CN216883974U - Seven arms and robot - Google Patents
Seven arms and robot Download PDFInfo
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- CN216883974U CN216883974U CN202123175184.XU CN202123175184U CN216883974U CN 216883974 U CN216883974 U CN 216883974U CN 202123175184 U CN202123175184 U CN 202123175184U CN 216883974 U CN216883974 U CN 216883974U
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Abstract
The utility model provides a seven-axis mechanical arm and a robot, wherein the seven-axis mechanical arm comprises a base, a first rotating motor assembly, a first section of shell, a second rotating motor assembly, a second section of shell, a third rotating motor assembly, a third section of shell, a fourth rotating motor assembly, a fourth section of shell, a fifth rotating motor assembly, a fifth section of shell, a sixth rotating motor assembly, a sixth section of shell, a seventh rotating motor assembly, a mechanical arm connecting disc and a mechanical arm; according to the seven-axis mechanical arm, the plurality of rotating motor assemblies are used as seven axes to provide a plurality of degrees of freedom for the seven-axis mechanical arm, and the six-degree-of-freedom mechanical arm is connected with the seventh rotating motor assembly through the mechanical arm connecting disc, so that the degrees of freedom of the seven-axis mechanical arm are increased to a greater extent, the mechanical arm is more flexible, the functions are richer, and the seven-axis mechanical arm can adapt to more complex working conditions.
Description
Technical Field
The utility model relates to the field of mechanical arms, in particular to a seven-axis mechanical arm and a robot.
Background
The multi-axis robot technology is rapidly developed in recent years, the application field of the robot is continuously expanded, and the multi-axis robot technology is widely applied to industrial application and entertainment life nowadays; the existing multi-axis robot has reached safety and accuracy in industrial application, and is mostly applied to replacing people to repeatedly work under dangerous scenes, such as: logistics handling, loading and unloading, and the like; the existing multi-axis robot has the accompany function and educational significance in entertainment life, and is widely praised by consumers. However, the existing robot still has the problems of insufficient freedom of movement and insufficient flexibility of movement.
Patent document CN 213226195U discloses a three-axis robot arm and a robot, including: the base, first joint, second joint and third joint, the second joint includes first end and second end, first end and first joint are connected through first joint axle, second end and third joint are connected through second joint axle, wherein, first joint passes through a driver drive, the second joint passes through the drive of two-axis driver, the third joint passes through the drive of three-axis driver, can realize the independent motion of each joint of three-axis arm, can carry out the regulation of each joint length according to the actual application condition, the range of application is wide, high transmission efficiency, and simple structure, a driver, two-axis driver and three-axis driver are all installed on the base, the overall dimension of three-axis arm has effectively been reduced, the weight on first joint, second joint and the third joint has been alleviateed, make three-axis arm can bear great load. But still has the problems of insufficient freedom and insufficient flexibility of movement.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model aims to provide a seven-axis mechanical arm and a robot.
The seven-shaft mechanical arm comprises a base, a first rotating motor assembly, a first section of shell, a second rotating motor assembly, a second section of shell, a third rotating motor assembly, a third section of shell, a fourth rotating motor assembly, a fourth section of shell, a fifth rotating motor assembly, a fifth section of shell, a sixth rotating motor assembly, a sixth section of shell, a seventh rotating motor assembly, a mechanical arm connecting disc and a mechanical arm, wherein the first rotating motor assembly is arranged on the base;
the base is fixedly connected with one end of a first rotating motor component, and the other end of the first rotating motor component is fixedly connected with one end of the first section of shell; the first rotating motor assembly can drive the first section of shell to rotate along the axis direction of the first rotating motor assembly;
the other end of the first section of shell is fixedly connected with one end of a second rotating motor component, and the other end of the second rotating motor component is fixedly connected with one end of a second section of shell; the second rotating motor assembly can drive the second section of shell to rotate along the axis direction of the second rotating motor assembly;
the other end of the second section of shell is fixedly connected with one end of a third rotating motor component, and the other end of the third rotating motor component is fixedly connected with one end of a third section of shell; the third rotating motor assembly can drive the third section shell to rotate along the axis direction of the third rotating motor assembly;
the other end of the third section of shell is fixedly connected with one end of the fourth rotating motor assembly, and the other end of the fourth rotating motor assembly is fixedly connected with one end of the fourth section of shell; the fourth rotating motor assembly can drive the fourth section of shell to rotate along the axis direction of the fourth rotating motor assembly;
the other end of the fourth section of shell is fixedly connected with one end of the fifth rotating motor assembly, and the other end of the fifth rotating motor assembly is fixedly connected with one end of the fifth section of shell; the fifth rotating motor assembly can drive the fifth section of the shell to rotate along the axis direction of the fifth rotating motor assembly;
the other end of the fifth section of shell is fixedly connected with one end of the sixth rotating motor assembly, and the other end of the sixth rotating motor assembly is fixedly connected with one end of the sixth section of shell; the sixth rotating motor assembly can drive the sixth shell to rotate along the axis direction of the sixth rotating motor assembly;
one end of the sixth shell is fixedly connected with one end of the seventh rotating motor assembly, and the other end of the seventh rotating motor assembly is connected with the manipulator through the manipulator connecting disc; the seventh rotating motor component can drive the manipulator connecting disc to rotate along the axis direction of the seventh rotating motor component;
preferably, the axis of the first rotating electric machine assembly, the axis of the second rotating electric machine assembly, the axis of the third rotating electric machine assembly, the axis of the fourth rotating electric machine assembly, the axis of the fifth rotating electric machine assembly, the axis of the sixth rotating electric machine assembly, and the axis of the seventh rotating electric machine assembly are sequentially perpendicular to each other.
