CN105196289A - 6DOF (6 degree of freedom) light weight manipulator with embedded joints - Google Patents
6DOF (6 degree of freedom) light weight manipulator with embedded joints Download PDFInfo
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- CN105196289A CN105196289A CN201510719033.6A CN201510719033A CN105196289A CN 105196289 A CN105196289 A CN 105196289A CN 201510719033 A CN201510719033 A CN 201510719033A CN 105196289 A CN105196289 A CN 105196289A
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- joint
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- connecting rod
- mechanical arm
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Abstract
The invention relates to the technical field of manipulators, in particular to a 6DOF (6 degree of freedom) light weight manipulator with embedded joints. The 6DOF light weight manipulator comprises a manipulator body, wherein one end of the manipulator body is provided with a base, the other end of the manipulator body is provided with an actuating mechanism, the base is correspondingly connected with the actuating mechanism through connecting pieces and connecting rods, and joints are embedded in the connecting pieces. According to the 6DOF light weight manipulator provided by the invention, through respectively embedding joint driving systems in the base, the connecting pieces, the connecting rods and the actuating mechanism of the manipulator, and driving all the parts on the manipulator through the joint diving systems, the manipulator can accurately fetch objects, and is light in weight, high in rotating speed, energy-saving and wide in application range.
Description
Technical field
The present invention relates to mechanical arm technical field, refer in particular to a kind of 6DOF light-duty mechanical arm of embedded joint.
Background technology
At present, be widely used in industrial joint of mechanical arm structure majority and adopt biased mode, although structure is simple, but it is not compact, in addition, can only be applied to fixing occasion after mechanical arm has assembled by the limitation of himself profile, size, especially outstanding shortcoming is the thick heaviness of mechanical arm, cisco unity malfunction in the situation that runs up, and power consumption, consumptive material.
Summary of the invention
For above problem, the invention provides a kind of 6DOF light-duty mechanical arm of embedded joint, be applicable in industrial production and service industry, and by realizing the accurate crawl object of mechanical arm to the closed-loop control of motor, it is lightweight, and rotating speed is fast, energy-conservation and applied range.
To achieve these goals, the technical solution used in the present invention is as follows:
A kind of 6DOF light-duty mechanical arm of embedded joint, comprise mechanical arm, mechanical arm one end is provided with pedestal, the mechanical arm other end is provided with executing agency, be connected by connector is corresponding with connecting rod successively between pedestal with executing agency, in pedestal, connector, connecting rod and executing agency, be embedded with joint drive system respectively.
Furthermore, described connector comprises connector one, connector two and connector three, joint B drive system is embedded with in connector one, joint C drive system is embedded with in connector two, be embedded with joint D in connector three and move system, connector and connecting rod interval are connected, and are provided with joint operating mechanism in connector.
Furthermore, described joint operating mechanism comprises joint sleeve one, self-lubricating bearing one, motor and planetary reducer, ring flange one, harmonic wave speed reducing machine one, joint sleeve two, self-lubricating bearing two, motor one, ring flange two, harmonic wave speed reducing machine two, joint sleeve three, self-lubricating bearing three, motor two, ring flange three and harmonic wave speed reducing machine three, joint sleeve one, self-lubricating bearing one, motor and planetary reducer, ring flange one and harmonic wave speed reducing machine one are located in connector one, joint sleeve two, self-lubricating bearing two, motor one, ring flange two and harmonic wave speed reducing machine two are located in connector two, joint sleeve three, self-lubricating bearing three, motor two, ring flange three and harmonic wave speed reducing machine three are located in connector three.
Furthermore, described connecting rod comprises connecting rod one and connecting rod two, connecting rod one two ends are connected to connector one and connector two respectively by connecting rod connecting plate one, connecting rod two two ends are connected to connector two and connector three respectively by connecting rod connecting plate two, connector three is corresponding with executing agency to be connected, connecting rod one is by joint B drive systems, and connecting rod two-way crosses joint C drive systems, and executing agency is by joint D drive systems.
Furthermore, described connector is connected to form by left otic placode, connection substrate and auris dextra plate.
Furthermore, described connecting rod two is embedded with joint E drive system, motor and planetary reducer, motor cabinet, output shaft and bearing block.
