CN112643707B - Mechanical arm device - Google Patents
Mechanical arm device Download PDFInfo
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- CN112643707B CN112643707B CN202011397853.5A CN202011397853A CN112643707B CN 112643707 B CN112643707 B CN 112643707B CN 202011397853 A CN202011397853 A CN 202011397853A CN 112643707 B CN112643707 B CN 112643707B
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- spline
- motor
- rotating shaft
- connecting rod
- steering wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a mechanical arm device which comprises a base, a cloud platform, a connecting arm, a first spline, a first rotating shaft, a first connecting rod, a second spline, a second rotating shaft, a second connecting rod, a support, a first motor, a first metal main steering wheel, a second motor support, a second motor, a second metal main steering wheel, a movable claw and a fixed claw. The spline and the rotating shaft can be quickly clamped and connected through the clamping block and the spring and can be quickly separated through the push rod, the mounting and the dismounting are convenient and quick, and the problem that the mounting and the dismounting of the traditional mechanical arm are complicated and the working efficiency is influenced is solved. The movable claw has six degrees of freedom, can clamp objects in any shape by matching with the fixed claw, has a large working space range for clamping the objects, and can flexibly sort and carry various types of objects.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a mechanical arm device.
Background
In recent years, with the development of science and technology, the industrial automation and the intelligence degree are higher and higher, more and more robots are appeared in various fields, and in many occasions where the operation environment is complicated, in order to improve the mechanization degree to reduce the labor intensity of workers and the operation risk, the mechanical arm is widely applied. However, the mechanical arm is mostly a lifting arm and cannot flexibly grab various types of articles. Traditional arm adopts parts such as screw, nut to fix mostly, and the installation is more loaded down with trivial details with the dismantlement, influences work efficiency.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the mechanical arm device is simple in structure, easy to install and detach and capable of flexibly sorting and carrying various types of articles.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mechanical arm device comprises a base, a first connecting rod, a second connecting rod, a movable claw and a fixed claw, wherein the base is rotatably connected with a cloud platform, the cloud platform is provided with a connecting arm, the connecting arm is rotatably connected with a first spline, the first spline is clamped with a first rotating shaft, the first rotating shaft is fixedly connected with one end of the first connecting rod, the other end of the first connecting rod is rotatably connected with a second spline, the second spline is clamped with a second rotating shaft, the second rotating shaft is fixedly connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with a support, one end of the support is movably connected with a first motor support through a bolt, a first motor is arranged on the first motor support, the output end of the first motor is connected with the other end of the support through a first metal main steering wheel, the first motor support is fixedly connected with a second motor support, and the second motor is arranged on the second motor support, one end of the movable claw is movably connected to the second motor support through a bolt, the other end of the movable claw is connected with the output end of the second motor through a second metal main steering wheel, one end of the fixed claw is fixedly connected to the second motor support through a bolt, and the other end of the fixed claw is fixedly connected to the second motor through a stud.
Furthermore, a base motor is arranged in the base, and an output shaft of the base motor is connected with the holder and drives the holder to rotate on the base.
Furthermore, a connecting arm motor is arranged in the connecting arm, and an output shaft of the connecting arm motor is connected with the first spline and drives the first spline to rotate on the connecting arm.
Furthermore, a plurality of first spline grooves are uniformly formed in the outer wall of the first spline, a plurality of first rotating shaft grooves are uniformly formed in the inner wall of the first rotating shaft, the first spline grooves correspond to the first rotating shaft grooves, a first clamping block is arranged in each first rotating shaft groove, a first spring is arranged on each first clamping block, and when the first spline is clamped with the first rotating shaft, each first clamping block is clamped in each first spline groove and each first rotating shaft groove; and a first push rod is further arranged in the first spline, and when the first spline and the first rotating shaft are separated, the first push rod pushes the first clamping block back into the groove of the first rotating shaft.
Furthermore, a first connecting rod motor is arranged in the first connecting rod, and an output shaft of the first connecting rod motor is connected with the second spline and drives the second spline to rotate on the first connecting rod.
Furthermore, a plurality of second spline grooves are uniformly formed in the outer wall of the second spline, a plurality of second rotating shaft grooves are uniformly formed in the inner wall of the second rotating shaft, the second spline grooves correspond to the second rotating shaft grooves, a second clamping block is arranged in each second rotating shaft groove, a second spring is arranged on each second clamping block, and when the second spline is clamped with the second rotating shaft, each second clamping block is clamped in each second spline groove and each second rotating shaft groove; and a second push rod is further arranged in the second spline, and when the second spline and the second rotating shaft are separated, the second push rod pushes the second clamping block back into the groove of the second rotating shaft.
