CN207223974U - A kind of six degree of freedom biomimetic manipulator - Google Patents
A kind of six degree of freedom biomimetic manipulator Download PDFInfo
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- CN207223974U CN207223974U CN201721009662.0U CN201721009662U CN207223974U CN 207223974 U CN207223974 U CN 207223974U CN 201721009662 U CN201721009662 U CN 201721009662U CN 207223974 U CN207223974 U CN 207223974U
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Abstract
The utility model discloses a kind of six degree of freedom biomimetic manipulator, six degree of freedom biomimetic manipulator, including passing through sequentially connected six rotary joints of seven stents, wherein the first rotary joint and the second rotary joint form two frees degree of shoulder, 3rd rotary joint forms the one degree of freedom of large arm, 4th rotary joint forms the one degree of freedom of ancon, 5th rotary joint forms the one degree of freedom of forearm, 6th rotary joint forms the one degree of freedom of wrist, and totally six joints realize Bionic Design for shoulder, large arm, ancon, forearm and wrist.The utility model realizes the bionical of mechanical arm and human arm, with higher flexibility, and the bindiny mechanism of wrist joint end can connect different manipulators according to different demands, can complete some exceedingly difficult movements, have higher accuracy and accuracy.
Description
Technical field
The utility model belongs to intelligent robot bionics techniques field, and in particular to a kind of six degree of freedom biomimetic manipulator,
It is the localized design of intelligent robot.
Background technology
Biomimetic manipulator is the study frontier and hot spot of current scientific research field and industrial circle, has control flexibly and manipulates
The characteristics of simple, have the operational efficiency of people's consciousness of behavior and manipulator concurrently, therefore in military affairs, medical treatment, space, industry and ocean etc.
Field has a wide range of applications.
The mechanical arm of six degree of freedom is on morphosis and function close to human arm.Biomimetic manipulator is man-machine as class
The problem of part of device people, versatility, high sensitivity, multiple degrees of freedom, high emulation are urgent need to resolve among mechanical arm design.
Various mechanical arms currently on the market, most sensitivity is not high and the free degree very little, completion that can only be single
Some simply work.In most authorized mechanical arm patents, the free degree of mechanical arm is generally fewer, Zhi Nengshi
Movement in the rotation of existing single direction or approximately the same plane, it is difficult to complete some tasks in higher sensitivity.Therefore, improve
The flexibility of mechanical arm and adaptability are a problem to be solved.
Utility model content
Goal of the invention：In order to overcome the deficiencies in the prior art, the utility model provides a kind of flexibility ratio high six
Free degree biomimetic manipulator, to solve the problems, such as that market major part mechanical arm is heavy, the dumb and free degree is less, improves machinery
The flexibility of arm and operability.
Technical solution：To achieve the above object, the technical solution adopted in the utility model is：
A kind of six degree of freedom biomimetic manipulator, including by sequentially connected six rotary joints of seven stents, wherein
One rotary joint and the second rotary joint form two frees degree of shoulder, and the 3rd rotary joint forms a freedom of large arm
Degree, the 4th rotary joint form the one degree of freedom of ancon, and the 5th rotary joint forms the one degree of freedom of forearm, the 6th rotation
Joint forms the one degree of freedom of wrist；
The structure of six rotary joints is identical, including driving mechanism and ring flange, driving mechanism include mainly by
The closed-loop control system that direct current generator, gear reduction unit and feedback controller are formed, gear reduction unit babinet and ring flange difference
It is fixedly connected with two stents；Feedback controller is used to provide control signal to direct current generator, and the torque that direct current generator produces is led to
Exported after crossing gear reduction unit adjustment rotating speed to ring flange, drive two stents to relatively rotate, rotation axis is in ring flange
Axis；
In addition to two stents positioned at end, remaining stents are L-type, and a vertical plane of L-type support connects a rotation
Turn the gear reduction unit babinet in joint, another vertical plane of L-type support connects the ring flange in another rotary joint.
The mechanical arm of this case, realizes the revolution and elevating movement of shoulder by two frees degree of shoulder, passes through large arm
One degree of freedom realizes the flip-flop movement of large arm, the flexion and extension of mechanical arm is realized by the one degree of freedom of ancon, by small
The one degree of freedom of arm realizes the flip-flop movement of forearm, and carpal rotation is realized by the one degree of freedom of wrist；Pass through shoulder
Portion, large arm, elbow joint, the combination of forearm and carpal rotary motion form the mass motion of mechanical arm.
Preferably, the i-th rotation axis corresponds to the i-th rotary joint, and first rotation and the second rotation axis are orthogonal,
Second rotation axis and the 3rd rotation axis are orthogonal, first rotation, the second rotation axis and the 3rd rotation axis phase
Meeting at a bit, the 3rd rotation axis and the 4th rotation axis are orthogonal, and the 5th rotation axis of the 4th rotation axis is mutually perpendicular to,
3rd rotation axis, the 4th rotation axis and the 5th jante et perpendiculaire in a bit, the 5th rotation axis and the 6th rotation axis
It is mutually perpendicular to.
Preferably, the end frame of the first rotary joint will be connected as connecting bracket, the end of the 6th rotary joint of connection
Portion's stent is known as manipulator, remaining i-th stent corresponds to the i-th rotary joint, the structure of first support, the 3rd stent and the 5th stent
Size is identical, and second support is identical with the structure size of the 4th stent.
Preferably, an auxiliary is mounted on the outside of the short vertical plane of the first support, the 3rd stent and the 5th stent
Support plate, by auxiliary support plate fixed flange, at this time, the central axes of ring flange can be designed in the outside of corresponding stent,
To reduce the structure size of whole mechanical arm.
Preferably, the moment of torsion of first rotary joint and the second rotary joint output is not less than the 3rd rotary joint, the
Four rotary joints, the 5th rotary joint and the 6th rotary joint.
Preferably, the feedback controller uses encoder design.
Beneficial effect：Six degree of freedom biomimetic manipulator provided by the utility model, the combination and peace of six-freedom degree
The position that load connects is different from other mechanical arms of in the market, can easily realize various complicated actions, and flexibility ratio is high；And
And can be zoomed in or out in proportion according to the needs of different requirements, there are good market prospects.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model, and the utility model mechanical arm straight configuration schematic diagram；
Fig. 2 is the structure diagram of the 4th rotary joint, other rotary joints are similar；
Fig. 3 is the structural representation of driving mechanism；
Fig. 4 is the connection diagram of the 3rd stent and auxiliary support plate, and first support is similar with the 5th stent；
Fig. 5 is the structure diagram of ring flange；
Fig. 6 is a certain action schematic diagram of the utility model mechanical arm；
Fig. 7 is the another a certain action schematic diagram of the utility model mechanical arm.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings.
It is a kind of six degree of freedom biomimetic manipulator as shown in Figure 1, including passes through sequentially connected six rotations of seven stents
Joint, wherein the first rotary joint 1 and the second rotary joint 2 form two frees degree of shoulder, the 3rd rotary joint 3 is formed greatly
The one degree of freedom of arm, the 4th rotary joint 4 form the one degree of freedom of ancon, and the 5th rotary joint 5 forms one of forearm
The free degree, the 6th rotary joint 6 form the one degree of freedom of wrist；The end frame of the first rotary joint 1 will be connected as company
Stent 7 is connect, the end frame of the 6th rotary joint 6 of connection is known as manipulator, remaining i-th stent the i-th rotary joint of correspondence, and i-th
Rotary joint corresponds to the i-th rotation axis；Large arm is from this part of the second rotation axis 203 to the 4th rotation axis 403, forearm
It is from this part of the 4th rotation axis 403 to the 6th rotation axis 603.
The structure of six rotary joints is identical, includes main including driving mechanism and ring flange 14, driving mechanism
The closed-loop control system being made of direct current generator 15, gear reduction unit 17 and feedback controller 18, gear reduction unit babinet and method
Blue disk 14 is fixedly connected with two stents respectively；Feedback controller 18 is used to provide control signal, direct current to direct current generator 15
The torque that machine 15 produces is exported to ring flange 14 after adjusting rotating speed by gear reduction unit 17, drives two stents to relatively rotate,
Rotation axis is the central axes of ring flange 14.
In addition to connecting bracket 7 and manipulator, remaining stents are L-type, and a vertical plane of L-type support connects a rotation
Gear reduction unit babinet in joint, another vertical plane of L-type support connect the ring flange 14 in another rotary joint；Such as
Shown in figure, second support 9 is identical with the structure size of the 4th stent 11, first support 8, the 3rd stent 10 and the 5th stent 12
Structure size is identical, and an auxiliary is mounted on the outside of the short vertical plane of first support 8, the 3rd stent 10 and the 5th stent 12
Support plate 16, passes through 16 fixed flange 14 of auxiliary support plate.
Since shoulder requires the torque of output larger, therefore it is required that what the first rotary joint 1 and the second rotary joint 2 exported
Moment of torsion is not less than the 3rd rotary joint 3, the 4th rotary joint 4, the 5th rotary joint 5 and the 6th rotary joint 6, that is, requires first
The motor output torque of 1 and second rotary joint 2 of rotary joint is larger, and the 3rd rotary joint 3, the 4th rotary joint the 4, the 5th
The motor output torque of 5 and the 6th rotary joint 6 of rotary joint is smaller.
The first rotation and the second rotation axis are orthogonal, and the second rotation axis and the 3rd rotation axis are mutual
Vertically, in a bit, the 3rd rotation axis and the 4th rotates for first rotation, the second rotation axis and the 3rd jante et perpendiculaire
Axis is orthogonal, and the 5th rotation axis of the 4th rotation axis is mutually perpendicular to, the 3rd rotation axis, the 4th rotation axis and the 5th
In a bit, the 5th rotation axis and the 6th rotation axis are mutually perpendicular to jante et perpendiculaire.Six-freedom degree in the case is mutual
Independence and it is independent of each other, concrete structure is as follows：
(1) first free degree of shoulder is driven by the first direct current generator, and the first direct current generator is exported to first gear retarder,
And closed-loop system is formed by the first encoder feedback signal, then exported and moved by first flange disk；First free degree of shoulder is
Shoulder swing in the front-back direction.
(2) second free degree of shoulder is driven by the second direct current generator, and the second direct current generator is exported to second gear retarder,
And closed-loop system is formed by second encoder feedback signal, then exported and moved by second flange disk；Second free degree of shoulder is
The swing of shoulder left and right directions.
(3) free degree of large arm is driven by the 3rd direct current generator, and the 3rd direct current generator is exported to the 3rd gear reduction unit, and
Closed-loop system is formed by the 3rd encoder feedback signal, is then exported and moved by the 3rd ring flange；The free degree of large arm is large arm
Flip-flop movement.
(4) free degree of ancon is driven by the 4th direct current generator, and the 4th direct current generator is exported to the 4th gear reduction unit, and
Closed-loop system is formed by the 4th encoder feedback signal, is then exported and moved by the 4th ring flange；The free degree of elbow joint is machine
The flexion and extension of tool arm.
(5) free degree of forearm is driven by the 5th direct current generator, and the 5th direct current generator is exported to the 5th gear reduction unit, and
Closed-loop system is formed by the 5th encoder feedback signal, is then exported and moved by the 5th ring flange；The free degree of forearm is forearm
Flip-flop movement.
(6) free degree of wrist is driven by the 6th direct current generator, and the 6th direct current generator is exported to the 6th gear reduction unit, and
Closed-loop system is formed by the 6th encoder feedback signal, is then exported and moved by the 6th ring flange；The carpal free degree is wrist
The rotary motion in joint.
There is a corresponding relation in position between the rotation axis of above-mentioned six-freedom degree, therefore the fortune of six-freedom degree
It is dynamic to combine the bionic movement for constituting whole mechanical arm.This case has showed the bionical of mechanical arm and human arm, has higher spirit
Activity, and the bindiny mechanism of wrist joint end can connect different manipulators according to different demands, and it is high can to complete some
Difficult part, has higher accuracy and accuracy.
The above is only the preferred embodiment of the utility model, it should be pointed out that：For the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and
Retouching also should be regarded as the scope of protection of the utility model.
Claims (6)
- A kind of 1. six degree of freedom biomimetic manipulator, it is characterised in that：Including being closed by sequentially connected six rotations of seven stents Section, wherein the first rotary joint (1) and the second rotary joint (2) form two frees degree of shoulder, the 3rd rotary joint (3) structure Into the one degree of freedom of large arm, the 4th rotary joint (4) forms the one degree of freedom of ancon, and the 5th rotary joint (5) forms small The one degree of freedom of arm, the 6th rotary joint (6) form the one degree of freedom of wrist；The structure of six rotary joints is identical, including driving mechanism and ring flange (14), driving mechanism include mainly by The closed-loop control system that direct current generator (15), gear reduction unit (17) and feedback controller (18) are formed, gear reduction unit babinet It is fixedly connected respectively with two stents with ring flange (14)；Feedback controller (18) is used to provide control letter to direct current generator (15) Number, the torque that direct current generator (15) produces gives ring flange (14) by being exported after gear reduction unit (17) adjustment rotating speed, drives two A stent relatively rotates, and rotation axis is the central axes of ring flange (14)；In addition to two stents positioned at end, remaining stents are L-type, and a vertical plane of L-type support connects a rotation and closes Gear reduction unit babinet in section, another vertical plane of L-type support connect the ring flange (14) in another rotary joint.
- 2. six degree of freedom biomimetic manipulator according to claim 1, it is characterised in that：I-th rotation axis corresponds to the i-th rotation Joint, first rotation and the second rotation axis are orthogonal, and the second rotation axis and the 3rd rotation axis are orthogonal, the In a bit, the 3rd rotation axis and the 4th rotation axis are mutual for one rotation axis, the second rotation axis and the 3rd jante et perpendiculaire Perpendicular, the 5th rotation axis of the 4th rotation axis is mutually perpendicular to, the 3rd rotation axis, the 4th rotation axis and the 5th rotation axis Line intersects at a point, and the 5th rotation axis and the 6th rotation axis are mutually perpendicular to.
- 3. six degree of freedom biomimetic manipulator according to claim 1, it is characterised in that：Will the first rotary joint of connection (1) End frame as connecting bracket (7), the end frame of the 6th rotary joint (6) of connection is known as manipulator (13), remaining i-th Stent corresponds to the i-th rotary joint, and first support (8), the 3rd stent (10) are identical with the structure size of the 5th stent (12), and second Stent (9) is identical with the structure size of the 4th stent (11).
- 4. six degree of freedom biomimetic manipulator according to claim 3, it is characterised in that：The first support (8), the 3rd An auxiliary support plate (16) is mounted on the outside of the short vertical plane of frame (10) and the 5th stent (12), passes through auxiliary support plate (16) fixed flange (14).
- 5. six degree of freedom biomimetic manipulator according to claim 1, it is characterised in that：First rotary joint (1) and The moment of torsion of second rotary joint (2) output is not less than the 3rd rotary joint (3), the 4th rotary joint (4), the 5th rotary joint (5) and the 6th rotary joint (6).
- 6. six degree of freedom biomimetic manipulator according to claim 1, it is characterised in that：The feedback controller (18) uses Encoder design.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721009662.0U CN207223974U (en) | 2017-08-14 | 2017-08-14 | A kind of six degree of freedom biomimetic manipulator |
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| CN201721009662.0U CN207223974U (en) | 2017-08-14 | 2017-08-14 | A kind of six degree of freedom biomimetic manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322582A (en) * | 2017-08-14 | 2017-11-07 | 南京工程学院 | A kind of six degree of freedom biomimetic manipulator |
| CN110733056A (en) * | 2019-11-01 | 2020-01-31 | 前沿驱动（北京）技术有限公司 | Multi-axis mechanical arm of robot, connecting assembly of multi-axis mechanical arm and robot |
-
2017
- 2017-08-14 CN CN201721009662.0U patent/CN207223974U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322582A (en) * | 2017-08-14 | 2017-11-07 | 南京工程学院 | A kind of six degree of freedom biomimetic manipulator |
| CN110733056A (en) * | 2019-11-01 | 2020-01-31 | 前沿驱动（北京）技术有限公司 | Multi-axis mechanical arm of robot, connecting assembly of multi-axis mechanical arm and robot |
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