CN108312140A - A kind of single machine axis connection formula multi-freedom joint mechanical arm - Google Patents
A kind of single machine axis connection formula multi-freedom joint mechanical arm Download PDFInfo
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- CN108312140A CN108312140A CN201810263157.1A CN201810263157A CN108312140A CN 108312140 A CN108312140 A CN 108312140A CN 201810263157 A CN201810263157 A CN 201810263157A CN 108312140 A CN108312140 A CN 108312140A
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- rotating arm
- universal driving
- driving shaft
- electromagnetic clutch
- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention discloses a kind of single machine axis to join formula multi-freedom joint mechanical arm, including principal arm, it further include first rotating arm component, second rotating arm component and third rotating arm component, the principal arm is provided with drive component, wherein drive component connects first rotating arm component, first rotating arm component end connects the second rotating arm component, wherein the second rotating arm component end connects third rotating arm component, the first rotating arm component, second rotating arm component and third rotating arm component respectively can be around itself axial rotations, wherein the second rotating arm component can be rotated around first rotating arm component end, wherein third rotating arm component can be rotated around the second rotating arm component end.The present invention reduces the usage amount of servo motor and speed reducer, reduce production cost, use cost and later stage maintenance cost.
Description
Technical field
The present invention relates to joint of robot mechanical arm technical field, more particularly to a kind of single machine axis joins formula multi-freedom joint
Mechanical arm.
Background technology
In existing technical background, each joint of robot is equipped with a servo motor, and matches
Deceleration mechanism, the relative coordinate displacement of the angular displacement and executing agency that adjust association joint is adjusted with this, such structure matches
Set scheme, though can achieve the purpose that control adjustment constrains each joint and connected joint rod piece mechanical arm, because its servo motor,
Speed reducer cannot connect shared, cause its production cost, use cost, the costs such as later stage maintenance increase, and each joint
Motion path constrains multidimensional flexibility and the operating characteristics of articulated mechanical arm in a planar dimensions.
Invention content
In order to solve the problems, such as that existing articulated mechanical arm exists, the present invention provides a kind of single machine axis connection formula multiple degrees of freedoms to close
Save mechanical arm.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of single machine axis connection formula multi-freedom joint
Mechanical arm, including principal arm further include first rotating arm component, the second rotating arm component and third rotating arm component, the principal arm
It is provided with drive component, wherein drive component connects first rotating arm component, first rotating arm component end connection second
Rotating arm component, wherein the second rotating arm component end connects third rotating arm component, the first rotating arm component, the second rotation
Tumbler assembly and third rotating arm component respectively can be around itself axial rotations, wherein the second rotating arm component can be around first rotating arm
Component end rotates, and wherein third rotating arm component can be rotated around the second rotating arm component end.
Preferably, the driving component includes servomotor, gear reducer gear and driven gear, and wherein servo motor is arranged
In on mechanical arm principal arm, the servo motor output end connects reducer gear, and wherein reducer gear coordinates with driven gear,
The driven gear drives the rotation of first rotating arm component.
Preferably, the first rotating arm component includes the first rotary shaft, the first universal driving shaft, first mechanical arm rod piece, the
One rotating arm principal arm, first rotating arm bearing block, the first rotation axle lock nut, the first universal driving shaft umbrella wheel, the first rotary joint
Umbrella wheel, the first joint shaft, first interlock bearing housing, the first connection bolt and the first electromagnetic clutch, wherein the first universal driving shaft
One end connects driven gear, and the other end of first universal driving shaft sequentially passes through first rotating arm principal arm, the first electromagnetic clutch
The first universal driving shaft umbrella wheel, first rotating arm principal arm one end and the first rotation are connected with the cavity among first mechanical arm rod piece
Axle lock nut connects, and first rotating arm bearing block, first electromagnetic clutch are configured with wherein in first rotating arm principal arm chamber
Device is internally provided with the first electromagnetic clutch input shaft and the first electromagnetic clutch output shaft, wherein the first rotary shaft is mounted on the
On one rotating arm bearing block, first rotary shaft one end is connected by the first connection bolt with first mechanical arm rod piece, simultaneously
First connection bolt is connected with the first electromagnetic clutch output shaft, and first universal driving shaft is across the cavity of the first rotary shaft and the
One electromagnetic clutch input shaft is connected, wherein the first universal driving shaft is fixed on first mechanical arm rod piece by the first gearing bearing housing
On, when the first electromagnetic clutch is in bonding state, the first mechanical arm rod piece is by the first rotary shaft around the first universal driving shaft
Rotation；
The first universal driving shaft umbrella wheel and the first rotary joint umbrella wheel of first mechanical arm rod piece intersection coordinate, wherein the first rotation
Turn joint umbrella wheel with the first joint shaft to be connected, described first rotary joint umbrella wheel one end connects the first universal driving shaft, other end connection
The power of first universal driving shaft is gone to the second rotating arm component, first joint shaft and the first electromagnetism by the second rotating arm component
Clutch input shaft is connected, and the first electromagnetic clutch output shaft is connected with first mechanical arm rod piece, when the first electromagnetic clutch
For device in bonding state, the first universal driving shaft drives the first electromagnetic clutch output shaft to rotate by the first universal driving shaft umbrella wheel of drive,
The second rotating arm component is driven to be rotated around the first joint shaft again.
