CN210879756U - Arm type robot base and arm type robot - Google Patents
Arm type robot base and arm type robot Download PDFInfo
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- CN210879756U CN210879756U CN201921830841.XU CN201921830841U CN210879756U CN 210879756 U CN210879756 U CN 210879756U CN 201921830841 U CN201921830841 U CN 201921830841U CN 210879756 U CN210879756 U CN 210879756U
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Abstract
The utility model discloses an arm type robot base and an arm type robot, which comprise a rotary table, an end cover, a base, a bottom plate and a shaft; one end of the shaft is connected with the rotary table, and the other end of the shaft penetrates through the rotary table and is connected with the bottom plate through a base bearing; the shaft is sequentially sleeved with a baffle plate, a shaft sleeve, a transmission device and a fastening nut, and the transmission device is connected with the shaft through a flat key; one end of the base is connected with the end cover, and the other end of the base is connected with the bottom plate; a turntable bearing is arranged between the end cover and the baffle plate, and the baffle plate is connected with the turntable through the turntable bearing. The base is stable in structure, can bear overturning moment to prevent rollover, and ensures that the transmission device can stably transmit. The utility model has simple structure, stable operation and low cost; the problem of current base structure complicacy, the operation is stable inadequately, and the cost is too high is effectively solved.
Description
Technical Field
The utility model belongs to robot design field relates to an arm-type robot base and arm-type robot.
Background
In recent decade, with the attention of our country on industrial robots, more and more scientific research institutions and enterprises and public institutions with strong strength are added to the research and development work of robots, so that the transfer robot technology in our country realizes the leap-type development. The arm-type robot has high price, needs a large amount of investment in initial popularization, and the operation of the arm-type robot depends on program control, so that a large amount of preparation work and a large amount of computer simulation processes are needed in the early stage of processing production. Therefore, the arm type robot which is low in cost, convenient to change and flexible in structure is designed, and the arm type robot has profound significance for modern industry in China. The arm type robot mainly comprises an end opening type execution component, a front arm, a rear arm and a turntable base, wherein the base part belongs to an execution mechanism, the execution mechanism mainly realizes the entity of the robot function, and the robot base is required to perform auxiliary work according to the use condition of the robot.
The existing base mostly adopts an RV reducer, and the overall cost of the mechanism is increased. Part of the base adopts gear reduction, increases the overall structure of the base, and can not bear great overturning moment, and the fixing of the base also has great difficulty, and can not stably operate. The motor in the robot mechanism without the base is directly connected with the executing mechanism, so that the motor needs to bear larger torque, the requirement on the motor is higher, and the cost is increased.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome among the above-mentioned prior art structure of base complicated, the operation is stable inadequately to and shortcoming with too high costs, provide an arm-type robot base and arm-type robot.
In order to achieve the above purpose, the utility model adopts the following technical scheme to realize:
an arm type robot base comprises a rotary table, an end cover, a base, a bottom plate and a shaft; one end of the shaft is connected with the rotary table, and the other end of the shaft penetrates through the rotary table and is connected with the bottom plate through a base bearing; the shaft is sequentially sleeved with a baffle plate, a shaft sleeve, a transmission device and a fastening nut, and the transmission device is connected with the shaft through a flat key; one end of the base is connected with the end cover, and the other end of the base is connected with the bottom plate; a turntable bearing is arranged between the end cover and the baffle plate, and the baffle plate is connected with the turntable through the turntable bearing.
The utility model discloses further improvement lies in:
the transmission device is a worm and gear mechanism.
The transmission device is a gear transmission mechanism.
The turntable bearing is a deep groove ball bearing.
The power device comprises a coupler, a fixed side plate and a motor; the fixed side plate is connected with the bottom plate, the motor is connected with the fixed side plate through a plurality of motor fixing bolts, and an output shaft of the motor is connected with the transmission device through a coupler.
The shaft is provided with a flange plate, and the flange plate is connected with the rotary table through a plurality of shaft fixing bolts; the end cover is connected with the base through a plurality of end cover fixing bolts.
