CN214025711U - Multi-degree-of-freedom mechanical arm combined with multifunctional flexible mechanical claw - Google Patents
Multi-degree-of-freedom mechanical arm combined with multifunctional flexible mechanical claw Download PDFInfo
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- CN214025711U CN214025711U CN202022716215.7U CN202022716215U CN214025711U CN 214025711 U CN214025711 U CN 214025711U CN 202022716215 U CN202022716215 U CN 202022716215U CN 214025711 U CN214025711 U CN 214025711U
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- 210000000078 claw Anatomy 0.000 title claims description 84
- 230000007246 mechanism Effects 0.000 claims abstract description 34
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 17
- 238000003801 milling Methods 0.000 claims abstract description 11
- 210000000245 forearm Anatomy 0.000 claims abstract description 9
- 210000003857 wrist joint Anatomy 0.000 claims description 14
- 210000000707 wrist Anatomy 0.000 claims description 11
- 238000010146 3D printing Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 10
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- 238000005452 bending Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 16
- 210000001503 joint Anatomy 0.000 abstract description 6
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- 230000001276 controlling effect Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 5
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- 230000010354 integration Effects 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
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Abstract
The utility model discloses a multi freedom arm that combines multi-functional flexible gripper, including arm base part, arm part, gripper mechanism, control circuit and sensor part, arm base part adaptation "L" type base, the adoption mills processing integrated into one piece, has reserved the space for motor control box and control circuit on the basis that has better mechanical strength, is applicable to the service type robot chassis of multiple model. The invention adopts two special designs to reserve space, so that a control circuit can be arranged in the mechanical arm, and two groups of synchronous wheel synchronous belt transmission mechanisms which are arranged side by side are adopted at the torsion joint of the forearm to reserve space for wiring; at the torsional joint of the base, the invention uses a specially-made routing milling piece which is connected with the motor through the tensioning sleeve and then connected with the bottom bearing through a group of flange mechanisms, thereby reserving a wiring space between the motor and the bearing.
Description
Technical Field
The utility model relates to a mechanical arm, specifically a multi freedom mechanical arm that combines multi-functional flexible gripper.
Background
In the society of today, industrial automation is becoming a great trend. In a large number of industrial robot application scenarios, the design and use of a gripper is involved. Traditionally, a mature industrial gripper can be applied to only a single working condition, such as displacement, loading and unloading, assembly, welding and the like; meanwhile, the mechanical claws are only suitable for clamping a workpiece with a special shape and can only provide constant torque. Therefore, in the field of service robots, there are many limitations to the application of standard industrial type grippers.
In recent years, flexible mechanical claw technology is developed vigorously, and various mature flexible mechanical claw products appear on the market. Theoretically, the mechanical claws have the advantages of simple and light structure and capability of providing softer grabbing torque; meanwhile, the soft claw head can also prevent damage to the precision workpiece. This form of gripper is widely used in today's service robot field.
However, in actual use, the flexible gripper also exposes a number of disadvantages. First, although the flexible mechanical claws on the market relieve the impact caused by clamping through the buffer structure on the surface of the claw head, most mechanical claws lack the force adjusting capability and still cannot clamp fragile workpieces. Secondly, the mechanical claw is simple in structure, and a general mechanical claw only provides a four-claw, three-claw and other centrally symmetrical claw head layout mode; the disadvantage is that the size and shape of the clamped article are greatly limited. In summary, the flexible mechanical claws on the market still cannot balance the contradiction between economy and functionality, and are very much helpful in application.
Accordingly, one skilled in the art has provided a multi-degree of freedom robot arm incorporating a multi-functional flexible gripper to solve the problems set forth in the background above.
Disclosure of Invention
An object of the utility model is to provide a multi freedom arm that combines multi-functional flexible gripper 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 multi-degree-of-freedom mechanical arm combined with a multifunctional flexible mechanical claw comprises a mechanical arm base part, a mechanical arm part, a mechanical claw mechanism, a control circuit and a sensor part, wherein the mechanical arm base part is matched with an L-shaped base and integrally formed by milling, a space is reserved for a motor control box and the control circuit on the basis of better mechanical strength, the multi-degree-of-freedom mechanical arm is suitable for service type robot chassis with various models and has good transplanting characteristics, a stressed part of the mechanical arm part adopts 6061 aluminum material and carbon fiber plate structural parts, the multi-degree-of-freedom mechanical arm has the characteristics of light structure weight, high strength and excellent mechanical property, the weight of the mechanical arm is greatly reduced, the load capacity is effectively improved, crossed roller bearings are used in a mechanical arm joint in a large range, the use of a complex shaft system is avoided, the mechanical arm structure is greatly simplified, and the integration level of the whole mechanical arm system is improved, the assembly difficulty and the maintenance difficulty are reduced; in order to improve the load capacity of the mechanical arm, a harmonic reduction box is used in some necessary joints, and the torque of the motor is transmitted to the reduction box in a synchronous wheel-synchronous belt transmission mode, so that the overall structure is simple and attractive on the premise of increasing the torque, and the volume and the weight of the mechanical arm are effectively controlled; in order to optimize wiring inside the mechanical arm, two special designs are adopted to reserve space at the small arm torsion joint and the base torsion joint, so that a control circuit can be arranged inside the mechanical arm. At the small arm torsion joint, the invention adopts two groups of synchronous wheel synchronous belt transmission mechanisms which are arranged side by side to reserve space for wiring; at the torsional joint of the base, the invention uses a specially-made routing milling piece which is connected with the motor through the tensioning sleeve and then connected with the bottom bearing through a group of flange mechanisms, so that a wiring space is reserved between the motor and the bearing, the mechanical claw mechanism is used as a tail end clamp holder and is arranged at the foremost end of the mechanical arm, and a high-strength 3D printing piece is used as a connecting device, so that the invention has the advantages of light weight, good mechanical reliability and certain aesthetic property. Whole mechanism comprises flange, connection panel beating, high strength printing and flexible claw component, has integrateed two kinds of flexible claw components: one is an active motion type flexible claw, which can be mechanically bent by controlling air pressure to achieve the purpose of clamping; the other is a passive deformation type flexible claw, the flexible claw can be tightly attached to a grabbed object by controlling air pressure, and the shape of the grabbed object is passively adapted, so that the clamping purpose is achieved; the control circuit and the sensor part use an FSR400 film pressure sensor to complete acquisition of the grabbing force data; collecting various attitude data of the mechanical arm by using an angle sensor; the STM32 series microprocessor is used to acquire, process and integrate the sensor data.
As a further aspect of the present invention: carrying mechanical arm design of a mechanical claw: the mechanical arm system uses a brush or brushless servo motor as a power source, has good operation performance, action precision and certain load capacity, and provides technical support for realizing the function of the mechanical claw.
As a further aspect of the present invention: optimizing design of internal routing of the mechanical arm: in order to improve the integration level and the mechanical reliability of the mechanical arm system, the invention carries out integrated design on the routing of the internal circuit of the mechanical arm, optimizes the related mechanical structure and leads the appearance of the invention to be more concise and beautiful on the basis of improving the reliability of the mechanical system.
As a further aspect of the present invention: the design of the multi-degree-of-freedom mechanical arm: the mechanical arm adopted by the invention is a six-axis mechanical arm, has multiple degrees of freedom and good operability, can realize multiple complex actions, and has great effect on improving the capacity of the mechanical claw.
As a further aspect of the present invention: the control part: the mechanical arm power supply is a 24V model airplane battery with the capacity of 16000mA.h, and 24V voltage is converted into 9.6V, 5V and 3.3V voltage through the power management module to supply power for various devices. The robot has several printed circuit boards, the main control board for main control has stm32 chip, and circuit boards, such as power management module and CAN switching module, for power management and signal line shunting.
As a further aspect of the present invention: and (3) mechanical claw mechanism design: the claw head part adopts a controllable air pump as a power source, the contact surface of the claw head and an object adopts flexible materials such as silica gel, and meanwhile, a mechanical sensor is additionally arranged on the contact surface, and the free adjustment of the grabbing force is realized by combining a control circuit of the air pump. In this scheme, the benefit of adopting the air pump has simplified front end mechanical structure greatly, alleviates mechanism weight, has saved the use of complicated stroke track mechanism under the condition that does not reduce moment.
As a further aspect of the present invention: different from the traditional four-claw and three-claw mechanical claw, the claw head adopts a variable claw type, and the invention comprises two technical routes for the variable claw type: firstly, the method comprises the following steps: two claw heads with the symmetry install additional on same coupling mechanism, and a set of claw head is as fixed claw head, and another group is as can change claw head, and the claw head that can change passes through motor or steering wheel drive, rotates around fixed claw head dead axle to adjust claw head shape according to the concrete shape of snatching the article, and then reach more stable effect of snatching. II, secondly: adopt high strength 3D to print as connecting device, integrated multiple type flexible gripper on same claw head to realize different functions, in research and development and in-service use process, I team think the second mode more has the reliability, has consequently adopted the second kind scheme in the development of material object, has made the product now.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses structural design is simple reasonable, uses convenient and fast, and the practicality is very high, and the design of multi-functional flexible gripper, the invention has integrateed two kinds of flexible claw components: one is an active motion type flexible claw, which can be mechanically bent by controlling air pressure to achieve the purpose of clamping; the other is a passive deformation type flexible claw, the flexible claw can be tightly attached to a grabbed object by controlling air pressure, and the shape of the grabbed object is passively adapted, so that the clamping purpose is achieved; in order to optimize wiring inside the mechanical arm, two special designs are adopted to reserve space at the small arm torsion joint and the base torsion joint, so that a control circuit can be arranged inside the mechanical arm, and two groups of synchronous wheel synchronous belt transmission mechanisms which are arranged side by side are adopted at the small arm torsion joint to reserve space for wiring; at the torsional joint of the base, the invention uses a specially-made routing milling piece which is connected with the motor through the tensioning sleeve and then connected with the bottom bearing through a group of flange mechanisms, thereby reserving a wiring space between the motor and the bearing.
Drawings
Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom mechanical arm incorporating a multi-functional flexible gripper.
FIG. 2 is a top view of a multi-degree of freedom robotic arm incorporating a multi-functional flexible gripper.
Fig. 3 is a partial schematic view of a gripper mechanism in a multi-degree-of-freedom robot arm incorporating a multi-functional flexible gripper.
Fig. 4 is a partial top view of a forearm torsion mechanism in a multi-degree-of-freedom mechanical arm combined with a multifunctional flexible mechanical claw.
FIG. 5 is a right side view of a forearm torsion mechanism in a multi-degree-of-freedom mechanical arm incorporating a multi-functional flexible gripper.
FIG. 6 is a left side view of a forearm torsion mechanism in a multi-degree-of-freedom mechanical arm combined with a multi-functional flexible gripper.
Fig. 7 is a cross-sectional view of a multi-degree of freedom robotic arm incorporating a multi-functional flexible gripper between a base joint and a routing mill.
Fig. 8 is a perspective view of routing milling parts in the multi-degree-of-freedom mechanical arm combined with the multifunctional flexible mechanical gripper.
Fig. 9 is a partial view of a base in a multi-degree of freedom robotic arm incorporating a multi-functional flexible gripper.
In the figure: the printing device comprises a base torsion joint 1, an integrated control unit 2, a large arm joint 3, a small arm joint 4, a small arm torsion joint 5, a wrist joint 6, a wrist torsion joint 7, a flexible claw mechanism 8, a harmonic reduction box 9, a passive deformation type flexible claw 10, an active movement type flexible claw 11, a high-strength 3D printing part 12, a motor side active synchronizing wheel 13, a motor side tension wheel 14, a transmission shaft 15, a load side synchronizing wheel 16, a transmission shaft I17, a brush motor control box 18, a mechanical arm power supply management circuit board 19, a mechanical arm control circuit board 20, a brushless servo motor 21, a brush servo motor 22, a Hall angle sensor 23 and a routing milling part 24.
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 9, in an embodiment of the present invention, a multi-degree-of-freedom mechanical arm combining a multifunctional flexible mechanical claw mainly includes a mechanical arm base portion, a mechanical arm portion, a mechanical claw mechanism, a control circuit and a sensor portion, wherein the mechanical arm portion is assembled on the top end of the mechanical arm base portion, the mechanical claw mechanism is assembled on the right end of the mechanical arm portion, the control circuit and the sensor portion include an integrated control unit 2 and a hall angle sensor 23, the integrated control unit 2 includes a brush motor control box 18, a mechanical arm power management circuit board 19 and a mechanical arm control circuit board 20, the mechanical arm base portion mainly includes a base torsion joint 1, the base torsion joint 1 is fixedly connected to the integrated control unit 2, and the mechanical arm portion mainly includes a large arm joint 3, a small arm joint 4, a small arm torsion joint 5, a small arm torsion, The wrist joint 6, the wrist torsion joint 7, the harmonic reduction box 9, the motor side driving synchronous wheel 13, the motor side tension wheel 14, the transmission shaft 15, the load side synchronous wheel 16, the transmission shaft I17, the brushless servo motor 21, the brushed servo motor 22 and the routing milling piece 24, the brushless servo motor 21 is fixedly installed inside the base torsion joint 1, the left part of the front side of the large arm joint 3, the middle part of the small arm joint 4 and the middle part of the rear side of the wrist joint 6, the brushless servo motor 21 positioned in the middle part of the base torsion joint 1 is meshed and connected with the large arm joint 3 through a turbine worm, the large arm joint 3, the small arm joint 4, the small arm torsion joint 5, the wrist joint 6 and the wrist torsion joint 7 are sequentially connected in a rotating manner from left to right, the brush servo motor 22 is fixedly installed in the middle part of the small arm joint 4, and the brushed servo motor 22 is meshed and connected with the small arm torsion joint 5 through a belt, the device comprises a large arm joint 3, a small arm joint 4, a small arm torsion joint 5, a wrist joint 6, a Hall angle sensor 23, a harmonic reduction box 9, a brushless servo motor 21, a motor side driving synchronous wheel 13, a transmission shaft 15, a motor side tension wheel 14, a motor side driving synchronous wheel 13, a transmission shaft 15, a transmission shaft side tension wheel 14, a harmonic reducer 9 and a harmonic reducer 9, wherein the Hall angle sensor 23 is assembled and mounted at the transfer positions of the large arm joint 3 and the wrist torsion joint 7, the harmonic reduction box 9 is connected with the brushless servo motor 21 at the left part of the front side of the large arm joint 3 in an engaged manner through a belt, the brushless servo motor 21 at the middle part of the rear side of the wrist joint 6 is connected with the wrist torsion joint 7 in an engaged manner through a belt, the right end of the brushless servo motor 21 at the middle part of the small arm joint 4 is fixedly mounted, the motor side driving synchronous wheel 13 is mounted at the right end of the brushless servo motor 21, the middle part of the small arm joint 4 is rotatably mounted with the small arm joint 4, the transmission shaft 15, the small arm joint 4 is rotatably mounted with the motor side tension wheel 14, and the small arm joint 4 is mounted with the small arm joint 4 in a rotatable manner, The cover is established between transmission shaft 15 and the motor side take-up pulley 14 and is installed driving belt, 15 right-hand members fixed mounting of transmission shaft have transmission shaft I17, 4 right-hand members upper portions of forearm joint are rotated and are installed load side synchronizing wheel 16, and 16 right-hand members fixed connection forearm of load side synchronizing wheel twist reverse joint 5, transmission shaft I17 passes through the belt and is connected with 16 meshing of load side synchronizing wheel, 7 right-hand members fixed mounting of wrist twist joint have gripper mechanism, and gripper mechanism mainly includes passive deformation formula flexible claw 10, active movement formula flexible claw 11 and high strength 3D printing 12, 12 bottom middle parts fixed mounting of high strength 3D printing have passive deformation formula flexible claw 10, 12 right-hand members of high strength 3D printing rotate and install the flexible claw 11 of active movement formula of symmetry around installing.
The mechanical claw mechanism is used as a tail end clamp holder and is arranged at the foremost end of the mechanical arm, the high-strength 3D printing piece is used as a connecting device, the mechanical claw mechanism is light in weight, good in mechanical reliability and has certain attractiveness, the whole mechanism consists of a connecting flange, a connecting metal plate, a high-strength 3D printing piece 12 and a flexible claw member, one is an active moving flexible claw 11, and the active moving flexible claw 11 can be mechanically bent by controlling air pressure to achieve the clamping purpose; the other type is a passive deformation type flexible claw 10, the passive deformation type flexible claw 10 can be tightly attached to a grabbed object by controlling air pressure, and the shape of the grabbed object is passively adapted, so that the clamping purpose is achieved.
The utility model discloses a theory of operation is:
the utility model relates to a multi freedom arm that combines multi-functional flexible gripper, this device are used for, during operation, flexible claw working process in the use, for the gripper of cooperation different grade type, the arm need be made different corresponding actions. When the active movement type flexible claw is used, the protruding side of the wrist joint steering engine faces upwards, the head of the passive deformation type flexible claw faces upwards, and the mechanical arm moves back and forth to grab an object; when the passive deformation type flexible claw is used, the small arm twists the joint to rotate 180 degrees, so that the protruding side of the wrist joint steering engine faces downwards, the head of the passive deformation type flexible claw faces downwards, the mechanical arm conducts up-down translation to grab an object, and the multifunctional flexible mechanical claw is designed. The invention integrates two flexible claw components: one is an active motion type flexible claw, which can be mechanically bent by controlling air pressure to achieve the purpose of clamping; the other is a passive deformation type flexible claw, the flexible claw can be tightly attached to a grabbed object by controlling air pressure, and the shape of the grabbed object is passively adapted, so that the clamping purpose is achieved; and optimizing the internal wiring design. In order to optimize wiring inside the mechanical arm, two special designs are adopted to reserve space at the small arm torsion joint and the base torsion joint, so that a control circuit can be arranged inside the mechanical arm. At the small arm torsion joint, the invention adopts two groups of synchronous wheel synchronous belt transmission mechanisms which are arranged side by side to reserve space for wiring; at the torsional joint of the base, the invention uses a specially-made routing milling piece, the milling piece is connected with the motor through a tensioning sleeve and then connected with the bottom bearing through a group of flange mechanisms, so that a wiring space is reserved between the motor and the bearing; and (4) controlling modes. The acquisition of the grabbing force data is completed by using an FSR400 film pressure sensor; collecting various attitude data of the mechanical arm by using an angle sensor; the STM32 series microprocessor is used to acquire, process and integrate the sensor data.
The utility model discloses structural design is simple reasonable, uses convenient and fast, and the practicality is very high, and the design of multi-functional flexible gripper, the invention has integrateed two kinds of flexible claw components: one is an active motion type flexible claw, which can be mechanically bent by controlling air pressure to achieve the purpose of clamping; the other is a passive deformation type flexible claw, the flexible claw can be tightly attached to a grabbed object by controlling air pressure, and the shape of the grabbed object is passively adapted, so that the clamping purpose is achieved; in order to optimize wiring inside the mechanical arm, two special designs are adopted to reserve space at the small arm torsion joint and the base torsion joint, so that a control circuit can be arranged inside the mechanical arm, and two groups of synchronous wheel synchronous belt transmission mechanisms which are arranged side by side are adopted at the small arm torsion joint to reserve space for wiring; at the torsional joint of the base, the invention uses a specially-made routing milling piece which is connected with the motor through the tensioning sleeve and then connected with the bottom bearing through a group of flange mechanisms, thereby reserving a wiring space between the motor and the bearing.
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 (4)
1. The multi-degree-of-freedom mechanical arm combined with the multifunctional flexible mechanical claw mainly comprises a mechanical arm base part, a mechanical arm part, a mechanical claw mechanism, a control circuit and a sensor part, and is characterized in that the mechanical arm part is assembled and mounted at the top end of the mechanical arm base part, the mechanical claw mechanism is assembled and mounted at the right end of the mechanical arm part, the control circuit and the sensor part comprise an integrated control unit (2) and a Hall angle sensor (23), the mechanical arm base part mainly comprises a base torsion joint (1), the bottom end of the base torsion joint (1) is fixedly connected with the integrated control unit (2), and the mechanical arm part mainly comprises a large arm joint (3), a small arm joint (4), a small arm torsion joint (5), a wrist joint (6), a wrist torsion joint (7), a harmonic reduction gearbox (9), a motor side driving synchronizing wheel (13), The novel mechanical hand comprises a motor side tensioning wheel (14), a transmission shaft (15), a load side synchronizing wheel (16), a transmission shaft I (17), a brushless servo motor (21), a brushed servo motor (22) and a routing milling piece (24), wherein the brushless servo motor (21) is fixedly installed inside a base torsion joint (1), at the left part of the front side of a large arm joint (3), in the middle of a small arm joint (4) and in the middle of the rear side of a wrist joint (6), the brushless servo motor (21) positioned in the middle of the base torsion joint (1) is meshed with the large arm joint (3) through a worm gear and worm, the large arm joint (3), the small arm joint (4), the small arm torsion joint (5), the wrist joint (6) and the wrist torsion joint (7) are sequentially connected in a rotating mode from left to right, the brushed servo motor (22) is fixedly installed in the middle of the small arm joint (4), and the brushed servo motor (22) is meshed with the small arm torsion joint (5) through a belt, the switching position of the large arm joint (3) and the small arm joint (4), the switching position of the small arm torsion joint (5) and the wrist joint (6), the switching position of the wrist joint (6) and the wrist torsion joint (7) are respectively provided with a Hall angle sensor (23), the rear part of the rotating connection position of the large arm joint (3) and the small arm joint (4) is fixedly provided with a harmonic reduction box (9), the harmonic reduction box (9) is meshed and connected with the brushless servo motor (21) positioned at the left part of the front side of the large arm joint (3) through a belt, the brushless servo motor (21) positioned at the middle part of the rear side of the wrist joint (6) is meshed and connected with the wrist torsion joint (7) through a belt, the right end of the brushless servo motor (21) positioned at the middle part of the small arm joint (4) is fixedly provided with a side driving synchronous wheel (13), and the middle lower part of the small arm joint (4) is rotatably provided with a transmission shaft (15), the middle-front part of the forearm joint (4) is rotatably provided with a motor side tension pulley (14), a transmission belt is sleeved and installed between the motor side driving synchronizing wheel (13), the transmission shaft (15) and the motor side tension pulley (14), a transmission shaft I (17) is fixedly installed at the right end of the transmission shaft (15), a load side synchronizing wheel (16) is rotatably installed at the upper part of the right end of the forearm joint (4), the right end of the load side synchronizing wheel (16) is fixedly connected with the forearm torsion joint (5), the transmission shaft I (17) is meshed and connected with the load side synchronizing wheel (16) through a belt, and the right end of the wrist torsion joint (7) is fixedly connected with a mechanical claw mechanism.
2. The multi-degree-of-freedom robot arm combined with a multifunctional flexible robot claw according to claim 1, wherein the integrated control unit (2) comprises a brush motor control box (18), a robot arm power management circuit board (19) and a robot arm control circuit board (20).
3. The multi-degree-of-freedom mechanical arm combined with the multifunctional flexible mechanical gripper is characterized in that the mechanical gripper mechanism mainly comprises a passive deformation flexible gripper (10), an active movement flexible gripper (11) and a high-strength 3D printing piece (12), the passive deformation flexible gripper (10) is fixedly installed in the middle of the bottom end of the high-strength 3D printing piece (12), and the active movement flexible gripper (11) which is symmetrical in the front-back direction is rotatably installed at the right end of the high-strength 3D printing piece (12).
4. The multi-degree-of-freedom mechanical arm combined with the multifunctional flexible mechanical claw is characterized in that the active moving type flexible claw (11) performs bending and swinging through external air pressure control; the passive deformation type flexible claw (10) can be inflated and expanded through external air pressure control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022716215.7U CN214025711U (en) | 2020-11-20 | 2020-11-20 | Multi-degree-of-freedom mechanical arm combined with multifunctional flexible mechanical claw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022716215.7U CN214025711U (en) | 2020-11-20 | 2020-11-20 | Multi-degree-of-freedom mechanical arm combined with multifunctional flexible mechanical claw |
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| CN214025711U true CN214025711U (en) | 2021-08-24 |
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| CN202022716215.7U Expired - Fee Related CN214025711U (en) | 2020-11-20 | 2020-11-20 | Multi-degree-of-freedom mechanical arm combined with multifunctional flexible mechanical claw |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683252A (en) * | 2022-04-27 | 2022-07-01 | 上海交通大学 | Four-foot robot light-duty operation mechanical arm with symmetrical configuration |
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2020
- 2020-11-20 CN CN202022716215.7U patent/CN214025711U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683252A (en) * | 2022-04-27 | 2022-07-01 | 上海交通大学 | Four-foot robot light-duty operation mechanical arm with symmetrical configuration |
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