CN109591049A - The extended structure of mechanical arm and mechanical arm with extended structure - Google Patents
The extended structure of mechanical arm and mechanical arm with extended structure Download PDFInfo
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- CN109591049A CN109591049A CN201811495743.5A CN201811495743A CN109591049A CN 109591049 A CN109591049 A CN 109591049A CN 201811495743 A CN201811495743 A CN 201811495743A CN 109591049 A CN109591049 A CN 109591049A
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- Prior art keywords
- axis
- arm
- seat
- extended structure
- mechanical arm
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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
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
Abstract
The present invention relates to a kind of extended structure of mechanical arm and with the mechanical arm of extended structure, the extended structure is assembled on the pivot of one latter end arm end of mechanical arm, the extended structure includes: a pedestal, and one end is assembled on the pivot of aforementioned mechanical arm latter end arm end；One axis, is set to pedestal far from can rotate at manipulator arm latter end arm and along an axis axis, and the range for the angle that the axis axis and pivotal axis are formed is 30 degree to 90 degree；Seat in one, one end are connected on pedestal with axis；One end axis, end set on middle seat far from axis and can rotate along one end axis axis；And an end seat, one end to hold axis connection on middle seat, and end seat far from be formed at the axis of end one for fastening means working face, the range for the angle that working face and end axis axis are formed is 0 degree to 60 degree.Two freedom degrees can be increased by the extended structure for mechanical arm, horizontal machine people is made to have the function of three-dimensional operation.
Description
Technical field
The present invention relates to mechanical arm technical field, a kind of extended structure of mechanical arm is refered in particular to and with extended structure
Mechanical arm.
Background technique
3C commercial product life cycle is short, eliminates and changes rate height, just because of this, demand of the 3C industry to robot product is more and more
It is high.3C industry is exactly quickly that the appendix of general handheld consumer electronic product is low, greatly to one of most important demand of robot
It is horizontal pick-and-place operation that most operations such as testing station and set station, which pick and place operation, and small part operation is the solid picked and placed based on level
Assembling operation.And horizontal machine people is since it has that quick, rigidity is strong, price is lower, for plane optimizing, positive inverse kinematics
Easy advantage and become and apply most industrial robots in the world at present, be widely used in 3C, food, machinery, chemical industry etc.
Each industry.
Current common horizontal machine Ren You SCARA robot, class SCARA robot, Cartesian robot, band rotation
The Cartesian robot of axis, DELTA robot, DELTA robot, pressing robot, robotic wafer with rotary shaft etc..
There are four freedom degrees for these robots tool, primarily to plane works and designs, thus its disadvantage is also apparent from, that is, only
Can horizontal operation and stereoscopic operation can not be executed.Therefore, the horizontal machine people industrially applied at present receives operation type
Limitation.For part isometric operation, such as polishing, polishing, welding or the operation for picking and placing object of tilt angle, it is horizontal
Robot is unable to satisfy demand.
In order to execute stereoscopic motion, user have to often use six traditional axis joint humanoid robots.Although traditional six
Axis joint type mechanical arm is due to that can carry out stereoscopic motion with six-freedom degree, but its there are speed slow, expensive, nothing
Method keeps the defect of identical flexibility ratio in all positions, and the height of flexibility ratio changes as position and attitude changes, and
Freedom degree and flexibility ratio are lost when meeting with singular point, it is necessary to be taken and be evaded means and evade these positions, even and if successfully evading surprise
Dissimilarity, mechanical arm is still not flexible near singular point, there are problems that being easy to block.Five axis joint humanoid robots also have the same
The shortcomings that；Seven axis joint humanoid robots also have the same singular point problem, but are available with redundant degree of freedom to evade.
Furthermore end is caused all perpendicular to working face in the last joint rotation axis direction of mechanical arm on the market at present
Working face it is fixed when, end rotation axis must also be fixed, the direction of rotation axis can not be changed when encountering singular point, because
And singular point can not be changed.
The shortcomings that mechanical arm, the problem of being always existed from being the birth along with it, as robot is got in industry
It is more widely applied, how making them that can efficiently be applied to production activity, flexible operating angle executes various again
Business, this problem have caused degree in industry to pay high attention to.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, a kind of extended structure of mechanical arm is provided, can be solved
Certainly horizontal machine people can not carry out three-dimensional the problem of picking and placing operation.
Realizing the technical solution of above-mentioned purpose is:
The present invention provides a kind of extended structure of mechanical arm, the extended structure is assembled in mechanical arm one
On the pivot of latter end arm end, the extended structure includes:
One pedestal, described pedestal one end are assembled on the pivot of aforementioned mechanical arm latter end arm end；
One axis, be set to the pedestal far from the manipulator arm latter end arm at, the axis can be along an axis axis
The range for the angle that the pivotal axis of rotation, the axis axis and the mechanical arm latter end arm end is formed is 30 degree to 90
Degree；
Seat in one, described middle seat one end are connected on pedestal with axis；
One end axis, set on the end of the middle seat far from the axis, the end axis can be rotated along one end axis axis；And
One end seat, described end seat one end are formed with one for even at the separate end axis of the end seat to hold axis connection on middle seat
The range for the angle that the working face of bonding tool, the working face and the end axis axis are formed is 0 degree to 60 degree.
The invention has the advantages that the extended structure is assembled on the pivot of the latter end arm end of mechanical arm,
Middle seat and the end seat with working face are further added, mechanical arm is embodied as and increases by two freedom degrees, when existing Horizontal machine
Three-dimensional operation can be completed after installing the extended structure in device people.
The extended structure of mechanical arm of the present invention further improvement lies in that, the working face is parallel to the end axis axis
Setting.
The extended structure of mechanical arm of the present invention further improvement lies in that, the axis axis is perpendicular to the pivot shaft
Line；
Alternatively, the axis axis intersects at the pivotal axis；
Alternatively, the axis axis is vertically intersected on the pivotal axis.
The extended structure of mechanical arm of the present invention further improvement lies in that, the end axis axis and axis axis position
In in two parallel planes；And the range of the end axis axis and the angle of axis axis formation is 30 degree to 90
Degree.
The extended structure of mechanical arm of the present invention further improvement lies in that, the end axis axis and the axis axis hang down
Directly.
The extended structure of mechanical arm of the present invention further improvement lies in that, the side of the pedestal be formed with an axis peace
Loading board is formed with the axis end plate for being affixed on the middle axle installing plate, the axis end plate and the axis at the top of the middle seat
Mounting plate is by the middle axis connection, so that the middle seat can be adjusted along the axis axis oscillating；
The side of the middle seat is formed with one end axle installing plate, and the end axle installing plate is set perpendicular to the axis end plate
It sets, the end shaft end plate for being affixed on the end axle installing plate is formed at the top of the end seat, end shaft end plate and the end axis are pacified
Loading board is by the end axis connection, so that the end seat can be adjusted along the end axis axis oscillating.
