CN211916828U - Bionic mechanical arm with seven degrees of freedom - Google Patents
Bionic mechanical arm with seven degrees of freedom Download PDFInfo
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- CN211916828U CN211916828U CN202020069569.4U CN202020069569U CN211916828U CN 211916828 U CN211916828 U CN 211916828U CN 202020069569 U CN202020069569 U CN 202020069569U CN 211916828 U CN211916828 U CN 211916828U
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Abstract
The utility model provides a bionical robotic arm of seven degrees of freedom, including a base and three arm structures of group, the arm structure is connected in turn by a movable arm and two movable arms, 3 groups altogether, and the connection is accomplished the back integral connection to on the base, this equipment connects through the similar part of three structures of group and makes bionical robotic arm have seven degrees of freedom, and the working range is wider, has extremely strong flexibility, and each mutual noninterference between the motion, and control accuracy is high, and the high and compact structure's of motion degree of freedom advantage.
Description
Technical Field
The utility model belongs to the technical field of the robot, in particular to bionic mechanical arm with seven degrees of freedom.
Background
The mechanical arm is a complex automatic mechanical device with multiple inputs and outputs, high nonlinearity and strong coupling, and is widely applied to the fields of industrial production, medical treatment, military, space exploration and the like, which relate to the robot technology. However, the mechanical arm on the market at present has the problems of complex structure, single function and the like.
At present, most of the mechanical arms used in industrial production in China are six-degree-of-freedom mechanical arms, the requirements of basic industrial production can be met, the six-degree-of-freedom mechanical arms disclosed in the specification CN 109397272A disclosed in the patent application of the Chinese invention have the advantages of high precision, high degree of freedom of movement, compact structure and the like, all movements are not interfered with each other, but the structure still follows the design of the traditional bionic mechanical arm, the operation range is incomplete, the traditional mechanical arms mostly adopt external wiring, and the mechanical arms can cause the defects of interference and the like during the action. Therefore, a mechanical arm with wider operation range, strong flexibility, no interference between the motions and high control precision is urgently needed.
SUMMERY OF THE UTILITY MODEL
The utility model provides a bionical robotic arm of seven degrees of freedom has solved prior art well operation scope not comprehensive, and the arm may cause the not enough problem such as interference when the action.
The technical scheme of the utility model is realized like this: a bionic mechanical arm with seven degrees of freedom comprises a base and three groups of arm structures, wherein the arm structures are alternately connected by a movable arm and two movable arms and totally comprise 3 groups, the arm structures are integrally connected to the base after connection is completed, the base comprises an upper base shell, a lower base shell, a base motor mounting frame, a base motor, a base bevel gear, a base speed reducer, a base bearing and a base transmission flange, the movable arm comprises a movable arm shell, a movable arm cover, a movable arm motor mounting frame, a movable arm motor, a movable arm shaft sleeve, a movable arm driving wheel, a movable arm driven wheel, a movable arm synchronous belt, a movable arm speed reducer, the two movable arms comprise two movable arm shells, two movable arm covers, two movable arm motor mounting frames, two motors, two movable arm shaft sleeves, two movable arm driving wheels, two movable arm driven wheels and two movable arm synchronous belts, two movable arm speed reducers and two movable arm transmission flanges.
As a preferred embodiment, the upper base case and the lower base case of the base are provided with unthreaded holes and fixedly connected by bolts, the lower base case is internally welded with the base motor mounting bracket, a ribbed plate is arranged below the base motor mounting bracket, the base motor mounting bracket is provided with a wire inlet hole and an unthreaded hole, the base motor is fixedly connected to the base motor mounting bracket, the base bevel gear is mounted on the base motor shaft and provided with a threaded hole and locked on the base motor shaft by a jackscrew, the base bevel gear is mounted on the base reducer shaft and provided with a threaded hole and locked on the base reducer shaft by a jackscrew, and the base bearing is mounted between the base reducer shaft and the upper base case, the base speed reducer is provided with a threaded hole, and the base transmission flange is fixedly connected to the base speed reducer.
