CN112847427A - Five-degree-of-freedom folding mechanical arm - Google Patents
Five-degree-of-freedom folding mechanical arm Download PDFInfo
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- CN112847427A CN112847427A CN202110143580.XA CN202110143580A CN112847427A CN 112847427 A CN112847427 A CN 112847427A CN 202110143580 A CN202110143580 A CN 202110143580A CN 112847427 A CN112847427 A CN 112847427A
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- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 210000000078 claw Anatomy 0.000 claims description 17
- 238000005096 rolling process Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 210000000245 forearm Anatomy 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
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- 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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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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Abstract
The invention discloses a five-degree-of-freedom folding mechanical arm which comprises a motor, a bottom rotating mechanism, a mechanical arm, a crank connecting rod mechanism, a folding arm and a clamping jaw, wherein the bottom rotating mechanism is arranged on the bottom of the motor; the folding arm is arranged between the small arms by arranging the stator support and the rotor support which are arranged in the front-back direction and matching with the stator support, so that the folding arm serial port steering engine can drive the folding arm to be completely folded in the gap of the small arms, and the occupied space is reduced; further, the forearm motor installed on the right base drives the forearm installed between the big arms to rotate through the crank link mechanism indirectly, the weight of the motor can be concentrated on the side base through the arrangement mode, load of joints is reduced, stability is improved, the forearm can be rotated around the tail end of the big arm to enable the forearm to be folded in the gap of the big arm, and the folding range of the mechanical arm is enlarged.
Description
Technical Field
The invention relates to a five-degree-of-freedom folding mechanical arm, and belongs to the technical field of mechanical arms.
Background
The robot arm is an automatic control device which has a function of imitating a human arm and can complete various operations, the robot system is connected by multiple joints and allows movement or linear movement in a plane or a three-dimensional space, and the robot arm is widely used in industrial production such as assembly, painting, welding and the like because the robot arm can complete certain specified actions according to a program according to operation requirements.
Most of the existing mechanical arm structures are limited in folding range or telescopic range, the space utilization rate and the working range of the mechanical arm are limited, and in order to meet the functions of telescopic, rotary and lifting, the mechanical arm is complex in structural design and large in size, so that the occupied space of the mechanical arm is increased, and the stress of functional parts or joints is increased. Therefore, a new technical solution is needed to solve such problems.
Disclosure of Invention
The invention provides a five-degree-of-freedom folding mechanical arm, which is a platform for folding by building the five-degree-of-freedom mechanical arm through reasonable composition and connection.
The technical scheme of the invention is as follows: a five-degree-of-freedom folding mechanical arm comprises a motor, a bottom rotating mechanism, a mechanical arm, a crank connecting rod mechanism, a folding arm 17 and a clamping jaw 14; the motor comprises a bottom motor 1, a large arm motor 26, a small arm motor 13, a folding arm serial port steering engine 19, a serial port steering engine 16 and a clamping jaw motor 15, the mechanical arm comprises a small arm and a large arm, the small arm comprises a right small arm 21 and a left small arm 22, and the large arm comprises a right large arm 23 and a left large arm 24; the bottom rotating mechanism provides power through a bottom motor 1, and the bottom motor 1 drives the rotating disc 5 to rotate in the joint freedom degree, so that a mechanical arm, a clamping jaw, a crank connecting rod mechanism and a folding arm 17 which are arranged on the rotating disc 5 are driven to rotate together; the large arm provides power through a large arm motor 26, the large arm motor 26 drives the left large arm 24 to rotate, and the left large arm 24 drives the right large arm 23 to rotate together; the small arm provides power through a small arm motor 13, the small arm motor 13 indirectly drives the small arm to rotate through a crank connecting rod mechanism, the rotation of the freedom degree of a small arm joint is realized, and the small arm is folded between a right large arm 23 and a left large arm 24; the folding arm is powered by a folding arm serial port steering engine 19, the folding arm serial port steering engine 19 drives the folding arm 17 to rotate, the rotation of the freedom degree of the joint of the folding arm is realized, and the folding arm 17 is folded between a left small arm 22 and a right small arm 21; the clamping jaw 14 provides power through a serial port steering engine 16, and the serial port steering engine 16 drives the clamping jaw 14 to integrally rotate; the opening and closing of the clamping jaws 14 are realized by the power provided by the clamping jaw motor 15.
The bottom rotating mechanism comprises a base 2, a flange plate 3, a supporting plate 4, a rotating disc 5, a thrust ball bearing 6, a base 7, a tapered roller bearing 8 and a stepped flange 9; the rotary disk 5 is driven by a bottom motor 1, the stator end of the bottom motor 1 installed in a base 2 is fixedly connected with a flange plate 3, the flange plate 3 is fixedly connected with a supporting plate 4 installed on the flange plate 3, the supporting plate 4 is fixedly connected with the top opening end of the base 2, the rotor end of the bottom motor 1 is fixedly connected with the rotary disk 5 through a stepped flange 9, the stepped flange 9 is connected with the rotary disk 5 above the stepped flange 9, inner rings of a thrust ball bearing 6 and a tapered roller bearing 8 which are arranged up and down are respectively in transition fit with stepped shafts of different shaft diameters of the stepped flange 9, outer rings of the thrust ball bearing 6 and the tapered roller bearing 8 are respectively in interference fit with stepped holes of different hole diameters in a base 7, and the bottom of the base 7 is fixedly.
The left big arm 24 and the right big arm 23 are fixedly connected; the stator end of the large arm motor 26 is connected with a left base 27 through a large arm motor flange 25, the left base 27 is connected to the rotating disk 5, and the rotor end of the large arm motor 26 is fixedly connected with the left large arm 24 through a flange 28.
The crank connecting rod mechanism comprises a crank 11 and a connecting rod 12; the left small arm 22 is fixedly connected with the right small arm 21; the stator end of the small arm motor 13 is fixedly connected with a small arm motor flange 34, the small arm motor flange 34 is fixedly connected with a right side base 10, the right side base 10 is connected with the rotating disc 5, the rotor end of the small arm motor 13 is fixedly connected with one end of a flange shaft 31, the other end of the flange shaft 31 sequentially passes through the right side base 10, a supporting seat 32, a deep groove ball bearing 30 and an elastic retainer ring 33, the left big arm 23 and the right big arm 22 are fixedly connected with one end of the crank 11, the other end of the crank 11 and one end of the connecting rod 12 form a revolute pair through a rolling bearing 39 and a limiting bolt 40, the tail end of the connecting rod 12 and one end of the right small arm 21 form a revolute pair through an oilless bushing, a rolling bearing and a limiting bolt, the middle end of the right small arm 21 forms a revolute pair with the tail end of the right big arm 23 through a rolling bearing and a limiting bolt, and the middle end of the left small arm 22 forms a revolute pair with the tail end of the left big arm 24 through.
The right side base 10 is fixedly connected with the supporting seat 32, an inner ring of the deep groove ball bearing 30 is in clearance fit with an inner shaft of the supporting seat 32, an outer half ring of the deep groove ball bearing 30 is in clearance fit with a front end hole of the right big arm 23, a groove is formed in the tail end of the inner shaft of the supporting seat 32, the deep groove ball bearing 30 is axially fixed relative to the supporting seat 32 through an elastic retainer ring 33 installed on the groove, and the right big arm 23 is axially fixed relative to the deep groove ball bearing 30 through a positioning retainer ring 29 fixedly connected with the right big arm 23.
The stator end of the folding arm serial port steering engine 19 is fixedly connected with a stator support 20, the stator support 20 is fixedly connected with the tail ends of a right small arm 21 and a left small arm 22 respectively, and the rotor end of the folding arm serial port steering engine 19 is connected with the folding arm 17 through a rotor support 18, so that the folding arm serial port steering engine 19 drives the folding arm 17 to rotate.
The stator end of the serial port steering engine 16 is fixed at the tail end of the folding arm 17, and the rotor end of the serial port steering engine 16 is fixedly connected with the clamping jaw fixing seat 38.
The clamping jaw 14 comprises a driven gear claw 35, a driving gear claw 36, a steering wheel 37 and a clamping jaw fixing seat 38; the clamping jaw steering engine 15 is connected to the clamping jaw fixing seat 38, a steering wheel 37 is installed at the rotor end of the clamping jaw motor 15, the steering wheel 37 is fixedly connected with the driving gear claw 36, and the driving gear claw 36 is in gear engagement transmission, so that the rotation of the driven gear claw 35 is realized, and the opening and closing of the clamping jaw 14 are further realized.
