CN104029218A - 机械手臂 - Google Patents
机械手臂 Download PDFInfo
- Publication number
- CN104029218A CN104029218A CN201310069118.5A CN201310069118A CN104029218A CN 104029218 A CN104029218 A CN 104029218A CN 201310069118 A CN201310069118 A CN 201310069118A CN 104029218 A CN104029218 A CN 104029218A
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- spheroid
- mechanical arm
- arm
- hand
- moving block
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/15—Jointed arm
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/18—Spherical
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/23—Electric motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
- Y10S901/28—Joint
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20317—Robotic arm including electric motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Abstract
本发明提供一种机械手臂,其包括驱动装置、第一手臂组件以及第二手臂组件,其特征在于:该第一手臂组件包括球体,该第二手臂组件包括用于连接机械手的臂杆及固定于该臂杆一端的轴套,该轴套设有球面凹槽,该球体转动安装于该球面凹槽;所述驱动装置驱动所述第一手臂组件的球体运动,该球体带动臂杆朝球体的运动方向运动,同时臂杆绕球体转动。本发明的机械手臂结构简单、灵活性高。
Description
技术领域
本发明涉及一种机器人,尤其涉及一种机器人的机械手臂。
背景技术
由于某些生产需在高危、高污染等恶劣环境中进行,可能会造成对操作人员人身安全或身体健康的危害,故在此类生产环境中,常使用机器人代替操作人员进行操作。机械手臂为机器人实现各种操作动作的必要部件。
机械手臂常采用手臂间相互铆接以实现运动,并在最末端的手臂上安装刀具、手爪等夹取装置以执行某特定动作,然而,机械手臂的灵活性却有待提高。
发明内容
有鉴于此,有必要提供一种灵活性较高的机械手臂。
一种机械手臂,其包括驱动装置、第一手臂组件以及第二手臂组件,该第一手臂组件包括球体,该第二手臂组件包括用于连接机械手的臂杆及固定于该臂杆一端的轴套,该轴套设有球面凹槽,该球体转动安装于该球面凹槽;所述驱动装置驱动所述第一手臂组件的球体运动,该球体带动臂杆朝球体的运动方向运动,同时臂杆绕球体转动。
上述的机械手臂的第一手臂组件与所述第二手臂组件的连接是通过所述球体在轴套的球面凹槽运动,结构简单且灵活性高。
附图说明
图1为本发明较佳实施方式的机械手臂的分解图;
图2为图1所示的机械手臂的立体组装图。
主要元件符号说明
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
请参阅图1及图2,本发明的较佳实施方式的机械手臂100,其应用于一机械手(图未示)中。所述机械手臂100包括一驱动装置10、一第一手臂组件20以及一第二手臂组件30。
所述驱动装置10包括电机12、减速机14以及转轴16。所述转轴16在电机12和减速机14的共同作用下达到一个合适的转速。在本实施例中,该转轴16呈阶梯圆柱状,其包括大圆柱161和小圆柱163。该大圆柱161连接至减速机14,该大圆柱161的顶面上开设有若干螺接孔165。所述驱动装置10为所述机械手臂100的移动提供动力。
所述第一手臂组件20包括转动块22、固定件24以及连接件26。该转动块22跟随转轴16转动。在本实施例中,该转动块22大致呈杆状,其一端开设有一安装孔220,另一端开设有一凹槽222。该安装孔220嵌合固定于转轴16的大圆柱161。该固定件24包括环形片240以及螺钉242。该环形片240的内圆孔嵌合于该转轴16的小圆柱163,该环形片240的外周半径大于该安装孔220的内径,因此该环形片240盖设于该安装孔220上。螺钉242螺接于该转轴16的螺接孔165,以将转动块22夹持于该环形片240与驱动装置10之间,从而该转动块22与转轴16固定,以使该转轴16带动该转动块22转动。所述连接件26为对称结构,其包括杆体260以及固定在该杆体260两端的球体262。该杆体260的中部嵌合固定于所述转动块22的凹槽222,以使该转动块22带动该连接件26运动。
