CN109664327A - A kind of manipulator arm joint system - Google Patents
A kind of manipulator arm joint system Download PDFInfo
- Publication number
- CN109664327A CN109664327A CN201910101150.4A CN201910101150A CN109664327A CN 109664327 A CN109664327 A CN 109664327A CN 201910101150 A CN201910101150 A CN 201910101150A CN 109664327 A CN109664327 A CN 109664327A
- Authority
- CN
- China
- Prior art keywords
- forearm
- hinge hole
- sliding block
- large arm
- joint system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000245 forearm Anatomy 0.000 claims abstract description 52
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000002917 arthritic effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035945 sensitivity 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
- B25J17/00—Joints
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator arm joint systems, are installed on robot shoulder, and the manipulator arm joint system includes large arm and forearm；The lower end of the large arm is provided with hinge hole, and there are two hinge hole, hinge hole of the hinge hole and forearm of the large arm on the inside of joint has been aligned and inserted into pin shaft for the upper end setting of the forearm；Linear motion component is vertically arranged in the large arm, the output end of the linear motion component is provided with the sliding block of linear motion, and hinge hole is provided on the sliding block, and the hinge hole and forearm on the sliding block are provided with connecting rod between the hinge hole on the outside of joint.The advantages of manipulator arm joint system of the present invention in terms of existing technologies, has arthritic volume small, and output torque is big, can carry heavier weight bearing.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of manipulator arm joint system.
Background technique
With the continuous progress of science, machine man-based development has been not limited solely to the industrial robot of early stage, service
Machine man-based development is a trend at this stage.Service-delivery machine man-based development is that the mankind bring more convenient, more comfortable clothes
Business.For service robot, a suitable apery type mechanical arm is vital, but existing many robots
There are a little deficiencies for arm: the robot arm that (one) can grab heavy objects increases joint torque using harmonic speed reducer, but
So that joint is too fat to move and production cost can be in any more；(2) joint drive is carried out using steering engine, so that it is too fat to move to reduce joint, slightly
It reduces the cost, but makes mechanical arm leading portion that can not grab heavy objects, be only capable of demonstrating, actual utility is little.
Summary of the invention
In order to solve the above technical problems, the main object of the present invention is to provide a kind of manipulator arm joint system, to subtract
Minor articulus volume keeps joint small and exquisite, has reached human joint's size, and mechanical arm can grab heavier weight.
In order to achieve the above object, the present invention is resolved using following technical scheme.
A kind of manipulator arm joint system, is installed on robot shoulder, and the manipulator arm joint system includes large arm
And forearm；The lower end of the large arm is provided with hinge hole, and there are two hinge hole, the hinges of the large arm for the upper end setting of the forearm
It connects the hinge hole of hole and forearm on the inside of joint and has been aligned and inserted into pin shaft；Linear motion group is vertically arranged in the large arm
Part, the output end of the linear motion component are provided with the sliding block of linear motion, and hinge hole, the cunning are provided on the sliding block
Hinge hole and forearm on block are provided with connecting rod between the hinge hole on the outside of joint.
Further, the vertical distance range of the straight-line trajectory extended line of the hinge hole and sliding block of the large arm is greater than
Equal to 0mm.
Further, the linear motion component includes motor, screw pair；The output shaft and lead screw spiral shell of the motor
Female secondary lead screw is fixedly connected, and the upper/lower terminal of the lead screw is fixedly connected with large arm respectively；The nut of the screw pair
It is fixedly connected with the sliding block.
Further, the linear motion component is electric pushrod, and the electric pushrod is fixedly connected with the large arm, institute
The output end for stating electric pushrod is fixedly connected with a slide block.
Further, microswitch, lower microswitch are provided in the large arm, the upper microswitch is for limiting
The top dead centre of the sliding block, lower microswitch are used to limit the lower dead center of the sliding block.
Further, the difference of the pitch-row between the connecting rod and two hinge holes of forearm is less than the hinge hole and cunning of large arm
The vertical range of the straight-line trajectory extended line of block.
Further, the sum of pitch-row between the connecting rod and two hinge holes of forearm is greater than the top dead centre of sliding block and big
The distance of the hinge hole of arm.
Further, the angular range of the central axes of the line and forearm of two hinge holes of the forearm be 100 °-
150°。
Manipulator arm joint system of the present invention in terms of existing technologies, has arthritic volume small, output torque is big, energy
The advantages of carrying heavier weight bearing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is that manipulator arm joint system uses screw pair large arm forearm straight configuration schematic diagram；
Fig. 2 is that manipulator arm joint system uses screw pair large arm forearm bending state schematic diagram；
Fig. 3 is that manipulator arm joint system large arm hinge hole is in the schematic diagram on sliding block motion track；
Fig. 4 is that manipulator arm joint system uses electric pushrod large arm forearm straight configuration schematic diagram；
Fig. 5 is that manipulator arm joint system uses electric pushrod large arm forearm bending state schematic diagram.
In the above figure: 1 large arm；2 forearms；3 sliding blocks；4 connecting rods；5 motors；6 screw pairs；7 electric pushrods；It is micro- on 8
Dynamic switch；9 lower microswitches.
Specific embodiment
It is understandable in order to enable the above objects, features and advantages of the present invention to become apparent, with reference to the accompanying drawing to this hair
Bright specific embodiment is described in detail.
Detail is elaborated in the following description to fully understand the present invention.But the present invention can with it is a variety of not
Other way described herein is same as to implement, those skilled in the art can do class without violating the connotation of the present invention
Like popularization.Therefore the present invention is not limited by following public specific embodiment.
With reference to Fig. 1, a kind of manipulator arm joint system is installed on robot body, including large arm 1 and forearm 2；It is described
The lower end of large arm 1 is provided with hinge hole, the upper end setting of the forearm 2 there are two hinge hole, the hinge hole of the large arm 1 with it is small
Hinge hole of the arm 2 on the inside of joint has been aligned and inserted into pin shaft；It is vertically arranged with linear motion component in the large arm 1, institute
The output end for stating linear motion component is provided with the sliding block 3 of linear motion, and hinge hole, the sliding block 3 are provided on the sliding block 3
On hinge hole and forearm 2 close joint on the outside of hinge hole between be provided with connecting rod 4.
In above embodiments, the upper end of forearm 2 is arranged two hinge holes, the hinge hole on forearm 2 on the inside of joint with
The lower end hinge hole of large arm 1 has been aligned and inserted into pin shaft, and the output end setting sliding block 3 that moves along a straight line, the movement routine of sliding block 3
For straight line, connecting rod 4, sliding block 3, connecting rod 4, the formation of forearm 2 are set between the hinge hole on the outside of the close joint of sliding block 3 and forearm 2
Crank block 3 mechanism.Start linear motion component, can be the rotary motion of forearm 2 by transform linear motion.In this way
Structure drive forearm 2, the volume in joint obviously can be made small.Designing in this way is advantageous in that: volume is too fat to move
Deceleration mechanism is placed on place not high to volume requirement inside large arm 1, and does not account in the place for needing strict control size
With too many space.
Further, with reference to Fig. 1 and Fig. 2, the straight-line trajectory extended line of the hinge hole and sliding block 3 of the large arm 1
Vertical distance range is more than or equal to 0mm.
In above embodiments, preferably, the hinge hole of large arm 1 is in the side of the straight-line trajectory of sliding block 3, this
Sample is formed 3 mechanism of offset slider-crank.So that the length of crank is longer, according to lever principle, drive the end arm of force longer, more
It is laborsaving.The benefit of such design has: (one) is smaller to the driving force request of linear motion component, convenient for reducing cost；(2)
1 hinge hole of large arm is biased to close to body side, when connecting rod 4 pushes forearm 2 to rotate, connecting rod 4 will not stretch out 1 end of large arm
Or stretching is less, such design is closer to human synovial.With reference to Fig. 3, the hinge hole of large arm 1 is in the straight line of sliding block 3
On the extended line of motion profile, material is thus formed to 3 mechanism of heart crank block, suboptimal design can be used as.
Further, with reference to Fig. 1 and Fig. 2, the linear motion component includes motor 5, screw pair 6；The motor 5
Output shaft be fixedly connected with the lead screw of screw pair 6, the upper/lower terminal of the lead screw is fixedly connected with large arm 1 respectively；Institute
The nut for stating screw pair 6 is fixedly connected with the sliding block 3.
In above embodiments, linear motion component is specifically used as using motor 5, screw pair 6, screw pair 6 passes
Efficiency of movement height, high sensitivity, stable drive, abrasion is small, the service life is long, can eliminate axial gap, improves axial rigidity etc..
Further, with reference to Fig. 4 and Fig. 5, the linear motion component is electric pushrod 7, the electric pushrod 7 with it is described
Large arm 1 is fixedly connected, and the output end of the electric pushrod 7 is fixedly connected with sliding block 3.
In above embodiments, specific electric pushrod 7 is used as linear motion component, and electric pushrod 7 is a kind of by motor
Rotary motion is changed into the power-driven gear of the straight reciprocating motion of push rod.Due to electric pushrod 7 itself band deceleration mechanism, because
This electric pushrod 7 can export high-torque.
Further, microswitch 8, lower microswitch 9 are provided with reference to Fig. 1 and Fig. 2, in the large arm 1, it is described on
Microswitch 8 is used to limit the top dead centre of the sliding block 3, and lower microswitch 9 is used to limit the lower dead center of the sliding block 3.
In order to determine angular range that forearm 2 is rotated relative to large arm 1, microswitch 8, lower fine motion are provided in large arm 1
Switch 9, when forearm 2 is stretched relative to large arm 1, upper microswitch 8 is arranged in the location of sliding block 3, when forearm 2 is relative to big
When the bending of arm 1 to minimum angles, lower microswitch 9 is arranged in the location of sliding block 3, and upper microswitch 8 and lower microswitch 9 are true
Rotation in restriction range can be leaned against by having determined forearm 2.
Further, the difference of the pitch-row between the connecting rod 4 and two hinge holes of forearm 2 is less than the hinge hole of large arm 1
With the vertical range of the straight-line trajectory extended line of sliding block 3.
There are the bar elongate members of crank to be for 3 mechanism of crank block: the long difference of the bar of connecting rod 4 and crank should be greater than sliding in mechanism
Offset distance between the mobile guide passage center line of block 3 and crank up center.It corresponds in this present embodiment, i.e. connecting rod 4 and forearm 2
The difference of pitch-row between two hinge holes be less than large arm 1 hinge hole it is vertical with the straight-line trajectory extended line of sliding block 3 away from
From.During forearm 2 is rotated relative to large arm 1, bottom dead centre will not be crossed, i.e. the rotary motion of large arm 1 and forearm 2 is determining
, controllable.
Further, the sum of pitch-row between the connecting rod 4 and two hinge holes of forearm 2 is greater than the top dead centre of sliding block 3
At a distance from the hinge hole of large arm 1.
In above embodiments, limits the sum of pitch-row between connecting rod 4 and two hinge holes of forearm 2 and be greater than the upper of sliding block 3
For stop at a distance from the hinge hole of large arm 1, the hinge hole line that forearm 2 can be effectively prevented crosses top dead-centre, ensure that movement
Certainty and controllability.
Further, the angular range of the central axes of the line and forearm 2 of two hinge holes of the forearm 2 be 100 °-
150°。
In above embodiments, in order to ensure the relative rotation angle of writing and forearm 2 can be close to human body large arm 1 and forearm
2 rotation angle, the preferably angular range of the central axes of the line and forearm 2 of the two of forearm 2 hinge hole are 100 ° -150 °.
Although the present invention is described in detail with a general description of the specific embodiments in this specification,
But on the basis of the present invention, it can be made some modifications or improvements, this it will be apparent to those skilled in the art that.Cause
This, these modifications or improvements on the basis of without departing from the present invention are fallen within the scope of the claimed invention.
Claims (8)
1. a kind of manipulator arm joint system, is installed on robot shoulder, which is characterized in that the manipulator arm joint system
Including large arm (1) and forearm (2)；The lower end of the large arm (1) is provided with hinge hole, and there are two hinges for the upper end setting of the forearm
Hole is connect, hinge hole of the hinge hole and forearm of the large arm on the inside of joint has been aligned and inserted into pin shaft；
Linear motion component is vertically arranged in the large arm, the output end of the linear motion component is provided with linear motion
Sliding block (3) is provided with hinge hole on the sliding block (3), and the hinge hole on the sliding block (3) and forearm (2) are on the outside of joint
Hinge hole between be provided with connecting rod (4).
2. manipulator arm joint system according to claim 1, which is characterized in that the hinge hole of the large arm and sliding block
The vertical distance range of straight-line trajectory extended line is more than or equal to 0mm.
3. manipulator arm joint system according to claim 1, which is characterized in that the linear motion component includes motor
(5), screw pair (6)；The output shaft of the motor (5) is fixedly connected with the lead screw of screw pair (6), the lead screw
Upper/lower terminal is fixedly connected with large arm respectively；The nut of the screw pair (6) is fixedly connected with the sliding block.
4. manipulator arm joint system according to claim 1, which is characterized in that the linear motion component is electronic pushes away
Bar (7), the electric pushrod (7) are fixedly connected with the large arm, the output end of the electric pushrod and sliding block (3) fixed company
It connects.
5. manipulator arm joint system according to claim 1, which is characterized in that be provided with fine motion in the large arm and open
(8), lower microswitch (9) are closed, the upper microswitch (8) is used to limit the top dead centre of the sliding block (3), lower microswitch
(9) for limiting the lower dead center of the sliding block (3).
6. manipulator arm joint system according to claim 1, which is characterized in that two of the connecting rod and forearm are hinged
The difference of pitch-row between hole is less than the vertical range of the hinge hole of large arm and the straight-line trajectory extended line of sliding block.
7. manipulator arm joint system according to claim 1, which is characterized in that two of the connecting rod and forearm are hinged
The sum of pitch-row between hole is greater than the top dead centre of sliding block at a distance from the hinge hole of large arm.
8. manipulator arm joint system according to claim 1, which is characterized in that the company of two hinge holes of the forearm
The angular range of the central axes of line and forearm is 100 ° -150 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910101150.4A CN109664327A (en) | 2019-01-31 | 2019-01-31 | A kind of manipulator arm joint system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910101150.4A CN109664327A (en) | 2019-01-31 | 2019-01-31 | A kind of manipulator arm joint system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109664327A true CN109664327A (en) | 2019-04-23 |
Family
ID=66151132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910101150.4A Pending CN109664327A (en) | 2019-01-31 | 2019-01-31 | A kind of manipulator arm joint system |
Country Status (1)
| Country | Link |
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| CN (1) | CN109664327A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110614652A (en) * | 2019-09-26 | 2019-12-27 | 今立机器人(上海)有限公司 | Single-degree-of-freedom kinematic joint of robot |
| CN110757499A (en) * | 2019-11-29 | 2020-02-07 | 东莞理工学院 | Rotary robot joint |
| CN110900587A (en) * | 2019-11-30 | 2020-03-24 | 张红宾 | Mechanical arm structure with positioning structure |
| CN111113399A (en) * | 2020-01-10 | 2020-05-08 | 山东大学 | Linear motion joint flexible mechanical arm based on series elastic driver |
| CN112388669A (en) * | 2019-08-14 | 2021-02-23 | 陕西伟景机器人科技有限公司 | Robot arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112388669A (en) * | 2019-08-14 | 2021-02-23 | 陕西伟景机器人科技有限公司 | Robot arm |
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| CN110757499A (en) * | 2019-11-29 | 2020-02-07 | 东莞理工学院 | Rotary robot joint |
| CN110900587A (en) * | 2019-11-30 | 2020-03-24 | 张红宾 | Mechanical arm structure with positioning structure |
| CN111113399A (en) * | 2020-01-10 | 2020-05-08 | 山东大学 | Linear motion joint flexible mechanical arm based on series elastic driver |
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