CN103158148B - A kind of mechanical arm - Google Patents
A kind of mechanical arm Download PDFInfo
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- CN103158148B CN103158148B CN201310095386.4A CN201310095386A CN103158148B CN 103158148 B CN103158148 B CN 103158148B CN 201310095386 A CN201310095386 A CN 201310095386A CN 103158148 B CN103158148 B CN 103158148B
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- pitching joint
- hand
- mechanical arm
- joint
- cloud terrace
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Abstract
The present invention relates to a kind of mechanical arm, comprise base, described base connects large arm pitching joint by base rotary joint, side, bottom, described large arm pitching joint is provided with illuminating lamp, top, institute large arm pitching joint connects forearm pitching joint, and described forearm pitching joint connects wrist pitching joint, and side, described wrist pitching joint is provided with hand and grabs main body, described hand is grabbed body front end and is provided with two holding hands and grabs, and described hand is grabbed body rear and connected The Cloud Terrace by connecting axle.Beneficial effect of the present invention is: mechanical arm light-weight design, under equal snatch moment state, only less than the weight of legacy equipment 1/3; Mechanical arm with observe The Cloud Terrace and merge, can the operation of practical function compound; The Cloud Terrace height of observation, up to 1.8 meters, has visual angle widely; Mechanical arm realizes six-freedom motion, realizes comprehensive without dead angle motion little power consumption, low cost of manufacture, environmental protection; Antidetonation, protective value is superior.
Description
Technical field
The present invention relates to a kind of mechanical arm.
Background technology
Also there is no robot platform special machine mechanical arm at present, the mechanical arm body that existing robot uses and robot combine together, use as a special equipment, existing mechanical arm for robot is multi-functional single, such as, mechanical arm on streamline only can repeat same action, can not use by multiple environment, the compatibility to distinct device can not be realized; In rotation process, also there is dead angle, can not comprehensively operate without dead angle; Do not adopt sealed design, can not underwater operation; Preponderance in conventional machine mechanical arm in addition, antidetonation is not enough.
Summary of the invention
The object of this invention is to provide a kind of mechanical arm, lightweight construction, be easy to adjustment, transmission is accurate, and construction module is clear, compatible good, can use in multiple environment.
The object of the invention is to be achieved through the following technical solutions:
A kind of mechanical arm, comprise base, described base connects large arm pitching joint by base rotary joint, side, bottom, described large arm pitching joint is provided with illuminating lamp, top, institute large arm pitching joint connects forearm pitching joint, described forearm pitching joint connects wrist pitching joint, side, described wrist pitching joint is provided with hand and grabs main body, described hand is grabbed body front end and is provided with two holding 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 are renovated and camera.
Further, described hand is grabbed main body and is comprised motor, motor one end connects planetary reducer, circuit board is provided with on the right side of planetary reducer, planetary reducer passes on left hand and grabs rotating mechanism connection wrist pitching joint, planetary reducer front end is connected hand by locking stud with turbine baffle ring and grabs power transmission shaft, hand grabs power transmission shaft front end sleeve second-stage worm, second-stage worm engages two worm shafts, second-stage worm and worm shaft are positioned at worm screw mounting box, 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 grabbed secondary support bar front end with hand and be connected 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 secondary ratch, secondary ratch engaging tooth dish, fluted disc junctor mechanical arm bar.
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 engaging worm wheel dish, worm gear dish junctor mechanical arm bar.
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, driven gear junctor mechanical arm bar.
Further, described motor is equipped with decoder and encoder.
Further, described base, large arm pitching joint, forearm pitching joint, wrist pitching joint, hand grab the driving member of main body and The Cloud Terrace and shell faying face position is equipped with sealing ring.
Further, described base, hand are grabbed main body and The Cloud Terrace are equipped with the general-purpose interface be connected with encoder with decoder.
Beneficial effect of the present invention is:
1), have employed brand-new articulation structure, simple installation, lightweight construction, be easy to adjustment;
2), have employed multimode structure integrally, while ensure that gripper runs, effectively can also carry out comprehensive observation to surrounding, solve current mechanical arm function singleness and the problems such as Functional Capability deficiency;
3), on a large scale general module and general-purpose interface, compatible good, make the module of various equipment can be carried on this type mechanical arm easily;
4), adopt protection Design, all adopt Seal Design in all movable sealing faces, casing part all faying faces also all adopt sealing ring seal, make this equipment have good waterproofing design, though under water one meter also can normally work;
5), The Cloud Terrace height of observation is 1.5 times of gripper, has visual angle widely;
6), mechanical arm realizes six-freedom motion, realizes comprehensively moving without dead angle;
7), little power consumption, low cost of manufacture, environmental protection.
