CN112757319A - Six-degree-of-freedom service type robot arm - Google Patents
Six-degree-of-freedom service type robot arm Download PDFInfo
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- CN112757319A CN112757319A CN202011637990.1A CN202011637990A CN112757319A CN 112757319 A CN112757319 A CN 112757319A CN 202011637990 A CN202011637990 A CN 202011637990A CN 112757319 A CN112757319 A CN 112757319A
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- 238000005452 bending Methods 0.000 claims abstract description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 26
- 238000009434 installation Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种六自由度服务型机器人手臂，其技术方案要点是：包括底座，所述底座上设置有第一机械臂，所述第一机械臂的顶部设置有第一回转关节，所述第一回转关节上设置有第一回转壳体，所述第一回转壳体通过第一弯转关节与弯转壳体连接，所述弯转壳体的另一端通过第二弯转关节与连接件连接，所述连接件上连接有第二回转关节，所述第二回转关节的顶部设置有第二回转壳体，所述第二回转壳体通过第三弯转关节与第二机械臂连接，所述第二机械臂的内部设置第三回转关节。本发明的所述的一种六自由度服务型机器人手臂，具有六个自由度，关节活动较为灵活，同时采用模块化设计，加工成本较低。
The invention discloses a six-degree-of-freedom service-type robot arm. The main points of the technical solution are as follows: comprising a base, a first mechanical arm is arranged on the base, and a first rotary joint is arranged on the top of the first mechanical arm. The first rotary joint is provided with a first rotary shell, the first rotary shell is connected with the rotary shell through the first rotary joint, and the other end of the rotary shell is connected with the rotary shell through the second rotary joint. The connecting piece is connected, the connecting piece is connected with a second rotary joint, the top of the second rotary joint is provided with a second rotary shell, and the second rotary shell is connected to the second mechanical arm through the third bending joint connection, a third rotary joint is arranged inside the second mechanical arm. The six-degree-of-freedom service-type robot arm of the present invention has six degrees of freedom, the joint movement is relatively flexible, and at the same time, the modular design is adopted, and the processing cost is low.
Description
Technical Field
The invention relates to the field of automatic mechanical devices, in particular to a six-degree-of-freedom service type robot arm.
Background
With the development of science and technology, the service robot is more widely applied. The existing service robot usually directly adopts the arm of an industrial robot, the mechanical arm of the industrial robot is too bulky, too large in mass, inflexible in movement and not attractive enough, and the requirement of lightening the mechanical arm of the service robot cannot be met.
Disclosure of Invention
The invention aims to provide a six-degree-of-freedom service type robot arm aiming at the defects in the prior art so as to solve the problems in the prior art.
The technical purpose of the invention is realized by the following technical scheme:
the invention is further provided with: the utility model provides a six degree of freedom service robot arm, includes the base, be provided with first arm on the base, the top of first arm is provided with first gyration joint, be provided with first gyration casing on the first gyration joint, first gyration casing turn round the joint through first turn round and be connected with the casing that turns round, the other end that turns round the casing passes through the second and turns round the joint and is connected with the connecting piece, be connected with second gyration joint on the connecting piece, the top that the second turned round the joint is provided with second gyration casing, the second gyration casing passes through the third and turns round the joint and is connected with the second arm, the inside of second arm sets up the third and turns round the joint.
The invention is further provided with: the first rotary joint, the second rotary joint and the third rotary joint are structurally the same and respectively comprise a rotary motor, a rotary motor flange, a rotary speed reducer and a rotary speed reducer flange, the rotary motor is fixed inside the base through the rotary motor flange, the rotary speed reducer is arranged on the rotary speed reducer flange, the rotary speed reducer flange is arranged on the outer side of the rotary motor flange, and the input end of the rotary speed reducer is connected with the output shaft of the rotary motor.
The invention is further provided with: the structure that includes first turn joint, the turn joint of second and third gyration joint is the same all includes turn motor, turn motor flange, turn reduction gear flange and flange clamp plate, turn motor fixes on turn motor flange, turn reduction gear flange sets up the outside at turn motor flange, turn reduction gear sets up on turn reduction gear flange, the input of turn reduction gear and the output shaft of turn motor, the output of turn reduction gear is connected with the flange clamp plate, be provided with the spliced pole on the flange clamp plate.
The invention is further provided with: and the first rotary shell and the second rotary shell are both provided with storage cavities.
The invention is further provided with: the first rotary shell is provided with a fixed inner flange, the fixed inner flange is provided with a plurality of mounting holes, and the mounting holes are matched with mounting columns on the flange pressing plate. The two ends of the rotary shell are provided with storage cavities.
The invention is further provided with: the first rotary shell is provided with a fixed inner flange, the fixed inner flange is provided with a plurality of mounting holes, and the mounting holes are matched with mounting columns on the flange pressing plate.
The invention is further provided with: the top of the first mechanical arm is provided with an installation cavity for accommodating a first rotary joint.
The invention is further provided with: and a cavity for accommodating a third rotary joint is arranged in the second mechanical arm.
In conclusion, the invention has the following beneficial effects:
the mechanical arm of the six-degree-of-freedom service type robot arm is provided with the rotary joint and the turning joint, has six degrees of freedom, is flexible in joint movement, is in a modular design, is convenient to machine and install, and is small in size, light in weight and attractive in appearance.
Drawings
Figure 1 is a schematic view of a robotic arm according to the present invention.
Fig. 2 is a schematic structural diagram of the robot arm according to the present invention.
Fig. 3 is a schematic view of the joint structure of the robot arm according to the present invention.
Fig. 4 is a schematic structural view of a revolute joint according to the present invention.
Fig. 5 is a schematic structural view of a revolute joint according to the present invention.
Fig. 6 is a partial structural schematic diagram of the present invention.
Fig. 7 is a schematic structural view of a turn housing according to the present invention.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further described with reference to the figures and the specific embodiments.
As shown in fig. 1 to 7, the six-degree-of-freedom service type robot arm provided by the invention comprises a base 1, and is characterized in that a first mechanical arm 2 is arranged on the base 1, a first turning joint 3 is arranged at the top of the first mechanical arm 2, a first turning shell 4 is arranged on the first turning joint 3, the first turning shell 4 is connected with a turning shell 6 through a first turning joint 5, the other end of the turning shell 6 is connected with a connecting piece 8 through a second turning joint 7, a second turning joint 7 is connected onto the connecting piece 8, a second turning shell 8 is arranged at the top of the second turning joint 7, the second turning shell 8 is connected with a second mechanical arm 10 through a third turning joint 9, and a third turning joint is arranged inside the second mechanical arm 10.
The first rotary joint 3, the second rotary joint 7 and the third rotary joint are identical in structure and comprise a rotary motor 31, a rotary motor flange 32, a rotary speed reducer 33 and a rotary speed reducer flange 34, the rotary motor 31 is fixed inside the base 1 through the rotary motor flange 32, the rotary speed reducer 33 is arranged on the rotary speed reducer flange 34, the rotary speed reducer flange 34 is arranged on the outer side of the rotary motor flange 32, and the input end of the rotary speed reducer 33 is connected with the output shaft of the rotary motor 31.
The structure that includes first knuckle joint 5, second knuckle joint 7 and third revolute joint 9 is the same all includes turn motor 51, turn motor flange 52, turn reduction gear 53, turn reduction gear flange 54 and flange clamp plate 55, turn motor 51 is fixed on turn motor flange 52, turn reduction gear flange 54 sets up the outside at turn motor flange 52, turn reduction gear 53 sets up on turn reduction gear flange 54, the input of turn reduction gear 54 and the output shaft of turn motor 51, and the output of turn reduction gear 54 is connected with flange clamp plate 55.
All be provided with on first gyration casing 4 and the second gyration casing 8 and put the thing chamber, put the thing chamber on the first gyration casing 4 and be used for holding first turn joint 5, put the thing chamber on the second gyration casing 8 and be used for holding third turn joint 9.
The both ends of turn casing 6 all are provided with puts the thing chamber, the thing chamber of putting of the one end of gyration casing 6 is used for holding second turn joint 9, and the thing chamber of putting of the 6 other end of gyration casing is used for holding first turn joint 5, the thing chamber of putting that gyration casing 6 is close to first turn joint 5 one end is provided with the mounting hole in being provided with, the mounting hole is used for being connected with fixed and first arm 2.
The first rotary shell 4 is provided with a fixed inner flange 41, the fixed inner flange 41 is provided with a plurality of mounting holes, the mounting holes are matched with mounting columns on a flange pressing plate 55, and the flange pressing plate 55 is fixed on the fixed inner flange 41 through a mounting column bending speed reducer 54.
The top of the first mechanical arm 2 is provided with a mounting cavity for accommodating the first revolute joint 3.
The second mechanical arm 10 is provided with a cavity for accommodating a third revolute joint.
The working principle of the invention is as follows:
when the robot is used, the first mechanical arm 2 is arranged on the base 1, the first rotary joint 3 is arranged in the mounting cavity at the top of the first mechanical arm 2, the first rotary joint 3 is provided with a first rotary shell, the first rotary shell 4 is connected with the turning shell 6 through the first turning joint 5, the other end of the turning shell 6 is connected with a connecting piece 8 through a second turning joint 7, the connecting piece 8 is connected with a second rotary joint 7, the top of the second rotary joint 7 is provided with a second rotary shell 8, the second rotary shell 8 is connected with the second mechanical arm 10 through a third turning joint 9, and the second mechanical arm 10 is internally provided with a third rotary joint. The volume of arm is less, and the quality is lighter, and the outward appearance is comparatively pleasing to the eye.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011637990.1A CN112757319A (en) | 2020-12-31 | 2020-12-31 | Six-degree-of-freedom service type robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011637990.1A CN112757319A (en) | 2020-12-31 | 2020-12-31 | Six-degree-of-freedom service type robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112757319A true CN112757319A (en) | 2021-05-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011637990.1A Pending CN112757319A (en) | 2020-12-31 | 2020-12-31 | Six-degree-of-freedom service type robot arm |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9713765D0 (en) * | 1997-07-01 | 1997-09-03 | Engineering Services Inc | Reconfigurable mudular drive system |
| CN205497473U (en) * | 2016-02-29 | 2016-08-24 | 杭州娃哈哈精密机械有限公司 | Modularization manipulator |
| CN109262601A (en) * | 2018-09-28 | 2019-01-25 | 中科新松有限公司 | Light-type mechanical arm and robot with it |
| CN215511055U (en) * | 2020-12-31 | 2022-01-14 | 浙江同善人工智能技术有限公司 | Six-degree-of-freedom service type robot arm |
-
2020
- 2020-12-31 CN CN202011637990.1A patent/CN112757319A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9713765D0 (en) * | 1997-07-01 | 1997-09-03 | Engineering Services Inc | Reconfigurable mudular drive system |
| CN205497473U (en) * | 2016-02-29 | 2016-08-24 | 杭州娃哈哈精密机械有限公司 | Modularization manipulator |
| CN109262601A (en) * | 2018-09-28 | 2019-01-25 | 中科新松有限公司 | Light-type mechanical arm and robot with it |
| CN215511055U (en) * | 2020-12-31 | 2022-01-14 | 浙江同善人工智能技术有限公司 | Six-degree-of-freedom service type robot arm |
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