CN108406755A - Mechanical arm device and extension mechanism - Google Patents
Mechanical arm device and extension mechanism Download PDFInfo
- Publication number
- CN108406755A CN108406755A CN201710072257.1A CN201710072257A CN108406755A CN 108406755 A CN108406755 A CN 108406755A CN 201710072257 A CN201710072257 A CN 201710072257A CN 108406755 A CN108406755 A CN 108406755A
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- China
- Prior art keywords
- connection
- active unit
- mechanical arm
- unit
- extension mechanism
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
Abstract
Include main machine frame and extension mechanism this application involves a kind of mechanical arm device.Main machine frame includes the first active unit, the second active unit and the third active unit being connected to each other, and main machine frame can make mechanical arm device have three degree of freedom.Main machine frame and extension mechanism can make mechanical arm device have N+3 degree of freedom, N is positive integer, extension mechanism is removably connect with main machine frame, extension mechanism includes N number of expanding activity unit, one of expanding activity unit is defined as a connection component, connection structure of the connection component removably with third active unit is fixed to each other, and connection component can be rotated relative to main machine frame or linear movement, and connection component can be rotated with main machine frame or linear movement.
Description
Technical field
The present invention relates to a kind of mechanical device and extension mechanism more particularly to a kind of mechanical arm device and it is installed on machinery
The extension mechanism of arm apparatus.
Background technology
General mechanical arm device is that have fixed degree of freedom, for production firm, it is necessary to certainly for difference
The production being customized by the mechanical arm spent will so make the promotion of whole production cost and management and control complexity, therefore,
How effectively according to different clients demand, the manufacture of the mechanical arm of different degree of freedom is carried out, associated production manufacturer face is become
To one of major issue.
Invention content
The main purpose of the present invention is to provide a kind of mechanical arm device and extension mechanisms, to solve the prior art
In, low production efficiency, production pipe of the associated production manufacturer caused by the demand in face of the mechanical arm device of different degree of freedom
Control the problem that complexity is high and production cost is high.
To achieve the goals above, the present invention provides a kind of mechanical arm device, and it includes a main machine frame and an elongators
Structure.Main machine frame includes one first active unit, one second active unit and a third active unit, the first active unit, second
Active unit and third active unit are interconnected with one another, and main machine frame can make mechanical arm device have three degree of freedom；Its
In, third active unit has a connection structure.Extension mechanism, main machine frame and extension mechanism can make mechanical arm device have N+
3 or more degree of freedom, N are positive integer, and extension mechanism is removably connect with main machine frame, and extension mechanism includes.N number of expanding activity
Unit, one of expanding activity unit are defined as a connection component, and connection component is removably fixed to each other with connection structure,
Extension mechanism can be rotated relative to main machine frame or linear movement, and extension mechanism can be rotated with main machine frame or linear movement.
Preferably, extension mechanism includes there are one expanding activity unit, and expanding activity unit is connection component, connection component
Include a connection ontology, an actuator and a moving part, connection ontology has a built-in structure, and connection component can be by affixed
Structure cooperates with connection structure, and is removably fixed to each other with third active unit, and actuator is set to connection ontology,
And actuator can drive moving part to act, the part of moving part exposes to connection ontology, and moving part is interlocking an outside structure
Part or other expanding activity units.
Preferably, third active unit includes a moving body, and one end of moving body has connection structure, and activity
The end of ontology has been recessed a storage tank, exposes to the actuator of connection ontology and can correspond to and be placed in storage tank.
Preferably, extension mechanism includes there are one expanding activity unit, and expanding activity unit is connection component, connection component
Include a connection ontology, an actuator, a moving part and a connection assist, connection ontology is connected with connection assist,
Connection assist is removably fixed to each other with connection structure, and connection ontology is provided with actuator and moving part, and actuator can drive
Dynamic moving part action, moving part is interlocking an external component.
Preferably, connection ontology is removably fixed to each other with connection assist；It connects ontology and connection assist is mutual
Fixed one end also can removably be fixed to each other with connection structure.
Preferably, the first active unit can be rotated centered on a longitudinal axis, and the second active unit and the first activity are single
Member is connected, and the second active unit can be relative to the first active unit along a longitudinal direction linear movement；Third active unit
It is connected to the second active unit, and third active unit can be revolved relative to the second active unit centered on an another longitudinal axis
Turn.
To achieve the goals above, the present invention provides a kind of extension mechanism, and it includes N number of expanding activity unit, N is just whole
Number, one of expanding activity unit are defined as a connection component, and N number of expanding activity unit is interconnected with one another, connection
Component with the mechanical arm device with X degree of freedom to be connected with each other, so that mechanical arm device is free with X+N
Degree, X is positive integer.
Preferably, connection component includes a connection ontology, an actuator and a moving part, and connection ontology is affixed with one
Structure, built-in structure are removably fixed to each other with mechanical arm device, and actuator is set to connection ontology, and actuator can drive
Dynamic moving part rotation, the part of moving part expose to connection ontology, and moving part is interlocking an external component.
Preferably, extension mechanism includes there are one expanding activity unit, and expanding activity unit is connection component, connection component
Also include a connection assist, connection component includes a connection ontology, an actuator and a moving part, connection ontology with it is auxiliary
Connector is helped to be connected, connection assist is removably fixed to each other with mechanical arm device, and connection ontology is provided with actuator
And moving part, actuator can drive moving part to act, moving part is interlocking an external component.
Preferably, connection ontology is removably fixed to each other with connection assist, and connects this physical efficiency and connection assist
The one end being fixed to each other also can removably be fixed to each other with mechanical arm device.
Beneficial effects of the present invention can be：Associated production manufacturer can be according to client for the need of different degree of freedom
It asks, and on the main machine frame with three degree of freedom, installing the extension mechanism of the expanding activity unit with different number, to increase
Add the degree of freedom of whole mechanical arm device, in this way, associated production manufacturer can be quickly and efficiently according to the need of different clients
It asks, carries out the manufacturing of the mechanical arm device of different degree of freedom.In addition, so design can also be effectively reduced different freedom
The management complexity of the mechanical arm device of degree, and reduce whole production cost with can also imitating.
Description of the drawings
Fig. 1 is the schematic diagram of the six axis robot arm of the prior art.
Fig. 2 is the schematic diagram that the mechanical arm device of the present invention has the form of six-freedom degree.
Fig. 3 is the decomposition diagram that the mechanical arm device of the present invention has the form of six-freedom degree.
Fig. 4 is the decomposition diagram that the mechanical arm device of the present invention has the form there are four degree of freedom.
Fig. 5 is the schematic diagram that the mechanical arm device of the present invention has the form there are four degree of freedom.
Specific implementation mode
First embodiment
Also referring to Fig. 2 and Fig. 3, show for the decomposition and assembling of the first embodiment of the mechanical arm device of the present invention
It is intended to.As shown, mechanical arm device 1 includes a main machine frame 10 and an extension mechanism 20.There are three certainly for the tool of main machine frame 10
By spending, extension mechanism 20 removably assembles and is set to main machine frame 10, and after extension mechanism 20 is assembled in main machine frame 10, it can be according to this
Increase the degree of freedom of whole mechanical arm device 1.
Furthermore, it is understood that main machine frame 10 includes a fixed seat 11, one first active unit 12, one second active unit 13
An and third active unit 14.Fixed seat 11 is being fixed on environmental grounds.First active unit 12 is rotationally arranged at solid
Reservation 11；Second active unit 13 can be connected with each other with the first active unit 12 to linear movement, and 13 energy of the second active unit
It is rotated relative to fixed seat 11 with the first active unit 12；Third active unit 14 is rotatably connected with the second active unit 13
It connects, and third active unit 14 can be with the second active unit 13 relative to 12 linear movement of the first active unit, third activity list
Member 14 can also be rotated with the first active unit 12 relative to fixed seat 11.In this way, the first active unit 12, the second active unit 13
And third active unit 14 can make mechanical arm device 1 have three degree of freedom；Certainly, in practical applications, the first activity is single
First 12, second active unit 13 and third active unit 14 opposite activity relationship to each other, relative to the activity of fixed seat 11
Relationship can be changed according to demand, not limited in this；In addition, the first active unit 12, the second active unit 13
And the external form of third active unit 14 can be changed according to demand, be also not limited to as shown in the figure.
In another embodiment, the first active unit 12 can also be that can be set to linear movement fixed seat 11；Second
Active unit 13 can also be rotatably to be connected with each other with the first active unit 12, and the second active unit 13 can live with first
Moving cell 12 is relative to 11 linear movement of fixed seat；Third active unit 14 can also be can linear movement it is single with the second activity
Member 13 is connected, and third active unit 14 can be rotated with the second active unit 13 relative to the first active unit 12, and third
Active unit 14 can be with the first active unit 12 relative to 11 linear movement of fixed seat.
It illustrates, the separate one end being connected with the second active unit 13 of third active unit 14 (i.e. live by third
The end of moving cell 14), it is that there is a connection structure 15, the connection structure 15 is to removably mutual with extension mechanism 20
Connection.The connection structure 15 can be the load-carrying demand according to actual machine arm apparatus 1, and correspond to different structures or
It is component；For example, under relatively light load-carrying demand, connection structure 15 can be convex by 14 end of third active unit
The structure stretched, and it includes multiple lockholes 151 that can be in connection structure 15, therefore 20 corresponding structure of extension mechanism
It can be fixed to each other with connection structure 15 by multiple locking parts (not shown, such as screw), to which extension mechanism 20 and third are lived
Moving cell 14 can be fixed to each other；In the case where load-carrying demand is relatively heavy, the connection structure 15 and extension mechanism 20 are to each other
Can also be the structure that is designed with and can be mutually clamped, and connection structure 15 can then pass through snap-in structure simultaneously with extension mechanism 20
Fixing and the locking of locking part (not shown, such as screw), to achieve the effect that be fixed to each other.Certainly, the connection structure 15
Do not limit to any form, it is any that third active unit 14 is made firmly to be fixed to each other with extension mechanism 20 and conveniently detachable
Structure is all the application form of connection structure 15.
Extension mechanism 20 includes there are three expanding activity unit 21,21 ', 21 ", one of them described expanding activity unit is fixed
Justice is a connection component 21；Other two expanding activity unit 21 ', 21 " is interconnected with one another, and two expanding activity units
21 ', 21 " can rotate relative to each other or linear movement, and one of expanding activity unit 21 ' and 21 phase of connection component interconnect
It connects, and two expanding activity units 21 ', 21 " can also be rotated relative to connection component 21 or linear movement.In the present embodiment schema
In, be with the expanding activity unit 21 ', 21 " of two disconnected components 21, for the structure that can respectively rotate relative to one another,
But not limited to this, in other applications, the activity of the expanding activity units 21 ', 21 " of two disconnected components 21 to each other
Relationship and activity relationship with connection component 21, are that can be changed according to demand.
It as the expanding activity unit 21 of connection component 21, is removably fixed to each other with connection structure 15, and connection group
Part 21 can rotate (or linear activity) relative to third active unit 14, and connection component 21 also can be with third active unit 14, the
Two active units 13, at least one rotation of the first active unit 12 or linear activity.In this way, in extension mechanism 20 and main machine frame
After 10 are connected with each other, the degree of freedom of mechanical arm device 1 can then be increased to six-freedom degree, i.e. manipulator by three degree of freedom
Arm assembly 1 becomes six axis robot arm.
