CN109676596A - Six-degree-of-freedom intelligent grabbing mechanical arm - Google Patents
Six-degree-of-freedom intelligent grabbing mechanical arm Download PDFInfo
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- CN109676596A CN109676596A CN201910090293.XA CN201910090293A CN109676596A CN 109676596 A CN109676596 A CN 109676596A CN 201910090293 A CN201910090293 A CN 201910090293A CN 109676596 A CN109676596 A CN 109676596A
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- joint
- pitching
- shoulder joint
- connecting plate
- fixed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
- B25J17/025—One-dimensional joints mounted in series
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a six-degree-of-freedom intelligent grabbing mechanical arm. The six-degree-of-freedom intelligent grabbing mechanical arm comprises a shoulder joint rotating mechanism, a shoulder joint pitching mechanism, an elbow joint rotating mechanism, an elbow joint pitching mechanism, a wrist joint rotating mechanism, a wrist joint pitching mechanism and a mechanical claw which are connected in sequence, wherein rigid power transmission connecting devices positioned in a shell are connected between the output end of the shoulder joint rotating mechanism and the input end of the shoulder joint pitching mechanism and between the output end of the shoulder joint pitching mechanism and the input end of the elbow joint rotating mechanism. The six-degree-of-freedom intelligent grabbing mechanical arm can perform various complex composite motions, is wide in motion range, and can finish grabbing actions with high coupling degree; through internal connecting piece connection, the stress of the shell is lower; the used shell can adopt such light materials as plastic; the manufacturing mode is 3D printing; the materials are convenient to obtain; the manufacturing is simple; the cost is low; the total weight of the mechanical arm can be reduced; the operation is easy; the working life is prolonged; and the six-degree-of-freedom intelligent grabbing mechanical arm preferably adapts to the construction operation in actual complex working environments.
Description
Technical field
The present invention relates to Multi-shaft mechanical arm technical applications, specially a kind of six degree of freedom intelligent grabbing mechanical arm.
Background technique
In the case where country advocates " industry 4.0 " and the overall background of " made in China 2025 ", the process of industrial automation as
Fire such as carries out to the bitter edible plant.Therefore, manual work is industrially replaced using mechanical arm, more becomes following trend.Mechanical arm it is big
Amount application, can reduce labour cost, further liberate the productive forces, while can replace repetition that be accomplished manually danger, single
Work, purposes is very extensive.But there are volumes excessive, the complex structure and other problems of industrial machinery arm at present on the market.One
Aspect is difficult to complete more complicated grasping movement due to the defect in mechanical structure, can not guarantee that simultaneously working space is big
And operation precision.Still further aspect, external advanced its inner connecting way of mechanical arm and kind of drive secrecy, domestic machinery
Arm still lacks the advantages that light, flexibility is high, appearance is coordinated,
For existing machinery arm by each joint by cage connection, the shell of starting point needs to bear biggish torque, therefore shell
It needs using high-intensitive aluminium alloy or other metal alloys casting.Shell external form is using cambered surface, the processing difficulties on lathe,
Mold can only be taken to produce, but will lead at high cost, the problems such as modification is difficult, and fabrication cycle is long in this way.
Therefore, it is a it is light, flexibility is high, attractive appearance, and can be with by the multi-degree-of-freemechanical mechanical arm of compatriots' independent research
Substantially improve China's industrial machinery arm problems faced at this stage.
Summary of the invention
The invention proposes a kind of six degree of freedom intelligent grabbing mechanical arm, mainly solve that existing structure is complicated, flexibility
It is not high, crawl precision it is not high, be difficult to the problems such as promoting.
The present invention is achieved through the following technical solutions:
A kind of six degree of freedom intelligent grabbing mechanical arm, including sequentially connected shoulder joint rotating mechanism, shoulder joint luffing mechanism, elbow
Joint rotating mechanism, elbow joint luffing mechanism, wrist joint rotating mechanism, wrist joint luffing mechanism and gripper, the shoulder joint
It saves between the output end of rotating mechanism and the input terminal of shoulder joint luffing mechanism, the output end and elbow of the shoulder joint luffing mechanism
It is all connected with and is provided with positioned at the intracorporal rigid power transmission connecting mechanism of shell between the input terminal of joint rotating mechanism.
Further, between the output end of the shoulder joint rotating mechanism and the input terminal of shoulder joint luffing mechanism
Rigid power transmission connecting mechanism includes bottom plate connecting plate, Y type connecting plate, and the main body of the Y type connecting plate is rectangular plate-like, institute
It is symmetrically arranged with shape flanged joint portion of spreading the wings with stating the two sides stretching, extension of the main body length direction of Y type connecting plate, the flange connects
Socket part edge is provided with several connection through-holes along concentric circles distribution；The bottom plate connecting plate and the shoulder joint rotating mechanism
Output end be fixedly connected by screw, one end of the Y type connecting plate and the bottom plate connecting plate are connect by the way that screw is vertical,
The input terminal of the shoulder joint luffing mechanism is symmetrically extended the connecting plate mounting portion for having two cross sections for arc, two institutes
The front end face for stating connecting plate mounting portion is connect by the way that screw is vertical with two flanged joint portions of the Y type connecting plate respectively.
