WO2020114188A1 - Bras robotisé - Google Patents

Bras robotisé Download PDF

Info

Publication number
WO2020114188A1
WO2020114188A1 PCT/CN2019/116275 CN2019116275W WO2020114188A1 WO 2020114188 A1 WO2020114188 A1 WO 2020114188A1 CN 2019116275 W CN2019116275 W CN 2019116275W WO 2020114188 A1 WO2020114188 A1 WO 2020114188A1
Authority
WO
WIPO (PCT)
Prior art keywords
stage
bevel gear
level
driving
seat
Prior art date
Application number
PCT/CN2019/116275
Other languages
English (en)
Chinese (zh)
Inventor
曾林旺
Original Assignee
北京仙进机器人有限公司
曾林旺
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.)
Filing date
Publication date
Application filed by 北京仙进机器人有限公司, 曾林旺 filed Critical 北京仙进机器人有限公司
Publication of WO2020114188A1 publication Critical patent/WO2020114188A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Definitions

  • the present disclosure relates to the field of robots, and particularly refers to a mechanical arm.
  • the robot arm is the most widely used automated mechanical device in the technical field of robots. It can be seen in the fields of industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration.
  • the existing multi-joint robotic arm is generally provided with a driving motor for driving the movement of the arm member at the joint where the two arm members are rotatably connected, that is, the driving motor is coupled to the upper part of the arm of the mechanical arm, which results in the mechanical arm
  • the driving motor is coupled to the upper part of the arm of the mechanical arm, which results in the mechanical arm
  • the overall size and weight of the arm parts are too large, which greatly reduces the load capacity of the robot arm.
  • the purpose of the present disclosure is to provide a robotic arm, which can effectively reduce the weight of the arm parts of the robotic arm, thereby contributing to improving the load capacity of the robotic arm.
  • a mechanical arm includes an arm part and a driving part for driving the movement of the arm part;
  • the arm part includes N arm members, and N is a positive integer greater than or equal to 4; wherein the first arm member is fixed on the driving part ,
  • the first arm member and the second arm member are rotatably connected by the first joint, the Mth arm member and the M+1th arm member are rotatably connected by the Mth joint, M is 2 to N -2 is a positive integer;
  • the N-1th arm member and the Nth arm member are rotatably connected by the N-1th joint;
  • the first joint includes a first-stage active bevel gear set, a first-stage transition bevel gear set, a Level driven bevel gear set, primary connection seat fixedly connected to the first end of the first arm member and primary pivot seat fixedly connected to the end of the second arm member, primary connection seat and primary pivot connection seat pivot
  • the first-stage active bevel gear group is located in the first-stage connecting seat.
  • the first-stage active bevel gear group includes N+1 first-stage active bevel gears stacked one after another and arranged coaxially; the rotation of the first-stage transition bevel gear group
  • the central shaft is located on the pivot axis of the first-stage connecting seat and the first-stage pivot seat.
  • the first-stage transition bevel gear set includes N+1 first-stage transition bevel gears stacked one after another and arranged coaxially.
  • the first one The first-stage transition bevel gear is fixed on the first-stage pivot joint, the first first-stage transition bevel gear to the N+1 first-stage transition bevel gear and the first first-stage driving bevel gear to the N+1 first-stage initiative
  • the bevel gears are in one-to-one correspondence with each other; the first-stage driven bevel gear set is located in the first-stage pivot seat.
  • the first-stage driven bevel gear set includes N first-order driven bevel gears stacked one after another and arranged coaxially.
  • the driving component includes N+1 drive motors, the first drive motor to the N+1 drive motor respectively drive the first primary driving bevel gear to the N+1 primary driving bevel gear rotation;
  • Joint M includes M level active Bevel gear set, M-level transition bevel gear set, M-level driven bevel gear set, M-level connection seat fixedly connected to the first end of the M-th arm member, and M-level pivot fixedly connected to the end of the M+1th arm member Seat, M-level connecting seat is pivotally connected with M-level pivoting seat;
  • M-level driving bevel gear set is located in M-level connecting seat, M-level driving bevel gear set includes N-M+2 sequentially stacked together and coaxial
  • the M-stage driving bevel gear is set;
  • the central axis of rotation of the M-stage transition bevel gear group is located on the pivot axis of the
  • the M-stage transition bevel gear group includes N-M+2 sequentially stacked M-stage transition bevel gears arranged together and coaxially, wherein the first M-stage transition bevel gear is fixed on the M-stage pivot seat, and the first M-stage transition bevel gear to the N-M+2 M-stage transition
  • the bevel gear meshes with the first M-stage driving bevel gear to the N-M+2 M-stage driving bevel gears respectively;
  • the M-stage driven bevel gear set is located in the M-stage pivot seat, and the M-stage driven bevel
  • the gear set includes N-M+1 M-stage driven bevel gears stacked one after another and arranged coaxially, the first M-stage driven cone
  • the gear to the N-M+1th M-stage driven bevel gear meshes with the second-stage transition bevel gear to the N-M+2 transition bevel gear one by one; the first of the M-stage active bevel gear set M-stage driving bevel gear to N-M+2 M-stage driving be
  • the N-1 level driving bevel gear set includes three N-1 level driving bevel gears stacked one after the other and coaxially arranged, the first N- The first-stage driving bevel gear is fixedly connected to the N-1 stage connecting seat and the rotation center axis of the first N-1 stage driving bevel gear is located on the turning center axis of the N-1 stage connecting seat; the N-1 stage transition bevel gear set The central axis of rotation is located on the pivot axis of the N-1 level connecting seat and the N-1 level pivoting seat.
  • the N-1 level transition bevel gear set includes two N-1 levels that are stacked one after the other and arranged coaxially Transition bevel gear, the first N-1 stage transition bevel gear is fixed on the N-1 stage pivot seat, the first N-1 stage transition bevel gear and the second N-1 stage transition bevel gear and the second The N-1 level driving bevel gear and the third N-1 level driving bevel gear are in one-to-one correspondence; the N-1 level driven bevel gear set is located in the N-1 level pivot seat, and the N-1 level driven cone
