CN114750202A - Mechanical arm and robot - Google Patents
Mechanical arm and robot Download PDFInfo
- Publication number
- CN114750202A CN114750202A CN202210288454.8A CN202210288454A CN114750202A CN 114750202 A CN114750202 A CN 114750202A CN 202210288454 A CN202210288454 A CN 202210288454A CN 114750202 A CN114750202 A CN 114750202A
- Authority
- CN
- China
- Prior art keywords
- assembly
- arm
- arm body
- driving
- drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims description 50
- 230000007246 mechanism Effects 0.000 claims description 47
- 239000003638 chemical reducing agent Substances 0.000 claims description 30
- 238000010586 diagram Methods 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 11
- 210000000078 claw Anatomy 0.000 description 8
- 230000008901 benefit Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 239000002184 metal Substances 0.000 description 5
- RVCKCEDKBVEEHL-UHFFFAOYSA-N 2,3,4,5,6-pentachlorobenzyl alcohol Chemical compound OCC1=C(Cl)C(Cl)=C(Cl)C(Cl)=C1Cl RVCKCEDKBVEEHL-UHFFFAOYSA-N 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a mechanical arm and robot mainly relates to the robot field, can solve the problem that the removal precision that the mechanical arm exists is lower and be difficult to carry out accurate location. Wherein, the arm includes stand subassembly, fixing base subassembly, arm body subassembly, first drive assembly and second drive assembly, and the one end swing joint of fixing base subassembly is on the stand subassembly, the other end and the arm body subassembly swing joint of fixing base subassembly, and first drive assembly is used for driving the fixing base subassembly and removes on the stand subassembly, and the second drive assembly is used for driving the arm body subassembly and rotates on the fixing base subassembly.
Description
Technical Field
The invention relates to the field of robots, in particular to a mechanical arm and a robot.
Background
Along with the continuous development of mechanical arm technology, because of its advantages such as possess compact structure, work efficiency height so by wide application and each place, and present mechanical arm usually uses a drive arrangement to control whole mechanical arm, can not carry out accurate control to the location of each arm body subassembly for the removal precision of mechanical arm in all directions is lower, and the mechanical arm is whole to be difficult to carry out accurate location.
Disclosure of Invention
For solving above-mentioned problem, this application provides a arm and robot, can solve the arm and have the lower and be difficult to carry out the problem of accurate location of removal precision.
In a first aspect, the application provides a mechanical arm, and the mechanical arm includes stand subassembly, unable adjustment seat subassembly, arm body subassembly, first drive assembly and second drive assembly, and the one end swing joint of unable adjustment seat subassembly is on the stand subassembly, the other end and the arm body subassembly swing joint of unable adjustment seat subassembly, and first drive assembly is used for driving the unable adjustment seat subassembly and removes on the stand subassembly, and the second drive assembly is used for driving arm body subassembly and rotates on the fixing base subassembly.
Based on the arm that this application provided, first drive assembly is used for driving the fixing base subassembly and removes on a direction along stand subassembly to make the fixing base subassembly drive the arm body and remove on this direction, improved the precision of arm location in this direction. The second driving assembly is used for driving the arm body assembly to rotate relative to the fixed seat assembly, so that the arm body assembly can be accurately positioned on the rotating plane. The fixing base assembly and the arm body assembly are independently controlled by the first driving assembly and the second driving assembly respectively, so that the mechanical arm can accurately position the movement or rotation in the three-dimensional space when in use, and the problem that the mechanical arm cannot be accurately positioned in all directions when being driven by a driving device to position in the three-dimensional space is solved.
In a possible design, the pillar assembly includes a housing, a sliding rail is disposed on the housing, and one end of the fixing seat assembly is slidably connected to the sliding rail.
Based on the above optional manner, by providing the sliding track on the column assembly, one end of the fixed base assembly can be movably connected to the column assembly through the sliding track, on one hand, the fixed base assembly can move in one direction (the first direction) along the sliding track, so that the moving direction of the fixed base assembly is limited, and when the fixed base assembly moves in the first direction, the arm body assembly is also driven to move in the first direction, and therefore, a power assembly for driving the arm body assembly 3 to move in the first direction does not need to be provided; on the other hand, the sliding rail plays a limiting role, so that one end of the fixing seat assembly can be fixed on the stand column assembly through the sliding rail, connection between the fixing seat assembly and the stand column assembly is reinforced, and the problem that the fixing seat assembly falls off in the using process is avoided.
In a possible design, the first driving assembly is arranged in the housing, the first driving assembly includes a first driving plate, a first transmission mechanism and a first motor, the first driving plate is used for driving the first motor to rotate, one end of the fixing seat assembly penetrates through the sliding rail and is fixed on the first transmission mechanism, and the first motor is used for driving the fixing seat assembly to slide on the sliding rail through the first transmission mechanism.
