CN109676596B - Six-degree-of-freedom intelligent grabbing mechanical arm - Google Patents
Six-degree-of-freedom intelligent grabbing mechanical arm Download PDFInfo
- Publication number
- CN109676596B CN109676596B CN201910090293.XA CN201910090293A CN109676596B CN 109676596 B CN109676596 B CN 109676596B CN 201910090293 A CN201910090293 A CN 201910090293A CN 109676596 B CN109676596 B CN 109676596B
- Authority
- CN
- China
- Prior art keywords
- pitching
- shoulder joint
- flange
- connecting plate
- joint
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a six-degree-of-freedom intelligent grabbing mechanical arm which 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 sequentially connected, wherein a rigid power transmission connecting device positioned in a shell is 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 invention can perform various complex compound motions, has wide motion range and can finish the grabbing action with high coupling degree; through the internal connection piece connection, the shell atress is very little, and used shell material can adopt light material such as plastics, and the manufacturing method is 3D printing, and the material conveniently obtains, makes simply, low price, can alleviate the whole weight of arm, easily operation, extension working life, fine adaptation reality complex operational environment's construction operation.
Description
Technical Field
The invention relates to the technical application field of multi-axis mechanical arms, in particular to an intelligent six-degree-of-freedom grabbing mechanical arm.
Background
In the great background of the national advocates "industry 4.0" and "China manufacturing 2025", the progress of industrial automation is proceeding well. Therefore, the industry uses mechanical arms to replace manual operation, and the trend is more future. The mechanical arm can be applied in a large amount, so that the labor cost can be reduced, the productivity can be further liberated, meanwhile, dangerous and single repeated work can be replaced by manual work, and the mechanical arm has very wide application. However, the industrial mechanical arm on the market at present has the problems of overlarge volume, complex structure and the like. On the one hand, due to the defects of the mechanical structure, the complex grabbing action is difficult to complete, and the large working space and the operation precision cannot be ensured at the same time. On the other hand, the advanced mechanical arm at home and abroad has the advantages of secret internal connection mode and transmission mode, portability, high flexibility, coordinated appearance and the like,
the existing mechanical arm is connected through the shell through each joint, the shell at the starting end needs to bear larger moment, and therefore the shell needs to be cast by high-strength aluminum alloy or other metal alloys. The outer shape of the shell adopts an arc surface, so that the shell is difficult to process on a machine tool and can only be produced by adopting a die, but the problems of high cost, difficult modification, long manufacturing period and the like are caused.
Therefore, the multi-degree-of-freedom mechanical arm which is light, high in flexibility and attractive in appearance and is independently researched and developed by national people can greatly improve the problems faced by industrial mechanical arms in the current stage of China.
Disclosure of Invention
The invention provides a six-degree-of-freedom intelligent grabbing mechanical arm, which mainly solves the problems of complex structure, low flexibility, low grabbing precision, difficulty in popularization and the like in the prior art.
The invention is realized by the following technical scheme:
the utility model provides a six degrees of freedom intelligence snatchs arm, includes shoulder joint rotary mechanism, shoulder joint every single move mechanism, elbow joint rotary mechanism, elbow joint every single move mechanism, wrist joint rotary mechanism, wrist joint every single move mechanism and gripper that connect gradually, between the output of shoulder joint rotary mechanism and the input of shoulder joint every single move mechanism, all connect between the output of shoulder joint every single move mechanism and the input of elbow joint rotary mechanism and be provided with the rigid power transmission connecting device that is located the casing.
Further, the rigid power transmission connecting device positioned between the output end of the shoulder joint rotating mechanism and the input end of the shoulder joint pitching mechanism comprises a bottom plate connecting plate and a Y-shaped connecting plate, the main body of the Y-shaped connecting plate is rectangular plate-shaped, wing-spreading flange connecting parts are symmetrically arranged on two side edges of the main body of the Y-shaped connecting plate in the length direction in an extending mode, and a plurality of connecting through holes distributed along concentric circles are formed in the edges of the flange connecting parts; the utility model discloses a shoulder joint pitch mechanism, including the base plate connecting plate, shoulder joint rotary mechanism, Y-shaped connecting plate, shoulder joint pitch mechanism, the base plate connecting plate with the output of shoulder joint rotary mechanism pass through screw fixed connection, the one end of Y-shaped connecting plate with the base plate connecting plate passes through screw vertical connection, the input of shoulder joint pitch mechanism extend symmetrically and be provided with two cross sections and be curved connecting plate installation department, two the preceding terminal surface of connecting plate installation department pass through the screw respectively with two flange joint portions vertical connection of Y-shaped connecting plate.
Further, the rigid power transmission connecting device positioned between the output end of the shoulder joint pitching mechanism and the input end of the elbow joint rotating mechanism comprises a bottom plate connecting plate and a fan-shaped connecting plate, the main body of the fan-shaped connecting plate is rectangular plate-shaped, one end of the fan-shaped connecting plate in the length direction of the main body is provided with an arched flange connecting part, and the edge of the arched flange connecting part is provided with a plurality of connecting through holes distributed along concentric circles; the output end of the shoulder joint pitching mechanism is fixedly connected with the bottom plate connecting plate through a screw, one end of the fan-shaped connecting plate is vertically connected with the bottom plate connecting plate through a screw, two connecting plate mounting parts with arc cross sections are symmetrically arranged at the input end of the elbow joint rotating mechanism in an extending mode, and the front end faces of the two connecting plate mounting parts are vertically connected with the arc-shaped flange connecting parts of the fan-shaped connecting plate through screws.
