CN209566122U - A kind of multi-degree-of-freemechanical mechanical arm - Google Patents
A kind of multi-degree-of-freemechanical mechanical arm Download PDFInfo
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- CN209566122U CN209566122U CN201821674070.5U CN201821674070U CN209566122U CN 209566122 U CN209566122 U CN 209566122U CN 201821674070 U CN201821674070 U CN 201821674070U CN 209566122 U CN209566122 U CN 209566122U
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Abstract
The utility model discloses a kind of multi-degree-of-freemechanical mechanical arms, including pedestal, turntable, first joint arm, second joint arm, wrist structure and gripping finger mechanism, the turntable is mounted on the base, the first end of first joint arm is hinged by the first worm gear drive mechanism and the turntable, the first end of the second joint arm is hinged by the second worm gear drive mechanism and the second end of first joint arm so that the second joint arm has the freedom degree rotated around first joint arm, the side of the wrist structure is hinged by third worm gear drive mechanism and the second end of the second joint arm so that the wrist structure has the freedom degree rotated around the second joint arm, the other side of the wrist structure is equipped with gripping finger mechanism, the gripping finger mechanism realizes rotary motion by being set to the first motor at wrist structure.Multi-degree-of-freemechanical mechanical arm described in the utility model increases the sensitivity of joint of mechanical arm, it can be achieved that multiple degrees of freedom crawl function.
Description
Technical field
The utility model relates to mechanical arm technical fields, and in particular to a kind of multi-degree-of-freemechanical mechanical arm.
Background technique
A workpiece is moved to another place by mechanical arm in modern industry transmission, the position of placement is can not
Arbitrarily selected by single mechanical arm, single industry mechanical arm freedom degree is low, results in the need for more mechanical arms or other are auxiliary
Help device.Because it is spatialization that industrialization, which is transmitted, now, integrated, six dimensions are needed, existing single industry mechanical arm is certainly
It is few by spending, it is difficult to complete the transmission of spatialization.Therefore, the freedom degree for improving joint of mechanical arm is current urgent problem.
Utility model content
In order to overcome the above technical problems, the utility model provides a kind of multi-degree-of-freemechanical mechanical arm, can realize mostly freely
Degree precisely crawl, increases the sensitivity of joint of mechanical arm.
To achieve the above object, a kind of multi-degree-of-freemechanical mechanical arm provided by the utility model, including pedestal, turntable,
First joint arm, second joint arm, wrist structure and gripping finger mechanism, the turntable are mounted on the base, and described
The first end of one joint arm is hinged by the first worm gear drive mechanism and the turntable, and the first end of the second joint arm is logical
The second end for crossing the second worm gear drive mechanism and first joint arm is hinged so that the second joint arm has around described the
The side of the freedom degree of one joint arm rotation, the wrist structure passes through third worm gear drive mechanism and the second joint arm
Second end is hinged so that the wrist structure has a freedom degree rotated around the second joint arm, the wrist structure it is another
Side is equipped with the gripping finger mechanism, and the gripping finger mechanism realizes rotary motion by being set to the first motor at the wrist structure.
Further, slide rail pair is equipped in the second joint arm, the second end of the second joint arm also passes through
The slide rail pair is connect to drive the wrist structural stretch or retraction with the wrist structure.
Further, the slide rail pair includes the second motor, screw rod and sliding part, and second motor is fixed on institute
In the shell for stating second joint arm, one end of the screw rod is connect with second motor, the other end of the screw rod with it is described
Sliding part is fixedly connected, and the sliding part is connect with the wrist structure.
Further, the pedestal includes base body, third motor, shaft coupling, bearing and several tight fixed bolts；It is described
The bottom plate of base body is equipped with the boss with axis hole, and the first motor axis passes through the axis hole of the boss, the third electricity
The shaft coupling is arranged on the axis of machine；The base body is equipped with bearing block, and the turntable bottom is equipped with shaft, described
Shaft is mounted on the bearing block by the bearing and the shaft of the turntable is fixedly connected with the shaft coupling；It is described
It is fixedly connected between bearing block and the bottom plate by several tight fixed bolts.
Further, the pedestal and turntable form a joint, the turntable and the first worm gear drive mechanism and
First joint arm forms a joint, first joint arm and the second worm gear drive mechanism and second joint arm forms a pass
Section, the second joint arm and one joint of third worm gear drive mechanism and wrist structure composition, the second joint arm and cunning
Dynamic one joint of guideway and wrist structure composition, the wrist structure and first motor and gripping finger mechanism form a joint,
There are a joint freedom degrees in each joint.
Further, the gripping finger mechanism is detachably arranged at the other side of the wrist structure.
It further, further include the 4th motor, first worm gear drive mechanism, the second worm gear drive mechanism, third whirlpool
Wheel drive mechanism passes through the 4th motor respectively and is driven.
Further, the first motor is control motor, and the third motor is decelerating motor.
A kind of multi-degree-of-freemechanical mechanical arm provided by the utility model compared with the prior art, has following technical effect that
It is mounted on the base by designing the turntable to control the rotation of mechanical arm, first joint arm
First end is hinged by the first worm gear drive mechanism and the turntable, and the first end of the second joint arm passes through the second turbine
The second end of transmission mechanism and first joint arm is hinged so that the second joint arm has around first joint arm rotation
The side of the freedom degree turned, the wrist structure is hinged by third worm gear drive mechanism and the second end of the second joint arm
So that the wrist structure has the freedom degree rotated around the second joint arm, the other side of the wrist structure is equipped with described
Gripping finger mechanism, the gripping finger mechanism realize rotary motion by being set to the first motor at the wrist structure；To use
, it can be achieved that multiple degrees of freedom precisely grabs when multi-degree-of-freemechanical mechanical arm described in the utility model is worked, mechanical arm is increased
The sensitivity in joint realizes spatialization, the integration of industrialization transport, reduces installation cost, maintenance cost.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the multi-degree-of-freemechanical mechanical arm of the utility model embodiment.
Wherein, 1, pedestal, 11, base body, 111, boss, 112, bearing block, 12, third motor, 13, shaft coupling, 14,
Bearing, 15, tight fixed bolt, 2, turntable, the 3, first joint arm, 4, second joint arm, 5, wrist structure, 6, gripping finger mechanism, 7,
First worm gear drive mechanism, 8, first motor, 9, slide rail pair, the 91, second motor, 92, screw rod, 93, sliding part, 10,
Four motors.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is not intended to limit the scope of the present invention for illustrating the utility model.
As shown in Figure 1, the utility model embodiment provides a kind of multi-degree-of-freemechanical mechanical arm, including pedestal 1, turntable 2,
First joint arm 3, second joint arm 4, wrist structure 5 and gripping finger mechanism 6, the turntable 2 are mounted on the pedestal 1,
The first end of first joint arm 3 is hinged by the first worm gear drive mechanism 7 and the turntable 2, the second joint arm 4
First end it is hinged so that the second joint arm 4 by the second end of the second worm gear drive mechanism and first joint arm 3
With the freedom degree rotated around first joint arm 3, the side of the wrist structure 5 passes through third worm gear drive mechanism and institute
The second end for stating second joint arm 4 is hinged so that the wrist structure 5 has the freedom degree rotated around the second joint arm 4,
The other side of the wrist structure 5 is equipped with the gripping finger mechanism 6, and the gripping finger mechanism 6 is by being set at the wrist structure 5
First motor 8 realizes rotary motion；
The rotation that mechanical arm is controlled on the pedestal 1, first joint arm are mounted on by the design turntable 2
3 first end is hinged by the first worm gear drive mechanism 7 and the turntable 2, and the first end of the second joint arm 4 passes through the
Two worm gear drive mechanisms and the second end of first joint arm 3 are hingedly so that the second joint arm 4 has around described first
The side of the freedom degree that joint arm 3 rotates, the wrist structure 5 passes through third worm gear drive mechanism and the second joint arm 4
Second end it is hinged so that the wrist structure 5 has the freedom degree rotated around the second joint arm 4, the wrist structure 5
The other side be equipped with the gripping finger mechanism 6, the gripping finger mechanism 6 pass through be set to the wrist structure 5 at first motor 8 realize
Rotary motion；Thus when being worked using multi-degree-of-freemechanical mechanical arm described in the utility model, it can be achieved that multiple degrees of freedom is smart
Quasi- crawl, increases the sensitivity of joint of mechanical arm, realizes spatialization, the integration of industrialization transport, reduce installation cost,
Maintenance cost.
In the utility model embodiment, described the is used in the joint of first joint arm 3, second joint arm 4
One worm gear drive mechanism 7, the second worm gear drive mechanism can obtain biggish transmission ratio, worm gear while simplifying deceleration mechanism
Worm screw cooperation is close, effectively increases the structure precision of the mechanical arm.In addition, the gripping finger mechanism 6 is by being set to the hand
First motor 8 at wrist structure 5 realizes rotary motion, and the rotation angle of the gripping finger mechanism 6 is up to 360 °, the wrist structure
5 maximums can be vertical with the second joint arm 4, improves the flexibility of the gripping finger mechanism 6.
In the utility model embodiment, it should be understood that multi-degree-of-freemechanical mechanical arm described in the utility model is with MCU
To calculate core, signal control terminal is drawn on mechanical arm and is communicated to connect with control system, manipulator can refer to mechanical arm
On the image capture device that has and the command remote control by console, so that mechanical arm is completed the operating angle of anticipation.It is controlled
System has the arm cortex m3 kernel single-chip microcontroller of control program as core using burning.The mechanical arm has independent power supply
Module for power supply and UART serial port protocol carry out, to guarantee that the mechanical arm can quickly be equipped with use on other workbench.
At the gripping finger mechanism 6 of multi-degree-of-freemechanical mechanical arm described in the utility model, loads highly sensitive pressure and pass
Sensor, pressure sensor have corresponding pressure experience and send progress angle adjustment calculating in MCU for feedback data, and will
Vernier angle pwm pulse is sent to the actuator module on arm.To improve simplicity that the mechanical arm uses, controllable
Degree, safety and stability.
Preferably, it is equipped with slide rail pair 9 in the second joint arm 4, the second end of the second joint arm 4 also passes through
The slide rail pair 9 is connect to drive the wrist structure 5 to extend or bounce back with the wrist structure 5.By described in design
The second end of second joint arm 4 is also connect by the slide rail pair 9 with the wrist structure 5 to drive the wrist structure
5 elongations or retraction, so that a linear degrees of freedom is increased for mechanical arm, so that mechanical arm can also do linear expansion movement,
So that mechanical arm sensitivity described in the utility model is higher, it can preferably expand working space.
In the utility model embodiment, it is preferable that the slide rail pair 9 includes the second motor 91, screw rod 92 and slides
Moving part 93, second motor 91 are fixed in the shell of the second joint arm 4, one end of the screw rod 92 and described second
Motor 91 connects, and the other end of the screw rod 92 is fixedly connected with the sliding part 93, the sliding part 93 and the wrist knot
Structure 5 connects.
As shown in Figure 1, in the utility model embodiment, it is preferable that the pedestal 1 includes base body 11, third electricity
Machine 12, shaft coupling 13, bearing 14 and several tight fixed bolts 15；The bottom plate of the base body 11 is equipped with the boss with axis hole
111,8 axis of first motor passes through the axis hole of the boss 111, is arranged with the shaft coupling on the axis of the third motor 12
13；The base body 11 is equipped with bearing block 112, and 2 bottom of turntable is equipped with shaft, and the shaft passes through the bearing
14 are mounted on the bearing block 112 and the shaft of the turntable 2 is fixedly connected with the shaft coupling 13；The bearing block
It is fixedly connected between 113 and the bottom plate by several tight fixed bolts 15.
Preferably, the pedestal 1 forms a joint, the turntable 2 and the first worm gear drive mechanism 7 with turntable 2
And first joint arm 3 form a joint, first joint arm 3 and the second worm gear drive mechanism and the composition of second joint arm 4
One joint, the second joint arm 4 form a joint with third worm gear drive mechanism and wrist structure 5, and described second closes
Joint arm 4 and slide rail pair 9 and wrist structure 5 form a joint, the wrist structure 5 and first motor 8 and gripping finger mechanism 6
A joint is formed, each joint there are a joint freedom degrees.
Preferably, the gripping finger mechanism 6 is detachably arranged at the other side of the wrist structure 5.By designing the folder
It is convenient for consequently facilitating the gripping finger mechanism 6 is dismounted the other side that finger mechanism 6 is detachably arranged at the wrist structure 5
It repairs.
It preferably, further include the 4th motor 10, first worm gear drive mechanism 7, the second worm gear drive mechanism, third whirlpool
Wheel drive mechanism passes through the 4th motor 10 respectively and is driven.
Preferably, the first motor 8 is control motor, and the third motor 12 is decelerating motor.
To sum up, multi-degree-of-freemechanical mechanical arm described in the utility model is mounted on the pedestal by designing the turntable 2
The rotation of mechanical arm is controlled on 1, the first end of first joint arm 3 passes through the first worm gear drive mechanism 7 and the rotation
Platform 2 is hinged, and the first end of the second joint arm 4 passes through the second end of the second worm gear drive mechanism and first joint arm 3
Hingedly so that the second joint arm 4 has the freedom degree rotated around first joint arm 3, the side of the wrist structure 5
It is hinged so that the wrist structure 5 has around described by third worm gear drive mechanism and the second end of the second joint arm 4
The other side of the freedom degree that second joint arm 4 rotates, the wrist structure 5 is equipped with the gripping finger mechanism 6, the gripping finger mechanism 6
Rotary motion is realized by being set to the first motor 8 at the wrist structure 5；To described in the utility model mostly certainly in use
, it can be achieved that multiple degrees of freedom precisely grabs when being worked by degree mechanical arm, the sensitivity of joint of mechanical arm is increased, realizes industry
Spatialization, the integration for changing transport, reduce installation cost, maintenance cost.
It should be understood that various information are described in the utility model using term " first ", " second " etc., but these
Information should not necessarily be limited by these terms, these terms are only used to for same type of information being distinguished from each other out.For example, not departing from this
In the case where utility model range, " first " information can also be referred to as " second " information, and similar, " second " information can also be with
Referred to as " first " information.
Above are merely preferred embodiments of the utility model, it is noted that for the ordinary skill people of the art
Member for, without deviating from the technical principle of the utility model, several improvement and replacement can also be made, these improve and
Replacement also should be regarded as the protection scope of the utility model.
Claims (7)
1. a kind of multi-degree-of-freemechanical mechanical arm, which is characterized in that including pedestal, turntable, the first joint arm, second joint arm, hand
Wrist structure and gripping finger mechanism, the turntable are mounted on the base, and the first end of first joint arm passes through first
Worm gear drive mechanism and the turntable are hinged, the first end of the second joint arm by the second worm gear drive mechanism with it is described
The second end of first joint arm is hinged so that the second joint arm has the freedom degree rotated around first joint arm, described
The side of wrist structure is hinged so that the wrist knot by third worm gear drive mechanism and the second end of the second joint arm
Structure has the freedom degree rotated around the second joint arm, and slide rail pair is equipped in the second joint arm, and described second closes
The second end of joint arm is also connect to drive the wrist structural stretch or return with the wrist structure by the slide rail pair
Contracting, the other side of the wrist structure are equipped with the gripping finger mechanism, and the gripping finger mechanism is by being set at the wrist structure
First motor realizes rotary motion.
2. multi-degree-of-freemechanical mechanical arm as described in claim 1, which is characterized in that the slide rail pair include the second motor,
Screw rod and sliding part, second motor are fixed in the shell of the second joint arm, one end of the screw rod and described the
The connection of two motors, the other end of the screw rod are fixedly connected with the sliding part, and the sliding part is connect with the wrist structure.
3. multi-degree-of-freemechanical mechanical arm as described in claim 1, which is characterized in that the pedestal includes base body, third electricity
Machine, shaft coupling, bearing and several tight fixed bolts；The bottom plate of the base body is equipped with the boss with axis hole, first electricity
Arbor passes through the axis hole of the boss, is arranged with the shaft coupling on the axis of the third motor；The base body is equipped with
Bearing block, the turntable bottom are equipped with shaft, and the shaft is mounted on the bearing block by the bearing and the rotation
The shaft of turntable is fixedly connected with the shaft coupling；Connect between the bearing block and the bottom plate by the way that several tight fixed bolts are fixed
It connects.
4. multi-degree-of-freemechanical mechanical arm as described in claim 1, which is characterized in that the pedestal and turntable form a pass
Section, the turntable and the first worm gear drive mechanism and the first joint arm form a joint, first joint arm and second
Worm gear drive mechanism and second joint arm form a joint, the second joint arm and third worm gear drive mechanism and wrist knot
Structure forms a joint, the second joint arm and slide rail pair and one joint of wrist structure composition, the wrist structure
A joint is formed with first motor and gripping finger mechanism, each joint there are a joint freedom degrees.
5. multi-degree-of-freemechanical mechanical arm as described in claim 1, which is characterized in that the gripping finger mechanism is detachably arranged at described
The other side of wrist structure.
6. multi-degree-of-freemechanical mechanical arm as described in claim 1, which is characterized in that it further include the 4th motor, first turbine
Transmission mechanism, the second worm gear drive mechanism, third worm gear drive mechanism pass through the 4th motor respectively and are driven.
7. multi-degree-of-freemechanical mechanical arm as claimed in claim 3, which is characterized in that the first motor is control motor, described
Third motor is decelerating motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821674070.5U CN209566122U (en) | 2018-10-15 | 2018-10-15 | A kind of multi-degree-of-freemechanical mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821674070.5U CN209566122U (en) | 2018-10-15 | 2018-10-15 | A kind of multi-degree-of-freemechanical mechanical arm |
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| CN209566122U true CN209566122U (en) | 2019-11-01 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079770A (en) * | 2018-10-15 | 2018-12-25 | 广东工业大学华立学院 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN113341250A (en) * | 2021-06-02 | 2021-09-03 | 嘉兴威凯检测技术有限公司 | Electrostatic discharge immunity testing device |
| CN114248258A (en) * | 2022-01-13 | 2022-03-29 | 佛山华数机器人有限公司 | High-precision large-arm joint-unfolding robot |
| CN117773997A (en) * | 2024-01-11 | 2024-03-29 | 杭州永德电气有限公司 | Multi-degree-of-freedom robot |
-
2018
- 2018-10-15 CN CN201821674070.5U patent/CN209566122U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079770A (en) * | 2018-10-15 | 2018-12-25 | 广东工业大学华立学院 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN113341250A (en) * | 2021-06-02 | 2021-09-03 | 嘉兴威凯检测技术有限公司 | Electrostatic discharge immunity testing device |
| CN114248258A (en) * | 2022-01-13 | 2022-03-29 | 佛山华数机器人有限公司 | High-precision large-arm joint-unfolding robot |
| CN117773997A (en) * | 2024-01-11 | 2024-03-29 | 杭州永德电气有限公司 | Multi-degree-of-freedom robot |
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