Further, the institute between the output end of the shoulder joint luffing mechanism and the input terminal of elbow joint rotating mechanism
The rigid power transmission connecting mechanism stated includes bottom plate connecting plate, fan-shaped connecting plate, and the main body of the sector connecting plate is rectangle
Plate, one end of the main body length direction of fan-shaped connecting plate be provided with arcuate flange interconnecting piece, the bowed flanged joint
Portion edge is provided with several connection through-holes along concentric circles distribution；The bottom plate connecting plate and the shoulder joint luffing mechanism
Output end is fixedly connected by screw, and one end of the sector connecting plate is connect with the bottom plate connecting plate by the way that screw is vertical,
The input terminal of the elbow joint rotating mechanism is symmetrically extended the connecting plate mounting portion for having two cross sections for arc, two institutes
The front end face for stating connecting plate mounting portion is connect by the way that screw is vertical with the arcuate flange interconnecting piece of the fan-shaped connecting plate.
Further, the shoulder joint rotating mechanism specifically further includes shoulder joint rotating electric machine, shoulder joint rotation output
Flange, shoulder joint rotating driver and shoulder joint rotational shell are additionally provided with shoulder joint rotation muscle on the Y type connecting plate
Plate, shoulder joint rotating electric machine outer ring are fixed with external environment, and inner ring and shoulder joint rotation output flange pass through screw connection,
Hollow out in the middle part of the shoulder joint rotation output flange, and it is drilled with counter sink；The shoulder joint rotation gusset rotates defeated with shoulder joint
Flange and Y type connecting plate out play support fixed function；Shoulder joint rotating driver surrounding is drilled with through-hole, is fixed by screws in
Shoulder joint rotates output flange upper surface；Shoulder joint rotational shell bottom is drilled with counter sink in one week, passes through screw and shoulder joint
The threaded hole of section rotation output flange surrounding, which cooperates, to be fixed；The bottom plate connecting plate and shoulder joint rotation output flange are logical
It crosses screw to be fixedly connected, one end of the Y type connecting plate is connect with the bottom plate connecting plate by the way that screw is vertical.
Further, the shoulder joint luffing mechanism specifically include shoulder joint pitching mounting flange, shoulder joint pitching motor,
Shoulder joint pitching output flange, fan-shaped connecting plate, shoulder joint pitch drive and shoulder joint pitching shell, the shoulder joint pitching
Mounting flange is symmetrically extended the connecting plate mounting portion for having two cross sections for arc；The fan-shaped connecting plate is additionally provided with
Shoulder joint pitching gusset, shoulder joint pitching motor outer ring is fixed with shoulder joint pitching mounting flange by screw connection, interior
Circle is fixed with shoulder joint pitching output flange by screw connection；The shoulder joint pitching gusset is exported with shoulder joint pitching respectively
Flange, fan-shaped connecting plate are connected and fixed；The shoulder joint pitch drive surrounding is drilled with through-hole, is fixed by screws in shoulder joint
Pitching output flange surface；Shoulder joint pitching outer casing bottom periphery is drilled with through-hole, passes through screw and shoulder joint pitching output flange
The threaded hole of surrounding, which cooperates, to be fixed.
Further, the elbow joint rotating mechanism specifically includes elbow joint rotation mounting flange, elbow joint electric rotating
Machine, elbow joint rotation output flange and elbow joint rotational shell, elbow joint rotation mounting flange and fan-shaped connecting plate pass through screw
It is connected and fixed；Elbow joint rotating electric machine outer ring is fixed with elbow joint rotation mounting flange by screw connection, and inner ring passes through screw
It is connected and fixed with elbow joint rotation output flange；Two end periphery of elbow joint rotational shell is drilled with through-hole, passes through screw and elbow joint
The threaded hole for rotating output flange periphery, which cooperates, to be fixed；The elbow joint rotation mounting flange, which is symmetrically extended, two cross
Section is the connecting plate mounting portion of arc.
Further, the elbow joint luffing structure includes elbow joint pitching mounting flange, elbow joint pitching motor, elbow
Joint pitching output flange and elbow joint pitching shell, the elbow joint pitching mounting flange surrounding are drilled with threaded hole, pass through spiral shell
Silk is fixed with the cooperation of elbow joint rotational shell；Elbow joint pitching motor outer ring is fixed with elbow joint pitching mounting flange, outer ring with
Elbow joint pitching output flange is fixed；The elbow joint pitching output flange periphery is drilled with threaded hole, passes through screw and elbow joint
Through-hole on pitching shell is cooperatively connected.