Further, the shoulder joint rotating mechanism specifically further comprises a shoulder joint rotating motor, a shoulder joint rotating output flange, a shoulder joint rotating driver and a shoulder joint rotating shell, the Y-shaped connecting plate is further provided with a shoulder joint rotating rib plate, the outer ring of the shoulder joint rotating motor is fixed with the external environment, the inner ring of the shoulder joint rotating motor is connected with the shoulder joint rotating output flange through screws, and the middle part of the shoulder joint rotating output flange is hollowed out and drilled with a countersunk head hole; the shoulder joint rotating rib plates, the shoulder joint rotating output flange and the Y-shaped connecting plate play a role in supporting and fixing; through holes are drilled around the shoulder joint rotation driver and are fixed on the upper surface of the shoulder joint rotation output flange through screws; countersunk holes are drilled in the periphery of the bottom of the shoulder joint rotating shell, and the countersunk holes are matched and fixed with threaded holes in the periphery of the shoulder joint rotating output flange through screws; the bottom plate connecting plate and the shoulder joint rotary output flange are fixedly connected through screws, and one end of the Y-shaped connecting plate is vertically connected with the bottom plate connecting plate through screws.
Further, the shoulder joint pitching mechanism specifically comprises a shoulder joint pitching fixing flange, a shoulder joint pitching motor, a shoulder joint pitching output flange, a fan-shaped connecting plate, a shoulder joint pitching driver and a shoulder joint pitching shell, wherein the shoulder joint pitching fixing flange is symmetrically provided with two connecting plate mounting parts with arc cross sections in an extending mode; the fan-shaped connecting plate is also provided with a shoulder joint pitching rib plate, the outer ring of the shoulder joint pitching motor is fixedly connected with the shoulder joint pitching fixing flange through a screw, and the inner ring of the fan-shaped connecting plate is fixedly connected with the shoulder joint pitching output flange through a screw; the shoulder joint pitching rib plates are respectively connected and fixed with the shoulder joint pitching output flange and the fan-shaped connecting plate; through holes are drilled around the shoulder joint pitching driver and are fixed on the surface of the shoulder joint pitching output flange through screws; through holes are drilled at the periphery of the bottom of the shoulder joint pitching shell, and the through holes are matched and fixed with threaded holes around the shoulder joint pitching output flange through screws.
Further, the elbow joint rotating mechanism specifically comprises an elbow joint rotating and fixing flange, an elbow joint rotating motor, an elbow joint rotating and outputting flange and an elbow joint rotating and outputting shell, wherein the elbow joint rotating and fixing flange is fixedly connected with the fan-shaped connecting plate through screws; the outer ring of the elbow joint rotating motor is fixedly connected with the elbow joint rotating fixing flange through a screw, and the inner ring is fixedly connected with the elbow joint rotating output flange through a screw; through holes are drilled at the periphery of the two ends of the elbow joint rotating shell and are matched and fixed with threaded holes at the periphery of the elbow joint rotating output flange through screws; the elbow joint rotation fixing flange is symmetrically provided with two connecting plate installation parts with arc cross sections in an extending mode.
Further, the elbow joint pitching structure comprises an elbow joint pitching fixing flange, an elbow joint pitching motor, an elbow joint pitching output flange and an elbow joint pitching shell, wherein threaded holes are drilled in the periphery of the elbow joint pitching fixing flange, and the elbow joint pitching fixing flange is fixed with the elbow joint rotating shell in a matched manner through screws; the outer ring of the elbow joint pitching motor is fixed with an elbow joint pitching fixing flange, and the outer ring is fixed with an elbow joint pitching output flange; screw holes are drilled in the periphery of the elbow joint pitching output flange, and the screw holes are connected with through holes in the elbow joint pitching shell in a matched mode.
Further, the wrist joint rotating structure comprises a wrist joint rotating and fixing flange, a wrist joint rotating motor, a wrist joint rotating and outputting flange, a wrist joint rotating shell and a wrist joint rotating driver, wherein threaded holes are drilled in the periphery of the wrist joint rotating and fixing flange, and the wrist joint rotating and fixing flange is matched and fixed with the elbow joint pitching shell through screws; the inner ring of the wrist joint rotating motor is fixed with the wrist joint rotating fixed flange, and the outer ring is fixed with the wrist joint rotating output flange; screw holes are drilled on the periphery of the wrist joint rotary output flange and are connected with through holes on the wrist joint rotary shell in a matched mode through screws; the wrist joint rotation driver is provided with through holes at the periphery and is fixed on the wrist joint rotation fixing flange through screws.
Further, the wrist joint pitching mechanism comprises a wrist joint pitching fixing flange, a wrist joint pitching motor, a wrist joint pitching output flange and a wrist joint pitching driver, wherein threaded holes are drilled in the periphery of the wrist joint pitching fixing flange, and the wrist joint pitching fixing flange is fixed with the wrist joint rotating shell in a matched manner through screws; the outer ring of the wrist joint pitching motor is fixed with a wrist joint pitching fixing flange, and the outer ring is fixed with a wrist joint pitching output flange; the wrist joint pitching driver is provided with through holes at the periphery and is fixed on the wrist joint pitching fixing flange through screws.
