CN207155791U - multi-joint mechanical arm - Google Patents
multi-joint mechanical arm Download PDFInfo
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- CN207155791U CN207155791U CN201720995582.0U CN201720995582U CN207155791U CN 207155791 U CN207155791 U CN 207155791U CN 201720995582 U CN201720995582 U CN 201720995582U CN 207155791 U CN207155791 U CN 207155791U
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Abstract
The utility model discloses a kind of multi-joint mechanical arm, including the staggered pivoted arm joint in direction of the axis along the mechanical arm and carry arm joint, wherein：Each pivoted arm joint is included with perpendicular to the first relative decelerator end of the first end face of the axis direction and the first motor side, the central shaft of the first decelerator end and the first motor side overlaps with the axis, to be produced relative rotation under the driving of electric mechanism around central shaft；Each carry arm joint is included with the second relative decelerator end of the second end face extended along the axis direction and the second motor side, the central shaft of the second decelerator end and the second motor side is vertical with the direction of the axis, is produced relative rotation with the central shaft surrounded under the driving of electric mechanism perpendicular to the axis direction；Each first decelerator end is fixedly connected with the second closest decelerator end, and each first motor side is fixedly connected with the second closest motor side.
Description
Technical field
Robot production field is the utility model is related to, more particularly to a kind of multi-joint mechanical arm.
Background technology
The mechanical arm of traditional industrial robot is made up of multiple mutual joints at a right angle, and the angle between joint limits
The opereating specification and work angle of mechanical arm, so that traditional mechanical arm may be only available for operation content and movement mostly
Situations such as requirement of track relatively low streamline.
And in view of the field of medical operating, education, scientific research etc. at present to needing the raising of the demand of man-machine collaboration, for
The needs for producing arm moulding with people and the similar mechanical arm of movement locus are more and more stronger.Further, since apery machine
The particularity of tool arm profile, the position of mechanical arm circuit layout wiring and the performance of cable, which must have, is different from other mechanical arms
Particular/special requirement.
Utility model content
In view of this, the utility model provides a kind of multi-joint mechanical arm, and it is by can be rotatable along different directions
Joint staggeredly combine, the free degree similar with human arm can be realized.
A kind of multi-joint mechanical arm provided by the utility model, include the direction staggered row of the axis along the mechanical arm
The pivoted arm joint and carry arm joint of row, wherein：
Each pivoted arm joint includes slowing down using the first end face perpendicular to the axis direction as the first of the first interface
The central shaft of device end and the first motor side, the first decelerator end and the first motor side overlaps with the axis, with electric
Produced relative rotation under the driving of mechanism, in the first interface around central shaft；
Each carry arm joint is included to slow down along the second end face that the axis direction extends as the second of the second interface
The central shaft of device end and the second motor side, the second decelerator end and the second motor side is vertical with the direction of the axis,
Relative turn is produced with the central shaft surrounded under the driving of electric mechanism, in the second interface perpendicular to the axis direction
It is dynamic；
Each first decelerator end is fixedly connected with the second closest decelerator end, each first motor side with it is closest
The second motor side be fixedly connected.
Preferably, each first decelerator end and the first motor side, which have along central shaft, runs through the first decelerator end
With the first hollow cavity of the first motor side；
The second decelerator end in each carry arm joint or the second motor side have along the axis direction through described the
Two decelerator ends or the second hollow cavity of the second motor side.
Preferably, second hollow cavity be located at the second decelerator end or the second motor side away from described the
The side of two interfaces.
Preferably, the electric mechanism includes drive circuit board and the cable being connected with the drive circuit board, the line
Cable is staggeredly by first hollow cavity and the second hollow cavity, to be connected with each pivoted arm joint and carry arm joint.
Preferably, a drive circuit board being connected with adjacent pivoted arm joint and carry arm joint is arranged on pivoted arm pass
In section.
Preferably, the drive circuit board is arranged in first motor side in the pivoted arm joint.