Still include the connecting seat, the revolving stage is connected to connecting seat one end, and arm-type robot is connected to the other end.
The utility model discloses another aspect, an arm-type robot, arm-type robot includes foretell arm-type robot base.
Compared with the prior art, the utility model discloses following beneficial effect has:
one end of the shaft is connected with the rotary table, and the other end of the shaft is positioned at the mutual position of the baffle, the shaft sleeve and the transmission device, so that the whole structure is compact, the whole structure of the base is compact due to the positioning of the shaft in the base, the occupied space is small, and the resources are greatly saved. The shaft is connected with the transmission device through a flat key, so that the transmission of the revolving torque is realized, the cost is reduced, and the fastening nut is used for fastening axially; the tail end of the shaft is radially limited through the base bearing and the bottom plate, so that the overturning moment caused by the mechanical arm is balanced, the rotating table is more stable in operation, and the current situation that the arm type robot runs unstably in work is improved. The rotary table and the baffle realize the positioning of the inner ring of the bearing of the rotary table, the shaft sleeve and the fastening nut realize the positioning of the transmission device, the fastening nut realizes the fixation of the axial part, and the bottom plate bearing realizes the radial freedom degree limitation, so that the whole positioning of the base is accurate and the reliability is high. The outer ring of the rotary table bearing is positioned through the base box body and the end cover, and the end cover is connected with the base box body to tightly press the rotary table bearing to prevent the rotary table bearing from falling out. The base is stable in structure, can bear overturning moment to prevent rollover, and ensures that the transmission device can stably transmit. To sum up, the utility model discloses simple structure operates steadily, and is with low costs.
Furthermore, the transmission device is a worm gear mechanism, the worm gear mechanism has the characteristics of compact structure and large transmission ratio, in the transmission of the worm gear, two meshed tooth surfaces of two wheels are in line contact, the bearing capacity is large, and a plurality of teeth are meshed at the same time, so the transmission is stable and the noise is low. Meanwhile, the worm gear has self-locking property, when the lead angle of the worm is smaller than the equivalent friction angle between the meshing wheel teeth, the worm gear has self-locking property, reverse self-locking can be realized, namely, only the worm drives the worm gear, but not the worm is driven by the worm gear, a worm gear mechanism is used in the hoisting machinery, and the reverse self-locking property can play a role in safety protection. The torque can be reduced through the transmission of the worm gear mechanism, and then the driving power is reduced.
Furthermore, the turntable bearing is a deep groove ball bearing, because the whole parts of the arm type robot mostly adopt lighter aluminum materials, the load of the arm type robot is smaller, the force borne by the turntable is only axial force, and the deep groove ball bearing is adopted for bearing the axial force, so that the whole structure is further simplified.
Drawings
FIG. 1 is a sectional view of the overall structure of the present invention;
FIG. 2 is a front view of the overall structure of the present invention;
fig. 3 is a schematic axial view of the present invention;
fig. 4 is a schematic view of a turntable of the present invention;
fig. 5 is a schematic view of a bottom plate of the present invention;
fig. 6 is a schematic view of the shaft sleeve of the present invention;
fig. 7 is a schematic view of the connection seat of the present invention.
Wherein: 1-shaft fixing bolt; 2-a bottom plate; 3-a base; 4-a worm; 5-axis; 6-flat bond; 7-fastening a nut; 8-shaft sleeve; 9-a turbine; 10-a baffle plate; 11-a turntable bearing; 12-an end cap; 13-a turntable; 14-a coupling; 15-fixing the side plate; 16-motor fixing bolts; 17-a motor; 18-connecting seat.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The present invention will be described in further detail with reference to the accompanying drawings:
referring to fig. 1 to 7, the arm type robot base of the present invention includes a rotary table 13, an end cover 12, a base 3, a bottom plate 2, a shaft 5, a power device and a connecting seat 18. One end of the shaft 5 is connected with the rotary table 13 through a flange plate, and the other end of the shaft penetrates through the rotary table 13 and is connected with the bottom plate 2 through a base bearing; the shaft 5 is sequentially sleeved with a baffle plate 10, a shaft sleeve 8, a transmission device and a fastening nut 7, and the transmission device is connected with the shaft 5 through a flat key 6; one end of the base 3 is connected with the end cover 12, and the other end is connected with the bottom plate 2; a turntable bearing 11 is arranged between the end cover 12 and the baffle plate 10, and the baffle plate 10 is connected with the turntable 13 through the turntable bearing 11. The power device comprises a coupling 14, a fixed side plate 15 and a motor 17; fixed curb plate 15 is connected with bottom plate 2, and motor 17 is connected with fixed curb plate 15 through a plurality of motor fixing bolt, and motor 17's output shaft passes through shaft coupling 14 and connects transmission, and servo motor can be chooseed for use to motor 17. One end of the connecting seat 18 is connected with the rotary table 13, and the other end is connected with the arm type robot.
Preferably, the transmission device can adopt a worm gear mechanism, the worm gear mechanism comprises a worm wheel 9 and a worm 4, and the worm wheel 9 is sleeved on the shaft 5 and is connected with the shaft 5 through a flat key 6; the worm 4 is connected with the worm wheel 9, and two ends of the worm are connected with the base 3 through worm bearings, so that the support and the limit of the worm 4 are realized; the worm 4 is also connected with a power device to realize power input. The worm gear mechanism has the characteristics of compact structure and large transmission ratio, and in the worm gear transmission, two meshing tooth surfaces of two wheels are in line contact, so that the bearing capacity is large, and a plurality of teeth are meshed at the same time, therefore, the transmission is stable and the noise is low. Meanwhile, the worm gear has self-locking property, when the lead angle of the worm 4 is smaller than the equivalent friction angle between the meshing wheel teeth, the worm gear has self-locking property, reverse self-locking can be realized, namely only the worm 4 can drive the worm wheel 9, but the worm wheel 9 cannot drive the worm 4, a worm gear mechanism is used in the hoisting machinery, and the reverse self-locking property can play a role in safety protection. The torque can be reduced through the transmission of the worm gear mechanism, and then the driving can be realized only by using a low-power motor.
The transmission device can also adopt a gear transmission mechanism, the gear transmission mechanism comprises two transmission gears and a transmission shaft which are meshed with each other, one transmission gear is sleeved on the shaft 5 and is connected with the shaft 5 through a flat key 6, the other transmission gear is sleeved on the transmission shaft, and the transmission shaft is connected with the power device to realize power input.
Preferably, the turntable bearing 11 is a deep groove ball bearing, because the whole parts of the arm type robot mostly adopt light aluminum materials, the load of the arm type robot is small, the force borne by the turntable 13 is only axial force, and the deep groove ball bearing is adopted for bearing the axial force, so that the whole structure is further simplified.
The utility model discloses still disclose an arm-type robot, this arm-type robot adopts above-mentioned arm-type robot base.
The principle of the present invention is described in detail below:
the rotary table 13 is fixedly connected with the shaft 5 through a plurality of shaft fixing bolts 1, the rotary table 13 is positioned with the inner ring of the rotary table bearing 11 through a shaft shoulder, then the mutual position positioning is realized through the baffle plate 10, the shaft sleeve 8 and the turbine 9, the stability of the whole device is ensured, the shaft 5 is connected with the turbine 9 through the flat key 6, the transmission of the revolving moment is realized, and the two fastening nuts 7 are used for axial fastening. The tail end of the shaft 5 is radially limited with the bottom plate 2 through a base bearing so as to balance overturning moment caused by the arm type robot and enable the rotary table 13 to run more stably. In the group of parts, the turntable 13 and the baffle plate 10 realize the positioning of an inner ring of a turntable bearing 11, the shaft sleeve 8 and the fastening nut 7 realize the positioning of the turbine 9, the shaft fixing bolts 1 and the fastening nut 7 realize the fixing of axial parts on the shaft 5, and the flange plate of the shaft 5 and the baseplate bearing realize the radial freedom degree limiting of the shaft 5. The outer ring of the turntable bearing 11 is positioned through the base 3 and the end cover 12, the end cover 12 is connected with the base 3 through the end cover fixing bolt, the turntable bearing 11 is pressed tightly, and the turntable bearing is prevented from falling out. The worm 4 cooperates with the worm wheel 9, and the worm 4 both ends are realized spacing and support through worm bearing and base 3 to link to each other with the motor 17 outside the 3 casees of base through shaft coupling 14, transfer motor 17 moment of torsion. The upper surface of the rotary table 13 is provided with a connecting seat 18 which is fixedly connected, and the connecting seat 18 realizes the stable connection of the base and the arm type robot.
The above contents are only for explaining the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical solution according to the technical idea of the present invention all fall within the protection scope of the claims of the present invention.
Claims (8)
1. An arm type robot base is characterized by comprising a rotary table (13), an end cover (12), a base (3), a bottom plate (2) and a shaft (5);
one end of the shaft (5) is connected with the rotary table (13), and the other end of the shaft penetrates through the rotary table (13) to be connected with the bottom plate (2) through a base bearing; the shaft (5) is sequentially sleeved with a baffle (10), a shaft sleeve (8), a transmission device and a fastening nut (7), and the transmission device is connected with the shaft (5) through a flat key (6); one end of the base (3) is connected with the end cover (12), and the other end is connected with the bottom plate (2); a turntable bearing (11) is arranged between the end cover (12) and the baffle (10), and the baffle (10) is connected with the turntable (13) through the turntable bearing (11).
2. The arm robot base of claim 1, wherein the transmission is a worm gear mechanism.
3. The arm robot base of claim 1, wherein the transmission is a gear transmission.
4. Arm robot base according to claim 1, characterized in that the turntable bearing (11) is a deep groove ball bearing.
5. Arm robot base according to claim 1, characterized in that it further comprises power means comprising a coupling (14), a fixed side plate (15) and a motor (17);
the fixed side plate (15) is connected with the bottom plate (2), the motor (17) is connected with the fixed side plate (15) through a plurality of motor fixing bolts, and an output shaft of the motor (17) is connected with the transmission device through the coupler (14).
6. Arm robot base according to claim 1, characterized in that the shaft (5) is provided with a flange, which is connected to the turntable (13) by means of a number of shaft fixing bolts (1); the end cover (12) is connected with the base (3) through a plurality of end cover fixing bolts.
7. The arm robot base of claim 1, further comprising a connecting base (18), wherein one end of the connecting base (18) is connected to the turntable (13) and the other end is connected to the arm robot.
8. An arm robot, characterized in that it comprises the arm robot base of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921830841.XU CN210879756U (en) | 2019-10-28 | 2019-10-28 | Arm type robot base and arm type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921830841.XU CN210879756U (en) | 2019-10-28 | 2019-10-28 | Arm type robot base and arm type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210879756U true CN210879756U (en) | 2020-06-30 |
Family
ID=71332701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921830841.XU Expired - Fee Related CN210879756U (en) | 2019-10-28 | 2019-10-28 | Arm type robot base and arm type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210879756U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770379A (en) * | 2022-05-24 | 2022-07-22 | 哈尔滨工业大学 | Wheel hub automatically clamped machine of shifting towards robot grinds and throws |
-
2019
- 2019-10-28 CN CN201921830841.XU patent/CN210879756U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770379A (en) * | 2022-05-24 | 2022-07-22 | 哈尔滨工业大学 | Wheel hub automatically clamped machine of shifting towards robot grinds and throws |
| CN114770379B (en) * | 2022-05-24 | 2023-05-30 | 哈尔滨工业大学 | Automatic clamping positioner for hub polished by 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: 20200630 Termination date: 20201028 |
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| CF01 | Termination of patent right due to non-payment of annual fee |