CN115870961A - Multi-degree-of-freedom multi-action mechanical arm - Google Patents

Abstract

The application provides a robotic arm of multi freedom multi-action, through the base sets up a plurality of telescopic links, and a plurality of telescopic links drive the backup pad floats, the carousel has relative backup pad rotational degree of freedom, and first robotic arm has relative carousel pivoted degree of freedom, and calliper has relative first robotic arm pivoted degree of freedom, and mechanical calliper is except having the action of opening and closing the cardboard, still has the action of rubbing with the fingers around the cardboard and rubbing with the fingers from top to bottom, thereby realizes the multi freedom multi-action of arm shows, has increased teaching entertainment abundance.

Description

Multi-degree-of-freedom multi-action mechanical arm

Technical Field

The application relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom multi-action mechanical arm.

Background

At present, the mechanical arm is a teaching toy commonly used, and learning and entertainment can be realized by assembling the mechanical arm by self. However, the degree of freedom of movement of the existing mechanical arm is single, and the operation action of the mechanical arm is also single, so that the teaching and entertainment richness cannot be embodied.

Disclosure of Invention

The embodiment of the application provides a multi-degree-of-freedom multi-action mechanical arm.

The application provides a robotic arm of multi freedom multi-action, wherein, the robotic arm of multi freedom multi-action includes base, carousel, first arm and mechanical calliper, the base is equipped with bottom plate, a plurality of straight line steering wheel that floats, a plurality of telescopic link and backup pad, a plurality of telescopic link interval ring around the overall arrangement in the bottom plate, it is a plurality of to float the straight line steering wheel and correspond the drive a plurality of respectively the telescopic link is flexible, the edge connection of backup pad is a plurality of the telescopic link, the carousel range upon range of in backup pad and first direction coupling rotate in the backup pad, first arm rotates around the second direction and connects the carousel, mechanical calliper rotates around the third direction and couples in first arm keeps away from carousel one end, mechanical calliper has two cardboards that can open and close the removal and rub the mutual upper and lower front and back and move, first direction is perpendicular the backup pad is range upon range of the carousel one side, the second direction is perpendicular first direction, the third direction is perpendicular the second direction is perpendicular, be equipped with the drive the first cardboard that carousel pivoted, the carousel is equipped with the drive that the mechanical calliper is equipped with the front and back displacement of the third direction of the steering wheel and forth displacement drive the steering wheel and back and forth the displacement of the direction of the steering wheel and the displacement about the steering wheel is perpendicular to move.

The multi-degree-of-freedom and multi-action mechanical arm further comprises a second mechanical arm and a third mechanical arm, the second mechanical arm is connected in a rotating mode in the parallel mode in the second direction, the first mechanical arm is far away from one end of the rotary table, the third mechanical arm is connected in a rotating mode in the parallel mode in the second direction, the second mechanical arm is far away from one end of the first mechanical arm, the mechanical calipers are connected in a rotating mode, the third mechanical arm is far away from one end of the second mechanical arm, the first mechanical arm is provided with a third steering engine for driving the second mechanical arm to rotate, and the second mechanical arm is provided with a fourth steering engine for driving the third mechanical arm to rotate.

The mechanical calipers comprise a connecting seat, a caliper support and left and right displacement steering engines, the connecting seat is connected with the third mechanical arm in a rotating mode, the caliper support is connected with the connecting seat in a sliding mode, the sliding direction of the caliper support is perpendicular to the third direction and the up and down displacement direction, the left and right displacement steering engines are used for driving the caliper support to slide relative to the connecting seat, and the clamping plate is coupled with the caliper support.

The mechanical calipers are provided with gyroscopes, the gyroscopes are fixed to the caliper supports and can move along with the caliper supports, the gyroscopes are used for sensing two gravity center displacement vectors of the mechanical calipers, the base further comprises a controller fixed to the bottom plate, the controllers are electrically connected with the gyroscopes and used for acquiring gravity center sensing signals of the gyroscopes, the controllers are further electrically connected with the floating linear steering engines, the left and right displacement steering engines, the front and back displacement steering engines and the displacement amount of the upper and lower displacement steering engines, and the controller is further electrically connected with the gravity center sensing signals to control the displacement amounts of the floating linear steering engines, the left and right displacement steering engines, the front and back displacement steering engines and the displacement amount of the upper and lower displacement steering engines.

The mechanical calipers are provided with acceleration sensors, the acceleration sensors are fixed to the caliper support and used for sensing displacement acceleration of the mechanical calipers, the controller is electrically connected with the acceleration sensors and used for acquiring acceleration sensing signals of the acceleration sensors and controlling displacement acceleration of the floating linear steering engines, the left and right displacement steering engines and the front and back displacement steering engines according to the acceleration sensing signals.

The supporting plate is provided with a bottom gyroscope used for sensing the horizontal displacement angle of the supporting plate, the controller is electrically connected with the bottom gyroscope and controls the floating linear steering engines to stretch and drive the telescopic rods to stretch and retract according to the horizontal displacement angle of the bottom gyroscope, so that the horizontal state of the supporting plate is kept.

The mechanical caliper further comprises two clamping plate supports which are rotatably connected with the caliper supports, the two clamping plate supports can move synchronously to open or close the two clamping plates, the opening and closing steering engine is connected with one of the clamping plate supports to drive the two clamping plate supports to open and close, and the two clamping plates are arranged on the two clamping plate supports in a sliding mode and can move along with the opening and closing of the clamping plate supports.

The mechanical calipers further comprise first sliding plates arranged on the clamping plate supports in a sliding mode and second sliding plates arranged on the first sliding plates in a sliding mode, the clamping plates are correspondingly fixed on the second sliding plates, the first sliding plates slide relative to the clamping plate supports along the front-back displacement direction, the second sliding plates slide relative to the first sliding plates along the up-down displacement direction, the front-back displacement steering engines are fixed on the clamping plate supports and used for driving the first sliding plates to slide, and the up-down displacement steering engines are fixed on the first sliding plates and used for driving the second sliding plates to slide.

The multi-degree-of-freedom multi-action mechanical arm further comprises two claw wheels, universal idler wheels and two driving steering engines, the two claw wheels are rotatably connected to the bottom plate and deviate from one side of the supporting plate, each claw wheel comprises a wheel hub and a plurality of claw rods arranged on the periphery side of the wheel hub along the circumferential direction at equal intervals, the universal idler wheels are arranged on the base and deviate from one side of the rotary plate, the two universal idler wheels are opposite to the two claw wheels, and the two driving steering engines respectively drive the two front claw wheels to rotate.

Wherein, the claw pole with wheel hub is integrative to be set up, just the claw pole can be relative wheel hub elastic deformation.

The application provides a robotic arm of multi freedom multi-action, through the base sets up a plurality of telescopic links, and a plurality of telescopic links drive the backup pad floats, the carousel has relative backup pad rotational degree of freedom, and first robotic arm has relative carousel pivoted degree of freedom, and calliper has relative first robotic arm pivoted degree of freedom, and mechanical calliper is except having the action of opening and closing the cardboard, still has the action of rubbing with the fingers around the cardboard and rubbing with the fingers from top to bottom, thereby realizes the multi freedom multi-action of arm shows, has increased teaching entertainment abundance.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a robot arm according to an embodiment of the present disclosure;

fig. 2 is another perspective view of a robot arm according to an embodiment of the present disclosure;

fig. 3 is a partially enlarged schematic view of a robot arm according to an embodiment of the present disclosure;

fig. 4 is a partially enlarged schematic view of a robot arm according to an embodiment of the present disclosure.

Detailed Description

Referring to fig. 1 to 4, the present application provides a multi-degree-of-freedom multi-motion robot 100. The multi-degree-of-freedom multi-motion robot arm 100 includes a base 10, a turntable 20, a first robot arm 30, and a robot caliper 40. The base 10 is provided with a bottom plate 11, a plurality of floating linear steering engines 12, a plurality of telescopic rods 13 and a support plate 14. The plurality of telescopic rods 13 are arranged around the bottom plate 11 at intervals. The floating linear steering engines 12 respectively drive the telescopic rods 13 to stretch and retract correspondingly. The edge of the supporting plate 14 is connected with a plurality of telescopic rods 13. The turntable 20 is stacked on the supporting plate 14 and coupled to rotate on the supporting plate 14 in a first direction Z. The first robot arm 30 is rotatably connected to the turntable 20 about a second direction Y. The mechanical caliper 40 is coupled to an end of the first robot arm 30 away from the turntable 20 to rotate in a third direction N. The mechanical caliper 40 has two clamping plates 41 which can move in an opening and closing manner and can be twisted up and down and back and forth. The first direction Z is perpendicular to the surface of the supporting plate 14 on which the turntable 20 is stacked, the second direction Y is perpendicular to the first direction Z, and the third direction N is perpendicular to the second direction Y. A first steering engine 201 for driving the turntable 20 to rotate is arranged on the supporting plate 14, and a second steering engine 301 for driving the first mechanical arm 30 to rotate is arranged on the turntable 20. And a caliper steering engine 401 for driving the mechanical caliper 40 to rotate is arranged between the mechanical caliper 40 and the first mechanical arm 30. The mechanical calipers 40 are provided with an opening and closing steering engine 402 for driving the clamping plate 41 to open and close, a front and rear displacement steering engine 403 for driving the clamping plate 41 to move back and forth, and an upper and lower displacement steering engine 404 for driving the clamping plate 41 to rub up and down. The front-back displacement direction is parallel to the third direction N, and the up-down displacement direction is perpendicular to the front-back displacement direction and the third direction N.

It can be understood that the multi-degree-of-freedom multi-motion mechanical arm 100 can be used for teaching entertainment, and the multiple floating linear steering engines 12, the first steering engine 201, the caliper steering engine 401, the front and back displacement steering engine 403 and the up and down displacement steering engine 404 are electrified and control signals are transmitted, so that the mechanical arm 100 is controlled to move in multiple degrees of freedom, and multiple working motions are realized.

The base 10 is provided with a plurality of telescopic rods 13, the plurality of telescopic rods 13 drive the support plate 14 to float, the rotary plate 20 has a first degree of freedom rotating relative to the support plate 14, the first mechanical arm 30 has a second degree of freedom rotating relative to the rotary plate 20, the calipers have a third degree of freedom rotating relative to the first mechanical arm 30, the mechanical calipers 40 have actions of opening and closing the clamping plates 41 and actions of twisting the clamping plates 41 back and forth and twisting up and down, the first degree of freedom, the second degree of freedom and the third degree of freedom are different, and the actions of opening, closing, twisting up and down and the actions of twisting back and forth are also different, so that the multi-degree-of-freedom multi-action display of the mechanical arm is realized, and the teaching entertainment richness is increased.

In the present embodiment, the bottom plate 11 is a rectangular plate. The base plate 11 is made of sheet metal bent. The four sides of the bottom plate 11 are respectively provided with a short side plate 111 and two long side plates 112, and the short side plate 111 and the two long side plates 112 are respectively bent relative to the middle plate of the bottom plate 11. The short side plate 111 and the two long side plates 112 can reinforce the firmness of the bottom plate 11 and prevent the bottom plate 11 from deforming. The middle plate of the bottom plate 11 is provided with four hollowed-out holes 113 near the short side plate 111 and the long side plate 112. The hollow holes 113 are in the shape of strip holes. The hollow holes 113 are opened in the middle plate to reduce the weight of the bottom plate 11, thereby reducing the weight of the entire robot arm 100 and facilitating the carrying of the robot arm. Of course, in other embodiments, the bottom plate 11 may also be a circular plate, and the short side plate 111 and the long side plate 112 may also be firmly connected with the middle plate by screws, so that the short side plate 111 and the long side plate 112 can be detachably connected with the middle plate.

In this embodiment, the telescopic rod 13 comprises a first rod 131 and a second rod 132 sliding relative to the first rod 131. The bottom of the first rod 131 is provided with a bending plate, and the first rod 131 is locked on the bottom plate 11 through the bending plate at the bottom, so that the first rod 131 is fixed on the bottom plate 11. The first bar 131 has a length direction perpendicular to the base plate 11. The center of the first rod 131 is provided with a sliding guide cavity, and the second rod 132 is inserted into the sliding guide cavity of the first rod 131, so that the second rod 132 can slide and extend relative to the first rod 131. The first rod 131 is provided with a sliding groove communicated with the cavity, and the sliding groove extends along the length direction of the first rod 131. The second rod 132 is provided with a projection engaged with the slide groove. The protrusions are connected with the floating linear steering engine 12 to receive the driving force of the floating linear steering engine 12. The first rod 131 is locked with the bottom plate 11 through a screw, so that the structure of the first rod 131 and the bottom plate 11 is convenient to disassemble and stabilize, and the teaching and entertainment practical ability of a user can be improved.

Optionally, the mechanical arm includes eight telescopic links 13, and eight telescopic links 13 are arranged along circular equidistance.

In this embodiment, each floating linear steering engine 12 is fixed on the bottom plate 11, and each floating linear steering engine 12 is correspondingly connected with the protrusion of each second rod 132, so that each floating linear steering engine 12 can correspondingly drive the second rod 132 to extend and retract relative to the first rod 131, thereby realizing the length change of each telescopic rod 13. Specifically, the end of the floating linear steering engine 12 is locked with the protrusion of the second rod 132 through a screw. The length change of the plurality of telescopic rods 13 can drive the supporting plate 14 to incline relative to the bottom plate 11, so that the levelness of the supporting plate 14 can be adjusted. The floating linear steering engine 12 is locked with the protrusion of the second rod 132 through the screw, so that the connecting structure of the floating linear steering engine 12 and the telescopic rod 13 is convenient to disassemble and stabilize, the teaching entertainment practical ability of a user can be improved, and the relevant knowledge of steering engine and mechanical extension can be learned.

In the present embodiment, the support plate 14 is a circular plate. The periphery of backup pad 14 is equipped with a plurality of boards of bending, and the board of bending of backup pad 14 and second member 132 are kept away from unsteady sharp steering wheel 12 one end and are sold the nail and rotate and be connected. Optionally, eight bending plates arranged at equal intervals are arranged on the periphery of the supporting plate 14, and the eight bending plates are rotatably connected to the ends of the eight second rod members 132.

In the present embodiment, the first steering gear 201 is fixed to the support plate 14 toward the bottom plate 11. A through hole is formed in the center of the support plate 14. The rudder plate of the first steering engine 201 passes through the through hole of the supporting plate 14 and is fixedly connected with the turntable 20. The first steering gear 201 can drive the turntable 20 to rotate relative to the support plate 14. Obviously, the rotation axis of the first steering engine 201 is perpendicular to the support plate 14, i.e. the rotation disc 20 rotates around the normal direction of the support plate 14, i.e. the first direction Z is the direction of the perpendicular support plate 14 facing away from the bottom plate 11. Optionally, the first steering engine 201 is locked to the support plate 14 via screws.

Specifically, the height of the first steering engine 201 in the normal direction of the lower surface of the supporting plate 14 is smaller than the length of the first rod member 131, so that the plurality of telescopic rods 13 are in a completely contracted state, and the distance between the first steering engine 201 and the bottom plate 11 still exists, so that the first steering engine 201 is prevented from being damaged.

In the present embodiment, the turntable 20 is parallel to the support plate 14. The outer diameter of the turntable 20 is substantially equal to the outer diameter of the support plate 14 for a compact and uniform appearance. The turntable 20 is provided with a plurality of fixing holes. A turntable bracket 21 is fixed on the side of the turntable 20, which faces away from the supporting plate 14. Alternatively, the turntable support 21 may be adapted to a plurality of fixing holes via a plurality of screws to achieve locking and fixing with the turntable 20. The turntable support 21 is provided with a support bottom plate and a support side plate. The bracket base plate is locked to the turntable 20 via a plurality of screws. The support side plate is bent relative to the support bottom plate and extends perpendicular to the support bottom plate. A rotating shaft hole is formed in the side plate of the support, and a steering wheel of the second steering engine 301 penetrates through the rotating shaft hole, so that the second steering engine 301 can drive the first mechanical arm 30 to rotate. The second steering engine 301 is locked on the turntable 20 through a screw, the second steering engine 301 is attached to the support bottom plate, and a rotating shaft of the second steering engine 301 penetrates through the support side plate to enhance the supporting performance of the first steering engine 201 on the first mechanical arm 30.

In this embodiment, one end of the first mechanical arm 30 is fixedly connected to the rudder wheel of the second steering engine 301, so that the second steering engine 301 can drive the first mechanical arm 30 to rotate relative to the turntable 20. It can be understood that the rotation axis of the second steering engine 301 is parallel to one surface of the second turntable 20 connected to the turntable support 21, that is, the rotation axis of the first robot arm 30 is axially parallel to one surface of the turntable 20 connected to the turntable support 21, that is, the second direction Y is the direction in which the parallel turntable 20 is connected to one surface of the turntable support 21. Optionally, the first robot arm 30 is a plate. One surface of the first mechanical arm 30 facing the second steering engine 301 is perpendicular to the axial direction of the rotation of the first mechanical arm 30, that is, perpendicular to the axial direction of the rotation shaft of the second steering engine 301. One end of the first mechanical arm 30, which is close to the turntable 20, is provided with a semicircular side edge, and the semicircular side edge, which is close to the turntable 20, of the first mechanical arm 30 is concentric with the rotating shaft of the second steering engine 301, so that the first mechanical arm 30 can rotate around the rotating shaft axis of the second steering engine 301, and the first mechanical arm 30 and the turntable 20 are prevented from generating motion interference. The first mechanical arm 30 rotates around the direction parallel to the rotary table 20, so that the first mechanical arm 30 and the rotary table 20 have different degrees of freedom to show more forms, the entertainment teaching richness is increased, and a user can understand the two-degree-of-freedom matching motion form conveniently to learn the mechanical operation principle. But first arm 30, carousel support 21, second steering wheel 301 all adopt quick connection, quick detachable's connection structure to the user of being convenient for assembles by oneself, and is dismantled by oneself, increases the study nature, increases the manual performance.

In the present embodiment, the mechanical caliper 40 and the first robot arm 30 may be indirectly connected or may be directly connected. The mechanical caliper 40 has two opposite ends, one end of the mechanical caliper 40 is coupled to an end of the first mechanical arm 30 away from the turntable 20, and the other end of the mechanical caliper 40 is provided with the clamping plate 41. The end of the mechanical caliper 40 coupled to the first robot arm 30 is rotatable about the third direction N. The third direction N is perpendicular to the rotation axis of the first robot 30 rotatably connected to the turntable support 21. The card plates 41 of the mechanical caliper 40 can rotate around the third direction N relative to the first mechanical arm 30 to increase the moving direction of the two card plates 41, that is, when the mechanical caliper 40 integrally rotates around the third direction N, the two card plates 41 simultaneously rotate around the third direction N. The two clamping plates 41 can be opened or closed, and can also be twisted together along the front and rear displacement directions, and can also be twisted together along the up and down displacement directions. The caliper steering engine 401 may be fixed on the first robot arm 30 to drive the mechanical caliper 40 to rotate. The caliper steering engine 401 may also be fixed on the mechanical caliper 40, and outputs a rotational torque to the first robot arm 30 or a component connected to the mechanical caliper 40, so as to rotate the mechanical caliper 40 relative to the first robot arm 30. The caliper steering engine 401 may also be a component fixed between the first mechanical arm 30 and the mechanical caliper 40.

In this embodiment, the opening and closing steering engine 402, the front and rear displacement steering engines 403 and the upper and lower displacement steering engines 404 are all arranged on the clamping plate 41, the opening and closing steering engine 402 and the clamping plate 41 are connected through an opening and closing transmission mechanism, the front and rear displacement steering engines 403 and the clamping plate 41 are connected through a front and rear transmission mechanism, and the upper and lower displacement steering engines 404 and the clamping plate 41 are connected through an upper and lower transmission mechanism. The two clamping plates 41 can integrally rotate around the third direction N, can also rotate around the second direction Y under the driving of the first mechanical arm 30, can also rotate around the first direction Z under the driving of the turntable 20, and can float and adjust the horizontal angle relative to the horizontal plane under the driving of the plurality of telescopic rods 13; the two clamping plates 41 can also synchronously move back and forth or rub back and forth with each other under the drive of the two front and back displacement steering engines 403; the two clamping plates 41 can also synchronously move up and down under the driving of the two up-and-down displacement steering engines 404 or rub up and down with each other; the two clamping plates 41 on the mechanical calipers 40 have the performance of multi-degree-of-freedom movement and can have multi-action display, so that the teaching and entertainment richness is increased, and the observation, study and experience of a user on various mechanical movement forms are increased.

Further, the multi-degree-of-freedom and multi-action mechanical arm 100 further comprises a second mechanical arm 50 and a third mechanical arm 60, the second mechanical arm 50 is connected with one end, far away from the turntable 20, of the first mechanical arm 30 in a rotating mode along a direction parallel to the second direction Y, the third mechanical arm 60 is connected with one end, far away from the first mechanical arm 30, of the second mechanical arm 50 in a rotating mode along a direction parallel to the second direction Y, the mechanical caliper 40 is connected with one end, far away from the second mechanical arm 50, of the third mechanical arm 60 in a rotating mode, the first mechanical arm 30 is provided with a third steering engine 302 for driving the second mechanical arm 50 to rotate, and the second mechanical arm 50 is provided with a fourth steering engine 501 for driving the third mechanical arm 60 to rotate.

In the present embodiment, the second robot arm 50 has the same structure as the first robot arm 30. The second robot arm 50 is a metal plate member. The second robot arm 50 is the same as the first robot arm 30, so that the assembly by a user is convenient, the mutual replacement of the second robot arm 50 and the first robot arm 30 is increased, the manufacturing mould is reduced, and the production cost is reduced. One end of the first mechanical arm 30, which is far away from the turntable 20, is provided with a plurality of fixing holes, and the plurality of fixing holes are used for being locked with the third steering engine 302 through screws. The third steering engine 302 is fixed to a surface of the first robot arm 30 away from the turntable support 21. The end of the first robot arm 30 away from the turntable 20 is further provided with a rotating shaft hole. The steering wheel of the third steering engine 302 passes through the rotating shaft hole and is fixedly connected with the second mechanical arm 50. The second mechanical arm 50 is located on a side of the first mechanical arm 30 facing away from the third steering engine 302. The rotation axis of the third steering gear 302 is parallel to the rotation axis of the second steering gear 301, so that the rotation direction of the second mechanical arm 50 relative to the first mechanical arm 30 is parallel to the rotation direction of the first mechanical arm 30 relative to the turntable 20. It can be understood that the first mechanical arm 30, the third steering engine 302 and the second mechanical arm 50 are all of a screw connection structure which can be locked, fixed and disassembled quickly, so that a user can assemble the first mechanical arm 30, the third steering engine 302 and the second mechanical arm 50 quickly by himself or disassemble the first mechanical arm 30, the third steering engine 302 and the second mechanical arm 50 quickly by himself or herself, the teaching entertainment richness is increased, and the user experience is increased.

In the present embodiment, the third robot arm 60 has the same structure as the second robot arm 50. The third mechanical arm 60 is a metal plate member. The third robot arm 60 is identical to the second robot arm 50, which facilitates user assembly, increases the mutual replacement of the third robot arm 60 and the second robot arm 50, and reduces the manufacturing mold and the production cost. One end of the second mechanical arm 50, which is far away from the first mechanical arm 30, is provided with a plurality of fixing holes, and the plurality of fixing holes are used for being locked with the fourth steering engine 501 through screws. The fourth steering engine 501 is located on a surface of the second mechanical arm 50 away from the first mechanical arm 30. The second mechanical arm 50 is further provided with a rotating shaft hole at an end away from the first mechanical arm 30. A steering wheel of the fourth steering engine 501 passes through the rotating shaft hole and is fixedly connected with the third mechanical arm 60. The third mechanical arm 60 is located on a side of the second mechanical arm 50 facing away from the fourth steering engine 501. The third arm 60 is substantially flush with the first arm 30, thereby facilitating the balance of the first arm 30, the second arm 50, and the third arm 60 and preventing the center of gravity of the first arm 30, the second arm 50, and the third arm 60 from shifting in the same direction. The fourth steering engine 501 and the third steering engine 302 are staggered from each other, so that the balance of the mechanical arm 100 is improved. The rotation axis of the fourth steering engine 501 is parallel to the rotation axis of the third steering engine 302, so that the rotation direction of the third mechanical arm 60 relative to the second mechanical arm 50 is parallel to the rotation direction of the second mechanical arm 50 relative to the first mechanical arm 30. The first mechanical arm 30, the second mechanical arm 50 and the third mechanical arm 60 are sequentially connected in a rotating mode, the rotating directions are parallel to each other, so that the first mechanical arm 30, the second mechanical arm 50 and the third mechanical arm 60 form a bending rod piece capable of being bent in multiple sections in a unified mode, the bending form of the mechanical arm 100 is increased, the mechanical caliper 40 can be in a movable range with more rotating angles and larger moving radius, the operating range of the mechanical caliper 40 can be increased, the mechanical arm 100 can simulate operating scenes corresponding to more mechanical calipers 40, and teaching entertainment is improved.

In the present embodiment, the third robot arm 60 is rotatably connected to the mechanical caliper 40. Specifically, the end of the third mechanical arm 60 away from the second mechanical arm 50 is provided with a plurality of fixing holes. The robot arm 100 also includes a caliper pivot mount 70. The caliper rotating seat 70 is a metal bent plate. The caliper rotating base 70 is provided with a side bending plate 71 and a transverse bending plate 72 bent from the side bending plate 71. The side bending plate 71 is locked and matched with the screws through a plurality of fixing holes, and is locked and fixed with one end of the third mechanical arm 60 far away from the second mechanical arm 50. The normal direction of the lateral bending plate 72 is parallel to the longitudinal direction of the third robot arm 60. The cross bend plate 72 is provided with a plurality of fixing holes. Calliper steering wheel 401 is through a plurality of screws and a plurality of fixed orifices locking fit to the realization is fixed with the horizontal bending plate 72 locking, thereby calliper steering wheel 401 rotates seat 70 through calliper and is fixed in third arm 60 and keeps away from second arm 50 one end. The transverse bending plate 72 is further provided with a rotating shaft hole, a steering wheel of the caliper steering engine 401 penetrates through the rotating shaft hole, and a rotating shaft of the caliper steering engine 401 is in rotating fit with the rotating shaft hole. The steering wheel of caliper steering engine 401 is fixed with mechanical caliper 40 so that caliper steering engine 401 can drive mechanical caliper 40 to rotate. The rotation axis of the mechanical caliper 40 is parallel to the longitudinal direction of the third robot arm 60, and the rotation axis of the mechanical caliper 40 is perpendicular to the rotation axis of the third robot arm 60. It can be understood that the third mechanical arm 60, the caliper rotating seat 70, the caliper steering engine 401 and the mechanical caliper 40 adopt the screw connection structure which can be quickly assembled and disassembled, so that the user can quickly complete the assembly of the mechanical arm 100, the user can conveniently learn the motion principle of the mechanical arm 100, the teaching and entertainment richness is increased, and the user experience is increased.

Further, mechanical caliper 40 includes connecting seat 42, caliper support 43 and left and right displacement steering engine 44, connecting seat 42 rotates and connects third arm 60, caliper support 43 sliding connection connecting seat 42, the slip direction of caliper support 43 is perpendicular third direction N and upper and lower displacement direction, left and right displacement steering engine is used for driving caliper support 43 slides relative connecting seat 42, cardboard 41 couples in caliper support 43.

In this embodiment, the connecting seat 42 is provided with a caliper chassis 421, and the caliper chassis 421 is fixedly connected with the rudder plate of the caliper steering engine 401. The caliper chassis 421 and the rudder plate of the caliper steering engine 401 may be fixed by spline fitting, or may be fixed by flange plate screw locking. The connecting base 42 is further provided with two bent clamping plates 422 and a connecting bottom plate 423. The bending clamp 422 is provided with a bottom bending plate fixed on the caliper chassis 421 by screw locking and a fixing clamp plate bent relative to the bottom bending plate. Two bending clamping plates 422 are arranged back to back, and two fixing clamping plates are clamped together to be connected with the bottom plate 423. The connection base plate 423 is slidably connected to the caliper bracket 43. Specifically, the sliding direction of the connecting bottom plate 423 relative to the caliper support 43 is coplanar with the rotation axis of the connecting seat 42 and is perpendicular to the rotation axis. The coupling base plate 423 is provided with a bracket guide groove 424, and the caliper bracket 43 is provided with a slide protrusion 432 slidably fitted to the bracket guide groove 424. The left and right displacement steering engine 44 is fixed on one side of the support bottom plate 22, which is far away from the caliper support 43. The left and right displacement actuators 44 are linear actuators. The sliding protrusion 432 and a sliding rod of the left and right displacement steering engine can be locked and fixed through a screw, so that the caliper support 43 can receive the driving force of the left and right displacement steering engine 44, and the caliper support 43 can slide along the left and right direction relative to the connecting bottom plate 423, namely, along the direction coplanar with the third direction N and perpendicular to the third direction N. The caliper support 43 is connected the bottom plate 423 relatively and slides and can drive two cardboard 41 and connect the bottom plate 423 relatively simultaneously and slide to increase the action of two cardboard 41 horizontal slip adjustment operation positions, further improve teaching amusement, let the user can learn more mechanical structure actions and keep away from, and increase more operation scenes of mechanical caliper 40.

In the present embodiment, the caliper bracket 43 is a metal sheet metal part. The caliper bracket 43 is laminated with the connection base plate 423. The middle of the caliper support 43 is provided with a punched hole, and two opposite sliding guide side plates and a steering engine connecting plate positioned between the two sliding guide side plates are formed at the edges of the punched hole. The sliding side plates and the steering engine connecting plate jointly form the sliding bulge 432. The guide sliding side plate and the steering engine connecting plate are both formed by punching through a punching process and are integrated with the caliper bracket 43. The slide guide side plates are fixedly connected with the slide rods of the left and right steering engines through screw locking. The bracket bottom plate 22 is provided with a plurality of fixing holes at one side of the bracket guide chute 424, and the left and right displacement steering engine 44 is in locking fit with the plurality of fixing holes through a plurality of screws so as to realize locking and fixing on the connecting bottom plate 423. Utilize calliper support 43 and connection bottom plate 423 sliding fit, calliper support 43, connection bottom plate 423, connecting seat 42, third arm 60, calliper steering wheel 401 all adopt screw locking structure that can assemble fast, dismantle fast about displacement steering wheel 44 to be convenient for the user assembly and disassembly robotic arm 100 increases hands-on, study, experience performance.

Further, the mechanical caliper 40 further comprises two clamping plate supports 45 rotatably connected with the caliper support 43, the two clamping plate supports 45 can move synchronously to open or close the two clamping plates 41, the opening and closing steering engine 402 is connected with one of the clamping plate supports 45 to drive the two clamping plate supports 45 to open and close, and the two clamping plates 41 are respectively arranged on the two clamping plate supports 45 in a sliding manner and can move along with the opening and closing of the clamping plate supports 45.

In this embodiment, the card bracket 45 includes a first connecting plate 451 rotatably connected to the caliper bracket 43, a second connecting plate 452 rotatably connected to the first connecting plate 451, and a third connecting plate 453 rotatably connected to the second connecting plate 452 and the caliper bracket 43. The first connecting plate 451 and the third connecting plate 453 are rotatably connected to two positions of the caliper bracket 43 at an interval, respectively. The first connecting plate 451 and the third connecting plate 453 are rotatably connected to two positions of the second connecting plate 452 at intervals, respectively. The first connecting plate 451, the second connecting plate 452, the third connecting plate 453 and the caliper bracket 43 form a parallelogram four-side crank link structure together with a revolute pair. An end of the first connecting plate 451 remote from the second connecting plate 452 has a rotating end 454. An end of the second connecting plate 452 remote from the first connecting plate 451 has a clamping end 455. The rotating end 454 is rotatably connected to the caliper bracket 43 through a pin rotating shaft. The pin shaft of the rotating end 454 is axially perpendicular to the caliper bracket 43, i.e., the rotating shaft of the rotating end 454 is axially perpendicular to the left and right sliding displacement direction of the caliper bracket 43, and is perpendicular to the third direction N. The side of the rotating end 454 is provided with a plurality of saw teeth arranged along a circular arc curve. The plurality of teeth form a half gear structure having an axis that is co-axial with the axis of rotation of the rotating end 454. The rotating ends 454 of the two first coupling plates 451 are engaged with each other so that the two catch plate brackets 45 can be rotated simultaneously. When the two catch plate brackets 45 rotate synchronously, the two holding ends 455 rotate about the rotating ends 454 and move to open or close each other. The two locking plates 41 are respectively coupled to the two clamping ends 455, and are always kept parallel to the rotation direction of the mechanical caliper 40 under the driving action of the two clamping ends 455, and the two locking plates 41 can be mutually opened or closed. The third connecting plate 453 is rotatably connected to the second connecting plate 452 at a position between the clamping end 455 and the first connecting plate 451. The first connecting plate 451, the second connecting plate 452, the third connecting plate 453, and the caliper bracket 43 are all disposed in parallel to reduce the stacking volume of the mechanical caliper 40 and increase the rotational stability of the first connecting plate 451, the second connecting plate 452, the third connecting plate 453, and the caliper bracket 43.

Further, the mechanical caliper 40 further includes a first sliding plate 46 slidably disposed on each of the clamping plate brackets 45 and a second sliding plate 47 slidably disposed on each of the first sliding plates 46, the clamping plate 41 is correspondingly fixed to the second sliding plate 47, the first sliding plate 46 slides relative to the clamping plate brackets 45 along the up-down direction, the second sliding plate 47 slides relative to the first sliding plate 46 along the front-back direction, the up-down displacement steering engine 404 is fixed to the clamping plate brackets 45 and is used for driving the first sliding plate 46 to slide, and the front-back displacement steering engine 403 is fixed to the first sliding plate 46 and is used for driving the second sliding plate 47 to slide.

In this embodiment, the first sliding plate 46 is slidably coupled to the second connecting plate 452, and the sliding direction of the first sliding plate 46 is perpendicular to the rotational axis direction of the machine caliper 40 and perpendicular to the left-right displacement sliding direction of the caliper bracket 43. Since the first connecting plate 451, the second connecting plate 452, the third connecting plate 453, and the caliper bracket 43 form a crank link mechanism of a parallelogram, the length direction of the second connecting plate 452 can be always kept constant, that is, the sliding direction of the first sliding plate 46 can be always maintained to be perpendicular to the rotation of the mechanical caliper 40.

Specifically, the second connecting plate 452 has a first card sliding groove provided between the rotating shaft connected to the third connecting plate 453 and the holding end 455. The first sliding plate 46 is provided with a sliding projection which is in sliding fit with the sliding groove of the catch plate 41. The first card slide groove has a structure similar to that of the bracket guide groove 424, and the slide projection of the first slide plate 46 has a structure similar to that of the slide projection 432 of the caliper bracket 43, and will not be described again. The end of the second connecting plate 452, which is adjacent to the first clamping plate sliding groove, is further provided with a plurality of fixing holes, and the second connecting plate 452 is locked with a plurality of screws through the plurality of fixing holes, so that the front and rear displacement steering engines 403 are locked and fixed on the second connecting plate 452 through the screws. The side of the first sliding plate 46 facing the other first sliding plate 46 is provided with two sliding guide protrusions. The two sliding guide bulges are arranged in a staggered way. The second slide plate 47 is stacked with the first slide plate 46. The first sliding plate 46 is provided with a second card sliding slot 462. The second card sliding slot 462 of the first sliding plate 46 is in sliding engagement with the guide sliding projection of the second sliding plate 47. The extending direction of the second plate sliding groove 462 is parallel to the rotation axis of the mechanical caliper 40 and the left and right displacement direction of the vertical caliper bracket 45. The structure of the second card sliding slot 462 is similar to that of the first card sliding slot 456 and is not described in detail herein. The up-down displacement actuator 404 is fixed to the second connecting plate 452, and a rack and pinion transmission may be provided between the up-down displacement actuator 404 and the first sliding plate 46. The front and rear displacement steering engines 403 are fixed on the side of the first sliding plate 46 away from the second sliding plate 47, and the front and rear displacement steering engines 404 are connected with the sliding guide protrusions of the second sliding plate 47 so as to output linear moment to the second sliding plate 47. The up-down displacement steering engine 404 outputs a rotational torque to the gear, thereby driving the first sliding plate 46 to move in the up-down displacement direction via the rack.

It will be appreciated that the catch plate 41 is fixed to the second sliding plate 47. The clamping plates 41 can move along the same direction of the up-and-down displacement direction along with the first sliding plate 6, and the two clamping plates 41 can also twist along the up-and-down displacement direction in opposite directions. The two clamping plates 41 can also slide along the front and back displacement direction along with the second sliding plate 47, and can also twist along the front and back displacement direction. The clamping plate 41 can move along the left-right displacement direction along with the caliper bracket 43, and the clamping plate 41 can also rotate along with the connecting seat 42 and move along with the third mechanical arm 60, the second mechanical arm 50, the first mechanical arm 30, the turntable 20, the supporting plate 14 and other multiple degrees of freedom. When cardboard 41 needs the centre gripping object to carry out the operation, cardboard 41 can drive the object multi-angle through multiple action form centre gripping object, perhaps the centre gripping after firmly living the object, multi freedom, the motion of multiple action form to increase the amusement teaching abundance, let the user understand the result of more different mechanical actions mutually supporting, and then increase user experience.

It can be understood that the robot arm 100 can open or close the two clamping plates 41 of the mechanical caliper 40 to clamp an object by the mechanical caliper 40, and can adjust the freedom of movement of the mechanical caliper 40 in multiple directions by using the base 10, the turntable 20, the first mechanical arm 30, the second mechanical arm 50, and the third mechanical arm 60, and the two clamping plates 41 of the mechanical caliper 40 can move back and forth simultaneously, move left and right simultaneously, move up and down simultaneously, move back and forth in opposite directions, and move up and down in opposite directions simultaneously, so as to swing the device back and forth along a straight line by the mechanical caliper 40. For example, the mechanical calipers 40 may control the two chucking plates 41 to simultaneously chuck the adjustment buttons of the machine equipment back and forth, up and down, or left and right while the base 10, the turntable 20, the first robot arm 30, the second robot arm 50, and the third robot arm 60 are kept stationary, so as to perform movement adjustment. For another example, the cup may be held by the mechanical clamp 40 and the position of the cup may be adjusted in the horizontal direction, the front-back direction, or the up-down direction. The mechanical caliper 40 can also perform a twisting operation by moving the two clamping plates 41 toward each other, for example, the mechanical caliper 40 can twist a screw by moving the two clamping plates 41 toward each other to perform a quick screw-in or a quick screw-out operation.

Further, the mechanical caliper 40 is provided with a gyroscope 49, the gyroscope 49 is fixed on the caliper support 43, the gyroscope 49 can move along with the caliper support 43, the gyroscope 49 is used for sensing two gravity center displacement vectors of the mechanical caliper 40, the base 10 further comprises a controller 70 fixed on the bottom plate 11, the controller 70 is electrically connected with the gyroscope 49 and used for acquiring a gravity center sensing signal of the gyroscope 49, the controller 70 is further electrically connected with the floating linear steering engines 12, the left and right displacement steering engines 44, the front and rear displacement steering engines 403 and the up and down displacement steering engines 404, and controls the displacement of the floating linear steering engines 12, the left and right displacement steering engines 44, the front and rear displacement steering engines 403 and the displacement of the up and down displacement steering engines 404 according to the gravity center sensing signal.

In this embodiment, the gyroscope 49 is fixed at a position where the caliper bracket 43 faces the rotation axis of the connecting base 42. The gyroscope 49 may be electrically connected to the controller 70 via a wired cable. Optionally, the gyroscope 49 is adhesively bonded to the caliper bracket 43. When the two clamping plates 41 clamp an object, the gyroscope 49 can sense the whole gravity center of the mechanical caliper 40 and the object on the mechanical caliper 40, so that the posture of the mechanical caliper 40 is convenient to adjust, and the mechanical caliper 40 is ensured to keep the balance of the clamped object unchanged in the horizontal direction. For example, when the mechanical caliper 40 clamps a cup of water by using the two clamping plates 41 and the mechanical arm is used to transport the cup of water, the gyroscope 49 can sense the change of the gravity center of the water on the mechanical arm 100 and the clamping plates 41, so that the controller 70 can adjust the postures of the mechanical arm and the mechanical caliper 40 to ensure that the mechanical caliper 40 always stabilizes the cup in the horizontal direction and prevent the cup from being obliquely sprayed.

Further, the mechanical caliper 40 is provided with an acceleration sensor 48, the acceleration sensor 48 is fixed to the caliper support 43 and used for sensing the displacement acceleration of the mechanical caliper 40, and the controller 70 is electrically connected to the acceleration sensor 48 and used for acquiring an acceleration sensing signal of the acceleration sensor 48 and controlling the displacement acceleration of the floating linear steering engines 12, the left and right displacement steering engines 44 and the front and rear displacement steering engines 403 according to the acceleration sensing signal.

In this embodiment, the acceleration sensor 48 senses the center-of-gravity displacement acceleration of the mechanical caliper 40, so that the controller 70 can control the mechanical caliper 40 to perform reverse compensation on the center-of-gravity displacement acceleration, further stabilize the mechanical caliper 40, and improve the stability of the mechanical caliper 40.

Further, a bottom gyroscope 490 is arranged on the support plate 14, the bottom gyroscope 490 is used for sensing a horizontal displacement angle of the support plate 14, and the controller 70 is electrically connected to the bottom gyroscope 490 and controls the plurality of floating linear steering engines 12 to extend and drive the telescopic rods 13 to extend and retract according to the horizontal displacement angle of the bottom gyroscope 490, so as to maintain a horizontal state of the support plate 14.

In the present embodiment, the bottom gyroscope 490 is fixed to the side of the support plate 14 facing the bottom plate 11. Optionally, the bottom gyroscope 490 is glued to the support plate 14. Bottom gyroscope 490 response backup pad 14's levelness to when backup pad 14 inclines for the surface of water, bottom gyroscope 490 sends backup pad 14's levelness (with the inclination of horizontal plane) to controller 70, and controller 70 controls a plurality of straight line steering wheel 12 that float and drive telescopic link 13 and carry out the compensation of stretching out and drawing back, makes backup pad 14 keep being in horizontal plane parallel and level state. It can be understood that the bottom gyroscope 490 is utilized to sense the levelness of the support plate 14, so as to ensure the levelness of the support plate 14 preferentially when the robot arm 100 is in motion, thereby effectively balancing the mechanical caliper 40.

Further, the multi-degree-of-freedom and multi-action mechanical arm 100 further comprises two claw wheels 80, universal idler wheels 90 and two running steering engines 110, wherein the two claw wheels 80 are rotatably connected to the bottom plate 11 and deviate from one side of the supporting plate 14, each claw wheel 80 comprises a hub 81 and a plurality of claw rods 82 arranged on the periphery of the hub 81 along the circumferential direction at equal intervals, the universal idler wheel 90 is arranged on one side of the base 10, the two universal idler wheels are opposite to the two claw wheels 80, and the two running steering engines 110 drive the two front claw wheels 80 to rotate respectively.

In this embodiment, the bottom plate 11 is provided with two opposite bottom bearings 119 and two rotating shafts engaged with the bottom bearings 119 on the side away from the supporting plate 14. The hub 81 is fixed with one end of the rotating shaft, and the driving steering engine 110 is connected with one end of the rotating shaft far away from the hub 81. The hub 81 is located on the bottom side. The plurality of claw rods 82 are rotated relative to the base plate 11 by the rotation of the hub 81, thereby providing forward and backward movement power to the base plate 11. The two rotating shafts are coaxially arranged. The two driving steering engines 110 respectively and independently work to drive the two claw wheels 80 to jointly drive the mechanical arm 100 to move forwards or backwards or turn. The bottom plate 11 is provided with a roller groove 91 at the opposite end between the two bottom bearings 119, and the universal roller 90 is rotatably fitted in the roller groove 91 to drive the bottom plate 11 to travel in any direction. Because the claw rods 82 have certain lengths and certain widths, the claw wheels 80 can rotate to drive the bottom plate 11 to climb steps or effectively run on uneven road surfaces. The two travel steering engines 110 are electrically connected to the controller 70 to receive control commands from the controller 70.

Further, the claw lever 82 is provided integrally with the hub 81, and the claw lever 82 is elastically deformable with respect to the hub 81.

In this embodiment, the end of the claw rod 82 is of an elastic deformation structure, so that the rigid vibration of the claw wheel 80 during the driving process is reduced, the vibration force is prevented from being transmitted to the bottom plate 11, the stability of the mechanical arm 100 is further improved, and the entertainment and learning experience of a user is improved.

It is understood that the robot arm 100 further includes a power source 120, and the power source 120 is a rechargeable battery. The power source 120 is fixed to the side of the bottom plate 11 facing the support plate 14. Both the power source 120 and the controller 70 are offset from the support plate 14. The power source 120 is electrically connected to the controller 70. Each steering engine on the robotic arm 100 is connected to the controller 70 using a hot-pluggable cable to facilitate obtaining electrical power and drive control signals from the controller 70. The gyroscope 49, bottom gyroscope 490, and acceleration sensor 48 on the mechanical caliper 40 are also connected to the controller 70 via hot-pluggable cables to facilitate power and signal interaction from the controller 70.

The application provides a multi freedom multi-action's arm, through base 10 sets up a plurality of telescopic links 13, and a plurality of telescopic links 13 drive backup pad 14 floats, carousel 20 has relative backup pad 14 rotational degree of freedom, and first arm 30 has relative carousel 20 rotational degree of freedom, and calliper have relative first arm 30 rotational degree of freedom, and mechanical calliper 40 has removed the action that has the opening and close cardboard 41, still has the action that the cardboard 41 was rubbed with the hands around and was rubbed with the hands from top to bottom, thereby realizes the multi freedom multi-action of arm shows, has increased the teaching amusement abundance.

In summary, although the present application has been described with reference to the preferred embodiments, the present application is not limited to the preferred embodiments, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, so that the protection scope of the present application is determined by the scope of the appended claims.

Claims (10)

1. The mechanical arm with multiple degrees of freedom and multiple actions is characterized by comprising a base, a rotary table, a first mechanical arm and mechanical calipers, wherein the base is provided with a bottom plate, multiple floating linear steering engines, multiple telescopic rods and a supporting plate, the multiple telescopic rods are distributed on the bottom plate at intervals in a surrounding mode, the multiple floating linear steering engines respectively drive the multiple telescopic rods to stretch and retract, the edge of the supporting plate is connected with the multiple telescopic rods, the rotary table is stacked on the supporting plate and rotates around a first direction in a coupled mode, the first mechanical arm is connected with the rotary table in a rotating mode around a second direction, the mechanical calipers are rotationally coupled around a third direction and far away from the first mechanical arm, one end of the rotary table is far away from the rotary table, the mechanical calipers are provided with two clamping plates which can move in an opening and closing mode and rub up and down, the first clamping plate is provided with a second clamping plate which drives the first mechanical arm to rotate, the rotary table is provided with a second clamping plate which drives the first mechanical arm to rotate, the mechanical calipers and the third clamping plates are arranged between the mechanical calipers and the steering engines and are arranged in an opening and closing displacement driving direction, and the third clamping plates are arranged in a longitudinal displacement direction parallel to the front and back of the steering engines, and back movement driving direction, and back of the steering engines, and forth displacement driving the steering engines are arranged in the front and forth, and back directions, and forth directions, and back directions of the third clamping plates are arranged on the mechanical calipers, and forth displacement driving the front and back of the mechanical calipers.

2. The multi-degree-of-freedom and multi-action mechanical arm according to claim 1, further comprising a second mechanical arm and a third mechanical arm, wherein the second mechanical arm is connected with one end, away from the turntable, of the first mechanical arm in a rotating mode in a direction parallel to the second direction, the third mechanical arm is connected with one end, away from the first mechanical arm, of the second mechanical arm in a rotating mode in a direction parallel to the second direction, the mechanical calipers are connected with one end, away from one end of the second mechanical arm, of the third mechanical arm in a rotating mode, the first mechanical arm is provided with a third steering engine for driving the second mechanical arm to rotate, and the second mechanical arm is provided with a fourth steering engine for driving the third mechanical arm to rotate.

3. The multi-degree-of-freedom and multi-action mechanical arm according to claim 2, wherein the mechanical calipers comprise a connecting seat, a caliper support and a left and right displacement steering engine, the connecting seat is rotatably connected with the third mechanical arm, the caliper support is slidably connected with the connecting seat, the sliding direction of the caliper support is perpendicular to the third direction and the vertical displacement direction, the left and right displacement steering engines are used for driving the caliper support to slide relative to the connecting seat, and the clamping plate is coupled with the caliper support.

4. The multi-degree-of-freedom and multi-action mechanical arm according to claim 3, wherein the mechanical calipers are provided with gyroscopes, the gyroscopes are fixed to caliper supports and can move along with the caliper supports, the gyroscopes are used for sensing gravity center displacement vectors of the two mechanical calipers, the base further comprises a controller fixed on the bottom plate, the controller is electrically connected with the gyroscopes and used for acquiring gravity center sensing signals of the gyroscopes, the controller is further electrically connected with the floating linear steering engines, the left and right displacement steering engines, the front and rear displacement steering engines and the up and down displacement steering engines, and the displacement of the floating linear steering engines, the left and right displacement steering engines, the front and rear displacement steering engines and the displacement of the up and down displacement steering engines are controlled according to the gravity center sensing signals.

5. The multi-degree-of-freedom and multi-action mechanical arm according to claim 4, wherein the mechanical calipers are provided with acceleration sensors, the acceleration sensors are fixed to the caliper support and used for sensing displacement acceleration of the mechanical calipers, and the controller is electrically connected with the acceleration sensors and used for acquiring acceleration sensing signals of the acceleration sensors and controlling displacement acceleration of the floating linear steering engines, the left and right displacement steering engines and the front and rear displacement steering engines according to the acceleration sensing signals.

6. The multi-degree-of-freedom and multi-action mechanical arm according to claim 4, wherein a bottom gyroscope is arranged on the support plate and used for sensing a horizontal displacement angle of the support plate, and the controller is electrically connected with the bottom gyroscope and controls the floating linear steering engines to extend and drive the telescopic rods to extend and retract according to the horizontal displacement angle of the bottom gyroscope so as to keep the support plate in a horizontal state.

7. The multi-degree-of-freedom and multi-motion mechanical arm as claimed in claim 3, wherein the mechanical caliper further comprises two clamping plate brackets rotatably connected to the caliper bracket, the two clamping plate brackets can move synchronously to open or close the two clamping plates, the opening/closing steering engine is connected to one of the clamping plate brackets to drive the two clamping plate brackets to open or close, and the two clamping plates are slidably disposed on the two clamping plate brackets and can move with the clamping plate brackets in an opening/closing manner.

8. The multi-degree-of-freedom and multi-motion manipulator arm as claimed in claim 7, wherein the mechanical calipers further include a first sliding plate slidably disposed on each of the clamping plate brackets and a second sliding plate slidably disposed on each of the first sliding plates, the clamping plates are correspondingly fixed to the second sliding plates, the first sliding plate slides relative to the clamping plate brackets along the front-back displacement direction, the second sliding plate slides relative to the first sliding plate along the up-down displacement direction, the front-back displacement steering engine is fixed to the clamping plate brackets and used for driving the first sliding plate to slide, and the up-down displacement steering engine is fixed to the first sliding plate and used for driving the second sliding plate to slide.

9. The multi-degree-of-freedom multi-action mechanical arm according to any one of claims 1 to 8, further comprising two claw wheels, a universal roller and two running steering gears, wherein the two claw wheels are rotatably connected to the side, away from the support plate, of the bottom plate, each claw wheel comprises a wheel hub and a plurality of claw rods arranged on the periphery of the wheel hub at equal intervals along the circumferential direction, the universal roller is arranged on the side, away from the turntable, of the base and opposite to the two claw wheels, and the two running steering gears drive the two front claw wheels to rotate respectively.

10. The multi-degree-of-freedom multi-motion manipulator arm according to claim 9, wherein the claw bar is provided integrally with the hub, and the claw bar is elastically deformable with respect to the hub.

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