CN216657996U - Multi-shaft mechanical arm - Google Patents
Multi-shaft mechanical arm Download PDFInfo
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- CN216657996U CN216657996U CN202220085340.9U CN202220085340U CN216657996U CN 216657996 U CN216657996 U CN 216657996U CN 202220085340 U CN202220085340 U CN 202220085340U CN 216657996 U CN216657996 U CN 216657996U
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- speed reducer
- shell
- driving mechanism
- joint module
- arm
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Abstract
The utility model discloses a multi-axis mechanical arm, which relates to the technical field of robots, and comprises a controller, a first joint module, a second joint module and a third joint module; the first joint module comprises a first shell, a first driving mechanism and a first hollow speed reducer, and the first driving mechanism drives the first hollow speed reducer to rotate; the second joint module comprises a second shell, a second driving mechanism and a second rotary platform speed reducer, the first hollow speed reducer drives the second shell to rotate, the second driving mechanism drives the second rotary platform speed reducer to rotate, the second rotary platform speed reducer drives a third joint module to rotate, a lead hole is formed in the second shell, and the interior of the second shell is communicated with the interior of the third joint module through the lead hole; the utility model solves the technical problems that the internal wiring is adopted, the electric wire is prevented from being exposed to cause dragging with other equipment, and the potential danger is eliminated to a certain extent.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a multi-axis mechanical arm.
Background
The multiaxis arm can imitate the action of human hand and arm, can realize operation such as some repeated snatching, transport, use tools, the multiaxis arm generally contains a plurality of mobilizable joint modules, and each joint module controls through the controller, among the prior art, the electric wire that is connected between the joint module of part multiaxis arm and the controller is direct externally walks the line, then protects the electric wire that exposes outside through the bellows, its defect lies in, the electric wire, the bellows that expose produce easily with other equipment and drag, there is potential danger.
SUMMERY OF THE UTILITY MODEL
The utility model aims to realize internal wiring, avoid the dragging of other equipment caused by the exposure of an electric wire and eliminate potential danger to a certain extent.
In order to achieve the purpose, the technical scheme adopted by the utility model is as follows:
a multi-axis mechanical arm comprises a controller, a first joint module, a second joint module and a third joint module;
the first joint module comprises a first shell, a first driving mechanism and a first hollow speed reducer, the controller and the first hollow speed reducer are both fixed on the first shell, and the first driving mechanism drives the first hollow speed reducer to rotate;
the second joint module comprises a second shell, a second driving mechanism and a second rotary platform speed reducer, the first hollow speed reducer drives the second shell to rotate, the second rotary platform speed reducer is fixedly arranged on the second shell, the second driving mechanism drives the second rotary platform speed reducer to rotate, the second rotary platform speed reducer drives the third joint module to rotate, a lead hole is formed in the second shell, and the inside of the second shell is communicated with the inside of the third joint module through the lead hole.
The third joint module comprises a third arm, a third driving mechanism and a third hollow speed reducer, the third arm is hollow, the inside of the third arm is communicated with the inside of the second shell through a lead hole, and the third hollow speed reducer is fixedly arranged on the third arm;
the fourth joint module comprises a fourth shell, a fourth driving mechanism and a fourth hollow speed reducer, the third driving mechanism and the fourth driving mechanism are fixedly arranged in the fourth shell, the third driving mechanism drives the third hollow speed reducer to rotate, and the third hollow speed reducer drives the third arm to rotate;
the fourth driving mechanism drives a fourth hollow speed reducer to rotate, and the fourth speed reducer is fixedly arranged on the fourth shell.
Furthermore, an access hole is formed in the third arm, and a hole cover is fixed at the access hole.
The fourth hollow speed reducer drives the fifth arm to rotate, the fifth speed reducer is arranged on the fifth arm, and the fifth driving mechanism drives the fifth speed reducer to rotate.
Further, still include the sixth joint module, the sixth joint module includes sixth casing and sixth actuating mechanism, sixth actuating mechanism is fixed to be set up in the sixth casing, the fifth speed reducer drives the sixth casing and rotates.
