CN211590099U - Multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm - Google Patents
Multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm Download PDFInfo
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- CN211590099U CN211590099U CN201921564336.5U CN201921564336U CN211590099U CN 211590099 U CN211590099 U CN 211590099U CN 201921564336 U CN201921564336 U CN 201921564336U CN 211590099 U CN211590099 U CN 211590099U
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- 210000003857 wrist joint Anatomy 0.000 claims abstract description 62
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 59
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 35
- 210000000245 forearm Anatomy 0.000 claims abstract description 27
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 25
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 15
- 230000009466 transformation Effects 0.000 abstract description 3
- 239000012636 effector Substances 0.000 abstract description 2
- 230000007547 defect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
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Abstract
The utility model discloses a multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm, which comprises a shoulder joint, an elbow joint and a wrist joint, wherein the elbow joint comprises an upper arm part and a forearm part; the shoulder joint is connected with the upper end of the upper arm part, the lower end of the upper arm part is connected with the upper end of the forearm part, and the lower end of the forearm part is connected with the upper end of the wrist joint; the shoulder joint is a two-freedom-degree series mechanism formed by two rotating mechanisms, the elbow joint is a two-freedom-degree series mechanism formed by a harmonic reducer and a bevel gear, and the wrist joint is a six-freedom-degree parallel mechanism. The shoulder joint, the elbow joint and the wrist joint are fixedly connected in sequence, the advantages of series and parallel mechanisms are fully utilized, and the device has the advantages of large working space, strong bearing capacity, flexible movement, good dynamic performance and the like, and is simple in structure, reasonable in design and easy to process and assemble; meanwhile, the mechanical arm has ten degrees of freedom, can avoid singular poses and realize space arbitrary pose transformation with high precision, is configured with different end effectors and meets the application requirements of various technical fields.
Description
Technical Field
The utility model relates to a anthropomorphic machine arm field, more specifically the theory that says so especially relates to a redundant series-parallel connection anthropomorphic machine arm of multi freedom.
Background
The anthropomorphic mechanical arm is widely applied to the fields of industrial manufacturing, medical treatment, military affairs, space exploration and the like, and plays an important role in stably improving the product quality and the production efficiency and improving the labor condition.
At present, most of anthropomorphic mechanical arms adopt a serial mechanism, and the serial mechanism has the advantages of large working space, flexible movement and the like, but has the problems of error accumulation effect, small bearing capacity, poor dynamic characteristic and the like. The parallel mechanism has the advantages of strong bearing capacity, small movement inertia, good dynamic characteristic and the like, effectively makes up for the defects of the series mechanism, but has the defect of small working space, and the parallel mechanism has the advantages of the two mechanical arms. The degrees of freedom of most anthropomorphic mechanical arms are less than seven, the mechanism often has a singular configuration and has great impact on the mechanism and a driver, so that the problem that the control precision of the mechanical arm is low is caused, and the redundant degree of freedom mechanism can avoid the singular configuration and has good rigidity characteristic and good dynamic performance.
Aiming at the problems of the anthropomorphic mechanical arm, the multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm is designed, and the defects are effectively overcome.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the big and low problem of precision of present most anthropomorphic machine arm motion inertia, provide a redundant series-parallel connection anthropomorphic machine arm of multi freedom, guarantee that anthropomorphic machine arm can accomplish the task high-efficiently under different operating modes, high accuracy, high quality.
