CN210704903U - Mechanical arm with extendable arm length - Google Patents
Mechanical arm with extendable arm length Download PDFInfo
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- CN210704903U CN210704903U CN201920617098.3U CN201920617098U CN210704903U CN 210704903 U CN210704903 U CN 210704903U CN 201920617098 U CN201920617098 U CN 201920617098U CN 210704903 U CN210704903 U CN 210704903U
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Abstract
The utility model relates to an extensible arm length's arm, this arm include the one-level extensible arm, the two-level extensible arm and the rotation axis mechanism who connects both, the one-level extensible arm one end connect rotation axis mechanism, the other end is connected six pulley extensible arm length mechanisms (1), the two-level extensible arm one end connect rotation axis mechanism, the other end is connected one four pulley extensible arm length mechanisms (1'). Compared with the prior art, the utility model has the advantages of can realize that single arm all can provide the function of different work in its variable arm length radius within range to can solve current arm function singleness and activity radius and confine the problem in arm length sum to.
Description
Technical Field
The utility model belongs to the technical field of the robot and specifically relates to an arm of extensible arm length is related to.
Background
The mechanical arm is a high-precision and high-speed dispensing robot hand, and is a complex system with multiple inputs, multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.
In recent years, with the development of robotics, a robot structure applying high speed, high precision, and high load-to-weight ratio has been receiving attention in the fields of industry and aerospace. Due to the increase of the flexible effect of the joints and the connecting rods in the movement process, the structure is deformed, and therefore the precision of task execution is reduced. Therefore, the structural flexibility characteristics of the robot mechanical arm must be considered, and the system dynamics must be considered to realize the high-precision effective control of the flexible mechanical arm. The flexible mechanical arm is a very complex dynamic system, and the dynamic equation of the flexible mechanical arm has the characteristics of nonlinearity, strong coupling, real variation and the like. The establishment of a model of the flexible arm dynamics problem is extremely important for the research. The flexible mechanical arm is not only a rigid-flexible coupled nonlinear system, but also a nonlinear system in which the dynamic characteristics and the control characteristics of the system are mutually coupled, namely, electromechanical coupling. The purpose of the dynamics modeling is to provide a basis for control system description and controller design. The description of a general control system (including state space description in the time domain and transfer function description in the frequency domain) is closely related to the positioning of the sensors/actuators, the transfer of information from the actuators to the sensors, and the dynamics of the robotic arm.
At present, most of the existing industrial mechanical arms are fixed arm lengths and are designed in a two-point rotating mode. The functions that such a robot can achieve are limited and the radius of motion is limited to the sum of the robot arm lengths. For a large-scale machine or a mechanical arm needing to work in a large range, the existing method only manufactures the mechanical arm with larger size, the method consumes a large amount of materials to manufacture the mechanical arm, and the large mechanical arm is difficult for an operator to conveniently operate. Therefore, there is a need for a new robot arm that can not accomplish commands conveniently in a wide range for a single robot arm.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the defect that above-mentioned prior art exists and providing one kind and can realize that single arm all can provide the function of different work in its variable arm length radius within range to dispose the terminal modular structure of different functions, possess the function numerous, can solve the arm function singleness of current arm and activity radius and confine the arm of the extensible arm length of the problem in arm length sum.
The purpose of the utility model can be realized through the following technical scheme:
a mechanical arm with an extendable arm length comprises a primary extendable mechanical arm, a secondary extendable mechanical arm and a rotating shaft mechanism for connecting the primary extendable mechanical arm and the secondary extendable mechanical arm, wherein the primary extendable mechanical arm drives a primary belt transmission system through a primary servo drive rotating module, so that a fixed frame base fixed on the belt transmission system drives the mechanical arm to extend and retract; the secondary extensible mechanical arm drives the secondary belt transmission system through the secondary servo drive rotation module, so that the four-pulley extensible arm length mechanism of the secondary belt transmission system drives the mechanical arm to extend and retract.