Further, the wrist joint rotational structure includes wrist joint rotation mounting flange, wrist joint rotating electric machine, wrist
Joint rotates output flange, wrist joint rotational shell and wrist joint rotating driver composition, the wrist joint and rotates mounting flange
Surrounding is drilled with threaded hole, is fixed by screw and the cooperation of elbow joint pitching shell；Wrist joint rotating electric machine inner ring and wrist joint revolve
Turn mounting flange to fix, outer ring is fixed with wrist joint rotation output flange；Wrist joint rotation output flange periphery is drilled with spiral shell
Pit is cooperatively connected by the through-hole on screw and wrist joint rotational shell；Wrist joint rotating driver surrounding has through-hole, passes through
Screw is fixed on wrist joint rotation mounting flange.
Further, the wrist joint luffing mechanism includes wrist joint pitching mounting flange, wrist joint pitching motor, wrist
Joint pitching output flange and wrist joint pitch drive, wrist joint pitching mounting flange surrounding are drilled with threaded hole, pass through screw
Cooperate with wrist joint rotational shell and fixes；Wrist joint pitching motor outer ring is fixed with wrist joint pitching mounting flange, outer ring and wrist
Joint pitching output flange is fixed；Wrist joint pitch drive surrounding has through-hole, is fixed by screws in wrist joint pitching and fixes
On flange.
Further, the gripper include fixed bracket, gripper motor, big crank, small crank, long pawl, shortly clawed,
Stay bolt and lag bolt, the fixed bracket are fixed with wrist joint pitching output flange by screw connection；Outside gripper motor
Circle is fixed with fixed bracket, and inner ring is connect by gear with big crank and small crank；The stay bolt consolidates long pawl and big crank
Fixed, lag bolt fixes shortly clawed and small crank, and gripper motor controls the opening and closing campaign of long pawl and shortly clawed simultaneously.
Compared with prior art, six degree of freedom intelligent grabbing mechanical arm of the invention can carry out the compound fortune of various complexity
Dynamic, space is wide on a large scale, and the high grasping movement of achievable degree of coupling well adapts in real complex work environment
Construction operation, in which:
1, cage connection is passed through by each joint for existing machinery arm, the shell of starting point needs to bear biggish torque and adopts
It is cast with high-intensitive aluminium alloy or other metal alloys and the problems such as processing difficulties are at high cost, mechanical arm of the invention passes through
Internal connector conducting power, stressed skin very little, sheathing material requirement used is low, and the light materials such as plastics can be used, make
Making mode is 3D printing, and material facilitates acquisition, is simple to manufacture, and cheap.
2, for existing mechanical arm because being used as connection using high-intensitive alloy shell, therefore overall weight can be very big,
The problems such as long-term work will lead to metal fatigue, and workpiece deforms, it is very light that the present invention can be used the light materials such as plastics, can be with
Mitigate mechanical arm overall weight significantly, it is easily operated, extend working life.
3, when operation, each articulation mechanism Moment of mechanical arm is at a distance from each articulation mechanism to gripper of mechanical arm at just
Than therefore, the present invention is only provided in several articulation mechanisms far from gripper to be connected positioned at the intracorporal rigid power transmission of shell
Connection device both meets mechanical characteristic, it helps the structure and total weight for simplifying mechanical arm reduce cost.
Detailed description of the invention
Fig. 1 is mechanical arm structural schematic diagram of the present invention；
Fig. 2 is shoulder joint rotating mechanism schematic diagram of the present invention；
Fig. 3 is shoulder joint luffing mechanism schematic diagram of the present invention；
Fig. 4 is elbow joint rotating mechanism schematic diagram of the present invention；
Fig. 5 is elbow joint luffing mechanism view of the present invention；
Fig. 6 is wrist joint rotating mechanism schematic diagram of the present invention；
Fig. 7 is wrist joint luffing mechanism schematic diagram of the present invention；
Fig. 8 is mechanical claw Mechanism view of the present invention；
Fig. 9 is the Y type connecting board structure schematic diagram of the embodiment of the present invention；
Figure 10 is the bottom plate connecting board structure schematic diagram of the embodiment of the present invention；
Figure 11 is the shoulder joint pitching mounting flange structural schematic diagram of the embodiment of the present invention；
Figure 12 is the fan-shaped connecting board structure schematic diagram of inventive embodiments.
In figure: 1- shoulder joint rotating mechanism；1-1- shoulder joint rotating electric machine；1-2- shoulder joint rotates output flange；1-3-
Y type connecting plate；1-4- shoulder joint rotates gusset；1-5- shoulder joint rotating driver；1-6- shoulder joint rotational shell；2- shoulder joint
Luffing mechanism；2-1- shoulder joint pitching mounting flange；2-2- shoulder joint pitching motor；2-3- shoulder joint pitching output flange；2-
4- sector connecting plate；2-5- shoulder joint pitching gusset；2-6- shoulder joint pitch drive；2-7- shoulder joint pitching shell；3- elbow
Joint rotating mechanism；3-1- elbow joint rotates mounting flange；3-2- elbow joint rotating electric machine；3-3- elbow joint rotates output method
It is blue；3-4- elbow joint rotational shell；4- elbow joint luffing mechanism；4-1- elbow joint pitching mounting flange；4-2- elbow joint pitching
Motor；4-3- elbow joint pitching output flange；4-4- elbow joint pitching shell；5- wrist joint rotating mechanism；The rotation of 5-1- wrist joint
Turn mounting flange；5-2- wrist joint rotating electric machine；5-3- wrist joint rotates output flange；5-4- wrist joint rotational shell；5-5-
Wrist joint rotating driver；6- wrist joint luffing mechanism；6-1- wrist joint pitching mounting flange；6-2- wrist joint pitching motor；
6-3- wrist joint pitching output flange；6-4- wrist joint pitch drive；7- gripper；7-1- fixes bracket；7-2- gripper
Motor；7-3- big crank；7-4- small crank；7-5- long pawl；7-6- shortly clawed；7-7- stay bolt；7-8- lag bolt.
Specific embodiment
With reference to the accompanying drawing, the working principle of the invention and the course of work are described in further detail.
As shown in Figure 1, a kind of six degree of freedom intelligent grabbing mechanical arm, including sequentially connected shoulder joint rotating mechanism 1, shoulder
Joint luffing mechanism 2, elbow joint rotating mechanism 3, elbow joint luffing mechanism 4, wrist joint rotating mechanism 5, wrist joint luffing mechanism 6
And gripper 7, between the output end of the shoulder joint rotating mechanism 1 and the input terminal of shoulder joint luffing mechanism 2, the shoulder joint
It saves to be all connected between the output end of luffing mechanism 2 and the input terminal of elbow joint rotating mechanism 3 and be provided with positioned at the intracorporal rigidity of shell
Power transmission connecting mechanism.
Specifically, as shown in Fig. 2, Fig. 9 to Figure 12, output end and shoulder joint positioned at the shoulder joint rotating mechanism 1 are bowed
Facing upward the rigid power transmission connecting mechanism between the input terminal of mechanism 2 includes bottom plate connecting plate, Y type connecting plate 1-3, the Y type
The main body of connecting plate 1-3 is rectangular plate-like, and the two sides stretching, extension ground of the main body length direction of the Y type connecting plate 1-3 is symmetrically set
It is equipped with shape flanged joint portion of spreading the wings, flanged joint portion edge is provided with several connection through-holes along concentric circles distribution；It is described
Bottom plate connecting plate be fixedly connected with the output end of the shoulder joint rotating mechanism 1 by screw, the Y type connecting plate 1-3's
One end is connect with the bottom plate connecting plate by the way that screw is vertical, and the input terminal of the shoulder joint luffing mechanism 2 symmetrically extends
Be provided with the connecting plate mounting portion that two cross sections are arc, the front end faces of the two connecting plate mounting portions by screw respectively with institute
The two flanged joint portions for stating Y type connecting plate 1-3 vertically connect.The shoulder joint rotating mechanism 1 specifically further includes shoulder joint rotation
Rotating motor 1-1, shoulder joint rotation output flange 1-2, shoulder joint rotating driver 1-5 and shoulder joint rotational shell 1-6, it is described
Shoulder joint rotation gusset 1-4 is additionally provided on Y type connecting plate 1-3, the outer ring shoulder joint rotating electric machine 1-1 and external environment are solid
Fixed, by screw connection, the shoulder joint rotates hollow out in the middle part of output flange 1-2 by inner ring and shoulder joint rotation output flange 1-2,
And it is drilled with counter sink；The shoulder joint rotation gusset 1-4 and shoulder joint rotate output flange 1-2 and Y type connecting plate 1-3, play branch
Support fixed function；Shoulder joint rotating driver 1-5 surrounding is drilled with through-hole, is fixed by screws in shoulder joint rotation output flange 1-
2 upper surfaces；The bottom shoulder joint rotational shell 1-6 is drilled with counter sink in one week, rotates output flange by screw and shoulder joint
The threaded hole of 1-2 surrounding, which cooperates, to be fixed；The bottom plate connecting plate and shoulder joint rotation output flange 1-2 are solid by screw
One end of fixed connection, the Y type connecting plate 1-3 is connect with the bottom plate connecting plate by the way that screw is vertical.
