CN211439975U - Six arms of small-size desktop - Google Patents
Six arms of small-size desktop Download PDFInfo
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- CN211439975U CN211439975U CN202020028547.3U CN202020028547U CN211439975U CN 211439975 U CN211439975 U CN 211439975U CN 202020028547 U CN202020028547 U CN 202020028547U CN 211439975 U CN211439975 U CN 211439975U
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Abstract
The utility model discloses a small-sized desktop six-axis mechanical arm, which comprises a base, a first arm, a second arm, a third arm, a fourth arm, a fifth arm and a sixth arm; the left side and the right side of the base are respectively provided with a supporting leg in a rotatable manner, and the left side and the right side of the base are respectively provided with a containing groove for containing the supporting leg; the first arm is arranged above the base; the second arm is arranged on the first arm and is driven to rotate by the first arm; the third arm is arranged on the second arm and is driven to rotate by the second arm; the fourth arm is arranged on the third arm and is driven to rotate by the third arm; the fifth arm is arranged on the fourth arm and is driven to rotate by the fourth arm; the sixth arm is installed on the fifth arm, and the sixth arm is driven to rotate through the fifth arm, so that six-axis rotation is achieved. The utility model discloses reduced the volume of six arms, and supporting legs and guard flap's application, improved the security, small and exquisite convenience, the flexibility ratio is high, is convenient for remove and develop.
Description
Technical Field
The utility model relates to a mechanical design technical field especially relates to a six arms of small-size desktop.
Background
With the increasingly prominent trend of automation and intelligence development, leading-edge technologies such as artificial intelligence and the internet of things are increasingly popularized and applied, and mechanical arm products gradually permeate the aspects of economic construction and social life. At present, the more arm of application has four-axis arm and six arms these two kinds, and the general volume of current six arms is great, inconvenient removal and development, and when user age (for example middle and primary school students) still can have great potential safety hazard, and four-axis arm volume is less, but four-axis arm only has four degrees of freedom, and is not nimble enough.
Accordingly, the prior art is deficient and needs improvement.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the defects of the prior art and providing a small-sized desktop six-axis mechanical arm.
The technical scheme of the utility model as follows: a compact tabletop six-axis robotic arm comprising: the arm assembly comprises a base, a first arm, a second arm, a third arm, a fourth arm, a fifth arm and a sixth arm; the left side and the right side of the base are respectively provided with a supporting leg in a rotatable manner, and the left side and the right side of the base are respectively provided with a containing groove for containing the supporting leg; the first arm is rotatably arranged on the base and is used for driving the second arm to rotate; the second arm is arranged on the first arm and used for driving the third arm to rotate; the third arm is arranged on the second arm and used for driving the fourth arm to rotate; the fourth arm is arranged on the third arm and used for driving the fifth arm to rotate; the fifth arm is arranged on the fourth arm and used for driving the sixth arm to rotate; the sixth arm is mounted on the fifth arm and used for connecting and driving external equipment to rotate.
Preferably, the first arm is composed of a first motor, a first gear, a first synchronous belt and a second gear; the first gear can rotate around the axis of the first gear and is arranged above the base, and the second arm is arranged above the first gear; the first motor is arranged above the base at the rear side of the first gear; the second gear is arranged on an output shaft of the first motor; the first timing belt is installed between the first gear and the second gear.
Preferably, the second arm is composed of a second motor, a third gear, a second synchronous belt, a fourth gear and a first shell; the first shell is arranged above the first gear, and the left side and the right side of the first shell are respectively provided with a protective baffle; the second motor is arranged in the first shell; the third gear is arranged on an output shaft of the second motor; the fourth gear is arranged on the protective baffle on the left side of the first shell in a manner that the front side of the second motor can rotate around the axis of the fourth gear, and the third arm is rotatably arranged between the fourth gear and the protective baffle on the right side of the first shell; the second synchronous belt is installed between the third gear and the fourth gear.