The invention has the beneficial effects that: the folding arm is arranged between the small arms by arranging the stator support and the rotor support which are arranged in the front-back direction and matching with the stator support, so that the folding arm serial port steering engine can drive the folding arm to be completely folded in the gap of the small arms, and the occupied space is reduced; further, the forearm motor installed on the right base drives the forearm installed between the big arms to rotate through the crank link mechanism indirectly, the weight of the motor can be concentrated on the side base through the arrangement mode, load of joints is reduced, stability is improved, the forearm can be rotated around the tail end of the big arm to enable the forearm to be folded in the gap of the big arm, and the folding range of the mechanical arm is enlarged.
Drawings
FIG. 1 is an overall block diagram of the present invention;
figure 2 is a cross-sectional view of a bottom rotary mechanism of the present invention;
FIG. 3 is a diagram of the folding effect of the present invention;
FIG. 4 is a cross-sectional view of the upper half of the present invention;
FIG. 5 is an exploded view at the right base of the present invention;
FIG. 6 is a block diagram of a jaw of the present invention;
reference numerals: 1. a bottom motor; 2. a base; 3. a flange plate; 4. a support plate; 5. rotating the disc; 6. a thrust ball bearing; 7. a base; 8. a tapered roller bearing; 9. a stepped flange; 10. a right side base; 11. a crank; 12. a connecting rod; 13. a small arm motor; 14. a clamping jaw; 15. a jaw motor; 16. a serial port steering engine; 17. a folding arm; 18. a rotor support; 19. a folding arm serial port steering engine; 20. a stator support; 21. a right forearm; 22. a left forearm; 23. a right large arm; 24. a left big arm; 25. a large arm motor flange; 26. a large arm motor; 27. a left side base; 28. a flange; 29. positioning a retainer ring; 30. a deep groove ball bearing; 31. a flange shaft; 32. a supporting seat; 33. a circlip; 34. a small arm motor flange; 35. a driven gear claw; 36. a driving gear claw; 37. a steering wheel; 38. a clamping jaw fixing seat; 39. a rolling bearing; 40. and a limiting bolt.
Detailed Description
Example 1: as shown in fig. 1-6, a five-degree-of-freedom folding mechanical arm comprises a motor, a bottom rotating mechanism, a mechanical arm, a crank-link mechanism, a folding arm 17 and a clamping jaw 14; the motor comprises a bottom motor 1, a large arm motor 26, a small arm motor 13, a folding arm serial port steering engine 19, a serial port steering engine 16 and a clamping jaw motor 15, the mechanical arm comprises a small arm and a large arm, the small arm comprises a right small arm 21 and a left small arm 22, and the large arm comprises a right large arm 23 and a left large arm 24; the bottom rotating mechanism provides power through a bottom motor 1, and the bottom motor 1 drives the rotating disc 5 to rotate in the joint freedom degree, so that a mechanical arm, a clamping jaw, a crank connecting rod mechanism and a folding arm 17 which are arranged on the rotating disc 5 are driven to rotate together; the large arm provides power through a large arm motor 26, the large arm motor 26 drives the left large arm 24 to rotate, and the left large arm 24 drives the right large arm 23 to rotate together; the small arm provides power through a small arm motor 13, the small arm motor 13 indirectly drives the small arm to rotate through a crank connecting rod mechanism, the rotation of the freedom degree of a small arm joint is realized, and the small arm is folded between a right large arm 23 and a left large arm 24; the folding arm is powered by a folding arm serial port steering engine 19, the folding arm serial port steering engine 19 drives the folding arm 17 to rotate, the rotation of the freedom degree of the joint of the folding arm is realized, and the folding arm 17 is folded between a left small arm 22 and a right small arm 21; the clamping jaw 14 provides power through a serial port steering engine 16, and the serial port steering engine 16 drives the clamping jaw 14 to integrally rotate; the opening and closing of the clamping jaws 14 are realized by the power provided by the clamping jaw motor 15.