Preferably, second rotating arm component includes the second rotary shaft, the second universal driving shaft, second mechanical arm rod piece, the
Two rotating arm principal arms, the second rotating arm bearing block, the second rotation axle lock nut, the second universal driving shaft umbrella wheel, the second rotary joint
Umbrella wheel, second joint axis, second interlock bearing housing, the second connection bolt and the second electromagnetic clutch, wherein the second universal driving shaft
One end connects the second rotary joint umbrella wheel of first rotating arm component end, and the other end of second universal driving shaft sequentially passes through the
Cavity among two rotating arm principal arms, the second electromagnetic clutch and second mechanical arm rod piece connects the second universal driving shaft umbrella wheel, described
Second rotating arm principal arm side is connect with the second rotation axle lock nut, wherein configured with the second rotation in the second rotating arm principal arm chamber
Tumbler shaft bearing, second electromagnetic clutch is internally provided with the second electromagnetic clutch input shaft and the second electromagnetic clutch is defeated
Shaft, wherein the second rotary shaft is mounted on the second rotating arm bearing block, second rotary shaft one end passes through the second connection spiral shell
Bolt is connected with second mechanical arm rod piece, while the second connection bolt is connected with the second electromagnetic clutch output shaft, and described second
Moving axis passes through the cavity of the second rotary shaft to be connected with the second electromagnetic clutch input shaft, wherein the second universal driving shaft is interlocked by second
Bearing housing is fixed on second mechanical arm rod piece, when the second electromagnetic clutch is in bonding state, the second mechanical arm bar
Part is rotated by the second rotary shaft around the second universal driving shaft；
The second universal driving shaft umbrella wheel and the second rotary joint umbrella wheel of second mechanical arm rod piece intersection coordinate, wherein the second rotation
Turn joint umbrella wheel with second joint axis to be connected, described second rotary joint umbrella wheel one end connects the second universal driving shaft, other end connection
The power of second universal driving shaft is gone to third rotating arm component, the second joint axis and the second electromagnetism by third rotating arm component
Clutch input shaft is connected, and the second electromagnetic clutch output shaft is connected with second mechanical arm rod piece, when the second electromagnetic clutch
For device in bonding state, the second universal driving shaft drives the second electromagnetic clutch output shaft to rotate by the second universal driving shaft umbrella wheel of drive,
Third rotating arm component is driven to be rotated around second joint axis again.
Preferably, when the first electromagnetic clutch is in bonding state, the first universal driving shaft is by driving the first universal driving shaft umbrella wheel
It drives the first electromagnetic clutch output shaft to rotate, then second mechanical arm rod piece is driven to be rotated around the first joint shaft.
Preferably, the third rotating arm component includes third universal driving shaft, third mechanical arm rod piece, third universal driving shaft umbrella
Wheel, third rotary joint umbrella wheel, third interlock bearing housing, third connection bolt and third electromagnetic clutch, and wherein third joins
Moving axis one end connects the third rotary joint umbrella wheel of the second rotating arm component end, and the other end of the third universal driving shaft is worn successively
It crosses third electromagnetic clutch and connects third universal driving shaft umbrella wheel, the third electromagnetic clutch with the cavity among third mechanical arm rod piece
Device is internally provided with third electromagnetic clutch input shaft and third electromagnetic clutch output shaft, wherein third connection bolt and third
Electromagnetic clutch output shaft is connected, and the third universal driving shaft is connected with third electromagnetic clutch input shaft, wherein third universal driving shaft
It is fixed on third mechanical arm rod piece, when third electromagnetic clutch is in bonding state, the third mechanical arm rod piece is around third
Universal driving shaft rotates；
The third universal driving shaft umbrella wheel and the third rotary joint umbrella wheel of third mechanical arm rod piece intersection coordinate, and wherein third is revolved
Turn joint umbrella wheel with third gearing bearing housing to be connected, the third electromagnetic clutch output shaft and third mechanical arm rod piece phase
Even.
Preferably, when the second electromagnetic clutch is in bonding state, the second universal driving shaft is by driving the second universal driving shaft umbrella wheel
It drives the second electromagnetic clutch output shaft to rotate, then third mechanical arm rod piece is driven to be rotated around second joint axis.
Compared with the prior art, the advantages of the present invention are as follows：
（1）The present invention configures corresponding speed reducer using a servo motor, passes through the universal driving shaft that is mutually related, universal driving shaft umbrella wheel
With rotary joint umbrella wheel, coordinate electromagnetic clutch, keeps each rotating arm component independent or operational order, this hair are completed in collaboration
The bright usage amount for reducing servo motor and speed reducer, reduces production cost and use cost, reduces later stage maintenance
Cost；
（2）Each rotating arm component of the present invention can be around axial rotation, wherein the second rotating arm component can be around first rotating arm assembly end
Portion rotates, and third rotating arm component can be rotated around the second rotating arm component end, you can realize multivariant articulated mechanical arm,
With multidimensional flexibility, and operability is strong.
Description of the drawings
The main structure diagram of Fig. 1, the present invention；
The overlooking structure diagram of Fig. 2, the present invention；
The structural schematic diagram of Fig. 3, principal arm of the present invention and first rotating arm component；
The structural schematic diagram of Fig. 4, the second rotating arm component of the invention；
The structural schematic diagram of Fig. 5, third rotating arm component of the present invention.
Reference sign：
1 principal arm, 2 servo motors, 3 reducer gears, the first rotary shafts of 4-1, the second rotary shafts of 4-2, the first electromagnetic clutch of 5-1
Input shaft, 5-2 the second electromagnetic clutch input shafts, 5-3 third electromagnetic clutch input shafts, the first universal driving shafts of 6-1,6-2 second
Universal driving shaft, 6-3 third universal driving shafts, 7-1 first mechanical arm rod pieces, 7-2 second mechanical arm rod pieces, 7-3 third mechanical arm rod pieces, 8-
1 first rotating arm principal arm, 8-2 the second rotating arm principal arms, 9 driven gears, 10-1 the first electromagnetic clutch output shafts, 10-2 second
Electromagnetic clutch output shaft, 10-3 third electromagnetic clutch output shafts, 11-1 first rotating arm bearing blocks, the second rotating arms of 11-2
Bearing block, 12-1 first rotate axle lock nut, and 12-2 second rotates axle lock nut, 13-1 the first universal driving shaft umbrella wheels, 13-2
Second universal driving shaft umbrella wheel, 13-3 third universal driving shaft umbrella wheels, 14-1 the first rotary joint umbrella wheels, 14-2 the second rotary joint umbrella wheels,
14-3 third rotary joint umbrella wheels, the first joint shafts of 15-1,15-2 second joint axis, 16-1 first interlock bearing housing, 16-2
Second interlocks bearing housing, and 16-3 thirds interlock bearing housing, the connection bolts of 17-1 first, the connection bolts of 17-2 second, 17-3
Third connects bolt, the first electromagnetic clutch of 18-1, the second electromagnetic clutch of 18-2,18-3 third electromagnetic clutch.
Specific implementation mode
The specific embodiment of the invention is described with reference to the accompanying drawings and embodiments：
It should be noted that structure, ratio, the size etc. illustrated in this specification institute attached drawing, only coordinating specification institute
The content of announcement is not limited to the enforceable qualifications of the present invention so that those skilled in the art understands and reads,
The modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the effect of present invention can be generated and institute's energy
Under the purpose reached, should all still it fall in the range of disclosed technology contents can be covered.
Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, also
Only being illustrated for ease of narration, rather than to limit the scope of the invention, relativeness is altered or modified, in nothing
Under essence change technology contents, when being also considered as the enforceable scope of the present invention.
As shown in Fig. 1 ~ 5, the invention discloses a kind of single machine axis to join formula multi-freedom joint mechanical arm, including principal arm 1, also
Including first rotating arm component, the second rotating arm component and third rotating arm component, the principal arm 1 is provided with drive component,
Middle drive component connects first rotating arm component, and first rotating arm component end connects the second rotating arm component, wherein the
Two rotating arm component ends connect third rotating arm component, the first rotating arm component, the second rotating arm component and third rotation
Tumbler assembly respectively can around itself axial rotation, wherein the second rotating arm component can be rotated around first rotating arm component end,
Middle third rotating arm component can be rotated around the second rotating arm component end.
As shown in Fig. 1 ~ 3, it is preferred that the driving component includes servo motor 2, reducer gear 3 and driven gear 9,
Wherein servo motor 2 is set on mechanical arm principal arm 1, and 2 output end of the servo motor connects reducer gear 3, wherein slowing down
Machine gear 3 coordinates with driven gear 9, and the driven gear 9 drives the rotation of first rotating arm component.
As shown in Fig. 1 ~ 3, it is preferred that the first rotating arm component include the first rotary shaft 4-1, the first universal driving shaft 6-1,
First mechanical arm rod piece 7-1, first rotating arm principal arm 8-1, first rotating arm bearing block 11-1, the first rotation axle lock nut
12-1, the first universal driving shaft umbrella wheel 13-1, the first rotary joint umbrella wheel 14-1, the first joint shaft 15-1, first interlock bearing housing
16-1, the first connection bolt 17-1 and the first electromagnetic clutch 18-1, wherein first one end universal driving shaft 6-1 connects driven gear 9,
The other end of the first universal driving shaft 6-1 sequentially passes through first rotating arm principal arm 8-1, the first electromagnetic clutch 18-1 and the first machine
Cavity among tool armed lever part 7-1 connects the first universal driving shaft umbrella wheel 13-1, described one end first rotating arm principal arm 8-1 and the first rotation
The 12-1 connections of shaft locking nut, it is described configured with first rotating arm bearing block 11-1 wherein in first rotating arm principal arm 8-1 chambers
First electromagnetic clutch 18-1 is internally provided with the first electromagnetic clutch input shaft 5-1 and the first electromagnetic clutch output shaft 10-
1, wherein the first rotary shaft 4-1 is mounted on first rotating arm bearing block 11-1, described one end first rotary shaft 4-1 passes through first
Connection bolt 17-1 is connected with first mechanical arm rod piece 7-1, while the first connection bolt 17-1 and the first electromagnetic clutch export
Axis 10-1 is connected, and the first universal driving shaft 6-1 passes through the cavity and the first electromagnetic clutch input shaft 5-1 of the first rotary shaft 4-1
It is connected, wherein the first universal driving shaft 6-1 is fixed on by the first gearing bearing housing 16-1 on first mechanical arm rod piece 7-1, when the
For one electromagnetic clutch 18-1 in bonding state, the first mechanical arm rod piece 7-1 is by the first rotary shaft 4-1 around the first linkage
Axis 6-1 rotations；
First rotary joint umbrella wheel 14-1 of the intersections the first universal driving shaft umbrella wheel 13-1 and first mechanical arm rod piece 7-1 matches
It closes, wherein the first rotary joint umbrella wheel 14-1 is connected with the first joint shaft 15-1, the one end the first rotary joint umbrella wheel 14-1
The first universal driving shaft 6-1 is connected, the other end connects the second rotating arm component, the power of the first universal driving shaft 6-1 is gone to the second rotation
Arm component, the first joint shaft 15-1 are connected with the first electromagnetic clutch input shaft 5-1, the first electromagnetic clutch output
Axis 10-1 is connected with first mechanical arm rod piece 7-1, when the first electromagnetic clutch 18-1 is in bonding state, the first universal driving shaft 6-1
The first electromagnetic clutch output shaft 10-1 rotations are driven by the first universal driving shaft umbrella wheel of drive 13-1, then drive the second rotating arm group
Part is around the first joint shaft 15-1 rotations.
As shown in Fig. 1,2,4, it is preferred that second rotating arm component includes the second rotary shaft 4-2, the second linkage
Axis 6-2, second mechanical arm rod piece 7-2, the second rotating arm principal arm 8-2, the second rotating arm bearing block 11-2, the second rotation shaft locking
Nut 12-2, the second universal driving shaft umbrella wheel 13-2, the second rotary joint umbrella wheel 14-2, second joint axis 15-2, the second couple axle axis
Bearing 16-2, the second connection bolt 17-2 and the second electromagnetic clutch 18-2, wherein the first rotation of second one end universal driving shaft 6-2 connection
Second rotary joint umbrella wheel 14-2 of tumbler assembly end, the other end of the second universal driving shaft 6-2 sequentially pass through the second rotation
Cavity among arm principal arm 8-2, the second electromagnetic clutch 18-2 and second mechanical arm rod piece 7-2 connects the second universal driving shaft umbrella wheel
13-2, the second rotating arm sides principal arm 8-2 are connect with the second rotation axle lock nut 12-2, wherein the second rotating arm principal arm
In 8-2 chambers configured with the second rotating arm bearing block 11-2, the second electromagnetic clutch 18-2 be internally provided with the second electromagnetism from
Clutch input shaft 5-2 and the second electromagnetic clutch output shaft 10-2, wherein the second rotary shaft 4-2 is mounted on the second rotating arm bearing
On seat 11-2, described one end second rotary shaft 4-2 is connected by the second connection bolt 17-2 with second mechanical arm rod piece 7-2, together
When second connection bolt 17-2 be connected with the second electromagnetic clutch output shaft 10-2, the second universal driving shaft 6-2 across second revolve
The cavity of shaft 4-2 is connected with the second electromagnetic clutch input shaft 5-2, wherein the second universal driving shaft 6-2 passes through the second couple axle axis
Bearing 16-2 is fixed on second mechanical arm rod piece 7-2, when the second electromagnetic clutch 18-2 is in bonding state, second machine
Tool armed lever part 7-2 is by the second rotary shaft 4-2 around the second universal driving shaft 6-2 rotations, you can completes one dimension of the second rotating arm component
The angular adjustment of degree.
The second rotary joint umbrella wheel 14-2 of the second universal driving shaft umbrella wheel 13-2 and the intersections second mechanical arm rod piece 7-2
Cooperation, wherein the second rotary joint umbrella wheel 14-2 is connected with second joint axis 15-2, the second rotary joint umbrella wheel 14-2 mono-
The second universal driving shaft 6-2 of end connection, the other end connect third rotating arm component, and the power of the second universal driving shaft 6-2 is gone to third rotation
Tumbler assembly, the second joint axis 15-2 are connected with the second electromagnetic clutch input shaft 5-2, and second electromagnetic clutch is defeated
Shaft 10-2 is connected with second mechanical arm rod piece 7-2, when the second electromagnetic clutch 18-2 is in bonding state, the second universal driving shaft 6-
2 drive the second electromagnetic clutch output shaft 10-2 rotations by the second universal driving shaft umbrella wheel of drive 13-2, then drive third rotating arm
Component is rotated around second joint axis 15-2, angular adjustment of the completion third rotating arm component in another dimension.
As shown in Fig. 1 ~ 4, it is preferred that when the first electromagnetic clutch 18-1 is in bonding state, the first universal driving shaft 6-1 passes through
It drives the first universal driving shaft umbrella wheel 13-1 to drive the first electromagnetic clutch output shaft 10-1 rotations, then drives second mechanical arm rod piece 7-
2 around the first joint shaft 15-1 rotations, angular adjustment of the second rotating arm component of completion in another dimension.
As shown in Fig. 1,2,5, it is preferred that the third rotating arm component includes third universal driving shaft 6-3, third machinery armed lever
Part 7-3, third universal driving shaft umbrella wheel 13-3, third rotary joint umbrella wheel 14-3, third interlock bearing housing 16-3, third connects spiral shell
Bolt 17-3 and third electromagnetic clutch 18-3, the wherein one end third universal driving shaft 6-3 connect the third of the second rotating arm component end
Rotary joint umbrella wheel 14-3, the other end of the third universal driving shaft 6-3 sequentially pass through third electromagnetic clutch 18-3 and third machine
Cavity connection third universal driving shaft umbrella wheel 13-3 among tool armed lever part 7-3, the third electromagnetic clutch 18-3 are internally provided with
Third electromagnetic clutch input shaft 5-3 and third electromagnetic clutch output shaft 10-3, wherein third connect bolt 17-3 and third
Electromagnetic clutch output shaft 10-3 is connected, and the third universal driving shaft 6-3 is connected with third electromagnetic clutch input shaft 5-3, wherein
Third universal driving shaft 6-3 is fixed on third mechanical arm rod piece 7-3, described when third electromagnetic clutch 18-3 is in bonding state
Third mechanical arm rod piece 7-3 is rotated around third universal driving shaft 6-3, you can completes the angle tune of third one dimension of rotating arm component
Section.
The third rotary joint umbrella wheel 14-3 of the third universal driving shaft umbrella wheel 13-3 and the intersections third mechanical arm rod piece 7-3
Cooperation, wherein third rotary joint umbrella wheel 14-3 interlock bearing housing 16-3 with third and are connected, and the third electromagnetic clutch is defeated
Shaft 10-3 is connected with third mechanical arm rod piece 7-3.
As shown in Fig. 1 ~ 5, it is preferred that when the second electromagnetic clutch 18-2 is in bonding state, the second universal driving shaft 6-2 passes through
It drives the second universal driving shaft umbrella wheel 13-2 to drive the second electromagnetic clutch output shaft 10-2 rotations, then drives third mechanical arm rod piece 7-
3 rotate around second joint axis 15-2, angular adjustment of the completion third rotating arm component in another dimension.
Working principle of the present invention is as follows：
The servo motor 2 being arranged on mechanical arm principal arm 1 drives reducer gear 3, reducer gear 3 to drive driven gear 9, due to
Driven gear 9 connects the first universal driving shaft 6-1, the first universal driving shaft 6-1 and interlocks the first machinery of bearing housing 16-1 connections by first
Armed lever part 17-1, therefore the first universal driving shaft 6-1 drives first mechanical arm rod piece 17-1 around the first universal driving shaft 6-1 rotations, due to the
One universal driving shaft 6-1 is connect by the first electromagnetic clutch input shaft 5-1 with the first electromagnetic clutch 18-1, therefore can pass through
The rotation of one electromagnetic clutch 18-1 control first mechanical arm rod pieces 17-1.
The other end of first universal driving shaft 6-1 connects the first universal driving shaft umbrella wheel 13-1, the first universal driving shaft umbrella wheel 13-1 connections the
One rotary joint umbrella wheel 14-1, while the second universal driving shaft 6-2 of first rotary joint umbrella wheel 14-1 the second rotating arm components of connection,
Other first rotary joint umbrella wheel 14-1 connections the first joint shaft 15-1, therefore the first universal driving shaft 6-1 imparts power to second
Second universal driving shaft 6-2, the second universal driving shaft 6-2 of rotating arm component interlocks bearing housing 16-2 connection second mechanical arms by second
Rod piece 17-2, therefore second mechanical arm rod piece 17-2 is around the second universal driving shaft 6-2 rotation, similarly third mechanical arm rod piece 17-3 is around the
Three universal driving shaft 6-3 rotations.
Since the first universal driving shaft 6-1 passes through the first universal driving shaft umbrella wheel 13-1 and the first rotary joint umbrella wheel 14-1 connections first
Joint shaft 15-1, therefore the first universal driving shaft 6-1 drives the second rotating arm component around the first joint shaft 15-1 rotations, similarly the second rotation
Tumbler assembly imparts power to third rotating arm component according to same principle, and third rotating arm component can be around the second rotating arm
The second joint axis 15-2 rotations of component end.
The present invention configures corresponding speed reducer using a servo motor, passes through the universal driving shaft that is mutually related, universal driving shaft umbrella
Wheel and rotary joint umbrella wheel coordinate electromagnetic clutch, keep each rotating arm component independent or operational order is completed in collaboration, this
Invention reduces the usage amount of servo motor and speed reducer, reduces production cost and use cost, reduces later stage maintenance dimension
The cost repaiied.
Each rotating arm component of the present invention can be around axial rotation, wherein the second rotating arm component can be around first rotating arm assembly end
Portion rotates, and third rotating arm component can be rotated around the second rotating arm component end, you can realize multivariant articulated mechanical arm,
With multidimensional flexibility, and operability is strong.
The preferred embodiment for the present invention is explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Many other changes and remodeling can be made by not departing from the spirit and scope of the present invention.It should be appreciated that the present invention is not
It is limited to specific embodiment, the scope of the present invention is defined by the following claims.The component that the present embodiment does not describe in detail
With the well-known components and common structure or conventional means of the structure category industry, do not describe one by one here.
Claims (7)
1. a kind of single machine axis joins formula multi-freedom joint mechanical arm, including principal arm（1）, it is characterised in that：It further include the first rotation
Arm component, the second rotating arm component and third rotating arm component, the principal arm（1）It is provided with drive component, wherein drive component
First rotating arm component is connected, first rotating arm component end connects the second rotating arm component, wherein the second rotating arm group
Part end connects third rotating arm component, the first rotating arm component, the second rotating arm component and third rotating arm component point
Can not be around itself axial rotation, wherein the second rotating arm component can be rotated around first rotating arm component end, wherein third rotates
Arm component can be rotated around the second rotating arm component end.
2. a kind of single machine axis according to claim 1 joins formula multi-freedom joint mechanical arm, it is characterised in that：The driving
Component includes servo motor（2）, reducer gear（3）And driven gear（9）, wherein servo motor（2）It is set to mechanical arm master
Arm（1）On, the servo motor（2）Output end connects reducer gear（3）, wherein reducer gear（3）With driven gear（9）
Cooperation, the driven gear（9）Drive the rotation of first rotating arm component.
3. a kind of single machine axis according to claim 2 joins formula multi-freedom joint mechanical arm, it is characterised in that：Described first
Rotating arm component includes the first rotary shaft（4-1）, the first universal driving shaft（6-1）, first mechanical arm rod piece（7-1）, first rotating arm
Principal arm（8-1）, first rotating arm bearing block（11-1）, first rotation axle lock nut（12-1）, the first universal driving shaft umbrella wheel（13-
1）, the first rotary joint umbrella wheel（14-1）, the first joint shaft（15-1）, first interlock bearing housing（16-1）, first connection spiral shell
Bolt（17-1）With the first electromagnetic clutch（18-1）, wherein the first universal driving shaft（6-1）One end connects driven gear（9）, described
One universal driving shaft（6-1）The other end sequentially pass through first rotating arm principal arm（8-1）, the first electromagnetic clutch（18-1）With the first machine
Tool armed lever part（7-1）Intermediate cavity connects the first universal driving shaft umbrella wheel（13-1）, the first rotating arm principal arm（8-1）One end with
First rotation axle lock nut（12-1）Connection, wherein first rotating arm principal arm（8-1）First rotating arm bearing is configured in chamber
Seat（11-1）, first electromagnetic clutch（18-1）It is internally provided with the first electromagnetic clutch input shaft（5-1）With the first electricity
Magnet clutch output shaft（10-1）, wherein the first rotary shaft（4-1）Mounted on first rotating arm bearing block（11-1）On, described
One rotary shaft（4-1）One end passes through the first connection bolt（17-1）With first mechanical arm rod piece（7-1）It is connected, while the first connection
Bolt（17-1）With the first electromagnetic clutch output shaft（10-1）It is connected, first universal driving shaft（6-1）Across the first rotary shaft
（4-1）Cavity and the first electromagnetic clutch input shaft（5-1）It is connected, wherein the first universal driving shaft（6-1）Pass through the first couple axle
Bearing block（16-1）It is fixed on first mechanical arm rod piece（7-1）On, when the first electromagnetic clutch（18-1）In bonding state, institute
State first mechanical arm rod piece（7-1）Pass through the first rotary shaft（4-1）Around the first universal driving shaft（6-1）Rotation；
The first universal driving shaft umbrella wheel（13-1）With first mechanical arm rod piece（7-1）First rotary joint umbrella wheel of intersection（14-
1）Cooperation, wherein the first rotary joint umbrella wheel（14-1）With the first joint shaft（15-1）It is connected, the first rotary joint umbrella wheel
（14-1）One end connects the first universal driving shaft（6-1）, the other end connects the second rotating arm component, by the first universal driving shaft（6-1）It is dynamic
Power goes to the second rotating arm component, first joint shaft（15-1）With the first electromagnetic clutch input shaft（5-1）It is connected, it is described
First electromagnetic clutch output shaft（10-1）With first mechanical arm rod piece（7-1）It is connected, when the first electromagnetic clutch（18-1）
When bonding state, the first universal driving shaft（6-1）By driving the first universal driving shaft umbrella wheel（13-1）The first electromagnetic clutch is driven to export
Axis（10-1）Rotation, then drive the second rotating arm component around the first joint shaft（15-1）Rotation.
4. a kind of single machine axis according to claim 3 joins formula multi-freedom joint mechanical arm, it is characterised in that：Described second
Rotating arm component includes the second rotary shaft（4-2）, the second universal driving shaft（6-2）, second mechanical arm rod piece（7-2）, the second rotating arm
Principal arm（8-2）, the second rotating arm bearing block（11-2）, second rotation axle lock nut（12-2）, the second universal driving shaft umbrella wheel（13-
2）, the second rotary joint umbrella wheel（14-2）, second joint axis（15-2）, second interlock bearing housing（16-2）, second connection spiral shell
Bolt（17-2）With the second electromagnetic clutch（18-2）, wherein the second universal driving shaft（6-2）One end connects first rotating arm component end
The second rotary joint umbrella wheel（14-2）, second universal driving shaft（6-2）The other end sequentially pass through the second rotating arm principal arm（8-
2）, the second electromagnetic clutch（18-2）With second mechanical arm rod piece（7-2）Intermediate cavity connects the second universal driving shaft umbrella wheel（13-
2）, the second rotating arm principal arm（8-2）Side and the second rotation axle lock nut（12-2）Connection, wherein the second rotating arm master
Arm（8-2）The second rotating arm bearing block is configured in chamber（11-2）, second electromagnetic clutch（18-2）It is internally provided with
Two electromagnetic clutch input shafts（5-2）With the second electromagnetic clutch output shaft（10-2）, wherein the second rotary shaft（4-2）It is mounted on
Second rotating arm bearing block（11-2）On, second rotary shaft（4-2）One end passes through the second connection bolt（17-2）With second
Mechanical arm rod piece（7-2）It is connected, while the second connection bolt（17-2）With the second electromagnetic clutch output shaft（10-2）It is connected, institute
State the second universal driving shaft（6-2）Across the second rotary shaft（4-2）Cavity and the second electromagnetic clutch input shaft（5-2）It is connected,
In the second universal driving shaft（6-2）Bearing housing is interlocked by second（16-2）It is fixed on second mechanical arm rod piece（7-2）On, when second
Electromagnetic clutch（18-2）In bonding state, the second mechanical arm rod piece（7-2）Pass through the second rotary shaft（4-2）Around second
Universal driving shaft（6-2）Rotation；
The second universal driving shaft umbrella wheel（13-2）With second mechanical arm rod piece（7-2）Second rotary joint umbrella wheel of intersection（14-
2）Cooperation, wherein the second rotary joint umbrella wheel（14-2）With second joint axis（15-2）It is connected, the second rotary joint umbrella wheel
（14-2）One end connects the second universal driving shaft（6-2）, the other end connects third rotating arm component, by the second universal driving shaft（6-2）It is dynamic
Power goes to third rotating arm component, the second joint axis（15-2）With the second electromagnetic clutch input shaft（5-2）It is connected, it is described
Second electromagnetic clutch output shaft（10-2）With second mechanical arm rod piece（7-2）It is connected, when the second electromagnetic clutch（18-2）
When bonding state, the second universal driving shaft（6-2）By driving the second universal driving shaft umbrella wheel（13-2）The second electromagnetic clutch is driven to export
Axis（10-2）Rotation, then drive third rotating arm component around second joint axis（15-2）Rotation.
5. a kind of single machine axis according to claim 4 joins formula multi-freedom joint mechanical arm, it is characterised in that：When the first electricity
Magnet clutch（18-1）In bonding state, the first universal driving shaft（6-1）By driving the first universal driving shaft umbrella wheel（13-1）Drive the
One electromagnetic clutch output shaft（10-1）Rotation, then drive second mechanical arm rod piece（7-2）Around the first joint shaft（15-1）Rotation.
6. a kind of single machine axis according to claim 4 joins formula multi-freedom joint mechanical arm, it is characterised in that：The third
Rotating arm component includes third universal driving shaft（6-3）, third mechanical arm rod piece（7-3）, third universal driving shaft umbrella wheel（13-3）, third rotation
Turn joint umbrella wheel（14-3）, third interlock bearing housing（16-3）, third connect bolt（17-3）With third electromagnetic clutch
（18-3）, wherein third universal driving shaft（6-3）One end connects the third rotary joint umbrella wheel of the second rotating arm component end（14-3）,
The third universal driving shaft（6-3）The other end sequentially pass through third electromagnetic clutch（18-3）With third mechanical arm rod piece（7-3）
Intermediate cavity connects third universal driving shaft umbrella wheel（13-3）, the third electromagnetic clutch（18-3）It is internally provided with third electromagnetism
Clutch input shaft（5-3）With third electromagnetic clutch output shaft（10-3）, wherein third connect bolt（17-3）With third electricity
Magnet clutch output shaft（10-3）It is connected, the third universal driving shaft（6-3）With third electromagnetic clutch input shaft（5-3）It is connected,
Wherein third universal driving shaft（6-3）It is fixed on third mechanical arm rod piece（7-3）On, when third electromagnetic clutch（18-3）In conjunction with shape
When state, the third mechanical arm rod piece（7-3）Around third universal driving shaft（6-3）Rotation；
The third universal driving shaft umbrella wheel（13-3）With third mechanical arm rod piece（7-3）The third rotary joint umbrella wheel of intersection（14-
3）Cooperation, wherein third rotary joint umbrella wheel（14-3）Bearing housing is interlocked with third（16-3）Be connected, the third electromagnetism from
Clutch output shaft（10-3）With third mechanical arm rod piece（7-3）It is connected.
7. a kind of single machine axis according to claim 6 joins formula multi-freedom joint mechanical arm, it is characterised in that：When the second electricity
Magnet clutch（18-2）In bonding state, the second universal driving shaft（6-2）By driving the second universal driving shaft umbrella wheel（13-2）Drive the
Two electromagnetic clutch output shafts（10-2）Rotation, then drive third mechanical arm rod piece（7-3）Around second joint axis（15-2）Rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810263157.1A CN108312140A (en) | 2018-03-28 | 2018-03-28 | A kind of single machine axis connection formula multi-freedom joint mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810263157.1A CN108312140A (en) | 2018-03-28 | 2018-03-28 | A kind of single machine axis connection formula multi-freedom joint mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108312140A true CN108312140A (en) | 2018-07-24 |
Family
ID=62899365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810263157.1A Pending CN108312140A (en) | 2018-03-28 | 2018-03-28 | A kind of single machine axis connection formula multi-freedom joint mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113958830A (en) * | 2021-09-07 | 2022-01-21 | 瑞鼎工业技术(昆山)有限公司 | Portable multisection medical treatment support arm of quick auto-lock |
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| US4662814A (en) * | 1983-10-05 | 1987-05-05 | Hitachi, Ltd. | Manipulator |
| WO2001051259A2 (en) * | 2000-01-11 | 2001-07-19 | Hai Hong Zhu | Modular robot manipulator apparatus |
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| CN102431038A (en) * | 2011-10-28 | 2012-05-02 | 武汉需要智能技术有限公司 | Modular joint combination of mechanical arm with multiple degrees of freedom |
| CN208215338U (en) * | 2018-03-28 | 2018-12-11 | 陕西蓝智机器人有限公司 | A kind of single machine axis connection formula multi-freedom joint mechanical arm |
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| US4606695A (en) * | 1984-05-18 | 1986-08-19 | Kurt Manufacturing Company, Inc. | Multiple axis robot arm |
| WO2001051259A2 (en) * | 2000-01-11 | 2001-07-19 | Hai Hong Zhu | Modular robot manipulator apparatus |
| CN101077579A (en) * | 2007-06-20 | 2007-11-28 | 华中科技大学 | Multi-joint flexible mechanical arm |
| CN102431038A (en) * | 2011-10-28 | 2012-05-02 | 武汉需要智能技术有限公司 | Modular joint combination of mechanical arm with multiple degrees of freedom |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113958830A (en) * | 2021-09-07 | 2022-01-21 | 瑞鼎工业技术(昆山)有限公司 | Portable multisection medical treatment support arm of quick auto-lock |
| CN113958830B (en) * | 2021-09-07 | 2023-02-28 | 瑞鼎工业技术(昆山)有限公司 | Portable multisection medical treatment support arm of quick auto-lock |
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