Preferably, the fastening connection is by a fastener.
Preferably, the manipulator is a six-degree-of-freedom manipulator.
Preferably, the first rotating electric machine assembly, the second rotating electric machine assembly, the third rotating electric machine assembly, the fourth rotating electric machine assembly, the fifth rotating electric machine assembly, the sixth rotating electric machine assembly and the seventh rotating electric machine assembly each include a rotating electric machine and a motor output shaft housing, an output shaft of the rotating electric machine is connected with the output shaft housing, and the output shaft of the rotating electric machine can drive the output shaft housing to rotate along an axis of the output shaft of the rotating electric machine; and motor output shafts in the first rotating motor assembly, the second rotating motor assembly, the third rotating motor assembly, the fourth rotating motor assembly, the fifth rotating motor assembly and the sixth rotating motor assembly are respectively and fixedly connected with one end of the first section of shell, one end of the second section of shell, one end of the third section of shell, one end of the fourth section of shell, one end of the fifth section of shell, one end of the sixth section of shell and the manipulator connecting disc.
Preferably, the first section of shell, the second section of shell, the third section of shell, the fourth section of shell, the fifth section of shell and the sixth section of shell all comprise a rotating motor mounting position, an intermediate connecting part and an output shaft shell mounting position;
the rotating motor mounting position is connected with the output shaft shell mounting position through an intermediate connecting part, and the axis of the rotating motor mounting position is perpendicular to the axis of the output shaft shell mounting position; the rotating motor mounting position is used for mounting the rotating motor, and the output shaft shell mounting position is used for being connected with the output shaft shell.
Preferably, the device further comprises a first articulation disc, a third articulation disc, a fifth articulation disc;
an output shaft shell in the first rotating motor component, an output shaft shell in the third rotating motor component and an output shaft shell in the fifth rotating motor component are provided with first thread hole groups;
the first joint connecting disc, the third joint connecting disc and the fifth joint connecting disc are provided with a second threaded hole group and a third threaded hole group;
the output shaft shell mounting position on the first section of shell, the output shaft shell mounting position on the third section of shell and the output shaft shell mounting position on the fifth section of shell are provided with fourth thread hole groups;
threads in a first threaded hole group on an output shaft shell in the first rotating motor assembly correspond to threads in a second threaded hole group on the first joint connecting disc one by one and are connected through a connecting piece, and threads in a third threaded hole group on the first joint connecting disc correspond to threads in a fourth threaded hole group on an output shaft shell mounting position of the first section of shell one by one and are connected through a connecting piece;
threads in a first threaded hole group on an output shaft shell in the third rotating electric machine assembly correspond to threads in a second threaded hole group on the third joint connecting disc one to one and are connected through a connecting piece; and the threads in the third thread hole group on the third joint connecting disc correspond to the threads in the fourth thread hole group on the output shaft shell mounting position on the third joint shell one to one and are connected through a connecting piece.
Threads in a first threaded hole group on an output shaft shell in the fifth rotating electric machine assembly correspond to threads in a second threaded hole group on the fifth articulation disc one to one and are connected through a connecting piece; and the threads in the third thread hole group on the fifth joint connecting disc correspond to the threads in the fourth thread hole group on the output shaft shell mounting position on the fifth section of shell one to one and are connected through a connecting piece.
