CN107825459A - A kind of joint of mechanical arm and sixdegree-of-freedom simulation - Google Patents
A kind of joint of mechanical arm and sixdegree-of-freedom simulation Download PDFInfo
- Publication number
- CN107825459A CN107825459A CN201711042371.6A CN201711042371A CN107825459A CN 107825459 A CN107825459 A CN 107825459A CN 201711042371 A CN201711042371 A CN 201711042371A CN 107825459 A CN107825459 A CN 107825459A
- Authority
- CN
- China
- Prior art keywords
- joint
- worm
- motor
- wheel shaft
- encoder
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0024—Wrist motors at rear part of the upper arm
Abstract
The invention discloses a kind of joint of mechanical arm and sixdegree-of-freedom simulation, the first joint is connected by a U-shaped component with second joint, and U-shaped component includes bottom, the first openend and the second openend；First joint includes the first decelerator, first motor, first encoder, first worm gear, first worm screw, first worm-wheel shaft, first worm-wheel shaft is installed vertically on base, first worm gear and the first worm-wheel shaft key connection can simultaneously rotate around the axis of the first worm-wheel shaft, first worm screw is set in parallel in the top of base and can be rotatable around its axis, first worm screw is meshed with the first worm gear and the rotation axis of the first worm gear and the rotation axis of the first worm screw are mutually perpendicular to, one end of first worm screw successively with the first decelerator, first motor, first encoder is connected, the top of first worm-wheel shaft is connected with the bottom of U-shaped component.
Description
Technical field
The invention belongs to robot field, and in particular to a kind of joint of mechanical arm and sixdegree-of-freedom simulation.
Background technology
In the prior art before sixdegree-of-freedom simulation Three Degree Of Freedom realized using the primary speed-down of motor+decelerator it is dynamic
Power transmits, and so design can cause following problem：1st, the output torque of this structural requirement motor is big, so the volume phase of motor
Should be larger, larger installing space is needed, adds the own wt of mechanical arm, the control to mechanical arm requires higher；2 and should
Class motor need to design band-type brake with brake apparatus to avoid backlash, while the cost of decelerator is higher, and maintenance difficulty is higher.
Three Degree Of Freedom often employs the biography of dynamic braking device or complexity after sixdegree-of-freedom simulation in the prior art
Following problem be present in dynamic structure, such design：1st, complicated drive mechanism make it that mechanical arm tail end transmission accuracy is poor, and accounts for
More with structure space, later period maintenance difficulty is big；2nd, either dynamic braking device or complicated drive mechanism can increase and set
Cost is counted, while increases the quality of mechanical arm body.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of joint of mechanical arm and six degree of freedom
Mechanical arm aims to solve the problem that motor volume is excessive and needs band-type brake and brake apparatus in existing machinery arm configuration, and transmission device is complicated,
The problems such as later period maintenance difficulty is big, design cost is high.
In order to solve the above-mentioned technical problem, the present invention, which adopts the following technical scheme that, is achieved：
The first scheme：A kind of joint of mechanical arm, including the 5th decelerator, the 5th motor, the 5th encoder, first are synchronously
Belt wheel, timing belt, the second synchronous pulley, the second rotary shaft, the 5th decelerator successively with the 5th motor, the 5th encoder phase
Connection, the first synchronous pulley and the 5th decelerator are coaxially connected, and timing belt is drawn by the first synchronous pulley and the second synchronous pulley
Tightly, the second synchronous pulley is connected with the second rotating shaft coaxle, the rotation of the rotation axis and the 5th motor of second rotary shaft
Axis is parallel.
Present invention also offers a kind of scheme：A kind of sixdegree-of-freedom simulation, including base, the first joint, second joint,
3rd joint, the 4th joint, the 5th joint, the 6th joint, large arm, wherein the first joint is arranged on base, second joint with
First joint is connected, and second joint is connected by large arm with the 3rd joint, and the 3rd joint is connected with the 4th joint, and the 4th
Joint is connected with the 5th joint, and the 5th joint is connected with the 6th joint；5th joint is described in the first scheme
Joint of mechanical arm.
