CN108145746B - Telescopic three-degree-of-freedom industrial mechanical arm - Google Patents
Telescopic three-degree-of-freedom industrial mechanical arm Download PDFInfo
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- CN108145746B CN108145746B CN201711318895.3A CN201711318895A CN108145746B CN 108145746 B CN108145746 B CN 108145746B CN 201711318895 A CN201711318895 A CN 201711318895A CN 108145746 B CN108145746 B CN 108145746B
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- mechanical
- forearm
- small arm
- arm
- telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a telescopic three-degree-of-freedom industrial mechanical arm, and belongs to the field of industrial robots. The mechanical humerus and mechanical forearm joint mechanism comprises a small mechanical arm capable of freely stretching, an elbow joint connected with a small mechanical arm and a mechanical humerus in a hinge mode, a wrist joint connected with the right end of the small mechanical arm and a manipulator in the hinge mode, a power mechanism A arranged on the small mechanical arm and capable of driving the small mechanical arm to rotate around the elbow joint relatively, and a power mechanism B arranged on the small mechanical arm and capable of driving the manipulator to rotate around the wrist joint relatively; the mechanical forearm comprises a mechanical forearm body, a mechanical forearm telescopic rod and a forearm torsion joint; the mechanical small arm body and the mechanical small arm telescopic rod are coaxially arranged and can move relatively along the common axis. The industrial mechanical arm has the advantages of simple and compact structure, more stable motion, three degrees of freedom, free extension and no vibration gap during extension.
Description
Technical Field
The invention mainly relates to the field of industrial robots, in particular to a telescopic three-degree-of-freedom industrial mechanical arm.
Background
The research of robots has been largely completed and applied to aspects of human life. The robot usually adopts mechanical arms to work, and at present, the research on the mechanical arms at home and abroad is mainly focused on the bending motion of the mechanical arms, and the research on the mechanical arms with the telescopic motion and the bending motion is relatively less. Therefore, when the industrial robot is applied to a special environment or a severe environment, the research on the telescopic mechanical arm has very important use value.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides the three-degree-of-freedom industrial mechanical arm which has a simple and compact structure, more stable motion, three degrees of freedom including two rotations and one translation, free extension and no vibration gap.
In order to solve the problems, the solution proposed by the invention is as follows: the utility model provides a telescopic three degree of freedom industrial machinery arm, it is including adopting the mechanical forearm that can freely stretch out and draw back, adopt the hinge mode to connect mechanical upper arm bone with the elbow joint of mechanical forearm, adopt the hinge mode to connect mechanical forearm right-hand member and the wrist joint of manipulator install in can drive on the mechanical upper arm bone mechanical forearm around elbow joint takes place relative pivoted power unit A, install in can drive on the mechanical forearm manipulator around wrist joint takes place relative pivoted power unit B.
The mechanical forearm comprises a mechanical forearm body, a mechanical forearm telescopic rod and a forearm torsion joint; the mechanical small arm body and the mechanical small arm telescopic rod are coaxially arranged and can move relatively along the common axis of the mechanical small arm body and the mechanical small arm telescopic rod.
The forearm torsion joint comprises a moving frame which is arranged in the mechanical forearm body and can translate relatively, a stepping motor, a driving gear shaft connected with an output shaft of the stepping motor, a driven gear which is fixedly arranged at the left end of the mechanical forearm telescopic rod and is in meshed transmission with the driving gear shaft, a fixing nut which is in meshed transmission with the external thread of the mechanical forearm telescopic rod, and a locking spring of which the two ends are respectively connected with the mechanical forearm body and the driven gear.
Furthermore, the mechanical small arm telescopic rod penetrates through a rolling bearing arranged on the moving frame, and the outer surface of the right end of the mechanical small arm telescopic rod is provided with an external thread; the movable frame can freely translate along the axis direction of the mechanical small arm body in the inner part.
Furthermore, the mechanical small arm body is a bucket-shaped hollow round rod which is horizontally placed.
Further, the driving gear shaft comprises a driving shaft and a driving gear; the driving shaft penetrates through a bearing arranged on the moving frame, the left end of the driving shaft is connected with an output shaft of the stepping motor, and the right end of the driving shaft is fixedly provided with the driving gear.
Furthermore, the fixing nut is fixedly arranged in the mechanical small arm body.
Furthermore, when the mechanical small arm body is in a working state, the locking spring always bears pressure.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the telescopic three-degree-of-freedom industrial mechanical arm provided by the invention is provided with an elbow joint, a wrist joint and a telescopic mechanical arm, and can realize complex three-degree-of-freedom motion.
(2) The telescopic three-degree-of-freedom industrial mechanical arm is also provided with the locking spring, and when the telescopic rod of the mechanical forearm works, the locking spring is always in a pressed state, so that the telescopic mechanical forearm has no vibration gap. Therefore, the industrial mechanical arm has the advantages of simple and compact structure, more stable motion, three degrees of freedom including two kinds of rotation and one kind of translation, free extension and no vibration gap in extension, and can be applied to wider fields.
Drawings
Fig. 1 is a schematic structural principle diagram of a telescopic three-degree-of-freedom industrial mechanical arm of the invention.
In the drawings, 1-mechanical humerus; 21-elbow joint; 22-a power mechanism A; 31-mechanical small arm body; 32-mechanical small arm telescopic rod; 33-a driven gear; 41-a power mechanism B; 42-wrist joint; 5, a mechanical arm; 60, a movable frame; 61-driving shaft; 62, a stepping motor; 63-a drive gear; 64-rolling bearings; 7, fixing a nut; 8, a locking spring.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the telescopic three-degree-of-freedom industrial mechanical arm of the present invention includes a small mechanical arm capable of freely telescoping, an elbow joint 21 connecting the small mechanical arm 1 and the small mechanical arm in a hinge manner, a wrist joint 42 connecting the right end of the small mechanical arm and a manipulator 5 in a hinge manner, a power mechanism a22 mounted on the small mechanical arm 1 and capable of driving the small mechanical arm to rotate around the elbow joint 21, and a power mechanism B41 mounted on the small mechanical arm and capable of driving the manipulator 5 to rotate around the wrist joint 42, and is characterized in that:
referring to fig. 1, the mechanical forearm comprises a mechanical forearm body 31, a mechanical forearm telescopic rod 32 and a forearm torsion joint; the mechanical small arm body 31 and the mechanical small arm telescopic rod 32 are coaxially arranged and can relatively move along the common axis of the mechanical small arm body and the mechanical small arm telescopic rod;
referring to fig. 1, the forearm torsion joint includes a moving frame 60 installed inside the mechanical forearm body 31 and capable of relatively translating, a stepping motor 62, a driving gear shaft connected to an output shaft of the stepping motor 62, a driven gear 33 fixedly installed at the left end of the mechanical forearm extension rod 32 and engaged with the driving gear shaft for transmission, a fixing nut 7 engaged with the external thread of the mechanical forearm extension rod 32 for transmission, and a locking spring 8 having two ends respectively connected to the mechanical forearm body 31 and the driven gear 33.
Referring to fig. 1, the mechanical forearm extension rod 32 passes through a rolling bearing 64 mounted on the moving frame 60, and has an external thread formed on the outer surface of the right end thereof; the moving frame 60 can freely translate in the axial direction inside the mechanical arm body 31.
Referring to fig. 1, the mechanical arm body 31 is preferably a horizontally placed bucket-shaped hollow round bar.
Referring to fig. 1, preferably, the drive gear shaft includes a drive shaft 61 and a drive gear 63; the driving shaft 61 passes through a bearing installed on the moving frame 60, and has a left end connected to an output shaft of the stepping motor 62 and a right end fixedly installed with a driving gear 63.
Referring to fig. 1, preferably, the fixing nut 7 is fixedly installed inside the mechanical arm body 31.
Referring to fig. 1, preferably, when the mechanical small arm body 31 is in an operating state, the locking spring 8 is always under pressure, so that the mechanical small arm body 31 has no vibration gap during the translation process.
Claims (4)
1. The utility model provides a telescopic three degree of freedom industrial robot arm, including adopting the mechanical forearm that can freely stretch out and draw back, adopt the hinge mode connect mechanical upper arm (1) with elbow joint (21) of mechanical forearm, adopt the hinge mode to connect wrist joint (42) of mechanical forearm right-hand member and manipulator (5), install in can drive on mechanical upper arm (1) mechanical forearm winds elbow joint (21) takes place relative pivoted power unit A (22), install in can drive on the mechanical forearm manipulator (5) wind wrist joint (42) take place relative pivoted power unit B (41), its characterized in that:
the mechanical small arm comprises a mechanical small arm body (31), a mechanical small arm telescopic rod (32) and a small arm torsion joint; the mechanical small arm body (31) and the mechanical small arm telescopic rod (32) are coaxially arranged and can relatively move along the common axis of the mechanical small arm body and the mechanical small arm telescopic rod;
the forearm torsion joint comprises a moving frame (60) which is arranged in the mechanical forearm body (31) and can translate relatively, a stepping motor (62), a driving gear shaft connected with an output shaft of the stepping motor (62), a driven gear (33) which is fixedly arranged at the left end of the mechanical forearm telescopic rod (32) and is in meshing transmission with the driving gear shaft, a fixing nut (7) which is in meshing transmission with the external thread of the mechanical forearm telescopic rod (32), and a locking spring (8) of which two ends are respectively connected with the mechanical forearm body (31) and the driven gear (33);
the driving gear shaft comprises a driving shaft (61) and a driving gear (63); the driving shaft (61) penetrates through a bearing arranged on the moving frame (60), the left end of the driving shaft is connected with an output shaft of the stepping motor (62), and the right end of the driving shaft is fixedly provided with the driving gear (63);
when the mechanical small arm body (31) is in a working state, the locking spring (8) bears pressure all the time.
2. The telescopic three-degree-of-freedom industrial mechanical arm according to claim 1, characterized in that: the mechanical small arm telescopic rod (32) penetrates through a rolling bearing (64) arranged on the moving frame (60), and the outer surface of the right end of the mechanical small arm telescopic rod is provided with an external thread; the moving frame (60) can freely translate along the axial direction of the mechanical small arm body (31) in the inner part.
3. The telescopic three-degree-of-freedom industrial mechanical arm according to claim 1, characterized in that: the mechanical small arm body (31) is a bucket-shaped hollow round rod which is horizontally placed.
4. The telescopic three-degree-of-freedom industrial mechanical arm according to claim 1, characterized in that: the fixing nut (7) is fixedly arranged in the mechanical small arm body (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711318895.3A CN108145746B (en) | 2017-12-12 | 2017-12-12 | Telescopic three-degree-of-freedom industrial mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711318895.3A CN108145746B (en) | 2017-12-12 | 2017-12-12 | Telescopic three-degree-of-freedom industrial mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN108145746A CN108145746A (en) | 2018-06-12 |
| CN108145746B true CN108145746B (en) | 2021-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711318895.3A Active CN108145746B (en) | 2017-12-12 | 2017-12-12 | Telescopic three-degree-of-freedom industrial mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CZ2019701A3 (en) * | 2019-11-15 | 2021-01-27 | Deprag Cz A.S. | Robotic machining head |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2407181Y (en) * | 1999-11-23 | 2000-11-22 | 刘东均 | Mechanical transmission for turning rotation into reciprocal movement |
| JP2017148885A (en) * | 2016-02-23 | 2017-08-31 | 株式会社ジェイテクト | Robot arm |
| CN106239501A (en) * | 2016-09-28 | 2016-12-21 | 洛阳理工学院 | Multiple degrees of freedom hydraulic driving mechanical is used in the carrying of a kind of workshop |
| CN106625762A (en) * | 2016-11-25 | 2017-05-10 | 南陵县襄荷产业协会 | Telescopic three-dimensional mechanical arm |
| CN106426157A (en) * | 2016-12-12 | 2017-02-22 | 南陵宝恒野生葛种植专业合作社 | Foldable and telescopic mechanical arm |
| CN107263533A (en) * | 2017-06-21 | 2017-10-20 | 太仓望虞机械科技有限公司 | A kind of Telescopic rotating mechanical arm of compact conformation |
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| CN108145746A (en) | 2018-06-12 |
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