Furthermore, described pedestal is connected to form by pedestal bottom plate, two pieces of base side boards and pedestal upper plate, is provided with joint A drive system in pedestal, and mechanical arm is by joint A drive systems, and base bottom is provided with supply unit and control device.
Furthermore, described joint A drive system comprises motor, motor cabinet, bearing block and output shaft.
Furthermore, described supply unit comprises the charging accumulator of powering for control device, and control device comprises embedded sports cards and motor driver.
Furthermore, joint F drive system is embedded with in described executing agency, executing agency comprises bracing frame one, bracing frame two, front base, rear base, steering wheel, initiatively finger and fixed finger, initiatively finger and fixed finger are equipped with, initiatively finger is by joint F drive systems, and front base, rear base are connected on the connection substrate of connecting rod respectively by bracing frame one, bracing frame two.
Beneficial effect of the present invention:
The present invention by being embedded with joint drive system respectively in the pedestal of mechanical arm, connector, connecting rod and executing agency, driven each parts on mechanical arm by joint drive system, realize the accurate crawl object of mechanical arm, it is lightweight, rotating speed is fast, energy-conservation and applied range.
Accompanying drawing explanation
Fig. 1 is overall structure figure of the present invention;
Fig. 2 is Fig. 1 top view;
Fig. 3 is connecting-piece structure figure of the present invention;
Fig. 4 is control structure figure of the present invention.
1, pedestal; 2, connector; 3, connecting rod; 4, executing agency; 6, power control; 20, connector one; 21, connector two; 22, connector three; 1.1, pedestal bottom plate; 1.2, base side boards; 1.3, pedestal upper plate; 1.4, motor; 1.5, motor cabinet; 1.6, bearing block; 1.7, output shaft; 2.1, joint sleeve one; 2.2, self-lubricating bearing one; 2.3, motor and planetary reducer; 2.4, ring flange one; 2.5, harmonic wave speed reducing machine one; 2.6, joint sleeve two; 2.7, self-lubricating bearing two; 2.8, motor one; 2.9, ring flange two; 2.10, harmonic wave speed reducing machine two; 2.11, joint sleeve three; 2.12, self-lubricating bearing three; 2.13, motor two; 2.14, ring flange three; 2.15, harmonic wave speed reducing machine three; 3.1, left otic placode; 3.2, connection substrate; 3.3, auris dextra plate; 4.1, connecting rod one; 4.2, connecting rod connecting plate one; 4.3, connecting rod two; 4.4, connecting rod connecting plate two; 4.5, motor and planetary reducer; 4.6, motor cabinet; 4.7, output shaft; 4.8, bearing block; 5.1, bracing frame one; 5.2, bracing frame two; 5.3, front base; 5.4, rear base; 5.5, steering wheel; 5.6, initiatively point; 5.7, fixed finger.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, technical scheme of the present invention is described.
As illustrated in fig. 1 and 2, the 6DOF light-duty mechanical arm in a kind of embedded joint of the present invention, comprise mechanical arm, mechanical arm one end is provided with pedestal 1, the mechanical arm other end is provided with executing agency 4, be connected by connector 2 is corresponding with connecting rod 3 successively between pedestal 1 with executing agency 4, in pedestal 1, connector 2, connecting rod 3 and executing agency 4, be embedded with joint drive system respectively.
The above forms basic structure of the present invention.
The present invention by being embedded with joint drive system respectively in the pedestal 1 of mechanical arm, connector 2, connecting rod 3 and executing agency 4, driven each parts on mechanical arm by joint drive system, realize the accurate crawl object of mechanical arm, it is lightweight, rotating speed is fast, energy-conservation and applied range.
More specifically, described connector 2 comprises connector 1, connector 2 21 and connector 3 22, joint B drive system is embedded with in connector 1, joint C drive system is embedded with in connector 2 21, joint D drive system is embedded with in connector 3 22, connector 2 and connecting rod 3 interval are connected, and are provided with joint operating mechanism in connector 2.Adopt such vibrational power flow, by being embedded with joint B drive system, joint C drive system, joint D drive system at connector 2, realize the object of each parts of mechanical arm being carried out to driving operation.
