CN215433695U

CN215433695U - Multi freedom's industrial robot arm

Info

Publication number: CN215433695U
Application number: CN202121288337.9U
Authority: CN
Inventors: 叶伟珺
Original assignee: Shanghai Sanjun Robot Co ltd
Current assignee: Shanghai Sanjun Robot Co ltd
Priority date: 2021-06-09
Filing date: 2021-06-09
Publication date: 2022-01-07
Anticipated expiration: 2031-06-09

Abstract

The utility model discloses an industrial robot arm with multiple degrees of freedom, which belongs to the technical field of industrial robot arms and comprises a base, wherein a rotating seat is arranged on the upper side of the base, the base is rotatably connected with a middle seat through the rotating seat, a first motor is arranged at the bottom of an inner cavity of the base, an output shaft of the first motor is connected with a speed reducer, an output shaft of the speed reducer is connected with a transmission shaft, the upper end of the transmission shaft is fixedly connected with the middle seat, a first support arm is arranged on the upper side of the middle seat, a first driving shaft is arranged on the lower side of the first support arm and is rotatably connected with the middle seat, a first mounting plate is arranged in the inner cavity of the middle seat, the transmission shaft is driven to rotate by the first motor, so that the middle seat is driven to rotate, the angle is adjusted, the first driving shaft is driven to rotate by a second motor, so that the first support arm is driven to rotate, and a top seat is driven to rotate by a rotating device, thereby the position of sucking disc can be adjusted in a flexible way.

Description

Multi freedom's industrial robot arm

Technical Field

The utility model relates to the technical field of industrial robot arms, in particular to an industrial robot arm with multiple degrees of freedom.

Background

An industrial robot arm is an industrial mechanical arm, and is a mechanical electronic device with anthropomorphic arm, wrist and hand functions. It can move any object or tool according to the time-varying requirement of space pose (position and posture), so as to meet the operation requirement of some industrial production. Such as clamping a welding tongs or a welding gun, and carrying out spot welding or arc welding on the automobile or motorcycle body; carrying die-cast or punch-formed parts or components; carrying out laser cutting; spraying; assembling mechanical parts, etc.

The existing industrial robot arm is complex in design structure for realizing multi-degree-of-freedom movement, difficult to maintain and high in manufacturing cost.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an industrial robot arm with multiple degrees of freedom, and aims to solve the problems that the existing industrial robot arm in the background technology is complex in design structure, difficult to maintain and high in manufacturing cost for realizing multiple degrees of freedom movement.

In order to achieve the purpose, the utility model provides the following technical scheme: an industrial robot arm with multiple degrees of freedom comprises a base, wherein a rotating seat is installed on the upper side of the base, the base is connected with a middle seat through the rotating seat in a rotating mode, a first motor is installed at the bottom of an inner cavity of the base, a reducer is connected to an output shaft of the first motor, a transmission shaft is connected to an output shaft of the reducer, the upper end of the transmission shaft is fixedly connected with the middle seat, a first support arm is installed on the upper side of the middle seat, a first drive shaft is arranged on the lower side of the first support arm and is rotatably connected with the middle seat, a first mounting plate is arranged in the inner cavity of the middle seat, a second motor is installed on the upper side of the first mounting plate, a first commutator is connected to the output end of the first commutator in a driving mode, a second support arm is installed on the upper side of the first support arm, a top seat is installed on the upper side of the second support arm, the sucking disc is installed in the footstock left side, be provided with rotating device between footstock and the second support arm.

Preferably, rotating device includes third motor, second commutator, second drive shaft, footstock inner chamber bottom is provided with the second mounting panel, the second commutator is installed to second mounting panel upside, the third motor is installed to footstock inner chamber upside, third motor output shaft is connected with second commutator input, second support arm upside is provided with the second drive shaft, just the second drive shaft rotates with the footstock to be connected, second commutator output is connected with second drive shaft transmission.

Preferably, the lower end of the base is provided with a fixing plate.

Preferably, the outer edge of the fixing plate is provided with a mounting hole.

Compared with the prior art, the utility model has the beneficial effects that:

1) the first motor drives the transmission shaft to rotate so as to drive the middle seat to rotate, the angle is adjusted, the second motor drives the first driving shaft to rotate so as to drive the first support arm to rotate, and the rotating device drives the top seat to rotate so as to flexibly adjust the position of the sucker;

2) the utility model has simple structure, thereby being convenient for maintenance and having lower manufacturing cost.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the internal structure of the base of the present invention;

FIG. 3 is a schematic view of the internal structure of the top seat and the base of the present invention.

