CN104175316B - 机械手臂 - Google Patents

机械手臂 Download PDF

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Publication number
CN104175316B
CN104175316B CN201310203783.9A CN201310203783A CN104175316B CN 104175316 B CN104175316 B CN 104175316B CN 201310203783 A CN201310203783 A CN 201310203783A CN 104175316 B CN104175316 B CN 104175316B
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China
Prior art keywords
articulated
mechanical arm
sliding
arm
wrist
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CN201310203783.9A
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CN104175316A (zh
Inventor
谢武灯
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上银科技股份有限公司
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Priority to CN201310203783.9A priority Critical patent/CN104175316B/zh
Priority to JP2013123844A priority patent/JP5766235B2/ja
Priority to US13/955,895 priority patent/US9089975B2/en
Publication of CN104175316A publication Critical patent/CN104175316A/zh
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Publication of CN104175316B publication Critical patent/CN104175316B/zh

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4828Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed parallelly by a single sliding pair
    • B23Q1/4833Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed parallelly by a single sliding pair followed perpendicularly by a single rotating pair
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/5468Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair
    • B23Q1/5475Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair followed perpendicularly by a single rotating pair
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/5468Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair
    • B23Q1/5493Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair followed parallelly by a single sliding pair
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041Cylindrical coordinate type
    • B25J9/042Cylindrical coordinate type comprising an articulated arm
    • B25J9/044Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2707/00Automatic supply or removal of metal workpieces
    • B23Q2707/003Automatic supply or removal of metal workpieces in a lathe
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0241One-dimensional joints
    • B25J17/025One-dimensional joints mounted in series
    • YGENERAL 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
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/27Arm part
    • Y10S901/28Joint
    • Y10S901/29Wrist
    • YGENERAL 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
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20207Multiple controlling elements for single controlled element
    • Y10T74/20305Robotic arm
    • Y10T74/20329Joint between elements
    • Y10T74/20335Wrist

Abstract

一种机械手臂,包含臂部,具有第一枢接部。固定件,固接该臂部一端。滑动件,可移动地设于该固定件。挡止件,固接该滑动件,用以限制滑动件行程。连接件,固接该滑动件。腕部,具有第二枢接部和第三枢接部,该第二枢接部枢接该连接件。以及驱动装置,具有本体和伸出段,该本体枢接该第一枢接部,该伸出段枢接该腕部的第三枢接部。由固定件、滑动件、挡止件、连接件和腕部并搭配该驱动装置即达成移动和摆动的双重运作效果,减低制作成本。

