CN103223669A - Light mechanical arm mechanism - Google Patents
Light mechanical arm mechanism Download PDFInfo
- Publication number
- CN103223669A CN103223669A CN201310176775XA CN201310176775A CN103223669A CN 103223669 A CN103223669 A CN 103223669A CN 201310176775X A CN201310176775X A CN 201310176775XA CN 201310176775 A CN201310176775 A CN 201310176775A CN 103223669 A CN103223669 A CN 103223669A
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- handgrip
- driven pulley
- forearm
- arm
- big arm
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims abstract description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 4
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 4
- 210000000245 forearm Anatomy 0.000 claims description 65
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000005611 electricity Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 238000007789 sealing Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 239000008400 supply water Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
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Abstract
The invention relates to a light mechanical arm mechanism which comprises a large arm, a small arm, a tongs, a waterproof foundation, a driving mechanism, a power supply device and a control device, wherein the driving mechanism comprises a synchronous belt wheel-type driving mechanism which is respectively used for driving the large arm, the small arm and the tongs and drives the large arm, the small arm and the tongs to move by a motor through a mode of synchronous belt driving; the waterproof foundation, the driving mechanism, the power supply device and the control device are assembled into the waterproof foundation in a centralized manner; the power supply device is used for supplying electricity for the motor and the control device; and the control device is used for controlling the motion of the motor. The light mechanical arm mechanism provided by the invention is simple in structure; aluminum materials are adopted for the large arm and the small arm; the arms are light in mass; and the mass of the whole mechanical arm is centralized to the waterproof foundation. According to the light mechanical arm mechanism provided by the invention, an operation arm is additionally arranged on a mobile robot, and certain practicability is realized.
Description
Technical field
The present invention relates to electromechanical integration technology area, the light-weighted mechanical arm mechanism that robot systems such as the robot that is specifically related to supply water are down used.
Background technology
Along with science and technology development, the exploitation of marine resources receives much concern, and the ocean has abundant mineral matter, oil and natural gas equal energy source, and the exploitation of marine resources is to solve the energy starved important measures.Underwater robot is the most important infrastructure of marine resources development, utilizes underwater robot can finish the work that a large amount of mankind can't finish, and in order to finish the extracting task, underwater robot generally all can be equipped with work jibs and grasp target.
" HUST 8F automatic tool exchange manipulator kinematics and computer simulation system research " (machinery and electronics, 2003 (3): the HUST-8F underwater operation arm 67-71), have six-freedom degree, adopt hydraulic-driven; " based on the autonomous underwater robot under the energy resource consumption-arm-and-hand system coordinated movement of various economic factors research " (robot, 2006:28 (4): the Three Degree Of Freedom underwater manipulator of 444-452) mentioning adopts linkage, is driven by built-in linear stepping motor; " research of underwater manipulator control system " (Machine Design and manufacturing, underwater manipulator 2009:185-187) adopts cradle head formula structure, have four frees degree, adopt driven by servomotor, the electric motor built-in structure is all adopted in each joint of underwater manipulator.Motor or hydraulic cylinder that the above-mentioned underwater operation arm mentioned adopts all are placed in each joint, and be relatively heavier, with the application's frame for movement very big difference arranged.
Summary of the invention
The object of the invention is to provide a kind of and has that the arm body is in light weight, compact conformation, the stable mechanical arm of operation, can be provided on all kinds of robot systems and use.The present invention is integrated in motor and driver in the waterproof pedestal, by each of actuator drives mechanical arm, thereby effectively reduces the weight in each connecting rod such as big arm, forearm and joint, and can guarantee that mechanical arm realizes stable extracting.
The technical solution used in the present invention is:
A kind of light-weighted mechanical arm mechanism, it comprises big arm, forearm, handgrip, waterproof pedestal, driving mechanism, supply unit and control device; Described driving mechanism comprises the synchronous pulley formula driving mechanism that is respectively applied for driving big arm, forearm and handgrip, and described synchronous pulley formula driving mechanism is driven the motion of big arm, forearm and handgrip by the mode of synchronous band transmission by motor; Described waterproof pedestal, driving mechanism, supply unit and control device are concentrated and are assemblied in the waterproof pedestal; Described supply unit is used for to motor and control device power supply, and described control device is used to control the motion of motor.