As a preferred embodiment, an end of the boom housing of the boom is circumferentially provided with an unthreaded hole, the end of the boom housing is fixedly connected to the base transmission flange, a threaded hole is formed in a side surface of the boom housing, the boom cover is fixedly connected to the boom housing, the boom motor cover is mounted on the boom housing, the boom housing of the boom is provided with a wire mounting bracket for fixing a wire, the boom motor mounting bracket is fixedly mounted at a designated position inside the boom housing, the boom motor mounting bracket is provided with a hole, the boom motor is fixedly mounted at one end of the boom motor mounting bracket, the boom shaft sleeve penetrates through the boom motor shaft and is fixedly mounted at the other end of the boom motor mounting bracket, the boom motor shaft is provided with a key groove, the movable arm synchronous belt driving wheel is installed on a motor shaft in a key connection mode, a threaded hole is formed in the driving wheel, the driving wheel is locked on the motor shaft through a jackscrew, the movable arm driving wheel and the movable arm driven wheel are connected through the movable arm synchronous belt to transmit power, a threaded hole is formed in the movable arm speed reducer, the movable arm driven wheel is fixedly connected to one end of the movable arm speed reducer, the two movable arm shell is fixedly connected to the other end of the movable arm speed reducer, the movable arm driven wheel, the movable arm speed reducer and the two movable arm shells are fixedly connected to the movable arm shell as a whole.
As a preferred embodiment, a threaded hole is formed in a side surface of the two-movable-arm casing, the two-movable-arm cover is fixedly connected to the two-movable-arm casing, the two-movable-arm motor mounting bracket is fixedly mounted at a designated position inside the two-movable-arm casing, a hole is formed in the two-movable-arm motor mounting bracket, the two-movable-arm motor is fixedly mounted at one end of the two-movable-arm motor mounting bracket, the two-movable-arm shaft sleeve penetrates through the two-movable-arm motor shaft and is fixedly mounted at the other end of the two-movable-arm motor mounting bracket, the two-movable-arm driving wheel and the two-movable-arm driven wheel are connected through the two-movable-arm synchronous belt to transmit power, a threaded hole is formed in the two-movable-arm speed reducer, the two, the two-movable-arm driven wheel, the two-movable-arm speed reducer and the two-movable-arm transmission flange are fixedly connected to the two-movable-arm shell as a whole.
As a preferred embodiment, the base bevel gear, the base reducer, the base transmission flange, the first movable arm driven wheel, the first movable arm reducer, the second movable arm driven wheel, the second movable arm reducer, and the second movable arm transmission flange are all designed to be hollow in the middle for wiring.
As a preferred embodiment, the base housing is designed in a two-section mode, is connected by bolts, is convenient to install, adopts a bevel gear to transmit power, and is horizontal, and the base bearings between the base reducer shaft and the base upper housing are both angular contact ball bearings and can bear radial load and axial load at the same time.
After the technical scheme is adopted, the beneficial effects of the utility model are that: the bionic mechanical arm has the advantages that the bionic mechanical arm has seven degrees of freedom through the connection of three groups of components with similar structures, the operation range is wider, the bionic mechanical arm has extremely strong flexibility, the motions do not interfere with each other, the control precision is high, the motion degrees of freedom are high, the structure is compact, and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be 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 inventive exercise.
Fig. 1 is a schematic view of the overall structure of a seven-degree-of-freedom bionic mechanical arm of the present invention;
fig. 2 is a partial cross-sectional view of the overall structure of the bionic mechanical arm with seven degrees of freedom of the utility model;
FIG. 3 is a cross-sectional view of the base structure of the present invention;
fig. 4 is a sectional view of a movable arm structure of the present invention;
fig. 5 is a sectional view of the structure of the two movable arms of the present invention;
FIG. 6 is a partial cross-sectional view of the connection of the base to a boom.
In the figure, 1-base; 2-a first set of movable arms; 3-a first group of second movable arms; 4-a second set of first movable arms; 5-a second set of second movable arms; 6-a third set of first movable arms; 7-a third set of second movable arms; 8-base upper case; 9-base lower chassis; 10-base motor mount; 11-a base motor; 12-base bevel gear; 13-base bevel gear; 14-base reducer; 15-a pedestal bearing; 16-angular contact ball bearings; 17-a base drive flange; 18-a boom housing; 19-a boom cover; 20-a boom motor cover plate; 21-a boom motor mounting bracket; 22-a boom motor; 23-a boom sleeve; 24-a boom drive wheel; 25-a movable arm driven wheel; 26-a movable arm synchronous belt; 27-a boom reducer; 28-two boom housings; 29-two boom covers 29; 30-two boom motor mounting frames; 31-two boom motors; 32-two movable arm shaft sleeves; 33-two movable arm synchronous belt driving wheels; 34-two movable arm driven wheels; 35-two movable arm synchronous belts; 36-two boom reducers; 37-two-boom drive flange.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in 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.