Description

机械手臂
技术领域
[0001]本发明是与机械人有关,特别是关于一种机械手臂结构。
背景技术
[0002]随着机械人科技进步,无人化工厂已经不是遥不可及的梦想。在机械人科技中,尤其是机械手臂,早已应用在许多自动化工厂,如日本特开平11-77566号专利,是一种应用在液晶面板厂中运送玻璃基板的机械手臂,机械手臂末端能够做出升降、摆动及左右翻面等动作来方便夹取玻璃基板,然而其为产生复杂动作而需要使用多数的伺服马达造成机械手臂的制作成本过高是不争的事实,实不利于工厂大量使用机械手臂。并且,在一些只需移动和摆动运作情况下,如加工机上、下料操作,使用前述机械手臂对于工厂而言相当不经济,会有成本过高的问题。
[0003]为解决前述简单运作情况下使用公知机械手臂造成的成本过高问题,实需针对减少伺服马达的设计方向来改善目前的机械手臂,以适应一些只需移动和摆动的机械手臂需求。
发明内容
[0004]有鉴于上述问题,本发明的目的在于提供一种机械手臂,其减少使用伺服马达制作成本低并且能达成移动和摆动的运作效果。
[0005]为实现上述目的,本发明提供的机械手臂,包含一臂部,具有一第一枢接部。一固定件,固接该臂部一端。一滑动件,可移动地设于该固定件。一挡止件,固接该滑动件,阻挡该滑动件从该固定件脱离。一连接件,固接该滑动件。一腕部,具有一第二枢接部和一第三枢接部,该第二枢接部枢接该连接件。以及,一驱动装置,具有受外力作用而相对移动的一本体和一伸出段,该本体枢接该第一枢接部,该伸出段枢接该腕部的第三枢接部。
[0006]由此,仅需让驱动装置运作而本体和伸出段相对移动,即能够使该腕部相对该臂部移动和摆动,达成减少伺服马达的机械手臂需求。
附图说明
[0007]图1是实施例的立体图;
[0008]图2是实施例的部分剖视图;
[0009]图3是实施例的立体图;
[0010]图4是实施例的使用状态图;
[0011]图5是实施例的使用状态图;
[0012]图6是实施例的使用状态图;以及
[0013]图7是实施例的部分侧视图。
[0014]附图中主要组件符号说明:
[0015] 11臂部,111第一枢接部,12固定件,121导槽,13滑动件,14挡止件,15连接件,16腕部,161第二枢接部,162第三枢接部,17驱动装置,171本体,172伸出段,18调整螺栓,19外罩,21扭簧,211第一端,212第二端,81移动手臂,811第一段,812第二段,82第一伺服马达,83第二伺服马达,91加工机,911夹头,92抓取装置,Pl第一平面,P2第二平面,Θ夹角。
具体实施方式
[0016]以下将由所列举的实施例配合附图详细说明本发明的技术内容及特征。
[0017]请先参阅图1〜图3,本发明一实施例所提供的机械手臂,包含一臂部11、一固定件
12、一滑动件13、一挡止件14、一连接件15、一腕部16和一驱动装置17。
[0018]在此先说明,为了让本发明的运作更为清楚地呈现,是以本发明设置在一移动手臂81上为例,该移动手臂81具有相互枢接的一第一段811和一第二段812,其中该第一段811枢接在一加工机91上,能够相对加工机91摆动。另需说明的是,本发明不以设置在移动手臂81上为限,本发明也能直接地装设于机台或物体上。
[0019]该臂部11,枢接在该第二段812,其具有一第一枢接部111供物体枢接。而在本实施例中,分别有一第一伺服马达82驱动该第一段811和该第二段812相对摆动,以及一第二伺服马达83驱动第二段812和该臂部11相对转动。
[0020]该固定件12,固接该臂部11 一端,该固定件12具有一导槽121。
[0021]该滑动件13,可移动地设于该固定件12的导槽121内,而受该导槽121限制相对固定件12移动。
[0022]该挡止件14,固接该滑动件13,用来限制该滑动件13相对该固定件12的滑动行程。在本实施例中。挡止件14设于该滑动件13上端,让滑动件13相对固定件12向下移动最后,将受到挡止件14阻挡无法继续向下移动。值得一提的是,在本实施例中,还有一调整螺栓18,螺设于该挡止件14,转动该调整螺栓18可以改变该调整螺栓18与该挡止件14的相对位置,进而调整该滑动件13相对该固定件12的向下位移量。
[0023]该连接件15,固接该滑动件13,并避免与该固定件12产生干涉而阻挡滑动件13向下移动。
[0024] 该腕部16,具有一第二枢接部161和一第三枢接部162,该第二枢接部161枢接该连接件15,该腕部16可相对连接件15摆动。
[0025]在此需说明,本实施例是以设置连接件15为例,事实上,也可以不设置连接件15而让该腕部16的第二枢接部161直接地枢接该滑动件13。以及,该驱动装置17,在此以线性致动器(Iinear actuator)为例,具有受外力作用而相对移动的一本体171和一伸出段172,该本体171枢接该第一枢接部111,该伸出段172枢接该腕部16的第三枢接部162,当该本体171和该伸出段172彼此远离时,推动该腕部16远离该臂部11并朝下移动。
[0026]值得一提的是,在本实施例中,该臂部11上还固设一外罩19,该第一枢接部111是形成于该外罩19内面。设置外罩19能够罩着驱动装置17、固定件12和滑动件13,减少落尘或异物落在其上的风险。
[0027]此外,若要减轻驱动装置17带动腕部16相对连接件15向上摆动时的负荷,还设有一扭簧21,设于该连接件15和该腕部16之间,该扭簧21具有一第一端211和一第二端212,该第一端211施力顶抵该连接件15,而该第二端212施力顶抵该腕部16。因为扭簧21的卷弹力能够协助该腕部16向上摆动,减轻驱动装置17的负担。
[0028]以上是介绍实施例的结构特征。接下来,将介绍本实施例的使用情形。如图4〜图6所示,为之后清楚说明操作,本实施例所提供的机械手臂是在该腕部下方还装设一抓取装置92。
[0029] 于图4中,该移动手臂81由加工机91、第一伺服马达82和第二伺服马达83而将本发明移动至加工机91前端的上方,使得加工机91的夹头911位于本发明的下方。接着,该驱动装置17中的该本体171和该伸出段172相对移动,该伸出段172透过该第三枢接部162带动该腕部16向下移动。
[0030] 于图5中,该伸出段172持续带动该腕部16向下移动,直到该调整螺栓18顶抵于该臂部11(若无调整螺栓设18置时,则由该挡止件14顶抵该臂部11),进而阻止该腕部16继续往下运动。此时,由于该第二枢接部161和该第三枢接部162相隔一距离,让腕部16开始相对该连接件15产生摆动,如此一来,配合抓取装置92而将加工机夹头911上的工件(图中未示)取下。
[0031]再如图6所示,待该抓取装置92取下工件后,使该驱动装置17的伸出段172向上移动,进而带动腕部16再次的摆动,随后,由加工机91及第一伺服马达82驱动该移动手臂81移动本发明后,将抓取装置92上的工件放置在欲放置的位置。
[0032]由上述实施例说明可知,本发明所提供的机械手臂是运用固定件12、滑动件13、挡止件14、连接件15和腕部16并搭配该驱动装置17即达成移动和摆动的运作效果,确实地解决公知机械手臂使用多数伺服马达,造成制作成本过高的问题。
[0033]另外要说明,如图7所示,在本实施例中以一第一平面Pl通过该第一枢接部111和该第三枢接部162,一第二平面P2通过该第二枢接部161和该第三枢接部162,考虑驱动装置17驱动腕部16的作动顺畅以及效率,该第一平面和该第二平面之间的夹角Θ应在135度至90度之间,其中以夹角Θ为105度为最佳。

