CN215471143U - Multi-degree-of-freedom mechanical arm and robot - Google Patents
Multi-degree-of-freedom mechanical arm and robot Download PDFInfo
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- CN215471143U CN215471143U CN202121263809.5U CN202121263809U CN215471143U CN 215471143 U CN215471143 U CN 215471143U CN 202121263809 U CN202121263809 U CN 202121263809U CN 215471143 U CN215471143 U CN 215471143U
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Abstract
The utility model provides a multi-degree-of-freedom mechanical arm and a robot, wherein the multi-degree-of-freedom mechanical arm comprises a base, a first speed reducing assembly, a second arm and two first arms, the base comprises a first driver, the first speed reducing assembly comprises a harmonic speed reducer, one end of each first arm is rotatably connected to the base, the first arms can rotate relative to the base along a first shaft, the first driver is in transmission connection with one of the first arms through the first speed reducing assembly, the other end of each first arm is rotatably connected to the second arm, the second arm is located between the two first arms, the second arm can rotate relative to the first arms along a second shaft, the second arm is provided with a second driver, and the second driver is in transmission connection with one of the first arms through the second speed reducing assembly. Through setting up first speed reduction subassembly, second speed reduction subassembly and two first arms, can improve the bearing capacity of multi freedom arm.
Description
Technical Field
The utility model relates to the field of mechanical arm research, in particular to a multi-degree-of-freedom mechanical arm and a robot.
Background
The multi-degree-of-freedom mechanical arm has flexible degrees of freedom and can realize the motion with multiple degrees of freedom in space. The existing multi-degree-of-freedom mechanical arm is low in bearing capacity, abnormal motion of the joint position under a heavy load condition can occur, and the requirement of the heavy load working condition is difficult to meet.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides the multi-degree-of-freedom mechanical arm and the robot.
The multi-degree-of-freedom mechanical arm comprises a base, a first speed reduction assembly, a second arm and two first arms, wherein the base comprises a first driver, the first speed reduction assembly adopts a harmonic speed reducer, one end of each first arm is rotatably connected to the base, the first arms can rotate relative to the base along a first shaft, the first driver is in transmission connection with one first arm through the first speed reduction assembly, the other end of each first arm is rotatably connected to the second arm, the second arm is located between the two first arms, the second arm can rotate relative to the first arms along a second shaft, and the second arm is provided with a second driver which is in transmission connection with one first arm through the second speed reduction assembly.
The multi-degree-of-freedom mechanical arm provided by the utility model at least has the following technical effects: the first speed reduction assembly and the second speed reduction assembly can improve transmission ratio, the first speed reduction assembly can further improve transmission ratio by using a harmonic reducer, the two first arms can reduce torque borne by the first arms, the structural stability of the first arms is improved, and the bearing capacity of the multi-degree-of-freedom mechanical arm can be improved by arranging the first speed reduction assembly, the second speed reduction assembly and the two first arms.
According to some embodiments of the utility model, the multi-degree of freedom robotic arm comprises a gripper attached to an end of the second arm distal from the first arm.
According to some embodiments of the utility model, the second arm is provided with a third drive, and the multi-degree of freedom robot arm comprises a third reduction assembly, and the third drive is drivingly connected to the gripper through the third reduction assembly.
According to some embodiments of the utility model, the multi-degree-of-freedom robotic arm includes a mounting rail for detachably mounting the extended function module.
According to some embodiments of the utility model, the first arm and the second arm are provided with the mounting rail.
According to some embodiments of the utility model, the installation guide rail is formed with an installation clamping groove, the shape of the installation clamping groove is matched with the shape of the extended function module, and the installation clamping groove is used for clamping the extended function module.
According to some embodiments of the utility model, the multi-degree of freedom mechanical arm comprises a camera.
According to some embodiments of the utility model, the camera is detachably arranged on the second arm.
According to some embodiments of the utility model, the second reduction assembly employs a planetary reduction gear.
The robot provided by the utility model comprises the multi-degree-of-freedom mechanical arm provided by the utility model.
