CN110802635A

CN110802635A - Robot arm convenient to multi-angle rotating

Info

Publication number: CN110802635A
Application number: CN201911205914.0A
Authority: CN
Inventors: 胡丹萍
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2020-02-18

Abstract

The invention discloses a robot mechanical arm convenient for multi-angle rotation, which comprises an installation bottom plate, wherein an electric cabinet is fixedly arranged on the upper surface of the installation bottom plate, a first servo cylinder is fixedly arranged on the upper surface of the electric cabinet, a first telescopic rod sleeve is arranged on the upper surface of the first servo cylinder, a first telescopic rod is movably connected to the inner surface of the first telescopic rod sleeve, a first servo motor is fixedly connected to the upper end of the first telescopic rod, a first rotating shaft is rotatably connected to the upper end of the first servo motor, a second servo cylinder is fixedly arranged on the upper end of the first rotating shaft, and a second telescopic rod sleeve is arranged at the horizontal end of the second servo cylinder. The invention realizes the rotation and the extension of the horizontal position of the mechanical arm and the rotation and the extension in the vertical direction, thereby realizing the multi-angle rotation of the mechanical arm, facilitating the multi-angle grabbing operation of the robot, having simple structure and low manufacturing cost, and being suitable for wide popularization.

Description

Robot arm convenient to multi-angle rotating

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a robot mechanical arm convenient to rotate in multiple angles.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of the unique operation flexibility, the method is widely applied to the fields of industrial assembly, safety, explosion prevention and the like. The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.

However, the existing mechanical arm is complex in structure and high in manufacturing cost, and certain adverse effect is caused in the actual use process, so that the robot mechanical arm convenient to rotate in multiple angles is provided.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a robot mechanical arm convenient for multi-angle rotation.

In order to achieve the purpose, the invention adopts the following technical scheme:

a robot mechanical arm convenient for multi-angle rotation comprises an installation bottom plate, wherein an electric cabinet is fixedly installed on the upper surface of the installation bottom plate, a first servo cylinder is fixedly installed on the upper surface of the electric cabinet, a first telescopic rod sleeve is arranged on the upper surface of the first servo cylinder, a first telescopic rod is movably connected to the inner surface of the first telescopic rod sleeve, a first servo motor is fixedly connected to the upper end of the first telescopic rod, a first rotating shaft is rotatably connected to the upper end of the first servo motor, a second servo cylinder is fixedly installed on the upper end of the first rotating shaft, a second telescopic rod sleeve is arranged at the horizontal end of the second servo cylinder, a second telescopic rod is movably connected to the inner surface of one end of the second telescopic rod sleeve, a second servo motor is fixedly installed at one end of the second telescopic rod, far away from the second telescopic rod sleeve, and a second rotating shaft is rotatably connected to one end of the second servo motor, far away from the second telescopic rod, and one end of the second rotating shaft, which is far away from the second servo motor, is fixedly connected with an end effector connecting plate.

Preferably, a junction box is fixedly mounted on the inner wall of the top of the electric cabinet, a single chip microcomputer is fixedly mounted inside the junction box, a lead slot is formed in the top of the junction box, and the single chip microcomputer is electrically connected with the first servo cylinder, the first servo motor, the second servo cylinder and the second servo motor through an external power supply.

Preferably, the inner wall of the bottom of the electric cabinet is provided with a maintenance tool box, and a maintenance tool is arranged in the maintenance tool box.

Preferably, the outer wall of one side of the electric cabinet is movably connected with a cabinet door through a hinge, and the outer surface of the cabinet door is fixedly connected with a door handle.

Preferably, the two ends of the mounting bottom plate are fixedly connected with mounting pieces, and the inner surfaces of the mounting pieces are provided with second mounting holes.

Preferably, the four corners of the inner surface of the end effector connecting plate are provided with first mounting holes.

Preferably, a first connecting plate is fixedly connected between the mounting bottom plate and the electric cabinet, a second connecting plate is fixedly connected between the first telescopic rod and the first servo motor, a third connecting plate is fixedly connected between the first rotating shaft and the second servo cylinder, and a fourth connecting plate is fixedly connected between the second telescopic rod and the second servo motor.

Preferably, the outer surface of the first rotating shaft is provided with a first shaft sleeve, and the outer surface of the second rotating shaft is provided with a second shaft sleeve.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the robot arm, the first servo cylinder, the first servo motor, the second servo cylinder, the second servo motor and the end effector connecting plate are arranged, so that the horizontal rotation and the stretching of the robot arm are realized, and the vertical rotation and the stretching can be realized, so that the robot arm can rotate at multiple angles, and the robot can conveniently grab and operate at multiple angles;

2. according to the invention, the electric control box and the single chip microcomputer are arranged, so that the control of the mechanical arm can be realized, the automation degree is high, the structure is simple, the manufacturing cost is low, and the mechanical arm is suitable for wide popularization;

3. according to the invention, the box door and the maintenance tool box are arranged, so that the mechanical arm can be conveniently overhauled when needed, and the trouble that people carry maintenance tools with them is avoided.

In conclusion, the multi-angle rotary robot arm disclosed by the invention realizes the horizontal position rotation and the extension of the mechanical arm and can also realize the vertical direction rotation and extension, so that the mechanical arm can rotate at multiple angles, the multi-angle grabbing operation of the robot is facilitated, the structure is simple, the manufacturing cost is low, and the multi-angle rotary robot arm is suitable for wide popularization.

Drawings

FIG. 1 is a schematic structural diagram of a robotic arm facilitating multi-angle rotation according to the present invention;

FIG. 2 is a schematic structural diagram of a mounting base plate of a robotic arm facilitating multi-angle rotation according to the present invention;

FIG. 3 is a schematic structural diagram of an end effector connecting plate of a robotic arm facilitating multi-angle rotation according to the present invention;

fig. 4 is a schematic structural diagram of an electric cabinet of a robot arm convenient for multi-angle rotation according to the present invention.

In the figure: 1 mounting baseplate, 2 first servo cylinder, 3 first telescopic rod sleeve, 4 first telescopic rod, 5 first servo motor, 6 first rotating shaft, 7 second servo cylinder, 8 second telescopic rod, 9 second telescopic rod sleeve, 10 second servo motor, 11 second rotating shaft, 12 end effector connecting plate, 13 junction box, 14 maintenance tool box, 15 chamber door, 16 mounting plate, 17 first mounting hole, 18 second mounting hole, 19 electric cabinet, 20 first connecting plate, 21 second connecting plate, 22 first shaft sleeve, 23 third connecting plate, 24 fourth connecting plate, 25 second shaft sleeve, 26 door handles, 27 lead wire groove, 28 singlechip, 29 hinge.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-4, a robot arm convenient for multi-angle rotation comprises a mounting base plate 1, an electric cabinet 19 is fixedly mounted on the upper surface of the mounting base plate 1, a first servo cylinder 2 is fixedly mounted on the upper surface of the electric cabinet 19, a first telescopic rod sleeve 3 is arranged on the upper surface of the first servo cylinder 2, a first telescopic rod 4 is movably connected to the inner surface of the first telescopic rod sleeve 3, a first servo motor 5 is fixedly connected to the upper end of the first telescopic rod 4, a first rotating shaft 6 is rotatably connected to the upper end of the first servo motor 5, a second servo cylinder 7 is fixedly mounted on the upper end of the first rotating shaft 6, a second telescopic rod sleeve 9 is arranged at the horizontal end of the second servo cylinder 7, a second telescopic rod 8 is movably connected to the inner surface of one end of the second telescopic rod sleeve 9, and a second servo motor 10 is fixedly mounted at the end of the second telescopic rod 8 far away from the second telescopic rod sleeve 9, one end of the second servo motor 10, which is far away from the second telescopic rod 8, is rotatably connected with a second rotating shaft 11, and one end of the second rotating shaft 11, which is far away from the second servo motor 10, is fixedly connected with an end effector connecting plate 12.

Wherein, the inner wall of the top of the electric cabinet 19 is fixedly provided with a junction box 13, the inside of the junction box 13 is fixedly provided with a single chip microcomputer 28, the top of the junction box 13 is provided with a lead slot 27, and the single chip microcomputer 28 is electrically connected with the first servo cylinder 2, the first servo motor 5, the second servo cylinder 7 and the second servo motor 10 through an external power supply.

Wherein, the bottom inner wall of electric cabinet 19 is equipped with maintenance tool box 14, and is equipped with maintenance tool in the maintenance tool box 14.

Wherein, one side outer wall of the electric cabinet 19 is movably connected with the cabinet door 15 through a hinge 29, and the outer surface of the cabinet door 15 is fixedly connected with a door handle 26.

Wherein, both ends fixedly connected with installation piece 16 of mounting plate 1, and the internal surface of installation piece 16 has seted up second mounting hole 18.

Wherein, the four corners of the inner surface of the end effector connecting plate 12 are provided with first mounting holes 17.

Wherein, fixedly connected with first connecting plate 20 between mounting plate 1 and the electric cabinet 19, fixedly connected with second connecting plate 21 between first telescopic link 4 and the first servo motor 5, fixedly connected with third connecting plate 23 between first axis of rotation 6 and the second servo cylinder 7, fixedly connected with fourth connecting plate 24 between second telescopic link 8 and the second servo motor 10.

Wherein, the outer surface of the first rotating shaft 6 is provided with a first shaft sleeve 22, and the outer surface of the second rotating shaft 11 is provided with a second shaft sleeve 23.

The working principle is as follows: when in use, the first servo cylinder 2, the first servo motor 5, the second servo cylinder 7, the second servo motor 10 and the end effector connecting plate 12 are arranged to realize the rotation and the extension of the horizontal position of the mechanical arm and the rotation and the extension of the vertical direction, so that the mechanical arm can rotate in multiple angles, the robot can conveniently grasp and operate in multiple angles, the control of the mechanical arm can be realized by arranging the electric cabinet 19 and the single chip microcomputer 28, the automation degree is high, the structure is simple, the manufacturing cost is low, the mechanical arm is suitable for wide popularization, the maintenance work of the mechanical arm can be conveniently carried when needed by arranging the cabinet door 15 and the maintenance tool box 14, the trouble of carrying maintenance tools by people is avoided, the rotation and the extension of the horizontal position of the mechanical arm are realized, the rotation and the extension of the vertical direction can also be realized, so that the mechanical arm can realize the rotation in multiple angles, the multi-angle grabbing operation of the robot is facilitated, the structure is simple, the manufacturing cost is low, and the robot is suitable for wide popularization.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The robot mechanical arm convenient for multi-angle rotation comprises an installation bottom plate (1) and is characterized in that an electric cabinet (19) is fixedly installed on the upper surface of the installation bottom plate (1), a first servo cylinder (2) is fixedly installed on the upper surface of the electric cabinet (19), a first telescopic rod sleeve (3) is arranged on the upper surface of the first servo cylinder (2), a first telescopic rod (4) is movably connected to the inner surface of the first telescopic rod sleeve (3), a first servo motor (5) is fixedly connected to the upper end of the first telescopic rod (4), a first rotating shaft (6) is rotatably connected to the upper end of the first servo motor (5), a second servo cylinder (7) is fixedly installed on the upper end of the first rotating shaft (6), a second telescopic rod sleeve (9) is arranged at the horizontal end of the second servo cylinder (7), and a second telescopic rod (8) is movably connected to the inner surface of one end of the second telescopic rod sleeve (9), one end fixed mounting that second telescopic link cover (9) was kept away from in second telescopic link (8) has second servo motor (10), the one end that second telescopic link (8) were kept away from in second servo motor (10) is rotated and is connected with second axis of rotation (11), the one end fixedly connected with end effector connecting plate (12) of second servo motor (10) are kept away from in second axis of rotation (11).

2. The robot arm convenient for multi-angle rotation according to claim 1, wherein a junction box (13) is fixedly mounted on an inner wall of the top of the electric cabinet (19), a single chip microcomputer (28) is fixedly mounted inside the junction box (13), a lead slot (27) is formed in the top of the junction box (13), and the single chip microcomputer (28) is electrically connected with the first servo cylinder (2), the first servo motor (5), the second servo cylinder (7) and the second servo motor (10) through an external power supply.

3. The robot arm convenient for multi-angle rotation according to claim 1, wherein a maintenance tool box (14) is arranged on the inner wall of the bottom of the electric cabinet (19), and a maintenance tool is arranged in the maintenance tool box (14).

4. The robot mechanical arm convenient for multi-angle rotation according to claim 1, wherein a door (15) is movably connected to the outer wall of one side of the electric cabinet (19) through a hinge (29), and a door handle (26) is fixedly connected to the outer surface of the door (15).

5. The robot arm convenient for multi-angle rotation according to claim 1, wherein the two ends of the mounting base plate (1) are fixedly connected with mounting pieces (16), and the inner surface of each mounting piece (16) is provided with a second mounting hole (18).

6. The robot arm convenient for multi-angle rotation according to claim 1, wherein four corners of the inner surface of the end effector connecting plate (12) are provided with first mounting holes (17).

7. The robot arm convenient for multi-angle rotation according to claim 1, wherein a first connecting plate (20) is fixedly connected between the mounting base plate (1) and the electric cabinet (19), a second connecting plate (21) is fixedly connected between the first telescopic rod (4) and the first servo motor (5), a third connecting plate (23) is fixedly connected between the first rotating shaft (6) and the second servo cylinder (7), and a fourth connecting plate (24) is fixedly connected between the second telescopic rod (8) and the second servo motor (10).

8. A robotic arm facilitating multi-angle turning according to claim 1, characterised in that the outer surface of the first turning shaft (6) is provided with a first bushing (22) and the outer surface of the second turning shaft (11) is provided with a second bushing (23).