CN109676596B - Six-degree-of-freedom intelligent grabbing mechanical arm - Google Patents

Abstract

The invention discloses a six-degree-of-freedom intelligent grabbing mechanical arm which comprises a shoulder joint rotating mechanism, a shoulder joint pitching mechanism, an elbow joint rotating mechanism, an elbow joint pitching mechanism, a wrist joint rotating mechanism, a wrist joint pitching mechanism and a mechanical claw which are sequentially connected, wherein a rigid power transmission connecting device positioned in a shell is connected between the output end of the shoulder joint rotating mechanism and the input end of the shoulder joint pitching mechanism, and between the output end of the shoulder joint pitching mechanism and the input end of the elbow joint rotating mechanism. The invention can perform various complex compound motions, has wide motion range and can finish the grabbing action with high coupling degree; through the internal connection piece connection, the shell atress is very little, and used shell material can adopt light material such as plastics, and the manufacturing method is 3D printing, and the material conveniently obtains, makes simply, low price, can alleviate the whole weight of arm, easily operation, extension working life, fine adaptation reality complex operational environment's construction operation.

Description

A six-degree-of-freedom intelligent grasping robot arm

Technical field

The invention relates to the technical application field of multi-axis robotic arms, specifically a six-degree-of-freedom intelligent grasping robotic arm.

Background technique

Under the background of the country's promotion of "Industry 4.0" and "Made in China 2025", the process of industrial automation is in full swing. Therefore, the use of robotic arms to replace manual work in industry has become a future trend. The extensive application of robotic arms can reduce labor costs and further liberate productivity. At the same time, it can replace manual labor in completing dangerous, single and repetitive tasks, and has a wide range of uses. However, the industrial robotic arms currently on the market have problems such as being too large and complex in structure. On the one hand, due to defects in the mechanical structure, it is difficult to complete relatively complex grasping actions, and cannot simultaneously ensure a large working space and operational accuracy. On the other hand, the internal connection and transmission methods of foreign advanced robotic arms are kept secret. Domestic robotic arms still lack the advantages of lightness, high flexibility, and coordinated appearance.

The existing robotic arm is connected through the shell through each joint. The shell at the starting end needs to withstand a large moment, so the shell needs to be cast from high-strength aluminum alloy or other metal alloys. The outer shell adopts a curved surface, which is difficult to process on a machine tool. It can only be produced by mold, but this will lead to high costs, difficulty in modification, and long production cycle.

Therefore, a multi-degree-of-freedom robotic arm that is lightweight, highly flexible, beautiful in appearance, and independently developed by Chinese people can greatly improve the problems faced by my country's industrial robotic arms at this stage.

Contents of the invention

The present invention proposes a six-degree-of-freedom intelligent grasping robot arm, which mainly solves the existing problems of complex structure, low flexibility, low grasping accuracy, and difficulty in generalization.

The present invention is realized through the following technical solutions:

A six-degree-of-freedom intelligent grasping robot arm, including a shoulder joint rotation mechanism, a shoulder joint pitch mechanism, an elbow joint rotation mechanism, an elbow joint pitch mechanism, a wrist joint rotation mechanism, a wrist joint pitch mechanism and a mechanical claw connected in sequence, said A rigid power transmission connection device located in the housing is connected between the output end of the shoulder joint rotation mechanism and the input end of the shoulder joint pitch mechanism, and between the output end of the shoulder joint pitch mechanism and the input end of the elbow joint rotation mechanism. .

Further, the rigid power transmission connection device located between the output end of the shoulder joint rotation mechanism and the input end of the shoulder joint pitching mechanism includes a bottom plate connecting plate and a Y-shaped connecting plate. The main body of the Y-shaped connecting plate is a rectangular plate. Shape, the two sides of the main body length direction of the Y-shaped connecting plate are extended and symmetrically provided with spread-wing flange connecting portions, and the edge of the flange connecting portion is provided with a number of connecting through holes distributed along concentric circles; The base plate connecting plate is fixedly connected to the output end of the shoulder joint rotation mechanism through screws. One end of the Y-shaped connecting plate is vertically connected to the base plate connecting plate through screws. The input end of the shoulder joint pitching mechanism extends symmetrically. Two connecting plate mounting parts with arc-shaped cross sections are provided, and the front end surfaces of the two connecting plate mounting parts are vertically connected to the two flange connecting parts of the Y-shaped connecting plate respectively through screws.