Preferably, each pivoted arm joint includes a card line folder and a spring clip,
The card line folder is arranged in the first hollow cavity of the first motor side, and the cable is fixed therein；
The spring clip is arranged in first hollow cavity at the first decelerator end, and the cable is adjustably secured
Wherein.
Preferably, the sum in the pivoted arm joint and carry arm joint is at least seven.
As can be seen here, in multi-joint mechanical arm provided by the utility model, each pivoted arm joint can be with multi-joint machinery
Rotated centered on the axis of arm, there is the rotational freedom within ± 180 °, it rotates the torsion similar to human arm
Action.And carry arm joint adjacent thereto is then rotated centered on perpendicular to the direction of axis, have within ± 180 °
Rotational freedom, it is rotated praises action similar to human arm.Further, adjacent pivoted arm joint and carry arm joint must
So it is fixedly connected by motor side or decelerator end, so as to be mutually perpendicular to or the rotation of orthogonal both direction carries out group
Close, so as to realize the combination of multi-angle, position in three-dimensional space, to meet that mechanical arm can rest on either direction
With the requirement of angle.
The multi-joint mechanical arm of the present embodiment can be achieved several by the combination in a pivoted arm joint and a carry arm joint
The covering of full angle, position in four frees degree, by multigroup combination in the pivoted arm joint and carry arm joint that connect two-by-two, with
Meet the requirement that six degree of freedom moves in three-dimensional space, improve the performance accuracy of mechanical arm.
The present embodiment by way of the cabling of center and hollow cavity setting direction, pivoted arm joint when rotated, line
With its rotation acute variation will not occur for the length of cable, and carry arm joint is when rotated, and the length change of cable is limited, because
This needs the rotation for each carry arm joint to provide the amount of redundancy that length of cable changes.
Brief description of the drawings
Fig. 1 is the structural representation of multi-joint mechanical arm of the present utility model.
Fig. 2 is the schematic diagram of a pair of adjacent segments in the utility model.
Embodiment
For the purpose of this utility model, technical scheme and advantage is more clearly understood, develop simultaneously implementation referring to the drawings
Example, the utility model is further described.
Herein, " first ", " second " etc. are only used for mutual differentiation, rather than represent significance level and order and
Existing premise etc. each other.
Herein, the limitation in " equal ", " identical " etc. and non-critical mathematics and/or geometry meaning, is also included
It will be appreciated by those skilled in the art that and manufacture or the error for the permission such as using.Unless otherwise indicated, numerical value model herein
The gamut not only included in two end points is enclosed, also includes being contained in some subranges therein.
In order to solve the opereating specification and work angle of limit mechanical arm due to the angle between joint in the prior art
The problem of, the utility model provides a kind of multi-joint mechanical arm, and it is by can be along the friendship in the rotatable joint of different directions
Mistake combination, can realize the free degree similar with human arm.
Referring to shown in Fig. 1 and Fig. 2, one embodiment of the present utility model provides a kind of multi-joint mechanical arm, and it includes
Along the staggered pivoted arm joint 10 in the direction of the axis 30 of mechanical arm and carry arm joint 20.
Each pivoted arm joint 10 includes the first decelerator end 12 and the first motor side 14.First decelerator end 12 has along axle
The central shaft 122 and the first end face 124 perpendicular to the central shaft 122 that line direction 30 extends；Similarly, the first motor side
14 have the central shaft 142 of 30 extensions and the first end face 144 perpendicular to the central shaft 142 in the axial direction.When assembling shape
During into pivoted arm joint 10, the first decelerator end 12 and the first motor side 14 are abutted each other with its first end face 124 and 144 respectively,
Connect by 122 and 142 mutual axle of central shaft, to form the first interface 16 perpendicular to axis direction 30, the first decelerator
The central shaft 122 and 142 of the motor side 14 of end 12 and first overlaps with the axis 30 of multi-joint mechanical arm, with electric mechanism 40
Driving under, produced relative rotation around central shaft 122 and 142 in the first interface 16.
