CN105014664A - Light modular mechanical arm applicable to narrow space - Google Patents
Light modular mechanical arm applicable to narrow space Download PDFInfo
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- CN105014664A CN105014664A CN201510531325.7A CN201510531325A CN105014664A CN 105014664 A CN105014664 A CN 105014664A CN 201510531325 A CN201510531325 A CN 201510531325A CN 105014664 A CN105014664 A CN 105014664A
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Abstract
The invention provides a light modular mechanical arm applicable to narrow space. The light modular mechanical arm is characterized in that a modular design idea is adopted and joints are separated and designed into joint modules with different functions. The light modular mechanical arm comprises a base, an integrated joint module, a rotating module and pitching modules, wherein the base adopts a rotating joint and can drive the modules mounted on the base to rotate; the integrated joint module combines two degrees of freedom including rotation and extension, a guide rail for forming the extension degree of freedom is taken as a driving device for the rotation degree of freedom, and the integration and flexibility of the module are improved; the structure of the rotating module is similar to that of the base joint, and can drive structures mounted on the rotating module to rotate; the pitching modules adopt synchronous belt drive, and module mass is reduced. Different joint modules can be selected and assembled in specific orders according to required functions of the mechanical arm, and the mechanical arm with corresponding functions is obtained; the modular mechanical arm has the characteristics of high adaptability, easiness in realization and maintenance, small size, small mass, flexible motion and the like.
Description
Art
The invention belongs to mechanical arm technical field, be specifically related to a kind of light modularized mechanical arm being applicable to small space.
Background technology
In recent years, Robotics achieves considerable progress, mechanical arm obtains extensively actual application in robot field, be applied in the various production fields such as machine-building, metallurgy, electronics, light industry and atomic energy, its application accelerates automation and the modernization of production, significantly improves production efficiency.
But the most function singleness of existing machinery arm, such as, mechanical arm on light industry streamline only can repeat same action, welding robot can only perform welding function, and pouring robot can only perform and water pouring functions, cannot meet the effect of a tractor serves several purposes and have certain requirement to working space.The mechanical arm of present stage has the joint of multiple rotation usually, the rotation in each joint is all realized by stepper motor or servomotor, because the volume of stepper motor or servomotor is usually larger, this just needs each articular portion of mechanical arm to have larger volume, so that install stepper motor or servomotor, and the mechanical arm free degree is more, its structure is also more complicated, and thus conventional industrial machine mechanical arm exists following shortcoming: structure is too fat to move, take up room large, function singleness.Due to these shortcomings, make general industry robot or can not be unsuitable for there are the special industries such as the strict occasion such as education experiment, amusement and the home services that control to robot volume and function.The fundamental cause of above-mentioned defect is caused to be: its mechanical arm does not adopt modular design method, the mechanical mechanism of mechanical arm is not optimized design, driving and position detection unit are separate, mechanical arm frame for movement is similar, difference in functionality realize heavy dependence software, conventional industrial robot joint is made to there is volume large, the problem such as the large and structure of quality is single, in order to solve the problem, the present invention proposes a kind of light modularized mechanical arm being applicable to small space, it adopts modular design philosophy, have and the stretching motion of mechanical arm and rotary motion be integrated in integrated joint in a joint and rotary joint, pitching joint, joint module can be selected flexibly according to the needs of task, connect, add mechanical arm versatility and flexibility, reduce the requirement to mechanical arm working space.
Summary of the invention
The light modularized mechanical arm being applicable to small space of the present invention's proposition adopts modular design method, each joint is separated, be designed to the module with difference in functionality, disparate modules Optional assembling can be selected, obtain the mechanical arm that can realize difference in functionality, there is strong adaptability, be easy to realize and safeguard, little, the quality of volume is little of the feature such as motion is flexible.
Technical scheme of the present invention:
The light modularized mechanical arm being applicable to small space comprises base, integrated joint module, rotary module and pitching module, and base is a rotary joint, and module mounted thereto can be driven to rotate; Integrated joint module is by rotation and flexible two frees degree are ingenious combines, and utilizes the guide rail forming the flexible free degree as the transmission device of rotary freedom, improves degree of integration and the flexibility of module; The structure of rotary module is similar to base joint, and structure mounted thereto can be driven to rotate; Pitching module adopts Timing Belt to carry out transmission, reduces module quality.
