CN215511055U - Six-degree-of-freedom service type robot arm - Google Patents
Six-degree-of-freedom service type robot arm Download PDFInfo
- Publication number
- CN215511055U CN215511055U CN202023319101.5U CN202023319101U CN215511055U CN 215511055 U CN215511055 U CN 215511055U CN 202023319101 U CN202023319101 U CN 202023319101U CN 215511055 U CN215511055 U CN 215511055U
- Authority
- CN
- China
- Prior art keywords
- joint
- turning
- flange
- rotary
- revolute
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a six-degree-of-freedom service type robot arm, which has the technical scheme key points that: the base is arranged on the base, a first mechanical arm is arranged on the base, a first rotary joint is arranged at the top of the first mechanical arm, a first rotary shell is arranged on the first rotary joint, the first rotary shell is connected with a turning shell through a first turning joint, the other end of the turning shell is connected with a connecting piece through a second turning joint, a second rotary joint is connected onto the connecting piece, the top of the second rotary joint is provided with a second rotary shell, the second rotary shell is connected with a second mechanical arm through a third turning joint, and the third rotary joint is arranged inside the second mechanical arm. The six-degree-of-freedom service type robot arm has six degrees of freedom, the joint movement is flexible, and meanwhile, the modular design is adopted, so that the processing cost is low.
Description
Technical Field
The utility model relates to the field of automatic mechanical devices, in particular to a six-degree-of-freedom service type robot arm.
Background
With the development of science and technology, the service robot is more widely applied. The existing service robot usually directly adopts the arm of an industrial robot, the mechanical arm of the industrial robot is too bulky, too large in mass, inflexible in movement and not attractive enough, and the requirement of lightening the mechanical arm of the service robot cannot be met.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a six-degree-of-freedom service type robot arm aiming at the defects in the prior art so as to solve the problems in the prior art.
The technical purpose of the utility model is realized by the following technical scheme:
the utility model is further provided with: the utility model provides a six degree of freedom service robot arm, includes the base, be provided with first arm on the base, the top of first arm is provided with first gyration joint, be provided with first gyration casing on the first gyration joint, first gyration casing turn round the joint through first turn round and be connected with the casing that turns round, the other end that turns round the casing passes through the second and turns round the joint and is connected with the connecting piece, be connected with second gyration joint on the connecting piece, the top that the second turned round the joint is provided with second gyration casing, the second gyration casing passes through the third and turns round the joint and is connected with the second arm, the inside of second arm sets up the third and turns round the joint.
The utility model is further provided with: the first rotary joint, the second rotary joint and the third rotary joint are structurally the same and respectively comprise a rotary motor, a rotary motor flange, a rotary speed reducer and a rotary speed reducer flange, the rotary motor is fixed inside the base through the rotary motor flange, the rotary speed reducer is arranged on the rotary speed reducer flange, the rotary speed reducer flange is arranged on the outer side of the rotary motor flange, and the input end of the rotary speed reducer is connected with the output shaft of the rotary motor.
The utility model is further provided with: the structure of first turn joint, the turn joint of second and third gyration joint is the same all including turn motor, turn motor flange, turn reduction gear flange and flange clamp plate, turn motor fixes on turn motor flange, turn reduction gear flange sets up the outside at turn motor flange, turn reduction gear sets up on turn reduction gear flange, turn reduction gear's input and the output shaft of turn motor, turn reduction gear's output is connected with the flange clamp plate, be provided with the spliced pole on the flange clamp plate.
The utility model is further provided with: and the first rotary shell and the second rotary shell are both provided with storage cavities.
The utility model is further provided with: the first rotary shell is provided with a fixed inner flange, the fixed inner flange is provided with a plurality of mounting holes, and the mounting holes are matched with mounting columns on the flange pressing plate. The two ends of the rotary shell are provided with storage cavities.
The utility model is further provided with: the first rotary shell is provided with a fixed inner flange, the fixed inner flange is provided with a plurality of mounting holes, and the mounting holes are matched with mounting columns on the flange pressing plate.
The utility model is further provided with: the top of the first mechanical arm is provided with an installation cavity for accommodating a first rotary joint.
The utility model is further provided with: and a cavity for accommodating a third rotary joint is arranged in the second mechanical arm.
In conclusion, the utility model has the following beneficial effects:
the mechanical arm of the six-degree-of-freedom service type robot arm is provided with the rotary joint and the turning joint, has six degrees of freedom, is flexible in joint movement, is in a modular design, is convenient to machine and install, and is small in size, light in weight and attractive in appearance.
Drawings
Figure 1 is a schematic view of a robotic arm according to the present invention.
Fig. 2 is a schematic structural diagram of the robot arm according to the present invention.
Fig. 3 is a schematic view of the joint structure of the robot arm according to the present invention.
