CN215942985U - Detachable robot arm - Google Patents
Detachable robot arm Download PDFInfo
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- CN215942985U CN215942985U CN202122407077.9U CN202122407077U CN215942985U CN 215942985 U CN215942985 U CN 215942985U CN 202122407077 U CN202122407077 U CN 202122407077U CN 215942985 U CN215942985 U CN 215942985U
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Abstract
The utility model discloses a detachable robot arm. The utility model comprises a base, a vertical arm component arranged on the base, a cross arm component arranged at the top of the vertical arm component, and a grabbing component arranged on the cross arm component; the grabbing component comprises a driving box installed on the cross arm component, a main shaft installed on the driving box in a rotating mode through a rolling bearing, a driving gear installed on the main shaft and located at the top of the driving box, a driving worm wheel installed on the main shaft and located in the driving box, a driving worm installed in the driving box in a rotating mode through the rolling bearing and meshed with the driving worm wheel, a driving motor installed in the driving box and connected with the driving worm through an output shaft, and a grabbing part installed on the driving box. The robot arm has the freedom degrees of rotation around the X direction and the Z direction through the movement of the vertical arm assembly and the horizontal arm assembly grabbing assembly. Through the detachable construction of first actuating lever, first grab bar etc. make the user adjust the robot arm width.
Description
Technical Field
The utility model relates to a detachable robot arm.
Background
The robot arm is an automated mechanical device which is widely applied in the technical field of robots, and the figure of the robot arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. The robot arm can imitate some work functions of the robot arm, and is used for grabbing, carrying objects or operating tools. However, the existing robot arm is generally of a fixed structure and difficult to detach, parts cannot be flexibly replaced according to needs, the robot arm is fixed in width and can only carry articles of a certain size, and if various articles of different sizes need to be carried, a large-size robot needs to be selected and purchased again, so that the cost is greatly increased.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a detachable robot arm aiming at the defects in the prior art.
The technical scheme for solving the problems comprises the following steps: a detachable robot arm comprises a base, a vertical arm assembly, a cross arm assembly and a grabbing assembly, wherein the vertical arm assembly is installed on the base;
the grabbing component comprises a driving box installed on the cross arm component, a main shaft which is installed on the driving box in a rotating mode through a rolling bearing and the upper end of the main shaft penetrates out of the driving box, a driving gear which is installed on the main shaft and located at the top of the driving box, a driving worm wheel which is installed on the main shaft and located in the driving box, a driving worm which is installed in the driving box in a rotating mode through the rolling bearing and meshed with the driving worm wheel, a driving motor which is installed in the driving box and is connected with the driving worm through an output shaft, and a grabbing part installed on the driving box.
Furthermore, the gripper comprises a first shaft and a second shaft which are rotatably arranged at the top of the driving box through a rolling bearing and are distributed along the Y direction, a first gear arranged on the first shaft, a second gear which is arranged on the second shaft and is simultaneously meshed with the first gear and the driving gear, a first gripping rod and a second gripping rod which are respectively arranged at the front side and the rear side of the driving box, wherein the first gripping rod and the second gripping rod are always symmetrical front and back relative to the driving box, a first driving rod with one end arranged at the center of the first gear and the other end hinged with the first gripping rod, a second driving rod with one end arranged at the center of the second gear and the other end hinged with the second gripping rod, the first driving rod and the second driving rod are always symmetrical front and back relative to the driving box, a pair of third driving rods with one end hinged with the driving box and the other end hinged with the first gripping rod and distributed along the Z direction, and two third driving rods are symmetrical up and down, the third driving rod is parallel to the first driving rod, one end of the third driving rod is hinged to the driving box, the other end of the third driving rod is hinged to the second grabbing rod, and the fourth driving rods are distributed along the Z direction.
Further, the lengths of the first driving rod, the second driving rod, the third driving rod, the fourth driving rod, the fifth driving rod and the sixth driving rod are the same;
the mechanical parameters of the first gear and the second gear are completely the same.