Further, the mechanical claw comprises a fixed bracket, a mechanical claw motor, a big crank, a small crank, a long claw, a short claw, a long bolt and a short bolt, wherein the fixed bracket is fixedly connected with the wrist joint pitching output flange through screws; the outer ring of the mechanical claw motor is fixed with the fixed bracket, and the inner ring is connected with the big crank and the small crank through gears; the long bolt fixes the long claw and the large crank, the short bolt fixes the short claw and the small crank, and the mechanical claw motor simultaneously controls the opening and closing movement of the long claw and the short claw.
Compared with the prior art, the six-degree-of-freedom intelligent grabbing mechanical arm can perform various complex compound motions, has wide motion space range, can finish grabbing actions with high coupling degree, and is well suitable for construction operation in a real complex working environment, wherein:
1. aiming at the problems that the prior mechanical arm is connected through the shell through each joint, the shell at the starting end needs to bear larger moment, and is cast by adopting high-strength aluminum alloy or other metal alloys, and the processing cost is high, the mechanical arm disclosed by the invention conducts power through the internal connecting piece, the stress of the shell is small, the used shell material is low in requirement, and the material can be made of light materials such as plastic, and the like, and the manufacturing mode is 3D printing, so that the material is convenient to obtain, the manufacturing is simple, and the price is low.
2. Aiming at the problems that the prior mechanical arm adopts a high-strength alloy shell as connection, so that the whole weight is large, metal fatigue, workpiece deformation and the like can be caused by long-term work, the invention can adopt light materials such as plastics and the like, can greatly lighten the whole weight of the mechanical arm, is easy to operate and prolongs the service life.
3. During operation, the moment born by each joint mechanism of the mechanical arm is in direct proportion to the distance from each joint mechanism of the mechanical arm to the mechanical claw, so that the rigid power transmission connecting device positioned in the shell is only arranged in a plurality of joint mechanisms far away from the mechanical claw, the mechanical arm meets the stress characteristic, and is beneficial to simplifying the structure and the total weight of the mechanical arm and reducing the cost.
Drawings
FIG. 1 is a schematic view of a mechanical arm according to the present invention;
FIG. 2 is a schematic view of a shoulder joint rotation mechanism according to the present invention;
FIG. 3 is a schematic view of a shoulder pitch mechanism of the present invention;
FIG. 4 is a schematic view of an elbow joint rotation mechanism according to the present invention;
FIG. 5 is a view of the elbow joint pitch mechanism of the present invention;
FIG. 6 is a schematic view of a wrist rotation mechanism according to the present invention;
FIG. 7 is a schematic view of a wrist pitch mechanism of the present invention;
FIG. 8 is a view of the gripper mechanism of the present invention;
FIG. 9 is a schematic view of a Y-shaped connection board according to an embodiment of the present invention;
FIG. 10 is a schematic view of a backplane connection board structure according to an embodiment of the present invention;
FIG. 11 is a schematic illustration of a shoulder pitch mounting flange according to an embodiment of the present invention;
fig. 12 is a schematic view of a fan-shaped connection plate structure according to an embodiment of the invention.
In the figure: 1-a shoulder joint rotation mechanism; 1-1-a shoulder joint rotating electric machine; 1-2-a shoulder joint rotation output flange; 1-3-Y-shaped connecting plates; 1-4 parts of shoulder joint rotating rib plates; 1-5-shoulder joint rotation drive; 1-6-shoulder joint rotation housing; 2-shoulder pitch mechanism; 2-1-shoulder joint pitching fixing flange; 2-2-shoulder pitch motor; 2-3-shoulder joint pitch output flange; 2-4-sector connecting plates; 2-5 parts of shoulder joint pitching rib plates; 2-6-shoulder pitch drives; 2-7-shoulder pitch housing; 3-elbow joint rotation mechanism; 3-1-elbow joint rotation fixing flange; 3-2-elbow joint rotating motor; 3-3-elbow joint rotation output flange; 3-4-elbow joint rotation housing; 4-elbow pitch mechanism; 4-1-elbow joint pitching fixing flange; 4-2-elbow joint pitching motor; 4-3-elbow joint pitch output flange; 4-4-elbow pitch housing; 5-wrist joint rotation mechanism; 5-1-wrist joint rotation fixing flange; 5-2-wrist joint rotating motor; 5-3-wrist joint rotation output flange; 5-4-wrist rotation housing; 5-5-wrist rotation drive; 6-wrist pitch mechanism; 6-1-wrist joint pitching fixing flange; 6-2-wrist pitching motor; 6-3-wrist joint pitching output flange; 6-4-wrist pitch drive; 7-mechanical claws; 7-1-fixing a bracket; 7-2-mechanical claw motor; 7-3-big crank; 7-4-small crank; 7-5-long claws; 7-6-short claws; 7-7 long bolts; 7-8-short bolts.
Detailed Description
The working principle and working process of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the six-degree-of-freedom intelligent grabbing mechanical arm comprises a shoulder joint rotating mechanism 1, a shoulder joint pitching mechanism 2, an elbow joint rotating mechanism 3, an elbow joint pitching mechanism 4, a wrist joint rotating mechanism 5, a wrist joint pitching mechanism 6 and a mechanical claw 7 which are sequentially connected, wherein a rigid power transmission connecting device positioned in a shell is connected and arranged between the output end of the shoulder joint rotating mechanism 1 and the input end of the shoulder joint pitching mechanism 2 and between the output end of the shoulder joint pitching mechanism 2 and the input end of the elbow joint rotating mechanism 3.