The extended structure of mechanical arm of the present invention further improvement lies in that, the middle seat tool has a connecting plate, the company
Fishplate bar is parallel to the axis axis and the end axis axis simultaneously, when the working face is perpendicular to the pivotal axis, institute
It states connecting plate and is also perpendicularly to the pivotal axis.
The extended structure of mechanical arm of the present invention further improvement lies in that, the middle seat tool has a connecting plate, the company
Fishplate bar is parallel to the axis axis and the end axis axis simultaneously, when the working face is parallel to the pivotal axis, institute
It states connecting plate and the pivotal axis is non-parallel.
The present invention also provides a kind of mechanical arms with extended structure, solve six axis joint humanoid robot singular points
Problem, comprising:
One pedestal；
One first axle can be rotated set on the pedestal and along a vertical first axle axis；
One end of one first segment arm, the first segment arm is connected on the pedestal with the first axle；
One second axis, set on the described one end of first segment arm far from the first axle, second axis can be along one second axis
Axis rotation, and the second axis axis is parallel to the first axle axis；
One latter end arm, one end of the latter end arm is with second axis connection on the first segment arm；
One third slideway, one end set on the latter end arm far from second axis, and the third slideway is parallel to institute
State the setting of the second axis axis；
One pivot, one end set on the latter end arm far from second axis, the pivot are set to the third slideway simultaneously
It can be slided along the third slideway, and the pivot can be rotated along a pivotal axis；
One pedestal, described pedestal one end are assembled on the pivot；
One axis, be set to the pedestal far from the manipulator arm latter end arm at, the axis can be along an axis axis
The range for the angle that the pivotal axis of rotation, the axis axis and the mechanical arm latter end arm end is formed is 30 degree to 90
Degree；
Seat in one, described middle seat one end are connected on pedestal with axis；
One end axis, set on the end of the middle seat far from the axis, the end axis can be rotated along one end axis axis；And
One end seat, described end seat one end are formed with one for even at the separate end axis of the end seat to hold axis connection on middle seat
The range for the angle that the working face of bonding tool, the working face and the end axis axis are formed is 0 degree to 60 degree.
The present invention also provides a kind of mechanical arms with extended structure, comprising:
One pedestal, the pedestal are equipped with first sliding groove；
One first arm is slidedly arranged on the first sliding groove, and first arm is equipped with second sliding slot, and described second is sliding
Slot is arranged perpendicular to the first sliding groove；
One second arm is slidedly arranged on the second sliding slot, and second arm is equipped with third sliding slot, and the third is sliding
Slot is arranged perpendicular to the first sliding groove and the second sliding slot；
One latter end arm is slidedly arranged on the third sliding slot, and the end of the latter end arm is equipped with an extended structure, described
Extended structure includes:
One pedestal, described pedestal one end are assembled in the end of the latter end arm；
One axis, be set to the pedestal far from the manipulator arm latter end arm at, the axis can be along an axis axis
The range for the angle that the pivotal axis of line rotation, the axis axis and the mechanical arm latter end arm end is formed is 30 degree
To 90 degree；
Seat in one, described middle seat one end are connected on pedestal with axis；
One end axis, set on the end of the middle seat far from the axis, the end axis can be rotated along one end axis axis；And
One end seat, described end seat one end are formed with one for even at the separate end axis of the end seat to hold axis connection on middle seat
The range for the angle that the working face of bonding tool, the working face and the end axis axis are formed is 0 degree to 60 degree.
Detailed description of the invention
Fig. 1 (a), Fig. 1 (b) and Fig. 1 (c) are traditional six axis joint humanoid robots in three schematic diagrames in different positions.
Fig. 2 is the structural schematic diagram of the extended structure of one embodiment of the invention mechanical arm.
Fig. 3 is the explosive view of the extended structure of one embodiment of the invention mechanical arm.
Fig. 4 is the structural schematic diagram of the extended structure of mechanical arm in another embodiment of the present invention.
Fig. 5 (a) and Fig. 5 (b) is that the extended structure of mechanical arm of the present invention replaces traditional six axis joint humanoid robots the 5th
The schematic diagram of axis and the 6th axis.
Fig. 6 (a) is that the extended structure of mechanical arm of the present invention is in the schematic diagram of singular point.
Fig. 6 (b) is that the extended structure of mechanical arm of the present invention is detached from the schematic diagram of singular point.
Fig. 7 is the structural schematic diagram of the mechanical arm in one embodiment of the invention with extended structure.
Fig. 8 is the structural schematic diagram of the mechanical arm in another embodiment of the present invention with extended structure.
Fig. 9 is the structural schematic diagram of the mechanical arm in further embodiment of this invention with extended structure.
Figure 10 is the structural schematic diagram of the mechanical arm in yet another embodiment of the invention with extended structure.
Figure 11 is the structural schematic diagram of another mechanical arm with extended structure of the invention.
Description of symbols:
The 4th axis of 94-；The 5th axis of 95-；The 6th axis of 96-；
11- pedestal；The pivotal mounting plate of 111-；Axle installing plate in 112-；Shaft mounting hole in 113-；
Seat in 21-；211- axis end plate；212- connecting plate；The end 213- axle installing plate；The end 214- shaft mounting hole；
22- axis；221- central-shaft motor；222- axis speed reducer；223- axis shell；
31- end seat；The end 311- shaft end plate；312- feature board；313- accommodation space；
The end 32- axis；The end 321- spindle motor；The end 322- axis speed reducer；The end 323- shaft housing；
40- end-of-arm tooling；
50- pedestal；511- first segment arm；512- first axle；521- latter end arm；The second axis of 522-；531- pivot；532-
Three slideways；54- bracket；
61- pedestal；611- first sliding groove；The first arm of 62-；621- second sliding slot；63 second arms；631- third is sliding
Slot；64- latter end arm.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Referring to Fig.2, the extended structure is installed in horizontal machine people the present invention provides a kind of extended structure of mechanical arm
After upper, horizontal machine people can be made to have the function of three-dimensional operation, have both advantage of the operating speed fastly with executable three-dimensional operation.Under
Face is illustrated in conjunction with extended structure of the attached drawing to mechanical arm of the present invention.
As shown in Fig. 2, the extended structure of mechanical arm of the present invention is assembled in one latter end arm end of mechanical arm
Pivot, the pivot can be rotated along a pivotal axis 120.The extended structure includes: a pedestal 11, which is assembled
On the pivot of aforementioned mechanical arm latter end arm end；One axis 22, be set to pedestal 11 far from manipulator arm latter end arm at, should
Axis 22 can be rotated along an axis axis 220, the axis axis 220 perpendicular to pivotal axis 120 and with 120 phase of pivotal axis
It hands over；Seat 21 in one, 21 one end of seat is connected on pedestal 11 in this with axis 22；One end axis 32 is set to middle seat 21 far from axis 22
End, which can rotate along one end axis axis 320, and hold axis axis 320 parallel positioned at two with axis axis 220
Plane on；And an end seat 31,31 one end of end seat is to hold axis 32 to be connected on middle seat 21, and end seat 31 is far from shape at the axis 32 of end
Cheng Youyi is for the working face 33 of connection end-of-arm tooling 40, which is parallel to end axis axis 320 and is arranged, and the extended structure
In operation, working face 33 faces work surface, and the end-of-arm tooling 40 being connected on working face 33 is connect with the workpiece of adaptation.
