CN215037470U - Lightweight mechanical arm for special operation - Google Patents
Lightweight mechanical arm for special operation Download PDFInfo
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- CN215037470U CN215037470U CN202120302688.4U CN202120302688U CN215037470U CN 215037470 U CN215037470 U CN 215037470U CN 202120302688 U CN202120302688 U CN 202120302688U CN 215037470 U CN215037470 U CN 215037470U
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- joint
- rod
- rod body
- mechanical arm
- rotation axis
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Abstract
The utility model provides a special type operation lightweight arm, it includes the base, connecting seat, the first body of rod, the second body of rod, bottom joint, middle part joint, top joint, rotary joint and tongs portion. Wherein, the connecting seat rotates around vertical axis and sets up on the base, bottom joint connection is between the first body of rod and connecting seat, middle part joint connection is between the first body of rod and the second body of rod, top joint connection is between the second body of rod and rotary joint, tongs portion rotates and connects on rotary joint, the first body of rod and the second body of rod are hollow structure, the first body of rod and the second body of rod are carbon fiber material, the bottom joint, the middle part joint, top articulated rotation axis is parallel to each other, all rotate around horizontal axis, rotary joint's rotation axis and top articulated rotation axis mutually perpendicular. The utility model discloses an arm compact structure is light and handy, and the carrying on that can be fine is on various equipment to stable operation.
Description
Technical Field
The utility model relates to an arm field, in particular to high protection level modular special type operation lightweight arm.
Background
Articulated robots, also known as articulated arm robots or articulated robotic arms, are suitable for use in many fields, where the arms can also be used on special mobile robots that are not manufactured and serve humans. Wherein the arm among the prior art generally the size is great, and weight is heavier, leads to personnel can't carry easily, single unable transport, shifts, is difficult for carrying, and is bulky simultaneously and leads to the flexibility not strong, and is not antidetonation, basically needs the base plane to support and need operate steadily, and all has the requirement to ambient temperature humidity, is unsuitable for most outdoor environment or open-air or high protection level demand environment.
Therefore, it is necessary to provide a lightweight robot arm for special operations to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides a lightweight mechanical arm for special operation, which has a compact and light arrangement structure, so as to solve the problems that the mechanical arm in the prior art has a large size, heavy weight and low modularization degree, so that personnel cannot easily carry, install, transfer and carry; and can not satisfy the use in liquid immersion environment such as water, oil, dangerization.
In order to solve the technical problem, the utility model adopts the technical scheme that: a lightweight mechanical arm for special operation is structurally divided into a base, a connecting seat, a first rod body, a second rod body, a bottom joint, a middle joint, a top joint, a rotary joint and a gripper portion in a modularized manner;
the connecting seat is rotatably arranged on the base around a vertical axis, the bottom joint is connected between the first rod body and the connecting seat, the middle joint is connected between the first rod body and the second rod body, the top joint is connected between the second rod body and the rotary joint, and the gripper part is rotatably connected to the rotary joint;
the first rod body and the second rod body are of hollow structures, and are made of carbon fiber materials;
the rotation axes of the bottom joint, the middle joint and the top joint are parallel to each other and rotate around a transverse axis, and the rotation axis of the rotation joint is perpendicular to the rotation axis of the top joint.
In the utility model, the bottom joint and the top joint respectively comprise a shell, a first transparent cover and a first sealing cover;
along bottom joint or in the articulated rotation axis's of top extending direction, the both ends of casing are provided with first port, first pass through the lid with first closing cap is connected respectively on corresponding one first port, the bottom joint the articulated rotation axis of top passes through first passing through the lid extends out, one side of casing is provided with and is used for connecting the first body of rod or the first end head of the second body of rod.
In the utility model, the middle joint comprises a first middle shell, a second transparent cover and a second sealing cover;
on the extending direction of the articulated rotation axis in middle part, the both ends of first middle part casing are provided with the second port, the second pass through the lid with the second closing cap is connected respectively one of corresponding on the second port, second middle part casing is connected the second passes through one side of lid, the articulated rotation axis in middle part passes the second passes through the lid and extends to in the second middle part casing, one side of first middle part casing is provided with and is used for connecting the second end portion of the first body of rod, one side of second middle part casing is provided with and is used for connecting the third end portion of the second body of rod.
The utility model discloses in be provided with in the base and be used for the drive connecting seat pivoted first motor be provided with in the first body of rod and be used for driving bottom joint pivoted second motor to and be used for driving middle part joint pivoted third motor be provided with in the second body of rod and be used for driving top joint pivoted fourth motor and drive circuit board rotary joint is provided with and is used for the drive the fifth motor of tongs portion pivoted.
In the present invention, a first support member for supporting the first rod body is provided on one side of the base.
In the present invention, a second supporting member for supporting the rotary joint is provided on one side of the connecting seat.
The utility model discloses in, tongs portion includes coupling end, claw and link assembly, coupling end one end with rotary joint can dismantle the connection, and the both sides of the other end are connected with link assembly, two sets of all be connected with on the link assembly claw snatchs in order to be used for the centre gripping.
The utility model discloses in the first body of rod with between the bottom joint the first body of rod with between the middle part joint the second body of rod with between the middle part joint and the second body of rod with all be provided with the catch that is used for locking connection between the top joint.
The utility model provides a base bottom joint the middle part joint top joint and rotary joint's rotation all carries out feedback turned angle through corresponding potentiometre.
The utility model discloses compare in prior art, its beneficial effect is: the utility model discloses a compact structure of arranging of arm, it is small, the motion is nimble, and the degree of freedom is high, and first body of rod and the second body of rod are carbon fiber material, light in weight makes its fine carry on the small-size equipment to accomplish the outdoor unmanned investigation of various miniaturizations and arrange to explode etc. and snatch the task occasion, the IP grade is high, and the clearance is little, the operation is stable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments are briefly introduced below, and the drawings in the following description are only corresponding drawings of some embodiments of the present invention.
Fig. 1 is a schematic structural view of the robot arm of the present invention.
Fig. 2 is a schematic structural view of the mechanical arm after the first rod, the second rod and the shell of the rotary joint are removed.
Fig. 3 is an exploded view of the bottom housing of the robot arm of the present invention.
Fig. 4 is an exploded view of the middle housing of the robot arm according to the present invention.
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 the skilled in the art without creative work belong to the protection scope of the present invention.
In the present invention, the directional terms, such as "up", "down", "front", "back", "left", "right", "inner", "outer", "side", "top" and "bottom", refer to the orientation of the drawings, and the directional terms are used for illustration and understanding, but not for limiting the present invention.
The terms "first," "second," and the like in the terms of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor should they be construed as limiting in any way.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "secured" are to be construed broadly, e.g., the connection may be a detachable connection or a connection in a unitary structure; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The utility model provides a lightweight mechanical arm for special operation, which has a compact and light arrangement structure, so as to solve the problems that the mechanical arm in the prior art has a large size, heavy weight and low modularization degree, so that personnel cannot easily carry, install, transfer and carry; and can not satisfy the use in liquid immersion environment such as water, oil, dangerization.
The present invention provides a preferred embodiment of a robot arm that can solve the above technical problems.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a robot arm according to the present invention.
In the drawings, elements having similar structures are denoted by the same reference numerals.
The utility model provides a pair of mechanical arm, it includes base 11, connecting seat 12, first body of rod 13, the second body of rod 14, bottom joint 15, middle part joint 16, top joint 17, rotary joint 18 and tongs 19.
Wherein, connecting seat 12 rotates around vertical axis and sets up on base 11, and bottom joint 15 connects between first body of rod 13 and connecting seat 12, and middle part joint 16 connects between first body of rod 13 and second body of rod 14, and top joint 17 connects between second body of rod 14 and rotary joint 18, and tongs 19 rotates and connects on rotary joint 18.
The first rod body 13 and the second rod body 14 are of hollow structures, the first rod body 13 and the second rod body 14 are made of carbon fiber materials, the weight is light, the operation is stable, and a motor and wiring are conveniently arranged.
The rotation axes of the bottom joint 15, the middle joint 16 and the top joint 17 are parallel to each other and rotate around the transverse axis, and the rotation axis of the rotary joint 18 is perpendicular to the rotation axis of the top joint 17.
The rotation of the base 11, the bottom joint 15, the middle joint 16, the top joint 17 and the rotary joint 18 in the present embodiment is fed back by the corresponding potentiometer.
The utility model discloses a field such as human ectoskeleton, recovered robot, medical treatment type and for military use unmanned sufficient robot can be applied to the arm.
Referring to fig. 3, fig. 3 is an exploded view of the bottom housing of the robot arm according to the present invention.
In the present invention, the bottom joint 15 includes a housing 151, a first transparent cover 152, and a first cover 153.
Along the extending direction of the rotation axis of the bottom joint 15, the two ends of the shell 151 are provided with first ports, the first transparent cover 152 and the first sealing cover 153 are respectively connected to the corresponding first ports, the rotation axes of the bottom joint 15 and the top joint 17 extend out through the first transparent cover 152, the structure is convenient to disassemble and assemble, and one side of the shell 151 is provided with a first end portion 1511 for connecting the first rod body 13 or the second rod body 14.
The top joint 17 and the bottom joint 15 have similar structures, and are not described in detail herein.
Referring to fig. 4, fig. 4 is an exploded view of the middle housing of the robot arm according to the present invention.
In the present invention, the middle joint 16 includes a first middle shell 161, a second middle shell 162, a second transparent cover 164, and a second cover 163;
along the extending direction of the rotation axis of the middle joint 16, two ends of the first middle shell 161 are provided with second ports, the second transparent cover 164 and the second sealing cover 163 are respectively connected to a corresponding second port, the second middle shell 162 is connected to one side of the second transparent cover 164, the rotation axis of the middle joint 16 passes through the second transparent cover 164 and extends into the second middle shell 162, one side of the first middle shell 161 is provided with a second end head 1611 used for connecting the first rod 13, one side of the second middle shell 162 is provided with a third end head 1621 used for connecting the second rod 14, the structure is compact, the size is small, and the disassembly and assembly are convenient.
Please refer to fig. 1 and fig. 2, wherein fig. 2 is a schematic structural diagram of the mechanical arm of the present invention after the first rod, the second rod and the shell of the rotary joint are removed.
The utility model discloses in, be provided with in base 11 and be used for driving connecting seat 12 pivoted first motor 111 (adopt the first motor of mode show of partial section in fig. 2), first motor 111 can adopt the form drive connecting seat 12 of being connected with the worm gear transmission to rotate, thereby reduce base 11's height, be provided with in the first body of rod 13 and be used for driving bottom joint 15 pivoted second motor 1D, and be used for driving middle part joint 16 pivoted third motor 1E, be provided with in the second body of rod 14 and be used for driving top joint 17 pivoted fourth motor 1F and dirver circuit board 1H, be provided with at rotary joint 18 and be used for driving tongs 19 pivoted fifth motor 1G.
The structure is arranged compactly, the volume is small, the weight is light, and the operation can be stably and flexibly performed.
Preferably, a first supporter 1B for supporting the first rod 13 is provided at one side of the base 11.
In addition, a second support 1C for supporting the rotary joint 18 is provided at one side of the connection holder 12.
The structure after the contraction is more stable through the support.
The hand grip 19 in this embodiment includes a connecting end 191, a claw portion 193, and a link assembly 192, one end of the connecting end 191 is detachably connected to the rotary joint 18, two sides of the other end are connected to the link assembly 192, the two groups of link assemblies 192 are connected to the claw portions 193 for clamping and gripping, and the rotary joints 18 of the hand grip 19 are in a modular plug-in structure, so that the hand grip is very convenient to disassemble and assemble.
In the present embodiment, as shown in fig. 1, locking rings 1A for locking connection are arranged between the first rod 13 and the bottom joint 15, between the first rod 13 and the middle joint 16, between the second rod 14 and the middle joint 16, and between the second rod 14 and the top joint 17, so that the structure is stable, and the sealing performance of the connection is good, wherein the locking rings are not labeled one by one in the figures.
The utility model discloses an arm size is less, mode through CAN bus (controller area network) communication realizes 11 inside each motor work of control base, thereby joint control connecting seat 12, bottom joint 15, middle part joint 16, top joint 17, each rotatory operation of rotary joint 18, CAN realize nimble operation, the angle calculation of arm is provided by the potentiometre after first demarcating, and restrict the electric current, it occupies chip functioning speed to save the huge calculation volume through the encoder conversion on the electrical apparatus in the past, the great volume of absolute value encoder on the machinery has been avoided again, simultaneously CAN optimize and reduce a large amount of program algorithm and improve response speed.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so that the scope of the present invention shall be determined by the scope of the appended claims.
Claims (9)
1. A lightweight mechanical arm for special operation is characterized by comprising a base, a connecting seat, a first rod body, a second rod body, a bottom joint, a middle joint, a top joint, a rotary joint and a gripper part;
the connecting seat is rotatably arranged on the base around a vertical axis, the bottom joint is connected between the first rod body and the connecting seat, the middle joint is connected between the first rod body and the second rod body, the top joint is connected between the second rod body and the rotary joint, and the gripper part is rotatably connected to the rotary joint;
the first rod body and the second rod body are of hollow structures, and are made of carbon fiber materials;
the rotation axes of the bottom joint, the middle joint and the top joint are parallel to each other and rotate around a transverse axis, and the rotation axis of the rotation joint is perpendicular to the rotation axis of the top joint.
2. The special work lightweight robotic arm of claim 1, wherein the bottom joint, the top joint each comprise a housing, a first transparent cover, and a first cover;
along bottom joint or in the articulated rotation axis's of top extending direction, the both ends of casing are provided with first port, first pass through the lid with first closing cap is connected respectively on corresponding one first port, the bottom joint the articulated rotation axis of top passes through first passing through the lid extends out, one side of casing is provided with and is used for connecting the first body of rod or the first end head of the second body of rod.
3. The special work lightweight robotic arm of claim 1, wherein the middle joint comprises a first middle shell, a second transparent cover, and a second cover;
on the extending direction of the articulated rotation axis in middle part, the both ends of first middle part casing are provided with the second port, the second pass through the lid with the second closing cap is connected respectively one of corresponding on the second port, second middle part casing is connected the second passes through one side of lid, the articulated rotation axis in middle part passes the second passes through the lid and extends to in the second middle part casing, one side of first middle part casing is provided with and is used for connecting the second end portion of the first body of rod, one side of second middle part casing is provided with and is used for connecting the third end portion of the second body of rod.
4. The special work lightweight mechanical arm according to claim 1, wherein a first motor for driving the connecting seat to rotate is arranged in the base, a second motor for driving the bottom joint to rotate and a third motor for driving the middle joint to rotate are arranged in the first rod body, a fourth motor for driving the top joint to rotate and a driving circuit board are arranged in the second rod body, and a fifth motor for driving the gripper portion to rotate is arranged in the rotary joint.
5. The special work lightweight mechanical arm according to claim 1, wherein a first support member for supporting the first rod body is provided at one side of the base.
6. The special work lightweight mechanical arm according to claim 1, wherein a second support member for supporting the rotary joint is provided at one side of the connecting seat.
7. The special work lightweight mechanical arm according to claim 1, wherein the gripper portion comprises a connecting end portion, a claw portion and connecting rod assemblies, one end of the connecting end portion is detachably connected with the rotary joint, the connecting rod assemblies are connected to two sides of the other end of the connecting end portion, and the claw portions are connected to the two groups of connecting rod assemblies and used for clamping and gripping.
8. The special work lightweight mechanical arm according to claim 1, wherein lock rings for locking connection are arranged between the first rod body and the bottom joint, between the first rod body and the middle joint, between the second rod body and the middle joint, and between the second rod body and the top joint.
9. The special work lightweight mechanical arm according to claim 1, wherein the rotation of the base, the bottom joint, the middle joint, the top joint and the rotary joint is subjected to feedback rotation angle through corresponding potentiometers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120302688.4U CN215037470U (en) | 2021-02-02 | 2021-02-02 | Lightweight mechanical arm for special operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120302688.4U CN215037470U (en) | 2021-02-02 | 2021-02-02 | Lightweight mechanical arm for special operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215037470U true CN215037470U (en) | 2021-12-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120302688.4U Active CN215037470U (en) | 2021-02-02 | 2021-02-02 | Lightweight mechanical arm for special operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215037470U (en) |
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2021
- 2021-02-02 CN CN202120302688.4U patent/CN215037470U/en active Active
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