CN108161900A - A kind of Multi-shaft mechanical arm and robot - Google Patents
A kind of Multi-shaft mechanical arm and robot Download PDFInfo
- Publication number
- CN108161900A CN108161900A CN201711439537.8A CN201711439537A CN108161900A CN 108161900 A CN108161900 A CN 108161900A CN 201711439537 A CN201711439537 A CN 201711439537A CN 108161900 A CN108161900 A CN 108161900A
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- China
- Prior art keywords
- arm
- connecting rod
- belt wheel
- rotation
- base shaft
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Classifications
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
-
- 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
A kind of Multi-shaft mechanical arm provided by the invention and robot, driving element is set on the platform of bottom, and the first arm and the second arm, without additional weight, have the characteristics that end movement speed is fast other than own wt and mating connecting rod weight；Rounded end and rotation end can be carried out by being equipped on second arm end, have the freedom of motion of bigger, it can be achieved that various job requirements；Rounded end and the drive component at rotation end are equally installed on platform, and the more existing mechanical arm module of weight of motion parts is lighter, is particularly suitable for the quick motion work of working distal tip；Four-bar mechanism of the shape for parallelogram is used, the terminal position calculating of the second arm is relatively easy to, and greatly reduce control software writes difficulty, is conducive to the universal use of the Multi-shaft mechanical arm.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of Multi-shaft mechanical arm and robot.
Background technology
Robot can be divided into parallel robot and serial manipulator, wherein, the common type of serial manipulator has joint
Robot.Common articulated robot, the driving element of each arm is installed on the joint being connect with forearm, with arm quantity
Increase, the load of each arm can accordingly increase, the driving dynamical element volume of arm is caused to increase, the movement velocity of arm slows down,
The problems such as precision of arm is reduced, is unfavorable for high speed and the micromation of articulated robot.
Therefore, the lightweight for realizing arm is the research direction that robot end moves high speed.
Invention content
In order to realize the lightweight of robots arm, an embodiment of the present invention provides a kind of Multi-shaft mechanical arm and robots, should
The driving element of mechanical arm, rounded end and rotation end is arranged on platform by Multi-shaft mechanical arm and robot, the load of mechanical arm
Greatly reduce, be conducive to the quick movement of working distal tip, there is good practicability.
Correspondingly, Multi-shaft mechanical arm provided by the invention includes platform, the first arm, the second arm, first connecting rod, the second company
Bar, the first arm drive component, first connecting rod drive component, rounded end, revolution driving component and revolution transmission component；
The platform is parallel with x/y plane, in the platform x forward, is provided with y and is connected to the first opposite base shaft
Part and the second base shaft connector；Between the first base shaft connector and the second base shaft connector opposite face, a circle
First base shaft beginning of cylindricality is slidably mounted on the first base shaft connector；One the second cylindrical base shaft beginning
It is slidably mounted on the second base shaft connector；The first base shaft axis and the second base shaft axis are collinearly simultaneously
It is parallel with y-axis；
The first arm beginning is slide hinged in the first base shaft and/or the second base shaft, where articulated position
Axis is the first joint；The first arm end is hinged with the second arm beginning, and axis where articulated position is second joint；
The second arm end is hinged with the rounded end, and axis where articulated position is third joint；
The first connecting rod beginning is slide hinged in the first base shaft and/or the second base shaft, end with it is described
Second connecting rod beginning is hinged；The second connecting rod end is articulated in the middle part of second arm or on end；
First arm, the second arm, first connecting rod and second connecting rod form a four-bar mechanism；
The first arm drive component is installed on the platform, for driving first arm around the second base shaft
Rotation；The first connecting rod drive component is installed on the platform, for the first connecting rod to be driven to turn around first base
Shaft rotation is moved；
The revolution transmission component includes the first revolution belt wheel, the second revolution belt wheel, third and turns round belt wheel and for being driven
Revolution belt；
The first revolution belt wheel is fixed in the first base shaft, and the second revolution belt wheel is arranged on described second
On joint, the third revolution belt wheel is arranged on the third joint, and the third revolution belt wheel is connect with the rounded end
It is fixed；
The first revolution belt wheel, the second revolution belt wheel, third revolution belt wheel are based on the revolution belt and are attached；
The revolution driving component is installed on the first base shaft connector y negative senses, and output terminal turns with first base
Axis beginning connects, and drives the base shaft, the first revolution belt wheel, the second revolution belt wheel, third revolution belt wheel and rounded end rotation.