所述第二手臂组件30包括可转动设置在连接件26两端的臂杆32、夹持在连接件26与臂杆32之间的轴套34以及连接所述两个臂杆32的弹性元件36。所述臂杆32大致呈长条杆状,其一端设有容置槽320。所述臂杆32的一端连接于所述连接件26,另一端连接于一机械手(图未示)。容置槽320用于容置并固定轴套34。在本实施方式中,该容置槽320大致呈圆槽状。该轴套34朝向连接件26的一端凹设有一与球体262相吻合的球面凹槽340。在本实施例中,该轴套34为铜轴套。所述弹性元件36的数量为两个,连接于所述两臂杆32之间,以使所述球体262和球面凹槽340紧紧贴合,且球体262可于球面凹槽340内转动,从而臂杆32可绕球体262运动。在本实施例中,该弹性元件36为拉簧,该臂杆32设有安装件324,该弹性元件36两端固定于该安装件324上,该弹性元件36对臂杆32有拉伸弹力,使得两臂杆32将连接件26夹持,从而将臂杆32与连接件26装配于一起。
组装该机械手臂100时,先将所述转动块22的安装孔220嵌合于所述驱动装置10的转轴16,并用固定件24将该转动块22与该转轴16固定,以使该转轴16带动该转动块22转动。接下来,将所述连接件26的杆体260的中部嵌合固定于该转动块22的凹槽222,以使该转动块22带动该连接件26运动。再接下来,将所述轴套34容置于所述臂杆32的容置槽320,所述连接件26的球体262与轴套34的球面凹槽340对准。最后,所述弹性元件36将两臂杆32连接,从而该轴套34的球面凹槽340与连接件26的球体262紧紧贴合。
将所述机械手臂100装设于一机械手设备上,可使机械手更加灵活。使用时,该驱动装置10驱动该第一手臂组件20绕转轴16运动,该第一手臂组件20的球体262带动该第二手臂组件30的臂杆32运动,同时臂杆32绕球体262转动。该第二手臂组件30运动方向不仅绕转轴16运动,还绕球体262转动,从而增加了机械手的灵活性。
所述机械手臂100结构简单,第一手臂组件20和第二手臂组件30通过轴套34的球面凹槽340与球体262连接,从而提高了机械手的灵活性。
另外,本领域技术人员还可在本发明权利要求公开的范围和精神内做其他形式和细节上的各种修改、添加和替换。当然,这些依据本发明精神所做的各种修改、添加和替换等变化,都应包含在本发明所要求保护的范围之内。
Claims (8)
1.一种机械手臂,其应用于机械手设备中,所述机械手臂包括驱动装置、第一手臂组件以及第二手臂组件,其特征在于:该第一手臂组件包括球体,该第二手臂组件包括用于连接机械手的臂杆及固定于该臂杆一端的轴套,该轴套设有球面凹槽,该球体转动安装于该球面凹槽;所述驱动装置驱动所述第一手臂组件的球体运动,该球体带动臂杆朝球体的运动方向运动,同时臂杆绕球体转动。
2.如权利要求1所述的机械手臂,其特征在于:所述臂杆一端设有容置槽,所述轴套固定于该容置槽。
3.如权利要求1所述的机械手臂,其特征在于:所述第一手臂组件还包括连接件,该连接件的两端分别固定有一所述球体,每一球体转动安装有一臂杆。
4.如权利要求3所述的机械手臂,其特征在于:所述第二手臂组件还包括弹性元件,所述弹性元件为拉簧,该弹性元件连接于所述两臂杆,以使连接件夹持于两个所述臂杆之间。
5.如权利要求2所述的机械手臂,其特征在于:所述臂杆的另一端连接于一机械手。
6.如权利要求3所述的机械手臂,其特征在于:所述第一手臂组件还包括转动块,所述驱动装置驱动该转动块运动,该转动块带动该连接件运动。
7.如权利要求6所述的机械手臂,其特征在于:所述驱动装置包括电机、减速机以及转轴,该转轴固定于转动块,该转轴在电机和减速机的共同作用下转动,从而驱动转动块带动连接件及球体转动。
8.如权利要求7所述的机械手臂,其特征在于:所述第一手臂组件还包括固定件,该固定件包括环形片以及螺钉,所述环形片穿过所述转动块通过螺钉固定于所述转轴,进而将所述转动块固定于所述转轴。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310069118.5A CN104029218A (zh) | 2013-03-05 | 2013-03-05 | 机械手臂 |
TW102109762A TWI560034B (en) | 2013-03-05 | 2013-03-19 | Mechanical arm |
US14/076,416 US9021916B2 (en) | 2013-03-05 | 2013-11-11 | Robotic arm |
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Application Number | Priority Date | Filing Date | Title |
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CN201310069118.5A CN104029218A (zh) | 2013-03-05 | 2013-03-05 | 机械手臂 |
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CN104029218A true CN104029218A (zh) | 2014-09-10 |
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CN201310069118.5A Pending CN104029218A (zh) | 2013-03-05 | 2013-03-05 | 机械手臂 |
Country Status (3)
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US (1) | US9021916B2 (zh) |
CN (1) | CN104029218A (zh) |
