fixed with and is with it
The fork arm of one；
Sensor, the sensor insertion setting are electrically connected with button in lower arm top surface, and in the middle part of transducer tip, institute
It states lower arm rear and front end and fixed plate has been bolted positioned at the rear and front end of sensor, and be embedded on the inside of fixed plate
It is provided with rubber arc block, is fixedly connected with curved spring between the rubber arc block bottom end and fixed plate.
Preferably, the lower arm top is rotatably connected to upper arm, and wrist, the hand are fixedly connected on the left of upper arm
Wrist left pivot movement is connected with front axle, and front axle left pivot movement is connected with branch, and the branch bottom end is rotatably connected to clamping wrist.
Preferably, the driver is made of driving structures such as servo motor, synchronous pulley and retarders, and it is driven
Device is driven lower arm, upper arm, wrist, front axle, branch and clamping wrist by internal driving structure respectively, drives inside the driver
The cable penetration of dynamic structure is set to lower arm.
Preferably, the angle between the lower arm and upper arm changes, and sensor be located at lower arm and upper arm it
Between angle in, the button is in contact with upper arm.
Preferably, the rubber arc block position is higher than sensor, and rubber arc block is in contact with upper arm.
Preferably, the cable penetration of the driver internal drive feature is set in cable aperture, and in driver
The cable of portion's driving structure is located inside fork arm, and the cable of driver internal drive feature is arranged inside fork arm in " Z-shaped " shape
Cloth, the fork arm are disposed through impenetrating mouth.
The utility model due to the adoption of the above technical solution, have it is following the utility model has the advantages that
The utility model operator runs through cable one-to-one correspondence when arranging cable, and wherein one small section of meeting of cable
It stays in fork arm, cable is reserved with certain length in fork arm, and the end of fork arm enters in impenetrating mouth, in order to which cable has one
Fixed activity, operator should not oppress cable too closely, and motion bar adjustment is inserted into suitable position, group
Transmission work is carried out at mechanical arm, cable has one small section of length in fork arm, can cooperate the activity of drive mechanism, prevents from being driven
Cable is twisted into two parts in structure rotation process.
The utility model is rotated down as wrist is lasting, and the bottom end of wrist can touch rubber arc block, rubber arc block
Deformation occurs, and curved spring is shunk, and plays the effect of damping to the rotation of wrist, and resist wrist, to a certain extent
The angle for restraining wrist rotation, if wrist is also still rotated, wrist will be urged to button, and operator senses in installation
When device, sensor and driver can be attached, when wrist is pressed into button, sensor is touched, and driver receives sense
Induction signal can timely stop the rotation of lower arm and upper arm, so that wrist rotary course be prevented to be broken off.
Detailed description of the invention
Fig. 1 is the overall structure diagram of specific embodiment of the present invention；
Fig. 2 is the fixed plate design of part schematic diagram of specific embodiment of the present invention；
Fig. 3 is the rubber arc block design of part schematic diagram of specific embodiment of the present invention；
Fig. 4 is zero moving bar piece structural schematic diagram of specific embodiment of the present invention.
In figure: 1 pedestal；2 drivers；201 lower arms；202 upper arm；203 wrists；204 front axles；205 clamping wrists；206 branchs；
3 fixed plates；301 rubber arc blocks；302 curved springs；4 sensors；401 buttons；5 sole pieces；501 brackets；502 cable aperture；503 pass through
Wear mouth；6 motion bars；601 fork arms.
Specific embodiment
Specific embodiment of the present utility model is made a detailed explanation with reference to the accompanying drawing.
It please refers to shown in Fig. 1, Fig. 4, a kind of six shaft mechanical arms of B axle protection, six shaft mechanical arms of B axle protection include pedestal
1 and driver 2, driver 2 and 1 top of pedestal are sequentially connected, and 2 left pivot movement of driver is connected with lower arm 201, and lower arm 201
Bottom surface insertion is provided with sole piece 5, and 5 top surface of sole piece is fixed with the bracket 501 being integrated with, and 501 left and right sides of bracket is uniformly
Several cable aperture 502 are provided with, are corresponded to each other between cable aperture 502, and 501 top surface front and rear sides of bracket are provided with impenetrating mouth
503,5 bottom surface of sole piece is provided through motion bar 6, and 6 top of motion bar is fixed with the fork arm 601 being integrated with, and producer exists
When manufacturing machine arm, sole piece 5 is fit into lower arm 201 by the auxiliary tool for using sole piece 5 to arrange as cable, transmission
Device 2 is made of driving structures such as servo motor, synchronous pulley and retarders, and driver 2 passes through internal driving structure difference
It is driven lower arm 201, upper arm 202, wrist 203, front axle 204, branch 206 and clamping wrist 205,2 internal drive feature of driver
Cable penetration is set to lower arm 201, and the cable penetration of 2 internal drive feature of driver is set in cable aperture 502, and driver
The cable of 2 internal drive features is located inside fork arm 601, and the cable of 2 internal drive feature of driver is in inside fork arm 601
The arrangement of " Z-shaped " shape, fork arm 601 are disposed through impenetrating mouth 503, the cable penetration of driver 201 are crossed in cable aperture 502, by
Correspond between cable aperture 502, so operator is when arranging cable, cable one-to-one correspondence run through, and cable its
In one small section of meeting stay in fork arm 601, multiple cable aperture 502 can be used to carry arrangement multi-cable, after the good cable, use
Person can adjust the cable in fork arm 601, and cable is adjusted to " Z-shaped " shape, so that increasing cable is located at length in fork arm 601,
Cable is reserved with certain length in fork arm 601, and after multi-cable of having arranged, motion bar 6 can be inserted into sole piece 5 by user
In, fork arm 601 moves in bracket 501, and the end of fork arm 601 enters in impenetrating mouth 503, and the space of 601 inside of fork arm
Reducing, the cable inside fork arm 601 will be oppressed by the inside of fork arm 601, in order to which cable has certain activity, behaviour
Work person should not oppress cable too closely, the adjustment of motion bar 6 is inserted into suitable position, thus in driver 2
The driving structure in portion can be driven lower arm 201, upper arm 202, wrist 203, front axle 204, branch 206 and clamping wrist 205, lower arm respectively
201 tops are rotatably connected to upper arm 202, and wrist 203 is fixedly connected on the left of upper arm 202, and 203 left pivot movement of wrist is connected with
Front axle 204, and 204 left pivot movement of front axle is connected with branch 206,206 bottom end of branch is rotatably connected to clamping wrist 205, passes through bottom
Seat 1 drives driver 2 to rotate first, and the rotation of driver 2 is rotated as S axis, and driver 2 drives lower arm 201 to rotate, as
The rotation of L axis, lower arm 201 drive upper arm 202 to rotate, and rotate as U axis, and wrist 203 drives front axle 204 to rotate, and turn as R axis
Dynamic, front axle 204 drives branch 206 to rotate, and rotates as B axle, and branch 206 drives clamping wrist 205 to rotate, and rotates as T axis, real
The work of existing six axis rotation, composition mechanical arm carry out transmission work, and in transmission process, cable has one small section in fork arm 601
Length, the activity of drive mechanism can be cooperated, prevent from twisting into two parts cable in drive mechanism rotation process；
In the present embodiment as Figure 1-Figure 4, sensor 4, the insertion of sensor 4 are arranged in 201 top surface of lower arm, and sensor
4 top middle portions are electrically connected with button 401,201 rear and front end of the lower arm and rear and front end for being located at sensor 4 passes through bolt and connects
It is connected to fixed plate 3, and the insertion of 3 inside of fixed plate is provided with rubber arc block 301, between 301 bottom end of rubber arc block and fixed plate 3
It is fixedly connected with curved spring 302, for wrist 203 as the biggish structure of bearing capacity in joint of mechanical arm, the gravity being subject to is larger,
And upper arm 202 drives wrist 203 angle between lower arm 201 and upper arm 202 changes, and sensor 4 when being rotated
In angle between lower arm 201 and upper arm 202, button 401 is in contact with upper arm 202, between lower arm 201 and upper arm 202
Angle changes, and the included angle between lower arm 201 and upper arm 202 become smaller after it is easy to appear fractureing, institute
With sensor 4 in the angle between lower arm 201 and upper arm 202, when wrist 203 bends downward certain position, wrist
203 bottom end enters between fixed plate 3, and is rotated down as wrist 203 is lasting, and 301 position of rubber arc block is higher than
Sensor 4, and rubber arc block 301 is in contact with upper arm 202, the bottom end of wrist 203 can touch rubber arc block 301, rubber arc
Deformation occurs for block 301, and curved spring 302 is shunk, and plays the effect of damping to the rotation of wrist 203, and resist wrist
203, the angle of the rotation of wrist 203 is restrained to a certain extent, and if wrist 203 is also still rotated, wrist 203 will be oppressed
To button 401, sensor 4 and driver 2 can be attached by operator when installing sensor 4, when wrist 203 is pressed into
Button 401, sensor 4 are touched, and driver 2 receives inductive signal, can timely stop the rotation of lower arm 201 Yu upper arm 202
Turn, so that 203 rotary course of wrist be prevented to be broken off.
The instrument wherein applied in the utility model:
Driver is 1440 models.