Further, the first driving rod, the second driving rod, the third driving rod, the fourth driving rod, the fifth driving rod and the sixth driving rod have the same structure;
the first driving rod comprises a first rod, a tail rod and a plurality of transition rods, wherein the tail rod is coaxially arranged with the first rod;
two adjacent transition rods are connected through a flange, the transition rod closest to the first rod is connected with the first rod through the flange, and the transition rod closest to the tail rod is connected with the tail rod through the flange.
Further, the first grabbing rod and the second grabbing rod are the same in structure; the first grabbing rod comprises an initial rod and a plurality of extension rods which are coaxially arranged with the initial rod;
two adjacent extension rods are connected through a flange, and the extension rod closest to the initial rod is connected with the initial rod through the flange; the extension rod is provided with a grabbing block.
Furthermore, the vertical arm assembly comprises a vertical arm which is rotatably installed on the base through a rolling bearing, a transmission worm wheel which is installed on the vertical arm, a transmission worm which is installed on the base and meshed with the transmission worm wheel through the rolling bearing, and a transmission motor which is installed on the base and is connected with the transmission worm through an output shaft.
Furthermore, the cross arm assembly comprises a cross arm arranged at the top of the vertical arm, an adjusting shaft which is arranged on the cross arm in a rotating mode through a rolling bearing and is positioned at one end, close to the grabbing assembly, of the cross arm, an adjusting motor which is arranged in the cross arm and is connected with an output shaft through the adjusting shaft, and a driving box is arranged on the adjusting shaft.
The utility model has the following beneficial effects: the robot arm has the freedom degrees of rotation around the X direction and the Z direction through the movement of the vertical arm assembly and the horizontal arm assembly grabbing assembly. Snatch the work piece through snatching the subassembly, utilize drive gear and second gear meshing, second gear and first gear meshing, first actuating lever, second actuating lever rotate, and first actuating lever, second actuating lever etc. form multiunit parallelogram structure, drive first grabbing pole, second and grab the pole and move along the Y direction, change first grabbing pole and second and grab the distance between the pole, make and grab the pole and grasp or loosen the work piece. Through the detachable structures of the first driving rod, the first grabbing rod and the like, a user can select the size according to actual needs to adjust the width of the robot arm; the flange is used for dismounting, the dismounting process is simple and convenient, and the problem that the existing robot arm is generally of a fixed structure and cannot flexibly replace parts is solved.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a front view of the grasping assembly of the present invention;
FIG. 4 is a top view of the grasping element of the present invention;
FIG. 5 is a partial cross-sectional view of the drive housing of the present invention;
FIG. 6 is a schematic view of a first actuator rod according to the present invention;
fig. 7 is a schematic view of a first grab bar of the present invention.
In the figure: 1. the base, 2, found arm assembly, 3, xarm subassembly, 4, snatch the subassembly, 5, found arm, 6, transmission worm wheel, 8, transmission motor, 9, the xarm, 10, regulating spindle, 11, regulating motor, 12, drive case, 13, main shaft, 14, drive gear, 15, drive worm wheel, 16, drive worm, 19, driving motor, 20, tongs, 21, first gear, 22, the second gear, 23, first grab bar, 24, the second grab bar, 25, the first actuating lever, 26, the second actuating lever, 27, the third actuating lever, 28, the fourth actuating lever, 29, the fifth actuating lever, 31, the head pole, 32, the tail pole, 33, the transition pole, 34, the initial pole, 35, the extension pole, 36, snatch the piece.
Detailed Description
The utility model is further described with reference to the following drawings and detailed description.
The utility model provides a detachable robot arm, includes base 1, installs 5 subassemblies 2 of standing arm on base 1, installs the xarm 9 subassemblies 3 at 2 tops of standing arm 5 subassemblies, installs the subassembly 4 of snatching on xarm 9 subassemblies 3.
The vertical arm 5 assembly 2 comprises a vertical arm 5 which is rotatably installed on the base 1 through a rolling bearing, a transmission worm wheel 6 which is installed on the vertical arm 5, a transmission worm which is installed on the base 1 and meshed with the transmission worm wheel 6 through the rolling bearing, and a transmission motor 8 which is installed on the base 1 and has an output shaft connected with the transmission worm.