Preferred embodiment, the Multi-shaft mechanical arm further include rotation end, rotation drive component and rotation transmission component；
The rotation end is arranged on the rounded end, and axis is vertical with the third joints axes；
The rotation transmission component includes the first rotation belt wheel, the second rotation belt wheel, third rotation belt wheel, first bevel gear
And second bevel gear；
The first rotation belt wheel is fixed in the second base shaft, and the second rotation belt wheel is arranged on described second
On joint, the third rotation belt wheel be arranged on the third joint and with the third revolution belt wheel it is coaxial；
The first bevel gear connect with the third rotation belt wheel it is fixed and coaxial, the second bevel gear with it is described oneself
Turn the coaxially connected fixation in end；The first bevel gear and the second bevel gear Vertical Meshing；
The rotation drive component is installed on the second base shaft connector y forward directions, and output terminal turns with second base
Axis beginning connects, and drives the second base shaft, the first rotation belt wheel, the second rotation belt wheel, third rotation belt wheel and the first cone
Gear rotates and is based on first bevel gear and second bevel gear, drives the rotation end around own axis.
Preferred embodiment, first arm is parallel with the second connecting rod and equal length；The first connecting rod is put down
Row is in second arm.
Preferred embodiment, second arm lengths are greater than or equal to the first connecting rod length.
Preferred embodiment, the first arm drive component include the first arm driving pedestal, the first arm driving motor, the
One arm driving screw, the first arm driving sliding block and the first arm drive connection part；
The first arm driving pedestal is hinged on the x negative senses of the platform；
The first arm driving screw and the first arm driving sliding block are installed in one first arm driving shell, first arm
Driving slide block set, the first arm drive connection part is connect with first arm driving sliding block on first arm driving screw
It is fixed；The first arm drive connection part connect fixation with the first arm beginning, and coaxial with the screw；
The first arm driving shell is fixed in side by side with the first arm driving motor on the first arm driving pedestal；
One end of the shaft of the first arm driving motor and first arm driving screw is based in first arm driving pedestal
Gear connection transmission；
The first arm drive connection part drives first arm to be rotated around the second base shaft.
Preferred embodiment, the first connecting rod drive component include first connecting rod driving pedestal, first connecting rod driving
Motor, first connecting rod driving screw, first connecting rod driving sliding block and first connecting rod drive connection part；
The first connecting rod driving pedestal is hinged on the x negative senses of the platform；
First connecting rod driving screw and first connecting rod driving sliding block are installed in first connecting rod driving shell, and described the
One connecting rod drives slide block set on first connecting rod driving screw, the first connecting rod drive connection part and the first connecting rod
Sliding block connection is driven to fix；The first connecting rod drive connection part connect fixation with the first connecting rod beginning, and with the silk
Bar is coaxial；
The first connecting rod driving shell is fixed in the first connecting rod side by side with the first connecting rod driving motor and drives
On pedestal；One end of the shaft of the first connecting rod driving motor and first connecting rod driving screw is driven in the first connecting rod
Based on gear connection transmission in dynamic pedestal；
The first connecting rod drive connection part drives the first connecting rod to be rotated around the first base shaft.
Preferred embodiment, first arm are open column shape structure；Second arm is by two piece of second arm cover board group
Into, between two piece of second arm cover board pass through more than one second arm fixing piece connection fix.
Correspondingly, the present invention also provides a kind of robot, which includes above-described any one multiaxis machine
Tool arm and working distal tip；The working distal tip is arranged on the rounded end or the rotation end.
The embodiment of the present invention provides a kind of Multi-shaft mechanical arm and robot, the Multi-shaft mechanical arm and robot by driving element
It is set on the platform of bottom, the first arm and the second arm are other than own wt and mating connecting rod weight, without additional
Weight.The Multi-shaft mechanical arm has the characteristics that end movement speed is fast, and the light load that can carry out short distance track is back and forth transported at a high speed
It is dynamic, there is good effect to the sharp work of robot.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 shows the three dimensional structure diagram of Multi-shaft mechanical arm of the embodiment of the present invention；
Fig. 2 shows the front views of Multi-shaft mechanical arm of the embodiment of the present invention；
Fig. 3 shows the Section A-A sectional view of the embodiment of the present invention；
Fig. 4 shows the section B-B sectional view of the embodiment of the present invention；
Fig. 5 shows rounded end of the embodiment of the present invention and the partial enlarged view at rotation end；
Fig. 6 shows the rearview of Multi-shaft mechanical arm of the embodiment of the present invention；
Fig. 7 shows the vertical view of Multi-shaft mechanical arm of the embodiment of the present invention；
Fig. 8 shows the first arm front view of the embodiment of the present invention；
Fig. 9 shows the first connecting rod front view of the embodiment of the present invention；
Figure 10 shows the kinematic sketch of Multi-shaft mechanical arm of the embodiment of the present invention；
Figure 11 shows the partial enlarged view of first connecting rod drive component of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a kind of Multi-shaft mechanical arm and robot, the Multi-shaft mechanical arm and robot are by the first arm
It is installed on platform with the dynamical element of the second arm, there is no the driving element of heavier-weight and complexity on the first arm and the second arm
Transmission mechanism, the movement velocity of working distal tip are very fast；The movement of the Multi-shaft mechanical arm, multiaxis are controlled based on four-bar mechanism principle
The end orbit calculating of mechanical arm is relatively simple, and software control is more easy.