In a possible design mode, the second driving assembly is arranged in the fixed seat assembly and comprises a second driving plate, a second transmission mechanism, a second motor and a first harmonic speed reducer, the second driving plate is used for driving the second motor to rotate, the second motor is used for driving the second transmission mechanism to transmit, the second transmission mechanism is used for driving the first harmonic speed reducer to rotate, the fixed seat assembly is movably connected with the arm body assembly through the first harmonic speed reducer, and the first harmonic speed reducer is used for driving the arm body assembly to rotate.
In a possible design mode, the arm body assembly comprises at least one arm body structure which is cascaded, each arm body structure comprises a third driving assembly and an arm body, and the third driving assembly of the arm body structure at the previous stage is used for driving the arm body structure at the next stage to rotate relative to the arm body structure at the previous stage.
In one possible embodiment, the arm length of the arm structure of the preceding stage is greater than the arm length of the arm structure of the succeeding stage.
Based on above-mentioned optional mode, the arm length setting that will preceding one-level arm body structure is greater than the arm length of back one-level arm body structure for back one-level arm body structure can carry out two kinds of rotations of internal rotation and external rotation around preceding one-level arm body structure under the drive of the third drive assembly in preceding one-level arm body structure, has increased the rotation scope of arm body structure, and then has improved the working range of this arm (the location scope of this arm promptly).
In one possible design, the plane of the rotation track of the arm body is perpendicular to the moving direction of the fixed seat assembly on the upright post assembly.
In a possible design, the arm body is provided with a hollow structure.
Based on the above optional modes, on one hand, the hollow structure arranged on the arm body can reduce the weight of the arm body, and the manufacturing cost of the arm body is saved; on the other hand, this hollow out construction provides the interlude space for the cable in the arm for the cable can alternate and fix on the arm body, need not set up the fixed knot structure that the multiunit is used for fixed cable on the arm body, has further reduced the internal subassembly of arm, has practiced thrift the cost of manufacture.
In one possible embodiment, the first drive assembly, the second drive assembly and the third drive assembly are connected in series.
Based on above-mentioned optional mode, first drive assembly, second drive assembly and third drive assembly can be through communication line and power cord series connection, so, only need two cables can couple together a plurality of drive plates, reduced the energy loss between each drive assembly, and reduced the quantity of cable and further lightened the weight of arm.
In a second aspect, the present application provides a robot, comprising the robot arm and the gripper as described in any one of the alternatives of the first aspect, wherein the gripper is movably connected to the arm body assembly.
The construction and other objects and advantages of the present application will be apparent from the following detailed description of the preferred embodiments, read in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present application, and those skilled in the art can obtain other drawings based on the drawings without inventive labor.
FIG. 1 is a first schematic view of a robot arm according to a first embodiment of the present disclosure;
FIG. 2 is a first structural schematic diagram of a column assembly according to a first embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a column assembly according to an embodiment of the present disclosure;
FIG. 4 is a third schematic structural view of a column assembly provided in the first embodiment of the present application;
FIG. 5 is a fourth structural schematic diagram of a column assembly provided in the first embodiment of the present application;
FIG. 6 is a schematic structural diagram of a first driving assembly according to an embodiment of the present application;
FIG. 7 is a first schematic view of a fixing base assembly according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of a second driving assembly according to an embodiment of the present application;
fig. 9 is a second schematic structural view of a fixing base assembly according to the first embodiment of the present disclosure;
FIG. 10 is a second schematic view of a robot arm according to a first embodiment of the present disclosure;
FIG. 11 is a schematic structural diagram of a third driving assembly according to an embodiment of the present application;
FIG. 12 is a first schematic structural diagram of an arm structure according to a first embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of an arm structure according to the first embodiment of the present application;
FIG. 14 is a third schematic structural diagram of an arm structure according to an embodiment of the present disclosure;
fig. 15 is a schematic structural diagram of an arm structure according to the first embodiment of the present application.
Wherein, in the figures, the respective reference numerals:
1-a column assembly; 101-a housing; 1011-a guide rail; 1012-guide rail slider; 1013-a rail seat; 102-a slide rail; 103-a fixed base;
2-a fixed seat assembly; 201-a first fixed part; 202-a second fixed part; 203-through groove;
3-an arm assembly; 301-arm body; 302-hollow out structure; 303-a wire passing pipe; 304-wire fixing metal plate; 305-thread fixing rubber sleeve; 306-a bearing;
401 — a first drive assembly; 4011-a first drive plate; 4012-a first transmission; 4013-a first electrical machine; 402-a second drive assembly; 4021-a second drive plate; 4022-a second transmission mechanism; 4023-a second motor; 4024-first harmonic reducer; 403-a third drive assembly; 4031-a third drive plate; 4032-third drive mechanism; 4033-a third electric machine; 4034-second harmonic reducer;
5-mechanical claw.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, a first feature is "on" or "under" a second feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediary. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description of the present application, it is to be understood that the terms "inner", "outer", "upper", "bottom", "front", "rear", and the like, if any, refer to an orientation or positional relationship, if any, that is solely for convenience in describing and simplifying the present application, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be taken as limiting the present application.