Furthermore, a second connecting rod motor is arranged in the second connecting rod, and an output shaft of the second connecting rod motor is connected with the support and drives the support to rotate on the second connecting rod.
Furthermore, a first gear is fixedly sleeved on an output shaft of the first motor, a first metal main steering wheel is fixedly connected to the other end of the support through a bolt, a first metal main steering wheel gear is arranged on the first metal main steering wheel, the first gear is meshed with the first metal main steering wheel gear, and the first motor drives the first motor shell to rotate on the support.
Furthermore, a second gear is fixedly sleeved on an output shaft of a second motor, a second metal main steering wheel is fixedly connected to the other end of the movable claw through a bolt, a second metal main steering wheel gear is arranged on the second metal main steering wheel, the second gear is meshed with the second metal main steering wheel gear, and the second motor drives the movable claw to rotate on a second motor support.
In summary, the present invention has the following advantages:
the spline and the rotating shaft can be quickly clamped and connected through the clamping block and the spring and can be quickly separated through the push rod, the mounting and the dismounting are convenient and quick, and the problem that the mounting and the dismounting of the traditional mechanical arm are complicated and the working efficiency is influenced is solved.
The movable claw has six degrees of freedom, can clamp objects in any shape by matching with the fixed claw, has a large working space range for clamping the objects, and can flexibly sort and carry various types of objects.
Drawings
Fig. 1 is a schematic front view of the present invention.
Fig. 2 is a schematic view of the back structure of the present invention.
Fig. 3 is a schematic side view of the present invention.
Fig. 4 is a structural schematic diagram of a process of connecting the first spline and the first rotating shaft according to the present invention.
Fig. 5 is a schematic view of the structure of the groove of the first rotating shaft according to the present invention.
Fig. 6 is a schematic structural diagram of the first latch of the present invention.
Fig. 7 is a schematic view of the structure of the first rotating shaft of the present invention.
FIG. 8 is a schematic view of the configuration of the first spline groove of the present invention.
FIG. 9 is a schematic view of the configuration of the first spline of the present invention.
FIG. 10 is a schematic view of the structure of the holder, moveable jaw and stationary jaw of the present invention.
Figure 11 is a schematic diagram of the construction of a moveable jaw and a stationary jaw of the present invention.
Fig. 12 is a schematic view of the structure of the first motor of the present invention.
FIG. 13 is a schematic structural diagram of a first metal main rudder disk of the present invention.
Wherein: 1 is a base, 1-1 is a base motor, 2 is a tripod head, 3 is a connecting arm, 3-1 is a connecting arm motor, 4 is a first spline, 4-1 is a first spline groove, 4-2 is a first push rod, 5 is a first rotating shaft, 5-1 is a first rotating shaft groove, 5-2 is a first clamping block, 5-3 is a first spring, 6 is a first connecting rod, 6-1 is a first connecting rod motor, 7 is a second spline, 8 is a second rotating shaft, 9 is a second connecting rod, 9-1 is a second connecting rod motor, 10 is a bracket, 11 is a first motor bracket, 12 is a first motor, 12-1 is a first gear, 12-2 is a first motor shell, 13 is a first metal master steering wheel, 13-1 is a first metal master steering wheel gear, 14 is a second motor bracket, 15 is a second motor, 16 is a movable claw, 17 is a second metal main rudder disc, 18 is a fixed claw, and 18-1 is a stud.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in fig. 1, 2, 3, 10 and 11, a mechanical arm device comprises a base, a first connecting rod, a second connecting rod, a movable claw and a fixed claw, wherein the base is rotatably connected with a pan head, the pan head is provided with a connecting arm, the connecting arm is rotatably connected with a first spline, the first spline is clamped with a first rotating shaft, the first rotating shaft is fixedly connected with one end of the first connecting rod, the other end of the first connecting rod is rotatably connected with a second spline, the second spline is clamped with a second rotating shaft, the second rotating shaft is fixedly connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with a bracket, one end of the bracket is movably connected with a first motor bracket through a bolt, the first motor bracket is provided with a first motor, the output end of the first motor is connected with the other end of the bracket through a first metal main steering wheel, the first motor bracket is fixedly connected with a second motor bracket, the second motor is installed on the second motor support, one end of the movable claw is movably connected to the second motor support through a bolt, the other end of the movable claw is connected with the output end of the second motor through a second metal main steering wheel, one end of the fixed claw is fixedly connected to the second motor support through a bolt, and the other end of the fixed claw is fixedly connected to the second motor through a stud.
As shown in fig. 2, a base motor is arranged in the base, and an output shaft of the base motor is connected with the holder and drives the holder to rotate on the base.
As shown in fig. 2, a connecting arm motor is arranged in the connecting arm, and an output shaft of the connecting arm motor is connected with the first spline and drives the first spline to rotate on the connecting arm.
As shown in fig. 4 to 9, a plurality of first spline grooves are uniformly formed in the outer wall of the first spline, a plurality of first rotating shaft grooves are uniformly formed in the inner wall of the first rotating shaft, the first spline grooves correspond to the first rotating shaft grooves, a first clamping block is arranged in each first rotating shaft groove, a first spring is arranged on each first clamping block, and when the first spline is clamped with the first rotating shaft, each first clamping block is clamped in each first spline groove and each first rotating shaft groove; and a first push rod is further arranged in the first spline, and when the first spline and the first rotating shaft are separated, the first push rod pushes the first clamping block back into the groove of the first rotating shaft. In this embodiment, four first spline grooves are uniformly formed in the outer wall of the first spline, four first rotation axis grooves are uniformly formed in the inner wall of the first rotation axis, the first spline grooves correspond to the first rotation axis grooves, a first fixture block is arranged in each first rotation axis groove, a first spring is arranged at the bottom of each first fixture block, when the first spline and the first rotation axis are clamped, the first spline extends into the first rotation axis, the first fixture block is pushed into the first rotation axis groove, a first spring at the bottom of each first fixture block is compressed, the first fixture block moves towards the first rotation axis groove, when the first spline extends into the first spline groove and the first rotation axis groove and are aligned, the first fixture block moves towards the first spline groove and is clamped in the first spline groove under the resilience force of the first spring, that is, the first fixture block is clamped in the first spline groove and the first rotation axis groove, and clamping the first spline and the first rotating shaft together. When the first spline and the first rotating shaft are separated, the first push rod is pushed towards the first spline groove of the first spline, the first push rod can push out the first clamping block in the first spline groove and push the first clamping block back to the first rotating shaft groove, and separation and disassembly of the first spline and the first rotating shaft are achieved.
As shown in fig. 1, a first link motor is arranged in the first link, and an output shaft of the first link motor is connected with the second spline and drives the second spline to rotate on the first link.
Referring to fig. 4 to 9, a plurality of second spline grooves are uniformly formed in the outer wall of the second spline, a plurality of second rotating shaft grooves are uniformly formed in the inner wall of the second rotating shaft, the second spline grooves correspond to the second rotating shaft grooves, a second clamping block is arranged in each second rotating shaft groove, a second spring is arranged on each second clamping block, and when the second spline is clamped with the second rotating shaft, each second clamping block is clamped in each second spline groove and each second rotating shaft groove; and a second push rod is further arranged in the second spline, and when the second spline and the second rotating shaft are separated, the second push rod pushes the second clamping block back into the groove of the second rotating shaft. In this embodiment, four second spline grooves are uniformly formed in the outer wall of the second spline, four second rotation axis grooves are uniformly formed in the inner wall of the second rotation axis, the second spline grooves correspond to the second rotation axis grooves, a second fixture block is arranged in each second rotation axis groove, a second spring is arranged at the bottom of each second fixture block, when the second spline is clamped with the second rotation axis, the second spline extends into the second rotation axis, the second fixture block is pushed into the second rotation axis groove, a second spring at the bottom of each second fixture block is compressed, the second fixture block moves into the second rotation axis groove, when the second spline extends into the second spline groove and the second rotation axis groove, the second fixture block moves towards the second spline groove and is clamped in the second spline groove under the resilience force of the second spring, that is, the second fixture block is clamped in the second spline groove and the second rotation axis groove, and clamping the second spline and the second rotating shaft together. When the second spline and the second rotating shaft are separated, the second push rod is pushed towards the second spline groove of the second spline, the second push rod can push out the second clamping block in the second spline groove and push the second clamping block back to the second rotating shaft groove, and separation and disassembly of the second spline and the second rotating shaft are achieved.
As shown in fig. 2, a second link motor is disposed in the second link, and an output shaft of the second link motor is connected to the bracket and drives the bracket to rotate on the second link.
As shown in fig. 10 to 13, a first gear is fixedly sleeved on an output shaft of the first motor, the first metal main steering wheel is fixedly connected to the other end of the support through a bolt, a first metal main steering wheel gear is arranged on the first metal main steering wheel, the first gear is meshed with the first metal main steering wheel gear, and the first motor drives the first motor housing to rotate on the support. Because first metal owner steering wheel fixed connection is at the other end of support, and first gear is connected with first metal owner steering wheel gear engagement, and the output shaft of first motor rotates and can not drive the support and rotate, and first motor support swing joint is in the one end of support, and first motor is installed on first motor support, so the output shaft of first motor can not rotate, and first motor can only drive first motor casing and rotate to drive first motor support and rotate.
Referring to fig. 10 to 13, a second gear is fixedly sleeved on an output shaft of the second motor, the second metal main steering wheel is fixedly connected to the other end of the movable claw through a bolt, a second metal main steering wheel gear is arranged on the second metal main steering wheel, the second gear is meshed with the second metal main steering wheel gear, and the second motor drives the movable claw to rotate on the second motor support. The output shaft of second motor rotates and drives second metal owner steering wheel and rotate, because second metal owner steering wheel fixed connection is at the other end of movable claw, and the one end swing joint of movable claw is on second motor support, so second metal owner steering wheel rotates and can drive the movable claw and rotate, so the second motor can drive the movable claw and rotate.
The invention has a plurality of components capable of rotating, a base motor drives a tripod head to rotate on a base, a connecting arm is fixedly arranged on the tripod head, the connecting arm motor drives a first spline to rotate on the connecting arm, the first spline rotates to drive a first rotating shaft to rotate due to the clamping connection of the first spline and the first rotating shaft, the first rotating shaft rotates to drive a first connecting rod to rotate due to the fixed connection of the first rotating shaft and one end of the first connecting rod, the first connecting rod motor drives a second spline to rotate on the first connecting rod, the second spline rotates to drive a second rotating shaft to rotate due to the clamping connection of the second spline and the second rotating shaft, the second spline rotates to drive the second rotating shaft to rotate, the second connecting rod motor drives a bracket to rotate on the second connecting rod, the first motor drives a first motor shell to rotate on the bracket, and the first motor is arranged on the first motor bracket, first motor support and second motor support fixed connection, first motor casing rotate and drive first motor support and rotate, and first motor support rotates and drives second motor support and rotate, and the second motor drives the movable claw and rotates on second motor support.
Generally speaking, the mechanical arm is simple in structure and easy to install and disassemble, the spline and the rotating shaft can be quickly clamped and connected through the clamping block and the spring and can be quickly separated through the push rod, the installation and the disassembly are both convenient and quick, and the problem that the installation and the disassembly of the traditional mechanical arm are complicated and the working efficiency is influenced is solved. The movable claw has six degrees of freedom, can clamp objects in any shape by matching with the fixed claw, has a large working space range for clamping the objects, and can flexibly sort and carry various types of objects.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (7)
1. A robot arm device, characterized in that: the device comprises a base, a first connecting rod, a second connecting rod, a movable claw and a fixed claw, wherein the base is rotatably connected with a cloud platform, the cloud platform is provided with a connecting arm, the connecting arm is rotatably connected with a first spline, the first spline is clamped with a first rotating shaft, the first rotating shaft is fixedly connected with one end of the first connecting rod, the other end of the first connecting rod is rotatably connected with a second spline, the second spline is clamped with a second rotating shaft, the second rotating shaft is fixedly connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with a bracket, one end of the bracket is movably connected with a first motor bracket through a bolt, the first motor bracket is provided with a first motor, the output end of the first motor is connected with the other end of the bracket through a first metal main steering wheel, the first motor bracket is fixedly connected with a second motor bracket, the second motor bracket is provided with a second motor, one end of the movable claw is movably connected with the second motor bracket through a bolt, the other end of the movable claw is connected with the output end of a second motor through a second metal main rudder disc, one end of the fixed claw is fixedly connected to a second motor bracket through a bolt, and the other end of the fixed claw is fixedly connected to the second motor through a stud;
a plurality of first spline grooves are uniformly formed in the outer wall of the first spline, a plurality of first rotating shaft grooves are uniformly formed in the inner wall of the first rotating shaft, the first spline grooves correspond to the first rotating shaft grooves, a first clamping block is arranged in each first rotating shaft groove, a first spring is arranged on each first clamping block, and when the first spline is clamped with the first rotating shaft, each first clamping block is clamped in each first spline groove and each first rotating shaft groove; a first push rod is further arranged in the first spline, and when the first spline and the first rotating shaft are separated, the first push rod pushes the first clamping block back into the groove of the first rotating shaft;
a plurality of second spline grooves are uniformly formed in the outer wall of the second spline, a plurality of second rotating shaft grooves are uniformly formed in the inner wall of the second rotating shaft, the second spline grooves correspond to the second rotating shaft grooves, a second clamping block is arranged in each second rotating shaft groove, a second spring is arranged on each second clamping block, and when the second spline is clamped with the second rotating shaft, each second clamping block is clamped in each second spline groove and each second rotating shaft groove; and a second push rod is further arranged in the second spline, and when the second spline and the second rotating shaft are separated, the second push rod pushes the second clamping block back into the groove of the second rotating shaft.
