WO2017084259A1 - 机械手臂及机器人 - Google Patents

机械手臂及机器人 Download PDF

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Publication number
WO2017084259A1
WO2017084259A1 PCT/CN2016/082469 CN2016082469W WO2017084259A1 WO 2017084259 A1 WO2017084259 A1 WO 2017084259A1 CN 2016082469 W CN2016082469 W CN 2016082469W WO 2017084259 A1 WO2017084259 A1 WO 2017084259A1
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WIPO (PCT)
Prior art keywords
arm
robot
rod
connecting rods
arm members
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Application number
PCT/CN2016/082469
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English (en)
French (fr)
Inventor
万芳
钱钟锋
Original Assignee
北京合源力拓科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201510811122.3A external-priority patent/CN105364942A/zh
Priority claimed from CN201520934952.0U external-priority patent/CN205238074U/zh
Application filed by 北京合源力拓科技有限公司 filed Critical 北京合源力拓科技有限公司
Publication of WO2017084259A1 publication Critical patent/WO2017084259A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible

Definitions

  • the invention relates to the field of robots, and in particular to a robot arm and a robot.
  • the existing mechanical arm generally connects the two arm members in an articulated manner, and installs a driving motor at the hinge (joint) to control the relative rotation between the two arm members by opening and controlling the rotation of the driving motor.
  • the drive motor supplies power to the rotation of the arm member by the output torque, and the magnitude of the output torque depends on the electromagnetic induction force between the rotor and the stator of the drive motor and the radius of the rotor.
  • the radius of the rotor is generally much smaller than the length of the arm member, it is necessary to consume a large electromagnetic induction force (i.e., a high-powered drive motor is required) to drive the arm member (and the load on the arm member).
  • a large electromagnetic induction force i.e., a high-powered drive motor is required
  • the installation of the drive motor at the joint also causes the space at the joint to be occupied by the drive motor, which not only reduces the mechanical strength at the joint but also increases the space design difficulty at the joint.
  • the present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, the present invention proposes a robot arm and a robot.
  • the two ends of the rod member are respectively movably connected to the two arm members and used for axial movement along the two arm members respectively to drive the mechanical arm to open and close.
  • the mechanical arm of the embodiment of the present invention can be moved in the axial direction of the arm member by driving the two ends of the arm member, thereby forming a labor-saving lever to drive the two arm members to rotate relative to each other, so that a relatively small driving can be adopted.
  • Motor
  • the lever member as the labor-saving lever is not disposed at the rotational joint of the two arm members, the rotational joint of the two arm members can be used for other space design, thereby improving design freedom.
  • the rod comprises a single rod mechanism.
  • the multi-bar mechanism includes a two-bar mechanism, the two-bar mechanism includes two connecting rods, one end of the two connecting rods being rotatably coupled to each other, and the other end being respectively opposite to the two The arm members are connected in an active manner.
  • the multi-bar mechanism includes a three-bar mechanism including three connecting rods, one end of each of the connecting rods being rotated with one end of the other of the connecting rods Connected, the other end is movably connected to the two arm members respectively.
  • the multi-bar mechanism includes a four-bar mechanism including four connecting rods, each of which is connected to one end of the other two connecting rods The two ends of the diagonal of the four-bar mechanism are movably connected to the two arm members respectively.
  • the four bar mechanism includes a Bennett mechanism.
  • the ends of the rod are each rotatably coupled to the arm member.
  • the robotic arm further includes a drive for driving axial movement of the two ends of the rod along the two arm members, respectively.
  • the drive device is a linear motor.
  • the robot of the embodiment of the present invention includes the above-described robot arm.
  • FIG. 1 is a schematic perspective view of a robot arm according to an embodiment of the present invention.
  • FIG. 2 is a perspective view of another perspective of the robot arm of FIG. 1.
  • FIG 3 is a perspective view of a robot arm according to another embodiment of the present invention.