With the vigorous development of the mechanical arm technology, the mechanical arm is selected to replace the manual work in more and more places, but the mechanical arm also has many defects. For example, the existing mechanical arm generally uses a driving device to control the whole mechanical arm, and can not independently control each arm body component, so that the moving precision of the mechanical arm in each direction is low, the mechanical arm is difficult to perform accurate positioning, and when the mechanical arm is controlled by a driving device, connecting cables between each arm body component are numerous, the weight of the mechanical arm is increased, the manufacturing cost is further increased, and thus, the existing mechanical arm has the problems of low moving precision, difficulty in performing accurate positioning, complex cables in the mechanical arm and high manufacturing cost. Therefore, the application provides a mechanical arm and a robot, and the problems that the mechanical arm is low in moving precision, difficult to accurately position, complex in cable in the mechanical arm and high in manufacturing cost can be solved.
The robot arm and robot provided by the present application are exemplarily described with reference to the following drawings.
Example one
As shown in fig. 1, the mechanical arm overall structure schematic diagram provided by the present application includes a column assembly 1, a fixing seat assembly 2, an arm body assembly 3, a first driving assembly 401 and a second driving assembly 402, one end of the fixing seat assembly 2 is movably connected to the column assembly 1, the other end of the fixing seat assembly 2 is movably connected to the arm body assembly 3, the first driving assembly 401 is used for driving the fixing seat assembly 2 to move on the column assembly 1, and the second driving assembly 402 is used for driving the arm body assembly 3 to rotate on the fixing seat assembly 2.
Wherein, stand subassembly 1 provides a location direction for the arm for mount subassembly 2 and arm body subassembly 3 can move on one direction along stand subassembly 1, the positioning accuracy in an orientation has been improved, and so, arm body structures at different levels in arm body subassembly 3 need not to set up again and make arm body structure remove or pivoted drive mechanism to this direction, the use quantity of drive mechanism has been reduced, the cost of manufacture has been practiced thrift, and the positioning deviation who causes when having a plurality of drive mechanism in the arm body subassembly 3 has been avoided, the precision that arm body subassembly 3 removed in this direction has been improved.
In one example, as shown in fig. 2, the column assembly 1 may include a housing 101, a sliding rail 102 is disposed on the housing 101, one end of the fixing base assembly 2 is slidably connected to the sliding rail 102, and by disposing the sliding rail 102 on the housing 101 of the column assembly 1, on one hand, the fixing base assembly 2 may move in one direction (a first direction) along the sliding rail 102, so that the moving direction of the fixing base assembly 2 is defined, and when the fixing base assembly 2 moves in the first direction, the arm assembly 3 is also driven to move in the first direction, so that it is not necessary to dispose a power assembly for driving the arm assembly 3 to move in the first direction; on the other hand, the one end of fixing base subassembly 2 can pass this slip track 102 swing joint on stand subassembly 1, and slip track 102 has played a spacing effect for the one end of fixing base subassembly 2 can be fixed on stand subassembly 1 by this slip track 102, has consolidated being connected between fixing base subassembly 2 and the stand subassembly 1, avoids appearing the problem that fixing base subassembly 2 drops in the use.
Optionally, as shown in fig. 3, the column assembly 1 may be provided with a plurality of sliding tracks 102, the fixing base assembly 2 may be connected to the column assembly 1 through the plurality of sliding tracks 102, and the plurality of sliding tracks 102 make the fixing base assembly 2 more stable when moving on the column assembly 1.
In the embodiment of the present application, the sliding track 102 may be a sliding rail, and since the resistance of the sliding rail is relatively small, the moving efficiency of the fixing seat assembly 2 on the upright post assembly 1 is relatively high, so as to facilitate the control of the fixing seat assembly 2.
In one example, as shown in fig. 4, a guide rail 1011, a plurality of guide rail sliders 1012 and a guide rail seat 1013 (not shown in the drawings) may be disposed in the housing 101, the guide rail 1011 is disposed in a body groove in the housing 101, the plurality of guide rail sliders 1012 are slidably connected to the guide rail, one end of the guide rail seat 1013 is fixedly connected to the plurality of guide rail sliders 1012, one end of the holder assembly 2 is fixedly connected to the other end of the guide rail seat 1013, and after a force is applied to the guide rail seat 1013, the guide rail seat 1013 may move along the guide rail 1011 to move the holder assembly 2 in the direction, and the moving resistance of the guide rail 1011 is small, so that the moving efficiency of the holder assembly 2 on the column assembly 1 is high, and the holder assembly 2 is convenient to control.
In one example, as shown in fig. 5, the column assembly 1 may further include a fixing base 103, and the fixing base 103 is used to fix the column assembly 1 on the working plane, so as to fix the whole robot arm (the column assembly 1, the fixing base assembly 2, and the arm body assembly 3) on the working plane.
As shown in fig. 6, the first driving assembly 401 may include a first driving plate 4011 (not shown), a first transmission mechanism 4012, and a first electric motor 4013, wherein the first driving plate 4011 is used to drive the first electric motor 4013 to rotate, and the first electric motor 4013 is used to drive the first transmission mechanism 4012 to perform transmission.
In one example, the first driving assembly 401 may be disposed in the column assembly 1, one end of the fixed base assembly 2 passes through the sliding rail 102 and is fixed on the first transmission mechanism 4012, the first transmission mechanism 4012 is configured to drive the fixed base assembly 2 to slide on the sliding rail 102, and the first driving assembly 401 is configured to drive the fixed base assembly 2 to slide along the sliding rail 102 of the column assembly 1.
Wherein, first drive plate 4011 has the fast advantage of response, and first drive plate 4011 can respond rapidly after receiving the instruction that main control unit sent, has improved holistic work efficiency, and it still possesses advantages such as can accept high voltage, heavy current for the arm can be applicable to each place.
Optionally, first drive plate 4011 can be Printed Circuit Board (Printed Circuit Board Assembly, PCBA), PCBA Board has the response fast, long service life, have advantages such as better anti-seismic shock impact and deformability, when this PCBA Board is used to first drive plate 4011 in the neutral column subassembly 1 of this application, first drive plate 4011 can respond rapidly after receiving the instruction, give first motor 4013 with data output, thereby first motor 4013 of drive rotates, and then drive fixed seat subassembly 2 and move, fixing base subassembly 2 has been improved at the ascending location precision of an side.
The first transmission mechanism 4012 is configured to drive the fixing base assembly 2 to move along the sliding rail 102.
In this application embodiment, first drive mechanism 4012 can be first drive wheel and first driving belt, and first drive wheel and first motor 4013 are connected by first driving belt, and after first drive plate 4011 received the instruction that main control unit sent, drive first motor 4013 and rotate, drive first driving belt after first motor 4013 rotates and carry out the transmission to drive unable adjustment seat subassembly 2 and remove.
The fixing seat assembly 2 is used for driving the arm body assembly 3 to rotate, one end of the fixing seat assembly 2 is movably connected to the stand column assembly 1, and the other end of the fixing seat assembly 2 is movably connected with the arm body assembly 3.
In one example, as shown in fig. 7, the fixing base assembly 2 may include a first fixing portion 201 and a second fixing portion 202, the first fixing portion 201 is fixedly connected to the rail base in the column assembly 1, the second fixing portion 202 is slidably connected to the outside of the column assembly 1, the first fixing portion 201 is fixedly connected to the second fixing portion 202, and a through groove 203 may be disposed between the first fixing portion 201 and the second fixing portion 202. In one example, two sliding rails 102 may be disposed on the housing 101 of the column assembly 1, and a fixing plate is disposed between the two sliding rails 102, and the fixing plate is inserted into the through groove 203 on the fixing base assembly 2, so that the fixing base assembly 2 moves more stably on the column assembly 1; on the other hand, the firmness between the fixed seat component 2 and the upright post component 1 is increased, and the problem that the fixed seat component 2 can fall off in the moving process is avoided.
As shown in fig. 8, the second driving assembly 402 may include a second driving plate 4021, a second transmission mechanism 4022, a second motor 4023 and a first harmonic reducer 4024, the second driving assembly 402 is configured to drive the second motor 4023 to rotate, the second motor 4023 is configured to drive the second transmission mechanism 4022 to perform transmission, and the second transmission mechanism 4022 is configured to drive the first harmonic reducer 4024 to rotate.
In one example, as shown in fig. 9, the second driving assembly 402 may be disposed in the fixing base assembly 2, the fixing base assembly 2 is movably connected to the arm assembly 3 through a first harmonic reducer 4024, and the first harmonic reducer 4024 is configured to drive the arm assembly 3 to rotate relative to the fixing base assembly 2.
Among them, the second drive plate 4021 has an advantage of fast response, and can respond quickly. After the second drive plate 4021 receives an instruction sent by the main controller, the second drive plate 4021 is used for controlling the rotation of the second motor 4023, so as to control the rotation of the first harmonic reducer 4024, further control the rotation of the arm assembly 3, and improve the positioning accuracy of the arm assembly 3 on the rotation plane.
Alternatively, the second drive plate 4021 may be a PCBA plate.
The second transmission mechanism 4022 is configured to drive the arm assembly 3 to rotate relative to the fixed base assembly 2.
In this embodiment of the application, the second transmission mechanism 4022 may be a second transmission wheel and a second transmission belt, the second transmission wheel is connected to the second motor 4023 by the second transmission belt, the second transmission wheel is fixedly connected to one end of the first harmonic reducer 4024, when the second drive plate 4021 receives an instruction sent by the main controller, the second motor 4023 is driven to rotate, the second motor 4023 drives the second transmission belt to transmit after rotating, so as to drive the second transmission wheel to rotate, the second transmission wheel drives the first harmonic reducer 4024 to rotate, so as to enable the arm assembly 3 connected to the other end of the first harmonic reducer 4024 to rotate. Through the collocation use of harmonic reducer and drive mechanism for the rotation precision and the work efficiency of arm are higher, and because second drive assembly 402 only is provided with a second drive mechanism 4022 and the collocation use of first harmonic reducer 4024, have reduced drive mechanism's use quantity, have avoided when having multistage drive mechanism the problem that the structure is complicated and drive mechanism takes place the damage easily.
It can be understood that, the first driving assembly 401 is configured to drive the fixing seat assembly 2 to move along the column assembly 1 (i.e. a first moving direction), and the second driving assembly 402 is configured to drive the arm assembly 3 to rotate relative to the fixing seat assembly 2 (i.e. a plane where a rotation track is located is perpendicular to the first moving direction), so that the robot arm can realize movement and rotation in various directions, and can precisely move or rotate in various directions, and thus, the robot arm can precisely realize positioning in a three-dimensional space.
One end of the arm body assembly 3 is movably connected with the fixed seat assembly 2, the arm body assembly 3 can comprise at least one cascaded arm body structure, each arm body structure comprises a third driving assembly 403 and an arm body 301 (not shown in the figure), the third driving assembly 403 of the previous arm body structure is used for driving the next arm body structure to rotate relative to the previous arm body structure, the length of the arm body 301 of the previous arm body structure is greater than that of the arm body 301 of the next arm body structure, and therefore, the next arm body structure can rotate in an internal rotation mode and an external rotation mode around the previous arm body structure under the driving of the third driving assembly 403 in the previous arm body structure, the rotation range of the arm body structure is increased, and the working range of the mechanical arm (namely, the rotation range of the mechanical arm) is further improved.
It can be understood that, the next-level arm body structure can rotate 360 degrees around the previous-level arm body structure under the drive of the third drive component 403 in the previous-level arm body structure, but in order to protect each arm body structure from normal operation (namely, prevent the next-level arm body structure from rushing out the stroke range of operation when rotating and causing damage to the previous-level arm body structure), the arm body structure needs to be hard limited, therefore, under the hard limiting effect, the next-level arm body structure can perform two rotation modes of internal rotation or external rotation relative to the previous-level arm body structure, and the rotation angle of the internal rotation and the external rotation can not be greater than 360 degrees all the time.
The last stage of arm body structure is used for mounting the mechanical claw, and the third driving assembly 403 in the last stage is used for controlling the rotation of the mechanical claw.
For example, taking the two-stage cascade shown in fig. 10 as an example, the holder assembly 2 can move in the vertical direction on the column assembly 1, and the first-stage arm structure can rotate outward in the horizontal direction relative to the holder assembly 2 (it can be understood that, in order to prevent the first-stage arm structure from colliding with the column assembly 1 during rotation and affecting the use of the mechanical arm, therefore, the rotation angle of the first-stage arm structure relative to the holder assembly 2 can be set within a certain range, and when the first-stage arm structure rotates within the range, the first-stage arm structure does not collide with the column assembly 1), one end of the second-stage arm structure is movably connected to the first-stage arm structure, and the second-stage arm structure can rotate in the horizontal direction relative to the first-stage arm structure (under the limitation of hard limit, the rotation can implement both inward rotation and outward rotation).
In one example, the other end of the second stage arm structure may have a gripper movably connected thereto, the gripper being rotatable relative to the second stage arm structure. The extreme end (i.e. the joint of the gripper) need not be provided with a hard stop and so the angle of rotation here may be greater than 360 °.
As shown in fig. 11, the third driving assembly 403 may include a third driving plate 4031, a third transmission mechanism 4032, a third motor 4033, and a second harmonic reducer 4034, where the third driving assembly 403 is configured to drive the third motor 4033 to rotate, the third motor 4033 is configured to drive the third transmission mechanism 4032 to transmit power, and the third transmission mechanism 4032 is configured to drive the second harmonic reducer 4034 to rotate.
In one example, as shown in fig. 12, the third driving assembly 403 may be disposed inside the arm structures, the arm structures are movably connected through the second harmonic reducer 4034, the arm structures in cascade connection may be connected through the second harmonic reducer 4034, and the rotation precision of the arm assemblies is higher through the matching use of the harmonic reducer and the transmission mechanism, and since the fixing base assembly 2 may drive the arm structures to move in one direction relative to the column assembly 1, the arm structures may be precisely positioned in a three-dimensional space by only disposing one third transmission mechanism 4032 and one second harmonic reducer 4034 inside the third driving assembly 403, and there is no need to dispose a transmission mechanism inside the arm structures to move or rotate the arm structures in multiple directions, so that the number of the transmission mechanisms used is reduced, and the manufacturing cost is saved, meanwhile, the problems that when a multi-stage transmission mechanism exists in one arm body structure, the structure is complex and the transmission mechanism is easy to damage are solved.
In the embodiment of the present application, the first driving assembly 401, the second driving assembly 402, and the third driving assembly 403 are serially connected by cables, for example, the first driving assembly 401, the second driving assembly 402, and the third driving assembly 403 are serially connected by a communication cable and a power cable, so that only two cables are needed to connect a plurality of driving boards, energy loss between the driving assemblies is reduced, and the number of cables is reduced, thereby reducing the weight of the robot arm.
In one example, as shown in fig. 13, the arm body 301 may be provided with a hollow structure 302, on one hand, the hollow structure 302 provided on the arm body 301 may reduce the weight of the arm body 301, thereby saving the manufacturing cost of the arm body 301; on the other hand, this hollow out construction 302 provides the interlude space for the cable in arm 3 for the cable can alternate and fix on arm body 301, need not set up the fixed knot structure that the multiunit is used for fixed cable on arm body 3, has further reduced the subassembly in the arm body structure, has practiced thrift the cost of manufacture.
Alternatively, as shown in fig. 12, the hollow structure 302 may be a plurality of hollow triangular structures.
In one example, as shown in fig. 14 to 15, the arm structure may further include a wire conduit 303, a wire fixing metal plate 304, a wire fixing rubber sleeve 305, and a bearing 306, one end of the wire conduit 303 is disposed above the third motor 4033 at an interval, the wire fixing metal plate 304 is disposed on the arm 301 and coaxial with the second harmonic reducer 4034, the wire fixing rubber sleeve 305 is disposed coaxially on the wire fixing metal plate 304, and the bearing 306 is disposed on the second harmonic reducer 4034 and coaxial with the second harmonic reducer 4034.
Wherein, the wire passing pipe 303 provides a space of interlude for the cable in mount subassembly 2 or the last level arm body structure, the one end interval of wire passing pipe 303 sets up in the top of third motor 4033, the other end passes the harmonic speed reducer in mount subassembly 2 or the last level arm body structure, it can be understood that, wire passing pipe 303 is the passageway of cable, make the cable of last level can alternate in the arm body structure of next level through this wire passing pipe 303, it can hold the cable in this wire passing pipe 303 to set up wire passing pipe 303, avoid the use that the cable winding scheduling problem influences the arm in the use can appear between.
The wire fixing metal plate 304 is used for fixing the cable penetrating from the upper level, and therefore the cable is prevented from being wound in the arm body structure to influence the use of the mechanical arm.
The wire fixing rubber sleeve 305 can play a role in restraining and protecting the cable on one hand; on the other hand, the wire fixing rubber sleeve 305 can also restrict the bearing 306, the bearing 306 can move in the using process, and the wire fixing rubber sleeve 305 and the bearing 306 are coaxial and arranged above the bearing 306, so that the upward moving range of the bearing 306 is limited, an additional workpiece is not needed to be added for fixing the bearing 306, and the manufacturing cost is further saved.
The inner ring of the bearing 306 is sleeved with the wire through pipe 303, the outer ring of the bearing 306 is sleeved with the third transmission mechanism 4032, and the bearing 306 plays a role in supporting, so that the position deviation of the third transmission mechanism 4032 and the wire through pipe 303 in the using process is avoided, and the use of the mechanical arm is influenced.
As shown in fig. 10, the robot arm provided in an embodiment of the present application includes a column assembly 1, a fixing base assembly 2, an arm body assembly (two-stage arm body structure), a first driving assembly 401, a second driving assembly 402, and a third driving assembly 403. The fixing base assembly 2 can move on the upright post assembly 1 in the vertical direction, the first-stage arm body structure can rotate 180 degrees in the horizontal direction relative to the fixing base assembly 2, and the second-stage arm body structure can rotate in an inward rotation mode and an outward rotation mode in the horizontal direction relative to the first-stage arm body structure; on the other hand, each driving assembly is provided with at most one group of transmission mechanisms, so that the problems that when a multi-stage transmission mechanism exists in a single arm body structure, a transmission belt in the transmission mechanism is broken and the like are solved, the service life of the mechanical arm is prolonged, and the manufacturing cost is saved.
In one example, the robot arm may further include a main control unit for transmitting a control signal to each of the driving boards in the robot arm.
In one example, a main control unit may be provided within the column assembly 1, the main control unit being configured to transmit control signals to the first drive board 401, the first drive board 402, and the first drive board 403, respectively.
Example two
Based on the mechanical arm provided by the first embodiment, the embodiment of the application further provides a robot, which comprises the mechanical arm provided by the first embodiment and a mechanical claw 5, wherein the mechanical claw 5 is movably connected with the arm body assembly 3. The last stage of arm body structure in the arm body assembly 3 is movably connected with the mechanical claw 5, the third driving assembly 403 in the last stage of arm body structure is used for driving the mechanical claw 5 to rotate, and the mechanical claw 5 can rotate relative to the last stage of arm body structure.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. The mechanical arm is characterized by comprising an upright post assembly (1), a fixed seat assembly (2), an arm body assembly (3), a first driving assembly (401) and a second driving assembly (402), wherein one end of the fixed seat assembly (2) is movably connected to the upright post assembly (1), and the other end of the fixed seat assembly (2) is movably connected with the arm body assembly (3);
the first driving assembly (401) is used for driving the fixed seat assembly (2) to move on the stand column assembly (1), and the second driving assembly (402) is used for driving the arm body assembly (3) to rotate on the fixed seat assembly (2).
2. The mechanical arm according to claim 1, wherein the column assembly (1) comprises a housing (101), a sliding rail (102) is arranged on the housing (101), and one end of the fixing seat assembly (2) is slidably connected on the sliding rail (102).
3. The robotic arm of claim 2, wherein the first drive assembly (401) is disposed within the housing (101);
the first driving assembly (401) comprises a first driving plate (4011), a first transmission mechanism (4012) and a first motor (4013), the first driving plate (4011) is used for driving the first motor (4013) to rotate, one end of the fixed base assembly (2) penetrates through the sliding rail (102) to be fixed on the first transmission mechanism (4012), and the first motor (4013) is used for driving the fixed base assembly (2) to slide on the sliding rail (102) through the first transmission mechanism (4012).
4. The mechanical arm of claim 1, wherein the second drive assembly (402) is disposed within the fixed base assembly (2), the second drive assembly (402) comprising a second drive plate (4021), a second transmission mechanism (4022), a second motor (4023), and a first harmonic reducer (4024);
the second drive plate (4021) is used for driving the second motor (4023) to rotate, the second motor (4023) is used for driving the second transmission mechanism (4022) to transmit, the second transmission mechanism (4022) is used for driving the first harmonic reducer (4024) to rotate, the fixing seat assembly (2) is movably connected with the arm body assembly (3) through the first harmonic reducer (4024), and the first harmonic reducer (4024) is used for driving the arm body assembly (3) to rotate.
5. A robot arm according to claim 1, characterized in that the arm body assembly (3) comprises at least one arm body structure in cascade, each arm body structure comprising a third drive assembly (403) and an arm body (301), the third drive assembly (403) of the arm body structure of the previous stage being adapted to drive the arm body structure of the subsequent stage to rotate relative to the arm body structure of the previous stage.
6. A robotic arm as claimed in claim 5, in which the arm length of the arm body structure of a preceding stage is greater than the arm body length of the arm body structure of a subsequent stage.
7. A robotic arm as claimed in claim 6, wherein the plane of the trajectory of rotation of the arm body is perpendicular to the direction of movement of the mount assembly (2) on the mast assembly (1).
8. A robot arm according to claim 7, characterized in that the arm body (301) is provided with a hollowed-out structure (302).
9. A robot arm according to claim 5, characterized in that said first drive assembly (401), said second drive assembly (402) and said third drive assembly (403) are connected in series.
10. A robot, characterized in that it comprises a robot arm according to any of claims 1-9 and a gripper (5), said gripper (5) being movably connected to said arm assembly (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210288454.8A CN114750202A (en) | 2022-03-23 | 2022-03-23 | Mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210288454.8A CN114750202A (en) | 2022-03-23 | 2022-03-23 | Mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114750202A true CN114750202A (en) | 2022-07-15 |
Family
ID=82328025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210288454.8A Pending CN114750202A (en) | 2022-03-23 | 2022-03-23 | Mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114750202A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI854304B (en) | 2022-09-15 | 2024-09-01 | 迅得機械股份有限公司 | Robotic arm |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09168985A (en) * | 1995-12-18 | 1997-06-30 | Sankyo Seiki Mfg Co Ltd | Horizontal articulated robot |
| JP2000308984A (en) * | 1999-04-23 | 2000-11-07 | Murata Mach Ltd | Scalar arm and carrier device using it |
| JP2015123548A (en) * | 2013-12-26 | 2015-07-06 | シンフォニアテクノロジー株式会社 | Multi-joint robot |
| CN205521374U (en) * | 2016-04-15 | 2016-08-31 | 慧灵科技（深圳）有限公司 | Coaxial transmission structure's arm |
| CN106493718A (en) * | 2016-12-12 | 2017-03-15 | 安徽零点精密机械有限责任公司 | SCARA robots |
| CN206011136U (en) * | 2016-08-10 | 2017-03-15 | 深圳众为兴技术股份有限公司 | A kind of robot interior cable routing structure |
| CN107471250A (en) * | 2017-09-11 | 2017-12-15 | 慧灵科技（深圳）有限公司 | A kind of flapping articulation machinery arm configuration using flat external rotor electric machine |
| CN207534805U (en) * | 2017-12-12 | 2018-06-26 | 慧灵科技（深圳）有限公司 | A kind of four axis robot of high performance level joint |
| CN109176485A (en) * | 2018-10-16 | 2019-01-11 | 新松机器人联合研究院（潍坊）有限公司 | Four axis robot of flapping articulation |
| CN110154007A (en) * | 2019-06-10 | 2019-08-23 | 天津大学 | A kind of modularization snake-shaped robot and its control system |
| CN213165392U (en) * | 2020-08-27 | 2021-05-11 | 慧灵科技（深圳）有限公司 | Movement mechanism and robot |
| CN112809742A (en) * | 2021-01-26 | 2021-05-18 | 浙江禾川科技股份有限公司 | Inside line joint and arm of crossing |
| CN213499193U (en) * | 2020-09-16 | 2021-06-22 | 慧灵科技（深圳）有限公司 | Wiring structure and mechanical arm |
-
2022
- 2022-03-23 CN CN202210288454.8A patent/CN114750202A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09168985A (en) * | 1995-12-18 | 1997-06-30 | Sankyo Seiki Mfg Co Ltd | Horizontal articulated robot |
| JP2000308984A (en) * | 1999-04-23 | 2000-11-07 | Murata Mach Ltd | Scalar arm and carrier device using it |
| JP2015123548A (en) * | 2013-12-26 | 2015-07-06 | シンフォニアテクノロジー株式会社 | Multi-joint robot |
| CN205521374U (en) * | 2016-04-15 | 2016-08-31 | 慧灵科技（深圳）有限公司 | Coaxial transmission structure's arm |
| CN206011136U (en) * | 2016-08-10 | 2017-03-15 | 深圳众为兴技术股份有限公司 | A kind of robot interior cable routing structure |
| CN106493718A (en) * | 2016-12-12 | 2017-03-15 | 安徽零点精密机械有限责任公司 | SCARA robots |
| CN107471250A (en) * | 2017-09-11 | 2017-12-15 | 慧灵科技（深圳）有限公司 | A kind of flapping articulation machinery arm configuration using flat external rotor electric machine |
| CN207534805U (en) * | 2017-12-12 | 2018-06-26 | 慧灵科技（深圳）有限公司 | A kind of four axis robot of high performance level joint |
| CN109176485A (en) * | 2018-10-16 | 2019-01-11 | 新松机器人联合研究院（潍坊）有限公司 | Four axis robot of flapping articulation |
| CN110154007A (en) * | 2019-06-10 | 2019-08-23 | 天津大学 | A kind of modularization snake-shaped robot and its control system |
| CN213165392U (en) * | 2020-08-27 | 2021-05-11 | 慧灵科技（深圳）有限公司 | Movement mechanism and robot |
| CN213499193U (en) * | 2020-09-16 | 2021-06-22 | 慧灵科技（深圳）有限公司 | Wiring structure and mechanical arm |
| CN112809742A (en) * | 2021-01-26 | 2021-05-18 | 浙江禾川科技股份有限公司 | Inside line joint and arm of crossing |
Non-Patent Citations (1)
| Title |
|---|
| 吴伟国: "工业机器人操作臂设计", vol. 1, 30 September 2020, 哈尔滨工业大学出版社, pages: 53 - 56 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI854304B (en) | 2022-09-15 | 2024-09-01 | 迅得機械股份有限公司 | Robotic arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107855791B (en) | A kind of multi-parallel flexible cable formula optical fabrication device | |
| KR101008150B1 (en) | Trolley for assembly of large size satellite | |
| CN109955049A (en) | A kind of vertical posture adjusting system can be used for large-scale assembly | |
| CN109397241A (en) | Indoor robot of patrolling and examining of omnidirectional movement | |
| CN109531561A (en) | A kind of super redundant robot under Coupled Rigid-flexible rope, bar, spring immixture | |
| CN103192364A (en) | Improved Delta parallel mechanism robot | |
| CN108582022A (en) | One kind being used for plate cutting reclaimer robot | |
| CN110670507A (en) | Stable form hydraulic lifting equipment with dustproof function | |
| CN102357879A (en) | Eight-degree-of-freedom series-parallel combined automatic welding robot | |
| CN218113025U (en) | Unmanned aerial vehicle hangar | |
| CN111002293A (en) | Robot for spot welding of automobile parts and using method thereof | |
| CN114750202A (en) | Mechanical arm and robot | |
| CN114518238A (en) | Multi freedom's spacecraft docking mechanism test device | |
| CN116945205B (en) | TR robot workstation based on visual assistance and application method thereof | |
| CN210624031U (en) | Two-degree-of-freedom platform mechanism in sliding block form | |
| CN115503004A (en) | Under-actuated finger and under-actuated multi-finger gripping system | |
| CN209504159U (en) | A kind of rotating mechanical arm | |
| CN109986547B (en) | Four-degree-of-freedom operating device in limited space | |
| CN109869102B (en) | Automatic swing angle pole-lifting mechanism | |
| CN221319055U (en) | Sliding type balancing weight mechanism | |
| CN108163527B (en) | Turnover machine for cylindrical lithium battery rotating box | |
| CN112405516A (en) | Servo system of robot with multi-joint ultra-redundant flexible mechanical arm structure | |
| CN219561921U (en) | Welding system | |
| CN111331617A (en) | Intelligent swing arm robot | |
| CN221066276U (en) | Manipulator grabbing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |