CN108161900B - Multi-axis mechanical arm and robot - Google Patents
Multi-axis mechanical arm and robot Download PDFInfo
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- CN108161900B CN108161900B CN201711439537.8A CN201711439537A CN108161900B CN 108161900 B CN108161900 B CN 108161900B CN 201711439537 A CN201711439537 A CN 201711439537A CN 108161900 B CN108161900 B CN 108161900B
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- arm
- driving
- connecting rod
- rotation
- rotating shaft
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
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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
- B25J9/02—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
- B25J9/048—Pendulum type
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
According to the multi-axis mechanical arm and the robot, the driving element is arranged on the platform at the bottom, and the first arm and the second arm have no extra weight except the self weight and the weight of the matched connecting rod, so that the multi-axis mechanical arm and the robot have the characteristics of high terminal moving speed and the like; the tail end of the second arm is provided with a rotary end and a self-rotating end, so that the freedom of movement is higher, and the requirements of various operations can be met; the driving components of the rotation end and the rotation end are also arranged on the platform, and the moving part of the driving component is lighter than the existing mechanical arm module, so that the driving component is particularly suitable for the quick movement operation of the working tail end; the four-bar mechanism in the shape of a parallelogram is adopted, the position of the tail end of the second arm is easy to calculate, the compiling difficulty of control software is greatly reduced, and the multi-shaft mechanical arm is favorable for popularization and use.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-axis mechanical arm and a robot.
Background
Robots can be classified into parallel robots and series robots, wherein a common type of series robot is an articulated robot. In a conventional articulated robot, a driving element of each arm is mounted on a joint connected to a forearm, and as the number of arms increases, a load of each arm increases accordingly, which causes problems such as an increase in the volume of a driving power element of the arm, a decrease in the movement speed of the arm, and a decrease in the precision of the arm, and is not favorable for the high-speed and miniaturization of the articulated robot.
Therefore, it is one direction of research to increase the speed of movement of the robot end to reduce the weight of the arm.
Disclosure of Invention
In order to realize the light weight of the robot arm, the embodiment of the invention provides the multi-shaft mechanical arm and the robot.
Correspondingly, the multi-axis mechanical arm provided by the invention comprises a platform, a first arm, a second arm, a first connecting rod, a second connecting rod, a first arm driving assembly, a first connecting rod driving assembly, a rotary end, a rotary driving assembly and a rotary transmission assembly;
the platform is parallel to the xy plane, and a first basic rotating shaft connecting piece and a second basic rotating shaft connecting piece which are opposite to each other in the y direction are arranged in the x direction of the platform; a cylindrical first base rotating shaft starting end is rotatably arranged on the first base rotating shaft connecting piece between the opposite surfaces of the first base rotating shaft connecting piece and the second base rotating shaft connecting piece; a cylindrical second base rotating shaft starting end is rotatably arranged on the second base rotating shaft connecting piece; the first base shaft axis and the second base shaft axis are collinear and parallel to the y-axis;
the starting end of the first arm is hinged to the first base rotating shaft and/or the second base rotating shaft in a sliding mode, and the axis of the hinged position is a first joint; the tail end of the first arm is hinged with the starting end of the second arm, and the axis of the hinged position is a second joint; the tail end of the second arm is hinged with the rotating end, and the axis of the hinged position is a third joint;
the starting end of the first connecting rod is hinged to the first base rotating shaft and/or the second base rotating shaft in a sliding mode, and the tail end of the first connecting rod is hinged to the starting end of the second connecting rod; the tail end of the second connecting rod is hinged to the middle part or the tail end of the second arm;
the first arm, the second arm, the first connecting rod and the second connecting rod form a four-bar linkage;
the first arm driving assembly is arranged on the platform and used for driving the first arm to rotate around the second base rotating shaft; the first connecting rod driving assembly is arranged on the platform and used for driving the first connecting rod to rotate around the first base rotating shaft;
the rotary transmission assembly comprises a first rotary belt wheel, a second rotary belt wheel, a third rotary belt wheel and a rotary belt for transmission;
the first rotary belt wheel is fixed on the first base rotating shaft, the second rotary belt wheel is arranged on the second joint, the third rotary belt wheel is arranged on the third joint, and the third rotary belt wheel is fixedly connected with the rotary end;
the first rotary belt wheel, the second rotary belt wheel and the third rotary belt wheel are connected based on the rotary belt;
the rotation driving assembly is arranged in the negative direction of the first base rotating shaft connecting piece y, the output end of the rotation driving assembly is connected with the initial end of the first base rotating shaft, and the rotation driving assembly drives the first base rotating shaft, the first rotation belt wheel, the second rotation belt wheel, the third rotation belt wheel and the rotation end to rotate.