  • the gear set includes an N-1 stage driven bevel gear that meshes with the second N-1 stage transition bevel gear; the N-1 stage driven bevel gear is also in contact with the Nth stage The rotating rods in the hand member are coaxially connected; the first N-1 driving bevel gear to the third N-1 driving bevel gear and the N-2 driving bevel gear of the N-1 driving bevel gear set The first N-2 level driven bevel gear of the group to the third N-2 level driven bevel gear are respectively drive connected.
  • the N-M+2 coaxially arranged in the M-th arm member are arranged coaxially
  • the M-level hollow connecting rod and the M-1-level driven bevel gear set which are sleeved sequentially from the outside to the inside, to the N-M+2 M-1-level driven bevel gears Connected coaxially;
  • the first N-1 driving bevel gear to the third N-1 driving bevel gear of the N-1 driving bevel gear set pass through three pieces arranged in the N-1th arm member
  • the bevel gears are coaxially connected.
  • first-stage driving bevel gears there are several balls between the adjacent first-stage driving bevel gears; there are several balls between the adjacent first-stage transition bevel gears; there are several balls between the adjacent first-stage driven bevel gears; There are several balls between adjacent M-level driving bevel gears; several balls between adjacent M-level transition bevel gears; several balls between adjacent M-level driven bevel gears; adjacent There are several balls between the N-1 level driving bevel gears; there are several balls between the adjacent N-1 level transition bevel gears.
  • the rotation central axis of the first-stage driving bevel gear set is arranged on different surfaces from the rotation central axis of the first-stage driven bevel gear group, and the first-stage connecting seat and the first-stage pivoting seat are arranged on different surfaces and the edges are perpendicular to the first stage
  • the pivot axis directions of the connecting base and the first-level pivot joint do not overlap each other;
  • the central axis of rotation of the M-level driving bevel gear set and the central axis of rotation of the M-level driven bevel gear set are arranged on different surfaces, and the M-level connection
  • the base and the M-level pivoting seat are arranged on different surfaces and do not overlap each other in the direction perpendicular to the pivot axis of the M-level connecting seat and the M-level pivoting seat.
  • the first-level connecting seat is provided with a first-level connecting seat hole
  • the first-level pivoting seat is provided with a first-level pivoting seat hole corresponding to the first-level connecting seat hole
  • the transition bevel gear includes a primary connection shaft and a first primary bevel gear and a second primary bevel gear connected to both ends of the primary connection shaft; the primary connection shafts of each primary transition bevel gear are sleeved with each other and pass through The first-level connection seat hole and the first-level pivot seat hole;
  • the first-stage bevel gear of each first-stage transition bevel gear is located in the first-stage connection seat and meshes with each first-stage active bevel gear of the first-stage active bevel gear set,
  • the second-stage bevel gear of each first-stage transition bevel gear is located in the first-stage pivot seat and meshes with each of the first-stage driven bevel gears of the first-stage driven bevel gear set.
  • the second-stage bevel gear is fixedly connected to the first-stage pivot seat;
  • the M-stage connection seat is provided with an M-stage connection seat hole, and the M-stage pivot seat is provided with an M-stage pivot corresponding to the M-stage connection seat hole Seat hole;
  • each M-stage transition bevel gear of the M-stage transition bevel gear set includes an M-stage connection shaft and a first M-stage bevel gear and a second M-stage bevel gear respectively connected to both ends of the M-stage connection shaft;
  • the M-level connecting shafts of each M-level transition bevel gear sleeve each other and pass through the M-level connecting seat hole and the M-level pivot seat hole;
  • the first M-level bevel gear of each M-level transition bevel gear is located in the M-level connecting seat and It meshes with each M-stage driving bevel gear of the M-stage driving bevel gear set.
  • the second M-stage bevel gear of each M-stage transition bevel gear is located in the M-stage pivot seat and is in contact with each M-stage of the M-stage driven bevel gear group.
  • the driven bevel gears are meshed respectively, wherein the second M-stage bevel gear of the first M-stage transition bevel gear is fixedly connected to the M-stage pivot seat; the N-1-stage connection seat is provided with an N-1-stage connection seat hole , The N-1 level pivoting seat is provided with an N-1 level pivoting seat hole corresponding to the N-1 level connecting seat hole; each N-1 level transition cone of the N-1 level transition bevel gear set
  • the gear includes an N-1 level connecting shaft and a first N-1 level bevel gear and a second N-1 level bevel gear connected to both ends of the N-1 level connecting shaft; the N- of each N-1 level transition bevel gear
  • the first-level connecting shafts are nested with each other and pass through the N-1 level connecting seat hole and the N-1 level pivoting seat hole; the first N-1 level transition be
  • N-1 stage driving bevel gears are meshed separately, the second N-1 stage bevel gear of each N-1 stage transition bevel gear is located in the N-1 stage pivot seat, the second N-1 stage transition bevel gear The second N-1 stage bevel gear meshes with the N-1 stage driven bevel gear of the N-1 stage driven bevel gear set, and the second N-1 stage bevel gear of the first N-1 stage transition bevel gear and N-
  • the level 1 pivot joint is fixedly connected.
  • the arm part further includes an N+1th arm member, and the N+1th arm member and the Nth arm member are connected by an Nth joint;
  • the Nth joint includes an N-stage active bevel gear and an N-stage transition Bevel gear, an N-stage driven bevel gear, an N-stage fixed base fixedly connected to the head end of the Nth arm member and the end of the N+1th arm member, N-stage driving bevel gear, N-stage transition bevel gear and N-stage
  • the driven bevel gear is located in the N-stage fixed seat, the N-stage driving bevel gear is coaxially connected to the rotating rod located in the Nth hand member; the N-stage driven bevel gear is located in the N+1 hand member
  • the rotating rods are coaxially connected, and the rotating central axis of the rotating rod is on the same plane as the rotating central axis of the N-1 connecting seat;
  • the N-stage transition bevel gear includes an N-stage connecting shaft and first ends connected to both ends of the N-stage connecting shaft, respectively For the N-stage
  • the central rotation axis of the first-stage driven bevel gear set, the central rotation axis of the first-stage driven bevel gear set, the central rotation axis of the M-stage driven bevel gear set, and the M-level driven bevel gear set are all on the same plane.
  • the driving component further includes an N+2th driving motor, and the N+2th driving motor drives the first arm member to rotate around the central axis of rotation of the first arm member.
  • the first driving motor to the N+2th motor of the driving component are respectively drive-connected with the first primary driving bevel gear to the N+1 primary driving bevel gear and the first arm member through a gear transmission mechanism.
  • the gear transmission mechanism includes N+2 coaxially arranged output cylindrical gears and N+2 input gears, each output cylindrical gear and the first primary driving bevel gear to the N+1 primary driving bevel gear and
  • the first arm components are coaxially connected; the output shafts of the N+2 drive motors of the driving component are coaxially connected with an input shaft, each input shaft is fixed with an input gear, and the input gear of each input shaft
  • Each output shaft gear is meshed with each other, and each input shaft is also sleeved with a plurality of positioning gears respectively meshed with output cylinder gears other than the output cylindrical gear meshed with the input gear on the input shaft.
  • the first driving motor to the N+2th motor of the driving component are respectively drive-connected with the first primary driving bevel gear to the N+1 primary driving bevel gear and the first arm member through a worm gear transmission mechanism .
  • the turbo worm transmission mechanism includes N+2 coaxially arranged output turbines and N+2 input worms, each output turbine and the first primary driving bevel gear to the N+1 primary driving bevel gear and the first An arm member is coaxially connected, and the output shafts of the N+2 driving motors of the driving component are coaxially connected with an input worm, each input worm is respectively meshed with each output turbine; the driving component further includes at least two positioning A plurality of limit gears respectively meshed with each output turbine are sleeved on each positioning shaft.
  • the arm part and the driving part of the present disclosure are provided separately, which makes the present disclosure effectively reduce the weight of the arm part , which is beneficial to improve the load capacity of the present disclosure.
  • FIG. 1 is a schematic structural diagram of Embodiment 1 of the present disclosure
  • Embodiment 1 of the present disclosure is a combined cross-sectional view of Embodiment 1 of the present disclosure
  • FIG. 3 is an enlarged view at a of FIG. 2;
  • FIG. 4 is an enlarged view at b of FIG. 2;
  • FIG. 5 is an enlarged view at c in FIG. 2;
  • FIG. 6 is an enlarged view at position d of FIG. 2;
  • Embodiment 8 is a schematic structural diagram of Embodiment 2 of the present disclosure.
  • Embodiment 9 is a combined cross-sectional view of Embodiment 2 of the present disclosure.
  • FIG. 10 is an enlarged view at e of FIG. 9;
  • FIG. 11 is an enlarged view at f of FIG. 9;
  • FIG. 12 is an enlarged view of the position g of FIG. 9;
  • FIG. 13 is an enlarged view at h of FIG. 9;
  • FIG. 14 is an exploded view of a driving component of Embodiment 2 of the present disclosure.
  • N is 4;
  • a mechanical arm of this embodiment includes an arm member A and a driving member B for driving the arm member A to move;
  • the arm part A includes five arm members A1, the first arm member A11 is rotatably fixed on the driving part B, and the first arm member A11 passes between the second arm member A12
  • the first joint 1 is rotatably connected, the second arm member A12 and the third arm member A13 are rotatably connected by the second joint 2, the third arm member A13 and the fourth arm member A14 are connected by the third
  • the joint 3 is rotatably connected, and the fourth arm member A14 and the fifth arm member A15 are connected by a fourth joint 4.
  • the first joint 1 includes a first-stage driving bevel gear group 11, a first-stage transition bevel gear group 12, a first-stage driven bevel gear group 13, and a first stage fixedly connected to the first end of the first arm member A11
  • the connecting seat 14 and the first-stage pivot seat 15 fixedly connected to the end of the second arm member A12 are pivotally connected to the first-stage pivot seat 15;
  • the first-stage active bevel gear set 11 is located at the first-stage connection In the seat 14,
  • the first-stage driving bevel gear set 11 includes five first-stage driving bevel gears 111 which are sequentially stacked and arranged coaxially;
  • the rotation central axis of the first-stage transition bevel gear set 12 is located on the first-stage connecting seat 14 and a
  • the first-stage transition bevel gear set 12 includes five first-stage transition bevel gears 121 which are sequentially stacked and arranged coaxially, and the first first-stage transition bevel gear 1211 is fixed on
  • the first-stage pivot seat 15 is used to
  • the first-stage driven bevel gear set 13 is located in the first-stage pivot seat 15, the first-stage driven bevel gear set 13 includes four first-stage driven bevel gears 131 which are sequentially stacked and arranged coaxially, the first A first-stage driven bevel gear 1311, a second-stage driven bevel gear 1312, a third-stage driven bevel gear 1313, and a fourth-stage driven bevel gear 1314 and a second-stage transition bevel
  • the rotation central axis of the first-stage driving bevel gear set 11 and the rotation central axis of the first-stage driven bevel gear set 13 are arranged on different surfaces, and the first-stage connecting seat 14 and the first-stage pivot joint seat 15 Different surfaces are arranged and do not overlap each other in the direction perpendicular to the pivot axis of the first-level connecting seat 14 and the first-level pivoting seat 15, so that the rotation of the first arm member A11 and the second arm member A12 will not mutually Cause obstruction; specifically, the first-level connecting seat 14 is provided with a first-level connecting seat hole 141, and the first-level pivoting seat 15 is provided with a first-level pivoting seat hole 151 corresponding to the first-level connecting seat hole 141;
  • Each primary transition bevel gear 121 of the primary transition bevel gear set 12 includes a primary connection shaft 12101 and a first primary bevel gear 12102 and a second primary bevel gear 12103 connected to both ends of the primary connection shaft, respectively;
  • the driving component B includes six driving motors B1, a first driving motor B11, a second driving motor B12, a third driving motor B13, a fourth driving motor B14, and a fifth driving
  • the motor B15 drives the first primary driving bevel gear 1111, the second primary driving bevel gear 1112, the third primary driving bevel gear 1113, the fourth primary driving bevel gear 1114, and the fifth primary driving
  • the bevel gear 1115 rotates;
  • the sixth drive motor B16 drives the first arm member A11 to rotate around the central axis of rotation of the first arm member A11.
  • the driving motor B16 passes through the gear transmission mechanism C and the first primary driving bevel gear 1111, the second primary driving bevel gear 1112, the third primary driving bevel gear 1113, the fourth primary driving bevel gear 1114 and the first Five primary driving bevel gears 1115 and the first arm member A11 are respectively driven and connected; as shown in FIGS.
  • the gear transmission mechanism C includes six coaxial output cylindrical gears C1 and six input gears C2 , Each output cylindrical gear C1 and the first primary driving bevel gear 1111, the second primary driving bevel gear 1112, the third primary driving bevel gear 1113, the fourth primary driving bevel gear 1114 and the fifth The primary driving bevel gear 1115 and the first arm member A11 are coaxially connected, wherein the first output cylindrical gear C11, the second output cylindrical gear C12, the third output cylindrical gear C13, the fourth output cylindrical gear C14, and the fifth output cylinder
  • the gear C15 and the sixth output cylindrical gear C16 are sequentially stacked together, the first output cylindrical gear C11 is coaxially connected to the first arm member A11, the second output cylindrical gear C12, the third output cylindrical gear C13, and the fourth output cylindrical gear C14, the fifth output spur gear C15 and the sixth output spur gear C16 can be provided by five coaxial first-stage hollow connecting rods D1 arranged in the first arm member A11 and sequentially sleeved from the outside to the
  • the second joint 2 includes a secondary driving bevel gear set 21, a secondary transition bevel gear set 22, a secondary driven bevel gear set 23, and a secondary stage fixedly connected to the head end of the second arm member A12
  • the connecting base 24 and the second-level pivot base 25 fixedly connected to the end of the third arm member A13 are pivotally connected to the second-level pivot base 25;
  • the second-stage driving bevel gear set 21 is located at the second-level connecting base 24
  • the two-stage driving bevel gear set 21 includes four second-stage driving bevel gears 211 stacked one after another and arranged coaxially;
  • the center axis of rotation of the two-stage transition bevel gear group 22 is located at the second-stage connecting seat 24 and the second-stage pivot joint
  • the two-stage transition bevel gear set 22 includes four second-stage transition bevel gears 221 stacked one after another and arranged coaxially, wherein the first two-stage transition bevel gear 2211 is fixed to the two-stage pivot On the base 25, the second
  • the rotation central axis of the secondary driving bevel gear set 21 and the rotation central axis of the secondary driven bevel gear set 23 are arranged on different surfaces, and the secondary connecting seat 24 and the secondary pivoting seat 25 It is arranged on different surfaces and does not overlap each other in the direction perpendicular to the pivot axis of the secondary connection seat 24 and the secondary pivot seat 25, so that the rotation between the second arm member A12 and the third arm member A13 will not mutually Causing obstruction; specifically, the secondary connection seat 24 is provided with a secondary connection seat hole 241, and the secondary pivot seat 25 is provided with a secondary pivot seat hole 251 corresponding to the secondary connection seat hole 241;
  • Each secondary transition bevel gear 221 of the secondary transition bevel gear set 22 includes a secondary connection shaft 22101 and a first secondary bevel gear 22102 and a second secondary bevel gear 22103 connected to both ends of the secondary connection shaft respectively ;
  • the secondary connection shafts 22101 of each secondary transition bevel gear 221 nest with each other and pass through the secondary connection seat hole 241 and the
  • the third joint 3 includes a three-stage driving bevel gear group 31, a three-stage transition bevel gear group 32, a three-stage driven bevel gear group 33, and a three-stage rotationally connected to the third arm member A13 at the head end
  • the connecting seat 34 and the third-stage pivoting seat 35 fixedly connected to the end of the fourth arm member A14 are pivotally connected to the third-stage pivoting seat 35;
  • the third-stage driving bevel gear set 31 is located at the third-stage connecting seat 34
  • the three-stage driving bevel gear set 31 includes three three-stage driving bevel gears 311 stacked one after another and arranged coaxially, the first three-stage driving bevel gear 3111 is fixedly connected to the three-stage connecting seat 34 and the first one
  • the rotating central axis of the third-stage driving bevel gear 3111 is located on the rotating central axis of the third-stage connecting seat 34, so that the first three-stage driving bevel gear 3111 is used to drive the third-stage connecting seat 34 to rotate;
  • the three-stage transition bevel gear set 32 includes two three-stage transition bevel gears 321 which are stacked one after the other and are coaxially arranged.
