CN103158148A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN103158148A CN103158148A CN2013100953864A CN201310095386A CN103158148A CN 103158148 A CN103158148 A CN 103158148A CN 2013100953864 A CN2013100953864 A CN 2013100953864A CN 201310095386 A CN201310095386 A CN 201310095386A CN 103158148 A CN103158148 A CN 103158148A
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Abstract
The invention relates to a mechanical arm. The mechanical arm comprises a base which is connected with a big arm pitching joint through a base rotating joint. A lighting lamp is arranged on one side of the bottom end of the big arm pitching joint, a small arm pitching joint is connected with the top end of the big arm pitching joint, and the small arm pitching joint is connected with a wrist pitching joint. A claw main body is arranged on one side of the wrist pitching joint, two clamping claws are arranged at the front end of the claw main body, and a cloud platform is connected with the back end of the claw main body through a connecting shaft. The mechanical arm has the advantages that the mechanical arm is designed to be light-weighted and is only less than one thirds of the weight of traditional equipment under the condition that the snatching moment of force is same. The mechanical arm is combined with the observation cloud platform, so that operation with composite functions can be achieved. The height of the cloud platform is 1.8 meters, so that a wide view angle is achieved. Movement with six degrees of freedom of the mechanical arm is achieved, and omnibearing movement without a blind angle is achieved. The mechanical arm is low in energy consumption, low in manufacturing cost, environment-friendly, quake-proof and good in protection performance.
Description
Technical field
The present invention relates to a kind of mechanical arm.
Background technology
Also there is no at present robot platform special-purpose machinery arm, mechanical arm body and robot that existing robot uses combine together, use as a special equipment, existing mechanical arm for robot is multi-functional single, for example the mechanical arm on streamline only can repeat same action, can not use by multiple environment, can not realize the compatibility to distinct device; The dead angle is also arranged in rotation process, can not comprehensively turn round without the dead angle; Do not adopt sealed design, can not underwater operation; Preponderance in traditional mechanical arm in addition, antidetonation is not enough.
Summary of the invention
The purpose of this invention is to provide a kind of mechanical arm, lightweight construction is easy to adjust, and transmission is accurate, and construction module is clear, and is compatible good, can use in multiple environment.
The objective of the invention is to be achieved through the following technical solutions:
A kind of mechanical arm, comprise base, connect large arm pitching joint by the base rotary joint on described base, bottom, described large arm pitching joint one side is provided with illuminating lamp, connection forearm pitching joint, top, the large arm pitching joint of institute, connection wrist pitching joint, described forearm pitching joint, described wrist pitching joint one side is provided with hand and grabs main body, described hand is grabbed body front end and is provided with two clamping hands and grabs, described hand is grabbed body rear and is connected The Cloud Terrace by connecting axle, and described The Cloud Terrace comprises The Cloud Terrace pitching joint, The Cloud Terrace rotary joint, The Cloud Terrace is renovated and camera.
further, described hand is grabbed main body and is comprised motor, motor one end connects planetary reducer, the planetary reducer right side is provided with circuit board, planetary reducer passes on left hand and grabs rotating mechanism and connect wrist pitching joint, the planetary reducer front end is connected hand by the locking double-screw bolt with the turbine baffle ring and grabs power transmission shaft, hand is grabbed the power transmission shaft front end sleeve second-stage worm, two worm shafts of second-stage worm engagement, second-stage worm and worm shaft are positioned at the worm screw mounting box, the worm shaft two ends are provided with hand and grab main support rod, worm screw mounting box both sides are provided with hand and grab secondary support bar, hand is grabbed main support rod and is connected secondary support bar front end with hand and connects paw by swingle.
Further, described large arm pitching joint, forearm pitching joint and wrist pitching joint are equipped with motor, and described motor connects planetary reducer, and planetary reducer connects the secondary ratch, secondary ratch engagement fluted disc, and fluted disc connects mechanical armed lever.
Further, described base rotary joint and The Cloud Terrace pitching joint are equipped with motor, and motor connects planetary reducer, and planetary reducer connects second-stage worm, second-stage worm bar engagement worm gear dish, and the worm gear dish connects mechanical armed lever.
