CN110640785A - Multi-degree-of-freedom combined mechanical arm - Google Patents
Multi-degree-of-freedom combined mechanical arm Download PDFInfo
- Publication number
- CN110640785A CN110640785A CN201810667177.5A CN201810667177A CN110640785A CN 110640785 A CN110640785 A CN 110640785A CN 201810667177 A CN201810667177 A CN 201810667177A CN 110640785 A CN110640785 A CN 110640785A
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- China
- Prior art keywords
- arm
- cylinder
- plate
- angle transmission
- fixedly connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention discloses a multi-degree-of-freedom combined mechanical arm which comprises a cylinder part, a stand column part, an upper sliding frame part, a lower sliding frame part, a right-angle transmission motor part, a connecting plate, a first arm section part and a second arm section part. The cylinder part is fixedly connected with the upright post part; the slide blocks of the upper sliding frame part and the lower sliding frame part are matched with the guide rails of the upright post parts; the right-angle transmission motor part is fixedly connected with the upper sliding frame part and the lower sliding frame part; two ends of the connecting plate are respectively connected with the right-angle transmission motor part and the first arm section part; the second arm segment part is connected with the arm plate of the first arm segment part. The mechanical arm has four degrees of freedom, and the first arm section part and the second arm section part can rotate together and can also rotate relatively; the two arm sections are at the same horizontal height, so that the effective stroke of the slide rail of the upright post component is increased. The mechanical arm is compact in structure, and the problem that the mechanical arm is difficult to operate in a narrow space can be solved.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom combined mechanical arm.
Background
Industrial robots are commonly used to replace manual handling, palletizing, welding, etc. It can replace human to finish some heavy manual labor, and can work under the severe and dangerous environment, therefore is widely applied to the automatic production.
The following methods are mainly used for common mechanical arms: the first one is that an X/Y/Z three-axis running mechanism is adopted, a mechanical arm is arranged on an X/Y/Z three-axis superposition running platform, and the mechanical arm can move along the X direction, the Y direction and the Z direction, so that the mechanical arm is driven to move in a three-dimensional space; the mechanical arm is heavy in structure and large in occupied space, the effective stroke of the Z axis is reduced due to the three-axis superposed structure, the degree of freedom is insufficient, and the mechanical arm is not flexible enough. The second mechanical arm is formed by adding a rotational degree of freedom in the X direction, the Y direction and the Z direction on the basis of the first mechanical arm; the structure has more freedom degrees, but the structure is complex, heavy and large in occupied space, the effective stroke of the Z axis is reduced due to the three-axis superposed structure, and the production cost is very high. The third is to adopt the form of multiple connecting rods, control the stretching of the mechanical arm by controlling the rotation of the motor at the joint of the mechanical arm; the mechanical arm is flexible, but the base of the mechanical arm is often installed at a certain fixed position, so that the movement along a certain direction cannot be realized, and the operation space of the mechanical arm is limited.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a multi-degree-of-freedom combined mechanical arm which has the advantages of large effective stroke of a guide rail, simple and compact structure, flexibility, large operation space and low design and manufacturing cost, can meet the use requirements of various occasions, and is particularly suitable for the occasions with narrow operation space.
The technical scheme adopted by the invention is as follows: a multi-degree-of-freedom combined mechanical arm, comprising: the device comprises a cylinder part, a stand column part, an upper sliding frame part, a lower sliding frame part, a right-angle transmission motor part, a connecting plate, a first arm section part and a second arm section part. The technical key points are as follows: the pillar member includes:
the base is provided with a threaded hole; the upright post side plate is fixed on the base; the cylinder stop block is fixed on the side surface of the upright post side plate; the guide rail is fixedly connected with the upright post side plate; the cylinder part comprises a cylinder rod and a cylinder sleeve, and the cylinder sleeve is fixedly connected with the base; the upper and lower carriage members include: the sliding block vertical plate is provided with a threaded hole; the cylinder rod connecting block is fixedly connected with the sliding block vertical plate; the sliding block is fixedly connected with the sliding block vertical plate; the right-angle transmission motor part comprises a right-angle transmission system and a motor, and the right-angle transmission system is fixed on the sliding block vertical plate; the first arm segment component comprising: a first arm plate; the first right-angle transmission system is fixed on the first arm plate; the first motor is fixedly connected with the first right-angle transmission system; two ends of the connecting plate are respectively connected with the right-angle transmission system and the first right-angle transmission system; the second arm section component comprises a second arm plate; a second right angle drive system fixed to the second armplate; and the second motor is fixedly connected with the second right-angle transmission system. The first arm section component and the second arm section component are identical in structure. The cylinder rod connecting block of the air cylinder is fixedly connected with the cylinder rod. One side surface of the upright post side plate is provided with a groove, and the cylinder stop block is provided with two pieces; the two cylinder stop blocks are respectively fixed on the grooves. The positions of the two cylinder stop blocks on the side plate grooves of the upright post can be freely adjusted. And the output end of the second right-angle transmission system is connected with the arm plate of the first arm section. The second arm segment component is at the same level as the first arm segment component. The upper and lower sliding frame parts, the right-angle transmission motor part, the first arm joint part and the second arm joint part slide between the two cylinder stoppers along the guide rail under the driving of the cylinder rod. The first arm section part and the second arm section part rotate together around the axis of the output end of the right-angle transmission system under the driving of the motor. The distance between the connecting plate and the first arm section is required to satisfy the following conditions: when the first motor rotates, the first arm section and the connecting plate do not interfere with each other; the distance between the first arm section and the second arm section should satisfy: when the first arm section and the second arm section rotate mutually, interference does not occur. The user can increase the degree of freedom of the mechanical arm by increasing the number of arm sections, and an actuating mechanism (such as a grabbing mechanism) can be arranged on the arm plate of the final arm section according to the use requirement.
Compared with the prior art, the invention has the beneficial effects that: the mechanical arm has four degrees of freedom, and the first arm section part and the second arm section part can rotate together and can realize the relative rotation between the two arm sections; the two arm sections can move along the slide rail of the upright post together with the right-angle transmission motor part; the two arm sections are at the same horizontal height, so that the effective stroke of the slide rail of the upright post component is increased. The mechanical arm disclosed by the invention is compact and flexible in structure, large in extension space range and small in volume after being folded, and can solve the problem that the mechanical arm is difficult to operate in a narrow space.
Drawings
FIG. 1 is a diagram illustrating the overall effect of the present invention;
FIG. 2 is an internal structural view of the present invention;
FIG. 3 is a schematic view of a cylinder block construction;
FIG. 4 is a schematic structural view of a column section;
FIG. 5 is a schematic view showing an assembled relationship between a cylinder block and a pillar block;
FIG. 6 is a schematic view of the assembly of the cylinder assembly with the upper and lower carriage assemblies;
FIG. 7 is a schematic view of the upper and lower carriage members;
FIG. 8 is a schematic view of a connection plate structure;
FIG. 9 is a schematic view of components of a right angle drive motor;
FIGS. 10 to 11 are schematic structural views of the first arm segment;
the sequence numbers in the figures illustrate: 100-mechanical arm, 110-cylinder part, 120-column part, 130-upper and lower sliding frame part, 140-right-angle transmission motor part, 150-connecting plate, 160-first arm joint part and 170-second arm joint part;
111-cylinder liner, 112-cylinder liner nut, 113-cylinder rod;
121-base, 122-upright side plate, 123-stop connecting screw, 124-cylinder stop, 125-guide rail, 126-guide rail connecting screw and 127-cylinder sleeve connecting screw;
131-a slide block, 132-a slide block vertical plate and 133-a cylinder rod connecting block;
141-right-angle drive system, 142-electric machine;
161-first arm plate, 162-first right angle drive system, 163-right angle drive system connection screw, 164-first motor; 165-mask.
Detailed Description
The following detailed description of the preferred embodiments of the present invention is provided in conjunction with the accompanying drawings, although it will be understood that the scope of the invention is not limited to the specific embodiments.
As shown in FIG. 1, a robot arm mainly comprises a cylinder part 110, a column part 120, an upper sliding frame part 130, a lower sliding frame part 130, a right-angle transmission motor part 140, a connecting plate 150 and a first arm
A joint part 160, a second arm joint part 170;
as shown in fig. 1 and fig. 2, the right-angle transmission system 141 is fixedly installed on the sliding block vertical plate 132, an output end of the right-angle transmission system 141 is connected with the connecting plate 150, and the first arm joint part 160 is connected with the connecting plate 150 through an output end of the first right-angle transmission system 162;
as shown in fig. 4, the cylinder stopper 124 is fixed on the groove opened on the upright side plate 122 by a stopper connecting screw 123, and the position of the cylinder stopper 124 on the groove can be changed by adjusting the stopper connecting screw 123; the guide rail 125 is two pieces and is parallelly installed on the upright side plate 122 through a guide rail connecting screw 126;
as shown in fig. 5, the connection relationship between the cylinder part 110 and the pillar part 120 is: the cylinder sleeve 111 is fixedly connected with the bottom plate 121 through a cylinder sleeve connecting screw 127;
as shown in fig. 6, the cylinder rod 113 is fixedly connected with the cylinder rod connecting block 133 through a cylinder sleeve nut 112; the slider 131 is engaged with the guide rail 125, and the slider 131 can move on the guide rail 125;
as shown in fig. 7, the sliding block 131 is fixedly connected to the sliding block vertical plate 132, and the cylinder rod connecting block 133 is fixedly connected to the sliding block vertical plate 132;
as shown in fig. 9, the motor 142 is fixedly connected to the right angle drive system 141;
as shown in fig. 10 to 11, the first motor 164 is fixedly connected to the first right angle drive system 162, the first right angle drive system 162 is fixedly connected to the first arm plate 161 by the right angle drive system connection screw 163, and the cover 165 is mounted on the first arm plate 161.
The working process and the using method of the invention are as follows: in use, the robotic arm 100 is secured in place in the workspace by the base 121. When the cylinder part 110 moves, the cylinder rod 113 makes telescopic motion, thereby driving the up-down sliding part 130, the right-angle transmission motor part 140, the connecting plate 150, the first arm section part 160 and the second arm section part 170 to move up and down along the guide rail 125; meanwhile, when the motor 142 rotates, the connecting plate 150 rotates together with the first arm-joint part 160 and the second arm-joint part 170 around the axis of the output end of the right-angle transmission system 141; when the first motor 164 rotates, the first arm section 160 and the second arm section 170 rotate together around the output end axis of the first right-angle transmission system 162; the second arm segment 170 operates on the same principles as the first arm segment 160, and so on. The user can expand the number of arm segments as desired.
The above preferred embodiments are merely illustrative of the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention belong to the scope of the present invention.
Claims (10)
1. A robotic arm, comprising: the device comprises a stand column part, a cylinder part, an upper sliding frame part, a lower sliding frame part, a right-angle transmission motor part, a connecting plate, a first arm joint part and a second arm joint part; the pillar member includes: the base is provided with a threaded hole; the upright post side plate is fixed on the base; the cylinder stop block is fixed on the side surface of the upright post side plate; the guide rail is fixedly connected with the upright post side plate; the cylinder part comprises a cylinder rod and a cylinder sleeve, and the cylinder sleeve is fixedly connected with the base; the upper and lower carriage members include: the sliding block vertical plate is provided with a threaded hole; the cylinder rod connecting block is fixedly connected with the sliding block vertical plate; the sliding block is fixedly connected with the sliding block vertical plate; the right-angle transmission motor part comprises a right-angle transmission system and a motor, and the right-angle transmission system is fixed on the sliding block vertical plate; the first arm segment component comprising: a first arm plate; the first right-angle transmission system is fixed on the first arm plate; the first motor is fixedly connected with the first right-angle transmission system; two ends of the connecting plate are respectively connected with the right-angle transmission system and the first right-angle transmission system; the second arm section component comprises a second arm plate; a second right angle drive system fixed to the second armplate; and the second motor is fixedly connected with the second right-angle transmission system.
2. A robotic arm as claimed in claim 1, in which the first and second arm-segment parts are of the same construction.
3. A robotic arm as claimed in claim 1, in which the cylinder rod connection block is fixedly connected to the cylinder rod.
4. The mechanical arm as claimed in claim 1, wherein one side of the upright side plate is grooved, and the cylinder stopper has two pieces; the two cylinder stop blocks are respectively fixed on the grooves.
5. A robotic arm as claimed in claim 1, in which the output of the second right angle drive system is connected to the arm plate of the first arm segment.
6. A robotic arm as claimed in claim 1, in which the second knuckle part is at the same level as the first knuckle part.
7. A robotic arm as claimed in claim 1, in claims 3 to 4, in which the upper and lower carriage members together with the right angle drive motor member, the first arm-joint member and the second arm-joint member slide along the guide track between the two cylinder stops under the drive of the cylinder rod.
8. A robotic arm as claimed in claim 1, in which the first and second arm-segment parts rotate together about the axis of the right angle drive system output under the drive of the motor.
9. A robotic arm as claimed in claim 1, claim 2 and claim 5, in which the distance between the link plate and the first arm section is such that: when the first motor rotates, the first arm section and the connecting plate do not interfere with each other; the distance between the first arm section and the second arm section should satisfy: when the first arm section and the second arm section rotate mutually, interference does not occur.
10. A robot arm as claimed in claim 1, claim 2, claim 5 and claim 6, characterized in that the degree of freedom of the robot arm can be increased by increasing the number of arm joints.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810667177.5A CN110640785A (en) | 2018-06-26 | 2018-06-26 | Multi-degree-of-freedom combined mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810667177.5A CN110640785A (en) | 2018-06-26 | 2018-06-26 | Multi-degree-of-freedom combined mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN110640785A true CN110640785A (en) | 2020-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810667177.5A Pending CN110640785A (en) | 2018-06-26 | 2018-06-26 | Multi-degree-of-freedom combined mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720444A (en) * | 2020-12-25 | 2021-04-30 | 杭州电子科技大学 | Reversible impact-resistant mechanical arm and driving method thereof |
Citations (5)
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|---|---|---|---|---|
| CN102941578A (en) * | 2012-12-09 | 2013-02-27 | 中国船舶重工集团公司第七二二研究所 | Ioint module for rotating mechanical arm rotation |
| CN203109947U (en) * | 2013-02-28 | 2013-08-07 | 浙江万丰摩轮有限公司 | Motorcycle aluminum alloy hub gravity casting part picking mechanical hand |
| CN104385260A (en) * | 2014-11-21 | 2015-03-04 | 华南理工大学 | Novel four-degree-of-freedom articulated robot structure |
| CN106584084A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Automatic screw turning device |
| CN108044599A (en) * | 2018-01-23 | 2018-05-18 | 连雪芳 | A kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode |
-
2018
- 2018-06-26 CN CN201810667177.5A patent/CN110640785A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941578A (en) * | 2012-12-09 | 2013-02-27 | 中国船舶重工集团公司第七二二研究所 | Ioint module for rotating mechanical arm rotation |
| CN203109947U (en) * | 2013-02-28 | 2013-08-07 | 浙江万丰摩轮有限公司 | Motorcycle aluminum alloy hub gravity casting part picking mechanical hand |
| CN104385260A (en) * | 2014-11-21 | 2015-03-04 | 华南理工大学 | Novel four-degree-of-freedom articulated robot structure |
| CN106584084A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Automatic screw turning device |
| CN108044599A (en) * | 2018-01-23 | 2018-05-18 | 连雪芳 | A kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720444A (en) * | 2020-12-25 | 2021-04-30 | 杭州电子科技大学 | Reversible impact-resistant mechanical arm and driving method thereof |
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Application publication date: 20200103 |
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