CN111645104A - Large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm capable of being replaced quickly - Google Patents
Large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm capable of being replaced quickly Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention discloses a large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm capable of being replaced quickly, which comprises a linear sliding table, an electric rotating table, a rigid arm and a flexible arm, wherein the lower end of the electric rotating table is fixedly connected to a sliding plate on the linear sliding table, the upper part of the electric rotating table is rotatably connected to one end of the rigid arm through a rigid arm joint motor transmission mechanism, and the other end of the rigid arm is rotatably connected to the flexible arm through a flexible arm joint motor transmission mechanism. According to the invention, the rigid arm is formed by splicing, so that the weight of the rigid arm is easier to reduce, the inertia is reduced, the weight of the rigid arm and the control of the whole four-degree-of-freedom mechanical arm are more convenient to balance, the rigid arm is not easy to deform along the stress direction, and meanwhile, the joint structure is easier to design, manufacture and install.
Description
Technical Field
The invention belongs to the field of flexible mechanism motion planning and vibration active suppression in intelligent manufacturing research, and relates to a four-degree-of-freedom rigid-flexible coupling mechanical arm with a large stroke and capable of being replaced quickly.
Background
Flexible robotic arms exhibit tremendous advantages over rigid robotic arms. The flexible mechanical arm has the advantages of light weight, small volume, quick response and the like, so that the flexible mechanical arm can be well applied to industrial production, but the flexible mechanical arm has deformation and micro-vibration characteristics, so that the flexible mechanical arm has some problems in high-precision operation, and needs severe environmental conditions and effective control means. An effective control method is a necessary condition for realizing high-precision operation of the flexible mechanical arm. The flexible mechanical arm has high load-weight ratio, can operate at a high speed, has high operating energy efficiency, has low specification requirement of the actuator, and ensures that the interaction between the flexible mechanical arm and the environment is safer and more reliable based on the flexibility characteristics of the flexible mechanical arm. However, the application of flexible mechanical arms is also limited by the problems caused by the light design, and the flexible mechanical arms have poor interference filtering effect on the environment, which results in more sensitive vibration response with larger amplitude. These vibrational responses cause positional shifts and long response lag times during operation. The new generation of robots brings about an improvement in productivity with their high load-weight ratio, but at the same time, the flexibility and weight reduction determine the operating accuracy of the robot arm, and the flexible arm always has an unexpected deviation in a certain operation. The flexibility of the mechanical structure reduces the operation precision of the manipulator and increases the uncertainty of the operation. Therefore, the study of the relatively simple rigid arm control problem has turned to the study of the difficult to characterize flexible arm control problem as the case may be.
The existing four-degree-of-freedom rigid-flexible coupling flexible mechanical arm is composed of translation and rotation, and the addition of the flexible arm increases the response speed and safety of a system and can better meet the spatial position operation requirement. The four degrees of freedom are respectively: (1) translational degree of freedom brought by the linear sliding table; (2) freedom of rotation in the horizontal plane brought by the CKD motor; (3) the rotational degree of freedom perpendicular to the horizontal plane brought by the rigid arm servo motor; (4) the flexible arm servo motor brings the freedom of rotation perpendicular to the horizontal plane. The four degrees of freedom enable the robot arm execution end to move to any position within a range in different postures. The actuator of the mechanical arm is a linear sliding table, a CKD motor and a servo motor, and the linear sliding table, the CKD motor and the servo motor are controlled to realize the motion of the mechanical arm. The feedback mode is coding feedback, and each actuator has self-locking capability.
The response speed and the precision of the rigid-flexible coupling mechanical arm for executing tasks are further based on the design of a mechanical structure, and the design idea of the existing rigid-flexible coupling mechanical arm is that the inertia of a system is reduced mainly by designing a rigid arm and a joint transmission structure except for selecting a lighter motor with a larger driving force, so that the response speed is increased. A complete arm can be selected in the aspect of a rigid arm, but under the premise of large span and large stroke, the arm ensures that the rigidity needs a larger sectional area, and the weight is not easy to reduce.