In a preferred embodiment, the multi-axis mechanical arm further comprises a rotation end, a rotation driving assembly and a rotation transmission assembly;
the rotation end is arranged on the rotation end, and the axis of the rotation end is vertical to the axis of the third joint;
the rotation transmission assembly comprises a first rotation belt wheel, a second rotation belt wheel, a third rotation belt wheel, a first bevel gear and a second bevel gear;
the first self-rotation belt wheel is fixed on the second base rotation shaft, the second self-rotation belt wheel is arranged on the second joint, and the third self-rotation belt wheel is arranged on the third joint and is coaxial with the third rotary belt wheel;
the first bevel gear and the third self-rotation belt wheel are fixedly connected and coaxial, and the second bevel gear and the self-rotation tail end are fixedly connected coaxially; the first bevel gear is vertically meshed with the second bevel gear;
the rotation driving assembly is arranged in the positive direction of the second base rotating shaft connecting piece y, the output end of the rotation driving assembly is connected with the initial end of the second base rotating shaft, the first rotation belt wheel, the second rotation belt wheel, the third rotation belt wheel and the first bevel gear are driven to rotate, and the rotation tail end is driven to rotate around the axis of the rotation driving assembly based on the first bevel gear and the second bevel gear.
In a preferred embodiment, the first arm and the second link are parallel and equal in length; the first link is parallel to the second arm.
In a preferred embodiment, the second arm length is greater than or equal to the first link length.
In a preferred embodiment, the first arm driving assembly includes a first arm driving base, a first arm driving motor, a first arm driving lead screw, a first arm driving slider, and a first arm driving link;
the first arm driving base is hinged to the x negative direction of the platform;
the first arm driving screw rod and the first arm driving sliding block are arranged in a first arm driving shell, the first arm driving sliding block is sleeved on the first arm driving screw rod, and the first arm driving connecting piece is fixedly connected with the first arm driving sliding block; the first arm driving connecting piece is fixedly connected with the starting end of the first arm and is coaxial with the first arm driving screw rod;
the first arm driving shell and the first arm driving motor are fixed on the first arm driving base side by side; a rotating shaft of the first arm driving motor and one end of the first arm driving screw rod are in transmission in the first arm driving base based on gear connection;
the first arm drive connection drives the first arm to rotate around the second base rotation shaft.
In a preferred embodiment, the first link driving assembly includes a first link driving base, a first link driving motor, a first link driving lead screw, a first link driving slider, and a first link driving connecting member;
the first connecting rod drives the base to be hinged to the x negative direction of the platform;
the first connecting rod driving screw rod and the first connecting rod driving sliding block are arranged in the first connecting rod driving shell, the first connecting rod driving sliding block is sleeved on the first connecting rod driving screw rod, and the first connecting rod driving connecting piece is fixedly connected with the first connecting rod driving sliding block; the first connecting rod driving connecting piece is fixedly connected with the initial end of the first connecting rod and is coaxial with the first connecting rod driving screw rod;
the first connecting rod driving shell and the first connecting rod driving motor are fixed on the first connecting rod driving base side by side; a rotating shaft of the first connecting rod driving motor and one end of the first connecting rod driving screw rod are in transmission in the first connecting rod driving base based on gear connection;
the first link driving connecting piece drives the first link to rotate around the first base rotating shaft.
In a preferred embodiment, the first arm is a hollow cylindrical structure; the second arm is composed of two second arm cover plates, and the two second arm cover plates are fixedly connected through more than one second arm fixing piece.
Correspondingly, the invention also provides a robot, which comprises any one multi-axis mechanical arm and a working tail end; the working end is arranged on the revolution end or the rotation end.
