CN107351075A - A kind of lightweight modules mechanical arm of restructural - Google Patents
A kind of lightweight modules mechanical arm of restructural Download PDFInfo
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- CN107351075A CN107351075A CN201710632272.7A CN201710632272A CN107351075A CN 107351075 A CN107351075 A CN 107351075A CN 201710632272 A CN201710632272 A CN 201710632272A CN 107351075 A CN107351075 A CN 107351075A
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- mechanical arm
- joint
- restructural
- lightweight modules
- mechanical
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of lightweight modules mechanical arm of restructural, including industry control PC, base, some robot linkages and the joint of mechanical arm of some output torques, the base is firm banking, fixation and installation for whole lightweight modules mechanical arm；It is connected with each other between the robot linkage by dismountable joint of mechanical arm, the both ends and robot linkage both ends of each joint of mechanical arm are provided with the unitized mechanical interface for realizing any connection；The motion for the rotation driving mechanical arm link that the industry control PC passes through control machinery shoulder joint.Present invention introduces modularization idea, complete mechanical arm is spliced into connecting rod respectively by several modular mechanical shoulder joints, with identical interface, mechanical arm can be installed with erection sequence in different combinations, to obtain various configuration not even with the mechanical arm of the free degree, have simple in construction, it is easy to loading and unloading, light weight, small volume, it is aesthetic in appearance, there is extremely strong flexibility and adaptability.
Description
Technical field
The present invention relates to a kind of modular mechanical arm, is a kind of restructural lightweight modules mechanical arm specifically.
Background technology
Robots arm is that have to imitate human arm function and can complete the automatic control equipment of various operations, is possessed
The intelligent capability similar to human arm, it is substantially a kind of tool such as perception, planning ability, Motor ability and cooperative ability
There is the automatic machinery people of high degree of flexibility.In the market, existing mechanical arm are based on customization mostly, often produce a kind of machinery
Arm is required for by special design, and mechanical arm species batch more is few, and poor universality, cost is high, meanwhile, for common machinery
For arm, its application field receives the very big limitation of the mechanical structure of its own.The flexibility of robot can not increasingly meet
The requirement of turn of the market.And the application of modular mechanical arm can reverse such situation, the efficiency of robot development is improved, from
And the development of robot technology is promoted significantly.
The content of the invention
It is aesthetic in appearance in view of the above-mentioned problems, the present invention provides a kind of light weight, small volume, have extremely strong flexibility and
The restructural lightweight modules mechanical arm of adaptability.
In order to realize foregoing invention purpose, the technical scheme of use is as follows：
A kind of lightweight modules mechanical arm of restructural, including industry control PC, base, some robot linkages and some outputs
The joint of mechanical arm of torque, the base are firm banking, fixation and installation for whole lightweight modules mechanical arm；It is described
It is connected with each other between robot linkage by dismountable joint of mechanical arm, the both ends of each joint of mechanical arm and robot linkage
Both ends are provided with the unitized mechanical interface for realizing any connection；The industry control PC is turned by control machinery shoulder joint
The motion of dynamic driving mechanical arm link.
Further, described joint of mechanical arm is superimposed hollow type structure using straight line, including front and rear for connecting respectively
The cylinder cylindrarthrosis output end and joint input of robot linkage, controller is provided with the joint output end, is connected
Brushless dc torque motor harmonic decelerator, the joint output end drawn by harmonic reducer flexible wheel, exported with joint
Axle is as connector, by being exported after torque sensor；In described joint of mechanical arm also be respectively arranged to detect direct current without
The encoder of brushing force torque motor and harmonic speed reducer corner.
Further, some screws are circumferentially evenly arranged with the periphery wall of the joint output end and joint input
Hole.
Further, described robot linkage uses hollow structure, and its both ends, which sets to be respectively arranged with, can connect machinery
The circle hole shape interface of shoulder joint or base.
Further, the periphery wall of the circle hole shape interface is circumferentially evenly arranged with some screw holes.
Further, the monnolithic case of described robot linkage is hollow streamlined structure.
Further, the industry control PC connects the controller of each joint of mechanical arm by USB-CAN modules, each
Joint of mechanical arm is connected by the bus distributed requirements of CAN, passes through the whole of CANOpen communications protocol one intercommunication of formation
Body.
Further, described robot linkage, joint of mechanical arm use aluminum alloy materials.
Compared with prior art, the advantage of the invention is that：
1st, the design method of restructural lightweight modules mechanical arm of the present invention, will mechanical arm design in application module thought,
It is that mechanical arm can select the connected mode of own module according to task and the difference of environment, is fitted so as to reach with required function
The structure answered, thus with good self-organizing, adaptive ability.