In specific application, connection component 21 can be include a connection ontology 211, an actuator 212 and one connect
Moving part 213.Connection ontology 211 can be hollow housing (or part is hollow), and the one end for connecting ontology 211 is that have one
Built-in structure 2111 (as shown in Figure 4), the built-in structure 2111 are described to be removably fixed to each other with connection structure 15
Built-in structure 2111 is the design to correspond to each other with connection structure 15；For example, built-in structure 2111 can be direct shape
At in multiple lockholes of connection ontology 211, and connection component 21 and third active unit 14 can then pass through multiple locking parts (figure
Do not show, such as screw), multiple lockholes (built-in structure 2111) of connection component 21 (connect with the lockhole of third active unit 14
Structure 15) mutual cooperation, and it is inter-locking with one another.In other applications, built-in structure 2111 can also be by connecting this
One end of body 211 protrudes outward the structure to be formed, and has corresponding external form with connection structure 15.In practical applications, it is
Built-in structure 2111 is set quickly and easily to be fixed with connection structure 15, built-in structure 2111 and connection structure 15 can
To be to be respectively provided with multiple positioning regions (e.g. convex, recessed structure, guide posts etc.), do not limited in this.
The actuator 212 (such as motor) of connection component 21 is set to connection ontology 211, and actuator 212 can the company of driving
Moving part 213 (be, for example, driven wheel) rotation, the part of moving part 213 can expose to connection ontology 211, and moving part 213
To interlock an external component (can be selected according to demand, such as can be fixture).In other words, described in this present embodiment
Extension mechanism 20, you can be considered as the mechanical arm of three axis, and associated production manufacturer or application vendor then can be according to needing
It asks, by 20 installation settings of the extension mechanism in the mechanical arm device 1 with three degree of freedom, to make the manipulator
Arm assembly 1 increases three degree of freedom, and as the mechanical arm device 1 with six-freedom degree.
In preferable application, third active unit 14 can be include a moving body 141, moving body 141
One end has connection structure 15, and moving body 141 has the end of connection structure 15, has been recessed a storage tank 14a；
The actuator 212 of connection component 21 can expose to connection ontology 211；When connection component 21 and third active unit 14 are mutual
When fixed, exposing to the actuator 212 of connection ontology 211 can then be correspondingly arranged in storage tank 14a, so can effectively reduce
The volume of whole mechanical arm device 1.
It is noted that connection component 21 can be include an electrical connection module (it is not shown, for example, power cord, pass
Defeated line etc.), the actuator for being electrically connected actuator 212 and remaining expanding activity unit 21 ', 21 " is (not shown, such as horse
Up to), and the electrical connection module can related in third active unit 14 electrical connection module it is (not shown, such as power cord, pass
Defeated line etc.) it is connected, to enable extension mechanism 20 to be electrically connected with each other with main machine frame 10.In other words, in specific implementation,
The end of three active units 14 can be with associated components (such as the various electric connection line that can be electrically connected with connection component 21
Connector), and make related personnel only and need to reserve the electrical connection module 21 of connection component 21 and 14 end of third active unit
Related electrical connecting member is connected with each other, and after built-in structure 2111 and connection structure 15 are fixed to each other, you can rapidly will tool
There are three the main machine frames 10 of degree of freedom to be converted to the mechanical arm device 1 with six-freedom degree.Certainly, it is applied in others
In, third active unit 14 can also be without corresponding electrical connecting member, and the electrical connection module of extension mechanism 20 can
To be by a manner of wired or wireless, being electrically connected with the relevant control mechanism of main machine frame 10.
In practical applications, two expanding activity units 21 ', 21 " of disconnected component 21 can be by a switching group
Part 22 is connected with the expanding activity unit as connection component 21；That is, the expanding activity unit of two disconnected components 21
21 ', 21 " be removably to be connected with each other with the expanding activity unit as connection component 21.In this way, associated production manufacturer can be according to
According to demand, and selectively in the expanding activity unit as connection component 21, remaining expanding activity unit 21 ' is set
(21 "), and extension mechanism 20 is made to be transformed to the machine with a degree of freedom of two (three) by the mechanical arm with single one degree of freedom
Tool arm to enable demand of the production firm for greater flexibility according to client for different degree of freedom, and is rapidly produced
Assembling.Expanding activity unit 21 ', 21 " about two disconnected components 21 and the expanding activity unit as connection component 21,
Detachably connected dependency structure to each other is not limited in this, such as can mutually be locked by multiple locking parts
Deng.Certainly, two expanding activity units 21 ', 21 " of disconnected component 21 equally can be by aforementioned relevant electrical connection group
Part is electrically connected with the expanding activity unit as connection component 21, and by being used as the expanding activity unit of connection component 21
It is electrically connected with main machine frame 10 or the expanding activity unit 21 ', 21 " of two disconnected components 21 can be passed through by oneself
It is wired or wirelessly, it is electrically connected with main machine frame 10.