Preferably, the rotating electrical machine mounting position on the first section of shell, the rotating electrical machine mounting position on the second section of shell, the rotating electrical machine mounting position on the third section of shell, the rotating electrical machine mounting position on the fourth section of shell, the rotating electrical machine mounting position on the fifth section of shell and the rotating electrical machine mounting position on the sixth section of shell all include a first cover body and a first mounting position main body; the first mounting position main body is provided with a first accommodating space, and the first cover body is provided with a fifth threaded hole group; a rotary motor in the second rotary motor assembly, a rotary motor in the third rotary motor assembly, a rotary motor in the fourth rotary motor assembly, a rotary motor in the fifth rotary motor assembly, a rotary motor in the sixth rotary motor assembly and a seventh rotary motor assembly are all provided with a sixth thread hole group;
a rotating motor of the second rotating motor component, a rotating motor of the third rotating motor component, a rotating motor of the fourth rotating motor component, a rotating motor of the fifth rotating motor component, a rotating motor of the sixth rotating motor component and a rotating motor of the seventh rotating motor component are respectively arranged in a first accommodating space of a rotating motor mounting position on the first section of shell, a first accommodating space of a rotating motor mounting position on the second section of shell, a first accommodating space of a rotating motor mounting position on the fourth section of shell, a first accommodating space of a rotating motor mounting position on the fifth section of shell and a first accommodating space of a rotating motor mounting position on the sixth section of shell;
a thread in a sixth threaded hole group of a rotary electric machine on the second rotary electric machine component, a thread in a sixth threaded hole group of a rotary electric machine on the third rotary electric machine component, a thread in a sixth threaded hole group of a rotary electric machine on the fourth rotary electric machine component, a thread in a sixth threaded hole group of a rotary electric machine on the fifth rotary electric machine component, a thread in a sixth threaded hole group of a rotary electric machine on the sixth rotary electric machine component, and a thread in a sixth threaded hole group of a rotary electric machine on the seventh rotary electric machine component are respectively connected with a thread in a fifth threaded hole group of a rotary electric machine mounting position on the first cover body of the first joint housing, a thread in a fifth threaded hole group of a rotary electric machine mounting position on the first cover body of the second joint housing, a thread in a fifth threaded hole group of a rotary electric machine mounting position on the first cover body of the third joint housing, a thread in a fifth threaded hole group of a rotary electric machine mounting position on the first cover body of the fourth joint housing, a thread in a third threaded hole group of a rotary electric machine mounting position on the first cover body of the first joint housing, The threads in the fifth threaded hole group on the first cover body of the mounting position of the rotating motor on the fifth section of shell and the threads in the fifth threaded hole group on the first cover body of the mounting position of the rotating motor on the sixth section of shell correspond one to one and are connected through a connecting piece;
preferably, the output shaft housing mounting position on the second section of housing, the output shaft housing mounting position on the fourth section of housing, and the output shaft housing mounting position on the sixth section of housing all include a second mounting position main body and a second cover body; the second mounting position main body is provided with a second accommodating space, and the second cover body is provided with a seventh threaded hole group; an output shaft shell in the second rotating motor component, an output shaft shell in the fourth rotating motor component and an output shaft shell in the sixth rotating motor component are provided with eighth threaded hole groups;
an output shaft shell of a second rotating motor assembly, an output shaft shell of a fourth rotating motor assembly and an output shaft shell of a sixth rotating motor assembly are respectively arranged in a second accommodating space of an output shaft shell mounting position on the second section of shell, a second accommodating space of an output shaft shell mounting position on the fourth section of shell and a second accommodating space of an output shaft shell mounting position on the sixth section of shell;
the screw thread in the seventh screw hole group on the second cover body of the output shaft housing mounting position on the second section of housing, the screw thread in the seventh screw hole group on the second cover body of the output shaft housing mounting position on the fourth section of housing, and the screw thread in the seventh screw hole group on the second cover body of the output shaft housing mounting position on the sixth section of housing correspond to the screw thread in the eighth screw hole group on the output shaft housing of the second rotating electric machine assembly, the screw thread in the eighth screw hole group on the output shaft housing of the fourth rotating electric machine assembly, and the screw thread in the eighth screw hole group on the output shaft housing of the sixth rotating electric machine assembly one-to-one, and are connected through a connecting piece.
According to the robot provided by the utility model, the seven-axis mechanical arm is adopted.
Compared with the prior art, the utility model has the following beneficial effects:
1. according to the utility model, through the design of the first rotating motor assembly, the second rotating motor assembly, the third rotating motor assembly, the fourth rotating motor assembly, the fifth rotating motor assembly, the sixth rotating motor assembly and the seventh rotating motor assembly, the degree of freedom of the mechanical arm is increased, and the movement of the mechanical arm is more flexible.
2. The utility model adopts the six-degree-of-freedom mechanical arm, so that the functions of the mechanical arm are richer, and the mechanical arm can adapt to more complex working conditions.
Drawings
Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention;
the figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the utility model. All falling within the scope of the present invention.
The utility model provides a seven-axis mechanical arm which comprises a base 1, a first rotating motor component 2, a first section of shell 5, a second rotating motor component 6, a second section of shell 7, a third rotating motor component 8, a third section of shell 10, a fourth rotating motor component 11, a fourth section of shell 12, a fifth rotating motor component 13, a fifth section of shell 15, a sixth rotating motor component 16, a sixth section of shell 17, a seventh rotating motor component 18, a manipulator connecting disc 19, a manipulator 20, a first joint connecting disc 3, a third joint connecting disc 21 and a fifth joint connecting disc 22. The manipulator 20 is a six degree of freedom manipulator. The six-degree-of-freedom manipulator preferably adopts a six-degree-of-freedom manipulator structure disclosed in CN 214818637U.