Fig. 1 shows the three dimensional structure diagram of Multi-shaft mechanical arm of the embodiment of the present invention, and Fig. 2 shows the embodiment of the present invention
The front view of Multi-shaft mechanical arm, Fig. 6 show the rearview of Multi-shaft mechanical arm of the embodiment of the present invention, and Fig. 7 shows of the invention real
Apply the vertical view of a Multi-shaft mechanical arm.
Multi-shaft mechanical arm provided in an embodiment of the present invention, including platform 101, the first arm 102, the second arm 103, first connecting rod
105th, second connecting rod 104, the first arm drive component 107,106 drive component of first connecting rod, rounded end 844, revolution driving component
801st, transmission component, rotation end 845, rotation drive component 802 and rotation transmission component are turned round.
In order to mitigate the weight of the first arm 102 and the second arm 103, the structure of the first arm 102 of the embodiment of the present invention is sky
Heart column structure, specially rectangular open column shape structure；Second arm 103 is made up of two piece of second arm cover board 137, described two pieces
It is connected and fixed by more than one second arm fixing piece 139 between second arm cover board 137；In specific implementation, it may be configured as each
The arm configuration of kind form.
The platform 101 is parallel with x/y plane, and in specific implementation, 101 top surface of platform is a plane, the plane and x/y plane
Parallel, shape is not unique.
In the platform x forward, y is provided with to connect with the second base shaft to the first opposite base shaft connector 109
Part 111；
Fig. 3 shows the sectional view of Section A-A, succinct for view, only shows there is the part of cutting plane；Bearing
Hatching is not shown due to complex in figure；In order to reduce friction, bearing is based between the opposite each parts slided
It connects with bearing holder (housing, cover), since the connection mode is relatively conventional in industry, is not discussed in detail.It is connected in the first base shaft
Between 109 and second base shaft connector of part, 111 opposite face, cylindrical 108 beginning of the first base shaft is slidably mounted on institute
It states on the first base shaft connector 109；One the second cylindrical base shaft beginning 110 is slidably mounted on the second base shaft and connects
On fitting；The first base shaft axis 108 and 110 axis collinear of the second base shaft are simultaneously parallel with y-axis.
First arm, 102 beginning is slide hinged in the first base shaft 108 and/or the second base shaft 110, this hair
First arm 102 of bright embodiment is open column shape structure, across slide hinged in the first base shaft 108 and the second base shaft 110
On；First arm, 102 end is hinged with 103 beginning of the second arm；It is cut with scissors with the rounded end the second arm end 103
It connects.
105 beginning of first connecting rod is slide hinged in the first base shaft 108 and/or the second base shaft 110, end
End is hinged with 104 beginning of second connecting rod；104 end of second connecting rod is articulated with 103 middle part of the second arm or end
On；First arm 102, the second arm 103, first connecting rod 105 and second connecting rod 104 form a four-bar mechanism；
The first arm drive component 107 is installed on the platform 101, for driving first arm 102 around described
First base shaft 108 and/or the second base shaft 110 rotate；The first connecting rod drive component 106 is installed on the platform 101
On, for the first connecting rod 105 to be driven to be rotated around the first base shaft 108.
It should be noted that the first arm drive component and the second arm drive component can control and keep the first arm, second
The position of the four-bar mechanism structure of arm, first connecting rod and second connecting rod composition；The position of rounded end passes through revolution driving component
801st, transmission component, rotation drive component 802 and rotation transmission component is turned round to be controlled.
Wherein, the first base shaft 108 is driven by revolution driving component 801.Revolution driving component 801 includes revolution driving electricity
Machine 810, revolution driving retarder 811 and mating bearing and bearing holder (housing, cover).First base shaft, 108 beginning is slidably mounted on first
On base shaft connector 109, end is fixed with the first revolution belt wheel 813；Revolution driving retarder 811 is fixed on the first base shaft
On 108；Revolution driving motor 810 is connect through revolution driving retarder 811 with the first base shaft connector 109；Revolution driving electricity
Machine 810 is rotated through revolution driving retarder 811, the first base shaft 108 driving the first revolution belt wheel 813.