TW (1) | TWI560034B (zh) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5333514A (en) * | 1992-04-24 | 1994-08-02 | Toyoda Koki Kabushiki Kaisha | Parallel robot |
US20060182602A1 (en) * | 2002-06-13 | 2006-08-17 | Schuler Hans A | Parallel manipulator having backlash-free gearnings |
CN101633166A (zh) * | 2009-07-13 | 2010-01-27 | 哈尔滨工业大学深圳研究生院 | 一类可重构工业机器人 |
CN102059697A (zh) * | 2009-11-18 | 2011-05-18 | 鸿富锦精密工业(深圳)有限公司 | 平移支链及使用该平移支链的并联机器人 |
CN202592386U (zh) * | 2012-04-07 | 2012-12-12 | 大连镔海自控股份有限公司 | 一种三维平动和一维转动的高速并联机器人 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
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US6722842B1 (en) * | 1998-01-13 | 2004-04-20 | Btm Corporation | End arm manipulator |
SE513328C2 (sv) * | 1998-11-11 | 2000-08-28 | Abb Ab | Manipulator och förfarande vid framställning av en manipulator |
EP2082145A2 (en) * | 2006-11-08 | 2009-07-29 | Abb Ab | A joint for industrial robots |
US8109171B2 (en) * | 2006-11-15 | 2012-02-07 | Murata Machinery Ltd. | Parallel mechanism |
DE102009017907A1 (de) * | 2009-04-17 | 2010-10-21 | Weber Maschinenbau Gmbh Breidenbach | Roboter mit Delta-Kinematik |
JP4653848B1 (ja) * | 2009-10-26 | 2011-03-16 | ファナック株式会社 | パラレルリンクロボット |
CN102069495B (zh) * | 2009-11-23 | 2014-01-22 | 鸿富锦精密工业(深圳)有限公司 | 并联机器人 |
JP5516615B2 (ja) * | 2012-02-03 | 2014-06-11 | 株式会社安川電機 | パラレルリンクロボット |
-
2013
- 2013-03-05 CN CN201310069118.5A patent/CN104029218A/zh active Pending
- 2013-03-19 TW TW102109762A patent/TWI560034B/zh not_active IP Right Cessation
- 2013-11-11 US US14/076,416 patent/US9021916B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5333514A (en) * | 1992-04-24 | 1994-08-02 | Toyoda Koki Kabushiki Kaisha | Parallel robot |
US20060182602A1 (en) * | 2002-06-13 | 2006-08-17 | Schuler Hans A | Parallel manipulator having backlash-free gearnings |
CN101633166A (zh) * | 2009-07-13 | 2010-01-27 | 哈尔滨工业大学深圳研究生院 | 一类可重构工业机器人 |
CN102059697A (zh) * | 2009-11-18 | 2011-05-18 | 鸿富锦精密工业(深圳)有限公司 | 平移支链及使用该平移支链的并联机器人 |
CN202592386U (zh) * | 2012-04-07 | 2012-12-12 | 大连镔海自控股份有限公司 | 一种三维平动和一维转动的高速并联机器人 |
Also Published As
Publication number | Publication date |
---|---|
US9021916B2 (en) | 2015-05-05 |
US20140251055A1 (en) | 2014-09-11 |
TWI560034B (en) | 2016-12-01 |
TW201501888A (zh) | 2015-01-16 |
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