CN101804638A - Multi-joint mechanical arm mechanism - Google Patents
Multi-joint mechanical arm mechanism Download PDFInfo
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- CN101804638A CN101804638A CN 201010127067 CN201010127067A CN101804638A CN 101804638 A CN101804638 A CN 101804638A CN 201010127067 CN201010127067 CN 201010127067 CN 201010127067 A CN201010127067 A CN 201010127067A CN 101804638 A CN101804638 A CN 101804638A
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Abstract
The invention provides a multi-joint mechanical arm mechanism. Two sub-arms are connected through a specific joint, and every two adjacent joints have incompletely same structures. Besides arms, a connecting rod is connected among every two joints, and the connecting rod, the sub-arms and the joints thereof form a parallelogram. In addition, the joints and the arms are connected through a cylinder. Some section of the cylinder is driven to extend out to a proper position, thus the section of the sub-arm can unbend, otherwise, the section of the sub-arm is driven to fold. As required, the invention can arbitrarily deform the mechanical arm so as to satisfy the requirements of different operation tasks. The mechanism can realize the over-length requirement of the arm, is convenient to fold and greatly reduces the transportation and storage space. In addition, the mechanism can get rid of length restriction based on multiple sections of telescopic cylinders, and the joints and folding arms can be increased and decreased according to requirements, thereby being convenient for the flexibly design of long arms and super long arms.
Description
Technical field
Patent of the present invention relates to a kind of multi-joint mechanical arm.
Background technology
In engineering practice, machinery design long-armed, the overlength mechanical arm is a difficult point in the engineering design always, and this class mechanical arm not only need can satisfy job requirements on length, also need to consider installation, transportation and the storage space requirement thereof of mechanical arm simultaneously.Current, multi-joint telescoping formula mechanical arm is adopted in the long-armed design of machinery more, and realizes the flexible of mechanical arm, for example work high above the ground loop wheel machine by the scalable oil cylinder of more piece.Under many special operation environment, be subjected to restrictive conditions such as space, position in addition, finish particular task, mechanical arm also needs to have the ability of any folded deformation, can be out of shape according to actual conditions.Application number is 200810040451.2, name be called " large angle rotary type joint mechanism of mechanical arm " though etc. in the open file relevant for the open report of mechanical arm, can not satisfy above-mentioned requirements.
Summary of the invention
The object of the present invention is to provide a kind of demand that not only satisfies the overlength mechanical arm, have the multi-joint mechanical arm mechanism of any limit shape ability simultaneously.
The object of the present invention is achieved like this:
Comprise an initial joint and at least two turning joints, two pitman shaft pin-and-holes, two arm axle pin-and-holes and an oil cylinder root pin hole are arranged in first turning joint, two arm axle pin-and-holes, connecting rod and oil cylinder root pin hole are arranged in second turning joint; An end that connects an end, starting oil cylinder bottom portion and the initial connecting rod of initial arm on the initial joint, the other end of initial arm is connected on the arm axle pin-and-hole of first turning joint, the extension bar of initial oil cylinder links to each other with ear on the initial arm, and the other end of initial connecting rod is connected on the pitman shaft pin-and-hole of first turning joint; Another pitman shaft pin-and-hole place in first turning joint connects an end of first movable rod, another arm axle pin-and-hole place in first turning joint connects an end of first lever arm, and the oil cylinder root pin hole in first turning joint goes out to connect the first turning joint oil cylinder root; The other end of first movable rod is connected in the connecting rod and the oil cylinder root pin hole place of second turning joint, the other end of first lever arm is connected in arm axle pin-and-hole place in second turning joint, the first turning joint oil cylinder extension bar links to each other with ear on first lever arm; Another arm axle pin-and-hole place in second turning joint connects an end of second lever arm, and the connecting rod in second turning joint is connected an end and the second turning joint oil cylinder root of second movable rod with oil cylinder root pin hole place; The other end of the other end of second lever arm, second movable rod and the second turning joint oil cylinder extension bar, one next stage.
On the pivot pin that the arm axle pin-and-hole of each turning joint goes out synchromesh gear is installed, two synchromesh gears are meshing with each other.
