CN113977629B - Five-axis mechanical arm - Google Patents

Five-axis mechanical arm Download PDF

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Publication number
CN113977629B
CN113977629B CN202111107375.4A CN202111107375A CN113977629B CN 113977629 B CN113977629 B CN 113977629B CN 202111107375 A CN202111107375 A CN 202111107375A CN 113977629 B CN113977629 B CN 113977629B
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China
Prior art keywords
base
arm
driving
actuator
mechanical arm
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CN202111107375.4A
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CN113977629A (en
Inventor
李小龙
金力
夏科睿
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Anhui Yuanguji Intelligent Technology Co ltd
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Anhui Yuanguji Intelligent Technology Co ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The utility model provides a five-axis mechanical arm which comprises a base, four transmission arms and an actuator, wherein the four transmission arms are sequentially connected with the base, the actuator is connected with the last transmission arm, the base and the four transmission arms are of hollow structures, the tail ends of the base and each transmission arm are respectively provided with a driving joint, and the output end of each driving joint is fixedly connected with the next transmission arm or the actuator. The utility model has the advantages that: the base and the transmission arm are both arranged to be of hollow structures, so that the weight of the whole mechanical arm is reduced, the power consumption of the working process is saved, the hollow pipe fitting structure can be convenient for a communication line and a power line to pass through, transportation and assembly are convenient, connection and driving are carried out between all parts through driving joints, structural parts or driving parts can be independently replaced when any part is damaged, the maintenance cost is reduced, the structure of the middle transmission arm can be set according to the direction requirement of a final actuator, the flexibility is high, and customization is convenient.