The vertical arm 5 component 2 drives the cross arm 9 component 3 and the grabbing component 4 to move, so that the cross arm 9 component 3 and the grabbing component 4 do circular motion around the vertical arm 5, and the robot arm has the degree of freedom of rotating around the Z direction.
The cross arm 9 assembly 3 comprises a cross arm 9 arranged at the top of the vertical arm 5, an adjusting shaft 10 which is rotatably arranged on the cross arm 9 through a rolling bearing and is positioned at one end of the cross arm 9 close to the grabbing assembly 4, and an adjusting motor 11 which is arranged in the cross arm 9 and is connected with the adjusting shaft 10 through an output shaft.
The grabbing component 4 is driven by the cross arm 9 and the component 3 to rotate around the adjusting shaft 10, so that the robot arm has the freedom of rotating around the X direction.
The grabbing component 4 comprises a driving box 12 installed on the adjusting shaft 10, a main shaft 13 installed on the driving box 12 in a rotating mode through a rolling bearing, a driving gear 14 installed on the main shaft 13 and located at the top of the driving box 12, a driving worm wheel 15 installed on the main shaft 13 and located in the driving box 12, a driving worm 16 installed in the driving box 12 in a rotating mode through the rolling bearing and meshed with the driving worm wheel 15, a driving motor 19 installed in the driving box 12 and connected with the driving worm 16 in an output shaft, and a grabbing piece 20 installed on the driving box 12.
The gripping member 20 includes a first shaft and a second shaft rotatably mounted on the top of the driving box 12 through a rolling bearing and distributed along the Y direction, a first gear 21 mounted on the first shaft, a second gear 22 mounted on the second shaft and engaged with the first gear 21 and the driving gear 14 simultaneously, a first gripping rod 23 and a second gripping rod 24 respectively located on the front and rear sides of the driving box 12, the first gripping rod 23 and the second gripping rod 24 are always symmetrical front and rear with respect to the driving box 12, a first driving rod 25 having one end mounted at the center of the first gear 21 and the other end hinged with the first gripping rod 23, a second driving rod 26 having one end mounted at the center of the second gear 22 and the other end hinged with the second gripping rod 24, the first driving rod 25 and the second driving rod 26 are always symmetrical front and rear with respect to the driving box 12, a pair of third driving rods 27 having one end hinged with the driving box 12 and the other end hinged with the first gripping rod 23 and distributed along the Z direction, two third driving rods 27 are vertically symmetrical, the third driving rods 27 are parallel to the first driving rod 25, one end of each fourth driving rod 28 is hinged to the driving box 12, the other end of each fourth driving rod 28 is hinged to the second grabbing rod 24, the fourth driving rods 28 are vertically symmetrical, the fourth driving rods 28 are parallel to the second driving rod 26, one end of each fifth driving rod 29 is hinged to the first grabbing rod 23, the other end of each fifth driving rod 29 is hinged to the driving box 12, the fifth driving rods 29 and the first driving rod 25 are vertically symmetrical about the driving box 12, one end of each sixth driving rod 29 is hinged to the second grabbing rod 24, the other end of each sixth driving rod is hinged to the driving box 12, and the sixth driving rods and the second driving rods 26 are vertically symmetrical about the driving box 12.
The lengths of the first driving rod 25, the second driving rod 26, the third driving rod 27, the fourth driving rod 28, the fifth driving rod 29 and the sixth driving rod are the same; the mechanical parameters of the first gear 21 and the second gear 22 are identical.
The workpiece is grabbed by the grabbing component 4, and the grabbing component 4 is powered by the meshing of the driving worm wheel 15 and the driving worm 16. Through the meshing of the driving gear 14 and the second gear 22, the second gear 22 is meshed with the first gear 21, the first driving rod 25 and the second driving rod 26 rotate, the first driving rod 25, the second driving rod 26, the third driving rod 27, the fourth driving rod 28, the fifth driving rod 29 and the sixth driving rod form a plurality of groups of parallelogram structures, the first grabbing rod 23 and the second grabbing rod 24 are driven to move along the Y direction, the distance between the first grabbing rod 23 and the second grabbing rod 24 is changed, and the grabbing rods grab or release workpieces.
The first driving rod 25, the second driving rod 26, the third driving rod 27, the fourth driving rod 28, the fifth driving rod 29 and the sixth driving rod have the same structure; the first driving rod 25 comprises a head rod 31, a tail rod 32 coaxially arranged with the head rod 31, and a plurality of transition rods 33 coaxially arranged between the head rod 31 and the tail rod 32;
two adjacent transition rods 33 are connected through flanges, the transition rod 33 closest to the first rod 31 is connected with the first rod 31 through a flange, and the transition rod 33 closest to the tail rod 32 is connected with the tail rod 32 through a flange.
The first grasping rod 23 includes a start rod 34, a plurality of extension rods 35 coaxially disposed with the start rod 34; two adjacent extension rods 35 are connected through a flange, and the extension rod 35 closest to the starting rod 34 is connected with the starting rod 34 through a flange; the extension rod 35 is provided with a gripping block 36.
Through the detachable structure of the first driving rod 25, the second driving rod 26, the third driving rod 27, the fourth driving rod 28, the fifth driving rod 29, the sixth driving rod, the first grabbing rod 23 and the second grabbing rod 24, a user can select the size according to actual needs to adjust the width of the robot arm; the flange is used for dismounting, the dismounting process is simple and convenient, and the problem that the existing robot arm is generally of a fixed structure and cannot flexibly replace parts is solved.
The working principle of the utility model is as follows:
when a workpiece needs to be grabbed, the vertical arm 5 component 2 and the transverse arm 9 component 3 drive the grabbing component 4 to move to the position of the workpiece, then the grabbing component 4 is started, and the grabbing component 4 grabs the workpiece tightly; then the vertical arm 5 assembly 2 and the cross arm 9 assembly 3 drive the grabbing assembly 4 to move to the selected position, and the grabbing assembly 4 releases the workpiece.
When the width of the robot arm needs to be adjusted, the lengths of the first driving rod 25, the second driving rod 26, the third driving rod 27, the fourth driving rod 28, the fifth driving rod 29, the sixth driving rod, the first grabbing rod 23 and the second grabbing rod 24 are selected as appropriate, so that the number of the transition rods 33 and the number of the extension rods 35 are selected as appropriate, and then the driving rods and the grabbing rods are assembled.
Many other changes and modifications can be made without departing from the spirit and scope of the utility model. It is to be understood that the utility model is not to be limited to the specific embodiments, but only by the scope of the appended claims.
Claims (7)
1. A detachable robot arm is characterized by comprising a base (1), a vertical arm (5) component (2) arranged on the base (1), a cross arm (9) component (3) arranged at the top of the vertical arm (5) component (2), and a grabbing component (4) arranged on the cross arm (9) component (3);
snatch subassembly (4) including installing drive case (12) on xarm (9) subassembly (3), rotate through antifriction bearing and install on drive case (12) and upper end wear out main shaft (13) of drive case (12), install on main shaft (13) and be located drive gear (14) at drive case (12) top, install on main shaft (13) and be located drive case (12) drive worm wheel (15), rotate through antifriction bearing and install in drive case (12) and with drive worm wheel (15) meshed drive worm (16), install in drive case (12) and output shaft and drive motor (19) that worm (16) are connected, install tongs (20) on drive case (12).