Described waterproof pedestal: be positioned at the below of arm body, inner big arm motor, forearm motor, handgrip motor, supply unit, the control device placed adopts the ABS material to make, and seals by sealing ring, has water-proof function.
Described driving mechanism: comprise motor, synchronous pulley mechanism.Wherein, described motor is placed in the described waterproof pedestal, and each described motor carries out sealing again it is carried out waterproof, and described synchronous pulley comprises driving wheel, the driven pulley of motor output end and connects between described driving wheel and the driven pulley to be with synchronously.Described motor drives described arm body by synchronous pulley mechanism and carries out underwater operation.
Described control device: comprise the PC104 industrial computer, based on the driver module and the motor driver of field programmable gate array (FPGA).Inverse kinematics by PC104 industrial computer operation mechanical arm is resolved, closed-loop control scheduling algorithm and export the result to based on FPGA driver module, exports motor driver to and drives described motor movement by based on the driver module of FPGA the input of PC104 industrial computer being converted to pwm signal.
Described supply unit: being placed in the waterproof pedestal, is to described motor with to the rechargeable battery set of described control device power supply.
The present invention's robot system such as robot that can supply water is down used, adopt above technical scheme, has compact conformation, characteristics such as waterproof easily realizes, the arm body is in light weight put together motor, described supply unit, the described control device that drives mechanical arm, be sealed in the described waterproof pedestal, carry out unified waterproof, each motor carries out sealing again, is simple and easy to realize.Big arm, forearm, handgrip adopt aluminum material to make, its motor and driver all are placed in the waterproof pedestal, the arm body partly has only connecting rod, and on connecting rod, slot to alleviate the weight of arm body, the mass concentration of whole mechanical arm is in the waterproof pedestal when operation, makes the underwater operation of finishing that mechanical arm can be more stable.
Description of drawings
Fig. 1 shows the overall structure schematic diagram of light-weighted mechanical arm mechanism among the present invention;
What Fig. 2 showed light-weighted mechanical arm mechanism among the present invention overlooks the assembling schematic diagram;
Fig. 3 shows among the present invention the left side of light-weighted mechanical arm mechanism and looks the assembling schematic diagram;
Fig. 4 shows among the present invention the right side of light-weighted mechanical arm mechanism and looks the assembling schematic diagram;
Fig. 5 shows the arm body structure schematic diagram of the mechanical arm mechanism of light weight formula among the present invention
Fig. 6 has provided the control device structure chart in the lightweight three-dimensional machinery arm mechanism among the present invention.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in further detail.
Fig. 1 shows the overall structure schematic diagram of a kind of light-weighted mechanical arm mechanism disclosed by the invention.What Fig. 2 showed light-weighted mechanical arm mechanism disclosed by the invention overlooks the assembling schematic diagram; Fig. 3 shows the left side of light-weighted mechanical arm mechanism disclosed by the invention and looks the assembling schematic diagram; Fig. 4 shows the right side of light-weighted mechanical arm mechanism disclosed by the invention and looks the assembling schematic diagram; Fig. 5 shows the mechanical arm mechanism arm body structure schematic diagram of light weight formula disclosed by the invention.
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, described mechanical arm mechanism comprises: big arm 1, forearm 2, handgrip 3, supply unit 6, control device 7, pedestal axle 8, waterproof pedestal 9 and driving mechanism, described driving mechanism is a synchronous pulley formula driving mechanism, it comprises three kinds of big arm driving mechanism, forearm driving mechanism and tongs driving device, and it is respectively applied for and drives big arm 1, forearm 2 and handgrip 3 motions.Described synchronous pulley comprises driving wheel, the driven pulley of motor output end and connects between described driving wheel and the driven pulley to be with synchronously.Motor in the described driving mechanism is by the mode drivening rod formula mechanical arm of synchronous pulley transmission.Described waterproof pedestal 9 is positioned at the below of arm body, adopt the ABS material to make, it utilizes waterproof grommet to carry out waterproof, inside is placed with big arm motor 1.1, forearm motor 2.1, handgrip motor 3.1, supply unit 6 and the control device 7 that drives mechanical arm, and wherein big arm motor 1.1, forearm motor 2.1, handgrip motor 3.1 utilize waterproof grommet to realize the sealing waterproof respectively on corresponding motor shaft.Described supply unit is to be used for to described motor with to the rechargeable battery set of described control device power supply.
