CN114633287B - 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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- CN114633287B CN114633287B CN202210441093.6A CN202210441093A CN114633287B CN 114633287 B CN114633287 B CN 114633287B CN 202210441093 A CN202210441093 A CN 202210441093A CN 114633287 B CN114633287 B CN 114633287B
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- mechanical arm
- fixedly connected
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- sealing
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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
-
- 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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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
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 of the inner surface of a second mechanical arm, a rotating shaft is fixedly connected to the right side outer surface of the motor, a reciprocating screw rod is fixedly connected to the right end outer surface of the rotating shaft, a sliding block is slidably connected to the left side edge of the outer surface of the reciprocating screw rod, a first spring is fixedly connected to the right side outer surface of the sliding block, a push plate is slidably connected to the right side edge of the outer surface of the reciprocating screw rod, a sealing belt is fixedly connected between the sliding block and the outer surface of the push plate, lubricating liquid stored in a processing box can be discharged through a sealing ring by the reciprocating movement of the push plate, the position between the second mechanical arm and a third mechanical arm can be lubricated, the mechanical structure is prevented from being seriously worn due to long-time use, and then the first connecting shaft can be driven by the reciprocating screw rod to move the third mechanical arm, so that the operation is convenient and meanwhile, the mechanical structure can be protected.
Description
Technical Field
The invention relates to the technical field of arm structures, in particular to a multi-arm multi-degree-of-freedom arm structure.
Background
The modern technology is developed rapidly, the requirements on mechanization, automation and intellectualization of various industries are higher and higher, the robot technology becomes the core trend of the development of the modern science and technology, and the robot technology plays an outstanding role in industries such as agriculture, logistics transportation, automobile manufacturing and the like. In order to improve the agricultural productivity, the working strength of people is liberated, and the working environment is improved.
The existing arm type structure can generate friction among a plurality of structures in the using process, if the structure cannot be intermittently lubricated, the structure can be seriously worn, the ageing of the device is accelerated, and the device is scrapped.
In view of the above, the present invention provides a multi-arm multi-degree-of-freedom arm 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 right side outer surface of the motor, a reciprocating screw rod is fixedly connected to the right side outer surface of the rotating shaft, a sliding block is slidingly connected to the left side edge position of the outer surface of the reciprocating screw rod, a first spring is fixedly connected to the right side outer surface of the sliding block, a pushing plate is slidingly connected to the right side edge position of the outer surface of the reciprocating screw rod, a sealing belt is fixedly connected between the sliding block and the outer surface of the pushing plate, a processing box is slidingly connected to the outer surface of the sliding block, a first connecting shaft is fixedly connected to the right side outer surface of the reciprocating screw rod, a sealing ring is fixedly connected to the right side outer surface of the processing box, an electric push rod is slidingly connected to the right side position of the outer surface of the first connecting shaft, when the device is required to work, the bottom plate is required to be placed at a proper position for fixing, then when the arm structure needs to be adjusted, the motor needs to be started, the motor drives the rotating shaft to rotate, the reciprocating screw rod is driven to rotate through the rotating shaft, then the sliding block is driven to reciprocate through the reciprocating screw rod, the first spring is driven to pressurize the push plate in the process of reciprocating motion of the sliding block, so that the push plate is driven by the first spring to reciprocate, the lubricating liquid stored in the processing box can be discharged through the sealing ring by the reciprocating movement of the push plate, the position between the second mechanical arm and the third mechanical arm can be lubricated, the serious abrasion of the mechanism caused by long-time use of the arm type structure is prevented, and then the first connecting shaft can be driven to move the third mechanical arm through the reciprocating screw rod, so that the operation is convenient, and meanwhile, the mechanical structure can be protected, thereby solving the problem in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the multi-arm multi-degree-of-freedom arm type structure comprises a bottom plate, wherein the outer surface of the upper end of the bottom plate is fixedly connected with a first mechanical arm, the outer surface of the upper end of the first mechanical arm is hinged with a second mechanical arm through a spherical hinge, the outer surface of the right side of the second mechanical arm is slidably connected with a third mechanical arm, the spherical hinge of the outer surface of the right side of the third mechanical arm is hinged with a fourth mechanical arm, the outer surface of the lower end of the fourth mechanical arm is fixedly connected with a processing clamp, and the interior of the second mechanical arm is connected with a protection mechanism;
the protection mechanism comprises a motor, a rotating shaft, a reciprocating screw rod, a sliding block, a first spring, a sealing belt, a pushing plate, a processing box, a first connecting shaft and a sealing ring, wherein the motor is fixedly connected to the left side of the inner surface of the second mechanical arm, the rotating shaft is fixedly connected to the right side outer surface of the motor, the reciprocating screw rod is fixedly connected to the right side outer surface of the rotating shaft, the sliding block is slidably connected to the left side of the outer surface of the reciprocating screw rod, the first spring is fixedly connected to the right side outer surface of the sliding block, the pushing plate is slidably connected to the right side of the outer surface of the reciprocating screw rod, the sealing belt is fixedly connected between the sliding block and the outer surface of the pushing plate, the processing box is slidably connected to the outer surface of the sliding block, the first connecting shaft is fixedly connected to the right side outer surface of the processing box, and the right side of the outer surface of the first connecting shaft is slidably connected with an electric push rod.