According to the robot provided by the utility model, at least the following technical effects are achieved: by using the multi-degree-of-freedom mechanical arm provided by the utility model, the bearing capacity of the robot can be improved.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an axial view of a multi-degree-of-freedom robotic arm provided in accordance with the present invention;
FIG. 2 is an isometric view of a base coupled to a first arm provided in accordance with the present invention;
fig. 3 is an axial schematic view of a second arm provided in accordance with the present invention.
Reference numerals:
the device comprises a base 1, a first speed reducing assembly 2, a first driver 3, a first arm 4, a second speed reducing assembly 5, a second driver 6, a second arm 7, a third speed reducing assembly 8, a third driver 9, a clamp 11, a camera 12, a picture transmission module 13, a control module 14, a driving module 15 and a mounting guide rail 16.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
The multi-degree-of-freedom mechanical arm comprises a base 1, a first speed reduction assembly 2, a second speed reduction assembly 5, a second arm 7 and two first arms 4, wherein the base 1 comprises a first driver 3, the first speed reduction assembly 2 comprises a harmonic speed reducer, one end of each first arm 4 is rotatably connected to the base 1, the first arms 4 can rotate relative to the base 1 along a first axis, the first driver 3 is in transmission connection with one first arm 4 through the first speed reduction assembly 2, the other end of each first arm 4 is rotatably connected to the second arm 7, the second arm 7 is located between the two first arms 4, the second arm 7 can rotate relative to the first arms 4 along a second axis, the second arm 7 is provided with a second driver 6, and the second driver 6 is in transmission connection with one first arm 4 through the second speed reduction assembly 5.
According to the multi-degree-of-freedom mechanical arm provided by the utility model, the first speed reduction assembly 2 and the second speed reduction assembly 5 can improve the transmission ratio, the first speed reduction assembly 2 can further improve the transmission ratio by using a harmonic reducer, the two first arms 4 can reduce the torque borne by the first arms 4, the structural stability of the first arms 4 is improved, and the bearing capacity of the multi-degree-of-freedom mechanical arm can be improved by arranging the first speed reduction assembly 2, the second speed reduction assembly 5 and the two first arms 4.
It can be understood that some multi-degree-of-freedom mechanical arms in the prior art are driven by steering engines or synchronous belts, and the load capacity is weak. Some multi-degree-of-freedom mechanical arms adopt a single-edge structure, namely only one first arm 4 is arranged, the second arm 7 is arranged on one side of the first arm 4, when the multi-degree-of-freedom mechanical arm bears load, the second arm 7 can apply torque to the first arm 4, and the operation is not smooth due to excessive torque, so that the load capacity is reduced. According to the utility model, the first speed reducing assembly 2, the second speed reducing assembly 5 and the two first arms 4 are arranged, so that the bearing capacity of the multi-degree-of-freedom mechanical arm can be improved.
The first axis is defined as a rotation axis defined by the rotational connection of the first arm 4 and the base 1, and the rotation axes of the two first arms 4 are the same. The second axis is the axis of rotation defined by the rotational connection of the first arm 4 and the second arm 7, the axis of rotation of the two first arms 4 being the same.
In some embodiments, the second reduction assembly 5 may comprise a planetary reducer.
According to some embodiments of the present invention, the multi-degree of freedom robot arm comprises a gripper 11, the gripper 11 being attached to an end of the second arm 7 remote from the first arm 4. In some embodiments, the second arm 7 is provided with a third drive 9, and the multi-degree of freedom mechanical arm comprises a third speed reduction assembly 8, and the third drive 9 is drivingly connected to the gripper 11 through the third speed reduction assembly 8. The third driver 9 is used for driving the gripper 11 to grip an object, and the third speed reduction assembly 8 is arranged, so that the gripping force of the gripper 11 can be improved, the gripper 11 is suitable for gripping an object with larger mass, and the bearing capacity of the multi-degree-of-freedom mechanical arm is improved. The clamping jaw of the clamp 11 is formed with a saw-toothed clamping part, so that the stability of clamping can be improved. The clamp holder 11 adopts a hollow design, and can play a role in reducing weight.
Of course, the multi-degree-of-freedom robot arm may be provided with other actuators in addition to the gripper 11 to adapt to different working scenarios, such as a tray, a suction cup, etc.
According to some embodiments of the present invention, the multi-degree-of-freedom mechanical arm includes a mounting rail 16, and the mounting rail 16 is configured to detachably mount an extended function module. The function of the multi-degree-of-freedom mechanical arm can be enriched by installing the extended function module, and the extended function module can be a camera, a laser, a searchlight, a sensor and the like. Mounting rails 16 may be provided at various locations of the multi-degree of freedom mechanical arm, and in some embodiments, the first arm 4 and the second arm 7 are provided with mounting rails 16. In some embodiments, the mounting rail 16 is formed with a mounting slot, the shape of which is adapted to the shape of the extended function module, and the mounting slot is used for clamping the extended function module.
According to some embodiments of the present invention, a multi-degree of freedom robotic arm includes a camera 12. The camera 12 can facilitate remote control of the multi-degree-of-freedom mechanical arm. In some embodiments, the camera 12 is detachably arranged on the second arm 7. For example, as shown in the embodiment of fig. 1, the second arm 7 is provided with a mounting rail 16, mounting slots are arranged in the mounting rail 16 in an array, the shape of the base of the camera 12 is matched with the mounting slots, and the camera 12 is clamped in the mounting slots. The camera 12 can adjust the mounting position on the second arm 7 by selecting different mounting notches.
The robot provided by the utility model comprises the multi-degree-of-freedom mechanical arm provided by the utility model.
According to the robot provided by the utility model, the bearing capacity of the robot can be improved by using the multi-degree-of-freedom mechanical arm provided by the utility model.
It can be appreciated that the robot can be an unmanned aerial vehicle, an explosion-proof robot, an unmanned logistics vehicle, and the like.
A multi-degree-of-freedom mechanical arm provided according to the present invention will be described in detail with reference to fig. 1, 2, and 3 in a specific embodiment. It is to be understood that the following description is illustrative only and is not intended as a specific limitation on the utility model.
The multi-degree-of-freedom mechanical arm comprises a base 1, a second arm 7, a clamp 11 and two first arms 4.
The base 1 comprises a housing, in which a first driver 3 and a processor are arranged, the processor comprising a map transmission module 13, a control module 14 and a driving module 15.
One end of the first arm 4 is rotatably connected to the base 1, the two first arms 4 are symmetrically arranged, the first arms 4 can rotate relative to the base 1 along a first axis, and the first driver 3 is in transmission connection with one of the first arms 4 through the first speed reducing assembly 2.
The first speed reducing assembly 2 comprises, as shown in fig. 2, the first speed reducing assembly 2 disposed in the base 1, and the first driver 3 in turn drivingly connected with the gear reducer, the harmonic reducer, and the first arm 4.
The other end of the first arm 4 is rotatably connected to a second arm 7, the second arm 7 is located between the two first arms 4, the second arm 7 can rotate along a second axis relative to the first arms 4, the second arm 7 is provided with a second driver 6, and the second driver 6 is in transmission connection with one of the first arms 4 through a second speed reducing assembly 5.
The second speed reducing assembly 5 comprises a planetary speed reducer and a worm gear speed reducer, and the first arm 4 is sequentially in transmission connection with the worm gear speed reducer, the planetary speed reducer and the second arm 7.
The end of the second arm 7 far away from the first arm 4 is provided with a clamp 11, the clamp 11 is provided with two clamping jaws which can be opened or clamped oppositely, the second arm 7 is provided with a third driver 9, the third driver 9 is in transmission connection with the clamp 11 through a third speed reducing component 8, and the third driver 9 drives the clamping jaws to perform actions. The clamp holder 11 is designed in a hollow manner, and the surface of the clamping jaw is provided with a sawtooth-shaped clamping part.
The third reduction assembly 8 comprises a gear reducer.
The first driver 3, the second driver 6 and the third driver 9 adopt motors, the motors adopt low-voltage direct current motors, and the working voltage of the motors is lower than the human body safety voltage of 36V. The first driver 3, the second driver 6 and the third driver 9 are electrically connected to the processor by internal wiring.
The outer surfaces of the first arm 4 and the second arm 7 are provided with mounting rails 16, and mounting clamping grooves are formed in the mounting rails 16 in an array mode. The camera 12 is detachably arranged on the mounting guide rail 16 of the second arm 7, the shape of the base of the camera 12 is matched with the mounting clamping groove, and the camera 12 is clamped in the mounting clamping groove. The camera 12 is electrically connected to the processor through internal wiring.
The multi-degree-of-freedom mechanical arm adopts a single bus for connection and communication and adopts a single plug for butting with the outside. The base 1, the first arm 4, the second arm 7 and the clamp holder 11 of the multi-degree-of-freedom mechanical arm are designed to be hollow or hollowed.
According to the multi-degree-of-freedom mechanical arm disclosed by the embodiment of the utility model, at least the following functions can be realized by adopting the design: the bearing capacity of the multi-degree-of-freedom mechanical arm can be improved by arranging the first speed reducing assembly 2, the second speed reducing assembly 5, the third speed reducing assembly 8 and the two first arms 4.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A multi-degree-of-freedom mechanical arm is characterized by comprising:
a base (1), the base (1) comprising a first driver (3);
a first reduction assembly (2), said first reduction assembly (2) comprising a harmonic reducer;
two first arms (4), one end of each first arm (4) is rotatably connected to the base (1), the first arms (4) can rotate relative to the base (1) along a first axis, and the first driver (3) is in transmission connection with one first arm (4) through the first speed reducing assembly (2);
a second reduction assembly (5);
the other end of the first arm (4) is rotatably connected to the second arm (7), the second arm (7) is located between the two first arms (4), the second arm (7) can rotate relative to the first arms (4) along a second shaft, the second arm (7) is provided with a second driver (6), and the second driver (6) is in transmission connection with one of the first arms (4) through the second speed reducing assembly (5).
2. The multi-degree-of-freedom robotic arm of claim 1, wherein: the multi-degree-of-freedom mechanical arm comprises a clamp (11), wherein the clamp (11) is connected to one end, far away from the first arm (4), of the second arm (7).
3. The multi-degree-of-freedom robotic arm of claim 2, wherein: the second arm (7) is provided with a third driver (9), the multi-degree-of-freedom mechanical arm comprises a third speed reducing assembly (8), and the third driver (9) is in transmission connection with the clamp holder (11) through the third speed reducing assembly (8).
4. The multi-degree-of-freedom robotic arm of claim 1, wherein: the multi-degree-of-freedom mechanical arm comprises a mounting guide rail (16), and the mounting guide rail (16) is used for detachably mounting the expanded functional module.
5. The multi-degree-of-freedom robotic arm of claim 4, wherein: the first arm (4) and the second arm (7) are provided with the mounting rail (16).
6. The multi-degree-of-freedom robotic arm of claim 4, wherein: the installation guide rail (16) is formed with an installation clamping groove, the shape of the installation clamping groove is matched with the shape of the extended function module, and the installation clamping groove is used for clamping the extended function module.
7. The multi-degree-of-freedom robotic arm of claim 1 or 4, wherein: the multi-degree-of-freedom mechanical arm comprises a camera (12).
8. The multi-degree-of-freedom robotic arm of claim 7, wherein: the camera (12) is detachably arranged on the second arm (7).
9. The multi-degree-of-freedom robotic arm of claim 1, wherein: the second reduction assembly (5) comprises a planetary reducer.
10. A robot, characterized by: a robot comprising a multi degree of freedom mechanical arm as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121263809.5U CN215471143U (en) | 2021-06-04 | 2021-06-04 | Multi-degree-of-freedom mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121263809.5U CN215471143U (en) | 2021-06-04 | 2021-06-04 | Multi-degree-of-freedom mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215471143U true CN215471143U (en) | 2022-01-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121263809.5U Active CN215471143U (en) | 2021-06-04 | 2021-06-04 | Multi-degree-of-freedom mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215471143U (en) |
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2021
- 2021-06-04 CN CN202121263809.5U patent/CN215471143U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 518063 t2-a-a, South Zone of high tech Industrial Park, Yuehai street, Nanshan District, Shenzhen, Guangdong Patentee after: Shenzhen Mingming robot Co.,Ltd. Address before: 1803, block a, building 6, international innovation Valley, No. 50, Dashi 1st Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen langshuohaizhi Technology Co.,Ltd. |
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| CP03 | Change of name, title or address |