  • a three-stage transition bevel gear 3211 is fixed on the three-stage pivot seat 35 to drive the third-stage pivot seat 35 to rotate relative to the second-stage connection seat 24 through the first three-stage transition bevel gear 3211 to make the third arm member A13 rotates relative to the fourth arm member A14;
  • the three-stage driven bevel gear set 33 is located in the three-stage pivot seat 34, the three-stage driven bevel gear set 33 includes a three-stage driven bevel gear 331, the three-stage driven bevel gear 331 and the first Two three-stage transition bevel gears 3212 mesh, the three-stage driven bevel gear 331 is also co
  • the hollow connecting rod D3 is coaxial with the first secondary driven bevel gear 2311 of the secondary driven bevel gear set 2311, the second secondary driven bevel gear 2312 and the third secondary driven bevel gear 2313, respectively Connected so that the first three-stage driving bevel gear 3111, the second three-stage driving bevel gear 3112, the third three-stage driving bevel gear 3113 and the second-stage driven bevel gear of the three-stage driving bevel gear set 31 are connected
  • the first secondary driven bevel gear 2311 of the group 23, the second secondary driven bevel gear 2312 and the third secondary driven bevel gear 2313 are respectively driven and connected; of which the third arm member A13
  • Three coaxial three-stage hollow connecting rods D3 are divided into a first three-stage hollow connecting rod D31, a second three-stage hollow connecting rod D32 and a third three-stage hollow connecting rod D33 from the inside to the outside, the first three-stage hollow connecting rod Rod D31 at both ends Do not connect the third three-stage driving bevel gear 3113 and the third two-stage
  • the rotation central axis of the three-stage driven bevel gear set 31 and the rotation central axis of the three-stage driven bevel gear set 33 are arranged on different surfaces, and the three-stage connecting seat 34 and the three-stage pivot joint seat 35 It is arranged on different surfaces and does not overlap with each other in the direction perpendicular to the pivot axis of the tertiary connecting base 34 and the tertiary pivot base 35, so that the rotation of the third arm member A13 and the fourth arm member A14 will not mutually Cause obstruction; specifically, the tertiary connecting seat 34 is provided with a tertiary connecting seat hole 341, and the tertiary pivoting seat 35 is provided with a tertiary connecting seat hole 351 corresponding to the tertiary connecting seat hole 341;
  • Each three-stage transition bevel gear 321 of the three-stage transition bevel gear set 32 includes a three-stage connection shaft 32101 and a first three-stage bevel gear 32102 and a second three-stage bevel
  • the fourth joint 4 includes a four-stage driving bevel gear 41, a four-stage transition bevel gear 42, a four-stage driven bevel gear 43, a fourth arm member A14 and a fifth arm
  • the four-stage fixed seat 44 fixedly connected to the end of the member A15, the four-stage driving bevel gear 41, the four-stage transition bevel gear 42 and the four-stage driven bevel gear 43 are located in the four-stage fixed seat 44, and the four-stage driving bevel gear 41 is located at the first
  • the rotating rod G in the four hand members A14 is coaxially connected;
  • the four-stage driven bevel gear 43 is coaxially connected to the rotating rod X located in the fifth hand member A15, and the central axis of rotation of the rotating rod X is in three stages
  • the central axis of rotation of the connecting seat 34 is on the same plane;
  • the four-stage transition bevel gear 42 includes a four-stage connection shaft 421 and a first four-stage bevel gear 422 and a second four-stage
  • a plurality of balls Z are provided between adjacent first-stage driving bevel gears 111 to reduce the wear between adjacent first-stage driving bevel gears 111; There may also be several balls Z between adjacent first-stage transition bevel gears 121, and several balls Z between adjacent first-stage driven bevel gears 131; There may also be several balls Z between adjacent two-stage transition bevel gears 221, and several balls Z between adjacent two-stage driven bevel gears 231 ; There can also be several balls Z between adjacent three-stage driving bevel gears 311, and several ball Z between adjacent three-stage transition bevel gears 321, adjacent three-stage driven bevel gears Several balls Z can also be arranged between 331; several balls Z can also be arranged between adjacent four-stage driving bevel gears 411, and several balls can also be arranged between adjacent four-stage transition bevel gears 421 Z.
  • N is 4;
  • a mechanical arm of this embodiment includes an arm member A and a driving member B for driving the arm member A to move;
  • the arm part A includes four arm members A1, the first arm member A11 is rotatably fixed on the driving part B, and the first arm member A11 passes between the second arm member A12
  • the first joint 1 is rotatably connected
  • the second arm member A12 and the third arm member A13 are rotatably connected by the second joint 2
  • the third arm member A13 and the fourth arm member A14 are connected by the third
  • the joint 3 is rotatably connected.
  • the first joint 1 includes a first-stage driving bevel gear group 11, a first-stage transition bevel gear group 12, a first-stage driven bevel gear group 13, and a first stage fixedly connected to the first end of the first arm member A11
  • the connecting seat 14 and the first-stage pivot seat 15 fixedly connected to the end of the second arm member A12 are pivotally connected to the first-stage pivot seat 15;
  • the first-stage active bevel gear set 11 is located at the first-stage connection In the seat 14,
  • the first-stage driving bevel gear set 11 includes five first-stage driving bevel gears 111 which are sequentially stacked and arranged coaxially;
  • the rotation central axis of the first-stage transition bevel gear set 12 is located on the first-stage connecting seat 14 and a
  • the first-stage transition bevel gear set 12 includes five first-stage transition bevel gears 121 which are sequentially stacked and arranged coaxially, and the first first-stage transition bevel gear 1211 is fixed on
  • the first-stage pivot seat 15 is used to
  • the first-stage driven bevel gear set 13 is located in the first-stage pivot seat 15, the first-stage driven bevel gear set 13 includes four first-stage driven bevel gears 131 which are sequentially stacked and arranged coaxially, the first A first-stage driven bevel gear 1311, a second-stage driven bevel gear 1312, a third-stage driven bevel gear 1313, and a fourth-stage driven bevel gear 1314 and a second-stage transition bevel
  • the driving component B includes six driving motors B1, a first driving motor B11, a second driving motor B12, a third driving motor B13, a fourth driving motor B14 and a fifth driving
  • the motor B15 drives the first primary driving bevel gear 1111, the second primary driving bevel gear 1112, the third primary driving bevel gear 1113, the fourth primary driving bevel gear 1114, and the fifth primary driving
  • the bevel gear 1115 rotates;
  • the sixth drive motor B16 drives the first arm member A11 to rotate around the central axis of rotation of the first arm member A11.
  • the drive motor B16 is connected to the first primary driving bevel gear 1111, the second primary driving bevel gear 1112, the third primary driving bevel gear 1113, the fourth primary driving bevel gear 1114 and
  • the fifth first-stage driving bevel gear 1115 and the first arm member A11 are respectively drive-connected; as shown in FIGS.
  • the turbo-worm transmission mechanism E includes six coaxially arranged output turbines E1 and input worms E2, Each output turbine E1 and the first primary driving bevel gear 1111, the second primary driving bevel gear 1112, the third primary driving bevel gear 1113, the fourth primary driving bevel gear 1114 and the fifth primary driving gear
  • the driving bevel gear 1115 and the first arm member A11 are coaxially connected, wherein the first output turbine E11, the second output turbine E12, the third output turbine E13, the fourth output turbine E14, the fifth output turbine E15, and the sixth output turbine E16 is sequentially stacked together, the first output turbine E11 is coaxially connected to the first arm member A11, the second output turbine E12, the third output turbine E13, the fourth output turbine E14, the fifth output turbine E15 and the sixth output turbine E16 can be provided by five coaxial first-stage hollow connecting rods D1 arranged in the first arm member A11 and sequentially sleeved from the outside to the inside and the first-stage driving bevel gear 1111
  • the second joint 2 includes a secondary driving bevel gear set 21, a secondary transition bevel gear set 22, a secondary driven bevel gear set 23, and a secondary stage fixedly connected to the head end of the second arm member A12
  • the connecting base 24 and the second-level pivot base 25 fixedly connected to the end of the third arm member A13 are pivotally connected to the second-level pivot base 25;
  • the second-stage driving bevel gear set 21 is located at the second-level connecting base 24
  • the two-stage driving bevel gear set 21 includes four second-stage driving bevel gears 211 stacked one after another and arranged coaxially;
  • the center axis of rotation of the two-stage transition bevel gear group 22 is located at the second-stage connecting seat 24 and the second-stage pivot joint
  • the two-stage transition bevel gear set 22 includes four second-stage transition bevel gears 221 stacked one after another and arranged coaxially, wherein the first two-stage transition bevel gear 2211 is fixed to the two-stage pivot On the base 25, the second
  • the third joint 3 includes a three-stage driving bevel gear group 31, a three-stage transition bevel gear group 32, a three-stage driven bevel gear group 33, and a three-stage rotationally connected to the third arm member A13 at the head end
  • the connecting seat 34 and the third-stage pivoting seat 35 fixedly connected to the end of the fourth arm member A14 are pivotally connected to the third-stage pivoting seat 35;
  • the third-stage driving bevel gear set 31 is located at the third-stage connecting seat 34
  • the three-stage driving bevel gear set 31 includes three three-stage driving bevel gears 311 stacked one after another and arranged coaxially, the first three-stage driving bevel gear 3111 is fixedly connected to the three-stage connecting seat 34 and the first one
  • the rotating central axis of the third-stage driving bevel gear 3111 is located on the rotating central axis of the third-stage connecting seat 34, so that the first three-stage driving bevel gear 3111 is used to drive the third-stage connecting seat 34 to rotate;
  • the three-stage transition bevel gear set 32 includes two three-stage transition bevel gears 321 which are stacked one after the other and are coaxially arranged.
  • a three-stage transition bevel gear 3211 is fixed on the three-stage pivot seat 35 to drive the third-stage pivot seat 35 to rotate relative to the second-stage connection seat 24 through the first three-stage transition bevel gear 3211 to make the third arm member A13 rotates relative to the fourth arm member A14;
  • the three-stage driven bevel gear set 33 is located in the three-stage pivot seat 34, the three-stage driven bevel gear set 33 includes a three-stage driven bevel gear 331, the three-stage driven bevel gear 331 and the first Two three-stage transition bevel gears 3212 mesh, the three-stage driven bevel gear 331 is also co
  • the hollow connecting rod D3 is coaxial with the first secondary driven bevel gear 2311 of the secondary driven bevel gear set 2311, the second secondary driven bevel gear 2312 and the third secondary driven bevel gear 2313, respectively Connected so that the first three-stage driving bevel gear 3111, the second three-stage driving bevel gear 3112, the third three-stage driving bevel gear 3113 and the second-stage driven bevel gear of the three-stage driving bevel gear set 31 are connected
  • the first secondary driven bevel gear 2311 of the group 23, the second secondary driven bevel gear 2312 and the third secondary driven bevel gear 2313 are respectively driven and connected; of which the third arm member A13
  • Three coaxial three-stage hollow connecting rods D3 are divided into a first three-stage hollow connecting rod D31, a second three-stage hollow connecting rod D32 and a third three-stage hollow connecting rod D33 from the inside to the outside, the first three-stage hollow connecting rod Rod D31 at both ends
  • the central rotation axis of the second-stage driven bevel gear group 23, the central rotation axis of the three-stage driven bevel gear group 31, and the central rotation axis of the three-stage driven bevel gear group 33 are all on the same plane, so that Reduce the occupied volume of the present disclosure.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Gear Transmission (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)

Abstract

L'invention porte sur un bras robotisé comprenant une partie de bras A et une partie d'entraînement B pour entraîner la partie de bras A à se déplacer. La partie de bras A comprend N éléments de bras A1, N étant un nombre entier positif supérieur ou égal à 4. Un premier élément de bras A11 est fixé sur la partie d'entraînement B. Le premier élément de bras A11 et le deuxième élément de bras A12 sont reliés de manière rotative au moyen d'une première articulation 1. Le Mième élément de bras et le (M +1)ième élément de bras sont reliés de manière rotative au moyen d'une Mième articulation, M étant un nombre entier positif allant de 2 à N -2. Le (N-1) ième élément de bras et le Nième élément de bras sont reliés de manière rotative au moyen d'une (N-1) ième articulation. La partie d'entraînement B et la première articulation 1 sont reliées en transmission. La première articulation 1 à la (N-1) ième articulation sont reliées séquentiellement et en transmission. Le bras robotisé peut réduire efficacement le poids de la partie de bras, ce qui facilite l'amélioration de la capacité de chargement.
PCT/CN2019/116275 2018-12-07 2019-11-07 Bras robotisé WO2020114188A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811494542.3A CN109465813A (zh) 2018-12-07 2018-12-07 一种机械手臂
CN201811494542.3 2018-12-07

Publications (1)

Publication Number Publication Date
WO2020114188A1 true WO2020114188A1 (fr) 2020-06-11

Family

ID=65675806

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/116275 WO2020114188A1 (fr) 2018-12-07 2019-11-07 Bras robotisé

Country Status (2)

Country Link
CN (1) CN109465813A (fr)
WO (1) WO2020114188A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115106739A (zh) * 2022-07-12 2022-09-27 核工业西南物理研究院 一种耐高剂量γ辐照的电液协同操作臂

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109465813A (zh) * 2018-12-07 2019-03-15 曾林旺 一种机械手臂
CN109848976A (zh) * 2019-03-27 2019-06-07 曾林旺 一种多轴独立控制机械手臂
CN110000683A (zh) * 2019-04-18 2019-07-12 五邑大学 一种水龙头表面加工设备及加工工艺
CN110353810A (zh) * 2019-07-24 2019-10-22 曾林旺 一种单孔径手动直驱手术机器人系统
CN110558929A (zh) * 2019-10-14 2019-12-13 北京仙进机器人有限公司 一种手持式单臂多自由度腹腔镜
CN110584585A (zh) * 2019-10-22 2019-12-20 北京仙进机器人有限公司 一种手持式多自由度腹腔镜
CN111890407A (zh) * 2020-07-10 2020-11-06 杭州景业智能科技有限公司 一种核工业用的机械手

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4047448A (en) * 1975-05-15 1977-09-13 Sofermo Robot head
FR2595288A1 (fr) * 1986-03-04 1987-09-11 Staubli Sa Ets Dispositif de poignet pour robot industriel
CN106272529A (zh) * 2016-09-20 2017-01-04 合肥工业大学 一种两指式上下料旋转机械手
CN206967487U (zh) * 2017-07-31 2018-02-06 长安大学 一种锥齿轮传动模块化关节机械臂
CN109465813A (zh) * 2018-12-07 2019-03-15 曾林旺 一种机械手臂

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
IT1211195B (it) * 1987-07-10 1989-10-12 Bruno Bisiach Robot industriale a molteplici articolazioni a piu gradi di liberta di movimento
CN201330226Y (zh) * 2009-01-21 2009-10-21 河北理工大学 施釉机器人
US10220522B2 (en) * 2013-12-12 2019-03-05 Covidien Lp Gear train assemblies for robotic surgical systems
CN104260108A (zh) * 2014-09-09 2015-01-07 上海浩淼自动化设备有限公司 Scara型机械手臂
CN104708624A (zh) * 2015-04-02 2015-06-17 中山展域智能科技有限公司 同轴式间接驱动多关节机器人手臂的传动机构
CN209425439U (zh) * 2018-12-07 2019-09-24 曾林旺 一种机械手臂

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4047448A (en) * 1975-05-15 1977-09-13 Sofermo Robot head
FR2595288A1 (fr) * 1986-03-04 1987-09-11 Staubli Sa Ets Dispositif de poignet pour robot industriel
CN106272529A (zh) * 2016-09-20 2017-01-04 合肥工业大学 一种两指式上下料旋转机械手
CN206967487U (zh) * 2017-07-31 2018-02-06 长安大学 一种锥齿轮传动模块化关节机械臂
CN109465813A (zh) * 2018-12-07 2019-03-15 曾林旺 一种机械手臂

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115106739A (zh) * 2022-07-12 2022-09-27 核工业西南物理研究院 一种耐高剂量γ辐照的电液协同操作臂
CN115106739B (zh) * 2022-07-12 2024-01-23 核工业西南物理研究院 一种耐高剂量γ辐照的电液协同操作臂

Also Published As

Publication number Publication date
CN109465813A (zh) 2019-03-15

Similar Documents

Publication Publication Date Title
WO2020114188A1 (fr) Bras robotisé
US8424411B2 (en) Parallel robot
WO2020192131A1 (fr) Bras robotique ayant de multiples axes commandés indépendamment
US8621955B2 (en) Robot arm assembly
JP5403303B2 (ja) パラレル機構
US7454995B2 (en) Joint mechanism for robot hand and the like
TWI415724B (zh) 並聯機器人及手腕模組
JP6914568B2 (ja) 産業用ロボットアーム
KR101408203B1 (ko) 유성기어 방식의 rv감속기
CN106903712A (zh) 基于差动绳传动的两自由度共线机械臂关节
CN103056878A (zh) 一种仿生结构机械传动机器人
US11938624B2 (en) Parallel kinematic robot
US9140332B2 (en) Rational speed-reduction device
US10967524B1 (en) System and method for conversion of rotational motion into linear actuation by mechanical stacking or unstacking of connected links
WO2012104785A1 (fr) Appareil d'entraînement
US11285601B2 (en) Gearing, gearing unit, and robot
CN209425439U (zh) 一种机械手臂
CN113459154B (zh) 基于差分机构的仿人机械臂
CN104942795B (zh) 一移动二转动三自由度转动移动完全解耦并联机构
CN114194309A (zh) 一种能够自由角度翻转的管外实时监测爬行机器人
US20210031383A1 (en) Mechanism with three degrees-of-freedom (dof) output to provide independent control over roll, pitch, and yaw of output structure
JP2017040348A (ja) 遊星歯車装置及びその設計方法
Courchesne et al. A compact underactuated gripper with two fingers and a retractable suction cup
JP2016147315A (ja) 産業用ロボット
WO2019200898A1 (fr) Réducteur à engrenage planétaire amélioré

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19893000

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19893000

Country of ref document: EP

Kind code of ref document: A1