Preferably, the third arm is composed of a third motor, a fifth gear, a third synchronous belt, a sixth gear and a second shell; the second shell is arranged between the fourth gear and a protective baffle on the right side of the first shell; the third motor is arranged in the second shell; the fifth gear is mounted on an output shaft of the third motor; the sixth gear is arranged on the right side of the second shell in a manner that the sixth gear can rotate around the axis of the sixth gear above the fifth gear, and the fourth arm is rotatably arranged between the sixth gear and the second shell; the third synchronous belt is installed between the fifth gear and the sixth gear.
Preferably, the fourth arm is composed of a fourth motor, a seventh gear, a fourth synchronous belt, an eighth gear and a third shell; the third shell is arranged between the sixth gear and the second shell; the fourth motor is arranged in the third shell; the seventh gear is mounted on the output shaft of the fourth motor on the front side of the third housing; the eighth gear is mounted on the front side of the third shell above the seventh gear, and the fifth arm is fixedly mounted on the eighth gear; the fourth synchronous belt is installed between the seventh gear and the eighth gear.
Preferably, the fifth arm is composed of a fifth motor, a ninth gear, a fifth synchronous belt, a tenth gear and a fourth shell; the fourth shell is fixedly arranged on the eighth gear; the fifth motor is arranged in the fourth shell, and an output shaft of the fifth motor penetrates out of the fourth shell rightwards; the ninth gear is mounted on one end, penetrating out of the fourth shell, of an output shaft of the fifth motor; the tenth gear is rotatably mounted on the right side of the fourth housing around the axis of the tenth gear on the front side of the ninth gear, and the sixth arm is rotatably mounted between the tenth gear and the fourth housing; the fifth synchronous belt is installed between the ninth gear and the tenth gear.
Preferably, the sixth arm is composed of a fixed frame, a sixth motor and a mounting seat; the fixing frame is arranged between the tenth gear and the fourth shell; the sixth motor is arranged in the fixed frame, and an output shaft of the sixth motor penetrates out of the fixed frame downwards; the mounting seat is installed in the output shaft of sixth motor is worn out on one end of mount, the mounting seat is equipped with the plug mouth that is used for installing external equipment, the side of mounting seat still is equipped with the mounting for fastening external equipment.
By adopting the scheme, the utility model discloses following beneficial effect has:
1. the design of the utility model reduces the volume of the six-axis mechanical arm, and the application of the supporting legs and the protective baffle plate effectively improves the safety, is small and convenient, has high flexibility and is convenient to move and develop;
2. the plug-in port design of the mounting seat in the preferred scheme is convenient for the disassembly and replacement of external equipment;
3. in the preferred scheme, the design of a driving mechanism consisting of the motor, the gear and the synchronous belt effectively avoids the direct stress of the joints, improves the linkage stability of each joint, improves the transmission precision and has better use experience;
4. through servo motor as the power supply among the preferred scheme, actuating mechanism is succinct, and the assembly of being convenient for has effectively reduced the volume of arm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, 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 structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the structure of the present invention;
FIG. 3 is a cross-sectional view taken at angle A-A of FIG. two;
fig. 4 is a schematic structural view of another angle of the present invention.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 4, the utility model provides a six arms of small-size desktop, include: a base 1, a first arm 2, a second arm 3, a third arm 4, a fourth arm 5, a fifth arm 6 and a sixth arm 7; the six-axis mechanical arm for the small table top is placed on various table tops through the base 1, supporting legs 11 are rotatably mounted on the left side and the right side of the front end of the base 1 respectively to play a supporting role, and correspondingly, storage grooves 12 for storing the supporting legs 11 are formed in the left side and the right side of the base 1 respectively; the first arm 2 is arranged above the base 1; the second arm 3 is arranged on the first arm 2, and the first arm 2 drives the second arm 3 to rotate when in use; the third arm 4 is arranged on the second arm 3, and the third arm 4 is driven to rotate by the second arm 3 when in use; the fourth arm 5 is arranged on the third arm 4, and the third arm 4 drives the fourth arm 5 to rotate when in use; the fifth arm 6 is arranged on the fourth arm 5, and the fifth arm 6 is driven to rotate by the fourth arm 5 when in use; the sixth arm 7 is mounted on the fifth arm 6, and the fifth arm 6 drives the sixth arm 7 to rotate when the six-axis rotating mechanism is used, so that six-axis rotation is achieved.
The first arm 2 is composed of a first motor 21, a first gear 22, a first synchronous belt 23 and a second gear 24; the first gear 22 can rotate around the axis of the first gear 22 and is arranged above the base 1, and the second arm 3 is arranged above the first gear 22; the first motor 21 is mounted above the base 1 at the rear side of the first gear 22 through a fixed seat 211, a through working groove is formed in one side of the fixed seat 211 facing the first gear 22, an output shaft of the first motor 21 extends downwards into the working groove, and specifically, the first motor 21 adopts a servo motor; the second gear 24 is fixedly mounted on the output shaft of the first motor 21; the first synchronous belt 23 is installed between the first gear 22 and the second gear 24, when in use, the first motor 21 drives the second gear 24 connected with the first synchronous belt to rotate, the second gear 24 drives the first synchronous belt 23 to rotate, the first gear 22 rotates along with the rotation of the first synchronous belt 23, and therefore the first gear 22 drives the second arm 3 connected with the first synchronous belt to rotate around the axis of the first gear 22.
The second arm 3 is composed of a second motor 31, a third gear 32, a second synchronous belt 33, a fourth gear 34 and a first shell 35; the first housing 35 is installed above the first gear 22, and the left and right sides of the first housing 35 are respectively provided with a protective baffle 351 to play a role in protection; the second motor 31 is installed in the first housing 35, and specifically, the second motor 31 is a servo motor; the third gear 32 is mounted on the output shaft of the second motor 31; the fourth gear 34 is rotatably mounted on the guard 351 on the left side of the first housing 35 around its axis at the front side of the second motor 31, and the third arm 4 is rotatably mounted between the fourth gear 34 and the guard 351 on the right side of the first housing 35; the second synchronous belt 33 is installed between the third gear 32 and the fourth gear 34, when in use, the second motor 31 drives the third gear 32 connected with the second synchronous belt to rotate, the third gear 32 drives the second synchronous belt 33 to rotate, the fourth gear 34 rotates along with the rotation of the second synchronous belt 33, and the fourth gear 34 drives the third arm 4 connected with the third arm to rotate around the axis of the fourth gear 34.
The third arm 4 is composed of a third motor 41, a fifth gear, a third timing belt 42, a sixth gear 43 and a second housing 44; the second housing 44 is installed between the fourth gear 34 and a guard 351 on the right side of the first housing 35; the third motor 41 is installed in the second housing 44, and specifically, the third motor 41 is a servo motor; the fifth gear is mounted on the output shaft of the third motor 41; the sixth gear 43 is rotatably mounted on the right side of the second housing 44 around its axis above the fifth gear, and the fourth arm 5 is rotatably mounted between the sixth gear 43 and the second housing 44; the third timing belt 42 is installed between the fifth gear and the sixth gear 43, and when in use, the third motor 41 drives the fifth gear connected with the third timing belt 42 to rotate, and the fifth gear drives the third timing belt 42 to rotate, and the sixth gear 43 rotates along with the rotation of the third timing belt 42, so that the sixth gear 43 drives the fourth arm 5 connected with the sixth gear to rotate around the axis of the sixth gear 43.
The fourth arm 5 is composed of a fourth motor 51, a seventh gear 52, a fourth synchronous belt 53, an eighth gear 54 and a third shell 55; the third housing 55 is mounted between the sixth gear 43 and the second housing 44; the fourth motor 51 is installed in the third housing 55, and specifically, the fourth motor 51 is a servo motor; the seventh gear 52 is mounted on the output shaft of the fourth motor 51 at the front side of the third housing 55; the eighth gear 54 is mounted on the front side of the third housing 55 above the seventh gear 52, and the fifth arm 6 is fixedly mounted on the eighth gear 54; the fourth synchronous belt 53 is installed between the seventh gear 52 and the eighth gear 54, when in use, the seventh gear 52 connected with the fourth synchronous belt is driven to rotate by the fourth motor 51, the fourth synchronous belt 53 is driven to rotate by the seventh gear 52, the eighth gear 54 rotates along with the rotation of the fourth synchronous belt 53, and the fifth arm 6 connected with the eighth gear 54 is driven to rotate around the axis of the eighth gear 54 by the eighth gear 54.
