CN210879654U - Robot arm and robot - Google Patents
Robot arm and robot Download PDFInfo
- Publication number
- CN210879654U CN210879654U CN201921423163.5U CN201921423163U CN210879654U CN 210879654 U CN210879654 U CN 210879654U CN 201921423163 U CN201921423163 U CN 201921423163U CN 210879654 U CN210879654 U CN 210879654U
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- mounting plate
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- robot
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 69
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 abstract description 34
- 210000000245 forearm Anatomy 0.000 abstract description 10
- 238000012423 maintenance Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 9
- 230000002349 favourable effect Effects 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 9
- 230000002265 prevention Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to the technical field of robot, a robot arm, robot and robot arm installation method is disclosed. The robot arm comprises a first assembly, a second assembly and a small arm, wherein the first assembly comprises a speed reducer, a speed reducer mounting plate and a large arm; the second assembly comprises a motor, a motor mounting plate and a wave generator, wherein the motor is connected with the motor mounting plate, and the wave generator is connected with a transmission shaft of the motor; the motor mounting plate is connected with the speed reducer mounting plate so as to enable the second assembly to be connected with the first assembly to form a combined body; the small arm is connected with the combined body. The utility model provides a robot arm can make the reduction gear break away from with the motor mounting panel and the forearm between the lug connection relation, makes each part separately independent installation, has realized the modularization dismouting, has improved dismouting speed and efficiency, has improved maintenance efficiency simultaneously.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a robot arm and robot.
Background
In the existing robot arm, the degree of dependence of assembly between each part is higher, and each part is required to be installed in sequence usually, thereby reducing the installation speed and the installation efficiency and increasing the production cost.
Therefore, a new type of robot arm is needed to solve the above problems.
SUMMERY OF THE UTILITY MODEL
Based on it, a first object of the utility model is to provide a robot arm, it compares with prior art, can make the reduction gear break away from with motor mounting panel and forearm between the lug connection relation, and then make first subassembly, second subassembly and forearm separately independent installation, improve installation rate and installation effectiveness, reduction in production cost can realize the modularization dismouting simultaneously, improves the installation accuracy and dismantles and maintenance efficiency.
A second object of the utility model is to provide a robot, through using above-mentioned robot arm, can improve the installation effectiveness, reduction in production cost can realize the modularization dismouting simultaneously, improves the installation accuracy and dismantles and maintenance efficiency.
In order to achieve the purpose, the utility model adopts the following technical proposal:
a robotic arm comprising:
the first assembly comprises a speed reducer, a speed reducer mounting plate and a large arm, wherein the speed reducer is connected with the speed reducer mounting plate, the large arm is provided with an accommodating cavity, and the speed reducer is accommodated in the accommodating cavity and is connected with the large arm;
the second assembly comprises a motor, a motor mounting plate and a wave generator, wherein the motor is connected with the motor mounting plate, and the wave generator is connected with a transmission shaft of the motor;
the motor mounting plate is connected with the speed reducer mounting plate so as to enable the second assembly to be connected with the first assembly to form a combined body, and meanwhile, the wave generator is in transmission connection with the speed reducer;
a small arm connected with the combined body.
Further, still include the base, the one end of big arm is connected with the base.
Further, still include the cable pipe subassembly, the cable is worn to locate in the cable pipe subassembly, the cable pipe subassembly with the base can be dismantled and be connected.
Furthermore, the cable tube assembly comprises a cable tube and a connecting plate, one end of the cable tube is connected with the connecting plate, and the connecting plate is detachably connected with the base.
Further, the cable tube assembly further comprises a pipe joint, and the cable tube is connected with the connecting plate through the pipe joint.
Further, the second assembly further comprises a motor cover plate, and the wave generator is connected with a transmission shaft of the motor through the motor cover plate.
Further, the first assembly further comprises a lock washer, and a fastener can pass through the large arm and the speed reducer to be in threaded fit with the lock washer.
A robot comprising a robot arm as described above.
