CN111993396A - Multi-joint desktop mechanical arm - Google Patents
Multi-joint desktop mechanical arm Download PDFInfo
- Publication number
- CN111993396A CN111993396A CN202010829673.3A CN202010829673A CN111993396A CN 111993396 A CN111993396 A CN 111993396A CN 202010829673 A CN202010829673 A CN 202010829673A CN 111993396 A CN111993396 A CN 111993396A
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- arm
- small
- power part
- arm body
- small arm
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- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000000034 method Methods 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of industrial mechanical arms. The purpose is to provide two degree of freedom light desktop arms, and two joints of this arm all can 360 unrestricted rotations to two rotatory power parts all are close the rotation center, and greatly reduced each arm's inertia improves the payload of arm. The technical scheme is as follows: a multi-joint desktop mechanical arm comprises a base and a base power part arranged on the base; the method is characterized in that: the mechanical arm further comprises an arched frame driven by the base power part, a large arm rotating power part which is installed on the arched frame and the shaft outlet axis of which is vertical to the shaft outlet axis of the base power part, a large arm body driven by the large arm rotating power part, a small arm body which is rotatably positioned at one end of the large arm body through a large arm connecting shaft and a small arm rotating power part which is installed at the other end of the large arm body, and a transmission assembly which is rotatably positioned on the small arm body and transmits the power of the small arm rotating power part to the small arm body.
Description
Technical Field
The invention belongs to the technical field of industrial mechanical arms, and particularly relates to a two-degree-of-freedom light desktop mechanical arm.
Background
With the development of science and technology and the continuous improvement of labor cost, the application of the robot in various industries is more and more extensive, the application of the robot reduces the labor intensity of people, improves the production efficiency and enhances the core competitiveness of enterprises.
Some questionable structural uncertainty exists in the current robotic arms. First, most current mechanical arms have 3 or more degrees of freedom, but not all the degrees of freedom can rotate 360 degrees without limitation, and each joint has a limitation on the working range. This limitation causes a serious influence on the planning of the movement path of the robot arm, so that the robot arm may not perform movement operation according to the optimal path, and the flexibility of the robot arm is reduced.
Therefore, the mechanical arm structure design with each joint capable of rotating without limitation is provided in some schemes, in the design, the joint motors are placed at the tail ends of the arms, the rotating shafts of adjacent joints are vertically arranged, the length of each cascade connecting rod from the base to the tail end rod is shortened step by step, and the structure can realize the unlimited rotation of each joint. However, the joint motors are placed at the tail ends of the arms, which greatly increases the weight and the rotational inertia of the arms, and causes the power and torque requirements of the motors at the previous stages to rise rapidly; conversely, the increase of the volume and the weight of each stage of motor leads the weight of each arm to be increased; meanwhile, the increase of the rotational inertia enables the motion performance of the mechanical arm to be reduced, and the effective load is reduced.
Disclosure of Invention
Aiming at the defects of the existing mechanical arm, the invention aims to provide a two-degree-of-freedom light desktop mechanical arm, wherein two joints of the mechanical arm can rotate in 360 degrees without limitation, and two rotating power parts are close to a rotating center, so that the rotating inertia of each arm is greatly reduced, and the effective load of the mechanical arm is improved.
In order to achieve the purpose, the invention provides the following technical scheme:
a multi-joint desktop mechanical arm comprises a base and a base power part arranged on the base; the method is characterized in that: the mechanical arm further comprises an arched frame driven by the base power part, a large arm rotating power part which is installed on the arched frame and the shaft outlet axis of which is vertical to the shaft outlet axis of the base power part, a large arm body driven by the large arm rotating power part, a small arm body which is rotatably positioned at one end of the large arm body through a large arm connecting shaft and a small arm rotating power part which is installed at the other end of the large arm body, and a transmission assembly which is rotatably positioned on the small arm body and transmits the power of the small arm rotating power part to the small arm body.
The output shaft of the large arm rotating power component is fixedly connected with the large arm body, and the fixed connection part is positioned between the large arm connecting shaft and the small arm body.
The transmission assembly is a transmission belt assembly or a chain and sprocket assembly.
The transmission belt assembly comprises a front synchronous wheel fixed on the output shaft of the small arm rotating power component, a rear synchronous wheel fixed on the connecting shaft of the large arm and the small arm and a synchronous belt meshed with the front synchronous wheel and the rear synchronous wheel.
The big and small arm connecting shaft is fixedly connected with the small arm body and the rear synchronizing wheel and is rotatably connected to the big arm body.
Further, the front synchronizing wheel and the rear synchronizing wheel adopt different tooth numbers, so that a speed reduction or speed increase design can be embedded in the process of power transmission of the small arm.
According to the technical scheme, the invention has the following beneficial effects: each degree of freedom can rotate in 360 degrees without constraint, and the maximum convenience is provided for optimizing the motion track of the mechanical arm terminal; compared with the conventional scheme that the rotary power part is fixed at the tail end of the arm body, the scheme provided by the invention can greatly reduce the moment of inertia of each arm and improve the motion performance of the mechanical arm; the arrangement scheme of the small arm rotating power part can compensate the self weight of the arm body and improve the effective load of the mechanical arm; the transmission mode of the synchronous wheel and the synchronous belt has higher transmission efficiency, and the speed can be reduced or increased in the transmission; the scheme provided by the invention has no limit on the length relation of the large arm and the small arm, and the length of the large arm and the small arm does not influence the unconstrained rotation of each degree of freedom.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic view of the upper arm in an embodiment of the present invention, which is free from restriction to another state.
Fig. 3 is a schematic structural diagram of a connection portion of the large arm and the small arm in the embodiment of the invention.
Description of reference numerals:
1-a base; 2-base power component; 3, a bow-shaped frame; 4-large arm rotation power component; 5-a small arm rotation power component; 6-large arm body; 7-small arm body; 8, connecting shafts of the large arm and the small arm; 9-front synchronizing wheel; 10-rear synchronizing wheel; 11-synchronous belt.
Detailed Description
The invention will be described in further detail below with reference to an embodiment shown in the drawings.
In the embodiment, the rotating power components are all motors, the front chain wheel and the rear chain wheel are synchronous wheels, and the chain belt is a synchronous belt.
Referring to fig. 1, 2, and 3, in addition to the base and the base motor (i.e., the base power component), the joint robot arm provided in this embodiment mainly includes an arch, a large arm motor, a small arm motor, a large arm body, a small arm body, a large and small arm connecting shaft, a front synchronizing wheel, a rear synchronizing wheel, and a synchronizing wheel belt.
The base motor is fixed on the base, and the output shaft axis of the base motor is vertically arranged and connected with the bottom of the bow-shaped frame (preferably, the bottom of the bow-shaped frame is vertically arranged on the output shaft axis of the power component of the base); when the output shaft of the base motor rotates, the bow-shaped frame is driven to rotate around the vertical axis at the same speed to form the degree of freedom on the plane of the base, and the degree of freedom does not have any rotation constraint.
The bow-shaped frame is provided with a large-arm motor (namely a large-arm rotating power part), and the large-arm motor is driven by the bow-shaped frame to rotate on a normal plane of the output shaft of the base motor (preferably, the large-arm rotating power part is fixed on the top surface of the bow-shaped frame).
The large arm body is fixedly connected to an output shaft of the large arm motor; when the output shaft of the large arm motor rotates, the large arm body also rotates along with the output shaft, and the large arm degree of freedom is formed.
The small arm motor (namely a small arm rotating power part) is fixed on the large arm body. The arch gap in the arch frame is larger than the small arm motor; and the distance between the center of the small arm motor and the output shaft of the large arm motor is approximately equal to the distance between the center of the arch gap and the output shaft of the large arm motor. Therefore, when the big arm rotates, the small arm motor also rotates along with the big arm, and the small arm motor can smoothly pass through the arch-shaped gap of the arch-shaped frame (as shown in figure 2), so that the rotation of the big arm body is not restrained.
Meanwhile, the small arm motor is fixed near the output shaft of the large arm motor (positioned at one end of the large arm body) on the large arm body, and the small arm body is rotatably connected (hinged) at the other end of the large arm body (the output shaft of the large arm motor is positioned between the small arm motor and the small arm body); compared with a conventional arrangement mode (the rotary power part is fixed at the tail end of the arm body), the rotary inertia of the large arm is effectively controlled, and the motion performance of the mechanical arm is improved.
And moreover, the output shaft of the large arm motor is used as the center, the small arm motor is arranged on the side opposite to the large arm connecting shaft and the small arm connecting shaft, the weight of the large arm, the small arm and the load is balanced and compensated by the weight of the small arm motor, and the static torque and the effective load of the mechanical arm can be effectively improved.
A front synchronizing wheel is fixed on an output shaft of the small arm motor, a rear synchronizing wheel is fixed on the large and small arm connecting shaft, and a synchronous belt is matched on the front and rear chain wheels; therefore, when the small arm motor is started, the front synchronous wheel is driven to rotate, the front synchronous wheel drives the synchronous belt to rotate, the synchronous belt drives the rear synchronous wheel to rotate, and the synchronous belt transmission mode (or the chain and chain wheel transmission mode) has high transmission efficiency.
In the embodiment, the front synchronizing wheel and the rear synchronizing wheel adopt the same tooth number, and the speed reduction or speed increase design is not embedded in the power transmission.
The big and small arm connecting shafts are fixedly connected with the rear synchronizing wheel and the small arm body and can be rotatably positioned on the big arm body through a bearing (as shown in figure 3, the small arm body is fixedly connected to the left side of the big and small arm connecting shafts, the right sides of the big and small arm connecting shafts are positioned on the big arm body, and the rear synchronizing wheel is also positioned on the right side of the big and small arm connecting shafts); the rear synchronous wheel drives the large and small arm connecting shafts to rotate when rotating, and the large and small arm connecting shafts drive the small arm bodies to rotate.
As recommendation, the axis of the output shaft of the large arm motor is perpendicular to the axis of the output shaft of the base motor and is parallel to the axis of the output shaft of the small arm motor; and the large arm body and the small arm body are respectively positioned on two different normal planes of the large arm connecting shaft and the small arm connecting shaft, so that the small arm body can freely rotate without restriction.
Claims (6)
1. A multi-joint tabletop mechanical arm comprises a base (1) and a base power part (2) arranged on the base; the method is characterized in that: the mechanical arm further comprises an arched frame (3) driven by the base power part, a large arm rotating power part (4) which is installed on the arched frame and the shaft outlet axis of which is vertical to the shaft outlet axis of the base power part, a large arm body (6) driven by the large arm rotating power part, a small arm body (7) which is rotatably positioned at one end of the large arm body through a large arm connecting shaft (8), a small arm rotating power part (5) which is installed at the other end of the large arm body and a transmission assembly which is rotatably positioned on the small arm body and transmits the power of the small arm rotating power part to the small arm body.
2. The multi-joint tabletop arm of claim 1, wherein: the output shaft of the large arm rotating power component is fixedly connected with the large arm body, and the fixed connection part is positioned between the large arm connecting shaft and the small arm body.
3. The multi-joint tabletop arm of claim 2, wherein: the transmission assembly is a transmission belt assembly or a chain and sprocket assembly.
4. The multi-joint tabletop arm of claim 3, wherein: the transmission belt component comprises a front synchronous wheel (9) fixed on an output shaft of the small arm rotating power component, a rear synchronous wheel (10) fixed on a connecting shaft of the large arm and the small arm, and a synchronous belt (11) meshed with the front synchronous wheel and the rear synchronous wheel simultaneously.
5. The multi-joint tabletop arm of claim 4, wherein: the big and small arm connecting shaft is fixedly connected with the small arm body and the rear synchronizing wheel and is rotatably connected to the big arm body.
6. The multi-joint tabletop arm of claim 5, wherein: the front synchronizing wheel and the rear synchronizing wheel adopt different tooth numbers, so that a speed reduction or speed increase design can be embedded in the process of power transmission of the small arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010829673.3A CN111993396A (en) | 2020-08-18 | 2020-08-18 | Multi-joint desktop mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010829673.3A CN111993396A (en) | 2020-08-18 | 2020-08-18 | Multi-joint desktop mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111993396A true CN111993396A (en) | 2020-11-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010829673.3A Pending CN111993396A (en) | 2020-08-18 | 2020-08-18 | Multi-joint desktop mechanical arm |
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| CN (1) | CN111993396A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113386109A (en) * | 2021-06-28 | 2021-09-14 | 深圳市越疆科技有限公司 | Rotary table of desktop robot arm, driving assembly, desktop robot arm and robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007037131A1 (en) * | 2005-09-27 | 2007-04-05 | Kabushiki Kaisha Yaskawa Denki | Multi-joint manipulator |
| CN102806565A (en) * | 2012-08-24 | 2012-12-05 | 衢州学院 | Fruit picking robot manipulator |
| CN110948476A (en) * | 2019-12-18 | 2020-04-03 | 南京埃斯顿机器人工程有限公司 | Horizontal multi-joint robot |
| CN212312034U (en) * | 2020-08-18 | 2021-01-08 | 杭州捷铭智能装备有限公司 | Multi-joint desktop mechanical arm |
-
2020
- 2020-08-18 CN CN202010829673.3A patent/CN111993396A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007037131A1 (en) * | 2005-09-27 | 2007-04-05 | Kabushiki Kaisha Yaskawa Denki | Multi-joint manipulator |
| CN102806565A (en) * | 2012-08-24 | 2012-12-05 | 衢州学院 | Fruit picking robot manipulator |
| CN110948476A (en) * | 2019-12-18 | 2020-04-03 | 南京埃斯顿机器人工程有限公司 | Horizontal multi-joint robot |
| CN212312034U (en) * | 2020-08-18 | 2021-01-08 | 杭州捷铭智能装备有限公司 | Multi-joint desktop mechanical arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113386109A (en) * | 2021-06-28 | 2021-09-14 | 深圳市越疆科技有限公司 | Rotary table of desktop robot arm, driving assembly, desktop robot arm and robot |
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