CN108340402A - A kind of light-duty mechanical arm of carbon fibre composite - Google Patents
A kind of light-duty mechanical arm of carbon fibre composite Download PDFInfo
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- CN108340402A CN108340402A CN201810175660.1A CN201810175660A CN108340402A CN 108340402 A CN108340402 A CN 108340402A CN 201810175660 A CN201810175660 A CN 201810175660A CN 108340402 A CN108340402 A CN 108340402A
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- joint
- connecting rod
- mechanical
- mechanical joint
- shaped plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Shafts, Cranks, Connecting Bars, And Related Bearings (AREA)
Abstract
The present invention relates to mechanical arm technical fields, refer in particular to a kind of light-duty mechanical arm of carbon fibre composite, including sequentially connected mechanical arm pedestal, mechanical joint one, mechanical joint two, connecting rod one, mechanical joint three, connecting rod two, mechanical joint four is set with end actuating station, connecting rod one is all made of carbon fibre material with connecting rod two and is made, mechanical joint three and the external wrapping layer of mechanical joint four also use carbon fibre material, one end of connecting rod one is connected to mechanical joint two using bonding mode by cement, the other end of connecting rod one is connected to mechanical joint three using co-curing mode, one end of connecting rod two is connected to mechanical joint three using bonding mode by cement, the other end of connecting rod two is connected to mechanical joint four using co-curing mode.Using such structure setting, the present invention wraps up the partial component of mechanical arm by using carbon fiber, and constitute mixed structure has higher intensity, while alleviating weight in the case where not increasing mechanical arm size.
Description
Technical field
The present invention relates to mechanical arm technical fields, refer in particular to a kind of light-duty mechanical arm of carbon fibre composite.
Background technology
For carbon fiber as a kind of novel mechanics material, its present relevant technique and application method are more and more ripe,
And the place used is more and more extensive, and carbon fiber has high specific strength, high ratio modulus, high temperature resistant, corrosion-resistant, endurance etc.
Advantage is compared compared to traditional mechanical arm, and carbon fiber mechanical arm is lighter, and human-computer interaction is safer, while will not increase machine
The dead weight of tool arm and size.Connection type of traditional mechanical arm such as screw, bolt etc. destroys the structure of connector, leads
Its intensity is caused to decline, and these connection types make connection not compact enough.
Invention content
In view of the above problems, the present invention provides a kind of light-duty mechanical arms of carbon fibre composite, by using carbon fiber
The partial component of dimension package mechanical arm, constitutes mixed structure, in the case where not increasing mechanical arm size, has higher strong
Degree, while weight is alleviated, and by using cementing and co-curing connection type, avoid drilling on connector, ensure that
The structure of connector is not damaged, and so as to avoid the weakening of intensity, this connection type is but also connection is compacter.
To achieve the goals above, the technical solution adopted by the present invention is as follows：
A kind of light-duty mechanical arm of carbon fibre composite, including sequentially connected mechanical arm pedestal, mechanical joint one, machine
Tool joint two, connecting rod one, mechanical joint three, connecting rod two, mechanical joint four and end actuating station are set, and connecting rod one is adopted with connecting rod two
It is made of carbon fibre material, mechanical joint three and the external wrapping layer of mechanical joint four also use carbon fibre material, connecting rod one
One end is connected to mechanical joint two using bonding mode by cement, and the other end of connecting rod one is connected to using co-curing mode
One end of mechanical joint three, connecting rod two is connected to mechanical joint three, the other end of connecting rod two using bonding mode by cement
Mechanical joint four is connected to using co-curing mode.
Furthermore, the connecting rod one is all made of carbon fibre material with connecting rod two and connecting rod carbon fiber is made, and thickness is
2.5mm。
Furthermore, the mechanical joint three and the outside of mechanical joint four are equipped with carbon fiber wrapping layer, and thickness is
3mm。
Furthermore, the cement includes AB epoxy glues, mainly uses 128 epoxy resin and 901 epoxy resin
By 1：1 ratio mixed preparing forms.
Furthermore, driving device one, harmonic wave speed reducing machine one and output shaft, harmonic wave are equipped in the mechanical joint one to subtract
Fast machine one is connected to driving device one, and output shaft is connected to mechanical joint two.
Furthermore, be equipped in the mechanical joint two connector, driving device two, self-lubricating bearing one, otic placode one,
L shaped plate one, harmonic wave speed reducing machine two and two aluminium alloy lining of joint, the output shaft in mechanical joint one are connected to connector, drive
One end of device two is connected to harmonic wave speed reducing machine two, and harmonic wave speed reducing machine two is connected to L shaped plate one by screw, driving device two
The other end is fixed on by self-lubricating bearing one on two aluminium alloy lining of joint, and otic placode one is fixed on the axial direction of self-lubricating bearing one
Position, and be connected by screw in L shaped plate one, L shaped plate one is connected to connecting rod one by cement.
Furthermore, one end of the connecting rod one is connected to the L shaped plate one of mechanical joint two, connecting rod one by cement
The other end mechanical joint three is connected to by way of co-curing.
Furthermore, three carbon fiber layer of joint, joint 3 Al alloy liner, driving dress are equipped in the mechanical joint three
It sets three, self-lubricating bearing two, otic placode two, L shaped plate two and harmonic wave speed reducing machine three, connecting rod one and is connected to pass by way of co-curing
Three carbon fiber layers are saved, one end of driving device three is connected to harmonic wave speed reducing machine three, and harmonic wave speed reducing machine three is connected to L-shaped by screw
The other end of plate two, driving device three is fixed on lining in the 3 Al alloy of joint by self-lubricating bearing two, and otic placode two is fixed on
The axial position of self-lubricating bearing two, and be connected by screw in L shaped plate two, L shaped plate two is connected to connecting rod two by cement.
Furthermore, one end of the connecting rod two is connected to the L shaped plate two of mechanical joint three, connecting rod two by cement
The other end mechanical joint four is connected to by way of co-curing.
Furthermore, four carbon fiber layer of joint, four aluminium alloy lining of joint, driving dress are equipped in the mechanical joint four
It sets four, self-lubricating bearing three, otic placode three, L shaped plate three and harmonic wave speed reducing machine four, connecting rod two and is connected to pass by way of co-curing
Four carbon fiber layers are saved, one end of driving device four is connected to harmonic wave speed reducing machine four, and harmonic wave speed reducing machine four is connected to L-shaped by screw
The other end of plate three, driving device four is fixed on by self-lubricating bearing three on four aluminium alloy lining of joint, and otic placode three is fixed on
The axial position of self-lubricating bearing three, and be connected by screw in L shaped plate three, L shaped plate three is connected to end by cement and holds
Luggage is set.
Advantageous effect of the present invention：
1. connecting rod of the present invention uses carbon fibre material, the aluminium alloy lining of mechanical joint with some mechanical joint outside
Mixed structure is constituted with carbon fiber wrapping layer, due to the utilization of mixed structure so that the performance of mechanical arm is improved；
2. compared to traditional screw, being bolted, the present invention is attached using the connection type of splicing and co-curing,
So that its overall structure is more beautiful, simple structure, while also avoiding drilling on carbon fibre material, it ensure that carbon fiber layer not
It is damaged, so as to avoid the weakening of its intensity, this connection type improves trembling for mechanical arm but also connection is compacter
Emotionally condition so which reduce maintenance costs.
Description of the drawings
Fig. 1 is overall structure figure of the present invention；
Fig. 2 is overall structure sectional view of the present invention；
Fig. 3 is cementing structure schematic diagram of the present invention；
Fig. 4 is co-curing structural schematic diagram of the present invention.
1. mechanical arm pedestal；2. mechanical joint one；21. driving device one；22. harmonic wave speed reducing machine one；23. output shaft；3.
Mechanical joint two；31. connector；32. driving device two；33. self-lubricating bearing one；34. otic placode one；35.L shapes plate one；36. humorous
Wave speed reducer two；37. two aluminium alloy lining of joint；4. connecting rod one；5. mechanical joint three；51. three carbon fiber layer of joint；52. closing
Save 3 Al alloy liner；53. driving device three；54. self-lubricating bearing two；55. otic placode two；56.L shapes plate two；57. harmonic reduction
Machine three；6. connecting rod two；7. mechanical joint four；71.
Four carbon fiber layer of joint；72. four aluminium alloy lining of joint；73. driving device four；74. self-lubricating bearing three；75.
Otic placode three；76.L shapes plate three；77. harmonic wave speed reducing machine four；8. end executive device.
Specific implementation mode
Technical scheme of the present invention is illustrated with embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 4, the light-duty mechanical arm of a kind of carbon fibre composite of the present invention, including be sequentially connected
Mechanical arm pedestal 1, mechanical joint 1, mechanical joint 23, connecting rod 1, mechanical joint 35, connecting rod 26, mechanical joint 47
8 are set with end actuating station, connecting rod 1 is all made of carbon fibre material with connecting rod 26 and is made, mechanical joint 35 and mechanical joint 47
External wrapping layer also use carbon fibre material, one end of connecting rod 1 is connected to mechanical pass using bonding mode by cement
23 are saved, the other end of connecting rod 1 is connected to mechanical joint 35 using co-curing mode, and one end of connecting rod 26 uses splicing side
Formula is connected to mechanical joint 35 by cement, and the other end of connecting rod 26 is connected to mechanical joint 47 using co-curing mode.
The above constitutes basic structure of the present invention.
Connecting rod 1 of the present invention is all made of carbon fibre material with connecting rod 26 and is made, mechanical joint 35 and mechanical joint
47 external wrapping layer also uses carbon fibre material, mechanical joint 35 and the aluminium alloy lining and carbon fiber in mechanical joint 47
It ties up wrapping layer and constitutes mixed structure, due to the utilization of mixed structure so that the performance of mechanical arm is improved；In addition, comparing
It in traditional screw, is bolted, one end of connecting rod 1 of the present invention is connected to machinery using bonding mode by cement
The other end in joint 23, connecting rod 1 is connected to mechanical joint 35 using co-curing mode, and one end of connecting rod 26 is using splicing
Mode is connected to mechanical joint 35 by cement, and the other end of connecting rod 26 is connected to mechanical joint four using co-curing mode
7.It is attached with the connection type of co-curing using being glued so that its overall structure is more beautiful, while also avoiding in carbon fiber
Dimension material on drill, ensure that carbon fiber layer is not damaged, so as to avoid the weakening of its intensity, this connection type but also
It connects compacter, improves the jitter conditions of mechanical arm so which reduce maintenance costs.
More specifically, the connecting rod 1 is all made of carbon fibre material with connecting rod 26 and connecting rod carbon fiber, thickness is made
For 2.5mm.The present invention produces carbon fiber connecting rod, connecting rod carbon fiber thickness is by the way that carbon fibre material to be wrapped on mold
2.5mm。
More specifically, the mechanical joint 35 and the outside of mechanical joint 47 are equipped with carbon fiber wrapping layer, thickness
For 3mm.Carbon fiber wrapping layer of the present invention is superscribed using carbon fiber yarn cloth in layer, gauze
The arrangement angle of carbon fiber wire is respectively 0 °, 45 °, -45 ° and 90 °, and each accounting example is 40%, 40%, 10%, 10%, connecting rod
Carbon fiber overlay thickness is 3mm.
More specifically, the cement includes AB epoxy glues, mainly uses 128 epoxy resin and 901 epoxy resin
By 1：1 ratio mixed preparing forms.The present invention is glued by cement and co-curing, and connection type is simpler, also not
It needs to beat threaded hole on carbon fiber, avoids the damage of carbon fiber performance, this connection type carries but also its connection is compact
The high stability of mechanical arm, so need not often safeguard.