Description

Five-axis mechanical arm
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a five-axis mechanical arm.
Background
At present, the automation technology is widely used in the fields of industry, agriculture, scientific research, service, families and the like. The application of the automation technology can not only liberate people from complex and severe environments, but also greatly improve the productivity and optimize the resource allocation. The mechanical arm is a common automation device, such as a five-degree-of-freedom multifunctional machining device disclosed by the utility model with the publication number of CN208132982U, but in order to improve the bearing capacity and prevent deformation, the traditional mechanical arm structure is generally made of a heavy metal solid structure, and when the mechanical arm is driven to move through multiple conduction, the mechanical arm usually needs to provide a great driving force to overcome the resistance moment of each joint, so that the manufacturing cost of the mechanical arm is higher, and if a certain joint is damaged in the later stage, the maintenance and replacement cost is higher.
Disclosure of Invention
The technical problem to be solved by the utility model is to provide a light five-axis mechanical arm structure, so that the energy consumed during working is reduced, and the manufacturing and maintenance cost of the mechanical arm is reduced.
The utility model solves the technical problems through the following technical scheme: the five-axis mechanical arm comprises a base, four transmission arms sequentially connected with the base and an actuator connected with the last transmission arm, wherein the base and the four transmission arms are of hollow structures, the tail end of each transmission arm is respectively provided with a driving joint, and the output end of each driving joint is fixedly connected with the next transmission arm or the actuator.
According to the utility model, the base and the transmission arm are both of hollow structures, so that the weight of the whole mechanical arm is reduced, the power consumption in working is saved, the hollow pipe fitting structure can be convenient for a communication line and a power line to pass through, transportation and assembly are convenient, all the parts are connected and driven through the driving joint, when any part is damaged, a structural part or a driving part can be independently replaced, the maintenance cost is reduced, the structure of the middle transmission arm can be set according to the direction requirement of a final actuator, the flexibility is high, and the customization production is convenient.
Preferably, the driving joint comprises a servo driver, a servo motor and a harmonic reducer; the servo driver is in communication connection with a controller of the mechanical arm or a servo driver of a driving joint of a previous stage, the servo motor is in communication connection with the servo driver, the output end of the servo motor is matched with a harmonic speed reducer, and an output shaft of the harmonic speed reducer is fixedly connected with a driving arm of a next stage or an actuator.
Preferably, the servo motor is inserted into the pipe wall at the tail end of the base or the transmission arm, a connecting ring is fixed at the outer side of the output shaft, and the connecting ring is fixedly inserted into the front end of the transmission arm or the end part of the actuator.
Preferably, a circle of fixing hoops are respectively arranged at the joints of the outer side of the servo motor and the outer side of the connecting ring, the fixing hoops are sleeved outside the driving joint, and when the servo motor and the connecting ring are respectively connected with the front end pipe wall and the rear end pipe wall, the fixing hoops can be fixedly connected with the pipe wall and the driving joint through bolts.
Preferably, a circle of clamping ring is further arranged on the outer side of the fixing hoop for fixing the servo motor, and the clamping ring is fixed on the pipe wall of the fixing hoop and the tail end of the base or the transmission arm.
Preferably, the snap ring comprises two semicircular rings, clamping grooves and buckles are respectively formed in two ends of each semicircular ring, the two semicircular rings are fixedly connected into a circular ring structure through the clamping grooves and the buckles in two ends, each snap ring comprises a boss which is arranged radially and a reinforcing rib which is arranged axially, the fixing hoop is connected with the driving joint through a countersunk head bolt, the boss can be inserted into a counter bore of the countersunk head bolt, and the reinforcing ribs are located between the bosses.
Preferably, the base comprises a shell and a controller positioned in the shell, a plurality of mounting holes are uniformly distributed on the outer side of the shell, a communication interface is arranged on the shell, and the controller is in communication connection with the communication interface.
Preferably, the actuator comprises a base matched with the driving joint, a lower clamping jaw is fixedly arranged on the base, coaxial servo steering engines are fixedly arranged on two sides of the base respectively, the servo steering engines are fixedly matched with two sides of an upper clamping jaw respectively, and toothed rubber pads are respectively arranged on clamping surfaces of the upper clamping jaw and the lower clamping jaw opposite to each other.
Preferably, the base and the transmission arm are hollow pipe bodies made of carbon fiber composite materials.
Preferably, the four driving arms are numbered sequentially from the base to the actuator, the end of the first driving arm is axially perpendicular to the front end, the ends of the second driving arm and the third driving arm are axially parallel to the front end, and the front end and the end of the fourth driving arm are axially perpendicular.
The five-axis mechanical arm provided by the utility model has the advantages that: the base and the transmission arm are both arranged to be of hollow structures, so that the weight of the whole mechanical arm is reduced, the power consumption of the working process is saved, the hollow pipe fitting structure can be convenient for a communication line and a power line to pass through, transportation and assembly are convenient, connection and driving are carried out between all parts through driving joints, structural parts or driving parts can be independently replaced when any part is damaged, the maintenance cost is reduced, the structure of the middle transmission arm can be set according to the direction requirement of a final actuator, the flexibility is high, and customization is convenient. The drive joint is connected with the front and rear structural members through multiple structures of the inserted connection, the screwed connection and the external clamping ring, stability of the mechanical arm is guaranteed, shaking is reduced, a toothed rubber pad is arranged on the actuator, different clamping pieces to be clamped are convenient to use, and clamping effect is improved.
Drawings
Fig. 1 is a schematic view of a five-axis mechanical arm according to an embodiment of the present utility model;
fig. 2 is a schematic diagram of a driving joint of a five-axis mechanical arm according to an embodiment of the present utility model;
FIG. 3 is a schematic diagram of a snap ring of a five-axis mechanical arm according to an embodiment of the present utility model;
fig. 4 is a schematic view of a base of a five-axis mechanical arm according to an embodiment of the present utility model;
fig. 5 is a schematic diagram of an actuator of a five-axis mechanical arm according to an embodiment of the present utility model.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1, this embodiment provides a five-axis mechanical arm, including a base 1, four driving arms 2 connected in turn with the base 1, and an actuator 3 connected with the last driving arm 2, the base 1 and the four driving arms 2 are hollow structures, the tail ends of the base 1 and each driving arm 2 are respectively provided with a driving joint 4, and the output end of the driving joint 4 is fixedly connected with the next driving arm 2 or the actuator 3.
In this embodiment, base 1 and drive arm 2 all set up to hollow structure to reduce the weight of whole arm, save the power consumption of during operation, and hollow pipe fitting structure can make things convenient for communication line and power line to pass, and convenient transportation and equipment all connect and drive through drive joint 4 between each part, when arbitrary part damages, can change structure or driving piece alone, thereby reduce maintenance cost, can set up the structure of middle drive arm 2 according to the direction demand of final actuator 3, the flexibility is high, convenient customization preparation.
Referring to fig. 2, the driving joint 4 includes a servo driver 41, a servo motor 42, and a harmonic reducer (not shown), where the servo driver 41 is in communication connection with a controller of the mechanical arm or the servo driver 41 of the previous driving joint 4, that is, all driving joints 4 may be controlled by a unified controller, or may be controlled step by the controller, the servo motor 42 is in communication connection with the servo driver 41, the rotation speed, direction, angle, etc. of the servo motor 42 are controlled by the servo driver 41, an output end of the servo motor 42 is matched with the harmonic reducer, and an output shaft 43 of the harmonic reducer is fixedly connected with the next stage of the driving arm 2 or the actuator 3. The rotation of the servo motor 42 is output to a subordinate mechanism through an output shaft 43 after being decelerated by a harmonic speed reducer, and the subordinate mechanism is driven to rotate, so that the position and the direction of the actuator 3 are controlled finally.
The servo motor 42 is inserted into the pipe wall at the tail end of the base 1 or the transmission arm 2, a connecting ring 44 is fixed at the outer side of the output shaft 43, and the connecting ring 44 is fixedly inserted into the front end of the transmission arm 2 or the end part of the actuator 3. When fixed, after the hollow tube wall is inserted on the servo motor 42 or the connecting ring 44, the inner side of the matching surface is adhered with an aluminum alloy sheet through AB epoxy glue so as to fill the gap of the matching surface, improve the shaking condition of the mechanical arm, and facilitate disassembly, thereby reducing maintenance cost.
Further, a circle of fixing hoops 45 are respectively arranged at the joints of the outer side of the servo motor 42 and the outer side of the connecting ring 44, and when the servo motor 42 and the connecting ring 44 are respectively connected with the pipe wall of the front and rear end connecting piece, the fixing hoops 45 can be sleeved on the outer side of the pipe wall and fix the pipe wall and the driving joint 4 through radial bolts. The stability of the driving joint 4 is further improved by the fixing hoop 45, and the joint of the mechanical arm is prevented from shaking.
Referring to fig. 1 and fig. 3, the fixing collar 45 is fixedly connected with the driving joint 4 through an inner hexagonal countersunk head screw, a circle of collar 5 is further arranged on the outer side of the fixing collar 45 of the servo motor 42, the collar 5 comprises two semicircular rings, clamping grooves (not shown) and buckles (not shown) are formed in two ends of each semicircular ring, the two semicircular rings are fixedly connected into a circular ring structure through the clamping grooves and the buckles at two ends, a boss 51 arranged along the radial direction and a reinforcing rib 52 arranged along the axial direction are arranged inside the collar 5, the boss 51 can be inserted into a Chen Kongna of the countersunk head screw, so that the collar 5 is prevented from rotating, the reinforcing rib 52 is circumferentially distributed between the bosses 51 and is fixedly attached to the outer pipe wall of the servo motor 42, and the collar 5 is made of nylon materials, and the structures of the clamping grooves and the buckles are selected according to the prior art.
Referring to fig. 4, the base 1 includes a housing 11 and a controller 12 located inside the housing 11, where a plurality of mounting holes 13 are uniformly distributed on the outer side of the housing 11, so that the position of the base 1 can be fixed through the mounting holes 13, a communication interface 14 is disposed on the housing 11, the controller 12 is communicatively connected with the communication interface 14, and the communication interface 14 communicates with an external device in a plugging manner to obtain movement data of the mechanical arm and receive control instructions. The controller 12 is the controller 12 of the whole mechanical arm, and can directly control each servo driver 41 or control the servo driver 41 directly connected with the servo driver 41, and control the mechanical arm in a step-by-step control manner.
Referring to fig. 5, the actuator 3 includes a base 31 cooperating with the driving joint 4, a lower clamping jaw 32 is fixedly arranged on the base 31, coaxial servo steering engines 33 are respectively and fixedly arranged on two sides of the base 1, the servo steering engines 33 are respectively and fixedly cooperating with two sides of an upper clamping jaw 34, and tooth-shaped rubber pads 35 are respectively arranged on opposite clamping surfaces of the upper clamping jaw 34 and the lower clamping jaw 32. The base 31 is through the rotation direction of the controller of drive joint 4 to adjust the opening direction of last clamping jaw 34 and lower clamping jaw 32, conveniently press from both sides and get the object, servo steering wheel 33 of both sides is as the pivot of last clamping jaw 34, through the communication control servo steering wheel 33 rotation with the controller 12 realize the rotation of last clamping jaw 34, thereby can control the executor 3 and press from both sides get and release action, servo steering wheel 33 has the profile of tooth through a plurality of bolts and last clamping jaw 34 fixed fit, in order to increase frictional force, improve the clamping effect, prevent to be dropped by the centre gripping object.
The base 1 and the driving arm 2 are hollow tubes made of carbon fiber composite materials, the thickness is 3mm, the specific structure is set according to the requirement, referring to fig. 1, in this embodiment, the four driving arms 2 are numbered sequentially from the base 1 to the actuator 3, the tail end of the first driving arm 21 is axially perpendicular to the front end, the tail ends of the second driving arm 22 and the third driving arm 23 are axially parallel to the front end, and the front end and the tail end of the fourth driving arm 24 are axially perpendicular. The final actuator 3 can rotate relative to the axial direction of the base 1 to adjust the position and the height, can swing to adjust the clamping direction, and has high flexibility and convenient use.
The above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims (6)

1. A five-axis mechanical arm is characterized in that: the device comprises a base, four transmission arms sequentially connected with the base and an actuator connected with the last transmission arm, wherein the base and the four transmission arms are of hollow structures, the tail ends of the base and each transmission arm are respectively provided with a driving joint, and the output end of each driving joint is fixedly connected with the next transmission arm or the actuator;
the driving joint comprises a servo driver, a servo motor and a harmonic reducer; the servo driver is in communication connection with a controller of the mechanical arm or a servo driver of a driving joint of a previous stage, the servo motor is in communication connection with the servo driver, the output end of the servo motor is matched with a harmonic speed reducer, and the output shaft of the harmonic speed reducer is fixedly connected with a driving arm of a next stage or an actuator; the servo motor is inserted into the pipe wall at the tail end of the base or the transmission arm, a connecting ring is fixed at the outer side of the output shaft, and the connecting ring is fixedly spliced with the front end of the transmission arm or the end part of the actuator;
the servo motor is connected with the front end pipe wall and the rear end pipe wall respectively, and the pipe wall and the driving joint can be fixedly connected through bolts; the outer side of the fixed hoop for fixing the servo motor is also provided with a circle of clamping ring, and the clamping ring is fixed on the pipe wall of the fixed hoop and the tail end of the base or the transmission arm.
2. The five-axis mechanical arm of claim 1, wherein: the snap ring comprises two semicircular rings, clamping grooves and buckles are respectively formed in the two ends of each semicircular ring, the two semicircular rings are fixedly connected into a circular ring structure through the clamping grooves and the buckles in the two ends, each snap ring comprises a boss which is arranged radially and a reinforcing rib which is arranged axially, the fixing hoop is connected with the driving joint through a countersunk head bolt, the boss can be inserted into a countersunk hole of the countersunk head bolt, and the reinforcing ribs are located between the bosses.
3. The five-axis mechanical arm of claim 1, wherein: the base comprises a shell and a controller positioned in the shell, a plurality of mounting holes are uniformly distributed in the outer side of the shell, a communication interface is arranged on the shell, and the controller is in communication connection with the communication interface.
4. The five-axis mechanical arm of claim 1, wherein: the actuator comprises a base matched with the driving joint, a lower clamping jaw is fixedly arranged on the base, coaxial servo steering engines are fixedly arranged on two sides of the base respectively, the servo steering engines are fixedly matched with two sides of an upper clamping jaw respectively, and toothed rubber pads are respectively arranged on clamping surfaces of the upper clamping jaw and the lower clamping jaw opposite to each other.
5. The five-axis mechanical arm of claim 1, wherein: the base and the transmission arm are hollow pipe bodies made of carbon fiber composite materials.
6. The five-axis mechanical arm of claim 1, wherein: the four driving arms are numbered sequentially from the base to the actuator, the tail end of the first driving arm is axially vertical to the front end, the tail ends of the second driving arm and the third driving arm are axially parallel to the front end, and the front end and the tail end of the fourth driving arm are axially vertical.
CN202111107375.4A 2021-09-22 2021-09-22 Five-axis mechanical arm Active CN113977629B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111107375.4A CN113977629B (en) 2021-09-22 2021-09-22 Five-axis mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111107375.4A CN113977629B (en) 2021-09-22 2021-09-22 Five-axis mechanical arm

