CN108481317B - A kind of robot module's formula assembly mechanical arm - Google Patents
A kind of robot module's formula assembly mechanical arm Download PDFInfo
- Publication number
- CN108481317B CN108481317B CN201810168267.XA CN201810168267A CN108481317B CN 108481317 B CN108481317 B CN 108481317B CN 201810168267 A CN201810168267 A CN 201810168267A CN 108481317 B CN108481317 B CN 108481317B
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- China
- Prior art keywords
- turn axis
- shaft
- annular groove
- convex block
- mechanical arm
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention discloses a kind of robot module's formula assembly mechanical arms, including arm body, the arm body includes more piece arm section interconnected, every joint arm section includes a rectangular block, a convex block is respectively arranged in the opposite end of rectangular block, it is fixed in one of convex block and determines shaft, described one end for determining shaft is provided with the driving mounting hole communicated with the outside world, the other end is provided with fixation hole, at least one annular groove and sliding slot are provided on the inner wall of fixation hole, one end of the sliding slot is communicated with annular groove, the other end is flushed with fixed orifice, turn axis is provided in another convex block, it is protruded from lug surface one end of the turn axis, the protruding end and fixation hole are mutually matched and can be along the chute into annular groove and being limited in annular groove；The present invention is assembled using module Demountable, can be according to operating environment freely assembled elongation, and flexibility is higher, and versatility is stronger, adapts to several work.
Description
Technical field
The present invention relates to robot arm fields, and in particular to a kind of robot module's formula assembly mechanical arm.
Background technique
Robotic manipulator is a kind of to be automatically performed object (such as material, workpiece, zero by set program or requirement
Part or tool etc.) transmission or operation operation mechanical device, it can partly replace people hand labour, complete more complex work
Industry.Robotic manipulator is widely used in the fields such as semiconductors manufacture, industry, medical treatment, military affairs and space probation.It is existing
Mechanical arm generally by mainly consisting of three parts, large arm, forearm and finger part, in different application areas, according to
The difference of its job specification, these three parts of robotic manipulator need special design, such as large arm, the length of forearm, with
And bending, swing etc., this makes, and the use scope of a mechanical arm is relatively narrow, using area is limited, and application function is single, and
And it safeguards that replacement cost is also high.
Summary of the invention
It is an object of the invention to overcome the above technical problem, a kind of robot module's formula assembly mechanical arm is provided, it should
Mechanical arm is assembled using module Demountable, can be completed rotation according to operating environment freely assembled elongation or be raised
Deng movement.
The present invention is achieved through the following technical solutions:
A kind of robot module's formula assembly mechanical arm, including arm body, the arm body include more piece arm section interconnected, often
Joint arm section includes a rectangular block, is respectively arranged with a convex block in the opposite end of rectangular block, fixes in one of convex block
Have and determine shaft, described one end for determining shaft is provided with driving mounting hole, the other end communicated with the outside world and is provided with fixation hole, in fixation
It is provided at least one annular groove and sliding slot on the inner wall in hole, one end of the sliding slot communicates with annular groove, the other end and fixation hole
It mouthful flushes, turn axis is provided in another convex block, one end of the turn axis is protruded from lug surface, the protruding end and solid
Determine hole to be mutually matched and can be along the chute into annular groove and being limited in annular groove, the other end of the turn axis is also provided with
The output end of the driving mounting hole communicated with the outside world, the driving mounting hole and driving mechanism connects.
Against the above technical problems, the present invention improves existing robots arm's body structure, and arm body here can be
Large arm can also be forearm, and arm body each first is composed of multiple arm root modules, and each arm section is designed to Z-shaped module knot
Structure, when forming large arm, the specification of each arm section is larger, answers force request with satisfaction support forearm.Duan Youyi rectangle of each arm
Block and two convex blocks are integrally machined, and are fixed in a convex block and are determined shaft, turn axis is provided in another convex block.Turn
The end of axis be cylinder, be provided on the end of turn axis with the equal number of limited blocks of sliding slot, when turn axis is along sliding slot
Into in fixed and when limited block is located just in annular groove, two adjacent arm sections determine shaft and turn axis is just connected to
Together, and a complete rotor structure is formed, the lug boss of two arm sections contacts with each other at this time, so that the rectangle of two arm sections
Block extends into a complete big rectangle, in rotor rotation, due to being always circumferential frictional force between turn axis and fixation hole,
And turn axis is limited in annular groove by limited block, so turn axis can keep tight in Machinery Ministry motion process with shaft is determined
Close connection；When disassembly is desired, then rotating shaft is revolved, so that simultaneously rotor axial is proposed limit block alignment sliding slot.This
Sample make arm body structure of the invention in application can disassembled and assembled freely according to actual needs, extend the length of its large arm or forearm.
