CN112720442A - Unit module of reconfigurable mechanical arm - Google Patents
Unit module of reconfigurable mechanical arm Download PDFInfo
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- CN112720442A CN112720442A CN202011521934.1A CN202011521934A CN112720442A CN 112720442 A CN112720442 A CN 112720442A CN 202011521934 A CN202011521934 A CN 202011521934A CN 112720442 A CN112720442 A CN 112720442A
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- shell
- motor
- arm
- mounting
- disc
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A unit module of a reconfigurable mechanical arm comprises a supporting mechanism and a sliding block connecting mechanism; the supporting mechanism comprises a first shell, a connecting arm, a second shell, a first motor and a second motor; one end of the connecting arm is rotatably connected with the first shell, and the other end of the connecting arm is fixedly connected with the second shell; the first motor is fixed in the first shell, an output shaft of the first motor is fixedly connected with the connecting arm and drives the connecting arm to rotate, and the second motor is fixed in the second shell; the sliding block connecting mechanism comprises a disc and a mounting column, the mounting column is arranged on one side of the disc, a shaft hole is formed in the disc, and an output shaft of the second motor is connected with the other side of the disc through the shaft hole; one end of the first shell is provided with a mounting hole, and the mounting column is matched with the mounting hole in shape. The invention can rapidly install and disassemble the joint module according to different use requirements so as to adjust the configuration of the mechanical arm, and belongs to the field of mechanical arm structures.
Description
Technical Field
The invention relates to the field of mechanical arm structures, in particular to a unit module of a reconfigurable mechanical arm.
Background
The invention relates to a unit module of a reconfigurable mechanical arm. In the modern process, the industry is in the modern rapid development all the time, the automation technologies with different forms are widely applied, and the manipulator plays a very important role in the automatic production, especially the manipulator is more and more widely applied in the industry. This has led to the rise of the educational industry for robotic arms, as more and more operators of robotic arms are now in wide demand in the modern industry. In the training education mode of current arm, mainly through purchasing the six arms of the relatively ripe on the market teaching. In the use process of teaching, the mechanical mechanism and the internal system of the mechanical arm cannot be well taught in the teaching process due to the fact that the mechanical structure and the electrical system of the mechanical arm are integrated and systematized, and meanwhile, due to the fact that the modes of the mechanical arm are diversified in the current industrial production, the four-axis mechanical arm, the six-axis mechanical arm, the two arms cooperate and other diversified working modes are started, and the single mechanical arm cannot well meet the teaching diversification and universalization requirements.
For example, patent publication No. CN207402804 discloses a modular six-axis robot arm. A modularization thought is introduced into the mechanical arm, six modularized mechanical arm joints are respectively spliced with a connecting rod to form a complete mechanical arm, and interfaces of the modularized joints are designed at two ends of the connecting rod and are fixed with the joints through the interfaces. Different connecting rods have the same interface, and the mechanical arms can be installed according to different combinations and installation sequences so as to obtain mechanical arms with different configurations and break through the limitation of the mechanical arm structure on the functions of the mechanical arms. Each section of connecting rod adopts a streamline design and accords with the characteristics of hydrodynamics. But the disadvantage of this arm is that the joint module can not be dismantled and installed according to the user's needs fast.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the utility model provides a unit module of restructural arm to install and dismantle the joint module fast according to the user demand of difference, thereby the configuration of adjustment arm.
In order to achieve the purpose, the invention adopts the following technical scheme:
a unit module of a reconfigurable mechanical arm comprises a supporting mechanism and a sliding block connecting mechanism; the supporting mechanism comprises a first shell, a connecting arm, a second shell, a first motor and a second motor; one end of the connecting arm is rotatably connected with the first shell, and the other end of the connecting arm is fixedly connected with the second shell; the first motor is fixed in the first shell, an output shaft of the first motor is fixedly connected with the connecting arm and drives the connecting arm to rotate, and the second motor is fixed in the second shell; the sliding block connecting mechanism comprises a disc and a mounting column, the mounting column is arranged on one side of the disc, a shaft hole is formed in the disc, and an output shaft of the second motor is connected with the other side of the disc through the shaft hole; one end of the first shell is provided with a mounting hole, and the mounting column is matched with the mounting hole in shape, so that the second shell of the unit module of one reconfigurable mechanical arm is connected with the first shell of the unit module of the other reconfigurable mechanical arm through the slide block connecting mechanism. After the structure is adopted, the output shaft of the second motor is fixed with the central hole of the disc, the rotation of the output shaft drives the disc to rotate, the disc is connected with the first shell of the next unit module through the slide block connecting mechanism, and the disc drives the next unit module to rotate when rotating.
