CN104959977A - Turning equipment for mechanical arm - Google Patents
Turning equipment for mechanical arm Download PDFInfo
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- CN104959977A CN104959977A CN201510358742.6A CN201510358742A CN104959977A CN 104959977 A CN104959977 A CN 104959977A CN 201510358742 A CN201510358742 A CN 201510358742A CN 104959977 A CN104959977 A CN 104959977A
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- mechanical arm
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Abstract
The invention relates to turning equipment for a mechanical arm. The turning equipment for the mechanical arm is composed through the connection of a turning drive portion, a flange connecting portion and a shell portion. The turning drive portion comprises a servo motor, a reducer, a connecting sleeve, a separating sleeve, a locking pad and a flat key. The flange connecting portion comprises a transiting flange and a bolt. The shell portion comprises a shell and a shell end cover. The turning drive portion is connected with the shell portion overall through the bolt. According to the turning equipment for the mechanical arm, the servo motor and the reducer are connected directly, an output shaft of the reducer is connected with the mechanical arm and another tuning joint directly, and multi-joint direct-connecting equipment is formed; the structure is simple, the performance is reliable, and when the turning equipment is assembled, modular combination of the tuning equipment and the other joints or mechanical arms can be achieved according to the requirement of a customer. Components such as gears and cog belts used in traditional turning equipment for the mechanical arm are not adopted, precision lowering caused by repetitive operation and abrasion of the equipment for long time is avoided effectively, the production efficiency is improved greatly, safe construction is guaranteed, and more value is created for enterprises maximally.
Description
Technical field
The present invention relates to a kind of plant equipment, particularly a kind of mechanical arm apparatus for rotating.
Background technology
At present; along with further developing of industrialization of the country process; constantly riseing of the price of labour power; and in the manual work situation of the working condition of high-risk, high pollution; more should realize as early as possible using mechanized equipment; improve production line percent of automatization and under the prerequisite of protection labourer health of human body safety, to increase work efficiency to greatest extent, Improving The Quality of Products, reduction production cost.Existing such device-specific is abroad comparatively strong, and the scope of application is also restricted, and equipment investment cost return rate is also lower.Such as, the mechanism such as gear, cog belt is usually adopted in traditional mechanical arm apparatus for rotating; This just unavoidable equipment rerun for a long time and bring wearing and tearing and the precision that causes reduces.
Therefore, provide that a kind of structure is simple, reasonable in design, with low cost, applicability is strong, easy to operate, safe and reliable, the mechanical arm apparatus for rotating that production efficiency is high, becomes one of these those skilled in the art problem anxious to be addressed.
Summary of the invention
The object of the invention is to overcome above-mentioned weak point, provide that a kind of structure is simple, the significant mechanical arm apparatus for rotating of dependable performance, effect.
The technical solution adopted in the present invention is for achieving the above object: a kind of mechanical arm apparatus for rotating, it is characterized in that this equipment connects to form by turning round drive part, Flange joint part and housing parts;
Described revolution drive part comprises servomotor, reductor, adapter sleeve, spacer, stop pad and flat key; Described servomotor is located by seam and is connected with adapter sleeve with bolt; Described reductor is connected with adapter sleeve transition by bolt, and is arranged on servomotor shaft by center positioning hole; Described reductor is connected by flat key and realizes synchronized links with servomotor; Described spacer is arranged on servomotor shaft; Described stop pad to be arranged on spacer and to be fastened by bolts and goes out on the center screw of axle head at servomotor;
Described Flange joint part comprises counter flange; Described counter flange is bolted and is fixed on reductor;
Described housing parts comprises housing and housing end plug; Described housing realizes being fastenedly connected by bolt and Flange joint part; Described housing end plug is bolted and is fixed on housing tail end;
Described revolution drive part entirety is connected with housing parts by bolt;
This equipment adopts servomotor and reductor direct connection, speed reducer output shaft and mechanical arm or another revolute joint direct connection, formation multi-joint directly connected device.
Revolution drive part in this equipment is made up of horizontal rotation body and vertical revolving body two parts; Horizontal rotation body and vertical revolving body adopt servomotor, reductor and housing to keep coaxial connection respectively; Adopt counter flange to connect between horizontal rotation body and vertical revolving body, counter flange and housing are 90 ° of angles by seam position assurance two revolving body of counter flange self.
Described counter flange is provided with the connecting hole connecting next group turn-around machine mechanical arm or other mechanical arm.
Described counter flange and housing all adopt 304 stainless steels to make.