In the figure: the automatic control device comprises a base 1, a rotating seat 2, a middle seat 3, a fixing plate 4, a first support arm 5, a top seat 6, a sucker 7, a second support arm 8, a speed reducer 9, a transmission shaft 10, a first mounting plate 11, a first commutator 12, a first driving shaft 13, a second motor 14, a second mounting plate 15, a second driving shaft 16, a second commutator 17, a third motor 18 and a first motor 19.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example (b):

referring to fig. 1-3, the present invention provides a technical solution: an industrial robot arm with multiple degrees of freedom comprises a base 1, wherein a rotating seat 2 is installed on the upper side of the base 1, the base 1 is rotatably connected with a middle seat 3 through the rotating seat 2, a first motor 19 is installed at the bottom of an inner cavity of the base 1, a speed reducer 9 is connected with an output shaft of the first motor 19, a transmission shaft 10 is connected with an output shaft of the speed reducer 9, the upper end of the transmission shaft 10 is fixedly connected with the middle seat 3, the transmission shaft 10 is driven to rotate through the first motor 19, the middle seat 3 is enabled to rotate, a first support arm 5 is installed on the upper side of the middle seat 3, a first driving shaft 13 is arranged on the lower side of the first support arm 5, the first support arm 5 is fixedly connected with the first driving shaft 13, the first driving shaft 13 is rotatably connected with the middle seat 3, a first installation plate 11 is arranged on the inner cavity of the middle seat 3, a second motor 14 is installed on the upper side of the first installation plate 11, and a first commutator 12 is connected with an output shaft of the second motor 14, the output end of the first commutator 12 is in transmission connection with a first driving shaft 13, the first driving shaft 13 is driven to rotate through a second motor 14, the first supporting arm 5 is further made to rotate, the second supporting arm 8 is installed on the upper side of the first supporting arm 5, the top seat 6 is installed on the upper side of the second supporting arm 8, the sucking disc 7 is installed on the left side of the top seat 6, the workpiece is adsorbed, a rotating device is arranged between the top seat 6 and the second supporting arm 8, and the top seat 6 can rotate through the rotating device.

Rotating device includes third motor 18, second commutator 17,

second drive shaft

16, 6 inner chamber bottoms of footstock are provided with second mounting panel 15, second commutator 17 is installed to 15 upsides of second mounting panel, third motor 18 is installed to 6 inner chamber upsides of footstock, third motor 18 output shaft is connected with second commutator 17 input, 8 upsides of second support arm are provided with second drive shaft 16,

second drive shaft

16 and 8 fixed connection of second support arm, just second drive shaft 16 rotates with footstock 6 to be connected, second commutator 17 output is connected with the transmission of second drive shaft 16, and third motor 18 drives second drive shaft 16 through second commutator 17 and rotates, because

second drive shaft

16 and 8 fixed connection of second support arm to it rotates to drive footstock 6.

The lower end of the base 1 is provided with a fixing plate 4 for fixing the device.

And a mounting hole is formed in the edge of the outer side of the fixing plate 4.

The working principle is as follows: the first motor 19 works to drive the transmission shaft 10 to rotate, so that the middle seat 3 rotates, the second motor 14 works to drive the first driving shaft 13 to rotate through the first commutator 12, so that the first support arm 5 rotates, the third motor 18 drives the second driving shaft 16 to rotate through the second commutator 17, and the second driving shaft 16 is fixedly connected with the second support arm 8, so that the top seat 6 is driven to rotate, and the position of the top seat 7 can be flexibly adjusted.

While there have been shown and described the fundamental principles and essential features of the utility model and advantages thereof, it will be apparent to those skilled in the art that the utility model is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an industrial robot arm of multi freedom, includes base (1), its characterized in that: the rotary seat (2) is installed on the upper side of the base (1), the base (1) is connected with the middle seat (3) through the rotary seat (2), the first motor (19) is installed at the bottom of the inner cavity of the base (1), the reducer (9) is connected with the output shaft of the first motor (19), the transmission shaft (10) is connected with the output shaft of the reducer (9), the upper end of the transmission shaft (10) is fixedly connected with the middle seat (3), the first support arm (5) is installed on the upper side of the middle seat (3), the first drive shaft (13) is arranged on the lower side of the first support arm (5), the first drive shaft (13) is rotatably connected with the middle seat (3), the first mounting plate (11) is arranged on the inner cavity of the middle seat (3), the second motor (14) is installed on the upper side of the first mounting plate (11), the first commutator (12) is connected with the output shaft of the second motor (14), first commutator (12) output and first drive shaft (13) transmission are connected, second support arm (8) are installed to first support arm (5) upside, footstock (6) are installed to second support arm (8) upside, sucking disc (7) are installed in footstock (6) left side, be provided with rotating device between footstock (6) and second support arm (8).

2. A multi-degree-of-freedom industrial robot arm according to claim 1, characterized in that: rotating device includes third motor (18), second commutator (17), second drive shaft (16), footstock (6) inner chamber bottom is provided with second mounting panel (15), second commutator (17) are installed to second mounting panel (15) upside, third motor (18) are installed to footstock (6) inner chamber upside, third motor (18) output shaft is connected with second commutator (17) input, second support arm (8) upside is provided with second drive shaft (16), just second drive shaft (16) rotate with footstock (6) and are connected, second commutator (17) output is connected with second drive shaft (16) transmission.

3. A multi-degree-of-freedom industrial robot arm according to claim 1, characterized in that: the lower end of the base (1) is provided with a fixed plate (4).

4. A multi-degree-of-freedom industrial robot arm according to claim 3, characterized in that: and the outer edge of the fixing plate (4) is provided with a mounting hole.