Specifically, as shown in fig. 2 and fig. 9 to fig. 12, the rigid power transmission connection device between the output end of the shoulder joint rotation mechanism 1 and the input end of the shoulder joint pitching mechanism 2 comprises a bottom plate connection plate and a Y-shaped connection plate 1-3, wherein the main body of the Y-shaped connection plate 1-3 is rectangular plate-shaped, wing-spreading flange connection parts are symmetrically arranged at two side edges of the main body of the Y-shaped connection plate 1-3 in the length direction in an extending manner, and a plurality of connection through holes distributed along concentric circles are arranged at the edges of the flange connection parts; the base plate connecting plate is fixedly connected with the output end of the shoulder joint rotating mechanism 1 through screws, one end of the Y-shaped connecting plate 1-3 is vertically connected with the base plate connecting plate through screws, two connecting plate mounting parts with arc cross sections are symmetrically arranged at the input end of the shoulder joint pitching mechanism 2 in an extending mode, and the front end faces of the two connecting plate mounting parts are respectively vertically connected with the two flange connecting parts of the Y-shaped connecting plate 1-3 through screws. The shoulder joint rotating mechanism 1 specifically further comprises a shoulder joint rotating motor 1-1, a shoulder joint rotating output flange 1-2, a shoulder joint rotating driver 1-5 and a shoulder joint rotating shell 1-6, wherein the Y-shaped connecting plate 1-3 is further provided with a shoulder joint rotating rib plate 1-4, the outer ring of the shoulder joint rotating motor 1-1 is fixed with the external environment, the inner ring of the shoulder joint rotating motor 1-1 is connected with the shoulder joint rotating output flange 1-2 through screws, and the middle part of the shoulder joint rotating output flange 1-2 is hollowed out and drilled with countersunk holes; the shoulder joint rotary rib plates 1-4, the shoulder joint rotary output flange 1-2 and the Y-shaped connecting plate 1-3 play a role in supporting and fixing; through holes are drilled around the shoulder joint rotary driver 1-5 and are fixed on the upper surface of the shoulder joint rotary output flange 1-2 through screws; countersunk holes are drilled in a circle at the bottom of the shoulder joint rotary shell 1-6, and the countersunk holes are matched and fixed with threaded holes around the shoulder joint rotary output flange 1-2 through screws; the bottom plate connecting plate is fixedly connected with the shoulder joint rotary output flange 1-2 through screws, and one end of the Y-shaped connecting plate 1-3 is vertically connected with the bottom plate connecting plate through screws.
Specifically, as shown in fig. 3, the rigid power transmission connection device between the output end of the shoulder joint pitching mechanism 2 and the input end of the elbow joint rotation mechanism 3 comprises a bottom plate connection plate and a fan-shaped connection plate 2-4, wherein the main body of the fan-shaped connection plate 2-4 is rectangular plate-shaped, one end of the main body of the fan-shaped connection plate 2-4 in the length direction is provided with an arc-shaped flange connection part, and the edge of the arc-shaped flange connection part is provided with a plurality of connection through holes distributed along concentric circles; the connecting plate of the bottom plate is fixedly connected with the output end of the shoulder joint pitching mechanism 2 through screws, one end of the fan-shaped connecting plate 2-4 is vertically connected with the connecting plate of the bottom plate through screws, two connecting plate installation parts with arc cross sections are symmetrically arranged at the input end of the elbow joint rotating mechanism 3 in an extending mode, and the front end faces of the two connecting plate installation parts are vertically connected with the arc-shaped flange connection parts of the fan-shaped connecting plates 2-4 through screws. The shoulder joint pitching mechanism 2 specifically comprises a shoulder joint pitching fixing flange 2-1, a shoulder joint pitching motor 2-2, a shoulder joint pitching output flange 2-3, a fan-shaped connecting plate 2-4, a shoulder joint pitching driver 2-6 and a shoulder joint pitching shell 2-7, wherein the shoulder joint pitching fixing flange 2-1 is symmetrically provided with connecting plate installation parts with arc cross sections in an extending mode; the fan-shaped connecting plate 2-4 is also provided with a shoulder joint pitching rib plate 2-5, the outer ring of the shoulder joint pitching motor 2-2 is fixedly connected with the shoulder joint pitching fixing flange 2-1 through a screw, and the inner ring is fixedly connected with the shoulder joint pitching output flange 2-3 through a screw; the shoulder joint pitching rib plates 2-5 are respectively connected and fixed with the shoulder joint pitching output flange 2-3 and the fan-shaped connecting plate 2-4; through holes are drilled around the shoulder joint pitching driver 2-6 and are fixed on the surface of the shoulder joint pitching output flange 2-3 through screws; through holes are drilled at the periphery of the bottom of the shoulder joint pitching shell 2-7 and are matched and fixed with threaded holes at the periphery of the shoulder joint pitching output flange 2-3 through screws.