Embodiments of the present invention provide a multi-axis robot arm and a robot, in which a driving element is disposed on a platform at the bottom, and a first arm and a second arm have no extra weight except their own weight and a matching link weight. The multi-axis mechanical arm has the characteristics of high moving speed of the tail end and the like, can perform light-load high-speed reciprocating motion with short-distance tracks, and has a good effect on the quick operation of the robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 illustrates a three-dimensional structural schematic of a multi-axis robotic arm in accordance with an embodiment of the present invention;
FIG. 2 illustrates a front view of a multi-axis robotic arm according to an embodiment of the present invention;
FIG. 3 shows a cross-sectional A-A view of an embodiment of the present invention;
FIG. 4 shows a cross-sectional view B-B of an embodiment of the present invention;
FIG. 5 shows a close-up view of the swivel end and the swivel end of an embodiment of the present invention;
FIG. 6 illustrates a rear view of a multi-axis robotic arm according to an embodiment of the present invention;
FIG. 7 illustrates a top view of a multi-axis robotic arm according to an embodiment of the present invention;
FIG. 8 shows a first arm elevation view of an embodiment of the present invention;
FIG. 9 illustrates a front view of a first link of an embodiment of the present invention;
FIG. 10 illustrates a simplified motion diagram of a multi-axis robotic arm in accordance with an embodiment of the present invention;
fig. 11 shows an enlarged partial view of the first link driving assembly according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a multi-axis mechanical arm and a robot, wherein power elements of a first arm and a second arm are arranged on a platform, the first arm and the second arm are not provided with heavy driving elements and complex transmission mechanisms, and the movement speed of a working tail end is high; the motion of the multi-axis mechanical arm is controlled based on the four-bar mechanism principle, the tail end track of the multi-axis mechanical arm is calculated simply, and software control is easier.
Fig. 1 is a schematic three-dimensional structure diagram of a multi-axis robot arm according to an embodiment of the present invention, fig. 2 is a front view of the multi-axis robot arm according to the embodiment of the present invention, fig. 6 is a rear view of the multi-axis robot arm according to the embodiment of the present invention, and fig. 7 is a plan view of the multi-axis robot arm according to the embodiment of the present invention.
The multi-axis mechanical arm provided by the embodiment of the invention comprises a platform 101, a first arm 102, a second arm 103, a first connecting rod 105, a second connecting rod 104, a first arm driving assembly 107, a first connecting rod driving assembly, a rotation end 844, a rotation driving assembly 801, a rotation transmission assembly, a rotation end 845, a rotation driving assembly 802 and a rotation transmission assembly.
In order to reduce the weight of the first arm 102 and the second arm 103, the first arm 102 according to the embodiment of the present invention has a hollow cylindrical structure, specifically, a square hollow cylindrical structure; the second arm 103 is composed of two second arm cover plates 137, and the two second arm cover plates 137 are fixedly connected through more than one second arm fixing piece 139; in particular embodiments, various forms of arm structures may be provided.
The platform 101 is parallel to the xy plane, and in specific implementation, the top surface of the platform 101 is a plane, which is parallel to the xy plane, and the shape is not unique.
A first base rotating shaft connecting piece 109 and a second base rotating shaft connecting piece 111 which are opposite to each other in the y direction are arranged in the positive direction of the platform x;
FIG. 3 shows a cross-sectional view of section A-A, showing only the portion with the cut plane for simplicity of the view; the hatching of the bearings is not shown in the figures because of the complexity; in order to reduce friction, the components that slide relative to each other are connected by bearings and bearing sleeves, which are not described in detail since the connection is common in the industry. A first base rotary shaft 108 having a cylindrical shape is rotatably mounted on the first base rotary shaft connector 109 at a position between the opposing surfaces of the first base rotary shaft connector 109 and the second base rotary shaft connector 111; a cylindrical second base shaft 110 is rotatably mounted at its initial end on the second base shaft connection member; the first base axis 108 and the second base axis 110 are co-linear and parallel to the y-axis.
The starting end of the first arm 102 is slidably hinged to the first base rotating shaft 108 and/or the second base rotating shaft 110, the first arm 102 of the embodiment of the invention is a hollow cylindrical structure, and is slidably hinged to the first base rotating shaft 108 and the second base rotating shaft 110 in a crossing manner; the tail end of the first arm 102 is hinged with the beginning end of the second arm 103; the end of the second arm 103 is hinged with the turning end.
The first link 105 is hinged to the first base rotating shaft 108 and/or the second base rotating shaft 110 at the beginning in a sliding manner, and the end is hinged to the second link 104 at the beginning; the tail end of the second connecting rod 104 is hinged to the middle or the tail end of the second arm 103; the first arm 102, the second arm 103, the first link 105 and the second link 104 form a four-bar linkage;
the first arm driving assembly 107 is mounted on the platform 101, and is configured to drive the first arm 102 to rotate around the first base rotation axis 108 and/or the second base rotation axis 110; the first link driving assembly 106 is mounted on the platform 101, and is configured to drive the first link 105 to rotate around the first base rotation axis 108.
It should be noted that the first arm driving assembly and the second arm driving assembly can control and maintain the position of the four-bar linkage structure composed of the first arm, the second arm, the first connecting rod and the second connecting rod; the position of the turning end is controlled by a turning driving assembly 801, a turning transmission assembly, a rotation driving assembly 802 and a rotation transmission assembly.