  • FIG. 4 is a perspective view of a robot arm according to still another embodiment of the present invention.
  • Fig. 5 is a perspective view of a robot arm according to another embodiment of the present invention.
  • Figure 6 is a schematic view showing the working principle of the lever of the robot arm of Figure 5.
  • Figure 7 is a perspective view of another perspective of the robot arm of Figure 5.
  • Figure 8 is a perspective view of still another perspective of the robot arm of Figure 5.
  • Fig. 9 is a schematic perspective view of a robot according to an embodiment of the present invention.
  • the robot arm 100 of the embodiment of the present invention includes two arm members 10 and a lever 20 that are rotatably coupled. Both ends of the rod 20 are movably coupled to the two arm members 10 and used for axial movement along the two arm members 10, respectively, to drive the robot arm 100 to open and close.
  • the mechanical arm 100 of the embodiment of the present invention can be moved in the axial direction of the arm member 10 by driving the two ends of the arm member 20, thereby forming a labor-saving lever to drive the two arm members 10 to rotate relative to each other, so that the robot arm 100 can be It is limited to the use of a high-power drive motor, that is, a drive motor with a lower power can be used.
  • the drive motor of the lever member 20 is not limited to being disposed at the rotational joint of the two arm members 10. Therefore, the rotational joints of the two arm members 10 can be used for other space designs to improve design freedom.
  • one end of one arm member 10 is rotatably coupled to one end of the other arm member 10.
  • the rotational joint of the arm member 10 can be made further away from the connection point of the lever member 20 and the arm member 10, so that the force arm of the labor-saving lever is longer, and the labor-saving lever is more labor-saving.
  • the arm members 10 are connected by hinge rotation.
  • the arm member 10 has a rod shape, and a hollow structure is employed in the present embodiment, so that more elements or structures can be provided in the arm member 10.
  • the arm member 10 can also take other suitable shapes and configurations.
  • the rod 20 is a single rod mechanism.
  • the single lever mechanism includes a connecting rod 21. Both ends of the connecting rod 21 are connected to the arm member 10, respectively.
  • the rod member 20 has a simple structure and a low manufacturing cost.
  • rod 20 is not limited to this embodiment, and other suitable rods may be employed as desired, such as a multi-bar mechanism.
  • a robot arm 100a includes two arm members 10 and a lever member 20a that are rotatably coupled.
  • the two ends of the rod 20a are respectively movably connected with the two arm members 10 and are respectively used for axial movement along the two arm members 10 to drive the mechanical arm 100a to open and close.
  • the robot arm 100a according to the embodiment of the present invention is substantially the same as the robot arm 100, except that the lever member 20a of the present embodiment is a multi-bar mechanism, for example, a two-bar mechanism.
  • the two-bar mechanism includes two connecting rods 21a.
  • One ends of the two connecting rods 21a are rotatably coupled to each other, and the other ends are movably coupled to the two arm members 10, respectively.
  • the two-bar mechanism is simple in structure on one hand, easy to manufacture, and therefore low in cost.
  • the two-bar mechanism can be opened to extend the length when the robot arm 100a is opened, so that the two-bar mechanism has a long stroke on the arm member 10; and when the robot arm 100a is closed, it is closed for convenient storage in the arm member 10. between.
  • the robot arm 100b of the embodiment of the present invention includes two arm members 10 and a lever member 20b that are rotatably coupled.
  • the two ends of the rod 20b are respectively movably connected with the two arm members 10 and are respectively used for axial movement along the two arm members 10 to drive the mechanical arm 100 to open and close.
  • the robot arm 100b according to the embodiment of the present invention is substantially the same as the robot arm 100, except that the lever member 20b of the present embodiment is a multi-bar mechanism, for example, a three-bar mechanism.
  • the three-bar mechanism includes three connecting rods 21b.
  • One of the two connecting rods 21b is rotatably connected to one end of the other connecting rod 21b, and the other end is movably connected to the two arm members 10, respectively.
  • the three-bar mechanism has the advantages of simple structure, easy manufacture, and low cost.
  • the three-bar mechanism can be opened to extend the length when the robot arm 100b is opened, so that the three-bar mechanism has a longer stroke on the arm member 10; and the mechanical arm 100b is closed when closed, facilitating storage in the arm member. Between 10.
  • the robot arm 100c of the embodiment of the present invention includes two arm members 10 and a rod member 20c that are rotatably coupled.
  • the two ends of the rod 20c are respectively movably connected with the two arm members 10 and are respectively used for axial movement along the two arm members 10 to drive the mechanical arm 100c to open and close.
  • the robot arm 100c according to the embodiment of the present invention is basically the same as the robot arm 100, except that the lever member 20c of the present embodiment is a multi-bar mechanism. For example, a four-bar mechanism.
  • the four-bar mechanism includes four connecting rods 21c. One end of each connecting rod 21c is rotatably connected to one end of the other two connecting rods 21c, respectively, and two ends of the diagonal of the four-bar mechanism are movably connected to the two arm members 10, respectively.
  • the four-bar mechanism is a Bennett mechanism.
  • the connecting rod 21c is rotatably coupled by the rotating pair 22, and the rotating pair 22 applies various restraints to the connecting rod 21c, so that the rod 20c is an over-reliant structure (over-constraint mechanism) with only one degree of freedom.
  • the rod 20c satisfies the following conditions:
  • the lengths of the opposing connecting rods 21c of the rod 20c are equal, namely:
  • A, B, C, and D are the intersections of the four rotating shafts of the Bennett mechanism and the central axes of the four connecting rods 21c. They are the lengths between the corresponding intersections.
  • ⁇ AB , ⁇ BC , ⁇ CD , ⁇ AD are the angles between the rotation axes 23 of the rotating webs 22 at both ends of the connecting rod 21c, respectively.
  • the lengths of the four connecting rods 21c of the rod 20c are equal.
  • the sum of ⁇ and ⁇ is 180° and the same size.
  • the axes of rotation 23 of each pair of relative rotating webs 22 i.e., a pair of rotating webs 22 at positions A and C and a pair of rotating webs 22 at positions B and D
  • the two opposite rotation axes 23 of the rod 20c always intersect during the movement, and the angle of the shaft is opened and closed with the operation of the rod 20c, and the movement mode is applied to the robot arm 100c.
  • the opening and closing of the robot arm 100c is controlled by the lever member 20c, so that the arm member 100c can be controlled to rotate relative to each other to form a labor-saving lever to drive the two arm members 10 to rotate relative to each other.
  • the multi-bar mechanism may employ other numbers of bar mechanisms, such as a five-bar mechanism, and is not limited to the embodiments described above.
  • lever member 21, 21a, 21b or 21c is slidably and rotationally coupled to the arm member 10.
  • lever member 21c shown in FIGS. 5-8 is taken as an example to illustrate how the lever member 21c is slidably and rotationally coupled to the arm member 10.
  • the arm member 10 is formed with a guide groove 30.
  • the robot arm 100c further includes a slider 40 that is slidably disposed on the guide groove 30.
  • the lever 20c is rotatably coupled to the two arm members 10 by a slider 40.
  • the slider 40 includes a base 41 disposed on the arm member 10 and a connecting lug 42 extending upward from the base 41.
  • a connecting groove 43 is formed between the connecting ears 42.
  • the connecting lug 42 is formed with a connecting hole 44.
  • the axial direction of the connecting hole 44 is substantially parallel to the longitudinal direction of the arm member 10.
  • the rotating web 22 of the rod member 20c projects into the connecting groove 43 and is disposed on the slider 40 by being rotated in cooperation with the connecting hole 44.
  • the base 41 of the slider 40 extends downward to form a recess 45.
  • the groove 45 is slidably coupled to the transmission rod 50 via the movable member 46.
  • connection structure of the connecting rod 21c of the rod 20c and the arm member 10 is simple.
  • the rotating web 22 can be allowed to slide on the arm member 10, and the rotating web 22 can be allowed to rotate to allow the rod 20c to slide in the axial direction of the arm member 10 to drive the robot arm 100c to open and close.
  • the lever member 20c is driven by the linear motor 60 to move in the axial direction of the arm member 10. It will be appreciated that in other embodiments, the lever 20c can be driven by other drive means. Therefore, it should be noted that the lever member 20c is not limited to the driving method in which the linear motor 60 is driven to move in the axial direction of the arm member 10 in the present embodiment.
  • the linear motor 60 moves along the axial direction of the arm member 10 with the transmission rod 50.
  • the drive rod 50 is a transmission of the linear motor 60 that is disposed along the length of the arm member 10. It will be appreciated that in other embodiments, the linear motor 60 can be moved in the axial direction of the arm member 10 by a transmission such as a ball screw, a rack and pinion, a cable zipper, and a drive chain. Therefore, it should be noted that the transmission device is not limited to the transmission rod 50 in the present embodiment.
  • the lever formed by the rod member 20c and the load at the end of the arm member 10 is relatively rotated relative to the driving arm member 10 which is more labor-saving in that the motor is applied to the joint.
  • the thrust Fd transmitted to the driven arm member 10 by the rod 20c and the load gravity F1 of the distal end of the driven arm member 10 are balanced by the following mechanical relationship:
  • L is the fixed arm length of the arm member 10
  • Ld is the rotational joint between the arm joint 70 of the lever member 20c near the arm 100c and the end portion of the rod member 20c and the arm member 10 during sliding in the axial direction of the arm member 10.
