CN212170391U - Connecting structure of mechanical arm - Google Patents
Connecting structure of mechanical arm Download PDFInfo
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- CN212170391U CN212170391U CN202020066100.5U CN202020066100U CN212170391U CN 212170391 U CN212170391 U CN 212170391U CN 202020066100 U CN202020066100 U CN 202020066100U CN 212170391 U CN212170391 U CN 212170391U
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- shaft
- motor
- speed reducer
- driven wheel
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Abstract
The utility model provides a connection structure of arm, including secondary shaft and third axle, secondary shaft and third axle are the piece of assembling, have better interchangeability, compact structure. The driven wheel, the speed reducer and the transmission flange are all designed to be hollow in the middle, and the electric wire penetrates through the middle of the three parts, so that the external wiring of the second shaft and the third shaft is avoided, and the wiring is reasonable. The motor passes through the hold-in range transmission power, and the motor is not with pivot lug connection, and the internal wiring of being convenient for avoids causing the interference at mechanical arm pivoted in-process.
Description
Technical Field
The utility model belongs to the technical field of the robot, in particular to connection structure of arm.
Background
The mechanical arm is an automatic operation device which can imitate certain action functions of a human hand and the arm, is used for grabbing and carrying objects or operating tools according to a fixed program, can replace human beings to finish heavy work, and is widely applied to the fields of automobile manufacturing, industrial production, military and the like.
The connection structure of the mechanical arm that exists on the market at present is connected through articulated mode mostly, and servo motor is direct to be connected with the pivot, and the motor exposes in the mechanical arm outside, and the corresponding cable that provides power and communication for the motor also exposes externally, and occupation space is big and causes the interference easily at the mechanical arm rotation in-process.
SUMMERY OF THE UTILITY MODEL
The utility model provides a connection structure of arm has solved prior art operation scope not comprehensive, and the arm may cause the not enough problem such as interference when the action.
The technical scheme of the utility model is realized like this: the utility model provides a connection structure of arm, includes secondary shaft and third axle, the secondary shaft includes the biaxial casing, the biaxial cover, biaxial motor apron, biaxial motor mounting bracket, biaxial motor, the biaxial axle sleeve, biaxial action wheel, biaxial from the driving wheel, the biaxial hold-in range, the biaxial reduction gear, the third axle includes the triaxial casing, the triaxial cover, triaxial motor mounting bracket, triaxial motor, the triaxial axle sleeve, the triaxial action wheel, the triaxial is from the driving wheel, the triaxial hold-in range, the triaxial reduction gear, triaxial driving flange.
As a preferred embodiment, the end of the two-shaft housing is circumferentially provided with a light hole, the side of the two-shaft housing is provided with a threaded hole, the end of the two-shaft housing is fixedly connected to the transmission flange of the first shaft, the two-shaft cover is fixedly connected to the two-shaft housing, the two-shaft motor cover plate is mounted on the two-shaft housing, the two-shaft housing is provided with a wire mounting bracket for fixing a wire, the two-shaft motor mounting bracket is fixedly mounted at a designated position inside the two-shaft housing, the two-shaft motor mounting bracket is provided with a hole position, the two-shaft motor is fixedly mounted at one end of the two-shaft motor mounting bracket, the two-shaft sleeve penetrates through the two-shaft motor shaft and is fixedly mounted at the other end of the two-shaft motor mounting bracket, the two-shaft motor shaft is provided with a key groove, and the, the double-shaft speed reducer is characterized in that a threaded hole is formed in the double-shaft driving wheel, the double-shaft driving wheel is locked on the shaft of the double-shaft motor through a jackscrew, the double-shaft driving wheel is connected with the double-shaft driven wheel through a synchronous belt to transmit power, a threaded hole is formed in the double-shaft speed reducer, the double-shaft driven wheel is fixedly connected with one end of the double-shaft speed reducer, the three-shaft casing is fixedly connected with the other end of the double-shaft speed reducer, the double-shaft driven wheel is connected with the double-shaft speed reducer, and the three-shaft casing is fixedly connected to the mechanical arm.
In a preferable embodiment, a side surface of the three-axis housing of the mechanical arm is provided with a threaded hole, the three-shaft machine cover is fixedly connected on the casing, the three-shaft motor mounting rack is fixedly arranged at a designated position in the three-shaft casing, the three-shaft motor mounting rack is provided with a hole site, the three-shaft motor is fixedly mounted at one end of the three-shaft motor mounting rack, the three-shaft sleeve penetrates through the shaft of the three-shaft motor and is fixedly arranged at the other end of the three-shaft motor mounting frame, the three-shaft driving wheel is connected with the driven wheel through a synchronous belt to transmit power, a threaded hole is arranged on the three-shaft speed reducer, the three-shaft driven wheel is fixedly connected with one end of the three-shaft speed reducer, the three-shaft transmission flange is fixedly connected with the other end of the three-shaft speed reducer, the three-shaft driven wheel is fixedly connected with the three-shaft driven wheel, the three-shaft speed reducer and the three-shaft transmission flange are fixedly connected to the three-shaft casing of the mechanical arm as a whole.
In a preferred embodiment, the two-shaft driven wheel, the two-shaft reducer, the three-shaft driven wheel, the three-shaft reducer and the three-shaft transmission flange are all designed to be hollow in the middle.
As a preferred embodiment, the two-axis casing, the three-axis casing, and the three-axis transmission flange are provided with ribbed plates at the installation positions of the two-axis reducer or the three-axis reducer, so as to support and increase the strength of the casing.
After the technical scheme is adopted, the beneficial effects of the utility model are that: the second shaft and the third shaft are assembled parts, so that the device has good interchangeability and a compact structure. The driven wheel, the speed reducer and the transmission flange are all designed to be hollow in the middle, and the electric wire penetrates through the middle of the three parts, so that the external wiring of the second shaft and the third shaft is avoided, and the wiring is reasonable. The motor passes through the hold-in range transmission power, and the motor is not with pivot lug connection, and the internal wiring of being convenient for avoids causing the interference at mechanical arm pivoted in-process.
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 these drawings without inventive exercise.
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a second axial cross-sectional view of the robot arm of the present invention;
fig. 3 is a schematic view of the connection structure of the second shaft third shaft of the present invention;
fig. 4 is a third axial sectional view of the robot arm of the present invention;
fig. 5 is a schematic structural view of the second shaft housing of the present invention;
fig. 6 is a schematic structural view of a third shaft housing of the present invention;
fig. 7 is a schematic structural view of a third shaft special belt pulley of the present invention;
FIG. 8 is a schematic view of a third shaft reducer of the present invention;
fig. 9 is a schematic structural view of the third shaft transmission flange of the present invention.
In the figure, 1-two-axis housing; 2-biaxial machine cover; 3-a biaxial motor cover plate; 4-a two-axis motor mounting rack; 5-a two-axis motor; 6-two shaft sleeve; 7-a biaxial driving wheel; 8-two-shaft driven wheel; 9-a biaxial synchronous belt; 10-two-shaft reducer; 11-a triaxial housing; 12-a triaxial cover; 13-a three-axis motor mount; 14-a three-axis motor; 15-a triaxial shaft sleeve; 16-a three-axis driving wheel; 17-a three-axis driven wheel; 18-three-axis synchronous belt; 19-a three-axis reducer; 20-three-axis drive flange.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely 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 belong to the protection scope of the present invention.
Example (b):
following above-mentioned technical scheme, as shown in fig. 1-9, the utility model provides a novel arm second shaft and third axle and connected mode thereof comprises arm second shaft and third axle.
As shown in fig. 1: the second shaft of the mechanical arm comprises: the two-shaft motor comprises a two-shaft machine shell 1, a two-shaft machine cover 2, a two-shaft motor cover plate 3, a two-shaft motor mounting frame 4, a two-shaft motor 5, a two-shaft sleeve 6, a two-shaft driving wheel 7, a two-shaft driven wheel 8, a two-shaft synchronous belt 9 and a two-shaft speed reducer 10.
The third axis of the mechanical arm comprises: the three-axis synchronous motor comprises a three-axis machine shell 11, a three-axis machine cover 12, a three-axis motor mounting frame 13, a three-axis motor 14, a three-axis shaft sleeve 15, a three-axis driving wheel 16, a three-axis driven wheel 17, a three-axis synchronous belt 18, a three-axis speed reducer 19 and a three-axis transmission flange 20.
As shown in fig. 2: unthreaded hole has been seted up to 1 tip circumference of arm second shaft casing, through screw fixed connection on the drive flange of primary shaft, threaded hole is seted up to casing 1 side, and two cover 2 passes through screw fixed connection on casing 1, and two motor apron 3 is through the motor mounted position of excessive cooperation mode connection on casing 1. The inside electric wire installing support that is equipped with of casing 1, the electric wire is fixed on the support.
The hole site has been seted up on two motor mounting bracket 4, through screw fixed connection inside casing 1, two motor 5 passes through bolt fixed connection in the one end of two motor mounting bracket 4, and two axle sleeve 6 passes the motor shaft and passes through the other end of screw fixed connection at two motor mounting bracket 4.
The key groove has been seted up on two-shaft motor 5's the epaxial, and two-shaft drive wheel 7 passes through the key-type connection mode and installs on motor shaft, has seted up threaded hole on the drive wheel 7, through jackscrew locking on motor shaft.
The two-shaft driving wheel 7 and the two-shaft driven wheel 8 transmit power through a two-shaft synchronous belt 9.
As shown in fig. 3: threaded holes are formed in the two-shaft speed reducer 10, the two shafts are fixedly connected to one end of the two-shaft speed reducer 10 through screws, the third shaft shell 11 of the mechanical arm is fixedly connected to the other end of the two-shaft speed reducer 10 through screws, the two shafts are driven by the two shafts 8, and the two shafts 10 are both designed to be hollow in the middle.
The two-shaft driven wheel 8, the two-shaft speed reducer 10 and the third-shaft shell 11 are fixedly connected to the second-shaft shell 1 through bolts as a whole.
As shown in fig. 4, a threaded hole is formed in the side surface of the third shaft housing 11 of the mechanical arm, and the third shaft cover 12 is fixedly connected to the third shaft housing 11 through a screw. The hole site has been seted up to the casing of triaxial casing 11, and triaxial motor mounting bracket 13 passes through bolt fixed connection inside triaxial casing 11.
The three-axis motor mounting frame 13 is provided with a unthreaded hole and a threaded hole, the three-axis motor 14 is fixedly mounted at one end of the three-axis motor mounting frame 13 through a bolt, and the three-axis shaft sleeve 15 penetrates through a motor shaft and is fixedly connected at the other end of the three-axis motor mounting frame 13 through a bolt.
The key groove is arranged on the shaft of the three-shaft motor 14, the three-shaft driving wheel 16 is mounted on the motor shaft through key connection, the driving wheel 16 is provided with a threaded hole, and the driving wheel is locked on the motor shaft through a jackscrew.
The three-shaft driving wheel 16 and the three-shaft driven wheel 17 transmit power through a three-shaft synchronous belt 18.
Threaded holes are formed in the three-axis speed reducer 19, the three-axis driven wheel 17 is fixedly connected to one end of the three-axis speed reducer 19 through screws, the three-axis transmission flange 20 is fixedly connected to the other end of the three-axis speed reducer 19 through screws, and the three-axis driven wheel 17, the three-axis speed reducer 19 and the three-axis transmission flange 20 are all designed to be hollow in the middle.
The three-shaft driven wheel 17, the three-shaft reducer 19 and the three-shaft transmission flange 20 are fixedly connected to the third-shaft housing 11 as a whole through bolts.
As shown in fig. 2 and 4: the two-shaft motor 5 and the three-shaft motor 14 are respectively arranged in a second shaft of the mechanical arm and a third shaft, so that the space is saved, and the motors are prevented from being in direct contact with the rotating shaft by transmitting power through the driving wheel 7, the driving wheel 16, the two-shaft driven wheel 8, the three-shaft driven wheel 17, the two-shaft synchronous belt 9 and the three-shaft synchronous belt 18.
As shown in fig. 2, 3, and 4: the two-axis driven wheel 8, the three-axis driven wheel 17, the two-axis speed reducer 10, the three-axis speed reducer 19 and the three-axis transmission flange 20 are all designed to be hollow in the middle, and electric wires penetrate through the three-axis speed reducer from the inside and are reasonably arranged.
As shown in fig. 5 and 6: the mechanical arm second shaft casing 1, the mechanical arm third shaft three-shaft casing 11 and the three-shaft transmission flange 20 are provided with ribbed plates at the installation position of the speed reducer, so that the supporting effect and the strength are improved.