As shown in fig. 1, the base 1 is fastened to one end of a first rotating electric machine assembly 2, and the other end of the first rotating electric machine assembly 2 is fastened to one end of the first casing 5; the first rotating motor component 2 can drive the first section of the shell 5 to rotate along the axial direction of the first rotating motor component 2;
the other end of the first section of the shell 5 is fixedly connected with one end of a second rotating motor assembly 6, and the other end of the second rotating motor assembly 6 is fixedly connected with one end of a second section of the shell 7; the second rotating motor assembly 6 can drive the second section of the shell 7 to rotate along the axis direction of the second rotating motor assembly 6;
the other end of the second section of shell 7 is fixedly connected with one end of a third rotating motor component 8, and the other end of the third rotating motor component 8 is fixedly connected with one end of a third section of shell 10; the third rotating electric machine assembly 8 can drive the third section shell 10 to rotate along the axial direction of the third rotating electric machine assembly 8;
the other end of the third section of the outer shell 10 is fixedly connected with one end of the fourth rotating electric machine assembly 11, and the other end of the fourth rotating electric machine assembly 11 is fixedly connected with one end of the fourth section of the outer shell 12; the fourth rotating electric machine assembly 11 can drive the fourth section of the housing 12 to rotate along the axial direction of the fourth rotating electric machine assembly 11;
the other end of the fourth section of shell 12 is fixedly connected with one end of the fifth rotating motor assembly 13, and the other end of the fifth rotating motor assembly 13 is fixedly connected with one end of the fifth section of shell 15; the fifth rotating electric machine assembly 13 can drive the fifth section of the housing 15 to rotate along the axial direction of the fifth rotating electric machine assembly 13;
the other end of the fifth section of the outer shell 15 is fixedly connected with one end of the sixth rotating electric machine assembly 16, and the other end of the sixth rotating electric machine assembly 16 is fixedly connected with one end of the sixth section of the outer shell 17; the sixth rotating electric machine assembly 16 can drive the sixth casing 17 to rotate along the axial direction of the sixth rotating electric machine assembly 16;
one end of the sixth shell 17 is fixedly connected with one end of the seventh rotating motor assembly 18, and the other end of the seventh rotating motor assembly 18 is connected with the manipulator 20 through the manipulator connecting disc 19; the seventh rotating motor assembly 18 can drive the manipulator connecting disc 19 to rotate along the axial direction of the seventh rotating motor assembly 18;
the axial line of the first rotating electric machine assembly 2, the axial line of the second rotating electric machine assembly 6, the axial line of the third rotating electric machine assembly 8, the axial line of the fourth rotating electric machine assembly 11, the axial line of the fifth rotating electric machine assembly 13, the axial line of the sixth rotating electric machine assembly 16 and the axial line of the seventh rotating electric machine assembly 18 are sequentially perpendicular to each other.
In a preferred embodiment, the fastening connection is a connection by a fastener, preferably the fastener is a screw and nut.
The first rotating electric machine component 2, the second rotating electric machine component 6, the third rotating electric machine component 8, the fourth rotating electric machine component 11, the fifth rotating electric machine component 13, the sixth rotating electric machine component 16 and the seventh rotating electric machine component 18 respectively comprise a rotating electric machine and a motor output shaft shell, an output shaft of the rotating electric machine is connected with the output shaft shell, and the output shaft of the rotating electric machine can drive the output shaft shell to rotate along the axis of the output shaft of the rotating electric machine; the motor output shaft housings of the first rotating electric machine component 2, the second rotating electric machine component 6, the third rotating electric machine component 8, the fourth rotating electric machine component 11, the fifth rotating electric machine component 13, and the sixth rotating electric machine component 16 are respectively and fixedly connected with one end of the first section of housing 5, one end of the second section of housing 7, one end of the third section of housing 10, one end of the fourth section of housing 12, one end of the fifth section of housing 15, one end of the sixth section of housing 17, and the manipulator connecting disc 19.
The first section of shell 5, the second section of shell 7, the third section of shell 10, the fourth section of shell 12, the fifth section of shell 15 and the sixth section of shell 17 respectively comprise a rotating motor mounting position 23, an intermediate connecting part 24 and an output shaft shell mounting position 25;
the rotating motor mounting position 23 is connected with the output shaft shell mounting position 25 through an intermediate connecting part 24, and the axis of the rotating motor mounting position 23 is perpendicular to the axis of the output shaft shell mounting position 25; the rotating electrical machine mounting position 23 is used for mounting the rotating electrical machine, and the output shaft housing mounting position 25 is used for connecting with the output shaft housing.
An output shaft shell in the first rotating electric machine component 2, an output shaft shell in the third rotating electric machine component 8 and an output shaft shell in the fifth rotating electric machine component 13 are provided with a first threaded hole group; preferably, the first set of threaded holes is a plurality of threaded holes distributed circumferentially along the axis of the respective output shaft housing.
The first joint connecting disc 3, the third joint connecting disc 21 and the fifth joint connecting disc 22 are respectively provided with a second threaded hole group and a third threaded hole group; preferably, the second threaded hole group is a plurality of threaded holes which are distributed along the circumferential direction of the axis of the respective connecting disk; the third threaded hole group is a plurality of threaded holes which are distributed along the circumferential direction of the axis of each connecting disc.
The output shaft shell mounting position 25 on the first section of shell 5, the output shaft shell mounting position 25 on the third section of shell 10 and the output shaft shell mounting position 25 on the fifth section of shell 15 are all provided with a fourth thread hole group;
threads in a first thread hole group on an output shaft shell in the first rotating electric machine component 2 correspond to threads in a second thread hole group on the first joint connecting disc 3 one by one and are connected through a connecting piece, threads in a third thread hole group on the first joint connecting disc 3 correspond to threads in a fourth thread hole group on an output shaft shell mounting position 25 of the first section of shell 5 one by one and are connected through a connecting piece;
the threads in the first thread hole group on the output shaft housing in the third rotating electric machine assembly 8 correspond to the threads in the second thread hole group on the third joint connecting disc 21 one to one and are connected by a connecting piece; the threads in the third thread hole group on the third joint connecting disc 21 correspond to the threads in the fourth thread hole group on the output shaft housing mounting position 25 on the third joint housing 10 one by one, and are connected through a connecting piece.
