CN102431040A - Dynamic balance manipulator - Google Patents

Dynamic balance manipulator Download PDF

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Publication number
CN102431040A
CN102431040A CN2011104169570A CN201110416957A CN102431040A CN 102431040 A CN102431040 A CN 102431040A CN 2011104169570 A CN2011104169570 A CN 2011104169570A CN 201110416957 A CN201110416957 A CN 201110416957A CN 102431040 A CN102431040 A CN 102431040A
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CN
China
Prior art keywords
drive
servo
articulation
transmission shaft
arm
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CN2011104169570A
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Chinese (zh)
Inventor
高建华
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杭州英若飞科技有限公司
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Priority to CN2011104169570A priority Critical patent/CN102431040A/en
Publication of CN102431040A publication Critical patent/CN102431040A/en

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Abstract

The invention discloses a dynamic balance manipulator comprising a pedestal structure. The pedestal structure comprises a pedestal body and a first rotary mechanism. The first rotary mechanism is in transmission connection with a shoulder joint structure. The shoulder joint structure comprises a shoulder joint body and a first swinging mechanism in transmission with an upper arm structure. The upper arm structure comprises an upper arm body and a second swinging mechanism connected with the upper arm body fixedly and in transmission connection with a forearm structure. An elbow joint structure comprises an elbow joint body, a second rotary mechanism and a third swinging mechanism. The second rotary mechanism and the third swinging mechanism are in transmission connection with a wrist joint structure. The wrist joint structure comprises a wrist joint body and a third rotary mechanism in transmission connection with a clamping hand structure. The invention provides a dynamic balance manipulator making the manipulator system reach dynamic balance.

Description

Dynamic balancing machinery arm
Technical field:
What the present invention relates to is the mechanism in a kind of Robotics field, specifically, is a kind of dynamic balancing machinery arm.
Background technology:
Along with the progress of science and technology, the research of robot and using constantly enlarges, the wherein research of anthropomorphic robot and use and particularly receive the concern of various circles of society, and this problem becomes among the robot field one of active research focus the most.Diversity, versatility and the accuracy whether robot has a motion is to judge one of standard that it is whether successful, and then, to the wherein any mechanism in the robot; Also should be in strict accordance with this standard production processing; Such as mechanical arm, mechanical arm of the prior art, it comprises shoulder articulation structure, big arm configuration, ancon articulation structure, little arm configuration and wrist articulation structure; Said big arm configuration connects shoulder articulation structure and ancon articulation structure; Said forearm structure connects ancon articulation structure and wrist articulation structure, and said clamping hand structure is installed on the wrist articulation structure, and said shoulder articulation structure, ancon articulation structure and wrist articulation structure are respectively by driven by servomotor; Said servomotor is installed in big arm configuration or the little arm configuration, adopts the mechanical arm of above structure to have following shortcoming:
On the one hand, because servomotor all is installed in big arm configuration or the little arm configuration, make that big arm configuration or forearm structural volume are all bigger than normal; Weight lays particular stress on, and moves dumb and precision is lower, promptly makes whole mechanical arm system can't reach dynamic equilibrium; And then its scope of activities is diminished; Limited the expansion of its field of employment widely, simultaneously, when mechanical arm when carrying out the operation of rapid speed; Because factors such as the dumb and precision of action is lower are very easy to cause system's vibrations, the service life of having reduced equipment.
On the other hand; Adopt the mechanical arm of above structure; Because factors such as the lower or structural design of precision are very easy to run into the coupling effect between each structure, said coupling effect is meant that the motion of mechanical arm front structure makes the structure of back that unnecessary related motion take place; Make the mechanical arm system need compensate the influence that certain additional movements is eliminated coupling effect, increased unnecessary burden to system.
Summary of the invention:
The technical problem that the present invention will solve is, provides a kind of and can make that whole mechanical arm system is moving to reach dynamic equilibrium, can improve the kinematic accuracy of mechanical arm effectively, and structurally avoid the dynamic balancing machinery arm of coupling effect.