The utility model has the advantages that:
the robot arm provided by the utility model, firstly, the reducer is arranged on the reducer mounting plate, and the reducer is arranged in the accommodating cavity of the big arm, so that the reducer can be separated from the direct connection relation between the reducer and the motor mounting plate and the small arm, and further the first component comprising the reducer, the reducer mounting plate and the big arm can be independently arranged, and in addition, the second component and the small arm can be separately arranged as two independent parts, so when in installation, the first component comprising the reducer, the reducer mounting plate and the big arm can be arranged at the first station, the second component comprising the motor, the motor mounting plate and the wave generator can be simultaneously arranged at the second station, the first component and the second component can be arranged at the third station to form a combined body, the small arm and the combined body can be arranged at the fourth station, and independent and simultaneous installation can be realized among a plurality of stations, the components are not required to be installed in sequence, so that the installation speed and the installation efficiency are obviously improved, and the production cost is reduced; in addition, through separately installing first subassembly, second subassembly and forearm, can realize the modularized design, be favorable to improving the installation accuracy, can realize the modularization dismantlement simultaneously when dismantling, can only dismantle trouble subassembly when breaking down, need not to dismantle whole structure in proper order to be favorable to improving and dismantle and maintenance efficiency.
The utility model provides a robot through using above-mentioned robot arm, can make first subassembly, second subassembly and forearm separately independent installation, has improved the installation effectiveness, has reduced manufacturing cost, has realized the modularized design simultaneously, is favorable to improving the installation accuracy, can realize the modularization when dismantling moreover and dismantle to be favorable to improving and dismantle and maintenance efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot arm according to an embodiment of the present invention;
fig. 2 is a partial sectional view of a robot arm according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a base and a cable tube assembly in a robot arm according to an embodiment of the present invention.
In the figure:
1-a first component; 11-a reducer; 12-a reducer mounting plate; 13-big arm; 131-a containment chamber; 132-a first crash block; 14-a lock washer; 15-big arm washer;
2-a second component; 21-a motor; 22-a motor mounting plate; 23-a wave generator; 24-a motor cover plate;
3-forearm;
4-a base; 41-a second crash block;
5-a cable tube assembly; 51-a cable tube; 52-a connecting plate; 53-pipe joints;
6-forearm washer.
Detailed Description
In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only or to distinguish between different structures or components and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-2, the present embodiment provides a robot arm, including a first assembly 1, a second assembly 2, and a small arm 3, where the first assembly 1 includes a speed reducer 11, a speed reducer mounting plate 12, and a large arm 13, the speed reducer 11 is connected to the speed reducer mounting plate 12, the large arm 13 is provided with an accommodating cavity 131, and the speed reducer 11 is accommodated in the accommodating cavity 131 and connected to the large arm 13; the second assembly 2 comprises a motor 21, a motor mounting plate 22 and a wave generator 23, wherein the motor 21 is connected with the motor mounting plate 22, and the wave generator 23 is connected with a transmission shaft of the motor 21; the motor mounting plate 22 is connected with the reducer mounting plate 12 so as to connect the second assembly 2 with the first assembly 1 to form a combined body, and simultaneously, the wave generator 23 is in transmission connection with the reducer 11; the small arm 3 is connected with the combined body.
In the robot arm provided by the embodiment, firstly, the reducer 11 is mounted on the reducer mounting plate 12, and the reducer 11 is accommodated in the accommodating cavity 131 of the large arm 13, so that the reducer 11 can be separated from the direct connection relationship between the motor mounting plate 22 and the small arm 3, and further, the first module 1 including the reducer 11, the reducer mounting plate 12 and the large arm 13 can be independently mounted, and in addition, the second module 2 and the small arm 3 can be separately mounted as two independent parts, so that when mounting, the first module 1 including the reducer 11, the reducer mounting plate 12 and the large arm 13 can be mounted at a first station, the second module 2 including the motor 21, the motor mounting plate 22 and the wave generator 23 can be mounted at a second station, the first module 1 and the second module 2 can be mounted at a third station to form a combined body (the first module 1 and the second module 2 are connected by a fastener, but the fastener is not cut out in fig. 2), the small arm 3 and the combined body can be installed at the fourth station, and multiple stations can be independently and simultaneously installed without sequentially installing all parts, so that the installation speed and the installation efficiency are obviously improved, and the production cost is reduced; in addition, through separately installing first subassembly 1, second subassembly 2 and forearm 3, can realize the modularized design, be favorable to improving the installation accuracy, can realize the modularization dismantlement simultaneously when dismantling, can only dismantle trouble subassembly when breaking down, need not to dismantle whole structure in proper order to be favorable to improving and dismantle and maintenance efficiency.
