CN205238074U - Robotic arm and robot - Google Patents

Abstract

The utility model discloses a robotic arm, it includes two hand arm components and member, two hand arm components rotate and connect, the both ends of member respectively with two hand arm components swing joint are used for following respectively two hand arm components's axial motion is in order to drive robotic arm opens and shuts. Move along hand arm components's axial direction respectively in robotic arm accessible drive member both ends to form the drive of laborsaving lever two hand arm components rotate relatively and open and shut, consequently, can adopt the less driving motor of power. In addition, driving motor also may not be limited to the setting and is in two hand arm components's rotation junction, consequently, the space design that other can be done in two hand arm components's rotation junction improves the design degree of freedom. Additionally, the utility model also discloses a robot, the robot is including above -mentioned robotic arm.

Description

Mechanical arm and robot

Technical field

The utility model relates to robot field, is specifically related to a kind of mechanical arm and robot.

Background technology

Existing machinery arm generally adopts articulated manner to connect two arm members, and (joint) installs driving in hinged placeMotor, realizes relatively rotate (folding) between two arm members by the rotation of controlling drive motors.

Drive motors provides power by output torque for the rotation of arm member, and the size of output torque depends on drivingElectromagnetic induction power between rotor and the stator of motor and the radius of rotor.

But, because the radius of rotor is generally much smaller than the length of arm member, therefore need to consume larger electromagnetic inductionPower (needing to adopt powerful drive motors) drives arm member (and load) on arm member.

In addition, joint is installed drive motors and also can be caused the space of joint occupied by drive motors, has not only reducedThe mechanical strength of joint, has also increased the spatial design difficulty of joint.

Utility model content

The utility model is intended to solve at least to a certain extent one of technical problem in correlation technique. For this reason, this practicalityA kind of mechanical arm of novel proposition and robot.

The mechanical arm of the utility model embodiment comprises:

Two arm members that are rotationally connected, and

Rod member, the two ends of described rod member are flexibly connected with described two arm members respectively and for respectively along described two handsThe axially-movable of arm member is to drive described mechanical arm folding.

The mechanical arm of the utility model embodiment can be by driving rod member two ends respectively along the axial direction of arm memberMotion, relatively rotates and folding thereby form two arm members described in laborsaving lever actuated, therefore, can adopt relativelyLess drive motors.

In addition, owing to being not arranged on the place that is rotationally connected of described two arm members as the described rod member of laborsaving lever,Therefore, the place of being rotationally connected of described two arm members can make other spatial design, improves design freedom.

In some embodiments, described rod member comprises single-bar mechanism.

In some embodiments, described rod member comprises many rod members mechanism.

In some embodiments, described many rod members mechanism comprises two rod member mechanisms, and described two rod member mechanisms comprise two companiesExtension bar, one end of described two connecting rods is rotationally connected mutually, and the other end is flexibly connected with described two arm members respectively.

In some embodiments, described many rod members mechanism comprises three rod member mechanisms, and described three rod member mechanisms comprise three companiesExtension bar, one end of two described connecting rods is rotationally connected with one end of connecting rod described in another respectively, the other end respectively withDescribed two arm members are flexibly connected.

In some embodiments, described many rod members mechanism comprises four rod member mechanisms, and described four rod member mechanisms comprise four companiesExtension bar, the two ends of each described connecting rod are connected with one end of two other connecting rod respectively, described four rod member mechanism diagonal anglesThe two ends of line are flexibly connected with described two arm members respectively.

In some embodiments, described four rod member mechanisms comprise Bennett mechanism.

In some embodiments, the two ends of described rod member are rotationally connected with described arm member respectively.

In some embodiments, described mechanical arm also comprises drive unit, and described drive unit is used for driving described barThe two ends of part are respectively along the axially-movable of described two arm members.

In some embodiments, described drive unit is linear motor.

The robot of the utility model embodiment comprises mechanical arm described above.

Additional aspect of the present utility model and advantage in the following description part provide, and part will be from the following descriptionBecome obviously, or recognize by practice of the present utility model.

Brief description of the drawings

Above-mentioned and/or additional aspect of the present utility model and advantage from conjunction with below accompanying drawing to the description of embodiment willBecome obviously and easily and understand, wherein:

Fig. 1 is the schematic perspective view of the mechanical arm of an embodiment of the utility model.

Fig. 2 is the schematic perspective view at another visual angle of mechanical arm of Fig. 1.

Fig. 3 is the schematic perspective view of the mechanical arm of another embodiment of the utility model.

Fig. 4 is the schematic perspective view of the mechanical arm of another embodiment of the utility model.

Fig. 5 is the schematic perspective view of the mechanical arm of the utility model another one embodiment.

Fig. 6 is the operation principle schematic diagram of the rod member of the mechanical arm of Fig. 5.

Fig. 7 is the schematic perspective view at another visual angle of the mechanical arm of Fig. 5.

Fig. 8 is the schematic perspective view at another visual angle of the mechanical arm of Fig. 5.

Fig. 9 is the schematic perspective view of the robot of the utility model embodiment.

Detailed description of the invention

Below in conjunction with accompanying drawing, embodiment of the present utility model is described further. In accompanying drawing, same or similar label certainlyThe element that represents same or similar element or have identical or similar functions to whole begins.

In addition, the embodiment of the present utility model of describing below in conjunction with accompanying drawing is exemplary, only for explaining this practicalityNovel embodiment, and can not be interpreted as restriction of the present utility model.

Refer to Fig. 1 and Fig. 2, the mechanical arm 100 of the utility model embodiment comprises two arms that are rotationally connectedMember 10 and rod member 20. The two ends of rod member 20 are flexibly connected with two arm members 10 respectively and for respectively along twoThe axially-movable of arm member 10 is with 100 foldings of driving mechanical arm.

The mechanical arm 100 of the utility model embodiment can be by driving rod member 20 two ends respectively along arm member 10Axial direction motion, relatively rotates and folding thereby form two arm members 10 of laborsaving lever actuated, therefore, and machineryArm 100 can be not limited to adopt powerful drive motors, that is to say and can adopt lower-powered drive motors.

In addition, because the rod member 20 as laborsaving lever is not arranged on the place that is rotationally connected of two arm members 20, andThe drive motors of rod member 20 is also not limited to be arranged on the place that is rotationally connected of two arm members 20. Therefore, two arm structuresThe place of being rotationally connected of part 20 can make other spatial design, improves design freedom.

In present embodiment, one end of one end of an arm member 10 and another arm member 10 is rotationally connected.

So, can make being rotationally connected of arm member 10 locate from rod member 20 farther with the tie point of arm member 10,Thereby make the arm of force of laborsaving lever longer, laborsaving lever is more laborsaving.

In present embodiment, between arm member 10, be rotationally connected by hinged.

Certainly, in other embodiments, also can adopt other suitable relations that is rotationally connected.

Arm member 10 is shaft-like, adopts hollow structure in present embodiment, so can be in the interior setting of arm member 10More element or structure.

Certainly, in other embodiments, arm member 10 also can adopt other suitable shape and structures.

In present embodiment, rod member 20 is single pole part mechanism.

For example, single pole part mechanism comprises connecting rod 21. The two ends of connecting rod 21 respectively arm member 10 connect.

So, rod member 20 is simple in structure, low cost of manufacture.

The structure that is appreciated that rod member 20 is not limited to present embodiment, can adopt other suitable rod members depending on demand,For example many rod members mechanism.

Refer to Fig. 3, the mechanical arm 100a of another embodiment of the utility model comprises two arms that are rotationally connectedMember 10 and rod member 20a. Rod member 20a two ends are flexibly connected with two arm members 10 respectively and for respectively along twoThe axially-movable of arm member 10 is with driving mechanical arm 100a folding.

Mechanical arm 100a and the mechanical arm 100 of the utility model embodiment are basic identical, and difference is this enforcementThe rod member 20a of mode is many rod members mechanism, for example, be two rod member mechanisms.

In present embodiment, two rod member mechanisms comprise two connecting rod 21a. Rotate mutually one end of two connecting rod 21aConnect, the other end is flexibly connected with two arm members 10 respectively.

Be appreciated that so, structure is still simple on the one hand in two rod member mechanisms, easily manufactures, and therefore cost is low. AnotherAspect, two rod member mechanisms can open with extending length in the time that mechanical arm 100a opens, and therefore two rod member mechanisms are at handOn arm member 10, there is longer stroke; And in the time that mechanical arm 100a is closed closure, convenient for collecting is in arm member 10Between.