Further, described The Cloud Terrace rotary joint is provided with motor, and motor connects planetary reducer, and planetary reducer connects secondary gear, and secondary gear comprises driving gear and driven gear, and driven gear connects mechanical armed lever.
Further, described motor is equipped with decoder and encoder.
Further, described base, large arm pitching joint, forearm pitching joint, wrist pitching joint, hand driving member and the shell faying face position of grabbing main body and The Cloud Terrace is equipped with sealing ring.
Further, described base, hand are grabbed on main body and The Cloud Terrace and are equipped with the general-purpose interface that is connected with encoder with decoder.
Beneficial effect of the present invention is:
1), adopted brand-new articulation structure, simple installation, lightweight construction is easy to adjust;
2), adopted the structure of multimode one, when having guaranteed the gripper operation, can also be effectively to around carry out comprehensive observation, solve the problems such as present mechanical arm function singleness and Functional Capability deficiency;
3), on a large scale general module and general-purpose interface, compatible good, make the module of various device can be carried in easily on this type mechanical arm;
4), adopt protection Design, all adopt Seal Design at all movable sealing faces, also all adopt sealing ring to seal at all faying faces of casing part, make this equipment have good waterproofing design, though under water one meter also can work;
5), the The Cloud Terrace height of observation is 1.5 times of gripper, has visual angle widely;
6), mechanical arm realizes six-freedom motion, realize comprehensively moving without the dead angle;
7), little power consumption, low cost of manufacture, environmental protection.
Description of drawings
The below is described in further detail the present invention with reference to the accompanying drawings.
Fig. 1 is the structural representation of the described mechanical arm of the embodiment of the present invention;
Fig. 2 is the structural representation that the described hand of the embodiment of the present invention is grabbed main body;
Fig. 3 is the decomposing schematic representation that the described hand of the embodiment of the present invention is grabbed main body;
Fig. 4 is the structural representation of the described large-arm joint of the embodiment of the present invention;
Fig. 5 is the decomposing schematic representation of the described large-arm joint of the embodiment of the present invention;
Fig. 6 is the decomposing schematic representation of the described base of the embodiment of the present invention.
In figure:
1, base; 2, large arm pitching joint; 3, illuminating lamp; 4, forearm pitching joint; 5, wrist pitching joint; 6, hand is grabbed main body; 7, the clamping hand is grabbed; 8, connecting axle; 9, The Cloud Terrace; 10, motor; 11, planetary reducer; 12, circuit board; 13, hand is grabbed rotating mechanism; 14, locking double-screw bolt; 15, turbine baffle ring; 16, hand is grabbed power transmission shaft; 17, second-stage worm; 18, worm shaft; 19, worm screw mounting box; 20, hand is grabbed main support rod; 21, hand is grabbed secondary support bar; 22, swingle; 23, paw; 24, secondary ratch; 25, fluted disc; 26, mechanical armed lever; 27, the turbine disk; 28, secondary gear; 29, decoder; 30, encoder; 31, sealing ring; 32, reserve flange-interface; 33, The Cloud Terrace is renovated; 34, camera; 35, screw; 36, bearing; 37, packing ring; 38, shell; 39, key.
