CN101077579A - Multi-joint flexible mechanical arm - Google Patents

Abstract

The multi-joint flexible manipulator belongs to the flexible robot. Its purpose is to reduce its own weight and increase the degree of freedom. It can be used as a supporting part of the end manipulator to meet the requirements of assembly, quality inspection, spraying and other multi-degree-of-freedom poses and obstacle avoidance applications. The present invention includes M serial identical joint modules installed on the base, each joint module is composed of a torsion joint and a bending joint, the torsion joint drives the bending joint and subsequent joint modules to rotate around the axis of the joint, and it contains torsion input Reversing gear set, torsion clutch set, torsion output reversing gear set, torsion reducer, torsion drive arm and spur gear planetary gear train; the bending joint drives the subsequent joint module to rotate around the axis of the joint reducer, which includes bending input reversing Gear set, curved clutch set, curved output reversing gear set, curved reducer, curved drive arm and bevel planetary gear train. The module of the invention is standardized, has great flexibility, light weight, multiple degrees of freedom and strong expansibility.

Description

Multi-joint flexible robotic arm

technical field

The invention belongs to flexible robots, in particular to a multi-joint, highly flexible, and large-range moving mechanical arm.

Background technique

The multi-joint flexible manipulator is a component that provides support for the manipulator. The manipulator is required to be lightweight and flexible so that the end effector can reach the target position in multiple directions. Usually, the mechanical arm is driven by multiple motors. For example, the mechanical arm assembled on the ETS-VII is composed of 6 joints in series, about 2 meters long, and weighs about 150kg. Each joint is composed of a brushless DC motor and a harmonic reducer. Drive, the output force and torque at the end of the mechanical arm are 40N and 10Nm respectively. Compared with its own weight, the load capacity of the mechanical arm is very small. The use of a motor-driven multi-joint light-duty serial manipulator has not been reported yet.

Contents of the invention

The invention provides a multi-joint flexible mechanical arm, which aims to reduce its own weight and increase the degree of freedom, so as to serve as a supporting component of various end manipulators, and realize the requirements of multi-degree-of-freedom poses and obstacle avoidance applications such as assembly, quality inspection, and spraying. .

The multi-joint flexible mechanical arm of the present invention includes M identical joint modules connected in series installed on the base, wherein each joint module is composed of a torsion joint and a bending joint, and M is 1-10;

The torsion joint drives the bending joint and subsequent joint modules to rotate around the axis of the joint. The torsion joint includes a torsion input reversing gear set, a torsion clutch set, a torsion output reversing gear set, a torsion reducer, a torsion drive arm and a spur gear planetary wheel The main motion of the motor shaft transmits the high-speed motion to the spur gear planetary gear train through the torsional input reversing gear set, which is output to the bending joint; the motor shaft motion is transmitted to the torsional output through the torsional input reversing gear set and the torsional clutch set The reversing gear set is transmitted to the torsion reducer, which drives the torsion drive arm to rotate, and the torsion clutch set provides the three states of forward rotation, reverse rotation and braking of this joint;

The bending joint drives the subsequent joint module to rotate around the axis of the joint reducer. The bending joint includes a bending input reversing gear set, a bending clutch set, a bending output reversing gear set, a bending reducer, a bending drive arm and a bevel planetary gear train , the main motion is transmitted to the bevel gear planetary gear train through the bending input reversing gear set, and then output to the next joint module; the main motion is transmitted from the bending input reversing gear set to the bending output reversing through the bending clutch set The gear set is transmitted to the bending reducer, which drives the bending drive arm to rotate, and the bending clutch set provides the joint with three states of forward rotation, reverse rotation and braking;

The torsion driving arm of the torsion joint is connected with the torsion clutch box of the torsion joint through screws to realize the connection between the torsion joint and the torsion joint; the torsion joint of the torsion joint in the former joint module is screwed with the torsion clutch box of the torsion joint in the latter joint module The connection between the joint modules is realized; the rotational motion generated by the motor in the base is sequentially transmitted to the end of the mechanical arm through the gear trains in each joint module.

The multi-joint flexible robotic arm is further characterized in that: the torsion joint and the bending joint of the joint module are equipped with position, speed, acceleration sensors and controllers to detect and control the rotation angle, speed, and angle of the joint in real time. acceleration.

The modules of the present invention are standardized, and a plurality of similar joint modules are connected in series to form a mechanical arm. Each joint is an independent motion control unit. The axes of adjacent joints are orthogonal and can be driven by controlling the clutch group inside the joint. Joints, and finally make the end of the mechanical arm reach the specified position; according to the needs, more joints can be connected in series on the end joint to realize the extension of the axial dimension of the mechanical arm, achieve great flexibility, and have a high load-to-weight ratio.

