CN222060378U - Multi-degree-of-freedom mechanical arm - Google Patents
Multi-degree-of-freedom mechanical arm Download PDFInfo
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- CN222060378U CN222060378U CN202323502641.0U CN202323502641U CN222060378U CN 222060378 U CN222060378 U CN 222060378U CN 202323502641 U CN202323502641 U CN 202323502641U CN 222060378 U CN222060378 U CN 222060378U
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- 210000000245 forearm Anatomy 0.000 claims description 28
- 230000001788 irregular Effects 0.000 abstract description 4
- 230000036544 posture Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 26
- 230000007246 mechanism Effects 0.000 description 11
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 210000002310 elbow joint Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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Abstract
本实用新型公开了一种多自由度机械手臂，其包括第一驱动模组、第二驱动模组、第三驱动模组以及手掌，所述第二驱动模组与所述第一驱动模组的一个输出轴相连接，所述第三驱动模组与所述第二驱动模组转动连接，所述手掌与所述第三驱动模组相连接，所述第一驱动模组和所述第三驱动模组均具有三个方向的自由度，且三个所述自由度之间两两互相垂直，所述第二驱动模组具有俯仰自由度。本实用新型的多自由度机械手臂，由第一驱动模组、第二驱动模组和第三驱动模组共同形成多个自由度，使得机械手臂能够到达不规则的位置和实现高难度的姿态，以达到理想使用目的，不会出现奇异点卡死的情况。
The utility model discloses a multi-degree-of-freedom robotic arm, which includes a first drive module, a second drive module, a third drive module and a palm, wherein the second drive module is connected to an output shaft of the first drive module, the third drive module is rotationally connected to the second drive module, the palm is connected to the third drive module, the first drive module and the third drive module both have degrees of freedom in three directions, and the three degrees of freedom are mutually perpendicular, and the second drive module has a pitch degree of freedom. The multi-degree-of-freedom robotic arm of the utility model is formed by the first drive module, the second drive module and the third drive module to form multiple degrees of freedom, so that the robotic arm can reach irregular positions and achieve difficult postures to achieve ideal use purposes, and there will be no situation of singular point jamming.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a multi-degree-of-freedom mechanical arm.
Background
Along with the progress of society, industrial production activities are more and more complex and precise, so that production tools are promoted to be intelligent and refined, and a great deal of mechanical arms are used at present, but the six-degree-of-freedom mechanical arms are changed from one configuration to another under the condition that three-dimensional positions of end mechanisms cannot be changed in space.
At present, a six-degree-of-freedom mechanical arm is commonly used, but in a specific working environment, when working objects have irregular positions and attitudes, the six-degree-of-freedom mechanical arm is difficult to achieve an ideal use purpose, namely, the situation that singular points are blocked exists, so that the mechanical arm with more than six degrees of freedom is a key for solving the problem.
Disclosure of utility model
The utility model aims to provide a multi-degree-of-freedom mechanical arm, which solves the technical problem that a six-degree-of-freedom mechanical arm is easy to cause singular point blocking in the prior art.
The utility model provides a multi-degree-of-freedom mechanical arm which comprises a first driving module, a second driving module, a third driving module and a palm, wherein the second driving module is connected with one output shaft of the first driving module, the third driving module is rotationally connected with the second driving module, the palm is connected with the third driving module, the first driving module and the third driving module are provided with three degrees of freedom in three directions, the three degrees of freedom are mutually perpendicular in pairs, and the second driving module is provided with pitching degrees of freedom.
As described above, the mechanical arm with multiple degrees of freedom, the first driving module comprises a first rotating motor, a second rotating motor, a third rotating motor and a support, a groove is formed in the support, the second rotating motor is located in the groove, an output shaft of the first rotating motor is connected with the support, an output shaft of the second rotating motor is connected with one end of the support, a tail of the second rotating motor is hinged with the other end of the support, a tail of the third rotating motor is connected with a side wall of the second rotating motor, and the second driving module is connected with an output shaft of the third rotating motor.
