CN110202557A - A kind of mechanical arm of intelligent robot universal rotational - Google Patents
A kind of mechanical arm of intelligent robot universal rotational Download PDFInfo
- Publication number
- CN110202557A CN110202557A CN201910518340.6A CN201910518340A CN110202557A CN 110202557 A CN110202557 A CN 110202557A CN 201910518340 A CN201910518340 A CN 201910518340A CN 110202557 A CN110202557 A CN 110202557A
- Authority
- CN
- China
- Prior art keywords
- support block
- arm
- inner support
- mechanical arm
- block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Abstract
The present invention is a kind of mechanical arm of intelligent robot universal rotational, the mechanical arm includes that several machinery divide arm to form, machinery divides fixed interconnection between arm, the machinery divides arm to include dividing arm block, rotating device and stepper motor, described divides arm block to include inner support block and outer support block composition, inner support block passes through screw connection outer support block, the rotating device is by fixed plate screw connection in outer supporting block interior surface, the stepping motor is snapped connection inside inner support block by card slot, the card slot both side surface is welded on inner support block interior surface, the stepping motor connects rotating device by conducting wire, this mechanical arm realizes universal rotating function, increase without accessory, save the carrying of redundant component, reduce the investment of economic cost.
Description
Technical field
The present invention relates to a kind of mechanical arms of intelligent robot universal rotational, belong to intelligent robot technology field.
Background technique
With the development course of intelligence science and technology advanced by leaps and bounds, the development of mechanization at this stage replaces manual labor
Paces are getting faster, and most outstanding be embodied in is that machine man-based development here, and the problem of robot is to realize at this stage
The technical problem of the universal rotational of mechanical arm, what the mechanical arm of robot at this stage was confined to can only to spin 180 degree, or it is left
The running of right-hand rotation body needs to increase again when realizing universal swivel a mechanical arm swivel running, so that entire mechanical
Weight increases, and is also to increase load effect in electricity consuming, is unfavorable for entirely implementing the flexible use in running.
The Chinese patent of Publication No. CN106239559A discloses a kind of mechanical arm, the turning end of this patent No.1 steering engine
It is connected with No. two steering engines, No.1 steering engine is vertical with No. two steering engine axis；The turning end of No. two steering engines is connected with No. three steering engines, and No. two
Steering engine is vertical with No. three steering engine axis；The turning end of No. three steering engines is connected with steering engine rotating turret, steering engine rotating turret and No. four steering engines
Turning end be connected, No. three steering engines are vertical with No. four steering engine axis；The fixed company in rear end of the side of No. four steering engines and No. five steering engines
It connects, No. four steering engines are vertical with No. five steering engine axis；The turning end of No. five steering engines is connected with No. six steering engines, No. five steering engines and No. six rudders
Arbor line is vertical.
This patent realizes mechanical swivel effect in certain degree, but excessively redundancy is multiple in structure design for this patent
It is miscellaneous, it is unfavorable for operator in an implementation and faster uses, waste the time in study schedule, so that spends more labour
Power cost, this patent are not closely to connect without technical construction during universal swivel, will appear sundries in implementation process
Accumulation, cause mechanical arm use to break down, influence using progress of implementation.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of mechanical arm of intelligent robot universal rotational,
It realizes that multiple points of arms are composed, can be used for replacing adjusting composition at any time, using univesal wheelwork, realize that universal rotational turns
Body is added without ancillary equipment in an implementation, is eliminated and is carried manpower and material resources arrangement, has saved efficiency of the practice, increased economy
The extra earning of cost, improves the quality services brand of this mechanical arm, advantage with solve technical problem at this stage, improve mechanical arm
Intelligence science and technology developing steps.