The invention has the beneficial effects as follows: adopt servomotor and reductor direct connection, speed reducer output shaft and mechanical arm or another joint direct connection; Its structure is simple, connects reliable, can realize modular combine when assembling by user's request and other joint or mechanical arm.Owing to not adopting the parts such as gear, cog belt used in traditional mechanical arm apparatus for rotating; The equipment that effectively prevent reruns wearing and tearing and the precision that causes reduces for a long time.Adopt the mode of motor and reductor and mechanical arm or another revolute joint direct connection, can greatly improve running precision and reliability.Due to complete equipment design concept advantages of simple, therefore convenient processing and manufacture, simple, cheap, security is high; And due to this equipment adopt flexibility design theory, there is the features such as extensibility is strong, versatility is wide; Combination, the dismounting of multiple mechanical arm unit can be carried out according to actual needs, meet Production requirement to greatest extent.In addition the versatility of mechanical arm is comparatively strong, and accommodation is extensive, production system can be made changes in market demand and adapt to fast, can eliminate the consumption that redundancy is useless; Simultaneously can greatly enhance productivity and reduce security incident, maximizedly create more multivalence value for enterprise.
In a word, this equipment has filled up the blank of domestic and international correlation technique, reduces in equipment manufacture production cost, the effective guarantee production safety of manufacturing manufacturer, improves production efficiency.This device structure is reasonable in design, processing and manufacturing simple, low production cost, production efficiency are high, effect highly significant.
Accompanying drawing explanation
Fig. 1 is structure cross-sectional schematic of the present invention;
In figure:
Revolution drive part:
1-1 servomotor, 1-2 reductor, 1-3 adapter sleeve, 1-4 spacer, 1-5 stop pad, 1-6 flat key;
Flange joint part:
2-1 counter flange;
Housing parts:
3-1 housing, 3-2 housing end plug.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, to according to detailed description of the invention provided by the invention, structure, feature, details are as follows:
As shown in Figure 1, a kind of mechanical arm apparatus for rotating, this equipment connects to form by turning round drive part, Flange joint part and housing parts;
Described revolution drive part comprises: servomotor 1-1, reductor 1-2, adapter sleeve 1-3, spacer 1-4, stop pad 1-5 and flat key 1-6; Described servomotor 1-1 is located by seam and is connected with adapter sleeve 1-3 with bolt; Described reductor 1-2 is connected with adapter sleeve 1-3 transition by bolt, and is arranged on servomotor 1-1 shaft by center positioning hole; Described reductor 1-2 is connected by flat key 1-6 and realizes synchronized links transmission with servomotor 1-1; Described spacer 1-4 is arranged on servomotor 1-1 shaft; Described stop pad 1-5 to be arranged on spacer 1-4 and to be fastened by bolts to go out on the center screw of axle head at servomotor 1-1, thus realize spacer 1-4, stop pad 1-5 fixing.
Described Flange joint part comprises counter flange 2-1; Described counter flange 2-1 is bolted and is fixed on reductor 1-2.
Described housing parts comprises housing 3-1 and housing end plug 3-2; Described housing 3-1 realizes being fastenedly connected by bolt and Flange joint part; Described housing end plug 3-2 is bolted and is fixed on housing 3-1 tail end.
Described revolution drive part entirety is connected with housing parts by bolt.
This equipment adopts servomotor and reductor direct connection, speed reducer output shaft and mechanical arm or another revolute joint direct connection, formation multi-joint directly connected device.
Revolution drive part in this equipment is made up of horizontal rotation body and vertical revolving body two parts; The servomotor 1-1 adopted in horizontal rotation body, reductor 1-2 and housing 3-1 keep coaxially being connected; The servomotor 1-1 adopted in vertical revolving body, reductor 1-2 and housing 3-1 keep coaxially being connected.Counter flange 2-1 is adopted to connect between horizontal rotation body and vertical revolving body, counter flange 2-1 and housing 3-1 is located by the seam of counter flange 2-1 self thus ensures that two revolving bodies are 90 ° of angles, successfully realizes vertical revolving body around the rotation of 360 °, horizontal rotation body center.
Described counter flange 2-1 is provided with the connecting hole connecting next group turn-around machine mechanical arm or other mechanical arm; Connecting hole on counter flange 2-1 can process customization according to specific needs, has stronger Installation Flexibility.
Described counter flange 2-1 and housing 3-1 all adopts 304 stainless steels to make; The stainless steel material of the more common series of this material rustless property has stronger rust-preventing characteristic, also has stronger corrosion resistance, the working environment that special adaptation is more severe.
In this part the setting of each parts and action character as follows:
Servomotor 1-1 can adopt the servomotor of standard, and servomotor 1-1 itself is provided with the screw and through hole installed with related components, power resources main when this motor works as this equipment.
Reductor 1-2 can adopt the harmonic wave speed reducing machine of standard, to be connected and to be connected with servomotor 1-1 by bolt with adapter sleeve 1-3.
Adapter sleeve 1-3 can adopt LY12 (duralumin, hard alumin ium alloy) materials processing to make, wherein workpiece two surface equal processing precise seam in processing and manufacturing process, the Main Function of seam ensures the location of servomotor 1-1 and the location of reductor 1-2 installation in installation process, also can ensure the axiality both ensureing after servomotor 1-1 and reductor 1-2 assembles.Surface of the work also carries out oxidation processes, and material itself has the advantages such as good rigidly, quality is light, tailored appearance is attractive in appearance; Upper and lower surface arranges mounting flange, and upper mounting flange is located by seam and used bolt and servomotor 1-1 to fix, and lower mounting flange is bolted and is connected with reductor 1-2.
Spacer 1-4 can adopt LY12 (duralumin, hard alumin ium alloy) materials processing to make, and workpiece two sides adopts accurate machined, is arranged on servomotor 1-1 shaft, thus realizes the compact siro spinning technology of servomotor 1-1 and reductor 1-2, ensures the integrality of assembling.
Stop pad 1-5 can adopt LY12 (duralumin, hard alumin ium alloy) materials processing to make, and is arranged on servomotor 1-1 and goes out shaft end head, and is fixed by spacer 1-4 and stop pad 1-5 by the screw at bolt and servomotor 1-1 shaft center.
Flat key 1-6 can adopt commercially available GB flat key.
Described Flange joint part comprises: counter flange 2-1; Counter flange 2-1 and servomotor 1-1 and reductor 1-2 is located by seam and is bolted connection.
In this part the setting of each parts and action character as follows:
Counter flange 2-1 adopts 0Cr18Ni9(304 stainless steel) materials processing forms, counter flange 2-1 two sides all adopts Precision Machining, and process corresponding seam according to the size of installed servomotor 1-1 and reductor 1-2 installing location dimension, thus realize the accurate location of assembling.Can punch according to actual needs and connect next group revolving body (joint) or other revolving body (joint).
Described housing parts comprises: housing 3-1 and housing end plug 3-2; Housing end plug 3-2 and housing 3-1 is bolted, and housing 3-1 is with bolts with revolution drive part.
In this part the setting of each parts and action character as follows:
Housing 3-1 adopts 0Cr18Ni9(304 stainless steel) material Welding Structure, the perpendicularity of installed surface and housing horizontal centre should be ensured in welding process, ensure that angle is 90 °.And being bolted fixing according to concrete installation dimension processing mounting holes, described revolution drive part, constitutes the Power output source of revolving body.It is high that this material has carrying, good stability, the features such as smooth in appearance non-corrosive durable in use, and effectively can prevent dust and foreign material, ensures to use well, and housing can determine length according to actual needs.
Housing end plug 3-2 adopts LY12 (duralumin, hard alumin ium alloy) materials processing to form, and surface increases its toughness and hardness through oxidation processes, improves service life, is provided with erection opening, is threaded connection and is fixed on housing 3-1 tail end.
Operation principle and main structure:
Revolution drive part: its structure major part assembling is with bolts, and processing and manufacturing is simple, and installation and transportation are convenient.Rational structural design can increase rigidity and the stability of whole equipment.Servomotor can the commercially available mountain foreign brand servomotor of selection standard as the active force output source of this complete equipment, and carry out transmission by adopting with the mode of harmonic wave speed reducing machine direct connection, basic mechanical wearing and tearing, break away from the mechanical wear brought by the traditional mode such as gear, cog belt etc. cleverly comparatively large, repeatedly the longevity of service situation that causes operating accuracy to reduce.Adopt the mode of servomotor and harmonic wave speed reducing machine direct connection that the operating accuracy of equipment can be made greatly to promote in addition, reliability is strong.
Flange joint part: adopt 0Cr18Ni9(304 stainless steel), it is high that this material has carrying, good stability, the features such as smooth in appearance non-corrosive durable in use, side is used for connecting reductor, opposite side is mainly used to the revolute joint or the work handgrip that connect next stage, and an installing hole of flange can be processed according to concrete installation dimension, has the features such as strong adaptability, versatility are wide.
Housing parts: its structure is mainly used for above-mentioned revolution drive part to fix and makes it to be connected with Flange joint part; Effect is on the other hand to protect revolution drive part, adopts 0Cr18Ni9(304 stainless steel) material Welding Structure, be provided with installing hole and be bolted fixing described revolution drive part, constitute the Power output source of revolving body.It is high that this material has carrying, good stability, the features such as smooth in appearance non-corrosive durable in use, and effectively can prevent dust and foreign material, ensures to use well.
In a word, this equipment mechanical arm apparatus for rotating can meet carrying under maximum 5KG load behavior, rotation; Can be arranged on walking arrangement as required, this complete equipment can establish according to actual needs independent electrical control system with it with the use of, thus realize the full automation of the course of work, only need carry out comprehensive debugging, after debugging, almost without the need to manual intervention in the course of work afterwards.
This primary parameters of test apparatus:
Workpiece maximum appearance and size 300mmX140mm × 120mm;
Maximum load 5KG can be grabbed.
Can make series connection joint type as required, very convenient during application, rational structural design can save the commissioning test time greatly, effectively reduces production cost, enhances productivity.
The major function following (to carry article) of this equipment:
The corresponding handgrip of the workpiece of this station is picked up, is transported to next station; Repeat single action.
This device structure is reasonable in design, performance safety reliable, is convenient to processing and manufacturing, assembling, transport, installation, and easy to maintenance.More this complete equipment can overlap and be together in series, and forms a small-sized industrial robot; All external structures are 304 stainless steels, and corrosion resistance is high, can be used for the industry of the particular/special requirements such as food processing.
The features such as this complete equipment has compact conformation, lightweight, precision is high and secondary operations assembling is strong, can realize efficiently in various manufacturing, automation mechanized operation easily; For enterprise reduces employment cost, enhance productivity, the level of risk management improving production quality and enterprise has important effect.
The present invention is the mechanical arm apparatus for rotating designed in line with flexible modularized design concept, can be widely used in the manufacturing of light, heavy industry; Can need to carry out multi-joint transmission series connection according to actual condition and meet job requirement.
Above-mentioned reference embodiment, to the detailed description of mechanical arm apparatus for rotating, is illustrative instead of determinate; Therefore in the change do not departed under general plotting of the present invention and amendment, should belong within protection scope of the present invention.
Claims (4)
1. a mechanical arm apparatus for rotating, is characterized in that this equipment connects to form by turning round drive part, Flange joint part and housing parts;
Described revolution drive part comprises servomotor, reductor, adapter sleeve, spacer, stop pad and flat key; Described servomotor is located by seam and is connected with adapter sleeve with bolt; Described reductor is connected with adapter sleeve transition by bolt, and is arranged on servomotor shaft by center positioning hole; Described reductor is connected by flat key and realizes synchronized links with servomotor; Described spacer is arranged on servomotor shaft; Described stop pad to be arranged on spacer and to be fastened by bolts and goes out on the center screw of axle head at servomotor;
Described Flange joint part comprises counter flange; Described counter flange is bolted and is fixed on reductor;
Described housing parts comprises housing and housing end plug; Described housing realizes being fastenedly connected by bolt and Flange joint part; Described housing end plug is bolted and is fixed on housing tail end;
Described revolution drive part entirety is connected with housing parts by bolt;
This equipment adopts servomotor and reductor direct connection, speed reducer output shaft and mechanical arm or another revolute joint direct connection, formation multi-joint directly connected device.
2. mechanical arm apparatus for rotating according to claim 1, is characterized in that the revolution drive part in this equipment is made up of horizontal rotation body and vertical revolving body two parts; Horizontal rotation body and vertical revolving body adopt servomotor, reductor and housing to keep coaxial connection respectively; Adopt counter flange to connect between horizontal rotation body and vertical revolving body, counter flange and housing are 90 ° of angles by seam position assurance two revolving body of counter flange self.
3. mechanical arm apparatus for rotating according to claim 1, is characterized in that described counter flange is provided with the connecting hole connecting next group turn-around machine mechanical arm or other mechanical arm.
4. mechanical arm apparatus for rotating according to claim 1, is characterized in that described counter flange and housing all adopt 304 stainless steels to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510358742.6A CN104959977A (en) | 2015-06-26 | 2015-06-26 | Turning equipment for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510358742.6A CN104959977A (en) | 2015-06-26 | 2015-06-26 | Turning equipment for mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104959977A true CN104959977A (en) | 2015-10-07 |
Family
ID=54214148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510358742.6A Pending CN104959977A (en) | 2015-06-26 | 2015-06-26 | Turning equipment for mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104959977A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345840A (en) * | 2015-12-15 | 2016-02-24 | 山东大学齐鲁医院 | Rotary driving joint |
| CN107856053A (en) * | 2017-11-23 | 2018-03-30 | 深圳市优必选科技有限公司 | Joint steering wheel and robot |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
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| CN204868866U (en) * | 2015-06-26 | 2015-12-16 | 天津市福臻机电工程有限公司 | Arm gyration equipment |
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| CN1807032A (en) * | 2006-02-28 | 2006-07-26 | 哈尔滨工业大学 | Modularized joint of space manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345840A (en) * | 2015-12-15 | 2016-02-24 | 山东大学齐鲁医院 | Rotary driving joint |
| CN107856053A (en) * | 2017-11-23 | 2018-03-30 | 深圳市优必选科技有限公司 | Joint steering wheel and robot |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN107901075B (en) * | 2017-11-28 | 2023-12-01 | 天津扬天科技有限公司 | Joint module adopted by multi-degree-of-freedom hollow cooperative mechanical arm |
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Application publication date: 20151007 |
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