Each carry arm joint 20 includes the second decelerator end 22 and the second motor side 24.Second decelerator end 22 has along axle
The second end face 224 and the central shaft 222 perpendicular to second end face 224 that line direction 30 extends；Similarly, the second motor side
24 have the second end face 244 of 30 extensions and the central shaft 242 perpendicular to second end face 244 in the axial direction.When assembling shape
During into carry arm joint 20, the second decelerator end 22 and the second motor side 24 are abutted each other with its second end face 224 and 244 respectively,
Connect by 222 and 242 mutual axle of central shaft, to form the second interface 26 of 30 extensions in the axial direction, the second interface
26 pass through axis 30, and the central shaft 222 and 242 of the second decelerator end 22 and the second motor side 24 is aligned, with electric machine
Produced relative rotation under the driving of structure 40, in the second interface 26 around central shaft 222 and 242.
Wherein, as shown in figure 1, each first decelerator end 12 is fixedly connected with the end of the second decelerator 22 adjacent thereto,
Each first motor side 14 is fixedly connected with the second motor side 24 adjacent thereto, so that two be fixedly connected part is wherein
One part drives another part to rotate when producing rotation.Specifically, as shown in figure 1, being closed in any one pivoted arm
Section 10 in, the second decelerator end 12 in its first decelerator end 12 and adjacent thereto carry arm joint 20 is adjacent, and and with
Separated between the second decelerator end 12 in its another adjacent carry arm joint 20 by first motor side 14 in the pivoted arm joint 10,
Therefore, the first decelerator end 12 in the pivoted arm joint 10 is fixedly connected with the second decelerator end 12 adjacent thereto.Similarly, exist
In the pivoted arm joint 10, by this between second motor side 12 in its first motor side 12 and adjacent thereto carry arm joint 20
The first decelerator end in pivoted arm joint 10 separates, then it is fixedly connected with second motor side 24 adjacent thereto.
As described above, in the multi-joint mechanical arm of the present embodiment, each pivoted arm joint 10 can be with multi-joint mechanical arm
Rotated centered on axis 30, there is the rotational freedom within ± 180 °, its rotation is moved similar to the torsion of human arm
Make.And carry arm joint 20 adjacent thereto has within ± 180 ° then to be rotated centered on the direction of axis 30
Rotational freedom, it is rotated praises action similar to human arm.Further, adjacent pivoted arm joint 10 and carry arm close
Section 20 is necessarily fixedly connected by motor side or decelerator end, so as to be mutually perpendicular to or the rotation of orthogonal both direction
It is combined, so as to realize the combination of multi-angle, position in three-dimensional space, to meet that it is in office that mechanical arm can stop
One direction and the requirement of angle.
The multi-joint mechanical arm of the present embodiment can be real by the combination in a pivoted arm joint 10 and a carry arm joint 20
Now almost in four frees degree full angle, position covering, it is preferable that the multi-joint mechanical arm transfer shoulder joint in the present embodiment
10 and the sum in carry arm joint 20 be at least seven, pass through the pivoted arm joint 10 to connect two-by-two and multigroup group of carry arm joint 20
Close, to meet the requirement of six degree of freedom movement in three-dimensional space, improve the performance accuracy of mechanical arm.
Specifically, in order to copy the structure of human arm, can be realized by seven articulated mechanical arms as shown in Figure 1 a kind of imitative
People's mechanical arm.Wherein, a pivoted arm joint 10 and a combination of carry arm joint 20 form wrist joint W, a pivoted arm joint 10
Shoulder joints S, two pivoted arm joints 10 and a carry arm joint 20 being disposed between are formed with a combination of carry arm joint 20
Combination forms ancon joint E, and ancon joint E is arranged between wrist joint W and shoulder joints S, and according to the He of pivoted arm joint 10
20 staggered order of carry arm joint is configured, you can is realized and is similar to, even beyond the free degree of human arm.
Preferably, each first decelerator end 12 has along central shaft 122 in the first of the first decelerator end 12
Cavity body 126, each first motor side 14 have the first hollow cavity 146 for running through the first motor side 14 along central shaft 142,
In a pivoted arm joint 10, the first decelerator end 12 and the axle of the first motor side 14 are connected together, therefore its first hollow cavity
126 and 146 keep alignment.