Further, the bottom rotating mechanism can be arranged to comprise a base 2, a flange plate 3, a supporting plate 4, a rotating disk 5, a thrust ball bearing 6, a base 7, a tapered roller bearing 8 and a stepped flange 9; the rotary disk 5 is driven by a bottom motor 1, the stator end of the bottom motor 1 installed in a base 2 is fixedly connected with a flange plate 3 through bolts, the flange plate 3 is fixedly connected with a supporting plate 4 installed on the flange plate 3 through bolts, the supporting plate 4 is fixedly connected with the top opening end of the base 2 through a countersunk bolt, the rotor end of the bottom motor 1 is fixedly connected with the rotary disk 5 through a stepped flange 9, the stepped flange 9 is connected with the rotary disk 5 above the stepped flange 9 through bolts, inner rings of a thrust ball bearing 6 and a tapered roller bearing 8 which are arranged up and down are respectively in transition fit with stepped shafts of the stepped flange 9 with different shaft diameters, outer rings of the thrust ball bearing 6 and the tapered roller bearing 8 are respectively in interference fit with stepped holes of different hole diameters in a base 7, and the bottom of the base 7 is fixedly. The axial restraint of the thrust ball bearing 6 and the tapered roller bearing 8 is realized by the base 7, so that the rotation of the freedom degree of the rotary disk 5 joint driven by the bottom motor 1 is realized.
The base 2 bears integral axial force and radial force by adopting the matching of the thrust ball bearing 6, the tapered roller bearing 8 and the base 7, so that the running performance of the bottom motor 1 is ensured.
Furthermore, the left large arm 24 and the right large arm 23 can be fixedly connected through a double-way stud, so that the rotation consistency of the whole large arm is ensured; the stator end of the large arm motor 26 is connected with a left base 27 through a large arm motor flange 25, the left base 27 is connected to the rotating disk 5 through a countersunk head bolt, and the rotor end of the large arm motor 26 is fixedly connected with the left large arm 24 through a flange 28. Thereby realizing the rotation of the freedom degree of the large arm joint driven by the large arm motor 26.
Further, the crank-link mechanism may be provided to include a crank 11 and a link 12; the left small arm 22 and the right small arm 21 are fixedly connected through a double-way stud, and the rotation consistency of the whole small arm is ensured through the double-way stud; the stator end of the small arm motor 13 is fixedly connected with a small arm motor flange 34 through bolts, the small arm motor flange 34 is fixedly connected with the right base 10 through bolts, the right base 10 is connected to the rotating disk 5 through a countersunk head bolt, the rotor end of the small arm motor 13 is fixedly connected with one end of a flange shaft 31 through bolts, the other end of the flange shaft 31 sequentially passes through the right base 10, a supporting seat 32, a deep groove ball bearing 30 and an elastic retainer ring 33, the right big arm 23 and the positioning retainer ring 29 are fixedly connected with one end of the crank 11 through thread glue, the other end of the crank 11 and one end of the connecting rod 12 form a revolute pair through a rolling bearing 39 and a limiting bolt 40, the tail end of the connecting rod 12 and one end of the right small arm 21 form a revolute pair through an oilless bushing, a rolling bearing and a limiting bolt, the middle end of the right small arm 21 forms a revolute pair with the tail end of the right big arm 23 through a rolling bearing and a limiting bolt, and the middle end of the left small arm 22 forms a revolute pair with the tail end of the left big arm 24 through a. The rotation of the small arm is indirectly driven by the small arm motor 13 through the crank connecting rod mechanism, and the rotation of the degree of freedom of the joint of the small arm is realized, so that the small arm can be folded between the right large arm 23 and the left large arm 24, and the folding effect is achieved.
Further, the right base 10 and the support seat 32 may be fixedly connected by bolts, an inner ring of the deep groove ball bearing 30 is in clearance fit with an inner shaft of the support seat 32, an outer half ring of the deep groove ball bearing 30 is in clearance fit with a front end hole of the right large arm 23, a groove is arranged at the tail end of the inner shaft of the support seat 32, axial fixation of the deep groove ball bearing 30 relative to the support seat 32 is achieved by an elastic retainer ring 33 installed on the groove, and axial fixation of the right large arm 23 relative to the deep groove ball bearing 30 is achieved by a positioning retainer ring 29 fixedly connected with the right large arm 23 by bolts. Thereby realizing the driven rotation at the joint of the right large arm 23. In the process that the large arm motor 26 drives the whole large arm to rotate, the joint of the right large arm is matched with the deep groove ball bearing 30 through the supporting seat 32, and the smoothness of the whole rotation of the large arm is guaranteed.
Further, a stator end of the folding arm serial port steering engine 19 can be fixedly connected with a stator support 20 through bolts, the stator support 20 is fixedly connected with the tail ends of the right small arm 21 and the left small arm 22 through bolts, and a rotor end of the folding arm serial port steering engine 19 is connected with the folding arm 17 through a rotor support 18 through bolts, so that the folding arm serial port steering engine 19 drives the folding arm 17 to rotate. In a folded state, the central line of the mounting hole at the stator end of the folding arm serial port steering engine 19 and the axis of the rotor end are arranged in the front and back direction, so that the freedom degree of the joint of the folding arm is rotated, the folding arm 17 can be completely folded between the left small arm 22 and the right small arm 21, and a folding effect is achieved.
Further, the stator end of the serial port steering engine 16 can be fixed at the tail end of the folding arm 17 through a bolt, and the rotor end of the serial port steering engine 16 is fixedly connected with the clamping jaw fixing seat 38 through a bolt. Therefore, the serial port steering engine 16 drives the freedom degree at the tail end of the mechanical arm, namely the whole rotation of the clamping jaw 14.
Further, the clamping jaw 14 can be provided to comprise a driven gear claw 35, a driving gear claw 36, a steering wheel 37 and a clamping jaw fixing seat 38; the clamping jaw steering engine 15 is connected to the clamping jaw fixing seat 38 through bolts, a steering wheel 37 is installed at the rotor end of the clamping jaw motor 15, the steering wheel 37 is fixedly connected with the driving gear claw 36, and the driving gear claw 36 is in gear engagement transmission, so that the rotation of the driven gear claw 35 is realized, and the opening and closing of the clamping jaw 14 are further realized. At the tail end of the mechanical arm, the clamping jaw is controlled to open and close by the clamping jaw motor 15 through the gear meshing fit of the driving gear jaw 36 and the driven gear jaw 35, so that the grabbing function is realized.
Further, the motors can be set to comprise a bottom motor 1, a large arm motor 26, a small arm motor 13 and a clamping jaw motor 15 which are brushless direct current motors, steering gears and the like, and the corresponding shells of the motors are used as stator ends. Folding arm serial ports steering wheel 19 adopts the serial ports steering wheel, through specific mounting means (under fold condition, namely the state shown in fig. 3, the stator end mounting hole central line of folding arm serial ports steering wheel 19 is front and back with rotor end axis and arranges), can ensure to fold better.
The working principle of the invention is as follows: the bottom motor 1, the large arm motor 26, the small arm motor 13, the folding arm serial port steering engine 19 and the serial port steering engine 16 are used for respectively driving five degrees of freedom rotation of a bottom rotating disk joint, a large arm joint, a small arm joint, a folding arm joint and a mechanical arm tail end joint, and the clamping jaw motor 15 is used for realizing the opening and closing of the clamping jaw 14 through the gear meshing on the clamping jaw.
Specifically, the method comprises the following steps: the bottom rotating mechanism provides power through a bottom motor 1, the bottom motor 1 drives a stepped flange 9 to drive a rotating disc 5 to rotate, and then a mechanical arm, a clamping jaw, a crank connecting rod mechanism and a folding arm 17 which are arranged on the rotating disc 5 are driven to rotate together; the large arm provides power through a large arm motor 26, the large arm motor 26 drives an I-shaped flange 28 to move, the flange 28 drives a left large arm 24 to rotate, the left large arm 24 and a right large arm 23 are fixedly connected through a double-way stud, the left large arm 24 drives the right large arm 23 to rotate together, and meanwhile, the rotation of the whole large arm tends to be consistent; the small arm provides power through the small arm motor 13, the small arm motor 13 indirectly drives the small arm to rotate through the crank connecting rod mechanism, the rotation of the freedom degree of the joint of the small arm is realized, and the small arm is folded between the right large arm 23 and the left large arm 24; the folding arm is powered by the folding arm serial port steering engine 19, the folding arm is simple to control and light in load through the specific position mode function of the folding arm serial port steering engine, meanwhile, the folding arm serial port steering engine 19 drives the folding arm 17 to rotate, the rotation of the freedom degree of the joint of the folding arm is realized, and the folding arm 17 is folded between the left small arm 22 and the right small arm 21; the clamping jaw 14 provides power through the serial port steering engine 16, and the serial port steering engine 16 drives the clamping jaw 14 to integrally rotate; the opening and closing of the clamping jaws 14 are realized by the power provided by the clamping jaw motor 15.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (8)
1. A five-degree-of-freedom folding mechanical arm is characterized in that: comprises a motor, a bottom rotating mechanism, a mechanical arm, a crank connecting rod mechanism, a folding arm (17) and a clamping jaw (14); the motor comprises a bottom motor (1), a large arm motor (26), a small arm motor (13), a folding arm serial port steering engine (19), a serial port steering engine (16) and a clamping jaw motor (15), the mechanical arm comprises a small arm and a large arm, the small arm comprises a right small arm (21) and a left small arm (22), and the large arm comprises a right large arm (23) and a left large arm (24);
the bottom rotating mechanism provides power through a bottom motor (1), and the bottom motor (1) drives the rotating disc (5) to rotate in the joint freedom degree, so that a mechanical arm, a clamping jaw, a crank connecting rod mechanism and a folding arm (17) which are arranged on the rotating disc (5) are driven to rotate together;
the large arm is powered by a large arm motor (26), the large arm motor (26) drives the left large arm (24) to rotate, and the left large arm (24) drives the right large arm (23) to rotate together;
the small arm provides power through a small arm motor (13), the small arm motor (13) indirectly drives the small arm to rotate through a crank connecting rod mechanism, the rotation of the freedom degree of a small arm joint is realized, and the small arm is folded between a right large arm (23) and a left large arm (24);
the folding arm provides power through a folding arm serial port steering engine (19), the folding arm serial port steering engine (19) drives the folding arm (17) to rotate, the rotation of the degree of freedom of the joint of the folding arm is achieved, and the folding arm (17) is folded between the left small arm (22) and the right small arm (21);
the clamping jaw (14) provides power through the serial port steering engine (16), and the serial port steering engine (16) drives the clamping jaw (14) to integrally rotate; the clamping jaw (14) is opened and closed by the power provided by the clamping jaw motor (15).
2. The five degree-of-freedom folding robot arm of claim 1, wherein: the bottom rotating mechanism comprises a base (2), a flange plate (3), a supporting plate (4), a rotating disc (5), a thrust ball bearing (6), a base (7), a tapered roller bearing (8) and a stepped flange (9); the rotary disk (5) is driven by a bottom motor (1), the stator end of the bottom motor (1) installed in a base (2) is fixedly connected with a flange plate (3), the flange plate (3) is fixedly connected with a supporting plate (4) installed on the flange plate (3), the supporting plate (4) is fixedly connected with the top opening end of the base (2), the rotor end of the bottom motor (1) is fixedly connected with the rotary disk (5) through a stepped flange (9), the stepped flange (9) is connected with the rotary disk (5) above the stepped flange (9), inner rings of a thrust ball bearing (6) and a conical roller bearing (8) which are arranged up and down are respectively in transition fit with stepped shafts of the stepped flange (9) with different shaft diameters, outer rings of the thrust ball bearing (6) and the conical roller bearing (8) are respectively in interference fit with stepped holes of different hole diameters in the base (7), and the bottom of the base (7) is fixedly connected with the top of the.
3. The five degree-of-freedom folding robot arm of claim 1, wherein: the left big arm (24) is fixedly connected with the right big arm (23); the stator end of the large arm motor (26) is connected with a left side base (27) through a large arm motor flange plate (25), the left side base (27) is connected to the rotating disk (5), and the rotor end of the large arm motor (26) is fixedly connected with the left large arm (24) through a flange (28).
4. The five degree-of-freedom folding robot arm of claim 1, wherein: the crank connecting rod mechanism comprises a crank (11) and a connecting rod (12); the left small arm (22) is fixedly connected with the right small arm (21); the stator end of a small arm motor (13) is fixedly connected with a small arm motor flange plate (34), the small arm motor flange plate (34) is fixedly connected with a right side base (10), the right side base (10) is connected to a rotating disk (5), the rotor end of the small arm motor (13) is fixedly connected with one end of a flange shaft (31), the other end of the flange shaft (31) sequentially penetrates through the right side base (10), a supporting seat (32), a deep groove ball bearing (30), an elastic retainer ring (33), a right large arm (23) and a positioning retainer ring (29) and then is fixedly connected with one end of a crank (11), the other end of the crank (11) and one end of a connecting rod (12) form a revolute pair through a rolling bearing (39) and a limiting bolt (40), the tail end of the connecting rod (12) and one end of the right small arm (21) form a revolute pair through an oilless bushing, the rolling bearing and the limiting bolt, the middle end of the right small arm (21) forms, the middle end of the left small arm (22) and the tail end of the left big arm (24) form a revolute pair through a rolling bearing and a limiting bolt.