From the aim and meaning of the four-degree-of-freedom rigid-flexible coupling mechanical arm, the aim is achieved by accurately and quickly positioning a target point and well eliminating the vibration of the flexible arm caused by interference. There are many factors that cause the flexible arm to vibrate internally or externally, and these disturbing factors are eventually superimposed on the end of the flexible arm, making it difficult to achieve operational objectives. Therefore, the positioning effect and the vibration suppression effect of the end portion thereof are mainly concerned. In vibration active control, the dynamic vibration absorber can absorb vibration at the end part of the flexible mechanical arm, the internal mass spring damping system of the active dynamic vibration absorber has adjustable parameters, or can directly provide active power for vibration suppression, four-degree-of-freedom rigid-flexible coupling mechanical arm, one active dynamic vibration absorber is arranged at the end part of the flexible arm to effectively reduce the problem of end disturbance vibration caused by large space span and large flexibility, and the active dynamic vibration absorber has active force or means, so that the effective time is shorter, and the vibration can be absorbed and suppressed more quickly. Therefore, the significance of the active dynamic vibration absorber can be reflected only by the faster execution speed of the mechanical arm.
The existing multi-degree-of-freedom flexible mechanical arm has different space span, flexible material property and size and the like according to different working occasions and use purposes, and all parts of the existing four-degree-of-freedom robot are difficult to replace.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the four-degree-of-freedom rigid-flexible coupling mechanical arm is large in stroke and capable of being replaced quickly, and the problems in the prior art are solved.
The technical scheme adopted by the invention is as follows: a large-stroke and quickly replaceable four-degree-of-freedom rigid-flexible coupling mechanical arm comprises a linear sliding table, an electric rotating table, a rigid arm and a flexible arm, wherein the lower end of the electric rotating table is fixedly connected to a sliding plate on the linear sliding table, the upper part of the electric rotating table is rotatably connected to one end of the rigid arm through a rigid arm joint motor transmission mechanism, and the other end of the rigid arm is rotatably connected to the flexible arm through a flexible arm joint motor transmission mechanism; the rigid arm comprises two side plates which are fixedly connected through a support column to form a frame structure.
Preferably, the support column is of a threaded rod structure, and two ends of the support column are inserted into the two side plates and then clamped and locked by the two side plates respectively through the two nuts.
Preferably, the rigid arm joint motor transmission mechanism comprises a motor upper base plate, two vertical wall plates, two bearing seats and a motor mounting frame, the first servo motor, the first indirect mounting panel of motor, the first main shaft and the first flange coupling, motor upper base plate fixed connection is at the output of electric rotating table, two perpendicular fixed connection of vertical wallboard symmetry are at the motor upper base plate and keep the interval, two bearing frame symmetry fixed connection are respectively on two vertical wallboards, first main shaft and two bearing frame swivelling joint, the motor shaft that is connected to first servo motor through the coupling joint after main shaft one end stretches out, first servo motor is on the first indirect mounting panel of motor through motor mounting bracket fixed connection, a fixed connection of indirect mounting panel of motor is on a vertical wallboard in two vertical wallboards, first main shaft is located between two vertical wallboards through flange coupling one and rigid arm fixed connection and rigid arm.
Preferably, the transmission mechanism of the flexible arm joint motor comprises a flange bearing, adjusting screws, a second servo motor, a second motor indirect mounting plate, a second main shaft and a second flange coupler, wherein the flange bearing is fixedly connected to one side plate of the two side plates, one end of the second main shaft is rotatably connected with the flange bearing, the other end of the second main shaft extends out of the rigid arm and is connected to a motor shaft of the second servo motor through the second coupler, the second servo motor is fixedly connected to the second motor indirect mounting plate, the second motor indirect mounting plate is fixedly connected to the outside of the other side plate of the two side plates through the four adjusting screws and is locked through double nuts, the second main shaft is fixedly connected to the flexible arm mounting plate through the second flange coupler, and the flexible arm mounting plate is.
Preferably, the two vertical wall plates are fixedly connected to the upper base plate of the motor through the corner fastener.
Preferably, a shaft sleeve is sleeved on the first main shaft, and the shaft sleeve is located between the rigid arm and a bearing seat on the other side opposite to the motor.
Preferably, the electric rotary table is a CKD motor.
Preferably, the flexible arm is a plastic pipe rod.
The first servo motor of the rigid arm joint motor transmission mechanism and the second servo motor of the flexible arm joint motor transmission mechanism are positioned on two sides of the rigid arm.
The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:
(1) according to the invention, the rigid arm is formed by splicing, so that the weight of the rigid arm is easier to reduce, the inertia is reduced, the weight of the rigid arm and the control of the whole four-degree-of-freedom mechanical arm are more convenient to balance, the rigid arm is not easy to deform along the stress direction, and meanwhile, the joint structure is easier to design, manufacture and install;
(2) the mechanical arm has small inertia and direct transmission, has quick and accurate positioning performance, and can better embody the application significance of the active dynamic vibration absorber. After the dynamic vibration absorber receives a moving command, the end part of the mechanical arm starts to move, and in the rapid process of positioning to the end point, the active dynamic vibration absorber continuously plays the roles of vibration absorption and vibration suppression until the end part is accurately positioned to a set position, the vibration of the end part is well eliminated, and the process requires a short time to complete, so that the requirement is provided for active dynamic vibration absorption. In addition, when the positioning execution speed of the mechanical arm is higher, the energy amplitude of vibration is inevitably increased, so that the difficulty of vibration control is improved, the actual operation requirements of the multi-free-space flexible mechanical arm can be better reflected, and the practical application significance of the active dynamic vibration absorber is reflected;
(3) the flexible arm adopted by the invention is easy to replace, and flexible materials with different material properties and shapes and sizes in a certain range can be adopted as the flexible arm, so that the vibration absorption and suppression effects of the dynamic vibration absorber under the multi-degree-of-freedom flexible mechanical arm under different conditions are researched, and the applicability of the active dynamic vibration absorber is improved;
(4) the adopted rigid arm has simple structure, light weight, high rigidity and strength and small inertia, and is convenient for bearing of the rotating platform and motion control and balance control of the mechanical arm;
(5) the supporting columns with the threaded rod structures are locked by double nuts, so that the distance between the side plates can be adjusted, the adaptability is better, and the adjustment is convenient and quick;
(6) the rigid arm joint motor transmission mechanism is relatively symmetrical in structure and compact in space structure, space is conveniently made up by using a motor frame indirect mounting plate and a motor mounting frame, mounting space of screw bolts and shaft coupling first-class standard parts is ensured, supporting balance is relatively good, transmission is accurate and stable, connection is stable and reliable, the transmission mechanism is directly driven by a servo motor, inertia is small, the transmission mechanism is simple and easy to replace, transmission efficiency is increased, weight is reduced, and the problems that positioning repeatability of a mechanical arm is not high due to gaps existing in an indirect transmission mode of adding a speed reducer, the joint structure is complex and the weight of the whole horizontal adding transmission mechanism is enabled to be effectively solved;
(7) the flexible arm joint motor transmission mechanism is relatively symmetrical in structure and compact in space structure, space is conveniently made up by using an adjusting screw and a flange coupler, the installation space of standard parts such as the coupler and the coupler is ensured, the support balance is relatively good, the transmission is accurate and stable, the connection is stable and reliable, and the cantilever length adjustment of a servo motor II can be realized by adopting a connection mode of the adjusting screw and two nuts, so that the balance adjustment with a servo motor I or the whole rigid arm is realized, the flexible arm can be detachably installed, the flexible arms of different types can be conveniently replaced for testing, and the best flexible arm with the best balance and damping effects can be found out;
(8) the angle brace fixing pieces are adopted for connection, the connection is stable and reliable, the positioning precision is high by matching with the positioning pins of the vertical side plates, the connection is convenient and quick, and the installation of shaft sleeves with different lengths is convenient by adopting the shaft sleeves, so that the rigid arms with different thicknesses are matched for installation;
(9) the CKD motor (AX 2012T type) can provide the maximum torque of 12 N.m, can continuously rotate for 360 degrees, has an instant positioning function, has positioning pulse number of hundreds of thousands per rotation, and is embedded with a high-precision absolute pulse encoder for position feedback;
(10) the flexible arm adopts a plastic pipe rod, so that the flexibility in all directions can be realized;
(11) the first servo motor and the second servo motor are installed in opposite directions, and lateral moment of the rigid arm can be balanced to a certain degree.
Drawings
Figure 1 is an isometric view of a four degree-of-freedom rigid-flexible coupled robot arm assembly;
FIG. 2 is a front view of a four degree-of-freedom rigid-flexible coupled robot arm assembly;
FIG. 3 is a left side view of a four degree-of-freedom rigid-flexible coupled robot arm assembly;
FIG. 4 is a right side view of a four degree-of-freedom rigid-flexible coupled robot arm assembly;
FIG. 5 is a global explosion view of a four-degree-of-freedom rigid-flexible coupling mechanical arm;
FIG. 6 is an exploded view of a rigid arm joint of a four-degree-of-freedom rigid-flexible coupling mechanical arm;
FIG. 7 is an exploded view of a four-degree-of-freedom rigid-flexible coupling robot arm at a flexible arm joint;
FIG. 8 is a cross-sectional view of the main shaft and its mating parts at the rigid arm joint of the four-degree-of-freedom rigid-flexible coupled mechanical arm;
FIG. 9 is a cross-sectional view of the main shaft and its mating parts at the joint of the flexible arm of the four-DOF rigid-flexible coupled mechanical arm.
Detailed Description
The invention is further described below with reference to specific examples.
Example 1: 1-9, a four-degree-of-freedom rigid-flexible coupling mechanical arm with large stroke and quick replacement comprises a linear sliding table 1, an electric rotating table 2, a rigid arm 3 and a flexible arm 4. The electric rotating platform 2 adopts a CKD motor; the flexible arm 4 is made of plastic pipe rods, and the four-freedom-degree rigid-flexible coupling mechanical arm is provided with a linear slider module with linear displacement, a CKD motor platform, a high-torque CKD servo motor module for providing a rotating pair, a rigid arm transmission joint servo motor module, a plate splicing rigid arm, a flexible arm transmission joint servo motor module and tubular flexible arms with flexibility in all directions.
8 threaded mounting holes and two positioning pin holes are formed in the plane of a sliding plate 25 of the linear sliding block platform and correspond to the two positioning pin holes in a motor mounting base plate 24 with the thickness of 8mm, the stress condition of the motor mounting base plate is checked and is similar to that of a simply supported beam to bear the main weight of the mechanical arm, an aluminum alloy plate with the thickness of 8mm adopted by the motor mounting base plate provides enough strength and rigidity, threaded holes and positioning pin holes for fixing are distributed in the upper plane and the lower plane of the CKD motor, and the positioning pin holes in the lower bottom surface and the positioning pin holes and pins of the motor mounting base plate are in interference fit. The bottom plate that the plane installation bore the arm on the CKD motor is motor upper plate 5, and thickness is 8mm, bears whole arm mechanical structure. The motor upper bottom plate 5 is mainly provided with a positioning pin hole A and a positioning pin hole B besides the motor mounting holes. The positioning pin hole A is in interference fit with a positioning pin hole on the upper plane of the CKD motor.
The lower end of the electric rotating platform 2 is fixedly connected to a sliding plate on the linear sliding table 1, the upper part of the electric rotating platform is rotatably connected to one end of the rigid arm 3 through the rigid arm joint motor transmission mechanism, and the other end of the rigid arm 3 is rotatably connected to the flexible arm 4 through the flexible arm joint motor transmission mechanism.
Preferably, the rigid arm 3 includes two side plates 301, the two side plates 301 are fixedly connected through a support column 302 to form a frame structure, the support column 302 is a threaded rod structure, and two ends of the support column are inserted into the two side plates 301 and then clamped and locked by using two nuts 303. The main body of the rigid arm 3 is a rigid mechanical arm formed by splicing two side plates and a threaded rod. The joint is asymmetrical, and the mounting holes of the two rigid arm side plates 301 at the joint are not consistent. One of the side plates is used as a reference and is generally relatively immobile; while the other is designed to allow a small range of adjustment along the axial direction. The distance between the two rigid side plates is adjustable, so that the parts at the joint can be conveniently detached, replaced and installed, and meanwhile, the distance between the rigid arm plates can be changed to adapt to different weights and sizes of other components, so that better rigidity and compactness are obtained.
The mechanical arm has small inertia and direct transmission, has quick and accurate positioning performance, and can better embody the application significance of the active dynamic vibration absorber. After the dynamic vibration absorber receives a moving command, the end part of the mechanical arm starts to move, and in the rapid process of positioning to the end point, the active dynamic vibration absorber continuously plays the roles of vibration absorption and vibration suppression until the end part is accurately positioned to a set position, the vibration of the end part is well eliminated, and the process requires a short time to complete, so that the requirement is provided for active dynamic vibration absorption. In addition, when the positioning execution speed of the mechanical arm is higher, the energy amplitude of vibration is inevitably increased, which improves the difficulty of vibration control, but the actual operation requirement of the multi-free-space flexible mechanical arm can be better reflected, and the practical application significance of the active dynamic vibration absorber is reflected.
Preferably, the rigid arm joint motor transmission mechanism comprises a motor upper base plate 5, two vertical wall plates 6, two bearing seats 7, a motor mounting frame 8, a 400w (200 w) servo motor I9, a motor indirect mounting plate I10, a main shaft I11, a flange coupling I12, a shaft sleeve 15 and an angle code fixing part 14, wherein the motor upper base plate 5 is fixedly connected to the output end of the electric rotating platform 2, the two vertical wall plates 6 are symmetrically and vertically fixedly connected to the motor upper base plate 5 and keep a distance, the two bearing seats 7 are respectively and symmetrically and fixedly connected to the two vertical wall plates 6, the main shaft I11 is rotatably connected with the two bearing seats 7, one end of the main shaft I11 extends out and then is connected to a motor shaft of the servo motor I9 through a coupling I13, the servo motor I9 is fixedly connected to the motor indirect mounting plate I10 through the motor mounting frame 8, and the motor indirect mounting plate, a first main shaft 11 is fixedly connected with a rigid arm 3 through a first flange coupler 12, the rigid arm 3 is located between two vertical wall plates 6, the two vertical wall plates 6 are fixedly connected to an upper base plate 5 of a motor through an angle code fixing piece 14, a shaft sleeve 15 is sleeved on the first main shaft 11, and the shaft sleeve 15 is located between the rigid arm 3 and a bearing seat on the other side opposite to the motor.
The number of the positioning pin holes B of the upper bottom plate 5 of the motor is 4, the diameter phi 6 is distributed in a symmetrical mode with the central line in pairs, and the positioning pin holes B are used for guaranteeing the positioning accuracy of the vertical wall plate 6. The two vertical wall plates 6 are completely the same and are symmetrically distributed on the upper bottom plate 5 of the motor, and are vertically assembled with the upper bottom plate 5 of the motor and have certain vertical precision requirements. And bearing seat mounting holes, servo motor frame mounting holes and corner brace fixing piece fixing holes are distributed and processed on the vertical wall plate 5. The angle bracket fixing piece 14 is fixedly connected with the vertical wall plate 6 and the upper bottom plate 5 of the motor, and ensures the stable assembly and the vertical precision between the two together with the positioning pin hole. The servo motor frame mounting hole and the bearing seat mounting hole both require certain machining precision, so that the mounting precision of the bearing and the motor is ensured. 400w (200 w) servo motor 9 and motor mounting bracket 8 are installed to left vertical wallboard 6, because the space is comparatively compact, utilize indirect mounting panel 10 of electricity frame and motor mounting bracket 8 to give up the space, guarantee the installation space of standard components such as screw bolt and shaft coupling 13. The motor indirect mounting plate 10 is 8mm thick, is provided with a motor frame threaded mounting hole and a bolt through hole for connecting a vertical wall plate, and has certain processing precision requirements. The first main shaft is made of an aluminum alloy material in a customized mode, the diameter range of the first main shaft is 14 mm-18 mm, the supporting span is 50 mm-100 mm, and an A, C-type standard flat key groove is machined in the first main shaft. A first main shaft support is a stainless steel integrated bearing seat which is high in strength, good in rigidity, low in noise and durable, and a bearing seat mounting hole is matched with a corresponding hole of the vertical wall plate. The first aluminum alloy flange coupler 12 is a key part for transmitting motion from the main shaft to the rigid arm, the inner diameter D18 is provided with a key groove and is in interference fit with the A-shaped flat key of the first main shaft, and two set screws are distributed on the outer diameter to ensure axial fixation. The rigid arm is composed of two parallel aluminum alloy plates, is fixedly connected by a screw nut, and the weight of the rigid arm wall plate is reduced as much as possible by cutting strip-shaped holes on the premise of ensuring the rigidity strength, so that the inertia and the motor load are reduced. And the first coupling 13 adopts an elastic diaphragm coupling and is used for connecting a servo motor shaft and a main shaft for transmission.
Preferably, the flexible arm joint motor transmission mechanism comprises a flange bearing 16, an adjusting screw 17, a servo motor II 18, a motor indirect mounting plate II 19, a main shaft II 20 and a flange coupling II 21, wherein the flange bearing 16 is fixedly connected to one of the two side plates 301, one end of the main shaft II 20 is rotatably connected with the flange bearing 16, the other end of the main shaft II extends out of the rigid arm 3 and then is connected to a motor shaft of the servo motor II 18 through a coupling II 22, the servo motor II 18 is fixedly connected to the motor indirect mounting plate II 19, the motor indirect mounting plate II 19 is fixedly connected to the outer part of the other side plate 301 of the two side plates 301 through the adjusting screw 17 and locked by a double nut, the main shaft II 20 is fixedly connected to the flexible arm mounting plate 23 through the flange coupling II 21, and the flexible arm mounting plate 23 is fixedly.
The joint of the flexible arm adopts a single-end bearing design idea, the mounting end of the second 100w servo motor 18 is not provided with a bearing, and the other end is provided with a flange bearing 16 to share the stress of the main shaft. The installation direction of the second servo motor 18 is opposite to that of the first 400w servo motor 9 at the rigid arm joint, and the lateral moment can be balanced to a certain degree. The bearing at the joint of the flexible arm adopts a non-standard flange bearing, and the inner diameter of the bearing is D15, so that the flexible arm joint has the characteristics of high precision, low noise and the like. The diameter range of the second 20 main shafts at the joints of the flexible arms is 12 mm-17 mm, and the supporting span is about 50 mm. The diameter of the bearing end is 15mm, the bearing end is in interference fit with the flange bearing 16, and an A, C type standard flat key keyway is arranged on the shaft. The second transmission key part flange coupler 21 at the joint of the flexible arm adopts an aluminum alloy TF4020 flange coupler, a set screw is arranged on the outer diameter of the second transmission key part flange coupler, and the inner diameter D12 is provided with a key groove and is in interference fit with a flat key on a shaft.
The flexible arm mounting plate 23 is matched with the TF4020 flange coupler, two threaded holes are formed in the end part of the flexible arm mounting plate and used for mounting a flexible plastic pipe, and flexible arms of different specifications and sizes can be effectively designed and replaced by utilizing the threaded holes in the end part of the flexible arm mounting plate.
The invention has the main characteristics that:
(1) the linear sliding block module is provided with a speed reducer and a belt wheel transmission mechanism, and can provide larger force and enough displacement control precision for the linear displacement of the mechanical arm base;
(2) the CKD motor is specially used for a rotary mechanical structure with larger load and high precision, the moment characteristic upper limit is high due to the larger volume and the internal special structure, and the angular control precision is higher on the basis of taking pulse as unit control quantity and embedding an absolute encoder;
(3) the rigid arm is spliced based on plates, and two wall plates with the established shapes of the rigid arm provide enough rigidity for the rigid arm along the gravity direction;
(4) the flexible arm is positioned at the top end, a plastic pipe rod (PVC, ABS, metal plastic composite materials and the like) with certain strength and flexibility can be used as a flexible arm main body, and the flexible arm main body is quickly replaced by constructing a connecting piece through machining or 3D printing, so that different flexible vibration effects are realized;
(5) the motor transmission structure is designed around the design of the main shaft, so that the transmission precision is ensured, and meanwhile, the motor transmission structure is stable and easy to realize.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and therefore, the scope of the present invention should be determined by the scope of the claims.
Claims (9)
1. The utility model provides a four degree of freedom rigid-flexible coupling arms of big stroke and quick replacement which characterized in that: the linear sliding table comprises a linear sliding table (1), an electric rotating table (2), a rigid arm (3) and a flexible arm (4), wherein the lower end of the electric rotating table (2) is fixedly connected to a sliding plate on the linear sliding table (1), the upper part of the electric rotating table is rotatably connected to one end of the rigid arm (3) through a rigid arm joint motor transmission mechanism, and the other end of the rigid arm (3) is rotatably connected to the flexible arm (4) through a flexible arm joint motor transmission mechanism; the rigid arm (3) comprises two side plates (301), and the two side plates (301) are fixedly connected through a support column (302) to form a frame structure.