2. The robot arm device according to claim 1, wherein: a base motor is arranged in the base, and an output shaft of the base motor is connected with the holder and drives the holder to rotate on the base.
3. The robot arm device according to claim 1, wherein: be equipped with the linking arm motor in the linking arm, the output shaft and the first spline connection of linking arm motor and drive first spline rotate on the linking arm.
4. The robot arm device according to claim 1, wherein: and a first connecting rod motor is arranged in the first connecting rod, and an output shaft of the first connecting rod motor is connected with the second spline and drives the second spline to rotate on the first connecting rod.
5. The robot arm device of claim 1, wherein: and a second connecting rod motor is arranged in the second connecting rod, and an output shaft of the second connecting rod motor is connected with the support and drives the support to rotate on the second connecting rod.
6. The robot arm device according to claim 1, wherein: the fixed cover is equipped with first gear on the output shaft of first motor, and first metal owner steering wheel passes through bolt fixed connection at the other end of support, is equipped with first metal owner steering wheel gear on the first metal owner steering wheel, and first gear is connected with first metal owner steering wheel gear meshing, and first motor drive first motor casing rotates on the support.
7. The robot arm device according to claim 1, wherein: a second gear is fixedly sleeved on an output shaft of the second motor, a second metal main steering wheel is fixedly connected to the other end of the movable claw through a bolt, a second metal main steering wheel gear is arranged on the second metal main steering wheel, the second gear is meshed with the second metal main steering wheel gear, and the second motor drives the movable claw to rotate on the second motor support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011397853.5A CN112643707B (en) | 2020-12-04 | 2020-12-04 | Mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011397853.5A CN112643707B (en) | 2020-12-04 | 2020-12-04 | Mechanical arm device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112643707A CN112643707A (en) | 2021-04-13 |
| CN112643707B true CN112643707B (en) | 2022-05-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011397853.5A Active CN112643707B (en) | 2020-12-04 | 2020-12-04 | Mechanical arm device |
Country Status (1)
| Country | Link |
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| CN (1) | CN112643707B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202622817U (en) * | 2011-12-23 | 2012-12-26 | 王建军 | External structure for steering engine |
| JP2016036881A (en) * | 2014-08-08 | 2016-03-22 | 村田機械株式会社 | Work carrying device and machine tool |
| CN206766332U (en) * | 2017-03-15 | 2017-12-19 | 昆明理工大学 | One kind four rotor wing unmanned aerial vehicles of crawl |
| CN209240070U (en) * | 2018-10-18 | 2019-08-13 | 哈尔滨理工大学 | A kind of arm apparatus for community medical service center water feeding machine device people |
| CN209856334U (en) * | 2018-12-20 | 2019-12-27 | 江苏舜威机械有限公司 | Detachable gear |
| CN109869407A (en) * | 2019-03-28 | 2019-06-11 | 江苏中力齿轮有限公司 | A kind of engine link increasing journey transmission shaft |
| CN110216651B (en) * | 2019-05-14 | 2022-03-11 | 广西科技大学 | Special robot for dismantling I-shaped shed under mine |
| CN211648822U (en) * | 2020-01-13 | 2020-10-09 | 江苏华锐冶矿电力机械有限公司 | Spline shaft and spline housing of quick installation |
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2020
- 2020-12-04 CN CN202011397853.5A patent/CN112643707B/en active Active
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| CN112643707A (en) | 2021-04-13 |
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