The present invention is in order to solve the Design Mechanism of multi-joint mechanical arm, the structural design that solves multi-joint mechanical arm simultaneously is topic, mainly comprise joint of mechanical arm design, mechanical arm folding/extension means design and sub-arm thereof folding/stretch the synchronism problem, make this structure not only satisfy the demand of overlength mechanical arm, has any limit shape ability simultaneously, satisfy mechanical arm transportation, actual demand such as deposit, the multi-joint mechanical arm that the present invention is proposed can be widely used in the design of jibs such as work high above the ground loop wheel machine, overlength apparatus for work and boat davit thereof.
The overall structure of multi-joint mechanical arm of the present invention is the mechanical arm structure with four joints, four joint arms, and its turning joint can also continue to add mechanical arm as required.This arm has any folded deformation function, can satisfy the several work demand.Link to each other by particular joint between two sub-arms, and adjacent two articulation structures are incomplete same.Except arm, also have connecting rod to connect between joint and the joint, constitute parallelogram between connecting rod and sub-arm and the joint thereof.In addition, adopt oil cylinder to be connected between joint and the arm.Drive certain fuel-economizing cylinder and stretch out and put in place, then this knot arm can stretch, otherwise it is folding then to drive this knot arm.In addition, two synchromesh gears have been installed also on each joint, each gear links to each other with adjacent two arms respectively, and the tooth of two gears is meshing with each other, and can guarantee the synchronization action of joint alternate arm.If do not need, on the joint this two synchromesh gear can be installed.
The multi-joint mechanical arm mechanism that adopts the present invention to propose can be out of shape arbitrarily mechanical arm as required, satisfies the needs of different work task; The synchronism in joint if desired also can realize the driven in synchronism of sub-arm by synchromesh gear.This mechanism can realize the overlength needs of arm, and is convenient simultaneously folding, and transportation, memory space are dwindled greatly.This mechanism can break away from the length restriction based on the multi-joint telescoping oil cylinder in addition, and joint and folding arm can increase and decrease as required, is convenient to flexible design long-armed, the overlength arm.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 folding schematic diagram of the present invention;
Fig. 4 is the structural representation of first turning joint;
Fig. 5 is the structural representation of second turning joint.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1 and 2, present embodiment is one 4 joint mechanical arm mechanism.Wherein joint 1 is initial joint, is mainly used in the initiating terminal of multi-joint mechanical arm, is convenient to arm on the one hand and fixedlys connected with other mechanism; Be used to connect linking to each other of mechanical arm 6 and hydraulic jack 2 and connecting rod 3 thereof and first turning joint 4 on the other hand.First turning joint 4 is another kind of joints, and simultaneously in conjunction with Fig. 4, this joint is mainly used in being connected of arm 6 and arm 10.First turning joint 4 is the aircraft shape, and connecting rod 3 utilizes pivot pin to pass through axis hole 4a-1,4a-2 with connecting rod 9 to link to each other with joint 4; Arm 6 utilizes pivot pin to pass through axis hole 4b-1,4b-2 with 10 on arm to link to each other with joint 4.If arm 6 and arm 10 needs synchronously, then corresponding synchronous gear 5,7 is installed passing on the fixedly pivot pin of axis hole 4a1-1,4a-2, and two gears is meshing with each other get final product in position as illustrated in fig. 1 and 2.Oil cylinder 2 roots link to each other with initial joint 1, and its extension bar links to each other with ear 14 on being welded on arm 6.Oil cylinder 11 roots are connected with joint 4 by hole 4c in addition, and extension bar links to each other with ear 15 on being welded on arm 10.Joint 12 is slightly different with joint 4, simultaneously in conjunction with Fig. 5.Joint 12 and arm 10,16 and similar with being connected with the connected mode in joint 4 of connecting rod 18,9, the joint utilizes pivot pin to link to each other with oil cylinder 17 roots simultaneously in addition.The rest may be inferred, alternately utilizes joint 4 and joint 12 can realize mechanical arm mechanism more than 3 grades.Joint 12 is identical with joint 13.If also need again this arm to be extended, can be connected and fixed corresponding synchromesh gear, connecting rod, oil cylinder and arm with reference to joint 12 by joint 13.If this multi-joint arm is satisfied the demand, can be with reference to the purposes of joint 1 and this arm, the design corresponding actuating mechanisms replaces joint 13 to get final product.In this mechanical arm, if there is not synchronisation requirement, synchromesh gear 5,7 can not adorned in addition.In the whole multi-joint mechanical arm, each tie point all adopts pivot pin to connect, and turns freely.
Folding/stretching, extension the principle of mechanical arm
In this mechanical arm, the connecting rod that links to each other between adjacent segment and this two joint thereof, arm constitute parallelogram, and hydraulic jack wherein can pass through the flexible of oil cylinder as driving mechanism, the drive parallelogramming deflection rotates, and then drives turning joint 4 or joint 12 is rotated around arm.In the rotation process of joint, according to the distortion rule of parallelogram,, realize the folding/stretching, extension of counterpart arm equally by the hydraulic oil cylinder driving in the next stage arm, so analogize, drive corresponding joint again and rotate, and then realize the folding/stretching, extension of whole mechanical arm.
In folding/stretching process of mechanical arm, in order to guarantee the synchronism that folds/stretch of each arm, on the pivot pin of each arthrodesis arm, two arc gear wheels are installed again, and two gears engaged.If do not need the synchronism of each arm, or each arm can freely fold, and on the corresponding joint arc synchromesh gear can be installed.In addition, if mechanical arm needs distortion arbitrarily, then the arc synchromesh gear can not be installed, the oil cylinder on each joint can be controlled according to corresponding control strategies simultaneously, realizes any folded deformation of mechanical arm.Mechanical arm in the folding extensional deformation process as shown in Figure 3.
The stretching process of mechanical arm
As shown in Figure 1, 2, when oil cylinder 2 elongation, according to parallelogram law, arm 61 rotates counterclockwise around the joint, drives joints 4 by connecting rod 3 simultaneously and clockwise rotates around arm 6.When joint 4 clockwise rotates, stretch out action, drive arm 10 and 4 clockwise rotate around the joint by synchromesh gear 6,7 and oil cylinder 11 thereof.In arm 10 rotation processes, under the effect of the parallelogram that constitutes by joint 4,12 and the arm 10 that links to each other thereof, connecting rod 9, driving joint 12 rotates counterclockwise around axle 10, in the rotation process,, drive arm 16 and 12 rotate counterclockwise around the joint by stretching out of synchromesh gear on this joint and oil cylinder 17 thereof.Like this, when oil cylinder 2,11,17 stretch out put in place after, joint 1,4,12 and folding arm thereof 6,10,16 forms straight lines.The rest may be inferred, drives next joint and the corresponding similar joint 4 of arm thereof again, arm 10 equally moves.Be in line until sub-arm and two adjacent knuckle shaped.So just can finish the stretching, extension of this multi-joint folding mechanism arm.
The folding process of mechanical arm
As shown in Figure 1, 2, when oil cylinder 2 shrank, according to parallelogram law, arm 61 clockwise rotated around the joint, drives joints 4 by connecting rod 3 simultaneously and rotates counterclockwise around arm 6.When joint 4 rotates counterclockwise,, drive arm 10 and 4 rotate counterclockwise around the joint by synchromesh gear 6,7 and oil cylinder 11 contractive action thereof.In arm 10 rotation processes, under the effect of the parallelogram that constitutes by joint 4,12 and the arm 10 that links to each other thereof, connecting rod 9, driving joint 12 clockwise rotates around axle 10, in the rotation process,, drive arm 16 and 12 clockwise rotate around the joint by the contraction of synchromesh gear on this joint and oil cylinder 17 thereof.Like this, after oil cylinder 2,11,17 contractions put in place, joint 1,4 and arm 6 relation of meeting at right angles, joint 4,12 and arm 10 relation of meeting at right angles.
When the joint did not have synchromesh gear mechanism, each oil cylinder can be controlled separately, realized folding, the stretching, extension of counterpart arm, was convenient to the flexible control of arm.
In this structure, if adjacent two arms are contactless in the junction, joint, and do not have synchromesh gear, suitably lengthening drives oil cylinder, and so interarticular arm can be realized more complicated controlling around corresponding joint realization folding controlling in larger scope.
The characteristics of present embodiment
1. the joint of mechanical arm number is unrestricted, can determine as required, therefore can realize the overlength arm;
2. each sub-arm can independently be controlled, and also can control simultaneously, can be according to the needs of different device, and the antithetical phrase arm stretches oil cylinder and selects appropriate piloting strategies;
3. folding arm is flexible, can realize multiple version, satisfies the particular task needs;
4. by synchromesh gear, be convenient to realize the Synchronization Control of sub-arm;
5. be convenient to operation, transport and deposit.
Claims (2)
1. multi-joint mechanical arm mechanism, comprise an initial joint and at least two turning joints, it is characterized in that: two pitman shaft pin-and-holes, two arm axle pin-and-holes and an oil cylinder root pin hole are arranged in first turning joint, two arm axle pin-and-holes, connecting rod and oil cylinder root pin hole are arranged in second turning joint; An end that connects an end, starting oil cylinder bottom portion and the initial connecting rod of initial arm on the initial joint, the other end of initial arm is connected on the arm axle pin-and-hole of first turning joint, the extension bar of initial oil cylinder links to each other with ear on the initial arm, and the other end of initial connecting rod is connected on the pitman shaft pin-and-hole of first turning joint; Another pitman shaft pin-and-hole place in first turning joint connects an end of first movable rod, another arm axle pin-and-hole place in first turning joint connects an end of first lever arm, and the oil cylinder root pin hole in first turning joint goes out to connect the first turning joint oil cylinder root; The other end of first movable rod is connected in the connecting rod and the oil cylinder root pin hole place of second turning joint, the other end of first lever arm is connected in arm axle pin-and-hole place in second turning joint, the first turning joint oil cylinder extension bar links to each other with ear on first lever arm; Another arm axle pin-and-hole place in second turning joint connects an end of second lever arm, and the connecting rod in second turning joint is connected an end and the second turning joint oil cylinder root of second movable rod with oil cylinder root pin hole place; The other end of the other end of second lever arm, second movable rod and the second turning joint oil cylinder extension bar, one next stage.
2. a kind of multi-joint mechanical arm mechanism according to claim 1 is characterized in that: on the pivot pin that the arm axle pin-and-hole of each turning joint goes out synchromesh gear is installed, two synchromesh gears are meshing with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010127067 CN101804638A (en) | 2010-03-18 | 2010-03-18 | Multi-joint mechanical arm mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010127067 CN101804638A (en) | 2010-03-18 | 2010-03-18 | Multi-joint mechanical arm mechanism |
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| CN101804638A true CN101804638A (en) | 2010-08-18 |
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| CN 201010127067 Pending CN101804638A (en) | 2010-03-18 | 2010-03-18 | Multi-joint mechanical arm mechanism |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009046A (en) * | 2010-10-15 | 2011-04-13 | 湖南大学 | Intelligent mobile cleaning robot |
| CN102018574A (en) * | 2010-11-11 | 2011-04-20 | 北京理工大学 | Small-volume medical manipulator joint with high load capacity |
| CN102862650A (en) * | 2012-09-21 | 2013-01-09 | 哈尔滨工程大学 | Foldable extensile suspension arm |
| CN104029219A (en) * | 2014-06-05 | 2014-09-10 | 哈尔滨工程大学 | Support type foldable manipulator arm structure |
| CN104070535A (en) * | 2014-07-14 | 2014-10-01 | 中国科学院合肥物质科学研究院 | Multi-section folding type remote operation mechanical arm |
| CN104162893A (en) * | 2014-06-05 | 2014-11-26 | 哈尔滨工程大学 | Support type foldable mechanical arm structure |
| CN108705526A (en) * | 2018-08-17 | 2018-10-26 | 成都跟驰科技有限公司 | A kind of foldable robotic arm |
| CN109235340A (en) * | 2018-10-28 | 2019-01-18 | 广东嘉得力清洁科技股份有限公司 | A kind of compact side brush assembly |
| CN109318258A (en) * | 2018-10-26 | 2019-02-12 | 歌尔股份有限公司 | Movement mechanism and movable equipment |
| CN109668030A (en) * | 2018-12-29 | 2019-04-23 | 浙江大丰实业股份有限公司 | Display screen fold mechanism |
| CN109699325A (en) * | 2019-01-08 | 2019-05-03 | 徐州中森智能装备有限公司 | A kind of folding arm |
| CN109812662A (en) * | 2018-12-29 | 2019-05-28 | 浙江大丰实业股份有限公司 | Mobile dance screen device |
| CN113084865A (en) * | 2021-03-15 | 2021-07-09 | 上海园菱机械实业有限公司 | Mechanical arm structure and grinding and polishing mechanical arm |
| CN114851177A (en) * | 2022-03-28 | 2022-08-05 | 赛诺威盛科技(北京)股份有限公司 | Mechanical arm with variable degrees of freedom and telescopic robot |
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| DE4110569C1 (en) * | 1991-03-30 | 1992-10-01 | Technische Universitaet "Otto Von Guericke" Magdeburg, O-3010 Magdeburg, De | Machining internal cavities of workpiece - applying telescopic cylinders to gripper and chuck of manipulator controlled by master arm |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009046A (en) * | 2010-10-15 | 2011-04-13 | 湖南大学 | Intelligent mobile cleaning robot |
| CN102018574A (en) * | 2010-11-11 | 2011-04-20 | 北京理工大学 | Small-volume medical manipulator joint with high load capacity |
| CN102018574B (en) * | 2010-11-11 | 2012-06-27 | 北京理工大学 | Small-volume medical manipulator joint with high load capacity |
| CN102862650B (en) * | 2012-09-21 | 2015-06-17 | 哈尔滨工程大学 | Foldable extensile suspension arm |
| CN102862650A (en) * | 2012-09-21 | 2013-01-09 | 哈尔滨工程大学 | Foldable extensile suspension arm |
| CN104162893B (en) * | 2014-06-05 | 2016-01-27 | 哈尔滨工程大学 | The collapsible Manipulator arm structure of a kind of brace type |
| CN104029219A (en) * | 2014-06-05 | 2014-09-10 | 哈尔滨工程大学 | Support type foldable manipulator arm structure |
| CN104162893A (en) * | 2014-06-05 | 2014-11-26 | 哈尔滨工程大学 | Support type foldable mechanical arm structure |
| CN104070535A (en) * | 2014-07-14 | 2014-10-01 | 中国科学院合肥物质科学研究院 | Multi-section folding type remote operation mechanical arm |
| CN108705526A (en) * | 2018-08-17 | 2018-10-26 | 成都跟驰科技有限公司 | A kind of foldable robotic arm |
| CN109318258B (en) * | 2018-10-26 | 2024-04-30 | 歌尔股份有限公司 | Motion mechanism and movable device |
| CN109318258A (en) * | 2018-10-26 | 2019-02-12 | 歌尔股份有限公司 | Movement mechanism and movable equipment |
| CN109235340A (en) * | 2018-10-28 | 2019-01-18 | 广东嘉得力清洁科技股份有限公司 | A kind of compact side brush assembly |
| CN109668030A (en) * | 2018-12-29 | 2019-04-23 | 浙江大丰实业股份有限公司 | Display screen fold mechanism |
| CN109812662A (en) * | 2018-12-29 | 2019-05-28 | 浙江大丰实业股份有限公司 | Mobile dance screen device |
| CN109668030B (en) * | 2018-12-29 | 2021-06-01 | 浙江大丰实业股份有限公司 | Display screen folding mechanism |
| CN109699325A (en) * | 2019-01-08 | 2019-05-03 | 徐州中森智能装备有限公司 | A kind of folding arm |
| CN113084865A (en) * | 2021-03-15 | 2021-07-09 | 上海园菱机械实业有限公司 | Mechanical arm structure and grinding and polishing mechanical arm |
| CN114851177A (en) * | 2022-03-28 | 2022-08-05 | 赛诺威盛科技(北京)股份有限公司 | Mechanical arm with variable degrees of freedom and telescopic robot |
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Open date: 20100818 |