CN108772829A - Seven freedom mechanical arm - Google Patents
Seven freedom mechanical arm Download PDFInfo
- Publication number
- CN108772829A CN108772829A CN201810906728.9A CN201810906728A CN108772829A CN 108772829 A CN108772829 A CN 108772829A CN 201810906728 A CN201810906728 A CN 201810906728A CN 108772829 A CN108772829 A CN 108772829A
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- straight line
- slide unit
- line slide
- arm
- forearm
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- 210000000245 forearm Anatomy 0.000 claims abstract description 98
- 210000000707 wrist Anatomy 0.000 claims abstract description 93
- 238000010276 construction Methods 0.000 claims abstract description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 26
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of seven freedom mechanical arms, including：Rotating basis, large arm drive component, elbow arm drive component, forearm drive component, wrist drive component, large arm drive component, elbow arm drive component connects, forearm drive component, wrist drive component is sequentially connected, large arm drive component is arranged on rotating basis, the large arm drive component includes straight line slide unit component, first slide construction, second slide construction, first large arm, second large arm, large arm connecting plate, elbow arm drive component includes elbow arm driving device and elbow arm, forearm drive component includes forearm driving device and forearm, wrist drive component includes wrist driving device, wrist executive device.Seven freedom mechanical arm provided by the invention, using the connection type of series-parallel connection, realize the movement of a variety of degree of freedom, have the characteristics that simple in structure, bearing capacity is strong, it is reconstitution it is strong, versatile, operation is flexible, balance is strong, working space is big, is conveniently adjusted and safeguards.
Description
Technical field
The present invention relates to mechanical arm technical fields, more particularly to a kind of seven freedom mechanical arm.
Background technology
Modern development in science and technology is swift and violent, all trades and professions mechanization, automation and intelligentized requires higher and higher, robot
Technology will become the core trend of development of modern scientific technology, be played in the industries such as agricultural, logistics transportation, automobile making prominent
Go out effect.In order to improve agricultural productivity, the working strength of people is liberated, working environment is improved, researches and develops and is devised respectively both at home and abroad
The mechanical arm of kind various kinds, and each research and development and breakthrough, are used for different industries, different manipulating objects.With regard to present circumstances
It analyzes, there is also problems for the mechanical arm in practical application：(1) poor universality, unicity is strong, cannot reach one-machine-multi-function
Use purpose, limit to very much to operation object；(2) complicated, it is not easy splitting and reorganizing, upgrading extension is not easy to and safeguards
Repair；(3) mechanism cumbersome, dumb, of high cost, practicability is not strong, it is difficult to carry out commercialization popularization；(4) robotic arm is generally gone here and there
Connection, degree of freedom is few, and bearing capacity, stability, the sense of equilibrium and flexibility ratio etc. Shortcomings cannot be completed in each different ring
It works in border.
Invention content
The object of the present invention is to provide a kind of seven freedom mechanical arms can be realized a variety of using the connection type of series-parallel connection
Degree of freedom moves, have stable structure, bearing capacity be strong, reconstitution strong, versatile, operation flexibly, balance is strong, operation is empty
Between range is big, is conveniently adjusted the characteristics of safeguarding.
To achieve the above object, the present invention provides following schemes：
A kind of seven freedom mechanical arm, the mechanical arm include：It is rotating basis, large arm drive component, elbow arm drive component, small
Arm drive component, wrist drive component, the large arm drive component, elbow arm drive component, forearm drive component, wrist driving group
Part is sequentially connected, and the large arm drive component is arranged on the rotating basis；
The large arm drive component include straight line slide unit component, the first slide construction, the second slide construction, the first large arm,
Second large arm, large arm connecting plate, the straight line slide unit component are vertically set on the rotating basis, first large arm and
Two large arm are respectively arranged at the both sides of the straight line slide unit component；
The straight line slide unit component includes symmetrically arranged first straight line slide unit and second straight line slide unit, first large arm
Include the first big arm link and the first large arm push rod of one end articulated connection, second large arm includes the of one end articulated connection
Two big arm links and the second large arm push rod, first slide construction are arranged on the first straight line slide unit, and described second slides
Dynamic structure setting on the second straight line slide unit, distinguish by the other end of the first large arm push rod and the second large arm push rod
It is hinged on the both ends of second slide construction, one end of the first big arm link and the second largest arm link is also cut with scissors respectively
The both ends of first slide construction are connected on, the first big arm link and the second largest arm link other end are fixedly connected on large arm
On connecting plate, the first straight line slide unit is synchronous with second straight line slide unit or works independently, with drive first large arm and/
Or second large arm movement；
The elbow arm drive component includes elbow arm driving device and elbow arm, and the elbow arm driving device is fixedly connected on described
On large arm connecting plate, the elbow arm driving device is rotatably connected with the elbow arm；
The forearm drive component includes forearm driving device and forearm, and the forearm driving device is fixedly connected on described
In elbow arm, the forearm driving device drives the forearm telescopic moving；
The wrist drive component includes the first wrist driving device, the second wrist driving device and wrist executive device,
The first wrist driving device is fixedly connected with the forearm, and the first wrist driving device drives second wrist to drive
Dynamic device rotation, the second wrist driving device drive the wrist executive device rotation.
