CN215149112U - Robot seven-degree-of-freedom mechanical arm with auxiliary obstacle avoidance function - Google Patents
Robot seven-degree-of-freedom mechanical arm with auxiliary obstacle avoidance function Download PDFInfo
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- CN215149112U CN215149112U CN202120407209.5U CN202120407209U CN215149112U CN 215149112 U CN215149112 U CN 215149112U CN 202120407209 U CN202120407209 U CN 202120407209U CN 215149112 U CN215149112 U CN 215149112U
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Abstract
The application discloses a robot seven-degree-of-freedom mechanical arm with an auxiliary obstacle avoidance function, which comprises a mechanical arm body, an installation box, a fixed plate, a connecting wire, a bearing and a connecting shaft, wherein the installation box is arranged on the surface of the mechanical arm body and is rotationally connected with the mechanical arm body through the bearing; the output end of the first motor is sleeved with a gear, and the gear is meshed with the surface of the gear ring. Can drive the install bin through first motor and second motor work respectively and rotate with the installation piece, can drive the camera and rotate around the arm body under the effect of install bin and installation piece this moment, the camera can rotate around the fixed plate simultaneously to adjust the monitoring range of camera.
Description
Technical Field
The application relates to a seven-degree-of-freedom mechanical arm, in particular to a robot seven-degree-of-freedom mechanical arm with an auxiliary obstacle avoidance function.
Background
Common mechanical arms are generally three-degree-of-freedom to six-degree-of-freedom, but space poses are limited due to practical problems such as joint limitation and singular configurations, redundant mechanical arm models with seven degrees of freedom are generated, such as LBRiiwa of KUKA, YuMi of ABB, FD-B4S of OTC, YA-UxF series (x is 5,10,20) of YAMAHA, Xinsongqi axis and the like, and are suitable for workplaces with high response precision, high adjustment speed and limited space.
Traditional seven degree of freedom arms lack supplementary monitoring ability when using, the accurate motion angle of adjusting the arm according to external environment of being not convenient for, the security is not enough, and present arm monitoring angle is limited simultaneously, and the commonality is not enough. Therefore, a robot arm with seven degrees of freedom with an auxiliary obstacle avoidance function is provided for solving the problems.
Disclosure of Invention
A robot seven-degree-of-freedom mechanical arm with an auxiliary obstacle avoidance function comprises a mechanical arm body, an installation box, a fixing plate, a connecting wire, a bearing and a connecting shaft;
the surface of the mechanical arm body is provided with the installation box, the installation box is rotationally connected with the mechanical arm body through the bearing, one side of the installation box is provided with a toothed ring, one side of the toothed ring is fixedly connected with one side of the installation box, one side of the toothed ring is provided with a first motor, and the first motor is fixedly connected with the surface of the mechanical arm body; the output end of the first motor is sleeved with a gear, and the gear is meshed with the surface of the gear ring;
the surface of the installation box is fixedly connected with a fixed plate, an installation block is arranged between every two adjacent fixed plates, the two sides of each installation block are fixedly connected with the connecting shaft, and the outer end of each connecting shaft is rotatably connected with the inner side wall of each fixed plate through the bearing; a second motor is fixedly connected to the outer side of the fixed plate, and the output end of the second motor is fixedly connected with the outer end of the connecting shaft; the mounting groove is formed in the surface of the mechanical arm body, the mounting cavity is formed in the mounting box, the mounting groove is communicated with the mounting cavity, the connecting wire penetrates through the mounting groove and the mounting cavity, the limiting plate is fixedly connected to the surface of the connecting wire, a reset spring is arranged on one side of the limiting plate, and the reset spring is sleeved on the surface of the connecting wire.
Further, the inside hollow structure that is of install bin, just the ring gear is the loop configuration.
Furthermore, the mounting block is rotatably connected with the fixing plate, and the outer end of the connecting wire is electrically connected with the second motor.
Further, the mounting box with the arm body rotates to be connected, the mounting box outside is equipped with one the camera, just the camera with installation piece outer end rigid coupling.
Furthermore, the number of the fixing plates is two, and the two fixing plates are symmetrically distributed on the outer side of the installation box.
Further, the gear ring is sleeved on the surface of the mechanical arm body, and the size of the gear is matched with that of the gear ring.
The beneficial effect of this application is: the application provides a seven degree of freedom arms of robot with supplementary obstacle avoidance function and be convenient for walk the line.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic overall perspective view of an embodiment of the present application;
FIG. 2 is a schematic diagram of an internal structure of an embodiment of the present application;
fig. 3 is a connection diagram of a camera and an installation box according to an embodiment of the present application.
In the figure: 1. arm body, 2, mounting groove, 3, first motor, 4, gear, 5, install bin, 51, installation cavity, 6, ring gear, 7, second motor, 8, fixed plate, 9, camera, 10, installation piece, 11, connecting wire, 12, limiting plate, 13, reset spring, 14, bearing, 15, connecting axle.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1-3, a robot arm with seven degrees of freedom and auxiliary obstacle avoidance function includes a robot arm body 1, an installation box 5, a fixing plate 8, a connecting wire 11, a bearing 14 and a connecting shaft 15;
the surface of the mechanical arm body 1 is provided with the installation box 5, the installation box 5 is rotationally connected with the mechanical arm body 1 through the bearing 14, one side of the installation box 5 is provided with a toothed ring 6, one side of the toothed ring 6 is fixedly connected with one side of the installation box 5, one side of the toothed ring 6 is provided with a first motor 3, and the first motor 3 is fixedly connected with the surface of the mechanical arm body 1; the output end of the first motor 3 is sleeved with a gear 4, and the gear 4 is in surface meshing connection with the gear ring 6;
the surface of the mounting box 5 is fixedly connected with a fixing plate 8, a mounting block 10 is arranged between two adjacent fixing plates 8, the two sides of each mounting block 10 are fixedly connected with the connecting shaft 15, and the outer end of each connecting shaft 15 is rotatably connected with the inner side wall of each fixing plate 8 through the bearing 14; a second motor 7 is fixedly connected to the outer side of the fixed plate 8, and the output end of the second motor 7 is fixedly connected with the outer end of the connecting shaft 15; 1 surface of arm body is opened there is mounting groove 2, 5 inside division of install bin have installation cavity 51, mounting groove 2 with installation cavity 51 intercommunication, connecting wire 11 runs through mounting groove 2 with installation cavity 51, 11 surperficial rigid couplings of connecting wire have limiting plate 12, limiting plate 12 one side is equipped with reset spring 13, just reset spring 13 cup joint in 11 surfaces of connecting wire.
The inside of the installation box 5 is of a hollow structure, and the gear ring 6 is of an annular structure, so that the installation in the installation box 5 is facilitated; the mounting block 10 is rotatably connected with the fixing plate 8, and the outer end of the connecting wire 11 is electrically connected with the second motor 7, so that power can be supplied to the second motor 7 conveniently; the mounting box 5 is rotatably connected with the mechanical arm body 1, the camera 9 is arranged on the outer side of the mounting box 5, the camera 9 is fixedly connected with the outer end of the mounting block 10, and the outside can be monitored through the camera 9; the number of the fixing plates 8 is two, and the two fixing plates 8 are symmetrically distributed on the outer side of the installation box 5, so that the installation blocks 10 can be conveniently installed; the gear ring 6 is sleeved on the surface of the mechanical arm body 1, and the gear 4 is matched with the gear ring 6 in size, so that the gear ring 6 is driven to rotate by the gear 4.
When the robot arm is used, the gear 4 at the tail end of the robot arm can be driven to rotate through the work of the first motor 3, and at the moment, the mounting box 5 can be driven to rotate around the robot arm body 1 under the action of the gear 4 and the toothed ring 6, so that the position of the camera 9 on the surface of the robot arm body 1 can be adjusted; meanwhile, the second motor 7 works, the second motor 7 can drive the mounting block 10 to rotate around the fixing plate 8, the position of the camera 9 in the fixing plate 8 is further adjusted, and the monitoring range of the camera 9 is expanded; when the installation box 5 rotates, the connection lead 11 is driven to move, the return spring 13 can be compressed under the action of the limiting plate 12, and meanwhile, the rotation angle of the installation box 5 is 360 degrees;
then can monitor the environment around the arm body 1 through camera 9, can feed back arm body 1 when camera 9 monitors the obstacle to control the angle of adjustment of arm body 1, avoid bumping with external obstacle, strengthened the security.
The application has the advantages that:
1. according to the camera, the installation box and the installation block can be driven to rotate respectively through the work of the first motor and the second motor, the camera can be driven to rotate around the mechanical arm body under the action of the installation box and the installation block, and simultaneously the camera can synchronously rotate around the fixed plate, so that the monitoring range of the camera is adjusted;
2. this application can monitor the environment around the arm body through the camera, can feed back the arm body when the camera is monitored the obstacle to control the angle of adjustment of arm body, avoid bumping with external obstacle, strengthened the security.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (6)
1. The utility model provides a seven degree of freedom arms of robot with supplementary obstacle avoidance function which characterized in that: comprises that
Mechanical arm body (1), mounting box (5), fixing plate (8), connecting wire (11), bearing (14)
And a connecting shaft (15);
the surface of the mechanical arm body (1) is provided with the installation box (5), and the installation box (5) passes through
The bearing (14) is rotationally connected with the mechanical arm body (1), and one side of the installation box (5) is provided with
A toothed ring (6), one side of the toothed ring (6) is fixedly connected with one side of the installation box (5), and the toothed ring (6)
One side is provided with a first motor (3), and the first motor (3) and the surface of the mechanical arm body (1)
Fixedly connecting; the output end of the first motor (3) is sleeved with a gear (4), and the gear (4) is connected with the gear
The surfaces of the gear rings (6) are meshed and connected;
the surface of the installation box (5) is fixedly connected with a fixing plate (8), and two adjacent fixing plates (8)
A mounting block (10) is arranged between the two connecting shafts, the connecting shafts (15) are fixedly connected with the two sides of the mounting block (10),
and the outer end of the connecting shaft (15) rotates with the inner side wall of the fixing plate (8) through the bearing (14)
Connecting; a second motor (7) is fixedly connected to the outer side of the fixed plate (8), and the second motor (7)
The output end is fixedly connected with the outer end of the connecting shaft (15); the surface of the mechanical arm body (1) is provided with a mounting groove
(2) The mounting box (5) is internally provided with a mounting cavity (51), and the mounting groove (2) and the mounting block are arranged
The installation cavity (51) is communicated, the connecting lead (11) penetrates through the installation groove (2) and the installation cavity (51),
the surface of the connecting lead (11) is fixedly connected with a limiting plate (12), and one side of the limiting plate (12) is provided with
And the return spring (13) is sleeved on the surface of the connecting wire (11).
2. The robot seven-degree-of-freedom machine with auxiliary obstacle avoidance function according to claim 1
An arm, characterized in that: the interior of the installation box (5) is of a hollow structure, and the gear ring (6) is a ring
And (4) a shape structure.
3. The robot seven-degree-of-freedom machine with auxiliary obstacle avoidance function according to claim 1
An arm, characterized in that: the mounting block (10) is rotationally connected with the fixing plate (8), and the connecting block
The outer end of the lead wire (11) is electrically connected with the second motor (7).
4. The robot seven-degree-of-freedom mechanical arm with the auxiliary obstacle avoidance function according to claim 1, characterized in that: the mounting box (5) is rotationally connected with the mechanical arm body (1), and
a camera (9) is arranged on the outer side of the mounting box (5), and the camera (9) and the mounting block (10)
The outer end is fixedly connected.
5. The robot seven-degree-of-freedom machine with auxiliary obstacle avoidance function according to claim 1
An arm, characterized in that: the number of the fixing plates (8) is two, and the two fixing plates (8)
And the two are symmetrically distributed on the outer side of the mounting box (5).
6. The robot seven-degree-of-freedom machine with auxiliary obstacle avoidance function according to claim 1
An arm, characterized in that: the gear ring (6) is sleeved on the surface of the mechanical arm body (1), and
the gear (4) is matched with the size of the gear ring (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120407209.5U CN215149112U (en) | 2021-02-24 | 2021-02-24 | Robot seven-degree-of-freedom mechanical arm with auxiliary obstacle avoidance function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120407209.5U CN215149112U (en) | 2021-02-24 | 2021-02-24 | Robot seven-degree-of-freedom mechanical arm with auxiliary obstacle avoidance function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215149112U true CN215149112U (en) | 2021-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120407209.5U Active CN215149112U (en) | 2021-02-24 | 2021-02-24 | Robot seven-degree-of-freedom mechanical arm with auxiliary obstacle avoidance function |
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| Country | Link |
|---|---|
| CN (1) | CN215149112U (en) |
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2021
- 2021-02-24 CN CN202120407209.5U patent/CN215149112U/en active Active
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