The utility model discloses a following technical scheme realizes above-mentioned purpose: a multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm comprises a shoulder joint, an elbow joint and a wrist joint, wherein the elbow joint comprises an upper arm part and a forearm part; the shoulder joint is connected with the upper end of the upper arm part, the lower end of the upper arm part is connected with the upper end of the forearm part, and the lower end of the forearm part is connected with the upper end of the wrist joint;
the shoulder joint comprises a base fixing plate, a first motor, a first speed reducer, a first L-shaped connecting plate, a first coupler, a second L-shaped connecting plate, a third L-shaped connecting plate, a first output shaft, a first arc-shaped plate, a second motor, a second speed reducer, a fourth L-shaped connecting plate, a triangular reinforcing rib, a second coupler, a second output shaft and a second arc-shaped plate; the first speed reducer is fixedly connected to the first L-shaped connecting plate through a bolt, the first motor is fixed to the first speed reducer, and an output shaft of the first motor is connected with one end of the first output shaft sequentially through the first speed reducer and the first coupler; the other end of the first output shaft is embedded in the second L-shaped connecting plate and the third L-shaped connecting plate through bearings, the first L-shaped connecting plate, the second L-shaped connecting plate and the third L-shaped connecting plate are all fixed on the base fixing plate through bolts, the first arc-shaped plate and the first output shaft are connected through keys, the fourth L-shaped connecting plate is fixedly connected with the first arc-shaped plate through bolts, the second speed reducer is fixed on the fourth L-shaped connecting plate through bolts, the second motor is fixed on the second speed reducer through bolts, the output shaft of the second motor is connected with one end of the second output shaft through the second speed reducer and a second coupler, the other end of the second output shaft is embedded in the first arc-shaped plate through bearings, and the second arc-shaped plate is connected with the second output shaft through keys; when the first motor moves, the first speed reducer, the first coupler and the first output shaft drive the first arc-shaped plate, the second motor, the second speed reducer, the fourth L-shaped connecting plate, the triangular reinforcing rib, the second coupler and the second output shaft to form a whole to rotate around the first output shaft, and when the second motor moves, the second speed reducer, the second coupler and the second output shaft drive the second arc-shaped plate to rotate around the second output shaft;
the elbow joint comprises a first upper arm, a second upper arm, a first U-shaped connecting plate, a third motor, a second U-shaped connecting plate, a harmonic reducer, a third U-shaped connecting plate, a fourth motor, a third reducer, a fourth U-shaped connecting plate, a driving conical gear, a driven conical gear, a third driving shaft, a forearm and a fifth U-shaped connecting plate; the first U-shaped connecting plate is fixedly connected with the second arc-shaped plate through bolts, the first upper arm is fixedly connected with the first U-shaped connecting plate and the second U-shaped connecting plate, the whole body formed by the first upper arm, the first U-shaped connecting plate and the second U-shaped connecting plate is used as a shoulder joint moving platform to transfer the motion of a shoulder joint to an elbow joint and a wrist joint, the third motor is fixed on the second U-shaped connecting plate, the harmonic reducer is connected with an output shaft of the third motor through a key, the harmonic reducer is fixed on the second U-shaped connecting plate through bolts, the third U-shaped connecting plate and the fourth U-shaped connecting plate are fixedly connected through two second upper arms, the fourth motor is connected on the third reducer, the third reducer is fixed on the fourth U-shaped connecting plate through bolts, the output shaft of the third reducer is connected with a driving conical gear through a key, and the driving conical gear is meshed with a driven conical gear, the driven bevel gear is connected to a third driving shaft through a key, two ends of the third driving shaft penetrate through a second upper arm and a forearm, two ends of the third driving shaft are embedded in the second upper arm through a bearing, and a fifth U-shaped connecting plate is fixedly connected with the forearm through a bolt;
the wrist joint has six degrees of freedom, and the structure of the wrist joint comprises a wrist joint fixed platform, a wrist joint movable platform, a first branched chain, a second branched chain and a branched chain supporting plate, wherein the fixed end of the first branched chain is connected with the wrist joint fixed platform, the fixed end of the second branched chain is connected with the branched chain supporting plate, the output ends of the first branched chain and the second branched chain are connected with the wrist joint movable platform, five first branched chains are provided, and one second branched chain is provided;
the first support chain comprises a fifth motor, a sixth U-shaped connecting plate, a third coupler, a screw rod nut connecting plate, a fifth L-shaped connecting plate, a seventh U-shaped connecting plate, an eighth U-shaped connecting plate, a branch chain supporting plate, a first spherical hinge support, a ball head fixed length rod, a second spherical hinge support and a guide rod, the wrist joint fixed platform is connected with a sixth U-shaped connecting plate through a bolt, the sixth U-shaped connecting plate is fixedly connected on a fifth U-shaped connecting plate through a bolt, the fifth motor is fixed on the wrist joint fixed platform through a screw, one end of the screw rod is connected with the fifth motor through a third coupler, the other end of the screw rod is embedded in a seventh U-shaped connecting plate through a bearing, one end of the fifth L-shaped connecting plate is fixed on the wrist joint fixed platform through a bolt, the other end of the fifth L-shaped connecting plate is fixedly connected with the seventh U-shaped connecting plate, and two ends of the guide rod are respectively fixed on the wrist joint fixed platform and the seventh U-shaped connecting plate; the screw nut is connected with the screw in a threaded fit manner, one end of a screw nut connecting plate is fixed on the screw nut through a screw, the other end of the screw nut connecting plate is fixedly connected with an eighth U-shaped connecting plate, a first spherical hinge support is fixedly connected onto the eighth U-shaped connecting plate through a bolt, one end of a ball head fixed rod is connected with the first spherical hinge support through a ball pair, the other end of the ball head fixed rod is connected with a second spherical hinge support through a ball pair, and the second spherical hinge support is fixedly connected onto a wrist joint fixed platform through a bolt;
the second branch chain comprises a branch chain supporting plate, a third ball-joint support, a first ball head rod, a first ball head connecting piece, a linear motor, a second ball head connecting piece and a second ball head rod, the branch chain supporting plate is fixed on five seventh U-shaped connecting plates through bolts, the third ball-joint support is connected on the branch chain supporting plate through bolts, one end of the first ball head rod is connected with the third ball-joint support through a ball joint, the other end of the first ball head rod is fixedly connected with the first ball head connecting piece through fastening screws, the linear motor connecting piece is fixedly connected with the first ball head connecting piece through bolts, one end of the linear motor is connected with the linear motor connecting piece through bolts, the other end of the linear motor is fixedly connected with the second ball head connecting piece through bolts, one end of the second ball head rod is fixedly connected with the second ball head connecting piece through fastening screws, the other end of the second ball head rod is connected with the second ball hinge support through a ball pair.
Furthermore, bearing end covers are installed on the outer sides of the first output shaft, which penetrate through the second L-shaped connecting plate and the third L-shaped connecting plate.
Furthermore, the first arc-shaped plate is a hollow box body integrally, the left end and the right end are square and are provided with three key slot holes, the front end and the rear end are semicircular and higher than the left end and the right end, and round holes are formed in the front end and the rear end and are embedded with bearings.
Furthermore, the upper end of the second arc-shaped plate is semicircular, the lower end of the second arc-shaped plate is square, a key slot hole is formed in the upper end of the second arc-shaped plate, and a square hole is formed in the lower end of the second arc-shaped plate.
Furthermore, the first output shaft is positioned above the second output shaft, and forms a 90-degree included angle in space.
Furthermore, the third driving shaft of the elbow joint is positioned through the large end of the driven bevel gear and the shaft sleeve, the driving bevel gear is positioned on the third driving shaft through a key, and bearing end covers are arranged on the outer sides of the third driving shaft penetrating through the second upper arm.
Furthermore, the upper ends of the second upper arm and the forearm of the elbow joint are square, the lower ends of the second upper arm and the forearm are round, and the elbow joint is Z-shaped integrally.
Furthermore, the wrist joint fixed platform is of a regular pentagon structure, five round holes are uniformly formed in the outer side of the wrist joint fixed platform and connected with the motor, ten round small holes are formed in the center of the wrist joint fixed platform and fixedly connected with a fifth U-shaped connecting plate, and the wrist joint fixed platform is fixedly connected with the elbow joint through the five U-shaped connecting plates.
Furthermore, the branched chain supporting plate of the wrist joint is shaped like a pentagram and is fixed on the six U-shaped plate through bolts.
The shoulder joint and the elbow joint have four degrees of freedom and are mainly used for positioning the position of the mechanical arm, and because the spatial position has only three parameters, the shoulder joint and the elbow joint have one redundant degree of freedom, the shoulder joint and the elbow joint can avoid singular positions to complete the positioning task of the mechanical arm, and the shoulder joint and the elbow joint have the advantages of strong bearing capacity and good dynamic performance.
The wrist joint is set as a 5-PSS/SPS parallel mechanism, has six degrees of freedom, can realize random transformation of space pose, can realize micro pose adjustment based on the positioning characteristics of the shoulder joint and the elbow joint, and has the advantages of strong bearing capacity, small dead weight load ratio, high precision and the like.
The beneficial effects of the utility model reside in that: the utility model makes full use of the advantages of the series and parallel mechanisms, has the advantages of large working space, strong bearing capacity, flexible movement, good dynamic performance and the like, has simple structure, reasonable design and easy processing and assembly; meanwhile, the mechanical arm has ten degrees of freedom, can avoid singular poses and realize space arbitrary pose transformation with high precision, and is configured with different end effectors, so that the application of each technical field can be met.
Drawings
Fig. 1 is a schematic structural view of the multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm of the present invention.
Fig. 2 is a schematic structural view of the shoulder joint of the present invention.
Fig. 3 is a schematic structural view of the elbow joint of the present invention.
Fig. 4 is a schematic structural view of the wrist joint of the present invention.
Fig. 5 is a schematic structural diagram of the second branch chain of the wrist joint of the present invention.
In the figure, 1-shoulder joint, 2-upper arm part, 3-forearm part, 4-wrist joint, 201-profiling runner outlet, 202-first L-shaped connecting plate, 203-first reducer, 204-first coupler, 205-first output shaft, 206-second L-shaped connecting plate, 207-first motor, 208-first arc plate, 209-second arc plate, 210-second motor, 211-second reducer, 212-second coupler, 213-second output shaft, 214-fourth L-shaped connecting plate, 215-triangular reinforcing rib, 216-third L-shaped connecting plate, 301-first U-shaped connecting plate, 302-third motor, 303-first upper arm, 304-second U-shaped connecting plate, 305-harmonic reducer, 306-a third U-shaped connecting plate, 307-a fourth motor, 308-a second upper arm, 309-a third speed reducer, 310-a fourth U-shaped connecting plate, 311-a driving conical gear, 312-a third driving shaft, 313-a driven conical gear, 314-a front arm, 315-a fifth U-shaped connecting plate, 401-a sixth U-shaped connecting plate, 402-a fifth motor, 403-a wrist joint fixed platform, 404-a guide rod, 405-a fifth L-shaped connecting plate, 406-a lead screw nut connecting plate, 407-an eighth U-shaped connecting plate, 408-a first spherical hinge support, 409-a ball head fixed rod, 410-a linear motor, 411-a second spherical hinge support, 412-a second spherical head rod, 413-a wrist joint movable platform, 414-a second ball head connecting piece, 415-a linear motor connecting piece, 416-a first ball head connecting piece, 417-a seventh U-shaped connecting plate, 418-a first ball head rod, 419-a branched chain supporting plate, 420-a screw rod nut, 421-a screw rod, 422-a third shaft coupling, 423-a third ball hinge support.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1 to 5, a multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm comprises a shoulder joint 1, an elbow joint and a wrist joint 4, wherein the elbow joint comprises an upper arm part 2 and a lower arm part 3; the shoulder joint 1 is connected with the upper end of the upper arm part 2, the lower end of the upper arm part 2 is connected with the upper end of the forearm part 3, and the lower end of the forearm part 3 is connected with the upper end of the wrist joint 4.
The shoulder joint 1 comprises a base fixing plate 201, a first motor 207, a first speed reducer 203, a first L-shaped connecting plate 202, a first coupler 204, a second L-shaped connecting plate 206, a third L-shaped connecting plate 216, a first output shaft 205, a first arc-shaped plate 208, a second motor 210, a second speed reducer 211, a fourth L-shaped connecting plate 214, a triangular reinforcing rib 215, a second coupler 212, a second output shaft 213 and a second arc-shaped plate 209; the first speed reducer 203 is fixedly connected to the first L-shaped connecting plate 202 through bolts, the first motor 207 is fixed to the first speed reducer 203, and an output shaft of the first motor 207 is connected to one end of a first output shaft 205 through the first speed reducer 203 and the first coupling 204 in sequence; the other end of the first output shaft 205 is embedded in the second L-shaped connecting plate 206 and the third L-shaped connecting plate 216 through a bearing, the first L-shaped connecting plate 202, the second L-shaped connecting plate 206 and the third L-shaped connecting plate 216 are all fixed on the base fixing plate 201 by bolts, the first arc-shaped plate 208 is connected with the first output shaft 205 through a key, the fourth L-shaped connecting plate 214 is fixedly connected with the first arc-shaped plate 208 through a bolt, the second speed reducer 211 is fixed on the fourth L-shaped connecting plate 214 by bolts, the second motor 210 is fixed on the second speed reducer 211 by bolts, the output shaft of the second motor 210 is connected with one end of the second output shaft 213 by the second speed reducer 211 and the second coupling 212, the other end of the second output shaft 213 is embedded in the first arc-shaped plate 208 through a bearing, and the second arc-shaped plate 209 is connected with the second output shaft 213 through a key; when the first motor 207 moves, the first speed reducer 203, the first coupler 204 and the first output shaft 205 drive the first arc-shaped plate 208, the second arc-shaped plate 209, the second motor 210, the second speed reducer 211 and the fourth L-shaped connecting plate 214, the whole body formed by the triangular reinforcing rib 215, the second coupler 212 and the second output shaft 213 rotates around the first output shaft 205, and when the second motor 210 moves, the second speed reducer 211, the second coupler 212 and the second output shaft 213 drive the second arc-shaped plate 209 to rotate around the second output shaft 213.
The elbow joint comprises a first upper arm 303, a second upper arm 308, a first U-shaped connecting plate 301, a third motor 302, a second U-shaped connecting plate 304, a harmonic reducer 305, a third U-shaped connecting plate 306, a fourth motor 307, a third reducer 309, a fourth U-shaped connecting plate 310, a driving bevel gear 311, a driven bevel gear 313, a third driving shaft 312, a forearm 314 and a fifth U-shaped connecting plate 315; the first U-shaped connecting plate 301 is fixedly connected with the second arc-shaped plate 209 through bolts, the first upper arm 303 is fixedly connected with the first U-shaped connecting plate 301 and the second U-shaped connecting plate 304, the whole body formed by the first upper arm 303, the first U-shaped connecting plate 301 and the second U-shaped connecting plate 304 serves as a shoulder joint moving platform for transmitting the motion of a shoulder joint to an elbow joint and a wrist joint, the third motor 302 is fixed on the second U-shaped connecting plate 304, the harmonic reducer 305 is connected with an output shaft of the third motor 302 through a key, the harmonic reducer 305 is fixed on the second U-shaped connecting plate 304 through bolts, the third U-shaped connecting plate 306 and the fourth U-shaped connecting plate 310 are fixedly connected through two second upper arms 308, the fourth motor 307 is connected on the third reducer 309, the third reducer 309 is fixed on the fourth U-shaped connecting plate 310 through bolts, an output shaft of the third reducer 309 is connected with a driving bevel gear 311 through a key, the driving bevel gear 311 is meshed with the driven bevel gear 313, the driven bevel gear 313 is connected to a third driving shaft 312 through a key, two ends of the third driving shaft 312 penetrate through a second upper arm 308 and a forearm 314, two ends of the third driving shaft 312 are embedded in the second upper arm 308 through a bearing, and a fifth U-shaped connecting plate 315 is fixedly connected with the forearm 314 through a bolt.
The wrist joint has six degrees of freedom, and its structure includes that the wrist joint decides platform 403, the wrist joint moves platform 413, first branch chain, second branch chain, branch chain backup pad 419, the fixed end of first branch chain is connected the wrist joint and is decided platform 403, the fixed end of second branch chain is connected branch chain backup pad 419, and the output of first branch chain and second branch chain is connected wrist joint and is moved platform 413, first branch chain has five, the second branch chain has one.
The first support chain comprises a fifth motor 402, a sixth U-shaped connecting plate 401, a third coupler 422, a lead screw 421, a lead screw nut 420, a lead screw nut connecting plate 406, a fifth L-shaped connecting plate 405, a seventh U-shaped connecting plate 417, an eighth U-shaped connecting plate 407, a branched supporting plate 419, a first spherical hinge support 408, a ball head fixed length rod 409, a second spherical hinge support 411 and a guide rod 404, the wrist joint fixed platform 403 is connected with the sixth U-shaped connecting plate 401 through bolts, the sixth U-shaped connecting plate 401 is fixedly connected onto the fifth U-shaped connecting plate 315 through bolts, the fifth motor 402 is fixed onto the wrist joint fixed platform 403 through bolts, one end of the lead screw 421 is connected with the fifth motor 402 through a third coupler 422, the other end of the lead screw 421 is embedded into the seventh U-shaped connecting plate 417 through a bearing, one end of the fifth L-shaped connecting plate 405 is fixed onto the wrist joint fixed platform 403 through bolts, the other end of the fifth L-shaped connecting plate 405 is fixedly connected with a seventh U-shaped connecting plate 417, and two ends of the guide rod 404 are respectively fixed on the wrist joint fixed platform 403 and the seventh U-shaped connecting plate 417; the screw nut 420 is connected with the screw rod in a threaded fit mode, one end of a screw nut connecting plate 406 is fixed to the screw nut 420 through a screw, the other end of the screw nut connecting plate 406 is fixedly connected with an eighth U-shaped connecting plate 407, a first spherical hinge support 408 is fixedly connected to the eighth U-shaped connecting plate 407 through a bolt, one end of a ball head fixed length rod 409 is connected with the first spherical hinge support 408 through a ball pair, the other end of the ball head fixed length rod 409 is connected with a second spherical hinge support 411 through a ball pair, and the second spherical hinge support 411 is fixedly connected to a wrist joint movable platform 413 through a bolt.
The second branch chain comprises a branch chain supporting plate 419, a third ball joint support 423, a first ball head rod 418, a first ball head connecting piece 416, a linear motor connecting piece 415, a linear motor 410, a second ball head connecting piece 414 and a second ball head rod 412, the branch chain supporting plate 419 is fixed on five seventh U-shaped connecting plates 417 through bolts, the third ball joint support 423 is connected on the branch chain supporting plate 419 through bolts, one end of the first ball head rod 418 is connected with the third ball joint support 423 through a ball joint, the other end of the first ball head rod 418 is fixedly connected with the first ball head connecting piece 416 through a fastening screw, the linear motor connecting piece 415 is fixedly connected with the first ball head connecting piece 416 through a bolt, one end of the linear motor 410 is connected with the linear motor connecting piece 415 through a bolt, the other end of the linear motor 410 is fixedly connected with the second ball head connecting piece 414 through a bolt, one end of the second ball head rod 412 is fixedly connected with the second ball head connecting piece through a fastening screw, the other end of the second ball-joint rod 412 is connected with the second ball-joint support 411 through a ball pair.
Bearing end covers are mounted on the outer sides of the first output shaft 205, which penetrate through the second L-shaped connecting plate 206 and the third L-shaped connecting plate 216.
The first arc-shaped plate 208 is a hollow box body as a whole, the left end and the right end are square, three key slot holes are formed in the left end and the right end, the front end and the rear end are semicircular and higher than the left end and the right end, circular holes are formed in the front end and the rear end, and bearings are embedded in the circular holes.
The second arc-shaped plate 209 has a semicircular upper end, a square lower end, a key slot hole at the upper end and a square hole at the lower end.
The first output shaft 205 is located above the second output shaft 213 and forms an included angle of 90 degrees in space.
The third driving shaft 312 of the elbow joint is positioned through the big end of the driven conical gear 313 and a shaft sleeve, the driving conical gear 311 is positioned on the third driving shaft 312 through a key, and bearing end covers are arranged on the outer sides of the third driving shaft 312 penetrating through the second upper arm 308.
The upper ends of the elbow joint second upper arm 308 and the forearm 314 are square, the lower ends are round, and the whole elbow joint second upper arm and the forearm are Z-shaped.
The wrist joint fixed platform 403 is of a regular pentagon structure, five round holes are uniformly formed in the outer side of the wrist joint fixed platform and connected with a motor, ten round small holes are formed in the center of the wrist joint fixed platform and fixedly connected with a fifth U-shaped connecting plate, and the wrist joint fixed platform is fixedly connected with an elbow joint through the five U-shaped connecting plates.
The branched supporting plate 419 of the wrist joint is shaped like a pentagram and is fixed to the seventh U-shaped connecting plate 417 by bolts.
The above-mentioned embodiment is only the preferred embodiment of the present invention, and is not to the limitation of the technical solution of the present invention, as long as the technical solution can be realized on the basis of the above-mentioned embodiment without creative work, all should be regarded as falling into the protection scope of the right of the present invention.
Claims (9)
1. A multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm is characterized in that: a multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm comprises a shoulder joint (1), an elbow joint and a wrist joint (4), wherein the elbow joint comprises an upper arm part (2) and a forearm part (3); the shoulder joint (1) is connected with the upper end of the upper arm part (2), the lower end of the upper arm part (2) is connected with the upper end of the forearm part (3), and the lower end of the forearm part (3) is connected with the upper end of the wrist joint (4);
the shoulder joint (1) comprises a base fixing plate (201), a first motor (207), a first speed reducer (203), a first L-shaped connecting plate (202), a first coupler (204), a second L-shaped connecting plate (206), a third L-shaped connecting plate (216), a first output shaft (205), a first arc-shaped plate (208), a second motor (210), a second speed reducer (211), a fourth L-shaped connecting plate (214), a triangular reinforcing rib (215), a second coupler (212), a second output shaft (213) and a second arc-shaped plate (209); the first speed reducer (203) is fixedly connected to the first L-shaped connecting plate (202) through bolts, the first motor (207) is fixed to the first speed reducer (203), and an output shaft of the first motor (207) is connected with one end of the first output shaft (205) through the first speed reducer (203) and the first coupling (204) in sequence; the other end of the first output shaft (205) is embedded in the second L-shaped connecting plate (206) and the third L-shaped connecting plate (216) through a bearing, the first L-shaped connecting plate (202), the second L-shaped connecting plate (206) and the third L-shaped connecting plate (216) are all fixed on the base fixing plate (201) through bolts, the first arc-shaped plate (208) and the first output shaft (205) are connected through a key, the fourth L-shaped connecting plate (214) is fixedly connected with the first arc-shaped plate (208) through bolts, the second speed reducer (211) is fixed on the fourth L-shaped connecting plate (214) through bolts, the second motor (210) is fixed on the second speed reducer (211) through bolts, the output shaft of the second motor (210) is connected with one end of the second output shaft (213) through the second speed reducer (211) and the second coupling (212), and the other end of the second output shaft (213) is embedded in the first arc-shaped plate (208) through a bearing, the second arc-shaped plate (209) is connected with a second output shaft (213) through a key; when the first motor (207) moves, the first speed reducer (203), the first coupler (204) and the first output shaft (205) drive the first arc-shaped plate (208), the second arc-shaped plate (209), the second motor (210), the second speed reducer (211) and the fourth L-shaped connecting plate (214), the whole formed by the triangular reinforcing rib (215), the second coupler (212) and the second output shaft (213) rotates around the first output shaft (205), and when the second motor (210) moves, the second speed reducer (211), the second coupler (212) and the second output shaft (213) drive the second arc-shaped plate (209) to rotate around the second output shaft (213);
the elbow joint comprises a first upper arm (303), a second upper arm (308), a first U-shaped connecting plate (301), a third motor (302), a second U-shaped connecting plate (304), a harmonic reducer (305), a third U-shaped connecting plate (306), a fourth motor (307), a third reducer (309), a fourth U-shaped connecting plate (310), a driving conical gear (311), a driven conical gear (313), a third driving shaft (312), a forearm (314) and a fifth U-shaped connecting plate (315); the first U-shaped connecting plate (301) is fixedly connected with the second arc-shaped plate (209) through bolts, the first upper arm (303) is fixedly connected with the first U-shaped connecting plate (301) and the second U-shaped connecting plate (304), the whole formed by the first upper arm (303), the first U-shaped connecting plate (301) and the second U-shaped connecting plate (304) serves as a shoulder joint moving platform to transfer the motion of a shoulder joint to an elbow joint and a wrist joint, the third motor (302) is fixed on the second U-shaped connecting plate (304), the harmonic reducer (305) is connected with an output shaft of the third motor (302) through a key, the harmonic reducer (305) is fixed on the second U-shaped connecting plate (304) through bolts, the third U-shaped connecting plate (306) and the fourth U-shaped connecting plate (310) are fixedly connected through the second upper arm (308), and the two motors (307) are connected on the third reducer (309), the third speed reducer (309) is fixed on a fourth U-shaped connecting plate (310) through a bolt, an output shaft of the third speed reducer (309) is connected with a driving conical gear (311) through a key, the driving conical gear (311) is meshed with a driven conical gear (313), the driven conical gear (313) is connected on a third driving shaft (312) through a key, two ends of the third driving shaft (312) penetrate through a second upper arm (308) and a forearm (314), two ends of the third driving shaft (312) are embedded in the second upper arm (308) through a bearing, and the fifth U-shaped connecting plate (315) is fixedly connected with the forearm (314) through a bolt;
the wrist joint has six degrees of freedom, and the structure of the wrist joint comprises a wrist joint fixed platform (403), a wrist joint movable platform (413), a first branched chain, a second branched chain and a branched chain supporting plate (419), wherein the fixed end of the first branched chain is connected with the wrist joint fixed platform (403), the fixed end of the second branched chain is connected with the branched chain supporting plate (419), the output ends of the first branched chain and the second branched chain are connected with the wrist joint movable platform (413), the number of the first branched chain is five, and the number of the second branched chain is one;
the first support chain comprises a fifth motor (402), a sixth U-shaped connecting plate (401), a third coupling (422), a lead screw (421), a lead screw nut (420), a lead screw nut connecting plate (406), a fifth L-shaped connecting plate (405), a seventh U-shaped connecting plate (417), an eighth U-shaped connecting plate (407), a branched chain supporting plate (419), a first spherical hinge support (408), a ball head fixed rod (409), a second spherical hinge support (411) and a guide rod (404), the wrist joint fixed platform (403) is connected with the sixth U-shaped connecting plate (401) through bolts, the sixth U-shaped connecting plate (401) is fixedly connected with the fifth U-shaped connecting plate (315) through bolts, the fifth motor (402) is fixed on the wrist joint fixed platform (403) through bolts, one end of the lead screw (421) is connected with the fifth motor (402) through the third coupling (422), and the other end of the lead screw (421) is embedded in the seventh U-shaped connecting plate (417) through a bearing, one end of the fifth L-shaped connecting plate (405) is fixed on the wrist joint fixed platform (403) through a bolt, the other end of the fifth L-shaped connecting plate (405) is fixedly connected with the seventh U-shaped connecting plate (417), and two ends of the guide rod (404) are respectively fixed on the wrist joint fixed platform (403) and the seventh U-shaped connecting plate (417); the lead screw nut (420) is connected with a lead screw in a threaded fit manner, one end of a lead screw nut connecting plate (406) is fixed on the lead screw nut (420) through a screw, the other end of the lead screw nut connecting plate (406) is fixedly connected with an eighth U-shaped connecting plate (407), a first spherical hinge support (408) is fixedly connected onto the eighth U-shaped connecting plate (407) through a bolt, one end of a ball head fixed rod (409) is connected with the first spherical hinge support (408) through a ball pair, the other end of the ball head fixed rod (409) is connected with a second spherical hinge support (411) through a ball pair, and the second spherical hinge support (411) is fixedly connected onto a wrist joint movable platform (413) through a bolt;
the second branched chain comprises a branched chain supporting plate (419), a third ball joint support (423), a first ball head rod (418), a first ball head connecting piece (416), a linear motor connecting piece (415), a linear motor (410), a second ball head connecting piece (414) and a second ball head rod (412), the branched chain supporting plate (419) is fixed on five seventh U-shaped connecting plates (417) through bolts, the third ball joint support (423) is connected on the branched chain supporting plate (419) through bolts, one end of the first ball head rod (418) is connected with the third ball joint support (423) through a ball joint, the other end of the first ball head rod (418) is fixedly connected with the first ball head connecting piece (416) through a fastening screw, the linear motor connecting piece (415) is fixedly connected with the first ball head connecting piece (416) through a bolt, one end of the linear motor (410) is connected with the linear motor connecting piece (415) through a bolt, the other end of the linear motor (410) is fixedly connected with the second ball head connecting piece (414) through a bolt, one end of the second ball head rod (412) is fixedly connected with the second ball head connecting piece through a fastening screw, and the other end of the second ball head rod (412) is connected with the second ball joint support (411) through a ball pair.
2. The multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm of claim 1, wherein: and bearing end covers are arranged on the outer sides of the first output shaft (205) passing through the second L-shaped connecting plate (206) and the third L-shaped connecting plate (216).
3. The multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm of claim 1, wherein: the first arc-shaped plate (208) is a hollow box body as a whole, the left end and the right end are square and are provided with three key slot holes, the front end and the rear end are semicircular and higher than the left end and the right end, and round holes are formed in the front end and the rear end and are embedded with bearings.
4. The multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm of claim 1, wherein: the upper end of the second arc-shaped plate (209) is semicircular, the lower end of the second arc-shaped plate is square, the upper end of the second arc-shaped plate is provided with a key slot hole, and the lower end of the second arc-shaped plate is provided with a square hole.
5. The multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm of claim 1, wherein: the first output shaft (205) is positioned above the second output shaft (213) and forms a 90-degree included angle in space.
6. The multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm of claim 1, wherein: the third driving shaft (312) of the elbow joint is positioned through the large end of the driven conical gear (313) and the shaft sleeve, the driving conical gear (311) is positioned on the third driving shaft (312) through a key, and bearing end covers are arranged on the outer sides of the third driving shaft (312) penetrating through the second upper arm (308).
7. The multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm of claim 1, wherein: the upper ends of the elbow joint second upper arm (308) and the forearm (314) are square, the lower ends of the elbow joint second upper arm and the forearm are round, and the elbow joint second upper arm and the forearm are Z-shaped integrally.
8. The multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm of claim 1, wherein: wrist joint fixed platform (403) are regular pentagon structure, and the outside evenly has five round holes to be connected with the motor, and the center has ten circular apertures and fifth U template fixed connection, through five U type connecting plates and elbow joint fixed connection.
9. The multi-degree-of-freedom redundant series-parallel anthropomorphic mechanical arm of claim 1, wherein: the branched chain supporting plate (419) of the wrist joint is shaped like a pentagram and is fixed on the seventh U-shaped connecting plate (417) through bolts.
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| Publication number | Priority date | Publication date | Assignee | Title |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110524522A (en) * | 2019-09-19 | 2019-12-03 | 浙江工业大学 | A kind of series-parallel anthropomorphous machine's arm of multiple degrees of freedom redundancy |
| CN110524522B (en) * | 2019-09-19 | 2024-03-26 | 浙江工业大学 | Multi-degree-of-freedom redundant serial-parallel anthropomorphic mechanical arm |
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