Claims (6)

1.一种机械手臂,包含: 一臂部,具有一第一枢接部; 一固定件,固接该臂部一端; 一滑动件,可移动地设于该固定件; 一挡止件,固接该滑动件,限制该滑动件相对该固定件的移动行程; 一连接件,与该挡止件间隔地固接该滑动件; 一腕部,具有一第二枢接部和一第三枢接部,该第二枢接部系枢接该连接件; 一驱动装置,具有受外力作用而相对移动的一本体和一伸出段,该本体枢接该第一枢接部,该伸出段枢接该第三枢接部; 其特征在于,该机械手臂还包含: 一扭簧,设于该连接件和该腕部之间,该扭簧具有一第一端和一第二端,该第一端施力顶抵该连接件,而该第二端施力顶抵该腕部。
2.根据权利要求1所述的机械手臂,其中:该臂部上固设一外罩,该第一枢接部形成于该外罩内面。
3.根据权利要求1所述的机械手臂,其中:有一调整螺栓螺设于该挡止件,转动该调整螺栓可以改变该调整螺栓与该挡止件的相对位置。
4.根据权利要求1项所述的机械手臂,其中:该驱动装置为线性驱动装置。
5.根据权利要求1所述的机械手臂,其中:一第一平面通过该第一枢接部和该第三枢接部,一第二平面通过该第二枢接部和该第三枢接部,该第一平面和该第二平面之间的夹角在135度至90度。
6.根据权利要求5所述的机械手臂,其中:该第一平面和该第二平面之间的夹角为105度。
CN201310203783.9A 2013-05-28 2013-05-28 机械手臂 CN104175316B (zh)

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JP2013123844A JP5766235B2 (ja) 2013-05-28 2013-06-12 ロボットアーム
US13/955,895 US9089975B2 (en) 2013-05-28 2013-07-31 Robotic arm

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JP2013123844A JP5766235B2 (ja) 2013-05-28 2013-06-12 ロボットアーム
US13/955,895 US9089975B2 (en) 2013-05-28 2013-07-31 Robotic arm

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