For solving the problems of the technologies described above; The present invention adopts a kind of like this dynamic balancing machinery arm: it comprises shoulder articulation structure, big arm configuration, ancon articulation structure, little arm configuration, wrist articulation structure and clamping hand structure; Said big arm configuration connects shoulder articulation structure and ancon articulation structure; Said forearm structure connects ancon articulation structure and wrist articulation structure; Said clamping hand structure is installed on the wrist articulation structure, and it also comprises the understructure that is installed on the shoulder articulation structure, and said understructure comprises base body and first rotating mechanism that is installed on the base body interior; Said first rotating mechanism is connected with the base body-fixed, and is in transmission connection with the shoulder articulation structure; Said shoulder articulation structure comprises shoulder joint body and is installed in first swing mechanism on the body of shoulder joint that said first swing mechanism is in transmission connection with big arm configuration; Said big arm configuration comprises big arm body and second swing mechanism that is installed in the big arm body, and said second swing mechanism is fixedly connected with big arm body, and is in transmission connection with little arm configuration; Said ancon articulation structure comprises ancon joint body, be installed on second rotating mechanism of ancon joint body and be installed on the 3rd swing mechanism of ancon joint body, and said second rotating mechanism and the 3rd swing mechanism all are in transmission connection with the wrist articulation structure; Said wrist articulation structure comprises wrist joint body and the 3rd rotating mechanism that is installed on wrist joint body, and said the 3rd rotating mechanism and clamping hand structure are in transmission connection.
Said base body comprises bearing block, base plate, and said first rotational structure comprises first servo-drive system, first decelerator, first curve tooth bevel gear pair, vertical rotation axle and first thrust bearing; The input of said first decelerator is connected with the output of first servo-drive system, and output is connected with the vertical rotation axle; Said first servo-drive system and first decelerator are installed on the base plate, and said vertical drive shaft and thrust bearing are installed on the bearing block;
Said shoulder joint body comprises motor installing rack and the large-arm joint supporting that is installed on rotating circular disk, worm screw, the worm gear on the understructure vertical rotation axle and is installed on rotating circular disk, and said first swing mechanism comprises second servo-drive system and big arm power transmission shaft; The output of said second servo-drive system links to each other with worm screw, and said worm gear links to each other with big arm power transmission shaft one end, and the said big arm power transmission shaft other end is connected said worm gear and worm engaging with big arm configuration; Said second servo-drive system is installed on the motor installing rack;
Said second swing mechanism comprises forearm power transmission shaft, the 3rd servo-drive system, second decelerator, second curve tooth bevel gear pair and the bearing pair; The input of said second decelerator is connected with the output of the 3rd servo-drive system, and output is connected with the forearm power transmission shaft;
Said second rotating mechanism comprises the 4th servo-drive system, the 3rd decelerator, first synchronous belt device, the first hollow turning cylinder and the second hollow turning cylinder that is connected with the first hollow turning cylinder, and said the 3rd swing mechanism comprises the 5th servo-drive system, the 4th decelerator, solid transmission shaft, the 3rd curve tooth bevel gear pair, second synchronous belt device, first power transmission shaft and second power transmission shaft; Said the 3rd decelerator input is connected with the output of the 4th servo-drive system; Output is connected with an end of first synchronous belt device, the first hollow turning cylinder and the second hollow turning cylinder successively; The other end of the said second hollow turning cylinder is connected with clamping hand structure; Said the 4th decelerator input is connected with the output of the 5th servo-drive system; Output is connected with an end of solid transmission shaft, and the other end of said solid transmission shaft is connected with a secondary curve tooth bevel gear of the 3rd curve tooth bevel gear, and another secondary curve tooth bevel gear of said the 3rd curve tooth bevel gear is connected with an end of first power transmission shaft; The other end of said first power transmission shaft is connected with an end of second power transmission shaft through second synchronous belt device, and the other end of said second power transmission shaft is connected with the wrist articulation structure;
Said the 3rd rotating mechanism comprises the 6th servo-drive system, and the output shaft of said the 6th servo-drive system is connected with clamping hand structure, and said the 6th servo-drive system is installed on the wrist articulation structure;
Said ancon articulation structure also comprises counter weight device, and said counter weight device and ancon articulation structure removably connect.