Fig. 4 is a schematic structural view of a revolute joint according to the present invention.
Fig. 5 is a schematic structural view of a revolute joint according to the present invention.
Fig. 6 is a schematic structural view of a turn housing according to the present invention.
Fig. 7 is a schematic view of a turn housing according to the present invention.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the utility model easy to understand, the utility model is further described with reference to the figures and the specific embodiments.
As shown in fig. 1 to 7, the six-degree-of-freedom service type robot arm provided by the utility model comprises a base 1, and is characterized in that a first mechanical arm 2 is arranged on the base 1, a first turning joint 3 is arranged at the top of the first mechanical arm 2, a first turning shell 4 is arranged on the first turning joint 3, the first turning shell 4 is connected with a turning shell 6 through a first turning joint 5, the other end of the turning shell 6 is connected with a connecting piece 8 through a second turning joint 7, a second turning joint 71 is connected onto the connecting piece 8, a second turning shell 81 is arranged at the top of the second turning joint 71, the second turning shell 81 is connected with a second mechanical arm 10 through a third turning joint 9, and a third turning joint is arranged inside the second mechanical arm 10.
The first rotary joint 3, the second rotary joint 71 and the third rotary joint are identical in structure and comprise a rotary motor 31, a rotary motor flange 32, a rotary speed reducer 33 and a rotary speed reducer flange 34, the rotary motor 31 is fixed inside the base 1 through the rotary motor flange 32, the rotary speed reducer 33 is arranged on the rotary speed reducer flange 34, the rotary speed reducer flange 34 is arranged on the outer side of the rotary motor flange 32, and the input end of the rotary speed reducer 33 is connected with the output shaft of the rotary motor 31.
All be provided with on first gyration casing 4 and the second gyration casing 81 and put the thing chamber, put the thing chamber on the first gyration casing 4 and be used for holding first knuckle joint 5, put the thing chamber on the second gyration casing 81 and be used for holding third knuckle joint 9.
The both ends of turn casing 6 all are provided with puts the thing chamber, the thing chamber of putting of the one end of turn casing 6 is used for holding second turn joint 9, and the thing chamber of putting of the 6 other end of turn casing is used for holding first turn joint 5, turn casing 6 is provided with the mounting hole in being close to the thing chamber of putting of first turn joint 5 one end, the mounting hole is used for being connected with fixed and first arm 2.
The first rotary shell 4 is provided with a fixed inner flange 41, the fixed inner flange 41 is provided with a plurality of mounting holes, the mounting holes are matched with mounting columns on the flange pressing plate 55, and the flange pressing plate 55 is fixed on the fixed inner flange 41 through the mounting columns.
The top of the first mechanical arm 2 is provided with a mounting cavity for accommodating the first revolute joint 3.
The second mechanical arm 10 is provided with a cavity for accommodating a third revolute joint.
The working principle of the utility model is as follows:
when in use, the first mechanical arm 2 is arranged on the base 1, then the first rotary joint 3 is arranged in the mounting cavity at the top of the first mechanical arm 2, the first rotary joint 3 is provided with a first rotary shell, the first rotary shell 4 is connected with the turning shell 6 through the first turning joint 5, the other end of the turning shell 6 is connected with a connecting piece 8 through a second turning joint 7, the connecting piece 8 is connected with a second rotary joint 71, the top of the second rotary joint 71 is provided with a second rotary shell 81, the second rotary shell 81 is connected with the second mechanical arm 10 through a third turning joint 9, and the second mechanical arm 10 is internally provided with a third rotary joint. The volume of arm is less, and the quality is lighter, and the outward appearance is comparatively pleasing to the eye.
The foregoing shows and describes the general principles, essential features, and advantages of the utility model. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the utility model as defined by the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.
Claims (8)
1. A six-degree-of-freedom service robot arm comprises a base (1) and is characterized in that, a first mechanical arm (2) is arranged on the base (1), a first rotary joint (3) is arranged at the top of the first mechanical arm (2), the first rotary joint (3) is provided with a first rotary shell (4), the first rotary shell (4) is connected with a turning shell (6) through a first turning joint (5), the other end of the turning shell (6) is connected with a connecting piece (8) through a second turning joint (7), a second rotary joint (71) is connected on the connecting piece (8), a second rotary shell (81) is arranged at the top of the second rotary joint (71), the second rotary shell (81) is connected with a second mechanical arm (10) through a third turning joint (9), and a third turning joint is arranged in the second mechanical arm (10).
2. The six-degree-of-freedom service robot arm according to claim 1, wherein the first revolute joint (3), the second revolute joint (71) and the third revolute joint are structurally identical and each comprise a revolute motor (31), a revolute motor flange (32), a revolute reducer (33) and a revolute reducer flange (34), the revolute motor (31) is fixed inside the base (1) through the revolute motor flange (32), the revolute reducer (33) is arranged on the revolute reducer flange (34), the revolute reducer flange (34) is arranged on the outer side of the revolute motor flange (32), and the input end of the revolute reducer (33) is connected with the output shaft of the revolute motor (31).
3. The six-degree-of-freedom service robot arm according to claim 1, wherein the first turning joint (5), the second turning joint (7) and the third turning joint (9) are identical in structure and comprise a turning motor (51), a turning motor flange (52), a turning speed reducer (53), a turning speed reducer flange (54) and a flange pressing plate (55), the turning motor (51) is fixed on the turning motor flange (52), the turning speed reducer flange (54) is arranged on the outer side of the turning motor flange (52), the turning speed reducer (53) is arranged on the turning speed reducer flange (54), the input end of the turning speed reducer (53) is connected with the output shaft of the turning motor (51), and the output end of the turning speed reducer (53) is connected with the flange pressing plate (55).
4. The six-degree-of-freedom service robot arm according to claim 1, wherein the first revolving housing (4) and the second revolving housing (81) are provided with storage cavities.
5. The six-degree-of-freedom service robot arm according to claim 1, wherein both ends of the turning housing (6) are provided with storage cavities.
6. The six-degree-of-freedom service robot arm according to claim 1, wherein the first rotary housing (4) is provided with a fixed inner flange (41), the fixed inner flange (41) is provided with a plurality of mounting holes, and the mounting holes are adapted to mounting posts on a flange pressing plate (55).
7. The six-degree-of-freedom service robot arm according to claim 1, characterized in that the top of the first robot arm (2) is provided with a mounting cavity for accommodating the first revolute joint (3).
8. The six-degree-of-freedom service robot arm according to claim 1, wherein the second robotic arm (10) is internally provided with a cavity for accommodating a third revolute joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023319101.5U CN215511055U (en) | 2020-12-31 | 2020-12-31 | Six-degree-of-freedom service type robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023319101.5U CN215511055U (en) | 2020-12-31 | 2020-12-31 | Six-degree-of-freedom service type robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215511055U true CN215511055U (en) | 2022-01-14 |
Family
ID=79786480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023319101.5U Active CN215511055U (en) | 2020-12-31 | 2020-12-31 | Six-degree-of-freedom service type robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215511055U (en) |
-
2020
- 2020-12-31 CN CN202023319101.5U patent/CN215511055U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109866250B (en) | Robot wrist structure and robot | |
| US8454474B2 (en) | Manipulator arm mechanism | |
| CN205036820U (en) | Take well casement harmonic speed reducer ware of cross cross roller bearing | |
| WO2023279996A1 (en) | Robotic arm holder capable of automatically bending and resetting | |
| CN206211760U (en) | A kind of big retarding is than harmonic reduction all-in-one | |
| CN106300795B (en) | A kind of big retarding is than harmonic reduction all-in-one machine | |
| CN107538472B (en) | Mechanical arm, robot and robot experiment system | |
| CN212146413U (en) | Desktop-level six-axis cooperative robot | |
| CN215511055U (en) | Six-degree-of-freedom service type robot arm | |
| CN111085985A (en) | Desktop-level six-axis cooperative robot | |
| CN112757319A (en) | Six-degree-of-freedom service type robot arm | |
| CN212146428U (en) | Six-axis light cooperative robot | |
| CN203738813U (en) | Multi-joint humanoid piano-playing robot arm | |
| CN111390898A (en) | Six-axis light cooperative robot | |
| CN216967829U (en) | Modularized robot joint with flexible touch sensor | |
| CN217144665U (en) | Two-axis rotating device for tail end of injection molding mechanical arm | |
| CN207997321U (en) | A kind of arrangement joint structure | |
| CN216030903U (en) | Robot joint | |
| CN111037547A (en) | Cooperation robot transmission structure and cooperation robot | |
| CN210173559U (en) | Double-arm robot | |
| CN210100031U (en) | Intelligent household carrying robot | |
| CN209002025U (en) | A kind of telescopic device and mobile phone | |
| CN207548243U (en) | A kind of five-axle linkage High-speed machining workbench | |
| CN105958605A (en) | Manual power generation charger baby | |
| CN111360855A (en) | Rotary clamping system of mechanical gripper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Haorong Inventor before: An Kang Inventor before: Li Haorong |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240820 Address after: Room 302, Building E1, No. 555 Chuangye Road, Dayun Town, Jiashan County, Jiaxing City, Zhejiang Province, China 314100 Patentee after: Jiaxing Chuangjie Intelligent Technology Co.,Ltd. Country or region after: China Address before: 314100 building E1, 555 Chuangye Road, Dayun Town, Jiashan County, Jiaxing City, Zhejiang Province Patentee before: Zhejiang Tongshan Artificial Intelligence Technology Co.,Ltd. Country or region before: China |