Optionally, the first wrist driving device, the second wrist driving device, elbow arm driving device include servo electricity
Machine and retarder.
Optionally, the retarder of the first wrist driving device, which is drivingly connected, is located in the second wrist driving device
Wrist fixing piece to drive the second wrist driving device to rotate.
Optionally, the forearm driving device includes forearm servo motor, forearm sliding block, forearm straight line slide unit, described small
Arm straight line slide unit is fixedly connected with the elbow arm, and the forearm is connect by forearm sliding block with the forearm straight line slide unit, described
Forearm servo motor drives the forearm straight line slide unit movement, the forearm to be done along forearm straight line slide unit by the forearm sliding block
Telescopic moving.
Optionally, the forearm straight line slide unit is synchronous belt straight line slide unit or ball-screw straight line slide unit.
Optionally, the large arm drive component further includes two large arm servo motors, and two large arm servo motors are set
It sets and respectively drives the first straight line slide unit and the movement of second straight line slide unit in the straight line slide unit component bottom end.
Optionally, the first straight line slide unit and second straight line slide unit are that synchronous belt straight line slide unit or ball-screw straight line are slided
Platform.
Optionally, the straight line slide unit component further includes bottom nozzle mounts, supporting and mounting bracket, top fixing element, is used to
The fixed straight line slide unit component, the bottom nozzle mounts are arranged in the first straight line slide unit, second straight line slide unit bottom end, institute
It states supporting and mounting bracket to be arranged between the first straight line slide unit and the second straight line slide unit, the first straight line slide unit and institute
Second straight line slide unit is stated by the supporting and mounting bracket back to being fixedly connected, the top fixing element is arranged in the first straight line
Slide unit and second straight line slide unit top.
Optionally, the rotating basis includes holder, pedestal servo motor, pedestal retarder, rotating platform, the pedestal
On the bracket, the pedestal retarder is arranged in the pedestal servo motor for servo motor, the fixed setting of pedestal retarder
On, the rotating platform is arranged on the pedestal retarder, and the large arm drive component is arranged on the rotating platform.
According to specific embodiment provided by the invention, the invention discloses following technique effects：First, it is provided by the invention
Seven freedom mechanical arm carries out rotating basis, large arm drive component, elbow arm drive component, forearm driving group using series-parallel connection mode
Part, the connection of wrist drive component and structure design create seven freedom series-parallel connection articulated manipulator, each joint designs section
It learns, has the characteristics that simple in structure, stable connection；Second, two load bearing units of setting remove carrying mechanical arm moiety by weight and grab
The object gravity taken, wherein the first large arm push rod and the first big arm link constitute a load bearing unit, the second large arm push rod and second
Big arm link constitutes another load bearing unit, and two load bearing units carry mechanical arm moiety by weight and load simultaneously, greatly increase
The bearing capacity of mechanical arm；Third can drive elbow by the connection and setting of the first large arm and the second large arm and with resultant motion
The mechanisms such as arm, forearm, wrist move up and down, while can also realize the rotary motion on large arm vertical direction, and forearm can be front and back
Stretching motion, wrist can realize the control of two kinds of degree of freedom by two groups of drive components, therefore, the mechanical arm overall flexibility
It is very strong, the displacement distance and spread length of equipment can be debugged according to different industry objects, therefore working space range
Greatly；4th, the end effector of wrist can be replaced according to the difference of operation object, and the mechanical arm is reconstitution strong, general
Property is strong, is conveniently adjusted maintenance；5th, the mechanical arm using the larger pedestal servo motor of weight, the first large arm servo motor and
Second large arm servo motor, and the lower part of mechanical arm is may be contained within, wherein the first large arm servo motor and the second large arm servo electricity
Machine is located at the left and right sides and is relatively fixed, and is watched using quality smaller wrist servo motor, ancon servo motor and forearm
Take motor so that the center of gravity of entire mechanical arm is relatively low, the sense of equilibrium is strong, inertia is small, and overall structure is stablized, and then improves control essence
Degree, it is ensured that operational safety.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is seven freedom mechanical arm structural schematic diagram of the embodiment of the present invention.
Reference sign：1, holder；2, pedestal servo motor；3, pedestal retarder；4, the second large arm servo motor；5,
Rotating platform；6, bottom nozzle mounts；7, the first large arm servo motor；8, the first large arm push rod；9, the second sliding block connector；10,
Second sliding block；11, supporting and mounting bracket；12, the second large arm push rod；13, the second largest arm link；14, the first big arm link；15,
One sliding block connector；16, the first sliding block；17, first straight line slide unit；18, top fixing element；19, second straight line slide unit；20, elbow
Portion's servo motor；21, large arm connecting plate；22, ancon retarder；23, elbow arm；24, forearm straight line slide unit fixing piece；25, forearm
Servo motor；26, forearm sliding block；27, forearm；28, forearm straight line slide unit；29, wrist first servo motor；30, wrist executes
Device；31, the first retarder of wrist；32, the second servo motor of wrist；33, wrist fixing piece；34, the second retarder of wrist.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of seven freedom mechanical arms can be realized a variety of using the connection type of series-parallel connection
Degree of freedom moves, have stable structure, bearing capacity be strong, reconstitution strong, versatile, operation flexibly, balance is strong, operation is empty
Between range is big, is conveniently adjusted the characteristics of safeguarding.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is seven freedom mechanical arm structural schematic diagram of the embodiment of the present invention, as shown in Figure 1, the embodiment of the present invention seven is certainly
By degree mechanical arm, including：Rotating basis, large arm drive component, elbow arm drive component, forearm drive component, wrist drive component,
The large arm drive component, elbow arm drive component, forearm drive component, wrist drive component are sequentially connected, the large arm driving
Component is arranged on the rotating basis；
The large arm drive component include straight line slide unit component, the first slide construction, the second slide construction, the first large arm,
Second large arm, large arm connecting plate 21, the straight line slide unit component are vertically set on the rotating basis, first large arm and
Second large arm is respectively arranged at the both sides of the straight line slide unit component；First slide block structure is by the first sliding block connector 15 and first
Sliding block 16 forms, and the first sliding block connector 15 is arranged on the first sliding block 16, and the second slide block structure is by 9 He of the second sliding block connector
Second sliding block 10 forms, and the second sliding block connector 9 is arranged on the second sliding block 10；
The straight line slide unit component includes symmetrically arranged first straight line slide unit 17 and second straight line slide unit 19, and described first
Large arm includes the first big arm link 14 and the first large arm push rod 8 of one end articulated connection, and second large arm includes that one end is hinged
The second largest arm link 13 and the second large arm push rod 12 of connection, first slide construction are arranged on the first straight line slide unit
17, second slide construction is arranged 19 on the second straight line slide unit, the first large arm push rod 8 and second large arm
The other end of push rod 12 is respectively hinged at the both ends of second slide construction, the first big arm link 14 and described second largest
One end of arm link 13 is also respectively hinged at the both ends of first slide construction, the first big arm link 14 and second largest
13 other end of arm link is fixedly connected on large arm connecting plate 21, and the first straight line slide unit 17 is synchronous with second straight line slide unit 19
Or work independently, to drive first large arm and/or the second large arm to move；
The elbow arm drive component includes elbow arm driving device and elbow arm 23, and the elbow arm driving device is fixedly connected on institute
It states on large arm connecting plate 21, the elbow arm driving device is rotatably connected with the elbow arm 23；The forearm drive component includes
Forearm driving device and forearm 27, the forearm driving device are fixedly connected in the elbow arm 23, the forearm driving device
Drive 27 telescopic moving of the forearm；The wrist drive component includes the first wrist driving device, the second wrist driving device
With wrist executive device, the first wrist driving device is fixedly connected with the forearm 27, the first wrist driving device
The second wrist driving device is driven to rotate, the second wrist driving device drives the wrist executive device 30 to rotate；