Accompanying drawing explanation
With reference to the accompanying drawings the present invention is described in further detail below.
Fig. 1 is the structural representation of mechanical arm described in the embodiment of the present invention;
Fig. 2 is the structural representation that hand described in the embodiment of the present invention grabs main body;
Fig. 3 is the decomposing schematic representation that hand described in the embodiment of the present invention grabs main body;
Fig. 4 is the structural representation of large-arm joint described in the embodiment of the present invention;
Fig. 5 is the decomposing schematic representation of large-arm joint described in the embodiment of the present invention;
Fig. 6 is the decomposing schematic representation of base described in 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 grabs main body; 7, holding hand is grabbed; 8, connecting axle; 9, The Cloud Terrace; 10, motor; 11, planetary reducer; 12, circuit board; 13, hand grabs rotating mechanism; 14, stud is locked; 15, turbine baffle ring; 16, hand grabs power transmission shaft; 17, second-stage worm; 18, worm shaft; 19, worm screw mounting box; 20, hand grabs main support rod; 21, hand grabs 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, reserved flange-interface; 33, The Cloud Terrace is renovated; 34, camera; 35, screw; 36, bearing; 37, packing ring; 38, shell; 39, key.
Detailed description of the invention
As shown in figures 1 to 6, a kind of mechanical arm described in the embodiment of the present invention, comprise base 1, described base 1 connects large arm pitching joint 2 by base rotary joint, side, bottom, described large arm pitching joint 2 is provided with illuminating lamp 3, top, institute's large arm pitching joint 2 connects forearm pitching joint 4, described forearm pitching joint 4 connects wrist pitching joint 5, side, described wrist pitching joint 5 is provided with hand and grabs main body 6, described hand is grabbed main body 6 front end and is provided with two holding 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 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 one end connects planetary reducer 11, circuit board 12 is provided with on the right side of planetary reducer 11, planetary reducer 11 passes on left hand and grabs rotating mechanism 13 and connect wrist pitching joint 5, planetary reducer 11 front end is connected hand by locking stud 14 with turbine baffle ring 15 and grabs power transmission shaft 16, hand grabs power transmission shaft 16 front end sleeve second-stage worm 17, second-stage worm 17 engages 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 grabbed secondary support bar 21 front end with hand and be connected paw 23 by swingle 22.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 reducer 11, and planetary reducer 11 connects secondary ratch 24, and secondary ratch 24 engages fluted disc 25, fluted disc 25 junctor mechanical arm bar 26.Described base rotary joint and The Cloud Terrace pitching joint are equipped with motor 10, and motor 10 connects planetary reducer 11, and planetary reducer 11 connects second-stage worm 17, second-stage worm 17 engaging worm wheel dish 27, worm gear dish 27 junctor mechanical arm bar 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, driven gear junctor mechanical arm bar 26.Described motor 10 is connected with decoder 29 and encoder 30.Described base 1, large arm pitching joint 2, forearm pitching joint 4, wrist pitching joint 5, hand grab the driving member of main body 6 and The Cloud Terrace 9 and shell faying face position is equipped with sealing ring 31.Described base 1, hand are grabbed on main body 6 and The Cloud Terrace 9 and are equipped with reserved flange-interface 32.
Mechanical arm provided by the invention comprises base rotary joint, large arm pitching joint 2, forearm pitching joint 4, wrist pitching joint 5, hand grabs rotary joint, hand is grabbed and is accommodated joint, The Cloud Terrace 9 pitching joint, The Cloud Terrace 9 rotary joint, camera 34 pitching joint, The Cloud Terrace renovates 33 joints, articulate driving is driven by motor 10 respectively, and all use planetary reducer 11 to slow down in motor 10 front, after slowing down, moment of torsion is exported to next joint, wherein, large arm pitching joint 2, forearm pitching joint 4, wrist pitching joint 5 three's internal structure is identical with control mode, only size is different, in three, motor 10 is after planetary reducer 11 slows down, export to secondary ratch 24, secondary ratch 24 is with active toothed disk 25 to rotate, and by fluted disc 25, moment of torsion is passed to mechanical armed lever, machinery armed lever is subjected to displacement, joint of mechanical arm setting in motion.Base rotary joint, hand are grabbed in rotary joint, The Cloud Terrace 9 pitching joint, camera 34 pitching joint, motor 10 is after planetary reducer 11 slows down, export to second-stage worm 17, second-stage worm 17 is with worm shaft 18 to rotate, and by worm shaft 18, moment of torsion is passed to mechanical armed lever, machinery armed lever is subjected to displacement, joint of mechanical arm setting in motion.
