CN114633287A - Multi-arm multi-degree-of-freedom arm type structure - Google Patents
Multi-arm multi-degree-of-freedom arm type structure Download PDFInfo
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- CN114633287A CN114633287A CN202210441093.6A CN202210441093A CN114633287A CN 114633287 A CN114633287 A CN 114633287A CN 202210441093 A CN202210441093 A CN 202210441093A CN 114633287 A CN114633287 A CN 114633287A
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- arm
- mechanical arm
- fixedly connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a multi-arm multi-degree-of-freedom arm type structure, which relates to the technical field of arm type structures and comprises a protection mechanism, wherein a motor is fixedly connected to the left side position of the inner surface of a second mechanical arm, a rotating shaft is fixedly connected to the outer surface of the right side of the motor, a reciprocating screw rod is fixedly connected to the outer surface of the right end of the rotating shaft, a slide block is slidably connected to the left side edge position of the outer surface of the reciprocating screw rod, a first spring is fixedly connected to the outer surface of the right side of the slide block, a push plate is slidably connected to the edge position of the right side edge position of the outer surface of the reciprocating screw rod, a sealing strip is fixedly connected between the slide block and the outer surface of the push plate, lubricating liquid stored in a processing box can be discharged through a sealing ring through the reciprocating movement of the push plate, the position between the second mechanical arm and a third mechanical arm can be lubricated, the serious abrasion of the mechanism caused by the long-time use of the arm type structure can be prevented, then a first connecting shaft can be driven to move the third mechanical arm type through the reciprocating screw rod, the operation is convenient, and simultaneously, the mechanical structure can be protected.
Description
Technical Field
The invention relates to the technical field of arm type structures, in particular to a multi-arm multi-degree-of-freedom arm type structure.
Background
The modern science and technology is developed rapidly, the requirements of mechanization, automation and intellectualization of various industries are higher and higher, the robot technology is bound to become the core trend of the development of the modern science and technology, and the robot technology plays a prominent role in the industries such as agriculture, logistics transportation, automobile manufacturing and the like. In order to improve the agricultural productivity, the working intensity of people is liberated, and the working environment is improved.
The friction is produced between a lot of structures to current arm-type structure in the in-process that uses, if can not the discontinuity lubricate, can lead to the structure wearing and tearing serious, leads to the device ageing to accelerate, makes the device scrap.
In order to solve the problems, the invention provides a multi-arm multi-degree-of-freedom arm type structure.
Disclosure of Invention
The invention aims to provide a multi-arm multi-degree-of-freedom arm type structure, a motor is fixedly connected to the left side position of the inner surface of a second mechanical arm, a rotating shaft is fixedly connected to the outer surface of the right side of the motor, a reciprocating screw rod is fixedly connected to the outer surface of the right end of the rotating shaft, a sliding block is slidably connected to the edge position of the left side of the outer surface of the reciprocating screw rod, a first spring is fixedly connected to the outer surface of the right side of the sliding block, a push plate is slidably connected to the edge position of the right side of the outer surface of the reciprocating screw rod, a sealing strip is fixedly connected between the sliding block and the outer surface of the push plate, a processing box is slidably connected to the outer surface of the sliding block, a first connecting shaft is fixedly connected to the outer surface of the right end of the reciprocating screw rod, a sealing ring is fixedly connected to the outer surface of the right side of the processing box, an electric push rod is slidably connected to the position of the outer surface of the first connecting shaft, when the device is needed to work, the device is needed to be placed to a proper position to be fixed, when the arm type structure needs to be adjusted, a motor needs to be started, a rotating shaft is driven to rotate through the motor, a reciprocating screw rod is driven to rotate through the rotating shaft, a sliding block is driven to reciprocate through the reciprocating screw rod, a first spring is driven to pressurize a push plate in the reciprocating motion process of the sliding block, the push plate is driven to reciprocate through the first spring, lubricating liquid stored inside a processing box can be discharged through a sealing ring through the reciprocating motion of the push plate, the position between a second mechanical arm and a third mechanical arm can be lubricated, the problem that the mechanism is seriously abraded due to long-time use of the arm type structure is avoided, the first connecting shaft is driven to move the third mechanical arm through the reciprocating screw rod, the operation is convenient and fast, meanwhile, the mechanical structure can be protected, and the problem in the background technology is solved.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-arm multi-degree-of-freedom arm type structure comprises a bottom plate, wherein a first mechanical arm is fixedly connected to the outer surface of the upper end of the bottom plate, a second mechanical arm is hinged to the outer surface of the upper end of the first mechanical arm through a spherical hinge, a third mechanical arm is slidably connected to the outer surface of the right side of the second mechanical arm, a fourth mechanical arm is hinged to the outer surface of the right side of the third mechanical arm through a spherical hinge, a processing clamp is fixedly connected to the outer surface of the lower end of the fourth mechanical arm, and a protection mechanism is connected to the inner portion of the second mechanical arm;
protection machanism includes the motor, the apparatus further comprises a rotating shaft, reciprocal lead screw, the slider, first spring, the sealing strip, the push pedal, the processing box, first connecting axle and sealing ring, motor fixed connection is in second arm internal surface left side position, pivot fixed connection is in motor right side surface, reciprocal lead screw fixed connection is in pivot right-hand member surface, slider sliding connection is in reciprocal lead screw surface left side border position, first spring fixed connection is in slider right side surface, push pedal sliding connection is in reciprocal lead screw surface right side border position, sealing strip fixed connection is between slider and push pedal surface, processing box sliding connection is in the slider surface, first connecting axle fixed connection is in reciprocal lead screw right-hand member surface, sealing ring fixed connection is in processing box right side surface, first connecting axle surface right side position sliding connection has electric putter.
Furthermore, a penetrating liquid inlet groove is formed in the upper end of the outer surface of the processing box, a liquid storage groove is formed in the inner surface of the second mechanical arm and corresponds to the processing box, and liquid outlets are uniformly distributed in the outer surface of the right end of the sealing ring.
Further, the upper end of the outer surface of the second mechanical arm is rotatably connected with a first sealing plate through a shaft, the first sealing plate corresponds to the liquid storage tank, and the sealing shafts are fixedly connected to the front end and the rear end of the lower end of the outer surface of the first sealing plate.
Furthermore, the outer surface of the second mechanical arm is rotatably connected with a second connecting ring, the lower end of the outer surface of the second connecting ring is hinged with a first hydraulic rod through a spherical hinge, the outer surface of the third mechanical arm is rotatably connected with a first connecting ring, the lower end of the outer surface of the fourth mechanical arm is rotatably connected with a third connecting ring, and the first connecting ring and the outer surface of the third connecting ring are hinged with a second hydraulic rod through a spherical hinge.
Further, third arm left side surface connection has fixed establishment, and fixed establishment is including connecting ball, spout and telescopic shaft, and fixedly connected with third arm left side surface is arranged to the telescopic shaft equipartition, connects ball fixedly connected with telescopic shaft left end surface, and the spout is seted up in second arm right side surface, and the spout and be connected the ball between the phase-match.
Further, fixed establishment still includes solid fixed ring and second spring, and fixed ring fixed connection is in telescopic shaft surface left side position, and second spring fixedly connected with go-between right side surface, and the third arm seted up with solid fixed ring assorted circular slot.
Furthermore, the inner surface of the third mechanical arm is connected with an auxiliary mechanism in a sliding mode, the auxiliary mechanism comprises a first gear and a second gear, the first gear is fixedly connected to the edge position of the right side of the outer surface of the first connecting shaft, the second gear is connected to the outer surface of the first gear through gear engagement, and the second gear is uniformly distributed and arranged.
Furthermore, the auxiliary mechanism further comprises a second connecting shaft, a fixing sleeve and fan blades, the second connecting shaft is fixedly connected to the inner surface of the second gear, the fixing sleeve is fixedly connected to the right side of the outer surface of the second connecting shaft, and the fan blades are uniformly distributed and fixedly connected to the outer surface of the fixing sleeve.
Further, an air inlet groove is formed in the right side position of the inner surface of the third mechanical arm, and a filter plate is connected to the inner wall of the air inlet groove in a sliding mode.