Preferably, the connecting arm is connected to the first housing through a first bearing, the first bearing includes an inner ring and an outer ring, the inner ring is fixedly connected to the first housing, and the outer ring is fixedly connected to the connecting arm.
After adopting this kind of structure, the effect of first bearing is mainly the mechanical rotator of support for the linking arm can not take place axial displacement when being driven by first motor and rotate, has improved the motion precision, reduces the coefficient of friction in its motion process simultaneously, and guarantees its gyration precision. The linking arm provides radial load for the bearing outer lane when rotating, it is rotatory to drive the outer lane, and leave the space between the tip of linking arm and the inner circle, make the motor pass through the main shaft and drive the linking arm and rotate often not to produce the friction with the inner circle, thereby the wearing and tearing of linking arm terminal surface and first casing upper surface have been avoided, the inside and the motor output shaft of linking arm link to each other, the output shaft plays support and driven effect to the linking arm, the first motor in output shaft lug connection bottom, thereby drive the rotation of linking arm by first motor drive output shaft, it is rotatory to make whole module can wind the direction of motor output shaft. The upper part of the connecting arm is connected with a second shell, a second motor is placed and fixed in the second shell, an output shaft of the second motor rotates around the other direction, and the output shaft is connected with the first shell of the next unit module and enables the next unit module to rotate around the shaft.
Preferably, the inner ring of the first bearing is connected with the first shell through 4 first bolts, a fixed block is arranged at the edge of one end of the connecting arm, a second bolt is connected onto the fixed block, and the connecting arm is connected with the outer ring through the second bolt on the fixed block.
Preferably, a groove is formed in the side surface of the mounting column, and a sliding block capable of sliding inside and outside is arranged in the groove; the inner side wall of the mounting hole is provided with a mounting groove matched with the sliding block, so that the sliding block sliding outwards is clamped into the mounting groove. After the structure is adopted, the sliding blocks on each mounting column of the disc enter the mounting grooves of the mounting holes through inward contraction and outward expansion of the sliding blocks, and fixation of the disc is achieved.
Preferably, the bottom of the mounting column is provided with a turntable, the center of the turntable is fixedly provided with a rotating rod, and the rotating rod is rotatably connected to the mounting column; be equipped with the cylinder piece on the carousel, the bottom of slider is equipped with the arc spout, and cylinder piece slidable ground is connected with the arc spout to the cylinder piece slides and drives the inside and outside slip of slider in the arc spout along with the rotation of carousel. After the structure is adopted, due to the restraint of the mounting column and the sliding block, the precision of linear telescopic motion is improved, and the load capacity of the linear telescopic motion is enhanced; because the slider coupling mechanism easy dismounting not only can make each part in time change before reaching fatigue life, can be according to the user demand quick connection between two unit module of difference moreover.
Preferably, the rotating rod penetrates through the mounting column and the disc from the bottom of the mounting column, and a deflector rod is arranged at the top of the rotating rod; the disk is provided with two clamping grooves which are matched with the deflector rod, so that the deflector rod is clamped and fixed in the clamping grooves at the corresponding position. After the structure is adopted, one of the clamping grooves corresponds to the position of the shifting lever when the sliding block slides out outwards, and the other clamping groove corresponds to the position of the shifting lever when the sliding block retracts inwards, so that the sliding block connecting mechanism can be detached by controlling the opening and closing of the sliding block through the shifting lever, and the position of the sliding block cannot slide randomly.
Preferably, the number of the mounting columns and the number of the mounting holes are m, m is more than or equal to 3, the number of the sliding blocks and the number of the grooves on one mounting column are n, and n is more than or equal to 2
Preferably, the slider comprises a T-shaped support block and the recess comprises a T-shaped section adapted to the support block.