Specifically, in the present embodiment, the small arm 3 is connected to the motor mounting plate 22 and the reducer mounting plate 12 in the combined body. According to the connection mode, the stressed contact area of the small arm 3 can be increased, the robot precision reduction caused by the deformation of the small arm 3 is prevented, and meanwhile, the connection stability of the second assembly 2 and the first assembly 1 can be further strengthened.
Preferably, the first assembly 1 further comprises a lock washer 14, the lock washer 14 being located between the speed reducer 11 and the speed reducer mounting plate 12, the fastener being capable of threaded engagement with the lock washer 14 through the large arm 13 and the speed reducer 11. The mounting hole for the fastener to pass through on the reducer 11 is a through hole, and the fastener can be in threaded fit with the lock washer 14 after passing through the large arm 13 and the reducer 11 by additionally arranging the lock washer 14, so that the connection between the large arm 13 and the reducer 11 is realized. To facilitate the connection of the large arm 13 to the speed reducer 11, a shorter fastener may be used to connect the speed reducer 11 to the lock washer 14, and then a longer fastener may be used to thread fit the lock washer 14 through the large arm 13 and speed reducer 11. Specifically, in the present embodiment, the fastener is a bolt.
Optionally, the first assembly 1 further comprises a large arm washer 15, and a fastener can pass through the large arm washer 15 to connect the large arm 13 and the reducer 11. The fastener can be threaded through the large arm washer 15, the large arm 13, and the speed reducer 11 in order to engage the lock washer 14. By arranging the large arm gasket 15, the stressed contact area of the large arm 13 can be increased, and the robot precision reduction caused by the deformation of the large arm 13 is prevented.
Optionally, the second assembly 2 further comprises a motor cover plate 24, and the wave generator 23 is connected with the transmission shaft of the motor 21 through the motor cover plate 24. The motor cover plate 24 is arranged, so that the stability and reliability of connection between the wave generator 23 and the transmission shaft of the motor 21 are guaranteed. Specifically, the middle part of the motor cover plate 24 is connected with the transmission shaft of the motor 21 through a fastener, and the motor cover plate 24 is circumferentially connected with the wave generator 23 through a fastener.
Optionally, the robot arm further comprises a forearm washer 6, and a fastener can be passed through the forearm washer 6 to connect the forearm 3 and the combination. Specifically, the fastener can pass through the arm washer 6, the arm 3, and the motor mounting plate 22 in this order, and be screw-fitted to the reducer mounting plate 12, so that the arm 3 is connected to the motor mounting plate 22 and the reducer mounting plate 12.
Preferably, as shown in fig. 1 and 3, the robot arm provided by the present embodiment further includes a base 4, and an end of the large arm 13 away from the small arm 3 is connected to the base 4. Through setting up base 4, be favorable to guaranteeing the stability of robot arm work.
Preferably, the first impact prevention block 132 is provided on the arm 13, the second impact prevention block 41 is provided on the base 4, and the first impact prevention block 132 can abut against the second impact prevention block 41. The first anti-collision block 132 abuts against the second anti-collision block 41, thereby limiting the rotation angle of the large arm 13. Further, two second anti-collision blocks 41 are symmetrically arranged on two sides of the base 4 in a splayed shape. The second anti-collision block 41 is arranged in a splayed shape, so that the second anti-collision block 41 can be attached to the outer contour of the base 4 to ensure the stability of fixing the second anti-collision block 41, and the clockwise rotation angle and the counterclockwise rotation angle of the large arm 13 can be limited simultaneously.