Refer to Fig. 4, the mechanical arm 100b of the utility model embodiment comprises two arm members that are rotationally connected10 and rod member 20b. Rod member 20b two ends are flexibly connected with two arm members 10 respectively and for respectively along two armsThe axially-movable of member 10 is with 100 foldings of driving mechanical arm.

Mechanical arm 100b and the mechanical arm 100 of the utility model embodiment are basic identical, and difference is this enforcementThe rod member 20b of mode is many rod members mechanism, for example, be three rod member mechanisms.

Three rod member mechanisms comprise three connecting rod 21b. Wherein two connecting rod 21b one end respectively with another one connecting rodThe two ends of 21b are rotationally connected, and the other end is flexibly connected with two arm members 10 respectively.

Same, three rod member mechanisms have simple in structure on the one hand, easily manufacture low cost and other advantages. On the other hand,Three rod member mechanisms can open with extending length in the time that mechanical arm 100b opens, and therefore three rod member mechanisms are at arm memberOn 10, there is longer stroke; And in the time that mechanical arm 100b is closed closure, convenient for collecting is between arm member 10.

Refer to Fig. 5, the mechanical arm 100c of the utility model embodiment comprises two arm members that are rotationally connected10 and rod member 20c. Rod member 20c two ends are flexibly connected with two arm members 10 respectively and for respectively along two armsThe axially-movable of member 10 is with driving mechanical arm 100c folding.

Mechanical arm 100c and the mechanical arm 100 of the utility model embodiment are basic identical, and difference is this enforcementThe rod member 20c of mode is many rod members mechanism. Be for example four rod member mechanisms.

Four rod member mechanisms comprise four connecting rod 21c. Each connecting rod 21c one end respectively with two other connecting rod 21cOne end be rotationally connected, the four cornerwise two ends of rod member mechanism are flexibly connected with two arm members 10 respectively.

In present embodiment, four rod member mechanisms are Bennett mechanism (Bennettmechanism).

For Bennett mechanism, connecting rod 21c is rotationally connected by revolute pair 22, and revolute pair 22 is executed connecting rod 21cAdd various constraints, making rod member 20c was redundancy structure (crossing constraint mechanism), only had one degree of freedom.

Refer to Fig. 6, rod member 20c meets condition below:

First, the relative connecting rod 21c's of rod member 20c is equal in length, that is:

$\stackrel{\‾}{AB}=\stackrel{\‾}{CD}=a---\left(1\right)$

$\stackrel{\‾}{BC}=\stackrel{\‾}{AD}=b---\left(2\right)$

Wherein, A, B, C, D are that four rotating shafts of Bennett mechanism are respectively with the axis of four connecting rod 21cCrosspoint.Be respectively the length between corresponding crosspoint.

Secondly, between relative connecting rod 21c, meet following angular relationship, that is:

α_AB＝α_CD＝α(3)

α_BC＝α_AD＝β(4)

Wherein, α_AB、α_BC、α_CD、α_ADBeing respectively connecting rod 21c two ends rotates between a rotation 23 of 22Angle.

Have, the length of rod member 21c and corresponding angle meet relational expression below again:

$\frac{\sin \mathrm{\α}}{a}=\frac{sin\mathrm{\β}}{b}---\left(5\right)$

In present embodiment, four connecting rod 21c's of rod member 20c is equal in length. So, α and β sum are 180 °,And size is identical. With this understanding, every a pair of relatively rotate 22 (, at a pair of rotation width at position A and C place22 and in a pair of rotation at position B and D place 22) rotation 23 always in the same plane.

So, in the time that rod member 20c moves, relative two rotations 23 of rod member 20c phase all the time in motion processHand over, and axis angle is along with the operation folding of rod member 20c, and such motion mode is applied in to mechanical arm 100c'sIn type of drive, thereby control the folding of mechanical arm 100c by rod member 20c, thereby can control arm member 100cThereby relatively rotate and form two arm members 10 of laborsaving lever actuated and relatively rotate and folding.

Be appreciated that in other embodiments, can adopt other four suitable rod member mechanisms depending on demand.

Be appreciated that in other embodiments, many rod members mechanism can also adopt the rod member mechanism of other numbers, for exampleFive rod member mechanisms, are not limited to above-mentioned embodiment.

In superincumbent embodiment, rod member 21,21a, 21b or 21c and arm member 10 slide and are rotationally connected.

So arrange, connect comparatively simple, flexible.