Furthermore, the upper end of the outer surface of the third mechanical arm is rotatably connected with a second sealing plate through a shaft, air holes are uniformly distributed and arranged at the upper end of the outer surface of the second sealing plate, and the third mechanical arm is slidably connected with a limiting belt between the outer surfaces of the second sealing plate.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a multi-arm multi-degree-of-freedom arm type structure, when the device needs to work, a bottom plate needs to be placed at a proper position for fixing, when the arm type structure needs to be adjusted, a motor needs to be started, a rotating shaft is driven to rotate through the motor, a reciprocating lead screw is driven to rotate through the rotating shaft, a sliding block is driven to reciprocate through the reciprocating lead screw, a first spring is driven to pressurize a push plate in the reciprocating process of the sliding block, the push plate is driven to reciprocate through the first spring, lubricating liquid stored in a processing box can be discharged through a sealing ring through the reciprocating movement of the push plate, the position between a second mechanical arm and a third mechanical arm can be lubricated, the problem that the mechanism is seriously abraded due to the long-time use of the arm type structure is avoided, then a first connecting shaft can be driven to move the third mechanical arm through the reciprocating lead screw, the simple operation can protect mechanical structure simultaneously, stores lubricating oil through the reservoir, prevents that lubricating oil from using too much, leads to the wasting of resources.
2. According to the multi-arm multi-degree-of-freedom arm type structure, lubricating oil stored in the liquid storage tank is limited through the matching between the first sealing plate and the sealing shaft, and meanwhile, the lubricating oil is conveniently added.
3. According to the multi-arm multi-degree-of-freedom arm type structure, the opening and closing angle between the first mechanical arm and the second mechanical arm can be adjusted through the matching of the first hydraulic rod and the second connecting ring, the device can work conveniently, the opening and closing angle between the third mechanical arm and the fourth mechanical arm can be adjusted conveniently through the matching of the second hydraulic rod, the first connecting ring and the third connecting ring, the operation is simple and convenient, the connecting ball is arranged to limit the position of the second mechanical arm and the third mechanical arm when the second mechanical arm and the third mechanical arm rotate, the phenomenon that the second mechanical arm and the third mechanical arm slide after stopping moving is prevented, the device is used wrongly is caused, the friction between the connecting ball and the second mechanical arm is reduced through the elasticity of the second spring through the arrangement of the fixing ring and the second spring, and the service life of the device is prolonged.
4. According to the multi-arm multi-degree-of-freedom arm type structure, the utilization rate of a motor is improved through the arrangement of the first gear, so that resources are better utilized, the arm type structure is cooled through the arrangement of the mechanism for generating negative pressure, the arm type structure is prevented from being seriously abraded due to overlong use time, and then the structure runs slowly due to the fact that the temperature of the lubricating oil on duty rises, so that the running speed of the structure is guaranteed.
Drawings
FIG. 1 is a schematic view of a three-dimensional split structure of a multi-arm multi-degree-of-freedom arm structure according to the present invention;
FIG. 2 is a schematic perspective view of a multi-arm multi-degree-of-freedom arm structure according to the present invention;
FIG. 3 is a schematic diagram of the internal three-dimensional structure of a multi-arm multi-degree-of-freedom arm structure of the present invention;
FIG. 4 is a schematic perspective view of a multi-arm multi-degree-of-freedom arm-type structure protection mechanism according to the present invention;
FIG. 5 is a schematic perspective view of a multi-arm multi-degree-of-freedom arm-type structural assist mechanism according to the present invention;
FIG. 6 is a multi-arm multi-degree-of-freedom arm type structural fixing mechanism three-dimensional mechanism of the present invention;
FIG. 7 is a front view cross-sectional structural schematic view of a multi-arm multi-degree-of-freedom arm structure of the present invention;
FIG. 8 is an enlarged structural view taken at A in FIG. 7 of a multi-arm multi-degree-of-freedom arm type structure according to the present invention;
FIG. 9 is an enlarged view of the arm structure of the multi-arm multi-degree of freedom of the present invention at B in FIG. 7;
fig. 10 is a left side view cross-sectional structural schematic view of a multi-arm multi-degree-of-freedom arm-type structure of the present invention.
In the figure: 1. a base plate; 2. a first robot arm; 3. a second mechanical arm; 4. a third mechanical arm; 5. a fourth mechanical arm; 6. a protection mechanism; 61. a motor; 62. a rotating shaft; 63. a reciprocating screw rod; 64. a slider; 65. a first spring; 66. sealing tape; 67. pushing the plate; 68. processing the box; 69. a first connecting shaft; 610. a seal ring; 611. an electric push rod; 7. an auxiliary mechanism; 71. a first gear; 72. a second gear; 73. a second connecting shaft; 74. fixing a sleeve; 75. a fan blade; 8. a first hydraulic lever; 9. a fixing mechanism; 91. a connecting ball; 92. a chute; 93. a fixing ring; 94. a second spring; 95. a telescopic shaft; 10. a second hydraulic rod; 11. processing pliers; 12. a first connecting ring; 13. a second connection ring; 14. a third connecting ring; 15. a liquid inlet tank; 16. a liquid outlet; 17. a seal shaft; 18. a first sealing plate; 19. a second sealing plate; 20. a limiting band; 21. a filter plate.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-10, a multi-arm multi-degree-of-freedom arm structure comprises a bottom plate 1, wherein a first mechanical arm 2 is fixedly connected to the outer surface of the upper end of the bottom plate 1, a second mechanical arm 3 is hinged to the outer surface of the upper end of the first mechanical arm 2 through a spherical hinge, a third mechanical arm 4 is connected to the outer surface of the right side of the second mechanical arm 3 in a sliding manner, a fourth mechanical arm 5 is hinged to the outer surface of the right side of the third mechanical arm 4 through a spherical hinge, a processing clamp 11 is fixedly connected to the outer surface of the lower end of the fourth mechanical arm 5, and a protection mechanism 6 is connected to the inside of the second mechanical arm 3;
the protection mechanism 6 comprises a motor 61, a rotating shaft 62, a reciprocating screw rod 63, a sliding block 64, a first spring 65, a sealing belt 66, a push plate 67, a processing box 68, a first connecting shaft 69 and a sealing ring 610, wherein the motor 61 is fixedly connected to the left side position of the inner surface of the second mechanical arm 3, the rotating shaft 62 is fixedly connected to the outer surface of the right side of the motor 61, the reciprocating screw rod 63 is fixedly connected to the outer surface of the right end of the rotating shaft 62, the sliding block 64 is slidably connected to the left side edge position of the outer surface of the reciprocating screw rod 63, the first spring 65 is fixedly connected to the outer surface of the right side of the sliding block 64, the push plate 67 is slidably connected to the right side edge position of the outer surface of the reciprocating screw rod 63, the sealing belt 66 is fixedly connected between the sliding block 64 and the outer surface of the push plate 67, the processing box 68 is slidably connected to the outer surface of the sliding block 64, the first connecting shaft 69 is fixedly connected to the outer surface of the right end of the reciprocating screw rod 63, and the sealing ring 610 is fixedly connected to the outer surface of the right side of the processing box 68, the right position of the outer surface of the first connecting shaft 69 is connected with an electric push rod 611 in a sliding manner, when the device needs to be used for working, the bottom plate 1 needs to be placed at a proper position for fixing, then when the arm type structure needs to be adjusted, the motor 61 needs to be started, the rotating shaft 62 is driven by the motor 61 to rotate, the reciprocating screw 63 is driven by the rotating shaft 62 to rotate, the slider 64 is driven by the reciprocating screw 63 to reciprocate, the first spring 65 is driven to pressurize the push plate 67 in the reciprocating process of the slider 64, the push plate 67 is driven by the first spring 65 to reciprocate, lubricating liquid stored in the processing box 68 can be discharged through the sealing ring 610 by the reciprocating motion of the push plate 67, the position between the second mechanical arm 3 and the third mechanical arm 4 can be lubricated, the third mechanical arm 4 is controlled to rotate by the electric push rod 611 and the groove formed in the first connecting shaft 69, prevent that arm-type structure from leading to the mechanism wearing and tearing serious because of long-time use, can drive first connecting axle 69 through reciprocal lead screw 63 and remove third arm 4 afterwards, the simple operation can protect mechanical structure simultaneously.
The feed liquor groove 15 that runs through has been seted up to processing box 68 surface upper end position, and the reservoir has been seted up with the corresponding position of processing box 68 to 3 internal surfaces of second arm, and sealing ring 610 right-hand member surface equipartition is arranged and has been seted up liquid outlet 16, stores lubricating oil through the reservoir, prevents that lubricating oil from using too much, leads to the wasting of resources.
The upper end of the outer surface of the second mechanical arm 3 is rotatably connected with a first sealing plate 18 through a shaft, the first sealing plate 18 corresponds to the liquid storage groove, and the front end and the rear end of the outer surface of the first sealing plate 18 are fixedly connected with sealing shafts 17.
The outer surface of the second mechanical arm 3 is rotatably connected with a second connecting ring 13, the lower end position of the outer surface of the second connecting ring 13 is hinged with a first hydraulic rod 8 through a spherical hinge, the outer surface of the third mechanical arm 4 is rotatably connected with a first connecting ring 12, the lower end position of the outer surface of the fourth mechanical arm 5 is rotatably connected with a third connecting ring 14, a second hydraulic rod 10 is hinged between the outer surfaces of the first connecting ring 12 and the third connecting ring 14 through a spherical hinge, the opening and closing angle between the first mechanical arm 2 and the second mechanical arm 3 can be adjusted through the matching of the first hydraulic rod 8 and the second connecting ring 13, the device is convenient to work, the opening and closing angle between the third mechanical arm 4 and the fourth mechanical arm 5 can be adjusted conveniently through the matching between the second hydraulic rod 10 and the first connecting ring 12 and the third connecting ring 14, and the operation is simple and convenient.
The outer surface connection in the left side of third arm 4 has fixed establishment 9, fixed establishment 9 is including connecting ball 91, spout 92 and telescopic shaft 95, the outer surface in the left side of fixedly connected with third arm 4 is arranged to telescopic shaft 95 equipartition, connect ball 91 fixedly connected with telescopic shaft 95 left end surface, spout 92 is seted up in the outer surface in the right side of second arm 3, and spout 92 and connect between the ball 91 phase-match, can rotate between second arm 3 and third arm 4 through the setting of connecting ball 91 when, carry on spacingly, prevent between second arm 3 and the third arm 4 after the stop motion, take place gliding phenomenon, lead to the device to use the mistake.
The fixing mechanism 9 further comprises a fixing ring 93 and a second spring 94, the fixing ring 93 is fixedly connected to the left side of the outer surface of the telescopic shaft 95, the second spring 94 is fixedly connected with the outer surface of the connecting ring on the right side, the third mechanical arm 4 is provided with a circular groove matched with the fixing ring 93, and through the fixing ring 93 and the second spring 94, friction between the connecting ball 91 and the second mechanical arm 3 can be reduced through elasticity of the second spring 94, so that the service life of the device is prolonged.
The inner surface of the third mechanical arm 4 is slidably connected with an auxiliary mechanism 7, the auxiliary mechanism 7 comprises a first gear 71 and a second gear 72, the first gear 71 is fixedly connected to the right edge of the outer surface of the first connecting shaft 69, the second gear 72 is connected to the outer surface of the first gear 71 through gear engagement, the second gear 72 is arranged in an evenly distributed manner, the utilization rate of the motor 61 is improved through the arrangement of the first gear 71, and resources are utilized better.
The auxiliary mechanism 7 further comprises a second connecting shaft 73, a fixing sleeve 74 and fan blades 75, the second connecting shaft 73 is fixedly connected to the inner surface of the second gear 72, the fixing sleeve 74 is fixedly connected to the right side of the outer surface of the second connecting shaft 73, the fan blades 75 are uniformly distributed, arranged and fixedly connected to the outer surface of the fixing sleeve 74, the arm type structure is cooled through the mechanism for generating negative pressure, the arm type structure is prevented from being seriously abraded due to overlong service time, and then the structure is slowly operated due to the fact that the temperature of the placed on-duty lubricating oil is increased, and the speed of operation of the structure is guaranteed.
The air inlet groove is formed in the right position of the inner surface of the third mechanical arm 4, the filter plate 21 is connected to the inner wall of the air inlet groove in a sliding mode, air pressure circulation can be achieved through the air inlet groove, and impurities in the air are prevented from being accumulated to damage the arm type structure connection part through the filter plate 21.
The position of 4 outer surfaces of third arm upper end is connected with second closing plate 19 through the rotation of axle, and the bleeder vent has been seted up to 19 outer surface upper end position equipartitions of second closing plate, and third arm 4 sliding connection has spacing area 20 between the 19 outer surfaces of second closing plate, fixes filter 21 under the condition that does not hinder gaseous entering through setting up second closing plate 19, ensures that the device moves smoothly, fixes second closing plate 19 through spacing area 20.
In summary, the following steps: when the device needs to be used for working, the bottom plate 1 needs to be placed at a proper position for fixing, then when the arm type structure needs to be adjusted, the motor 61 needs to be started, the rotating shaft 62 is driven to rotate by the motor 61, the reciprocating screw 63 is driven to rotate by the rotating shaft 62, the slider 64 is driven to reciprocate by the reciprocating screw 63, the first spring 65 is driven to pressurize the push plate 67 in the reciprocating process of the slider 64, the push plate 67 is driven by the first spring 65 to reciprocate, lubricating liquid stored in the processing box 68 can be discharged through the sealing ring 610 by the reciprocating movement of the push plate 67, the position between the second mechanical arm 3 and the third mechanical arm 4 can be lubricated, the arm type structure is prevented from being seriously abraded due to long-time use, then the first connecting shaft 69 can be driven by the reciprocating screw 63 to move the third mechanical arm 4, the operation is convenient, meanwhile, the mechanical structure can be protected, the lubricating oil is stored through the liquid storage tank, the lubricating oil is prevented from being used too much, resource waste is avoided, the lubricating oil stored in the liquid storage tank is limited through the matching between the first sealing plate 18 and the sealing shaft 17, the lubricating oil is convenient to open and add, the opening and closing angle between the first mechanical arm 2 and the second mechanical arm 3 can be adjusted through the matching between the first hydraulic rod 8 and the second connecting ring 13, the device is convenient to work, the opening and closing angle between the third mechanical arm 4 and the fourth mechanical arm 5 can be adjusted through the matching between the second hydraulic rod 10 and the first connecting ring 12 and the third connecting ring 14, the operation is simple and convenient, the limiting can be carried out when the second mechanical arm 3 and the third mechanical arm 4 rotate through the arrangement of the connecting ball 91, the stop motion between the second mechanical arm 3 and the third mechanical arm 4 is prevented, the phenomenon of sliding takes place, lead to the device to use the mistake, through setting up solid fixed ring 93 and second spring 94, can alleviate the friction between connecting ball 91 and the second arm 3 through the elasticity of second spring 94, the life of the device is prolonged, the rate of utilization of motor 61 is improved through setting up of first gear 71, make the resource obtain better utilization, mechanism through setting up the production negative pressure cools down arm-type structure, it is serious to prevent that arm-type structure live time overlength from leading to wearing and tearing, it leads to the structure to move slowly to put on duty lubricating oil temperature rising after that, guarantee the speed of structure operation.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a multi-arm multi-degree-of-freedom arm type structure, includes bottom plate (1), its characterized in that: the outer surface of the upper end of the bottom plate (1) is fixedly connected with a first mechanical arm (2), the outer surface of the upper end of the first mechanical arm (2) is hinged with a second mechanical arm (3) through a spherical hinge, the outer surface of the right side of the second mechanical arm (3) is connected with a third mechanical arm (4) in a sliding mode, the outer surface of the right side of the third mechanical arm (4) is hinged with a fourth mechanical arm (5) through a spherical hinge, the outer surface of the lower end of the fourth mechanical arm (5) is fixedly connected with a processing clamp (11), and a protection mechanism (6) is connected inside the second mechanical arm (3);
the protection mechanism (6) comprises a motor (61), a rotating shaft (62), a reciprocating screw rod (63), a sliding block (64), a first spring (65), a sealing belt (66), a push plate (67), a processing box (68), a first connecting shaft (69) and a sealing ring (610), wherein the motor (61) is fixedly connected to the left side position of the inner surface of the second mechanical arm (3), the rotating shaft (62) is fixedly connected to the outer surface of the right side of the motor (61), the reciprocating screw rod (63) is fixedly connected to the outer surface of the right end of the rotating shaft (62), the sliding block (64) is slidably connected to the left side edge position of the outer surface of the reciprocating screw rod (63), the first spring (65) is fixedly connected to the outer surface of the right side of the sliding block (64), the push plate (67) is slidably connected to the right side edge position of the outer surface of the reciprocating screw rod (63), and the sealing belt (66) is fixedly connected between the outer surfaces of the sliding block (64) and the push plate (67), processing box (68) sliding connection is in slider (64) surface, first connecting axle (69) fixed connection is in reciprocal lead screw (63) right-hand member surface, sealing ring (610) fixed connection is in processing box (68) right side surface, first connecting axle (69) surface right side position sliding connection has electric putter (611).
2. The multi-arm, multi-degree-of-freedom arm structure of claim 1, wherein: the processing box (68) surface upper end position of seting up the feed liquor groove (15) that runs through, the reservoir has been seted up to the corresponding position of second arm (3) internal surface and processing box (68), liquid outlet (16) have been seted up to sealing ring (610) right-hand member surface equipartition range.
3. The multi-arm, multi-degree-of-freedom arm structure of claim 2, wherein: the upper end of the outer surface of the second mechanical arm (3) is rotatably connected with a first sealing plate (18) through a shaft, the first sealing plate (18) corresponds to the liquid storage tank in position, and sealing shafts (17) are fixedly connected to the front end and the rear end of the lower end of the outer surface of the first sealing plate (18).
4. The multi-arm multiple degree of freedom arm structure of claim 1, wherein: the outer surface of the second mechanical arm (3) is rotatably connected with a second connecting ring (13), the lower end of the outer surface of the second connecting ring (13) is hinged to a first hydraulic rod (8) through a spherical hinge, the outer surface of the third mechanical arm (4) is rotatably connected with a first connecting ring (12), the lower end of the outer surface of the fourth mechanical arm (5) is rotatably connected with a third connecting ring (14), and a second hydraulic rod (10) is hinged between the outer surfaces of the first connecting ring (12) and the third connecting ring (14) through a spherical hinge.
5. The multi-arm multiple degree of freedom arm structure of claim 1, wherein: third arm (4) left side surface connection has fixed establishment (9), fixed establishment (9) are including connecting ball (91), spout (92) and telescopic shaft (95), fixedly connected with third arm (4) left side surface is arranged to telescopic shaft (95) equipartition, connect ball (91) fixedly connected with telescopic shaft (95) left end surface, spout (92) are seted up in second arm (3) right side surface, and spout (92) and are connected the phase-match between ball (91).
6. The multi-arm, multi-degree-of-freedom arm structure of claim 5, wherein: fixed establishment (9) still include solid fixed ring (93) and second spring (94), gu fixed ring (93) fixed connection in telescopic shaft (95) surface left side position, second spring (94) fixedly connected with go-between right side surface, and third arm (4) seted up with gu fixed ring (93) assorted circular slot.
7. The multi-arm, multi-degree-of-freedom arm structure of claim 1, wherein: the inner surface of the third mechanical arm (4) is connected with an auxiliary mechanism (7) in a sliding mode, the auxiliary mechanism (7) comprises a first gear (71) and a second gear (72), the first gear (71) is fixedly connected to the edge position of the right side of the outer surface of the first connecting shaft (69), the second gear (72) is connected to the outer surface of the first gear (71) in a gear meshing mode, and the second gear (72) belongs to uniform distribution arrangement.
8. The multi-arm, multi-degree-of-freedom arm structure of claim 7, wherein: complementary unit (7) still include second connecting axle (73), fixed cover (74) and flabellum (75), second connecting axle (73) fixed connection is in second gear (72) internal surface, fixed cover (74) fixed connection is in second connecting axle (73) surface right side position, fixed connection in fixed cover (74) surface is arranged to flabellum (75) equipartition.
9. The multi-arm multiple degree of freedom arm structure of claim 1, wherein: an air inlet groove is formed in the right side of the inner surface of the third mechanical arm (4), and a filter plate (21) is connected to the inner wall of the air inlet groove in a sliding mode.
10. The multi-arm, multi-degree-of-freedom arm structure of claim 1, wherein: the upper end position of the outer surface of the third mechanical arm (4) is connected with a second sealing plate (19) through a shaft in a rotating mode, air holes are uniformly distributed in the upper end position of the outer surface of the second sealing plate (19), and a limiting belt (20) is connected between the outer surface of the second sealing plate (19) and the third mechanical arm (4) in a sliding mode.
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| CN114633287B (en) | 2023-07-28 |
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