Example (b):
as shown in fig. 1-6 the utility model discloses a novel seven-degree-of-freedom bionic mechanical arm, which comprises a base 1, a first group of movable arm 2, a first group of second movable arm 3, a second group of movable arm 4, a second group of second movable arm 5, a third group of movable arm 6 and a third group of second movable arm 7.
As shown in the overall structural diagram of fig. 1, the present embodiment has seven rotational degrees of freedom of R1, R2, R3, R4, R5, R6, and R7, and can control the seven rotational degrees of freedom to operate independently, so that the present embodiment has a wider working range and higher flexibility.
The first group of movable arm parts is used for illustration, and the structure of the group of parts mainly comprises two movable arms:
as shown in fig. 3, the base includes a base upper housing 8, a base lower housing 9, a base motor mounting bracket 10, a base motor 11 for providing a rotary power to a boom, a base bevel gear 12, a base bevel gear 13, a base reducer 14, a base bearing 15, a base bearing 16, and a base transmission flange 17.
As shown in fig. 4 to 5, a boom includes a boom housing 18, a boom cover 19, a boom motor cover 20, a boom motor mounting frame 21, a boom motor 22, a boom bushing 23, a boom driving pulley 24, a boom driven pulley 25, a boom timing belt 26, and a boom reducer 27.
The two-boom comprises a two-boom housing 28, a two-boom cover 29, a two-boom motor mounting frame 30, a two-boom motor 31, a two-boom shaft sleeve 32, a two-boom driving wheel 33, a two-boom driven wheel 34, a two-boom synchronous belt 35, a two-boom speed reducer 36 and a two-boom transmission flange 37.
The unthreaded hole has been seted up to casing 8 under the base of base 1 and casing 9 under the base, through bolt fixed connection together, and casing 9 inside weld has base motor mounting bracket 10 under the base, and base motor mounting bracket 10 has the floor, plays the supporting role.
The base motor mounting frame 10 is provided with a wire inlet hole and a light hole, and the base motor 11 is fixedly connected to the base motor mounting frame 10 through bolts; the base bevel gear 12 is installed on a motor shaft, a threaded hole is formed in the base bevel gear 12, and the base bevel gear is locked on the motor shaft through a jackscrew.
The base bevel gear 13 is installed on the speed reducer shaft, and a threaded hole is formed in the base bevel gear 13 and locked on the speed reducer shaft through a jackscrew.
A base bearing 15 and a base bearing 16 are arranged between the shaft of the base reducer 14 and the upper shell, a threaded hole is formed in the base reducer 14, and a base transmission flange 17 is fixedly connected to the base reducer 14 through screws. The base bevel gear 13, the base reducer 14 and the base transmission flange 17 are all designed to be hollow in the middle and used for wiring.
The end part of a movable arm shell 18 is circumferentially provided with a light hole and is fixedly connected on a base transmission flange 17 of a base through a screw, the side surface of the movable arm shell 18 is provided with a threaded hole, a movable arm cover 19 is fixedly connected on the movable arm shell 18 through a screw, and a motor cover 20 is connected on the motor mounting position of the movable arm shell 18 in an over-fit mode. A movable arm housing 18 is provided with a wire mounting bracket inside, and the wire is fixed to the bracket.
A boom motor mounting bracket 21 is provided with a hole and is fixedly connected to the inside of a boom housing 18 by a screw, a boom motor 22 is fixedly connected to one end of the boom motor mounting bracket 21 by a bolt, and a boom bushing 23 penetrates through a motor shaft and is fixedly connected to the other end of the boom motor mounting bracket 21 by a screw.
A shaft of a movable arm motor 22 is provided with a key groove, a movable arm driving wheel 24 is arranged on a motor shaft in a key connection mode, and a threaded hole is formed in the driving wheel 24 and locked on the motor shaft through a jackscrew.
A boom driving pulley 24 and a boom driven pulley 25 transmit power through a boom timing belt 26.
A movable arm reducer 27 is provided with a threaded hole, a movable arm driven wheel 25 is fixedly connected with one end of the movable arm reducer 27 through a screw, two movable arm shells 28 are fixedly connected with the other end of the movable arm reducer 27 through screws, and the movable arm driven wheel 25 and the movable arm reducer 27 are both of hollow design in the middle and are used for wiring.
A boom follower 25, a boom reducer 27, and a boom housing 28 are fixedly coupled to a boom housing 18 as a whole by bolts.