Description of drawings

Fig. 1 is the front view of the embodiment of the present invention;

Fig. 2A is the front view of the torsion joint in the embodiment of the present invention;

Figure 2B is a left side view of Figure 2A;

Fig. 2 C is A-A sectional view among Fig. 2 A;

Fig. 3A is the front view of the bending joint in the embodiment of the present invention;

Fig. 3B is a left side view of Fig. 3A.

Fig. 3 C is B-B sectional view among Fig. 3 A;

Marks in the figure: base 1, twist joint 2, bend joint 3, twist left reversing gear 4, twist left clutch shaft 5, twist input center gear 6, twist input shaft 7, twist overwheel 8, twist right clutch shaft 9 , reverse the right reversing gear 10, reverse the clutch box 11, reverse the right clutch 12, reverse the right reversing output gear 13, reverse the support arm 14, reverse the main shaft 15, reverse the input planetary gear 16, reverse the sun gear 17, reverse the output planetary gear 18. Twist output shaft 19, Twist main motion output gear 20, Twist drive arm 21, Twist reducer 22, Twist main input gear 23, Twist brake 24, Twist left reversing output gear 25, Twist left clutch 26, Twist input gear 27. Bend overwheel 28, bend reversing gear 29, bend right clutch shaft 30, bend center clutch 31, bend right clutch 32, bend right reversing output gear 33, bend small bevel gear 34, bend large bevel gear 35, bend Reducer 36, curved support 37, curved drive arm 38, curved connector 39, curved output shaft 40, curved output bevel gear 41, curved planetary bevel gear 42, curved bevel gear support shaft 43, curved main bevel gear 44, curved center Output gear 45, bending brake gear 46, bending brake 47, bending clutch case 48, bending main shaft 49, bending central gear 50, bending over wheel support 51.

Detailed ways

The present invention will be further described below in conjunction with drawings and embodiments.

In the embodiment shown in FIG. 1 , the entire robotic arm is composed of a base 1 and five joint modules connected in series, and each joint module is composed of a torsion joint 2 and a bending joint 3 . The power comes from the motor on the base 1, and the motion of the motor is transmitted to the bending joint 3 through the torsion joint 2. Adding the same joint module at the end of the manipulator can expand the length and degree of freedom of the manipulator.

As shown in Fig. 2A, Fig. 2B, and Fig. 2C, the torsional joint includes a torsional input reversing gear set, a torsional clutch set, a torsional output reversing gear set, a torsional reducer, a torsional driving arm and a spur gear planetary gear train; the torsional input The reversing gear set is composed of twisting input central gear 6, twisting left reversing gear 4, twisting overwheel 8 and twisting right reversing gear 10, and twisting input central gear 6 meshes with twisting left reversing gear 4 and twisting overwheel 8 respectively , the twisted overwheel 8 meshes with the twisted right reversing gear 10; the twisted input center gear 6 is fixedly connected with the twisted input shaft 7, the twisted left reversed gear 4 is fixedly connected with the twisted left clutch shaft 5, and the twisted overwheel 8 is connected with the twisted main shaft 15 Affixed connection, the reversing right reversing gear 10 is affixed to the reversing right clutch shaft 9;

The torsional clutch pack is made up of a torsional left clutch 26 and a torsional right clutch 12 distributed on both sides of the torsional brake 24;

The reverse output reversing gear set is composed of the reversing right reversing output gear 13, the reversing main input gear 23 and the reversing left reversing output gear 25, the reversing right reversing output gear 13, the reversing left reversing output gear 25 and the reversing main input gear 23 Engagement; the reversed right reversing output gear 13 is fixedly connected with the armature of the reversed right clutch 12, the reversed left reversed output gear 25 is fixedly connected with the armature of the reversed left clutch 26, and the reversed main input gear 23 is respectively connected with the reversed brake 24 and the reversed speed reducer The input shaft of 22 is fixedly connected;

The output shaft of the torsion reducer 22 is fixedly connected to the torsion drive arm 21;

The spur gear planetary gear train is composed of a torsional input planetary gear 16, a torsional sun gear 17 and a torsional output planetary gear 18. The torsional input planetary gear 16 and the torsional output planetary gear 18 mesh with the torsional sun gear 17 respectively; the torsional input planetary gear 16 and the torsional The main shaft 15 is fixed, the torsion sun gear 17 is sleeved on the torsion support arm 14 , the torsion output planetary gear 18 is fixed to one end of the torsion output shaft 19 , and the other end of the torsion output shaft 19 is fixed to the torsion main motion output gear 20 .

The movement of the torsion joint is divided into two types: main movement and joint movement. The main movement is high-speed movement, which is used to transmit the high-speed movement of the motor to the next joint; the joint movement is low-speed movement, which is used to drive the joint.

The high-speed motion route in the torsion joint is: the motor shaft moves through the torsion input shaft 7 and the torsion input center gear 6 fixed to it, driving the torsion wheel 8, and the torsion wheel 8 transmits the high-speed motion to The torsional input planetary gear 16 , the torsional sun gear 17 and the torsional output planetary gear 18 form a spur gear planetary gear train, and the main motion is output to the bending joint by the torsional main motion output gear 20 fixed on the torsional output shaft 19 .

The low-speed movement route of the torsion joint is as follows: the movement of the motor shaft is driven by the torsion input shaft 7 and the torsion input center gear 6 consolidated with it, respectively driving the torsion left reversing gear 4 and the reversing wheel 8, and the torsion left reversing gear 4 will input the motion It is transmitted to the twisted left clutch shaft 5 solidified therewith; the twisted wheel 8 transmits the input motion to the twisted right clutch shaft 9 solidified therewith through the twisted right reversing gear 10 . When the twisting left clutch 26 is connected, the twisting right clutch 12 is disconnected, and the twisting brake 24 is disconnected, the twisting left clutch shaft 5 drives the twisting left reversing output gear 25 to move through the twisting left clutch 26, so that the main input gear 23 rotates forward ; When the twisting left clutch 26 is disconnected, the twisting right clutch 12 is connected, and the twisting brake 24 is disconnected, the twisting right clutch shaft 9 drives the twisting right reversing output gear 13 to move through the twisting right clutch 12, so that the main input gear 23 reverses Turn; when the twisting left clutch 26 is disconnected, the twisting right clutch 12 is disconnected, and the twisting brake 24 is connected, the main input gear 23 brakes. The main input gear 23 transmits the determined motion to the speed reducer 22, and the speed reducer 22 drives the torsion driving arm 21 to rotate, and the torsion driving arm 21 of the torsion joint is connected with the bending clutch box 48 of the bending joint through screws, thereby driving all subsequent joints Rotate along the axis of this joint.

As shown in Figure 3A, Figure 3B, and Figure 3C, the bending joint includes a bending input reversing gear set, a bending clutch set, a bending output reversing gear set, a bending reducer, a bending drive arm and a bevel planetary gear train. The bending input reversing gear set is made up of bending input gear 27, bending central gear 50, bending passing wheel 28 and bending reversing gear 29, and bending passing wheel 28 meshes with bending central gear 50 and bending reversing gear 29 respectively; bending input gear 27. The bending central gear 50 is fixedly connected with the bending main shaft 49 in sequence, and the bending reversing gear 29 is fixedly connected with the bending right clutch shaft 30;

The bending clutch group is composed of the bending center clutch 31 and the bending right clutch 32 distributed on one side of the bending brake 47; the rotor of the bending center clutch 31 is affixed to the bending main shaft 49, and the rotor of the bending right clutch 32 is affixed to the bending right clutch shaft 30 ;

The curved output reversing gear set is composed of the curved right reversing output gear 33, the curved center output gear 45, the curved brake gear 46, the curved main bevel gear 44 and the curved large bevel gear 35. The curved right reversing output gear 33 and the curved right The armature of the clutch 32 is fixedly connected, the bending center output gear 45 is fixedly connected to the armature of the bending center clutch 31, the bending brake gear 46 is fixedly connected to the output shaft of the bending brake 47; the bending main bevel gear 44 is coaxial with the bending center output gear 45 Fixed connection, the curved large bevel gear 35 is fixedly connected to the input shaft of the curved reducer 36, the curved central output gear 45 meshes with the curved right reversing output gear 33 and the curved brake gear 46 respectively, and the curved main bevel gear 44 and the curved large bevel gear 35 engaged;

The bending speed reducer 36 is fixed on the bending support 37 fixedly connected with the bending joint box, and the output shaft of the bending speed reducer 36 is fixedly connected with the bending driving arm 38 .

The bevel gear planetary gear train is composed of curved bevel pinion gear 34, curved planetary bevel gear 42 and curved output bevel gear 41. The curved bevel pinion gear 34 is fixedly connected to the curved main shaft 49, and the curved planetary bevel gear 42 is empty sleeved in the curved joint box. On the curved bevel gear support shaft 43 , the curved output bevel gear 41 is affixed to the curved output shaft 40 , and the curved planetary bevel gear 42 meshes with the curved pinion bevel gear 34 and the curved output bevel gear 41 respectively.

Similar to the torsion joint, the movement in the bending joint is divided into two types: main movement and joint movement. The main movement is high-speed movement, which is used to transmit the high-speed motion of the motor to the next joint; the joint movement is low-speed movement, which is used to drive the joint. .

The high-speed movement route in the bending joint is as follows: the high-speed movement is caused by the bending input gear 27 meshing with the torsion main motion output gear 20, passing through the bending main shaft 49 consolidated with it, driving the bending pinion bevel gear 34, the bending planetary bevel gear 42 and the bending output cone The bevel gear train composed of gears 41 transmits high-speed motion to the curved output shaft 40 fixedly connected to the curved output bevel gear 41. When connected in series with the next joint module, the curved output shaft 40 is used as the torsion joint in the next joint module. Twist the input shaft 7, thereby outputting the main motion to the next joint.

The low-speed motion route of the bending joint is: the motor shaft moves through the bending main shaft 49 fixed with the bending input gear 27 through the bending main shaft 49, drives the input bending central gear 50 fixedly connected with the bending main shaft 49, drives the bending passing wheel 28, and the bending reversing gear 29 will The incoming motion is transferred to the curved right clutch shaft 30 which is entwined therewith. When the bending center clutch 31 is connected, the bending right clutch 32 is disconnected, and the bending brake 47 is disconnected, the bending main shaft 49 drives the bending center output gear 45 to rotate forward through the bending center clutch 31; when the bending center clutch 31 is disconnected, the bending right clutch 32 is turned on, and when the bending brake 47 is disconnected, the bending right clutch shaft 30 drives the bending right reversing output gear 33 to move through the bending right clutch 32, thereby driving the bending center output gear 45 to reverse; when the bending center clutch 31 is disconnected, the bending When the right clutch 32 is disconnected and the bending brake 47 is turned on, the bending braking gear 46 is braked, so that the bending central output gear 45 is braked. The curved center output gear 45 is fixedly connected with the curved main bevel gear 44, and the curved main bevel gear 44 meshes with the curved large bevel gear 35, so the movement of the curved central output gear 45 determines the motion of the curved large bevel gear 35 input reducer. The curved large bevel gear 35 transmits the motion to the curved reducer 36, and the curved drive arm 38 and the curved connecting piece 39 are driven by the curved reducer 36 to rotate. The curved connecting piece 39 is cylindrical and can be integrated into the next joint module. The torsion clutch box 11 of the torsion joint is fixed to drive all subsequent joint modules to rotate along the axis of the joint reducer.

Claims (5)