The threads in the first threaded hole group on the output shaft housing in the fifth rotating electrical machine assembly 13 correspond to the threads in the second threaded hole group on the fifth articulation disc 22 one to one and are connected by a connection piece; the threads in the third threaded hole set on the fifth articulation disc 22 correspond to the threads in the fourth threaded hole set on the output shaft housing mounting location 25 on the fifth section housing 15 one to one and are connected by a connector.
The rotating motor mounting position 23 on the first section of the shell 5, the rotating motor mounting position 23 on the second section of the shell 7, the rotating motor mounting position 23 on the third section of the shell 10, the rotating motor mounting position 23 on the fourth section of the shell 12, the rotating motor mounting position 23 on the fifth section of the shell 15 and the rotating motor mounting position 23 on the sixth section of the shell 17 all comprise a first cover body and a first mounting position main body; the first mounting position main body has a first accommodating space, and the first cover body has a fifth screw hole group, preferably, the fifth screw hole group is a plurality of screw holes, and the plurality of screw holes are circumferentially distributed along the axis of the respective rotating electric machine mounting positions 23.
The rotary electric machine in the second rotary electric machine assembly 6, the rotary electric machine in the third rotary electric machine assembly 8, the rotary electric machine in the fourth rotary electric machine assembly 11, the rotary electric machine in the fifth rotary electric machine assembly 13, the rotary electric machine in the sixth rotary electric machine assembly 16, and the seventh rotary electric machine assembly 18 each have a sixth screw hole group thereon; preferably, the sixth screw hole group is a plurality of screw holes distributed circumferentially along the axis of the respective rotary electric machines.
A rotating electric machine of the second rotating electric machine assembly 6, a rotating electric machine of the third rotating electric machine assembly 8, a rotating electric machine of the fourth rotating electric machine assembly 11, a rotating electric machine of the fifth rotating electric machine assembly 13, a rotating electric machine of the sixth rotating electric machine assembly 16 and a rotating electric machine of the seventh rotating electric machine assembly 18 are respectively installed in a first accommodating space of the rotating electric machine installing position 23 on the first section of shell 5, a first accommodating space of the rotating electric machine installing position 23 on the second section of shell 7, a first accommodating space of the rotating electric machine installing position 23 on the fourth section of shell 12, a first accommodating space of the rotating electric machine installing position 23 on the fifth section of shell 15 and a first accommodating space of the rotating electric machine installing position 23 on the sixth section of shell 17;
threads in the sixth threaded hole set of the rotary electric machine on the second rotary electric machine component 6, threads in the sixth threaded hole set of the rotary electric machine on the third rotary electric machine component 8, threads in the sixth threaded hole set of the rotary electric machine on the fourth rotary electric machine component 11, threads in the sixth threaded hole set of the rotary electric machine on the fifth rotary electric machine component 13, threads in the sixth threaded hole set of the rotary electric machine on the sixth rotary electric machine component 16, and threads in the sixth threaded hole set of the rotary electric machine on the seventh rotary electric machine component 18 are respectively in threaded engagement with threads in the fifth threaded hole set on the first cover of the rotary electric machine mounting site 23 of the first joint housing 5, threads in the fifth threaded hole set on the first cover of the rotary electric machine mounting site 23 on the second joint housing 7, threads in the fifth threaded hole set on the first cover of the rotary electric machine mounting site 23 on the third joint housing 10, threads in the fifth threaded hole set on the first cover of the rotary electric machine mounting site 23 on the fourth joint housing 12, threads in the fifth threaded hole set on the first cover of the rotary electric machine mounting site 23 on the first joint housing 12, The threads in the fifth screw hole group on the first cover body of the rotating motor mounting position 23 on the fifth section of shell 15 and the threads in the fifth screw hole group on the first cover body of the rotating motor mounting position 23 on the sixth section of shell 17 correspond to each other one by one and are connected through a connecting piece;
the output shaft shell mounting position 25 on the second section of shell 7, the output shaft shell mounting position 25 on the fourth section of shell 12 and the output shaft shell mounting position 25 on the sixth section of shell 17 all comprise a second mounting position main body and a second cover body; the second mounting position main body is provided with a second accommodating space, and the second cover body is provided with a seventh threaded hole group; preferably, the seventh threaded hole group is a plurality of threaded holes distributed circumferentially along the axis of the respective output shaft housing mounting location 25.
An output shaft shell in the second rotating electric machine assembly 6, an output shaft shell in the fourth rotating electric machine assembly 11 and an output shaft shell in the sixth rotating electric machine assembly 16 are provided with an eighth threaded hole group; the eighth threaded hole group is a plurality of threaded holes which are circumferentially distributed along the axis of the respective output shaft housing.
An output shaft shell of the second rotating electric machine assembly 6, an output shaft shell of the fourth rotating electric machine assembly 11 and an output shaft shell of the sixth rotating electric machine assembly 16 are respectively arranged in a second accommodating space of an output shaft shell installing position 25 on the second section of shell 7, a second accommodating space of an output shaft shell installing position 25 on the fourth section of shell 12 and a second accommodating space of an output shaft shell installing position 25 on the sixth section of shell 17;
the output shaft housing mounting position 25 on the second section housing 7 corresponds to the screw thread in the seventh screw hole group on the second cover, the output shaft housing mounting position 25 on the fourth section housing 12 corresponds to the screw thread in the seventh screw hole group on the second cover, the screw thread in the eighth screw hole group on the output shaft housing in the fourth rotary electric machine module 11 corresponds to the screw thread in the eighth screw hole group on the output shaft housing in the sixth rotary electric machine module 16, and the screw threads in the eighth screw hole group on the output shaft housing in the sixth rotary electric machine module 16 correspond to the screw thread in the seventh screw hole group on the second cover.
The seven-shaft mechanical arm further comprises a first section of soft ring 4, a third section of soft ring 9 and a fifth section of soft ring 14. The first section of soft ring 4, the third section of soft ring 9 and the fifth section of soft ring 14 are respectively sleeved on an output shaft shell in the first rotating electrical machine component 2, an output shaft shell mounting position 25 on the third section of shell 10 and an output shaft shell mounting position 25 on the fifth section of shell 15. The first section of soft ring 4, the third section of soft ring 9 and the fifth section of soft ring 14 are used for shielding the fourth threaded hole group after being assembled, and the function of attractive decoration is achieved.
The working principle of the utility model is as follows:
the first rotating motor component 2 drives the first section of shell 5 to rotate along the axis direction of the first rotating motor component 2; the second rotating motor assembly 6 can drive the second section of the shell 7 to rotate along the axis direction of the second rotating motor assembly 6; the third rotating electric machine assembly 8 can drive the third section housing 10 to rotate along the axis direction of the third rotating electric machine assembly 8; the fourth rotating electric machine assembly 11 can drive the fourth section of housing 12 to rotate along the axial direction of the fourth rotating electric machine assembly 11; the fifth rotating electric machine assembly 13 can drive the fifth section of the housing 15 to rotate along the axial direction of the fifth rotating electric machine assembly 13; the sixth rotating electric machine assembly 16 can drive the sixth casing 17 to rotate along the axial direction of the sixth rotating electric machine assembly 16; the seventh rotating motor assembly 18 can drive the manipulator connecting disc 19 to rotate along the axial direction of the seventh rotating motor assembly 18. The first rotating motor assembly 2, the second rotating motor assembly 6, the third rotating motor assembly 8, the fourth rotating motor assembly 11, the fifth rotating motor assembly 13, the sixth rotating motor assembly 16 and the seventh rotating motor assembly serve as seven shafts to provide a plurality of degrees of freedom for the seven-shaft mechanical arm, and the six-degree-of-freedom mechanical arm is connected with the seventh rotating motor assembly 18 through the mechanical arm connecting disc 19, so that the degrees of freedom of the seven-shaft mechanical arm are increased to a greater extent, the mechanical arm is more flexible, the functions are richer, and more complex working conditions can be adapted.
The utility model also provides a robot which adopts the seven-axis mechanical arm.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the 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 application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A seven-shaft mechanical arm is characterized by comprising a base (1), a first rotating motor component (2), a first section of shell (5), a second rotating motor component (6), a second section of shell (7), a third rotating motor component (8), a third section of shell (10), a fourth rotating motor component (11), a fourth section of shell (12), a fifth rotating motor component (13), a fifth section of shell (15), a sixth rotating motor component (16), a sixth section of shell (17), a seventh rotating motor component (18), a mechanical arm connecting disc (19) and a mechanical arm (20);
the base (1) is fixedly connected with one end of a first rotating motor component (2), and the other end of the first rotating motor component (2) is fixedly connected with one end of the first section of shell (5); the first rotating motor component (2) can drive the first section of shell (5) to rotate along the axis direction of the first rotating motor component (2);
the other end of the first section of shell (5) is fixedly connected with one end of a second rotating motor component (6), and the other end of the second rotating motor component (6) is fixedly connected with one end of a second section of shell (7); the second rotating motor assembly (6) can drive the second section of shell (7) to rotate along the axis direction of the second rotating motor assembly (6);
the other end of the second section of shell (7) is fixedly connected with one end of a third rotating motor component (8), and the other end of the third rotating motor component (8) is fixedly connected with one end of a third section of shell (10); the third rotating motor component (8) can drive the third section shell (10) to rotate along the axis direction of the third rotating motor component (8);
the other end of the third section of shell (10) is fixedly connected with one end of a fourth rotating motor assembly (11), and the other end of the fourth rotating motor assembly (11) is fixedly connected with one end of a fourth section of shell (12); the fourth rotating motor assembly (11) can drive the fourth section of shell (12) to rotate along the axial direction of the fourth rotating motor assembly (11);
the other end of the fourth section of shell (12) is fixedly connected with one end of a fifth rotating motor component (13), and the other end of the fifth rotating motor component (13) is fixedly connected with one end of a fifth section of shell (15); the fifth rotating motor assembly (13) can drive the fifth section of the shell (15) to rotate along the axis direction of the fifth rotating motor assembly (13);
the other end of the fifth section of shell (15) is fixedly connected with one end of the sixth rotating motor assembly (16), and the other end of the sixth rotating motor assembly (16) is fixedly connected with one end of the sixth section of shell (17); the sixth rotating motor assembly (16) can drive the sixth shell (17) to rotate along the axis direction of the sixth rotating motor assembly (16);
one end of the sixth shell (17) is fixedly connected with one end of the seventh rotating motor assembly (18), and the other end of the seventh rotating motor assembly (18) is connected with the manipulator (20) through the manipulator connecting disc (19); the seventh rotating motor assembly (18) can drive the manipulator connecting disc (19) to rotate along the axial direction of the seventh rotating motor assembly (18).
2. A seven-axis robot arm according to claim 1, characterized in that the axis of the first rotating electric machine assembly (2), the axis of the second rotating electric machine assembly (6), the axis of the third rotating electric machine assembly (8), the axis of the fourth rotating electric machine assembly (11), the axis of the fifth rotating electric machine assembly (13), the axis of the sixth rotating electric machine assembly (16) and the axis of the seventh rotating electric machine assembly (18) are in turn mutually perpendicular.
3. A seven-axis robotic arm as claimed in claim 1 wherein said fastening connection is by fasteners.
4. A seven-axis robotic arm according to claim 1, wherein said manipulator (20) is a six degree of freedom manipulator.
5. The seven-shaft mechanical arm according to claim 1, wherein the first rotating motor assembly (2), the second rotating motor assembly (6), the third rotating motor assembly (8), the fourth rotating motor assembly (11), the fifth rotating motor assembly (13), the sixth rotating motor assembly (16) and the seventh rotating motor assembly (18) comprise rotating motor and motor output shaft housings, an output shaft of the rotating motor is connected with the output shaft housings, and the output shaft of the rotating motor can drive the output shaft housings to rotate along the axis of the output shaft of the rotating motor; the motor output shaft shell in the first rotating motor component (2), the second rotating motor component (6), the third rotating motor component (8), the fourth rotating motor component (11), the fifth rotating motor component (13) and the sixth rotating motor component (16) is respectively connected with one end of the first section of shell (5), one end of the second section of shell (7), one end of the third section of shell (10), one end of the fourth section of shell (12), one end of the fifth section of shell (15), one end of the sixth section of shell (17) and the manipulator connecting disc (19) in a fastening mode.
6. A seven-axis robot arm according to claim 5, characterized in that the first section housing (5), the second section housing (7), the third section housing (10), the fourth section housing (12), the fifth section housing (15) and the sixth section housing (17) each comprise a rotating electrical machine mounting location (23), an intermediate connection (24) and an output shaft housing mounting location (25);
the rotating motor mounting position (23) is connected with the output shaft shell mounting position (25) through an intermediate connecting part (24), and the axis of the rotating motor mounting position (23) is perpendicular to the axis of the output shaft shell mounting position (25); the rotating motor mounting position (23) is used for mounting the rotating motor, and the output shaft shell mounting position (25) is used for being connected with the output shaft shell.
7. A seven-axis robot arm according to claim 6, further comprising a first articulation disc (3), a third articulation disc (21), a fifth articulation disc (22);
an output shaft shell in the first rotating motor component (2), an output shaft shell in the third rotating motor component (8) and an output shaft shell in the fifth rotating motor component (13) are respectively provided with a first threaded hole group;
the first joint connecting disc (3), the third joint connecting disc (21) and the fifth joint connecting disc (22) are respectively provided with a second threaded hole group and a third threaded hole group;
a fourth thread hole group is arranged on an output shaft shell mounting position (25) on the first section of shell (5), an output shaft shell mounting position (25) on the third section of shell (10) and an output shaft shell mounting position (25) on the fifth section of shell (15);
threads in a first thread hole group on an output shaft shell in the first rotating motor component (2) correspond to threads in a second thread hole group on the first joint connecting disc (3) one by one and are connected through a connecting piece, and threads in a third thread hole group on the first joint connecting disc (3) correspond to threads in a fourth thread hole group on an output shaft shell mounting position (25) of the first section of shell (5) one by one and are connected through a connecting piece;
the threads in the first thread hole group on the output shaft shell in the third rotating motor component (8) correspond to the threads in the second thread hole group on the third joint connecting disc (21) one by one and are connected through a connecting piece; threads in a third thread hole group on the third joint connecting disc (21) correspond to threads in a fourth thread hole group on an output shaft shell mounting position (25) on the third joint shell (10) one by one and are connected through a connecting piece;
threads in a first threaded hole group on an output shaft shell in the fifth rotating electric machine assembly (13) correspond to threads in a second threaded hole group on the fifth articulation disc (22) one to one and are connected through a connecting piece; and the threads in the third thread hole group on the fifth joint connecting disc (22) correspond to the threads in the fourth thread hole group on the output shaft shell mounting position (25) on the fifth section of shell (15) one by one and are connected through a connecting piece.
8. The seven-shaft mechanical arm according to claim 6, wherein the rotating motor mounting position (23) on the first section of the housing (5), the rotating motor mounting position (23) on the second section of the housing (7), the rotating motor mounting position (23) on the third section of the housing (10), the rotating motor mounting position (23) on the fourth section of the housing (12), the rotating motor mounting position (23) on the fifth section of the housing (15), and the rotating motor mounting position (23) on the sixth section of the housing (17) comprise a first cover body and a first mounting position main body; the first mounting position main body is provided with a first accommodating space, and the first cover body is provided with a fifth threaded hole group; a rotary motor in the second rotary motor assembly (6), a rotary motor in the third rotary motor assembly (8), a rotary motor in the fourth rotary motor assembly (11), a rotary motor in the fifth rotary motor assembly (13), a rotary motor in the sixth rotary motor assembly (16) and a seventh rotary motor assembly (18) are provided with a sixth threaded hole group;
a rotating motor of the second rotating motor assembly (6) is respectively arranged in a first accommodating space of a rotating motor mounting position (23) on the first section of shell (5), a first accommodating space of the rotating motor mounting position (23) on the second section of shell (7), a first accommodating space of the rotating motor mounting position (23) on the third section of shell (10), a first accommodating space of the rotating motor mounting position (23) on the fourth section of shell (12), a first accommodating space of the rotating motor mounting position (23) on the fifth section of shell (15) and a first accommodating space of the rotating motor mounting position (23) on the sixth section of shell (17), a rotating electrical machine of a third rotating electrical machine assembly (8), a rotating electrical machine of a fourth rotating electrical machine assembly (11), a rotating electrical machine of a fifth rotating electrical machine assembly (13), a rotating electrical machine of a sixth rotating electrical machine assembly (16), and a rotating electrical machine of a seventh rotating electrical machine assembly (18);
threads in a sixth threaded hole group of a rotary electric machine on the second rotary electric machine component (6), threads in a sixth threaded hole group of a rotary electric machine on the third rotary electric machine component (8), threads in a sixth threaded hole group of a rotary electric machine on the fourth rotary electric machine component (11), threads in a sixth threaded hole group of a rotary electric machine on the fifth rotary electric machine component (13), threads in a sixth threaded hole group of a rotary electric machine on the sixth rotary electric machine component (16), and threads in a sixth threaded hole group of a rotary electric machine on the seventh rotary electric machine component (18) are respectively engaged with threads in a fifth threaded hole group on the first cover of the rotary electric machine mounting site (23) of the first joint housing (5), threads in a fifth threaded hole group on the first cover of the rotary electric machine mounting site (23) of the second joint housing (7), threads in a fifth threaded hole group on the first cover of the third joint housing (10), threads in a fifth threaded hole group on the first joint housing (23) of the third joint housing (10), Threads in a fifth thread hole group on a first cover body of a rotating motor mounting position (23) on a fourth section of shell (12), threads in a fifth thread hole group on a first cover body of a rotating motor mounting position (23) on a fifth section of shell (15) and threads in a fifth thread hole group on a first cover body of a rotating motor mounting position (23) on a sixth section of shell (17) are in one-to-one correspondence and are connected through a connecting piece.
9. The seven-shaft mechanical arm according to claim 6, wherein the output shaft housing mounting position (25) on the second section of housing (7), the output shaft housing mounting position (25) on the fourth section of housing (12), and the output shaft housing mounting position (25) on the sixth section of housing (17) comprise a second mounting position main body and a second cover body; the second mounting position main body is provided with a second accommodating space, and the second cover body is provided with a seventh threaded hole group; an output shaft shell in the second rotating motor component (6), an output shaft shell in the fourth rotating motor component (11) and an output shaft shell in the sixth rotating motor component (16) are provided with an eighth threaded hole group;
an output shaft shell of a second rotating motor assembly (6), an output shaft shell of a fourth rotating motor assembly (11) and an output shaft shell of a sixth rotating motor assembly (16) are respectively arranged in a second accommodating space of an output shaft shell mounting position (25) on the second shell (7), a second accommodating space of an output shaft shell mounting position (25) on the fourth shell (12) and a second accommodating space of an output shaft shell mounting position (25) on the sixth shell (17);
the threads in the seventh threaded hole group on the second cover body of the output shaft housing mounting position (25) on the second section of housing (7), the threads in the seventh threaded hole group on the second cover body of the output shaft housing mounting position (25) on the fourth section of housing (12), the threads in the seventh threaded hole group on the second cover body of the output shaft housing mounting position (25) on the sixth section of housing (17), the threads in the eighth threaded hole group on the output shaft housing of the second rotating electric machine assembly (6), the threads in the eighth threaded hole group on the output shaft housing of the fourth rotating electric machine assembly (11), and the threads in the eighth threaded hole group on the output shaft housing of the sixth rotating electric machine assembly (16) are in one-to-one correspondence and connected by connecting pieces.
10. A robot characterized by employing the seven-axis robot arm of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123175184.XU CN216883974U (en) | 2021-12-16 | 2021-12-16 | Seven arms and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123175184.XU CN216883974U (en) | 2021-12-16 | 2021-12-16 | Seven arms and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216883974U true CN216883974U (en) | 2022-07-05 |
Family
ID=82207835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123175184.XU Active CN216883974U (en) | 2021-12-16 | 2021-12-16 | Seven arms and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216883974U (en) |
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2021
- 2021-12-16 CN CN202123175184.XU patent/CN216883974U/en active Active
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