For helping to understand, below as an example of the rod member 21c shown in Fig. 5-Fig. 8 example explanation rod member 21c be how with arm member10 slide and are rotationally connected.

In present embodiment, arm member 10 is formed with guide groove 30. Mechanical arm 100c also comprises slide block 40, slide block40 are slidably arranged on guide groove 30. Rod member 20c is rotationally connected by slide block 40 and two arm members 10. Slide block 40Comprise the pedestal 41 that is arranged on arm member 10 and from the upwardly extending engaging lug 42 of pedestal 41. Between engaging lug 42Be formed with link slot 43. Engaging lug 41 is formed with connecting hole 44. The length of the axial and arm member 10 of connecting hole 44Direction is substantially parallel. The rotation of rod member 20c 22 is stretched into link slot 43 and is arranged by coordinating with connecting hole 44 to rotateOn slide block 40.

In present embodiment, the pedestal 41 of slide block 40 extends to form groove 45 downwards. Groove 45 is by movable part 46Be slidably connected with drive link 50.

So, the connecting rod 21c of rod member 20c and the syndeton of arm member 10 are simple. In addition, one can permitPermitted to rotate 22 and slided on arm member 10, two, can allow to rotate 22 and rotate to allow rod member 20c edgeThe axial direction of arm member 10 slides and driving mechanical arm 100c folding.

In present embodiment, rod member 20c drives its axial direction along arm member 10 to move by linear motor 60. CanTo understand, in other embodiments, rod member 20c can be driven by other drive units. Therefore, need explanation, rod member 20c be not limited in present embodiment by linear motor 60 drive its along arm member 10 axiallyThe type of drive of direction motion.

In present embodiment, linear motor 60 moves along the axial direction of arm member 10 with drive link 50. Drive link50 is the transmission device of linear motor 60, and it is along the length direction setting of arm member 10. Be appreciated that at other realExecute in mode, can make linear motor 60 by transmission devices such as ballscrew, rack-and-pinion, rope zip and chain drive-beltsAlong the axially-movable of arm member 10. Therefore, it should be noted that, transmission device is not limited in present embodimentDrive link 50.

In present embodiment, the lever that the load of rod member 20c and arm member 10 ends forms is with respect to adding at jointThe mode of motor more labour-saving drives arm member 10 to relatively rotate.

Refer to Fig. 8, in present embodiment, be passed to by rod member 20c the thrust Fd that driven arm member 10 withDriven the load gravity Fl of arm member 10 far-ends to reach balance by following mechanical relationship:

Fl·L＝Fd·Ld(6)

Wherein L is the fixing brachium of arm member 10, and Ld is that rod member 20c is sliding along arm member 10 axial directionsArm joint 70 near mechanical arm 100c in process is rotationally connected place with rod member 20c both ends and arm member 10Instantaneous distance. In the time that rod member 20c slides to the arm joint 70 away from mechanical arm 100c, Ld increases to Ld_max，Under identical load, need the thrust Fd providing also to reduce, be far smaller than traditional mechanical arm needs under this motion mode thereuponDriving force, more laborsaving. In the time that rod member 20c slides to arm joint 70 place of close mechanical arm 100c, Ld reducesTo Ld_min, under identical load, need the driving thrust Fd providing also to increase thereupon. Due to Ld_minActual design value oneAs be all greater than the rotor radius of traditional mechanical arm drive motors, still tradition relatively of the driving thrust Fd that provides is now providedMechanical arm is little, more laborsaving.

The robot 1000 of the utility model embodiment comprise mechanical arm described above 100, mechanical arm 100a,Any one of mechanical arm 100b or mechanical arm 100c or multiple. The robot of the utility model embodiment1000 is simple in structure, can pass through the different mechanical arm described above of design, thereby be applied in different engineering applied fieldClose, maintain easily and secondary development, and can realize the Miniaturization Design of high capacity robot 1000.

In description of the present utility model, it will be appreciated that term " " center ", " longitudinally ", " laterally ", " longDegree ", " width ", " thickness ", " on ", D score, 'fornt', 'back', " left side ", " right side ", " perpendicularDirectly ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axially "," radially ", orientation or the position relationship of the instruction such as " circumferentially " be based on orientation shown in the drawings or position relationship, be onlyThe utility model and simplified characterization for convenience of description, instead of device or the element of instruction or hint indication must have spyFixed orientation, with specific orientation structure and operation, therefore can not be interpreted as restriction of the present utility model.