Further, a through liquid inlet groove is formed in the upper end position of the outer surface of the processing box, a liquid storage groove is formed in the position, corresponding to the processing box, of the inner surface of the second mechanical arm, and liquid outlets are uniformly distributed on the outer surface of the right end of the sealing ring.
Further, the upper end position of the outer surface of the second mechanical arm is rotationally connected with a first sealing plate through a shaft, the first sealing plate corresponds to the liquid storage tank in position, and the front end and the rear end of the lower end of the outer surface of the first sealing plate are fixedly connected with sealing shafts.
Further, the outer surface of the second mechanical arm is rotationally connected with a second connecting ring, the lower end position 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 rotationally connected with a first connecting ring, the lower end position of the outer surface of the fourth mechanical arm is rotationally connected with a third connecting ring, and a second hydraulic rod is hinged between the outer surfaces of the first connecting ring and the third connecting ring through a spherical hinge.
Further, the left outer surface of the third mechanical arm is connected with a fixing mechanism, the fixing mechanism comprises connecting balls, sliding grooves and telescopic shafts, the telescopic shafts are uniformly distributed and fixedly connected with the left outer surface of the third mechanical arm, the connecting balls are fixedly connected with the left outer surface of the telescopic shafts, the sliding grooves are formed in the right outer surface of the second mechanical arm, and the sliding grooves are matched with the connecting balls.
Further, the fixing mechanism further comprises a fixing ring and a second spring, the fixing ring is fixedly connected to the left side of the outer surface of the telescopic shaft, the second spring is fixedly connected with the outer surface of the right side of the connecting ring, and the third mechanical arm is provided with a round groove matched with the fixing ring.
Further, the inner surface of the third mechanical arm is slidably connected with an auxiliary mechanism, the auxiliary mechanism comprises a first gear and a second gear, the first gear is fixedly connected to the right edge position of the outer surface of the first connecting shaft, the second gear is connected to the outer surface of the first gear through gear meshing, and the second gears are uniformly distributed.
Further, the auxiliary mechanism further comprises a second connecting shaft, a fixing sleeve and fan blades, wherein 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 position 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 of the inner surface of the third mechanical arm, and the inner wall of the air inlet groove is connected with a filter plate in a sliding mode.
Further, the upper end position of the outer surface of the third mechanical arm is connected with a second sealing plate through shaft rotation, air holes are uniformly distributed at the upper end position of the outer surface of the second sealing plate, and a limit belt is connected between the outer surfaces of the second sealing plate in a sliding mode.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the multi-arm multi-degree-of-freedom arm type structure, when the device is required to work, the bottom plate is required to be placed to be fixed at a proper position, then when the arm type structure is required to be adjusted, the motor is required to be started, the rotating shaft is driven to rotate through the motor, the reciprocating screw rod is driven to rotate through the rotating shaft, the sliding block is driven to reciprocate through the reciprocating screw rod, the first spring is driven to pressurize the 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 in the processing box can be discharged through the sealing ring through the reciprocating motion of the push plate, the position between the second mechanical arm and the third mechanical arm can be lubricated, the arm type structure is prevented from being severely worn due to long-time use, the first connecting shaft is driven to move the third mechanical arm through the reciprocating screw rod, the operation is convenient, the mechanical structure can be protected, the lubricating oil is stored through the liquid storage tank, and resource waste is prevented.
2. According to the multi-arm multi-degree-of-freedom arm type structure, the lubricating oil stored in the liquid storage tank is limited through the cooperation between the first sealing plate and the sealing shaft, and meanwhile the lubricating oil is conveniently added by opening.
3. According to the multi-arm multi-degree-of-freedom arm structure, the opening and closing angle between the first mechanical arm and the second mechanical arm can be adjusted through the cooperation of the first hydraulic rod and the second connecting ring, the device is convenient to work, the opening and closing angle between the third mechanical arm and the fourth mechanical arm can be adjusted conveniently through the cooperation of the second hydraulic rod, the first connecting ring and the third connecting ring, the operation is simple and convenient, limiting can be performed when the second mechanical arm and the third mechanical arm rotate through the arrangement of the connecting ball, the phenomenon that sliding occurs after the second mechanical arm and the third mechanical arm stop moving is prevented, errors occur in the use of the device are caused, friction between the connecting ball and the second mechanical arm can be relieved 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 the motor is improved through the arrangement of the first gear, resources are better utilized, the arm type structure is cooled through the arrangement of the mechanism for generating negative pressure, the problem that the arm type structure is seriously worn due to overlong service time is solved, the structure is slow to operate due to the fact that the temperature of the lubricating oil on duty is increased, and the speed of the structure operation 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 of the present invention;
FIG. 2 is a schematic perspective view of an arm structure with multiple arms and multiple degrees of freedom according to the present invention;
FIG. 3 is a schematic view of an internal perspective structure of a multi-arm multi-degree-of-freedom arm structure of a mechanical arm according to 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 structure auxiliary mechanism according to the present invention;
FIG. 6 is a perspective view of a multi-arm multi-degree of freedom arm structure securing mechanism according to the present invention;
FIG. 7 is a schematic cross-sectional view of a multi-arm multi-degree of freedom arm structure of the present invention;
FIG. 8 is an enlarged schematic view of the structure of the multi-arm multi-degree of freedom arm structure of FIG. 7 at A;
FIG. 9 is an enlarged schematic view of the structure of the multi-arm multi-degree of freedom arm structure of FIG. 7 at B;
fig. 10 is a schematic diagram of a cross-sectional structure of a multi-arm multi-degree of freedom arm structure according to the present invention.
In the figure: 1. a bottom plate; 2. a first mechanical 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 slide block; 65. a first spring; 66. a sealing tape; 67. a push plate; 68. a processing 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. a fixed 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 lever; 11. machining pliers; 12. a first connection ring; 13. a second connecting ring; 14. a third connecting ring; 15. a liquid inlet tank; 16. a liquid outlet; 17. sealing the shaft; 18. a first sealing plate; 19. a second sealing plate; 20. a limit belt; 21. and (5) a filter plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-10, a multi-arm multi-degree-of-freedom arm structure comprises a base plate 1, wherein a first mechanical arm 2 is fixedly connected to the outer surface of the upper end of the base 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 slidably connected to the outer surface of the right side of the second mechanical arm 3, 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 inner part of the second mechanical arm 3;
the protection mechanism 6 comprises a motor 61, a rotating shaft 62, a reciprocating screw 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 with the left side of the inner surface of the second mechanical arm 3, the rotating shaft 62 is fixedly connected with the right side outer surface of the motor 61, the reciprocating screw 63 is fixedly connected with the right end outer surface of the rotating shaft 62, the sliding block 64 is slidingly connected with the left side edge of the outer surface of the reciprocating screw 63, the first spring 65 is fixedly connected with the right side outer surface of the sliding block 64, the push plate 67 is slidingly connected with the right side edge of the outer surface of the reciprocating screw 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 slidingly connected with the outer surface of the sliding block 64, the first connecting shaft 69 is fixedly connected with the right side outer surface of the reciprocating screw 63, the sealing ring 610 is fixedly connected with the right side outer surface of the processing box 68, the right side of the outer surface of the first connecting shaft 69 is slidably connected with an electric push rod 611, 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 structure needs to be adjusted, the motor 61 needs to be started, the motor 61 drives the rotating shaft 62 to rotate, the rotating shaft 62 drives the reciprocating screw rod 63 to rotate, then the reciprocating screw rod 63 drives the sliding block 64 to reciprocate, the sliding block 64 drives the first spring 65 to pressurize the push plate 67 in the reciprocating process of the sliding block 64, the push plate 67 is driven by the first spring 65 to reciprocate, the lubricating liquid stored in the processing box 68 can be discharged through the sealing ring 610 through 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 third mechanical arm 4 is controlled to rotate through the grooves formed in the electric push rod 611 and the first connecting shaft 69, so that the arm type structure is prevented from being severely worn due to long-time use, and then the first connecting shaft 69 can be driven to move the third mechanical arm 4 through the reciprocating screw 63, so that the operation is convenient, and meanwhile, the mechanical structure can be protected.
The upper end position of the outer surface of the processing box 68 is provided with a through liquid inlet groove 15, the inner surface of the second mechanical arm 3 is provided with a liquid storage groove at the position corresponding to the processing box 68, the outer surface of the right end of the sealing ring 610 is uniformly distributed and provided with liquid outlets 16, lubricating oil is stored through the liquid storage groove, and excessive use of the lubricating oil is prevented, so that resource waste is caused.
The upper end position of the outer surface of the second mechanical arm 3 is connected with a first sealing plate 18 through shaft rotation, the first sealing plate 18 corresponds to the liquid storage tank in position, and the front end and the rear end of the lower 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 rotationally 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 rotationally connected with a first connecting ring 12, the lower end position of the outer surface of the fourth mechanical arm 5 is rotationally 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 cooperation of the first hydraulic rod 8 and the second connecting ring 13, the device is convenient to work, and the opening and closing angle between the third mechanical arm 4 and the fourth mechanical arm 5 can be conveniently adjusted through the cooperation 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 of the left side of the third mechanical arm 4 is connected with a fixing mechanism 9, the fixing mechanism 9 comprises a connecting ball 91, a sliding groove 92 and a telescopic shaft 95, the outer surface of the left side of the third mechanical arm 4 is uniformly distributed and fixedly connected with the telescopic shaft 95, the outer surface of the left end of the telescopic shaft 95 is fixedly connected with the connecting ball 91, the sliding groove 92 is arranged on the outer surface of the right side of the second mechanical arm 3, the sliding groove 92 is matched with the connecting ball 91, and the limiting is performed when the second mechanical arm 3 and the third mechanical arm 4 rotate through the arrangement of the connecting ball 91, so that after the second mechanical arm 3 and the third mechanical arm 4 stop moving, the phenomenon of sliding occurs, and the device is used in error.
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 right side of the outer surface of the connecting ring, the third mechanical arm 4 is provided with a circular groove matched with the fixing ring 93, the friction between the connecting ball 91 and the second mechanical arm 3 can be reduced through the elasticity of the second spring 94 by arranging the fixing ring 93 and the second spring 94, and the service life of the device is prolonged.
The third mechanical arm 4 is slidably connected with the auxiliary mechanism 7 on the inner surface, 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 position 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 gears 72 are uniformly distributed, and the utilization rate of the motor 61 is improved through the arrangement of the first gear 71, so that resources are better utilized.
The auxiliary mechanism 7 further comprises a second connecting shaft 73, a fixing sleeve 74 and fan blades 75, wherein 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 and fixedly connected to the outer surface of the fixing sleeve 74, the mechanism for generating negative pressure is arranged to cool the arm type structure, the arm type structure is prevented from being severely worn due to overlong service time, the structure is slowly operated due to rising of the temperature of lubricating oil on duty, and the speed of the structure operation is guaranteed.
An air inlet groove is formed in the right side position of the inner surface of the third mechanical arm 4, the inner wall of the air inlet groove is slidably connected with a filter plate 21, air pressure circulation can be achieved through the arrangement of the air inlet groove, and damage to the arm-type structure joint caused by accumulation of impurities in air is prevented through the arrangement of the filter plate 21.
The upper end position of the outer surface of the third mechanical arm 4 is rotationally connected with a second sealing plate 19 through a shaft, ventilation holes are uniformly distributed in the upper end position of the outer surface of the second sealing plate 19, a limiting belt 20 is slidably connected between the outer surfaces of the second sealing plate 19, the second mechanical arm 4 is arranged to fix the filter plate 21 under the condition that gas is not prevented from entering, smooth running of the device is ensured, and the second sealing plate 19 is fixed through the limiting belt 20.
To sum up: when the device is required to work, the bottom plate 1 is required to be placed at a proper position for fixing, then when the arm structure is required to be adjusted, the motor 61 is required to be started, the motor 61 drives the rotating shaft 62 to rotate, the rotating shaft 62 drives the reciprocating screw 63 to rotate, then the reciprocating screw 63 drives the sliding block 64 to reciprocate, the first spring 65 is driven to pressurize the push plate 67 in the reciprocating process of the sliding block 64, the push plate 67 is driven by the first spring 65 to reciprocate, the lubricating liquid stored in the processing box 68 can be discharged through the sealing ring 610 through 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 structure is prevented from being severely worn due to long-time use, the first connecting shaft 69 can be driven by the reciprocating screw 63 to move the third mechanical arm 4, the mechanical structure can be protected simultaneously, the lubricating oil is stored through the liquid storage tank, excessive use of the lubricating oil is prevented, the resource waste is caused, the lubricating oil stored in the liquid storage tank is limited through the cooperation between the first sealing plate 18 and the sealing shaft 17, the lubricating oil is added by opening conveniently, the opening and closing angle between the first mechanical arm 2 and the second mechanical arm 3 can be adjusted through the cooperation 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 conveniently through the cooperation between the second hydraulic rod 10 and the first connecting ring 12 and the third connecting ring 14, the operation is simple and convenient, and when the second mechanical arm 3 and the third mechanical arm 4 rotate through the setting of the connecting ball 91, carry out spacing, prevent to stop the motion between second arm 3 and the third arm 4, take place gliding phenomenon, lead to the device to use and appear wrong, 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, improve the life of device, improve the rate of utilization of motor 61 through setting up of first gear 71, make the resource obtain better utilization, cool down arm formula structure through setting up the mechanism that produces the negative pressure, prevent that arm formula structure live time overlength from leading to wearing and tearing seriously, which lubricating oil temperature on duty of putting is risen and is led to the structure to move slowly afterwards, guarantee the speed of structure operation.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a multi-arm multi 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 slidably connected with a third mechanical arm (4), 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 the inner part of the second mechanical arm (3) is connected with a protection mechanism (6);
the protection mechanism (6) comprises a motor (61), a rotating shaft (62), a reciprocating screw (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 right side outer surface of the motor (61), the reciprocating screw (63) is fixedly connected to the right side outer surface 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 (63), the first spring (65) is fixedly connected to the right side outer surface 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 (63), the sealing belt (66) is fixedly connected between the outer surface of the sliding block (64), the first connecting shaft (69) is fixedly connected to the right side outer surface of the reciprocating screw (63), and the right side outer surface (68) is fixedly connected to the right side outer surface (611) of the sliding rod;
the upper end position of the outer surface of the processing box (68) is provided with a through liquid inlet groove (15), the inner surface of the second mechanical arm (3) is provided with a liquid storage groove at a position corresponding to the processing box (68), the outer surface of the right end of the sealing ring (610) is uniformly distributed and provided with liquid outlets (16), and lubricating liquid stored in the processing box (68) is discharged through the sealing ring (610) by the reciprocating movement of the push plate (67) to lubricate the position between the second mechanical arm (3) and the third mechanical arm (4);
the upper end position of the outer surface of the second mechanical arm (3) is connected with a first sealing plate (18) through shaft rotation, the first sealing plate (18) corresponds to the position of the liquid storage tank, and the front end and the rear end of the lower 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 rotationally 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 rotationally connected with a first connecting ring (12), the lower end position of the outer surface of the fourth mechanical arm (5) is rotationally 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;
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 position 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 meshing, and the second gears (72) are uniformly distributed;
the auxiliary mechanism (7) further comprises a second connecting shaft (73), a fixing sleeve (74) and fan blades (75), wherein 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), and the fan blades (75) are uniformly distributed and fixedly connected to the outer surface of the fixing sleeve (74).
2. The multi-arm multiple degree of freedom arm structure of claim 1 wherein: the left outer surface of the third mechanical arm (4) is connected with a fixing mechanism (9), the fixing mechanism (9) comprises a connecting ball (91), a sliding groove (92) and a telescopic shaft (95), the left outer surface of the third mechanical arm (4) is uniformly distributed and fixedly connected with the telescopic shaft (95), the left outer surface of the telescopic shaft (95) is fixedly connected with the connecting ball (91), the sliding groove (92) is formed in the right outer surface of the second mechanical arm (3), and the sliding groove (92) is matched with the connecting ball (91).
3. A multi-arm multiple degree of freedom arm structure according to claim 2, wherein: 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 right side outer surface of the connecting ring, and the third mechanical arm (4) is provided with a circular groove matched with the fixing ring (93).
4. 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.
5. The multi-arm multiple degree of freedom arm structure of claim 1 wherein: the upper end position of the outer surface of the third mechanical arm (4) is rotationally connected with a second sealing plate (19) through a shaft, ventilation holes are uniformly distributed and arranged at the upper end position of the outer surface of the second sealing plate (19), and the third mechanical arm (4) is slidably connected with a limiting belt (20) between the outer surfaces of the second sealing plate (19).
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| CN114633287A (en) | 2022-06-17 |
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