Furthermore, the fifth joint module further comprises a fifth bearing, an inner ring and an outer ring of the fifth bearing are fixedly connected with the fifth arm and the sixth shell respectively, and the interior of the fifth arm is communicated with the interior of the sixth shell through the inner ring of the fifth bearing.
Further, the connecting device also comprises a connecting flange, and the sixth driving mechanism drives the connecting flange to rotate.
The utility model has the beneficial effects that: according to the utility model, the controller is directly fixed on the first shell, the electric wire of the third joint module enters the second shell through the lead hole, the wiring is carried out in the second shell, and simultaneously the electric wire of the third joint module is converged and then passes through the hollow part in the middle of the first hollow speed reducer to enter the first shell, and after the wiring is carried out in the first shell, the electric wire is correspondingly electrically connected with the controller.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view after the first housing is hidden;
FIG. 3 is an enlarged view taken at A in FIG. 2;
FIG. 4 is a schematic structural view after the second housing is hidden;
FIG. 5 is an enlarged view at B in FIG. 4;
FIG. 6 is a schematic structural view after the fourth housing is hidden;
FIG. 7 is an enlarged view at C in FIG. 6;
FIG. 8 is a schematic view of a portion of the structure of the present invention;
FIG. 9 is an enlarged view at D of FIG. 8;
FIG. 10 is a schematic view of a portion of the structure of the present invention;
fig. 11 is an enlarged view at E in fig. 10.
The reference signs are:
the control unit (10) is provided with a controller,
a first joint module 1, a first shell 11, a first driving mechanism 12, a first hollow speed reducer 13,
a second joint module 2, a second shell 21, a second driving mechanism 22, a second rotating platform speed reducer 23,
a third joint module 3, a third arm 31, a third driving mechanism 32, a third hollow speed reducer 33,
a fourth joint module 4, a fourth housing 41, a fourth driving mechanism 42, a fourth hollow speed reducer 43,
a fifth joint module 5, a fifth arm 51, a fifth drive mechanism 52, a fifth speed reducer 53, a fifth bearing 54,
a sixth joint module 6, a sixth housing 61, a sixth drive mechanism 62,
a connecting flange 7.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below; in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention; this invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
The multi-axis robot shown in fig. 1 to 10 includes a controller 10, a first joint module 1, a second joint module 2, a third joint module 3, a fourth joint module 4, a fifth joint module 5, a sixth joint module 6, and a connecting flange 7.
The first joint module 1 comprises a first shell 11, a first driving mechanism 12 and a first hollow speed reducer 13, the controller 10 and the first hollow speed reducer 13 are both fixed on the first shell 11, the first driving mechanism 12 drives the first hollow speed reducer 13 to rotate, and a hollow part in the middle of the first hollow speed reducer 13 is beneficial to threading wires.
The second joint module 2 comprises a second shell 21, a second driving mechanism 22 and a second rotary platform speed reducer 23, the first hollow speed reducer 13 drives the second shell 21 to rotate, the second rotary platform speed reducer 23 is fixedly arranged on the second shell 21, the second driving mechanism 22 drives the second rotary platform speed reducer 23 to rotate, the second rotary platform speed reducer 23 drives the third joint module 3 to rotate, a lead hole is formed in the second shell 21, and the inside of the second shell 21 is communicated with the inside of the third joint module 3 through the lead hole.
The inside of first casing 11 and second casing 21 is the cavity form, and the electric wire of second actuating mechanism 22 and the electric wire of second rotary platform speed reducer 23 pass the cavity portion at first cavity speed reducer 13 middle part, get into first casing 11, walk the line back in first casing 11 is inside, carry out corresponding electric connection with controller 10 to avoid the electric wire to expose and lead to producing with other equipment and drag, eliminate latent danger to a certain extent.
The third joint module 3 includes a third arm 31, a third driving mechanism 32, and a third hollow speed reducer 33, the third arm 31 is hollow, the inside of the third arm 31 communicates with the inside of the second housing 21 through a lead hole, and the third hollow speed reducer 33 is fixedly disposed on the third arm 31.
The third arm 31 is hollow, and the electric wire of the third driving mechanism 32 and the electric wire of the third hollow speed reducer 33 enter the second housing 21 through the lead hole, and are routed inside the second housing 21 and joined to the electric wire of the second joint module 2.
The third arm 31 is provided with an access hole, and the access hole is fixed with a hole cover and is beneficial to people to check the arrangement condition of the electric wires inside the third arm 31.
The fourth joint module 4 includes a fourth housing 41, a fourth driving mechanism 42 and a fourth hollow speed reducer 43, the third driving mechanism 32 and the fourth driving mechanism 42 are both fixedly disposed in the fourth housing 41, the third driving mechanism 32 drives the third hollow speed reducer 33 to rotate through a third gear assembly, and the third hollow speed reducer 33 drives the third arm 31 to rotate.
The fourth driving mechanism 42 drives the fourth hollow speed reducer 43 to rotate through a fourth gear assembly, and the fourth speed reducer is fixedly arranged on the fourth housing 41.
The second rotating platform speed reducer 23 and the third hollow speed reducer 33 are respectively located at both ends of the third arm 31, and the electric wire of the fourth driving mechanism 42 and the electric wire of the fourth hollow speed reducer 43 jointly pass through the hollow portion in the middle of the third hollow speed reducer 33, enter the inside of the third arm 31, and join the electric wire of the third driving mechanism 32 and the electric wire of the third hollow speed reducer 33 inside the third arm 31.
The fifth joint module 5 includes a fifth arm 51, a fifth driving mechanism 52, a fifth speed reducer 53 and a fifth bearing 54, the fourth hollow speed reducer 43 drives the fifth arm 51 to rotate, the fifth speed reducer 53 is disposed on the fifth arm 51, and the fifth driving mechanism 52 drives the fifth speed reducer 53 to rotate.
The fifth arm 51 is hollow, and the electric wire of the fifth driving mechanism 52 and the electric wire of the fifth reduction gear 53 are arranged in the fifth arm 51, pass through the hollow portion in the middle of the fourth hollow reduction gear 43, and join the electric wire of the fourth driving mechanism 42 and the electric wire of the fourth hollow reduction gear 43.
The sixth joint module 6 includes a sixth housing 61 and a sixth driving mechanism 62, the sixth driving mechanism 62 is fixedly disposed in the sixth housing 61, and the fifth speed reducer 53 drives the sixth housing 61 to rotate.
An inner ring of the fifth bearing 54 is fixedly connected with the fifth arm 51, an outer ring of the fifth bearing 54 is fixedly connected with the sixth shell 61, the middle part of the inner ring of the fifth bearing 54 is hollow, and the inner part of the fifth arm 51 is communicated with the inner part of the sixth shell 61 through the inner ring of the fifth bearing 54; the electric wire of the sixth drive mechanism 62 passes through the inner race of the fifth bearing 54, enters the fifth arm 51, and merges with the electric wire of the fifth drive mechanism 52 and the electric wire of the fifth reduction gear 53.
The sixth driving mechanism 62 drives the connecting flange 7 to rotate, and an assembling hole is formed in the connecting flange 7 and used for assembling the tail end mechanical claw.
In the present embodiment, the first driving mechanism 12 is a first motor, the second driving mechanism 22 is a second motor, the third driving mechanism 32 is a third motor, the fourth driving mechanism 42 is a fourth motor, the fifth driving mechanism 52 is a fifth motor, and the sixth driving mechanism 62 is a sixth motor.
The working principle of the utility model is as follows: the electric wire of the sixth driving mechanism 62 passes through the inner race of the fifth bearing 54, enters the fifth arm 51, and merges with the electric wire of the fifth driving mechanism 52 and the electric wire of the fifth speed reducer 53; the electric wire of the fifth driving mechanism 52 and the electric wire of the fifth speed reducer 53 are arranged in the fifth arm 51, pass through the hollow part in the middle of the fourth hollow speed reducer 43, and join the electric wire of the fourth driving mechanism 42 and the electric wire of the fourth hollow speed reducer 43; the electric wire of the fourth driving mechanism 42 and the electric wire of the fourth hollow speed reducer 43 pass through the hollow portion in the middle of the third hollow speed reducer 33 together, enter the inside of the third arm 31, and join the electric wire of the third driving mechanism 32 and the electric wire of the third hollow speed reducer 33 inside the third arm 31; the electric wires of the third driving mechanism 32 and the third hollow speed reducer 33 enter the second housing 21 through the lead holes, are routed inside the second housing 21, and are merged with the electric wires of the second joint module 2; the electric wire of second actuating mechanism 22 and the electric wire of second rotary platform speed reducer 23 pass through the well kenozooecium at first cavity speed reducer 13 middle part, get into first casing 11, walk the line back in first casing 11 is inside, carry out corresponding electric connection with controller 10 to avoid the electric wire to expose and lead to producing with other equipment and drag, eliminate latent danger to a certain extent.
Therefore, the equivalent changes made on the claims of the present invention still belong to the scope covered by the present invention, and the technical scope of the present invention is not limited by the above claims, and any modifications, equivalent changes and modifications made on the above embodiments according to the technical spirit of the present invention still belong to the technical scope of the present invention.
Claims (7)
1. A multi-axis robotic arm, comprising: comprises a controller, a first joint module, a second joint module and a third joint module;
the first joint module comprises a first shell, a first driving mechanism and a first hollow speed reducer, the controller and the first hollow speed reducer are both fixed on the first shell, and the first driving mechanism drives the first hollow speed reducer to rotate;
the second joint module comprises a second shell, a second driving mechanism and a second rotary platform speed reducer, the first hollow speed reducer drives the second shell to rotate, the second rotary platform speed reducer is fixedly arranged on the second shell, the second driving mechanism drives the second rotary platform speed reducer to rotate, the second rotary platform speed reducer drives the third joint module to rotate, a lead hole is formed in the second shell, and the inside of the second shell is communicated with the inside of the third joint module through the lead hole.
2. The multi-axis robotic arm of claim 1, wherein: the third joint module comprises a third arm, a third driving mechanism and a third hollow speed reducer, the third arm is hollow, the inside of the third arm is communicated with the inside of the second shell through a lead hole, and the third hollow speed reducer is fixedly arranged on the third arm;
the fourth joint module comprises a fourth shell, a fourth driving mechanism and a fourth hollow speed reducer, the third driving mechanism and the fourth driving mechanism are fixedly arranged in the fourth shell, the third driving mechanism drives the third hollow speed reducer to rotate, and the third hollow speed reducer drives the third arm to rotate;
the fourth driving mechanism drives a fourth hollow speed reducer to rotate, and the fourth hollow speed reducer is fixedly arranged on the fourth shell.
3. The multi-axis robotic arm of claim 2, wherein: and an access hole is formed in the third arm, and a hole cover is fixed at the access hole.
4. The multi-axis robotic arm of claim 2, wherein: the fourth hollow speed reducer drives the fifth arm to rotate, the fifth speed reducer is arranged on the fifth arm, and the fifth driving mechanism drives the fifth speed reducer to rotate.
5. The multi-axis robotic arm of claim 4, wherein: the joint mechanism comprises a first shell, a second shell and a fifth speed reducer, the first shell is fixedly arranged in the first shell, the second shell is fixedly arranged in the second shell, and the fifth shell is fixedly arranged in the second shell.
6. The multi-axis robotic arm of claim 5, wherein: the fifth joint module further comprises a fifth bearing, an inner ring and an outer ring of the fifth bearing are fixedly connected with the fifth arm and the sixth shell respectively, and the interior of the fifth arm is communicated with the interior of the sixth shell through the inner ring of the fifth bearing.
7. The multi-axis robotic arm of claim 5, wherein: the sixth driving mechanism drives the connecting flange to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220085340.9U CN216657996U (en) | 2022-01-13 | 2022-01-13 | Multi-shaft mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220085340.9U CN216657996U (en) | 2022-01-13 | 2022-01-13 | Multi-shaft mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216657996U true CN216657996U (en) | 2022-06-03 |
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ID=81762387
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220085340.9U Active CN216657996U (en) | 2022-01-13 | 2022-01-13 | Multi-shaft mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216657996U (en) |
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2022
- 2022-01-13 CN CN202220085340.9U patent/CN216657996U/en active Active
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