Preferably, the robot arm provided by the present embodiment further includes a cable tube assembly 5, wherein a cable is inserted into the cable tube assembly 5, and the cable tube assembly 5 is detachably connected to the base 4. Set up detachable cable pipe assembly 5, on the one hand, can further improve the modularization degree of robot arm, make cable and cable pipe assembly 5 separately independent installation, can wear to locate in cable pipe assembly 5 with the cable earlier, then fix cable pipe assembly 5 on base 4, on the other hand, be favorable to reducing the threading degree of difficulty, improve threading efficiency, and reduction in production cost still is favorable to improving the safety protection level simultaneously, the later maintenance of the cable of being convenient for more, reduce abnormal sound and cable wearing and tearing.
Specifically, the cable tube assembly 5 includes a cable tube 51 and a connection plate 52, one end of the cable tube 51 is connected to the connection plate 52, and the connection plate 52 is detachably connected to the base 4. The cable tube 51 can protect the cable. After the cable is inserted into the cable tube 51, the connection plate 52 is fixed to the base 4. Optionally, the cable tube 51 is a corrugated tube.
Preferably, the cable tube assembly 5 further includes a coupling 53, and the cable tube 51 is connected to the connection plate 52 through the coupling 53. The pipe joint 53 is beneficial to ensuring the connection stability of the cable pipe 51 and the connecting plate 52, and is beneficial to preventing the cable from being damaged, so that the protection effect on the cable is improved.
The embodiment also provides a robot, which comprises the robot arm.
The robot that this embodiment provided through using above-mentioned robot arm, can make first subassembly 1, second subassembly 2 and forearm 3 separately independent installation, improved the installation effectiveness, reduced manufacturing cost, realized the modularized design simultaneously, be favorable to improving the installation accuracy, can realize the modularization when dismantling moreover and dismantle to be favorable to improving and dismantle and maintenance efficiency.
The embodiment also provides a robot arm installation method, the robot arm comprises a first assembly 1, a second assembly 2 and a small arm 3, the first assembly 1 comprises a speed reducer 11, a speed reducer installation plate 12 and a large arm 13, the second assembly 2 comprises a motor 21, a motor installation plate 22 and a wave generator 23, and the robot arm installation method comprises the following steps:
mounting the first component 1: connecting the speed reducer 11 with the speed reducer mounting plate 12, accommodating the speed reducer 11 in the accommodating cavity 131 of the large arm 13, and connecting the large arm 13 with the speed reducer 11;
mounting the second component 2: connecting a motor 21 with a motor mounting plate 22, and connecting a wave generator 23 with a transmission shaft of the motor 21;
mounting the first and second modules 1 and 2: connecting the motor mounting plate 22 with the speed reducer mounting plate 12 to connect the second assembly 2 with the first assembly 1 to form a combined body, and simultaneously, connecting the wave generator 23 with the speed reducer 11 in a transmission way;
mounting the small arm 3: the small arm 3 is connected to the assembly.
According to the robot arm installation method provided by the embodiment, the first component 1 and the second component 2 are separately and independently installed, so that the first component 1 and the second component 2 can be installed at the same time, then the first component 1 and the second component 2 are assembled to form a combined body, and finally the small arm 3 and the combined body are installed, so that the robot arm is modularly installed, the installation speed and the installation efficiency are improved, and the production cost is reduced; in addition, the modularized design is favorable for improving the installation precision, the modularized disassembly can be realized during the disassembly, only the fault assembly can be disassembled when the fault occurs, and all parts are not required to be disassembled in sequence, so that the disassembly and maintenance efficiency is favorably improved.
Preferably, the first module 1 further includes a lock washer 14 and a large arm washer 15, and the present embodiment provides a robot arm mounting method in which, in mounting the first module 1, a fastener is threaded through the lock washer 14, the large arm 13 and the decelerator 11 in order to engage with the lock washer 14, so that the large arm 13 is connected with the decelerator 11.
Optionally, the second module 2 further comprises a motor cover plate 24, and the robot arm mounting method provided in this embodiment is that, in mounting the second module 2, after the wave generator 23 is mounted on the drive shaft of the motor 21, the motor cover plate 24 is covered on the end of the drive shaft of the motor 21, and the motor cover plate 24 and the drive shaft of the motor 21 are connected by using fasteners, and the motor cover plate 24 and the wave generator 23 are connected by using fasteners.