Further, the one-level extensible mechanical arm comprises a fixing frame base, a one-level supporting seat, a one-level pulley guiding system, a one-level servo driving rotating module and a one-level belt transmission system, the one-level extensible mechanical arm drives the one-level belt transmission system through the one-level servo driving rotating module, and the fixing frame base fixed on the belt transmission system drives the mechanical arm to stretch out and draw back.
Furthermore, the primary belt transmission system comprises a primary rotating gear, a primary belt and a primary guide gear which are connected with each other; the one-level belt cover establish on one-level transmitting gear and one-level leading gear, one-level transmitting gear fix on one-level supporting seat, mount base fixed connection one-level belt, the motor drive one-level leading gear of one-level servo drive rotation module rotate, drive one-level belt and rotate to drive the mount base and remove.
The six-pulley extending arm length mechanism comprises six outward-protruding U-shaped pulleys and a first-stage connecting plate respectively connected with the upper surface and the lower surface of each pulley, and the connecting plate is provided with a first-stage positioning hole and a first-stage connecting hole.
The primary pulley guiding system comprises a primary fixed sliding rail, a primary movable sliding rail, a primary U-shaped groove and six pulley hole positions which are mutually spliced. One end of the first-stage movable sliding rail is provided with a fixed frame base, and the other end of the first-stage movable sliding rail extends into the six-pulley arm length extending mechanism. The fixing frame base is connected with a primary belt transmission system, and the primary servo driving rotation module drives the primary belt transmission system to move to drive the fixing frame base and the primary movable slide rail to move along the primary fixed slide rail. The one-level portable slide rail on be equipped with one-level U-shaped recess and pulley phase-match, still correspond on the same cross section with one-level connecting hole and be equipped with the one-level hole site that the angular distribution is unanimous, simultaneously, the portable slide rail of one-level is connected with the extensible arm of second grade for the removal of the portable slide rail of one-level can drive the lift of the extensible arm of second grade on the extensible arm of one-level, realizes stretching out and drawing back.
Furthermore, the primary rotating gear and the six-pulley extensible arm length mechanism are fixed on the primary supporting seat, the primary belt connects the primary rotating gear with the primary servo driving rotating module, the fixing frame base is inserted on the primary belt, and the primary servo driving rotating module drives the primary rotating gear and the primary belt to rotate, so that the fixing frame base slides on the primary sliding rail to realize the extension and retraction of the mechanical arm; the hole position on the pulley guide system is matched with the connecting hole on the six-pulley extending arm length mechanism, so that the mechanical arm can be fixed.
Furthermore, the secondary extensible mechanical arm comprises a secondary supporting seat, a secondary pulley guiding system, a secondary servo driving rotation module, a secondary belt transmission system and a four-pulley extensible arm length mechanism, and the secondary extensible mechanical arm drives the secondary belt transmission system through the secondary servo driving rotation module to enable the four-pulley extensible arm length mechanism of the secondary belt transmission system to drive the mechanical arm to stretch out and draw back.
Further, the secondary belt transmission system comprises a secondary rotating gear and a secondary belt which are connected with each other; and the secondary belt is sleeved on the secondary rotating gear and the secondary guide gear, and the secondary rotating gear is fixed on the secondary supporting seat.
The four-pulley extensible arm length mechanism comprises four outward-protruding U-shaped pulleys and a second-stage connecting plate respectively connected with the upper surface and the lower surface of each pulley, and the second-stage connecting plate is provided with a second-stage connecting hole used for being connected with a second-stage belt.
The second-stage pulley guiding system comprises a second-stage fixed sliding rail, a second-stage first-stage U-shaped groove, four pulley hole sites and a second-stage movable sliding rail which are mutually spliced. One end of the secondary movable slide rail is fixed with the four-pulley extensible arm length mechanism, the four-pulley extensible arm length mechanism is connected with the secondary belt transmission system, the secondary servo drive rotation module drives the secondary belt transmission system to move, and the four-pulley extensible arm length mechanism and the secondary movable slide rail move along the secondary fixed slide rail to realize extension. And a secondary U-shaped groove is formed in the secondary movable sliding rail and is matched with the pulley.
Furthermore, the four-pulley extensible arm length mechanism is inserted on the secondary belt through the four-pulley positioning holes, and the secondary servo drive rotation module drives the secondary rotation gear and the secondary belt to rotate, so that the four-pulley extensible arm length mechanism slides on the secondary primary U-shaped groove to realize the extension and retraction of the mechanical arm; four pulley hole sites on the secondary pulley guiding system are matched with four pulley connecting holes on the four-pulley extending arm length mechanism, so that the mechanical arm can be fixed.
Further, the rotating shaft mechanism comprises a rotary servo, a first gear, a second gear and a rotating shaft, when the rotary servo is driven, the rotating shaft and the first gear are driven to rotate, and when the primary extensible mechanical arm is fixed, the second gear moves along the edge of the first gear to drive the secondary extensible mechanical arm to rotate.
Further, the rotating shaft mechanism comprises a rotating servo, a gear set and a rotating shaft; the gear set comprises a first gear and a second gear which are meshed with each other, the first gear is connected with the rotating shaft, the first gear is connected with the first-stage extensible mechanical arm, and the second gear is connected with the second-stage extensible mechanical arm;
the rotary servo drives the second gear to rotate, the first gear is driven to rotate along the rotating shaft, when the first-stage extensible mechanical arm is fixed, the second gear can move along the edge of the first gear, the second-stage extensible mechanical arm is driven to rotate, the rotary servo gives out a force capable of stabilizing the rotating shaft and preventing the rotating shaft from rotating after the rotation is finished, and the fixing effect is achieved.
Compared with the prior art, the utility model has the advantages of it is following:
1. the mechanical arm can adjust the direction according to the requirement, extends towards the target, and at the moment, the translation transmission system extends the length of the mechanical arm and guides through the sliding rail, so that the mechanical arm can reach a specified remote position, and the capacity of functional work of the single mechanical arm in the long radius of the extensible arm is realized. The extension mechanism can simultaneously extend and retract in two directions on two different arm spreads of a single mechanical arm, and the extension mechanism is matched with the rotary base and the rotary support shaft to provide possibility for improving the moving radius and agility of the mechanical arm;
2. the tail end of the mechanical arm is of a modular structure, and tools with different functions can be installed according to different requirements. The modular structure of the ground terminal can have functions of cutting, grabbing, welding, carving and the like, and can meet mechanical operation requirements of different working scenes.
Drawings
Fig. 1 is a top view of a mechanical arm with an extendable arm length provided by the present invention;
fig. 2 is a bottom view of a mechanical arm with an extendable arm length according to the present invention;
FIG. 3a is a diagram of a six-pulley extendable arm length mechanism operating in a primary U-shaped groove, and FIG. 3b is a diagram of a four-pulley extendable arm length mechanism operating in a secondary U-shaped groove;
fig. 4a is a schematic view of a six-pulley extendable arm length mechanism provided by the present invention, and fig. 4b is a schematic view of a four-pulley extendable arm length mechanism;
FIG. 5 is a schematic diagram of a first stage hole position on a first stage movable slide rail.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
A mechanical arm with an extendable arm length comprises a primary extendable mechanical arm 6, a secondary extendable mechanical arm and a rotating shaft mechanism for connecting the primary extendable mechanical arm and the secondary extendable mechanical arm, wherein the primary extendable mechanical arm 6 drives a primary belt transmission system 4 through a primary servo drive rotating module 16, so that a fixing frame base 2 fixed on the belt transmission system 4 drives the mechanical arm to extend and retract; the secondary extensible mechanical arm drives the secondary belt transmission system 4 ' through the secondary servo drive rotating module 14, so that the four-pulley extensible arm length mechanism 1' of the secondary belt transmission system 4 ' drives the mechanical arm to extend and retract.
As shown in fig. 2, the first-stage extensible mechanical arm 6 includes a fixing frame base 2, a first-stage supporting seat 3, a first-stage pulley guiding system 5, a first-stage servo driving rotation module 16 and a first-stage belt transmission system 4, and the first-stage extensible mechanical arm 6 drives the first-stage belt transmission system 4 through the first-stage servo driving rotation module 16, so that the fixing frame base 2 fixed on the belt transmission system 4 drives the mechanical arm to extend and retract. The primary belt transmission system 4 comprises a primary rotating gear 41, a primary belt 42 and a primary guide gear 43 which are connected with each other; one-level belt 42 cover establish on one-level rotating gear 41 and one-level leading gear 43, one-level rotating gear 41 fix on one-level supporting seat 3, mount base 2 fixed connection one-level belt 42, the motor drive one-level leading gear 43 of one-level servo drive rotation module 16 rotate, drive one-level belt 42 and rotate to drive mount base 2 and remove. The first-level rotating gear 41 and the six-pulley extending arm length mechanism 1 are fixed on the first-level supporting seat 3, the first-level belt 42 connects the first-level rotating gear 41 with the first-level servo driving rotating module 16, the fixing frame base 2 is inserted on the first-level belt 42, and the first-level servo driving rotating module 16 drives the first-level rotating gear 41 and the first-level belt 42 to rotate, so that the fixing frame base 2 slides on the first-level sliding rail 15, and the stretching of the mechanical arm is achieved.
The six-pulley extending arm length mechanism 1 comprises six outward-protruding U-shaped pulleys 11 and first-stage connecting plates 12 respectively connected with the upper surface and the lower surface of each pulley, and the connecting plates 12 are provided with first-stage positioning holes 13 and first-stage connecting holes 14.
One-level pulley guidance system 5 include one-level fixed slide rail 51 and one-level portable slide rail 52, one-level portable slide rail 52 one end be equipped with mount base 2, in the other end stretched into the six-pulley extensible arm length mechanism 1, one-level portable slide rail 52 on be equipped with one-level U-shaped recess 521 and pulley 11 phase-match, still correspond on the same cross section with one-level connecting hole 14 and be equipped with the unanimous one-level hole site 522 of angular distribution, simultaneously, one-level portable slide rail 52 is connected with the extensible arm of second grade for the removal of one-level portable slide rail 52 can drive the lift of the extensible arm of second grade on the extensible arm of one-level, realizes flexible. As shown in fig. 3a and 5.
As shown in fig. 1, the secondary extensible mechanical arm includes a secondary support seat 3 ', a secondary pulley guiding system 5', a secondary servo-driven rotation module 6 ', a secondary belt transmission system 4', the secondary pulley guiding system 5 'includes a secondary fixed slide rail 51' and a secondary movable slide rail 52 ', one end of the secondary movable slide rail 52' is fixed to the four-pulley extensible arm length mechanism 1', the four-pulley extensible arm length mechanism 1' is connected to the secondary belt transmission system 4 ', the secondary servo-driven rotation module 6' drives the secondary belt transmission system 4 'to move, and the four-pulley extensible arm length mechanism 1' and the secondary movable slide rail 52 'move along the secondary fixed slide rail 51' to achieve extension and retraction. The secondary belt transmission system 4 ' comprises a secondary rotating gear 41 ', a secondary belt 42 ' and a guide gear 43 ', the secondary belt 42 ' is sleeved on the secondary rotating gear 41 ' and the secondary guide gear 43 ', and the secondary rotating gear 41 ' is fixed on the secondary support seat 3 '.
The four-pulley extensible arm length mechanism 1 'comprises four convex U-shaped pulleys 11' and a second-stage connecting plate 12 'respectively connected with the upper surface and the lower surface of each pulley, and the second-stage connecting plate 12' is provided with a second-stage connecting hole 14 'for being connected with a second-stage belt 42'. The secondary movable sliding rail 52 ' is provided with a secondary U-shaped groove 521' matched with the pulley 11 '. As shown in fig. 4.
As shown in fig. 1 and 2, the rotary shaft mechanism includes a rotary servo 7, a gear group 8, and a rotary shaft 9; the gear group 8 comprises a first gear 82 and a second gear 81 which are meshed with each other, the first gear 82 is connected with the rotating shaft 9, the first gear 82 is connected with the primary extensible mechanical arm 6, and the second gear 81 is connected with the secondary extensible mechanical arm;
the rotary servo 7 drives the second gear 81 to rotate to drive the first gear 82 to rotate along the rotating shaft 9, when the first-stage extensible mechanical arm is fixed, the second gear 81 can move along the edge of the first gear 82 to drive the second-stage extensible mechanical arm to rotate, the rotary servo 7 gives a force capable of stabilizing the rotating shaft 9 and preventing the rotating shaft 9 from rotating any more after the rotation is finished, and the fixing effect is achieved.
The above embodiments are only used for illustrating the technical solution of the present invention, and are not intended to limit the present invention, and those skilled in the art can make equivalent changes, substitutions, modifications, and simplifications within the scope of the present invention, without departing from the spirit of the present invention, and shall also fall within the protection scope of the claims of the present invention.
Claims (10)
1. A mechanical arm with an extensible arm length is characterized by comprising a primary extensible mechanical arm, a secondary extensible mechanical arm and a rotating shaft mechanism for connecting the primary extensible mechanical arm and the secondary extensible mechanical arm, wherein one end of the primary extensible mechanical arm is connected with the rotating shaft mechanism, the other end of the primary extensible mechanical arm is connected with a six-pulley extensible arm length mechanism (1), one end of the secondary extensible mechanical arm is connected with the rotating shaft mechanism, and the other end of the secondary extensible mechanical arm is connected with a four-pulley extensible arm length mechanism (1').
2. A mechanical arm with an extendable arm length as claimed in claim 1, wherein the primary extendable mechanical arm comprises a fixed frame base (2), a primary supporting seat (3), a primary pulley guiding system (5), a primary servo drive rotating module (16) and a primary belt transmission system (4), the primary pulley guide system (5) comprises a primary fixed slide rail (51) and a primary movable slide rail (52), one end of the primary movable sliding rail (52) is provided with a fixed frame base (2), the other end of the primary movable sliding rail extends into the six-pulley arm length extending mechanism (1), the fixing frame base (2) is connected with a primary belt transmission system (4), the primary servo drive rotating module (16) drives the primary belt transmission system (4) to move, and drives the fixed frame base (2) and the primary movable sliding rail (52) to move along the primary fixed sliding rail (51).
3. An extendable arm length mechanical arm according to claim 2, wherein the primary belt transmission system (4) comprises a primary rotating gear (41), a primary belt (42) and a primary guide gear (43), the primary belt (42) is sleeved on the primary rotating gear (41) and the primary guide gear (43), the primary rotating gear (41) is fixed on the primary support base (3), the fixed frame base (2) is fixedly connected with the primary belt (42), and the motor of the primary servo drive rotating module (16) drives the primary guide gear (43) to rotate, so as to drive the primary belt (42) to rotate, thereby driving the fixed frame base (2) to move.
4. An arm length extendable arm as claimed in claim 2, wherein said six-pulley arm length extendable mechanism (1) comprises six outward U-shaped pulleys (11) and primary connecting plates (12) respectively connecting the upper and lower surfaces of the pulleys, said connecting plates (12) being provided with primary positioning holes (13) and primary connecting holes (14).