Secondly as determining shaft and turn axis one complete rotor structure of formation, determines shaft and be fixed to each other with convex block where it, turn
Axis rotation, which can drive, determines shaft rotation, opens up driving mounting hole respectively at the both ends for determining shaft and turn axis, drives mounting hole
It can be connect with the output end of driving mechanism, with driving mechanism difference, the movement that can be done between two arm sections is also different.Such as
When driving mechanism is stepper motor, output end at this time is the output shaft of stepper motor, and the output shaft alignment of stepper motor is dynamic
The driving mounting hole of shaft is simultaneously connected through a screw thread, and the driving mounting hole determined in shaft is locked by screw, can be realized two
Horizontal plane bends right and left, swings between arm section；When driving mechanism is oil cylinder or cylinder, output end can be hydraulic stem or gas
Fixed mounting head in the circumferential direction of compression bar end, two mounting heads are connected through a screw thread with driving mounting hole respectively, in oil cylinder or gas
Under the driving of cylinder, hydraulic stem or the flexible pitching movement that can be driven to the arm section of atmospheric pressure pole；When being intended merely to extension arm body length
When, two driving mounting holes are blocked respectively using screw fixed.When not in use, between each arm section of the invention
Can be freely disassembled, successively the output shaft of driving mechanism and driving mounting hole are separated, again will determine separate between shaft and turn axis
, compared with prior art, flexibility is higher, and versatility is stronger, adapts to several work；When a certain joint arm section goes wrong
When, the present invention need to only replace the arm section, and maintenance is easy to adjust, and compare existing alternative, and arm body is greatly saved
Alternate material and cost, it is economic and environment-friendly；In addition, rotor structure of the invention is hidden in arm section, and part is placed in convex block,
It is not at random, it can preferably be protected, be readily transported and arrange storage.
It is described determine shaft or turn axis to be provided with the end of driving mounting hole be orbicule, the diameter of orbicule be determine shaft or
1.25~1.55 times of turn spindle wall diameter.Improvement has also been made to rotor structure composed by shaft, turn axis is determined in the present invention,
It sets two ends of rotor to the ball shape structure being relatively large in diameter, is taken off from respective convex block first is that shaft, turn axis can be effectively prevent determining
It falls.Second is that being limited to position of the turn axis in its convex block, it can avoid it and deviated in making a detour.Third is that when determine shaft,
After turn axis is connect with extraneous driving mechanism respectively, although being formed by rotor structure can connect closer, but simultaneously can
By the axial compressive force for carrying out self-driven mechanism, and radial deformation is generated, so that determining shaft, the abrasion of turn shaft distortion, present invention benefit
With ball-type Force principle, i.e., there are a shortest distance, the local stress of any one spherical on spherical shape spherical surface between two o'clock, power all may be used
It is come with being uniformly dispersed around, so the axial stress can be dispersed in orbicule end of the invention to a certain extent, drop
The radial deformation of low rotor linkage section improves the service life for determining shaft, turn axis.In addition, by inventor the study found that will
The diameter design of orbicule is 1.25~1.55 times for determining shaft or turn spindle wall diameter, determines the bar portion of shaft or turn axis
The axial stress being subject to is minimum and stress fluctuation value is most stable, has significant effect to the raising for determining shaft, turn axis service life
Fruit.
Preferably, at least one shaft seating, axial direction of multiple shaft seatings along turn axis are also being cased with outside turn axis
Setting.The present invention designs multiple shaft seatings, it is ensured that determine shaft, turn axis institute can be brisk, stable turn at the rotor surrounded
It is dynamic, inclined torque is reduced, flexibility and the degree of balance when its movement are improved.