Wherein the first base shaft 108 is driven by the rotation driving assembly 801. The swing drive assembly 801 includes a swing drive motor 810, a swing drive reducer 811, and associated bearings and bearing housings. The first base rotating shaft 108 is rotatably installed on the first base rotating shaft connecting piece 109 at the starting end, and a first rotary belt wheel 813 is fixed at the tail end; a rotation drive reducer 811 is fixed to the first base rotating shaft 108; a rotation driving motor 810 is connected with the first base rotation shaft connecting member 109 through a rotation driving reducer 811; the rotation driving motor 810 drives the first rotation pulley 813 to rotate via the rotation driving reducer 811 and the first base rotation shaft 108.
The second base shaft 110 is driven by a rotation driving assembly 802. The rotation driving assembly 802 includes a rotation driving motor 817, a rotation driving reducer 816, and a bearing sleeve. The starting end of the second base rotating shaft 110 is rotatably arranged on the second base rotating shaft connecting piece 111, and the tail end is fixed with a first rotary belt wheel 813; the rotation driving reducer 816 is fixed on the second base rotating shaft connecting piece 111; a rotation driving motor 817 is connected to the second base rotating shaft 110 through a rotation driving reducer 816; the rotation driving motor 817 rotates the first rotation pulley 814 via the rotation driving reducer 816 and the second base rotation shaft 110.
FIG. 4 is a schematic cross-sectional view of section B-B, showing only the portion having a cut-away side for simplicity of illustration; the hatching of the bearings is not shown in the figures because of the complexity; in order to reduce friction, the components that slide relative to each other are connected by bearings and bearing sleeves, which are not described in detail since the connection is common in the industry. The end of the first arm 102 is hinged to the beginning of the second arm 103. in particular, the second articulation axis 834 extends in the y-direction through the y-positive and y-negative surfaces of the first arm 102. A second rotating sleeve 833 and a second rotating sleeve 832 are slidably mounted on the second joint rotating shaft 834, wherein the second rotating sleeve 833 is slidably mounted on the negative surface of the first arm 102y, and a second rotating pulley 836 and a second rotating pulley 835 are respectively fixedly connected inside and outside the first arm 102; the second rotation sleeve 832 is slidably mounted on the forward surface of the first arm 102y, and a second rotation pulley 837 and a second rotation pulley 838 are fixedly connected to the inside and the outside of the first arm 102, respectively. The two second arm covers 137 of the second arm are slidably mounted on the second rotating sleeve 833 and the second rotating sleeve 832, respectively.
Fig. 5 is a plan view showing an embodiment of the present invention, in which components unrelated to the turning motion of the turning end and the rotation motion of the rotation end are not shown, and a partial enlarged view is a sectional view of the tip end of the second arm. A third joint rotating shaft 842 penetrating along the y direction is arranged at the tail end of the second arm 103; a third rotation pulley 840 is fixedly connected to the positive end of the third joint rotating shaft 842y, a third rotation sleeve 843 is slidably mounted to the negative end of the y, the third rotation sleeve 843 is slidably mounted to the negative surface of the second arm 103y, and a third rotation pulley 847 is fixedly connected to the third rotation sleeve 843 in the negative direction of the y.
The rotating end 844 of the embodiment of the invention is slidably mounted on the third joint rotating shaft 842, and the negative y-direction end is fixedly connected with the third rotating sleeve 843.
The third joint rotating shaft 842 is also fixedly connected with a first bevel gear 841, and the rotation end is fixedly connected with a second bevel gear 846; the first bevel gear 841 and the second bevel gear 846 are meshed with their axes perpendicular to each other.
In the following, the turning motion of the turning end and the rotation motion of the rotation end according to the embodiment of the present invention are summarized in conjunction with the above description of the multi-axis robot arm structure according to the embodiment of the present invention.
The rotary transmission component comprises a first rotary belt wheel, a second rotary belt wheel, a third rotary belt wheel, a first rotary belt and a second rotary belt, wherein the first rotary belt and the second rotary belt are used for transmission. The rotary driving assembly drives the first base rotating shaft to rotate and drives the first rotary belt wheel to rotate; the first rotary belt wheel drives the second rotary belt wheel to rotate on the basis of the first rotary belt; the first rotary belt wheel and the second rotary belt wheel are connected, fixed and synchronously move on the basis of a second rotary sleeve; the second rotary belt wheel II drives a third rotary belt wheel to move on the basis of the second rotary belt; the third rotary belt wheel and the rotary end are connected and fixed based on a third rotary sleeve and synchronously rotate.