Similarly, the second decelerator end 22 in each carry arm joint 20 or the second motor side 24 are with the axial direction 30
Through the second decelerator end 22 or the second hollow cavity 246 of the second motor side 24.Wherein, in the embodiment shown in fig. 1,
Second hollow cavity 246 is located in second motor side 24 in each carry arm joint 20.
Preferably, what the second hollow cavity 246 was located at the second decelerator end 22 or the second motor side 24 deviates from second pair
The side of junction 26.
In the embodiment illustrated in fig. 1, electric mechanism 40 includes drive circuit board 41 and is connected with drive circuit board 41
Cable 42, cable 42 alternately pass through the first hollow cavity 126,146 and the second hollow cavity 246, with each pivoted arm joint
10 and carry arm joint 20 connect.
In the present embodiment, pivoted arm joint 10 and carry arm joint 20 are respectively provided with hollow articulation structure, according to the present embodiment
Multi-joint mechanical arm the characteristics of being pivoted about with the axis direction 30 of its own, its cable 42 is using center cabling
Mode, rather than exposed to the periphery of mechanical arm.The characteristics of being run according to the rotation of the mechanical arm of the present embodiment, each joint are cut
Face is substantially rounded, if the cable of mechanical arm is placed on the shell of mechanical arm, the moulding for inevitably resulting in shell is not rounded
Shape, so as to improve processing cost.Further, due to being respectively provided with relative rotary motion between the two parts in each joint, such as
The cable of fruit mechanical arm is placed on the shell of mechanical arm, and rotary motion necessarily causes the change of the length of cable 42, therefore is
Avoid cable from being pulled off, be necessarily required to provide substantial amounts of amount of redundancy.
And the present embodiment by way of the cabling of center and hollow cavity setting direction, pivoted arm joint when rotated,
With its rotation acute variation will not occur for the length of cable 42, and carry arm joint is when rotated, the length change of cable 42
It is limited, therefore only need the rotation for each carry arm joint to provide the amount of redundancy that length of cable changes.
Wherein, power supply and control signal can be provided for the motor in each joint by way of bus, then cable 42 can be
The bus cable formed by power line and controlling bus.Wherein, EtherCAT buses in real time can be used at a high speed, power line uses
Diameter after 20A power line and 5A control line, such controlling bus and power line outer layer encirclement screen layer can be 9mm.Then
Accordingly, the diameter of the first hollow cavity and the second hollow cavity is at least 11mm, so that bus cable passes through.
Preferably, in order to avoid the length in increase carry arm joint, it is connected with adjacent pivoted arm joint 10 and carry arm joint 20
A drive circuit board 41 be arranged in pivoted arm joint 10.Due to the axle for rotating against direction and mechanical arm in pivoted arm joint 20
Line direction is perpendicular or orthogonal to therefore the increase of the length in carry arm joint 20 necessarily affects the degree of flexibility and precision of whole mechanical arm
Degree, therefore be the drive together with adjacent pair pivoted arm joint 10 provides with carry arm joint 20 according to the characteristics of neighbouring structure
Dynamic circuit board 41, and the drive circuit board 41 is arranged in pivoted arm joint 10.
Preferably, drive circuit board 41 is arranged in first motor side 14 in the pivoted arm joint 10.Two adjacent joints
The first motor side 14 and the second motor side 24 be fixed together, therefore relative motion is not present between it, is then driving
When circuit board 41 is arranged in the first motor side 14, between the motor side 14 of drive circuit board 41 and first and the second motor side 24
Line (for example, the motor line of force, line of codes etc.) can be carried out in the inside of the first motor side 14 and the second motor side 24, such as
Realized by fixed wire casing.
Further, the line between the decelerator 12 of drive circuit board 41 and first and the second decelerator 22 is considerably less, greatly
It is only that sensor line is a kind of, and therefore, drive circuit board 41 is arranged on can in first motor side 14 in the pivoted arm joint 10 more
Simplify the connecting line construction and distributing between joint.
Preferably, in order to avoid cable 42 is twisted due to the relative rotary motion in each joint and is rotated with high speed
Rotor form friction, cause corrupted, each pivoted arm joint 10 includes a card line and presss from both sides 182 and a spring clip 184.Its
In, card line folder 182 is arranged in the first hollow cavity 146 of the first motor side 14, and cable 42 is fixed therein.Spring clip
184 are arranged in first hollow cavity 126 at the first decelerator end 12, and cable 42 is adjustably secured wherein.
Wherein, card line folder 182 is fixedly connected with cable 42, and relative move does not occur between each card line folder 182 and cable 42
Dynamic or rotation.And spring clip 184 is adjustably connected with cable 42, there is relative movement between cable 42 and spring clip 184
The free degree, under the adjustment fixation of spring clip 184, it can make in this pivoted arm joint 10, card line folder 182 and spring clip
Cable 42 between 184 can keep the form stretched, to avoid forming the problem of rubbing with rotor due to winding.
The length for the cable 42 that spring clip 184 adjusts be rotation due to carry arm joint 20 and caused by the length of cable 42
Change, therefore under the adjustment fixation of spring clip 184, in adjacent pair pivoted arm joint 10 and carry arm joint 20,
Cable 42 between two card line folders 182 can keep the form stretched, to avoid being formed and being rubbed with rotor due to winding
The problem of wiping.
As can be seen here, in multi-joint mechanical arm provided by the utility model, each pivoted arm joint can be with multi-joint machinery
Rotated centered on the axis of arm, there is the rotational freedom within ± 180 °, it rotates the torsion similar to human arm
Action.And carry arm joint adjacent thereto is then rotated centered on perpendicular to the direction of axis, have within ± 180 °
Rotational freedom, it is rotated praises action similar to human arm.Further, adjacent pivoted arm joint and carry arm joint must
So it is fixedly connected by motor side or decelerator end, so as to be mutually perpendicular to or the rotation of orthogonal both direction carries out group
Close, so as to realize the combination of multi-angle, position in three-dimensional space, to meet that mechanical arm can rest on either direction
With the requirement of angle.
The multi-joint mechanical arm of the present embodiment can be achieved several by the combination in a pivoted arm joint and a carry arm joint
The covering of full angle, position in four frees degree, by multigroup combination in the pivoted arm joint and carry arm joint that connect two-by-two, with
Meet the requirement that six degree of freedom moves in three-dimensional space, improve the performance accuracy of mechanical arm.
Further, pivoted about according to the multi-joint mechanical arm of the present embodiment with the axis direction of its own
Feature, its cable is by the way of the cabling of center, rather than exposed to the periphery of mechanical arm.According to turning for the mechanical arm of the present embodiment
The characteristics of dynamic operation, the section in each joint is substantially rounded, must if the cable of mechanical arm is placed on the shell of mechanical arm
The moulding that shell can so be caused is non-circular, so as to improve processing cost.Further, due to each joint two parts it
Between be respectively provided with relative rotary motion, if the cable of mechanical arm is placed on the shell of mechanical arm, rotary motion necessarily causes line
The change of the length of cable, therefore in order to avoid cable is pulled off, be necessarily required to provide substantial amounts of amount of redundancy.And the present embodiment passes through
The mode of center cabling and the setting direction of hollow cavity, when rotated, the length of cable will not be with its turn in pivoted arm joint
Move and acute variation occurs, and carry arm joint is when rotated, the length change of cable is limited, therefore only needs to close for each carry arm
The rotation of section provides the amount of redundancy of length of cable change.
It should be appreciated that although this specification is described according to each embodiment, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical scheme in each embodiment may also be suitably combined to form people in the art
The other embodiment that member is appreciated that.
The a series of tool described in detail only for feasibility embodiment of the present utility model of those listed above
Body illustrate, and and be not used to limit the scope of protection of the utility model, it is all without departing from the utility model skill spirit made etc.
