CN215358430U

CN215358430U - Education is with six arms

Info

Publication number: CN215358430U
Application number: CN202121732271.8U
Authority: CN
Inventors: 方晨昊; 曾宝成; 石金泽; 李昊颍; 周春琳
Original assignee: Huzhou Institute of Zhejiang University
Current assignee: Huzhou Institute of Zhejiang University
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2021-12-31
Anticipated expiration: 2031-07-28

Abstract

The utility model discloses a six-axis mechanical arm for education, which consists of a power supply bin, a rotating mechanism, a large arm, a small arm and a tail end output, wherein the rotating mechanism can be rotatably arranged on the power supply bin around the axis of the rotating mechanism, the large arm is arranged on the rotating mechanism, the large arm is driven to rotate around the axis of the rotating mechanism through the rotating mechanism, the small arm can be rotatably arranged on the large arm around the axis of the small arm, the small arm is driven to move back and forth through the large arm, the tail end output is arranged on the small arm, has two mutually vertical rotating axes and intersects with the axis of the small arm at one point. The utility model has reasonable and effective wiring, and the introduction of the independent power supply bin, the polyurethane ring and the carbon fiber tube ensures that the mechanical arm is beautiful, neat, stable and reliable, and is convenient to carry and maintain and convenient to popularize.

Description

Education is with six arms

Technical Field

The utility model relates to a six-axis mechanical arm for education.

Background

The lightweight six-axis robot arm is generally applied to fields such as science and technology museum's show, robot education and family's assistant, and the bottom support is the primary shaft of arm, steering wheel fixed mounting on the base, and primary shaft, secondary shaft and third axle all adopt steering wheel drive, and adopt connecting rod transmission, and the primary shaft is rotary joint, and secondary shaft and third axle are revolute joint, and the fourth shaft, fifth shaft, sixth shaft are rotary joint and intersect and a little in order to satisfy the Pieper rule of arm. The existing mechanical arm is disordered in wiring, the conditions of wire winding and clamping are easily caused, the maintenance is complex, and the stability is poor.

Therefore, aiming at the existing problems, a design scheme of the six-axis mechanical arm for education is provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the existing problems and provides a six-axis mechanical arm for education.

The technical scheme of the utility model is as follows:

the utility model provides a six arms are used in education, comprises power storehouse, rotary mechanism, big arm, forearm, terminal output, wherein rotary mechanism can rotate around self axle center install in on the power storehouse, big arm install in rotary mechanism is last, through rotary mechanism drives big arm winds rotary mechanism's axle center rotates, the forearm can rotate around self axle center install in on the big arm, through big arm drives the operation of back-and-forth movement is accomplished to the forearm, terminal output install in on the forearm, possess two mutually perpendicular's rotation axle centers, with the forearm axle center intersects in a bit.

Preferably, a power supply and a heat dissipation device are uniformly placed in the power supply bin, so that the power supply bin is neat and convenient to manage; the opening design of the power supply bin is convenient to carry and plays a role in heat dissipation.

Preferably, the rotating mechanism comprises a bearing lower disc, a bearing upper cover, a U-shaped base and a bearing. The bearing upper cover is installed on the power supply bin, the bearing is installed in the bearing upper cover, the bearing lower disc is installed on the output of the steering engine, and the U-shaped base is installed on the bearing lower disc.

Preferably, the wire passes through U type base and bearing lower wall get into the power storehouse, the wire passes through inside the bearing, keep apart with the outside, effectively avoid the wire winding, bearing lower wall and power storehouse have the semicircle annular opening, effectively avoid the wire card dead.

Preferably, the big arm is provided with a polyurethane ring, damage caused by collision is reduced, and the wire retaining ring on the big arm is designed to effectively prevent the wire from winding to influence normal work.

Preferably, the small arm is internally provided with a carbon fiber tube and a bearing, and the carbon fiber tube is arranged in the bearing to enhance the structural stability; the small arm is provided with a sleeve shaft, the sleeve shaft is arranged outside the carbon fiber tube, and a lead passes through the space between the sleeve shaft and the carbon fiber tube.

Preferably, the tail end output is used for supporting the steering engine through double ears, and the transmission is reliable and stable.

Advantageous effects

The utility model has reasonable and effective wiring, and the introduction of the independent power supply bin, the polyurethane ring and the carbon fiber tube ensures that the mechanical arm is beautiful, neat, stable and reliable, and is convenient to carry and maintain and convenient to popularize.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic diagram of the wiring of the rotating mechanism of the present invention.

FIG. 3 is a half sectional view of the U-shaped base of the present invention.

FIG. 4 is a schematic view of a small arm of the present invention with the sleeve shaft removed.

Detailed Description

The utility model is described in detail below with reference to the figures and the specific embodiments.

Referring to fig. 1 to 4, the six-axis mechanical arm for education of the present invention includes a power supply bin 1, a rotating mechanism 2, a large arm 3, a small arm 4 and a terminal output 5, wherein the rotating mechanism 2 can be rotatably mounted on the power supply bin 1 around its axis, the large arm 3 is mounted on the rotating mechanism 2, the large arm 3 is driven to rotate around the axis of the rotating mechanism 2 by the rotating mechanism 2, the small arm 4 can be rotatably mounted on the large arm 3 around its axis, the small arm 4 is driven to complete the operation of moving back and forth by the large arm 3, and the terminal output 5 is mounted on the small arm 4, has two mutually perpendicular rotating axes, and intersects with the axis of the small arm 4 at one point. The torque is transmitted in a straight line, so that the transmission is reliable and stable, and the installation is convenient.

As shown in fig. 1, the opening 6 of the power supply bin 1 is convenient for carrying and plays a role in heat dissipation; the polyurethane ring 7 is arranged on the large arm 3, so that damage caused by collision is reduced; the tail end output 5 supports the steering engine through double lugs, and transmission is reliable and stable.

As shown in figures 2 and 3, a wire 12 enters the power supply bin 10 through the U-shaped base 8 and the bearing lower disc 9, the wire 12 is isolated from the outside through the inside of the bearing, the winding of the wire 12 is effectively avoided, and the semicircular opening 11 is formed in the bearing lower disc 9 and the power supply bin 10, so that the wire is effectively prevented from being blocked.

As shown in fig. 4, the small arm 3 is internally provided with a carbon fiber tube 13 and a bearing 14, and the carbon fiber tube 13 is arranged inside the bearing 14 to enhance the structural stability; the wire passes between the quill and the carbon fibre tube 13 and through the structure 15.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a six arms are used in education which characterized in that: the power supply comprises a power supply bin, a rotating mechanism, a big arm, a small arm and a tail end output, wherein the rotating mechanism can rotate around the axis of the rotating mechanism and is arranged on the power supply bin, the big arm is arranged on the rotating mechanism and drives the big arm to rotate around the axis of the rotating mechanism, the small arm can rotate around the axis of the rotating mechanism and is arranged on the big arm, the big arm drives the small arm to complete the operation of moving back and forth, the tail end output is arranged on the small arm, has two mutually vertical rotating axes and intersects with the axis of the small arm at one point.

2. The educational six-axis robotic arm of claim 1, wherein: a power supply and a heat dissipation device are arranged in the power supply bin; the power supply bin is designed to be opened.

3. The educational six-axis robotic arm of claim 1, wherein: the rotating mechanism comprises a bearing lower disc, a bearing upper cover, a U-shaped base and a bearing; the bearing upper cover is installed on the power supply bin, the bearing is installed in the bearing upper cover, the bearing lower disc is installed on the output of the steering engine, and the U-shaped base is installed on the bearing lower disc.

4. The educational six-axis robotic arm of claim 3, wherein: the wire passes through U type base and bearing bottom wall get into the power storehouse, bearing bottom wall and power storehouse are equipped with half annular opening.

5. The educational six-axis robotic arm of claim 1, wherein: the big arm is provided with a polyurethane ring; and the large arm is provided with a wire retaining ring.

6. The educational six-axis robotic arm of claim 1, wherein: the small arm is internally provided with a carbon fiber tube and a bearing, and the carbon fiber tube is arranged in the bearing; the small arm is provided with a sleeve shaft, the sleeve shaft is arranged outside the carbon fiber tube, and a lead passes through the space between the sleeve shaft and the carbon fiber tube.

7. The educational six-axis robotic arm of claim 1, wherein: the tail end output is used for supporting the steering engine through double ears.