CN212672355U

CN212672355U - Multi-joint robot based on harmonic reducer

Info

Publication number: CN212672355U
Application number: CN202021166101.3U
Authority: CN
Inventors: 王明艳; 李亮; 梁超
Original assignee: Baoji Cimc Hi Tech Real Estate Co ltd
Current assignee: Baoji Cimc Hi Tech Real Estate Co ltd
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2021-03-09
Anticipated expiration: 2030-06-22

Abstract

The utility model belongs to the technical field of robot equipment, a many joints robot based on harmonic reduction gear is related to, including power component, harmonic reduction gear and machine arm, via the harmonic reduction gear transmission between power component and the machine arm, the front arm end of machine arm is equipped with the centre gripping subassembly, the centre gripping subassembly includes the straight rail that two intervals set up, the front arm tip fixed connection of straight rail and machine arm, be equipped with two racks between two straight rails, the straight rail bottom fixed mounting who is located one side has the motor cabinet, fixed mounting has the motor on the motor cabinet, machine arm both sides bottom all is equipped with the arm lock, the equal fixed mounting of lower extreme of two arm lock opposite sides has the straight flute piece, through setting up arm lock and straight flute piece, the drive of motor deuterogamy, make arm lock and straight flute piece be close to each other and press from both sides the work piece between the tight.

Description

Multi-joint robot based on harmonic reducer

Technical Field

The utility model belongs to the technical field of the robot equipment, particularly, relate to a articulated robot based on harmonic speed reducer ware.

Background

In the field of transportation, robots are increasingly used to replace manual transportation and palletizing, and a conventional robot includes a plurality of sequentially connected mechanical arms, and the mechanical arms arranged at the tail ends of the robot can be provided with various tail end clampers to execute various actions.

The harmonic reducer is a gear transmission which is characterized in that the flexible gear generates controllable elastic deformation by being assembled on the wave generator and is meshed with the rigid gear to transfer motion and power, and when the gear transmission works, a large transmission ratio is realized in a small space through the contact tooth number difference of the flexible gear and the rigid gear.

When a workpiece is conveyed, the multi-joint robot and the clamping hands work simultaneously, so that the workpiece is conveyed to a specified position, and the workpiece is easy to fall off from the clamping hands in the conveying process of the clamping hands, so that the conveying efficiency is reduced, and therefore the multi-joint robot based on the harmonic reducer is provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problem that the workpiece easily drops from the clamping hand when carrying the workpiece of the existing multi-joint robot, and providing a multi-joint robot based on a harmonic reducer.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a multi-joint robot based on harmonic speed reducer ware, includes power component, harmonic speed reducer ware and robotic arm, via the harmonic speed reducer ware transmission between power component and the robotic arm, the forearm end of robotic arm is equipped with the centre gripping subassembly, the centre gripping subassembly includes the straight rail that two intervals set up, the forearm tip fixed connection of straight rail and robotic arm, two be equipped with two racks between the straight rail, two the rack sets up with the forearm symmetry of robotic arm, the equal fixed mounting in rack both sides has the slider, and the slider of both sides slides respectively and sets up in the straight rail of both sides, and fixed mounting has two supporting shoes on the straight rail that is located one side, two the supporting shoes set up with the forearm symmetry of robotic arm, the robotic arm both sides all are provided with the axle, axle one end all runs through the supporting shoe and rotatable setting on the supporting shoe, axle one end fixed mounting has the gear, the gear and the slider intermeshing of homonymy, axle other end fixed mounting has the fluted disc, two the fluted disc meshing is located one side straight rail bottom fixed mounting has the motor cabinet, fixed mounting has the motor on the motor cabinet, the output fixed connection of motor is in the fluted disc center department of one side, robot arm both sides bottom all is equipped with the arm lock, arm lock top fixed connection is in the rack bottom of homonymy, two the equal fixed mounting of lower extreme of arm lock opposite side has straight fluted piece.

Preferably, the opposite sides of the two straight slot pieces are fixedly provided with springs, and one ends of the springs are fixedly provided with patches.

Preferably, the patches are provided with protecting sleeves.

Preferably, both ends of the straight rail are plugged by blocking pieces which are fixedly installed on the straight rail.

Preferably, the straight rail is connected with the robot arm through a screw.

The utility model provides a pair of articulated robot based on harmonic speed reducer ware, beneficial effect lies in: through setting up arm lock and straight flute piece, the drive of motor is deuterogamied, makes arm lock and straight flute piece be close to each other and press from both sides the work piece between the tight straight flute piece, through setting up straight rail, rack, slider, axle, gear, fluted disc and mutually support, drives the fluted disc rotation of both sides through the motor, and the gear drives rack motion, and the rack is integrative setting with arm lock, straight flute piece to arm lock, straight flute piece can carry out straight reciprocating motion, realize the centre gripping to the work piece promptly and relax.

Drawings

Fig. 1 is the utility model provides a structural schematic of articulated robot based on harmonic reducer ware.

Fig. 2 is an enlarged schematic view of the clamping assembly of the multi-joint robot based on the harmonic reducer of the present invention.

Fig. 3 is an enlarged schematic view two of the clamping assembly of the multi-joint robot based on the harmonic reducer of the present invention.

In the figure: the device comprises a power component 1, a harmonic reducer 2, a machine arm 3, a straight rail 4, a baffle 5, a rack 6, a slider 7, a supporting block 8, a shaft 9, a gear 10, a fluted disc 11, a motor base 12, a motor 13, a clamping arm 14, a straight fluted disc 15, a spring 16 and a patch 17.

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.

Example 1:

referring to fig. 1-3, a multi-joint robot based on a harmonic reducer comprises a power assembly 1, a harmonic reducer 2 and a robot arm 3, wherein the power assembly 1 and the robot arm 3 are driven by the harmonic reducer 2, a clamping assembly is arranged at the front arm end of the robot arm 3, the clamping assembly comprises two straight rails 4 arranged at intervals, the straight rails 4 are fixedly connected with the front arm end of the robot arm 3, two racks 6 are arranged between the two straight rails 4, the two racks 6 are symmetrically arranged with the front arm of the robot arm 3, sliders 7 are fixedly arranged at both sides of the racks 6, the sliders 7 at both sides are respectively arranged in the straight rails 4 at both sides in a sliding manner, two supporting blocks 8 are fixedly arranged on the straight rail 4 at one side, the two supporting blocks 8 are symmetrically arranged with the front arm of the robot arm 3, shafts 9 are arranged at both sides of the robot arm 3, one end of each shaft 9 penetrates through the supporting blocks 8 and is, 9 one end fixed mounting of axle has gear 10, the gear 10 and the slider 7 intermeshing of homonymy, 9 other end fixed mounting of axle has fluted disc 11, two fluted disc 11 meshes, the straight rail 4 bottom fixed mounting that is located one side has motor cabinet 12, fixed mounting has motor 13 on the motor cabinet 12, the output fixed connection of motor 13 is located at the fluted disc 11 center of one side, 3 both sides bottoms of robotic arm all are equipped with

arm lock

14, 14 top fixed connection of arm lock are in 6 bottoms of rack of homonymy, the equal fixed mounting of lower extreme of 14 opposite sides of two arm lock has straight fluted piece 15. Through setting up straight rail 4, rack 6, slider 7, axle 9, gear 10, fluted disc 11 mutually supports, can drive straight fluted disc 15 of arm lock 14 lower extreme through starter motor 13 and be close to each other or keep away from, motor 13 rotates the fluted disc 11 that drives one side and rotates, fluted disc 11, axle 9, gear 10 sets up as an organic whole, gear 10 rotates and drives rack 6 motion, and simultaneously, fluted disc 11 of one side drives the fluted disc 11 of opposite side and rotates, the gear 10 of the opposite side rotates and drives rack 6 motion on the same principle, thereby the device during operation, two straight fluted disc 15 are close to each other and press from both sides tight work piece.

Example 2:

referring to fig. 1-3, as another preferred embodiment of the present invention, the difference from embodiment 1 is that, springs 16 are fixedly installed on opposite sides of two straight slot pieces 15, a patch 17 is fixedly installed on one end of each spring 16, a protective sleeve is installed on each patch 17, the clamping quality of the device to a workpiece can be improved by compressing the springs 16 through the springs 16 and the patches 17, two ends of a straight rail 4 are blocked by blocking pieces 5, the blocking pieces 5 are fixedly installed on the straight rail 4 to prevent a rack 6 from moving out of the straight rail 4, the straight rail 4 is connected with a machine arm 3 through screws, and a clamping assembly can be disassembled and maintained or replaced.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a multi-joint robot based on harmonic speed reducer ware, includes power component (1), harmonic speed reducer ware (2) and machine arm (3), via harmonic speed reducer ware (2) transmission between power component (1) and the machine arm (3), its characterized in that, the forearm end of machine arm (3) is equipped with the centre gripping subassembly, the centre gripping subassembly includes straight rail (4) that two intervals set up, straight rail (4) and the forearm tip fixed connection of machine arm (3), two be equipped with two rack (6) between straight rail (4), two rack (6) are with the forearm symmetry setting of machine arm (3), the equal fixed mounting in rack (6) both sides has slider (7), both sides slider (7) slide respectively and set up in the straight rail (4) of both sides, lie in one side fixed mounting has two supporting shoes (8) on straight rail (4), two the forearm symmetry setting of supporting shoe (8) with machine arm (3), machine arm (3) both sides all are provided with axle (9), axle (9) one end all runs through supporting shoe (8) and rotatable setting on supporting shoe (8), axle (9) one end fixed mounting has gear (10), gear (10) and slider (7) intermeshing of homonymy, axle (9) other end fixed mounting has fluted disc (11), two fluted disc (11) meshing, lie in one side straight rail (4) bottom fixed mounting has motor cabinet (12), fixed mounting has motor (13) on motor cabinet (12), the output fixed connection of motor (13) is in fluted disc (11) center department of one side, machine arm (3) both sides bottom all is equipped with arm lock (14), arm lock (14) top fixed connection is in rack (6) bottom of homonymy, the lower ends of the two opposite sides of the clamping arms (14) are fixedly provided with straight slot pieces (15).

2. A harmonic reducer based multi-joint robot as claimed in claim 1, wherein the opposite sides of the two straight slot pieces (15) are fixedly installed with springs (16), and one end of each spring (16) is fixedly installed with a patch (17).

3. A harmonic reducer based multi-joint robot as claimed in claim 2, wherein the patches (17) are provided with protective sleeves.

4. The multi-joint robot based on the harmonic reducer according to claim 1, wherein both ends of the straight rail (4) are blocked by blocking pieces (5), and the blocking pieces (5) are fixedly installed on the straight rail (4).

5. A harmonic reducer based multi-joint robot as claimed in claim 1, characterized in that the straight rail (4) and the robot arm (3) are connected by screws.