The Cloud Terrace 9 rotary joint, motor 10, after planetary reducer 11 slows down, exports to secondary gear 28, driving gear drives driven gear to rotate, and by driven gear shaft, moment of torsion being passed to mechanical armed lever, The Cloud Terrace 9 rotary joint is subjected to displacement, The Cloud Terrace rotary joint setting in motion.
Hand grabs clamping joint, motor 10 is after planetary reducer 11 slows down, export to second-stage worm 17, second-stage worm 17 drives twin worm axle 18 to rotate, and by from worm shaft 18 moment of torsion being passed to respectively hand and grab main support rod 20 and hand grabbing secondary support bar 21, 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 while doing absolute movement, speed is two times of absolute movement speed, and the relative motion that mechanical arm hand grabs finger tip achieves clamping that mechanical arm hand grabs and unclamps.
Renovate in 33 mechanisms at The Cloud Terrace, motor 10 is after planetary reducer 11 slows down, export to second-stage worm 17, second-stage worm 17 drives worm shaft 18 to rotate, and by worm shaft 18, moment of torsion is passed to tertiary gear, tertiary gear drives The Cloud Terrace to renovate 33 rotations by three grades of driven gear shafts, thus makes The Cloud Terrace covering 33 realize opening or closing.
Accompanying drawing 2, accompanying drawing 5 and figures 6 shows the connected mode of the above transmission mechanism drive disk assembly, connected mode can complete 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 needs the steady operation that size is suitable, can keep primary drive parts, so there is no mark one by one.
Mechanical arm is in the process of motion, each joint can be controlled separately by remote controller to move, also connecting move control can be carried out by computer each joint to mechanical arm, also the controllability path of computer-internal can be adopted to realize the functions such as a key expansion, realize the enforcement to robot special machine mechanical arm, efficiently, stable control.
Motors all on mechanical arm all adopts Close loop servo control, and use the absolute position of the real-time monitoring equipment mechanical arm of absolute encoder 30, effectively prevent the self-interference of mechanical arm in motion process, also can implement effective optimum control by control appliance to mechanical arm.
In manipulator motion process, when running into larger resistance and causing mechanical arm cannot continue motion, have electric current to pass through in motor 10, but cannot operate, motor 10 will easily burn, and now circuit board 12 starts to control to reduce electric current, prevents motor 10 from burning.
Time moving in each joint of mechanical arm; when bearing torque and exceeding design objective; be applied to turbine baffle ring 15(by rotating shaft and there is spring performance) compression stress, when turbine baffle ring 15 carrying is greater than bullet deformation quantity, turbine baffle ring 15 is out of shape; transmission mechanism is thrown off; now, the output torque of motor 10 cannot pass to outside armed lever mechanism, and resistance also cannot be returned to motor 10 by mechanical armed lever; mechanism enters automatic guard mode, until moment of torsion returns to normal value.
The employing standardization that the design of robot special machine mechanical arm is a large amount of, modularized design, mechanical arm below, the rear that hand is grabbed, and The Cloud Terrace 9, the top etc. of base 1, is all provided with reserved flange-interface 32 and Method for Installation flange aperture position, all satisfactory plugs and standard component and load equipment can be installed, leave great space to the installation of plug-in function accessories, use simple, convenient, make configuration more balanced, be applicable to the lift-launch of various platform.
Owing to considering that robot uses mechanical arm to need jointly to advance with robot, work compound, needs load capacity and the environment for use of considering robot fully when designing.Therefore, robot arm preferably adopts the hollow-cup motor 10 of high efficiency and high energy efficiency ratio at drive part, its efficiency exceedes conventional motors 30%, intermediate transfer link uses high-performance planetary reducer 11 to slow down, efficiency reaches 65%, far exceed 45% of worm and gear, simultaneously, all drive mechanisms all use the high efficiency drive mechanism such as gear or variation gear, in operation process, all places adopt bearing 36, wherein the overwhelming majority adopts rolling bearing, reduce loss at the volley greatly. except Movement transmit chain high-effect except, Platform Designing adopts lightweighting materials on a large scale, weight only has 40% of traditional material, adopt engraved structure in a large number again in the design, and finite element analysis is carried out to all structures, further loss of weight 50%, finally obtain a ultra lightweighting mechanical arm, and in the design, consider that the operating environment of robot is more severe, employ micro-resilience and flexible lever technology also in a large number in design, reduce rigid impact to have an impact to mechanical arm, each joint both increases force moment protection link simultaneously, prevent the rigid damage causing equipment because of joint overload.
Consider the various problems such as use and The Cloud Terrace 9 observed altitude of mechanical arm, robot arm have employed the mechanical arm of innovation, The Cloud Terrace 9 integrative-structure, directly The Cloud Terrace 9 is arranged on the top of mechanical arm, on the one hand owing to adding more scope at the end of mechanical arm, make the observation of mechanical arm and use more flexible, on the other hand, because The Cloud Terrace 9 has been arranged on the end of mechanical arm, the height of The Cloud Terrace is made to reach 1.8 meters, three times of robot length are exceeded, and two kinds of integration of equipments are installed, general-purpose interface, make robot more flexible to the manipulation 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 any change is done in its shape or structure; every have identical with the application or akin technical scheme, all drops within protection scope of the present invention.
Claims (7)
1. a mechanical arm, comprise base (1), it is characterized in that: described base (1) is connected with large arm pitching joint (2) by base rotary joint, described large arm pitching joint (2) side, bottom is provided with illuminating lamp (3), institute's large arm pitching joint (2) top is connected with forearm pitching joint (4), described forearm pitching joint (4) is connected with wrist pitching joint (5), described wrist pitching joint (5) side is provided with hand and grabs main body (6), described hand is grabbed main body (6) front end and is provided with two holding 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 Cloud Terrace rotary joint, The Cloud Terrace is renovated (33) and camera (34), described hand is grabbed main body (6) and is comprised motor (10), motor (10) one end connects 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) connection wrist pitching joint (5), planetary reducer (11) front end is connected hand by locking stud (14) with turbine baffle ring (15) and grabs power transmission shaft (16), hand grabs 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 hand and is grabbed secondary support bar (21) front end and be connected paw (23) by swingle (22).
2. mechanical arm according to claim 1, 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) junctor mechanical arm bar (26).
3. mechanical arm according to claim 2, 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) engaging worm wheel dish (27), worm gear dish (27) junctor mechanical arm bar (26).
4. mechanical arm according to claim 3, 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, driven gear junctor mechanical arm bar (26).
5. mechanical arm according to claim 4, is characterized in that: described motor (10) is connected with decoder (29) and encoder (30).
6. mechanical arm according to claim 5, is characterized in that: described base (1), large arm pitching joint (2), forearm pitching joint (4), wrist pitching joint (5), hand grab the driving member of main body (6) and The Cloud Terrace (9) and shell faying face position is equipped with sealing ring (31).
7. the mechanical arm according to any one of claim 1-6, is characterized in that: described base (1), hand are grabbed on main body (6) and The Cloud Terrace (9) and be equipped with 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 CN103158148A (en) | 2013-06-19 |
| CN103158148B true 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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| CN (1) | CN103158148B (en) |
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| CN103802132B (en) * | 2014-03-04 | 2016-07-06 | 中国人民解放军军事医学科学院卫生装备研究所 | There is target and follow the foldable lightweight mechanical arm of function for monitoring |
| CN105583806B (en) * | 2015-01-12 | 2018-01-23 | 浙江琦星电子有限公司 | A kind of mechanical arm |
| CN104589340B (en) * | 2015-02-03 | 2016-06-08 | 东莞技研新阳电子有限公司 | A kind of six degree of freedom mechanical manipulators |
| CN104767919A (en) * | 2015-03-23 | 2015-07-08 | 刘波 | Underwater multi-angle monitoring camera |
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| CN107053245B (en) * | 2017-03-13 | 2023-06-30 | 河北工业大学 | Rotary variable stiffness flexible joint |
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| 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 |
| CN108234899B (en) * | 2018-02-05 | 2024-09-06 | 北京华信智航科技有限公司 | Multi-path image system based on mode self-adaption |
| 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 |
| CN108156786B (en) * | 2018-02-07 | 2020-03-31 | 昆山纬亚电子科技有限公司 | PCB board installation device that can install fast |
| CN108656081A (en) * | 2018-05-16 | 2018-10-16 | 大连海事大学 | Buoy Work machine arm and its application method |
| CN108582044B (en) * | 2018-05-23 | 2024-04-23 | 北京华信智航科技有限公司 | 8-Degree-of-freedom integrated mechanical arm based on double paws |
| EP3946836A1 (en) * | 2019-04-02 | 2022-02-09 | Universal Robots A/S | Robot arm safety system with runtime adaptable safety limits |
| CN111618873B (en) * | 2020-05-29 | 2021-06-15 | 杭州申昊科技股份有限公司 | Explosion-proof inspection robot with instrument identification function and identification method thereof |
| CN115366068B (en) * | 2021-05-20 | 2024-08-20 | 中国科学院沈阳自动化研究所 | Multifunctional mechanical arm |
| CN113503839B (en) * | 2021-07-13 | 2022-04-19 | 电子科技大学 | Vegetation parameter is measuring robot independently |
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