CN107662198A - A kind of five degree-of-freedom manipulator suitable for small space - Google Patents
A kind of five degree-of-freedom manipulator suitable for small space Download PDFInfo
- Publication number
- CN107662198A CN107662198A CN201710865606.5A CN201710865606A CN107662198A CN 107662198 A CN107662198 A CN 107662198A CN 201710865606 A CN201710865606 A CN 201710865606A CN 107662198 A CN107662198 A CN 107662198A
- Authority
- CN
- China
- Prior art keywords
- motor
- degree
- revolving body
- small space
- forearm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of five degree-of-freedom manipulator suitable for small space, including shoulder joint, large arm, forearm and wrist joint, so that mechanical arm is provided with large arm rotation, forearm rotates, wrist joint rotates, multiple frees degree such as wrist joint turns round and wrist joint is flexible, substantially increase the controllability of mechanical arm, mechanical arm is set accurately to be adjusted to any operating position in working space, improve the accuracy of mechanical arm work, mechanical arm is set preferably to extend into narrow and small working space simultaneously, improve the use range of mechanical arm and the adaptability to narrow and small working space.
Description
Technical field
The present invention relates to Industrial Robot Technology field, and in particular to a kind of five degree of freedom machinery suitable for small space
Arm.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand, to be captured according to fixed routine, carry object
Or the automatic pilot of operation instrument, it is characterized in that various expected operations can be completed by programming；Manipulator is most
The industrial robot early occurred, and the modern machines people occurred earliest, the heavy labor that it can substitute people are produced with realizing
Mechanization and automation, can be operated under hostile environment to protect personal safety, thus be widely used in machine-building, smelting
The departments such as gold, electronics, light industry and atomic energy.But existing manipulator is generally 6 frees degree, its shoulder joint is fixed on ground
Or opposing bottom surface movement is carried by track, range of movement is smaller, can not realize all standing campaign in a wide range of space, while its
Each joint is rotary joint, and end can not freely stretch, poor to the adaptability of small space.
Publication No. CN105252549A Chinese patent was disclosed under a kind of nuclear radiation environment on January 20th, 2016
Retracting cylinder and mechanical arm fast assembling-disassembling system are hung, mainly including driving frame, retracting cylinder device, manipulator and attaching/detaching apparatus,
Driving frame is large-scale cube frame structure, is provided with two relatively short sides of connection and the guide rail that can be translated along relatively short side,
Retracting cylinder device, which mainly includes fixed seat, retracting cylinder, lifting chain, lifting pulley and pulley drive device, manipulator, to be included upper
Coupling part, disc baffles and the power section that lower structure is fixed, coupling part is a mechanical arm, and attaching/detaching apparatus is mainly by tearing open
Docking mechanism and storage deck composition are filled, dismounting docking mechanism mainly includes a pair of cards and sets docking block and balancing weight.
The content of the invention
The defects of work capacity is limited in small space, adaptability is poor for mechanical arm present in prior art,
The invention discloses a kind of five degree-of-freedom manipulator suitable for small space, the present invention substantially increases mechanical arm to narrow and small sky
Between adaptability, it is improved in the work capacity of small space, expands the use range of mechanical arm.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of five degree-of-freedom manipulator suitable for small space, including shoulder joint, it is characterised in that：The mechanical arm also includes
Large arm, forearm and wrist joint, the shoulder joint, large arm, forearm and wrist joint one end are provided with fixed connector, and the other end is set
Electromechanical integration joint is equipped with, the electromechanical integration joint of the shoulder joint and the fixed connector of large arm connect, the machine of large arm
Electrical integrated joint is connected with forearm fixed connector, the electromechanical integration connector of the forearm and the fixed company in good afternoon joint
Joint is connected, and is rotated in the wrist joint and is provided with revolving body, and extrusome and motor are provided with the revolving body, described flexible
Body is connected with motor.
Motor is provided with the shoulder joint, large arm and forearm, the output end of the motor is connected with worm screw, the worm screw
It is intermeshed with the worm gear being arranged on electromechanical joint.
The wrist joint includes supporting shell, and revolving body is provided with supporting shell, and the supporting shell passes through rolling with revolving body
Bearing connects；Motor, the output end of the motor and the swiveling gear being arranged on revolving body are additionally provided with the supporting shell
Connection.
Extrusome is slidably fitted with the revolving body, motor, turn-screw and transmission nut, institute are provided with revolving body
State drive lead screw one end to be fixedly connected with extrusome, the other end and transmission nut screwed connection, the transmission nut and motor are defeated
Go out end to be connected, the transmission nut is also connected by rolling bearing with revolving body.
The output end of the motor is provided with planetary reduction gear.
Electromotor brake is additionally provided with the motor.
Compared with prior art, the invention has the advantages that：
1st, mechanical arm of the invention includes shoulder joint, large arm, forearm and the wrist joint being sequentially connected, and mechanical arm is provided with large arm
Multiple frees degree such as rotation, forearm rotate, wrist joint rotates, wrist joint revolution and wrist joint are flexible, substantially increase mechanical arm
Controllability, mechanical arm is accurately adjusted to any operating position in working space, improve mechanical arm work
The accuracy of work；Simultaneously the free degree increase allow the operator to more easily according to operating environment to mechanical arm carry out it is micro-
Adjust, greatly improve work capacity of the mechanical arm in small space, avoid mechanical arm that violent collision occurs, improve peace
Quan Xing.
2nd, motor is provided with shoulder joint of the invention, large arm and forearm, motor is connect by worm and gear and electromechanical
Head connection, the stability of transmission is on the one hand improved, ensure the accuracy to mechanical arm regulation, it is each on the other hand to reduce mechanical arm
Partial volume, further increase adaptability of the mechanical arm to narrow and small working environment.
3rd, revolving body is provided with by rolling bearing in wrist joint of the invention, the revolving body passes through swiveling gear and electricity
Machine is connected, and makes mechanical arm that there is revolution in the same plane to adjust, facilitates operator to adjust end-of-arm tooling by rotating
Station, it is that end-of-arm tooling can enter the working angle that inconvenience enters, improves adaptation energy of the mechanical arm in small space
Power.
4th, extrusome and motor are provided with revolving body of the invention, motor is by turn-screw and transmission nut with stretching
Body phase connects, and drives end-of-arm tooling by the stretching motion of extrusome, guarantee end-of-arm tooling can enter some mechanical arms can not
In the small space of entrance, so as to improve adaptability of the mechanical arm to small space.
5th, motor output end of the invention is provided with planetary reduction gear, facilitates the speed of service of control machinery arm, while energy
Enough reduce the volume of mechanical arm, reduce the weight of mechanical arm, so as to improve work capacity of the mechanical arm to narrow and small working space, drop
The low power requirement to motor, reduce the use cost of mechanical arm.
6th, electromotor brake is additionally provided with motor of the invention, improves the stopping power to motor, improve mechanical arm fortune
Dynamic accuracy and operability.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is that shoulder joint of the present invention is driven schematic diagram；
Fig. 3 is large arm drive mechanism figure of the present invention；
Fig. 4 is forearm drive mechanism figure of the present invention；
Fig. 5 is wrist joint drive mechanism figure of the present invention；
Reference：1st, shoulder joint, 2, large arm, 3, forearm, 4, wrist joint, 5, fixed connector, 6, electromechanical connector, 7,
Revolving body, 8, extrusome, 9, motor, 10, worm screw, 11, worm gear, 12, supporting shell, 13, rolling bearing, 14, swiveling gear, 15,
Turn-screw, 16, transmission nut, 17, planetary reduction gear, 18, electromotor brake, 19, travelling gear.
Specific embodiment
Below will the present invention will be further described by specific embodiment：
Embodiment 1
The present embodiment is as highly preferred embodiment of the present invention, and it discloses a kind of five degree of freedom machinery suitable for small space
Arm, as indicated with 1, including shoulder joint 1, large arm 2, forearm 3 and wrist close 4 sections to its concrete structure diagram, the shoulder joint 1, large arm 2 and small
One end of arm 3 is provided with fixed connector 5, and the other end is provided with electromechanical connector 6, the electromechanics of the shoulder joint 1
Integrally connected first 6 is connected with the fixed connector 5 of large arm 2, the electromechanical connector 6 of large arm 2 and the fixed connector of forearm 3
5 are connected, and the electromechanical connector 6 of forearm 3 is connected with wrist joint 4, fixed peace in the shoulder joint 1, large arm 2 and forearm 3
Motor 9 is filled, the output end of the motor 9 is provided with planetary reduction gear 17, and the output end of the planetary reduction gear 17 is connected with snail
Bar 10, worm gear 11, the worm gear 11 and snail are provided with the electromechanical connector 6 of the shoulder joint 1, large arm 2 and forearm 3
Bar 10 cooperates；The wrist joint 4 includes supporting shell 12, motor 9 and revolving body 7, between the revolving body 7 and supporting shell 12
Connected by rolling bearing 13, swiveling gear 14 is provided with the excircle of revolving body 7, the output end of the motor 9 is provided with row
Star decelerator 17, the output end of planetary reduction gear 17 are connected by travelling gear 19 with swiveling gear 14；Lead in the revolving body 7
Cross sliding pair and be connected with extrusome 8, motor 9, turn-screw 15 and transmission nut 16 are additionally provided with the revolving body 7, it is described
The output end of motor 9 is provided with planetary reduction gear 17, and transmission nut 16 is connected by rolling bearing 14 with revolving body 7, driving wire
One end of thick stick 15 is fixedly connected with extrusome 8, the other end and the screwed connection of transmission nut 16, is also set up on the transmission nut 16
There is travelling gear 19, the travelling gear 19 is connected with the output end of planetary reduction gear 17.
The output end of the motor 9 is provided with planetary reduction gear 17.
Electromotor brake 18 is additionally provided with the motor 9.
The frees degree such as the present invention is rotated by large arm, forearm rotation, wrist joint rotation adjust the work of end-of-arm tooling up and down
Position, mechanical arm is freely adjusted the operating position of end-of-arm tooling in the horizontal plane by wrist joint revolution, pass through simultaneously
The flexible free degree of wrist joint can ensure mechanical arm being deep into inside the narrow and small working space of entrance, so as to substantially increase machine
The controllability of tool arm and flexibility, mechanical arm is set preferably to adapt to the job requirements in small space.
Claims (6)
1. a kind of five degree-of-freedom manipulator suitable for small space, including shoulder joint（1）, it is characterised in that：The mechanical arm
Also include large arm（2）, forearm（3）And wrist joint（4）, the shoulder joint（1）, large arm（2）, forearm（3）And wrist joint（4）One end
It is provided with fixed connector（5）, the other end is provided with electromechanical integration connector（6）, the shoulder joint（1）Electromechanical
Change joint（6）With large arm（2）Fixed connector（5）Connection, large arm（2）Electromechanical integration connector（6）With forearm（3）Gu
Determine connector（5）Connection, the forearm（3）Electromechanical integration connector（6）With wrist joint（4）Fixed connector（5）Even
Connect, the wrist joint（4）Interior rotation is provided with revolving body（7）, the revolving body（7）Inside it is provided with extrusome（8）And motor
（9）, the extrusome（8）With motor（9）It is connected.
A kind of 2. five degree-of-freedom manipulator suitable for small space according to claim 1, it is characterised in that：The shoulder
Joint（1）, large arm（2）And forearm（3）Inside it is provided with motor（9）, the motor（9）Output end be connected with worm screw（10）, institute
State worm screw（10）With being arranged at electromechanical connector（6）On worm gear（11）Intermeshing.
A kind of 3. five degree-of-freedom manipulator suitable for small space according to claim 1, it is characterised in that：The wrist
Joint（4）Including supporting shell（12）, supporting shell（12）Inside it is provided with revolving body（7）, the supporting shell（12）With revolving body（7）It is logical
Cross rolling bearing（13）Connection；The supporting shell（12）Inside it is additionally provided with motor（9）, the motor（9）Output end and setting
In revolving body（7）On swiveling gear（14）Connection.
A kind of 4. five degree-of-freedom manipulator suitable for small space according to claim 1, it is characterised in that：Described time
Swivel（7）Inside it is slidably fitted with extrusome（8）, revolving body（7）Inside it is provided with motor（9）, turn-screw（15）And transmission nut
（16）, the drive lead screw（15）One end and extrusome（8）It is fixedly connected, the other end and transmission nut（16）Screwed connection, institute
State transmission nut（16）With motor（9）Output end is connected, the transmission nut（16）Also pass through rolling bearing（13）With revolving body
（7）It is connected.
A kind of 5. five degree-of-freedom manipulator suitable for small space according to claim 1, it is characterised in that：The electricity
Machine（9）Output end be provided with planetary reduction gear（17）.
A kind of 6. five degree-of-freedom manipulator suitable for small space according to claim 1, it is characterised in that：The electricity
Machine（9）On be additionally provided with electromotor brake（18）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865606.5A CN107662198A (en) | 2017-09-22 | 2017-09-22 | A kind of five degree-of-freedom manipulator suitable for small space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865606.5A CN107662198A (en) | 2017-09-22 | 2017-09-22 | A kind of five degree-of-freedom manipulator suitable for small space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107662198A true CN107662198A (en) | 2018-02-06 |
Family
ID=61098009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710865606.5A Pending CN107662198A (en) | 2017-09-22 | 2017-09-22 | A kind of five degree-of-freedom manipulator suitable for small space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107662198A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076821A (en) * | 2019-05-30 | 2019-08-02 | 沈阳新松机器人自动化股份有限公司 | A kind of mechanical carpal joint for nuclear radiation environment |
| CN111633631A (en) * | 2020-05-07 | 2020-09-08 | 朱法宪 | Be used for mechanical hand of moulding plastics |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080042432A1 (en) * | 2006-07-04 | 2008-02-21 | Korea Atomic Energy Research Institute | Telescopic servomanipulator coupling/decoupling apparatus |
| CN105269563A (en) * | 2015-11-30 | 2016-01-27 | 宁波新芝华东环保科技有限公司 | Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions |
| CN105690357A (en) * | 2016-04-15 | 2016-06-22 | 东莞理工学院 | Remote-control maintenance power system with 10 degrees of freedom under nuclear radiation environment |
| CN205889174U (en) * | 2016-07-14 | 2017-01-18 | 佛山市精本机电有限公司 | Four -axis arm |
| CN106782730A (en) * | 2016-12-02 | 2017-05-31 | 中国东方电气集团有限公司 | A kind of resistance to irradiation dynamic power machine hand |
-
2017
- 2017-09-22 CN CN201710865606.5A patent/CN107662198A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080042432A1 (en) * | 2006-07-04 | 2008-02-21 | Korea Atomic Energy Research Institute | Telescopic servomanipulator coupling/decoupling apparatus |
| CN105269563A (en) * | 2015-11-30 | 2016-01-27 | 宁波新芝华东环保科技有限公司 | Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions |
| CN105690357A (en) * | 2016-04-15 | 2016-06-22 | 东莞理工学院 | Remote-control maintenance power system with 10 degrees of freedom under nuclear radiation environment |
| CN205889174U (en) * | 2016-07-14 | 2017-01-18 | 佛山市精本机电有限公司 | Four -axis arm |
| CN106782730A (en) * | 2016-12-02 | 2017-05-31 | 中国东方电气集团有限公司 | A kind of resistance to irradiation dynamic power machine hand |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076821A (en) * | 2019-05-30 | 2019-08-02 | 沈阳新松机器人自动化股份有限公司 | A kind of mechanical carpal joint for nuclear radiation environment |
| CN111633631A (en) * | 2020-05-07 | 2020-09-08 | 朱法宪 | Be used for mechanical hand of moulding plastics |
| CN111633631B (en) * | 2020-05-07 | 2021-08-06 | 邵东县环兴打火机制造有限公司 | A manipulator for moulding plastics |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107414804A (en) | A kind of manipulator with space all standing work capacity | |
| CN207359060U (en) | A kind of manipulator with space all standing work capacity | |
| CN207359073U (en) | A kind of seven freedom mechanical arm suitable for small space | |
| CN201998169U (en) | Mechanical arm system for nuclear detecting and emergency processing robot | |
| CN107243898A (en) | A kind of link-type intelligent robot | |
| CN203331021U (en) | Household carrying robot | |
| CN201287337Y (en) | Mechanical arm for assembling link lever cover | |
| CN102001089A (en) | Iron tower climbing articulated robot | |
| CN202934565U (en) | Five-shaft double-arm multifunctional robot | |
| CN102490171A (en) | Robot for disposing dangerous goods and ammunition | |
| CN101913144B (en) | Mobile mechanical arm | |
| CN105798905A (en) | Six-axis intelligent carrying mechanical hand for stamping | |
| CN103465272A (en) | Six-degree-of-freedom humanoid robot arm | |
| CN108748075A (en) | A kind of cargo transfer robot | |
| CN105983959B (en) | Multi-joint manipulator | |
| CN103786149A (en) | Simple two-freedom-degree mechanical arm | |
| CN105962876A (en) | Capsule controller of endoscope | |
| CN205685336U (en) | Large-scale four axis robot | |
| CN210025280U (en) | Double-arm transfer robot | |
| CN104773267B (en) | Adaptive pick-up boat | |
| CN108163785A (en) | A kind of moveable attitude adjustment platform | |
| CN107662198A (en) | A kind of five degree-of-freedom manipulator suitable for small space | |
| CN207044161U (en) | A kind of self-adaptation type industrial robot | |
| CN108942875A (en) | A kind of mechanical arm | |
| WO2020034618A1 (en) | Novel and lightweight track-type multifunctional inspection robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180206 |
|
| RJ01 | Rejection of invention patent application after publication |