  • the robot 1000 according to the embodiment of the present invention includes any one or more of the above-described robot arm 100, robot arm 100a, robot arm 100b, or robot arm 100c.
  • the robot 1000 of the embodiment of the present invention has a simple structure, can be applied to different engineering applications by designing different mechanical arms described above, is convenient for maintenance and secondary development, and can realize miniaturization design of the high-load robot 1000.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined.
  • Terms such as “fixed” should be understood broadly. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly through an intermediate medium. Connected, it can be the internal communication of two components or the interaction of two components.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种机械手臂（100）及包括机械手臂（100）的机器人，其中，机械手臂（100）包括两个手臂构件（10）及杆件（20），两个手臂构件（10）转动连接，杆件（20）的两端分别与两个手臂构件（10）活动连接并用于分别沿两个手臂构件（10）的轴向运动以带动机械手臂（100）开合。机械手臂（100）可通过驱动杆件（20）两端分别沿手臂构件（10）的轴向方向运动，从而形成省力杠杆驱动两个手臂（构件（10）相对转动而开合，因此，可以采用功率较小的驱动电机。

Description

机械手臂及机器人
优先权信息
本申请请求2015年11月20日向中国国家知识产权局提交的、专利申请号为201510811122.3和201520934952.0的专利申请的优先权和权益，并且通过参照将其全文并入此处。
技术领域
本发明涉及机器人领域，具体涉及一种机械手臂及机器人。
背景技术
现有机械手臂一般采用铰接方式连接两个手臂构件，并在铰接处(关节处)安装驱动电机，通过控制驱动电机的转动实现两个手臂构件之间的相对转动(开合)。
驱动电机通过输出扭矩为手臂构件的转动提供动力，而输出扭矩的大小取决于驱动电机的转子和定子之间的电磁感应力和转子的半径。
然而，由于转子的半径一般远小于手臂构件的长度，因此需要消耗较大的电磁感应力(即需采用大功率的驱动电机)来驱动手臂构件(及手臂构件上的负载)。
另外，关节处安装驱动电机也会导致关节处的空间被驱动电机所占据，不仅降低了关节处的机械强度，也增加了关节处的空间设计难度。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本发明提出一种机械手臂及机器人。
本发明实施方式的机械手臂包括：
转动连接的两个手臂构件，及
杆件，所述杆件的两端分别与所述两个手臂构件活动连接并用于分别沿所述两个手臂构件的轴向运动以带动所述机械手臂开合。
本发明实施方式的机械手臂可通过驱动杆件两端分别沿手臂构件的轴向方向运动，从而形成省力杠杆驱动所述两个手臂构件相对转动而开合，因此，可以采用相对较小的驱动电机。
另外，由于作为省力杠杆的所述杆件并非设置在所述两个手臂构件的转动连接处，因此，所述两个手臂构件的转动连接处可以作其他的空间设计，提高设计自由度。
在某些实施方式中，所述杆件包括单杆机构。
在某些实施方式中，所述杆件包括多杆件机构。
在某些实施方式中，所述多杆件机构包括两杆件机构，所述两杆件机构包括两个连接杆，所述两个连接杆的一端相互转动连接，另一端分别与所述两个手臂构件活动连接。
在某些实施方式中，所述多杆件机构包括三杆件机构，所述三杆件机构包括三个连接杆，两个所述连接杆的一端分别与另一个所述连接杆的一端转动连接，另一端分别与所述两个手臂构件活动连接。
在某些实施方式中，所述多杆件机构包括四杆件机构，所述四杆件机构包括四个连接杆，每个所述连接杆的两端分别与另外两个连接杆的一端连接，所述四杆件机构对角线的两端分别与所述两个手臂构件活动连接。
在某些实施方式中，所述四杆件机构包括贝内特机构。
在某些实施方式中，所述杆件的两端分别与所述手臂构件转动连接。
在某些实施方式中，所述机械手臂还包括驱动装置，所述驱动装置用于驱动所述杆件的两端分别沿所述两个手臂构件的轴向运动。
在某些实施方式中，所述驱动装置是线性马达。
本发明实施方式的机器人包括上述所述的机械手臂。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明一个实施方式的机械手臂的立体示意图。
图2是图1的机械手臂另一视角的立体示意图。
图3是本发明另一个实施方式的机械手臂的立体示意图。
图4是本发明再一个实施方式的机械手臂的立体示意图。
图5是本发明另外一个实施方式的机械手臂的立体示意图。
图6是图5的机械手臂的杆件的工作原理示意图。
图7是图5的机械手臂的另一个视角的立体示意图。
图8是图5的机械手臂的再一个视角的立体示意图。
图9是本发明实施方式的机器人的立体示意图。
具体实施方式
以下结合附图对本发明的实施方式作进一步说明。附图中相同或类似的标号自始至 终表示相同或类似的元件或具有相同或类似功能的元件。
另外，下面结合附图描述的本发明的实施方式是示例性的，仅用于解释本发明的实施方式，而不能理解为对本发明的限制。
请参阅图1及图2，本发明实施方式的机械手臂100包括转动连接的两个手臂构件10及杆件20。杆件20的两端分别与两个手臂构件10活动连接并用于分别沿两个手臂构件10的轴向运动以带动机械手臂100开合。
本发明实施方式的机械手臂100可通过驱动杆件20两端分别沿手臂构件10的轴向方向运动，从而形成省力杠杆驱动两个手臂构件10相对转动而开合，因此，机械手臂100可以不限于采用大功率的驱动电机，也即是可以采用功率较小的驱动电机。
另外，由于作为省力杠杆的杆件20并非设置在两个手臂构件10的转动连接处，而杆件20的驱动电机也不限于设置在两个手臂构件10的转动连接处。因此，两个手臂构件10的转动连接处可以作其他的空间设计，提高设计自由度。
本实施方式中，一个手臂构件10的一端与另一个手臂构件10的一端转动连接。
如此，可以使得手臂构件10的转动连接处离杆件20与手臂构件10的连接点更远，从而使得省力杠杆的力臂更长，省力杠杆更省力。
本实施方式中，手臂构件10之间通过铰接转动连接。
当然，在其他实施方式中，也可以采用其他合适的转动连接关系。
手臂构件10呈杆状，本实施方式中采用中空结构，如此可以在手臂构件10内设置更多的元件或结构。
当然，在其他实施方式中，手臂构件10也可以采用其他合适的形状及结构。
本实施方式中，杆件20为单杆件机构。
例如，单杆件机构包括连接杆21。连接杆21的两端分别与手臂构件10连接。
如此，杆件20结构简单，制造成本低。
可以理解，杆件20的结构并不限于本实施方式，可以视需求采用其他合适的杆件，例如多杆件机构。
请参阅图3，本发明另一个实施方式的机械手臂100a包括转动连接的两个手臂构件10和杆件20a。杆件20a两端分别与两个手臂构件10活动连接并用于分别沿两个手臂构件10的轴向运动以带动机械手臂100a开合。
本发明实施方式的机械手臂100a与机械手臂100基本相同，区别在于本实施方式的杆件20a为多杆件机构，例如为两杆件机构。
本实施方式中，两杆件机构包括两个连接杆21a。两个连接杆21a的一端相互转动连接，另一端分别与两个手臂构件10活动连接。
可以理解，如此，两杆件机构一方面结构依然简单，容易制造，因此成本低。另一 方面，两杆件机构可以在机械手臂100a打开时打开以延长长度，因此两杆件机构在手臂构件10上具有较长的行程；而在机械手臂100a闭合时闭合，方便收纳于手臂构件10之间。
请参阅图4，本发明实施方式的机械手臂100b包括转动连接的两个手臂构件10和杆件20b。杆件20b两端分别与两个手臂构件10活动连接并用于分别沿两个手臂构件10的轴向运动以带动机械手臂100开合。
本发明实施方式的机械手臂100b与机械手臂100基本相同，区别在于本实施方式的杆件20b为多杆件机构，例如为三杆件机构。
三杆件机构包括三个连接杆21b。其中两个连接杆21b一端分别与另外一个连接杆21b的两端转动连接，另一端分别与两个手臂构件10活动连接。
同样的，三杆件机构一方面具有结构简单，容易制造，成本低等优点。另一方面，三杆件机构可以在机械手臂100b打开时打开以延长长度，因此三杆件机构在手臂构件10上具有更长的行程；而在机械手臂100b闭合时闭合，方便收纳于手臂构件10之间。
请参阅图5，本发明实施方式的机械手臂100c包括转动连接的两个手臂构件10及杆件20c。杆件20c两端分别与两个手臂构件10活动连接并用于分别沿两个手臂构件10的轴向运动以带动机械手臂100c开合。
本发明实施方式的机械手臂100c与机械手臂100基本相同，区别在于本实施方式的杆件20c为多杆件机构。例如为四杆件机构。
四杆件机构包括四个连接杆21c。每个连接杆21c一端分别与另外两个连接杆21c的一端转动连接，四杆件机构对角线的两端分别与两个手臂构件10活动连接。
本实施方式中，四杆件机构为贝内特机构(Bennett mechanism)。
对于贝内特机构，连接杆21c通过转动副22转动连接，转动副22对连接杆21c施加各种约束，使得杆件20c为过冗余结构(过约束机构)，只有一个自由度。
请参阅图6，杆件20c满足下面的条件：
首先，杆件20c的相对的连接杆21c的长度相等，即：
Figure PCTCN2016082469-appb-000001
Figure PCTCN2016082469-appb-000002
其中，A、B、C、D为贝内特机构的四个转轴分别与四个连接杆21c的中轴线的交叉点。
Figure PCTCN2016082469-appb-000003
分别为对应交叉点之间的长度。
其次，相对的连接杆21c之间满足如下角度关系，即：
αAB＝αCD＝α      (3)
αBC＝αAD＝β      (4)
其中，αAB、αBC、αCD、αAD分别为连接杆21c两端转动幅22的旋转轴线23之间 的夹角。
再有，杆件21c的长度和相应的角度满足下面的关系式：
Figure PCTCN2016082469-appb-000004
本实施方式中，杆件20c的四个连接杆21c的长度相等。如此，α和β之和为180°，且大小相同。在此条件下，每一对相对转动幅22的(即，在位置A和C处的一对转动幅22以及在位置B和D处的一对转动幅22)的旋转轴线23总是位于同一平面上。
如此，当杆件20c运动时，杆件20c相对的两个旋转轴线23在运动过程中始终相交，且轴线夹角随着杆件20c的运行开合，将这样的运动方式应用在机械手臂100c的驱动方式中，从而通过杆件20c来控制机械手臂100c的开合，从而可控制手臂构件100c相对转动从而形成省力杠杆驱动两个手臂构件10相对转动而开合。
可以理解，在其他实施方式中，可以视需求采用其他合适的四杆件机构。
可以理解，在其他实施方式中，多杆件机构还可以采用其他数目的杆件机构，例如五杆件机构，并不限于上述实施方式。
在上面的实施方式中，杆件21、21a、21b或21c与手臂构件10滑动及转动连接。
如此设置，连接较为简单、灵活。
为帮助理解，下面以图5-图8所示的杆件21c为例说明杆件21c是如何与手臂构件10滑动及转动连接的。
本实施方式中，手臂构件10形成有导槽30。机械手臂100c还包括滑块40，滑块40滑动设置在导槽30上。杆件20c通过滑块40与两个手臂构件10转动连接。滑块40包括设置在手臂构件10上的基座41及自基座41向上延伸的连接耳42。连接耳42之间形成有连接槽43。连接耳42形成有连接孔44。连接孔44的轴向与手臂构件10的长度方向基本平行。杆件20c的转动幅22伸入连接槽43并通过与连接孔44配合转动设置在滑块40上。
本实施方式中，滑块40的基座41向下延伸形成凹槽45。凹槽45通过活动件46与传动杆50滑动连接。
如此，杆件20c的连接杆21c与手臂构件10的连接结构简单。另外，一来可以允许转动幅22在手臂构件10上滑动，二来，可以允许转动幅22转动以允许杆件20c沿手臂构件10的轴向方向滑动而带动机械手臂100c开合。
本实施方式中，杆件20c由线性马达60驱动其沿手臂构件10的轴向方向运动。可以理解，在其他实施方式中，杆件20c可以由其他驱动装置进行驱动。因此，需要说明的是，杆件20c并不仅限于本实施方式中的由线性马达60驱动其沿手臂构件10的轴向方向运动的驱动方式。
本实施方式中，线性马达60随传动杆50沿手臂构件10的轴向方向运动。传动杆50为线性马达60的传动装置，其沿手臂构件10的长度方向设置。可以理解，在其他实施方式中，可以通过珠丝杠、齿轮齿条、绳索拉锁和驱动链条等传动装置使线性马达60沿手臂构件10的轴向运动。因此，需要说明的是，传动装置并不仅限于本实施方式中的传动杆50。
本实施方式中，杆件20c与手臂构件10末端的负载形成的杠杆相对于在关节处加电机的方式更省力的驱动手臂构件10相对转动。
请参阅图8，本实施方式中，通过杆件20c传递至被驱动手臂构件10的推力Fd与被驱动手臂构件10远端的负载重力Fl通过以下力学关系达到平衡：
Fl·L＝Fd·Ld      (6)
其中L为手臂构件10的固定臂长，Ld为杆件20c在沿手臂构件10轴向方向滑动过程中靠近机械手臂100c的手臂关节70与杆件20c两端部与手臂构件10转动连接处的瞬时距离。当杆件20c滑至远离机械手臂100c的手臂关节70时，Ld增大至Ldmax，相同负载下需要提供的推力Fd也随之减小，远远小于传统机械臂在此运动方式下需要的驱动力，即更省力。当杆件20c滑至靠近机械手臂100c的手臂关节70处时，Ld减小至Ldmin，相同负载下需要提供的驱动推力Fd也随之增大。由于Ldmin的实际设计值一般都大于传统机械臂驱动电机的转子半径，此时需要提供的驱动推力Fd仍然相对传统机械臂小，即更省力。
本发明实施方式的机器人1000包括上述所述的机械手臂100、机械手臂100a、机械手臂100b或者机械手臂100c的任意一种或者多种。本发明实施方式的机器人1000结构简单，可通过设计不同的上述所述的机械手臂，从而应用在不同的工程应用场合，方便维护与二次开发，并且可实现高负载机器人1000的小型化设计。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、 “固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。
。

Claims (11)

  1. 一种机械手臂，其特征在于，包括：
    转动连接的两个手臂构件，及
    杆件，所述杆件的两端分别与所述两个手臂构件活动连接并用于分别沿所述两个手臂构件的轴向运动以带动所述机械手臂开合。
  2. 如权利要求1所述的机械手臂，其特征在于，所述杆件包括单杆机构。
  3. 如权利要求1所述的机械手臂，其特征在于，所述杆件包括多杆件机构。
  4. 如权利要求3所述的机械手臂，其特征在于，所述多杆件机构包括两杆件机构，所述两杆件机构包括两个连接杆，所述两个连接杆的一端相互转动连接，另一端分别与所述两个手臂构件活动连接。
  5. 如权利要求3所述的机械手臂，其特征在于，所述多杆件机构包括三杆件机构，所述三杆件机构包括三个连接杆，其中两个所述连接杆的一端分别与另一个所述连接杆的两端转动连接，另一端分别与所述两个手臂构件活动连接。
  6. 如权利要求3所述的机械手臂，其特征在于，所述多杆件机构包括四杆件机构，所述四杆件机构包括四个连接杆，每个所述连接杆的两端分别与另外两个连接杆的一端转动连接，所述四杆件机构对角线的两端分别与所述两个手臂构件活动连接。
  7. 如权利要求6所述的机械手臂，其特征在于，所述四杆件机构包括贝内特机构。
  8. 如权利要求1所述的机械手臂，其特征在于，所述杆件的两端分别与所述手臂构件滑动及转动连接。
  9. 如权利要求1所述的机械手臂，其特征在于，所述机械手臂还包括驱动装置，所述驱动装置用于驱动所述杆件的两端分别沿所述两个手臂构件的轴向运动。
  10. 如权利要求1所述的机械手臂，其特征在于，所述驱动装置包括线性马达。
  11. 一种机器人，其特征在于包括如权利要求1-10任意一项所述的机械手臂。
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CN109589135A (zh) * 2019-01-30 2019-04-09 厦门市领汇医疗科技有限公司 一种多自由度机械臂
CN110480623A (zh) * 2019-09-17 2019-11-22 深圳吉阳智能科技有限公司 一种机械手臂及交替式叠片装置
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CN109589135A (zh) * 2019-01-30 2019-04-09 厦门市领汇医疗科技有限公司 一种多自由度机械臂
CN109589135B (zh) * 2019-01-30 2023-10-27 厦门市领汇医疗科技有限公司 一种多自由度机械臂
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CN110480623B (zh) * 2019-09-17 2024-02-02 深圳吉阳智能科技有限公司 一种机械手臂及交替式叠片装置
CN114102661A (zh) * 2021-11-17 2022-03-01 黄四经 一种双工作模式的高负载自重比的机械臂
CN114102661B (zh) * 2021-11-17 2023-05-09 航天云机(北京)科技有限公司 一种双工作模式的高负载自重比的机械臂

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