CN105014688B - Multifunctional integrated mechanical arm with variable redundant DOF (degree of freedom) arm length - Google Patents
Multifunctional integrated mechanical arm with variable redundant DOF (degree of freedom) arm length Download PDFInfo
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- CN105014688B CN105014688B CN201510531323.8A CN201510531323A CN105014688B CN 105014688 B CN105014688 B CN 105014688B CN 201510531323 A CN201510531323 A CN 201510531323A CN 105014688 B CN105014688 B CN 105014688B
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Abstract
The invention discloses a multifunctional integrated mechanical arm with the variable redundant DOF (degree of freedom) arm length. The multifunctional integrated mechanical arm comprises a base joint, an integral joint, a pitching joint, an integrated joint and a rotating joint, wherein the base joint is used for supporting the joints mounted on the base joint and can drive the joints to rotate; the integral joint integrates stretching and retracting motion and pitching motion in one joint, two direct drive motors share one drive controller, wiring is performed in the joints, the number of the driving controllers is reduced, and the complex degree of the joints is reduced; the integrated joint utilizes a guide rail forming stretching and retracting DOF as a transmission device of rotating DOF, and rotating motion and the stretching and retracting motion are integrated to one joint; the pitching joint provides pitching motion, a power output shaft is supported by double bearings, and the system strength is improved; the structure of the rotating joint is similar to that of the base joint, and the rotating joint can output rotating motion. The multifunctional integrated mechanical arm has the characteristics of seven DOFs, compact structure, high adaptability, easiness in realization and maintenance, flexible motion and the like.
Description
Art
The invention belongs to mechanical arm technical field, and in particular to a kind of Multifunctional centralized variable with redundant degree of freedom brachium
Into mechanical arm.
Background technology
In recent years, roboticses achieve considerable progress, and mechanical arm obtains most extensively actual in robot field
Application, during the various production fields such as machine-building, metallurgy, electronics, light industry and atomic energy have been applied to, its application is accelerated
The automatization of production and modernization, are greatly improved production efficiency.
But existing machinery arm majority single function, such as the mechanical arm on industrial flow-line is only capable of repeating same action,
Welding robot can only perform welding function, and pouring robot can only be performed and pour pouring functions, it is impossible to meet the effect of a tractor serves several purposes.
The generally joint with multiple rotations of mechanical arm at this stage, the rotation in each joint is by motor or servomotor
Realize, due to the volume of motor or servomotor it is generally larger, this be accomplished by mechanical arm each articular portion have it is larger
Volume, in order to install motor or servomotor, and mechanical arm degree of freedom is more, and its structure is also more complicated, and one
As industrial machinery arm be six degree of freedom, limit path optimization and the faults-tolerant control of mechanical arm, thus the industrial machinery of routine
Arm is suffered from the drawback that：Structure is too fat to move, it is big to take up room, single function and the scope that can study are relatively small.Because these lack
Point so that general industry robot or can not be unsuitable for having the occasion of strict control such as to impart knowledge to students to robot volume and function
The special industries such as experiment, amusement and home services.Causing the fundamental cause of drawbacks described above is：The mechanical mechanism of mechanical arm does not enter
Row optimization design, driving and position detection unit are separate, and mechanical arm frame for movement is similar, and the realization of difference in functionality is tight
Weight depended software, in order to solve the above problems, the present invention proposes a kind of Multifunctional centralized variable with redundant degree of freedom brachium
Into mechanical arm, it is integrated in the stretching motion of mechanical arm and rotary motion in one joint, by the stretching motion of mechanical arm and
Elevating movement is concentrated in a joint, greatly reduces the volume and weight of mechanical arm, extends answering for mechanical arm
With and research range.
The content of the invention
The present invention proposes a kind of multifunctional unit mechanical arm variable with redundant degree of freedom brachium, tight with structure
Gather, strong adaptability, be easily achieved and safeguard, the features such as small volume, quality are little flexible with motion.
Technical scheme：
Include base joint, integral joint, pitching with the variable multifunctional unit mechanical arm of redundant degree of freedom brachium
Joint, integrated joint and rotary joint.Base joint support joint thereon simultaneously can drive joint thereon to rotate；One
Stretching motion and elevating movement are integrated in an intraarticular by body joint, and two direct driving motors share a drive control device,
From the inside cabling in joint, the quantity of drive control device is reduced, reduce the complexity in joint；Integrated joint will rotate fortune
Dynamic and stretching motion is integrated into a joint, has simplified articulation structure；Pitching joint provides elevating movement, and power output shaft is adopted
Duplex bearing is supported and improves system strength；Rotation joint structure is similar to base joint, exportable rotary motion.
The base joint include base, base drive control device, base drive control wiring, base circuit external connection end,
Base direct driving motor wiring, base direct driving motor, base cabinet, base bearing and base flange, base direct driving motor is arranged on
On base cabinet, the upper end of base cabinet is provided with base bearing, and the inner ring of base bearing is fixed with base flange, and base directly drives
The motor shaft of motor is connected with base flange, and under the support of base bearing, base flange can be with the motor of base direct driving motor
Axle is rotated, and base direct driving motor wiring is connected in the base drive control device on base, base drive control device
Signal is connected to base circuit external connection end by base drive control wiring, and to communicate with other modules, floor installation is to base
On casing, it can be connected to solid mechanical arm with external device.
Integral joint described further includes the synchronizing wheel of integral joint first, integral joint Timing Belt, integration
The gripper shoe of joint shaft first, the gripper shoe of integral joint axle second, integral joint motor connection axle, integral joint second are same
Step wheel, integral joint upper end cover, the gripper shoe of integral joint first, integral joint expansion link, integral joint ball members,
Integral joint connecting plate, leading screw, integral joint spring bearing, integral joint motor mounting plate, integral joint first
Direct driving motor, integral joint casing, integral joint circuit external connection end, integral joint the first direct driving motor wiring, one
Change joint drive controller, the gripper shoe of integral joint second, wire fixer, integral joint linear bearing, integral joint card
Spring, integral joint the second direct driving motor wiring, integral joint guide rail pole, integral joint motor connection axle spring bearing,
The direct driving motor of integral joint second, integral joint upper box, integral joint axle spring bearing, integral joint support shaft
With integral joint external flange.The direct driving motor of integral joint first is arranged on integral joint motor mounting plate, one
Change joint motor installing plate to be connected in integral joint casing correspondence rectangular slot, integral joint second is supported
On plate, integral joint spring bearing and integral joint guide rail pole, one are also equipped with the gripper shoe of integral joint second
The other end for changing joint guide rail pole is fixed by the gripper shoe of integral joint first, and the gripper shoe of integral joint first is arranged on one
Change in the corresponding rectangular slot of joint casing, integral joint spring bearing inner ring is fixed with leading screw, one is combined with leading screw
Change joint ball members, integral joint ball members outside is combined with integral joint connecting plate, and integral joint connecting plate is another
Side is fixed with integral joint linear bearing, integral joint linear bearing and integral joint guide rail by integral joint jump ring
Bar coordinates, and can be fixed on integral joint expansion link, integral joint along its linear motion, integral joint connecting plate
Drive control device is arranged on integrated box body medial wall, and integral joint the first direct driving motor wiring, one are connected with thereon
Change joint the second direct driving motor wiring and integral joint circuit external connection end, integral joint circuit external connection end is responsible for other joints
Communication.Integral joint upper box is arranged on integral joint expansion link, and the direct driving motor of integral joint first is arranged on one
In the gripper shoe of body joint shaft second, its motor shaft is connected with integral joint motor connection axle, integral joint motor connection
Axle is by two be separately mounted in the gripper shoe of integral joint axle second and the gripper shoe of integral joint pitch bearing first
Body joint shaft spring bearing is supported, and the gripper shoe of integral joint axle second and the gripper shoe of integral joint axle first are all arranged on
On integral joint upper box, integral joint upper box is fixed to integration the side of the gripper shoe of joint shaft first and is also equipped with one
Body joint upper end cover.Integral joint motor connection axle external part is provided with integral joint axle synchronizing wheel, integral joint
Integral joint Timing Belt is installed, the integral joint Timing Belt other end is arranged on integral joint Timing Belt in axle synchronizing wheel
On wheel, integral joint synchronous pulley is arranged in integral joint support shaft, and integral joint support shaft is by installed in one
The integral joint axle spring bearing changed on the upper box of joint is supported, and in integral joint support shaft integral joint is also equipped with
External flange, to connect with other joints.Integral joint the first direct driving motor wiring through integral joint expansion link, one
The gripper shoe of body joint first, integral joint connecting plate and the gripper shoe of integral joint first are connected to Integrated joint drive
On controller.
Further, the integrated joint includes integrated joint synchronous wheel, integrated joint synchronous wheel shaft, integrated joint synchronous wheel
Gripper shoe, integrated joint casing, integrated joint synchronous band, integrated joint elongation bar, integrated joint jump ring, integrated joint synchronous band
Fixed plate, the rolling bearing of integrated joint first, integrated joint ball spline, the direct driving motor of integrated joint first, integrated joint
Two direct driving motor wiring, the gripper shoe of integrated joint first, integrated joint drive controller, the direct driving motor of integrated joint second, collection
Into joint the second direct driving motor fixed plate, integrated joint shaft gear, integrated joint synchronous tape spool, integrated joint circuit external connection end,
The external wiring of integrated joint circuit, the first direct driving motor wiring of integrated joint, the gripper shoe of integrated joint second, integrated joint second
Rolling bearing, integrated joint guide rail, integrated oscillating bearing support member, integrated joint support bearing axle, integrated joint support bearing,
The gripper shoe of integrated joint the 3rd, integrated joint external flange, integrated joint motor gear and integrated joint Box Cover.Integrated joint
First direct driving motor is arranged in the gripper shoe of integrated joint second, and the gripper shoe of integrated joint second is provided with synchronous with holes and the second rolling
Dynamic bearing fixing hole, wherein synchronous permission Timing Belt with holes without friction through not affecting the motion of Timing Belt, second axis of rolling
Fixing hole is held to the integrated rolling bearing of joint second of fixation, the rolling bearing inner ring of integrated joint second is fixed with integrated joint and leads
Rail, the integrated joint guide rail other end is fixed with integrated oscillating bearing support member, and integrated oscillating bearing support member passes through integrated joint
Spring bearing axle is fixed with integrated joint support bearing, and one end of integrated joint elongation bar is provided with screwed hole to connect integrated pass
Section external flange, the other end is fixed with integrated joint ball spline by ball spline fixing hole, by the first rolling bearing axis
Shoulder fixes the inner ring of the integrated rolling bearing of joint first, and the outer ring of the rolling bearing of integrated joint first is by installed in jump-ring slot
Integrated joint jump ring is fixed in integrated joint the first housing washer fixing end of the integrated joint synchronous with fixed plate, integrated
Joint synchronous band fixed plate is additionally provided with Timing Belt fixing hole to be connected with Timing Belt, and integrated joint synchronous band is by being separately mounted to
Integrated joint synchronous wheel gripper shoe is fixed and supported with the synchronizing wheel on synchronous tape spool, and wherein the integrated joint synchronous wheel in upper end two leads to
Integrated joint synchronous wheel shaft is crossed in integrated joint synchronous wheel gripper shoe, integrated joint synchronous wheel gripper shoe is arranged on integrated
In the gripper shoe of joint the 3rd, the gripper shoe of integrated joint the 3rd is arranged in the rectangular slot of integrated joint casing, and lower end two is integrated
Joint synchronous wheel is separately mounted to the two ends of integrated joint synchronous tape spool, and integrated joint synchronous tape spool is near two integrated joint synchronous
The two ends of wheel are connected with integrated joint synchronous tape spool shaft bearing plate (not providing in figure), integrated joint synchronous tape spool to be fixed to
In the gripper shoe of integrated joint first, the centre position of integrated joint synchronous tape spool is provided with integrated joint shaft gear, integrated joint
Shaft gear is engaged with integrated joint motor gear, and integrated joint motor gear is arranged on the direct driving motor of integrated joint second, collection
It is connected in the gripper shoe of integrated joint first by integrated joint the second direct driving motor fixed plate into the direct driving motor of joint second, is collected
Integrated joint drive controller is further fixed on in the gripper shoe of joint first, on integrated joint drive controller integrated pass is connected with
Save the first direct driving motor wiring, the second direct driving motor wiring of integrated joint and the external wiring of integrated joint circuit, three groups of wiring
The other end is connected respectively to the direct driving motor of integrated joint first, the direct driving motor of integrated joint second with integrated joint circuit external connection end
On, the gripper shoe of integrated joint first is fixed in the rectangular slot of casing, and integrated joint Box Cover is fixed on integrated joint casing
On, prevent the gripper shoe of integrated joint first, the gripper shoe of integrated joint second with the gripper shoe of integrated joint the 3rd in integrated joint case
Slide in the corresponding rectangular slot of body.In the case where the direct driving motor of integrated joint first is rotated and driven, integrated joint guide rail, integrated joint
Bearing supports, integrated joint support bearing and the integrated joint ball spline coordinated with integrated joint guide rail rotate,
So as to drive integrated joint elongation bar to rotate, in the presence of the direct driving motor of integrated joint second, by integrated joint
Motor gear, integrated joint shaft gear, integrated joint synchronous tape spool transmit the rotary motion of the direct driving motor of integrated joint second
To integrated joint synchronous wheel, under the drive of integrated joint synchronous wheel, the Timing Belt on integrated joint synchronous wheel does directly
Line is moved, so as to drive the integrated joint synchronous being connected with integrated joint synchronous band band fixed plate and integrated joint elongation bar in electricity
Move along a straight line under the support of machine rail unit, the integrated joint external flange being connected by screwed hole with integrated joint elongation bar
Rotation can simultaneously be completed with linear motion.