Second base shaft 110 is driven by rotation drive component 801.Rotation drive component 802 includes rotation driving motor
817th, rotation driving retarder 816 and mating bearing and bearing holder (housing, cover).Second base shaft, 110 beginning is slidably mounted on the second base
On shaft connector 111, end is fixed with the first revolution belt wheel 814；Rotation driving retarder 816 is fixed on the second base shaft company
On fitting 111；Rotation driving motor 817 is connect through rotation driving retarder 816 with the second base shaft 110；Rotation driving motor
817 drive the first rotation belt wheel 814 to rotate through rotation driving retarder 110, the second base shaft 110.
Fig. 4 shows the cross-sectional view of section B-B, succinct for view, only shows there is the portion of cutting plane
Point；The hatching of bearing is not shown due to complex in figure；In order to reduce friction, the opposite each parts slided it
Between connected based on bearing with bearing holder (housing, cover), since the connection mode is relatively conventional in industry, be not discussed in detail.First arm 104
End and 103 beginning of the second arm are hinged, specifically, second joint shaft 834 is along y to through the y forward directions face of the first arm 104 and y
Negative sense face.The second revolution sleeve 833, second is slidably fitted in second joint shaft 834 from rotaring sleeve 832, wherein, second time
Rotaring sleeve 833 is slidably mounted on the first arm 104y negative senses face, is fixedly connected with second respectively the first arm 104 is inside and outside
It turns round belt wheel one 836 and second and turns round belt wheel 2 835；Second is slidably mounted on from rotaring sleeve 832 on the first arm 104y forward directions face,
It is fixedly connected with the second rotation belt wheel 1 and the second rotation belt wheel 2 838 respectively the first arm 104 is inside and outside.Second
Two piece of second arm cover board 137 of arm is slidably mounted on the second revolution sleeve 833, second from rotaring sleeve 832 respectively.
Fig. 5 shows the vertical view of the embodiment of the present invention, wherein, with the rotary motion of rounded end and transporting certainly for rotation end
Dynamic unrelated component not shows that partial enlarged view is the sectional view of the second arm end.Second arm is provided on 103 end along y
To perforative third joint shaft 842；Third joint shaft 842y forward ends are fixedly connected with third rotation belt wheel 840, y negative senses
End is slidably fitted with third revolution sleeve 843, and third revolution sleeve 843 is slidably mounted on the second arm 103y negative senses face, wherein,
Third turns round sleeve 843 and is fixedly connected with third revolution belt wheel 847 in y negative senses.
The rounded end 844 of the embodiment of the present invention is slidably mounted in third joint shaft 842, and y negative ends are turned round with third
The connection of sleeve 843 is fixed.
First bevel gear 841 is also fixedly connected in third joint shaft 842, the second cone tooth is fixedly connected on rotation end
Wheel 846；First bevel gear 841 and second bevel gear 842 engage, and axis is vertical between each other.
With reference to above to the explanation of the multi-spindle machining arm configuration of the embodiment of the present invention, below to the revolution of the embodiment of the present invention
The rotary motion at end and the spinning motion at rotation end are summarized.
It turns round transmission component and includes the first revolution belt wheel, the second revolution revolution of belt wheel one, second belt wheel two, third rotating belt
Wheel and revolution belt one, revolution belt two for transmission.The first base of revolution driving Component driver shaft rotates, and drives first time
Turn belt wheel rotation；First revolution belt wheel is based on revolution belt one and the second revolution belt wheel one is driven to rotate；Second revolution one He of belt wheel
Second revolution belt wheel diyl is fixed and is synchronized with the movement in the second revolution sleeve connection；Second revolution belt wheel diyl is in revolution belt two
Drive third revolution belt wheel movement；Third is turned round belt wheel and is fixed, and rotate synchronously based on third revolution sleeve connection with rounded end.
Rotation transmission component includes the first rotation belt wheel, the second rotation belt wheel one, the second rotation belt wheel two, third rotation band
Wheel, first bevel gear, second bevel gear and rotation belt one, rotation belt two for transmission；Rotation drive component driving the
Diyl shaft rotates, and drives the rotation of the first rotation belt wheel；First rotation belt wheel is based on rotation belt one and drives the second rotation belt wheel
One rotation；Second rotation belt wheel one and the second rotation belt wheel two are fixed and are synchronized with the movement based on the second rotation sleeve connection；Second
Rotation belt wheel two is based on rotation belt two and drives the movement of third rotation belt wheel；Third rotation belt wheel is based on third with first bevel gear
Joint shaft connection is fixed, and rotate synchronously；Second bevel gear is orthogonal with first bevel gear to be engaged and is driven by first bevel gear
It is dynamic to realize rotation；The turning end being connect with second bevel gear is on rounded end around own axes rotation.
Fig. 1 shows the three dimensional structure diagram of Multi-shaft mechanical arm of the embodiment of the present invention, and Fig. 2 shows the embodiment of the present invention
The front view of Multi-shaft mechanical arm, Fig. 6 show the rearview of Multi-shaft mechanical arm of the embodiment of the present invention, and Fig. 7 shows of the invention real
Apply the vertical view of a Multi-shaft mechanical arm.
First base shaft and the second base shaft are additionally operable to other than as transmission parts by 102 beginning of the first arm and
One connecting rod, 105 beginning vacantly in the height of setting, makes between the first base shaft and the second base shaft and platform that there are space confessions
First arm 102 and first connecting rod 105 move, and the first arm 102 and first connecting rod 105 is avoided to generate interference with platform 101.
Fig. 1 shows the first arm, three-D structure diagram of the embodiment of the present invention, and Fig. 8 shows the embodiment of the present invention first
Arm configuration front view.In specific implementation, 102 beginning of the first arm is slide hinged in the first base shaft 108 and
In diyl shaft 110, end is hinged with 103 beginning of the second arm；In order to be connected for the installation of the first arm drive component 107, the
One arm 102 is carried on the back at beginning on abterminal direction, extends the first arm connector, the first arm connector and the first arm drive component
Output terminal be hinged.It should be noted that the first arm connector and the first arm are relatively-stationary, and the axis of the first arm connector
It is less than the axial length of the first arm to length, based on lever principle, the micro-displacement of the first arm connector can be made, through the first base
After 108 and second base shaft of shaft, 110 fulcrum, the big apart from displacement of the first arm end is amplified to, is conducive to the first arm end
Quick movement.
Fig. 1 shows the first connecting rod three dimensional structure diagram of the embodiment of the present invention, and Fig. 9 shows the embodiment of the present invention
One link mechanism front view.105 beginning of first connecting rod is articulated in the first base shaft 108, end and the second connecting rod
104 beginnings are hinged；In order to which for the installation connection of first connecting rod drive component 103, first connecting rod 105 carries on the back abterminal direction at beginning
On, extend first connecting rod connector, first connecting rod connector and the output terminal of first connecting rod drive component 106 are hinged.It needs
Illustrate be first connecting rod connector and first connecting rod is relatively-stationary, and the axial length of first connecting rod connector is less than the
The axial length of one connecting rod based on lever principle, can make the micro-displacement of first connecting rod connector, through the first base shaft 108
Fulcrum is amplified to the big apart from displacement of first connecting rod end, is conducive to the quick movement of first connecting rod end.
104 beginning of second connecting rod is hinged on 105 end of first connecting rod, and end is hinged on the middle part or of the second arm 103
On the end of two arms 103.In specific implementation, second connecting rod 104 is frequently with hollow connecting rod to mitigate its weight.
Further, it is smaller that density can be used in the first arm 102, the second arm 103, first connecting rod 105 and second connecting rod 104
Aluminum or aluminum alloy is as material, further to mitigate its weight.
Figure 10 shows the kinematic sketch of the Multi-shaft mechanical arm, with reference to Fig. 2 shows Multi-shaft mechanical arm material object front view, point
The first arm, the second arm, first connecting rod, second connecting rod are not replaced with straight line, replaces each hinge joint with circle respectively, wherein, respectively
The name of hinge joint is as follows：On the same line, it is hinged which is summarised as first for first base shaft and the setting of the second base shaft
Point 121, the hinge joint at 105 end of first connecting rod and 104 beginning of second connecting rod are the second hinge joint 122,102 end of the first arm with
The hinge joint at 103 beginning of the second arm is third hinge joint 123, and the hinge joint of 104 end of second connecting rod and the second arm 103 is the 4th
Hinge joint 124；It can be obtained by the kinematic sketch, the first arm 102, the second arm 103, first connecting rod 105 and second connecting rod 104 are formed
One four-bar mechanism.
In specific implementation, the end of the second arm 103 can be arranged near the 4th hinge joint 124, due to the second arm at this time
103 the 4th hinge joint 124 of end distance is relatively near, based on lever principle it is found that the end of the second arm 103 is relative to the second arm
The displacement at 103 beginning is acted in diminution, is conducive to improve the end-of-pipe control precision of the second arm 103；But based on four-bar mechanism
Structure limitation, which can cause the scope of activities of 103 end of the second arm smaller.
Therefore, it in specific implementation, can also extend the length of the second arm 103, make to stretch out the 4th hinge joint 124 outside end, it should
Set-up mode is conducive to increase the scope of activities of the second arm 103, can be suitble to more working environments.
In specific implementation, although the corresponding Bit andits control of the second arm end can be achieved in the four-bar mechanism of arbitrary structures,
But more convenient in order to calculate the control of the second arm end, each length of side of the four-bar mechanism of the embodiment of the present invention may be configured as
Following parameter：First arm 102 is parallel with the second connecting rod 104 and equal length；The first connecting rod 105 is parallel to institute
State the second arm 103；At this point, the four-bar mechanism parallelogram of the embodiment of the present invention, the first arm 102 and second connecting rod 104
Posture it is identical, the second arm 103 is identical with the posture of first connecting rod 105, and the calculating of end can be based on first connecting rod length, first
Angle quickly obtains between arm lengths, the second arm lengths, first connecting rod and the first arm, makes the design of software and control more simple
It is single.
Mechanical structure introduction for the Multi-shaft mechanical arm of the embodiment of the present invention above, in embodiments of the present invention, four company
Linkage tool is there are two dynamic connecting rod, respectively the first arm 102 and first connecting rod 105, by controlling the first arm 102 and first connecting rod
105 movement is, it can be achieved that the movement of 103 end of the second arm, is below introduced the driving of the first arm and first connecting rod.
Figure 11 shows the partial enlarged view of the first connecting rod drive component of the embodiment of the present invention.The first connecting rod driving
Component includes first connecting rod driving pedestal 130, first connecting rod driving motor 131, first connecting rod drive connection part 133, first and connects
Bar drives screw 134 and first connecting rod driving sliding block 135；
The first connecting rod driving pedestal 130 is hinged on the x negative senses of the platform, and hinge joint drives pedestal for first connecting rod
Hinge joint 120.First connecting rod driving motor 131 is fixed on the first connecting rod driving pedestal 130；First connecting rod driving motor
131 shaft is stretched into first connecting rod driving pedestal 130；The first connecting rod driving screw 134 and first connecting rod driving sliding block
135 are installed in first connecting rod driving shell 136, and the first connecting rod driving sliding block 135 is sleeved on the first connecting rod driving silk
On bar 134, the first connecting rod drive connection part 133 connect fixation with first connecting rod driving sliding block 135；Described first connects
Bar drive connection part 133 and first connecting rod driving screw 134 are coaxial, and connect fixation with 105 beginning of first connecting rod；
The first connecting rod driving shell 136 is fixed in described first side by side with the first connecting rod driving motor 131 and connects
On bar driving pedestal 130；One end of the shaft of the first connecting rod driving motor 131 and first connecting rod driving screw 134
It connects and is driven based on gear in first connecting rod driving pedestal 130.
In specific implementation, drive first connecting rod that screw 134 is driven to rotate, and drive by first connecting rod driving motor 131
First connecting rod drives axial movement of the sliding block 135 along first connecting rod driving screw 134；First connecting rod drive connection part 133 by
First connecting rod driving sliding block 135 drives and is rotated around the first base shaft, first connecting rod is driven to turn around the first base by lever principle
Shaft rotation is moved.
Similarly, the first arm drive component structure is identical with first connecting rod drive component structure, wherein, first connecting rod driving bottom
Seat hinge joint 129 and first connecting rod driving pedestal hinge joint 120 is standing is placed in one and is parallel on the straight line of y-axis, and using one
The mode of processing is set, remaining structure member is identical, is not repeated to be introduced.
It should be noted that when first connecting rod driving screw and first connecting rod axis be in same straight line or the drive of the first arm
When dynamic screw be in same straight line with the first arm, the Multi-shaft mechanical arm of the embodiment of the present invention can have there are one move dead zone, first
Connecting rod or the first arm effectively can not be controlled and be moved；Therefore, in specific implementation, first connecting rod connector and first
The axis of arm connector usually respectively with first connecting rod and the first arm not on the same line, to avoid the situation occurs.
Correspondingly, Multi-shaft mechanical arm provided in an embodiment of the present invention is also applicable in robot.The present invention is implemented
The robot of example includes the one of which Multi-shaft mechanical arm and working distal tip described in the embodiment of the present invention；When Multi-shaft mechanical arm is only set
When being equipped with rounded end, working distal tip can mount on rounded end, and working distal tip has 3 degree of freedom altogether at this time；Work as multi-spindle machining
When arm is provided with rounded end and rotation end simultaneously, working distal tip can mount on rotation end, at this point, working distal tip has 4 altogether
Degree of freedom.
In actual motion, the platform of the embodiment of the present invention is fixed in a plane, and according to actually required movement model
It encloses, designs the length of the first arm, the second arm, first connecting rod, second connecting rod, pass through and control the first drive component and the second driving group
Part controls the four-bar mechanism of the first arm, the second arm, first connecting rod, second connecting rod composition；By controlling revolution driving
Component and rotation drive component, control the rotary motion of rounded end and rotation section, so as to fulfill the position of working distal tip
Quick adjustment.
Since driving element is set on the platform of bottom by Multi-shaft mechanical arm provided in an embodiment of the present invention and robot,
First arm and the second arm, without additional weight, have end movement speed other than own wt and mating connecting rod weight
Spend the features such as fast；The rotation end of the rounded end that can be turned round and rotation is installed, the fortune with bigger on the second arm end
Dynamic degree of freedom is, it can be achieved that various job requirements；Rounded end and the drive component at rotation end are equally installed on platform, fortune
The more existing mechanical arm module of weight of dynamic part is lighter, is particularly suitable for the quick motion work of working distal tip；Using shape
For the four-bar mechanism of parallelogram, the terminal position calculating of the second arm is relatively easy to, and greatly reduces the volume of control software
Difficulty is write, is conducive to the universal use of the Multi-shaft mechanical arm and robot.
A kind of Multi-shaft mechanical arm and robot provided above to the embodiment of the present invention is described in detail, herein
It applies specific case to be expounded the principle of the present invention and embodiment, the explanation of above example is only intended to help
Understand the method and its core concept of the present invention；Meanwhile for those of ordinary skill in the art, thought according to the present invention,
There will be changes in specific embodiments and applications, in conclusion the content of the present specification should not be construed as to this
The limitation of invention.
Claims (8)
1. a kind of Multi-shaft mechanical arm, which is characterized in that the Multi-shaft mechanical arm includes platform, the first arm, the second arm, the first company
Bar, second connecting rod, the first arm drive component, first connecting rod drive component, rounded end, revolution driving component and revolution transmission group
Part；
The platform is parallel with x/y plane, in the platform x forward, be provided with y to the first opposite base shaft connector and
Second base shaft connector；Between the first base shaft connector and the second base shaft connector opposite face, one is cylindrical
The first base shaft beginning be slidably mounted on the first base shaft connector；It slides at one the second cylindrical base shaft beginning
On the second base shaft connector；The first base shaft axis and the second base shaft axis be conllinear and and y
Axis is parallel；
The first arm beginning is slide hinged in the first base shaft and/or the second base shaft, axis where articulated position
For the first joint；The first arm end is hinged with the second arm beginning, and axis where articulated position is second joint；It is described
Second arm end is hinged with the rounded end, and axis where articulated position is third joint；
The first connecting rod beginning is slide hinged in the first base shaft and/or the second base shaft, end and described second
Connecting rod beginning is hinged；The second connecting rod end is articulated in the middle part of second arm or on end；
First arm, the second arm, first connecting rod and second connecting rod form a four-bar mechanism；
The first arm drive component is installed on the platform, for first arm to be driven to turn around the second base shaft
It is dynamic；The first connecting rod drive component is installed on the platform, for driving the first connecting rod around the first base shaft
Rotation；
The revolution transmission component includes the first revolution belt wheel, the second revolution belt wheel, third revolution belt wheel and returning for transmission
Turn belt；
The first revolution belt wheel is fixed in the first base shaft, and the second revolution belt wheel is arranged on the second joint
On, the third revolution belt wheel is arranged on the third joint, and the third revolution belt wheel connect fixation with the rounded end；
The first revolution belt wheel, the second revolution belt wheel, third revolution belt wheel are based on the revolution belt and are attached；
The revolution driving component is installed on the first base shaft connector y negative senses, and output terminal begins with the first base shaft
End connection drives the base shaft, the first revolution belt wheel, the second revolution belt wheel, third revolution belt wheel and rounded end rotation.
2. Multi-shaft mechanical arm as described in claim 1, which is characterized in that the Multi-shaft mechanical arm further includes rotation end, rotation
Drive component and rotation transmission component；
The rotation end is arranged on the rounded end, and axis is vertical with the third joints axes；
The rotation transmission component includes the first rotation belt wheel, the second rotation belt wheel, third rotation belt wheel, first bevel gear and the
Two bevel gears；
The first rotation belt wheel is fixed in the second base shaft, and the second rotation belt wheel is arranged on the second joint
On, the third rotation belt wheel be arranged on the third joint and with the third revolution belt wheel it is coaxial；
The first bevel gear connect fixed and coaxial, the second bevel gear and rotation end with the third rotation belt wheel
Hold coaxially connected fixation；The first bevel gear and the second bevel gear Vertical Meshing；
The rotation drive component is installed on the second base shaft connector y forward directions, and output terminal begins with the second base shaft
End connection, drives the second base shaft, the first rotation belt wheel, the second rotation belt wheel, third rotation belt wheel and first bevel gear
It rotates and is based on first bevel gear and second bevel gear, drive the rotation end around own axis.
3. Multi-shaft mechanical arm as described in claim 1, which is characterized in that first arm is parallel with the second connecting rod and long
It spends equal；The first connecting rod is parallel to second arm.
4. Multi-shaft mechanical arm as claimed in claim 3, which is characterized in that second arm lengths are greater than or equal to described first
Length of connecting rod.
5. Multi-shaft mechanical arm as described in claim 1, which is characterized in that the first arm drive component drives including the first arm
Pedestal, the first arm driving motor, the first arm driving screw, the first arm driving sliding block and the first arm drive connection part；
The first arm driving pedestal is hinged on the x negative senses of the platform；
The first arm driving screw and the first arm driving sliding block are installed in one first arm driving shell, the first arm driving
On first arm driving screw, the first arm drive connection part connect solid slide block set with first arm driving sliding block
It is fixed；The first arm drive connection part connect fixation with the first arm beginning, and coaxial with the screw；
The first arm driving shell is fixed in side by side with the first arm driving motor on the first arm driving pedestal；It is described
One end of the shaft of first arm driving motor and first arm driving screw is based on gear in first arm driving pedestal
Connection transmission；
The first arm drive connection part drives first arm to be rotated around the second base shaft.
6. Multi-shaft mechanical arm as described in claim 1, which is characterized in that the first connecting rod drive component includes first connecting rod
Pedestal, first connecting rod driving motor, first connecting rod driving screw, first connecting rod driving sliding block and first connecting rod is driven to be drivingly connected
Part；
The first connecting rod driving pedestal is hinged on the x negative senses of the platform；
The first connecting rod driving screw and first connecting rod driving sliding block are installed in first connecting rod driving shell, and described first connects
Bar drives slide block set, and the first connecting rod drive connection part drives with the first connecting rod on first connecting rod driving screw
Sliding block connection is fixed；The first connecting rod drive connection part connect fixation with the first connecting rod beginning, and same with the screw
Axis；
The first connecting rod driving shell is fixed in the first connecting rod driving pedestal side by side with the first connecting rod driving motor
On；One end of the shaft of the first connecting rod driving motor and first connecting rod driving screw drives bottom in the first connecting rod
Based on gear connection transmission in seat；
The first connecting rod drive connection part drives the first connecting rod to be rotated around the first base shaft.
7. any one Multi-shaft mechanical arm as described in claim 1 to 6, which is characterized in that first arm is open column shape
Structure；Second arm is made of two piece of second arm cover board, passes through more than one second between two piece of second arm cover board
The connection of arm fixing piece is fixed.
8. a kind of robot, which is characterized in that including any one Multi-shaft mechanical arm described in claim 1 to 7 and work end
End；The working distal tip is arranged on the rounded end or the rotation end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439537.8A CN108161900B (en) | 2017-12-27 | 2017-12-27 | Multi-axis mechanical arm and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711439537.8A CN108161900B (en) | 2017-12-27 | 2017-12-27 | Multi-axis mechanical arm and robot |
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| CN108161900A true CN108161900A (en) | 2018-06-15 |
| CN108161900B CN108161900B (en) | 2021-02-19 |
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| CN201711439537.8A Active CN108161900B (en) | 2017-12-27 | 2017-12-27 | Multi-axis mechanical arm and robot |
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| CN111053665A (en) * | 2019-12-16 | 2020-04-24 | 山东蝰蛇智能装备有限公司 | Angle turning device with adjustable multistage connecting rod |
| CN112356029A (en) * | 2020-10-29 | 2021-02-12 | 中国科学院软件研究所 | Method and system for realizing industrial robot controller software |
| CN113084865A (en) * | 2021-03-15 | 2021-07-09 | 上海园菱机械实业有限公司 | Mechanical arm structure and grinding and polishing mechanical arm |
| CN114147764A (en) * | 2021-11-30 | 2022-03-08 | 北京同创信通科技有限公司 | Mechanical arm |
| CN114274123A (en) * | 2022-01-13 | 2022-04-05 | 燕山大学 | Four-freedom-degree parallel platform with three-dimensional movement and one-dimensional rotation |
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| CN111053665A (en) * | 2019-12-16 | 2020-04-24 | 山东蝰蛇智能装备有限公司 | Angle turning device with adjustable multistage connecting rod |
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|---|---|
| CN108161900B (en) | 2021-02-19 |
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