Described base comprises base connecting plate, first driving governor, first drived control connecting line, base circuit external connection end, base direct driving motor connecting line, base direct driving motor, base cabinet, base bearing and base flange, base direct driving motor is arranged on base cabinet, the upper end of base cabinet is provided with base bearing, base bearing inner race is fixed with base flange, the motor shaft of base direct driving motor is connected with base flange, under the support of base bearing, base flange can rotate with the motor shaft of base direct driving motor, base direct driving motor connecting line is connected on the first driving governor of being arranged on base connecting plate, the signal of the first driving governor is connected to base circuit external connection end by the first drived control connecting line, in order to other module communications, base connecting plate is installed on base cabinet, it can be connected in order to fixing machine mechanical arm with external device.
Further, described integrated joint module comprises synchronizing wheel, synchronous wheel shaft, synchronizing wheel gripper shoe, casing, Timing Belt, extension rod, jump ring, Timing Belt fixed head, first rolling bearing, ball spline, first direct driving motor, second direct driving motor wiring, first gripper shoe, second driving governor, second direct driving motor, second direct driving motor fixed head, shaft gear, synchronous tape spool, circuit external connection end, the external line of circuit, first direct driving motor line, second gripper shoe, second rolling bearing, guide rail, bearing supports, spring bearing axle, spring bearing, 3rd gripper shoe, external flange, motor gear and Box Cover.First direct driving motor is arranged in the second gripper shoe, second gripper shoe is provided with synchronously with holes with the second rolling bearing fixing hole, wherein synchronous permission Timing Belt with holes without friction through, namely the motion of Timing Belt is not affected, second rolling bearing fixing hole is in order to fix the second rolling bearing, second rolling bearing inner ring is fixed with guide rail, the guide rail other end is fixed with bearing supports, bearing supports is fixed with spring bearing by spring bearing axle, one end of extension rod is provided with screwed hole in order to connect external flange, the other end is fixed with ball spline by ball spline fixing hole, the inner ring of the first rolling bearing is fixed by the first rolling bearing shaft shoulder, the outer ring of the first rolling bearing is fixed on the first housing washer stiff end of Timing Belt fixed head by the jump ring being arranged on jump-ring slot, Timing Belt fixed head is also provided with Timing Belt fixing hole in order to be connected with Timing Belt, Timing Belt to be fixed with the synchronizing wheel on synchronous tape spool by being arranged on synchronizing wheel gripper shoe respectively and supporting, wherein synchronizing wheel is arranged in synchronizing wheel gripper shoe by synchronous wheel shaft, synchronizing wheel gripper shoe is arranged in the 3rd gripper shoe, 3rd gripper shoe is arranged in the rectangular slot of casing, lower end two synchronizing wheel is arranged on the two ends of synchronous tape spool respectively, synchronous tape spool is connected with Timing Belt axle bearing plate near the two ends of two synchronizing wheels, in order to synchronous tape spool is fixed in the first gripper shoe, the centre position of synchronous tape spool is provided with shaft gear, shaft gear engages with motor gear, motor gear is arranged on the second direct driving motor, second direct driving motor is connected in the first gripper shoe by the second direct driving motor fixed head, first gripper shoe is also fixed with the second driving governor, second driving governor is connected with the first direct driving motor connecting line, second direct driving motor connecting line and the external line of circuit, the other end of three groups of lines is connected respectively to the first direct driving motor, in second direct driving motor and circuit external connection end, first gripper shoe is fixed in the rectangular slot of casing, Box Cover is fixed on casing, prevent the first gripper shoe, second gripper shoe is slided in the rectangular slot that casing is corresponding with the 3rd gripper shoe.Under the first direct driving motor rotates drive, guide rail, bearing supports, spring bearing and the ball spline coordinated with guide rail rotate, thus drive extension rod to rotate, under the effect of the second direct driving motor, pass through motor gear, the rotary motion of the second direct driving motor is passed to synchronizing wheel with synchronous tape spool by shaft gear, under the drive of synchronizing wheel, the Timing Belt be arranged on synchronizing wheel does rectilinear motion, thus drive the Timing Belt fixed head that is connected with Timing Belt and extension rod to do rectilinear motion under the support of motor slide rails unit, can to be completed by the extraneous flange that screwed hole is connected with extension rod simultaneously and rotate and rectilinear motion.
