CN207942405U - A kind of mechanical arm - Google Patents

Abstract

The utility model is related to a kind of mechanical arms, including end effector mechanism module, forearm module, large arm module, waist module and base module；End effector mechanism module, forearm module, large arm module, waist module and base module are rotatably connected successively by joint of mechanical arm；End effector mechanism module, forearm module, large arm module, waist module and base module shell be subdivision structure, including mounting plate and lid；Joint of mechanical arm includes motor, worm gear, worm screw and worm screw fixed seat, worm screw is rotatably fixed in worm screw fixed seat, the output shaft of motor and one end of worm screw connect, worm screw fixed seat is equipped with opening, the shape of opening is the arc to match with worm gear, and worm gear stretches into opening and worm screw engagement setting, worm screw fixed seat are movably fixed on the mounting plate of mechanical arm, worm screw moving radially along worm gear can be driven, worm gear and worm screw backlash are adjusted.The utility model provide a kind of multiple degrees of freedom, modularized design mechanical arm.

Description

A kind of mechanical arm

Technical field

The utility model is related to robotic technology field more particularly to a kind of mechanical arms.

Background technology

The technical research of robot is gradually ripe, such as explosive-removal robot safely and effectively excluding explosive as a kind of Specific purpose tool can be carried instead of explosive personnel, shift the work such as suspicious explosive product and other harmful dangerous material, by each The attention of scientific research institution of state and unit.

Currently, requirement of the people to mechanical arm is higher and higher, for example, anti-explosion mechanical arm as explosive-removal robot in explosive mistake The important component of journey, and due to the particularity of explosive operation, there is very high requirement to anti-explosion mechanical arm.And existing machine Tool arm is commonly present the defects of assembly is difficult, precision is not high and movement is dumb, is unfavorable for using to marketing.

Utility model content

(1) technical problems to be solved

The technical problems to be solved in the utility model is that solution existing machinery arm movement is dumb, assembly is difficult to and precision is low The problem of.

(2) technical solution

In order to solve the above-mentioned technical problem, the utility model provides a kind of mechanical arm, including end effector mechanism module, Forearm module, large arm module, waist module and base module；

The end effector mechanism module, the forearm module, the large arm module, the waist module and the base mold Block is rotatably connected successively by joint of mechanical arm；

The end effector mechanism module, the forearm module, the large arm module, the waist module and the base mold The shell of block is subdivision structure, including mounting plate and lid；

The joint of mechanical arm includes motor, worm gear, worm screw and worm screw fixed seat, and the worm screw is rotatably fixed on institute It states in worm screw fixed seat, the motor is fixed on the side of the worm screw fixed seat, and the output shaft of the motor and the snail One end of bar connects, and the worm screw fixed seat is equipped with opening, and the shape of the opening is the arc to match with the worm gear, institute It states worm gear and stretches into the opening and be arranged with worm screw engagement, the worm screw fixed seat is movably fixed on the peace of mechanical arm In loading board, and the worm screw moving radially along the worm gear can be driven, adjust the worm gear and worm screw backlash.

Preferably, the end effector mechanism module can in the vertical direction be rotated relative to the forearm module；Institute Stating forearm module can in the vertical direction rotate relative to the large arm module；The large arm module can be relative to the waist Module rotates in the vertical direction；The waist module can in the horizontal direction be rotated relative to the base module.

Preferably, the worm screw fixed seat in the joint of mechanical arm is hollow structure, and both ends are equipped with round hole, described Worm screw is arranged in worm screw fixed seat, and both ends are threaded through respectively in two round holes.

Preferably, the worm screw fixed seat in the joint of mechanical arm is equipped with the second slotted hole, and described second is oval For the length direction in hole perpendicular to the axial direction of the worm screw, the worm screw fixed seat is fixed on first shell by second slotted hole On body.

Preferably, the joint of mechanical arm further includes articular branches fagging, and one end of the articular branches fagging rotatably covers If on the worm gear shaft, the other end is equipped with the first slotted hole, the articular branches fagging passes through first slotted hole and the worm screw Fixed seat connects, and for the length direction of first slotted hole perpendicular to the axial direction of the worm screw, the worm screw fixed seat being capable of phase For articular branches fagging the moving radially along the worm gear.

Preferably, the mounting plate is equipped with adjusting bolt, and the adjusting bolt is axially vertical with the worm screw, and refers to To the center of circle of the worm gear, the side of the worm screw fixed seat far from the worm gear is equipped at least one bolt limiting slot, described One end of adjusting bolt is stretched into the bolt limiting slot.

Preferably, the end effector mechanism module further include electric rotating machine, driving gear, driven gear, folding motor, Leading screw, thrust axis and clamping part；

The clamping part includes rotating seat, folding drive sleeve and two clamping jaws, each clamping jaw with the rotating seat It is rotatably connected, the connecting pin of two clamping jaws is fixed on by a fixing axle in the folding drive sleeve, and described in two The connecting pin of clamping jaw can be moved along the radial direction of the fixing axle, and the bare terminal end of two clamping jaws is oppositely arranged；

The driving gear is set on the output shaft of the electric rotating machine, and the driven gear is nibbled with the driving gear Setting is closed, and is connect with the rear end of the rotating seat, the rotating seat can be driven to rotate；

The output shaft of the folding motor is connect with the leading screw, and described leading screw one end penetrates in the thrust axis, described Thrust axis passes through the rotating seat, is rotatably connected with the folding drive sleeve；

When the electric rotating machine works, the driving gear drives the clamping part to rotate by the driven gear；

When the folding motor works, the leading screw rotation, the thrust axis drives the folding drive sleeve in an axial direction Mobile, two clamping jaws are rotated relative to the rotating seat so that the distance between the bare terminal end of two clamping jaws changes.

Preferably, the rotating seat includes pedestal and two u-bracket plates, and described two u-bracket plates interval is arranged, and One end is fixed on the pedestal, the other end by two hinged axis connections, each clamping jaw by an articulated shaft with The rotating seat is rotatably connected.

Preferably, end effector mechanism module further includes rotary drive set, the rotary drive set across the rotating seat, And be fixedly connected with the rotating seat, the driven gear is set in rotary drive set rear end, can drive the rotation Drive sleeve rotates.

Preferably, the end effector mechanism module further includes detection device, and the detection device includes angular transducer And the first transmission gear and the second transmission gear of engagement setting, first transmission gear are set in the angular transducer Shaft on, second transmission gear is set in rotary drive set outside.

(3) advantageous effect

The above-mentioned technical proposal of the utility model has the following advantages that：Including end effector mechanism module, forearm module, big Arm module, waist module and base module；End effector mechanism module, forearm module, large arm module, waist module and base module are logical Joint of mechanical arm is crossed rotatably to connect successively；End effector mechanism module, forearm module, large arm module, waist module and pedestal The shell of module is subdivision structure, including mounting plate and lid；Joint of mechanical arm includes that motor, worm gear, worm screw and worm screw are solid Reservation, worm screw are rotatably fixed in worm screw fixed seat, and the output shaft of motor and one end of worm screw connect, and worm screw fixed seat is set There is opening, the shape of opening is the arc to match with worm gear, and worm gear stretches into opening and worm screw engagement setting, worm screw fixed seat It is movably fixed on the mounting plate of mechanical arm, and worm screw moving radially along worm gear can be driven, adjust worm gear and worm screw Backlash.The utility model provide a kind of multiple degrees of freedom, modularized design mechanical arm, scope of activities is big, and whole knot Structure is compact, small, can fold mechanical arm after fulfiling assignment and pack up, reduce space, convenience in transport.And the machinery in mechanical arm Shoulder joint uses Worm Wheel System, and gap is adjustable, overcomes the problem that precision is low caused by Worm Wheel System gap, pole The big mechanical precision and control accuracy for improving mechanical arm itself.

Description of the drawings

Fig. 1 is mechanical arm stereoscopic schematic diagram in the utility model embodiment；

Fig. 2 is the right view that mechanical arm removes after the lid of waist module and forearm module in the utility model embodiment；

Fig. 3 is after mechanical arm removes the lid of large arm module and end effector mechanism module in the utility model embodiment Left view；

Fig. 4 is the bottom view of base module in the utility model embodiment；

Fig. 5 is the schematic diagram of end effector mechanism module in the utility model embodiment；

Fig. 6 is joint of mechanical arm schematic diagram of main components in the utility model embodiment；

Fig. 7 is joint of mechanical arm critical piece back side schematic diagram in the utility model embodiment；

Fig. 8 is the utility model embodiment worm screw fixed seat schematic diagram；

Fig. 9 is the articular branches fagging schematic diagram in the utility model embodiment；

Figure 10 is part A enlarged diagram in Fig. 6；

Figure 11 is joint of mechanical arm primary drive component back side schematic diagram in the utility model embodiment；

Figure 12 is first shell schematic diagram in the utility model embodiment；

Figure 13 is first shell back side schematic diagram in the utility model embodiment；

Figure 14 is second shell schematic diagram in the utility model embodiment；

Figure 15 is part B enlarged diagram in Fig. 6；

Figure 16 is worm gear shaft schematic diagram in the utility model embodiment；

Figure 17 is flange arrangement schematic diagram in the utility model embodiment；

Figure 18 is the end effector mechanism module core structural schematic diagram in the utility model embodiment；

Figure 19 is the end effector mechanism module core structure top view in the utility model embodiment；

Figure 20 is the thrust axis schematic diagram in the utility model embodiment；

Figure 21 is the folding drive sleeve schematic diagram in the utility model embodiment；

Figure 22 is the rotary drive set schematic diagram in the utility model embodiment；

Figure 23 is the base schematic diagram in the utility model embodiment；

Figure 24 is the tool heads schematic diagram in the utility model embodiment；

Figure 25 is the end effector mechanism module sectional view in the utility model embodiment；

In figure：1：Worm gear；11：Worm gear shaft；111：Worm gear shaft flange；12：Second shell； 121：Angle limit slot；

2：Worm screw；21：Worm screw fixed seat；211：Auxiliary stopper block；212：Bolt limiting slot； 22：Motor；23：First shell Body；231：Auxiliary stopper slot；232：Angle limit block；24：Flange arrangement；

3：Articular branches fagging；41：Second slotted hole；42：First slotted hole；5：Crossed roller bearing；6：Adjusting bolt；7： Angle potentiometer；71：First gear；72：Second gear；8：Scale slot；

90：End effector mechanism module；9011：Camera；

902：Electric rotating machine；9021：Driving gear；9022：Driven gear；9023：Rotary drive set；9024：Rotating seat； 9025：U-bracket plate；

903：Open and close motor；9031：Leading screw；9032：Feed screw nut；

904：Clamping jaw；9041：Fixing axle；9042：Limited cap；9044：Clamping jaw expands part；

905：Angular transducer；9051：First transmission gear；9052：Second transmission gear；

906：Grip block；907：Thrust axis；9071：Thrust bearing；

908：Open and close drive sleeve；9081：Clamping jaw interconnecting piece；

91：Forearm module；92：Large arm module；93：Waist module；94：Base module；

95：First joint；96：Second joint；97：Third joint；98：4th joint.

Specific implementation mode

It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched The embodiment stated is a part of the embodiment of the utility model, instead of all the embodiments.Based on the reality in the utility model Apply example, the every other embodiment that those of ordinary skill in the art are obtained without making creative work, all Belong to the range of the utility model protection.

As shown in Figures 1 to 4, a kind of mechanical arm of the utility model embodiment offer, including end effector mechanism module 90, Forearm module 91, large arm module 92, waist module 93 and base module 94.End effector mechanism module 90, forearm module 91, large arm Module 92, waist module 93 and base module 94 are rotatably connected successively by joint of mechanical arm.End effector mechanism module 90, the shell of forearm module 91, large arm module 92, waist module 93 and base module 94 is subdivision structure, including mounting plate and Lid.

Preferably, in the present embodiment, the equal position of lid of end effector mechanism module 90, forearm module 91 and large arm module 92 In the side of corresponding mounting plate.The mounting plate of waist module 93 is fold-type plate, and lid is arranged in fold-type plate top half (Fig. 1 To state shown in Fig. 3).And the lid of base module 94 is then located at (shape shown in Fig. 1 to Fig. 3 below the mounting plate of base module 94 State).

As shown in Figures 2 and 3, the mechanical arm in the present embodiment, since modules are all designed using split type structure, And the degree of modularity is high, greatly facilitates assembly, wiring, maintenance.The lid of modules need to only be opened, internal structure is equal Can be easy to disassemble, joint of mechanical arm is arranged on the mounting plate in modules, opening cover, you can to joint of mechanical arm into Row adjustment.

As shown in Figure 1, Figure 2 and Figure 3, the joint of mechanical arm between end effector mechanism module 90 and forearm module 91 is First joint 95, end effector mechanism module 90 are axis with the first joint 95, are turned in the vertical direction relative to forearm module 91 It is dynamic, it is preferable that end effector mechanism module 90 is 0 °~270 ° relative to the rotational angle range of forearm module 91.Similarly, small Joint of mechanical arm between arm module 91 and large arm module 92 is second joint 96, for realizing forearm module 91 relative to large arm The vertical direction of module 92 rotates, it is preferable that forearm module 91 relative to large arm module 92 0 ° of rotational angle range~ 270°.Joint of mechanical arm between large arm module 92 and waist module 93 is third joint 97, opposite for realizing large arm module 92 In waist module 93 vertical direction rotate, it is preferable that large arm module 92 relative to waist module 93 rotational angle range be 0 °~ 210°.Joint of mechanical arm between waist module 93 and base module 94 is the 4th joint 98, for realizing waist module 93 relative to The horizontal direction of base module 94 rotates, and waist joint is ± 150 ° relative to the rotational angle range of base module 94.

The first joint 95, second joint 96, third joint 97 and the 4th joint 98 in the present embodiment are that mechanical arm closes Section, and structure is identical, lower mask body introduces the structure of joint of mechanical arm provided in this embodiment.

Preferably, as shown in Fig. 6 to Figure 17, the joint of mechanical arm in the present embodiment includes motor 22, worm gear 1, worm screw 2 With worm screw fixed seat 21, worm screw 2 is rotatably fixed in worm screw fixed seat 21, and motor 22 is fixed on the one of worm screw fixed seat 21 Side, and the output shaft of motor 22 is connect with one end of worm screw 2, worm screw fixed seat 21 is equipped with the arc to match with 1 shape of worm gear Recess, worm gear 1 stretches into arc-shaped notch and the engagement setting of worm screw 2, efficiently uses space so that the structure of joint of mechanical arm is more It is compact.Worm screw fixed seat 21 is movably fixed on the first shell 23 of joint of mechanical arm, and worm screw 2 can be driven along worm gear 1 Radial translation, adjust worm gear 1 and 2 backlash of worm screw, and then effectively eliminate the transmission between drive structure of gear worm Error improves the precision of joint of mechanical arm.

It should be noted that the present embodiment describes the part being improved in joint of mechanical arm just for property, other portions Details are not described herein for part.

As shown in fig. 6, in the present embodiment, it is drag cup electricity to provide the motor 22 that driving force makes worm gear mechanism be driven The output end of machine, motor 22 is connect with one end of worm screw 2 by shaft coupling, and worm screw 2 is driven to rotate.

As shown in figure 8, the worm screw fixed seat 21 in the joint of mechanical arm that the present embodiment is provided is symmetrical hollow structure, Both ends are equipped with circular through hole, and angular contact bearing is equipped in circular through hole, and worm screw 2 is arranged in worm screw fixed seat 21 and both ends It is threaded through in two circular through holes, and on angular contact bearing, is connected by angular contact bearing and worm screw fixed seat 21 respectively It connects.Angular contact bearing plays the role of supporting worm 2, and does not influence the rotation of worm screw 2.

Specific in the present embodiment, as shown in figure 8, the quadrangle of worm screw fixed seat 21 is all provided with there are one the second slotted hole 41, Second slotted hole 41 is the through-hole that length is more than width, and length direction is each perpendicular to the axial direction of worm screw 2.By oval second Worm screw fixed seat 21 can be mounted in first shell 23 by setting bolt in hole 41.Bolt, can be second when not tightening It is moved along its length in slotted hole 41.Obviously, in other embodiments, the quantity of the second slotted hole 41 and position can bases Actual needs is adjusted.

Preferably, in joint of mechanical arm further include articular branches fagging 3, articular branches fagging 3 is so that joint of mechanical arm active force It is closed, makes mechanical arm overall structure rigidity enough and stablizes.One end of articular branches fagging 3 is rotatably set in worm gear shaft 11 On, the other end is equipped with several first slotted holes 42, as shown in figure 9, in the present embodiment, 3 lower end of articular branches fagging is equipped with two rows of total First slotted hole 42 of 8 parallel intervals setting, lower end herein are referred to close to one end of worm screw 2.As shown in figure 8, worm screw Corresponding position is equipped with screw hole in fixed seat 21, and articular branches fagging 3 is connected by the first slotted hole 42 and screw hole with worm screw fixed seat 21 It connects, the first slotted hole 42 is the through-hole that length is more than width, and after installation, the length direction of the first slotted hole 42 is each perpendicular to worm screw 2 axial direction, worm screw fixed seat 21 can relative to articular branches fagging 3 moving radially along worm gear 1.Obviously, in other embodiment In, the quantity of the first slotted hole 42 and position can be adjusted according to actual needs.

It is further preferred that being additionally provided with the quarter for determining relative position on worm screw fixed seat 21 and/or articular branches fagging 3 Degree, as shown in Figure 10, in the present embodiment, corresponding position is equipped with quarter on the edge and worm screw fixed seat 21 of articular branches fagging 3 Degree slot 8 can be accurately positioned the opposite position of worm screw fixed seat 21 and articular branches fagging 3 by corresponding between scale slot 8 It sets, it is particularly important when being finely adjusted to worm screw fixed seat 21.

In order to further limit worm screw fixed seat 21 relative to the direction that worm gear 1 moves, as shown in Figure 11, worm screw is fixed The side that seat 21 connects with first shell 23 is additionally provided with the auxiliary stopper block 211 of protrusion, and as shown in figure 12, first shell 23 is equipped with The auxiliary stopper slot 231 to match with the width of auxiliary stopper block 211, worm screw fixed seat 21 are fixed on first shell 23, auxiliary Limited block 211 is inserted into auxiliary stopper slot 231, when worm screw fixed seat 21 is moved relative to first shell 23, auxiliary stopper block 211 It is moved in auxiliary stopper slot 231.Auxiliary stopper block 211 and auxiliary stopper slot 231 cooperate, and can limit worm screw fixed seat The range of 21 movements, and further the moving direction of limitation worm screw fixed seat 21 is directed toward 1 center of worm gear without deviating, simultaneously When may insure that worm gear 1 and worm screw 2 relatively rotate, worm screw fixed seat 21 and 23 synchronizing moving of first shell.

In order to facilitate the relative position of worm screw fixed seat 21 and worm gear 1 is adjusted, specific in the present embodiment, such as Figure 12 institutes Show, first shell 23 is equipped with adjusting bolt 6, and adjusting bolt 6 is arranged along the length direction of the first slotted hole 42, is arranged in worm screw 21 bottom of fixed seat, adjusting bolt 6 is axially vertical with worm screw 2, is directed toward the center of circle of worm gear 1, as shown in figure 11, worm screw is fixed 21 sides far from worm gear 1 of seat are equipped with bolt limiting slot 212, and one end of adjusting bolt 6 is stretched into bolt limiting slot 212.Increase The depth that adjusting bolt 6 screws in can push worm screw fixed seat 21 to 1 center translation of worm gear, and then change worm screw 2 and worm gear 1 Between relative position.In the present embodiment, adjusting bolt 6 is fixed at by adjusting fixed block in first shell 23, it is clear that In other embodiments, adjusting bolt 6 can also be by other means arranged in first shell 23, such as be threaded through first shell On the flange of body 23.

Preferably, push plate (not shown), push plate and worm screw fixed seat 21 can also be arranged in the front end of adjusting bolt 6 Bottom is parallel, since the area that push plate is contacted with 21 bottom of worm screw fixed seat is more than the end of adjusting bolt 6, is pushed by push plate Worm screw fixed seat 21 can make 21 stress of worm screw fixed seat be more uniformly distributed, and be not susceptible to subtle deflection.

Worm gear shaft 11 is fixed in the second shell 12 separately positioned with first shell 23.Preferably, first shell 23 with Second shell 12 is disposed adjacent, and as shown in figure 13, first shell 23 is equipped with angle limit block 232, as shown in figure 14, second Shell 12 is equipped with the angle limit slot 121 to match with angle limit block 232, when worm gear 1 and worm screw 2 relatively rotate, angle Limited block 232 moves in angle limit slot 121, and the angular range that can be relatively rotated to worm gear 1 and worm screw 2 carries out rigid limit Position.It is further preferred that as shown in figure 15, being additionally provided with scale slot 8 in first shell 23 and second shell 12, passing through scale slot 8 The relative position of worm gear 1 and worm screw 2 can be calibrated.

Preferably, in order to enable the stable structure of joint of mechanical arm, first shell 23 and second shell 12 are set in snail On wheel shaft 11, and connected by bearing.Preferably, bearing is set on worm gear shaft 11, and outer ring and the worm gear shaft 11 of bearing are fixed Connection, inner ring are fixedly connected with first shell 23.

The bearing used in the present embodiment is crossed roller bearing 5, using the crossed roller bearing 5 of negative back clearance as entire The output of shafting can significantly improve the rigidity and stability of joint of mechanical arm.As shown in figure 11, crossed roller bearing 5 is arranged On worm gear shaft 11, and the outer ring of crossed roller bearing 5 is fixedly connected with worm gear shaft 11, the inner ring of crossed roller bearing 5 and One shell 23 is fixedly connected.

Preferably, as shown in figure 16, worm gear shaft 11 is equipped with worm gear shaft flange 111, and worm gear shaft flange 111, which is located to intersect, to be rolled Side of the sub- bearing 5 far from worm gear 1, is fixedly connected with the outer ring of crossed roller bearing 5.As shown in figure 17, crossed roller bearing It is fixedly connected by flange arrangement 24 between 5 inner ring and first shell 23, i.e. the inner ring of crossed roller bearing 5 and flange knot Structure 24 is fixedly connected, and flange arrangement 24 is fixedly connected with first shell 23 again.

Preferably due to which rigid limit is possible to cause to damage to motor 22, the joint of mechanical arm in the present embodiment also wraps Angle potentiometer 7 is included, the angle to relatively rotate for measuring worm screw 2 and worm gear 1.Angle potentiometer 7 is mounted on second shell On body 12, the measurement shaft of angle potentiometer 7 is rotated synchronously by the inner ring of gear set and crossed roller bearing 5, for detecting The relative rotation that worm screw 2 occurs with worm gear 1.

As seen in figs. 7 and 11, it is preferable that gear set includes the first gear 71 and second gear 72 of engagement setting, the One gear 71 is set on worm gear shaft 11, and between the inner ring and flange arrangement 24 of crossed roller bearing 5, with crossed roller The inner ring of bearing 5 rotates synchronously.Second gear 72, which is set in, to be measured in shaft, is driven and is measured shaft rotation.Pass through receiving angle The measuring signal of potentiometer 7, you can learn the relative rotation that worm screw 2 occurs with worm gear 1.Obviously, the number of gear and transmission side Formula is not limited to the present embodiment this one kind introduced.

In use, the opposite position of worm screw fixed seat 21 and worm gear 1 is adjusted by adjusting bolt 6 during assembling and setting It sets, finely tunes 2 position of worm screw according to actual needs, the backlash of worm screw 2 and worm gear 1 can be reduced, effectively improve mechanical arm The precision in joint.

It should be noted that in above-mentioned introduction for convenience of description, giving a kind of first shell 23 and a kind of second shell The part of body 12, specific in the present embodiment, first shell 23 and second shell 12 are the peace in mechanical arm in modules Loading board, structure can be changed as needed, and first shell 23 and second shell 12 are for each joint of mechanical arm It is a relative concept, the first shell 23 of a joint of mechanical arm, it may be possible to the first shell 23 of another joint of mechanical arm Or second shell 12.

Specific in the present embodiment, the worm screw 2 in the first joint 95 and worm gear 1 are arranged in forearm module 91, worm gear shaft 11 It is fixed on the mounting plate of end effector mechanism module 90, i.e., the mounting plate of forearm module 91 is first for the first joint 95 The mounting plate of shell 23, end effector mechanism module 90 is second shell 12 for second joint 96.

The worm screw 2 of second joint 96 and worm gear 1 are arranged in large arm module 92, and worm gear shaft 11 is fixed on forearm module 91 Mounting plate on, i.e., the mounting plate of large arm module 92 is first shell 23, the installation of forearm module 91 for second joint 96 Plate is second shell 12 for second joint 96.

The worm screw 2 in third joint 97 and worm gear 1 are arranged in large arm module 92, and worm gear shaft 11 is fixed on waist module 93 On mounting plate, that is, the mounting plate of large arm module 92 is first shell 23, the mounting plate of waist module 93 for third joint 97 It is second shell 12 for third joint 97.

The worm screw 2 in the 4th joint 98 and worm gear 1 are arranged in base module 94, and worm gear shaft 11 is fixed on waist module 93 On mounting plate, i.e., the mounting plate of base module 94 is first shell 23, the mounting plate pair of waist module 93 for the 4th joint 98 It is second shell 12 for 4th joint 98.

Above-mentioned joint of mechanical arm installation relation makes end effector mechanism module 90 and large arm module 92 in the present embodiment Positioned at the homonymy of forearm module 91, such design keeps mechanical arm compact-sized, occupies little space.

Preferably, as shown in Figure 18 to Figure 25, the end effector mechanism module 90 in the present embodiment includes electric rotating machine 902, driving gear 9021, driven gear 9022, folding motor 903, leading screw 9031, thrust axis 907 and clamping part.It carries out below It illustrates：

As shown in Figure 18 and Figure 19, clamping part includes rotating seat 9024, opens and closes drive sleeve 908 and two clamping jaws 904, often A clamping jaw 904 is rotatably connected with rotating seat 9024.The connecting pin of two clamping jaws 904 is fixed on out by a fixing axle 9041 It closes in drive sleeve 908, and the connecting pin of two clamping jaws 904 can be moved along the radial direction of fixing axle 9041, two clamping jaws 904 Bare terminal end be oppositely arranged.

Driving gear 9021 is set on the output shaft of electric rotating machine 902, and driven gear 9022 is nibbled with driving gear 9021 Setting is closed, and is connect with the rear end of rotating seat 9024, rotating seat 9024 can be driven to rotate.Rear end herein refers to separate hold One end at row operation.

The output shaft of folding motor 903 is connect with leading screw 9031, and 9031 one end of leading screw penetrates in thrust axis 907, thrust axis 907 pass through rotating seat 9024, are rotatably connected with folding drive sleeve 908.

When electric rotating machine 902 works, driving gear 9021 drives clamping part with thrust axis 907 by driven gear 9022 It is dynamic for shaft rotation.

When opening and closing the work of motor 903, leading screw 9031 rotates, and thrust axis 907 drives folding drive sleeve 908 to move in an axial direction Dynamic, two 904 relative rotation seat 9024 of clamping jaw rotations make the distance between bare terminal end of two clamping jaws being oppositely arranged 904 send out Changing.

The end effector mechanism module 90 that the present embodiment is provided improves the stressing conditions of parts, by control rotation Component and the component of control folding are separately positioned, can control the folding of clamping jaw 904 and the rotation of clamping part, holding action respectively It is not interfere with each other each other with spinning movement, is advantageously implemented and accurately controls.

As shown in Figure 18, Figure 19 and Figure 23, specific in the present embodiment, clamping jaw 904 is in L types, including bare terminal end, bending Portion and connecting pin, rotating seat 9024 include pedestal and two u-bracket plates 9025, and two intervals of u-bracket plate 9025 are arranged, and One end is fixed on pedestal, and the other end is arranged by two hinged axis connections, articulated shaft along the normal direction of u-bracket plate 9025. The bending part of each clamping jaw 904 is rotatably connected by an articulated shaft with rotating seat 9024.Obviously, in other embodiments, The shape of rotating seat 9024 can vary depending on, and clamping jaw 904 can also be arranged by other mounting means in rotating seat 9024 front end.

Preferably, as shown in figure 21, folding drive sleeve 908 is equipped with clamping jaw interconnecting piece 9081.As shown in figure 3, two folders The connecting pin of pawl 904 is equipped with slot hole, and the slot hole of two clamping jaws 904 is oppositely arranged, and is fixed on folding by fixing axle 9041 respectively The clamping jaw interconnecting piece 9081 of drive sleeve 908, fixing axle 9041 can the conditional movement in slot hole, open and close 908 band of drive sleeve When dynamic fixing axle 9041 moves, fixing axle 9041 drives two 904 relative rotation seat 9024 of clamping jaw rotations.In fixing axle 9041 Portion is equipped with perpendicular to axial via, for across thrust axis 907, fixing axle 9041 can be rotated around thrust axis 907.

Preferably, as indicated in figures 19 and 22, the end effector mechanism module 90 that the present embodiment is provided further includes rotation Drive sleeve 9023, rotary drive set 9023 are set in 908 outside of folding drive sleeve, pass through rotating seat 9024, and and rotating seat 9024 are fixedly connected, and driven gear 9022 is set in rotary drive and covers 9023 rear ends, when electric rotating machine 902 works, driven tooth Wheel 9022 drives 9023 rotation of rotary drive set, and then rotating seat 9024 is driven to rotate.

Leading screw 9031 in the present embodiment uses trapezoidal screw, and the feed screw nut to match is equipped on leading screw 9031 9032, feed screw nut 9032 is fixedly connected with the rear end of thrust axis 907, and when leading screw 9031 rotates, feed screw nut 9032 is along leading screw 9031 axial movement, and thrust axis 907 is driven to move.

As shown in figure 20, thrust axis 907 is multi-diameter shaft, and the shaft diameter at middle part is more than the shaft diameter of front, and front end is set It is useful for the limited cap 9042 of axial limiting, the shaft diameter that the rear end of folding drive sleeve 908 is located at multi-diameter shaft changes place, limits The structure of itself matches position cap 9042 with thrust axis 907, can limit the opposite position of folding drive sleeve 908 and thrust axis 907 It sets, the internal diameter for opening and closing drive sleeve 908 is identical as 907 front end shaft diameter of thrust axis, the shaft diameter of outer diameter and 907 middle part of thrust axis Identical, folding drive sleeve 908 is set in the front of thrust axis 907.

As shown in figure 25, the front and back ends of folding drive sleeve 908 are all provided with there are one thrust bearing 9071, thrust bearing 9071 There are three layers, including DNA releaxed circular DNA, tight ring and the roller that is arranged between DNA releaxed circular DNA and tight ring (are not drawn into the specific of thrust bearing 9071 in figure Structure), open and close drive sleeve 908 rear end and thrust axis 907 between be equipped with thrust bearing 9071, folding 908 front end of drive sleeve with Thrust bearing 9071 is equipped between limited cap 9042, and the tight ring of thrust bearing 9071 is each provided on thrust axis 907, folding transmission Set 908 is connect by thrust bearing 9071 with thrust axis 907.Preferably, it is also set between thrust bearing 9071 and limited cap 9042 There is gasket, can be used for protecting thrust bearing 9071.

When installation, rotating seat 9024 is installed on a mounting board by bearing, and electric rotating machine 902, folding motor 903 etc. are located at The component at 9024 rear of rotating seat is mounted on mounting plate and lid closes lid portion inside on a mounting board, rotating seat 9024 and is located at The component in 9024 front of rotating seat stretches out mounting plate.

Preferably, the rubber seal of O shapes is also equipped at each parts faying face, as shown in figure 25, folding transmission 908 inside of set is equipped with annular groove, and rubber seal is arranged in annular groove, realizes folding drive sleeve 908 and thrust axis 907 Between sealing.Similarly, rotating seat 9024 and 9023 inside of rotary drive set also are provided with the annular for rubber seal to be arranged Groove.It is further preferred that also being provided with rubber seal between rotating seat 9024 and mounting plate.End can be made using rubber seal End 90 overall structure of actuator module reaches IP66 ranks, prevents inside dust access mechanism.

As shown in Figure 18 and Figure 19, the angle of clamping part rotation is detected for convenience, and the end in the present embodiment executes machine Structure module 90 further includes detection device, and detection device includes angular transducer 905 and the first transmission gear of engagement setting 9051 and second transmission gear 9052, the first transmission gear 9051 be set in the shaft of angular transducer 905, the second driving cog Wheel 9052 is set in 9023 outside of rotary drive set, is relatively fixed with rotary drive set 9023,9023 rotation of rotary drive set When, you can drive the shaft rotation of angular transducer 905.

As shown in Figure 18 and Figure 19, article is clamped for convenience, expands the length of clamping jaw 904 so that clamping jaw 904 can press from both sides Larger range of article, the bare terminal end of clamping jaw 904 is taken to be also associated with clamping jaw and expand part 9044.

In the present embodiment, clamping jaw expand part 9044 be capable of multi-angle be mounted on clamping jaw 904 on.Clamping jaw expand part 9044 with The bare terminal end of clamping jaw 904 is fixed by the first connection sheet and the second connection sheet, and the first connection sheet is fixed on clamping jaw and expands part 9044 One end, and the first connection sheet be equipped with multiple circumferentially distributed angle location holes.Second connection sheet is fixed on clamping jaw 904 Bare terminal end, and the second connection sheet is equipped with positioning column.When installation, the first connection sheet is oppositely arranged with the second connection sheet, positioning column It can be plugged in unspecified angle location hole, stationary jaw expands the setting angle of part.Positioning column is plugged on different location After angle location hole, part 9044, the first connection sheet, the second connection sheet and clamping jaw are expanded by screw or screw bolt passes clamping jaw 904, clamping jaw 904 and clamping jaw are expanded into part 9044 and fixed, you can realizes that clamping jaw expands part 9044 and is mounted on folder at different angles On pawl 904.

Preferably, the front end that two clamping jaws expand part 9044 can be used in gripping small article, clamping jaw equipped with non-slip mat The middle part for expanding part 9044 is equipped with concave arc clamping part, and the cambered surface object of volume bigger can be clamped.Obviously, in other embodiment In, it can also be as needed, other tools, such as scissors, elongate claws etc. are installed in clamping jaw 904.

It is further preferred that the end effector mechanism module 90 in the present embodiment further includes detachable tool head, tool Head includes gripping block 906 and to be arranged in the work department for gripping 906 front end of block, work department can be hook, cut, clamp, harrowing, The tools such as cone, crowbar or knife, grip as shown in figure 8, work department is fixed on block 906, the both sides for gripping block 906 are equal For the globoidal structure to match with concave arc clamping part, part 9044 is expanded by clamping jaw and grips the mutual cooperation of block 906, it can With the different tool of quick-replaceable as needed.

In practical applications, end effector mechanism module 90 can also carry other assemblies, for example, for it is explosive when, can be with Explosive destroyer without recoil and IR pointer instrument are carried on the outside of the mounting plate of end effector mechanism module 90.When work, Explosive destroyer without recoil generates front and back two strands of high speeds, high pressure water flows, and one stream of water is to destroying explosive substance, another strand of water Stream offsets recoil, eliminates damage of the recoil to robot in its course of work.

Be ensure end effector mechanism module 90 in operation process, real-time Transmission high-definition image, be conveniently operated personnel into Row is observed, and there are two cameras 9011 for the arrangement of end effector mechanism module 90 in the present embodiment, are arranged in end execution The top of 90 nuclear structure of mechanism module and side (camera for being not shown in figure side).Preferably, camera 9011 uses The high definition wide-angle camera of 480P, camera visual angle angle are ± 60 °, and two cameras 9011 cooperate, and effectively avoid The blind zone position of 90 lower section of end effector mechanism module.It can ensure that end effector mechanism module 90 without dead angle, makes operator Member can observe the trend of work of end effector mechanism module 90 in real time.

When end effector mechanism module 90 provided in this embodiment works, electric rotating machine 902 rotates, driving gear 9021 with Rotation, drive driven gear 9022 rotate, driven gear 9022 drive clamping part rotation, realize clamping jaw 904 positive and negative direction 360 ° of spinning movement.Detection device is detected spinning movement, the position that detection clamping jaw 904 rotates.

Opening and closing motor 903 drives leading screw 9031 to rotate, and feed screw nut 9032 is moved axially along leading screw 9031, drives thrust axis 907 move with folding drive sleeve 908, when leading screw 9031 rotates forward, are connected on thrust axis 907 and folding drive sleeve 908 The movement of 9041 forward end of fixing axle, and the bending part of clamping jaw 904 is hinged on rotating seat 9024, is not moved, therefore is pressed from both sides Pawl 904 rotates, and the distance between two bare terminal ends being oppositely arranged increase, and expansion action is completed, likewise, working as leading screw 9031 when rotating backward, and clamping jaw 904 completes closed action.

When needing using different types of tool, different tool heads can be chosen, the block 906 that grips of tool heads is put Between clamping jaw expands part 9044, by the closed action and expansion action of clamping jaw 904, tool heads are clamped or released, are realized Different types of tool is freely replaced.And cut, elongate claws etc. are not suitable for the tool of installation clamping fixed block 906, then can it Between be fixed on the bare terminal end of clamping jaw 904 by spring Quick Release pin, it is easy for installation, quick.

In conclusion mechanical arm provided in this embodiment has the following advantages：

1, mechanical arm degree of freedom is high, and scope of activities is big, and compact overall structure, small, can will be mechanical after fulfiling assignment Arm folding is packed up, and space, convenience in transport are reduced.

2, using the joint of mechanical arm of Worm Wheel System, the gap of joint of mechanical arm is adjustable, overcomes because of worm and gear The low problem of precision caused by drive gap greatly improves the mechanical precision and control accuracy of mechanical arm itself.

3, mechanical arm is made of modules, and is all designed using split type structure, and the degree of modularity is high, greatly side Assembly, wiring and safeguard, only the lid of modules need to be opened, internal structure can be easy to disassemble.

4, the end effector mechanism module 90 in mechanical arm can be switched fast tool heads, be suitable for the task of different demands, Improve the application range of mechanical arm.

Mechanical arm provided in this embodiment is mounted on movable chassis, the mankind can be replaced to complete under adverse circumstances High risk operation.

Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations； Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that： It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc. With replacement；And these modifications or replacements, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution The spirit and scope of scheme.

Claims (10)

1. a kind of mechanical arm, it is characterised in that：Including end effector mechanism module, forearm module, large arm module, waist module and base Seat module；

The end effector mechanism module, the forearm module, the large arm module, the waist module and the base module are logical Joint of mechanical arm is crossed rotatably to connect successively；

The end effector mechanism module, the forearm module, the large arm module, the waist module and the base module Shell is subdivision structure, including mounting plate and lid；

The joint of mechanical arm includes motor, worm gear, worm screw and worm screw fixed seat, and the worm screw is rotatably fixed on the snail In bar fixed seat, the motor is fixed on the side of the worm screw fixed seat, and the output shaft of the motor and the worm screw One end connects, and the worm screw fixed seat is equipped with opening, and the shape of the opening is the arc to match with the worm gear, the snail Wheel stretches into the opening and worm screw engagement setting, the worm screw fixed seat are movably fixed on the mounting plate of mechanical arm On, and the worm screw moving radially along the worm gear can be driven, adjust the worm gear and worm screw backlash.

2. mechanical arm according to claim 1, it is characterised in that：The end effector mechanism module can be relative to described Forearm module rotates in the vertical direction；The forearm module can in the vertical direction be rotated relative to the large arm module； The large arm module can in the vertical direction be rotated relative to the waist module；The waist module can be relative to the pedestal Module rotates in the horizontal direction.

3. mechanical arm according to claim 1, it is characterised in that：The worm screw fixed seat in the joint of mechanical arm is Hollow structure, both ends are equipped with round hole, and the worm screw is arranged in worm screw fixed seat, and both ends are threaded through two circles respectively In hole.

4. mechanical arm according to claim 1, it is characterised in that：In the worm screw fixed seat in the joint of mechanical arm Equipped with the second slotted hole, perpendicular to the axial direction of the worm screw, the worm screw fixed seat is logical for the length direction of second slotted hole Second slotted hole is crossed to fix on the first shell.

5. mechanical arm according to claim 1, it is characterised in that：The joint of mechanical arm further includes articular branches fagging, institute The one end for stating articular branches fagging is rotatably arranged on the worm gear shaft, and the other end is equipped with the first slotted hole, the articular branches fagging It is connect with the worm screw fixed seat by first slotted hole, the length direction of first slotted hole is perpendicular to the worm screw Axial direction, the worm screw fixed seat can be relative to articular branches fagging the moving radially along the worm gear.

6. mechanical arm according to claim 1, it is characterised in that：The mounting plate is equipped with adjusting bolt, the adjusting Bolt is axially vertical with the worm screw, and is directed toward the center of circle of the worm gear, the worm screw fixed seat far from the worm gear one Side is equipped at least one bolt limiting slot, and one end of the adjusting bolt is stretched into the bolt limiting slot.

7. mechanical arm according to claim 1, it is characterised in that：The end effector mechanism module further includes electric rotating Machine, driving gear, driven gear, folding motor, leading screw, thrust axis and clamping part；

The clamping part includes rotating seat, folding drive sleeve and two clamping jaws, and each clamping jaw can turn with the rotating seat Dynamic connection, the connecting pin of two clamping jaws is fixed on by a fixing axle in the folding drive sleeve, and two clamping jaws Connecting pin can be moved along the radial direction of the fixing axle, the bare terminal end of two clamping jaws is oppositely arranged；

The driving gear is set on the output shaft of the electric rotating machine, and the driven gear is engaged with the driving gear and set It sets, and is connect with the rear end of the rotating seat, the rotating seat can be driven to rotate；

The output shaft of the folding motor is connect with the leading screw, and described leading screw one end penetrates in the thrust axis, the thrust Axis passes through the rotating seat, is rotatably connected with the folding drive sleeve；

When the electric rotating machine works, the driving gear drives the clamping part to rotate by the driven gear；

When the folding motor works, the leading screw rotation, the thrust axis drives the folding drive sleeve to be axially moveable, Two clamping jaws are rotated relative to the rotating seat so that the distance between the bare terminal end of two clamping jaws changes.

8. mechanical arm according to claim 7, it is characterised in that：The rotating seat includes pedestal and two u-bracket plates, Described two u-bracket plates interval is arranged, and one end is fixed on the pedestal, and the other end is by two hinged axis connections, each The clamping jaw is rotatably connected by an articulated shaft with the rotating seat.

9. mechanical arm according to claim 7, it is characterised in that：End effector mechanism module further includes rotary drive set, The rotary drive set is fixedly connected across the rotating seat, and with the rotating seat, and the driven gear is set in the rotation Turn drive sleeve rear end, the rotary drive set rotation can be driven.

10. mechanical arm according to claim 9, it is characterised in that：The end effector mechanism module further includes detection dress It sets, the detection device includes angular transducer and the first transmission gear and the second transmission gear of engagement setting, and described the One transmission gear is set in the shaft of the angular transducer, and it is outer that second transmission gear is set in the rotary drive set Side.