The side of the two-movable-arm housing 28 is provided with a threaded hole, and the two-movable-arm cover 29 is fixedly connected to the two-movable-arm housing 28 by screws. The casing of the two-arm motor casing 28 is provided with a hole, and the two-arm motor mounting bracket 30 is fixedly connected inside the two-arm motor casing 28 through a bolt.
The two-movable-arm motor mounting frame 30 is provided with an unthreaded hole and a threaded hole, the two-movable-arm motor 31 is fixedly mounted at one end of the two-movable-arm motor mounting frame 30 through a bolt, and the two-movable-arm shaft sleeve 32 penetrates through a motor shaft and is fixedly connected at the other end of the two-movable-arm motor mounting frame 30 through a screw.
The shaft of the two-movable-arm motor 31 is provided with a key groove, the two-movable-arm driving wheel 33 is mounted on the motor shaft through key connection, the driving wheel 33 is provided with a threaded hole and locked on the motor shaft through a jackscrew.
The two-arm drive pulley 33 and the two-arm driven pulley 34 transmit power via a two-arm timing belt 35.
The two-movable-arm speed reducer 36 is provided with a threaded hole, the two-movable-arm driven wheel 34 is fixedly connected to one end of the two-movable-arm speed reducer 36 through a screw, the two-movable-arm transmission flange 37 is fixedly connected to the other end of the two-movable-arm speed reducer 36 through a screw, and the two-movable-arm driven wheel 34, the two-movable-arm speed reducer 36 and the two-movable-arm transmission flange 37 are all hollow in the middle and are.
The boom follower 34, the boom reducer 36, and the boom transmission flange 37 are fixedly connected to the boom housing 28 as a whole by bolts.
The second group of the first movable arm 4, the second group of the second movable arm 5, the third group of the first movable arm 6 and the third group of the second movable arm 7 of the second group have the same structure and connection mode.
The tail end of the third group of second movable arms 7 can be connected with a manipulator, so that the requirement of industrial production is met.
The base 1 is provided with a motor for transmitting rotation power, so that the rotation freedom degree R1, the first group of first movable arms 2, the first group of second movable arms 3, the second group of first movable arms 4, the second group of second movable arms 5, the third group of first movable arms 6 and the third group of second movable arms 7 are realized, and the rotation freedom degrees R2, R3, R4, R5, R6 and R7 are realized through a driving wheel and driven wheel synchronous belt.
The base 1 has a shell adopting a two-section design, is connected by bolts, is convenient to install, adopts a bevel gear to transmit power, and is horizontally laid by a motor.
The bearings between the shaft of the base-base reducer 14 and the base upper housing 8 are angular contact ball bearings, which can simultaneously bear radial and axial loads.
The base bevel gear 12, the base bevel gear 13, the first movable arm speed reducer 27, the second movable arm speed reducer 36, the base transmission flange 17 and the second movable arm transmission flange 37 are all of hollow design, and electric wires penetrate through the hollow design and are used for wiring.
Ribbed plates are arranged at the installation positions of the motor and the speed reducer on the first group of the first movable arm machine shell 18, the second movable arm machine shell 28, the base transmission flange 17 and the second movable arm transmission flange 37, and play a role in supporting and increasing the strength.
The motors of the movable arms are provided with control modules and are controlled by computer programs to independently work, the motors independently rotate according to the pose change requirements to be realized, the power of the motors is transmitted through synchronous belt wheel devices in the movable arms, the independent change of seven degrees of freedom is realized, and the pose change requirements are further realized.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a bionic robotic arm of seven degrees of freedom, includes a base and three group arm structures, the arm structure is by a swing arm and two swing arm alternate connection, totally 3 groups, connect after accomplishing wholly connect to on the base, its characterized in that: the base comprises a base upper shell, a base lower shell, a base motor mounting frame, a base motor, a base bevel gear, a base reducer, a base bearing and a base transmission flange, wherein the movable arm comprises a movable arm shell, a movable arm cover, a movable arm motor mounting frame, a movable arm motor, a movable arm shaft sleeve, a movable arm driving wheel, a movable arm driven wheel, a movable arm synchronous belt and a movable arm reducer, and the two movable arms comprise a two-movable arm shell, a two-movable arm cover, a two-movable arm motor mounting frame, a two-movable arm motor, a two-movable arm shaft sleeve, a two-movable arm driving wheel, a two-movable arm driven wheel, a two-movable arm synchronous belt, a two-.