Further, the rigid power transmission connection device located between the output end of the shoulder joint pitching mechanism and the input end of the elbow joint rotation mechanism includes a bottom plate connecting plate and a fan-shaped connecting plate. The main body of the fan-shaped connecting plate is a rectangular plate. shape, one end of the main body length direction of the fan-shaped connecting plate is provided with an arcuate flange connection portion, and the edge of the arcuate flange connection portion is provided with a number of connection through holes distributed along concentric circles; the bottom plate connecting plate is connected to the The output end of the shoulder joint pitch mechanism is fixedly connected with screws. One end of the fan-shaped connecting plate is vertically connected to the base plate connecting plate through screws. The input end of the elbow joint rotation mechanism is symmetrically extended with two arc-shaped cross sections. The front end surfaces of the two connecting plate mounting parts are vertically connected to the arcuate flange connecting part of the sector-shaped connecting plate through screws.

Further, the shoulder joint rotation mechanism specifically includes a shoulder joint rotation motor, a shoulder joint rotation output flange, a shoulder joint rotation driver and a shoulder joint rotation shell. The Y-shaped connecting plate is also provided with a shoulder joint rotation rib. plate, the outer ring of the shoulder joint rotating motor is fixed to the external environment, the inner ring is connected to the shoulder joint rotating output flange through screws, the middle part of the shoulder joint rotating output flange is hollowed out, and a countersunk hole is drilled; the shoulder joint The rotating rib plate, the shoulder joint rotating output flange and the Y-shaped connecting plate play a supporting and fixing role; through holes are drilled around the shoulder joint rotating driver and are fixed to the upper surface of the shoulder joint rotating output flange through screws; the shoulder joint rotating shell There are countersunk holes drilled around the bottom, which are fixed with screws through threaded holes around the shoulder joint rotation output flange; the bottom plate connecting plate is fixedly connected to the shoulder joint rotation output flange through screws, and the Y-shaped connecting plate One end is vertically connected to the base plate connecting plate through screws.

Further, the shoulder joint pitching mechanism specifically includes a shoulder joint pitching fixed flange, a shoulder joint pitching motor, a shoulder joint pitching output flange, a sector connecting plate, a shoulder joint pitching driver and a shoulder joint pitching housing. The shoulder joint pitching fixed flange The flange is symmetrically extended with two connecting plate mounting parts with arc-shaped cross sections; the sector-shaped connecting plate is also provided with a shoulder joint pitching rib plate, and the outer ring of the shoulder joint pitching motor and the shoulder joint pitching fixed flange pass through The inner ring and the shoulder joint pitch output flange are connected and fixed by screws; the shoulder joint pitch rib plate is connected and fixed with the shoulder joint pitch output flange and the sector connecting plate respectively; there are holes drilled around the shoulder joint pitch driver. hole, which is fixed on the surface of the shoulder joint pitch output flange with screws; a through hole is drilled around the bottom of the shoulder joint pitch housing, and screws are used to fix it with the threaded holes around the shoulder joint pitch output flange.

Further, the elbow joint rotation mechanism specifically includes an elbow joint rotation fixing flange, an elbow joint rotation motor, an elbow joint rotation output flange and an elbow joint rotation shell. The elbow joint rotation fixation flange and the sector-shaped connecting plate are connected and fixed by screws. ; The outer ring of the elbow joint rotating motor is connected and fixed with the elbow joint rotating fixed flange through screws, and the inner ring is connected and fixed with the elbow joint rotating output flange through screws; through holes are drilled around both ends of the elbow joint rotating shell, and the elbow joint is connected to the elbow joint through screws. The threaded holes around the rotating output flange are matched and fixed; the elbow joint rotating fixed flange is symmetrically extended and provided with two connecting plate mounting parts with arc-shaped cross sections.

Further, the elbow joint pitching structure includes an elbow joint pitching fixed flange, an elbow joint pitching motor, an elbow joint pitching output flange and an elbow joint pitching shell. Threaded holes are drilled around the elbow joint pitching fixing flange, and the elbow joint pitching fixed flange is drilled with threaded holes around it. The screws are fixed with the elbow joint rotating shell; the outer ring of the elbow joint pitch motor is fixed to the elbow joint pitch fixed flange, and the outer ring is fixed to the elbow joint pitch output flange; there are threaded holes drilled around the elbow joint pitch output flange, through which The screws are matched with the through holes on the elbow joint pitch housing.

Further, the wrist joint rotation structure includes a wrist joint rotation fixing flange, a wrist joint rotation motor, a wrist joint rotation output flange, a wrist joint rotation housing and a wrist joint rotation driver. The wrist joint rotation fixation flange is surrounded by A threaded hole is drilled and fixed with the elbow joint pitch housing through screws; the inner ring of the wrist joint rotation motor is fixed to the wrist joint rotation fixed flange, and the outer ring is fixed to the wrist joint rotation output flange; the periphery of the wrist joint rotation output flange A threaded hole is drilled, and the screw is connected to the through hole on the wrist rotation housing; the wrist rotation driver has through holes around it, and is fixed on the wrist rotation fixing flange through screws.

Further, the wrist joint pitching mechanism includes a wrist joint pitching fixed flange, a wrist joint pitching motor, a wrist joint pitching output flange and a wrist joint pitching driver. Threaded holes are drilled around the wrist joint pitching fixing flange, and the wrist joint pitching fixing flange is connected with the wrist joint through screws. The wrist joint rotating shell is fixed together; the outer ring of the wrist joint pitch motor is fixed to the wrist joint pitch fixed flange, and the outer ring is fixed to the wrist joint pitch output flange; there are through holes around the wrist joint pitch driver, which is fixed to the wrist joint pitch fixed flange with screws on the flange.

Further, the mechanical claw includes a fixed bracket, a mechanical claw motor, a large crank, a small crank, a long claw, a short claw, a long bolt and a short bolt. The fixed bracket is connected to the wrist pitch output flange through screws; The outer ring of the mechanical claw motor is fixed to the fixed bracket, and the inner ring is connected to the large crank and the small crank through gears; the long bolt fixes the long claw and the large crank, the short bolt fixes the short claw and the small crank, and the mechanical claw motor simultaneously controls the long claw and the small crank. Opening and closing movements of claws and short claws.

Compared with the existing technology, the six-degree-of-freedom intelligent grasping robot arm of the present invention can perform various complex compound movements. Its movement space is large and wide, it can complete grasping actions with a high degree of coupling, and it is well adapted to complex real-life work. Construction work in an environment where:

1. In view of the problems that the existing mechanical arm is connected through the shell through each joint, and the shell at the starting end needs to withstand a large moment and is cast with high-strength aluminum alloy or other metal alloys and is difficult to process and costly. The mechanical arm of the present invention passes through the internal The connector transmits power, and the force on the shell is very small. The shell material used is low, and lightweight materials such as plastic can be used. The manufacturing method is 3D printing. The materials are easy to obtain, simple to manufacture, and cheap.

2. In view of the fact that the existing mechanical arm uses a high-strength alloy shell as a connection, so the overall weight will be very large, and long-term work will lead to problems such as metal fatigue and workpiece deformation. The present invention can use lightweight materials such as plastic, which is very light and can Greatly reduces the overall weight of the robotic arm, making it easy to operate and extending the working life.

3. During operation, the torque experienced by each joint mechanism of the mechanical arm is proportional to the distance from each joint mechanism of the mechanical arm to the mechanical claw. Therefore, the present invention only provides rigid power transmission located in the housing in several joint mechanisms far away from the mechanical claw. The connection device not only conforms to the force characteristics, but also helps to simplify the structure and total weight of the robotic arm and reduce costs.

Description of the drawings

Figure 1 is a schematic structural diagram of the mechanical arm of the present invention;

Figure 2 is a schematic diagram of the shoulder joint rotation mechanism of the present invention;

Figure 3 is a schematic diagram of the shoulder joint pitching mechanism of the present invention;

Figure 4 is a schematic diagram of the elbow joint rotation mechanism of the present invention;

Figure 5 is a view of the elbow joint pitching mechanism of the present invention;

Figure 6 is a schematic diagram of the wrist joint rotation mechanism of the present invention;

Figure 7 is a schematic diagram of the wrist joint pitching mechanism of the present invention;

Figure 8 is a view of the mechanical claw mechanism of the present invention;

Figure 9 is a schematic structural diagram of the Y-shaped connecting plate according to the embodiment of the present invention;

Figure 10 is a schematic structural diagram of the base plate connecting plate according to the embodiment of the present invention;

Figure 11 is a schematic structural diagram of the shoulder joint pitch fixing flange according to the embodiment of the present invention;

Figure 12 is a schematic structural diagram of a sector-shaped connecting plate according to an embodiment of the invention.

In the picture: 1-shoulder joint rotation mechanism; 1-1-shoulder joint rotation motor; 1-2-shoulder joint rotation output flange; 1-3-Y-shaped connecting plate; 1-4-shoulder joint rotation rib plate; 1 -5-shoulder joint rotation driver; 1-6-shoulder joint rotation housing; 2-shoulder joint pitch mechanism; 2-1-shoulder joint pitch fixed flange; 2-2-shoulder joint pitch motor; 2-3-shoulder joint Pitch output flange; 2-4-sector connecting plate; 2-5-shoulder joint pitch rib plate; 2-6-shoulder joint pitch driver; 2-7-shoulder joint pitch housing; 3-elbow joint rotation mechanism; 3- 1-elbow joint rotating fixed flange; 3-2-elbow joint rotating motor; 3-3-elbow joint rotating output flange; 3-4-elbow joint rotating housing; 4-elbow joint pitching mechanism; 4-1-elbow joint Joint pitch fixed flange; 4-2-elbow joint pitch motor; 4-3-elbow joint pitch output flange; 4-4-elbow joint pitch housing; 5-wrist joint rotation mechanism; 5-1-wrist joint rotation fixation Flange; 5-2-wrist joint rotation motor; 5-3-wrist joint rotation output flange; 5-4-wrist joint rotation housing; 5-5-wrist joint rotation driver; 6-wrist joint pitch mechanism; 6- 1-Wrist joint pitch fixed flange; 6-2-Wrist joint pitch motor; 6-3-Wrist joint pitch output flange; 6-4-Wrist joint pitch driver; 7-Mechanical claw; 7-1-Fixed bracket; 7-2-Mechanical claw motor; 7-3-Large crank; 7-4-Small crank; 7-5-Long claw; 7-6-Short claw; 7-7-Long bolt; 7-8-Short bolt.

Detailed ways

The working principle and working process of the present invention will be further described in detail below with reference to the accompanying drawings.

As shown in Figure 1, a six-degree-of-freedom intelligent grasping robot arm includes a shoulder joint rotation mechanism 1, a shoulder joint pitch mechanism 2, an elbow joint rotation mechanism 3, an elbow joint pitch mechanism 4, and a wrist joint rotation mechanism 5 connected in sequence. , wrist joint pitch mechanism 6 and mechanical claw 7, between the output end of the shoulder joint rotation mechanism 1 and the input end of the shoulder joint pitch mechanism 2, between the output end of the shoulder joint pitch mechanism 2 and the elbow joint rotation mechanism 3 The input ends are connected with a rigid power transmission connection device located in the housing.

Specifically, as shown in Figures 2, 9 to 12, the rigid power transmission connection device located between the output end of the shoulder joint rotation mechanism 1 and the input end of the shoulder joint pitch mechanism 2 includes a base connecting plate, a Y-shaped Connecting plate 1-3. The main body of the Y-shaped connecting plate 1-3 is in the shape of a rectangular plate. Both sides of the main body of the Y-shaped connecting plate 1-3 in the length direction are symmetrically provided with spread-wing flange connecting portions. , the edge of the flange connection part is provided with a number of connection through holes distributed along concentric circles; the bottom plate connection plate is fixedly connected to the output end of the shoulder joint rotation mechanism 1 through screws, and the Y-shaped connection plate 1- One end of 3 is vertically connected to the bottom plate connecting plate through screws. The input end of the shoulder joint pitching mechanism 2 is symmetrically extended with two connecting plate mounting parts with arc-shaped cross sections. The two connecting plate mounting parts are The front end surface is vertically connected to the two flange connecting parts of the Y-shaped connecting plates 1-3 through screws. The shoulder joint rotation mechanism 1 specifically includes a shoulder joint rotation motor 1-1, a shoulder joint rotation output flange 1-2, a shoulder joint rotation driver 1-5 and a shoulder joint rotation shell 1-6. The Y-shaped The connecting plate 1-3 is also provided with a shoulder joint rotation rib plate 1-4. The outer ring of the shoulder joint rotation motor 1-1 is fixed to the external environment, and the inner ring is connected to the shoulder joint rotation output flange 1-2 through screws. The shoulder joint rotation output flange 1-2 is hollowed out in the middle and drilled with a countersunk hole; the shoulder joint rotation rib plate 1-4 is connected with the shoulder joint rotation output flange 1-2 and the Y-shaped connecting plate 1-3. It plays a supporting and fixing role; through holes are drilled around the shoulder joint rotation driver 1-5 and fixed on the upper surface of the shoulder joint rotation output flange 1-2 through screws; countersunk holes are drilled around the bottom of the shoulder joint rotation housing 1-6 , fixed by screws with the threaded holes around the shoulder joint rotation output flange 1-2; the base plate connecting plate and the shoulder joint rotation output flange 1-2 are fixedly connected by screws, and the Y-shaped connecting plate 1 One end of -3 is vertically connected to the bottom plate connecting plate through screws.

Specifically, as shown in Figure 3, the rigid power transmission connection device located between the output end of the shoulder joint pitching mechanism 2 and the input end of the elbow joint rotation mechanism 3 includes a bottom plate connecting plate and a sector connecting plate 2-4. , the main body of the fan-shaped connecting plate 2-4 is in the shape of a rectangular plate, one end of the main body length direction of the fan-shaped connecting plate 2-4 is provided with an arcuate flange connection, and the edge of the arcuate flange connection is provided with a concentric A number of connecting through holes distributed in a circle; the base plate connecting plate is fixedly connected to the output end of the shoulder joint pitching mechanism 2 through screws, and one end of the sector-shaped connecting plate 2-4 is vertically connected to the base plate connecting plate through screws , the input end of the elbow joint rotation mechanism 3 is symmetrically extended with two connecting plate mounting parts with arc-shaped cross sections, and the front end surfaces of the two connecting plate mounting parts are connected to the sector-shaped connecting plates 2-4 through screws The arcuate flange connection is connected vertically. The shoulder joint pitching mechanism 2 specifically includes a shoulder joint pitching fixed flange 2-1, a shoulder joint pitching motor 2-2, a shoulder joint pitching output flange 2-3, a sector connecting plate 2-4, and a shoulder joint pitching driver 2- 6 and the shoulder joint pitch housing 2-7, the shoulder joint pitch fixing flange 2-1 is symmetrically extended and provided with two connecting plate mounting parts with arc-shaped cross sections; the sector-shaped connecting plate 2-4 is also provided with Shoulder joint pitch rib plate 2-5, the outer ring of the shoulder joint pitch motor 2-2 is connected to the shoulder joint pitch fixing flange 2-1 through screws, and the inner ring is connected to the shoulder joint pitch output flange 2-3 through screws Fixed; the shoulder joint pitch ribs 2-5 are connected and fixed with the shoulder joint pitch output flange 2-3 and the sector connecting plate 2-4 respectively; through holes are drilled around the shoulder joint pitch driver 2-6, and screws It is fixed on the surface of the shoulder joint pitch output flange 2-3; a through hole is drilled around the bottom of the shoulder joint pitch housing 2-7, and screws are used to fix it with the threaded holes around the shoulder joint pitch output flange 2-3.

Specifically, as shown in Figure 4, the elbow joint rotation mechanism 3 specifically includes an elbow joint rotation fixing flange 3-1, an elbow joint rotation motor 3-2, an elbow joint rotation output flange 3-3 and an elbow joint rotation The outer shell 3-4, the elbow joint rotating fixed flange 3-1 and the sector connecting plate 2-4 are connected and fixed by screws; the outer ring of the elbow joint rotating motor 3-2 and the elbow joint rotating fixed flange 3-1 are connected and fixed by screws. The inner ring is connected and fixed with the elbow joint rotating output flange 3-3 through screws; through holes are drilled around both ends of the elbow joint rotating housing 3-4, and the screws are fixed with the threaded holes around the elbow joint rotating output flange 3-3. ; The elbow joint rotation fixing flange 3-1 is symmetrically extended and provided with two connecting plate mounting portions with arc-shaped cross sections.

Specifically, as shown in Figure 5, the elbow joint pitching structure 4 includes an elbow joint pitching fixed flange 4-1, an elbow joint pitching motor 4-2, an elbow joint pitching output flange 4-3 and an elbow joint pitching housing. 4-4. The elbow joint pitch fixing flange 4-1 has threaded holes drilled around it and is fixed with the elbow joint rotating shell 3-4 through screws; the outer ring of the elbow joint pitch motor 4-2 is connected to the elbow joint pitch fixing flange. 4-1 is fixed, and the outer ring is fixed to the elbow joint pitch output flange 4-3; a threaded hole is drilled around the elbow joint pitch output flange 4-3, and the screw is connected to the through hole on the elbow joint pitch output housing 4-4. Match the connection.

Specifically, as shown in Figure 6, the wrist joint rotation structure 5 includes a wrist joint rotation fixed flange 5-1, a wrist joint rotation motor 5-2, a wrist joint rotation output flange 5-3, and a wrist joint rotation shell. 5-4 and the wrist joint rotation driver 5-5. The wrist joint rotation fixing flange 5-1 has threaded holes drilled around it and is fixed with the elbow joint pitch shell 4-4 through screws; the wrist joint rotation motor 5-2 The inner ring is fixed to the wrist joint rotation fixing flange 5-1, and the outer ring is fixed to the wrist joint rotation output flange 5-3; there are threaded holes drilled around the wrist joint rotation output flange 5-3, which are connected to the wrist joint through screws. The through holes on the rotating housing 5-4 are connected with each other; the wrist joint rotating driver 5-5 has through holes around it and is fixed on the wrist joint rotating fixing flange 5-1 through screws.

Specifically, as shown in Figure 7, the wrist joint pitching mechanism 6 includes a wrist joint pitching fixed flange 6-1, a wrist joint pitching motor 6-2, a wrist joint pitching output flange 6-3 and a wrist joint pitching driver. Composed of 6-4. It is characterized in that: there are threaded holes drilled around the wrist joint pitch fixing flange 6-1, which is fixed with the wrist joint rotating shell 5-4 through screws; the outer ring of the wrist joint pitch motor 6-2 is connected to the wrist joint pitch fixing flange 6- 1 is fixed, and the outer ring is fixed to the wrist pitch output flange 6-3; there are through holes around the wrist pitch driver 6-4, which is fixed on the wrist pitch fixing flange 6-1 through screws.

Specifically, as shown in Figure 8, the mechanical claw 7 includes a fixed bracket 7-1, a mechanical claw motor 7-2, a large crank 7-3, a small crank 7-4, a long claw 7-5, and a short claw 7 -6. Long bolts 7-7 and short bolts 7-8. The fixed bracket 7-1 and the wrist pitch output flange 6-3 are connected and fixed by screws; the outer ring of the mechanical claw motor 7-2 is connected to the fixed bracket 7- 1 is fixed, and the inner ring is connected to the large crank 7-3 and the small crank 7-4 through gears; the long bolt 7-7 fixes the long claw 7-5 and the large crank 7-3, and the short bolt 7-8 secures the short claw 7-6 and the small crank 7-4 are fixed, and the mechanical claw motor 7-2 simultaneously controls the opening and closing movements of the long claw 7-5 and the short claw 7-6.

The shoulder joint rotation mechanism is arranged at the starting end of the mechanical arm. The motor in the shoulder joint rotation mechanism is hingedly fixed to the outside world, and its output end is hinged to the shoulder joint pitch mechanism; the motor output end of the shoulder joint pitch mechanism is connected to the elbow joint rotation mechanism. The motor output end of the elbow joint rotation mechanism is hinged to the elbow joint pitching mechanism; the motor output end of the elbow joint pitching mechanism is hinged to the wrist pitching mechanism; the motor output end of the wrist pitching mechanism is hinged to the wrist rotation mechanism; The motor output end of the wrist rotation mechanism is hingedly connected to the mechanical claw; the motor in the mechanical claw controls the opening and closing movement of the mechanical claw.

The shoulder joint rotation mechanism 1 of the mechanical arm in the above embodiment can be fixed to the external environment, and can drive the subsequent shoulder joint pitching mechanism 2 to rotate around the vertical axis; the shoulder joint pitching mechanism 2 can drive the subsequent shoulder joint pitching mechanism 2. The elbow joint rotation mechanism 3 swings on the horizontal plane; the elbow joint rotation mechanism 3 can drive the following elbow joint pitching mechanism 4 to rotate around the vertical axis; the elbow joint pitching mechanism 4 can drive the following wrist joint rotation mechanism 5 Swing on the horizontal plane; the wrist joint rotation mechanism 5 can drive the connected wrist joint pitching mechanism 6 to rotate around the vertical axis; the wrist joint pitching mechanism 6 can drive the connected mechanical claw 7 to flip on the horizontal plane.

Through program settings, the motors in each actuator can drive the mechanism to rotate or swing at a certain angle to achieve changes in position and attitude.

Currently, this type of robotic arm on the market is connected through the shell through each joint. The shell at the starting end needs to withstand a large moment, so the shell needs to be cast from high-strength aluminum alloy or other metal alloys. The outer shell adopts a curved surface, which is difficult to process on a machine tool. It can only be produced by mold, but this will lead to problems such as high cost, difficulty in modification, and long production cycle. The robotic arms in this embodiment are connected through internal connectors, and the shell is stressed. It is very small, and the shell materials used are all lightweight materials such as plastic, and the manufacturing method is 3D printing. The materials are easily available, the manufacturing is simple, and the price is relatively cheap.

In addition, the robot arms on the market use high-strength alloy shells as connections, so the overall weight will be very large. Long-term work will lead to metal fatigue, workpiece deformation and other problems. The plastic used in this embodiment is very light, which can greatly reduce the weight of the robot arm. Overall weight, easy handling and extended working life.

Finally, the present invention only provides a rigid power transmission connection device located in the housing between several joint mechanisms away from the mechanical claw, such as the shoulder joint rotation mechanism 1, the shoulder joint pitch mechanism 2, and the elbow joint rotation mechanism 3, which are both in line with the force requirements. Features also help simplify the structure and total weight of the robotic arm and reduce costs.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (7)

1. A six-degree-of-freedom intelligent grasping robot arm, including a shoulder joint rotation mechanism (1), a shoulder joint pitch mechanism (2), an elbow joint rotation mechanism (3), an elbow joint pitch mechanism (4), and a wrist joint connected in sequence. The joint rotation mechanism (5), wrist joint pitch mechanism (6) and mechanical claw (7) are characterized by: Between the output end of the shoulder joint rotation mechanism (1) and the input end of the shoulder joint pitch mechanism (2), between the output end of the shoulder joint pitch mechanism (2) and the input end of the elbow joint rotation mechanism (3) Both are connected with a rigid power transmission connection device located in the housing; the rigid power transmission connection device between the output end of the shoulder joint rotation mechanism (1) and the input end of the shoulder joint pitch mechanism (2) includes a bottom plate connecting plate , Y-shaped connecting plate (1-3), the main body of the Y-shaped connecting plate (1-3) is a rectangular plate shape, and both sides of the main body length direction of the Y-shaped connecting plate (1-3) extend A wing-shaped flange connection is symmetrically provided, and a number of connection through holes distributed along concentric circles are provided on the edge of the flange connection; the base plate connection plate and the output end of the shoulder joint rotation mechanism (1) are connected through screws Fixed connection, one end of the Y-shaped connecting plate (1-3) is vertically connected to the bottom plate connecting plate through screws, and the input end of the shoulder joint pitching mechanism (2) is symmetrically extended with two arc-shaped cross sections. The front end faces of the two connecting plate mounting parts are respectively vertically connected to the two flange connecting parts of the Y-shaped connecting plate (1-3) through screws; The rigid power transmission connection device located between the output end of the shoulder joint pitching mechanism (2) and the input end of the elbow joint rotation mechanism (3) includes a bottom connecting plate and a sector connecting plate (2-4). The main body of the fan-shaped connecting plate (2-4) is in the shape of a rectangular plate. One end of the main body of the fan-shaped connecting plate (2-4) in the length direction is provided with an arcuate flange connection portion, and the edge of the arcuate flange connection portion is provided with a concentric flange connecting portion. Several connecting through holes distributed in a circle; the base plate connecting plate is fixedly connected to the output end of the shoulder joint pitching mechanism (2) through screws, and one end of the sector-shaped connecting plate (2-4) is connected to the base plate connecting plate Vertically connected by screws, the input end of the elbow joint rotation mechanism (3) is symmetrically extended with two connecting plate mounting parts with arc-shaped cross sections, and the front end surfaces of the two connecting plate mounting parts are connected to the said connecting plate mounting parts through screws. The arcuate flange connecting parts of the sector connecting plates (2-4) are connected vertically; The mechanical claw (7) includes a fixed bracket (7-1), a mechanical claw motor (7-2), a large crank (7-3), a small crank (7-4), a long claw (7-5), Short claw (7-6), long bolt (7-7) and short bolt (7-8), the fixed bracket (7-1) and the wrist pitch output flange (6-3) are connected and fixed by screws; The outer ring of the mechanical claw motor (7-2) is fixed to the fixed bracket (7-1), and the inner ring is connected to the large crank (7-3) and the small crank (7-4) through gears; the long bolt (7-7 ) Fix the long claw (7-5) and the large crank (7-3), fix the short claw (7-6) and the small crank (7-4) with the short bolt (7-8), and fix the mechanical claw motor (7- 2) Control the opening and closing movements of the long claw (7-5) and the short claw (7-6) at the same time. 2. The six-degree-of-freedom intelligent grasping robot arm according to claim 1, characterized in that: the shoulder joint rotation mechanism (1) specifically further includes a shoulder joint rotation motor (1-1) and a shoulder joint rotation output method. Lanyard (1-2), shoulder joint rotation driver (1-5) and shoulder joint rotation shell (1-6), the Y-shaped connecting plate (1-3) is also provided with a shoulder joint rotation rib plate (1 -4), the outer ring of the shoulder joint rotating motor (1-1) is fixed to the external environment, and the inner ring is connected to the shoulder joint rotating output flange (1-2) through screws. The shoulder joint rotating output flange (1 -2) The middle part is hollowed out and drilled with countersunk holes; the shoulder joint rotation rib plate (1-4), the shoulder joint rotation output flange (1-2) and the Y-shaped connecting plate (1-3) provide support Fixing function; through holes are drilled around the shoulder joint rotation driver (1-5), which is fixed on the upper surface of the shoulder joint rotation output flange (1-2) through screws; holes are drilled around the bottom of the shoulder joint rotation housing (1-6) There are countersunk holes, which are fixed with the threaded holes around the shoulder joint rotation output flange (1-2) through screws; the base plate connecting plate is fixedly connected to the shoulder joint rotation output flange (1-2) through screws , one end of the Y-shaped connecting plate (1-3) is vertically connected to the bottom plate connecting plate through screws. 3. The six-degree-of-freedom intelligent grasping robot arm according to claim 1, characterized in that: the shoulder joint pitching mechanism (2) specifically includes a shoulder joint pitching fixed flange (2-1), a shoulder joint pitching motor ( 2-2), shoulder joint pitch output flange (2-3), sector connecting plate (2-4), shoulder joint pitch driver (2-6) and shoulder joint pitch housing (2-7), the shoulder joint The pitch fixed flange (2-1) is symmetrically extended with two connecting plate mounting parts with arc-shaped cross sections; the sector-shaped connecting plate (2-4) is also provided with a shoulder joint pitch rib (2-5) , the outer ring of the shoulder joint pitch motor (2-2) and the shoulder joint pitch fixing flange (2-1) are connected and fixed by screws, and the inner ring and the shoulder joint pitch output flange (2-3) are connected and fixed by screws; The shoulder joint pitching rib plate (2-5) is connected and fixed with the shoulder joint pitching output flange (2-3) and the sector connecting plate (2-4) respectively; the shoulder joint pitching driver (2-6) is drilled around There are through holes, which are fixed on the surface of the shoulder joint pitch output flange (2-3) through screws; there are through holes drilled around the bottom of the shoulder joint pitch housing (2-7), and they are connected to the shoulder joint pitch output flange (2-3) through screws. ) and the threaded holes around it are fixed. 4. The six-degree-of-freedom intelligent grasping robot arm according to claim 1, characterized in that: the elbow joint rotation mechanism (3) specifically includes an elbow joint rotation fixed flange (3-1) and an elbow joint rotation motor. (3-2), elbow joint rotating output flange (3-3) and elbow joint rotating housing (3-4), elbow joint rotating fixed flange (3-1) and sector connecting plate (2-4) through screws Connection and fixation; the outer ring of the elbow joint rotating motor (3-2) is connected and fixed with the elbow joint rotating fixed flange (3-1) through screws, and the inner ring is connected and fixed with the elbow joint rotating output flange (3-3) through screws; Through holes are drilled around both ends of the elbow joint rotating shell (3-4), and screws are used to fix it with the threaded holes around the elbow joint rotating output flange (3-3); the elbow joint rotating fixed flange (3-3) 1) There are two connecting plate mounting parts with arc-shaped cross sections extending symmetrically. 5. The six-degree-of-freedom intelligent grasping robot arm according to claim 4, characterized in that: the elbow joint pitching mechanism (4) includes an elbow joint pitching fixed flange (4-1), an elbow joint pitching motor ( 4-2), elbow joint pitch output flange (4-3) and elbow joint pitch housing (4-4). The elbow joint pitch fixing flange (4-1) has threaded holes drilled around it and is connected to the elbow joint through screws. The joint rotating shell (3-4) is matched and fixed; the outer ring of the elbow joint pitch motor (4-2) is fixed to the elbow joint pitch fixed flange (4-1), and the outer ring is fixed to the elbow joint pitch output flange (4-3) Fixed; there are threaded holes drilled around the elbow joint pitch output flange (4-3), which are connected with the through holes on the elbow joint pitch shell (4-4) through screws. 6. The six-degree-of-freedom intelligent grasping robot arm according to claim 5, characterized in that: the wrist joint rotation mechanism (5) includes a wrist joint rotation fixed flange (5-1), a wrist joint rotation motor ( 5-2), wrist joint rotation output flange (5-3), wrist joint rotation housing (5-4) and wrist joint rotation driver (5-5), the wrist joint rotation fixed flange (5-1 ) are drilled around and fixed with the elbow joint pitch housing (4-4) through screws; the inner ring of the wrist joint rotation motor (5-2) is fixed with the wrist joint rotation fixing flange (5-1), and the outer ring is fixed with the wrist joint rotation fixing flange (5-1). The wrist joint rotation output flange (5-3) is fixed; there are threaded holes drilled around the wrist joint rotation output flange (5-3), and the screws are connected to the through holes on the wrist joint rotation shell (5-4). ; There are through holes around the wrist joint rotation driver (5-5), which is fixed on the wrist joint rotation fixing flange (5-1) through screws. 7. The six-degree-of-freedom intelligent grasping robot arm according to claim 5, characterized in that: the wrist joint pitching mechanism (6) includes a wrist joint pitching fixed flange (6-1), a wrist joint pitching motor ( 6-2), wrist joint pitch output flange (6-3) and wrist joint pitch driver (6-4). There are threaded holes drilled around the wrist joint pitch fixed flange (6-1), which rotate with the wrist joint through screws. The outer shell (5-4) is matched and fixed; the outer ring of the wrist pitch motor (6-2) is fixed to the wrist pitch fixing flange (6-1), and the outer ring is fixed to the wrist pitch output flange (6-3); There are through holes around the wrist pitch driver (6-4), which is fixed on the wrist pitch fixing flange (6-1) through screws.