1. A multi-joint flexible mechanical arm comprising M serially connected identical joint modules mounted on a base, wherein each joint module is composed of a torsion joint and a bending joint, and M is 1 to 10; The torsion joint drives the bending joint and subsequent joint modules to rotate around the axis of the joint. The torsion joint includes a torsion input reversing gear set, a torsion clutch set, a torsion output reversing gear set, a torsion reducer, a torsion drive arm and a spur gear planetary wheel The main motion of the motor shaft transmits the high-speed motion to the spur gear planetary gear train through the torsional input reversing gear set, which is output to the bending joint; the motor shaft motion is transmitted to the torsional output through the torsional input reversing gear set and the torsional clutch set The reversing gear set is transmitted to the torsion reducer, which drives the torsion drive arm to rotate, and the torsion clutch set provides the three states of forward rotation, reverse rotation and braking of this joint; The bending joint drives the subsequent joint module to rotate around the axis of the joint reducer. The bending joint includes a bending input reversing gear set, a bending clutch set, a bending output reversing gear set, a bending reducer, a bending drive arm and a bevel planetary gear train , the main motion is transmitted to the bevel gear planetary gear train through the bending input reversing gear set, and then output to the next joint module; the main motion is transmitted from the bending input reversing gear set to the bending output reversing through the bending clutch set The gear set is transmitted to the bending reducer, which drives the bending drive arm to rotate, and the bending clutch set provides the joint with three states of forward rotation, reverse rotation and braking; The torsion driving arm of the torsion joint is connected with the torsion clutch box of the torsion joint through screws to realize the connection between the torsion joint and the torsion joint; the torsion joint of the torsion joint in the former joint module is screwed with the torsion clutch box of the torsion joint in the latter joint module The connection between the joint modules is realized; the rotational motion generated by the motor in the base is sequentially transmitted to the end of the mechanical arm through the gear trains in each joint module. 2. The multi-joint flexible robot arm according to claim 1, characterized in that, in the torsion joint: the torsion input reversing gear set consists of a torsion input central gear (6), a torsion left reversing gear (4), a torsion input The passing wheel (8) and the twisting right reversing gear (10) are composed, the torsion input center gear (6) meshes with the twisting left reversing gear (4) and the twisting passing wheel (8) respectively, and the twisting passing wheel (8) and the twisting The right reversing gear (10) meshes; the torsional input center gear (6) is fixedly connected to the torsional input shaft (7), the reversing left reversing gear (4) is affixed to the torsion left clutch shaft (5), and the reversing wheel (8 ) is affixed to the reversing main shaft (15), and the reversing right reversing gear (10) is affixed to the reversing right clutch shaft (9); The torsional clutch group is made up of a torsional left clutch (26) and a torsional right clutch (12) distributed on both sides of the torsional brake (24); The reversing output reversing gear set is composed of the reversing right reversing output gear (13), the reversing main input gear (23) and the reversing left reversing output gear (25), the reversing right reversing output gear (13), the reversing left reversing output gear The output gear (25) rotates the main input gear (23) and engages; the reversed right reversing output gear (13) is fixedly connected with the armature of the reversing right clutch (12), and the reversing left reversing output gear (25) is connected with the reversing left clutch (26) ) is affixed to the armature, and the reversing main input gear (23) is respectively affixed to the input shaft of the torsional brake (24) and the torsional reducer (22); The output shaft of the torsion reducer 22 is affixed to the torsion drive arm (21); The spur gear planetary gear train is composed of torsion input planetary gear (16), torsion sun gear (17) and torsion output planetary gear (18). (17) Engagement; the twisting input planetary gear (16) is fixedly connected with the twisting main shaft (15), the twisting sun gear (17) is sleeved on the twisting support arm (14), and the twisting output planetary gear (18) is connected with the twisting output shaft ( 19) One end is fixed, and the other end of the torsion output shaft (19) is fixed to the torsion main motion output gear (20). 3. The multi-joint flexible mechanical arm as claimed in claim 1 or 2, characterized in that, in the bending joint: the bending input reversing gear set consists of a bending input gear (27), a bending central gear (50), a bending overpass wheel (28) and curved reversing gear (29), the curved overwheel (28) meshes with the curved central gear (50) and curved reversing gear (29) respectively; the curved input gear (27), curved central gear (50 ) sequence is affixed to the curved main shaft (49), and the curved reversing gear (29) is affixed to the curved right clutch shaft (30); The bending clutch group is made up of a bending center clutch (31) and a bending right clutch (32) distributed on one side of the bending brake (47); the rotor of the bending center clutch (31) is affixed to the bending main shaft (49), and the bending right clutch ( 32) the rotor is affixed to the curved right clutch shaft (30); The curved output reversing gear set consists of a curved right reversing output gear (33), a curved central output gear (45), a curved brake gear (46), a curved main bevel gear (44) and a curved large bevel gear (35), The curved right reversing output gear (33) is fixedly connected to the armature of the curved right clutch (32), the curved center output gear (45) is fixedly connected to the armature of the curved center clutch (31), and the curved brake gear (46) is connected to the curved brake The output shaft of (47) is fixedly connected; the curved main bevel gear (44) is coaxially fixedly connected with the output gear (45) of the curved center, the large curved bevel gear (35) is fixedly connected with the input shaft of the curved reducer (36), and the curved center The output gear (45) meshes with the curved right reversing output gear (33) and the curved brake gear (46) respectively, and the curved main bevel gear (44) meshes with the curved large bevel gear (35); The bending reducer (36) is fixed on the bending joint box, and the output shaft of the bending reducer (36) is fixedly connected to the bending drive arm (38); The bevel gear planetary gear train consists of a curved bevel pinion (34), a curved planetary bevel gear (42) and a curved output bevel gear (41), the curved bevel pinion (34) is fixedly connected to the curved main shaft (49), and the curved planetary bevel The gear (42) is empty sleeved on the curved bevel gear support shaft (43) of the curved joint box, the curved output bevel gear (41) is fixedly connected to the curved output shaft (40), and the curved planetary bevel gear (42) is connected to the curved small bevel gear respectively. The bevel gear (34) and the curved output bevel gear (41) mesh. 4. The multi-joint flexible robotic arm according to claim 1 or 2, characterized in that: the torsion joints and bending joints of the joint module are equipped with position, speed, acceleration sensors and controllers to detect and control the joints in real time rotation angle, rotational speed, and angular acceleration. 5. The multi-joint flexible robotic arm according to claim 3, characterized in that: the torsion joints and bending joints of the joint module are equipped with position, speed, acceleration sensors and controllers to detect and control the rotation angle of the joints in real time , rotational speed, and angular acceleration.

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