2. The large-stroke and fast-replaceable four-degree-of-freedom rigid-flexible coupling mechanical arm as claimed in claim 1, wherein: the supporting column (302) is of a threaded rod structure, and two ends of the supporting column are inserted into the two side plates and then clamped and locked by using two nuts to clamp and hit one side plate respectively.
3. The large-stroke and fast-replaceable four-degree-of-freedom rigid-flexible coupling mechanical arm as claimed in claim 1, wherein: the rigid arm joint motor transmission mechanism comprises a motor upper base plate (5), two vertical wall plates (6), two bearing seats (7), a motor mounting frame (8), a servo motor I (9), a motor indirect mounting plate I (10), a main shaft I (11) and a flange coupling I (12), wherein the motor upper base plate (5) is fixedly connected with the output end of the electric rotating platform (2), the two vertical wall plates (6) are symmetrically, vertically and fixedly connected with the motor upper base plate (5) and keep an interval, the two bearing seats (7) are respectively and symmetrically and fixedly connected with the two vertical wall plates (6), the main shaft I (11) is rotatably connected with the two bearing seats (7), one end of the main shaft I (11) is connected to a motor shaft of the servo motor I (9) through the coupling I (13) after extending out, the servo motor I (9) is fixedly connected to the motor indirect mounting plate I (10) through the motor mounting, the motor indirect mounting plate I (10) is fixedly connected to one of the two vertical wall plates (6), the main shaft I (11) is fixedly connected with the rigid arm (3) through the flange coupling I (12), and the rigid arm (3) is located between the two vertical wall plates (6).
4. The large-stroke and fast-replaceable four-degree-of-freedom rigid-flexible coupling mechanical arm as claimed in claim 1, wherein: the flexible arm joint motor transmission mechanism comprises a flange bearing (16), an adjusting screw rod (17), a servo motor II (18), a motor indirect mounting plate II (19), a main shaft II (20) and a flange coupling II (21), wherein the flange bearing (16) is fixedly connected to one side plate of the two side plates (301), one end of the main shaft II (20) is rotatably connected with the flange bearing (16), the other end of the main shaft II (20) extends out of the rigid arm (3) and then is connected to a motor shaft of the servo motor II (18) through the coupling II (22), the servo motor II (18) is fixedly connected to the motor indirect mounting plate II (19), the motor indirect mounting plate II (19) is fixedly connected to the outer part of the other side plate of the two side plates (301) through the four adjusting screw rods (17) and is locked by adopting double nuts, the main shaft II (20) is fixedly connected to the flexible arm mounting plate (, the flexible arm mounting plate (23) is fixedly connected with the flexible arm (4) through an angle code fixing piece.
5. The four-degree-of-freedom rigid-flexible coupling mechanical arm with large stroke and quick replacement according to claim 3, wherein: the two vertical wall plates (6) are fixedly connected to the upper bottom plate (5) of the motor through angle code fixing pieces (14).
6. The four-degree-of-freedom rigid-flexible coupling mechanical arm with large stroke and quick replacement according to claim 3, wherein: a shaft sleeve (15) is sleeved on the first main shaft (11), and the shaft sleeve (15) is positioned between the rigid arm (3) and a bearing seat on the other side opposite to the motor.
7. The large-stroke and fast-replaceable four-degree-of-freedom rigid-flexible coupling mechanical arm as claimed in claim 1, wherein: the electric rotating platform (2) adopts a CKD motor.
8. The large-stroke and fast-replaceable four-degree-of-freedom rigid-flexible coupling mechanical arm as claimed in claim 1, wherein: the flexible arm (4) adopts a plastic pipe rod.
9. The large-stroke and fast-replaceable four-degree-of-freedom rigid-flexible coupling mechanical arm as claimed in claim 1, wherein: the first servo motor of the rigid arm joint motor transmission mechanism and the second servo motor of the flexible arm joint motor transmission mechanism are positioned on two sides of the rigid arm.
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| CN202010542082.8A CN111645104A (en) | 2020-06-15 | 2020-06-15 | Large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm capable of being replaced quickly |
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| CN202010542082.8A CN111645104A (en) | 2020-06-15 | 2020-06-15 | Large-stroke four-degree-of-freedom rigid-flexible coupling mechanical arm capable of being replaced quickly |
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