Above-described embodiment is served only for that the utility model is further described, no to the specific descriptions of the utility model
It can be interpreted as the restriction to scope of protection of the utility model, the technician of this field is according to the content pair of above-mentioned utility model
The utility model is made some nonessential modifications and adaptations and is each fallen within the protection scope of the utility model.
Claims (6)
1. a kind of six shaft mechanical arms of B axle protection, six shaft mechanical arms of the B axle protection include pedestal (1) and driver (2),
The driver (2) and pedestal (1) top are sequentially connected, it is characterised in that: driver (2) left pivot movement is connected with lower arm
(201), and the insertion of lower arm (201) bottom surface is provided with sole piece (5), and sole piece (5) top surface is fixed with the bracket being integrated with
(501), several cable aperture (502) are uniformly provided with and at left and right sides of bracket (501), it is mutually right between the cable aperture (502)
It answers, and bracket (501) top surface front and rear sides are provided with impenetrating mouth (503), sole piece (5) bottom surface is provided through motion bar
(6), and motion bar (6) top is fixed with the fork arm (601) being integrated with；
Sensor (4), sensor (4) insertion is arranged in lower arm (201) top surface, and sensor (4) top middle portion electrically connects
Be connected to button (401), lower arm (201) rear and front end and be located at sensor (4) rear and front end be bolted
Fixed plate (3), and insertion is provided with rubber arc block (301) on the inside of fixed plate (3), the rubber arc block (301) bottom end and solid
Curved spring (302) are fixedly connected between fixed board (3).
2. a kind of six shaft mechanical arms of B axle protection according to claim 1, it is characterised in that: lower arm (201) top
It is rotatably connected to upper arm (202), and is fixedly connected with wrist (203) on the left of upper arm (202), wrist (203) left pivot movement
It is connected with front axle (204), and front axle (204) left pivot movement is connected with branch (206), branch (206) the bottom end rotation connection
There are clamping wrist (205).
3. a kind of six shaft mechanical arms of B axle protection according to claim 1, it is characterised in that: the driver (2) is by watching
The driving structures such as motor, synchronous pulley and retarder composition is taken, and under driver (2) is driven respectively by internal driving structure
Arm (201), upper arm (202), wrist (203), front axle (204), branch (206) and clamping wrist (205), the driver (2) are interior
The cable penetration of portion's driving structure is set to lower arm (201).
4. a kind of six shaft mechanical arms of B axle protection according to claim 1, it is characterised in that: the lower arm (201) with it is upper
Angle between arm (202) changes, and sensor (4) is located in the angle between lower arm (201) and upper arm (202), institute
Button (401) is stated to be in contact with upper arm (202).
5. a kind of six shaft mechanical arms of B axle protection according to claim 1, it is characterised in that: the rubber arc block (301)
Position is higher than sensor (4), and rubber arc block (301) is in contact with upper arm (202).
6. a kind of six shaft mechanical arms of B axle protection according to claim 1, it is characterised in that: the driver (2) is internal
The cable penetration of driving structure is set in cable aperture (502), and the cable of driver (2) internal drive feature is located at fork arm
(601) internal, and the cable of driver (2) internal drive feature is arranged inside fork arm (601) in " Z-shaped " shape, the fork arm
(601) impenetrating mouth (503) are disposed through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920060185.3U CN209682190U (en) | 2019-01-15 | 2019-01-15 | A kind of six shaft mechanical arms of B axle protection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920060185.3U CN209682190U (en) | 2019-01-15 | 2019-01-15 | A kind of six shaft mechanical arms of B axle protection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209682190U true CN209682190U (en) | 2019-11-26 |
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ID=68598743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920060185.3U Active CN209682190U (en) | 2019-01-15 | 2019-01-15 | A kind of six shaft mechanical arms of B axle protection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209682190U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114188900A (en) * | 2021-12-13 | 2022-03-15 | 深圳市大族机器人有限公司 | Joint module cable mounting structure and joint module |
-
2019
- 2019-01-15 CN CN201920060185.3U patent/CN209682190U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114188900A (en) * | 2021-12-13 | 2022-03-15 | 深圳市大族机器人有限公司 | Joint module cable mounting structure and joint module |
| CN114188900B (en) * | 2021-12-13 | 2024-04-12 | 深圳市大族机器人有限公司 | Joint module cable mounting structure and joint module |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220729 Address after: 215000 room 109, building 2, No. 33, Dongfu Road, Suzhou Industrial Park, Jiangsu Province Patentee after: Suzhou Leili Precision Machinery Co.,Ltd. Address before: No. 5678, East Taihu Road, Xukou Town, Wujiang District, Suzhou, Jiangsu 215103 Patentee before: Suzhou mingyesheng Precision Machinery Co.,Ltd. |