2nd, the design method of restructural lightweight modules mechanical arm of the present invention, fairshaped mechanical arm is applied in mechanical arm
Link design, it ensure that its good appearance.
3rd, the design method of restructural lightweight modules mechanical arm of the present invention, using formula of shell, it is whole to mitigate mechanical arm
The weight of body.
The Interface design in the 4th, design method of restructural lightweight modules mechanical arm of the present invention, connecting rod and joint in side,
It is easily installed, convenient disassembly.
5th, the design method of restructural lightweight modules mechanical arm of the present invention, when needing to design different types of mechanical arm
When, it is only necessary on the basis of using modularized joint mechanical interface, the basic profile of modular mechanical arm link is designed, significantly
Shorten the lead time of a mechanical arm.
6th, the design method of restructural lightweight modules mechanical arm of the present invention, mainly aluminium alloy is used in mechanical arm design
It is compact-sized as material, light weight, small volume.
Brief description of the drawings
Fig. 1 is the modular mechanical arm overall structure diagram of the embodiment of the present invention.
Fig. 2 is the joint of mechanical arm diagrammatic cross-section of the embodiment of the present invention.
Fig. 3 is the joint of mechanical arm schematic appearance of the embodiment of the present invention.
Fig. 4 is the robot linkage structural representation being connected in the embodiment of the present invention between base and first mechanical arm joint
Figure.
Fig. 5 is that the mechanical arm being connected in the embodiment of the present invention between first mechanical arm joint and second mechanical arm joint connects
Bar structural representation.
Shown in figure：1- first mechanical arms joint；2- second mechanical arms joint；3- three-mechanical arms joint；The machines of 4- the 4th
Tool shoulder joint；The joint of mechanical arm of 5- the 5th；The joint of mechanical arm of 6- the 6th；7- robot linkages；8- bases；The encoders of 9- first；
10- harmonic speed reducers；11- second encoders；12- brushless dc torque motors；13- torque sensors；14- joints output end；
15- joints input；16- screw holes.
Embodiment
The goal of the invention of the present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, embodiment is not
It can repeat one by one herein, but therefore embodiments of the present invention are not defined in following examples.
As described in Figure 1, the lightweight modules mechanical arm of a kind of restructural, including industry control PC, base 8, output torque
First mechanical arm joint 1, second mechanical arm joint 2, three-mechanical arm joint 3, the 4th joint of mechanical arm 4, the 5th mechanical arm close
The 5, the 6th joint of mechanical arm 6, some robot linkages 7 being connected between each joint of mechanical arm are saved, the base 8 is fixed bottom
Seat, fixation and installation for whole lightweight modules mechanical arm；Pass through dismountable mechanical arm between the robot linkage 7
Joint is connected with each other, and the both ends and robot linkage both ends of each joint of mechanical arm, which are provided with, realizes the unitized of any connection
Mechanical interface；The industry control PC by control each joint of mechanical arm rotation driving mechanical arm link motion.Each mechanical arm
Connecting rod and joint of mechanical arm use unified mechanical interface, and each robot linkage can be with different from joint of mechanical arm in structure
Mode independent assortment, it is derived from different mechanical arm configurations and the free degree.
Specifically, as shown in Figures 2 and 3, each joint of mechanical arm is using straight line superposition hollow type structure, mainly using aluminium
Alloy material, including for connecting the cylinder cylindrarthrosis output end 14 and joint input 15 of front and rear robot linkage, institute respectively
State and controller, the harmonic decelerator 10 of the brushless dc torque motor being connected 12, the pass are provided with joint output end 14
Save output end 14 to be drawn by the flexbile gear of harmonic speed reducer 10, using joint output shaft as connector, by defeated after torque sensor 13
Go out；Also it is respectively arranged to detect the first of brushless dc torque motor 12 and the corner of harmonic speed reducer 10 in each joint of mechanical arm
Encoder 9 and second encoder 11, controller connected respectively by circuit brushless dc torque motor 12, torque sensor 13,
First encoder 9 and second encoder 11, in addition, on the periphery wall of the joint output end 14 and joint input 15 circumferentially
Some screw holes 16 are evenly arranged with, reaches and saves space, the purpose of convenient installation.
The joint output end 14 is tache motorice, is driven by the flexbile gear of harmonic speed reducer 10, after torque sensor 13
Output, drives the motion of next robot linkage 7；Input is fixing end, connects a upper robot linkage 7, the direct current
Brushless torque motor 12, which rotates, produces torque, after harmonic speed reducer 10, produces larger Torque Control joint output end 14
Motion, the control to joint motions can be achieved by the control rotated to brushless dc torque motor 12.