In preferable application, the first active unit 12 is set to fixed seat 11, and the first active unit 12 can be relative to
Fixed seat 11 is pivoted about with a first longitudinal direction axis V1.Second active unit 13 is connected with the first active unit 12
It connects, the second active unit 13 can be along a longitudinal direction F linear movements；For example, the second active unit 13 can pass through line
Property sliding track mechanism and can be controllably along the longitudinal direction F linear movements.Third active unit 14 and the second active unit 13
It is connected, and third active unit 14 can be pivoted about with a second longitudinal direction axis V2.Wherein, first longitudinal direction axis
V1, longitudinal direction F and second longitudinal direction axis V2 are parallel each other.The connection component 21 of extension mechanism 20 and third active unit
14 are connected；Another expanding activity unit 21 ' of extension mechanism 20 is connected with connection component 21, and the expanding activity unit
21 ' can utilize the mechanism that connection component 21 is included, and be rotated centered on the first transverse axis H1 relative to connection component 21；
Another expanding activity unit 21 " can then utilize the mechanism that expanding activity unit 21 ' is included, and relative to expanding activity unit
21 ' are rotated centered on the second transverse axis H2；The external component being connected with 21 " end of expanding activity unit, then can utilize
The mechanism that expanding activity unit 21 " is included, and relative to expanding activity unit 21 " centered on a third longitudinal axis V3 into
Row rotation.Wherein, the first transverse axis H1 and the second transverse axis H2 can be parallel to first longitudinal direction axis V1, and third is longitudinal
Axis V3 can be parallel to first longitudinal direction axis V1.
Pass through above-mentioned first active unit 12, the connection and work of the second active unit 13 and third active unit 14 to each other
Flowing mode, can be effectively reduced main machine frame 10 vertical direction load torque, and make third active unit 14 and extend
Relatively light structure and relatively small horsepower may be used in mechanism 20, reaches relatively large load capacity, and then can have
Effect reduces the cost of manufacture of whole mechanical arm device 1.
Also referring to Fig. 1 (the six axis robot arm of the prior art) and Fig. 2.As shown in Fig. 2, the mechanical arm of the present invention
Device 1 can be set by third active unit 14 relative to what the second active unit 13 was rotated centered on second longitudinal direction axis V2
Mode is set, third active unit 14 can be limited and be only capable of pivoting about with Z axis, therefore, third active unit 14 can be made last
The weight (vertically to the power of negative Z-direction) carried is held, relative to torque T1 caused by second longitudinal direction axis V2, by second
The structure payment that active unit 13 is connected with third active unit 14, to which driving third active unit can be effectively reduced
14 relative to the outputting torsion needed for 13 movable actuator of the second active unit.In this way, can be with outputting torsion relatively
Low actuator drives third active unit 14.
In general, the highest component of mechanical arm device cost is actuator and speed reducer, and the price of actuator is then
It is substantially directly proportional to outputting torsion, therefore, pass through above-mentioned second active unit 13 and the setting of third active unit 14 to each other
Mode will can be effectively reduced the cost of associated driver, so as to reduce the cost of whole mechanical arm device 1.In addition, the
The actuator of two active units 13 is that driving third active unit 14 is rotated with second longitudinal direction axis V2, and the side of the torque T1
To being rotated counterclockwise centered on positive Y-axis, therefore, the direction of the torque T1 is with the direction of rotation of the actuator (with Z axis
Centered on clockwise or counterclockwise) it is different, without will have a direct impact on the actuator.