More specifically, driving device 1, harmonic wave speed reducing machine 1 and output shaft are equipped in the mechanical joint 1
23, harmonic wave speed reducing machine 1 is connected to driving device 1, and output shaft 23 is connected to mechanical joint 23.It is set in mechanical joint 23
There are connector 31, driving device 2 32, self-lubricating bearing 1, otic placode 1, L shaped plate 1, harmonic wave speed reducing machine 2 36 and closes
Two aluminium alloy linings 37 are saved, the output shaft 23 in mechanical joint 1 is connected to connector 31, one end connection of driving device 2 32
In harmonic wave speed reducing machine 2 36, harmonic wave speed reducing machine 2 36 is connected by screw in L shaped plate 1, and the other end of driving device 2 32 is logical
It crosses self-lubricating bearing 1 to be fixed on two aluminium alloy lining 37 of joint, otic placode 1 is fixed on the axial direction of self-lubricating bearing 1
Position, and be connected by screw in L shaped plate 1, L shaped plate 1 is connected to connecting rod 1 by cement.One end of connecting rod 1
The L shaped plate 1 of mechanical joint 23 is connected to by cement, the other end of connecting rod 1 is connected to by way of co-curing
Mechanical joint 35.Three carbon fiber layer 51 of joint, joint 3 Al alloy liner 52, driving device three are equipped in mechanical joint 35
53, self-lubricating bearing 2 54, otic placode 2 55, L shaped plate 2 56 and harmonic wave speed reducing machine 3 57, connecting rod 1 is by way of co-curing
It is connected to three carbon fiber layer 51 of joint, one end of driving device 3 53 is connected to harmonic wave speed reducing machine 3 57, harmonic wave speed reducing machine 3 57
It is connected by screw in L shaped plate 2 56, the other end of driving device 3 53 is fixed on three aluminium of joint by self-lubricating bearing 2 54
On alloy lining 52, otic placode 2 55 is fixed on the axial position of self-lubricating bearing 2 54, and is connected by screw in L shaped plate two
56, L shaped plate 2 56 is connected to connecting rod 26 by cement.One end of connecting rod 26 is connected to mechanical joint 35 by cement
L shaped plate 2 56, the other end of connecting rod 26 is connected to mechanical joint 47 by way of co-curing.It is set in mechanical joint 47
There are four carbon fiber layer 71 of joint, four aluminium alloy lining 72 of joint, driving device 4 73, self-lubricating bearing 3 74, otic placode 3 75, L
Shape plate 3 76 and harmonic wave speed reducing machine 4 77, connecting rod 26 are connected to four carbon fiber layer 71 of joint, driving dress by way of co-curing
The one end for setting 4 73 is connected to harmonic wave speed reducing machine 4 77, and harmonic wave speed reducing machine 4 77 is connected by screw in L shaped plate 3 76, driving dress
It sets 4 73 other end to be fixed on four aluminium alloy lining 72 of joint by self-lubricating bearing 3 74, otic placode 3 75 is fixed on Zi Run
The axial position of plain besring 3 74, and be connected by screw in L shaped plate 3 76, L shaped plate 3 76 is connected to end by cement
Executive device 8.Compared with traditional mechanical arm, pass through mechanical joint 35 to mechanical arm and mechanical joint 47 and connecting rod one
4 and the material of connecting rod 26 be improved, original aluminum alloy materials are substituted using carbon fibre composite, and improve
The adjunction mode of mechanical joint ensures that carbon fibre material is not damaged, to real by using being glued with the mode of co-curing
The lightweight for having showed mechanical arm also ensures that its intensity, the present invention are the light-duty mechanical arms that a kind of movement is flexible and low energy consumption.Its
In, splicing operation principle of the present invention is to be surface-treated the junction of L shaped plate and connecting rod, then processed
L shaped plate surface applies the primer of last layer 0.005-0.015mm, after the completion of waiting primers to cure, applies cement within the predetermined time,
Applying one layer every time will wait it to cure, and carbon fiber connecting rod should be assembled together by last layer of when with L shaped plate.It is of the present invention
Co-curing operation principle be by the carbon fiber layer of the connecting rod of carbon fiber and mechanical joint use autoclave forming process, utilize heat
High temperature and pressure inside pressure tank carries out heating pressurization to reach curing molding to carbon fibre composite, is adopted in solidification process
Temperature is controlled at 150 DEG C or so.