Further described rotary module comprises rotary joint base plate, the 3rd driving governor, the 3rd driving governor connecting line, rotary joint circuit external connection end, rotates direct driving motor connecting line, rotates direct driving motor, rotary joint casing, rotary joint bearing and rotary joint flange.Rotating direct driving motor is arranged on rotary joint casing, rotary joint casing upper end is provided with rotary joint bearing, rotary joint bearing inner race is fixed with rotary joint flange, rotary joint flange is connected with the motor shaft rotating direct driving motor, under the support of rotary joint bearing, rotary joint flange rotates with rotation direct driving motor, thus drive module mounted thereto to rotate, rotating direct driving motor connecting line is connected on the 3rd driving governor that is arranged on rotary joint base plate, 3rd driving governor connecting line is connected to the rotary joint circuit external connection end being arranged on rotary joint body side, in order to other module communications.
Further described pitching module comprises pitching base plate, pitching motor connecting line, pitching joint circuit external connection end, four-wheel drive controller connecting line, four-wheel drive controller, pitching direct driving motor, pitching casing, pitching spring bearing, pitch axis, pitching adpting flange, pitching synchronous pulley, pitching Timing Belt, the synchronous wheel cap of pitching, pitching casing side end cap, pitching motor connecting axle, axle synchronizing wheel, axle spring bearing, bearing first gripper shoe and bearing second gripper shoe.Pitching direct driving motor is arranged in bearing second gripper shoe, its motor shaft and pitching motor connecting axle are connected, pitching motor connecting axle is supported by two the axle spring bearings be arranged on respectively in bearing second gripper shoe and bearing first gripper shoe, bearing second gripper shoe and bearing first gripper shoe are all arranged on pitching casing, and the side of pitching casing rigid bearing first gripper shoe is also provided with pitching casing side end cap.Pitching motor connecting axle side external part is provided with axle synchronizing wheel, axle synchronizing wheel is provided with pitching Timing Belt, the pitching Timing Belt other end is arranged on pitching synchronous pulley, pitching synchronous pulley is arranged on pitch axis, pitch axis is supported by the pitching spring bearing be arranged on pitching casing, pitch axis is also provided with pitching adpting flange, in order to other model calling, the side that pitching Timing Belt installed by pitching casing is also provided with the synchronous wheel cap of pitching.Pitching motor connecting line is connected on the four-wheel drive controller that is arranged on pitching casing, and four-wheel drive controller connecting line is connected to the pitching joint circuit external connection end be arranged on pitching casing, in order to other module communications.
Further described pitching module synchronization band selecting step is:
A, tentatively determine the gearratio of synchronizing wheel according to the size of design, gearratio is determined by the overall dimensions of pitching module and optional synchronizing wheel standard component size;
B, centre-to-centre spacing a according to tentatively selected two synchronizing wheels of design size
0;
The preliminary selected centre-to-centre spacing of c, basis is by L
0=2a
0+ 1.57 (d
2+ d
1)+(d
2-d
1)
2/ 4a
0, tentatively determine the length of Timing Belt, wherein d
1, d
2be respectively the pitch diameter of synchronizing wheel, table look-up selected and L
0close Timing Belt length L
p;
D, by L
paccording to
Inverse goes out synchronizing wheel spacing a.
According to above-mentioned structure and controller, direct driving motor drives relevant external flange motion through transmission device, the bottom Connecting groups of external flange and other modules dresses up mechanical arm, identical joint module order of connection difference can be assembled into the mechanical arm with difference in functionality, different joint modules can be selected to form the mechanical arm of quality or volume or path optimum in practical application test.
The present invention contrasts prior art and has following features: different assemblings is convenient in modularized design can meet different task demand, be specially adapted to education and amusement, integrated level be high, take up room little.
Accompanying drawing explanation
Fig. 1 is applicable to the light modularized mechanical arm connected mode one of small space
Fig. 2 is applicable to the light modularized mechanical arm connected mode two of small space
Number in the figure:
1: base, 2: integrated joint module, 3: rotary module, 4: pitching module, 419: the synchronous wheel cap of pitching
Fig. 3 is applicable to the light modularized mechanical arm D-H parameter coordinate system schematic diagram of small space
Wherein in circle, a real point represents that direction is outside perpendicular to paper.
Fig. 4 understructure figure
Number in the figure:
101: base connecting plate, 102: the first driving governors, 103: the first drived control connecting lines, 104: base circuit external connection end, 105: base direct driving motor connecting line, 106: base direct driving motor, 107: base cabinet, 108: base bearing, 109: base flange.
The integrated joint module structure chart of Fig. 5
Number in the figure:
201: synchronizing wheel, 202: synchronous wheel shaft, 203: synchronizing wheel gripper shoe, 204: casing, 205: Timing Belt, 206: extension rod, 207: jump ring, 208: Timing Belt fixed head, 209: the first rolling bearings, 210: ball spline, 211: the first direct driving motors, 212: the second direct driving motor wiring, 213: the first gripper shoes, 214: the second driving governors, 215: the second direct driving motors, 216: the second direct driving motor fixed heads, 217: shaft gear, 218: synchronous tape spool, 219: circuit external connection end, 220: the external line of circuit, 221: the first direct driving motor lines, 222: the second gripper shoes, 223: the second rolling bearings, 224: guide rail, 225: bearing supports, 226: spring bearing axle, 227: spring bearing, 228: the three gripper shoes, 229: external flange.
The integrated joint module overall diagram of Fig. 6 and toothed belt transmission schematic diagram
Number in the figure:
231: Box Cover, 204: casing, 229: external flange, 201: synchronizing wheel, 230: motor gear, 215: the second direct driving motors, 217: shaft gear, 205: Timing Belt.
Fig. 7 bearing supports mounting structure schematic diagram
Number in the figure:
225: bearing support, 226: spring bearing axle, 227: spring bearing.
Fig. 8 rotary module structure chart
Number in the figure:
301: rotary joint base plate, 302: the three driving governors, 303: the three driving governor connecting lines, 304: rotary joint circuit external connection end, 305: rotate direct driving motor connecting line, 306: rotate direct driving motor, 307: rotary joint casing, 308: rotary joint bearing, 309: rotary joint flange.
Fig. 9 pitching articulation structure figure
Number in the figure:
401: pitching base plate, 402: pitching motor connecting line, 403: pitching joint circuit external connection end, 404: the four-wheel drive controller connecting lines, 405: the four-wheel drive controllers, 406: pitching direct driving motor, 407: pitching casing, 408: pitching spring bearing, 409: pitch axis, 410: pitching adpting flange, 411: pitching synchronous pulley, 412: pitching Timing Belt, 413: pitching casing side end cap, 414: pitching motor connecting axle, 415: axle synchronizing wheel, 416: axle spring bearing, 417: bearing first gripper shoe, 418: bearing second gripper shoe.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described: be connected with quality and the larger connecting plate of volume below base, to be connected with mechanical arm fixture, base has rotary freedom, and structure mounted thereto can be driven to rotate; Integrated joint module compact conformation, has rotary freedom and can do rectilinear motion; Rotary module structure is similar to base, has rotary freedom; Pitching module can elevating movement, and its transmission output shaft adopts duplex bearing to support, and reduces output shaft distortion to powerdriven disturbance; Communication external connection end between each joint module is connected by telephone wire.
Specifically, composition graphs 1 and Fig. 2, identical joint module, the order of connection is different, and may be combined with into the mechanical arm of difference in functionality characteristic, their range of movement, load all can change, to small space strong adaptability.
Composition graphs 4, first the equipment order of base for be installed on base cabinet 107 by base direct driving motor 106, base bearing 108 is installed to the upper end of base cabinet 107, the motor shaft of base flange 109 with base direct driving motor 106 is connected, and base flange 109 is fixed on the inner ring of base bearing 108; Base direct driving motor connecting line 105 is connected on the first driving governor 102, the first driving governor connecting line 103 is connected in base circuit external connection end 104, base circuit external connection end 104 is fixed on base cabinet 107; First driving governor 102 is fixed on base connecting plate 101, finally base connecting plate 101 is fixed on base cabinet 107, complete the assembling encapsulation of base.Composition graphs 7, the assembling encapsulation order of rotary module is identical with base.
Composition graphs 5 ~ Fig. 7, the order that is linked and packed of integrated joint module is:
(1) the first direct driving motor 211 is installed in the second gripper shoe 222, the second rolling bearing 223 is installed in the second gripper shoe 222, inner ring guide rail 224 being fixed to the second rolling bearing 223 is connected with the motor shaft of the first direct driving motor 211;
(2) spring bearing 227 is connected on bearing supports 225 by spring bearing axle 226;
(3) assembly formed in step (2) is connected to the other end of the guide rail 224 of the assembly that step (1) is formed by bearing supports 225;
(4) the second direct driving motor 215 is installed on the second direct driving motor fixed head 216, motor gear 230 is installed on the second direct driving motor 215;
(5) shaft gear 217 is installed on synchronous tape spool 218, synchronous tape spool 218 is installed in the first gripper shoe 213 by Timing Belt axle bearing plate (not shown in FIG.), synchronizing wheel 201 is installed on synchronous tape spool 218;
(6) parts formed in (4) are installed to by the second direct driving motor fixed head 216 in the first gripper shoe 213 in the parts formed in (5), the second driving governor 214 are installed in the first gripper shoe 213;
(7) synchronizing wheel 201 is installed in synchronizing wheel gripper shoe 203 by corresponding synchronous wheel shaft 202, synchronizing wheel gripper shoe 203 is installed in the 3rd gripper shoe 228;
(8) ball spline 210 is installed to one end of extension rod 206, the first rolling bearing 209 is installed on the shaft shoulder position of extension rod 206 by interference fit, Timing Belt fixed head 208 is fixed to the outer ring of the first rolling bearing 209 by jump ring 207;
(9) parts formed in (8) are coordinated on the guide rail 224 that is installed in parts that step (1) formed by ball spline 201 and guide rail 224;
(10) one end of Timing Belt 205 is fixed to Timing Belt fixed head 208 on through the first gripper shoe 213 and the second gripper shoe 222 through the 3rd gripper shoe 228, Timing Belt fixed head 208, second gripper shoe 222 and the first gripper shoe 213 after synchronizing wheel 201, by the other end of Timing Belt 205 through the first gripper shoe 213, be tentatively fixed on Timing Belt fixed head 208;
(11) step (6), (7) are installed to rectangular slot corresponding to casing 204 in respectively by the first corresponding gripper shoe 213, the 3rd gripper shoe 228 with the second gripper shoe 222 with the parts that (9) are formed;
(12) the second direct driving motor wiring 212 and the first direct driving motor line 221 are connected on the second driving governor 214, external for circuit line 220 are connected to circuit external connection end 219, circuit external connection end 219 are fixed on casing 204;
(13) their other one end is fixed on Timing Belt fixed head 208 by the length adjusting Timing Belt 205, is installed to by external flange 229 on extension rod 206, is installed on casing 204 by Box Cover 231.
Composition graphs 9, the annexation of pitching module and assemble sequence are for be connected on four-wheel drive controller 405 by pitching motor connecting line 402, four-wheel drive controller connecting line 404 is connected in pitching joint circuit external connection end 403, pitching joint circuit external connection end 403 is installed on pitching casing 407; Pitching direct driving motor 406 is installed in bearing second gripper shoe 418, two axle spring bearings 416 is respectively installed to bearing second gripper shoe 418 with in bearing first gripper shoe 417; Bearing second gripper shoe 418 and bearing first gripper shoe 417 are installed on pitching casing 407, pitching motor connecting axle 414 is installed on axle spring bearing 416, pitching base plate 401 and pitching casing side end cap are installed on pitching casing 407, axle synchronizing wheel 415 are installed to the outer end of motor connecting axle 414; Pitching spring bearing 408 is installed on pitching casing 407, pitch axis 409 is supported on right side pitching spring bearing 408 through left side pitching spring bearing 408 and pitching adpting flange 410, pitching synchronous pulley 411 is installed to the right-hand end of pitch axis 409, pitching Timing Belt 412 is installed to axle synchronizing wheel 415 with on pitching synchronous pulley 411, finally synchronous for pitching wheel cap 419 is installed on pitching casing 407.
Composition graphs 3, sets up coordinate system according to D-H parameter, and the displacement of mechanical arm tail end obtains by the rotation and translation of each coordinate system relative to a upper coordinate system, and respectively around x, y, the matrix that z-axis rotates the spin matrix of θ is
Rotate around Z axis
then rotate θ around the new coordinate Y-axis formed, the spin matrix finally rotating around the new Z formed the coordinate system that ψ obtains is
Then have around X-axis rotate with around the unified form being designated as homogeneous transform matrix of reference axis translation
The motion state of any time mechanical arm can be obtained according to above-mentioned relation, then according to Lagrange's equation L=T-V,
wherein L is Lagrange factor, and T is system kinetic energy, and V is potential energy of system, and q is the kinetic model that the generalized coordinates of system can obtain mechanical arm
wherein
for with generalized acceleration
the inertia force be directly proportional,
for the quadratic form of generalized velocity, comprise centrifugal force and coriolis force, G (q) is gravity item, and τ is as the driving force on joint, is the control inputs in each joint.
Claims (6)
1. be applicable to the light modularized mechanical arm of small space, it is characterized in that: described mechanical arm comprises base, integrated joint module, rotary module and pitching module; Base is a rotary joint, and module mounted thereto can be driven to rotate; Integrated joint module utilizes the guide rail forming the flexible free degree as the transmission device of rotary freedom, rotation and flexible two frees degree is combined; Rotary module can drive structure mounted thereto to rotate; Pitching module adopts Timing Belt to carry out transmission, can drive module elevating movement mounted thereto.
2. the light modularized mechanical arm being applicable to small space according to claim 1, it is characterized in that: described base comprises base connecting plate, first driving governor, first drived control connecting line, base circuit external connection end, base direct driving motor connecting line, base direct driving motor, base cabinet, base bearing and base flange, base direct driving motor is arranged on base cabinet, the upper end of base cabinet is provided with base bearing, base bearing inner race is fixed with base flange, the motor shaft of base direct driving motor is connected with base flange, under the support of base bearing, base flange can rotate with the motor shaft of base direct driving motor, base direct driving motor connecting line is connected on the first driving governor of being arranged on base connecting plate, the signal of the first driving governor is connected to base circuit external connection end by the first drived control connecting line, base connecting plate is installed on base cabinet.
3. the light modularized mechanical arm being applicable to small space according to claim 1, it is characterized in that: described integrated joint module comprises synchronizing wheel, synchronous wheel shaft, synchronizing wheel gripper shoe, casing, Timing Belt, extension rod, jump ring, Timing Belt fixed head, first rolling bearing, ball spline, first direct driving motor, second direct driving motor wiring, first gripper shoe, second driving governor, second direct driving motor, second direct driving motor fixed head, shaft gear, synchronous tape spool, circuit external connection end, the external line of circuit, first direct driving motor line, second gripper shoe, second rolling bearing, guide rail, bearing supports, spring bearing axle, spring bearing, 3rd gripper shoe, external flange, motor gear and Box Cover, first direct driving motor is arranged in the second gripper shoe, second gripper shoe is provided with synchronously with holes with the second rolling bearing fixing hole, wherein synchronous permission Timing Belt with holes is contactless passes, second rolling bearing fixing hole is in order to fix the second rolling bearing, second rolling bearing inner ring is fixed with guide rail, the guide rail other end is fixed with bearing supports, bearing supports is fixed with spring bearing by spring bearing axle, one end of extension rod is provided with screwed hole in order to connect external flange, the other end is fixed with ball spline by ball spline fixing hole, the inner ring of the first rolling bearing is fixed by the first rolling bearing shaft shoulder, the outer ring of the first rolling bearing is fixed on the first housing washer stiff end of Timing Belt fixed head by the jump ring being arranged on jump-ring slot, Timing Belt fixed head is also provided with Timing Belt fixing hole in order to be connected with Timing Belt, Timing Belt to be fixed with the synchronizing wheel on synchronous tape spool by being arranged on synchronizing wheel gripper shoe respectively and supporting, wherein synchronizing wheel is arranged in synchronizing wheel gripper shoe by synchronous wheel shaft, synchronizing wheel gripper shoe is arranged in the 3rd gripper shoe, 3rd gripper shoe is arranged in the rectangular slot of casing, lower end two synchronizing wheel is arranged on the two ends of synchronous tape spool respectively, synchronous tape spool is connected with Timing Belt axle bearing plate near the two ends of two synchronizing wheels, in order to synchronous tape spool is fixed in the first gripper shoe, the centre position of synchronous tape spool is provided with shaft gear, shaft gear engages with motor gear, motor gear is arranged on the second direct driving motor, second direct driving motor is connected in the first gripper shoe by the second direct driving motor fixed head, first gripper shoe is also fixed with the second driving governor, second driving governor is connected with the first direct driving motor connecting line, second direct driving motor connecting line and the external line of circuit, the other end of three groups of lines is connected respectively to the first direct driving motor, in second direct driving motor and circuit external connection end, first gripper shoe is fixed in the rectangular slot of casing, Box Cover is fixed on casing, prevent the first gripper shoe, second gripper shoe is slided in the rectangular slot that casing is corresponding with the 3rd gripper shoe, under the first direct driving motor rotates drive, guide rail, bearing supports, spring bearing and the ball spline coordinated with guide rail rotate, thus drive extension rod to rotate, under the effect of the second direct driving motor, pass through motor gear, the rotary motion of the second direct driving motor is passed to synchronizing wheel with synchronous tape spool by shaft gear, under the drive of synchronizing wheel, the Timing Belt be arranged on synchronizing wheel does rectilinear motion, thus drive the Timing Belt fixed head that is connected with Timing Belt and extension rod to do rectilinear motion under the support of motor slide rails unit, can to be completed by the extraneous flange that screwed hole is connected with extension rod simultaneously and rotate and rectilinear motion.
4. the light modularized mechanical arm being applicable to small space according to claim 3, is characterized in that: the order that is linked and packed of described integrated joint module is:
(1) the first direct driving motor is installed in the second gripper shoe, the second rolling bearing is installed in the second gripper shoe, inner ring guide rail being fixed to the second rolling bearing is connected with the motor shaft of the first direct driving motor;
(2) spring bearing is connected on bearing supports by spring bearing axle;
(3) assembly formed in step (2) is connected to the other end of the guide rail of the assembly that step (1) is formed by bearing supports;
(4) the second direct driving motor is installed on the second direct driving motor fixed head, motor gear is installed on the second direct driving motor;
(5) shaft gear is installed on synchronous tape spool, synchronous tape spool is installed in the first gripper shoe by Timing Belt axle bearing plate (not shown in FIG.), synchronizing wheel is installed on synchronous tape spool;
(6) parts formed in (4) are installed to by the second direct driving motor fixed head in the first gripper shoe in the parts formed in (5), the second driving governor are installed in the first gripper shoe;
(7) synchronizing wheel is installed in synchronizing wheel gripper shoe by corresponding synchronous wheel shaft, synchronizing wheel gripper shoe is installed in the 3rd gripper shoe;
(8) ball spline is installed to one end of extension rod, the first rolling bearing is installed on the shaft shoulder position of extension rod by interference fit, Timing Belt fixed head is fixed to the outer ring of the first rolling bearing by jump ring;
(9) parts (8) formed coordinate on the guide rail that is installed in parts that step (1) formed by ball spline and guide rail;
(10) one end of Timing Belt is fixed to Timing Belt fixed head on through the first gripper shoe and the second gripper shoe through the 3rd gripper shoe, Timing Belt fixed head, the second gripper shoe and the first gripper shoe after synchronizing wheel, by the other end of Timing Belt through the first gripper shoe, be tentatively fixed on Timing Belt fixed head;
(11) step (6), (7) are installed to rectangular slot corresponding to casing in respectively by the first corresponding gripper shoe, the 3rd gripper shoe with the second gripper shoe with the parts that (9) are formed;
(12) the second direct driving motor wiring and the first direct driving motor line are connected on the second driving governor, external for circuit line are connected to circuit external connection end, circuit external connection end is fixed on casing;
(13) their other one end is fixed on Timing Belt fixed head by the length adjusting Timing Belt, is installed to by external flange on extension rod, is installed on casing by Box Cover.
5. the light modularized mechanical arm being applicable to small space according to claim 1, is characterized in that: described rotary module comprises rotary joint base plate, the 3rd driving governor, the 3rd driving governor connecting line, rotary joint circuit external connection end, rotates direct driving motor connecting line, rotates direct driving motor, rotary joint casing, rotary joint bearing and rotary joint flange, rotating direct driving motor is arranged on rotary joint casing, rotary joint casing upper end is provided with rotary joint bearing, rotary joint bearing inner race is fixed with rotary joint flange, rotary joint flange is connected with the motor shaft rotating direct driving motor, under the support of rotary joint bearing, rotary joint flange rotates with rotation direct driving motor, thus drive module mounted thereto to rotate, rotating direct driving motor connecting line is connected on the 3rd driving governor that is arranged on rotary joint base plate, 3rd driving governor connecting line is connected to the rotary joint circuit external connection end being arranged on rotary joint body side.
6. the light modularized mechanical arm being applicable to small space according to claim 1, is characterized in that: described pitching module comprises pitching base plate, pitching motor connecting line, pitching joint circuit external connection end, four-wheel drive controller connecting line, four-wheel drive controller, pitching direct driving motor, pitching casing, pitching spring bearing, pitch axis, pitching adpting flange, pitching synchronous pulley, pitching Timing Belt, pitching casing side end cap, pitching motor connecting axle, axle synchronizing wheel, axle spring bearing, bearing first gripper shoe and bearing second gripper shoe; Pitching direct driving motor is arranged in bearing second gripper shoe, its motor shaft and pitching motor connecting axle are connected, pitching motor connecting axle is supported by two the axle spring bearings be arranged on respectively in bearing second gripper shoe and bearing first gripper shoe, bearing second gripper shoe and bearing first gripper shoe are all arranged on pitching casing, and the side of pitching casing rigid bearing first gripper shoe is also provided with pitching casing side end cap; Pitching motor connecting axle side external part is provided with axle synchronizing wheel, axle synchronizing wheel is provided with pitching Timing Belt, the pitching Timing Belt other end is arranged on pitching synchronous pulley, pitching synchronous pulley is arranged on pitch axis, pitch axis is supported by the pitching spring bearing be arranged on pitching casing, pitch axis is also provided with pitching adpting flange, in order to other model calling, the side that pitching Timing Belt installed by pitching casing is also provided with the synchronous wheel cap of pitching; Pitching motor connecting line is connected on the four-wheel drive controller that is arranged on pitching casing, and four-wheel drive controller connecting line is connected to the pitching joint circuit external connection end be arranged on pitching casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510531325.7A CN105014664B (en) | 2015-08-26 | 2015-08-26 | It is applicable to the light modularized mechanical arm of small space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510531325.7A CN105014664B (en) | 2015-08-26 | 2015-08-26 | It is applicable to the light modularized mechanical arm of small space |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105014664A true CN105014664A (en) | 2015-11-04 |
| CN105014664B CN105014664B (en) | 2016-09-07 |
Family
ID=54405146
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510531325.7A Active CN105014664B (en) | 2015-08-26 | 2015-08-26 | It is applicable to the light modularized mechanical arm of small space |
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| CN (1) | CN105014664B (en) |
Cited By (6)
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| CN105619419A (en) * | 2016-03-17 | 2016-06-01 | 北京贝虎机器人技术有限公司 | Robot |
| CN106625673A (en) * | 2016-12-29 | 2017-05-10 | 南京天祥智能设备科技有限公司 | Narrow space assembly system and assembly method |
| CN107160426A (en) * | 2017-05-24 | 2017-09-15 | 成都众智优学教育咨询有限公司 | The hydraulic-driven wrist of mechanical arm |
| CN107351075A (en) * | 2017-07-28 | 2017-11-17 | 华南理工大学 | A kind of lightweight modules mechanical arm of restructural |
| CN107627294A (en) * | 2016-07-18 | 2018-01-26 | 昆山鸿鑫达自动化工程科技有限公司 | The flapping articulation manipulator that a kind of sheet metal part is carried |
| CN108406755A (en) * | 2017-02-09 | 2018-08-17 | 均豪精密工业股份有限公司 | Mechanical arm device and extension mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105619419A (en) * | 2016-03-17 | 2016-06-01 | 北京贝虎机器人技术有限公司 | Robot |
| CN107627294A (en) * | 2016-07-18 | 2018-01-26 | 昆山鸿鑫达自动化工程科技有限公司 | The flapping articulation manipulator that a kind of sheet metal part is carried |
| CN106625673A (en) * | 2016-12-29 | 2017-05-10 | 南京天祥智能设备科技有限公司 | Narrow space assembly system and assembly method |
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| CN108406755A (en) * | 2017-02-09 | 2018-08-17 | 均豪精密工业股份有限公司 | Mechanical arm device and extension mechanism |
| CN107160426A (en) * | 2017-05-24 | 2017-09-15 | 成都众智优学教育咨询有限公司 | The hydraulic-driven wrist of mechanical arm |
| CN107351075A (en) * | 2017-07-28 | 2017-11-17 | 华南理工大学 | A kind of lightweight modules mechanical arm of restructural |
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