As shown in Figure 4 and Figure 5, the monnolithic case of each robot linkage is hollow streamlined structure, using aluminium alloy
Material, good appearance, and structure is optimized by finite element analysis, shell is thin, compact-sized, light weight, meets hydrodynamics spy
Point.Its both ends sets the circle hole shape interface for being respectively arranged with and can connecting joint of mechanical arm or base, meanwhile, the circle hole shape interface
Periphery wall be circumferentially evenly arranged with some screw holes 16, when connecting robot linkage and joint of mechanical arm, by circle
Both mode connects for screw are screwed on week in uniform screw hole 16, reaches and saves space, the purpose of convenient installation.
The cabling mode of through hole cabling during the present embodiment uses in whole mechanical arm, be included in joint of mechanical arm structure and
The design philosophy of hollow cabling is all used in robot linkage structure, while reducing mechanical arm weight, moreover it is possible to optimize mechanical arm
Structure, prevent the exposed inconvenience that may be brought of circuit and risk.
The industry control PC connects the controller of each joint of mechanical arm by USB-CAN modules, and each mechanical arm closes
Section is connected by the bus distributed requirements of CAN, and the entirety of an intercommunication is formed by CANOpen communications protocol, and then
Dispatched by upper computer software integrated management.
The present embodiment introduces modularization idea in mechanical arm, and each modular joint of mechanical arm is collection machinery knot
Structure, driving, control and communication etc. are in the relatively complete and independent element entity of one, and each robot linkage has phase
With mechanical interface, each modular mechanical shoulder joint can connect with any robot linkage in structure, it is possible thereby to press
According to different combinations and erection sequence link block joint of mechanical arm and connecting rod, to obtain various configuration not even with certainly
By the mechanical arm spent, limitation of the mechanical arm configuration to its function is broken through, meets the requirement of different turns of the market, improves mechanical arm
Versatility, cost is reduced, so as to promote the development of robot technology significantly.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
Other various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention
All any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (8)
- A kind of 1. lightweight modules mechanical arm of restructural, it is characterised in that：Connect including industry control PC, base, some mechanical arms Bar and the joint of mechanical arm of some output torques, the base is firm banking, for consolidating for whole lightweight modules mechanical arm Fixed and installation；It is connected with each other between the robot linkage by dismountable joint of mechanical arm, the two of each joint of mechanical arm End and robot linkage both ends are provided with the unitized mechanical interface for realizing any connection；The industry control PC passes through control The motion of the rotation driving mechanical arm link of joint of mechanical arm.
- 2. the lightweight modules mechanical arm of restructural according to claim 1, it is characterised in that：Described joint of mechanical arm Hollow type structure is superimposed using straight line, including for connecting cylinder cylindrarthrosis output end and the joint of front and rear robot linkage respectively Input, the brushless dc torque motor harmonic decelerator for being provided with controller, being connected in the joint output end are described Joint output end is drawn by harmonic reducer flexible wheel, using joint output shaft as connector, by being exported after torque sensor；Institute Also it is respectively arranged to detect the encoder of brushless dc torque motor and harmonic speed reducer corner in the joint of mechanical arm stated.
- 3. the lightweight modules mechanical arm of restructural according to claim 2, it is characterised in that：The joint output end and Some screw holes are circumferentially evenly arranged with the periphery wall of joint input.
- 4. the lightweight modules mechanical arm of restructural according to claim 1, it is characterised in that：Described robot linkage Using hollow structure, its both ends sets the circle hole shape interface for being respectively arranged with and can connecting joint of mechanical arm or base.
- 5. the lightweight modules mechanical arm of restructural according to claim 4, it is characterised in that：The circle hole shape interface Periphery wall is circumferentially evenly arranged with some screw holes.
- 6. the lightweight modules mechanical arm of restructural according to claim 4, it is characterised in that：Described robot linkage Monnolithic case be hollow streamlined structure.
- 7. the lightweight modules mechanical arm of restructural according to claim 2, it is characterised in that：The industry control PC leads to The controller that USB-CAN modules connect each joint of mechanical arm is crossed, each joint of mechanical arm is wanted by CAN is bus distributed Ask and be connected, the entirety of an intercommunication is formed by CANOpen communications protocol.