The rotation transmission assembly comprises a first rotation belt wheel, a second rotation belt wheel, a third rotation belt wheel, a first bevel gear, a second bevel gear, a rotation belt I and a rotation belt II which are used for transmission; the rotation driving assembly drives the second base rotating shaft to rotate and drives the first rotation belt wheel to rotate; the first autorotation belt wheel drives the second autorotation belt wheel to rotate on the basis of the first autorotation belt; the first self-rotation belt wheel and the second self-rotation belt wheel are connected, fixed and synchronously move on the basis of the second self-rotation sleeve; the second self-rotation belt wheel II drives a third self-rotation belt wheel to move on the basis of the second self-rotation belt; the third self-rotating belt wheel and the first bevel gear are fixedly connected based on a third joint rotating shaft and synchronously rotate; the second bevel gear is in orthogonal meshing with the first bevel gear and is driven by the first bevel gear to rotate; the rotating end connected with the second bevel gear rotates around the axis of the rotating end.
Fig. 1 is a schematic three-dimensional structure diagram of a multi-axis robot arm according to an embodiment of the present invention, fig. 2 is a front view of the multi-axis robot arm according to the embodiment of the present invention, fig. 6 is a rear view of the multi-axis robot arm according to the embodiment of the present invention, and fig. 7 is a plan view of the multi-axis robot arm according to the embodiment of the present invention.
The first and second base shafts are used as transmission components, and are used for suspending the starting ends of the first arm 102 and the first link 105 to a set height, so that a space is reserved between the first and second base shafts and the platform for the first arm 102 and the first link 105 to move, and interference between the first arm 102 and the platform 101 and the first link 105 is avoided.
Fig. 1 shows a schematic three-dimensional structure of a first arm according to an embodiment of the present invention, and fig. 8 shows a front view of the structure of the first arm according to the embodiment of the present invention. In a specific implementation, the first arm 102 is hinged to the first base rotating shaft 108 and the second base rotating shaft 110 at the beginning in a sliding manner, and the end is hinged to the second arm 103 at the beginning; for the mounting connection of the first arm drive assembly 107, the first arm 102 extends in a direction from the beginning and away from the end with a first arm connection, which is articulated with the output of the first arm drive assembly. It should be noted that the first arm connecting member and the first arm are relatively fixed, and the axial length of the first arm connecting member is smaller than the axial length of the first arm, so that based on the lever principle, the small displacement of the first arm connecting member can be amplified to the large-distance displacement of the end of the first arm after passing through the pivot points of the first base rotating shaft 108 and the second base rotating shaft 110, which is beneficial to the rapid movement of the end of the first arm.
Fig. 1 shows a schematic three-dimensional structure of a first link according to an embodiment of the present invention, and fig. 9 shows a front view of the first link according to an embodiment of the present invention. The first link 105 is hinged to the first base shaft 108 at the beginning and hinged to the second link 104 at the end; for the installation of the first link driving assembly 106, the first link 105 extends from the beginning in a direction away from the end to a first link connector, which is hinged to the output end of the first link driving assembly 106. It should be noted that the first link connecting piece and the first link are relatively fixed, and the axial length of the first link connecting piece is smaller than the axial length of the first link, so that the small displacement of the first link connecting piece can be amplified to the large-distance displacement of the tail end of the first link through the fulcrum of the first base rotating shaft 108 based on the lever principle, and the quick movement of the tail end of the first link is facilitated.
The second link 104 is hinged at the beginning to the end of the first link 105 and at the end to the middle of the second arm 103 or the end of the second arm 103. In one implementation, the second link 104 is typically a hollow link to reduce its weight.
Further, the first arm 102, the second arm 103, the first link 105, and the second link 104 may use aluminum or an aluminum alloy having a smaller density as a material to further reduce the weight thereof.
Fig. 10 shows a simplified motion diagram of the multi-axis robot arm, which is combined with the real object front view of the multi-axis robot arm shown in fig. 2, and the first arm, the second arm, the first connecting rod and the second connecting rod are respectively replaced by straight lines, and the hinge points are respectively replaced by circles, wherein the names of the hinge points are as follows: the first base rotating shaft and the second base rotating shaft are arranged on the same straight line, the position is summarized as a first hinge point 121, a hinge point between the tail end of the first connecting rod 105 and the initial end of the second connecting rod 104 is a second hinge point 122, a hinge point between the tail end of the first arm 102 and the initial end of the second arm 103 is a third hinge point 123, and a hinge point between the tail end of the second connecting rod 104 and the second arm 103 is a fourth hinge point 124; as can be seen from the schematic movement diagram, the first arm 102, the second arm 103, the first link 105, and the second link 104 constitute a four-bar linkage.
In a specific implementation, the end of the second arm 103 may be disposed near the fourth hinge point 124, and since the end of the second arm 103 is closer to the fourth hinge point 124, based on the lever principle, the displacement of the end of the second arm 103 relative to the start end of the second arm 103 is reduced, which is beneficial to improving the control accuracy of the end of the second arm 103; however, due to the structural limitation of the four-bar linkage, the arrangement results in a small range of motion of the end of the second arm 103.
Therefore, in the implementation, the length of the second arm 103 can be extended to make the end of the second arm extend out of the fourth hinge point 124, which is beneficial to increase the range of motion of the second arm 103, so that the second arm can be suitable for more working environments.
In specific implementation, although the four-bar linkage with any structure can realize corresponding displacement control of the tail end of the second arm, in order to make control calculation of the tail end of the second arm more convenient, the length of each side of the four-bar linkage of the embodiment of the present invention can be set as the following parameters: the first arm 102 is parallel to and of equal length to the second link 104; said first link 105 is parallel to said second arm 103; at this time, the four-bar linkage according to the embodiment of the present invention is a parallelogram, the postures of the first arm 102 and the second link 104 are the same, the postures of the second arm 103 and the first link 105 are the same, and the calculation of the end can be quickly obtained based on the first link length, the first arm length, the second arm length, and the included angle between the first link and the first arm, so that the design and control of software are simpler.
The mechanical structure of the multi-axis robot arm according to the embodiment of the present invention is described above, and in the embodiment of the present invention, the four-bar linkage has two movable links, namely the first arm 102 and the first link 105, and the movement of the distal end of the second arm 103 is realized by controlling the movement of the first arm 102 and the first link 105.
FIG. 11 shows an enlarged partial view of the first link drive assembly of an embodiment of the present invention. The first link driving assembly includes a first link driving base 130, a first link driving motor 131, a first link driving connection 133, a first link driving screw 134, and a first link driving slider 135;
the first link driving base 130 is hinged to the platform with the x negative upward direction, and the hinge point is the hinge point 120 of the first link driving base. A first link driving motor 131 is fixed to the first link driving base 130; a rotating shaft of the first link driving motor 131 extends into the first link driving base 130; the first link driving screw 134 and the first link driving slider 135 are installed in the first link driving housing 136, the first link driving slider 135 is sleeved on the first link driving screw 134, and the first link driving connecting piece 133 is fixedly connected with the first link driving slider 135; the first link driving connection member 133 is coaxial with the first link driving screw 134 and is fixedly connected with the start end of the first link 105;
the first link driving housing 136 and the first link driving motor 131 are fixed to the first link driving base 130 side by side; the rotation shaft of the first link driving motor 131 and one end of the first link driving screw 134 are connected and driven in the first link driving base 130 based on gears.
In specific implementation, the first link driving motor 131 drives the first link driving screw 134 to rotate and drives the first link driving slider 135 to move along the axial direction of the first link driving screw 134; the first link driving connection 133 is driven by the first link driving slider 135 and rotates around the first base rotation axis, and drives the first link to rotate around the first base rotation axis by the lever principle.
Similarly, the first arm driving assembly structure is the same as the first link driving assembly structure, wherein the first link driving base hinge point 129 and the first link driving base hinge point 120 are always arranged on a straight line parallel to the y axis and are arranged in an integrated processing manner, and other structural components are the same and are not repeatedly introduced.
It should be noted that when the first connecting rod driving screw rod and the first connecting rod are in the same straight line, or the first arm driving screw rod and the first arm are in the same straight line, the multi-axis mechanical arm in the embodiment of the invention has a movement dead zone, and the first connecting rod or the first arm cannot be effectively controlled and move; thus, in particular implementations, the axes of the first link connector and the first arm connector are generally not collinear with the first link and the first arm, respectively, to avoid this.
Correspondingly, the multi-axis mechanical arm provided by the embodiment of the invention can also be applied to a robot. The robot comprises one multi-axis mechanical arm and a working tail end; when the multi-axis mechanical arm is only provided with a rotating end, the working tail end can be arranged on the rotating end, and the working tail end has 3 degrees of freedom; when the multi-axis mechanical arm is provided with a rotation end and a rotation end at the same time, the working end can be installed on the rotation end, and at the moment, the working end has 4 degrees of freedom.
In actual operation, the platform provided by the embodiment of the invention is fixed on a plane, the lengths of the first arm, the second arm, the first connecting rod and the second connecting rod are designed according to the actually required motion range, and a four-link mechanism consisting of the first arm, the second arm, the first connecting rod and the second connecting rod is controlled by controlling the first driving component and the second driving component; the rotary motion of the rotary end and the rotation section is controlled by controlling the rotary driving assembly and the rotation driving assembly, so that the position of the working tail end is quickly adjusted.
According to the multi-axis mechanical arm and the robot provided by the embodiment of the invention, the driving element is arranged on the platform at the bottom, and the first arm and the second arm have no extra weight except the self weight and the weight of the matched connecting rod, so that the multi-axis mechanical arm and the robot have the characteristics of high terminal moving speed and the like; the tail end of the second arm is provided with a rotary end capable of rotating and a self-rotating end capable of rotating, so that the freedom of movement is higher, and the requirements of various operations can be met; the driving components of the rotation end and the rotation end are also arranged on the platform, and the weight of the moving part of the driving component is lighter than that of the existing mechanical arm module, so that the driving component is particularly suitable for the quick movement operation of the working tail end; the four-bar linkage mechanism in the shape of a parallelogram is adopted, the position of the tail end of the second arm is easy to calculate, the compiling difficulty of control software is greatly reduced, and the multi-shaft mechanical arm and the robot are favorable for popularization and use.
The multi-axis mechanical arm and the robot provided by the embodiment of the invention are described in detail, and the principle and the embodiment of the invention are explained by applying specific examples in the text, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (2)
1. A multi-axis mechanical arm is characterized by comprising a platform, a first arm, a second arm, a first connecting rod, a second connecting rod, a first arm driving assembly, a first connecting rod driving assembly, a rotary end, a rotary driving assembly and a rotary transmission assembly;
the platform is parallel to the xy plane, and a first basic rotating shaft connecting piece and a second basic rotating shaft connecting piece which are opposite to each other in the y direction are arranged in the x direction of the platform; a cylindrical first base rotating shaft starting end is rotatably arranged on the first base rotating shaft connecting piece between the opposite surfaces of the first base rotating shaft connecting piece and the second base rotating shaft connecting piece; a cylindrical second base rotating shaft starting end is rotatably arranged on the second base rotating shaft connecting piece; the first base shaft axis and the second base shaft axis are collinear and parallel to the y-axis;
the starting end of the first arm is hinged to the first base rotating shaft and/or the second base rotating shaft in a sliding mode, and the axis of the hinged position is a first joint; the tail end of the first arm is hinged with the starting end of the second arm, and the axis of the hinged position is a second joint; the tail end of the second arm is hinged with the rotating end, and the axis of the hinged position is a third joint;
the starting end of the first connecting rod is hinged to the first base rotating shaft and/or the second base rotating shaft in a sliding mode, and the tail end of the first connecting rod is hinged to the starting end of the second connecting rod; the tail end of the second connecting rod is hinged to the middle part or the tail end of the second arm;
the first arm, the second arm, the first connecting rod and the second connecting rod form a four-bar linkage;
the first arm driving assembly is arranged on the platform and used for driving the first arm to rotate around the second base rotating shaft; the first connecting rod driving assembly is arranged on the platform and used for driving the first connecting rod to rotate around the first base rotating shaft;
the rotary transmission assembly comprises a first rotary belt wheel, a second rotary belt wheel, a third rotary belt wheel and a rotary belt for transmission;
the first rotary belt wheel is fixed on the first base rotating shaft, the second rotary belt wheel is arranged on the second joint, the third rotary belt wheel is arranged on the third joint, and the third rotary belt wheel is fixedly connected with the rotary end;
the first rotary belt wheel, the second rotary belt wheel and the third rotary belt wheel are connected based on the rotary belt;
the rotation driving assembly is arranged in the negative direction of the first base rotating shaft connecting piece y, and the output end of the rotation driving assembly is connected with the initial end of the first base rotating shaft to drive the first base rotating shaft, the first rotation belt wheel, the second rotation belt wheel, the third rotation belt wheel and the rotation end to rotate;
the multi-axis mechanical arm further comprises a rotation end, a rotation driving assembly and a rotation transmission assembly;
the rotation end is arranged on the rotation end, and the axis of the rotation end is vertical to the axis of the third joint;
the rotation transmission assembly comprises a first rotation belt wheel, a second rotation belt wheel, a third rotation belt wheel, a first bevel gear and a second bevel gear;
the first self-rotation belt wheel is fixed on the second base rotation shaft, the second self-rotation belt wheel is arranged on the second joint, and the third self-rotation belt wheel is arranged on the third joint and is coaxial with the third rotary belt wheel;
the first bevel gear and the third self-rotation belt wheel are fixedly connected and coaxial, and the second bevel gear and the self-rotation end are fixedly connected coaxially; the first bevel gear is vertically meshed with the second bevel gear;
the autorotation driving assembly is arranged in the forward direction of the second base rotating shaft connecting piece y, the output end of the autorotation driving assembly is connected with the starting end of the second base rotating shaft, and drives the second base rotating shaft, the first autorotation belt pulley, the second autorotation belt pulley, the third autorotation belt pulley and the first bevel gear to rotate and drive the autorotation end to rotate around the axis of the autorotation end based on the first bevel gear and the second bevel gear;
the first arm and the second connecting rod are parallel and equal in length; the first link is parallel to the second arm;
the second arm length is greater than or equal to the first link length;
the first arm driving assembly comprises a first arm driving base, a first arm driving motor, a first arm driving screw rod, a first arm driving sliding block and a first arm driving connecting piece;
the first arm driving base is hinged to the x negative direction of the platform;
the first arm driving screw rod and the first arm driving sliding block are arranged in a first arm driving shell, the first arm driving sliding block is sleeved on the first arm driving screw rod, and the first arm driving connecting piece is fixedly connected with the first arm driving sliding block; the first arm driving connecting piece is fixedly connected with the starting end of the first arm and is coaxial with the first arm driving screw rod;
the first arm driving shell and the first arm driving motor are fixed on the first arm driving base side by side; a rotating shaft of the first arm driving motor and one end of the first arm driving screw rod are in transmission in the first arm driving base based on gear connection;
the first arm driving connecting piece drives the first arm to rotate around the second base rotating shaft;
the first connecting rod driving assembly comprises a first connecting rod driving base, a first connecting rod driving motor, a first connecting rod driving screw rod, a first connecting rod driving sliding block and a first connecting rod driving connecting piece;
the first connecting rod drives the base to be hinged to the x negative direction of the platform;
the first connecting rod driving screw rod and the first connecting rod driving sliding block are arranged in the first connecting rod driving shell, the first connecting rod driving sliding block is sleeved on the first connecting rod driving screw rod, and the first connecting rod driving connecting piece is fixedly connected with the first connecting rod driving sliding block; the first connecting rod driving connecting piece is fixedly connected with the initial end of the first connecting rod and is coaxial with the first connecting rod driving screw rod;
the first connecting rod driving shell and the first connecting rod driving motor are fixed on the first connecting rod driving base side by side; a rotating shaft of the first connecting rod driving motor and one end of the first connecting rod driving screw rod are in transmission in the first connecting rod driving base based on gear connection;
the first connecting rod driving connecting piece drives the first connecting rod to rotate around the first base rotating shaft;
the first arm is of a hollow cylindrical structure; the second arm is composed of two second arm cover plates, and the two second arm cover plates are fixedly connected through more than one second arm fixing piece.
2. A robot comprising the multi-axis robotic arm of claim 1 and a working tip; the working end is arranged on the revolution end or the rotation end.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711439537.8A CN108161900B (en) | 2017-12-27 | 2017-12-27 | Multi-axis mechanical arm and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711439537.8A CN108161900B (en) | 2017-12-27 | 2017-12-27 | Multi-axis mechanical arm and robot |
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| CN108161900B true CN108161900B (en) | 2021-02-19 |
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| CN111053665B (en) * | 2019-12-16 | 2021-06-08 | 山东蝰蛇智能装备有限公司 | Angle turning device with adjustable multistage connecting rod |
| CN112356029A (en) * | 2020-10-29 | 2021-02-12 | 中国科学院软件研究所 | Method and system for realizing industrial robot controller software |
| CN113084865B (en) * | 2021-03-15 | 2022-11-22 | 上海园菱机械实业有限公司 | Mechanical arm structure and grinding and polishing mechanical arm |
| CN114147764B (en) * | 2021-11-30 | 2022-09-09 | 北京同创信通科技有限公司 | Mechanical arm |
| CN114274123B (en) * | 2022-01-13 | 2024-02-09 | 燕山大学 | Four-degree-of-freedom parallel platform with three-dimensional movement and one-dimensional rotation |
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| JP5726620B2 (en) * | 2011-04-27 | 2015-06-03 | 大成建設株式会社 | Gripping device |
| CN204525465U (en) * | 2015-02-04 | 2015-08-05 | 浙江理工大学 | A kind of five free mechanical arms |
| CN204525476U (en) * | 2015-04-10 | 2015-08-05 | 苏州荣威工贸有限公司 | A kind of adjustable robot of trimming moment |
| CN205199788U (en) * | 2015-10-28 | 2016-05-04 | 广东威德力机械实业股份有限公司 | A flexible automatic spraying device for carpenter's trade |
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