In a preferable embodiment, end axis axis 320 is vertical with axis axis 220.
In conjunction with shown in Fig. 2 and Fig. 3, wherein pedestal 11 is inverted l-shaped structure, and pedestal 11 has to be set perpendicular to pivotal axis 120
The pivotal mounting plate 111 set and the middle axle installing plate 112 set on pivotal mounting 111 side of plate, the pivotal mounting plate 111 are equipped with
The pivotal mounting disk connecting with pivot ends, axle installing plate 112 is set to pivotal mounting side of the plate 111 far from pivot in this, and
The middle shaft mounting hole 113 for installing axis 22 is offered in this in axle installing plate 112.Axis 22 is the rotation of a central-shaft motor 221
Shaft, which is set under pivotal mounting plate 111, and the rotary shaft of central-shaft motor 221 is arranged in middle shaft mounting hole
In 113.Middle seat 21 includes an axis end plate 211 for being affixed on middle axle installing plate 112, has been correspondingly formed confession on the axis end plate 211
The accommodating space of axis speed reducer 222 is accommodated, and axis end plate 211 and axis speed reducer 222 are connected by screw to fixation.Axis
The rotary shaft of motor 221 passes through middle shaft mounting hole 113 and is connected to axis speed reducer 222, to be driven by central-shaft motor 221
Axis speed reducer 222 and axis end plate 211 are driven seat 21 in entire and are connected to middle seat with the rotation of axis axis 220
21 end axis 32 and end seat 31 rotates together.Preferably, the outer cup of central-shaft motor 221 is equipped with axis shell 223.Axis end plate
211, axis speed reducer 222, middle axle installing plate 112, central-shaft motor 221 and axis shell 223 are arranged along axis axis 220.
Middle seat 21 further includes the connecting plate 212 for being fixedly arranged on axis end plate 211 and extending to the side close to central-shaft motor 221
With the end axle installing plate 213 for being set to 212 side of connecting plate, axis end plate 211 is set to connecting plate 212 close to the side of axis 22,
And axle installing plate 213 is held to be set to the side that connecting plate leans on proximal shaft 23, and connecting plate 212, end axle installing plate 213 and axis end plate
211 is orthogonal.Since axis end plate 211 is perpendicular to axis axis 220, hold axle installing plate 213 perpendicular to end axis axis 320,
Connecting plate 212 is parallel to axis axis 220 always.
The end shaft mounting hole 214 for installation end axis 32 is offered in the end axle installing plate 213.End axis 32 is one end spindle motor
321 rotary shaft, the end spindle motor 321 are set under connecting plate 212, and the rotary shaft of spindle motor 321 is held to be arranged in end axis peace
It fills in hole 214.End seat 31 includes an end shaft end plate 311 for being affixed on end axle installing plate 213, is correspondingly formed on the end shaft end plate 311
There is the accommodation space 313 for accommodating end axis speed reducer 322, and it is solid to hold shaft end plate 311 and end axis speed reducer 322 to be connected by screw to
It is fixed.The rotary shaft of end spindle motor 321 passes through end shaft mounting hole 214 and is connected to end axis speed reducer 322, to pass through end spindle motor
321 drive end axle speed reducers 322 and end shaft end plate 311 are to hold axis axis 320 to rotate.Preferably, the outer cup of end spindle motor 321
Equipped with end shaft housing 323.Hold shaft end plate 311, end axis speed reducer 322, end axle installing plate 213, end spindle motor 321 and end shaft housing
323 are arranged along end axis axis 320.
Wherein, central-shaft motor 221 and end spindle motor 321 are rotated for seat 21 in driving and end seat 31, axis speed reducer 222
Play the role of reduction of speed with end axis speed reducer 322 and increases torque, and axis shell 223 and end shaft housing 323 play in protection
The effect of spindle motor 221 and end spindle motor 321.Gear, synchronous belt can be used in axis speed reducer 222 and end axis speed reducer 322
Other deceleration devices such as wheel replace the function to realize reduction of speed.In addition, central-shaft motor 221 and end spindle motor 321 can also make
It is replaced with the motor of low speed and large torque, the torque of needs can be reached by not needing deceleration device then at this time.
End seat 33 further includes a feature board 312 for being perpendicularly fixed at end shaft end plate 313, and the feature board 312 is to by proximal shaft
The side of motor 321 extends, and the surface of side of the feature board 312 far from end axis 32 forms working face 33, due to holding shaft end plate 311
End axis axis 330 is parallel to perpendicular to end axis axis 330, thus perpendicular to the working face 33 of end shaft end plate 313.In end spindle motor
When 321 drive end axle end plates 311 rotate, also drives entire end seat 31 and be connected to the end-of-arm tooling 40 of end seat 31 and turn together
It is dynamic, and make working face 33 towards change.End-of-arm tooling 40 can be selected according to the type of workpiece and the needs of operation, common
Have fixture, inhale tool, dispenser, welding gun, filature, camera, also have for by key or carry out be physically contacted work list
One structure.Common end-of-arm tooling is enumerated herein and without being limited thereto, in order in response to actual demand, those skilled in the art can will
Miscellaneous end-of-arm tooling 40 is installed on working face 33.When work, rotated by rotating hinge, axis 22 and end axis 32,
So that working face 33 is towards different directions.
By above structure it is found that the middle seat 21 of the extended structure and end seat 31 are respectively by central-shaft motor 221 and end spindle motor
321 controls, and preferably, central-shaft motor 221 and end spindle motor 321 are connected to an individual controller, pass through the individual control
Device processed controls central-shaft motor 221 and end spindle motor 321；Or control the control of mechanical arm simultaneously using a central control system
Device and the controller for being connected to central-shaft motor 221 and end spindle motor 321；Or using a controller simultaneously control mechanical arm, in
Spindle motor 221 and end spindle motor 321 ensure that operating speed so that the extended structure is flexible enough.
For ease of description, connecting plate 212 is perpendicular to pivotal axis 120 when the definition rotation angle of axis 22 is 0 °；Hold axis 32
When rotation angle is 0 °, working face 33 is parallel to connecting plate 212.
Pivot can be rotated along pivotal axis.Middle seat 21 is connected to pedestal 11 by axis 22 in swingable mode, due to
The limitation of middle seat 21, the slewing area of axis 22 are -95 ° to 95 °.Similarly, end seat 31 is by end axis 32 with swingable side
Formula is connected to middle seat 21, and due to the limitation of end seat 31, holding the slewing area of axis 32 is -95 ° to 95 °.Such connection type makes
When proper pivotal axis is on vertical direction, working face 33 in end seat can be towards side below horizontal plane or above the horizontal plane
To.The extended structure is assembled on the pivot of latter end arm end of horizontal machine people, existing level machine can be made up
People can only carry out the defect of horizontal operation, make horizontal machine people also and can be realized horizontal plane three-dimensional operation below.It is especially right
For the operation of some work surfaces not in the horizontal plane, existing horizontal machine people is unable to satisfy demand, and existing five/
Six/seven axis robots have that operating speed is slow, expensive again, can have both solid using extended structure of the invention
The function and the fireballing advantage of horizontal machine people of operation.
In addition, axis 22 rotate angle be 0 ° when, axis axis 220 and hold axis axis 320 with 120 phase of pivotal axis
It hands over, and since middle seat 21 and end seat 31 are connected and composed by plate, the floor projection effective rake relative to pivot is shorter, can
It effectively prevent the rotation error of axis to be amplified by brachium.Further, since the spacing between axis axis 220 and end axis axis 320 is only
It is made of the radius of the radius of central-shaft motor 221, the thickness of connecting plate 212 and end spindle motor 321, its spacing is shorter and makes
Extended structure arm of force when connecting and lifting workpiece is shorter so that work in workpiece weight born caused by each axis compared with
It is small.
In another embodiment, as shown in figure 4, the connecting plate 212 of extended structure extends to the direction far from axis 22, and
Feature board 312 extends to the direction far from end axis 32, and remaining structure of extended structure is constant.Such structure is due to axis 22
Collision is not will cause when rotating with end axis 32, so that the slewing area of axis 22 and end axis 32 increases, but due to holding axis axis 320
It is non-intersecting with pivotal axis 120, cause middle seat 21 and end seat 31 longer relative to the floor projection effective rake of pivot.
As shown in Fig. 1 (a) to Fig. 1 (c), Fig. 1 (a), Fig. 1 (b) and Fig. 1 (c) show traditional six axis joint humanoid robots
In three when the being oriented downwards kind posture of working face.Wherein, traditional six axis joint humanoid robots are shown in Fig. 1 (a)
In posture, the axis of three axis (referring to the 4th axis 94, the 5th axis 95 and the 6th axis 96) of end is orthogonal, in this posture
Under, the flexibility ratio of robot is best.And in the posture as shown in Fig. 1 (b), due to the axis and the 6th axis 96 of the 4th axis 94
Axis out of plumb, flexibility ratio reduce.And then in the posture as shown in Fig. 1 (c), due to the axis and the 6th axis of the 4th axis 94
96 axis is overlapped, and robot enters singular point, and the robot under this posture loses one degree of freedom, and freedom degree is caused to move back
Change.
And structure disclosed in leading patent CN203542604U, US10029369B1 in working face straight down
It is identical as above-mentioned six axis joint humanoid robot posture shown in Fig. 1 (c) of tradition when posture, the axis of the 4th axis and the 6th axis
Line is overlapped, and robot is in singular point and loses flexibility ratio and freedom degree.That is, the machine of existing executable three-dimensional operation
Device people is often in singular point when operation (working face is oriented operation downwards) under execution face.
In contrast, the working face 33 of extended structure of the invention is when perpendicular to pivotal axis 120, that is, the extension knot
Structure is installed on the pivot of the latter end arm end of horizontal machine people and when being oriented downwards of working face 33, connecting plate 212
It is also perpendicularly to pivotal axis 120.At this point, the rotation angle of axis 22 and end axis 32 is 0 °, pivotal axis 120, axis axis
220 remain orthogonal with end axis axis 320.That is, the extended structure of the invention operation (work under execution face
Facing towards for operation downwards) when can accomplish always in best flexibility ratio.
It should be noted that extended structure of the invention can be used for removing six axis of tradition after the 5th axis and the 6th axis
Revolute robot.As shown in Fig. 5 (a), the six axis joint humanoid robot of tradition equipped with extended structure of the invention in
When the identical posture of Fig. 1 (a), the axis of pivot 94, axis axis 220 and end axis axis 320 are orthogonal, are not at singular point
Posture, and end axis, which is rotated by 90 °, can make work face-down.As shown in Fig. 5 (b), the tradition equipped with extended structure of the invention
Six axis joint humanoid robots are when being in posture identical with Fig. 1 (c), axis, axis axis 220 and the end axis axis of pivot 94
320 is orthogonal, not also in singular point posture.
In addition, structure disclosed in leading patent CN203542604U, US10029369B1 and traditional six axis joint types
Robot, working face is each perpendicular to its least significant end axis axis, when these robots being caused to be in singular point, can not accomplish protecting
It holds working face and is detached from singular point towards the three Ge Zhoushi robots under conditions of constant, passing through rotational end.
And extended structure of the invention can be accomplished keeping work since its working face 33 is parallel to end axis axis 320
Facing towards under conditions of constant, singular point is detached from by three Ge Zhoushi robots of rotational end.And manipulator can be passed through simultaneously
The rotation of arm itself joint shaft makes the coordinate of working face also return to previous coordinate.As shown in Fig. 6 (a), when extended structure
At 90 ° of middle shaft rotation, end axis axis 320 is parallel with pivotal axis 120, at this point, robot is in singular point, working face 33 is flat
Row is in pivotal axis 120.Under this posture, by the way that 90 ° of middle shaft rotation so that the rotation angle of axis returns to 0 °, is held axis axis
320 return to the state perpendicular to pivotal axis 120 and axis axis 220, as shown in Fig. 6 (b), so that robot is detached from singular point
And reach best flexibility ratio.And then by the way that pivot and end axis to be all rotated by 90 °, the working face 33 in end seat is made to be parallel to pivot again
Axis axis 120 makes the direction of working face be returned to original direction, realize keep working face towards it is constant under conditions of, lead to
The three Ge Zhoushi robots for crossing rotational end are detached from singular point.The rotation of cooperative mechanical arm itself joint shaft again, makes working face
Coordinate also return to original coordinate, realize under conditions of keeping working face direction and constant position, keep robot de-
Odd dissimilarity.
For example, when extended structure of the invention is used for the six axis joint type machine of tradition after removing the 5th axis and six axis
People, and the extended structure is in singular point as shown in Fig. 6 (a) when posture, by by 90 ° of middle shaft rotation so that the rotation of axis
Angle returns to 0 °, and end axis axis 320 returns to the state perpendicular to pivotal axis 120 and axis axis 220, as shown in Fig. 6 (b),
So that robot is detached from singular point and reaches best flexibility ratio.And then by the way that pivot and end axis to be all rotated by 90 °, make in end seat
Working face 33 is parallel to pivotal axis 120 again, and the direction of working face is made to be returned to original direction.Cooperative mechanical arm again
First axle makes the coordinate of working face also return to original coordinate to the rotation of the 4th axis, realize keep working face direction and
Under conditions of position is constant, robot is made to be detached from singular point.
This extended structure not only can be adapted for horizontal machine people, per capita may be used for the machine that any terminal shaft is rotary shaft
Reach the freedom degree and flexibility ratio and the effect for avoiding singular point of hoisting machine people by being assembled extended structure of the invention
Fruit.
There is the mechanical arm of extended structure to be illustrated the present invention below in conjunction with attached drawing.
As shown in fig. 7, it includes a pedestal 50 that the present invention, which has the mechanical arm of extended structure,；One first axle 512 is set to bottom
Seat 50 and can be rotated along a first axle axis；One end of one first segment arm 511, first segment arm 511 is connected to bottom with first axle 512
On seat；One second axis 522, one end set on first segment arm 511 far from first axle 512, the second axis 522 can be along one second axis axis
Rotation, and the second axis axis is parallel to first axle axis；One end of one latter end arm 521, latter end arm 521 is connected with the second axis 522
In on first segment arm 511；One third slideway 532, one end set on latter end arm 521 far from the second axis 522, and third slideway 532
It is parallel to the setting of the second axis axis；One pivot 531, one end set on latter end arm 521 far from the second axis 522, pivot 531 are set to the
Three slideways 532 can simultaneously be slided along third slideway 532, and pivot 531 can be rotated along a pivotal axis；And it is assembled in pivot
On extended structure.Specifically, pivot 531 is a spline screw rod, can either be slided along third slideway 532, and can be along pivot
The rotation of axis axis.
In a preferable embodiment, first axle axis, the second axis axis, third slideway and pivotal axis are vertical
Setting.
The extended structure includes: a pedestal 11, which is assembled in aforementioned mechanical arm latter end arm end
Pivot on；One axis 22, be set to pedestal 11 far from manipulator arm latter end arm at, which can be along an axis axis 220
Rotation, the axis axis 220 intersect perpendicular to pivotal axis 120 and with the pivotal axis 120；Seat 21 in one, seat 21 1 in this
End is connected on pedestal 11 with axis 22；One end axis 32, set on middle end of the seat 21 far from axis 22, which can be along one end
Axis axis 320 rotates, and axis axis 320 is held to be located in two parallel planes with axis axis 220；And an end seat 31,
31 one end of end seat is formed with one for connecting end-of-arm tooling 40 at the separate end axis 32 of end seat 31 to hold axis 32 to be connected on middle seat 21
Working face 33, which is parallel to end axis axis 320 and is arranged, and the extended structure, in operation, working face 33 faces
Work surface, the end-of-arm tooling 40 being connected on working face 33 are connect with the workpiece of adaptation.
In a preferable embodiment, end axis axis 320 is vertical with axis axis 220.
In conjunction with shown in Fig. 2 and Fig. 3, wherein pedestal 11 is inverted l-shaped structure, and pedestal 11 has to be set perpendicular to pivotal axis 120
The pivotal mounting plate 111 set and the middle axle installing plate 112 set on pivotal mounting 111 side of plate, the pivotal mounting plate 111 are equipped with
The pivotal mounting disk connecting with pivot ends, axle installing plate 112 is set to pivotal mounting side of the plate 111 far from pivot in this, and
The middle shaft mounting hole 113 for installing axis 22 is offered in this in axle installing plate 112.Axis 22 is the rotation of a central-shaft motor 221
Shaft, which is set under pivotal mounting plate 111, and the rotary shaft of central-shaft motor 221 is arranged in middle shaft mounting hole
In 113.Middle seat 21 includes an axis end plate 211 for being affixed on middle axle installing plate 112, has been correspondingly formed confession on the axis end plate 211
The accommodating space of axis speed reducer 222 is accommodated, and axis end plate 211 and axis speed reducer 222 are connected by screw to fixation.Axis
The rotary shaft of motor 221 passes through middle shaft mounting hole 113 and is connected to axis speed reducer 222, to be driven by central-shaft motor 221
Axis speed reducer 222 and axis end plate 211 are driven seat 21 in entire and are connected to middle seat with the rotation of axis axis 220
21 end axis 32 and end seat 31 rotates together.Preferably, the outer cup of central-shaft motor 221 is equipped with axis shell 223.Axis end plate
211, axis speed reducer 222, middle axle installing plate 112, central-shaft motor 221 and axis shell 223 are arranged along axis axis 220.
Middle seat 21 further includes the connecting plate 212 for being fixedly arranged on axis end plate 211 and extending to the side close to central-shaft motor 221
With the end axle installing plate 213 for being set to 212 side of connecting plate, axis end plate 211 is set to connecting plate 212 close to the side of axis 22,
And axle installing plate 213 is held to be set to the side that connecting plate leans on proximal shaft 23, and connecting plate 212, end axle installing plate 213 and axis end plate
211 is orthogonal.Since axis end plate 211 is perpendicular to axis axis 220, hold axle installing plate 213 perpendicular to end axis axis 320,
Connecting plate 212 is parallel to axis axis 220 always.
The end shaft mounting hole 214 for installation end axis 32 is offered in the end axle installing plate 213.End axis 32 is one end spindle motor
321 rotary shaft, the end spindle motor 321 are set under connecting plate 212, and the rotary shaft of spindle motor 321 is held to be arranged in end axis peace
It fills in hole 214.End seat 31 includes an end shaft end plate 311 for being affixed on end axle installing plate 213, is correspondingly formed on the end shaft end plate 311
There is the accommodation space 313 for accommodating end axis speed reducer 322, and it is solid to hold shaft end plate 311 and end axis speed reducer 322 to be connected by screw to
It is fixed.The rotary shaft of end spindle motor 321 passes through end shaft mounting hole 214 and is connected to end axis speed reducer 322, to pass through end spindle motor
321 drive end axle speed reducers 322 and end shaft end plate 311 are to hold axis axis 320 to rotate.Preferably, the outer cup of end spindle motor 321
Equipped with end shaft housing 323.Hold shaft end plate 311, end axis speed reducer 322, end axle installing plate 213, end spindle motor 321 and end shaft housing
323 are arranged along end axis axis 320.
Wherein, central-shaft motor 221 and end spindle motor 321 are rotated for seat 21 in driving and end seat 31, axis speed reducer 222
Play the role of reduction of speed with end axis speed reducer 322 and increases torque, and axis shell 223 and end shaft housing 323 play in protection
The effect of spindle motor 221 and end spindle motor 321.Gear, synchronous belt can be used in axis speed reducer 222 and end axis speed reducer 322
Other deceleration devices such as wheel replace the function to realize reduction of speed.In addition, central-shaft motor 221 and end spindle motor 321 can also make
It is replaced with the motor of low speed and large torque, the torque of needs can be reached by not needing deceleration device then at this time.
End seat 33 further includes a feature board 312 for being perpendicularly fixed at end shaft end plate 313, and the feature board 312 is to by proximal shaft
The side of motor 321 extends, and the surface of side of the feature board 312 far from end axis 32 forms working face 33, due to holding shaft end plate 311
End axis axis 330 is parallel to perpendicular to end axis axis 330, thus perpendicular to the working face 33 of end shaft end plate 313.In end spindle motor
When 321 drive end axle end plates 311 rotate, also drives entire end seat 31 and be connected to the end-of-arm tooling 40 of end seat 31 and turn together
It is dynamic, and make working face 33 towards change.End-of-arm tooling 40 can be selected according to the type of workpiece and the needs of operation, common
Have fixture, inhale tool, dispenser, welding gun, filature, camera, also have for by key or carry out be physically contacted work list
One structure.Common end-of-arm tooling is enumerated herein and without being limited thereto, in order in response to actual demand, those skilled in the art can will
Miscellaneous end-of-arm tooling 40 is installed on working face 33.When work, rotated by rotating hinge, axis 22 and end axis 32,
So that working face 33 is towards different directions.
By above structure it is found that the middle seat 21 of the extended structure and end seat 31 are respectively by central-shaft motor 221 and end spindle motor
321 controls.And preferably, the first axle 512 of mechanical arm, the second axis 522 and pivot 531 are all connected to a master controller, lead to
The master controller is crossed to control the rotation and sliding of the rotation of first axle 512 and the second axis 522 and pivot 531, and central-shaft motor
221 are connected to another individual controller with end spindle motor 321, by the individual controller to central-shaft motor 221 and end axis
Motor 321 is controlled；Or it is controlled simultaneously using a central control system and is connected to first axle 512, the second axis 522 and pivot 531
Controller and the controller for being connected to central-shaft motor 221 and end spindle motor 321；Or first axle is controlled using a controller simultaneously
512, the second axis 522 and pivot 531 and central-shaft motor 221 and end spindle motor 321 are protected so that the mechanical arm is flexible enough
Operating speed is demonstrate,proved.
For ease of description, connecting plate 212 is perpendicular to pivotal axis 120 when the definition rotation angle of axis 22 is 0 °；Hold axis 32
When rotation angle is 0 °, working face 33 is parallel to connecting plate 212.
Pivot can be rotated along pivotal axis.Middle seat 21 is connected to pedestal 11 by axis 22 in swingable mode, due to
The limitation of middle seat 21, the slewing area of axis 22 are -95 ° to 95 °.Similarly, end seat 31 is by end axis 32 with swingable side
Formula is connected to middle seat 21, and due to the limitation of end seat 31, holding the slewing area of axis 32 is -95 ° to 95 °.Such connection type makes
When proper pivotal axis is on vertical direction, working face 33 in end seat can be towards side below horizontal plane or above the horizontal plane
To.The extended structure is assembled on the pivot of latter end arm end of horizontal machine people, existing level machine can be made up
People can only carry out the defect of horizontal operation, make horizontal machine people also and can be realized horizontal plane three-dimensional operation below.It is especially right
For the operation of some work surfaces not in the horizontal plane, existing horizontal machine people is unable to satisfy demand, and existing five/
Six/seven axis robots have that operating speed is slow, expensive again, can have both solid using extended structure of the invention
The function and the fireballing advantage of horizontal machine people of operation.
In addition, axis 22 rotate angle be 0 ° when, axis axis 220 and hold axis axis 320 with 120 phase of pivotal axis
It hands over, and since middle seat 21 and end seat 31 are connected and composed by plate, the floor projection effective rake relative to pivot is shorter, can
It effectively prevent the rotation error of axis to be amplified by brachium.Further, since the spacing between axis axis 220 and end axis axis 320 is only
It is made of the radius of the radius of central-shaft motor 221, the thickness of connecting plate 212 and end spindle motor 321, its spacing is shorter and makes
Extended structure arm of force when connecting and lifting workpiece is shorter so that work in workpiece weight born caused by each axis compared with
It is small.
In another embodiment, as shown in figure 4, the connecting plate 212 of extended structure extends to the direction far from axis 22, and
Feature board 312 extends to the direction far from end axis 32, and remaining structure of extended structure is constant.Such structure is due to axis 22
Collision is not will cause when rotating with end axis 32, so that the slewing area of axis 22 and end axis 32 increases, but due to holding axis axis 320
It is non-intersecting with pivotal axis 120, cause middle seat 21 and end seat 31 longer relative to the floor projection effective rake of pivot.
As shown in Fig. 1 (a) to Fig. 1 (c), Fig. 1 (a), Fig. 1 (b) and Fig. 1 (c) show traditional six axis joint humanoid robots
In three when the being oriented downwards kind posture of working face.Wherein, traditional six axis joint humanoid robots are shown in Fig. 1 (a)
In posture, the axis of three axis (referring to the 4th axis 94, the 5th axis 95 and the 6th axis 96) of end is orthogonal, in this posture
Under, the flexibility ratio of robot is best.And in the posture as shown in Fig. 1 (b), due to the axis and the 6th axis 96 of the 4th axis 94
Axis out of plumb, flexibility ratio reduce.And then in the posture as shown in Fig. 1 (c), due to the axis and the 6th axis of the 4th axis 94
96 axis is overlapped, and robot enters singular point, and the robot under this posture loses one degree of freedom, and freedom degree is caused to move back
Change.
And structure disclosed in leading patent CN203542604U, US10029369B1 in working face straight down
It is identical as above-mentioned six axis joint humanoid robot posture shown in Fig. 1 (c) of tradition when posture, the axis of the 4th axis and the 6th axis
Line is overlapped, and robot is in singular point and loses flexibility ratio and freedom degree.That is, the machine of existing executable three-dimensional operation
Device people is often in singular point when operation (working face is oriented operation downwards) under execution face.
In contrast, the working face 33 of extended structure of the invention is when perpendicular to pivotal axis 120, that is, the extension knot
Structure is installed on the pivot of the latter end arm end of horizontal machine people and when being oriented downwards of working face 33, connecting plate 212
It is also perpendicularly to pivotal axis 120.At this point, the rotation angle of axis 22 and end axis 32 is 0 °, pivotal axis 120, axis axis
220 remain orthogonal with end axis axis 320.That is, the extended structure of the invention operation (work under execution face
Facing towards for operation downwards) when can accomplish always in best flexibility ratio.
In addition, structure disclosed in leading patent CN203542604U, US10029369B1 and traditional six axis joint types
Robot, working face is each perpendicular to its least significant end axis axis, when these robots being caused to be in singular point, can not accomplish protecting
Hold working face towards and coordinate position it is constant under conditions of so that robot is detached from singular point.
And extended structure of the invention can be accomplished keeping work since its working face 33 is parallel to end axis axis 320
Facing towards under conditions of constant, singular point is detached from by three Ge Zhoushi robots of rotational end.And manipulator can be passed through simultaneously
Arm first axle, the rotation of the second axis and the sliding of pivot and rotation make the coordinate of working face also return to previous coordinate.Such as Fig. 6
(a) shown in, when 90 ° of middle shaft rotation of extended structure, end axis axis 320 is parallel with pivotal axis 120, at this point, robot
In singular point, working face 33 is parallel to pivotal axis 120.Under this posture, by by 90 ° of middle shaft rotation so that the rotation of axis
Gyration returns to 0 °, and end axis axis 320 returns to the state perpendicular to pivotal axis 120 and axis axis 220, such as Fig. 6 (b) institute
Show, so that robot is detached from singular point and reaches best flexibility ratio.And then by the way that pivot and end axis to be all rotated by 90 °, make end seat
On working face 33 be parallel to pivotal axis 120 again, so that the direction of working face is returned to original direction, realize and keeping work
Make to be detached from singular point facing towards the three Ge Zhoushi robots under conditions of constant, passing through rotational end.Cooperative mechanical arm again
One axis, the rotation of the second axis and the sliding of pivot and rotation, make the coordinate of working face also return to original coordinate, and realization is being protected
Hold working face direction and position it is constant under conditions of, so that robot is detached from singular point.
In one embodiment, as shown in fig. 7, extended structure is installed in the lower end of pivot 531.Pass through the axis of extended structure
With end axis rotation so as to adjust the direction of working face, and in the present embodiment, working face can towards horizontal plane direction below,
I other words the mechanical arm of the present embodiment be suitable for being oriented it is vertical upward, inclination upward or horizontal any work surface.Pass through
The end-of-arm tooling 40 for being installed in working face connects workpiece, and then is existed by first axle 512, the rotation of the second axis 522 and pivot 531
Sliding in third slideway 532 carrys out travelling workpiece.
In another embodiment, as shown in figure 8, extended structure is installed in the upper end of pivot 531.By in extended structure
Axis and end axis rotate the direction so as to adjust working face, and in the present embodiment, working face can be towards side above the horizontal plane
To, i other words, the mechanical arm of the present embodiment be suitable for being oriented downwards, inclination downward or horizontal any work surface.
End-of-arm tooling 40 by being installed in working face connects workpiece, and then passes through first axle 512, the rotation of the second axis 522 and pivot
531 sliding in third slideway 532 carrys out travelling workpiece.
In another embodiment, as shown in figure 9, the quantity of extended structure is two and is correspondingly arranged at the upper end of pivot 531
And lower end, two extended structures synchronous rotations up and down are driven when pivot 531 rotates.Axis and end axis rotation by extended structure
So as to adjust the direction of working face, and in the present embodiment, working face can be towards the direction in space.When the direction of work surface
For vertically upward or inclination upward when, using positioned at 531 lower end of pivot extended structure carry out operation；When the direction of work surface
For downwards or inclination downward when, using positioned at 531 upper end of pivot extended structure carry out operation；When the direction of work surface
When horizontal, then operation both carried out using the extended structure positioned at 531 lower end of pivot, also can use positioned at 531 upper end of pivot
Extended structure carry out operation, two extended structures can also be made while carrying out operation.
In another embodiment, as shown in Figure 10, the quantity of extended structure is two, and is set between pivot 531 and pedestal
There is bracket 54, the middle part of the one side of the bracket 54 connect with pivot 531, the base at the both ends of another side and two extended structures
Seat is correspondingly connected with.In the present embodiment, when pivot 531 rotates, two extended structures rotate simultaneously, and two extended structures
Axis and end axis can synchronize control using the same controller, pass through the axis of two extended structures of controller synchronously control
The working faces of two extended structures is rotated so that towards identical with end axis, completes two workpiece in one action to realize
Processing, promoted working efficiency.
Another mechanical arm with extended structure of the invention is illustrated below in conjunction with attached drawing.
As shown in figure 11, right angle coordinate manipulator arm of another of the invention with extended structure includes: that an adjusting is total
At, can along orthogonal three directions carry out position adjusting；And a latter end arm 64, it is installed in and adjusts on assembly, pass through
Assembly is adjusted to carry out position adjusting along orthogonal three directions and correspond to and realize latter end arm 64 along orthogonal three
Direction carries out position adjusting, and the end of latter end arm is equipped with an extended structure.
Specifically, which includes: a pedestal 61, pedestal 61 be equipped with can along first direction relative to work surface into
The first arm 62 that row is adjusted, the first arm 62 are equipped with second sliding slot 621, and second sliding slot 621 is arranged perpendicular to first direction；
One second arm 63 is slidedly arranged on second sliding slot 621, and the second arm 63 is equipped with third sliding slot 631, and third sliding slot 631 is vertical
It is arranged in first direction and second sliding slot 621；One latter end arm 64 is slidedly arranged on third sliding slot 631, and the end of latter end arm 64
Equipped with an extended structure.
In one embodiment, pedestal 61 is equipped with the first sliding groove 622 being arranged along first direction, and the first arm 62 is sliding
Set on first sliding groove 622.Preferably, pedestal 61 includes two T shape components being oppositely arranged, the quantity of first sliding groove 611 is also
Two, the first arm 62 slides back and forth along first sliding groove 611, and the second arm 63 horizontally slips along second sliding slot 621, and then latter end
Arm 64 is slided up and down along third sliding slot 631.(not shown) in another embodiment, pedestal 61 are equipped with and set along first direction
The sliding rail set, the sliding rail is independently installed, and the work surface for placing workpiece is slidably equipped on sliding rail, which can be sliding along the sliding rail
Dynamic, when moving, only work surface and workpiece are mobile, and the structure of second arm or more does not move, to realize the first arm
62 adjusting relative to work surface.Preferably, the end of latter end arm 64 is equipped with a pivot, extended structure passes through the pivot connection
In latter end arm, which can rotate along a pivotal axis, and pivotal axis is parallel to the setting of third sliding slot 631.In addition, adjusting
Assembly can also be slided by independently installed setting along the first of first direction in a first direction and perpendicular to the sliding on first direction
It rail and is replaced perpendicular to the second sliding rail of first direction, the second sliding rail is slidably installed on the first sliding rail, and work surface and workpiece are sliding
On the second sliding rail, to realize adjusting of the extended structure relative to work surface.And on this basis, the setting of pivot is also
Rotatable shaft be can use to replace, shaft is slidedly arranged on the second sliding rail and can be parallel to turning for third sliding slot 631 along one
The rotation of axis axis, and work surface and workpiece can be rotated with the rotation of shaft, to realize extended structure relative to work surface
It adjusts.
The extended structure includes: a pedestal, and pedestal one end is assembled in the end of latter end arm；One axis 22, is set to
Pedestal far from manipulator arm latter end arm at, axis 22 can be rotated along an axis axis, axis axis and mechanical arm latter end
The pivotal axis of arm end is orthogonal and intersects；Seat in one, middle seat one end are connected on pedestal with axis；One end axis 32,
End set on middle seat far from axis, end axis 32 can be rotated along one end axis axis, the end axis axis and axis axis position
In in two parallel planes, and the end axis axis is vertical with the axis axis；And an end seat, end seat one end is to hold
Axis connection is on middle seat, and for end seat far from the working face for being formed with one for fastening means at axis is held, working face is parallel to end axis axis
Setting.
Mechanical arm in the present embodiment is suitable for the operation that dispensing, lock screw etc. do not need working face rotation.
The extended structure of mechanical arm of the present invention has the beneficial effect that
The invention has the advantages that extended structure of the invention is assembled in the pivot of the latter end arm end of mechanical arm
On axis, middle seat and the end seat with working face are further added, mechanical arm is embodied as and increases by two freedom degrees, when existing water
Three-dimensional operation can be completed after installing the extended structure in flat robot.In addition, by making that axis axis and axis axis is held to be located at two
In a parallel plane and working face is parallel to end axis axis, realizes that rotation central axis can be deviate from unusual when meeting with singular point
Point.For example, be singular point when axis is 90 ° and to hold axis be 0 °, rotating middle shaft and end axis at this time, so that axis holds axis in 0 °
In 90 °, abjection singular point can be realized while keeping with previous identical working face direction.While mechanical arm of arranging in pairs or groups
The rotation of joint shaft can also make the coordinate position reply of working face and previous identical coordinate, but be no longer on unusual posture.
The present invention has been described in detail with reference to the accompanying drawings, those skilled in the art can be according to upper
It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not constitute limitation of the invention, this
Invention will be using the range that the appended claims define as protection scope of the present invention.
Claims (10)
1. a kind of extended structure of mechanical arm, the extended structure is the pivot being assembled in one latter end arm end of mechanical arm
On axis, which is characterized in that the extended structure includes:
One pedestal, described pedestal one end are assembled on the pivot of aforementioned mechanical arm latter end arm end；
One axis, be set to the pedestal far from the mechanical arm latter end arm at, the axis can be rotated along an axis axis, institute
The range for stating the angle of the pivotal axis formation of axis axis and the mechanical arm latter end arm end is 30 degree to 90 degree；
Seat in one, described middle seat one end are connected on pedestal with axis；
One end axis, set on the end of the middle seat far from the axis, the end axis can be rotated along one end axis axis；And
One end seat, described end seat one end are formed with one for connecting work at the separate end axis of the end seat to hold axis connection on middle seat
The range for the angle that the working face of tool, the working face and the end axis axis are formed is 0 degree to 60 degree.
2. the extended structure of mechanical arm as described in claim 1, which is characterized in that the working face is parallel to the end axis
Axis setting.
3. the extended structure of mechanical arm as claimed in claim 2, which is characterized in that the axis axis is perpendicular to the pivot
Axis axis；
Alternatively, the axis axis intersects at the pivotal axis；
Alternatively, the axis axis is vertically intersected on the pivotal axis.
4. the extended structure of mechanical arm as described in claim 1, which is characterized in that the end axis axis and the axis axis
Line is located in two parallel planes；And the range of angle that is formed of the end axis axis and the axis axis be 30 degree extremely
90 degree.
5. the extended structure of mechanical arm as claimed in claim 4, which is characterized in that the end axis axis and the axis axis
Line is vertical.
6. the extended structure of mechanical arm as claimed in claim 5, which is characterized in that the side of the pedestal is formed in one
Axle installing plate, is formed with the axis end plate for being affixed on the middle axle installing plate at the top of the middle seat, the axis end plate with it is described
Middle axle installing plate is by the middle axis connection, so that the middle seat can be adjusted along the axis axis oscillating；
The side of the middle seat is formed with one end axle installing plate, and the end axle installing plate is arranged perpendicular to the axis end plate, institute
It states and is formed with the end shaft end plate for being affixed on the end axle installing plate at the top of end seat, end shaft end plate and the end axle installing plate are logical
The end axis connection is crossed, so that the end seat can be adjusted along the end axis axis oscillating.
7. the extended structure of mechanical arm as claimed in claim 5, which is characterized in that the middle seat tool has a connecting plate, institute
It states connecting plate while being parallel to the axis axis and the end axis axis, in the working face perpendicular to the pivotal axis
When, the connecting plate is also perpendicularly to the pivotal axis.
8. the extended structure of mechanical arm as claimed in claim 5, which is characterized in that the middle seat tool has a connecting plate, institute
It states connecting plate while being parallel to the axis axis and the end axis axis, be parallel to the pivotal axis in the working face
When, the connecting plate and the pivotal axis are non-parallel.
9. a kind of mechanical arm with extended structure characterized by comprising
Such as extended structure described in any item of the claim 1 to 8；
One pedestal；
One first axle can be rotated set on the pedestal and along a vertical first axle axis；
One end of one first segment arm, the first segment arm is connected on the pedestal with the first axle；
One second axis, set on the described one end of first segment arm far from the first axle, second axis can be along one second axis axis
Rotation, and the second axis axis is parallel to the first axle axis；
One latter end arm, one end of the latter end arm is with second axis connection on the first segment arm；
One third slideway, one end set on the latter end arm far from second axis, and the third slideway are parallel to described
The setting of two axis axis；
One pivot, one end set on the latter end arm far from second axis, the pivot are set to the third slideway and can edges
The third slideway sliding, and the pivot can be rotated along a pivotal axis.
10. a kind of mechanical arm with extended structure characterized by comprising
One adjusts assembly, can carry out position adjusting along orthogonal three directions；
One latter end arm is installed on the adjusting assembly, is carried out by the adjusting assembly along orthogonal three directions
Position adjusts and corresponds to and realize that the latter end arm carries out position adjusting, and the latter end arm along orthogonal three directions
End be equipped with an extended structure, the extended structure includes:
One pedestal, described pedestal one end are assembled in the end of the latter end arm；
One axis, be set to the pedestal far from the manipulator arm latter end arm at, the axis can along an axis axis turn
Dynamic, the range for the angle that the pivotal axis of the axis axis and the mechanical arm latter end arm end is formed is 30 degree to 90
Degree；
Seat in one, described middle seat one end are connected on pedestal with axis；
One end axis, set on the end of the middle seat far from the axis, the end axis can be rotated along one end axis axis；And
One end seat, described end seat one end are formed with one for connecting work at the separate end axis of the end seat to hold axis connection on middle seat
The range for the angle that the working face of tool, the working face and the end axis axis are formed is 0 degree to 60 degree.
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| CN201811495743.5A CN109591049B (en) | 2018-12-07 | 2018-12-07 | Extension structure of mechanical arm and mechanical arm with extension structure |
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| CN201811495743.5A CN109591049B (en) | 2018-12-07 | 2018-12-07 | Extension structure of mechanical arm and mechanical arm with extension structure |
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| CN110733056A (en) * | 2019-11-01 | 2020-01-31 | 前沿驱动（北京）技术有限公司 | Multi-axis mechanical arm of robot, connecting assembly of multi-axis mechanical arm and robot |
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| CN110193822A (en) * | 2019-06-21 | 2019-09-03 | 广东电网有限责任公司 | A kind of 7 freedom degree high-voltage hot-line work mechanical arms |
| CN110193822B (en) * | 2019-06-21 | 2024-05-03 | 广东电网有限责任公司 | 7-Degree-of-freedom high-voltage live working mechanical arm |
| CN110733056A (en) * | 2019-11-01 | 2020-01-31 | 前沿驱动（北京）技术有限公司 | Multi-axis mechanical arm of robot, connecting assembly of multi-axis mechanical arm and robot |
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| CN109591049B (en) | 2022-02-11 |
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