To achieve the goals above, the invention is realized by the following technical scheme: a kind of intelligent robot universal rotational
Mechanical arm, the mechanical arm include that several machinery divide arm to form, and machinery, which divides between arm, to be mutually permanently connected, the machinery
Dividing arm includes dividing arm block, rotating device and stepper motor, and described divides arm block to include inner support block and outer support block composition, interior branch
Bracer by screw connection outer support block, the rotating device by fixed plate screw connection in outer supporting block interior surface,
The stepping motor is snapped connection inside inner support block by card slot, and the card slot both side surface is welded on inner support
Block interior surface, the stepping motor connect rotating device by conducting wire.
The outer support block bottom surface is provided with the through-hole with inner support block upper face same shape, the interior branch
Bracer upper face passes through through-hole, and by screw connection, another machinery divides the outer support block bottom inside surface on arm, described
Inner support block includes upper mass and bottom piece composition, and inner support block inside upper part surface is provided with rotating device, the top
Block is fixedly connected on rotating device upper face, and bottom piece is fixedly connected on rotating device lower surface, and the stepping is electronic
The bottom surface of outer supporting block is arranged in machine.
The square structure of the inner support block, outer support block are arranged in rectangle.
The rotating device includes that top rotary components, sphere runner assembly and lower part rotary components form, described
Rotary components actuation in top is connected to sphere runner assembly upper face, and the lower part rotary components actuation is connected to sphere and turns
Braking member is installed in the lower surface of dynamic component, sphere runner assembly inside, and the stepping motor passes through conducting wire and connects system
Dynamic element.
To sum up, mechanical arm of the present invention has multiple machinery that arm is divided to be composed, and machinery divides arm to be divided into inner support block and outer branch again
Bracer composition, is fixedly connected between inner support block and outer support block by card slot, this mode, which connects, increases inner support block and outer
Operation is consolidated between supporting block, and during operating swivel will not deviation post, inner support block is divided into upper mass and bottom piece
Composition, between upper mass and bottom piece by sphere runner assembly be attracted connection, this technical pattern be embodied in do not have it is limited
Running swivel process realizes the universal swivel process of freedom degree in specific implementation, braking member is arranged inside sphere runner assembly,
Stepping motor is connected, it is both instant braking action that braking member, which is arranged in sphere runner assembly, inside sphere runner assembly
Technical construction, and the space manufacture of mechanical arm is saved, the occupied space of mechanical arm is reduced, is conducive to real in different environments
Use is applied, this mechanical arm divides arm to be arranged using multiple machinery, reduces the addition of accessory, saves equipment in an implementation
Weight bearing effect, then is the simplification of component, so that upper hand enters in implementation and uses operator quickly, saves paying for labour,
The consuming for saving resource reduces artificial, the mechanical arm of this invention, solve at this stage can not universal swivel it is tired
Difficulty, or the heavy operation of addition accessory.
It realizes that multiple points of arms are composed, can be used for replacing adjusting composition at any time, using univesal wheelwork, realize universal
Rotation swivel, is added without ancillary equipment in an implementation, is eliminated and is carried manpower and material resources arrangement, has saved efficiency of the practice, is increased
The extra earning of economic cost, improves the quality services brand of this mechanical arm, advantage with solve technical problem at this stage, improve
The developing steps of the intelligence science and technology of mechanical arm.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of rotating device in Fig. 1；
Fig. 3 is the structural schematic diagram that inner support block is connect with outer support block；
Fig. 4 is inner support block structural schematic diagram in Fig. 1；
In figure: 1, machinery divides arm, and 2, divide arm block, 3, rotating device, 4, stepper motor, 5, inner support block, 6, outer support block, 7, card
Slot, 8, through-hole, 9, upper mass, 10, bottom piece, 11, top rotary components, 12, sphere runner assembly, 13, lower part rotation group
Part, 14, braking member.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
As shown in Figures 1 to 4, the present invention is a kind of mechanical arm of intelligent robot universal rotational, the mechanical arm packet
Including several machinery divides arm 1 to form, and machinery, which divides between arm 1, to be mutually permanently connected, and the machinery divides arm 1 to include dividing arm block 2, rotation
Rotary device 3 and stepper motor 4, described divides arm block 2 to include that inner support block 5 and outer support block 6 form, and inner support block 5 passes through spiral shell
Silk connection outer support block 6, the rotating device 3 is by fixed plate screw connection in outer 6 interior surface of supporting block, the step
It is snapped connection inside inner support block 5 into electronic 4 machine by card slot 7,7 both side surface of card slot is welded on inner support block 5
Interior surface, the stepping motor 4 connect rotating device 3 by conducting wire.
6 bottom surface of outer support block is provided with the through-hole 8 with 5 upper face same shape of inner support block, described
5 upper face of inner support block passes through through-hole 8, and by screw connection, another machinery divides the 6 bottom inside table of outer support block on arm
Face, the inner support block 5 include that upper mass 9 and bottom piece 10 form, and 5 inside upper part surface of inner support block is provided with rotating dress
3 are set, the upper mass 9 is fixedly connected on 3 upper face of rotating device, and bottom piece 10 is fixedly connected on 3 lower part of rotating device
The bottom surface of outer supporting block 6 is arranged in surface, the stepping motor 4.
The square structure of inner support block 5, outer support block 6 are arranged in rectangle.
The rotating device 3 includes that top rotary components 11, sphere runner assembly 12 and lower part rotary components 13 form,
The actuation of top rotary components 11 is connected to 12 upper face of sphere runner assembly, and the lower part rotary components 13 are attracted
It is connected to the lower surface of sphere runner assembly 12, braking member 14, the stepping electricity are installed inside sphere runner assembly 12
Motivation 4 connects braking member 14 by conducting wire.
To sum up summation, mechanical arm of the present invention have multiple machinery that arm is divided to be composed, machinery divide arm be divided into again inner support block and
Outer support block composition, is fixedly connected between inner support block and outer support block by card slot, this mode, which connects, increases inner support block
Between outer support block consolidate operation, and operate swivel during will not deviation post, inner support block be divided into upper mass and under
Portion's block composition, is attracted connection by sphere runner assembly between upper mass and bottom piece, this technical pattern, which is embodied in, does not limit to
Property running turn process, realize the universal swivel process of freedom degree in specific implementation, setting braking inside sphere runner assembly
Element connects stepping motor, and it is both instant braking action that braking member, which is arranged in sphere runner assembly, in sphere runner assembly
Internal technology construction, and the space manufacture of mechanical arm is saved, the occupied space of mechanical arm is reduced, is conducive in different environment
Lower implementation uses, this mechanical arm divides arm to be arranged, reduces the addition of accessory, save in an implementation using multiple machinery
Equipment weight bearing effect, then is the simplification of component, so that upper hand enters in implementation and uses operator quickly, saves paying for labour
Out, the consuming for saving resource reduces artificial, the mechanical arm of this invention, solve at this stage can not universal swivel
Difficulty, or the heavy operation of addition accessory.
It realizes that multiple points of arms are composed, can be used for replacing adjusting composition at any time, using univesal wheelwork, realize universal
Rotation swivel, is added without ancillary equipment in an implementation, is eliminated and is carried manpower and material resources arrangement, has saved efficiency of the practice, is increased
The extra earning of economic cost, improves the quality services brand of this mechanical arm, advantage with solve technical problem at this stage, improve
The developing steps of the intelligence science and technology of mechanical arm.
Claims (4)
1. a kind of mechanical arm of intelligent robot universal rotational, the mechanical arm includes that several machinery divide arm (1) to form, machine
Tool, which divides between arm (1), to be mutually permanently connected, which is characterized in that the machinery divides arm (1) to include dividing arm block (2), rotating device
(3) and stepper motor (4), described that arm block (2) is divided to include inner support block (5) and outer support block (6) composition, inner support block (5)
By screw connection outer support block (6), the rotating device (3) is internal in outer supporting block (6) by fixed plate screw connection
Surface, electronic (4) machine of the stepping snap connection the card slot (7) two internal, described in inner support block (5) by card slot (7)
Side surface is welded on inner support block (5) interior surface, and the stepping motor (4) connects rotating device (3) by conducting wire.
2. a kind of mechanical arm of intelligent robot universal rotational according to claim 1, which is characterized in that the outer branch
Bracer (6) bottom surface is provided with and the through-hole (8) of inner support block (5) upper face same shape, in the inner support block (5)
Portion surface passes through through-hole (8), and by screw connection, another machinery divides outer support block (6) bottom inside surface on arm, described
Inner support block (5) includes upper mass (9) and bottom piece (10) composition, and inner support block (5) inside upper part surface is provided with rotating dress
It sets (3), the upper mass (9) is fixedly connected on rotating device (3) upper face, and bottom piece (10) is fixedly connected on rotating dress
(3) lower surface is set, the bottom surface in outer supporting block (6) is arranged in the stepping motor (4).
3. a kind of mechanical arm of intelligent robot universal rotational according to claim 2, which is characterized in that the interior branch
Bracer (5) square structure, outer support block (6) are arranged in rectangle.
4. a kind of mechanical arm of intelligent robot universal rotational according to claim 2, which is characterized in that the rotation
Device (3) includes top rotary components (11), sphere runner assembly (12) and lower part rotary components (13) composition, the top
Rotary components (11) actuation is connected to sphere runner assembly (12) upper face, and the lower part rotary components (13) are attracted connection
Lower surface in sphere runner assembly (12), sphere runner assembly (12) is internal to install braking member (14), the stepping
Motor (4) connects braking member (14) by conducting wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910518340.6A CN110202557A (en) | 2019-06-15 | 2019-06-15 | A kind of mechanical arm of intelligent robot universal rotational |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910518340.6A CN110202557A (en) | 2019-06-15 | 2019-06-15 | A kind of mechanical arm of intelligent robot universal rotational |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110202557A true CN110202557A (en) | 2019-09-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910518340.6A Pending CN110202557A (en) | 2019-06-15 | 2019-06-15 | A kind of mechanical arm of intelligent robot universal rotational |
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| CN (1) | CN110202557A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214662A (en) * | 2008-01-09 | 2008-07-09 | 北京航空航天大学 | Spherical hinge type joint electric locking device |
| WO2009081164A1 (en) * | 2007-12-21 | 2009-07-02 | Oliver Crispin Robotics Limited | Robotic arm |
| CN105108746A (en) * | 2015-08-10 | 2015-12-02 | 广东工业大学 | Multi-degree-of-freedom joint robot arm |
| CN108177159A (en) * | 2017-12-29 | 2018-06-19 | 哈尔滨工业大学深圳研究生院 | A kind of high-mechanic gimbal suspension, mechanical arm joint and flexible mechanical arm |
| CN108297074A (en) * | 2018-03-30 | 2018-07-20 | 福州大学 | Modularized bionic mechanical arm and its working method |
-
2019
- 2019-06-15 CN CN201910518340.6A patent/CN110202557A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009081164A1 (en) * | 2007-12-21 | 2009-07-02 | Oliver Crispin Robotics Limited | Robotic arm |
| CN101214662A (en) * | 2008-01-09 | 2008-07-09 | 北京航空航天大学 | Spherical hinge type joint electric locking device |
| CN105108746A (en) * | 2015-08-10 | 2015-12-02 | 广东工业大学 | Multi-degree-of-freedom joint robot arm |
| CN108177159A (en) * | 2017-12-29 | 2018-06-19 | 哈尔滨工业大学深圳研究生院 | A kind of high-mechanic gimbal suspension, mechanical arm joint and flexible mechanical arm |
| CN108297074A (en) * | 2018-03-30 | 2018-07-20 | 福州大学 | Modularized bionic mechanical arm and its working method |
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Application publication date: 20190906 |