Specifically, as shown in fig. 4, the elbow joint rotating mechanism 3 specifically includes an elbow joint rotating and fixing flange 3-1, an elbow joint rotating and fixing motor 3-2, an elbow joint rotating and outputting flange 3-3 and an elbow joint rotating and fixing shell 3-4, and the elbow joint rotating and fixing flange 3-1 is fixedly connected with the fan-shaped connecting plate 2-4 through screws; the outer ring of the elbow joint rotating motor 3-2 is fixedly connected with the elbow joint rotating and fixing flange 3-1 through screws, and the inner ring is fixedly connected with the elbow joint rotating and outputting flange 3-3 through screws; through holes are drilled at the periphery of the two ends of the elbow joint rotating shell 3-4 and are matched and fixed with threaded holes at the periphery of the elbow joint rotating output flange 3-3 through screws; the elbow joint rotation fixing flange 3-1 is symmetrically provided with two connecting plate mounting parts with arc cross sections in an extending mode.
Specifically, as shown in fig. 5, the elbow pitch structure 4 includes an elbow pitch fixing flange 4-1, an elbow pitch motor 4-2, an elbow pitch output flange 4-3 and an elbow pitch housing 4-4, wherein screw holes are drilled around the elbow pitch fixing flange 4-1 and are fixed with the elbow rotation housing 3-4 in a matched manner through screws; the outer ring of the elbow joint pitching motor 4-2 is fixed with the elbow joint pitching fixing flange 4-1, and the outer ring is fixed with the elbow joint pitching output flange 4-3; screw holes are drilled in the periphery of the elbow joint pitching output flange 4-3, and the screw holes are connected with through holes in the elbow joint pitching shell 4-4 in a matched mode.
Specifically, as shown in fig. 6, the wrist joint rotating structure 5 comprises a wrist joint rotating and fixing flange 5-1, a wrist joint rotating motor 5-2, a wrist joint rotating and outputting flange 5-3, a wrist joint rotating shell 5-4 and a wrist joint rotating driver 5-5, wherein threaded holes are drilled in the periphery of the wrist joint rotating and fixing flange 5-1, and the wrist joint rotating and fixing flange is fixed with the elbow joint pitching shell 4-4 in a matched manner through screws; the inner ring of the wrist joint rotating motor 5-2 is fixed with the wrist joint rotating and fixing flange 5-1, and the outer ring is fixed with the wrist joint rotating and outputting flange 5-3; screw holes are drilled in the periphery of the wrist joint rotation output flange 5-3 and are connected with through holes in the wrist joint rotation shell 5-4 in a matched mode through screws; the wrist joint rotation driver 5-5 is provided with through holes at the periphery and is fixed on the wrist joint rotation fixing flange 5-1 by screws.
Specifically, as shown in fig. 7, the wrist pitch mechanism 6 includes a wrist pitch fixing flange 6-1, a wrist pitch motor 6-2, a wrist pitch output flange 6-3 and a wrist pitch driver 6-4. The method is characterized in that: screw holes are drilled around the wrist joint pitching fixing flange 6-1 and are matched and fixed with the wrist joint rotating shell 5-4 through screws; the outer ring of the wrist joint pitching motor 6-2 is fixed with the wrist joint pitching fixing flange 6-1, and the outer ring is fixed with the wrist joint pitching output flange 6-3; the wrist pitching driver 6-4 is provided with through holes at the periphery and is fixed on the wrist pitching fixing flange 6-1 by screws.
Specifically, as shown in fig. 8, the mechanical claw 7 comprises a fixed bracket 7-1, a mechanical claw motor 7-2, a big crank 7-3, a small crank 7-4, a long claw 7-5, a short claw 7-6, a long bolt 7-7 and a short bolt 7-8, wherein the fixed bracket 7-1 is fixedly connected with the wrist joint pitching output flange 6-3 through screws; the outer ring of the mechanical claw motor 7-2 is fixed with the fixed bracket 7-1, and the inner ring is connected with the big crank 7-3 and the small crank 7-4 through gears; the long bolt 7-7 fixes the long claw 7-5 and the big crank 7-3, the short bolt 7-8 fixes the short claw 7-6 and the small crank 7-4, and the mechanical claw motor 7-2 simultaneously controls the opening and closing movements of the long claw 7-5 and the short claw 7-6.
The shoulder joint rotating mechanism is arranged at the starting end of the mechanical arm, a motor in the shoulder joint rotating mechanism is fixedly hinged with the outside, and the output end of the motor is hinged with the shoulder joint pitching mechanism; the motor output end of the shoulder joint pitching mechanism is hinged with the elbow joint rotating mechanism; the motor output end of the elbow joint rotating mechanism is hinged with the elbow joint pitching mechanism; the motor output end of the elbow joint pitching mechanism is hinged with the wrist joint pitching mechanism; the motor output end of the wrist joint pitching mechanism is hinged with the wrist joint rotating mechanism; the motor output end of the wrist joint rotating mechanism is hinged with the mechanical claw; the motor in the mechanical claw controls the opening and closing movement of the mechanical claw.
The shoulder joint rotation mechanism 1 of the mechanical arm of the above embodiment can be fixed with the external environment, and can drive the subsequent shoulder joint pitching mechanism 2 to rotate around the vertical axis; the shoulder joint pitching mechanism 2 can drive the backward elbow joint rotating mechanism 3 to swing on the horizontal plane; the elbow joint rotating mechanism 3 can drive the rear elbow joint pitching mechanism 4 to rotate around the vertical axis; the elbow joint pitching mechanism 4 can drive the rear joint wrist joint rotating mechanism 5 to swing on the horizontal plane; the wrist joint rotation mechanism 5 can drive the rear joint pitching mechanism 6 to rotate around the vertical axis; the wrist joint pitching mechanism 6 can drive the following mechanical claw 7 to turn over on the horizontal plane.