The first wrist driving device, the second wrist driving device, elbow arm driving device include servo motor and retarder；It is described
The retarder of first wrist driving device is drivingly connected the wrist fixing piece 33 being located in the second wrist driving device to drive
The dynamic second wrist driving device rotation；The ancon driving device includes ancon servo motor 20 and ancon retarder 22,
Ancon servo motor 20 is fixedly connected with ancon retarder 22 by large arm connecting plate 21；The first wrist driving device includes
Wrist first servo motor 29 and the first retarder of wrist 31, the second wrist driving device include wrist the second servo electricity
Machine 32 and the second retarder of wrist 34；
The forearm driving device includes forearm servo motor 25, forearm sliding block 26, forearm straight line slide unit 28, the forearm
Straight line slide unit 28 is fixedly connected with the elbow arm 23, and forearm straight line slide unit fixing piece 24 can be arranged in the elbow arm 23, described
Forearm straight line slide unit 28 is fixedly connected by forearm straight line slide unit fixing piece 24 with the elbow arm 23；The forearm 27 passes through forearm
Sliding block 26 is connect with the forearm straight line slide unit 28, and the forearm servo motor 25 drives the forearm straight line slide unit 28 to move,
The forearm 27 does telescopic moving by the forearm sliding block 26 along forearm straight line slide unit 28；The forearm straight line slide unit 28 is same
Step band straight line slide unit or ball-screw straight line slide unit；
The large arm drive component further includes two large arm servo motors, and two large arm servo motors are arranged described
Straight line slide unit component bottom end, respectively drives the first straight line slide unit 17 and second straight line slide unit 19 moves, two described big
Arm servo motor is respectively the second large arm servo motor 4 and the first large arm servo motor 7；The first straight line slide unit 17 and second
Straight line slide unit 19 is synchronous belt straight line slide unit or ball-screw straight line slide unit；
The straight line slide unit component further includes bottom nozzle mounts 6, supporting and mounting bracket 11, top fixing element 18, is used to solid
The fixed straight line slide unit component, the bottom nozzle mounts 6 are arranged at the first straight line slide unit 17,19 bottom of second straight line slide unit
End, the supporting and mounting bracket 11 are arranged between the first straight line slide unit 17 and the second straight line slide unit 19, and described first
By the supporting and mounting bracket 11 back to being fixedly connected, the top is fixed for straight line slide unit 17 and the second straight line slide unit 19
Part 18 is arranged on 19 top of the first straight line slide unit 17 and second straight line slide unit；
The rotating basis includes holder 1, pedestal servo motor 2, pedestal retarder 3, rotating platform 5, and the pedestal is watched
Take motor 2, pedestal retarder 3 is fixed on the holder 1, the pedestal retarder 3 setting is in pedestal servo electricity
On machine 2, the rotating platform 5 is arranged on the pedestal retarder 3, and the large arm drive component is arranged in the rotary flat
On platform 5.
Pedestal servo motor 2 drives pedestal retarder 3 to rotate, and the mechanism of 5 or more rotating platform is driven to rotate；Start institute
The first large arm servo motor 7 and the second large arm servo motor 4 are stated, the first large arm servo motor 7 drives first straight line slide unit 17,
Second large arm servo motor 4 drives second straight line slide unit 19, and the first sliding block 16 is synchronous with the second sliding block 10 to be risen or synchronize down
Drop, the first sliding block connector 15 being fixed on the first sliding block 16 and the second sliding block 10 and the second sliding block connector 9 drive first
Large arm push rod 8, the second large arm push rod 12, the first big arm link 14 and the second largest arm link 13, with the first sliding block 16 and second
Sliding block 10, which synchronizes, to be moved up and down, since elbow arm 23 is fixed on the first big arm link 14 and the second large arm by large arm connecting plate 21
On connecting rod 13, so elbow arm, forearm, wrist are also synchronized and moved up and down, which realizes one degree of freedom linear movement, should be certainly
The working space for increasing robot in vertical direction is realized by degree；Start the second large arm servo motor 4, does not start first
Large arm servo motor 7, the second large arm servo motor 4 drive second straight line slide unit 19, and the second sliding block 10 is along second straight line slide unit
19 guide rail, which rises, either to be declined to which the second sliding block connector 9 is also with rising or declining, in this way, the first large arm push rod 8
Push the first big arm link 14 and the second largest arm link 13 around the first big arm link 14 and second largest with the second large arm push rod 12
The tie point of arm link 13 and the first large arm sliding block connector 15 rotates, this to be fixedly connected on the first big arm link 14 and the
Large arm connecting plate 21 in two big arm links 13 also rotates therewith, to which subsequent elbow arm, forearm, wrist mechanism all turn therewith
It is dynamic；Similarly, start the first large arm servo motor 7, do not start the second large arm servo motor 4, the driving of the first large arm servo motor 7
First straight line slide unit 17, the first sliding block 16 rise or decline along the guide rail of first straight line slide unit 17, the first big arm link 14,
The second largest arm link 13 pushes the first large arm push rod 8 and the second large arm push rod 12 to be pushed away around the first large arm push rod 8 and the second large arm
The tie point of bar 12 and the second large arm sliding block connector 9 rotates, this to be fixedly connected on the first big arm link 14 and second largest
Large arm connecting plate 21 in arm link 13 also rotates therewith, to which subsequent elbow arm, forearm, wrist mechanism all rotate therewith, on
The process of stating realizes the rotation of one degree of freedom；By controlling ancon servo motor 20, driving ancon retarder 22 rotates, and leads to
Cross the drive of elbow arm 23 forearm for being fixed on ancon retarder 22, wrist mechanism rotation；By starting forearm servo motor 25, driving
Forearm straight line slide unit 28, forearm sliding block 26 stretches forward relative to forearm straight line slide unit 28 or to after-contraction, and passes through fixation
Wrist mechanism is driven to synchronize stretching, extension forward or to after-contraction in the forearm 27 of forearm sliding block 26；By controlling the first servo of wrist
Motor 29, the first retarder of driving wrist 31 rotate, and the first retarder of wrist 31, which is drivingly connected, is located at second wrist driving
Wrist fixing piece 33 on device, to drive the second wrist driving device to rotate；The second servo motor of wrist 32 drives wrist
Portion's the second retarder wrist 34 rotates, and wrist executive device 30 is driven to rotate.
Seven freedom mechanical arm provided by the invention, first, rotating basis, large arm driving group are carried out using series-parallel connection mode
Part, elbow arm drive component, forearm drive component, the connection of wrist drive component and structure design, create seven freedom series-parallel connection
Articulated manipulator, each joint designs science, has the characteristics that simple in structure, stable connection；Second, two load bearing units are set
Remove the object gravity of carrying mechanical arm moiety by weight and crawl, wherein the first large arm push rod and the first big arm link constitute one and hold
Carrier unit, the second large arm push rod and the second largest arm link constitute another load bearing unit, and two load bearing units carry machinery simultaneously
Arm section weight and load considerably increase the bearing capacity of mechanical arm；Third by the connection of the first large arm and the second large arm and is set
Resultant motion is set and matched, the mechanisms such as elbow arm, forearm, wrist can be driven to move up and down, while can also realize large arm vertical direction
On rotary motion, forearm elastic can move, and wrist can realize the control of two kinds of degree of freedom by two groups of drive components, because
This, the mechanical arm overall flexibility is very strong, can according to different industry objects to the displacement distance of equipment and spread length into
Row debugging, therefore working space range is big；4th, the end effector of wrist can be replaced according to the difference of operation object
It changes, the mechanical arm is reconstitution strong, versatile, is conveniently adjusted maintenance；5th, the mechanical arm is using the larger pedestal servo of weight
Motor, the first large arm servo motor and the second large arm servo motor, and the lower part of mechanical arm is may be contained within, wherein the first large arm is watched
It takes motor and the second large arm servo motor is located at the left and right sides and is relatively fixed, and using the smaller wrist servo electricity of quality
Machine, ancon servo motor and forearm servo motor so that the center of gravity of entire mechanical arm is relatively low, the sense of equilibrium is strong, inertia is small, whole to tie
Structure is stablized, and then improves control accuracy, it is ensured that operational safety.