- 8. the lightweight modules mechanical arm of restructural according to claim 1, it is characterised in that：Described mechanical arm connects Bar, joint of mechanical arm use aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710632272.7A CN107351075A (en) | 2017-07-28 | 2017-07-28 | A kind of lightweight modules mechanical arm of restructural |
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|---|---|---|---|
| CN201710632272.7A CN107351075A (en) | 2017-07-28 | 2017-07-28 | A kind of lightweight modules mechanical arm of restructural |
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| CN107351075A true CN107351075A (en) | 2017-11-17 |
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| CN201710632272.7A Pending CN107351075A (en) | 2017-07-28 | 2017-07-28 | A kind of lightweight modules mechanical arm of restructural |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638040A (en) * | 2018-04-18 | 2018-10-12 | 沈阳建筑大学 | A kind of reconfigurable type multiple mechanical arm |
| CN108818524A (en) * | 2018-06-27 | 2018-11-16 | 广州市蚺灵科技有限公司 | A kind of mechanical arm that high-freedom degree can be reconfigured quickly |
| CN109573007A (en) * | 2018-12-26 | 2019-04-05 | 航天神舟飞行器有限公司 | A kind of adaptive Landing Gear System of vertical take-off and landing drone based on polypod structure |
| CN109676596A (en) * | 2019-01-30 | 2019-04-26 | 华南理工大学 | Six-degree-of-freedom intelligent grabbing mechanical arm |
| CN110125948A (en) * | 2019-05-09 | 2019-08-16 | 中国地质大学（武汉） | A kind of five degree of freedom modularization dulcimer performance mechanical arm |
| CN110561493A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Anthropomorphic mechanical arm |
| CN111059962A (en) * | 2019-12-18 | 2020-04-24 | 中国电子科技集团公司第三十八研究所 | Spherical surface movement mechanism |
| CN111906764A (en) * | 2020-07-20 | 2020-11-10 | 电子科技大学 | Modular reconfigurable series-parallel mechanical arm system |
| CN113453819A (en) * | 2019-01-18 | 2021-09-28 | 诺冠自动化解决方案有限责任公司 | Method and device for automatically converting tool system |
| CN115194820A (en) * | 2021-04-08 | 2022-10-18 | 杭州中致高智能科技有限公司 | Mechanism building method of robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638040A (en) * | 2018-04-18 | 2018-10-12 | 沈阳建筑大学 | A kind of reconfigurable type multiple mechanical arm |
| CN108818524A (en) * | 2018-06-27 | 2018-11-16 | 广州市蚺灵科技有限公司 | A kind of mechanical arm that high-freedom degree can be reconfigured quickly |
| CN109573007A (en) * | 2018-12-26 | 2019-04-05 | 航天神舟飞行器有限公司 | A kind of adaptive Landing Gear System of vertical take-off and landing drone based on polypod structure |
| CN113453819A (en) * | 2019-01-18 | 2021-09-28 | 诺冠自动化解决方案有限责任公司 | Method and device for automatically converting tool system |
| CN113453819B (en) * | 2019-01-18 | 2024-03-15 | 诺冠自动化解决方案有限责任公司 | Method and device for automatically switching tool system |
| US11878410B2 (en) | 2019-01-18 | 2024-01-23 | Norgren Automation Solutions, Llc | Method and apparatus for automated transforming tooling systems |
| CN109676596A (en) * | 2019-01-30 | 2019-04-26 | 华南理工大学 | Six-degree-of-freedom intelligent grabbing mechanical arm |
| CN109676596B (en) * | 2019-01-30 | 2023-09-22 | 华南理工大学 | Six-degree-of-freedom intelligent grabbing mechanical arm |
| CN110125948A (en) * | 2019-05-09 | 2019-08-16 | 中国地质大学（武汉） | A kind of five degree of freedom modularization dulcimer performance mechanical arm |
| CN110561493B (en) * | 2019-08-09 | 2021-06-18 | 哈尔滨工业大学（深圳） | Anthropomorphic mechanical arm |
| CN110561493A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Anthropomorphic mechanical arm |
| CN111059962A (en) * | 2019-12-18 | 2020-04-24 | 中国电子科技集团公司第三十八研究所 | Spherical surface movement mechanism |
| CN111906764A (en) * | 2020-07-20 | 2020-11-10 | 电子科技大学 | Modular reconfigurable series-parallel mechanical arm system |
| CN111906764B (en) * | 2020-07-20 | 2022-06-28 | 电子科技大学 | Modular reconfigurable series-parallel mechanical arm system |
| CN115194820A (en) * | 2021-04-08 | 2022-10-18 | 杭州中致高智能科技有限公司 | Mechanism building method of robot |
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Application publication date: 20171117 |