More specifically, described joint operating mechanism comprises joint sleeve 1, self-lubricating bearing 1, motor and planetary reducer 2.3, ring flange 1, harmonic wave speed reducing machine 1, joint sleeve 2 2.6, self-lubricating bearing 2 2.7, motor 1, ring flange 2 2.9, harmonic wave speed reducing machine 2 2.10, joint sleeve 3 2.11, self-lubricating bearing 3 2.12, motor 2 2.13, ring flange 3 2.14 and harmonic wave speed reducing machine 3 2.15, joint sleeve 1, self-lubricating bearing 1, motor and planetary reducer 2.3, ring flange 1 and harmonic wave speed reducing machine 1 are located in connector 1, joint sleeve 2 2.6, self-lubricating bearing 2 2.7, motor 1, ring flange 2 2.9 and harmonic wave speed reducing machine 2 2.10 are located in connector 2 21, joint sleeve 3 2.11, self-lubricating bearing 3 2.12, motor 2 2.13, ring flange 3 2.14 and harmonic wave speed reducing machine 3 2.15 are located in connector 3 22.Adopt such vibrational power flow, by being respectively equipped with operating mechanism in connector 1, connector 2 21 and connector 3 22, by motor, harmonic wave speed reducing machine are fixed on ring flange, again ring flange is fixed in joint sleeve, makes whole assembling process simple possible, compact conformation and symmetrical, decrease the use of the connected component in Assembly of the parts, the present embodiment preferably adopts the maxon motor of high power density, effectively alleviates each joint weight, ensures that mechanical arm can run up simultaneously.
More specifically, described connecting rod 3 comprises connecting rod 1 and connecting rod 2 4.3, connecting rod 1 two ends are connected to connector 1 and connector 2 21 respectively by connecting rod connecting plate 1, connecting rod 2 4.3 two ends are connected to connector 2 21 and connector 3 22 respectively by connecting rod connecting plate 2 4.4, connector 3 22 is corresponding with executing agency 4 to be connected, connecting rod 1 is by joint B drive systems, and connecting rod 2 4.3 is by joint C drive systems, and executing agency 4 is by joint D drive systems.Adopt such vibrational power flow, by joint B drive systems connecting rod 1, by joint C drive systems connecting rod 2 4.3, by joint D drive systems executing agency 4, its more convenient operation, realizes mechanical arm and accurately captures object.
More specifically, described connector 2 is connected to form with auris dextra plate 3.3 by left otic placode 3.1, connection substrate 3.2.As shown in Figure 3, left otic placode 3.1 coordinates with the self-lubricating bearing of joint operating mechanism, and auris dextra plate 3.3 is connected by screw with the harmonic wave speed reducing machine of joint operating mechanism, and connection substrate 3.2 two sides are connected with left and right otic placode by screw.
More specifically, described connecting rod 2 4.3 is embedded with joint E drive system, motor and planetary reducer 4.5, motor cabinet 4.6, output shaft 4.7 and bearing block 4.8.The present embodiment adopts motor and planetary reducer 4.5, motor cabinet 4.6, output shaft 4.7 and bearing block 4.8 to be fixed in connecting rod 2 4.3 respectively by screw.
More specifically, described pedestal 1 is connected to form by pedestal bottom plate 1.1, two pieces of base side boards 1.2 and pedestal upper plate 1.3, is provided with joint A drive system in pedestal 1, and mechanical arm, by joint A drive systems, is provided with supply unit and control device bottom pedestal 1.Adopt such setting, its cost is lower, assembles up also simpler.
More specifically, described joint A drive system comprises motor 1.4, motor cabinet 1.5, bearing block 1.6 and output shaft 1.7.Adopt such vibrational power flow, by the unitary rotation of joint A drive systems mechanical arm.
More specifically, described supply unit comprises the charging accumulator of powering for control device, and control device comprises embedded sports cards and motor driver.As shown in Figure 4, adopt such setting, carried out the positive and negative solution of Mechanical transmission test by embedded sports cards, the pulse that motor is exported by control card and pwm signal input to respective actuator and control motor.
More specifically, joint F drive system is embedded with in described executing agency 4, executing agency 4 comprises bracing frame 1, bracing frame 2 5.2, front base 5.3, rear base 5.4, steering wheel 5.5, initiatively points 5.6 and fixed finger 5.7, initiatively point 5.6 to be equipped with fixed finger 5.7, initiatively point 5.6 by joint F drive systems, front base 5.3, rear base 5.4 are connected on the connection substrate 3.2 of connecting rod 3 respectively by bracing frame 1, bracing frame 2 5.2.Adopt such vibrational power flow, by joint F drive systems steering wheel 5.5, steering wheel 5.5 exports Pulse Width Control steering wheel 5.5 by control card and rotates, thus realize controlling initiatively pointing 5.6 with the coordinating of fixed finger 5.7, realize the accurate crawl object of mechanical arm with this.
Of the present invention initiatively point 5.6 with fixed finger 5.7 preferably adopt acrylic board, power transmission shaft adopts 45 steel, and except motor, harmonic wave speed reducing machine, planetary reducer, all the other all adopt aluminum alloy material.
Be more than the present invention's preferably embodiment, those skilled in the art in the invention can also change above-mentioned embodiment and revise.Therefore, the present invention is not limited to above-mentioned detailed description of the invention, and any apparent improvement that every those skilled in the art do on basis of the present invention, replacement or modification all belong to protection scope of the present invention.
Claims (10)
1. the 6DOF light-duty mechanical arm in an embedded joint, comprise mechanical arm, it is characterized in that: described mechanical arm one end is provided with pedestal (1), the described mechanical arm other end is provided with executing agency (4), be connected by connector (2) is corresponding with connecting rod (3) successively between described pedestal (1) with executing agency (4), in described pedestal (1), connector (2), connecting rod (3) and executing agency (4), be embedded with joint drive system respectively.
2. the 6DOF light-duty mechanical arm in a kind of embedded joint according to claim 1, it is characterized in that: described connector (2) comprises connector one (20), connector two (21) and connector three (22), joint B drive system is embedded with in described connector one (20), joint C drive system is embedded with in described connector two (21), joint D drive system is embedded with in described connector three (22), described connector (2) and connecting rod (3) interval are connected, and described connector is provided with joint operating mechanism in (2).
3. the 6DOF light-duty mechanical arm in a kind of embedded joint according to claim 2, is characterized in that: described joint operating mechanism comprises joint sleeve one (2.1), self-lubricating bearing one (2.2), motor and planetary reducer (2.3), ring flange one (2.4), harmonic wave speed reducing machine one (2.5), joint sleeve two (2.6), self-lubricating bearing two (2.7), motor one (2.8), ring flange two (2.9), harmonic wave speed reducing machine two (2.10), joint sleeve three (2.11), self-lubricating bearing three (2.12), motor two (2.13), ring flange three (2.14) and harmonic wave speed reducing machine three (2.15), described joint sleeve one (2.1), self-lubricating bearing one (2.2), motor and planetary reducer (2.3), ring flange one (2.4) and harmonic wave speed reducing machine one (2.5) are located in connector one (20), described joint sleeve two (2.6), self-lubricating bearing two (2.7), motor one (2.8), ring flange two (2.9) and harmonic wave speed reducing machine two (2.10) are located in connector two (21), described joint sleeve three (2.11), self-lubricating bearing three (2.12), motor two (2.13), ring flange three (2.14) and harmonic wave speed reducing machine three (2.15) are located in connector three (22).
4. the 6DOF light-duty mechanical arm in a kind of embedded joint according to claim 2, it is characterized in that: described connecting rod (3) comprises connecting rod one (4.1) and connecting rod two (4.3), described connecting rod one (4.1) two ends are connected to connector one (20) and connector two (21) respectively by connecting rod connecting plate one (4.2), described connecting rod two (4.3) two ends are connected to connector two (21) and connector three (22) respectively by connecting rod connecting plate two (4.4), described connector three (22) is corresponding with executing agency (4) to be connected, described connecting rod one (4.1) is by joint B drive systems, described connecting rod two (4.3) is by joint C drive systems, described executing agency (4) is by joint D drive systems.
5. the 6DOF light-duty mechanical arm in a kind of embedded joint according to claim 2, is characterized in that: described connector (2) is connected to form with auris dextra plate (3.3) by left otic placode (3.1), connection substrate (3.2).
6. the 6DOF light-duty mechanical arm in a kind of embedded joint according to claim 4, is characterized in that: described connecting rod two (4.3) is embedded with joint E drive system, motor and planetary reducer (4.5), motor cabinet (4.6), output shaft (4.7) and bearing block (4.8).
7. the 6DOF light-duty mechanical arm in a kind of embedded joint according to claim 1, it is characterized in that: described pedestal (1) is connected to form with pedestal upper plate (1.3) by pedestal bottom plate (1.1), two pieces of base side boards (1.2), joint A drive system is provided with in described pedestal (1), described mechanical arm is by joint A drive systems, and described pedestal (1) bottom is provided with supply unit and control device.
8. the 6DOF light-duty mechanical arm in a kind of embedded joint according to claim 7, is characterized in that: described joint A drive system comprises motor (1.4), motor cabinet (1.5), bearing block (1.6) and output shaft (1.7).
9. the 6DOF light-duty mechanical arm in a kind of embedded joint according to claim 7, is characterized in that: described supply unit comprises the charging accumulator of powering for control device, and described control device comprises embedded sports cards and motor driver.
10. the 6DOF light-duty mechanical arm in a kind of embedded joint according to claim 1, it is characterized in that: in described executing agency (4), be embedded with joint F drive system, described executing agency (4) comprises bracing frame one (5.1), bracing frame two (5.2), front base (5.3), rear base (5.4), steering wheel (5.5), initiatively finger (5.6) and fixed finger (5.7), described active finger (5.6) is equipped with fixed finger (5.7), described active finger (5.6) is by joint F drive systems, described front base (5.3), rear base (5.4) is respectively by bracing frame one (5.1), bracing frame two (5.2) is connected on the connection substrate (3.2) of connecting rod (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510719033.6A CN105196289A (en) | 2015-10-29 | 2015-10-29 | 6DOF (6 degree of freedom) light weight manipulator with embedded joints |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510719033.6A CN105196289A (en) | 2015-10-29 | 2015-10-29 | 6DOF (6 degree of freedom) light weight manipulator with embedded joints |
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| CN105196289A true CN105196289A (en) | 2015-12-30 |
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| CN201510719033.6A Pending CN105196289A (en) | 2015-10-29 | 2015-10-29 | 6DOF (6 degree of freedom) light weight manipulator with embedded joints |
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Cited By (5)
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| CN106934182A (en) * | 2017-04-20 | 2017-07-07 | 武汉理工大学 | A kind of unified design approach of lightweight mechanical arm |
| CN106994682A (en) * | 2017-05-27 | 2017-08-01 | 李双双 | A kind of new type mechanical device of teaching |
| CN106994695A (en) * | 2017-05-16 | 2017-08-01 | 深拓科技（深圳）有限公司 | Mechanical arm rotary joint and its mechanical arm |
| CN108340402A (en) * | 2018-03-02 | 2018-07-31 | 武汉理工大学 | A kind of light-duty mechanical arm of carbon fibre composite |
| CN108376509A (en) * | 2018-04-09 | 2018-08-07 | 重庆鲁班机器人技术研究院有限公司 | Teaching mechanical arm system and its control method |
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| US20080109108A1 (en) * | 2004-11-24 | 2008-05-08 | Perry Slingsby Systems Limited | Control System For An Articulated Manipulator Arm |
| CN101745913A (en) * | 2009-12-21 | 2010-06-23 | 哈尔滨工业大学 | Nimble arm of six-DOF robot |
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| CN106934182A (en) * | 2017-04-20 | 2017-07-07 | 武汉理工大学 | A kind of unified design approach of lightweight mechanical arm |
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| CN106994695A (en) * | 2017-05-16 | 2017-08-01 | 深拓科技（深圳）有限公司 | Mechanical arm rotary joint and its mechanical arm |
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| CN108340402A (en) * | 2018-03-02 | 2018-07-31 | 武汉理工大学 | A kind of light-duty mechanical arm of carbon fibre composite |
| CN108376509A (en) * | 2018-04-09 | 2018-08-07 | 重庆鲁班机器人技术研究院有限公司 | Teaching mechanical arm system and its control method |
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