CN210161150U - Light-duty desktop level six arms - Google Patents
Light-duty desktop level six arms Download PDFInfo
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- CN210161150U CN210161150U CN201921152162.1U CN201921152162U CN210161150U CN 210161150 U CN210161150 U CN 210161150U CN 201921152162 U CN201921152162 U CN 201921152162U CN 210161150 U CN210161150 U CN 210161150U
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- shaft
- arm
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- driving motor
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Abstract
The utility model discloses a six arms of light-duty desktop level relates to mechanical trade field, including base, swinging boom structure, rotation axis transmission system, the base bottom is equipped with the installation fixed orifices, the swinging boom structure includes waist, big arm, forearm, wrist, claw portion, the rotation axis includes primary shaft, secondary shaft, third axle, fourth axle, fifth axle, sixth axle, rotation axis transmission system includes driving motor, harmonic speed reducer ware, driving motor includes motor body, power output shaft, the fixed pin of acting as go-between, acts as go-between displacement sensor, sensor base. The utility model relates to a scheme ensures driving motor rotational position controllability through designing displacement sensor on former driving motor's basis to guarantee the high accuracy steady operation of robotic arm.
Description
Technical Field
The utility model belongs to the technical field of the machinery industry and specifically relates to a six arms of light-duty desktop level.
Background
At present, the requirement of the manufacturing industry on production efficiency is increasingly improved, and the light six-shaft mechanical arm is widely applied as automatic production equipment. However, the existing light six-shaft mechanical arm is generally unstable in operation, and the operation precision of a transmission device is poor.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects in the prior art, the utility model provides a light-duty desktop-level six-shaft mechanical arm.
The utility model provides a technical scheme that its technical problem adopted is: a light desktop-level six-axis mechanical arm comprises a base, a rotating arm structure, a rotating shaft and a rotating shaft transmission system, wherein the bottom of the base is provided with a mounting and fixing hole; the utility model discloses a sensor, including base, tip, wrist, rotation axis transmission system, claw, rotation axis transmission system, driving motor, sensor base, bracing wire fixed pin, bracing wire displacement sensor, sensor base, bracing wire fixed pin fixed mounting in motor body up end, bracing wire displacement sensor installs in the sensor base, it stretches out the end through bracing wire fixed pin fixed mounting in power output shaft to act as go-between.
According to the light desktop-level six-axis mechanical arm, the stay wire is wound by 1-2 circles and is arranged at the initial position of the power output shaft.
Foretell six arms of light-duty desktop level, base, swinging boom structure are formed by 6061 aluminum plate through the numerical control cutting concatenation.
The beneficial effects of the utility model are that, the utility model discloses an optimize the primary shaft and walk the line structure for the arm cable is walked the inside cavity department of line structure from the primary shaft and is walked the line, thereby saves external space of cable, protection cable normal use, promotes cable ageing-resistant and anti roll over degree, and then promotes arm operational reliability and security.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural diagram of the driving motor of the present invention.
In the figure, 1, a base, 2, a first shaft, 3, a waist, 4, a second shaft, 5, a large arm, 6, a third shaft, 7, a fourth shaft, 8, a small arm, 9, a wrist, 10, a fifth shaft, 11, a claw, 12, a sixth shaft, 13, a motor body, 14, a power output shaft, 15, a stay wire fixing pin, 16, a stay wire, 17, a stay wire displacement sensor and 18, a sensor base are arranged.
Detailed Description
In order to more clearly illustrate the technical solution of the present invention, the following provides a further description of the present invention with reference to the accompanying drawings, and obviously, the following described drawings are only one embodiment of the present invention, and for those skilled in the art, other embodiments can be obtained according to the drawings and the embodiment without any creative work, and all belong to the protection scope of the present invention.
A light desktop-level six-axis mechanical arm comprises a base 1, a rotating arm structure, a rotating shaft and a rotating shaft transmission system, wherein the bottom of the base 1 is provided with a mounting and fixing hole, the rotating arm structure comprises a waist part 3, a large arm 5, a small arm 8, a wrist part 9 and a claw part 11, and the rotating shaft comprises a first shaft 2, a second shaft 4, a third shaft 6, a fourth shaft 7, a fifth shaft 10 and a sixth shaft 12; base 1 is connected through primary shaft 2 with waist 3, waist 3 is connected through secondary shaft 4 with big arm 5, big arm 5 is connected through third axle 6 and fourth axle 7 with forearm 8, forearm 8 is connected through fifth axle 10 with wrist 9, wrist 9 is connected through sixth axle 12 with claw 11, rotation axis transmission system includes driving motor, harmonic speed reducer ware, driving motor includes motor body 13, power output shaft 14, acts as go-between fixed pin 15, act as go-between 16, act as go-between displacement sensor 17, sensor base 18, 18 rigid mounting in motor body 13 up end of sensor base, act as go-between displacement sensor 17 installs in sensor base 18, act as go-between 16 stretches out the end and passes through the fixed pin 15 fixed mounting of acting as go-between in power output shaft 14.
In detail, 1 turn of 16 twines of acting as go-between is installed in power output shaft 14 initial position, base 1, swinging boom structure are formed by 6061 aluminum plate through the numerical control cutting concatenation.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the protection scope of the present invention is defined by the claims. Various modifications and equivalents of the invention can be made by those skilled in the art within the spirit and scope of the invention, and such modifications and equivalents should also be considered as falling within the scope of the invention.
Claims (3)
1. The utility model provides a six arm of light-duty desktop level, includes base (1), swinging boom structure, rotation axis transmission system, its characterized in that: the rotary arm structure comprises a waist part (3), a large arm (5), a small arm (8), a wrist part (9) and a claw part (11), and the rotary shaft comprises a first shaft (2), a second shaft (4), a third shaft (6), a fourth shaft (7), a fifth shaft (10) and a sixth shaft (12); the base (1) is connected with the waist (3) through a first shaft (2), the waist (3) is connected with a big arm (5) through a second shaft (4), the big arm (5) is connected with a small arm (8) through a third shaft (6) and a fourth shaft (7), the small arm (8) is connected with a wrist (9) through a fifth shaft (10), the wrist (9) is connected with a claw (11) through a sixth shaft (12), the rotating shaft transmission system comprises a driving motor and a harmonic reducer, the driving motor comprises a motor body (13), a power output shaft (14), a stay wire fixing pin (15), a stay wire (16), a stay wire displacement sensor (17) and a sensor base (18), the sensor base (18) is rigidly mounted on the upper end surface of the motor body (13), the stay wire displacement sensor (17) is mounted on the sensor base (18), and the extending end of the pull wire (16) is fixedly arranged on the power output shaft (14) through a pull wire fixing pin (15).
2. A lightweight table top grade six axis robot arm as claimed in claim 1 wherein the pull wire (16) is mounted to the power take off shaft (14) in a starting position wound 1-2 turns.
3. A light-duty desktop-level six-axis mechanical arm as claimed in claim 1, wherein the base (1) and the rotating arm structure are made of 6061 aluminum plate by means of numerical control cutting and splicing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921152162.1U CN210161150U (en) | 2019-07-22 | 2019-07-22 | Light-duty desktop level six arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921152162.1U CN210161150U (en) | 2019-07-22 | 2019-07-22 | Light-duty desktop level six arms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210161150U true CN210161150U (en) | 2020-03-20 |
Family
ID=69795495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921152162.1U Active CN210161150U (en) | 2019-07-22 | 2019-07-22 | Light-duty desktop level six arms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210161150U (en) |
-
2019
- 2019-07-22 CN CN201921152162.1U patent/CN210161150U/en active Active
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