CN213674118U - Light-weight type six-degree-of-freedom mechanical arm - Google Patents

Abstract

The utility model discloses a six degree of freedom arms of light weight type mainly includes arm base, one-level arm, second grade arm, electronic drive board and manipulator, arm base installs on upper portion splint, and splint front side fixed mounting has the one-level arm, and the pivot is installed to one-level arm left end, and pivot middle part fixed mounting has second grade arm steering wheel frame, and second grade arm steering wheel frame right end fixed mounting has the second grade arm, second grade arm steering wheel frame middle part fixed mounting has the second grade arm steering wheel. The utility model has simple and reasonable structure design, and the six-freedom structure ensures the excellent flexibility of the mechanical arm; good posture stability and high motion precision; the mechanical arm has higher load-weight ratio, strong grabbing capacity and lighter weight; the operation is simple, remote control and intelligent image recognition can be realized; the center of gravity is low and is positioned in the center of the gravity, so that the motion precision and the motion stability are good; compared with the mechanical arm with the same functions on the market, the mechanical arm is lower in cost.

Description

Light-weight type six-degree-of-freedom mechanical arm

Technical Field

The utility model relates to a mechanical arm, specifically be a six degree of freedom mechanical arms of light weight type.

Background

A robotic arm refers to an automated device that mimics some of the motion of a human hand and arm, and is used to hold a program for grasping, carrying objects, or operating tools. Through surveying current robot platform in the market, we find that current arm mainly divide into serial-type arm and parallel arm, and wherein serial-type arm is more common, and the suitability of serial-type arm is more extensive, and the flexibility is higher, and the parallel arm then is common in mill's assembly line and 3D printing trade, and the universality is lower.

Most of the common serial mechanical arms in the current market are used in large-scale factory production lines and the front-end field of medical treatment and scientific research, most of the serial mechanical arms are expensive in manufacturing cost and large in size, and a light-weight mechanical arm is lacked.

Accordingly, a light-weight six-degree-of-freedom robot arm is provided by those skilled in the art to solve the problems set forth in the background above.

Disclosure of Invention

An object of the utility model is to provide a six degree of freedom arms of light weight type to solve the problem that proposes among the above-mentioned background art.

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

a light-weight type six-degree-of-freedom mechanical arm mainly comprises a mechanical arm base, a primary arm, a secondary arm, an electronic driving plate and a mechanical arm, the upper part of the mechanical arm base is provided with a clamping plate, the front side of the clamping plate is fixedly provided with a primary arm, the left end of the primary arm is provided with a rotating shaft, the middle part of the rotating shaft is fixedly provided with a secondary arm steering engine base, the right end of the secondary arm steering engine base is fixedly provided with a secondary arm, the middle part of the second-stage arm steering gear seat is fixedly provided with a second-stage arm steering gear, the right end of the second-stage arm is provided with a manipulator, the manipulator is connected with the second-stage arm steering gear through the second-stage arm, the clamp plate comprises a clamp plate body, a clamp plate and a clamp plate, wherein the clamp plate body is provided with a clamping plate, the clamping plate.

As a further aspect of the present invention: the mechanical arm base comprises a potentiometer, a base support, a worm gear, a transmission gear and a base steering gear, the worm gear is installed in the middle of the base support in a rotating mode, the base steering gear is fixedly installed on the upper portion of the left side of the base support, the transmission gear is fixedly installed at the front end of a motor shaft of the base steering gear and the front end of a worm in the worm gear, the transmission gear is connected in a meshed mode, the potentiometer matched with the worm gear is fixedly installed on the upper right of the base support, and the rear portion of the top end of the base support is.

As a further aspect of the present invention: the second-stage arm mainly comprises a first gripper motor base, a carbon tube and an aluminum shaft, a carbon tube clamp is fixedly mounted at the left end of the carbon tube, the left end of the carbon tube clamp is fixedly connected with a second-stage arm rudder base, a bearing seat is fixedly mounted at the left end of the carbon tube, an aluminum shaft is rotatably mounted at the middle of the bearing seat, a motor shaft of the second-stage arm steering engine is fixedly connected with the left end of the aluminum shaft, the right end of the aluminum shaft is fixedly connected with the first gripper motor base, and the first gripper motor base is rotatably connected with the.