The fifth arm 6 is composed of a fifth motor 61, a ninth gear 62, a fifth synchronous belt 63, a tenth gear 64 and a fourth shell 65; the fourth housing 65 is fixedly mounted on the eighth gear 54; the fifth motor 61 is installed in the fourth housing 65, and an output shaft of the fifth motor 61 penetrates through the fourth housing 65 to the right, specifically, the fifth motor 61 is a servo motor; the ninth gear 62 is mounted on one end of the output shaft of the fifth motor 61 penetrating out of the fourth housing 65; the tenth gear 64 is rotatably mounted on the right side of the fourth housing 65 around its axis in front of the ninth gear 62, and the sixth arm 7 is rotatably mounted between the tenth gear 64 and the fourth housing 65; the fifth synchronous belt 63 is installed between the ninth gear 62 and the tenth gear 64, and when in use, the fifth motor 61 drives the ninth gear 62 connected with the fifth synchronous belt to rotate, and the ninth gear 62 drives the fifth synchronous belt 63 to rotate, and the tenth gear 64 rotates along with the rotation of the fifth synchronous belt 63, so that the tenth gear 64 drives the sixth arm 7 connected with the tenth gear to rotate around the axis of the tenth gear 64.
The sixth arm 7 is composed of a fixed frame 71, a sixth motor 72 and a mounting seat 73; the fixed frame 71 is installed between the tenth gear 64 and the fourth housing 65; the sixth motor 72 is mounted in the fixed frame 71, and an output shaft of the sixth motor 72 penetrates out of the fixed frame 71 downward, specifically, the sixth motor 72 is a servo motor; the mounting seat 73 is mounted on one end of the sixth motor 72, which penetrates out of the fixing frame 71, the mounting seat 73 is provided with a plug opening 731, other external devices such as a pneumatic clamping jaw and the like can be detachably mounted in the plug opening 731 in a plug connection mode, so that the external devices can be conveniently detached and replaced, a butterfly screw 732 is further arranged on the side of the mounting seat 73, and the external devices can be fastened or loosened by twisting the butterfly screw 732 during use.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the design of the utility model reduces the volume of the six-axis mechanical arm, and the application of the supporting legs and the protective baffle plate effectively improves the safety, is small and convenient, has high flexibility and is convenient to move and develop;
2. the plug-in port design of the mounting seat in the preferred scheme is convenient for the disassembly and replacement of external equipment;
3. in the preferred scheme, the design of a driving mechanism consisting of the motor, the gear and the synchronous belt effectively avoids the direct stress of the joints, improves the linkage stability of each joint, improves the transmission precision and has better use experience;
4. through servo motor as the power supply among the preferred scheme, actuating mechanism is succinct, and the assembly of being convenient for has effectively reduced the volume of arm.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A small desktop six axis robot arm, comprising: the arm assembly comprises a base, a first arm, a second arm, a third arm, a fourth arm, a fifth arm and a sixth arm; the left side and the right side of the base are respectively provided with a supporting leg in a rotatable manner, and the left side and the right side of the base are respectively provided with a containing groove for containing the supporting leg; the first arm is rotatably arranged on the base and is used for driving the second arm to rotate; the second arm is arranged on the first arm and used for driving the third arm to rotate; the third arm is arranged on the second arm and used for driving the fourth arm to rotate; the fourth arm is arranged on the third arm and used for driving the fifth arm to rotate; the fifth arm is arranged on the fourth arm and used for driving the sixth arm to rotate; the sixth arm is mounted on the fifth arm and used for connecting and driving external equipment to rotate.
2. The compact desktop six-axis robot arm of claim 1, wherein the first arm is comprised of a first motor, a first gear, a first timing belt, and a second gear; the first gear can rotate around the axis of the first gear and is arranged above the base, and the second arm is arranged above the first gear; the first motor is arranged above the base at the rear side of the first gear; the second gear is arranged on an output shaft of the first motor; the first timing belt is installed between the first gear and the second gear.
3. The small desktop six-axis robot arm of claim 2, wherein the second arm is composed of a second motor, a third gear, a second timing belt, a fourth gear and a first housing; the first shell is arranged above the first gear, and the left side and the right side of the first shell are respectively provided with a protective baffle; the second motor is arranged in the first shell; the third gear is arranged on an output shaft of the second motor; the fourth gear is arranged on the protective baffle on the left side of the first shell in a manner that the front side of the second motor can rotate around the axis of the fourth gear, and the third arm is rotatably arranged between the fourth gear and the protective baffle on the right side of the first shell; the second synchronous belt is installed between the third gear and the fourth gear.
4. The miniature tabletop six axis robotic arm of claim 3 wherein the third arm is comprised of a third motor, a fifth gear, a third timing belt, a sixth gear and a second housing; the second shell is arranged between the fourth gear and a protective baffle on the right side of the first shell; the third motor is arranged in the second shell; the fifth gear is arranged on an output shaft of the third motor; the sixth gear is arranged on the right side of the second shell in a manner that the sixth gear can rotate around the axis of the sixth gear above the fifth gear, and the fourth arm is rotatably arranged between the sixth gear and the second shell; the third synchronous belt is installed between the fifth gear and the sixth gear.
5. The miniature tabletop six axis robotic arm of claim 4 wherein the fourth arm is comprised of a fourth motor, a seventh gear, a fourth timing belt, an eighth gear and a third housing; the third shell is arranged between the sixth gear and the second shell; the fourth motor is arranged in the third shell; the seventh gear is mounted on the output shaft of the fourth motor on the front side of the third housing; the eighth gear is mounted on the front side of the third shell above the seventh gear, and the fifth arm is fixedly mounted on the eighth gear; the fourth synchronous belt is installed between the seventh gear and the eighth gear.
6. The miniature tabletop six axis robotic arm of claim 5 wherein the fifth arm is comprised of a fifth motor, a ninth gear, a fifth timing belt, a tenth gear and a fourth housing; the fourth shell is fixedly arranged on the eighth gear; the fifth motor is arranged in the fourth shell, and an output shaft of the fifth motor penetrates out of the fourth shell rightwards; the ninth gear is mounted on one end, penetrating out of the fourth shell, of an output shaft of the fifth motor; the tenth gear is rotatably mounted on the right side of the fourth housing around the axis of the tenth gear on the front side of the ninth gear, and the sixth arm is rotatably mounted between the tenth gear and the fourth housing; the fifth synchronous belt is installed between the ninth gear and the tenth gear.
7. The miniature tabletop six-axis robot arm of claim 6, wherein the sixth arm comprises a mounting bracket, a sixth motor, and a mounting base; the fixing frame is arranged between the tenth gear and the fourth shell; the sixth motor is arranged in the fixed frame, and an output shaft of the sixth motor penetrates out of the fixed frame downwards; the mounting seat is installed in the output shaft of sixth motor is worn out on one end of mount, the mounting seat is equipped with the plug mouth that is used for installing external equipment, the side of mounting seat still is equipped with the mounting for fastening external equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020028547.3U CN211439975U (en) | 2020-01-07 | 2020-01-07 | Six arms of small-size desktop |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020028547.3U CN211439975U (en) | 2020-01-07 | 2020-01-07 | Six arms of small-size desktop |
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| Publication Number | Publication Date |
|---|---|
| CN211439975U true CN211439975U (en) | 2020-09-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020028547.3U Active CN211439975U (en) | 2020-01-07 | 2020-01-07 | Six arms of small-size desktop |
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| CN (1) | CN211439975U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454346A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454328A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Rotary table of desktop mechanical arm, desktop mechanical arm and robot |
-
2020
- 2020-01-07 CN CN202020028547.3U patent/CN211439975U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454346A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454328A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Rotary table of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454346B (en) * | 2020-11-11 | 2021-10-29 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| EP4026660A4 (en) * | 2020-11-11 | 2023-01-18 | Shenzhen Yuejiang Technology Co., Ltd. | Desktop robotic arm driving structure, desktop robotic arm, and robot |
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