Specifically, as shown in figure 3, being located at the defeated of output end and the elbow joint rotating mechanism 3 of the shoulder joint luffing mechanism 2
Entering rigid power transmission connecting mechanism described between end includes bottom plate connecting plate, fan-shaped connecting plate 2-4, the sector connecting plate
The main body of 2-4 is rectangular plate-like, and one end of the main body length direction of institute sector connecting plate 2-4 is provided with arcuate flange interconnecting piece,
The bowed flanged joint portion edge is provided with several connection through-holes along concentric circles distribution；The bottom plate connecting plate and institute
2 output end of shoulder joint luffing mechanism stated is fixedly connected by screw, and one end of the sector connecting plate 2-4 and the bottom plate connect
Fishplate bar is vertically connected by screw, and the input terminal of the elbow joint rotating mechanism 3, which is symmetrically extended, has two cross sections to be
The connecting plate mounting portion of arc, the bow that the front end face of the two connecting plate mounting portions passes through screw and the fan-shaped connecting plate 2-4
Shape flanged joint portion vertically connects.The shoulder joint luffing mechanism 2 specifically includes shoulder joint pitching mounting flange 2-1, shoulder joint
Pitching motor 2-2, shoulder joint pitching output flange 2-3, fan-shaped connecting plate 2-4, shoulder joint pitch drive 2-6 and shoulder joint are bowed
Shell 2-7 is faced upward, the shoulder joint pitching mounting flange 2-1, which is symmetrically extended, has the connecting plate that two cross sections are arc to install
Portion；The fan-shaped connecting plate 2-4 is additionally provided with shoulder joint pitching gusset 2-5, the outer ring shoulder joint pitching motor 2-2 and shoulder
Joint pitching mounting flange 2-1 is fixed by screw connection, and inner ring and shoulder joint pitching output flange 2-3 are solid by screw connection
It is fixed；The shoulder joint pitching gusset 2-5 is connected and fixed with shoulder joint pitching output flange 2-3, sector connecting plate 2-4 respectively；Institute
It states shoulder joint pitch drive 2-6 surrounding and is drilled with through-hole, be fixed by screws in the surface shoulder joint pitching output flange 2-3；Shoulder
Pitching shell 2-7 bottom periphery in joint is drilled with through-hole, is matched by screw and the threaded hole of shoulder joint pitching output flange 2-3 surrounding
It closes and fixes.
Specifically, as shown in figure 4, the elbow joint rotating mechanism 3 specifically include elbow joint rotation mounting flange 3-1,
Elbow joint rotating electric machine 3-2, elbow joint rotate output flange 3-3 and elbow joint rotational shell 3-4, and elbow joint rotates mounting flange
3-1 and sector connecting plate 2-4 is fixed by screw connection；The elbow joint outer ring rotating electric machine 3-2 and elbow joint rotate mounting flange
3-1 is fixed by screw connection, and inner ring rotates output flange 3-3 with elbow joint by screw and is connected and fixed；Elbow joint rotation is outer
Two end periphery of shell 3-4 is drilled with through-hole, is cooperated by the threaded hole that screw and elbow joint rotate the periphery output flange 3-3 and is fixed；Institute
The elbow joint rotation mounting flange 3-1 stated is symmetrically extended the connecting plate mounting portion for having two cross sections for arc.
Specifically, as shown in figure 5, the elbow joint luffing structure 4 includes elbow joint pitching mounting flange 4-1, elbow pass
Save pitching motor 4-2, elbow joint pitching output flange 4-3 and elbow joint pitching shell 4-4, the elbow joint pitching mounting flange
4-1 surrounding is drilled with threaded hole, is fixed by screw and elbow joint rotational shell 3-4 cooperation；The elbow joint outer ring pitching motor 4-2 with
Elbow joint pitching mounting flange 4-1 is fixed, and outer ring is fixed with elbow joint pitching output flange 4-3；The elbow joint pitching output
The periphery flange 4-3 is drilled with threaded hole, is cooperatively connected by the through-hole on screw and elbow joint pitching shell 4-4.
Specifically, as shown in fig. 6, the wrist joint rotational structure 5 includes wrist joint rotation mounting flange 5-1, wrist pass
Save rotating electric machine 5-2, wrist joint rotation output flange 5-3, wrist joint rotational shell 5-4 and wrist joint rotating driver 5-5 group
At the wrist joint rotation mounting flange 5-1 surrounding is drilled with threaded hole, is cooperated by screw and elbow joint pitching shell 4-4 solid
It is fixed；Wrist joint rotating electric machine 5-2 inner ring is fixed with wrist joint rotation mounting flange 5-1, and outer ring and wrist joint rotate output flange
5-3 is fixed；The wrist joint rotation periphery output flange 5-3 is drilled with threaded hole, by screw and wrist joint rotational shell 5-4
Through-hole be cooperatively connected；Wrist joint rotating driver 5-5 surrounding has through-hole, is fixed by screws in wrist joint rotation mounting flange
On 5-1.
Specifically, as shown in fig. 7, the wrist joint luffing mechanism 6 includes wrist joint pitching mounting flange 6-1, wrist pass
Save pitching motor 6-2, wrist joint pitching output flange 6-3 and wrist joint pitch drive 6-4 composition.It is characterized by: wrist closes
Section pitching mounting flange 6-1 surrounding is drilled with threaded hole, is fixed by screw and wrist joint rotational shell 5-4 cooperation；Wrist joint is bowed
It faces upward the outer ring motor 6-2 to fix with wrist joint pitching mounting flange 6-1, outer ring is fixed with wrist joint pitching output flange 6-3；Wrist closes
Section pitch drive 6-4 surrounding has through-hole, is fixed by screws on wrist joint pitching mounting flange 6-1.