2. The seven-degree-of-freedom bionic mechanical arm according to claim 1, characterized in that: the base is characterized in that the upper base shell and the lower base shell of the base are provided with unthreaded holes which are fixedly connected through bolts, the lower base shell is welded with the base motor mounting frame, ribbed plates are arranged below the base motor mounting frame, the base motor mounting frame is provided with wire inlet holes and unthreaded holes, the base motor is fixedly connected on the base motor mounting frame, the base bevel gear is arranged on the motor shaft of the base, the base bevel gear is provided with threaded holes and is locked on the motor shaft of the base through jackscrews, the base bevel gear is arranged on the shaft of the base speed reducer and is locked on the shaft of the base speed reducer through jackscrews, the base bearing is arranged between the shaft of the base speed reducer and the upper base shell, and the base speed reducer is provided with threaded holes, the base transmission flange is fixedly connected to the base speed reducer.
3. The seven-degree-of-freedom bionic mechanical arm according to claim 1, characterized in that: the end part of the movable arm shell of the movable arm is circumferentially provided with a unthreaded hole, the end part of the movable arm shell is fixedly connected to the base transmission flange, the side surface of the movable arm shell is provided with a threaded hole, the movable arm cover is fixedly connected to the movable arm shell, the movable arm motor cover is arranged on the movable arm shell, the two movable arms are provided with wire mounting brackets for fixing wires, the movable arm motor mounting bracket is fixedly arranged at a designated position in the movable arm shell, the movable arm motor mounting bracket is provided with a hole position, the movable arm motor is fixedly arranged at one end of the movable arm motor mounting bracket, the movable arm shaft sleeve penetrates through the movable arm motor shaft and is fixedly arranged at the other end of the movable arm motor mounting bracket, the movable arm motor shaft is provided with a keyway, and the movable arm synchronous belt driving wheel is arranged on the motor shaft in a key connection mode, the movable arm driven wheel is fixedly connected to one end of the movable arm speed reducer, the two movable arm shells are fixedly connected to the other end of the movable arm speed reducer, the movable arm driven wheel, the movable arm speed reducer and the two movable arm shells are fixedly connected to the movable arm shell as a whole.
4. The seven-degree-of-freedom bionic mechanical arm according to claim 1, characterized in that: the side surface of the two-movable-arm shell is provided with a threaded hole, the two-movable-arm cover is fixedly connected to the two-movable-arm shell, the two-movable-arm motor mounting frame is fixedly mounted at an appointed position in the two-movable-arm shell, a hole position is formed in the two-movable-arm motor mounting frame, the two-movable-arm motor is fixedly mounted at one end of the two-movable-arm motor mounting frame, the two-movable-arm shaft sleeve penetrates through the two-movable-arm motor shaft and is fixedly mounted at the other end of the two-movable-arm motor mounting frame, the two-movable-arm driving wheel and the two-movable-arm driven wheel are connected through the two-movable-arm synchronous belt to transmit power, the two-movable-arm speed reducer is provided with a threaded hole, the two-, the two-movable-arm speed reducer and the two-movable-arm transmission flange are fixedly connected to the two-movable-arm casing as a whole.
5. The seven-degree-of-freedom bionic mechanical arm according to claim 1, characterized in that: the base bevel gear, the base speed reducer, the base transmission flange, the movable arm driven wheel, the movable arm speed reducer, the two movable arm driven wheel, the two movable arm speed reducer and the two movable arm transmission flange are all designed to be hollow in the middle and used for wiring.
6. The seven-degree-of-freedom bionic mechanical arm according to claim 2, characterized in that: the base shell adopts a two-section design, is connected by bolts, is convenient to install, adopts bevel gears to transmit power, and the motor is horizontal, the base reducer shaft and the base bearing between the base upper shell are both angular contact ball bearings which can bear radial load and axial load simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020069569.4U CN211916828U (en) | 2020-01-13 | 2020-01-13 | Bionic mechanical arm with seven degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020069569.4U CN211916828U (en) | 2020-01-13 | 2020-01-13 | Bionic mechanical arm with seven degrees of freedom |
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| CN211916828U true CN211916828U (en) | 2020-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020069569.4U Active CN211916828U (en) | 2020-01-13 | 2020-01-13 | Bionic mechanical arm with seven degrees of freedom |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618701A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator, rotary table thereof and teleoperation equipment |
| CN113618699A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator, transmission structure thereof and teleoperation equipment |
-
2020
- 2020-01-13 CN CN202020069569.4U patent/CN211916828U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618701A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator, rotary table thereof and teleoperation equipment |
| CN113618699A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator, transmission structure thereof and teleoperation equipment |
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