Principle and implementation of the present invention are described for specific case used herein, and above example is said
The bright method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (9)
1. a kind of seven freedom mechanical arm, which is characterized in that including：Rotating basis, large arm drive component, elbow arm drive component,
Forearm drive component, wrist drive component, the large arm drive component, elbow arm drive component, forearm drive component, wrist driving
Component is sequentially connected, and the large arm drive component is arranged on the rotating basis；
The large arm drive component includes straight line slide unit component, the first slide construction, the second slide construction, the first large arm, second
Large arm, large arm connecting plate (21), the straight line slide unit component are vertically set on the rotating basis, first large arm and
Two large arm are respectively arranged at the both sides of the straight line slide unit component；
The straight line slide unit component includes symmetrically arranged first straight line slide unit (17) and second straight line slide unit (19), and described first
Large arm includes the first big arm link (14) and the first large arm push rod (8) of one end articulated connection, and second large arm includes one end
The second largest arm link (13) and the second large arm push rod (12) of articulated connection, the first slide construction setting are straight described first
On line slide unit (17), second slide construction is arranged on the second straight line slide unit (19), the first large arm push rod (8)
The both ends of second slide construction are respectively hinged at the other end of the second large arm push rod (12), first large arm connects
One end of bar (14) and the second largest arm link (13) is also respectively hinged at the both ends of first slide construction, and described first
Big arm link (14) and the second largest arm link (13) other end are fixedly connected on large arm connecting plate (21), and the first straight line is slided
Platform (17) is synchronous with second straight line slide unit (19) or works independently, to drive first large arm and/or the second large arm to move；
The elbow arm drive component includes elbow arm driving device and elbow arm (23), and the elbow arm driving device is fixedly connected on described
On large arm connecting plate (21), the elbow arm driving device is rotatably connected with the elbow arm (23)；
The forearm drive component includes forearm driving device and forearm (27), and the forearm driving device is fixedly connected on described
In elbow arm (23), the forearm driving device drives forearm (27) telescopic moving；
The wrist drive component includes the first wrist driving device, the second wrist driving device and wrist executive device, described
First wrist driving device is fixedly connected with the forearm (27), and the first wrist driving device drives second wrist to drive
Dynamic device rotation, the second wrist driving device drive wrist executive device (30) rotation.
2. seven freedom mechanical arm according to claim 1, which is characterized in that the first wrist driving device, second
Wrist driving device, elbow arm driving device include servo motor and retarder.
3. seven freedom mechanical arm according to claim 2, which is characterized in that the deceleration of the first wrist driving device
Device is drivingly connected the wrist fixing piece (33) being located in the second wrist driving device to drive the second wrist driving dress
Set rotation.
4. seven freedom mechanical arm according to claim 1, which is characterized in that the forearm driving device includes that forearm is watched
Motor (25), forearm sliding block (26), forearm straight line slide unit (28) are taken, the forearm straight line slide unit (28) is solid with the elbow arm (23)
Fixed connection, the forearm (27) are connect by forearm sliding block (26) with the forearm straight line slide unit (28), the forearm servo electricity
Machine (25) drives forearm straight line slide unit (28) movement, and the forearm (27) is by the forearm sliding block (26) along forearm straight line
Slide unit (28) does telescopic moving.
5. seven freedom mechanical arm according to claim 4, which is characterized in that the forearm straight line slide unit (28) is to synchronize
Band straight line slide unit or ball-screw straight line slide unit.
6. seven freedom mechanical arm according to claim 1, which is characterized in that the large arm drive component further includes two
Large arm servo motor, two large arm servo motors are arranged in the straight line slide unit component bottom end, respectively drive described the
One straight line slide unit (17) and second straight line slide unit (19) movement.
7. seven freedom mechanical arm according to claim 1 or 6, which is characterized in that the first straight line slide unit (17) and
Second straight line slide unit (19) is synchronous belt straight line slide unit or ball-screw straight line slide unit.
8. seven freedom mechanical arm according to claim 1, which is characterized in that the straight line slide unit component further includes bottom
Fixing piece (6), supporting and mounting bracket (11), top fixing element (18) are used to fix the straight line slide unit component, and the bottom is solid
Part (6) setting is determined in the first straight line slide unit (17), second straight line slide unit (19) bottom end, supporting and mounting bracket (11) setting
Between the first straight line slide unit (17) and the second straight line slide unit (19), the first straight line slide unit (17) and described
By the supporting and mounting bracket (11) back to being fixedly connected, the top fixing element (18) is arranged described two straight line slide units (19)
First straight line slide unit (17) and second straight line slide unit (19) top.
9. seven freedom mechanical arm according to claim 1, which is characterized in that the rotating basis includes holder (1), base
Seat servo motor (2), pedestal retarder (3), rotating platform (5), the pedestal servo motor (2), pedestal retarder (3) are fixed
It is arranged on the holder (1), the pedestal retarder (3) is arranged on the pedestal servo motor (2), the rotating platform
(5) it is arranged on the pedestal retarder (3), the large arm drive component is arranged on the rotating platform (5).
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