Similarly, due to the second active unit 13 be relative to the linear activity of the first active unit 12, third activity
The weight (vertically to the power of negative Z-direction) that 14 end of unit carries, relative to torque caused by first longitudinal direction axis V1
T2 will can be offseted by strengthening the intensity of linear slide rail, and drive the second active unit 13 relative to the first active unit 12
Mobile actuator is then not easy to be influenced by the torque T2.
As shown in Figure 1, reviewing the six axis robot arm of the prior art, third active unit 13 ' is lived relative to second
Moving cell 12 ' is pivoted about with a transverse axis AX1, and the weight that third active unit 13 ' is carried, relative to institute
Torque T1 ' caused by transverse axis AX1 is stated, it will be with driving third active unit 13 ' (centered on the transverse axis AX1)
The torque of the actuator institute output of rotation is identical or opposite direction, the burden that will so cause the actuator to rotate, and incite somebody to action
It offsets or enhances output torque caused by the actuator, must additionally carry out relevant design thus, to resist the torque
T1 ', for example increase motor output torque or increase speed reducer setting, no matter which kind of design will all be significantly increased it is whole
The cost of body production (the highest component of mechanical arm cost is speed reducer and motor).In the same manner, the second of the prior art lives
Moving cell 12 ' is pivoted about with another transverse axis AX2 relative to the first active unit 11 ', and third activity list
13 ' the weight that are carried of member, relative to torque T2 ' caused by the transverse axis AX2, will with drive the second active unit
The direction phase of the output torque of the 12 ' actuators rotated centered on the transverse axis AX2 relative to the first active unit 11 '
With or on the contrary, to cause the burden of the actuator, and then cost is caused to increase.
Therefore the mechanical arm device 1 of the present invention utilizes the second active unit 13 relative to the first active unit 12 along one
Longitudinal axis is linearly movable, and third active unit 14 is made to be revolved centered on another longitudinal axis relative to the second active unit 13
Turn, in this way, the actuator that the mechanical arm device 1 of the present invention can use outputting torsion relatively low, so as to be greatly reduced
The cost of whole mechanical arm device.
Second embodiment
Also referring to Fig. 4 and Fig. 5, it is different from previous embodiment, in other applications, extension mechanism 20 can also be
Only include single a expanding activity unit 21 (being aforementioned connection component), and after extension mechanism 20 is assembled in main machine frame 10,
Mechanical arm device 1 can be then converted to four degree of freedom by three degree of freedom.The first work about connection component 21, main machine frame 10
The set-up mode of moving cell 12, the second active unit 13 and third active unit 14, it is all identical as previous embodiment, no longer in this
It repeats.
In preferable application, extension mechanism 20 also includes a connection assist 23, and both ends are respectively provided with an auxiliary
Connection structure 231,231 ', and connection assist 23 can be connected by auxiliary connecting structure 231 with connection structure 15, and it is auxiliary
Help connector 23 that can be connected with connection component 21 by auxiliary connecting structure 231 '.Wherein, the both ends of connection assist 23
It is not generally aligned in the same plane, it therefore, can be right after connection component 21 is connected by connection assist 23 with third active unit 14
The activity direction of 21 associated components of connection component should be changed.Specifically, as shown in Fig. 2, the extension as connection component 21 is lived
After moving cell 21 is directly fixed to each other with third active unit 14, connection component 21 will (Fig. 2 be indicated with transverse axis
H1 it) pivots about；Relatively, as shown in figure 5, identical connection component 21 passes through connection assist 23 and third activity
After unit 14 is connected, connection component 21 is then changed into be rotated centered on a longitudinal axis V4.In preferable application, auxiliary
Connection structure 231 ' and connection structure 15 are identical structure, and connection component 21 optionally with auxiliary connecting structure 231 '
Or connection structure 15 is connected, in this way, relevant manufactures can easily and quickly be attached component according to different demands
21 with the connection of connection structure 15 or auxiliary connecting structure 231 '.
Preferably, the moving part 213 of connection component 21 is pivoted about with longitudinal axis V4, wherein the longitudinal direction
Axis V4 can be parallel first longitudinal direction axis V1 and second longitudinal direction axis V2 (as shown in Figure 2)；Therefore, coordinate previous embodiment
The connection to each other of contained the first active unit 12, the second active unit 13 and third active unit 14 and manner, can
To be effectively reduced main machine frame 10 in the load torque of vertical direction, and so that third active unit 14 and extension mechanism 20 can be with
Using relatively light structure and relatively small horsepower, reach relatively large load capacity, and then can effectively reduce entirety
The cost of manufacture of mechanical arm device 1.
Also referring to Fig. 2 and Fig. 4, extension mechanism 20 is removably to be connected with each other with main machine frame 10, and therefore, correlation is answered
With manufacturer or production firm can be according to different demands, by replacement with different numbers expanding activity unit 21,
21 ', 21 " extension mechanism 20, and correspond to the degree of freedom for changing mechanical arm device 1.That is, associated user can be
By the extension mechanism 20 of mechanical arm device 1 shown in Fig. 2 (Fig. 4) by being disassembled on main machine frame 10, and replace figure 4 above (figure
2) there is the extension mechanism 20 of single (three) expanding activity unit 21 (21,21 ', 21 "), thus by Fig. 2 (Fig. 4) shown in
Shown in tool there are six (four) degree of freedom mechanical arm device 1, be converted to tool there are four (six) degree of freedom manipulator
Arm assembly 1.Can be that existing four (six) axis robots arm assembly is passed through into extension mechanism that is, for application vendor
20 dismounting, and be converted to the mechanical arm device of six (four) axis.In addition, for production firm, either four shaft mechanicals
Arm apparatus or six shaft devices are all that shared identical main machine frame 10 therefore, can be more effective in whole production operation
Ground carries out related management and control, so as to be effectively reduced production cost.In brief, associated production manufacturer can be foundation demand,
By the main machine frame 10 with three degree of freedom, by extension mechanism 20 of the assembling with N number of expanding activity unit, and correspondence makes machine
The whole degree of freedom (N is positive integer) with N+3 of tool arm apparatus 1.
What is more, the cooperation of the extension mechanism 20 removably expanding activity unit 21 ', 21 " of two disconnected components 21
Design, associated production manufacturer for the demand of different degree of freedom, and can rapidly carry out phase more flexiblely according to client
Close production.That is, the non-expanding activity unit 21 ', 21 " as connection component 21 in extension mechanism 20, can also be can
Releasably it is connected with connection component 21, and so extension mechanism 20 also can rapidly carry out prolonging for extension mechanism 20 according to demand
The quantity for stretching active unit changes.That is, the number by changing the expanding activity unit that connection component 21 is connected,
Can make the mechanical arm device 1 with three degree of freedom, be converted to tool there are five or 7 degree of freedom mechanical arm device 1.
Claims (10)
1. a kind of mechanical arm device, which is characterized in that the mechanical arm device includes：
One main machine frame, it includes one first active unit, one second active unit and a third active unit, first activity
Unit, second active unit and the third active unit are interconnected with one another, and the main machine frame can make the machinery
Arm apparatus has three degree of freedom；Wherein, the third active unit has a connection structure；And
One extension mechanism, the extension mechanism are removably connect with the main machine frame, the main machine frame and the extension mechanism
It can make the mechanical arm device that there is N+3 or more degree of freedom, N is positive integer, and the extension mechanism includes：
N number of expanding activity unit, one of expanding activity unit are defined as a connection component, and the connection component is removably
It is fixed to each other with the connection structure, and the extension mechanism can be rotated relative to the main machine frame or linear movement, it is described to prolong
Stretching mechanism can be with main machine frame rotation or linear movement.
2. mechanical arm device according to claim 1, which is characterized in that N is equal to 1, which is described
Connection component, the connection component include a connection ontology, an actuator and a moving part, and the connection ontology has one to consolidate
Binding structure, the connection component can be cooperated by the built-in structure and the connection structure, and with the third activity
Unit is removably fixed to each other, and the actuator is set to the connection ontology, and the actuator can drive the gearing
Part acts, and the part of the moving part exposes to the connection ontology, and the moving part to interlock an external component or its
His expanding activity unit.
3. mechanical arm device according to claim 2, which is characterized in that the third active unit includes an activity
One end of ontology, the moving body has the connection structure, and the end of the moving body has been recessed an appearance
Slot is set, exposing to the actuator of the connection ontology can correspond to and be placed in the storage tank.
4. mechanical arm device according to claim 1, which is characterized in that the extension mechanism includes to prolong there are one described
Active unit is stretched, the expanding activity unit is the connection component, and the connection component includes a connection ontology, a driving
Part, a moving part and a connection assist, the connection ontology are connected with the connection assist, and the connection assist can
It is releasably fixed to each other with the connection structure, the connection ontology is provided with the actuator and the moving part, the drive
Moving part can drive the moving part to act, and the moving part is for interlocking an external component.
5. mechanical arm device according to claim 4, which is characterized in that the connection ontology removably with it is described auxiliary
Connector is helped to be fixed to each other；One end that connection ontology and the connection assist are fixed to each other also can removably with it is described
Connection structure is fixed to each other.
6. mechanical arm device according to any one of claim 1 to 5, which is characterized in that first active unit
It can be rotated centered on a longitudinal axis, second active unit is connected with first active unit, and described second
Active unit can be relative to first active unit along a longitudinal direction linear movement；The third active unit is connected to institute
The second active unit is stated, and during the third active unit can be with an another longitudinal axis relative to second active unit
The heart rotates.
7. a kind of extension mechanism, which is characterized in that the extension mechanism includes N number of expanding activity unit, and N is positive integer, wherein
One expanding activity unit is defined as a connection component, the connection component to the mechanical arm with X degree of freedom
Device is connected with each other, so that the mechanical arm device has X+N degree of freedom, X is positive integer；Wherein, it is described when N is more than 1
N number of expanding activity unit is interconnected with one another.
8. extension mechanism according to claim 7, which is characterized in that the connection component includes a connection ontology, one
Actuator and a moving part, the connection ontology have a built-in structure, the built-in structure removably with the manipulator
Arm assembly is fixed to each other, and the actuator is set to the connection ontology, and the actuator can drive the moving part to rotate,
The part of the moving part exposes to the connection ontology, and the moving part is for interlocking an external component.
9. extension mechanism according to claim 7, which is characterized in that N is equal to 1, which is the connection
Component, the connection component also include a connection assist, the connection component include a connection ontology, an actuator and
One moving part, the connection ontology are connected with the connection assist, the connection assist removably with the machinery
Arm apparatus is fixed to each other, and the connection ontology is provided with the actuator and the moving part, and the actuator can drive institute
Moving part action is stated, the moving part is for interlocking an external component.
10. extension mechanism according to claim 9, which is characterized in that the connection ontology removably with the auxiliary
Connector is fixed to each other, and described one end for connecting this physical efficiency and the connection assist and being fixed to each other, also can removably with
The mechanical arm device is fixed to each other.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710072257.1A CN108406755A (en) | 2017-02-09 | 2017-02-09 | Mechanical arm device and extension mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710072257.1A CN108406755A (en) | 2017-02-09 | 2017-02-09 | Mechanical arm device and extension mechanism |
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| CN108406755A true CN108406755A (en) | 2018-08-17 |
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| CN201710072257.1A Pending CN108406755A (en) | 2017-02-09 | 2017-02-09 | Mechanical arm device and extension mechanism |
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| CN101077579A (en) * | 2007-06-20 | 2007-11-28 | 华中科技大学 | Multi-joint flexible mechanical arm |
| CN202622803U (en) * | 2012-03-23 | 2012-12-26 | 马鞍山方宏自动化科技有限公司 | Carrying robot with lengthened arm |
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