Embodiment or change are imitated, such as the combination, segmentation or repetition of feature, should be included within the scope of protection of the utility model.
Claims (8)
- A kind of 1. multi-joint mechanical arm, it is characterised in that staggered turn of the direction including the axis along the mechanical arm Shoulder joint and carry arm joint, wherein：Each pivoted arm joint is included using the first end face perpendicular to the axis direction as the first interface, mutual with central shaft The central shaft of the first decelerator end and the first motor side that axle connects, the first decelerator end and the first motor side and the axis Overlap, to be produced relative rotation under the driving of electric mechanism, in the first interface around central shaft；Each carry arm joint include using along the second end face that the axis direction extends as the second interface, mutual with central shaft The central shaft of the second decelerator end and the second motor side that axle connects, the second decelerator end and the second motor side with the axle The direction of line is vertical, to be surrounded under the driving of electric mechanism, in the second interface perpendicular to the center of the axis direction Axle produces relative rotation；Each first decelerator end is fixedly connected with the second decelerator end adjacent thereto, each first motor side and adjacent thereto The second motor side be fixedly connected.
- 2. multi-joint mechanical arm as claimed in claim 1, it is characterised in that each first decelerator end and the first motor side tool Have along central shaft through the first decelerator end and the first hollow cavity of the first motor side；The second decelerator end in each carry arm joint or the second motor side have to be subtracted along the axis direction through described second Fast device end or the second hollow cavity of the second motor side.
- 3. multi-joint mechanical arm as claimed in claim 2, it is characterised in that second hollow cavity subtracts positioned at described second Fast device end or the second motor side away from the side of second interface.
- 4. multi-joint mechanical arm as claimed in claim 2, it is characterised in that the electric mechanism include drive circuit board and The cable being connected with the drive circuit board, the cable staggeredly by first hollow cavity and the second hollow cavity, with It is connected with each pivoted arm joint and carry arm joint.
- 5. multi-joint mechanical arm as claimed in claim 4, it is characterised in that be connected with adjacent pivoted arm joint and carry arm joint A drive circuit board to be arranged on pivoted arm intra-articular.
- 6. multi-joint mechanical arm as claimed in claim 5, it is characterised in that the drive circuit board is arranged on the pivoted arm joint The first motor side on.
- 7. multi-joint mechanical arm as claimed in claim 4, it is characterised in that each pivoted arm joint includes a card line folder and one Individual spring clip,The card line folder is arranged in the first hollow cavity of the first motor side, and the cable is fixed therein；The spring clip is arranged in first hollow cavity at the first decelerator end, and the cable is adjustably secured at it In.
- 8. the multi-joint mechanical arm as described in any claim in claim 1 to 7, it is characterised in that the pivoted arm joint It is at least seven with the sum in carry arm joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720995582.0U CN207155791U (en) | 2017-08-10 | 2017-08-10 | multi-joint mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720995582.0U CN207155791U (en) | 2017-08-10 | 2017-08-10 | multi-joint mechanical arm |
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| Publication Number | Publication Date |
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| CN207155791U true CN207155791U (en) | 2018-03-30 |
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| CN201720995582.0U Active CN207155791U (en) | 2017-08-10 | 2017-08-10 | multi-joint mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351074A (en) * | 2017-08-10 | 2017-11-17 | 北京山思跃立科技有限公司 | Multi-joint mechanical arm |
-
2017
- 2017-08-10 CN CN201720995582.0U patent/CN207155791U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351074A (en) * | 2017-08-10 | 2017-11-17 | 北京山思跃立科技有限公司 | Multi-joint mechanical arm |
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| TR01 | Transfer of patent right |
Effective date of registration: 20200729 Address after: 100086 room 1308a, floor 13, No. 23, Zhichun Road, Haidian District, Beijing Patentee after: Qianyuan Yunli (Beijing) robot intelligent technology Co.,Ltd. Address before: 101500 Beijing Miyun Xinyuan Building 3 3 floor room 316 -246 Patentee before: BEIJING SHANSI YUELI TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |