CN205111849U - A integral structure spare and arm structure for robot - Google Patents

Abstract

The utility model provides an integrated structural part for a robot, including a joint structural part, a motor and a reducer; the joint structural part has two connecting ends, the connecting ends are circular, and are connected in rotation with adjacent parts; the joint structural part It also has wiring holes; the motor and the reducer are fixed on the joint structure; the wires are routed through the wiring holes. Its advantage is that it simplifies the joint structure, reduces the weight of the joints, and improves the flexibility of the joints; it concentrates the internal wiring and effectively protects the cables from being exposed to the harsh external environment to accelerate aging and reduce the service life, so that the appearance of the robot arm is clean and continuous; The motor is installed inside the structure, and the structure forms protection for it, so that the protection requirements of the motor itself do not need to be very high; the structure is simple, and it is easy to disassemble, maintain, and replace parts.

Description

Integrated structural parts and mechanical arm structures for robots

technical field

The utility model relates to the technical field of robots, in particular to a joint structure for a mechanical arm and a mechanical arm structure.

Background technique

With the development of mechatronics technology, industrial products are developing in the direction of intelligence, systematization, miniaturization and modularization. Especially in the field of light manipulators, the manipulators have the development trend of high precision, modularization, light weight and multi-axis. Robotic arms usually have multiple degrees of freedom of movement. Through the combination of multiple joints, the robotic arm has the same degree of freedom as the human arm, so that it can replace humans to complete some specific tasks.

In order to make the manipulator have a larger range of motion and improve the flexibility of the manipulator, the mechanism design of the manipulator tends to be compact.

Utility model content

The utility model provides an integrated structural part and a mechanical arm structure for a robot, which simplifies the mechanical arm structure, reduces the joint volume and weight, improves the working range and flexibility of the mechanical arm, and overcomes the above-mentioned defects in the prior art.

The utility model provides an integrated structural part for a robot, which includes a joint structural part, a motor, a wire and a reducer; the joint structural part has two connecting ends, which are circular and connected in rotation with adjacent parts; The structural part also has wiring holes; the joint structure has installation interfaces for other electrical components; the motor and the reducer are fixed on the joint structural part; the wires are connected to the motor and other installed electrical components through the wiring holes.

Furthermore, the utility model provides an integrated structural part for a robot, which may also have the following feature: one of the two connection ends is an input end, and the other is an output end.

Furthermore, the utility model provides an integrated structural part for a robot, which may also have the following feature: the joint structural part includes a joint body, a rear cover and a connecting cover.

Further, the utility model provides an integrated structural part for a robot, which may also have the following feature: the joint body has two installation flanges, which are respectively fixedly installed with a motor and a reducer.

Furthermore, the utility model provides an integrated structural part for a robot, which may also have such a feature: the cable routing hole is arranged on the joint body, and the cable transmits power and control signals through the internal space.

In addition, the utility model provides a mechanical arm structure of a robot, which may also have the following features: there are several integrated structural parts for the robot; two adjacent connecting ends are rotatably connected.

Function and effect of utility model

The utility model provides an integrated structural part and a mechanical arm structure for a robot. Through the integrated design of the motor, the fixed seat of the reducer and other structural parts, the joint structure is simplified, the joint weight is reduced, and the joint movement flexibility is improved. Concentrated wiring through through holes effectively ensures that the cables will not be exposed to the harsh external environment and accelerate the aging of the cables, improving the service life of the cables; at the same time, the internal wiring makes the appearance of the robot arm clean and continuous; the motor and other electrical components The components are installed inside the structure, which is convenient for packaging and provides a reliable level of protection for the manipulator; the structure is simple, and it is easy to disassemble, repair, and replace parts.

Description of drawings

FIG. 1 is a structural schematic diagram of a mechanical arm structure of a robot.

Fig. 2 is an outline view of the first structural member.

Fig. 3 is a structural schematic diagram of the first structural member without the rear cover and the connection cover.

Fig. 4 is a sectional view of the first structural member.

Fig. 5 is an outline view of the second structural member.

Fig. 6 is a structural schematic diagram of the second structural member without the rear cover and the connection cover.

Fig. 7 is a cross-sectional view of the second structural member.

detailed description

The utility model will be further described below in conjunction with the accompanying drawings and specific examples.

FIG. 1 is a structural schematic diagram of a mechanical arm structure of a robot.

As shown in FIG. 1 , a mechanical arm structure of a robot provided by the present invention includes: a base 100 and two integrated structural parts for the robot, namely a first structural part 200 and a second structural part 300 . The base 100 is fixed on the robot, one end of the first structure 200 is rotatably connected to the base 100 , and the other end is rotatably connected to the second structure 300 . Of course, the second structural member 300 can also continue to be connected in rotation with other structural members, or connected to the robot operating terminal structural member.

Fig. 2 is an outline view of the first structural member.

Fig. 3 is a structural schematic view of the first structural member without the rear cover and the connecting cover.

Fig. 4 is a sectional view of the first structural member.

As shown in FIG. 2 , FIG. 3 and FIG. 4 , the first structural component 200 includes: a joint structural component 210 , a reducer 220 and a motor 230 .

The joint structure part 210 has two connecting ends, the connecting ends are circular, and are rotatably connected with adjacent parts. One of the two connection ends is rotatably connected between the input end and the base, and the other is rotatably connected between the output end and the second structural member.

The joint structure 210 includes: a joint body 211 , a rear cover 212 , and a connection cover 213 .

The joint body 211 has a wiring hole 211-1, a reducer mounting flange 211-2 and a motor mounting flange 211-3, and the reducer 220 and the motor 230 are fixedly installed respectively.

The reducer 220 and the motor 230 are electrically connected through wires and fixed on the joint body 211; the wires are routed through the wire hole 211-1.

Fig. 5 is an outline view of the second structural member.

Fig. 6 is a structural schematic diagram of the second structural member without the rear cover and the connecting cover.

Fig. 7 is a cross-sectional view of the second structural member.

As shown in FIG. 5 , FIG. 6 and FIG. 7 , the second structural member 300 includes: a joint structural member 310 , a reducer 320 and a motor 330 .

The joint structure 310 has two connection ends, the connection ends are circular, and are rotatably connected with adjacent components.

The joint structure 310 includes: a joint body 311 , a rear cover 312 and a connection cover 313 . The joint body 311 has a wiring hole 311-1, a reducer mounting flange 311-2 and a motor mounting flange 311-3, and the motor 330 and the reducer 320 are fixedly installed respectively.

The reducer 320 and the motor 330 are fixed on the joint body 311; the wires are routed through the routing hole 311-1.

The joint structural parts are used as the fixing seat of the motor and the reducer, and at the same time play a protective role. There is a through hole at the place where the structural part is connected to the output of the previous joint, which is used for routing cables for the electrical connection between the joints. After the wires output from the previous joint are bundled together, they pass through the through hole and merge with the wires of the current joint.

This structure is applicable to various types of joints, such as rotary joints, swing joints, etc. The structures of different types of joints are slightly different.

Claims (6)

1. for an integral structure part for robot, it is characterized in that: comprise articulation structure part, motor, wire and decelerator;

Described articulation structure part has two links, and described link is circular, is rotatably connected with adjacent component; Described articulation structure part also has cable hole; Described articulation structure has other electric component mounting interface;

Described motor and described decelerator are fixed on described articulation structure part;

Described wire is connected to other electric component of described motor and installation by described cable hole.

2. as claimed in claim 1 for the integral structure part of robot, it is characterized in that: two described links one are input, and another is output.

3., as claimed in claim 1 for the integral structure part of robot, it is characterized in that: described articulation structure part comprises joint body, bonnet and connection cover.

4., as claimed in claim 3 for the integral structure part of robot, it is characterized in that: described joint body has two mounting flanges, fixedly mounts described motor and decelerator respectively.

5. as claimed in claim 3 for the integral structure part of robot, it is characterized in that: described cable hole is arranged on the body of described joint, cable is by inner space transmitting power and control signal.

6. a mechanical arm structure for robot, is characterized in that: have several as the integral structure part for robot as described in any one in claim 1 to 5; Adjacent two described links are rotatably connected.