Optionally, the robot arm further comprises a small arm washer 6, and in the robot arm mounting method provided by the embodiment, in mounting the small arm 3, a fastener can sequentially penetrate through the small arm washer 6, the small arm 3, the motor mounting plate 21 and the reducer mounting plate 12, so that the small arm 3 is connected with the motor mounting plate 21 and the reducer mounting plate 12 in the combined body.
Optionally, the robot arm further includes a base 4 and a cable tube assembly 5, and the robot arm installation method provided in this embodiment further includes, after the small arm 3 is connected to the combined body:
installing a base 4: connecting the large arm 13 with the base 4;
installing the cable tube assembly 5: the cable is inserted into the cable tube assembly 5, and then the cable tube assembly 5 is detachably connected with the base 4.
Alternatively, the cable tube assembly 5 includes a cable tube 51, a connection plate 52 and a pipe joint 53, the cable tube 51 is connected to the connection plate 52 through the pipe joint 53, and in the robot arm mounting method provided in this embodiment, in mounting the cable tube assembly 5, a cable is inserted into the cable tube 51, and then the connection plate 52 is fixed to the base 4.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (8)
1. A robotic arm, comprising:
the first assembly (1) comprises a speed reducer (11), a speed reducer mounting plate (12) and a large arm (13), wherein the speed reducer (11) is connected with the speed reducer mounting plate (12), an accommodating cavity (131) is formed in the large arm (13), and the speed reducer (11) is accommodated in the accommodating cavity (131) and connected with the large arm (13);
the second assembly (2) comprises a motor (21), a motor mounting plate (22) and a wave generator (23), wherein the motor (21) is connected with the motor mounting plate (22), and the wave generator (23) is connected with a transmission shaft of the motor (21);
the motor mounting plate (22) is connected with the speed reducer mounting plate (12) so as to enable the second assembly (2) to be connected with the first assembly (1) to form a combined body, and meanwhile, the wave generator (23) is in transmission connection with the speed reducer (11);
a small arm (3) connected with the combined body.
2. A robot arm according to claim 1, characterized in that it further comprises a base (4), said large arm (13) being connected at one end to said base (4).
3. A robot arm according to claim 2, characterized in that it further comprises a cable tube assembly (5), a cable being threaded into said cable tube assembly (5), said cable tube assembly (5) being detachably connected to said base (4).
4. A robot arm according to claim 3, characterized in that the cable tube assembly (5) comprises a cable tube (51) and a connection plate (52), one end of the cable tube (51) being connected to the connection plate (52), the connection plate (52) being detachably connected to the base (4).
5. A robot arm according to claim 4, characterized in that the cable tube assembly (5) further comprises a pipe joint (53), the cable tube (51) being connected with the connection plate (52) through the pipe joint (53).
6. A robot arm according to claim 1, characterized in that the second module (2) further comprises a motor cover plate (24), the wave generator (23) being connected to the drive shaft of the motor (21) through the motor cover plate (24).
7. A robot arm according to claim 1, characterized in that the first component (1) further comprises a lock washer (14), a fastener being threadably engaged with the lock washer (14) through the large arm (13) and the reducer (11).
8. A robot comprising a robot arm according to any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921423163.5U CN210879654U (en) | 2019-08-29 | 2019-08-29 | Robot arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921423163.5U CN210879654U (en) | 2019-08-29 | 2019-08-29 | Robot arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210879654U true CN210879654U (en) | 2020-06-30 |
Family
ID=71339722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921423163.5U Withdrawn - After Issue CN210879654U (en) | 2019-08-29 | 2019-08-29 | Robot arm and robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN210879654U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394789A (en) * | 2019-08-29 | 2019-11-01 | 广东拓斯达科技股份有限公司 | A kind of robot arm, robot and robot arm installation method |
-
2019
- 2019-08-29 CN CN201921423163.5U patent/CN210879654U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394789A (en) * | 2019-08-29 | 2019-11-01 | 广东拓斯达科技股份有限公司 | A kind of robot arm, robot and robot arm installation method |
| CN110394789B (en) * | 2019-08-29 | 2024-04-09 | 广东拓斯达科技股份有限公司 | Robot arm, robot and robot arm mounting method |
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