Pitching joint described further includes that pitching base plate, pitching motor wiring, pitching joint circuit external connection end, pitching are closed
Section drive control device wiring, pitching joint drive controller, pitching direct driving motor, pitching casing, pitching spring bearing, pitching
Axle, pitching adpting flange, pitching synchronous pulley, pitching Timing Belt, pitching synchronization wheel cap, pitching casing side end cap, pitching motor
Connecting shaft, pitch axis synchronizing wheel, pitch axis spring bearing, the gripper shoe of pitch bearing first and the gripper shoe of pitch bearing second.Bow
Direct driving motor is faced upward in the gripper shoe of pitch bearing second, its motor shaft is connected with pitching motor connecting shaft, pitching motor connects
Spindle is by two pitch axis spring bearings on being separately mounted to the gripper shoe of pitch bearing second and the gripper shoe of pitch bearing first
Support, the gripper shoe of pitch bearing second and the gripper shoe of pitch bearing first are all arranged on pitching casing, pitch bearing first
The side of fagging is also equipped with pitching casing side end cap.Pitching motor connecting shaft outer end is provided with pitch axis synchronizing wheel, pitch axis
Pitching Timing Belt is installed, the pitching Timing Belt other end is arranged on pitching synchronous pulley in synchronizing wheel, pitching synchronous pulley peace
It is mounted on pitch axis, pitch axis is supported by the pitching spring bearing on pitching casing, and pitching is also equipped with pitch axis
Adpting flange, to be also equipped with pitching synchronization wheel cap with the side of other module connections, pitching casing installation pitching Timing Belt.
Pitching motor wiring is connected on the pitching joint drive controller on pitching casing, and pitching joint drive controller connects
Line is connected to the pitching joint circuit external connection end on pitching casing, to communicate with other modules.
The selecting step of pitching joint synchronous band described further is：
A, the gear ratio of synchronizing wheel is primarily determined that according to the size of design, gear ratio by pitching module overall dimensions and can
Synchronizing wheel standard component size is selected to determine；
B, centre-to-centre spacing a that two synchronizing wheels are tentatively selected according to design size0；
The preliminary selected centre-to-centre spacing of c, basis is by L0=2a0+1.57(d2+d1)+(d2-d1)2/4a0, primarily determine that Timing Belt
Length, wherein d1,d2Respectively the pitch diameter of synchronizing wheel, tables look-up and selectes and L0Close synchronous strip length LP；
D, by LPAccording toM=4LP-6.28(d2+d1), inverse goes out synchronizing wheel spacing
a。
Rotary joint described further includes that rotary joint base plate, rotary joint drive control device, rotary joint drive control
Device wiring processed, rotary joint circuit external connection end, rotation direct driving motor wiring, rotation direct driving motor, rotary joint casing, rotation are closed
Bearings and rotary joint flange.Rotation direct driving motor is arranged on rotary joint casing, and rotary joint casing upper end is provided with
Rotary joint bearing, the inner ring of rotary joint bearing is fixed with rotary joint flange, and rotary joint flange is also straight with rotation to drive electricity
The motor shaft of machine is connected, and under the support of rotary joint bearing, rotary joint flange is rotated with rotation direct driving motor, so as to drive
Module mounted thereto is rotated, and rotates the rotary joint driving that direct driving motor wiring is connected on rotary joint base plate
Controller, rotary joint drive control device wiring is connected to external installed in the rotary joint circuit of rotary joint body side
End, to communicate with other modules.
Present invention contrast prior art has following features：
1st, compact conformation, volume mass are little；
2nd, space availability ratio is significantly improved, and degree of integration is high；
3rd, with 7 degree of freedom, application and research range are wider.
Description of the drawings
Fig. 1 has the variable multifunctional unit mechanical arm overall diagram of redundant degree of freedom brachium
Label in figure:
1：Base joint, 2：Integral joint, 3：Integrated joint, 4：Pitching joint, 5：Rotary joint, 232：Integration is closed
Section Box Cover, 419：Pitching synchronization wheel cap, 331：Integrated joint Box Cover.
Fig. 2 has the variable multifunctional unit mechanical arm D-H parameter coordinate system schematic diagrams of redundant degree of freedom brachium
Fig. 3 understructure figures
Label in figure：
101：Base, 102：Base drive control device, 103：Base drive control wiring, 104：Base circuit external connection end,
105：Base direct driving motor wiring, 106：Base direct driving motor, 107：Base cabinet, 108：Base bearing, 109：Base flange.
Fig. 4 integral joint structure charts
Label in figure：
201：The synchronizing wheel of integral joint first, 202：Integral joint Timing Belt, 203：First, integral joint axle
Fagging, 204：The gripper shoe of integral joint axle second, 205：Integral joint motor connection axle, 206：Integral joint second is same
Step wheel, 207：Integral joint upper end cover, 208：The gripper shoe of integral joint first, 209：Integral joint expansion link, 210：
Integral joint ball members, 211：Integral joint connecting plate, 212：Leading screw, 213：Integral joint spring bearing, 214：One
Body joint motor installing plate, 215：The direct driving motor of integral joint first, 216：Integral joint casing, 217：Integration is closed
Economize on electricity road external connection end, 218：Integral joint the first direct driving motor wiring, 219：Integrated joint drive controller, 220：Integrally
The change gripper shoe of joint second, 221：Wire fixer, 222：Integral joint linear bearing, 223：Integral joint jump ring, 224：One
The the second direct driving motor wiring of body joint, 225：Integral joint guide rail pole, 226：Integral joint motor connection axle support shaft
Hold, 227：The direct driving motor of integral joint second, 228：Integral joint upper box, 229：Integral joint axle spring bearing,
230：Integral joint support shaft, 231：Integral joint external flange.
The integrated articulation structure figures of Fig. 5
Label in figure：
301：Integrated joint synchronous wheel, 302：Integrated joint synchronous wheel shaft, 303：Integrated joint synchronous wheel gripper shoe, 304：
Integrated joint casing, 305：Integrated joint synchronous band, 306：Integrated joint elongation bar, 307：Integrated joint jump ring, 308：It is integrated
Joint synchronous band fixed plate, 309：The rolling bearing of integrated joint first, 310：Integrated joint ball spline, 311：Integrated joint
One direct driving motor, 312：The the second direct driving motor wiring of integrated joint, 313：The gripper shoe of integrated joint first, 314：Drive in integrated joint
Movement controller, 315：The direct driving motor of integrated joint second, 316：Integrated joint the second direct driving motor fixed plate, 317：Integrated joint
Shaft gear, 318：Integrated joint synchronous tape spool, 319：Integrated joint circuit external connection end, 320：The external wiring of integrated joint circuit,
321：The the first direct driving motor wiring of integrated joint, 322：The gripper shoe of integrated joint second, 323：The rolling bearing of integrated joint second,
324：Integrated joint guide rail, 325：Integrated oscillating bearing support member, 326：Integrated joint support bearing axle, 327：Integrated articular branches
Support bearing, 328：The gripper shoe of integrated joint the 3rd, 329：Integrated joint external flange.
The integrated joint synchronous V belt translation schematic diagrams of Fig. 6 and bearing supports scheme of installation
Label in figure：
301：Integrated joint synchronous wheel, 330：Integrated joint motor gear, 315：The direct driving motor of integrated joint second, 317：
Integrated joint shaft gear, 305：Integrated joint synchronous band, 325：Integrated oscillating bearing supporting member, 326：Integrated joint support bearing
Axle, 327：Integrated joint support bearing.
Pitching articulation structure figures of the Fig. 7 without pitching synchronization wheel cap
Label in figure：
401：Pitching base plate, 402：Pitching motor wiring, 403：Pitching joint circuit external connection end, 404：Pitching joint drive
Controller wiring, 405：Pitching joint drive controller, 406：Pitching direct driving motor, 407：Pitching casing, 408：Pitching is supported
Bearing, 409：Pitch axis, 410：Pitching adpting flange, 411：Pitching synchronous pulley, 412：Pitching Timing Belt, 413：Pitching casing
Side end cap, 414：Pitching motor connecting shaft, 415：Pitch axis synchronizing wheel, 416：Pitch axis spring bearing, 417：Pitch bearing
One gripper shoe, 418：The gripper shoe of pitch bearing second.
Fig. 8 rotation joint structure figures
Label in figure：
501：Rotary joint base plate, 502：Rotary joint drive control device, 503：Rotary joint drive control device wiring,
504：Rotary joint circuit external connection end, 505：Rotation direct driving motor wiring, 506：Rotation direct driving motor, 507：Rotary joint case
Body, 508：Rotary joint bearing, 509：Rotary joint flange.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention will be further described：Base joint lower section is connected with the larger bottom of quality and volume
Seat, to connect with mechanical arm fixing device, base joint has rotary freedom；Integral joint by stretching motion structure and
Elevating movement structure composition, with two degree of freedom；Integrated joint module compact conformation, with rotary freedom and can do straight line
Stretching motion；Pitching joint can elevating movement, its output shaft using duplex bearing support, reduce output shaft distortion to powerdriven
Disturbance；Rotation joint structure is similar to base joint, and with rotary freedom, structure is simplified；Communication between each joint is external
End is connected by telephone wire.
Wherein, integral joint external flange 231 and integrated joint casing 304 are same structure, pitching adpting flange 410
It is same structure with rotary joint base plate 501.
Specifically, each joint annexation as shown in figure 1, assembling when base joint 1 is assembled first, be fixed on
On ground, then integrated joint 3 is assembled with rotary joint 5, integral joint 2 is assembled and is installed on base joint 1,
Finally pitching joint 4 is assembled and is installed on integrated joint 3, so as to complete with variable multi-functional of redundant degree of freedom brachium
The assembling of integrated mechanical arm, wherein, the relation of being linked and packed in each joint is：The one end of base joint 1 fixes on the ground, separately
The one end of one end connection pitching joint 4, the other end of pitching joint 4 is connected with the one end of integral joint 2, the other end of integral joint 2
Be connected with the one end of integrated joint 3, the other end of integrated joint 3 is connected with the one end of pitching joint 4, the other end of pitching joint 4 with rotation
Joint 5 connects.
With reference to Fig. 3, the equipment order of base is that base direct driving motor 106 is installed on base cabinet 107 first, the bottom of by
Seat bearing 108 is installed to the upper end of base cabinet 107, and base flange 109 is connected with the motor shaft of base direct driving motor 106,
And base flange 109 is fixed on into the inner ring of base bearing 108；Base direct driving motor wiring 105 is connected to into base and drives control
On device processed 102, base drive control wiring 103 is connected in base circuit external connection end 104, by base circuit external connection end 104
It is fixed on base cabinet 107；Base drive control device 102 is fixed on base 101, finally base 101 bottom is fixed to into
On seat-box body 107, the assembling encapsulation of base is completed.With reference to Fig. 8, the assembling encapsulation order of rotary module is identical with base.
It is with reference to the order that is linked and packed of Fig. 4 integral joints：
(1) integral joint spring bearing 213 is installed in the second gripper shoe of integral joint 220, leading screw 212 is pacified
It is attached in the inner ring of integral joint spring bearing 213, integral joint ball members 210 and leading screw 212 is coordinated into installation；
(2) integral joint linear bearing 222 is installed to integral joint connecting plate by integral joint jump ring 223
In 211, integral joint connecting plate 211 is installed in integral joint ball members 210；
(3) integral joint guide rail pole 225 is installed to into integral joint second through integral joint linear bearing 222
In gripper shoe 220, the other end of integral joint guide rail pole 225 is fixed in the first gripper shoe of integral joint 208, will one
Change joint expansion link 209 and be installed to integral joint connecting plate 211 through the through hole in the first gripper shoe of integral joint 208
On；
(4) the first direct driving motor of integral joint wiring 218 is connected on Integrated joint drive controller 219, will
The second direct driving motor of integral joint wiring 224 through integral joint expansion link 209, the first gripper shoe of integral joint 208,
Integral joint connecting plate 211 is connected on Integrated joint drive controller 219 with the second gripper shoe of integral joint 220,
The second direct driving motor of integral joint wiring 224 is fixed through the part of gripper shoe by wire fixer 221, by integral joint circuit
External connection end 217 is fixed on integral joint casing 216, and Integrated joint drive controller 219 is installed to into integral joint
It is connected on casing 216 and with integral joint circuit external connection end 217；
(5) the first direct driving motor of integral joint 215 is installed on integral joint motor mounting plate 214, will one
Change in the second gripper shoe of integral joint 220 that joint motor installing plate 214 is installed in the part formed in step (3)；
(6) by the part formed in step (5) by the first gripper shoe of integral joint 208 and integral joint second
Fagging 220 is installed in the corresponding rectangular slot of integral joint casing 216, and is fixed by integral joint Box Cover 232, one
Body joint Box Cover 232 is arranged on integral joint casing 216；
(7) the second direct driving motor of integral joint 227 is installed in the second gripper shoe of integral joint axle 204, by two
Individual integral joint motor connection axle spring bearing 226 be respectively installed to the second gripper shoe of integral joint axle 204 with it is integrated
In the first gripper shoe of joint shaft 203；By the second gripper shoe of integral joint axle 204 and the first gripper shoe of integral joint axle 203
It is installed on integral joint upper box 228；
(8) integral joint motor connection axle 205 is installed on integral joint motor connection axle spring bearing 226,
Integral joint upper end cover 207 is installed on integral joint upper box 228, integral joint upper box 228 is installed to
On integral joint expansion link 209；
(9) the second synchronizing wheel of integral joint 206 is installed to the outer end of integral joint motor connection axle 205, by one
Body joint shaft spring bearing 229 is installed on integral joint upper box 228, by integral joint support shaft 230 through a left side
Side integral joint axle spring bearing 229 is supported on right side integral joint axle support shaft with integral joint external flange 231
Hold on 229；
(10) the first synchronizing wheel of integral joint 201 is installed to the right-hand end of integral joint support shaft 230, finally will
Integral joint Timing Belt 202 is installed in the first synchronizing wheel of integral joint 201 and the second synchronizing wheel of integral joint 206.
With reference to Fig. 5 and Fig. 6, integrated joint module be linked and packed for：
(1) the first direct driving motor of integrated joint 311 is installed in the second gripper shoe of integrated joint 322, by integrated joint
Second rolling bearing 323 is installed in the second gripper shoe of integrated joint 322, and integrated joint guide rail 324 is fixed to into integrated joint
It is connected on the inner ring of the second rolling bearing 323 and with the motor shaft of the first direct driving motor of integrated joint 311；
(2) integrated joint support bearing 327 is connected to into integrated oscillating bearing by integrated joint support bearing axle 326
In support member 325；
(3) component formed in step (2) is connected to into step (1) formation by integrated oscillating bearing support member 325
The other end of the integrated joint guide rail 324 of component；
(4) the second direct driving motor of integrated joint 315 is installed in integrated joint the second direct driving motor fixed plate 316, will
Integrated joint motor gear 330 is installed on the second direct driving motor of integrated joint 315；
(5) integrated joint shaft gear 317 is installed on integrated joint synchronous tape spool 318, by integrated joint synchronous tape spool
318 are installed in the first gripper shoe of integrated joint 313 by Timing Belt axle bearing plate, and integrated joint synchronous wheel 301 is installed to
On integrated joint synchronous tape spool 318；
(6) part formed in (4) is installed to into formation in (5) by integrated joint the second direct driving motor fixed plate 316
Part in the first gripper shoe of integrated joint 313 on, integrated joint drive controller 314 is installed to into first, integrated joint
On fagging 313；
(7) integrated joint synchronous wheel 301 is installed to into integrated joint synchronous by corresponding integrated joint synchronous wheel shaft 302
In wheel gripper shoe 303, integrated joint synchronous wheel gripper shoe 303 is installed in the gripper shoe 328 of integrated joint the 3rd；
(8) integrated joint ball spline 310 is installed to one end of integrated joint elongation bar 306, by integrated joint first
Rolling bearing 309 is installed on the shaft shoulder position of integrated joint elongation bar 306 by interference fit, and integrated joint synchronous band is consolidated
Fixed board 308 is fixed to the outer ring of the first rolling bearing of integrated joint 309 by integrated joint jump ring 307；
(9) part formed in (8) is installed in the part of step (1) formation by integrated joint ball spline 310
Integrated joint guide rail 324 on；
(10) integrated joint synchronous are passed through into the gripper shoe 328 of integrated joint the 3rd, integrated joint synchronous band with 305 one end
Fixed plate 308, the second gripper shoe of integrated joint 322 are with the first gripper shoe of integrated joint 313 after integrated joint synchronous wheel 301
Integrated joint synchronous band fixed plate 308 is fixed to through the first gripper shoe of integrated joint 313 and the second gripper shoe of integrated joint 322
On, integrated joint synchronous are passed through into the first gripper shoe of integrated joint 313 with 305 other end, tentatively it is fixed to integrated joint same
In step band fixed plate 308；
(11) by step (6), (7) and the part that (9) are formed respectively by corresponding the first gripper shoe of integrated joint 313,
The gripper shoe 328 of integrated joint the 3rd is installed to the corresponding rectangle of integrated joint casing 304 with the second gripper shoe of integrated joint 322
In groove；
(12) integrated joint the second direct driving motor wiring 312 is connected to integrated joint the first direct driving motor wiring 321
On integrated joint drive controller 314, the external wiring 320 of integrated joint circuit is connected to into integrated joint circuit external connection end 319,
Integrated joint circuit external connection end 319 is fixed on integrated joint casing 304；
(13) integrated joint synchronous are adjusted and integrated joint synchronous is fixed on into collection with 305 other end with 305 length
Into in joint synchronous band fixed plate 308, integrated joint external flange 329 is installed in integrated joint elongation bar 306, will be integrated
Joint Box Cover 331 is installed on integrated joint casing 304.
With reference to Fig. 7, the annexation and assemble sequence in pitching joint are that pitching motor wiring 402 is connected to into pitching joint
In drive control device 405, pitching joint drive controller wiring 404 is connected in pitching joint circuit external connection end 403, will be bowed
Face upward joint circuit external connection end 403 to be installed on pitching casing 407；Pitching direct driving motor 406 is installed to into pitch bearing second
On fagging 418, two pitch axis spring bearings 416 are respectively installed to into the second gripper shoe of pitch bearing 418 and pitch bearing the
In one gripper shoe 417；The second gripper shoe of pitch bearing 418 and the first gripper shoe of pitch bearing 417 are installed to into pitching casing 407
On, pitching motor connecting shaft 414 is installed on pitch axis spring bearing 416, by pitching base plate 401 and pitching casing side end cap
It is installed on pitching casing 407, pitch axis synchronizing wheel 415 is installed to into the outer end of pitching motor connecting shaft 414；Pitching is supported
Bearing 408 is installed on pitching casing 407, by pitch axis 409 through left side pitching spring bearing 408 and pitching adpting flange
410 are supported on right side pitching spring bearing 408, and pitching synchronous pulley 411 is installed to into the right-hand end of pitch axis 409, will bow
Face upward Timing Belt 412 to be installed on axle synchronizing wheel 415 and pitching synchronous pulley 411, finally pitching synchronization wheel cap 419 is installed to and is bowed
Face upward on casing 407.
With reference to Fig. 2, coordinate system is set up according to D-H parameters, the displacement of mechanical arm tail end can be by each coordinate system relative to upper
The rotation of one coordinate system is obtained with translation, and rotating around x, y, z-axis rotates the matrix of the spin matrix of θ and is
Rotate about the z axisThen around the new coordinate Y-axis rotation θ for being formed, the coordinate for finally obtaining around the new Z rotation ψ for being formed
The spin matrix of system is
Then have rotating around coordinate axess with the form that homogeneous transform matrix is designated as around coordinate axess translation unification
The kinestate of any time mechanical arm is obtained according to above-mentioned relation, then according to Lagrange's equation L=T-
V,Wherein L is Lagrange factor, and T is system kinetic energy, and V is potential energy of system, and q sits for the broad sense of system
Mark is obtained the kinetic model of mechanical armWhereinIt is and generalized acceleration
The inertia force being directly proportional,For the quadratic form of generalized velocity, comprising centrifugal force and coriolis force, G (q) is gravity item, and τ is
As the driving force on joint, the control input in as each joint.
Claims (7)
1. a kind of multifunctional unit mechanical arm variable with redundant degree of freedom brachium, the mechanical arm include base joint, one
Body joint, the first pitching joint, integrated joint, the second pitching joint and rotary joint；Base joint support is mounted thereto
Joint and joint thereon can be driven to rotate；Stretching motion and elevating movement are integrated in a pass by integral joint
In section, two direct driving motors share a drive control device, from the inside cabling in joint；Integrated joint is flexible free using constituting
Rotary motion and stretching motion are integrated into a joint by the guide rail of degree as the actuating device of rotary freedom；First pitching
Joint is provided which elevating movement with the second pitching joint, and power output shaft is supported using duplex bearing；Rotary joint output rotation fortune
It is dynamic；Circuit external connection end between each joint is connected by telephone wire；
The relation of being linked and packed in each joint is：Base joint (1) is assembled, and base joint (1) one end is fixed on
On ground, the first pitching joint is assembled and be installed to base joint (1) other end, integral joint (2) is assembled into peace
It is attached on the first pitching joint, integrated joint (3) is assembled and is installed to integral joint (2), by the assembling of the second pitching joint
It is installed to well on integrated joint (3), rotary joint (5) is assembled and is installed on the second pitching joint；
It is characterized in that：Base joint include base, base drive control device, base drive control wiring, base circuit external connection end,
Base direct driving motor wiring, base direct driving motor, base cabinet, base bearing and base flange, base direct driving motor is arranged on
On base cabinet, the upper end of base cabinet is provided with base bearing, and the inner ring of base bearing is fixed with base flange, and base directly drives
The motor shaft of motor is connected with base flange, and under the support of base bearing, base flange is with the motor of base direct driving motor
Axle is rotated, and base direct driving motor wiring is connected in the base drive control device on base, base drive control device
Signal is connected to base circuit external connection end by base drive control wiring, and on floor installation to base cabinet, base can be with the external world
Device connects to solid mechanical arm.
2. a kind of multifunctional unit mechanical arm variable with redundant degree of freedom brachium according to claim 1, is characterized in that：
Integral joint include the synchronizing wheel of integral joint first, integral joint Timing Belt, the gripper shoe of integral joint axle first, one
The gripper shoe of body joint shaft second, integral joint motor connection axle, the synchronizing wheel of integral joint second, integral joint upper end
Lid, the gripper shoe of integral joint first, integral joint expansion link, integral joint ball members, integral joint connecting plate, silk
Thick stick, integral joint spring bearing, integral joint motor mounting plate, the direct driving motor of integral joint first, integral joint
Casing, integral joint circuit external connection end, integral joint the first direct driving motor wiring, Integrated joint drive controller, one
The gripper shoe of body joint second, wire fixer, integral joint linear bearing, integral joint jump ring, integral joint second are straight
Drive motor wiring, integral joint guide rail pole, integral joint motor connection axle spring bearing, integral joint second and directly drive electricity
Machine, integral joint upper box, integral joint axle spring bearing, integral joint support shaft and integral joint method for externally
It is blue.
3. a kind of multifunctional unit mechanical arm variable with redundant degree of freedom brachium according to claim 2, is characterized in that：
Integral joint be linked and packed order be：
(1) integral joint spring bearing is installed in the gripper shoe of integral joint second, leading screw is installed to into integrated pass
In the inner ring of section spring bearing, integral joint ball members and leading screw are coordinated and is installed；
(2) integral joint linear bearing is installed in integral joint connecting plate by integral joint jump ring, incites somebody to action one
Change articular link plate to be installed in integral joint ball members；
(3) integral joint guide rail pole is installed in the gripper shoe of integral joint second through integral joint linear bearing,
The integral joint guide rail pole other end is fixed in the gripper shoe of integral joint first, integral joint expansion link is passed through into one
Through hole in the gripper shoe of body joint first is installed on integral joint connecting plate；
(4) integral joint the first direct driving motor wiring is connected on Integrated joint drive controller, by integral joint
Second direct driving motor wiring through integral joint expansion link, the gripper shoe of integral joint first, integral joint connecting plate with
The gripper shoe of integral joint second is connected on Integrated joint drive controller, and integral joint the second direct driving motor wiring is worn
The part for crossing gripper shoe is fixed by wire fixer, integral joint circuit external connection end is fixed on integral joint casing, by one
Body joint drive controller is installed on integral joint casing and is connected with integral joint circuit external connection end；
(5) direct driving motor of integral joint first is installed on integral joint motor mounting plate, by integral joint motor
Installing plate is installed in the gripper shoe of integral joint second in the part formed in step (3)；
(6) part formed in step (5) is pacified by the gripper shoe of integral joint first with the gripper shoe of integral joint second
It is attached in the corresponding rectangular slot of integral joint casing, and is fixed by integral joint Box Cover, integral joint Box Cover
On integral joint casing；
(7) direct driving motor of integral joint second is installed in the gripper shoe of integral joint axle second, two integrations is closed
Section motor connection axle spring bearing is respectively installed to the gripper shoe of integral joint axle second and the gripper shoe of integral joint axle first
On；The gripper shoe of integral joint axle second and the gripper shoe of integral joint axle first are installed on integral joint upper box；
(8) integral joint motor connection axle is installed on integral joint motor connection axle spring bearing, by integration pass
Section upper end cover is installed on integral joint upper box, and integral joint upper box is installed on integral joint expansion link；
(9) synchronizing wheel of integral joint second is installed to the outer end of integral joint motor connection axle, by integral joint axle
Spring bearing is installed on integral joint upper box, and integral joint support shaft is supported through the integral joint axle in left side
Bearing is supported on the integral joint axle spring bearing on right side with integral joint external flange；
(10) synchronizing wheel of integral joint first is installed to the right-hand end of integral joint support shaft, finally by integral joint
Timing Belt is installed in the synchronizing wheel of integral joint first and the synchronizing wheel of integral joint second.
4. a kind of multifunctional unit mechanical arm variable with redundant degree of freedom brachium according to claim 1, is characterized in that：
The integrated joint includes integrated joint synchronous wheel, integrated joint synchronous wheel shaft, integrated joint synchronous wheel gripper shoe, integrated joint
Casing, integrated joint synchronous band, integrated joint elongation bar, integrated joint jump ring, integrated joint synchronous band fixed plate, integrated joint
First rolling bearing, integrated joint ball spline, the direct driving motor of integrated joint first, the second direct driving motor wiring of integrated joint,
Electricity is directly driven in the gripper shoe of integrated joint first, integrated joint drive controller, the direct driving motor of integrated joint second, integrated joint second
Machine fixed plate, integrated joint shaft gear, integrated joint synchronous tape spool, integrated joint circuit external connection end, integrated joint circuit are external
Wiring, the first direct driving motor wiring of integrated joint, the gripper shoe of integrated joint second, the rolling bearing of integrated joint second, integrated pass
Section guide rail, integrated oscillating bearing support member, integrated joint support bearing axle, integrated joint support bearing, the 3rd, integrated joint
Fagging, integrated joint external flange, integrated joint motor gear and integrated joint Box Cover.
5. a kind of multifunctional unit mechanical arm variable with redundant degree of freedom brachium according to claim 4, is characterized in that：
Integrated joint module be linked and packed order be：
(1) direct driving motor of integrated joint first is installed in the gripper shoe of integrated joint second, by the axis of rolling of integrated joint second
Hold and be installed in the gripper shoe of integrated joint second, integrated joint guide rail is fixed on the inner ring of the rolling bearing of integrated joint second
And be connected with the motor shaft of the direct driving motor of integrated joint first；
(2) integrated joint support bearing is connected on integrated oscillating bearing support member by integrated joint support bearing axle；
(3) component formed in step (2) is connected to the collection of the component of step (1) formation by integrated oscillating bearing support member
Into the other end of joint guide rail；
(4) direct driving motor of integrated joint second is installed in the second direct driving motor fixed plate of integrated joint, by integrated joint electricity
Machine gear is installed on the direct driving motor of integrated joint second；
(5) integrated joint shaft gear is installed on integrated joint synchronous tape spool, integrated joint synchronous tape spool is passed through into Timing Belt
Axle bearing plate is installed in the gripper shoe of integrated joint first, and integrated joint synchronous wheel is installed on integrated joint synchronous tape spool；
(6) part formed in step (4) is installed in step (5) by integrated joint the second direct driving motor fixed plate and is formed
Part in the gripper shoe of integrated joint first on, integrated joint drive controller is installed to into the gripper shoe of integrated joint first
On；
(7) integrated joint synchronous wheel is installed to into integrated joint synchronous wheel gripper shoe by corresponding integrated joint synchronous wheel shaft
On, integrated joint synchronous wheel gripper shoe is installed in the gripper shoe of integrated joint the 3rd；
(8) integrated joint ball spline is installed to one end of integrated joint elongation bar, the rolling bearing of integrated joint first is led to
Cross interference fit to be installed on the shaft shoulder position of integrated joint elongation bar, integrated joint synchronous band fixed plate is passed through into integrated joint
Jump ring is fixed to the outer ring of the rolling bearing of integrated joint first；
(9) collection being installed to the part formed in step (8) by integrated joint ball spline in the part of step (1) formation
Into on the guide rail of joint；
(10) by one end of integrated joint synchronous band through the gripper shoe of integrated joint the 3rd, integrated joint synchronous band fixed plate, collection
Support through integrated joint first after integrated joint synchronous wheel with the gripper shoe of integrated joint first into the gripper shoe of joint second
Plate is fixed in integrated joint synchronous band fixed plate with the gripper shoe of integrated joint second, and the other end of integrated joint synchronous band is worn
The gripper shoe of integrated joint first is crossed, is tentatively fixed in integrated joint synchronous band fixed plate；
(11) by step (6), (7) with the part that (9) are formed respectively by the corresponding gripper shoe of integrated joint first, integrated joint
3rd gripper shoe and the gripper shoe of integrated joint second are installed in the corresponding rectangular slot of integrated joint casing；
(12) the second direct driving motor wiring of integrated joint and the first direct driving motor wiring of integrated joint are connected to into integrated joint to drive
On movement controller, the external wiring of integrated joint circuit is connected to into integrated joint circuit external connection end, integrated joint circuit is external
End is fixed on integrated joint casing；
(13) other end of the integrated Timing Belt in joint is fixed on integrated joint synchronous band by the length for adjusting integrated joint synchronous band
In fixed plate, integrated joint external flange is installed in integrated joint elongation bar, integrated joint Box Cover is installed to integrated
On the casing of joint.
6. a kind of multifunctional unit mechanical arm variable with redundant degree of freedom brachium according to claim 1, is characterized in that：
The first pitching joint and the second pitching joint include pitching base plate, pitching motor wiring, pitching joint circuit external connection end,
Pitching joint drive controller wiring, pitching joint drive controller, pitching direct driving motor, pitching casing, pitching spring bearing,
Pitch axis, pitching adpting flange, pitching synchronous pulley, pitching Timing Belt, pitching synchronization wheel cap, pitching casing side end cap, pitching
Motor connection axle, pitch axis synchronizing wheel, pitch axis spring bearing, the gripper shoe of pitch bearing first and pitch bearing second are supported
Plate；Pitching direct driving motor is arranged in the gripper shoe of pitch bearing second, and its motor shaft is connected with pitching motor connecting shaft, pitching electricity
Machine connecting shaft is supported by the gripper shoe of pitch bearing second is separately mounted to two pitch axis in the gripper shoe of pitch bearing first
Bearings, the gripper shoe of pitch bearing second and the gripper shoe of pitch bearing first are all arranged on pitching casing, pitch bearing the
The side of one gripper shoe is also equipped with pitching casing side end cap；Pitching motor connecting shaft outer end is provided with pitch axis synchronizing wheel, bows
Face upward and pitching Timing Belt is installed in axle synchronizing wheel, pitching Timing Belt one end is arranged on pitching synchronous pulley, pitching synchronous pulley
On pitch axis, pitch axis is supported by the pitching spring bearing on pitching casing, is also equipped with bowing on pitch axis
Adpting flange is faced upward, to be also equipped with pitching synchronizing wheel with the side of other module connections, pitching casing installation pitching Timing Belt
Lid；Pitching motor wiring is connected on the pitching joint drive controller on pitching casing, the control of pitching joint drive
Device wiring is connected to the pitching joint circuit external connection end on pitching casing.
7. a kind of multifunctional unit mechanical arm variable with redundant degree of freedom brachium according to claim 1, is characterized in that：
The rotary joint includes that rotary joint base plate, rotary joint drive control device, rotary joint drive control device wiring, rotation are closed
Economize on electricity road external connection end, rotation direct driving motor wiring, rotation direct driving motor, rotary joint casing, rotary joint bearing are closed with rotation
Section flange；Rotation direct driving motor is arranged on rotary joint casing, and rotary joint casing upper end is provided with rotary joint bearing, rotation
The inner ring for turning oscillating bearing is fixed with rotary joint flange, and rotary joint flange is also connected with the motor shaft of rotation direct driving motor,
Under the support of rotary joint bearing, rotary joint flange is rotated with rotation direct driving motor, so as to drive mould mounted thereto
Block is rotated, and rotation direct driving motor wiring is connected to the rotary joint drive control device on rotary joint base plate, and rotation is closed
Section drive control device wiring is connected to the rotary joint circuit external connection end installed in rotary joint body side.
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| CN201510531323.8A CN105014688B (en) | 2015-08-26 | 2015-08-26 | Multifunctional integrated mechanical arm with variable redundant DOF (degree of freedom) arm length |
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| CN106113012B (en) * | 2016-07-18 | 2018-08-28 | 南京楚卿电子科技有限公司 | A kind of all-purpose robot equipped with the swingable adjutage stretched |
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| CN106671133A (en) * | 2016-12-26 | 2017-05-17 | 海宁王骏橡塑制品有限公司 | Mechanical arm for producing sock hook |
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| CN108422414A (en) * | 2018-05-15 | 2018-08-21 | 东莞新友智能科技有限公司 | Six articulated robots |
| CN111360814A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Cooperative robot control system and method |
| CN111376231A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Collaboration robot |
| CN109876970B (en) * | 2019-04-04 | 2024-06-18 | 清研同创机器人（天津）有限公司 | Seven-degree-of-freedom spraying robot |
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