As described above, the multi-degree-of-freedom mechanical arm, the second driving module comprises a first connecting seat, a first linear motor, a big arm frame and a second connecting seat, the first connecting seat is connected with the output shaft of the third rotating motor, the second connecting seat is connected with the third driving module, the output shaft of the first linear motor is rotationally connected with the second connecting seat, the tail of the first linear motor is rotationally connected with the first connecting seat, the upper end of the big arm frame is connected with the first connecting seat, and the lower end of the big arm frame is rotationally connected with the second connecting seat.
As for the multi-degree-of-freedom mechanical arm, the large arm frame is covered on the first linear motor, the inner wall of the large arm frame is fixedly connected with the outer wall of the first connecting seat, and the second connecting seat is rotatably connected with the inner wall of the large arm frame.
As described above, the mechanical arm with multiple degrees of freedom is provided with the first rotating shaft on the first connecting seat, and the tail part of the first linear motor is provided with the first fisheye bearing which is sleeved on the first rotating shaft.
As described above, the multi-degree-of-freedom mechanical arm is provided with the second rotating shaft on the second connecting seat, and the output shaft of the first linear motor is provided with the second fisheye bearing which is sleeved on the second rotating shaft.
As for the multi-degree-of-freedom mechanical arm, the second connecting seat is further provided with the third rotating shaft, and the large arm frame is rotatably connected to the third rotating shaft.
As described above, the multi-degree-of-freedom mechanical arm, the third driving module comprises a fourth rotating motor, a small arm frame, a second linear motor, a third linear motor and a palm connecting seat, the palm connecting seat is arranged on the palm, the tail of the fourth rotating motor is connected with the bottom wall of the second connecting seat, the output shaft of the fourth rotating motor is connected with the top of the small arm frame, the tail of the second linear motor and the tail of the third linear motor are both rotationally connected with the upper end of the small arm frame, the output shaft of the second linear motor and the output shaft of the third linear motor are both rotationally connected with the palm connecting seat, and the lower end of the small arm frame is cross-hinged with the palm connecting seat.
The mechanical arm with multiple degrees of freedom, as described above, the third driving module further includes a cross connecting piece, the cross connecting piece is provided with a transverse connecting portion and a longitudinal connecting portion, the forearm frame is rotationally connected with the transverse connecting portion, and the palm connecting seat is rotationally connected with the longitudinal connecting portion.
As for the multi-degree-of-freedom mechanical arm, the upper end part of the forearm frame is provided with the third rotating shaft, two ends of the third rotating shaft extend out from the left side and the right side of the forearm frame respectively, one end of the third rotating shaft is rotationally connected with the tail part of the second linear motor, and the other end of the third rotating shaft is rotationally connected with the tail part of the third linear motor.
As described above, the multi-degree-of-freedom mechanical arm is characterized in that the tail of the second linear motor is provided with the third fisheye bearing, the tail of the third linear motor is provided with the fourth fisheye bearing, the third fisheye bearing is sleeved at one end of the third rotating shaft, and the fourth fisheye bearing is sleeved at the other end of the third rotating shaft.
As described above, the multi-degree-of-freedom mechanical arm is provided with the fourth rotating shaft on the palm connecting seat, two ends of the fourth rotating shaft respectively extend out from the left side and the right side of the palm connecting seat, one end of the fourth rotating shaft is rotationally connected with the output shaft of the second linear motor, and the other end of the fourth rotating shaft is rotationally connected with the output shaft of the third linear motor.
As described above, the output shaft of the second linear motor is provided with the fifth fisheye bearing, the output shaft of the third linear motor is provided with the sixth fisheye bearing, the fifth fisheye bearing is sleeved at one end of the fourth rotating shaft, and the sixth fisheye bearing is sleeved at the other end of the fourth rotating shaft.
The implementation of the embodiment of the utility model has the following beneficial effects:
In the utility model, the first driving module, the second driving module and the third driving module form a plurality of degrees of freedom together, so that the mechanical arm can reach irregular positions and realize high-difficulty gestures, thereby achieving the ideal use purpose, avoiding the situation that singular points are blocked, improving the grabbing capacity of the mechanical arm on objects with complicated space gestures, greatly enhancing the operation use scene of the robot, and avoiding the problem that the tail end position of the mechanical arm with six degrees of freedom cannot be converted from one configuration to another configuration.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Wherein:
FIG. 1 is a schematic view of a multi-degree of freedom manipulator according to an embodiment of the present utility model;
FIG. 2 is a schematic view of a multi-degree of freedom manipulator according to another embodiment of the present utility model;
FIG. 3 is a schematic diagram of a second driving module according to an embodiment of the present utility model;
Fig. 4 is a schematic structural diagram of the second driving module according to the embodiment of the present utility model after the boom frame is removed;
FIG. 5 is a schematic diagram of a third driving module according to an embodiment of the present utility model;
Fig. 6 is a schematic structural diagram of the third driving module with the fourth rotating electric machine removed according to the embodiment of the present utility model.
Wherein: 1. a first driving module; 11. a first rotating electric machine; 12. a second rotating electric machine; 13. a third rotary electric machine; 14. a bracket; 2. a second driving module; 21. a first connection base; 211. a first rotating shaft; 22. a first linear motor; 221. a first fisheye bearing; 222. a second fish-eye bearing; 23. a large arm frame; 24. a second connecting seat; 241. a second rotating shaft; 242. a third rotating shaft; 3. a third driving module; 31. a fourth rotating electrical machine; 32. a forearm frame; 321. a fourth rotating shaft; 33. a second linear motor; 331. a third fisheye bearing; 332. a fifth fisheye bearing; 34. a third linear motor; 341. a fourth fisheye bearing; 342. a sixth fisheye bearing; 4. palm; 41. a palm connecting seat; 411. a fifth rotating shaft; 42. a cross-shaped connecting piece; 421. a transverse connection; 422. a longitudinal connection.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be understood that the terms "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-6, the embodiment of the utility model discloses a multi-degree-of-freedom mechanical arm, which comprises a first driving module 1, a second driving module 2, a third driving module 3 and a palm 4, wherein the second driving module 2 is connected with one output shaft of the first driving module 1, the third driving module 3 is rotationally connected with the second driving module 2, the palm 4 is connected with the third driving module 3, the first driving module 1 and the third driving module 3 have three degrees of freedom in three directions, the three degrees of freedom are respectively rotation degrees of freedom, side swinging degrees of freedom and pitching degrees of freedom, the three degrees of freedom are mutually perpendicular, and the second driving module 2 has pitching degrees of freedom. The first driving module 1 can drive the mechanical arm to do pitching motion, side swinging motion and autorotation motion, so as to simulate the shoulder joint motion of a human body; the second driving module 2 can drive the third driving module 3 and the second driving module 2 to perform bending movement, namely pitching movement, so as to simulate elbow joint movement of a human body; the third driving module 3 can drive the palm 4 to do pitching motion, side swinging motion and autorotation motion, so that motion of a wrist joint of a human body is simulated, the mechanical arm has multiple degrees of freedom, can reach irregular positions and achieve high-difficulty gestures, so that an ideal use purpose is achieved, the situation that singular points are blocked does not exist, the grabbing capacity of the mechanical arm on space complex pose objects is improved, and the operation use scene of the robot is greatly enhanced.
Further, the first driving module 1 includes a first rotating electrical machine 11, a second rotating electrical machine 12, a third rotating electrical machine 13, and a support 14, a groove is formed in the support 14, the second rotating electrical machine 12 is located in the groove, an output shaft of the first rotating electrical machine 11 is connected with the support 14, an output shaft of the second rotating electrical machine 12 is connected with one end of the support 14, a tail of the second rotating electrical machine 12 is hinged with the other end of the support 14, a tail of the third rotating electrical machine 13 is connected with a side wall of the second rotating electrical machine 12, and the second driving module 2 is connected with an output shaft of the third rotating electrical machine 13. Specifically, the first rotating electrical machine 11 is disposed front and back, an output shaft of the first rotating electrical machine 11 faces backwards, an outer wall of the support 14 is fixedly connected with an output shaft of the first rotating electrical machine 11, the second rotating electrical machine 12 is disposed left and right, an output shaft of the second rotating electrical machine 12 faces rightwards, a right end of the support 14 is fixedly connected with an output shaft of the second rotating electrical machine 12, a left end of the support 14 is hinged to a tail of the second rotating electrical machine 12, the third rotating electrical machine 13 is disposed up and down, an output shaft of the third rotating electrical machine 13 faces downwards, and a tail of the third rotating electrical machine 13 is fixed on a side wall of the second rotating electrical machine 12 to realize pitching motion, side swinging motion and autorotation motion of a shoulder joint.
Further, the second driving module 2 includes a first connecting seat 21, a first linear motor 22, a big arm frame 23 and a second connecting seat 24, the first connecting seat 21 is connected with an output shaft of the third rotating motor 13, the second connecting seat 24 is connected with the third driving module 3, the output shaft of the first linear motor 22 is rotationally connected with the second connecting seat 24, a tail portion of the first linear motor 22 is rotationally connected with the first connecting seat 21, an upper end portion of the big arm frame 23 is connected with the first connecting seat 21, and a lower end portion of the big arm frame 23 is rotationally connected with the second connecting seat 24. The lower end of the big arm frame 23 is rotatably connected with the second connecting seat 24 to simulate the elbow joint of a human body, and the big arm frame 23 is of a thin shell structure, the shape of the big arm frame is close to that of a big arm of a human body, and the structure design is carried out according to the bionic principle, so that the structural characteristics of the arm of the human body are referenced, and the big arm is similar to the appearance structure, the working energy efficiency and the action principle of the big arm of the human body, and the big arm frame has the characteristics of the arm of the human body.
Specifically, the first linear motor 22 includes a motor housing and a linear motor screw, the linear motor screw reciprocates along an axis relative to the motor housing, the linear motor screw is rotationally connected with the second connecting seat 24, and the motor housing is rotationally connected with the first connecting seat 21.
Specifically, the top wall of the first connecting seat 21 is provided with positioning bosses and columns uniformly distributed along the circumference, so as to be connected with the third rotating motor 13, and the positioning bosses and the columns are fixedly connected with the output shafts of the first connecting seat 21 and the third rotating motor 13, so that the big arm can rotate relative to the shoulder.
Further, the big arm frame 23 is covered on the first linear motor 22, the inner wall of the big arm frame 23 is fixedly connected with the outer wall of the first connecting seat 21, and the second connecting seat 24 is rotatably connected with the inner wall of the big arm frame 23.
Specifically, a first fixing hole is formed in the upper end portion of the large arm frame 23, a second fixing hole is formed in the side wall of the first connecting seat 21, and the first fixing hole is connected with the second fixing hole through a bolt. The left and right sides of big arm frame 23 all are equipped with at least one first fixed orifices, the both sides of first connecting seat 21 be equipped with first fixed orifices one-to-one's second fixed orifices, through both sides are fixed big arm frame 23 with first connecting seat 21 for the connection of both can be firm.
Further, a first rotating shaft 211 is provided on the first connecting seat 21, a first fisheye bearing 221 is provided at the tail of the first linear motor 22, and the first fisheye bearing 221 is sleeved on the first rotating shaft 211.
Specifically, the first connecting seat 21 has a hollow structure, and a pair of bearing assembly holes are formed on two sides of the first connecting seat 21, and the bearing assembly holes are symmetrical and coaxial; the first rotating shaft 211 is installed in any bearing assembly hole of the first connecting seat 21, and at the same time, the first rotating shaft 211 passes through the first fisheye bearing 221, so that two ends of the first rotating shaft 211 are simultaneously located in the bearing assembly hole, the first fisheye bearing 221 is sleeved on the first rotating shaft 211, then a pair of bearings are pressed into shaft shoulder limiting positions respectively from two shaft ends of the first rotating shaft 211, and at the same time, outer rings of the two bearings are installed in bearing assembly holes on two sides until the limiting positions respectively, so that the first rotating shaft 211 and the first connecting seat 21 form hinge connection.
Further, a second rotating shaft 241 is disposed on the second connecting seat 24, a second fisheye bearing 222 is disposed on the output shaft of the first linear motor 22, and the second fisheye bearing 222 is sleeved on the second rotating shaft 241.
Specifically, the front side of the second connecting seat 24 is provided with a pair of bearing assembly holes, the bearing assembly holes are distributed on two sides of the second connecting seat 24, and the bearing assembly holes are symmetrical and coaxial; the second rotating shaft 241 is installed in any bearing assembly hole on the front side of the second connecting seat 24, and meanwhile, the second rotating shaft 241 passes through the second fisheye bearing 222, so that two ends of the second rotating shaft 241 are simultaneously located in the bearing assembly holes, the second fisheye bearing 222 is sleeved on the second rotating shaft 241, then a pair of bearings are pressed into shaft shoulder limiting positions respectively from two shaft ends of the second rotating shaft 241, and outer rings of the two bearings are installed in bearing assembly holes on two sides until the limiting positions are reached respectively, so that the second rotating shaft 241 and the second connecting seat 24 form hinge connection.
It can be appreciated that the linear motor screw rod, the motor housing and the second rotating shaft 241 form a crank block mechanism, and the linear motor screw rod is in the motor housing and makes reciprocating telescopic motion along the axis, so that the forearm of the robot is folded and rotated relative to the big arm frame 23, and the motion of the elbow joint of the human body is simulated, and the axial motion characteristic of the first linear motor 22 is utilized, so that the crank block mechanism is formed by taking the axial motion characteristic as a core motion element, the degree of freedom of the mechanical arm is increased, the motion range of the mechanical arm is enlarged, and the motion of the tail end executing mechanism is more stable and more efficient.
Further, a third rotating shaft 242 is further disposed on the second connecting seat 24, and the large arm frame 23 is rotatably connected to the third rotating shaft 242.
Further, the third driving module 3 includes a fourth rotating motor 31, an arm frame 32, a second linear motor 33, a third linear motor 34 and a palm connecting seat 41, the palm connecting seat 41 is disposed on the palm 4, the tail of the fourth rotating motor 31 is connected with the bottom wall of the second connecting seat 24, the output shaft of the fourth rotating motor 31 is connected with the top of the arm frame 32, the tail of the second linear motor 33 and the tail of the third linear motor 34 are both rotationally connected with the upper end of the arm frame 32, the output shaft of the second linear motor 33 and the output shaft of the third linear motor 34 are both rotationally connected with the palm connecting seat 41, and the lower end of the arm frame 32 is cross-hinged with the palm connecting seat 41. The forearm frame 32 and the palm 4 are driven to rotate in the horizontal direction through the fourth rotating motor 31, so that the palm 4 and the forearm frame 32 can rotate together, the second linear motor 33 and the third linear motor 34 are matched to drive the palm 4 to do pitching motion and side swinging motion, the palm has multiple degrees of freedom, the structure is simple, and the control difficulty of a robot arm can be reduced.
Specifically, the fourth rotating motor 31 is connected to the bottom of the second connecting seat 24 and is provided with a mechanism capable of driving the forearm frame 32 and the palm 4 to rotate, the tail of the fourth rotating motor 31 is fixedly connected to the bottom wall of the second connecting seat 24 through bolts, and the forearm frame 32 is connected to the output shaft of the fourth rotating motor 31, so as to drive the forearm frame 32 and the palm 4 to do a rotating motion. The top wall of the forearm frame 32 is provided with positioning bosses and stand columns uniformly distributed on the circumference, and the positioning bosses and the stand columns are used for being connected with the fourth rotating motor 31, and the forearm frame 32 and the output shaft of the fourth rotating motor 31 are fixedly connected together through the positioning bosses and the stand columns, so that the forearm frame 32 can rotate relative to a large arm.
Specifically, further, the second linear motor 33 and the third linear motor 34 are symmetrically disposed on the forearm frame 32, and when the second linear motor 33 and the third linear motor 34 synchronously extend and retract, the second linear motor 33 and the third linear motor 34 drive the palm 4 to do pitching motion; when the second linear motor 33 and the third linear motor 34 do not synchronously extend and retract, the second linear motor 33 and the third linear motor 34 drive the palm 4 to do side swinging motion.
Further, the third driving module 3 further includes a cross connecting member 42, the cross connecting member 42 has a transverse connecting portion 421 and a longitudinal connecting portion 422, the forearm frame 32 is rotatably connected to the transverse connecting portion 421, and the palm connecting seat 41 is rotatably connected to the longitudinal connecting portion 422.
Further, a sixth rotating shaft is arranged on the transverse connection portion 421, two ends of the sixth rotating shaft penetrate through the transverse connection portion 421, a first avoidance groove is formed in the forearm frame 32, the transverse connection portion 421 is located in the first avoidance groove, and groove walls on two sides of the first avoidance groove are respectively connected with two ends of the sixth rotating shaft in a rotating mode.
Further, a seventh rotating shaft is arranged on the longitudinal connecting portion 422, two ends of the seventh rotating shaft penetrate through the longitudinal connecting portion 422, a second avoidance groove is formed in the palm connecting seat 41, the longitudinal connecting portion 422 is located in the second avoidance groove, and groove walls on two sides of the second avoidance groove are respectively connected with two ends of the seventh rotating shaft in a rotating mode.
It may be appreciated that the second linear motor 33, the forearm frame 32 and the palm connecting seat 41 form a set of three-link swinging guide rod mechanism, the third linear motor 34, the forearm frame 32 and the palm connecting seat 41 form another set of three-link swinging guide rod mechanism, and the second linear motor 33 and the third linear motor 34 are distributed on two sides of the forearm frame 32, so that the two sets of swinging guide rod mechanisms together form a space multi-link coupling mechanism, that is, the second linear motor 33 and the third linear motor 34 jointly perform coupling control on two degrees of freedom of pitching and side swinging of the palm ankle rotating joint, the seventh rotating shaft is a central shaft of the side swinging degree of freedom of the wrist rotating joint, and the sixth rotating shaft is a central shaft of the pitching degree of freedom of the wrist rotating joint. The structure of the coupling mechanism is more compact, so that the robot joint is closer to a human being, the power requirement of a single motor can be reduced through coupling control of two motors, namely, the size and the weight of the motor are reduced, and the pose operation space of the mechanical arm is improved. Specifically, when the second linear motor 33 and the third linear motor 34 move in the same direction, the palm 4 is driven to rotate around the seventh rotating shaft; when the second linear motor 33 and the third linear motor 34 move oppositely, the palm 4 is driven to rotate around the seventh rotating shaft.
Further, a fourth rotating shaft 321 is disposed at the upper end of the forearm frame 32, two ends of the fourth rotating shaft 321 respectively extend from the left and right sides of the forearm frame 32, one end of the fourth rotating shaft 321 is rotatably connected with the tail of the second linear motor 33, and the other end of the fourth rotating shaft 321 is rotatably connected with the tail of the third linear motor 34.
Further, a third fisheye bearing 331 is disposed at the tail of the second linear motor 33, a fourth fisheye bearing 341 is disposed at the tail of the third linear motor 34, the third fisheye bearing 331 is sleeved at one end of the fourth rotating shaft 321, and the fourth fisheye bearing 341 is sleeved at the other end of the fourth rotating shaft 321.
Further, a fifth rotating shaft 411 is disposed on the palm connecting seat 41, two ends of the fifth rotating shaft 411 respectively extend from the left and right sides of the palm connecting seat 41, one end of the fifth rotating shaft 411 is rotatably connected with the output shaft of the second linear motor 33, and the other end of the fifth rotating shaft 411 is rotatably connected with the output shaft of the third linear motor 34.
Further, the output shaft of the second linear motor 33 is provided with a fifth fisheye bearing 332, the output shaft of the third linear motor 34 is provided with a sixth fisheye bearing 342, the fifth fisheye bearing 332 is sleeved at one end of the fifth rotating shaft 411, and the sixth fisheye bearing 342 is sleeved at the other end of the fifth rotating shaft 411.
Further, the tail of the first linear motor 22, the tail of the second linear motor 33 and the tail of the third linear motor 34 are respectively provided with a force sensor, and the force sensors can be one-dimensional force sensors or six-dimensional force sensors, so that the current load of each linear motor, namely the output force of each linear motor, can be obtained in real time through the force sensors in the running process of the robot, and whether the current running state of each linear motor is overloaded can be judged in real time, thereby adjusting the load of the robot or the gait algorithm for protecting each linear motor to run in the rated load state as much as possible, thereby protecting the robot and prolonging the endurance and the service life of the robot.
Specifically, the first linear motor 22, the second linear motor 33, and the third linear motor 34 are any one, two, or three of a planetary roller screw motor, a ball screw linear motor, and a trapezoidal screw linear motor, and the first linear motor 22, the second linear motor 33, and the third linear motor 34 are preferably planetary roller screw motors, which have higher mechanical efficiency, better transmission precision, higher rigidity, and higher bearing capacity, and can output a larger push-pull force through a planetary roller screw transmission mechanism, that is, torque-thrust conversion is higher, and a larger output power can be obtained through accelerating the rated rotation speed of the motors, so that the planetary roller screw motor is very suitable for being used as a driver of a robot.
The above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the scope of the present utility model. It will be apparent that the described embodiments are merely some, but not all, embodiments of the utility model. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of the utility model. Although the present utility model has been described in detail with reference to the above embodiments, those skilled in the art may still combine, add or delete features of the embodiments of the present utility model or make other adjustments according to circumstances without any conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present utility model, which also falls within the scope of the present utility model.
Claims (13)
1. The utility model provides a multi freedom robotic arm, its characterized in that includes first drive module (1), second drive module (2), third drive module (3) and palm (4), second drive module (2) with an output shaft of first drive module (1) is connected, third drive module (3) with second drive module (2) rotate and are connected, palm (4) with third drive module (3) are connected, first drive module (1) with third drive module (3) all have the degree of freedom of three direction, and three two liang of mutually perpendicular between the degree of freedom, second drive module (2) have the every single move degree of freedom.
2. The multi-degree-of-freedom mechanical arm according to claim 1, wherein the first driving module (1) comprises a first rotating motor (11), a second rotating motor (12), a third rotating motor (13) and a support (14), a groove is formed in the support (14), the second rotating motor (12) is located in the groove, an output shaft of the first rotating motor (11) is connected with the support (14), an output shaft of the second rotating motor (12) is connected with one end of the support (14), a tail of the second rotating motor (12) is hinged with the other end of the support (14), a tail of the third rotating motor (13) is connected with a side wall of the second rotating motor (12), and the second driving module (2) is connected with an output shaft of the third rotating motor (13).
3. The multi-degree-of-freedom mechanical arm according to claim 2, wherein the second driving module (2) comprises a first connecting seat (21), a first linear motor (22), a big arm frame (23) and a second connecting seat (24), the first connecting seat (21) is connected with an output shaft of the third rotating motor (13), the second connecting seat (24) is connected with the third driving module (3), an output shaft of the first linear motor (22) is rotationally connected with the second connecting seat (24), a tail part of the first linear motor (22) is rotationally connected with the first connecting seat (21), an upper end part of the big arm frame (23) is rotationally connected with the first connecting seat (21), and a lower end part of the big arm frame (23) is rotationally connected with the second connecting seat (24).
4. A multi-degree of freedom mechanical arm according to claim 3, wherein the big arm frame (23) is covered on the first linear motor (22), the inner wall of the big arm frame (23) is fixedly connected with the outer wall of the first connecting seat (21), and the second connecting seat (24) is rotatably connected with the inner wall of the big arm frame (23).
5. The multi-degree of freedom mechanical arm according to claim 4, wherein the first connecting seat (21) is provided with a first rotating shaft (211), the tail of the first linear motor (22) is provided with a first fisheye bearing (221), and the first fisheye bearing (221) is sleeved on the first rotating shaft (211).
6. The mechanical arm with multiple degrees of freedom according to claim 5, wherein the second connecting seat (24) is provided with a second rotating shaft (241), the output shaft of the first linear motor (22) is provided with a second fisheye bearing (222), and the second fisheye bearing (222) is sleeved on the second rotating shaft (241).
7. The multi-degree of freedom mechanical arm of claim 6 wherein the second connecting base (24) is further provided with a third rotating shaft (242), and the large arm frame (23) is rotatably connected to the third rotating shaft (242).
8. A multi-degree-of-freedom mechanical arm according to claim 3, wherein the third driving module (3) comprises a fourth rotating motor (31), a forearm frame (32), a second linear motor (33), a third linear motor (34) and a palm connecting seat (41), the palm connecting seat (41) is arranged on the palm (4), the tail of the fourth rotating motor (31) is connected with the bottom wall of the second connecting seat (24), the output shaft of the fourth rotating motor (31) is connected with the top of the forearm frame (32), the tail of the second linear motor (33) and the tail of the third linear motor (34) are both rotationally connected with the upper end of the forearm frame (32), the output shaft of the second linear motor (33) and the output shaft of the third linear motor (34) are both rotationally connected with the palm connecting seat (41), and the lower end of the forearm frame (32) is cross-hinged with the palm connecting seat (41).
9. The multi-degree of freedom mechanical arm of claim 8 wherein the third drive module (3) further comprises a cross connector (42), the cross connector (42) having a transverse connector (421) and a longitudinal connector (422), the forearm frame (32) being rotatably connected to the transverse connector (421), the palm connector (41) being rotatably connected to the longitudinal connector (422).
10. The multi-degree-of-freedom mechanical arm according to claim 9, wherein a fourth rotating shaft (321) is arranged at the upper end of the forearm frame (32), two ends of the fourth rotating shaft (321) respectively extend out from the left side and the right side of the forearm frame (32), one end of the fourth rotating shaft (321) is rotatably connected with the tail of the second linear motor (33), and the other end of the fourth rotating shaft (321) is rotatably connected with the tail of the third linear motor (34).
11. The multi-degree-of-freedom mechanical arm according to claim 10, wherein a third fisheye bearing (331) is arranged at the tail of the second linear motor (33), a fourth fisheye bearing (341) is arranged at the tail of the third linear motor (34), the third fisheye bearing (331) is sleeved at one end of the fourth rotating shaft (321), and the fourth fisheye bearing (341) is sleeved at the other end of the fourth rotating shaft (321).
12. The mechanical arm with multiple degrees of freedom according to claim 11, wherein a fifth rotating shaft (411) is disposed on the palm connecting seat (41), two ends of the fifth rotating shaft (411) respectively extend from the left side and the right side of the palm connecting seat (41), one end of the fifth rotating shaft (411) is rotationally connected with the output shaft of the second linear motor (33), and the other end of the fifth rotating shaft (411) is rotationally connected with the output shaft of the third linear motor (34).
13. The mechanical arm with multiple degrees of freedom according to claim 12, wherein the output shaft of the second linear motor (33) is provided with a fifth fisheye bearing (332), the output shaft of the third linear motor (34) is provided with a sixth fisheye bearing (342), the fifth fisheye bearing (332) is sleeved at one end of the fifth rotating shaft (411), and the sixth fisheye bearing (342) is sleeved at the other end of the fifth rotating shaft (411).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119610212A (en) * | 2024-12-25 | 2025-03-14 | 上海交通大学宁波人工智能研究院 | Seven-degree-of-freedom series-parallel structure mechanical arm for biped robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119610212A (en) * | 2024-12-25 | 2025-03-14 | 上海交通大学宁波人工智能研究院 | Seven-degree-of-freedom series-parallel structure mechanical arm for biped robot |
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