Through program setting, the motor in each actuating mechanism can drive the mechanism to rotate or swing by a certain angle, so that the position and the gesture are changed.
The mechanical arms of the type on the market are all connected through the shell through joints, and the shell at the starting end needs to bear larger moment, so that the shell needs to be cast by adopting high-strength aluminum alloy or other metal alloys. The outer shape of the shell adopts an arc surface, the shell is difficult to process on a machine tool and can only be produced by adopting a die, but the problems of high cost, difficult modification, long manufacturing period and the like can be caused, the mechanical arm of the embodiment is connected through the internal connecting piece, the stress of the shell is small, the used shell materials are all light materials such as plastics, the manufacturing mode is 3D printing, the materials are convenient to obtain, the manufacturing is simple, and the price is relatively low.
In addition, the mechanical arm on the market adopts the high-strength alloy shell as connection, so that the whole weight is large, the problems of metal fatigue, workpiece deformation and the like can be caused by long-term work, the plastic is very light, the whole weight of the mechanical arm can be greatly reduced, the operation is easy, and the service life is prolonged.
Finally, the invention only sets a rigid power transmission connecting device in the shell between the joint mechanisms far away from the mechanical claw, such as the shoulder joint rotating mechanism 1, the shoulder joint pitching mechanism 2 and the elbow joint rotating mechanism 3, which not only accords with the stress characteristic, but also is helpful for simplifying the structure and the total weight of the mechanical arm and reducing the cost.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (7)
1. The utility model provides a six degrees of freedom intelligence snatchs arm, includes shoulder joint rotary mechanism (1), shoulder joint every single move mechanism (2), elbow joint rotary mechanism (3), elbow joint every single move mechanism (4), wrist joint rotary mechanism (5), wrist joint every single move mechanism (6) and gripper (7) that connect gradually, its characterized in that:
a rigid power transmission connecting device positioned in the shell is connected between the output end of the shoulder joint rotating mechanism (1) and the input end of the shoulder joint pitching mechanism (2) and between the output end of the shoulder joint pitching mechanism (2) and the input end of the elbow joint rotating mechanism (3); the rigid power transmission connecting device between the output end of the shoulder joint rotating mechanism (1) and the input end of the shoulder joint pitching mechanism (2) comprises a bottom plate connecting plate and a Y-shaped connecting plate (1-3), wherein the main body of the Y-shaped connecting plate (1-3) is rectangular plate-shaped, wing-shaped flange connecting parts are symmetrically arranged on two side edges of the main body of the Y-shaped connecting plate (1-3) in the length direction in an extending mode, and a plurality of connecting through holes distributed along concentric circles are formed in the edges of the flange connecting parts; the bottom plate connecting plate is fixedly connected with the output end of the shoulder joint rotating mechanism (1) through a screw, one end of the Y-shaped connecting plate (1-3) is vertically connected with the bottom plate connecting plate through a screw, two connecting plate mounting parts with arc cross sections are symmetrically arranged at the input end of the shoulder joint pitching mechanism (2) in an extending mode, and the front end faces of the two connecting plate mounting parts are respectively vertically connected with the two flange connecting parts of the Y-shaped connecting plate (1-3) through screws;
the rigid power transmission connecting device positioned between the output end of the shoulder joint pitching mechanism (2) and the input end of the elbow joint rotating mechanism (3) comprises a bottom plate connecting plate and a fan-shaped connecting plate (2-4), wherein the main body of the fan-shaped connecting plate (2-4) is rectangular plate-shaped, one end of the main body of the fan-shaped connecting plate (2-4) in the length direction is provided with an arc-shaped flange connecting part, and the edge of the arc-shaped flange connecting part is provided with a plurality of connecting through holes distributed along concentric circles; the bottom plate connecting plate is fixedly connected with the output end of the shoulder joint pitching mechanism (2) through a screw, one end of the fan-shaped connecting plate (2-4) is vertically connected with the bottom plate connecting plate through a screw, two connecting plate mounting parts with arc cross sections are symmetrically arranged at the input end of the elbow joint rotating mechanism (3) in an extending mode, and the front end faces of the two connecting plate mounting parts are vertically connected with the arc-shaped flange connecting parts of the fan-shaped connecting plate (2-4) through screws;
the mechanical claw (7) comprises a fixed bracket (7-1), a mechanical claw motor (7-2), a big crank (7-3), a small crank (7-4), a long claw (7-5), a short claw (7-6), a long bolt (7-7) and a short bolt (7-8), wherein the fixed bracket (7-1) is fixedly connected with the wrist joint pitching output flange (6-3) through screws; the outer ring of the mechanical claw motor (7-2) is fixed with the fixed bracket (7-1), and the inner ring is connected with the big crank (7-3) and the small crank (7-4) through gears; the long bolt (7-7) is used for fixing the long claw (7-5) and the large crank (7-3), the short bolt (7-8) is used for fixing the short claw (7-6) and the small crank (7-4), and the mechanical claw motor (7-2) is used for controlling opening and closing movements of the long claw (7-5) and the short claw (7-6) at the same time.
2. The six-degree-of-freedom intelligent grabbing mechanical arm according to claim 1, wherein: the shoulder joint rotating mechanism (1) specifically further comprises a shoulder joint rotating motor (1-1), a shoulder joint rotating output flange (1-2), a shoulder joint rotating driver (1-5) and a shoulder joint rotating shell (1-6), wherein the Y-shaped connecting plate (1-3) is further provided with a shoulder joint rotating rib plate (1-4), the outer ring of the shoulder joint rotating motor (1-1) is fixed with the external environment, the inner ring of the shoulder joint rotating motor is connected with the shoulder joint rotating output flange (1-2) through screws, and the middle part of the shoulder joint rotating output flange (1-2) is hollowed out and drilled with countersunk holes; the shoulder joint rotating rib plates (1-4), the shoulder joint rotating output flange (1-2) and the Y-shaped connecting plate (1-3) play a role in supporting and fixing; through holes are drilled around the shoulder joint rotation driver (1-5) and are fixed on the upper surface of the shoulder joint rotation output flange (1-2) through screws; countersunk holes are drilled in the periphery of the bottom of the shoulder joint rotating shell (1-6), and the countersunk holes are matched and fixed with threaded holes in the periphery of the shoulder joint rotating output flange (1-2) through screws; the bottom plate connecting plate is fixedly connected with the shoulder joint rotary output flange (1-2) through screws, and one end of the Y-shaped connecting plate (1-3) is vertically connected with the bottom plate connecting plate through screws.
3. The six-degree-of-freedom intelligent grabbing mechanical arm according to claim 1, wherein: the shoulder joint pitching mechanism (2) specifically comprises a shoulder joint pitching fixing flange (2-1), a shoulder joint pitching motor (2-2), a shoulder joint pitching output flange (2-3), a fan-shaped connecting plate (2-4), a shoulder joint pitching driver (2-6) and a shoulder joint pitching shell (2-7), wherein the shoulder joint pitching fixing flange (2-1) is symmetrically provided with connecting plate installation parts with arc cross sections in an extending mode; the fan-shaped connecting plate (2-4) is also provided with a shoulder joint pitching rib plate (2-5), the outer ring of the shoulder joint pitching motor (2-2) is fixedly connected with the shoulder joint pitching fixing flange (2-1) through a screw, and the inner ring of the fan-shaped connecting plate is fixedly connected with the shoulder joint pitching output flange (2-3) through a screw; the shoulder joint pitching rib plates (2-5) are respectively connected and fixed with the shoulder joint pitching output flange (2-3) and the fan-shaped connecting plate (2-4); through holes are drilled around the shoulder joint pitching driver (2-6) and are fixed on the surface of the shoulder joint pitching output flange (2-3) through screws; through holes are drilled at the periphery of the bottom of the shoulder joint pitching shell (2-7), and the through holes are matched and fixed with the threaded holes at the periphery of the shoulder joint pitching output flange (2-3) through screws.
4. The six-degree-of-freedom intelligent grabbing mechanical arm according to claim 1, wherein: the elbow joint rotating mechanism (3) specifically comprises an elbow joint rotating and fixing flange (3-1), an elbow joint rotating motor (3-2), an elbow joint rotating and outputting flange (3-3) and an elbow joint rotating and outputting shell (3-4), wherein the elbow joint rotating and fixing flange (3-1) is fixedly connected with the fan-shaped connecting plate (2-4) through screws; the outer ring of the elbow joint rotating motor (3-2) is fixedly connected with the elbow joint rotating and fixing flange (3-1) through screws, and the inner ring is fixedly connected with the elbow joint rotating and outputting flange (3-3) through screws; through holes are drilled at the periphery of the two ends of the elbow joint rotating shell (3-4), and the through holes are matched and fixed with threaded holes at the periphery of the elbow joint rotating output flange (3-3) through screws; the elbow joint rotation fixing flange (3-1) is symmetrically provided with two connecting plate installation parts with arc cross sections in an extending mode.
5. The six degree of freedom intelligent gripping robot arm of claim 4, wherein: the elbow joint pitching mechanism (4) comprises an elbow joint pitching fixing flange (4-1), an elbow joint pitching motor (4-2), an elbow joint pitching output flange (4-3) and an elbow joint pitching shell (4-4), wherein threaded holes are drilled in the periphery of the elbow joint pitching fixing flange (4-1) and are matched and fixed with the elbow joint rotating shell (3-4) through screws; an outer ring of an elbow joint pitching motor (4-2) is fixed with an elbow joint pitching fixing flange (4-1), and an outer ring is fixed with an elbow joint pitching output flange (4-3); screw holes are drilled in the periphery of the elbow joint pitching output flange (4-3), and the screw holes are connected with through holes in the elbow joint pitching shell (4-4) in a matched mode.
6. The six-degree-of-freedom intelligent grabbing mechanical arm according to claim 5, wherein: the wrist joint rotating mechanism (5) comprises a wrist joint rotating and fixing flange (5-1), a wrist joint rotating motor (5-2), a wrist joint rotating and outputting flange (5-3), a wrist joint rotating shell (5-4) and a wrist joint rotating driver (5-5), wherein threaded holes are drilled in the periphery of the wrist joint rotating and fixing flange (5-1), and the wrist joint rotating and fixing flange is matched and fixed with the elbow joint pitching shell (4-4) through screws; an inner ring of the wrist joint rotating motor (5-2) is fixed with a wrist joint rotating and fixing flange (5-1), and an outer ring is fixed with a wrist joint rotating and outputting flange (5-3); screw holes are drilled on the periphery of the wrist joint rotary output flange (5-3), and the screw holes are connected with the through holes on the wrist joint rotary shell (5-4) in a matched manner; the wrist joint rotation driver (5-5) is provided with through holes at the periphery and is fixed on the wrist joint rotation fixing flange (5-1) through screws.