5. The mechanical arm with the extensible arm length as claimed in claim 2 or 4, wherein the primary movable slide rail (52) is provided with a primary U-shaped groove (521) matched with the pulley (11), a primary hole site (522) with the same angle distribution is correspondingly arranged on the same cross section of the primary connecting hole (14), and meanwhile, the primary movable slide rail (52) is connected with the secondary extensible mechanical arm, so that the secondary extensible mechanical arm can be driven to lift on the primary extensible mechanical arm by the movement of the primary movable slide rail (52) to achieve extension and retraction.
6. A robot arm of extendable arm length as claimed in claim 1, wherein the secondary extendable arm comprises a secondary support base (3 '), a secondary pulley guide system (5'), a secondary servo drive rotation module (6 '), and a secondary belt drive system (4'), the secondary pulley guide system (5 ') comprises a secondary fixed slide rail (51') and a secondary movable slide rail (52 '), one end of the secondary movable slide rail (52') is fixed with the four-pulley extendable arm length mechanism (1 '), the four-pulley extendable arm length mechanism (1') is connected with the secondary belt drive system (4 '), the secondary servo drive rotation module (6') drives the secondary belt drive system (4 ') to move, and the four-pulley extendable arm length mechanism (1') and the secondary movable slide rail (52 ') move along the secondary fixed slide rail (51'), and (5) stretching is realized.
7. A robot arm of extendable arm length as claimed in claim 6, wherein said secondary belt drive system (4 ') comprises a secondary rotary gear (41 '), a secondary belt (42 ') and a guide gear (43 '), said secondary belt (42 ') is fitted over said secondary rotary gear (41 ') and said secondary guide gear (43 '), and said secondary rotary gear (41 ') is fixed to said secondary support base (3 ').
8. A robot arm with an extendable arm length as claimed in claim 6, wherein the four-pulley extendable arm length mechanism (1 ') comprises four convex U-shaped pulleys (11') and two-stage connecting plates (12 ') respectively connected to the upper and lower surfaces of the pulleys, and the two-stage connecting plates (12') are provided with two-stage connecting holes (14 ') for connecting with two-stage belts (42').
9. A robot arm of extendable arm length as claimed in claim 6 or 8, wherein said secondary movable slide rail (52 ') is provided with a secondary U-shaped groove (521') matching with the pulley (11 ').
10. An arm of an extendable arm length as claimed in claim 1, wherein said rotation axis mechanism comprises a rotation servo (7), a gear train (8) and a rotation axis (9); the gear set (8) comprises a first gear (82) and a second gear (81) which are meshed with each other, the first gear (82) is connected with the rotating shaft (9), the first gear (82) is connected with the first-stage extensible mechanical arm (6), and the second gear (81) is connected with the second-stage extensible mechanical arm;
the rotary servo (7) drives the second gear (81) to rotate, the first gear (82) is driven to rotate along the rotating shaft (9), when the first-stage extensible mechanical arm is fixed, the second gear (81) can move along the edge of the first gear (82) to drive the second-stage extensible mechanical arm to rotate, the rotary servo (7) gives a force capable of stabilizing the rotating shaft (9) against rotation after rotation is finished, and fixing effect is achieved.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920617098.3U CN210704903U (en) | 2019-04-30 | 2019-04-30 | Mechanical arm with extendable arm length |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920617098.3U CN210704903U (en) | 2019-04-30 | 2019-04-30 | Mechanical arm with extendable arm length |
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| CN210704903U true CN210704903U (en) | 2020-06-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986596A (en) * | 2019-04-30 | 2019-07-09 | 张含 | A kind of mechanical arm of extensible brachium |
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2019
- 2019-04-30 CN CN201920617098.3U patent/CN210704903U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986596A (en) * | 2019-04-30 | 2019-07-09 | 张含 | A kind of mechanical arm of extensible brachium |
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