CN207273259U - A kind of innovative robot movable arm - Google Patents

Abstract

The utility model discloses a kind of innovative robot movable arm, including the first movable axis and the second movable axis, it is rotation connection between first movable axis and the second movable axis, the described one end of second movable axis away from the first movable axis is equipped with clamping device, the described one end of first movable axis away from the second movable axis is rotatably connected to connecting shaft, telescopic device is equipped between first movable axis and the second movable axis, the clamping device includes a pair of of pulling shaft and folder axis, it is rotation connection between two folder axis, the side of two folder axis is equipped with fixed block, the pulling shaft is rotatablely connected by fixed block and folder axis.The utility model is easy to operate, pass through the mutual cooperation of the first movable axis, the second movable axis, folder axis, pulling shaft, worm gear, worm screw and telescopic device, it is simple in structure, the object of energy epharmosis different distance, and the carrying of increased asessory shaft energy Helpers, provide a kind of innovative robot movable arm for user.

Description

A kind of innovative robot movable arm

Technical field

It the utility model is related to robotic technology field, more particularly to a kind of innovative robot movable arm.

Background technology

Robot is divided into two major classes, i.e. industrial robot and special type by the roboticist of China from application environment Robot, so-called industrial robot are exactly the multi-joint manipulator or multi-freedom robot towards industrial circle, and extraordinary machine Device people is then in addition to industrial robot, for nonmanufacturing industry and serves the various sophisticated machine people of the mankind, and robot is The installations of automated execution work, it can not only receive mankind commander, but also can run the program of advance layout, can also root The principle guiding principle action that artificial intelligence technology is formulated according to this, its task are assistance or the work for substituting human work, such as raw Industry, construction industry, or dangerous work, its arm generally use space open chain linkage, kinematic pair (revolute pair therein Or prismatic pair) joint is frequently referred to, joint number is usually the number of degrees of freedom, of robot, since the arm of robot uses mostly Open chain linkage, is compared with heavy-duty machinery, it is impossible to heavier object is operated, robot is easily because center of gravity reason is made Into operational failure, it is impossible to flexibly use.

Utility model content

The purpose of this utility model is in order to solve shortcoming existing in the prior art, such as：Existing robot is when progress During simple mechanical action, larger gravity can not be often born, and a kind of innovative robot movable arm proposed.

To achieve these goals, the utility model employs following technical solution：

A kind of innovative robot movable arm, including the first movable axis and the second movable axis, first movable axis and It is rotation connection between second movable axis, the described one end of second movable axis away from the first movable axis is equipped with clamping device, described The one end of first movable axis away from the second movable axis is rotatably connected to connecting shaft, between first movable axis and the second movable axis Equipped with telescopic device, the clamping device includes a pair of of pulling shaft and presss from both sides axis, is rotation connection, two institutes between two folder axis The side for stating folder axis is equipped with fixed block, and the pulling shaft is rotatablely connected by fixed block and folder axis, and second movable axis is equipped with Sliding slot, worm screw is slidably connected in the sliding slot, and the one end of two pulling shafts away from fixed block is rotated with the second movable axis to be connected Connecing, the both sides of the worm screw are arranged with worm gear, are to engage connection between the worm gear and worm screw, and the one of second movable axis Side is equipped with the second motor, and the telescopic device includes telescopic shaft and telescopic, and second movable axis is rotatablely connected with telescopic, The telescopic is equipped with slot, and the telescopic shaft is plugged on slot, and the opening of the telescopic is equipped with thread groove, described To be threadedly coupled between telescopic shaft and thread groove, the telescopic is equipped with the first motor, and the drive end of first motor turns Dynamic to be connected with the first drive shaft, first drive shaft passes through telescopic, is screw thread between first drive shaft and telescopic shaft Connection, is rotation connection between the telescopic shaft and connecting shaft.

Preferably, the drive end of second motor is rotatably connected to the second drive shaft, second drive shaft with wherein One worm gear rotation connection.

Preferably, the one end of the telescopic shaft away from connecting shaft is equipped with limited block, is between the limited block and connecting shaft Rotation connection, the slot is interior to be equipped with the first spring, and first spring is fixedly connected with limited block.

Preferably, second spring is equipped with the sliding slot, the second spring is fixedly connected with one end of worm screw.

Preferably, the telescopic fixing sleeve is connected to protective case, and first motor is arranged in protective case, and described first The one end of drive shaft away from the first motor is located in protective case.

Preferably, the inner wall of the folder axis is equipped with protective layer, and the material of the protective layer is antiseptic rubber, the protection Layer is equipped with anti-skid chequer.

Compared with prior art, the beneficial effects of the utility model are：When user uses the device, start the first electricity Machine, the drive end of the first motor drive the first drive shaft turns, and the first drive shaft drives the rotation of telescopic shaft by screw thread, due to Telescopic shaft is to be threadedly coupled with one end of telescopic, covers relative telescopic when telescopic shaft rotates and slides, so that telescopic shaft is with stretching The distance between set will increase, so that robot arm will extend, start the second motor, the rotation of the second motor drive terminal drives The rotation of second drive shaft, the second drive shaft turns drive worm gear to rotate, and to engage connection between worm gear and worm screw, worm screw will be Being moved on sliding slot, the movement of the mobile drive pulling shaft of worm screw, pulling shaft drives folder axis by fixed block, and two folder axis relatively rotate, So as to fulfill the clamping action for object, the device is easy to operate, by the first movable axis, the second movable axis, folder axis, pulling shaft, The mutual cooperation of worm gear, worm screw and telescopic device, simple in structure, the object of energy epharmosis different distance, and increased auxiliary The carrying of axis energy Helpers, a kind of innovative robot movable arm is provided for user.

Brief description of the drawings

Fig. 1 be the utility model proposes a kind of innovative robot movable arm structure diagram；

Fig. 2 is the structure diagram at A in Fig. 1.

In figure：1 fixed block, 2 folder axis, 3 pulling shafts, 4 worm gears, 5 worm screws, 6 second movable axis, 7 first movable axis, 8 connecting shafts, 9 telescopic shafts, 10 limited blocks, 11 first springs, 12 telescopics, 13 protective cases, 14 first motors, 15 first drive shafts.

Embodiment

The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.

In the description of the utility model, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", The orientation or position relationship of the instruction such as " top ", " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position relationship, are only Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific Orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.

With reference to Fig. 1-2, a kind of innovative robot movable arm, including the first movable axis 7 and the second movable axis 6, first It is rotation connection between 7 and second movable axis 6 of movable axis, the one end of the second movable axis 6 away from the first movable axis 7 is equipped with clamping and fills Put, the one end of the first movable axis 7 away from the second movable axis 6 is rotatably connected to connecting shaft 8, the first movable axis 7 and the second movable axis 6 Between be equipped with telescopic device, clamping device includes a pair of of pulling shaft 3 and folder axis 2, is rotation connection, two folders between two folder axis 2 The side of axis 2 is equipped with fixed block 1, and pulling shaft 3 is rotatablely connected by fixed block 1 and folder axis 2, and the inner wall of folder axis 2 is equipped with protective layer, The material of protective layer is antiseptic rubber, and protective layer is equipped with anti-skid chequer, due to needing that object is clamped by pressing from both sides axis 2, is prevented Rotten rubber is in order to avoid causing to wear to object, and anti-skid chequer prevents from skidding, and the second movable axis 6 is equipped with sliding slot, is slided in sliding slot It is dynamic to be connected with worm screw 5, second spring is equipped with sliding slot, second spring is fixedly connected with one end of worm screw 5, connects by second spring Worm screw 5 is connect, second spring plays spacing effect, controls the scope of activities of worm screw 5, two one end of pulling shaft 3 away from fixed block 1 It is rotatablely connected with the second movable axis 6, the both sides of worm screw 5 are arranged with worm gear 4, to engage connection between worm gear 4 and worm screw 5, the The side of two movable axis 6 is equipped with the second motor, and the drive end of the second motor is rotatably connected to the second drive shaft, the second drive shaft with One of worm gear 4 is rotatablely connected, and the drive end of the second motor drives the rotation of the second drive shaft, and the second drive shaft drives worm gear 4 rotate, and the rotation of worm gear 4 drives the movement of worm screw 5, and worm screw 5 realizes the clamping effect of two folder axis 2 by pulling shaft 3, and stretch dress Put and be rotatablely connected including telescopic shaft 9 and telescopic 12, the second movable axis 6 with telescopic 12, telescopic 12 is equipped with slot, stretches Axis 9 is plugged on slot, and the opening of telescopic 12 is equipped with thread groove, to be threadedly coupled between telescopic shaft 9 and thread groove, is stretched Set 12 is equipped with the first motor 14, and the drive end of the first motor 14 is rotatably connected to the first drive shaft 15, and the first drive shaft 15 is worn Telescopic 12 is crossed, to be threadedly coupled between the first drive shaft 15 and telescopic shaft 9,12 fixing sleeve of telescopic is connected to protective case 13, the One motor 14 is arranged in protective case 13, and the one end of the first drive shaft 15 away from the first motor 14 is located in protective case 13, avoids One end of first motor 14 and the first drive shaft 15 exposes in the environment, is encapsulated by protective case 13, prevents equipment to be damaged, It is rotation connection between telescopic shaft 9 and connecting shaft 8, the one end of telescopic shaft 9 away from connecting shaft 8 is equipped with limited block 10, limited block 10 It is rotation connection between connecting shaft 8, the first spring 11 is equipped with slot, the first spring 11 is fixedly connected with limited block 10, limit Position block 10 plays spacing effect, and the first spring 11 and limited block 10 control the maximum range of activities of telescopic shaft 9.

In the utility model, when user uses the device, start the first motor 14, the drive end of the first motor 14 drives First drive shaft 15 rotates, and the first drive shaft 15 drives the rotation of telescopic shaft 9 by screw thread, due to telescopic shaft 9 and telescopic 12 One end for be threadedly coupled, telescopic shaft 9 rotate when by relative telescopic set 12 slide so that between telescopic shaft 9 and telescopic 12 Distance will increase, so that robot arm will extend, start the second motor, the rotation of the second motor drive terminal drives second to drive The rotation of axis, the second drive shaft turns drive worm gear 4 to rotate, and to engage connection between worm gear 4 and worm screw 5, worm screw 5 will be in sliding slot Upper movement, the movement of the mobile drive pulling shaft 3 of worm screw 5, pulling shaft 3 drive folder axis 2 by fixed block 1, and two folder axis 2 are opposite to be turned It is dynamic, so as to fulfill the clamping action for object.

The above, is only the preferable embodiment of the utility model, but the scope of protection of the utility model is not This is confined to, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality New technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model Within enclosing.

Claims (6)

1. a kind of innovative robot movable arm, including the first movable axis (7) and the second movable axis (6), first activity It is rotation connection between axis (7) and the second movable axis (6), it is characterised in that second movable axis (6) is away from the first movable axis (7) one end is equipped with clamping device, and the one end of first movable axis (7) away from the second movable axis (6) is rotatably connected to connection Axis (8), is equipped with telescopic device between first movable axis (7) and the second movable axis (6), the clamping device includes a pair of draw Axis (3) and folder axis (2), are equipped with fixed block between two folders axis (2) for rotation connection, the sides of two folder axis (2) (1), the pulling shaft (3) is rotatablely connected by fixed block (1) and folder axis (2), and second movable axis (6) is equipped with sliding slot, institute State and worm screw (5) is slidably connected in sliding slot, the one end of two pulling shafts (3) away from fixed block (1) turns with the second movable axis (6) Dynamic connection, the both sides of the worm screw (5) are arranged with worm gear (4), are to engage connection, institute between the worm gear (4) and worm screw (5) The side for stating the second movable axis (6) is equipped with the second motor, and the telescopic device includes telescopic shaft (9) and telescopic (12), described Second movable axis (6) is rotatablely connected with telescopic (12), and the telescopic (12) is equipped with slot, and the telescopic shaft (9) plugs On slot, the opening of the telescopic (12) is equipped with thread groove, and the telescopic shaft (9) connects between thread groove for screw thread Connect, the telescopic (12) is equipped with the first motor (14), and the drive end of first motor (14) is rotatably connected to the first drive Moving axis (15), first drive shaft (15) pass through telescopic (12), are between first drive shaft (15) and telescopic shaft (9) It is threadedly coupled, is rotation connection between the telescopic shaft (9) and connecting shaft (8).

A kind of 2. innovative robot movable arm according to claim 1, it is characterised in that the drive of second motor Moved end is rotatably connected to the second drive shaft, and second drive shaft is rotatablely connected with one of worm gear (4).

3. a kind of innovative robot movable arm according to claim 1, it is characterised in that the telescopic shaft (9) is remote One end from connecting shaft (8) is equipped with limited block (10), is rotation connection between the limited block (10) and connecting shaft (8), described The first spring (11) is equipped with slot, first spring (11) is fixedly connected with limited block (10).

4. a kind of innovative robot movable arm according to claim 1, it is characterised in that the is equipped with the sliding slot Two springs, the second spring are fixedly connected with the one end of worm screw (5).

5. a kind of innovative robot movable arm according to claim 1, it is characterised in that the telescopic (12) is solid Surely protective case (13) is socketed with, first motor (14) is arranged in protective case (13), and first drive shaft (15) is remote One end of first motor (14) is located in protective case (13).

6. a kind of innovative robot movable arm according to claim 1, it is characterised in that described to press from both sides the interior of axis (2) Wall is equipped with protective layer, and the material of the protective layer is antiseptic rubber, and the protective layer is equipped with anti-skid chequer.