Further, first joint is connected by a U-shaped component with second joint, and the U-shaped component includes bottom
End, the first openend and the second openend；
First joint includes the first decelerator, the first motor, the first encoder, the first worm gear, the first worm screw, first
Worm-wheel shaft, first worm-wheel shaft are installed vertically on base, and the first worm gear and the first worm-wheel shaft key connection simultaneously can be around the first snails
The axis rotation of wheel shaft, first worm screw are set in parallel in the top of base and can be rotatable around its axis, first worm screw
It is meshed with the first worm gear and the rotation axis of the first worm gear and the rotation axis of the first worm screw is mutually perpendicular to, first worm screw
One end be connected successively with the first decelerator, the first motor, the first encoder, the top of first worm-wheel shaft and U-shaped structure
The bottom of part is connected.
Further, the second joint includes the second worm screw, the second worm gear, the second worm-wheel shaft, the second decelerator, second
Motor, second encoder, the both ends of the first openend and the second openend of the U-shaped component respectively with the second worm-wheel shaft are fixed
Connection, the second worm gear are fixedly connected with the second worm-wheel shaft, and second worm screw is meshed with the second worm gear and the axle of the second worm screw
The axis of line and the second worm-wheel shaft is mutually perpendicular to, one end of second worm screw successively with the second decelerator, the second motor, second
Encoder connects；
Second decelerator, the second motor, second encoder are arranged in the cavity of large arm.
Further, the 3rd joint includes the 3rd decelerator, the 3rd motor, the 3rd encoder, the 3rd worm gear, the 3rd
Worm screw, the 3rd worm-wheel shaft, the large arm and the 3rd worm screw are coaxially connected, and the 3rd worm screw can be rotatable around its axis, the 3rd snail
Wheel be meshed with the 3rd worm screw and can around the axis rotation of the 3rd worm-wheel shaft, the both ends of the 3rd worm-wheel shaft respectively with connecting elements phase
Connection.
Further, the 4th joint includes the 4th decelerator, the 4th motor, the 4th encoder, the first rotary shaft, institute
The side wall for stating the 4th decelerator is connected with connecting elements, and one end of the 4th decelerator is connected with the first rotating shaft coaxle, and the 4th
The other end of decelerator is connected with the 4th motor, and the 4th motor is connected with the 4th encoder.
The present invention compared with prior art, has the following technical effect that：
The preceding Three Degree Of Freedom of the present invention employs the double reduction gear of planetary reduction gear+worm and gear, exports motor
Torque significantly reduces, using the reverse self-locking characteristic of worm and gear, without carrying out band-type brake and brake assembly design to motor, significantly
Design cost is reduced, simplifies the structure of mechanical arm.
The present invention the 4th and 5DOF have teeth groove torque motor using brushless and internal structure, solve mechanical arm and exist
The problem of gravitational moment makes motor reversal and backlash with kinetic moment when power-off or inactive state, in view of structure space design feature, the 6th
The free degree is reserved with ring flange installation integrator using integrated motor.
The worm and gear mounting-positioning holes of the present invention combine in same casing, and devise centre-to-centre spacing governing loop, maximize
Improve precision in ground.
Brief description of the drawings
Fig. 1 is the overall structure figure of the present invention；
Fig. 2 is Fig. 1 top view；
Fig. 3 is the cross-section front view of first free degree of the invention；
Fig. 4 is the cross sectional plan view of first free degree of the invention；
Fig. 5 is the cross-section front view of second free degree of the invention；
Fig. 6 is the cross sectional plan view of second free degree of the invention；
Fig. 7 is the cross-section front view of Three Degree Of Freedom of the invention；
Fig. 8 is the cross sectional plan view of Three Degree Of Freedom of the invention；
Fig. 9 is the sectional view of four-degree-of-freedom of the invention；
Figure 10 is the sectional view of five degree of freedom of the invention；
Label is represented as in figure：1-base；2-the first joint；3-second joint；4-large arm；5-the three joint；
6-the four joint；7-the five joint；8-the six joint；9-U-shaped component；
The worm-wheel shafts of 2-1-first；The worm gears of 2-2-first；The worm screws of 2-4-first；The decelerators of 2-5-first；2-6-the first
Motor；The encoders of 2-7-first；
The worm screws of 3-1-second；The worm gears of 3-2-second；The worm-wheel shafts of 3-3-second；The decelerators of 3-4-second；3-5-the second
Motor；3-6-second encoder；
The worm screws of 5-1-the 3rd；The worm gears of 5-2-the 3rd；The decelerators of 5-3-the 3rd；The motors of 5-4-the 3rd；5-5-the 3rd is compiled
Code device；The worm-wheel shafts of 5-6-the 3rd；
The decelerators of 6-1-the 4th；The motors of 6-2-the 4th；The encoders of 6-3-the 4th；The rotary shafts of 6-4-first；
The decelerators of 7-1-the 5th；The motors of 7-2-the 5th；The encoders of 7-3-the 5th；The synchronous pulleys of 7-4-first；7-5—
Second synchronous pulley；7-6-timing belt；The rotary shafts of 7-7-second；
9-1-bottom；The openends of 9-2-first；The openends of 9-3-second.
Embodiment
First three joint of sixdegree-of-freedom simulation provided by the invention uses double reduction structure, i.e. motor+planetary reduction gear
The form of device+worm and gear.Motor combination output shaft is directly driven with worm and gear by key connection, due to selected worm and gear
With reverse self-locking characteristic, i.e., under mechanical arm power-off or inactive state, it is impossible to transmission is realized from worm gear to worm screw.Only exist
Under "on" position, after given motor movement instructions, worm screw drives worm gear motion, can just realize that joint of mechanical arm moves.Snail
Worm and gear has larger speed reducing ratio, can carry larger load so that and it is not high to motor combination torque requirement, reduce cost
While, realize the simplification of mechanical arm configuration.
Rear three joint of sixdegree-of-freedom simulation provided by the invention uses RBR structures (forearm rotary shaft, the hand of coupled mode
Wrist pitch axis and wrist rotary shaft) form, rear three joints axes of the structure intersect at a point, and are advantageous to realize mechanical arm
Pose Control.
All motors in the present invention use servo current motor, and all decelerators use planetary reduction gear, wherein
Motor, decelerator, encoder form one group of motor assembly.
Embodiment 1
Present embodiments provide a kind of joint of mechanical arm, such as Figure 10, including the 5th decelerator 7-1, the 5th motor 7-2,
Five encoder 7-3, the first synchronous pulley 7-4, timing belt 7-6, the second synchronous pulley 7-5, the second rotary shaft 7-7, the described 5th
Decelerator 7-1 is connected with the 5th motor 7-2, the 5th encoder 7-3 successively, the first synchronous pulley 7-4 and the 5th decelerator 7-1
Coaxially connected, timing belt 7-6 is tensed by the first synchronous pulley 7-4 and the second synchronous pulley 7-5, the second synchronous pulley 7-5 with
Second rotary shaft 7-7 is coaxially connected, and the rotation axis of the second rotary shaft 7-7 is equal with the 5th motor 7-2 rotation axis
OK.The such decelerator of 5th motor driven the 5th rotation, the 5th decelerator drive the rotation of the first synchronous pulley, the first synchronous pulley
The second synchronous pulley is driven to rotate by timing belt, because the second synchronous pulley is connected with the second rotating shaft coaxle, it is achieved that
The rotation of second rotary shaft, the second rotary shaft band movable joint integrally do elevating movement.
Joint of mechanical arm in the present embodiment uses the structure of motor combination+toothed belt transmission, and wherein motor combination will be dynamic
Power passes through 1:1 synchronous belt mechanism is sent in the rotary shaft in the joint parallel with motor combination, and rotary shaft band movable joint is whole
Body does elevating movement.The joint equally employs the Eci serial motors with cogging torque so that the gravitational moment of end load with
Kinetic moment can not drive timing belt to make the 5th motor reversal in power-off or inactive state, and the structure is realizing joint motions
While, save larger design space.
Embodiment 2
As shown in Figure 1, 2, the present embodiment provides a kind of sixdegree-of-freedom simulation, including base 1, the first joint 2, second close
The 3, the 3rd joint 5, the 4th joint 6, the 5th joint 7, the 6th joint 8, large arm 4 are saved, wherein the first joint 2 is arranged on base 1,
Second joint 3 is connected with the first joint 2, and second joint 3 is connected by large arm 4 with the 3rd joint 5, the 3rd joint 5 and
Four joints 6 are connected, and the 4th joint 6 is connected with the 5th joint 7, and the 5th joint 7 is connected with the 6th joint 8；
Chassis design in the present embodiment mounting bases of two pieces of interconnections, one piece be used to be connected with mechanical arm bottom
Connect, another piece is connected with experimental bench, so as to realize overall being fixedly connected with experimental bench of mechanical arm.
The joint of mechanical arm that 5th joint is provided by embodiment 1.
Embodiment 3
The present embodiment provides the concrete structure in the first joint on the basis of embodiment 2, as shown in figure 3, described first
Joint 2 is connected by a U-shaped component 9 with second joint 3, the U-shaped component 9 include bottom 9-1, the first openend 9-2 and
Second openend 9-3；
As Fig. 4 shows, first joint 2 includes the first decelerator 2-5, the first motor 2-6, the first encoder 2-7, first
Worm gear 2-2, the first worm screw 2-4, the first worm-wheel shaft 2-1, the first worm-wheel shaft 2-1 are installed vertically on base 1, the first worm gear
2-2 and the first worm-wheel shaft 2-1 key connections can simultaneously rotate around the first worm-wheel shaft 2-1 axis, and the first worm screw 2-4 be arranged in parallel
In the top of base 1 and can be rotatable around its axis, the first worm screw 2-4 is meshed with the first worm gear 2-2 and the first worm gear 2-2
The rotation axis of rotation axis and the first worm screw 2-4 be mutually perpendicular to, one end of the first worm screw 2-4 is slowed down with first successively
Device 2-5, the first motor 2-6, the first encoder 2-7 are connected, the top of the first worm-wheel shaft 2-1 and the bottom of U-shaped component 9
9-1 is connected.
In the present embodiment, wherein the first motor, the first decelerator and the first encoder are motor assemblies, the first decelerator
Output shaft is driven with the first worm screw by key connection, will drive the first worm gear wheel, and the first worm gear is connected with the first worm-wheel shaft, the
One worm-wheel shaft is connected with U-shaped component, and gyration is integrally realized finally by U-shaped component driving mechanical arm.
Embodiment 4
The present embodiment provides the concrete structure of second joint in sixdegree-of-freedom simulation on the basis of embodiment 3, such as
Fig. 5,6, the second joint 3 include the second worm screw 3-1, the second worm gear 3-2, the second worm-wheel shaft 3-3, the second decelerator 3-4, the
Two motor 3-5, second encoder 3-6, the first openend 9-2 and the second openend 9-3 of the U-shaped component 9 are respectively with second
Worm-wheel shaft 3-3 both ends are fixedly connected, and the second worm gear 3-2 is fixedly connected with the second worm-wheel shaft 3-3, the second worm screw 3-1 with
Second worm gear 3-2 is meshed and the axis of the second worm screw 3-1 axis and the second worm-wheel shaft 3-3 is mutually perpendicular to, second snail
Bar 3-1 one end is connected with the second decelerator 3-4, the second motor 3-5, second encoder 3-6 successively；
The second decelerator 3-4, the second motor 3-5, second encoder 3-6 are arranged in the cavity of large arm 4.
In the present embodiment, due to the second decelerator, the second motor, second encoder composition motor combination size compared with
It is small, therefore by its design and installation to large arm cavity, make it that mechanical arm overall structure is attractive in appearance while saving space.Power is equally
Second worm screw is delivered to by the second reducer output shaft, the second worm screw is connected with large arm, and the second worm gear is connected with worm-wheel shaft.By
In the weight of mechanical arm itself, in order to power off with keeping original posture under inactive state, the second worm-wheel shaft must be with U-shaped component
It is fixedly connected, after such motor combination drives the rotation of the second scroll bar, can not be rotated because the second worm screw is connected with U-shaped component,
Second worm screw rotates in the power drive latter aspect of motor combination around its own axis, on the other hand drives second joint
The large arm connected is integrally pivoted about with the second worm-wheel shaft, realizes the motion of second joint pitching rotation.
Embodiment 5
The present embodiment provides the concrete structure of second joint in sixdegree-of-freedom simulation on the basis of embodiment 4, such as
Fig. 7,8, the 3rd joint 3 include the 3rd decelerator 5-3, the 3rd motor 5-4, the 3rd encoder 5-5, the 3rd worm gear 5-2, the
Three worm screw 5-1, the 3rd worm-wheel shaft 5-6, the large arm 4 and the 3rd worm screw 5-1 are coaxially connected, and the 3rd worm screw 5-1 can be around it
Axis rotates, and the 3rd worm gear 5-2 is meshed with the 3rd worm screw 5-1 and can rotated around the 3rd worm-wheel shaft 5-6 axis, the 3rd worm gear
Axle 5-6 both ends are connected with connecting elements 10 respectively.
The present embodiment is equally the motor of the 3rd motor, the 3rd decelerator and the 3rd encoder composition by double reduction
Sub-assembly is installed in large arm, and driving moment is delivered to the 3rd worm screw by key connection by planetary reduction gear and the 3rd worm screw, and
Three worm screws are connected with mechanical arm, and the 3rd worm gear is connected with the 3rd worm-wheel shaft, and last 3rd worm gear drives the 3rd joint and its remaining part
Divide and realize elevating movement.
Embodiment 6
The present embodiment provides the concrete structure in the 4th joint of sixdegree-of-freedom simulation on the basis of embodiment 5, such as
Fig. 9, the 4th joint 6 include the 4th decelerator 6-1, the 4th motor 6-2, the 4th encoder 6-3, the first rotary shaft 6-4, and described the
Four decelerator 6-1 side wall is connected with connecting elements 10, and the 4th decelerator 6-1 one end coaxially connects with the first rotary shaft 6-4
Connect, the 4th decelerator 6-1 other end is connected with the 4th motor 6-2, and the 4th motor 6-2 is connected with the 4th encoder 6-3.
The 4th joint main function in the present embodiment is the gyration for realizing wrist axis, and the 4th joint, which uses, has tooth
The Eci serial motors of groove torque, just under mechanical arm power-off or inactive state, when opposite force or little torque,
Motor is not in the situation of reversion or backlash, and the 4th decelerator has larger speed reducing ratio that cogging torque can be made big in addition
Width increase so that lock design structure gravitational moment and other kinetic moments will not drive motor reversion and backlash, it is last to save motor
The design of band-type brake and brake apparatus is held, design cost is further saved and makes structure more succinct.4th motor passes through the 4th
Decelerator directly drives the 4th joint rotary shaft gyration, saves the transmission device of centre, simplifies structure, improve transmission
Precision, realize the kinetic characteristic of the 4th shutdown.
Claims (6)
1. a kind of joint of mechanical arm, it is characterised in that including the 5th decelerator (7-1), the 5th motor (7-2), the 5th encoder
(7-3), the first synchronous pulley (7-4), timing belt (7-6), the second synchronous pulley (7-5), the second rotary shaft (7-7), described
Five decelerators (7-1) are connected with the 5th motor (7-2), the 5th encoder (7-3) successively, the first synchronous pulley (7-4) and the
Five decelerators (7-1) are coaxially connected, and timing belt (7-6) is drawn by the first synchronous pulley (7-4) and the second synchronous pulley (7-5)
Tightly, the second synchronous pulley (7-5) and the second rotary shaft (7-7) are coaxially connected, the rotation axis of second rotary shaft (7-7) with
The rotation axis of 5th motor (7-2) is parallel.
2. a kind of sixdegree-of-freedom simulation, including base (1), the first joint (2), second joint (3), the 3rd joint (5), the 4th
Joint (6), the 5th joint (7), the 6th joint (8), large arm (4), wherein the first joint (2) are arranged on base (1), second closes
Section (3) is connected with the first joint (2), and second joint (3) is connected by large arm (4) with the 3rd joint (5), the 3rd joint
(5) it is connected with the 4th joint (6), the 4th joint (6) is connected with the 5th joint (7), the 5th joint (7) and the 6th joint
(8) it is connected；
Characterized in that, the 5th joint is the joint of mechanical arm described in claim 1.
3. sixdegree-of-freedom simulation as claimed in claim 2, it is characterised in that first joint (2) passes through a U-shaped component
(9) it is connected with second joint (3), the U-shaped component (9) includes bottom (9-1), the first openend (9-2) and the second opening
Hold (9-3)；
First joint (2) includes the first decelerator (2-5), the first motor (2-6), the first encoder (2-7), the first worm gear
(2-2), the first worm screw (2-4), the first worm-wheel shaft (2-1), first worm-wheel shaft (2-1) are installed vertically on base (1), the
One worm gear (2-2) and the first worm-wheel shaft (2-1) key connection can simultaneously rotate, first snail around the axis of the first worm-wheel shaft (2-1)
Bar (2-4) is set in parallel in the top of base (1) and can be rotatable around its axis, first worm screw (2-4) and the first worm gear (2-
2) it is meshed and the rotation axis of the first worm gear (2-2) and the rotation axis of the first worm screw (2-4) is mutually perpendicular to, first snail
One end of bar (2-4) is connected with the first decelerator (2-5), the first motor (2-6), the first encoder (2-7) successively, and described
The top of one worm-wheel shaft (2-1) is connected with the bottom (9-1) of U-shaped component (9).
4. sixdegree-of-freedom simulation as claimed in claim 3, it is characterised in that the second joint (3) includes the second worm screw
(3-1), the second worm gear (3-2), the second worm-wheel shaft (3-3), the second decelerator (3-4), the second motor (3-5), second encoder
(3-6), the first openend (9-2) of the U-shaped component (9) and the second openend (9-3) respectively with the second worm-wheel shaft (3-3)
Both ends are fixedly connected, and the second worm gear (3-2) is fixedly connected with the second worm-wheel shaft (3-3), second worm screw (3-1) and the second snail
Wheel (3-2) is meshed and the axis of the axis of the second worm screw (3-1) and the second worm-wheel shaft (3-3) is mutually perpendicular to, second snail
One end of bar (3-1) is connected with the second decelerator (3-4), the second motor (3-5), second encoder (3-6) successively；
Second decelerator (3-4), the second motor (3-5), second encoder (3-6) are arranged in the cavity of large arm (4).
5. sixdegree-of-freedom simulation as claimed in claim 4, it is characterised in that the 3rd joint (3) includes the 3rd and slowed down
Device (5-3), the 3rd motor (5-4), the 3rd encoder (5-5), the 3rd worm gear (5-2), the 3rd worm screw (5-1), the 3rd worm-wheel shaft
(5-6), the large arm (4) and the 3rd worm screw (5-1) are coaxially connected, and the 3rd worm screw (5-1) can be rotatable around its axis, and the 3rd
Worm gear (5-2) is meshed with the 3rd worm screw (5-1) and can rotated around the axis of the 3rd worm-wheel shaft (5-6), the 3rd worm-wheel shaft (5-6)
Both ends be connected respectively with connecting elements (10).
6. sixdegree-of-freedom simulation as claimed in claim 5, it is characterised in that the 4th joint (6) includes the 4th and slowed down
Device (6-1), the 4th motor (6-2), the 4th encoder (6-3), the first rotary shaft (6-4), the side of the 4th decelerator (6-1)
Wall is connected with connecting elements (10), and one end of the 4th decelerator (6-1) and the first rotary shaft (6-4) are coaxially connected, and the 4th subtracts
The other end of fast device (6-1) is connected with the 4th motor (6-2), and the 4th motor (6-2) is connected with the 4th encoder (6-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711042371.6A CN107825459A (en) | 2017-10-30 | 2017-10-30 | A kind of joint of mechanical arm and sixdegree-of-freedom simulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711042371.6A CN107825459A (en) | 2017-10-30 | 2017-10-30 | A kind of joint of mechanical arm and sixdegree-of-freedom simulation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107825459A true CN107825459A (en) | 2018-03-23 |
Family
ID=61650239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711042371.6A Pending CN107825459A (en) | 2017-10-30 | 2017-10-30 | A kind of joint of mechanical arm and sixdegree-of-freedom simulation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107825459A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638037A (en) * | 2018-07-23 | 2018-10-12 | 长春工业大学 | A kind of Six-DOF industrial robot structure and control system |
| CN109333579A (en) * | 2018-11-08 | 2019-02-15 | 北京精密机电控制设备研究所 | A kind of Multi-stage transmission mechanism self-locking compact type joint of mechanical arm |
| CN109605344A (en) * | 2019-01-09 | 2019-04-12 | 北京精密机电控制设备研究所 | A kind of multiple degrees of freedom open loop stepping series connection mechanical arm and its control method |
| CN110497399A (en) * | 2019-08-22 | 2019-11-26 | 贵州大学 | A kind of three rotary freedoms positioning industrial robot |
| CN112643690A (en) * | 2020-12-21 | 2021-04-13 | 德鲁动力科技(成都)有限公司 | Pitching self-locking mechanism and robot head movement mechanism |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101290A (en) * | 2009-12-18 | 2011-06-22 | 中国科学院沈阳自动化研究所 | Modular reconfigurable robot |
| CN102562949A (en) * | 2011-11-29 | 2012-07-11 | 配天(安徽)电子技术有限公司 | Worm reducer, robot joint and robot arm |
| US20120286629A1 (en) * | 2011-05-13 | 2012-11-15 | Ezra Johnson | Modular rotational electric actuator |
| CN202597626U (en) * | 2012-04-16 | 2012-12-12 | 成都慧拓自动控制技术有限公司 | Compact mechanical self-locking rotary joint |
| US20130055842A1 (en) * | 2011-09-01 | 2013-03-07 | Kabushiki Kaisha Yaskawa Denki | Robot |
| CN103158148A (en) * | 2013-03-23 | 2013-06-19 | 长源动力（北京）科技有限公司 | Mechanical arm |
| CN203471789U (en) * | 2013-08-30 | 2014-03-12 | 广州机械科学研究院有限公司 | Robot wrist part |
| CN104308837A (en) * | 2014-09-25 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Six-axis robot |
| CN104802183A (en) * | 2015-04-02 | 2015-07-29 | 西北工业大学 | Self-locking type robot joint |
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN105666478A (en) * | 2016-04-15 | 2016-06-15 | 东莞理工学院 | Joint type mechanical arm rapid disassembling and assembling system under nuclear radiation environment |
| CN106020251A (en) * | 2016-08-03 | 2016-10-12 | 中国华能集团清洁能源技术研究院有限公司 | Solar tracking driving device based on planetary speed reducer and worm and gear speed reducer |
| CN207327030U (en) * | 2017-10-30 | 2018-05-08 | 中国科学院西安光学精密机械研究所 | A kind of joint of mechanical arm and sixdegree-of-freedom simulation |
-
2017
- 2017-10-30 CN CN201711042371.6A patent/CN107825459A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101290A (en) * | 2009-12-18 | 2011-06-22 | 中国科学院沈阳自动化研究所 | Modular reconfigurable robot |
| US20120286629A1 (en) * | 2011-05-13 | 2012-11-15 | Ezra Johnson | Modular rotational electric actuator |
| US20130055842A1 (en) * | 2011-09-01 | 2013-03-07 | Kabushiki Kaisha Yaskawa Denki | Robot |
| CN102562949A (en) * | 2011-11-29 | 2012-07-11 | 配天(安徽)电子技术有限公司 | Worm reducer, robot joint and robot arm |
| CN202597626U (en) * | 2012-04-16 | 2012-12-12 | 成都慧拓自动控制技术有限公司 | Compact mechanical self-locking rotary joint |
| CN103158148A (en) * | 2013-03-23 | 2013-06-19 | 长源动力（北京）科技有限公司 | Mechanical arm |
| CN203471789U (en) * | 2013-08-30 | 2014-03-12 | 广州机械科学研究院有限公司 | Robot wrist part |
| CN104308837A (en) * | 2014-09-25 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Six-axis robot |
| CN104802183A (en) * | 2015-04-02 | 2015-07-29 | 西北工业大学 | Self-locking type robot joint |
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN105666478A (en) * | 2016-04-15 | 2016-06-15 | 东莞理工学院 | Joint type mechanical arm rapid disassembling and assembling system under nuclear radiation environment |
| CN106020251A (en) * | 2016-08-03 | 2016-10-12 | 中国华能集团清洁能源技术研究院有限公司 | Solar tracking driving device based on planetary speed reducer and worm and gear speed reducer |
| CN207327030U (en) * | 2017-10-30 | 2018-05-08 | 中国科学院西安光学精密机械研究所 | A kind of joint of mechanical arm and sixdegree-of-freedom simulation |
Non-Patent Citations (1)
| Title |
|---|
| 程军: ""六自由度关节型机器人本体设计和控制系统的研究"", 《中国优秀硕士学位论文全文数据库》, no. 2005, pages 12 - 25 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638037A (en) * | 2018-07-23 | 2018-10-12 | 长春工业大学 | A kind of Six-DOF industrial robot structure and control system |
| CN109333579A (en) * | 2018-11-08 | 2019-02-15 | 北京精密机电控制设备研究所 | A kind of Multi-stage transmission mechanism self-locking compact type joint of mechanical arm |
| CN109605344A (en) * | 2019-01-09 | 2019-04-12 | 北京精密机电控制设备研究所 | A kind of multiple degrees of freedom open loop stepping series connection mechanical arm and its control method |
| CN109605344B (en) * | 2019-01-09 | 2021-02-09 | 北京精密机电控制设备研究所 | Multi-degree-of-freedom open-loop stepping series mechanical arm and control method thereof |
| CN110497399A (en) * | 2019-08-22 | 2019-11-26 | 贵州大学 | A kind of three rotary freedoms positioning industrial robot |
| CN112643690A (en) * | 2020-12-21 | 2021-04-13 | 德鲁动力科技(成都)有限公司 | Pitching self-locking mechanism and robot head movement mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107825459A (en) | A kind of joint of mechanical arm and sixdegree-of-freedom simulation | |
| KR200482156Y1 (en) | Planetary gear apparatus using two input characteristic and gear module thereof | |
| CN106230186B (en) | It is a kind of to gather the hollow type harmonic speed reducer for having motor | |
| JP2017088092A (en) | Drive unit for bicycle | |
| CN102148548B (en) | Motor component used for medical appliance | |
| CN107191549B (en) | Planet gear speed reducing mechanism and speed reducer thereof | |
| CN207327030U (en) | A kind of joint of mechanical arm and sixdegree-of-freedom simulation | |
| CN206406083U (en) | A kind of single shaft Two dimension of freedom robot joint | |
| CN203460188U (en) | Tandem joint mechanical arm structure | |
| CN102490061A (en) | Planetary speed changing device for machine tool spindle | |
| CN201610923U (en) | Double speed ratio harmonic drive reducer | |
| CN208767917U (en) | A kind of hand and self-locking planetary reducer of band | |
| CN201744959U (en) | Electric screw driver with planetary gear set speed reduction drive device | |
| CN204382295U (en) | The large arm driving mechanism of robot | |
| CN208428017U (en) | A kind of worm and gear blind-mate device | |
| CN106015501A (en) | Differential gear reducer | |
| CN106914921B (en) | Multi-motor parallel driving type electric joint and manipulator thereof | |
| CN206302281U (en) | Double output shaft toothed gearing electric motor | |
| CN204403285U (en) | A kind of planetary gear speed reducing mechanism and speed reducer | |
| NO344638B1 (en) | Worm gear system | |
| CN106451909A (en) | Dual-output-shaft gear reducing motor and abutting and adjusting method of output shaft thereof | |
| CN208880720U (en) | A kind of forward backward rotation force-increasing mechanism of anti-reverse impact | |
| CN101363518A (en) | Zero-cross gear changes and method thereof | |
| CN110792733A (en) | Power device | |
| CN204868296U (en) | Geared feed structure |
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 |