Publications (2)

Publication Number Publication Date
CN113977629A CN113977629A (en) 2022-01-28
CN113977629B true CN113977629B (en) 2023-05-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111107375.4A Active CN113977629B (en) 2021-09-22 2021-09-22 Five-axis mechanical arm

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Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007037131A1 (en) * 2005-09-27 2007-04-05 Kabushiki Kaisha Yaskawa Denki Multi-joint manipulator
CN102198665A (en) * 2010-03-24 2011-09-28 鸿富锦精密工业（深圳）有限公司 Arm part of robot
CN209375362U (en) * 2018-02-27 2019-09-10 前沿驱动（北京）技术有限公司 A kind of actuator, mechanical arm and robot
CN108326839B (en) * 2018-05-08 2020-06-23 中车青岛四方车辆研究所有限公司 Seven-degree-of-freedom robot
CN111055305A (en) * 2018-10-16 2020-04-24 遨博（北京）智能科技有限公司 Mechanical arm and joint protection mechanism thereof
CN110561473B (en) * 2019-09-19 2024-04-23 佛山职业技术学院 Manipulator capable of preventing wire bundles from sliding off
CN111360806A (en) * 2020-03-19 2020-07-03 上海交通大学 Seven-degree-of-freedom series-connection cooperative mechanical arm and robot

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