The specific embodiment
as shown in Fig. 1-6, the described a kind of mechanical arm of the embodiment of the present invention, comprise base 1, connect large arm pitching joint 2 by the base rotary joint on described base 1, described large arm pitching joint 2 bottom one sides are provided with illuminating lamp 3, 2 connection forearm pitching joints, tops 4, the large arm pitching of institute joint, described forearm pitching joint 4 connects wrist pitching joint 5, described wrist pitching joint 5 one sides are provided with hand and grab main body 6, described hand is grabbed main body 6 front ends and is provided with two clamping hands and grabs 7, described hand is grabbed main body 6 rear ends and is connected The Cloud Terraces 9 by connecting axle 8, described The Cloud Terrace 9 comprises The Cloud Terrace pitching joint, the The Cloud Terrace rotary joint, The Cloud Terrace renovates 33 and camera 34.described hand is grabbed main body 6 and is comprised motor 10, motor 10 1 ends connect planetary reducer 11, planetary reducer 11 right sides are provided with circuit board 12, planetary reducer 11 passes on left hand and grabs rotating mechanism 13 and connect wrist pitching joint 5, planetary reducer 11 front ends are connected with the turbine baffle ring by locking double-screw bolt 14 and are connected hand and grab power transmission shaft 16, hand is grabbed power transmission shaft 16 front end sleeves second-stage worm 17, two worm shafts 18 of second-stage worm 17 engagements, second-stage worm 17 and worm shaft 18 are positioned at worm screw mounting box 19, worm shaft 18 two ends are provided with hand and grab main support rod 20, worm screw mounting box 18 both sides are provided with hand and grab secondary support bar 21, hand is grabbed main support rod 20 and is connected secondary support bar 21 front ends with hand by swingle 22 connection paws 23.Described large arm pitching joint 2, forearm pitching joint 4 and wrist pitching joint 4 are equipped with motor 10, and described motor 10 connects planetary reducers 11, and planetary reducer 11 connects secondary ratch 24, secondary ratch 24 engagement fluted discs 25, and fluted disc 25 connects mechanical armed levers 26.Described base rotary joint and The Cloud Terrace pitching joint are equipped with motor 10, and motor 10 connects planetary reducers 11, and planetary reducer 11 connects second-stage worm 17, second-stage worm 17 engagement worm gear dishes 27, and worm gear dish 27 connects mechanical armed levers 26.Described The Cloud Terrace rotary joint is provided with motor 10, and motor 10 connects planetary reducer 11, and planetary reducer 11 connects secondary gear 28, and secondary gear 28 comprises driving gear and driven gear, and driven gear connects mechanical armed lever 26.Described motor 10 is connected with decoder 29 and encoder 30.Driving member and shell faying face position that described base 1, large arm pitching joint 2, forearm pitching joint 4, wrist pitching joint 5, hand are grabbed main body 6 and The Cloud Terrace 9 are equipped with sealing ring 31.Described base 1, hand are grabbed to be equipped with on main body 6 and The Cloud Terrace 9 and are reserved flange-interface 32.
mechanical arm provided by the invention comprises the base rotary joint, large arm pitching joint 2, forearm pitching joint 4, wrist pitching joint 5, hand is grabbed rotary joint, hand is grabbed to add and is held the joint, The Cloud Terrace 9 pitching joints, The Cloud Terrace 9 rotary joints, camera 34 pitching joints, The Cloud Terrace is renovated 33 joints, the articulate driving of institute is driven by motor 10 respectively, and all use planetary reducer 11 to slow down in motor 10 the place aheads, after slowing down, export moment of torsion to next joint, wherein, large arm pitching joint 2, forearm pitching joint 4, wrist pitching joint 5 three's internal structures are identical with control mode, only size is different, after in the three, motor 10 slows down through planetary reducer 11, export to secondary ratch 24, secondary ratch 24 band active toothed disks 25 rotate, and by fluted disc 25, moment of torsion is passed to mechanical armed lever, the machinery armed lever is subjected to displacement, the joint of mechanical arm setting in motion.Base rotary joint, hand are grabbed in the 34 pitching joints of rotary joint, The Cloud Terrace 9 pitching joints, camera, after motor 10 slows down through planetary reducer 11, export to second-stage worm 17, second-stage worm 17 band worm shafts 18 rotate, and by worm shaft 18, moment of torsion is passed to mechanical armed lever, the machinery armed lever is subjected to displacement, the joint of mechanical arm setting in motion.
The Cloud Terrace 9 rotary joints, motor 10 are exported to secondary gear 28 after slowing down through planetary reducer 11, driving gear drives driven gear and rotates, and by driven gear shaft, moment of torsion being passed to mechanical armed lever, The Cloud Terrace 9 rotary joints are subjected to displacement, The Cloud Terrace rotary joint setting in motion.
hand is grabbed the clamping joint, after motor 10 slows down through planetary reducer 11, export to second-stage worm 17, second-stage worm 17 drives twin worm axle 18 and rotates, and hand is grabbed main support rod 20 and hand is grabbed secondary support bar 21 by from worm shaft 18, moment of torsion being passed to respectively, hand is grabbed main support rod 20 and hand and is grabbed secondary support bar 21 and form a parallel-crank mechanism and pass motion to paw 23, the finger tip of left and right two paws 23 also carries out relative motion when doing absolute motion, speed is two times of absolute movement speed, and the mechanical arm hand is grabbed clamping that the relative motion of finger tip realized that the mechanical arm hand grabs and is unclamped.
Renovate in 33 mechanisms at The Cloud Terrace, after motor 10 slows down through planetary reducer 11, export to second-stage worm 17, second-stage worm 17 drives worm shaft 18 and rotates, and by worm shaft 18, moment of torsion is passed to tertiary gear, tertiary gear drives The Cloud Terrace by three grades of driven gear shafts and renovates 33 rotations, realizes opening or closing thereby make The Cloud Terrace hide 33.
Accompanying drawing 2, accompanying drawing 5 and accompanying drawing 6 have shown the connected mode of the above transmission mechanism drive disk assembly, and connected mode can be completed rotation described above, pitching and holding action accordingly.The support component of bearing 36, packing ring 37, nut, screw 35, key 39 and each drive disk assembly that some machinery industries are general only need size suitable, can keep the steady operation of main drive disk assembly to get final product, therefore do not mark one by one.
Mechanical arm is in the process of motion, can control separately each joint by remote controller moves, also can carry out connecting move control to each joint of mechanical arm by computer, also can adopt the functions such as control path implement one key expansion of computer-internal, the enforcement of realization to robot special-purpose machinery arm, efficiently, stable control.
On mechanical arm, all motors all adopt closed loop servo to control, and the absolute position of using absolute encoder 30 Real Time Monitoring mechanical arms, effectively prevent the self-interference of mechanical arm in motion process, also can implement effective optimum control to mechanical arm by control appliance.
In the manipulator motion process, when running into larger resistance and cause mechanical arm to continue to move, there is electric current to pass through in motor 10, but can't turns round, motor 10 will easily burn, and 12 of circuit boards began to control and reduced electric current this moment, prevented that motor 10 from burning.
When move in each joint of mechanical arm; when bearing torque over design objective; impose on turbine baffle ring 15(by rotating shaft and have spring performance) compression stress, when turbine baffle ring 15 carries greater than the bullet deformation quantity, 15 distortion of turbine baffle ring; transmission mechanism is thrown off; at this moment, the output torque of motor 10 can't pass to outside armed lever mechanism, and mechanical armed lever also can't be returned to resistance motor 10; mechanism enters automatic guard mode, until moment of torsion returns to normal value.
The employing standardization that the design of robot special-purpose machinery arm is a large amount of, modularized design, mechanical arm below, the rear that hand is grabbed, and The Cloud Terrace 9, the top of base 1 etc. all are provided with and reserve flange-interface 32 and position, mounting flange hole, all satisfactory plugs and standard component and load equipment can be installed, stayed great space for the installation of plug-in function accessories, use simple, convenient, make configuration more balanced, be applicable to the lift-launch of various platforms.
Owing to considering that robot uses mechanical arm need to follow robot jointly to advance, work compound needs sufficient load capacity and the environment for use of considering robot when design.therefore, robot arm preferably adopts the hollow-cup motor 10 of high efficiency and high energy efficiency ratio at drive part, its efficient surpasses conventional motors 30%, the intermediate transfer link uses high-performance planetary reducer 11 to slow down, efficient reaches 65%, 45% of the worm and gear that surpasses far away, simultaneously, all drive mechanisms all use the high efficiency drive mechanisms such as gear or variation gear, in operation process, all local bearings 36 that adopt, wherein the overwhelming majority adopts rolling bearing, reduced greatly loss at the volley. except motion transfer chain high-effect, Platform Designing adopts the lightweight material on a large scale, weight only has 40% of traditional material, adopt in a large number again engraved structure in design, and all structures are carried out finite element analysis, further loss of weight 50%, finally obtain a ultra lightweighting mechanical arm, and in design, the operating environment of considering robot is more abominable, in design also a large amount of use micro-resilience and flexible lever technology, reducing rigid impact exerts an influence to mechanical arm, each joint has increased the force moment protection link simultaneously, prevent from causing because of the joint overload the rigid damage of equipment.
consider many-sided problems such as the use of mechanical arm and The Cloud Terrace 9 observed altitudes, robot arm has adopted the mechanical arm of innovation, The Cloud Terrace 9 integrative-structures, directly The Cloud Terrace 9 is arranged on the top of mechanical arm, on the one hand because the end at mechanical arm has increased more scope, make the observation of mechanical arm and use more flexible, on the other hand, be arranged on the end of mechanical arm due to The Cloud Terrace 9, make the height of The Cloud Terrace reach 1.8 meters, three times of robot length have been surpassed, and two kinds of integration of equipments are installed, general-purpose interface, make robot more flexible to controlling of mechanical arm, convenient.