Specifically, as shown in figure 8, the gripper 7 includes fixed bracket 7-1, gripper motor 7-2, big crank 7-
3, small crank 7-4, long pawl 7-5, shortly clawed 7-6, stay bolt 7-7 and lag bolt 7-8, the fixed bracket 7-1 and wrist joint pitching
Output flange 6-3 is fixed by screw connection；The gripper outer ring motor 7-2 is fixed with fixed bracket 7-1, inner ring by gear with
Big crank 7-3 is connected with small crank 7-4；The stay bolt 7-7 fixes long pawl 7-5 and big crank 7-3, and lag bolt 7-8 will be short
Pawl 7-6 and small crank 7-4 are fixed, and gripper motor 7-2 controls the opening and closing campaign of long pawl 7-5 and shortly clawed 7-6 simultaneously.
The starting point of mechanical arm is arranged in the shoulder joint rotating mechanism, the motor in shoulder joint rotating mechanism and extraneous hinge
Fixation is connect, output end and shoulder joint luffing mechanism are hinged；The shoulder joint luffing mechanism motor output end and elbow joint rotate
Mechanism is hinged；The elbow joint rotating mechanism motor output end and elbow joint luffing mechanism are hinged；The elbow joint luffing mechanism
Motor output end and wrist joint luffing mechanism are hinged；The wrist joint luffing mechanism motor output end and wrist joint rotating mechanism are cut with scissors
It connects；The wrist joint rotating mechanism motor output end and gripper are hinged；Motor control gripper in the gripper is opened
Resultant motion.
The shoulder joint rotating mechanism 1 of the mechanical arm of above-described embodiment can be fixed with external environment, and can be driven
The shoulder joint luffing mechanism 2 being followed by is around vertical axial-rotation；The shoulder joint luffing mechanism 2 can drive the elbow joint being followed by rotate
Mechanism 3 is swung in the horizontal plane；The elbow joint rotating mechanism 3, which can drive, is followed by elbow joint luffing mechanism 4 around vertical axial rotation
Turn；The elbow joint luffing mechanism 4 can drive be followed by wrist joint rotating mechanism 5 is swung in the horizontal plane；The wrist joint rotation
Rotation mechanism 5 can drive be followed by wrist joint luffing mechanism 6 around vertical axial-rotation；After the wrist joint luffing mechanism 6 can drive
The gripper 7 connect is overturn in the horizontal plane.
By program setting, the motor in each executing agency can be rotated with driving mechanism or swing certain angle, be realized
The variation of position and posture.
By each joint by cage connection, the shell of starting point needs to bear the mechanical arm of this type on the market at present
Biggish torque, therefore shell is needed using high-intensitive aluminium alloy or other metal alloys casting.Shell external form uses arc
Face, the processing difficulties on lathe can only take mold to produce, but will lead at high cost, modification difficulty in this way, and fabrication cycle is long etc.
The mechanical arm of problem, the present embodiment is connected by internal connector, stressed skin very little, and sheathing material used is that plastics etc. are light
Material, manufacture are 3D printing, and material facilitates acquisition, is simple to manufacture, and price is relatively cheap.
In addition, mechanical arm on the market is connected because being used as using high-intensitive alloy shell, therefore overall weight can be very big,
The problems such as long-term work will lead to metal fatigue, and workpiece deforms, it is very light using plastics in the present embodiment, it can mitigate significantly
Mechanical arm overall weight, it is easily operated, extend working life.
Finally, the present invention is only provided with positioned at the intracorporal rigid power of shell between several articulation mechanisms far from gripper
Transmission joint had both met stress spy such as shoulder joint rotating mechanism 1, shoulder joint luffing mechanism 2, elbow joint rotating mechanism 3
Property, it helps the structure and total weight for simplifying mechanical arm reduce cost.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of six degree of freedom intelligent grabbing mechanical arm, including sequentially connected shoulder joint rotating mechanism (1), shoulder joint pitching machine
Structure (2), elbow joint rotating mechanism (3), elbow joint luffing mechanism (4), wrist joint rotating mechanism (5), wrist joint luffing mechanism (6)
And gripper (7), it is characterised in that:
Between the output end of the shoulder joint rotating mechanism (1) and the input terminal of shoulder joint luffing mechanism (2), the shoulder joint bows
It faces upward to be all connected between the output end of mechanism (2) and the input terminal of elbow joint rotating mechanism (3) and be provided with positioned at the intracorporal rigidity of shell
Power transmission connecting mechanism.
2. six degree of freedom intelligent grabbing mechanical arm according to claim 1, it is characterised in that: be located at the shoulder joint and rotate
Rigid power transmission connecting mechanism between the output end of mechanism (1) and the input terminal of shoulder joint luffing mechanism (2) includes bottom plate
Connecting plate, Y type connecting plate (1-3), the main body of the Y type connecting plate (1-3) are rectangular plate-like, the Y type connecting plate (1-3)
It is symmetrically arranged with to the two sides stretching, extension of main body length direction shape flanged joint portion of spreading the wings, flanged joint portion edge is provided with
Along several connection through-holes of concentric circles distribution；The output end of the bottom plate connecting plate and the shoulder joint rotating mechanism (1) is logical
It crosses screw to be fixedly connected, one end of the Y type connecting plate (1-3) is connect with the bottom plate connecting plate by the way that screw is vertical, described
Shoulder joint luffing mechanism (2) input terminal symmetrically be extended have two cross sections be arc connecting plate mounting portion, two institutes
The front end face for stating connecting plate mounting portion is connect by the way that screw is vertical with two flanged joint portions of the Y type connecting plate (1-3) respectively.
3. six degree of freedom intelligent grabbing mechanical arm according to claim 1, it is characterised in that: be located at the shoulder joint pitching
The rigid power transmission connecting mechanism includes between the output end of mechanism (2) and the input terminal of elbow joint rotating mechanism (3)
Bottom plate connecting plate, fan-shaped connecting plate (2-4), the main body of the sector connecting plate (2-4) are rectangular plate-like, the fan-shaped connecting plate of institute
One end of the main body length direction of (2-4) is provided with arcuate flange interconnecting piece, and the bowed flanged joint portion edge is provided with
Along several connection through-holes of concentric circles distribution；The bottom plate connecting plate and shoulder joint luffing mechanism (2) output end are logical
It crosses screw to be fixedly connected, one end of the sector connecting plate (2-4) is connect with the bottom plate connecting plate by the way that screw is vertical, described
Elbow joint rotating mechanism (3) input terminal symmetrically be extended have two cross sections be arc connecting plate mounting portion, two institutes
The front end face for stating connecting plate mounting portion is connect by the way that screw is vertical with the arcuate flange interconnecting piece of the fan-shaped connecting plate (2-4).
4. six degree of freedom intelligent grabbing mechanical arm according to claim 2, it is characterised in that: the shoulder joint whirler
Structure (1) specifically further includes shoulder joint rotating electric machine (1-1), shoulder joint rotation output flange (1-2), shoulder joint rotating driver
(1-5) and shoulder joint rotational shell (1-6) is additionally provided with shoulder joint rotation gusset (1-4), institute on the Y type connecting plate 1-3
It states the shoulder joint rotating electric machine outer ring (1-1) to fix with external environment, inner ring and shoulder joint rotation output flange (1-2) pass through screw
Connection, shoulder joint rotation output flange (1-2) middle part hollow out, and it is drilled with counter sink；The shoulder joint rotates gusset (1-4)
With shoulder joint rotation output flange (1-2) and Y type connecting plate (1-3), support fixed function is played；Shoulder joint rotating driver (1-
5) surrounding is drilled with through-hole, is fixed by screws in shoulder joint rotation upper surface output flange (1-2)；The shoulder joint rotational shell
The bottom (1-6) is drilled with counter sink in one week, is cooperated by the threaded hole that screw and shoulder joint rotate output flange (1-2) surrounding solid
It is fixed；The bottom plate connecting plate is fixedly connected with shoulder joint rotation output flange (1-2) by screw, the Y type connection
One end of plate (1-3) is connect with the bottom plate connecting plate by the way that screw is vertical.
5. six degree of freedom intelligent grabbing mechanical arm according to claim 3, it is characterised in that: the shoulder joint luffing mechanism
(2) shoulder joint pitching mounting flange (2-1), shoulder joint pitching motor (2-2), shoulder joint pitching output flange (2- are specifically included
3), fan-shaped connecting plate (2-4), shoulder joint pitch drive (2-6) and shoulder joint pitching shell (2-7), the shoulder joint pitching
Mounting flange (2-1) is symmetrically extended the connecting plate mounting portion for having two cross sections for arc；Fan-shaped connecting plate (the 2-
4) shoulder joint pitching gusset (2-5), the shoulder joint pitching motor outer ring (2-2) and shoulder joint pitching mounting flange are additionally provided with
(2-1) is fixed by screw connection, and inner ring is fixed with shoulder joint pitching output flange (2-3) by screw connection；The shoulder joint
Section pitching gusset (2-5) is connected and fixed with shoulder joint pitching output flange (2-3), fan-shaped connecting plate (2-4) respectively；The shoulder joint
Section pitch drive (2-6) surrounding is drilled with through-hole, is fixed by screws in the surface shoulder joint pitching output flange (2-3)；Shoulder joint
Section pitching shell (2-7) bottom periphery is drilled with through-hole, passes through the threaded hole of screw and shoulder joint pitching output flange (2-3) surrounding
Cooperation is fixed.
6. six degree of freedom intelligent grabbing mechanical arm according to claim 3, it is characterised in that: the elbow joint whirler
Structure (3) specifically includes elbow joint rotation mounting flange (3-1), elbow joint rotating electric machine (3-2), elbow joint rotation output flange
(3-3) and elbow joint rotational shell (3-4), elbow joint rotates mounting flange (3-1) and fan-shaped connecting plate (2-4) is connected by screw
Connect fixation；The elbow joint rotating electric machine outer ring (3-2) is fixed with elbow joint rotation mounting flange (3-1) by screw connection, inner ring
It is connected and fixed by screw and elbow joint rotation output flange (3-3)；Two end periphery of elbow joint rotational shell (3-4) is drilled with logical
Hole is cooperated by the threaded hole that screw and elbow joint rotate the periphery output flange (3-3) and is fixed；The elbow joint, which rotates, to be fixed
Flange (3-1) is symmetrically extended the connecting plate mounting portion for having two cross sections for arc.