Preferably, the output shaft of the first motor is perpendicular to the output shaft of the second motor.
Preferably, one end of the cylindrical block is connected with the rotary table, the other end of the cylindrical block is connected with a second bearing, the second bearing is arranged in the arc-shaped sliding groove, the second bearing comprises an inner ring and an outer ring, the inner ring is fixedly connected with the cylindrical block, and therefore the cylindrical block drives the outer ring to roll in the arc-shaped sliding groove. After adopting this kind of structure, can turn into the rolling friction between bearing and the arc spout inner wall with the sliding friction between cylinder piece and the arc spout inner wall originally, reduce frictional force.
In summary, the present invention has the following advantages:
the motor is fixed in the shell, the connecting arm connected with the output shaft is driven to rotate by the first motor, the whole mechanical structure is driven to rotate, the disc connected with the output shaft is driven by the second motor, and the second unit module connected with the slide block connecting mechanism is driven to rotate by the disc. Because the bearing connecting mechanism is adopted, the friction between the rotating pairs is greatly reduced, and the vibration and the noise are reduced; due to the constraint of the guide rail and the slide block, the precision of linear telescopic motion is improved, and the load capacity of the linear telescopic motion is enhanced. Therefore, the reconfigurable mechanical arm unit module endows the docking device with stronger movement capability by using a simple mechanical structure.
Drawings
FIG. 1 is a schematic diagram of the modular connection of two reconfigurable robotic arms.
Fig. 2 is a perspective view of the support structure.
Fig. 3 is a schematic structural view of the region a in fig. 2.
Fig. 4 is a structural bottom view of the support structure.
Fig. 5 is a schematic structural view of the slider connection module when the slider is retracted.
FIG. 6 is a schematic view of the slider connection module in a slider extrapolation configuration.
Fig. 7 is a perspective view of the mounting post.
Fig. 8 is a perspective view of the slider.
Fig. 9 is a perspective view of the turn lever, dial and toggle portion.
Wherein: the bearing comprises a first shell, a second shell, a first motor, a bearing roller, a connecting arm, a second shell, a second motor, a bearing roller, a first motor, a second motor, a disc, a mounting column, a turntable, a sliding block, a cylinder block, a sliding groove, an arc-shaped sliding groove, a mounting hole, a shifting rod, a clamping groove, a mounting groove, a first bolt, a second bolt and a second bearing, wherein the first shell is 1, the first motor is 2, the outer ring is 3, the bearing roller is 4, the inner ring is 5, the connecting arm is 6, the.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
A unit module of a reconfigurable mechanical arm comprises a supporting mechanism and a sliding block connecting mechanism; the supporting mechanism comprises a first shell 1, a connecting arm 6, a second shell 7, a first motor 1 and a second motor 2; one end of the connecting arm is rotatably connected with the first shell, and the other end of the connecting arm is fixedly connected with the second shell; the first motor is fixed in the first shell, an output shaft of the first motor is fixedly connected with the connecting arm and drives the connecting arm to rotate, and the second motor is fixed in the second shell; the sliding block connecting mechanism comprises a disc 9 and a mounting column 10, the mounting column is arranged on one side of the disc, a shaft hole is formed in the disc, and an output shaft of the second motor is connected with the other side of the disc through the shaft hole; one end of the first housing is provided with a mounting hole 16, and the mounting posts are adapted to the shape of the mounting hole, so that the second housing of the unit module of one reconfigurable mechanical arm is connected with the first housing of the unit module of another reconfigurable mechanical arm through a slider connecting mechanism.
The connecting arm is connected with the first shell through a first bearing, the first bearing comprises an inner ring 5 and an outer ring 3, the inner ring is fixedly connected with the first shell, and the outer ring is fixedly connected with the connecting arm. A bearing roller 4 is arranged between the inner ring and the outer ring.
The inner ring of the first bearing is connected with the first shell through 4 first bolts 20, a fixed block is arranged at the edge of one end of the connecting arm, a second bolt 21 is connected onto the fixed block, and the connecting arm is connected with the outer ring through the second bolt on the fixed block.
The side surface of the mounting column is provided with a groove 15, and a sliding block 12 capable of sliding inwards and outwards is arranged in the groove; the inner side wall of the mounting hole is provided with a mounting groove 19 matched with the slide block, so that the slide block sliding outwards is clamped into the mounting groove.
The bottom of the mounting column is provided with a turntable 11, the center of the turntable is fixedly provided with a rotating rod, and the rotating rod is rotatably connected to the mounting column; be equipped with cylinder piece 13 on the carousel, the bottom of slider is equipped with arc spout 14, and cylinder piece slidable ground is connected with the arc spout to the cylinder piece slides and drives the slider inside and outside sliding along with the rotation of carousel in the arc spout.
The shape of the arc-shaped sliding chute is attached to a section of the plane spiral line when viewed from the front side of the arc-shaped sliding chute.
The rotating rod penetrates through the mounting column and the disc from the bottom of the mounting column, and a deflector rod is arranged at the top of the rotating rod; two clamping grooves 18 which are matched with the deflector rod are arranged on the disc, so that the deflector rod is clamped and fixed in the clamping grooves at the corresponding position. One of the clamping grooves corresponds to the position of the shifting lever when the sliding block slides outwards, and the other clamping groove corresponds to the position of the shifting lever when the sliding block retracts inwards.
The quantity of erection column and mounting hole is 3, and the quantity of slider and recess on every erection column is 3.
The slider comprises a T-shaped supporting block, and the groove comprises a T-shaped section matched with the supporting block.
The turntable is a triangular turntable and is provided with three top angles, and three cylindrical blocks are respectively arranged on the three top angles.
The output shaft of the first motor is vertical to the output shaft of the second motor.
One end and the carousel of cylinder piece are connected, and the other end is connected with second bearing 22, and the second bearing is located the arc spout, and the second bearing includes inner circle and outer lane, inner circle and cylinder piece fixed connection to the cylinder piece drives the outer lane and rolls in the arc spout.
The first bearing is a ball bearing. The ball bearing can bear axial and radial loads at the same time, so that the structure is simplified and compact; the vibration and friction generated during working are small, so that the working is stable and reliable, the noise is low, and the service life is relatively long; the radial clearance of the bearing is small, and the operation precision is higher. The ball bearing is connected with other parts by bolts, so that the parts can be replaced in time when the fatigue life is reached; the ball bearing has simple structure, is easy to achieve higher manufacturing precision compared with other types, is a standard component, has high standardization degree, is convenient for serial mass production, and has lower manufacturing cost.
The section of the rotating rod is rectangular, the shifting rod is connected with the rotating rod in a nested mode, the shifting rod can move up and down relative to the rotating rod, the shifting rod is pulled out when the shifting rod needs to be shifted, and the shifting rod is placed into the clamping groove after being shifted to a required position.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A cell module of a reconfigurable robotic arm, comprising: comprises a supporting mechanism and a sliding block connecting mechanism;
the supporting mechanism comprises a first shell, a connecting arm, a second shell, a first motor and a second motor;
one end of the connecting arm is rotatably connected with the first shell, and the other end of the connecting arm is fixedly connected with the second shell;
the first motor is fixed in the first shell, an output shaft of the first motor is fixedly connected with the connecting arm and drives the connecting arm to rotate, and the second motor is fixed in the second shell;
the slider connecting mechanism comprises a disc and mounting columns, the mounting columns are arranged on one side of the disc, shaft holes are formed in the disc, an output shaft of the second motor is connected with the other side of the disc through the shaft holes, mounting holes are formed in one end of the first shell, the mounting columns are matched with the mounting holes in shape, and therefore the second shell of the unit module of one reconfigurable mechanical arm is connected with the first shell of the unit module of the other reconfigurable mechanical arm through the slider connecting mechanism.
2. The cell module of a reconfigurable robotic arm of claim 1, wherein: the connecting arm is connected with the first shell through a first bearing, the first bearing comprises an inner ring and an outer ring, the inner ring is fixedly connected with the first shell, and the outer ring is fixedly connected with the connecting arm.
3. The cell module of a reconfigurable robotic arm of claim 2, wherein: the inner ring of the first bearing is connected with the first shell through 4 first bolts, a fixed block is arranged at the edge of one end of the connecting arm, a second bolt is connected onto the fixed block, and the connecting arm is connected with the outer ring through the second bolt on the fixed block.
4. The cell module of a reconfigurable robotic arm of claim 1, wherein: the side surface of the mounting column is provided with a groove, and a sliding block capable of sliding inwards and outwards is arranged in the groove;
the inner side wall of the mounting hole is provided with a mounting groove matched with the sliding block, so that the sliding block sliding outwards is clamped into the mounting groove.
5. The cell module of a reconfigurable robotic arm of claim 4, wherein: the bottom of the mounting column is provided with a turntable, the center of the turntable is fixedly provided with a rotating rod, and the rotating rod is rotatably connected to the mounting column; be equipped with the cylinder piece on the carousel, the bottom of slider is equipped with the arc spout, and cylinder piece slidable ground is connected with the arc spout to the cylinder piece slides and drives the inside and outside slip of slider in the arc spout along with the rotation of carousel.
6. The cell module of a reconfigurable robotic arm of claim 5, wherein: the rotating rod penetrates through the mounting column and the disc from the bottom of the mounting column, and a deflector rod is arranged at the top of the rotating rod;
the disk is provided with two clamping grooves which are matched with the deflector rod, so that the deflector rod is clamped and fixed in the clamping grooves at the corresponding position.
7. The cell module of a reconfigurable robotic arm of claim 4, wherein: the number of the mounting columns and the number of the mounting holes are m, and m is more than or equal to 3; the number of the sliding blocks and the number of the grooves on one mounting column are n, and n is more than or equal to 2.
8. The cell module of a reconfigurable robotic arm of claim 4, wherein: the slider comprises a T-shaped supporting block, and the groove comprises a T-shaped section matched with the supporting block.
9. The cell module of a reconfigurable robotic arm of claim 1, wherein: the output shaft of the first motor is vertical to the output shaft of the second motor.
10. The cell module of a reconfigurable robotic arm of claim 5, wherein: one end and the carousel of cylinder piece are connected, and the other end is connected with the second bearing, and the second bearing is located the arc spout, and the second bearing includes inner circle and outer lane, inner circle and cylinder piece fixed connection to the cylinder piece drives the outer lane and rolls in the arc spout.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011521934.1A CN112720442B (en) | 2020-12-21 | 2020-12-21 | Unit module of reconfigurable mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011521934.1A CN112720442B (en) | 2020-12-21 | 2020-12-21 | Unit module of reconfigurable mechanical arm |
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| Publication Number | Publication Date |
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| CN112720442A true CN112720442A (en) | 2021-04-30 |
| CN112720442B CN112720442B (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011521934.1A Active CN112720442B (en) | 2020-12-21 | 2020-12-21 | Unit module of reconfigurable mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI810960B (en) * | 2022-06-02 | 2023-08-01 | 直得科技股份有限公司 | Robot arm as well as joint and connection piece thereof |
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| CN105522589A (en) * | 2015-11-06 | 2016-04-27 | 中国矿业大学 | Modular foldable-type mechanical arm unit |
| CN108697940A (en) * | 2015-11-25 | 2018-10-23 | 动力学股份有限公司 | Modular system and method for exchanging information and/or power between the module of modular system |
| US20180318019A1 (en) * | 2015-11-10 | 2018-11-08 | Technische Universiteit Eindhoven | Modular Robotic Device for Precision Surgical Bone Removal and Other Applications |
| CN109227598A (en) * | 2018-11-27 | 2019-01-18 | 福州大学 | Reconfigurable modular robot bindiny mechanism and connection method |
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2020
- 2020-12-21 CN CN202011521934.1A patent/CN112720442B/en active Active
Patent Citations (7)
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| CN102395449A (en) * | 2009-04-15 | 2012-03-28 | Abb研究有限公司 | An apparatus for a robot arm |
| CN103538064A (en) * | 2013-10-24 | 2014-01-29 | 上海电机学院 | Magic stick robot |
| CN105522589A (en) * | 2015-11-06 | 2016-04-27 | 中国矿业大学 | Modular foldable-type mechanical arm unit |
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| TWI810960B (en) * | 2022-06-02 | 2023-08-01 | 直得科技股份有限公司 | Robot arm as well as joint and connection piece thereof |
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| CN112720442B (en) | 2022-05-24 |
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