The working principle is as follows: the second shaft shell 1 is fixedly connected with the first shaft transmission flange, and the transmission flange rotates to drive the second shaft to rotate so as to realize rotational freedom; when the second shaft motor 5 receives the instruction to rotate, the driving wheel 7 is driven to rotate, the driving wheel 7 transmits power to the two-shaft driven wheel 8 through the two-shaft synchronous belt 9, the two-shaft driven wheel 8 rotates, the two-shaft speed reducer 10 rotates along with the two-shaft speed reducer, and the third shaft shell 11 rotates due to the fact that the two-shaft speed reducer 10 is fixedly connected with the third shaft shell 11, and the degree of freedom of rotation is achieved; when the third-axis three-axis motor 14 receives an instruction to rotate, the driving wheel 16 is driven to rotate, the driving wheel 16 transmits power to the three-axis driven wheel 17 through the three-axis synchronous belt 18, the three-axis driven wheel 17 rotates, the three-axis speed reducer 19 rotates along with the three-axis speed reducer 19, the three-axis driving flange 20 rotates due to the fact that the three-axis speed reducer 19 is fixedly connected with the three-axis driving flange 20, the fourth peripheral shell rotates along with the three-axis driving flange 20, and rotation freedom degree is achieved.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A connecting structure of a mechanical arm comprises a second shaft and a third shaft, and is characterized in that the second shaft comprises a two-shaft shell, a two-shaft cover, a two-shaft motor cover plate, a two-shaft motor mounting frame, a two-shaft motor, a two-shaft sleeve, a two-shaft driving wheel, a two-shaft driven wheel, a two-shaft synchronous belt and a two-shaft speed reducer, and the third shaft comprises a three-shaft shell, a three-shaft cover, a three-shaft motor mounting frame, a three-shaft motor, a three-shaft sleeve, a three-shaft driving wheel, a three-shaft driven wheel, a three-shaft;
the two-shaft motor comprises a two-shaft motor shell, a two-shaft motor mounting frame, a two-shaft motor cover plate, a two-shaft motor shaft sleeve, a two-shaft motor mounting frame, a two-shaft motor shaft sleeve, a two-shaft motor and a two-shaft motor, wherein the two-shaft motor shaft sleeve penetrates through the two-shaft motor shaft sleeve and is fixedly mounted at the other end of the two-shaft motor mounting frame, the two-shaft motor shaft sleeve is provided with a key groove, the two-shaft motor is mounted on the two-shaft motor shaft sleeve in a key connection mode, and the two-shaft motor is provided with a threaded hole, and the jackscrew is used for locking the two-shaft driving wheel on the two-shaft motor shaft, the two-shaft driving wheel is connected with the two-shaft driven wheel through a synchronous belt to transmit power, a threaded hole is formed in the two-shaft speed reducer, the two-shaft driven wheel is fixedly connected to one end of the two-shaft speed reducer, the three-shaft casing is fixedly connected to the other end of the two-shaft speed reducer, the two-shaft driven wheel and the two-shaft speed reducer are fixedly connected to the mechanical arm as a whole on the two-shaft casing.
2. The connecting structure of a robot arm according to claim 1, wherein: the side surface of the three-shaft machine shell of the mechanical arm is provided with a threaded hole, the three-shaft machine cover is fixedly connected on the machine shell, the three-shaft motor mounting rack is fixedly arranged at a designated position in the three-shaft shell, a hole site is arranged on the three-shaft motor mounting rack, the three-shaft motor is fixedly arranged at one end of the three-shaft motor mounting frame, the three-shaft sleeve penetrates through the shaft of the three-shaft motor and is fixedly arranged at the other end of the three-shaft motor mounting frame, the three-shaft driving wheel is connected with the driven wheel through a synchronous belt to transmit power, a threaded hole is arranged on the three-shaft speed reducer, the three-shaft driven wheel is fixedly connected with one end of the three-shaft speed reducer, the three-shaft transmission flange is fixedly connected with the other end of the three-shaft speed reducer, the three-shaft driven wheel is fixedly connected with the three-shaft driven wheel, the three-shaft speed reducer and the three-shaft transmission flange are fixedly connected to the three-shaft casing of the mechanical arm as a whole.
3. The connecting structure of a robot arm according to claim 1, wherein: the two-shaft driven wheel, the two-shaft speed reducer, the three-shaft driven wheel, the three-shaft speed reducer and the three-shaft transmission flange are all designed to be hollow in the middle.
4. The connecting structure of a robot arm according to claim 1, wherein: the two-shaft machine shell, the three-shaft transmission flange is in the two-shaft speed reducer or the three-shaft speed reducer mounting position all is equipped with the floor, plays the supporting role and increases the intensity of casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020066100.5U CN212170391U (en) | 2020-01-13 | 2020-01-13 | Connecting structure of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020066100.5U CN212170391U (en) | 2020-01-13 | 2020-01-13 | Connecting structure of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212170391U true CN212170391U (en) | 2020-12-18 |
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ID=73773605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020066100.5U Active CN212170391U (en) | 2020-01-13 | 2020-01-13 | Connecting structure of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212170391U (en) |
-
2020
- 2020-01-13 CN CN202020066100.5U patent/CN212170391U/en active Active
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