7. The six-degree-of-freedom intelligent grabbing mechanical arm according to claim 5, wherein: the wrist joint pitching mechanism (6) comprises a wrist joint pitching fixing flange (6-1), a wrist joint pitching motor (6-2), a wrist joint pitching output flange (6-3) and a wrist joint pitching driver (6-4), wherein threaded holes are drilled in the periphery of the wrist joint pitching fixing flange (6-1) and are matched and fixed with the wrist joint rotating shell (5-4) through screws; the outer ring of the wrist joint pitching motor (6-2) is fixed with a wrist joint pitching fixing flange (6-1), and the outer ring is fixed with a wrist joint pitching output flange (6-3); the periphery of the wrist pitching driver (6-4) is provided with through holes which are fixed on the wrist pitching fixing flange (6-1) through screws.
Priority Applications (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 |
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109676596A CN109676596A (en) | 2019-04-26 |
| CN109676596B true CN109676596B (en) | 2023-09-22 |
Family
ID=66195159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910090293.XA Active CN109676596B (en) | 2019-01-30 | 2019-01-30 | Six-degree-of-freedom intelligent grabbing mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109676596B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653807B (en) * | 2019-09-19 | 2024-05-28 | 浙江工业大学 | High-precision explosive-handling robot device |
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006000955A (en) * | 2004-06-16 | 2006-01-05 | National Institute Of Advanced Industrial & Technology | Robot arm, and its rotating joint device and wrist device |
| WO2010040215A1 (en) * | 2008-10-06 | 2010-04-15 | Kinova | Portable robotic arm |
| CN103356312A (en) * | 2013-07-30 | 2013-10-23 | 华南理工大学 | Six degrees of freedom artificial limb arm driven by electromyographic signal |
| CN107351075A (en) * | 2017-07-28 | 2017-11-17 | 华南理工大学 | A kind of lightweight modules mechanical arm of restructural |
| CN107921647A (en) * | 2015-08-28 | 2018-04-17 | 库卡德国有限公司 | Robot gripper |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE60318396T2 (en) * | 2002-02-14 | 2008-05-21 | Faro Technologies, Inc., Lake Mary | PORTABLE COORDINATE MEASURING MACHINE WITH JOINT ARM |
| DE102014222809B3 (en) * | 2014-11-07 | 2016-01-14 | Kuka Roboter Gmbh | Event-based redundancy angle configuration for articulated arm robots |
-
2019
- 2019-01-30 CN CN201910090293.XA patent/CN109676596B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006000955A (en) * | 2004-06-16 | 2006-01-05 | National Institute Of Advanced Industrial & Technology | Robot arm, and its rotating joint device and wrist device |
| WO2010040215A1 (en) * | 2008-10-06 | 2010-04-15 | Kinova | Portable robotic arm |
| CN103356312A (en) * | 2013-07-30 | 2013-10-23 | 华南理工大学 | Six degrees of freedom artificial limb arm driven by electromyographic signal |
| CN107921647A (en) * | 2015-08-28 | 2018-04-17 | 库卡德国有限公司 | Robot gripper |
| CN107351075A (en) * | 2017-07-28 | 2017-11-17 | 华南理工大学 | A kind of lightweight modules mechanical arm of restructural |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109676596A (en) | 2019-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109676596B (en) | Six-degree-of-freedom intelligent grabbing mechanical arm | |
| CN105459090A (en) | Instructive six-degree-of-freedom carrying manipulator | |
| CN204976631U (en) | Eight pole connection in series -parallel spraying machine people of 6 -degree of freedom | |
| CN108747109B (en) | Automatic part welding device for industrial production | |
| CN102085659A (en) | Space-controlled five degree of freedom twelve-rod welding robot mechanism | |
| CN105690417A (en) | Multifunctional intelligent clamping jaw and joint robot | |
| CN203592484U (en) | Four-joint ladling or pouring robot | |
| CN201881377U (en) | Five-degree of freedom twelve-rod welded robot mechanism with controllable space | |
| CN111890411A (en) | Quick assembly disassembly formula four-axis manipulator | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN113733066B (en) | Double-arm robot | |
| CN109278031B (en) | Hollow six-joint industrial robot | |
| CN103978475B (en) | Industrial intelligent robot body | |
| CN208977844U (en) | A kind of robot of customizable working radius | |
| JP2001054889A (en) | Vertical articulated robot for assembly | |
| CN209755202U (en) | Six-degree-of-freedom intelligent grabbing mechanical arm | |
| CN211137149U (en) | Multi-joint offset high-integration seven-axis cooperative robot | |
| CN207548752U (en) | A kind of Five-degree-of-freedmanipulator manipulator | |
| CN113580125A (en) | Mechanical arm with multiple degrees of freedom | |
| CN205734916U (en) | Articulated robot | |
| CN203792333U (en) | Industrial intelligent robot body | |
| CN208196842U (en) | Six-joint robot structure | |
| CN112677143A (en) | Extensible plane joint type robot | |
| CN220030261U (en) | Bionic manipulator capable of horizontally swinging | |
| CN117944021B (en) | Robot capable of being flexibly operated |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |