CN211662053U

CN211662053U - Mechanical arm

Info

Publication number: CN211662053U
Application number: CN202020122953.6U
Authority: CN
Inventors: 熊明磊; 陈龙冬; 王老虎
Original assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Current assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Priority date: 2020-01-19
Filing date: 2020-01-19
Publication date: 2020-10-13
Anticipated expiration: 2030-01-19

Abstract

The utility model provides a mechanical arm relates to the robotechnology field, has solved the technical problem that the arm drive structure that exists among the prior art is from great, output torque is not enough and drive structure quantity can't change. The device comprises a two-axis mechanical arm, a first eccentric block, a first driving unit, a second driving unit, a third driving unit, a second eccentric block and a first mounting plate, wherein the first eccentric block, the first driving unit, the second driving unit, the third driving unit, the second eccentric block and the first mounting plate are arranged at one end of the two-axis mechanical arm. The utility model is used for the robot, first drive unit is connected opposite direction with the second drive unit and is set up between first eccentric block and second eccentric block, then connect on first eccentric block and first drive unit through first mounting panel, still can realize the original function of arm with this after realizing that the second drive unit has dismantled, thereby realize the switching between four-axis arm and the five-axis arm, change drive unit is whole to lead screw motor element, reduce the dead weight improvement moment output of arm.

Description

Mechanical arm

Technical Field

The utility model belongs to the technical field of the robotechnology and specifically relates to a mechanical arm is related to.

Background

The mechanical arm system is the main component in the robot system, and the mechanical arm system includes arm and manipulator again, the action of manipulator realizes snatching and rotatory of hand gripper through preceding diaxon arm, the eccentric motion of diaxon arm before the arm drive structure of other positions realizes, the current market mainly concentrates the arm to be 3 axles, 5 axles, 7 axles unicity arms, original rectilinear motion simultaneously, be realized through hydraulic pressure structure, this structure exists from great, oil leak environmental pollution scheduling problem, consequently just need design a mechanical arm drive unit modularization with regard to the problem that exists in the prior art, replace hydraulic pressure structure equipment lightweight on the basis of guaranteeing rectilinear motion, improve moment output.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mechanical arm, the mechanical arm drive structure who has solved existence among the prior art is from great, output torque is not enough and the technical problem of the unable change of drive structure quantity. The utility model provides a plurality of technical effects that preferred technical scheme among a great deal of technical scheme can produce see the explanation below in detail.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a mechanical arm, including diaxon arm, set up first eccentric block, first drive unit, second drive unit, third drive unit, second eccentric block and the first mounting panel in diaxon arm one end, the output shaft of first drive unit with the tail end of second drive unit with first eccentric block articulates, the tail end of first drive unit with the output shaft of second drive unit with one side of second eccentric block articulates, the third drive unit with the other side of second eccentric block articulates, the second eccentric block articulates with the second mounting panel, one end of first mounting panel articulates the intermediate position of first eccentric block side, the other end of first mounting panel articulates on first drive unit with second eccentric block pin joint; the first driving unit, the second driving unit and the third driving unit are all screw rod motor assemblies.

Preferably, the lead screw motor assembly comprises a sealing shell, a hollow motor arranged inside the sealing shell, a lead screw nut connected with an output shaft of the hollow motor, and a lead screw shaft arranged in the lead screw nut, wherein the lead screw nut and the sealing shell are connected in a sealing mode.

Preferably, the output end of the two-axis mechanical arm is connected with one end, far away from the output end, of the mechanical arm and is fixedly connected with the first eccentric block.

Preferably, one side of the first eccentric block, which is far away from the two-axis mechanical arm, is hinged to the first driving unit and the second driving unit, and hinge points of the first driving unit and the second driving unit with the first eccentric block are respectively located at the upper side and the lower side of the first eccentric block and are symmetrically arranged.

Preferably, a hinge point of the first mounting plate and the first eccentric mass is located at a center of a side of the first eccentric mass.

Preferably, the first mounting plates are two and symmetrically arranged at both sides of the first driving unit.

Preferably, a hinge point of the second driving unit and the second eccentric block is close to one end of the second mounting plate, and a hinge point of the first mounting plate and the second eccentric block is located at one end, far away from the second mounting plate, of the second eccentric block.

Preferably, the hinge point of the second eccentric mass and the second mounting plate is near the midpoint of one side of the third driving unit.

Preferably, a hinge point of the third driving unit and the second eccentric block is hinged to a side surface of any one of the first mounting plates.

Preferably, a third eccentric mass is further included at a rear end of the third driving unit.

The utility model provides an among the technical scheme, be used for realizing snatching and rotatory, setting of hand gripper including the diaxon arm first eccentric block, first drive unit, second drive unit, third drive unit, second eccentric block and the first mounting panel of diaxon arm one end, first drive unit is connected opposite direction with second drive unit and is set up between first eccentric block and second eccentric block, then connect on first eccentric block and first drive unit through first mounting panel, realize with this that the original function of arm still can be realized to first drive unit after the second drive unit has dismantled, thereby switch between four-axis arm and the five-axis arm, change drive unit is whole for lead screw motor element, reduce the dead weight of arm and improve torque output.

The utility model discloses preferred technical scheme can also produce following technological effect at least: the screw motor assembly comprises a sealing shell, a hollow motor arranged in the sealing shell, a screw nut connected with an output shaft of the hollow motor and a screw shaft arranged in the screw nut, and the screw nut and the sealing shell are connected in a sealing manner;

the two first mounting plates are symmetrically arranged on two sides of the first driving unit, so that the strength of the mechanical arm is enhanced;

the hinge point of the second eccentric block and the second mounting plate is close to the midpoint of one side of the third driving unit, and the hinge point of the third driving unit and the second eccentric block is close to the side surface hinged with any one first mounting plate, so that the eccentric driving of the third driving unit is realized, and the swinging of the mechanical arm is driven by the pushing and pulling of the third driving unit;

the tail end of the third driving unit is provided with a third eccentric block for integrally connecting the mechanical arm to the carrier device.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of a front view structure of a mechanical arm provided in an embodiment of the present invention;

fig. 2 is a schematic top view of a robot arm according to an embodiment of the present invention;

fig. 3 is a schematic cross-sectional structure view of an a-a of the robot arm in fig. 1 according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a partially enlarged structure of the robot arm in fig. 1 according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a partially enlarged structure of the robot arm in fig. 2 according to an embodiment of the present invention.

FIG. 1-two axis robotic arm; 2-a first eccentric mass; 3-a first drive unit; 4-a second drive unit; 5-a third drive unit; 6-a second eccentric mass; 7-a first mounting plate; 8-a second mounting plate; 9-sealing the shell; 10-a hollow motor; 11-a feed screw nut; 12-a screw shaft; 13-a third eccentric mass; 14-a first moment; 15-second moment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The specific embodiment of the utility model provides a manipulator, including diaxon arm 1, set up in first eccentric block 2, first drive unit 3, second drive unit 4, third drive unit 5, second eccentric block 6 and first mounting panel 7 of diaxon arm 1 one end, diaxon arm 1 is general diaxon arm, is used for realizing the snatching and rotation of hand gripper, or the rotation and the advance and retreat of cutter;

wherein the first driving unit 3, the second driving unit 4 and the third driving unit 5 are all screw rod motor assemblies, and such screw rod motor assemblies include an output shaft end at one end and a tail end at the stator position at the other end, the specific connection mode is as shown in fig. 1 and fig. 2, the output shaft of the first driving unit 3 and the tail end of the second driving unit 4 are hinged with the first eccentric block 2, the tail end of the first driving unit 3 and the output shaft of the second driving unit 4 are hinged with one side of the second eccentric block 6, the first driving unit 3 and the second driving unit 4 are connected in a way of opposite ends, which can complete the same work under the condition of disassembling the second driving unit 4, the starting and the removing of the second driving unit 4 realize the conversion between the five-axis mechanical arm and the four-axis mechanical arm, the third driving unit 5 is hinged with the other side of the second eccentric block 6, the second eccentric block 6 is hinged with one end of the second mounting plate 8, one end of the first mounting plate 7 is hinged to the middle position of the side surface of the first eccentric block 2, and the other end of the first mounting plate 7 is hinged to a hinge point of the first driving unit 3 and the second eccentric block 6; according to the structure of the driving unit replaced by the structure, the traditional hydraulic driving structure is changed into the screw rod motor assembly, so that the self weight of the mechanical arm is reduced to a certain extent.

The concrete structure of the screw motor assembly is shown in fig. 3, the screw motor assembly comprises a sealing shell 9, a hollow motor 10 arranged inside the sealing shell 9, a screw nut 11 connected with an output shaft of the hollow motor 10 and a screw shaft 12 arranged in the screw nut 11, by connecting the output shaft of the hollow motor 10 with the screw nut 11, the screw nut 11 can rotate on the screw shaft 12 when the hollow motor 10 provides a rotating force, the screw nut 11 is hermetically connected with the sealing shell 9, and the screw nut 11 can be rotatably connected inside the sealing shell 9, at the same time, the rotation of the screw nut 11 on the screw shaft 12 can become the integral linear motion of the driving unit, so that the work of a transmission hydraulic transmission structure can be replaced, and the load capacity of a manipulator is improved compared with the hydraulic transmission torque with the same volume by screw transmission; meanwhile, the sealing performance of the screw rod motor assembly can enable the manipulator provided by the application to realize integral sealing, so that the manipulator can have the waterproof capability from 0 meter to 3000 meters (even the whole sea depth) underwater.

The specific connection mode of the mechanical arm components provided by the embodiment of the present application is as follows, and will be explained in the direction of fig. 1, wherein the output end of the two-axis mechanical arm 1 is connected to one end of the mechanical arm far from the output end and is fixedly connected to the first eccentric block 2, one side of the first eccentric block 2 far from the two-axis mechanical arm 1 is hinged to the first driving unit 3 and the second driving unit 4, the hinge points of the first driving unit 3 and the second driving unit 4 and the first eccentric block 2 are respectively located at the upper side and the lower side of the first eccentric block 2 and are symmetrically arranged, the hinge point of the first mounting plate 7 and the first eccentric block 2 is located at the center of the side surface (front surface and back surface of fig. 1) of the first eccentric block 2, the hinge point of the first mounting plate 7 and the second eccentric block 6 is the same as the hinge point of the first driving unit 3 and the second eccentric block 6, because the hinge point of the first driving unit 3 and, make the work of first drive unit 3 can promote or stimulate diaxon arm 1 to do the luffing motion in the plane, second drive unit 4 drives diaxon arm 1 like this, first mounting panel 7 and first drive unit 3 are whole to swing around the pin joint of first mounting panel 7 and first eccentric block 2, when second drive unit 4 and first drive unit 3 act on simultaneously, under the condition of second drive unit 4 or first drive unit 3 effect skew, first drive unit 3 or second drive unit 4 drive diaxon arm 1 carry out the secondary motion, five spheroidal motion range of arm can be realized to this kind of mode, realize the sphere motion range of four-axis arm this moment when removing second drive unit 4.

The first mounting plates 7 are arranged on two sides of the first driving unit 3 respectively and used for connecting and fixing the mechanical arm and also used for matching with the first driving unit 3 to swing the two-axis mechanical arm 1.

The second eccentric block 6 is hinged with the second mounting plate 8 in a manner of being vertical to the upper end surfaces of the second eccentric block 6 and the second mounting plate 8 as shown in figure 2, so that the second eccentric block 6 can rotate on the second mounting plate 8, the hinge point is close to the middle point of one side of the third driving unit 5, the tail end of the first driving unit 3 and the output shaft end of the second driving unit 4 are hinged at the side far away from the third driving unit 5, namely the left side of the second eccentric block 6 in the attached drawing 1, the central points of the two hinge points are respectively positioned on the same section with the hinge point of the second eccentric block 6 and the second mounting plate 8 in the attached drawing 2, when the first drive unit 3 and/or the second drive unit 4 are/is active, a first moment 14 is ensured, as shown in fig. 4, ensuring that the action of the first drive unit 3 and/or the second drive unit 4 does not influence the eccentric movement of the first eccentric mass 2; the second moment 15 in fig. 5 shows the direction of action of the third eccentric mass 13 under the action of the third driving unit 5, the hinge point of the third driving unit 5 and the second eccentric mass 6 is above or below the hinge point of the second eccentric mass 6 and the second mounting plate 8 as shown in fig. 2, the third driving unit 5 is connected to the carrier device through the third eccentric mass 13 at the tail end, the operation of the third driving unit 5 can be realized by pushing and pulling the second eccentric mass 6, and the left side of the second eccentric mass 6 swings as a whole in the plane around the hinge point of the first eccentric mass 2 and the second mounting plate 8 in fig. 2.

The first driving unit 3, the second driving unit 4 and the third driving unit 5 are used for jointly completing the movement of the front-end manipulator of the mechanical arm in the sphere range, and the second driving unit 4 is omitted, so that the movement of the manipulator in the sphere range can be completed, and the switching of the integral five-axis mechanical arm and the four-axis mechanical arm of the mechanical arm can be realized.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The mechanical arm is characterized by comprising a two-axis mechanical arm (1), a first eccentric block (2), a first driving unit (3), a second driving unit (4), a third driving unit (5), a second eccentric block (6) and a first mounting plate (7), wherein the first eccentric block (2), the first driving unit (3), the second driving unit (4), the third driving unit (5), the second eccentric block (6) and the first mounting plate (7) are arranged at one end of the two-axis mechanical arm (1), an output shaft of the first driving unit (3) and a tail end of the second driving unit (4) are hinged to the first eccentric block (2), a tail end of the first driving unit (3) and an output shaft of the second driving unit (4) are hinged to one side of the second eccentric block (6), the third driving unit (5) is hinged to the other side of the second eccentric block (6), the second eccentric block (6) is hinged to the second mounting plate (8), one end of the first mounting plate (7) is hinged to the middle position of the side of, the other end of the first mounting plate (7) is hinged to a hinged point of the first driving unit (3) and the second eccentric block (6); the first driving unit (3), the second driving unit (4) and the third driving unit (5) are all screw rod motor assemblies.

2. The mechanical arm according to claim 1, wherein the lead screw motor assembly comprises a sealing shell (9), a hollow motor (10) arranged inside the sealing shell (9), a lead screw nut (11) connected with an output shaft of the hollow motor (10), and a lead screw shaft (12) arranged in the lead screw nut (11), and the lead screw nut (11) is connected with the sealing shell (9) in a sealing mode.

3. A robot arm according to claim 1, characterized in that the output end of the two-axis robot arm (1) is fixedly connected to the first eccentric mass (2) at the end of the robot arm remote from the output end.

4. The mechanical arm as claimed in claim 1, wherein the side of the first eccentric mass (2) far away from the two-axis mechanical arm (1) is hinged with a first driving unit (3) and a second driving unit (4), and the hinged points of the first driving unit (3) and the second driving unit (4) and the first eccentric mass (2) are respectively positioned at the upper side and the lower side of the first eccentric mass (2) and are symmetrically arranged.

5. A robot arm according to claim 1, characterized in that the hinge point of the first mounting plate (7) to the first eccentric mass (2) is located in the centre of the side of the first eccentric mass (2).

6. A robot arm according to claim 1, characterized in that the first mounting plates (7) are two and symmetrically arranged on both sides of the first drive unit (3).

7. A robot arm according to claim 6, characterized in that the hinge point of the second drive unit (4) and the second eccentric mass (6) is near one end of the second mounting plate (8), and the hinge point of the first mounting plate (7) and the second eccentric mass (6) is at the end of the second eccentric mass (6) remote from the second mounting plate (8).

8. A robot arm according to claim 7, characterized in that the second eccentric mass (6) is hinged to the second mounting plate (8) close to the midpoint of one side of the third drive unit (5).

9. A robot arm according to claim 8, characterized in that the hinge point of the third drive unit (5) to the second eccentric mass (6) is close to the side where either of the first mounting plates (7) is hinged.

10. A robot arm according to claim 1, characterized in that it further comprises a third eccentric mass (13) arranged at the rear end of the third drive unit (5).