Preferably, each shaft seating includes lantern ring, and the annular groove filled with lubricating oil, institute are provided in lantern ring inner ring
It states and is provided with several balls in annular groove, ball is limited in annular groove, and part of the surface is from annular groove convexity
Out with dynamic shaft contacts.The above are the preferred structures of shaft seating, and when the rotor rotates, rotor is wrapped in annular groove by ball
Interior to rotate around lantern ring center line, lubricating oil can reduce the abrasion that rotor is subject to.
A locating rod is additionally provided with where determining shaft on convex block, is also provided with annular positioning groove on convex block where turn axis,
The center line of the annular positioning groove is overlapped with the central axis of the turn axis, and lubricating oil is filled in annular positioning groove.
Further, the present invention devises location structure when determining shaft or turn axis connection using locating rod and annular positioning groove,
In turn axis rotation process, locating rod is just rotated around annular positioning groove, i.e., moves in a circle using turn shaft centre line as the center of circle,
Such one contributes to determine shaft, the alignment connection of turn axis, second is that can limit the position after shaft and turn axis connection is determined
Position, third is that locating rod may act as auxiliary connection effect, may make connected between two arm sections it is more stable.
Several threaded holes are provided in the circular orientation groove bottom, threaded hole is equidistant around the center line of annular positioning groove
Setting, further includes two stop screws, and internal diameter of the diameter of the stop screw and annular positioning groove etc. is big.In the prior art,
If only limited by driving motor, be easy to appear determine shaft, turn axis at the rotor structure surrounded during rotation
The excessive problem of the radian of rotation.So threaded hole is arranged in circular orientation trench bottom in the present invention, two stop screws are inserted into
On different threaded holes, the segmental arc length between two stop screws is different, can be according to each work requirements to two arms with this
Rotation segmental arc between section is limited.
Compared with prior art, the present invention having the following advantages and benefits:
1, the arm body of a kind of robot module's formula assembly mechanical arm of the present invention, robot is removable using module by multiple arm sections
The formula structure of unloading assembles, and each arm section is designed to Z-shaped modular structure, so that arm body structure of the invention is applying Shi Kegen
It is freely assembled according to actual demand, extends the length of its large arm or forearm；Shaft and turn axis formation one are determined in each arm section
Complete rotor structure, and the both ends of rotor have driving mounting hole, driving mounting hole can connect from different driving mechanisms
The different driving function, it can be achieved that arm body is connect, can complete to rotate or raise etc. dynamic according to operating environment freely assembled elongation
The advantages that work has flexibility height, versatile, adapts to several work；
2, a kind of robot module's formula assembly mechanical arm of the present invention, multiple arm section Demountables, so that arm body repairs
Easy to adjust, the alternate material and cost of arm body is greatly saved in when replacement, economic and environment-friendly；Each part is placed in convex block simultaneously
It is interior, it is not at random, it can preferably be protected, be readily transported and arrange storage；
3, a kind of robot module's formula assembly mechanical arm of the present invention, by the both ends for determining shaft and turn axis be set as diameter compared with
Big ball shape structure has anti-dropout, limit, and shares axial stress, reduces the radial deformation of rotor linkage section, facilitates
The advantages that shaft, the service life of turn axis are determined in raising.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of arm body of the present invention；
Fig. 2 is the structural schematic diagram of arm section of the present invention；
Fig. 3 is the position view of annular positioning groove of the present invention.
Label and corresponding parts title in attached drawing:
1- arm section, 2- rectangular block, 3- convex block, 4- determine shaft, and 5- drives mounting hole, 6- fixation hole, 7- annular groove, 8- cunning
Slot, 9- turn axis, 10- driving mechanism, 11- shaft seating, 12- locating rod, 13- annular positioning groove, 14- threaded hole, 15- limit
Screw.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment 1
As shown in Fig. 1~2, a kind of robot module's formula assembly mechanical arm of the present invention, including arm body, the arm body include more
Arm section 1 interconnected is saved, every joint arm section 1 includes a rectangular block 2, is respectively arranged with one in the opposite end of rectangular block 2
Convex block 3 is fixed in one of convex block 3 and determines shaft 4, and described one end for determining shaft 4 is provided with the driving installation communicated with the outside world
Hole 5, the other end are provided with fixation hole 6, at least one annular groove 7 and sliding slot 8, the sliding slot 8 are provided on the inner wall of fixation hole 6
One end communicated with annular groove 7, the other end is flushed with 6 mouthfuls of fixation hole, is provided with turn axis 9 in another convex block 3, described dynamic
One end of shaft 9 is protruded from 3 surface of convex block, and the protruding end and fixation hole 6 are mutually matched and 8 can enter in annular grooves 7 along the chute
And be limited in annular groove 7, the other end of the turn axis 9 is also provided with the driving mounting hole 5 communicated with the outside world, the driving
Mounting hole 5 is connect with the output end of driving mechanism 10.At least one shaft seating 11, multiple shafts are also cased with outside turn axis 9
Axial direction setting of the support 11 along turn axis 9.Each shaft seating 11 includes lantern ring, is provided in lantern ring inner ring filled with lubricating oil
Annular groove, be provided with several balls in the annular groove, ball is limited in annular groove, part of the surface from
Protrusion is contacted with turn axis 9 in annular groove.
Using stepper motor as driving mechanism, the output shaft of stepper motor is aligned on turn axis more than 9 joint arm sections 1 of forearm
Driving mounting hole and be connected through a screw thread with it, the driving mounting hole determined in shaft 4 is sealed using bolt, stepper motor starting
After two arm sections 1 can be driven to bend right and left, swing in the horizontal plane.
Forearm made by the present invention, flexibility is high, versatile, adapts to several work；When a certain joint arm section 1 occurs
When problem, the arm section need to be only replaced, maintenance is easy to adjust, and compares existing alternative, and arm body is greatly saved
Alternate material and cost, it is economic and environment-friendly；And part is placed in convex block, and it is not at random, it can preferably be protected, be readily transported and arrange
Storage.
Embodiment 2
It is on the basis of embodiment 1, described to determine shaft 4 or turn axis 9 is provided with driving mounting hole 5 as shown in Fig. 1~2
End is orbicule, and the diameter of orbicule is 1.25~1.55 times for determining 9 bar wall diameter of shaft 4 or turn axis.The above structure one
Be can effectively prevent determining shaft, turn axis falls off from respective convex block；Second is that being carried out to position of the turn axis in its convex block
Limit, can avoid it and deviates in making a detour；Third is that dispersing the axial stress of outer bound pair rotor to a certain extent, reduces rotor and connect
The radial deformation of section is connect, the service life for determining shaft, turn axis is improved.
In addition, inventor applies the diameter of rotor balled end and the relationship of rotor radial deformation to rotor
The axial stress of 170MP is tested, and partial test result is as follows:
It is determine shaft or turn spindle wall diameter 1.25 by the diameter design of orbicule by discovery known to above table
~1.55 times, determine that axial stress that the bar portion of shaft or turn axis is subject to is minimum and stress fluctuation value is most stable, to determine shaft,
The raising of turn axis service life has remarkable result.
Embodiment 3
As shown in Figures 1 to 3, on the basis of embodiment 1, determine to be additionally provided with a locating rod on 4 place convex block 3 of shaft
12, annular positioning groove 13, the center line of the annular positioning groove 13 and the turn axis 9 are also provided on 9 place convex block 3 of turn axis
Central axis be overlapped, in annular positioning groove 13 be filled with lubricating oil.Several are provided on 13 bottom surface of annular positioning groove
Threaded hole 14, threaded hole 14 further include two stop screws 15, the limit around the center line spaced set of annular positioning groove 13
The diameter of position screw 15 and the internal diameter of annular positioning groove 13 etc. are big.The above structure helps to determine shaft 4, the alignment connection of turn axis 6,
And it is limited to the position after shaft 4 and turn axis 6 connect is determined, while locating rod 12 serves as the effect of auxiliary connection, it can
So that being connected between two arm sections 1 more stable.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of robot module's formula assembly mechanical arm, including arm body, which is characterized in that the arm body includes that more piece is connected with each other
Arm section (1), every joint arm section (1) include a rectangular block (2), the opposite end of rectangular block (2) be respectively arranged with one it is convex
Block (3), interior be fixed with of one of convex block (3) are determined shaft (4), and described one end for determining shaft (4) is provided with the drive communicated with the outside world
Dynamic mounting hole (5), the other end are provided with fixation hole (6), be provided on the inner wall of fixation hole (6) at least one annular groove (7) and
Sliding slot (8), one end of the sliding slot (8) is communicated with annular groove (7), the other end is flushed with fixation hole (6) mouth, in another convex block
(3) it is provided with turn axis (9) in, one end of the turn axis (9) is protruded from convex block (3) surface, and turn axis (9) is from convex block (3)
One end and fixation hole (6) of surface protrusion are mutually matched and (8) can enter in annular groove (7) along the chute and be limited in annular groove
(7) in, the other end of the turn axis (9) is also provided with the driving mounting hole (5) communicated with the outside world, the driving mounting hole (5)
It is connect with the output end of driving mechanism (10).
2. a kind of robot module's formula assembly mechanical arm according to claim 1, which is characterized in that described to determine shaft (4)
Or it is orbicule that turn axis (9), which is provided with the end of driving mounting hole (5), the diameter of orbicule is to determine shaft (4) or turn axis (9)
1.25 ~ 1.55 times of bar wall diameter.
3. a kind of robot module's formula assembly mechanical arm according to claim 1, which is characterized in that turn axis (9) outside
It is also cased with multiple shaft seatings (11), axial direction setting of multiple shaft seatings (11) along turn axis (9).
4. a kind of robot module's formula assembly mechanical arm according to claim 3, which is characterized in that each shaft seating
(11) include lantern ring, the annular groove filled with lubricating oil is provided in lantern ring inner ring, is provided in the annular groove several
A ball, ball are limited in annular groove, and part of the surface is protruded from annular groove to be contacted with turn axis (9).
5. a kind of robot module's formula assembly mechanical arm according to claim 1, which is characterized in that determine shaft (4) place
It is additionally provided with a locating rod (12) on convex block (3), is also provided with annular positioning groove (13), institute on convex block (3) where turn axis (9)
The center line for stating annular positioning groove (13) is overlapped with the central axis of the turn axis (9), the filling in annular positioning groove (13)
There is lubricating oil.
6. a kind of robot module's formula assembly mechanical arm according to claim 5, which is characterized in that the annular positioning groove
(13) be provided with several threaded holes (14) on bottom surface, threaded hole (14) around annular positioning groove (13) center line spaced set,
It further include two stop screws (15), the diameter and the internal diameter of annular positioning groove (13) etc. of the stop screw (15) are big.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810168267.XA CN108481317B (en) | 2018-02-28 | 2018-02-28 | A kind of robot module's formula assembly mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810168267.XA CN108481317B (en) | 2018-02-28 | 2018-02-28 | A kind of robot module's formula assembly mechanical arm |
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| CN108481317A CN108481317A (en) | 2018-09-04 |
| CN108481317B true CN108481317B (en) | 2019-04-05 |
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| CN201810168267.XA Active CN108481317B (en) | 2018-02-28 | 2018-02-28 | A kind of robot module's formula assembly mechanical arm |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176449A (en) * | 2018-10-10 | 2019-01-11 | 刘书勇 | A kind of portable telescopic mechanical arm and its application method |
| CN111958635B (en) * | 2020-08-18 | 2021-12-07 | 淮北创谷科技有限公司 | Tension feedback robot joint connecting mechanism |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804636B (en) * | 2010-03-09 | 2011-10-26 | 上海大学 | Five degree-of-freedom reconfigurable modular service robot arm |
| KR101745014B1 (en) * | 2011-11-29 | 2017-06-21 | 현대자동차주식회사 | Hinge for wearable robotics |
| US9475199B2 (en) * | 2012-06-05 | 2016-10-25 | TRACLabs, Inc. | Apparatus, systems, and methods for reconfigurable robotic manipulator and coupling |
| CN104875199A (en) * | 2015-04-16 | 2015-09-02 | 长春工业大学 | Power pipeline route inspection robot |
| CN105922286A (en) * | 2016-07-21 | 2016-09-07 | 北京灵铱科技有限公司 | Angle-adjustable self-locking joint structure |
| CN206748972U (en) * | 2016-11-07 | 2017-12-15 | 广东伊雪松机器人设备有限公司 | A kind of modular construction robot |
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Application publication date: 20180904 Assignee: Zhejiang huitianchuangda Intelligent Technology Co., Ltd Assignor: ZHEJIANG ZHONGQU ELECTRIC Co.,Ltd. Contract record no.: X2020980002518 Denomination of invention: Robot modular assemble mechanical arm Granted publication date: 20190405 License type: Common License Record date: 20200527 |
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