2. A detachable robot arm according to claim 1, wherein the gripping member (20) comprises a first shaft and a second shaft rotatably mounted on the top of the driving box (12) through rolling bearings and distributed along the Y direction, a first gear (21) mounted on the first shaft, a second gear (22) mounted on the second shaft and engaged with the first gear (21) and the driving gear (14) simultaneously, a first gripping rod (23) and a second gripping rod (24) respectively located at the front and rear sides of the driving box (12), the first gripping rod (23) and the second gripping rod (24) are always in front-rear symmetry with respect to the driving box (12), a first driving rod (25) having one end mounted at the center of the first gear (21) and the other end hinged to the first gripping rod (23), a second driving rod (26) having one end mounted at the center of the second gear (22) and the other end hinged to the second gripping rod (24), a pair of third driving rods (27) which are arranged along the Z direction, wherein one end of each third driving rod (27) is parallel to the first driving rod (25), one end of each third driving rod is hinged with the driving box (12), the other end of each third driving rod is hinged with the first grabbing rod (23), the two third driving rods (27) are vertically symmetrical, the third driving rods (27) are parallel to the first driving rods (25), one end of each fourth driving rod is hinged with the driving box (12), the other end of each fourth driving rod is hinged with the second grabbing rod (24), the pair of fourth driving rods (28) are arranged along the Z direction, the two fourth driving rods (28) are vertically symmetrical, the fourth driving rods (28) are parallel to the second driving rods (26), one end of each fifth driving rod (29) is hinged with the first grabbing rod (23), the other end of each fifth driving rod is hinged with the driving box (12), the fifth driving rods (29) are vertically symmetrical with the first driving rods (25), one end of each sixth driving rod is hinged with the second grabbing rods (24), and the other end of each fifth driving rod is hinged with the driving box (12), the sixth driving rod and the second driving rod (26) are vertically symmetrical about the driving box (12).
3. A detachable robot arm according to claim 2, characterized in that the length of the first driving lever (25), the second driving lever (26), the third driving lever (27), the fourth driving lever (28), the fifth driving lever (29) and the sixth driving lever are the same;
the mechanical parameters of the first gear (21) and the second gear (22) are completely the same.
4. The detachable robot arm according to claim 3, wherein the first driving lever (25), the second driving lever (26), the third driving lever (27), the fourth driving lever (28), the fifth driving lever (29), and the sixth driving lever have the same structure;
the first driving rod (25) comprises a first rod (31), a tail rod (32) which is coaxial with the first rod (31), and a plurality of transition rods (33) which are positioned between the first rod (31) and the tail rod (32) and are coaxial;
two adjacent transition rods (33) are connected through a flange, the transition rod (33) closest to the first rod (31) is connected with the first rod (31) through the flange, and the transition rod (33) closest to the tail rod (32) is connected with the tail rod (32) through the flange.
5. A detachable robot arm according to claim 2, characterised in that said first gripping bar (23) is of the same construction as said second gripping bar (24); the first grabbing rod (23) comprises a starting rod (34) and a plurality of extension rods (35) which are coaxially arranged with the starting rod (34);
two adjacent extension rods (35) are connected through a flange, and the extension rod (35) closest to the starting rod (34) is connected with the starting rod (34) through the flange; the extension rod (35) is provided with a grabbing block (36).
6. A detachable robot arm according to claim 1, characterized in that the vertical arm (5) assembly (2) comprises a vertical arm (5) rotatably mounted on the base (1) through a rolling bearing, a transmission worm wheel (6) mounted on the vertical arm (5), a transmission worm rotatably mounted on the base (1) through a rolling bearing and engaged with the transmission worm wheel (6), and a transmission motor (8) mounted on the base (1) and having an output shaft connected with the transmission worm.
7. A detachable robot arm according to claim 1, characterized in that the cross arm (9) assembly (3) comprises a cross arm (9) mounted on top of the vertical arm (5), an adjusting shaft (10) mounted on the cross arm (9) by means of a rolling bearing and located at one end of the cross arm (9) close to the gripper assembly (4), an adjusting motor (11) mounted in the cross arm (9) and having an output shaft connected to the adjusting shaft (10), a drive box (12) mounted on the adjusting shaft (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122407077.9U CN215942985U (en) | 2021-09-30 | 2021-09-30 | Detachable robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122407077.9U CN215942985U (en) | 2021-09-30 | 2021-09-30 | Detachable robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215942985U true CN215942985U (en) | 2022-03-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122407077.9U Active CN215942985U (en) | 2021-09-30 | 2021-09-30 | Detachable robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215942985U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115046789A (en) * | 2022-05-13 | 2022-09-13 | 自然资源部第二海洋研究所 | Marine fouling organism sampling structure and sampling method |
-
2021
- 2021-09-30 CN CN202122407077.9U patent/CN215942985U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115046789A (en) * | 2022-05-13 | 2022-09-13 | 自然资源部第二海洋研究所 | Marine fouling organism sampling structure and sampling method |
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