The present invention is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present invention; no matter but do any variation on its shape or structure; every have identical with a application or akin technical scheme, within all dropping on protection scope of the present invention.
Claims (8)
1. mechanical arm, comprise base (1), it is characterized in that: described base (1) is upper is connected with large arm pitching joint (2) by the base rotary joint, bottom, described large arm pitching joint (2) one side is provided with illuminating lamp (3), top, the large arm pitching joint (2) of institute is connected with forearm pitching joint (4), described forearm pitching joint (4) is connected with wrist pitching joint (5), described wrist pitching joint (5) one sides are provided with hand and grab main body (6), described hand is grabbed main body (6) front end and is provided with two clamping hands and grabs (7), described hand is grabbed main body (6) rear end and is connected The Cloud Terrace (9) by connecting axle (8), described The Cloud Terrace (9) comprises The Cloud Terrace pitching joint, the The Cloud Terrace rotary joint, The Cloud Terrace is renovated (33) and camera (34).
2. mechanical arm according to claim 1, it is characterized in that: described hand is grabbed main body (6) and is comprised motor (10), motor (10) one ends connect planetary reducer (11), planetary reducer (11) right side is provided with circuit board (12), planetary reducer (11) passes on left hand and grabs rotating mechanism (13) and connect wrist pitching joint (5), planetary reducer (11) front end by locking double-screw bolt (14) be connected 15 with the turbine baffle ring) connection hand grab power transmission shaft (16), hand is grabbed power transmission shaft (16) front end sleeve second-stage worm (17), second-stage worm (17) engagement two worm shafts (18), second-stage worm (17) and worm shaft (18) are positioned at worm screw mounting box (19), worm shaft (18) two ends are provided with hand and grab main support rod (20), worm screw mounting box (18) both sides are provided with hand and grab secondary support bar (21), hand is grabbed main support rod (20) and is connected secondary support bar (21) front end with hand by swingle (22) connection paw (23).
3. mechanical arm according to claim 2, it is characterized in that: described large arm pitching joint (2), forearm pitching joint (4) and wrist pitching joint (4) are equipped with motor (10), described motor (10) connects planetary reducer (11), planetary reducer (11) connects secondary ratch (24), secondary ratch (24) engagement fluted disc (25), fluted disc (25) connects mechanical armed lever (26).
4. mechanical arm according to claim 3, it is characterized in that: described base rotary joint and The Cloud Terrace pitching joint are equipped with motor (10), motor (10) connects planetary reducer (11), planetary reducer (11) connects second-stage worm (17), second-stage worm (17) engagement worm gear dish (27), worm gear dish (27) connects mechanical armed lever (26).
5. mechanical arm according to claim 4, it is characterized in that: described The Cloud Terrace rotary joint is provided with motor (10), motor (10) connects planetary reducer (11), planetary reducer (11) connects secondary gear (28), secondary gear (28) comprises driving gear and driven gear, and driven gear connects mechanical armed lever (26).
6. mechanical arm according to claim 5, it is characterized in that: described motor (10) is connected with decoder (29) and encoder (30).
7. mechanical arm according to claim 6 is characterized in that: driving member and shell faying face position that described base (1), large arm pitching joint (2), forearm pitching joint (4), wrist pitching joint (5), hand are grabbed main body (6) and The Cloud Terrace (9) are equipped with sealing ring (31).