It also comprises balanced controls, and said balanced controls comprise compensating cylinder, support and hinge, and said hinge, compensating cylinder and support are connected successively, and said hinge is installed on understructure, and said support is installed on big arm configuration.
After adopting above structure, the present invention compared with prior art has the following advantages: each rotating mechanism and swing mechanism are all respectively by a cover servo-drive system control; And servomotor all is not installed in big arm body or the little arm body, and the volume of therefore big arm body and little arm body is less, and weight is lighter; Flexible movements and precision are higher, promptly make whole mechanical arm system reach dynamic equilibrium, and then make its scope of activities become big; Increased the expansion of its field of employment widely, simultaneously, owing to be equipped with balanced controls; Even when mechanical arm when carrying out the bigger operation of rapid speed, load; Action is also very flexible and precision is higher, can not cause system's vibrations, thereby has increased the service life of equipment.On the other hand; Adopt the mechanical arm of above structure; Because higher and each rotating mechanism of precision and swing mechanism be all respectively by a cover servo-drive system control, freedom relatively between each mechanism, and then avoided the coupling effect between each structure effectively; Be that the mechanical arm system need not to compensate the influence that certain additional movements is eliminated coupling effect, reduced the unnecessary burden of whole system.
As preferably, said base body comprises bearing block, base plate, and said first rotational structure comprises that first servo-drive system, first decelerator, the first curve tooth bevel gear are secondary, vertical rotation axle and first thrust bearing; The input of said first decelerator is connected with the output of first servo-drive system, and output is connected with the vertical rotation axle; Said first servo-drive system and first decelerator are installed on the base plate, and said vertical drive shaft and thrust bearing are installed on the bearing block; Compact conformation and reasonable is controlled the rotation between understructure and the shoulder joint structure separately, and precision is high.
As another preferred; Said shoulder joint body comprises motor installing rack and the large-arm joint supporting that is installed on rotating circular disk, worm screw, the worm gear on the understructure vertical rotation axle and is installed on rotating circular disk, and said first swing mechanism comprises second servo-drive system and big arm power transmission shaft; The output of said second servo-drive system links to each other with worm screw, and said worm gear links to each other with big arm power transmission shaft one end, and the said big arm power transmission shaft other end is connected said worm gear and worm engaging with big arm configuration; Said second servo-drive system is installed on the motor installing rack; Swing between independent control shoulder joint structure and the big arm configuration, control is simple and direct.
As another preferred, said second swing mechanism comprises forearm power transmission shaft, the 3rd servo-drive system, second decelerator, second curve tooth bevel gear pair and the bearing pair; The input of said second decelerator is connected with the output of the 3rd servo-drive system, and output is connected with the forearm power transmission shaft; Swing between little arm configuration of control and the elbow joint structure separately, control is directly simple, and similar with the structure of first swinging structure, has practiced thrift cost.
As another preferred; Said second rotating mechanism comprises the 4th servo-drive system, the 3rd decelerator, first synchronous belt device, the first hollow turning cylinder and the second hollow turning cylinder that is connected with the first hollow turning cylinder, and said the 3rd swing mechanism comprises the 5th servo-drive system, the 4th decelerator, solid transmission shaft, the 3rd curve tooth bevel gear pair, second synchronous belt device, first power transmission shaft and second power transmission shaft; Said the 3rd decelerator input is connected with the output of the 4th servo-drive system; Output is connected with an end of first synchronous belt device, the first hollow turning cylinder and the second hollow turning cylinder successively; The other end of the said second hollow turning cylinder is connected with clamping hand structure; Said the 4th decelerator input is connected with the output of the 5th servo-drive system; Output is connected with an end of solid transmission shaft, and the other end of said solid transmission shaft is connected with a secondary curve tooth bevel gear of the 3rd curve tooth bevel gear, and another secondary curve tooth bevel gear of said the 3rd curve tooth bevel gear is connected with an end of first power transmission shaft; The other end of said first power transmission shaft is connected with an end of second power transmission shaft through second synchronous belt device, and the other end of said second power transmission shaft is connected with the wrist articulation structure; Said second rotating mechanism is controlled the rotation between wrist articulation structure and the little arm configuration separately; Said the 3rd swing mechanism is controlled the swing between wrist articulation structure and the little arm configuration separately; Further increased the free degree between each structure, control is simpler, convenient.
As another preferred, said the 3rd rotating mechanism comprises the 6th servo-drive system, and the output shaft of said the 6th servo-drive system is connected with clamping hand structure, and said the 6th servo-drive system is installed on the wrist articulation structure; Control the rotation between clamping hand structure and the wrist articulation structure separately, increased the free degree of whole dynamic balancing machinery arm.
As another preferred; Said ancon articulation structure also comprises counter weight device, and said counter weight device and ancon articulation structure removably connect, no matter be load more greatly or less; Dynamic balancing machinery arm of the present invention can both keep dynamic balancing, improves the precision of whole system.
Description of drawings:
Fig. 1 is the structural representation of dynamic balancing machinery arm of the present invention
Fig. 2 is the front view of dynamic balancing machinery arm of the present invention.
Fig. 3 is the forearm profile of dynamic balancing machinery arm of the present invention.
Fig. 4 is the left view of dynamic balancing machinery arm of the present invention.
Fig. 5 is the structural representation of second swing mechanism of dynamic balancing machinery arm of the present invention.
Fig. 6 is the free degree view of dynamic balancing machinery arm of the present invention.
As shown in the figure: 1, shoulder articulation structure, 2, big arm configuration, 3, the ancon articulation structure, 4, little arm configuration, 5, the wrist articulation structure, 6, clamping hand structure; 7, understructure, 8, the base body, 9, shoulder joint body, 10, big arm body, 11, ancon joint body; 12, wrist joint body, 13, bearing block, 14, base plate, 15, first servo-drive system, 16, first decelerator; 17, the first curve tooth bevel gear is secondary, and 18, the vertical rotation axle, 19, first thrust bearing, 20, rotating circular disk, 21, worm screw; 22, worm gear, 23, the motor installing rack, 24, the large-arm joint supporting, 25, second servo-drive system, 26, big arm power transmission shaft; 27, forearm power transmission shaft, the 28, the 3rd servo-drive system, 29, second decelerator, 30, the second curve tooth bevel gear is secondary, the 31, the 4th servo-drive system; 32, the 3rd decelerator, 33, first synchronous belt device, 34, the first hollow turning cylinder, 35, the second hollow turning cylinder, the 36, the 5th servo-drive system; 37, the 4th decelerator, 38, solid transmission shaft, the 39, the 3rd curve tooth bevel gear is secondary, 40, second synchronous belt device, the 41, the 6th servo-drive system; 42, counter weight device, 43, compensating cylinder, 44, support, 45, hinge, 46, end disk.
The specific embodiment:
Below in conjunction with accompanying drawing and specific embodiment the present invention is described further.
As illustrated in fig. 1 and 2; Dynamic balancing machinery arm of the present invention; It comprises shoulder articulation structure 1, big arm configuration 2, ancon articulation structure 3, forearm structure 4, wrist articulation structure 5 and clamping hand structure 6; Said big arm configuration 2 connects shoulder articulation structure 1 and ancon articulation structure 3, and said forearm structure 4 connects ancon articulation structure 3 and wrist articulation structure 5, and said clamping hand structure 6 is installed on wrist articulation structure 5; It also comprises the understructure 7 that is installed on shoulder articulation structure 1; Said understructure 7 comprises base body 8 and first rotating mechanism that is installed on base body 8 inside, and said first rotating mechanism is fixedly connected with base body 8, and is in transmission connection with shoulder articulation structure 1; Said shoulder articulation structure 1 comprises shoulder joint body 9 and is installed in first swing mechanism on the shoulder joint body 9 that said first swing mechanism is in transmission connection with big arm configuration 2; Said big arm configuration 2 comprises big arm body 10 and second swing mechanism that is installed in the big arm body 10, and said second swing mechanism is fixedly connected with big arm body 10, and is in transmission connection with forearm structure 4; Said ancon articulation structure 3 comprises ancon joint body 11, be installed on second rotating mechanism of ancon joint body 11 and be installed on the 3rd swing mechanism of ancon joint body 11, and said second rotating mechanism and the 3rd swing mechanism all are in transmission connection with wrist articulation structure 5; Said wrist articulation structure 5 comprises wrist joint body 12 and the 3rd rotating mechanism that is installed on wrist joint body 12, and said the 3rd rotating mechanism and clamping hand structure 6 are in transmission connection.
Specifically; Like Fig. 2,3, shown in 4 and 5, said base body 8 comprises bearing block 13, base plate 14, and said first rotational structure comprises that first servo-drive system 15, first decelerator 16, the first curve tooth bevel gear are secondary 17, vertical rotation axle 18 and first thrust bearing 19; Said first decelerator 16 is the RV decelerator; Said first servo-drive system 15 is installed on the base plate 14 with the RV decelerator, and the said vertical drive shaft and first thrust bearing 19 are installed on the bearing block 13, and said first servo-drive system 15 comprises servomotor, controller and feedback device; Said motor output shaft connects the input of RV decelerator; The output of RV decelerator is connected with vertical rotation axle 18 through the first curve tooth bevel gear secondary 17, and when servomotor starts, drive vertical rotation axle 18 rotates; Driven the entire arms system and rotated, said first servo-drive system 15 is controlled the rotation of entire arms system with respect to understructure 7 separately; Said shoulder joint body 9 comprises motor installing rack 23 and the large-arm joint supporting 24 that is installed on rotating circular disk 20, worm screw 21, the worm gear 22 on the understructure 7 vertical rotation axles 18 and is installed on rotating circular disk 20; Said first swing mechanism comprises second servo-drive system 25 and big arm power transmission shaft 26; Said second servo-drive system 25 comprises servomotor, controller and feedback device; The output shaft of servomotor is connected with worm screw 21, and said big arm power transmission shaft 26 is connected with worm gear 22, said worm screw 21 and worm gear 22 engagements; Work as electric motor starting; Drive worm screw 21 rotations, worm screw 21 drives worm gear 22 and then drives big arm power transmission shaft 26, and the servomotor of said second servo-drive system 25, controller and feedback device all are installed on motor installing rack 23; Said first swing mechanism is the big arm power transmission shaft 26 of control separately; And then control of the swing of big arm configuration 2 with respect to shoulder articulation structure 1, as shown in Figure 5, said second swing mechanism comprises forearm power transmission shaft 27, the 3rd servo-drive system 28, second decelerator 29, the second curve tooth bevel gear secondary 30 and bearing pair; Said second decelerator 29 is the RV decelerator; Said the 3rd servo-drive system 28 comprises servomotor, controller and feedback device, and said motor output shaft connects the input of RV decelerator, and the output of said RV decelerator is connected with forearm power transmission shaft 27 through the second curve gear is secondary; Drive forearm power transmission shaft 27; And then having driven the swing of forearm, said second swing mechanism is controlled forearm power transmission shaft 27 separately, and then 4 swings with respect to ancon articulation structure 3 of control forearm structure; Said second rotating mechanism comprises the 4th servo-drive system 31, the 3rd decelerator 32, first synchronous belt device, 33, the first hollow turning cylinder 34 and the second hollow turning cylinder 35 that is connected with the first hollow turning cylinder 34; Said the 3rd decelerator 32 is a harmonic speed reducer, and said the 4th servo-drive system 31 comprises servomotor, controller and feedback device, and the output shaft of the servomotor of said the 4th servo-drive system 31 is connected with the input of harmonic speed reducer; The output of said harmonic speed reducer is connected with the first hollow turning cylinder 34 through first synchronous belt device 33; Work as electric motor starting, drive first hollow turning cylinder 34 rotations from the decelerator and first synchronous belt device 33, and then drive the rotation of second hollow shaft; Said second rotating mechanism is controlled the rotation of wrist articulation structure 5 with respect to forearm structure 4 separately, and said the 3rd swing mechanism comprises secondary 39, second synchronous belt device 40 of the 5th servo-drive system 36, the 4th decelerator 37, solid transmission shaft 38, the 3rd curve tooth bevel gear, first power transmission shaft and second power transmission shaft; Said the 4th decelerator 37 is a harmonic speed reducer; Said the 5th servo-drive system 36 comprises servomotor, controller and feedback device; The servomotor output shaft of said the 5th servo-drive system 36 connects the input of the harmonic speed reducer of the 3rd swing mechanism; The output of the harmonic speed reducer of said the 3rd swing mechanism is connected with an end of solid transmission shaft 38; The other end of said solid transmission shaft 38 is connected with a curve tooth bevel gear of the 3rd curve tooth bevel gear secondary 39; Another curve tooth bevel gear of said the 3rd curve tooth bevel gear secondary 39 is connected with an end of first power transmission shaft, and the other end of said first power transmission shaft is connected with an end of second power transmission shaft through second synchronous belt device 40, and the other end of said second power transmission shaft is connected with wrist articulation structure 5; Said the 3rd swing mechanism is controlled the swing of wrist articulation structure 5 with respect to forearm structure 4 separately; Said the 3rd rotating mechanism comprises the 6th servo-drive system 41; The output shaft of said the 6th servo-drive system 41 is connected with clamping hand structure 6; Said the 6th servo-drive system 41 comprises servomotor, controller and feedback device, and said clamping hand body comprises end disk 46, is used to install the installation shaft and the splicing sleeve of end disk; Said splicing sleeve one end is connected and installed axle, and the other end connects end disk, and the servomotor output shaft of said the 6th servo-drive system 41 is connected with end disk, and said the 3rd rotating mechanism is controlled 6 rotations with respect to wrist articulation structure 5 of clamping hand structure separately; Said first rotating mechanism, second rotating mechanism and the 3rd rotating mechanism are similar structures, and said first swing mechanism, second swing mechanism and the 3rd swing mechanism are similar structures.
As shown in Figure 6, dynamic balancing machinery arm of the present invention is controlled respectively by six cover servo-drive systems, can reach the free degree of six direction; Avoided the coupling effect between each joint effectively, the method for control has also improved the precision and the stability of mechanical arm widely respectively, in addition; It also comprises balanced controls said dynamic balancing machinery arm of the present invention; Said balanced controls comprise compensating cylinder 43, support 44 and hinge 45, and said hinge 45, compensating cylinder 43 are connected with support 44 successively, and said hinge 45 is installed on understructure 7; Said support 44 is installed on big arm configuration 2; Improved the load capacity of whole mechanical arm system widely, under the prerequisite of not wearing balanced structure, system load is approximately 20~30KG.Said first servo-drive system 15, second servo-drive system 25, the 3rd servo-drive system 28, the 4th servo-drive system 31, the 5th servo-drive system 36 and the 6th servo-drive system 41 are same structure, because servo-drive system is common known technology, just do not give unnecessary details at this.

Claims (8)

1. dynamic balancing machinery arm; It comprises shoulder articulation structure (1), big arm configuration (2), ancon articulation structure (3), little arm configuration (4), wrist articulation structure (5) and clamping hand structure (6); Said big arm configuration (2) connects shoulder articulation structure (1) and ancon articulation structure (3); Said little arm configuration (4) connects ancon articulation structure (3) and wrist articulation structure (5), and said clamping hand structure (6) is installed on wrist articulation structure (5), it is characterized in that; It also comprises the understructure (7) that is installed on shoulder articulation structure (1); Said understructure (7) comprises base body (8) and is installed on the first inner rotating mechanism of base body (8) that said first rotating mechanism is fixedly connected with base body (8), and is in transmission connection with shoulder articulation structure (1); Said shoulder articulation structure (1) comprises shoulder joint body (9) and is installed in first swing mechanism on the shoulder joint body (9) that said first swing mechanism is in transmission connection with big arm configuration (2); Said big arm configuration (2) comprises big arm body (10) and is installed in second swing mechanism in the big arm body (10) that said second swing mechanism is fixedly connected with big arm body (10), and is in transmission connection with little arm configuration (4); Said ancon articulation structure (3) comprises ancon joint body (11), is installed on second rotating mechanism and the 3rd swing mechanism that is installed on ancon joint body (11) of ancon joint body (11), and said second rotating mechanism and the 3rd swing mechanism all are in transmission connection with wrist articulation structure (5); Said wrist articulation structure (5) comprises wrist joint body (12) and is installed on the 3rd rotating mechanism of wrist joint body (12) that said the 3rd rotating mechanism and clamping hand structure (6) are in transmission connection.
2. a kind of dynamic balancing machinery arm according to claim 1; It is characterized in that; Said base body (8) comprises bearing block (13), base plate (14), and said first rotational structure comprises first servo-drive system (15), first decelerator (16), the first curve tooth bevel gear secondary (17), vertical rotation axle (18) and first thrust bearing (19); The input of said first decelerator (16) is connected with the output of first servo-drive system (15), and output is connected with vertical rotation axle (18); Said first servo-drive system (15) and first decelerator (16) are installed on the base plate (14), and said vertical drive shaft (18) and first thrust bearing (19) are installed on the bearing block (13).
3. a kind of dynamic balancing machinery arm according to claim 1; It is characterized in that; Said shoulder joint body (9) comprises rotating circular disk (20), worm screw (21), the worm gear (22) that is installed on understructure (7) the vertical rotation axle and motor installing rack (23) that is installed on rotating circular disk (20) and large-arm joint supporting (24), and said first swing mechanism comprises second servo-drive system (25) and big arm power transmission shaft (26); The output of said second servo-drive system (25) links to each other with worm screw (21), and said worm gear (22) links to each other with big arm power transmission shaft (26) one ends, and said big arm power transmission shaft (26) other end is connected with big arm configuration (2), said worm gear (22) and worm screw (21) engagement; Said second servo-drive system (25) is installed on motor installing rack (23).
4. a kind of dynamic balancing machinery arm according to claim 1 is characterized in that said second swing mechanism comprises forearm power transmission shaft (27), the 3rd servo-drive system (28), second decelerator (29), the second curve tooth bevel gear secondary (30) and bearing pair; The input of said second decelerator (29) is connected with the output of the 3rd servo-drive system (28), and output is connected with forearm power transmission shaft (27).
5. a kind of dynamic balancing machinery arm according to claim 1; It is characterized in that; Said second rotating mechanism comprises the 4th servo-drive system (31), the 3rd decelerator (32), first synchronous belt device (33), the first hollow turning cylinder (34) and the second hollow turning cylinder (35) that is connected with the first hollow turning cylinder (34), and said the 3rd swing mechanism comprises the 5th servo-drive system (36), the 4th decelerator (37), solid transmission shaft (38), the 3rd curve tooth bevel gear secondary (39), second synchronous belt device (40), first power transmission shaft and second power transmission shaft; Said the 3rd decelerator (32) input is connected with the output of the 4th servo-drive system (31); Output is connected with an end of first synchronous belt device (33), the first hollow turning cylinder (34) and the second hollow turning cylinder (35) successively; The other end of the said second hollow turning cylinder (35) is connected with clamping hand structure (6); Said the 4th decelerator (37) input is connected with the output of the 5th servo-drive system (36); Output is connected with an end of solid transmission shaft (38); The other end of said solid transmission shaft (38) is connected with a curve tooth bevel gear of the 3rd curve tooth bevel gear secondary (39); Another curve tooth bevel gear of said the 3rd curve tooth bevel gear secondary (39) is connected with an end of first power transmission shaft, and the other end of said first power transmission shaft is connected with an end of second power transmission shaft through second synchronous belt device (40), and the other end of said second power transmission shaft is connected with wrist articulation structure (5).
6. a kind of dynamic balancing machinery arm according to claim 1; It is characterized in that; Said the 3rd rotating mechanism comprises the 6th servo-drive system (41), and the output shaft of said the 6th servo-drive system (41) is connected with clamping hand structure (6), and said the 6th servo-drive system (41) is installed on wrist articulation structure (5).
7. a kind of dynamic balancing machinery arm according to claim 1 is characterized in that said ancon articulation structure (3) also comprises counter weight device (42), and said counter weight device (42) and ancon articulation structure (3) removably connect.
8. a kind of dynamic balancing machinery arm according to claim 1; It is characterized in that; It also comprises balanced controls, and said balanced controls comprise compensating cylinder (43), support (44) and hinge (45), and said hinge (45), compensating cylinder (43) and support (44) are connected successively; Said hinge (45) is installed on understructure (7), and said support (44) is installed on big arm configuration (2).
CN2011104169570A 2011-12-14 2011-12-14 Dynamic balance manipulator CN102431040A (en)

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CN103029123A (en) * 2012-12-22 2013-04-10 浙江万丰科技开发有限公司 Light-weight six-shaft universal robot
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CN103878763A (en) * 2014-03-14 2014-06-25 江苏大学 Three-freedom degree manipulator
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CN104339367A (en) * 2013-07-30 2015-02-11 株式会社安川电机 Robot
CN104385267A (en) * 2014-10-11 2015-03-04 浙江创龙机器人制造有限公司 Four-joint manipulator
CN104723087A (en) * 2015-04-17 2015-06-24 安徽工程大学 Wrist structure of manipulator arm used for assembling fasteners
CN106182074A (en) * 2016-07-12 2016-12-07 诺伯特智能装备(山东)有限公司 Six-DOF industrial robot
CN106335047A (en) * 2016-10-31 2017-01-18 苏州立源信智能科技有限公司 Truss robot resisting shake
CN106363666A (en) * 2016-12-06 2017-02-01 希美埃(芜湖)机器人技术有限公司 Robot arm gravity balance device
CN106711847A (en) * 2016-12-21 2017-05-24 国网安徽省电力公司淮南供电公司 10kV distribution network line live obstacle clearing mechanical arm
CN109979300A (en) * 2017-12-27 2019-07-05 高飞 A kind of five degree of freedom teaching robot

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CN102785248B (en) * 2012-07-23 2015-03-04 华中科技大学 Motion control method of decoupling type 6-DOF (six degrees of freedom) industrial robot
CN102785248A (en) * 2012-07-23 2012-11-21 华中科技大学 Motion control method of decoupling type 6-DOF (six degrees of freedom) industrial robot
CN102785242A (en) * 2012-08-27 2012-11-21 江苏嘉盛光伏科技有限公司 Manipulator
CN103802127A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Axial type arm
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CN103802096A (en) * 2012-11-08 2014-05-21 沈阳新松机器人自动化股份有限公司 Robot mechanical arm
CN103029123A (en) * 2012-12-22 2013-04-10 浙江万丰科技开发有限公司 Light-weight six-shaft universal robot
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CN106182074A (en) * 2016-07-12 2016-12-07 诺伯特智能装备(山东)有限公司 Six-DOF industrial robot
CN106335047A (en) * 2016-10-31 2017-01-18 苏州立源信智能科技有限公司 Truss robot resisting shake
CN106363666A (en) * 2016-12-06 2017-02-01 希美埃(芜湖)机器人技术有限公司 Robot arm gravity balance device
CN106711847A (en) * 2016-12-21 2017-05-24 国网安徽省电力公司淮南供电公司 10kV distribution network line live obstacle clearing mechanical arm
CN109979300A (en) * 2017-12-27 2019-07-05 高飞 A kind of five degree of freedom teaching robot

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Application publication date: 20120502