The embodiment of the present invention is described above in association with attached drawing, but the invention is not limited in above-mentioned specific realities
Mode is applied, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art exist
Under the enlightenment of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, many shapes can be also made
Formula, within these are all belonged to the scope of protection of the present invention.
Claims (10)
1. a kind of light-duty mechanical arm of carbon fibre composite, it is characterised in that：Including sequentially connected mechanical arm pedestal (1),
Mechanical joint one (2), mechanical joint two (3), connecting rod one (4), mechanical joint three (5), connecting rod two (6), mechanical joint four (7) with
End actuating station is set (8), and the connecting rod one (4) is all made of carbon fibre material with connecting rod two (6) and is made, the mechanical joint three
(5) carbon fibre material, one end of the connecting rod one (4) is also used to use splicing side with the external wrapping layer of mechanical joint four (7)
Formula is connected to mechanical joint two (3) by cement, and the other end of the connecting rod one (4) is connected to machinery using co-curing mode
The one end in joint three (5), the connecting rod two (6) is connected to mechanical joint three (5), the company using bonding mode by cement
The other end of bar two (6) is connected to mechanical joint four (7) using co-curing mode.
2. a kind of light-duty mechanical arm of carbon fibre composite according to claim 1, it is characterised in that：The connecting rod one
(4) it is all made of carbon fibre material with connecting rod two (6) and connecting rod carbon fiber, thickness 2.5mm is made.
3. a kind of light-duty mechanical arm of carbon fibre composite according to claim 1, it is characterised in that：The machinery closes
It saves three (5) and the outside of mechanical joint four (7) and is equipped with carbon fiber wrapping layer, thickness 3mm.
4. a kind of light-duty mechanical arm of carbon fibre composite according to claim 1, it is characterised in that：The cement
Including AB epoxy glues, 128 epoxy resin and 901 epoxy resin is mainly used to press 1：1 ratio mixed preparing forms.
5. a kind of light-duty mechanical arm of carbon fibre composite according to claim 1, it is characterised in that：The machinery closes
It saves and is equipped with driving device one (21), harmonic wave speed reducing machine one (22) and output shaft (23), the harmonic wave speed reducing machine one (22) in one (2)
It is connected to driving device one (21), the output shaft (23) is connected to mechanical joint two (3).
6. a kind of light-duty mechanical arm of carbon fibre composite according to claim 5, it is characterised in that：The machinery closes
It saves and is equipped with connector (31), driving device two (32), self-lubricating bearing one (33), otic placode one (34), L shaped plate one in two (3)
(35), harmonic wave speed reducing machine two (36) and two aluminium alloy lining of joint (37), the output shaft (23) in the mechanical joint one (2) is even
It is connected to connector (31), one end of the driving device two (32) is connected to harmonic wave speed reducing machine two (36), the harmonic wave speed reducing machine
Two (36) are connected by screw in L shaped plate one (35), and the other end of the driving device two (32) passes through self-lubricating bearing one
(33) it is fixed on two aluminium alloy lining of joint (37), the otic placode one (34) is fixed on the axial position of self-lubricating bearing one (33)
It sets, and is connected by screw in L shaped plate one (35), the L shaped plate one (35) is connected to connecting rod one (4) by cement.
7. a kind of light-duty mechanical arm of carbon fibre composite according to claim 6, it is characterised in that：The connecting rod one
(4) one end is connected to the L shaped plate one (35) of mechanical joint two (3) by cement, and the other end of the connecting rod one (4) passes through
The mode of co-curing is connected to mechanical joint three (5).
8. a kind of light-duty mechanical arm of carbon fibre composite according to claim 7, it is characterised in that：The machinery closes
It saves and is equipped with three carbon fiber layer of joint (51), joint 3 Al alloy liner (52), driving device three (53), self-lubricating axis in three (5)
Hold two (54), otic placode two (55), L shaped plate two (56) and harmonic wave speed reducing machine three (57), the side that the connecting rod one (4) passes through co-curing
Formula is connected to three carbon fiber layer of joint (51), and one end of the driving device three (53) is connected to harmonic wave speed reducing machine three (57), institute
It states harmonic wave speed reducing machine three (57) to be connected by screw in L shaped plate two (56), the other end of the driving device three (53) passes through certainly
Lubrication bearing two (54) is fixed on joint 3 Al alloy liner (52), and the otic placode two (55) is fixed on self-lubricating bearing two
(54) axial position, and be connected by screw in L shaped plate two (56), the L shaped plate two (56) is connected to company by cement
Bar two (6).
9. a kind of light-duty mechanical arm of carbon fibre composite according to claim 8, it is characterised in that：The connecting rod two
(6) one end is connected to the L shaped plate two (56) of mechanical joint three (5) by cement, and the other end of the connecting rod two (6) passes through
The mode of co-curing is connected to mechanical joint four (7).
10. a kind of light-duty mechanical arm of carbon fibre composite according to claim 9, it is characterised in that：The machinery
Four carbon fiber layer of joint (71), four aluminium alloy lining of joint (72), driving device four (73), self-lubricating are equipped in joint four (7)
Bearing three (74), otic placode three (75), L shaped plate three (76) and harmonic wave speed reducing machine four (77), the connecting rod two (6) pass through co-curing
Mode is connected to four carbon fiber layer of joint (71), and one end of the driving device four (73) is connected to harmonic wave speed reducing machine four (77),
The harmonic wave speed reducing machine four (77) is connected by screw in L shaped plate three (76), and the other end of the driving device four (73) passes through
Self-lubricating bearing three (74) is fixed on four aluminium alloy lining of joint (72), and the otic placode three (75) is fixed on self-lubricating bearing three
(74) axial position, and be connected by screw in L shaped plate three (76), the L shaped plate three (76) is connected to end by cement
Hold executive device (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810175660.1A CN108340402A (en) | 2018-03-02 | 2018-03-02 | A kind of light-duty mechanical arm of carbon fibre composite |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810175660.1A CN108340402A (en) | 2018-03-02 | 2018-03-02 | A kind of light-duty mechanical arm of carbon fibre composite |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108340402A true CN108340402A (en) | 2018-07-31 |
Family
ID=62959111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810175660.1A Pending CN108340402A (en) | 2018-03-02 | 2018-03-02 | A kind of light-duty mechanical arm of carbon fibre composite |
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| CN109910054A (en) * | 2019-03-18 | 2019-06-21 | 科大方诚(杭州)智能科技有限公司 | A kind of full carbon fiber robot cranks arm and gripper structure |
| CN111376231A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Collaboration robot |
| CN112405496A (en) * | 2019-08-21 | 2021-02-26 | 住友重机械工业株式会社 | Mechanical arm |
| CN116198698A (en) * | 2022-12-29 | 2023-06-02 | 浙江华东测绘与工程安全技术有限公司 | Underwater robot for rapid maintenance of dam bottom cracks |
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| CN116198698A (en) * | 2022-12-29 | 2023-06-02 | 浙江华东测绘与工程安全技术有限公司 | Underwater robot for rapid maintenance of dam bottom cracks |
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Application publication date: 20180731 |