As a further aspect of the present invention: the manipulator mainly comprises a second mechanical claw motor, a mechanical claw and a first mechanical claw motor, wherein the mechanical claw is fixedly installed on a motor shaft of the first mechanical claw motor, the second mechanical claw motor is fixedly installed in the middle of the mechanical claw, and the second mechanical claw motor is assembled and connected with the mechanical claw through a lead screw lever.

As a further aspect of the present invention: the electronic driving board is electrically connected with the potentiometer, the base steering engine, the secondary arm steering engine, the second mechanical claw motor, the first mechanical claw motor and the primary arm steering engine through a wiring harness, and the electronic driving board is electrically connected with an external power supply through the wiring harness.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model has simple and reasonable structure design, and the six-freedom structure ensures the excellent flexibility of the mechanical arm; good posture stability and high motion precision; the mechanical arm has higher load-weight ratio, strong grabbing capacity and lighter weight; the operation is simple, remote control and intelligent image recognition can be realized; the center of gravity is low and is positioned in the center of the gravity, so that the motion precision and the motion stability are good; compared with the mechanical arm with the same functions on the market, the mechanical arm is lower in cost.

Drawings

Fig. 1 is a schematic structural diagram of a lightweight six-degree-of-freedom robot arm.

Fig. 2 is a structural schematic diagram of a first gripper motor, a second gripper motor and a gripper in a light-weight six-degree-of-freedom mechanical arm.

Fig. 3 is a schematic structural diagram between a base of a mechanical arm and a base steering engine in a light-weight six-degree-of-freedom mechanical arm.

Fig. 4 is a schematic structural diagram of a carbon tube, an aluminum shaft and a secondary arm steering engine in a light-weight six-degree-of-freedom mechanical arm.

In the figure: slewing bearing 1, potentiometre 2, base support 3, worm gear 4, drive gear 5, base steering wheel 6, splint 7, synchronizing wheel 8, first gripper motor cabinet 9, carbon pipe 10, one-level arm 11, second grade arm steering wheel 12, pivot 13, second grade arm rudder frame 14, second gripper motor 15, gripper 16, bearing frame 17, carbon pipe clamp 18, aluminium axle 19, first gripper motor 20, one-level arm steering wheel 21, electronic drive board 22.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected" and "disposed" are to be construed broadly, and may for example be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

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 work belong to the protection scope of the present invention.

Referring to fig. 1 to 4, in the embodiment of the present invention, a light-weight six-degree-of-freedom mechanical arm mainly includes a mechanical arm base, a first-order arm 11, a second-order arm, an electronic driving board 22 and a mechanical arm, wherein a clamping plate 7 is installed on the upper portion of the mechanical arm base, the first-order arm 11 is fixedly installed on the front side of the clamping plate 7, a rotating shaft 13 is installed on the left end of the first-order arm 11, a second-order arm steering engine base 14 is fixedly installed in the middle of the rotating shaft 13, the second-order arm is fixedly installed on the right end of the second-order arm steering engine base 14, a second-order arm steering engine 12 is fixedly installed in the middle of the second-order arm steering engine base 14, the mechanical arm is assembled and installed with the second-order arm steering engine 12 through the second-order arm, the first-order arm steering engine 21 is, synchronizing wheel 8 is connected with one-level arm steering wheel 21 through synchronous belt, one-level arm 11 front side fixed mounting has electronic drive plate 22.

The mechanical arm base comprises a potentiometer 2, a base support 3, a worm gear 4, a transmission gear 5 and a base steering gear 6, the worm gear 4 is installed at the middle of the base support 3 in a rotating mode, the base steering gear 6 is fixedly installed on the upper portion of the left side of the base support 3, the transmission gear 5 is fixedly installed at the front end of a motor shaft of the base steering gear 6 and the front end of a worm in the worm gear 4 and is connected with the transmission gear 5 in a meshed mode, the potentiometer 2 matched with the worm gear 4 is fixedly installed at the upper right of the base support 3, and the rear portion of the top end of the base support is fixedly.

The second grade arm mainly includes first gripper motor cabinet 9, carbon pipe 10 and aluminium axle 19, carbon pipe 10 left end fixed mounting has carbon pipe clamp 18, carbon pipe clamp 18 left end fixed connection second grade arm rudder frame 14, carbon pipe 10 left end fixed mounting has bearing frame 17, and bearing frame 17 mid-rotation installs aluminium axle 19, the 19 left ends of motor shaft fixed connection aluminium axle of second grade arm steering wheel 12, the first gripper motor cabinet 9 of 19 right-hand members fixed connection of aluminium axle, first gripper motor cabinet 9 rotates with carbon pipe 10 to be connected.

The manipulator mainly comprises a second mechanical claw motor 15, a mechanical claw 16 and a first mechanical claw motor 20, wherein the mechanical claw 16 is fixedly installed on a motor shaft of the first mechanical claw motor 20, the second mechanical claw motor 15 is fixedly installed in the middle of the mechanical claw 16, and the second mechanical claw motor 15 is assembled and connected with the mechanical claw 16 through a screw rod lever.

The electronic driving plate 22 is electrically connected with the potentiometer 2, the base steering engine 6, the secondary arm steering engine 12, the second mechanical claw motor 15, the first mechanical claw motor 20 and the primary arm steering engine 21 through a wire harness, and the electronic driving plate 22 is electrically connected with an external power supply through the wire harness.

The opening and closing of the mechanical claws are powered by a mechanical claw motor, the freedom degree power of the mechanical claws is provided by a steering engine and a rotating motor together, the power of the primary arm and the power of the secondary arm are powered by a 3508 motor, and the power of the mechanical arm base is provided by a Dajiang 2006 motor;

base rotation power is provided by Da Jiang 2006 and provided by a worm gear;

the first-stage arm and the second-stage arm are both built by a carbon tube and a carbon plate, and power output is carried out by matching a motor with a synchronous belt;

the first rotational degree of freedom of the manipulator is realized by transmitting power to the manipulator end through a steering engine at the joint of the primary arm and the secondary arm through a hollow aluminum pipe;

the opening and closing of the manipulator are powered by a motor through a lead screw mechanism, and the number of claws is adjustable.

Design difficulty and innovation point

(1) How to move down a part of freedom degree power supply source of a mechanical arm to move down the integral gravity center of the mechanical arm

(2) How to enable the base to rotate more stably and enable the base to rotate more stably through the worm gear structure

(3) Control of how to realize opening and closing of mechanical claw by screw rod structure

Principle of design of each unit

The mechanical arm comprises five parts, namely a mechanical arm base, a primary arm, a secondary arm, a mechanical claw and an electronic drive plate, wherein the mechanical part is mainly used for unfolding description below

Drive unit

The rotary power of the mechanical arm base is provided by matching a Dajiang 2006 motor with a small worm and gear mechanism, and the motor reduces the output rotating speed through a worm and gear and improves the output torque; the power of the primary arm and the power of the secondary arm are output by an M3508 motor through a synchronous belt; the power of the mechanical claw is output by matching a 6020 motor with the steering engine.

Mechanical arm base unit

The rotary power of the mechanical arm base is provided with power by a small-sized worm and gear mechanism matched with a motor in Dajiang 2006, the motor reduces the output rotating speed through the worm and gear to improve the output torque, so that the rotation of the mechanical arm base is more stable, in addition, the idle rotation of the mechanical arm base is also prevented by the self-locking function of the worm and gear, the stability of the mechanical arm is further improved, and in addition, the base part is supported by a rotary bearing and can bear stress in all directions.

First-stage arm and second-stage arm unit

The first-stage arm and the second-stage arm are constructed by matching a carbon tube with a carbon plate and a carbon tube clamp, and are light in weight; the lifting power of the primary arm is output by a motor M3508 of Da Jiang together with a synchronous belt, the reduction ratio of the synchronous belt further amplifies the lifting power, in addition, the tension of the synchronous belt is realized by a lead screw matched with a top block, and a tension rod passes through carbon plates at two sides, so that the defect of cantilever beam type tension is avoided; the power output at the secondary arm is the same as the power output of the primary arm.

Primary rotating unit of mechanical claw

The gripper has a rotational degree of freedom, but if a steering engine for providing power is placed at the gripper part, the gravity center of the gripper is too over, and the power output load of the first-stage arm and the second-stage arm is too large when the gripper picks up an article, so that the power output steering engine with the rotational degree of freedom moves backwards, moves to the joint of the second-stage arm and the first-stage arm, and transmits power through a hollow aluminum pipe, and meanwhile, the bearing seat is matched with a bearing to ensure that the rotation center of the aluminum pipe does not deviate.

Manipulator unit

The manipulator has three degrees of freedom of left, right, up and down and rotation, wherein the left, right and up and down degrees of freedom are powered by a large-torque steering engine, the degree of freedom of rotation is added for the functions of screwing a bottle cap and screwing a screw and the like, the degree of freedom is a two-stage rotating unit, the degree of freedom is powered by a small motor, a potentiometer is additionally arranged for angle measurement, in addition, the part of the outer end connected with a mechanical claw is used for avoiding that the radial bending moment of the mechanical claw on the output shaft of the small motor causes too large load on the motor, and a direct-push bearing is additionally arranged at the connection part of the mechanical claw, so.

The opening and closing of the mechanical claw are powered by another small motor through a screw rod and a lever structure, and in addition, the mechanical claw can switch between a second claw and a third claw through adjusting distribution, so that the adaptability of the mechanical claw is further improved.

Control unit

Electronic control unit

The mechanical arm control system mainly comprises five parts, namely an upper computer communication module, a base control module, a large arm control module, a small arm control module, a mechanical claw control module and an angle sensor module, and the main control process is as follows: the upper computer utilizes angle sensor data returned from the bottom layer to settle the respective degree-of-freedom kinematics of the mechanical arm, and after settlement is completed, the upper computer communication module converts a control instruction into a CAN signal and sends the CAN signal to the bottom layer control module to control a steering engine and a motor, so that the postures of the mechanical arm and the mechanical claw are controlled. Wherein, the return data mainly comprises: the current angle value of the base, the current angle values of the large arm and the small arm and the angle value of the steering engine of the mechanical claw; the control instructions include: the control method comprises a base position control instruction, a big arm position control instruction, a small arm position control instruction, and a mechanical claw axial rotation, left and right up and down and opening and closing instructions. The upper computer utilizes real-time returned data to perform real-time dynamic motion settlement, an angle instruction is sent to the base and the large and small arm control modules, the bottom layer MCU calculates the motor speed by combining an angle potentiometer value, sends a current value to the base and the large and small arm motors to perform angle control, sends the angle instruction to the gripper control module, and converts the angle value into corresponding PWM (pulse width modulation) and sends the PWM to the steering engine to perform gripper attitude control, so that the operation requirement of the six-degree-of-freedom mechanical arm is met.

Software control unit

The mechanical arm is a six-degree-of-freedom mechanical arm with a three-jaw type mechanical arm which is independently designed and is controlled by an electronic mechanical arm module and an ROS (reactive oxygen species) system of software. The software part specifies a rotation command for controlling each degree of freedom of the mechanical arm through analyzing a button and a rocker of the handle, then the rotation command is resolved and issued through an arm _ controller, the rotation command and other controllers are sent to a hardware node together for further analysis and unified processing, an issued message is packaged by an electronic protocol, and a final protocol message is sent to an electronic layer through a can board.

The electronic layer is used for decapsulating and motion settlement of commands by an electronic mechanical arm module, and converting the commands into rotation speeds or angles of all degrees of freedom of the mechanical arm to complete accurate control of the mechanical arm.

The utility model discloses a theory of operation is:

the utility model relates to a light-weight type six-freedom-degree mechanical arm, which is used for realizing the functions of a robot,

the utility model has simple and reasonable structure design, convenient and fast use and high practicability,

through investigation and analysis to current middle-size and small-size arm, combine the design idea of nimble snatching and easy dismounting simultaneously, we list the following target that will realize:

1. six degrees of freedom of the mechanical arm are realized, and the flexibility of the mechanical arm is ensured.

2. The higher grabbing capacity is realized: the combination of the motor and the steering engine is selected to provide power for the mechanical arm, and the position at the bottom of which the torsion is required to be larger adopts a reasonable transmission mode to realize stable torsion output.

3. The higher load-weight ratio of the mechanical arm is realized: when the mechanical arm has better grabbing capacity, the self weight of the mechanical arm is reduced by using light materials and structures, and the higher load self weight ratio of the mechanical arm is realized.

4. Better intellectualization is realized: and remote control and image recognition are realized through the camera carried on the mechanical arm.

5. The arm extension of 1 meter is realized, and the fully-extended length of the mechanical arm is about 1 meter.

6. Reduce the burden that the arm self brought when snatching: the power and structural components of each joint are reasonably arranged, so that the mass center of each joint is close to the bottom, and the resistance brought by the mechanical arm when the mechanical arm is grabbed is effectively reduced.

The product is mainly controlled by a mechanical structure and assisted by electronic software, and is realized by a simpler mechanical structure, so that the overall stability is enhanced. Stable structure and simple control. On the basis of nimble snatching, reduce the loss, raise the efficiency, can realize the discernment and the mark to image, article and personnel, multinomial advantage coexists, and the range of application is wide.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (5)

1. A light-weight type six-degree-of-freedom mechanical arm mainly comprises a mechanical arm base, a first-level arm (11), a second-level arm, an electronic driving plate (22) and a mechanical arm, and is characterized in that a clamp plate (7) is installed on the upper portion of the mechanical arm base, the first-level arm (11) is fixedly installed on the front side of the clamp plate (7), a rotating shaft (13) is installed at the left end of the first-level arm (11), a second-level arm steering engine base (14) is fixedly installed in the middle of the rotating shaft (13), the second-level arm steering engine base (14) is fixedly installed at the right end of the second-level arm (14), a second-level arm steering engine (12) is fixedly installed in the middle of the second-level arm steering engine base (14), the mechanical arm is assembled and installed at the right end of the second-level arm, the mechanical arm is connected with the second, slewing bearing (1) middle part and pivot (13) rear end fixed mounting have synchronizing wheel (8), and synchronizing wheel (8) are connected with one-level arm steering wheel (21) through synchronous belt, one-level arm (11) front side fixed mounting has electronic drive board (22).

2. A light-weight six-degree-of-freedom mechanical arm according to claim 1, characterized in that the mechanical arm base comprises a potentiometer (2), a base support (3), a worm gear (4), a transmission gear (5) and a base steering gear (6), the worm gear (4) is rotatably mounted in the middle of the base support (3), the base steering gear (6) is fixedly mounted on the upper portion of the left side of the base support (3), the transmission gear (5) is fixedly mounted at the front end of a motor shaft of the base steering gear (6) and a worm in the worm gear (4), the transmission gear (5) is meshed and connected, the potentiometer (2) matched with the worm gear (4) is fixedly mounted on the upper right of the base support (3), and the rear portion of the top end of the base support (3) is fixedly connected with the right portion of the bottom.

3. A light-weight six-degree-of-freedom mechanical arm according to claim 1, wherein the secondary arm mainly comprises a first gripper motor base (9), a carbon tube (10) and an aluminum shaft (19), a carbon tube clamp (18) is fixedly mounted at the left end of the carbon tube (10), a secondary arm rudder base (14) is fixedly connected at the left end of the carbon tube clamp (18), a bearing base (17) is fixedly mounted at the left end of the carbon tube (10), the aluminum shaft (19) is rotatably mounted in the middle of the bearing base (17), a motor shaft of the secondary arm steering engine (12) is fixedly connected with the left end of the aluminum shaft (19), a first gripper motor base (9) is fixedly connected at the right end of the aluminum shaft (19), and the first gripper motor base (9) is rotatably connected with the carbon tube (10).

4. A light-weight six-degree-of-freedom mechanical arm according to claim 1, wherein the mechanical arm mainly comprises a second mechanical claw motor (15), a mechanical claw (16) and a first mechanical claw motor (20), a motor shaft of the first mechanical claw motor (20) is fixedly provided with the mechanical claw (16), the middle of the mechanical claw (16) is fixedly provided with the second mechanical claw motor (15), and the second mechanical claw motor (15) is assembled and connected with the mechanical claw (16) through a lead screw lever.

5. A light-weight six-degree-of-freedom mechanical arm according to claim 1, wherein the electronic driving plate (22) is electrically connected with the potentiometer (2), the base steering engine (6), the secondary arm steering engine (12), the second gripper motor (15), the first gripper motor (20) and the primary arm steering engine (21) through a wire harness, and the electronic driving plate (22) is electrically connected with an external power supply through the wire harness.

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