8. according to claim 1-7 described mechanical arms of any one is characterized in that: described base (1), hand are grabbed to be equipped with on main body (6) and The Cloud Terrace (9) and are reserved flange-interface (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310095386.4A CN103158148B (en) | 2013-03-23 | 2013-03-23 | A kind of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310095386.4A CN103158148B (en) | 2013-03-23 | 2013-03-23 | A kind of mechanical arm |
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| Publication Number | Publication Date |
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| CN103158148A true CN103158148A (en) | 2013-06-19 |
| CN103158148B CN103158148B (en) | 2015-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310095386.4A Expired - Fee Related CN103158148B (en) | 2013-03-23 | 2013-03-23 | A kind of mechanical arm |
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| CN103802132A (en) * | 2014-03-04 | 2014-05-21 | 中国人民解放军军事医学科学院卫生装备研究所 | Folding lightweight mechanical arm with target following and monitoring function |
| CN104589340A (en) * | 2015-02-03 | 2015-05-06 | 东莞技研新阳电子有限公司 | Novel six-degree-of-freedom manipulator |
| CN104767919A (en) * | 2015-03-23 | 2015-07-08 | 刘波 | Underwater multi-angle monitoring camera |
| CN105583805A (en) * | 2015-01-12 | 2016-05-18 | 浙江琦星电子有限公司 | Mechanical arm |
| CN106420060A (en) * | 2016-09-21 | 2017-02-22 | 东莞市联洲知识产权运营管理有限公司 | Surgical instrument with claw arranged at actuating end |
| CN107053245A (en) * | 2017-03-13 | 2017-08-18 | 河北工业大学 | A kind of rotary-type variation rigidity flexible joint |
| CN107461480A (en) * | 2017-07-03 | 2017-12-12 | 北京航天光华电子技术有限公司 | A kind of adjustable explosive-removal robot Amimuth Transmission mechanism in gap |
| CN107825459A (en) * | 2017-10-30 | 2018-03-23 | 中国科学院西安光学精密机械研究所 | Mechanical arm joint and six-degree-of-freedom mechanical arm |
| CN108081301A (en) * | 2016-11-22 | 2018-05-29 | 大邱庆北科学技术院 | Detachable module type universal clamping jaw device |
| CN108156786A (en) * | 2018-02-07 | 2018-06-12 | 昆山纬亚电子科技有限公司 | A kind of pcb board erecting device for being capable of Fast Installation |
| CN108234899A (en) * | 2018-02-05 | 2018-06-29 | 北京华信智航科技有限公司 | A kind of multiway images system based on mode adaptive |
| CN108582044A (en) * | 2018-05-23 | 2018-09-28 | 北京华信智航科技有限公司 | A kind of 8 degree of freedom integrated machine arms based on both hands pawl |
| CN108656081A (en) * | 2018-05-16 | 2018-10-16 | 大连海事大学 | Buoy Work machine arm and its application method |
| CN110153988A (en) * | 2018-02-05 | 2019-08-23 | 北京华信智航科技有限公司 | A kind of mechanical arm that can be translated in rectangular co-ordinate |
| CN111618873A (en) * | 2020-05-29 | 2020-09-04 | 杭州申昊科技股份有限公司 | Explosion-proof inspection robot with instrument identification function and identification method thereof |
| CN113503839A (en) * | 2021-07-13 | 2021-10-15 | 电子科技大学 | Vegetation parameter is measuring robot independently |
| US20220184810A1 (en) * | 2019-04-02 | 2022-06-16 | Universal Robots A/S | Robot arm safety system with runtime adaptable safety limits |
| CN115366068A (en) * | 2021-05-20 | 2022-11-22 | 中国科学院沈阳自动化研究所 | Multifunctional mechanical arm |
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| CN106420060A (en) * | 2016-09-21 | 2017-02-22 | 东莞市联洲知识产权运营管理有限公司 | Surgical instrument with claw arranged at actuating end |
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| CN107053245A (en) * | 2017-03-13 | 2017-08-18 | 河北工业大学 | A kind of rotary-type variation rigidity flexible joint |
| CN107053245B (en) * | 2017-03-13 | 2023-06-30 | 河北工业大学 | Rotary variable stiffness flexible joint |
| CN107461480A (en) * | 2017-07-03 | 2017-12-12 | 北京航天光华电子技术有限公司 | A kind of adjustable explosive-removal robot Amimuth Transmission mechanism in gap |
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