In addition, term " first ", " second " be only for describing object, and can not be interpreted as instruction or hint phase counterweightThe property wanted or the implicit quantity that indicates indicated technical characterictic. Thus, be limited with the feature of " first ", " second "Can express or impliedly comprise one or more these features. In description of the present utility model, " multiples' "Implication is more than two, unless otherwise expressly limited specifically.

In the utility model, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ",The term such as " fixing " should be interpreted broadly, and for example, can be to be fixedly connected with, and can be also to removably connect, or becomes oneBody; Can be mechanical connection, can be also electrical connection; Can be to be directly connected, also can pass through the indirect phase of intermediaryConnecting, can be the connection of two element internals or the interaction relationship of two elements. For the ordinary skill people of this areaMember, can understand the concrete meaning of above-mentioned term in the utility model as the case may be.

In the utility model, unless otherwise clearly defined and limited, First Characteristic Second Characteristic " on " or D scoreCan be that the first and second features directly contact, or the first and second features be by intermediary mediate contact. And, theOne feature Second Characteristic " on ", " top " and " above " but First Characteristic directly over Second Characteristic or tiltedlyTop, or only represent that First Characteristic level height is higher than Second Characteristic. First Characteristic Second Characteristic " under ", " underSide " and " below " can be First Characteristic under Second Characteristic or below oblique, or only represent First Characteristic levelHighly be less than Second Characteristic.

In the description of this description, reference term " embodiment ", " some embodiment ", " example ",The description of " concrete example " or " some examples " etc. means specific features, the knot in conjunction with this embodiment or example descriptionStructure, material or feature are contained at least one embodiment of the present utility model or example. In this manual, to upperThe schematic statement of stating term not must for be identical embodiment or example. And, the specific features of description, knotStructure, material or feature can one or more embodiment in office or example in suitable mode combination. In addition, notIn conflicting situation, those skilled in the art can be by the different embodiment that describe in this description or example andThe feature of different embodiment or example is carried out combination and combination.

Although illustrated above and described embodiment of the present utility model, be understandable that, above-described embodiment is to showExample, can not be interpreted as that, to restriction of the present utility model, those of ordinary skill in the art is in scope of the present utility modelIn can change above-described embodiment, amendment, replacement and modification.

Claims (11)

1. a mechanical arm, is characterized in that, comprising:

Two arm members that are rotationally connected, and

Rod member, the two ends of described rod member be flexibly connected with described two arm members respectively and for respectively along the axially-movable of described two arm members to drive described mechanical arm folding.

2. mechanical arm as claimed in claim 1, is characterized in that, described rod member comprises single-bar mechanism.

3. mechanical arm as claimed in claim 1, is characterized in that, described rod member comprises many rod members mechanism.

4. mechanical arm as claimed in claim 3, it is characterized in that, described many rod members mechanism comprises two rod member mechanisms, and described two rod member mechanisms comprise two connecting rods, one end of described two connecting rods is rotationally connected mutually, and the other end is flexibly connected with described two arm members respectively.

5. mechanical arm as claimed in claim 3, it is characterized in that, described many rod members mechanism comprises three rod member mechanisms, described three rod member mechanisms comprise three connecting rods, wherein one end of two described connecting rods is rotationally connected with the two ends of connecting rod described in another respectively, and the other end is flexibly connected with described two arm members respectively.

6. mechanical arm as claimed in claim 3, it is characterized in that, described many rod members mechanism comprises four rod member mechanisms, described four rod member mechanisms comprise four connecting rods, the two ends of each described connecting rod are rotationally connected with one end of two other connecting rod respectively, and the described four cornerwise two ends of rod member mechanism are flexibly connected with described two arm members respectively.

7. mechanical arm as claimed in claim 6, is characterized in that, described four rod member mechanisms comprise Bennett mechanism.

8. mechanical arm as claimed in claim 1, is characterized in that, slides and be rotationally connected with described arm member respectively in the two ends of described rod member.

9. mechanical arm as claimed in claim 1, is characterized in that, described mechanical arm also comprises drive unit, described drive unit for the two ends that drive described rod member respectively along the axially-movable of described two arm members.

10. mechanical arm as claimed in claim 9, is characterized in that, described drive unit comprises linear motor.

11. 1 kinds of robots, is characterized in that comprising the mechanical arm as described in claim 1-10 any one.