5. The five degree-of-freedom folding robot arm of claim 4, wherein: the right side base (10) is fixedly connected with the supporting seat (32), an inner ring of the deep groove ball bearing (30) is in clearance fit with an inner shaft of the supporting seat (32), an outer half ring of the deep groove ball bearing (30) is in clearance fit with a front end hole of the right large arm (23), a groove is formed in the tail end of the inner shaft of the supporting seat (32), the deep groove ball bearing (30) is axially fixed relative to the supporting seat (32) through an elastic retainer ring (33) installed on the groove, and the right large arm (23) is axially fixed relative to the deep groove ball bearing (30) through a positioning retainer ring (29) fixedly connected with the right large arm (23).
6. The five degree-of-freedom folding robot arm of claim 1, wherein: the stator end of the folding arm serial port steering engine (19) is fixedly connected with a stator support (20), the stator support (20) is fixedly connected with the tail ends of a right small arm (21) and a left small arm (22) respectively, and the rotor end of the folding arm serial port steering engine (19) is connected with the folding arm (17) through a rotor support (18), so that the folding arm serial port steering engine (19) drives the folding arm (17) to rotate.
7. The five degree-of-freedom folding robot arm of claim 1, wherein: the stator end of the serial port steering engine (16) is fixed at the tail end of the folding arm (17), and the rotor end of the serial port steering engine (16) is fixedly connected with the clamping jaw fixing seat (38).
8. The five degree-of-freedom folding robot arm of claim 1, wherein: the clamping jaw (14) comprises a driven gear claw (35), a driving gear claw (36), a steering wheel (37) and a clamping jaw fixing seat (38); the clamping jaw steering engine (15) is connected to the clamping jaw fixing seat (38), a steering wheel (37) is installed at the rotor end of the clamping jaw motor (15), the steering wheel (37) is fixedly connected with the driving gear claw (36), and the driving gear claw (36) is in gear engagement transmission, so that rotation of the driven gear claw (35) is achieved, and opening and closing of the clamping jaw (14) are achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110143580.XA CN112847427A (en) | 2021-02-02 | 2021-02-02 | Five-degree-of-freedom folding mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110143580.XA CN112847427A (en) | 2021-02-02 | 2021-02-02 | Five-degree-of-freedom folding mechanical arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305811A (en) * | 2021-06-28 | 2021-08-27 | 深圳市越疆科技有限公司 | Driving assembly of desktop mechanical arm, desktop mechanical arm and robot |
| CN113414759A (en) * | 2021-07-02 | 2021-09-21 | 珠海格力电器股份有限公司 | Robot |
| CN113548497A (en) * | 2021-07-14 | 2021-10-26 | 杭州明度智能科技有限公司 | A loading arm of machinery for automatic loading equipment |
| CN113843777A (en) * | 2021-10-14 | 2021-12-28 | 西安科技大学 | Four-degree-of-freedom industrial manipulator with large clamping range |
| CN114317265A (en) * | 2021-12-23 | 2022-04-12 | 苏州大学 | Dynamic embryo culture device and method based on liquid drop self-driving technology |
-
2021
- 2021-02-02 CN CN202110143580.XA patent/CN112847427A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305811A (en) * | 2021-06-28 | 2021-08-27 | 深圳市越疆科技有限公司 | Driving assembly of desktop mechanical arm, desktop mechanical arm and robot |
| CN113414759A (en) * | 2021-07-02 | 2021-09-21 | 珠海格力电器股份有限公司 | Robot |
| CN113548497A (en) * | 2021-07-14 | 2021-10-26 | 杭州明度智能科技有限公司 | A loading arm of machinery for automatic loading equipment |
| CN113843777A (en) * | 2021-10-14 | 2021-12-28 | 西安科技大学 | Four-degree-of-freedom industrial manipulator with large clamping range |
| CN114317265A (en) * | 2021-12-23 | 2022-04-12 | 苏州大学 | Dynamic embryo culture device and method based on liquid drop self-driving technology |
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