CN204673643U - A kind of articulated robot arm - Google Patents

Abstract

A multi-joint robot arm relates to the field of robot technology, and its structure includes a base, a plurality of arms and an end effector, a first joint axis is arranged between the base and one of the arms, and the adjacent arms and A second joint shaft is provided between the arms, a third joint shaft is provided between one of the arms and the end effector, and the plurality of arms and end effectors are connected in series in sequence, and the first The articulated shaft, the second articulated shaft and the third articulated shaft are all equipped with power devices, and the power devices of the first articulated shaft and the second articulated shaft all include a motor and a reducer for reducing the speed of the motor, and the motor and the The reducer is arranged on different shafts, the motor and the reducer are connected through gears, the arm body is set as a hollow arm body, and the hollow arm body is provided with a through hole for threading, and the through hole is connected with the The shaft holes of the reducer are connected.

Description

A multi-joint robot arm

technical field

The utility model relates to the technical field of robots, in particular to a multi-joint robot arm.

Background technique

The robot arm is currently the most widely and practically used automated mechanical device in the field of robotics, and it can be seen in the fields of industrial manufacturing, medical treatment, entertainment services, military and space exploration. Robotic arms used in industrial manufacturing are mainly used for picking up and relocating items.

The prior art used in industrial manufacturing is generally a manipulator, which generally includes a bracket, which is fixed on the ground or ceiling through the bracket, and the robot arm can move straight up or down under the support of the bracket. Since it can only move in a straight line, therefore, To go from one place to another, the journey is long, relatively time-consuming, and it needs to be fixed by a bracket, which takes up space and is cumbersome.

At the same time, the design of the manipulator is inconvenient for internal wiring.

Contents of the invention

The purpose of the utility model is to avoid the deficiencies in the prior art and provide a multi-joint robot arm, the multi-joint robot arm is convenient for internal wiring, can grab objects more accurately, can shorten the stroke, save time and volume Smaller, takes up less space, and costs less.

The purpose of this utility model is achieved through the following technical solutions:

A multi-joint robot arm is provided, comprising a base, a plurality of arms, and an end effector sequentially connected in series, a first joint shaft is provided between the base and an arm adjacent to the base, and the plurality of arms A second joint shaft is provided between any adjacent arm body in the body, a third joint shaft is provided between the end effector and an adjacent arm body, and the base, multiple Both the arm body and the end effector are equipped with a power device, and the power device arranged on the base is used to drive the plurality of arms and the end effector to rotate along the base, and the power device arranged on a certain arm body It is used to drive other arms and end effectors located on the side of the arm away from the base to rotate along the arm, and the power device arranged on the arm adjacent to the end effector is used to drive the The end effector rotates along the arm body, and the power device arranged on the end effector is used to drive the end effector to rotate, and the power devices of the first joint shaft and the second joint shaft both include a motor and reduce the speed of the motor The reducer, the motor and the reducer are not coaxially arranged, the motor and the reducer are connected through gears, the arm body is set as a hollow arm body, and the hollow arm body is provided with a The through hole communicates with the shaft hole of the reducer.

There are seven joint shafts, and seven power units, including a first power unit, a second power unit, a third power unit, a fourth power unit, a fifth power unit, a sixth power unit and Seventh power unit.

The first power device includes a first motor, a first gear, and a first reducer, the first motor is connected to the first reducer through a first gear, and the multi-joint robot arm includes a first through hole, The first through hole communicates with the shaft hole of the first reducer.

The second power device includes a second motor, a second gear, and a second reducer, the second motor is connected to the second reducer through a second gear, and the multi-joint robot arm includes a second through hole, The second through hole communicates with the shaft hole of the second reducer.

The third power device includes a third motor, a third gear and a third reducer, the third motor is connected to the third reducer through a third gear, the multi-joint robot arm includes a third through hole, The third through hole communicates with the shaft hole of the third reducer.

The fourth power device includes a fourth motor, a fourth gear and a fourth reducer, the fourth motor is connected to the fourth reducer through the fourth gear, the multi-joint robot arm includes a fourth through hole, The fourth through hole communicates with the shaft hole of the fourth reducer.

The fifth power device includes a fifth motor, a fifth gear and a fifth reducer, the fifth motor is connected to the fifth reducer through a fifth gear, the multi-joint robot arm includes a fifth through hole, The fifth through hole communicates with the shaft hole of the fifth reducer.

The sixth power device includes a sixth motor, a sixth gear, and a sixth reducer, the sixth motor is connected to the sixth reducer through a sixth gear, and the multi-joint robot arm includes a sixth through hole, The sixth through hole communicates with the shaft hole of the sixth reducer.

The seventh power device includes a seventh motor and a seventh reducer, and the seventh motor is coaxially connected with the seventh reducer.

Two adjacent motors are arranged vertically or in parallel.

Beneficial effects of the present utility model: the present utility model is provided with the motor and the reducer on different axes, the motor and the reducer are connected through gears, the arm body is set as a hollow arm body, and the hollow arm body The body is provided with a through hole for threading, the through hole communicates with the shaft hole of the reducer, the motor and the reducer are not arranged on the same axis, and the motor and the reducer are connected through gears, that is, the motor is set in a biased manner, and the gears are used again Connected with the reducer, the shaft hole of the reducer can be used to pass through the wire, combined with the hollow arm body, the wire can pass through the shaft hole and the through hole of the reducer at the same time, which is convenient for internal wiring. Compared with the manipulator in the prior art, the base is smaller in size and takes up less space. By setting multiple arms, it can simulate the flexible movement of human hands, realize the movement of any route, shorten the stroke, and save time. The force of the robot arm of this embodiment is 3 kilograms.

Description of drawings

Utilize accompanying drawing to further illustrate the utility model, but the embodiment in the accompanying drawing does not constitute any restriction to the present utility model, for those of ordinary skill in the art, under the premise of not paying creative work, also can obtain according to following accompanying drawing Additional drawings.

Fig. 1 is a schematic diagram of the overall structure of a multi-joint robot arm of the present invention.

Fig. 2 is a structural schematic diagram of the first viewing angle of the hidden part of the shell of a multi-joint robot arm of the present invention.

Fig. 3 is a structural schematic diagram of a second viewing angle of the hidden part of the shell of a multi-joint robot arm of the present invention.

Fig. 4 is a structural schematic diagram of a third viewing angle of the hidden part of the shell of a multi-joint robot arm of the present invention.

Fig. 5 is a structural schematic diagram of a fourth viewing angle of the hidden part of the shell of a multi-joint robot arm of the present invention.

Fig. 6 is a structural schematic diagram of a fifth viewing angle of the shell of the hidden part of a multi-joint robot arm of the present invention.

Fig. 7 is a structural schematic diagram of a sixth viewing angle of the shell of the hidden part of a multi-joint robot arm of the present invention.

Fig. 8 is a structural schematic diagram of a seventh perspective view of the shell of the hidden part of a multi-joint robot arm of the present invention.

Fig. 9 is a structural schematic diagram of an eighth perspective view of the shell of the hidden part of a multi-joint robot arm of the present invention.

Fig. 10 is a structural schematic view of the ninth perspective of the shell of the hidden part of a multi-joint robot arm of the present invention.

Fig. 11 is a structural schematic diagram of a tenth perspective view of the shell of the hidden part of a multi-joint robot arm of the present invention.

Fig. 12 is a structural schematic diagram of an eleventh viewing angle of the shell of the hidden part of a multi-joint robot arm of the present invention.

Fig. 13 is a structural schematic diagram of the twelfth viewing angle of the shell of the hidden part of a multi-joint robot arm of the present invention.

Fig. 14 is a structural schematic diagram of a thirteenth viewing angle of the shell of the hidden part of a multi-joint robot arm of the present invention.

The picture includes:

1—the first motor; 2—the first gear; 3—the first through hole;

4—the second motor; 5—the second gear; 6—the second through hole;

7—the third motor; 8—the third gear; 9—the third through hole;

10—the fourth motor; 11—the fourth gear; 12—the fourth through hole;

13—the fifth motor; 14—the fifth gear; 15—the fifth gear;

16—the sixth motor; 17—the sixth gear; 18—the sixth through hole;

19—the seventh motor; 20—base, 21—end effector.

Detailed ways

The utility model is further described in conjunction with the following examples.

A multi-joint robot arm of the present embodiment, as shown in FIGS. A first joint shaft is provided between the arms, and a second joint shaft is provided between any adjacent arms among the plurality of arms. The end effector 21 and one of its adjacent A third joint axis is provided between the arms, and the base 20, the plurality of arms and the end effector 21 are all equipped with a power device, and the power device arranged on the base 20 is used to drive the plurality of arms and the end effector 21. The end effector 21 rotates along the base 20, and the power device arranged on a certain arm is used to drive other arms and end effectors 21 located on the side of the arm away from the base to move along the arm. To rotate, the power device arranged on the arm body adjacent to the end effector 21 is used to drive the end effector 21 to rotate along the arm body, and the power device arranged on the end effector 21 is used to drive the end effector The device 21 rotates, and the power devices of the first joint shaft and the second joint shaft all include a motor and a reducer for reducing the speed of the motor. The motor and the reducer are not coaxially arranged, and the motor and the The reducer is connected through gears, the arm body is a hollow arm body, and the hollow arm body is provided with a through hole for threading, and the through hole communicates with the shaft hole of the reducer.

In this embodiment, the motor and the reducer are arranged on different axes. The motor and the reducer are connected through gears. hole, the through hole communicates with the shaft hole of the reducer, the motor and the reducer are arranged on different axes, the motor and the reducer are connected through gears, that is, the motor is biased, and then the gear is connected to the reducer, which can make The shaft hole of the speed reducer is used to pass through the electric wires, combined with the hollow arm body, the wires can pass through the shaft hole and the through hole of the speed reducer at the same time, which is convenient for internal wiring. Compared with the traditional manipulator, it is smaller in size and takes up less space. By setting multiple arms, it can simulate the flexible movement of human hands, realize the movement of any route, shorten the stroke and save time. The force of the robot arm 1 of this embodiment is 3 kg.

The end effector 21 is used to simulate a human hand, and can grasp, shift and put down an object.

Among them, there are seven joint shafts, and seven power devices, including the first power device, the second power device, the third power device, the fourth power device, the fifth power device, and the sixth power device. The device and the seventh power device, this embodiment is a seven-joint robot arm 1, and the seven joint axes can make the robot arm 1 more flexible and closer to human hands.

Two adjacent motors are arranged vertically or in parallel, so that each arm is a linear arm.

Wherein, the first power unit includes a first motor 1, a first gear 2 and a first reducer, the first motor 1 is connected with the first reducer through the first gear 2, and the dual-arm robot includes The first through hole 3, the first through hole 3 communicates with the shaft hole of the first reducer, the extension line of the axis of the first motor 1 and the extension line of the axis of the first reducer are arranged in parallel, The first motor 1 is arranged on the base 20 for driving the first to fifth arms and the end effector 21 to rotate simultaneously.

Wherein, the second power unit includes a second motor 4, a second gear 5 and a second speed reducer, the second motor 4 is connected with the second speed reducer through the second gear 5, and the dual-arm robot includes The second through hole 6, the second through hole 6 communicates with the shaft hole of the second reducer, the extension line of the axis of the second motor 4 and the extension line of the axis of the second reducer are arranged in parallel, The second motor 4 is used to drive the second to fifth arms and the end effector 21 to rotate simultaneously.

The third power unit includes a third motor 7, a third gear 8 and a third speed reducer, the third motor 7 is connected with the third speed reducer through a third gear 8, and the dual-arm robot includes a third Through hole 9, the third through hole 9 communicates with the shaft hole of the third reducer, the extension line of the axis of the third motor 7 and the extension line of the axis of the third reducer are vertically arranged, the third The motor 7 is used to drive the third to fifth arms and the end effector 21 to rotate simultaneously.

The fourth power unit includes a fourth motor 10, a fourth gear 11 and a fourth reducer, the fourth motor 10 is connected with the fourth reducer through the fourth gear 11, and the double-arm robot includes a fourth Through hole 12, the fourth through hole 12 communicates with the shaft hole of the fourth reducer, the extension line of the axis of the fourth motor 10 and the extension line of the axis of the fourth reducer are arranged in parallel, the fourth The motor 10 is used to drive the fourth arm body, the fifth arm body and the end effector 21 to rotate simultaneously.

The fifth power unit includes a fifth motor 13, a fifth gear 14 and a fifth reducer, the fifth motor 13 is connected with the fifth reducer through the fifth gear 14, and the dual-arm robot includes a fifth Through hole 15, the fifth through hole 15 communicates with the shaft hole of the fifth reducer, the extension line of the axis of the fifth motor 13 and the extension line of the axis of the fifth reducer are vertically arranged, the fifth The motor 13 is used to drive the fifth arm body and the end effector 21 to rotate simultaneously.

The sixth power unit includes a sixth motor 16, a sixth gear 17 and a sixth speed reducer, the sixth motor 16 is connected with the sixth speed reducer through the sixth gear 17, and the dual-arm robot includes a sixth Through hole 18, the sixth through hole 18 communicates with the shaft hole of the sixth reducer, the extension line of the axis of the sixth motor 16 and the extension line of the axis of the sixth reducer are arranged in parallel, the sixth The motor 16 is used to drive the end effector 21 to rotate in one direction.

The seventh power device includes a seventh motor 19 and a seventh reducer, the seventh motor 19 is coaxially connected with the seventh reducer, the seventh motor 19 drives the end effector 21 to rotate, the seventh motor 19 and the seventh reducer The seventh reducer is connected coaxially, which can improve the precision of the end effector 21 .

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, rather than limiting the protection scope of the present utility model. Although the utility model has been described in detail with reference to the preferred embodiments, those skilled in the art Personnel should understand that the technical solution of the utility model can be modified or equivalently replaced without departing from the essence and scope of the technical solution of the utility model.

Claims (10)

1. A multi-joint robot arm, characterized in that: comprising a base, a plurality of arms and an end effector connected in series in sequence, a first joint axis is arranged between the base and an arm adjacent to the base, A second joint shaft is provided between any adjacent arm body among the plurality of arms, and a third joint shaft is provided between the end effector and an adjacent arm body, so The base, the plurality of arms and the end effector are all equipped with a power device, and the power device arranged on the base is used to drive the plurality of arms and the end effector to rotate along the base, and is arranged on a certain arm The power device is used to drive other arms and end effectors located on the side of the arm away from the base to rotate along the arm, and the power device arranged on the arm adjacent to the end effector It is used to drive the end effector to rotate along the arm body, the power device provided on the end effector is used to drive the end effector to rotate, and the power devices of the first joint shaft and the second joint shaft include The motor and the reducer for reducing the speed of the motor, the motor and the reducer are not coaxially arranged, the motor and the reducer are connected through gears, the arm body is set as a hollow arm body, and the hollow arm body The body is provided with a through hole for threading, and the through hole communicates with the shaft hole of the reducer. 2. A kind of multi-joint robot arm as claimed in claim 1, is characterized in that: described joint axis is provided with seven, and described power unit is provided with seven, comprises first power unit, second power unit, The third power plant, the fourth power plant, the fifth power plant, the sixth power plant and the seventh power plant. 3. A kind of multi-joint robot arm as claimed in claim 2, it is characterized in that: described first power unit comprises first motor, first gear and first speed reducer, and described first motor connects with first gear The first reducer is connected, the multi-joint robot arm includes a first through hole, and the first through hole communicates with the shaft hole of the first reducer. 4. A kind of multi-joint robot arm as claimed in claim 2, is characterized in that: described second power unit comprises second motor, second gear and second speed reducer, and described second motor connects with second gear The second reducer is connected, the multi-joint robot arm includes a second through hole, and the second through hole communicates with the shaft hole of the second reducer. 5. A kind of multi-joint robot arm as claimed in claim 2, is characterized in that: described 3rd power unit comprises the 3rd motor, the 3rd gear and the 3rd speed reducer, described 3rd motor connects with the 3rd gear The third reducer is connected, the multi-joint robot arm includes a third through hole, and the third through hole communicates with the shaft hole of the third reducer. 6. A kind of multi-joint robot arm as claimed in claim 2, it is characterized in that: described fourth power unit comprises the 4th electric motor, the 4th gear and the 4th reducer, described 4th electric motor is connected with the 4th gear The fourth reducer is connected, the multi-joint robot arm includes a fourth through hole, and the fourth through hole communicates with the shaft hole of the fourth reducer. 7. A kind of multi-joint robot arm as claimed in claim 2, it is characterized in that: described fifth power unit comprises the fifth motor, the fifth gear and the fifth reducer, and the fifth motor communicates with the fifth gear through the fifth gear The fifth reducer is connected, the multi-joint robot arm includes a fifth through hole, and the fifth through hole communicates with the shaft hole of the fifth reducer. 8. A kind of multi-joint robot arm as claimed in claim 2, it is characterized in that: described sixth power unit comprises the sixth motor, the sixth gear and the sixth speed reducer, and the sixth motor connects with the sixth gear through the sixth gear The sixth reducer is connected, the multi-joint robot arm includes a sixth through hole, and the sixth through hole communicates with the shaft hole of the sixth reducer. 9. A multi-joint robot arm as claimed in claim 2, characterized in that: the seventh power device comprises a seventh motor and a seventh reducer, and the seventh motor is coaxial with the seventh reducer connect. 10 . The multi-joint robot arm according to claim 1 , wherein two adjacent motors are arranged vertically or in parallel. 11 .