Wherein, big arm, forearm and handgrip are made of aluminum material, adopt the connecting rod mode to connect, big arm 1 utilizes bearing to be connected on the big arm axle 4 by hole 1.5, utilize bearing to be connected on the forearm axle 5 by hole 1.6; forearm 2 utilizes bearing to be connected on the forearm axle 5 by hole 2.8, and rod member 3.13 and handgrip 3 are distributed in forearm 2 upper and lower sides, fixing with screw 3.14., wherein, fluting is to reduce its weight on the connecting rod of big arm and forearm.
Fig. 6 has provided the control device structure chart in the lightweight three-dimensional machinery arm mechanism disclosed by the invention.As shown in Figure 6, this control device comprises the driver module and the motor driver of field programmable gate array (FPGA).Outside PC104 industrial computer is realized the control algolithm of mechanical arm, algorithm comprises that inverse kinematics is resolved, closed-loop control, and generate the rotational angle control command of joint of mechanical arm in real time, control command sends to driver module based on field programmable gate array (FPGA) by the PC104 industrial computer, the FPGA driver module receives control command, the pulse-width signal (pwm signal) of control motor will be produced, pwm signal is exported to each motor driver after amplifying through driver, realizes the extracting task of mechanical arm.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; be understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. light-weighted mechanical arm mechanism, it comprises big arm, forearm, handgrip, waterproof pedestal, driving mechanism, supply unit and control device; Described driving mechanism comprises the synchronous pulley formula driving mechanism that is respectively applied for driving big arm, forearm and handgrip, and described synchronous pulley formula driving mechanism is driven the motion of big arm, forearm and handgrip by the mode of synchronous band transmission by motor; Described waterproof pedestal, driving mechanism, supply unit and control device are concentrated and are assemblied in the waterproof pedestal; Described supply unit is used for to motor and control device power supply, and described control device is used to control the motion of motor.
2. mechanical arm according to claim 1 is characterized in that: described waterproof pedestal utilizes waterproof grommet to carry out waterproof.
3. mechanical arm according to claim 1 is characterized in that: described driving mechanism comprises motor and synchronous pulley mechanism, and described synchronous pulley mechanism comprises driving wheel, the driven pulley of motor output end and connects between described driving wheel and the driven pulley band synchronously; Wherein, described driven pulley is positioned on the axle that drives big arm, forearm and handgrip motion.
4. mechanical arm according to claim 3 is characterized in that: described big arm is through 1 transmission of band realization synchronously, and forearm is with synchronously through 2 and is realized transmission, and handgrip is with synchronously through 3 and is realized transmissions.
5. mechanical arm according to claim 4, it is characterized in that, the driving mechanism of big arm comprises big arm drive motors, arm driving wheel, big arm driven pulley and big arm are with synchronously greatly, described big arm driving wheel is installed on the output shaft of big arm drive motors, described big arm driven pulley is installed on the big arm axle that drives big arm motion, and described big arm driving wheel is with synchronously by big arm with big arm driven pulley and is connected.
6. mechanical arm according to claim 4, it is characterized in that the driving mechanism of forearm comprises: forearm drive motors, forearm driving wheel, the first forearm driven pulley, the second forearm driven pulley, the 3rd forearm driven pulley, the synchronous band of first forearm and second forearm are with synchronously; Described forearm driving wheel is installed on the output shaft of described forearm drive motors, and described first driven pulley and second driven pulley are installed on the big arm axle that drives big arm motion, and described forearm driving wheel is with synchronously by first forearm with described first driven pulley and is connected; Described the 3rd driven pulley is installed on the little arm axle that drives described forearm motion, and second driven pulley is with synchronously by second forearm with described the 3rd driven pulley and is connected.
7. mechanical arm according to claim 4 is characterized in that: the driving mechanism of handgrip comprises: handgrip drive motors, handgrip driving wheel, the first handgrip driven pulley, the second handgrip driven pulley, the 3rd handgrip driven pulley, the 4th handgrip driven pulley, the 5th handgrip driven pulley, first handgrip are with synchronously, second handgrip is with synchronously and the 3rd handgrip is with synchronously; Wherein, described handgrip driving wheel is installed on the output shaft of described handgrip drive motors, the first handgrip driven pulley and the second handgrip driven pulley are installed on the big arm axle that drives described big arm motion, the 3rd handgrip driven pulley and the 4th handgrip driven pulley are installed on the little arm axle that drives described forearm motion, and the 5th handgrip driven pulley is positioned on the forearm; Described handgrip driving wheel is with synchronously by first handgrip with the first handgrip driven pulley and is connected, the second handgrip driven pulley is with synchronously by second handgrip with the 3rd handgrip driven pulley and is connected, and the 4th handgrip driven pulley is with synchronously by the 3rd handgrip with the 5th handgrip driven pulley and is connected.
8. according to each described mechanical arm of claim 1-7, it is characterized in that: described mechanical arm is that the link-type mechanical arm reduces weight by the mode of slotting on each arm connecting rod.
9. according to each described mechanical arm of claim 1-7, it is characterized in that: described control device comprises based on the driver module of field programmable gate array and motor driver; Described driver module based on field programmable gate array is used for from outside reception control command, and sends motor driver to according to control command generation pulse-width signal.
10. according to each described mechanical arm of claim 1-7, it is characterized in that: described big arm, forearm and handgrip are made of aluminum material, and described waterproof pedestal adopts the ABS material to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310176775.XA CN103223669B (en) | 2013-05-14 | 2013-05-14 | A kind of light-weighted mechanical arm mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310176775.XA CN103223669B (en) | 2013-05-14 | 2013-05-14 | A kind of light-weighted mechanical arm mechanism |
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| Publication Number | Publication Date |
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| CN103223669A true CN103223669A (en) | 2013-07-31 |
| CN103223669B CN103223669B (en) | 2015-09-30 |
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| CN201310176775.XA Active CN103223669B (en) | 2013-05-14 | 2013-05-14 | A kind of light-weighted mechanical arm mechanism |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476534A (en) * | 2014-12-07 | 2015-04-01 | 夏正付 | Intelligent transfer robot |
| CN104816296A (en) * | 2015-05-11 | 2015-08-05 | 东莞市顺如电子科技有限公司 | Rear motor mechanical arm and forming method |
| CN104924297A (en) * | 2015-06-30 | 2015-09-23 | 南京理工大学 | High-speed two-degree-of-freedom planar transverse-movement robot mechanism |
| CN105479451A (en) * | 2015-12-29 | 2016-04-13 | 哈尔滨工业大学 | Planar redundant robot |
| CN106826803A (en) * | 2017-03-24 | 2017-06-13 | 洛阳圣瑞智能机器人有限公司 | A kind of multiple degrees of freedom link-type light-duty mechanical arm |
| CN106934182A (en) * | 2017-04-20 | 2017-07-07 | 武汉理工大学 | A kind of unified design approach of lightweight mechanical arm |
| CN107433569A (en) * | 2016-05-26 | 2017-12-05 | 精工爱普生株式会社 | Horizontal articulated robot |
| CN107662200A (en) * | 2017-11-07 | 2018-02-06 | 山东大学 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
| CN108381542A (en) * | 2018-04-04 | 2018-08-10 | 中国科学院自动化研究所 | Submarine mechanical arm based on mixed drive |
| CN109571440A (en) * | 2019-01-04 | 2019-04-05 | 赵郑松 | A kind of environment-friendly type multi-gear gearing hand for building |
| CN110154045A (en) * | 2019-04-29 | 2019-08-23 | 合肥工业大学 | A kind of Wire driven robot series connection four-degree-of-freedom spray coating mechanical arm |
| CN110238869A (en) * | 2019-06-19 | 2019-09-17 | 南京航空航天大学 | A kind of flexible magnetic force magnetic net formula machinery grabbing device |
| CN110328659A (en) * | 2019-08-07 | 2019-10-15 | 浩科机器人（苏州）有限公司 | A kind of compact belt transmission four axis robot of sealed type small-sized |
| CN110613606A (en) * | 2019-10-08 | 2019-12-27 | 杭州程天科技发展有限公司 | Intelligent moxibustion instrument |
| CN110788848A (en) * | 2019-11-22 | 2020-02-14 | 合肥工业大学 | Energy-saving type industrial robot with rear-mounted driving unit |
| CN110788850A (en) * | 2019-11-22 | 2020-02-14 | 合肥工业大学 | Energy-saving industrial robot |
| CN111188886A (en) * | 2020-01-10 | 2020-05-22 | 浙江清华柔性电子技术研究院 | Traction wire drive device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476534A (en) * | 2014-12-07 | 2015-04-01 | 夏正付 | Intelligent transfer robot |
| CN104816296A (en) * | 2015-05-11 | 2015-08-05 | 东莞市顺如电子科技有限公司 | Rear motor mechanical arm and forming method |
| CN104924297A (en) * | 2015-06-30 | 2015-09-23 | 南京理工大学 | High-speed two-degree-of-freedom planar transverse-movement robot mechanism |
| CN104924297B (en) * | 2015-06-30 | 2017-05-17 | 南京理工大学 | High-speed two-degree-of-freedom planar transverse-movement robot mechanism |
| CN105479451A (en) * | 2015-12-29 | 2016-04-13 | 哈尔滨工业大学 | Planar redundant robot |
| CN105479451B (en) * | 2015-12-29 | 2017-06-20 | 哈尔滨工业大学 | A kind of planar redundant robot |
| CN107433569B (en) * | 2016-05-26 | 2022-10-28 | 精工爱普生株式会社 | Horizontal articulated robot |
| CN107433569A (en) * | 2016-05-26 | 2017-12-05 | 精工爱普生株式会社 | Horizontal articulated robot |
| CN106826803A (en) * | 2017-03-24 | 2017-06-13 | 洛阳圣瑞智能机器人有限公司 | A kind of multiple degrees of freedom link-type light-duty mechanical arm |
| CN106934182B (en) * | 2017-04-20 | 2020-03-24 | 武汉理工大学 | Unified design method for lightweight mechanical arm |
| CN106934182A (en) * | 2017-04-20 | 2017-07-07 | 武汉理工大学 | A kind of unified design approach of lightweight mechanical arm |
| CN107662200A (en) * | 2017-11-07 | 2018-02-06 | 山东大学 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
| CN108381542B (en) * | 2018-04-04 | 2024-05-28 | 中国科学院自动化研究所 | Hybrid transmission-based underwater mechanical arm |
| CN108381542A (en) * | 2018-04-04 | 2018-08-10 | 中国科学院自动化研究所 | Submarine mechanical arm based on mixed drive |
| CN109571440A (en) * | 2019-01-04 | 2019-04-05 | 赵郑松 | A kind of environment-friendly type multi-gear gearing hand for building |
| CN110154045B (en) * | 2019-04-29 | 2022-04-22 | 合肥工业大学 | Flexible cable-driven series-connection four-degree-of-freedom spraying mechanical arm |
| CN110154045A (en) * | 2019-04-29 | 2019-08-23 | 合肥工业大学 | A kind of Wire driven robot series connection four-degree-of-freedom spray coating mechanical arm |
| CN110238869A (en) * | 2019-06-19 | 2019-09-17 | 南京航空航天大学 | A kind of flexible magnetic force magnetic net formula machinery grabbing device |
| CN110238869B (en) * | 2019-06-19 | 2024-03-19 | 南京航空航天大学 | Flexible magnetic net type mechanical grabbing device |
| CN110328659A (en) * | 2019-08-07 | 2019-10-15 | 浩科机器人（苏州）有限公司 | A kind of compact belt transmission four axis robot of sealed type small-sized |
| CN110613606A (en) * | 2019-10-08 | 2019-12-27 | 杭州程天科技发展有限公司 | Intelligent moxibustion instrument |
| CN110788848A (en) * | 2019-11-22 | 2020-02-14 | 合肥工业大学 | Energy-saving type industrial robot with rear-mounted driving unit |
| CN110788850A (en) * | 2019-11-22 | 2020-02-14 | 合肥工业大学 | Energy-saving industrial robot |
| CN110788850B (en) * | 2019-11-22 | 2021-03-09 | 合肥工业大学 | Control method of energy-saving industrial robot |
| CN111188886A (en) * | 2020-01-10 | 2020-05-22 | 浙江清华柔性电子技术研究院 | Traction wire drive device |
| CN111188886B (en) * | 2020-01-10 | 2021-05-04 | 浙江清华柔性电子技术研究院 | Traction wire drive device |
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| CN103223669B (en) | 2015-09-30 |
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