7. six degree of freedom intelligent grabbing mechanical arm according to claim 6, it is characterised in that: the elbow joint pitching knot
Structure (4) includes elbow joint pitching mounting flange (4-1), elbow joint pitching motor (4-2), elbow joint pitching output flange (4-3)
With elbow joint pitching shell (4-4), elbow joint pitching mounting flange (4-1) surrounding is drilled with threaded hole, passes through screw and elbow
Joint rotational shell (3-4) cooperation is fixed；The elbow joint pitching motor outer ring (4-2) and elbow joint pitching mounting flange (4-1) are solid
Fixed, outer ring and elbow joint pitching output flange (4-3) are fixed；Elbow joint pitching output flange (4-3) periphery is drilled with screw thread
Hole is cooperatively connected by the through-hole on screw and elbow joint pitching shell (4-4).
8. six degree of freedom intelligent grabbing mechanical arm according to claim 7, it is characterised in that: the wrist joint rotates knot
Structure (5) include wrist joint rotation mounting flange (5-1), wrist joint rotating electric machine (5-2), wrist joint rotation output flange (5-3),
Wrist joint rotational shell (5-4) and wrist joint rotating driver (5-5) composition, the wrist joint rotate mounting flange (5-1) four
Week is drilled with threaded hole, is fixed by screw and elbow joint pitching shell (4-4) cooperation；Wrist joint rotating electric machine (5-2) inner ring with
Wrist joint, which rotates mounting flange (5-1), to be fixed, and outer ring and wrist joint rotation output flange (5-3) are fixed；The wrist joint rotation
The periphery output flange (5-3) is drilled with threaded hole, is cooperatively connected by the through-hole on screw and wrist joint rotational shell (5-4)；Wrist
Joint rotating driver (5-5) surrounding has through-hole, is fixed by screws in wrist joint rotation mounting flange (5-1).
9. six degree of freedom intelligent grabbing mechanical arm according to claim 8, it is characterised in that: the wrist joint pitching machine
Structure (6) includes wrist joint pitching mounting flange (6-1), wrist joint pitching motor (6-2), wrist joint pitching output flange (6-3)
With wrist joint pitch drive (6-4), wrist joint pitching mounting flange (6-1) surrounding is drilled with threaded hole, is closed by screw and wrist
Rotational shell (5-4) cooperation is saved to fix；The wrist joint pitching motor outer ring (6-2) and wrist joint pitching mounting flange (6-1) are fixed,
Outer ring and wrist joint pitching output flange (6-3) are fixed；Wrist joint pitch drive (6-4) surrounding has through-hole, solid by screw
It is scheduled on wrist joint pitching mounting flange (6-1).
10. six degree of freedom intelligent grabbing mechanical arm according to claim 9, it is characterised in that: gripper (7) packet
Include fixed bracket (7-1), gripper motor (7-2), big crank (7-3), small crank (7-4), long pawl (7-5), shortly clawed (7-6),
Stay bolt (7-7) and lag bolt (7-8), the fixed bracket (7-1) and wrist joint pitching output flange (6-3) are connected by screw
Connect fixation；The gripper motor outer ring (7-2) and fixed bracket (7-1) are fixed, and inner ring passes through gear and big crank (7-3) and Chinese yeast
Handle (7-4) connection；The stay bolt (7-7) is fixed by long pawl (7-5) and big crank (7-3), and lag bolt (7-8) is by shortly clawed (7-
6) and small crank (7-4) is fixed, and gripper motor (7-2) controls the opening and closing campaign of long pawl (7-5) and shortly clawed (7-6) simultaneously.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910090293.XA CN109676596B (en) | 2019-01-30 | 2019-01-30 | Six-degree-of-freedom intelligent grabbing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910090293.XA CN109676596B (en) | 2019-01-30 | 2019-01-30 | Six-degree-of-freedom intelligent grabbing mechanical arm |
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| Publication Number | Publication Date |
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| CN109676596A true CN109676596A (en) | 2019-04-26 |
| CN109676596B CN109676596B (en) | 2023-09-22 |
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| CN201910090293.XA Active CN109676596B (en) | 2019-01-30 | 2019-01-30 | Six-degree-of-freedom intelligent grabbing mechanical arm |
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| CN110936357A (en) * | 2019-12-19 | 2020-03-31 | 上海钛米机器人科技有限公司 | Mechanical arm shell and mechanical arm shell machining method |
| WO2024060212A1 (en) * | 2022-09-23 | 2024-03-28 | Abb Schweiz Ag | Housing for accommodating section of robot arm and method for manufacturing the same |
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| Publication number | Publication date |
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| CN109676596B (en) | 2023-09-22 |
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