CN116690545A - Triaxial steering regulation and control mechanical arm and robot - Google Patents
Triaxial steering regulation and control mechanical arm and robot Download PDFInfo
- Publication number
- CN116690545A CN116690545A CN202310968906.1A CN202310968906A CN116690545A CN 116690545 A CN116690545 A CN 116690545A CN 202310968906 A CN202310968906 A CN 202310968906A CN 116690545 A CN116690545 A CN 116690545A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- movable arm
- driving
- wall
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 230000000670 limiting effect Effects 0.000 claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 58
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005012 migration Effects 0.000 description 3
- 238000013508 migration Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The application relates to the technical field of mechanical arms, in particular to a triaxial steering control mechanical arm and a robot, comprising a supporting plate; a first boom; the driving mechanism is connected with the first movable arm and provides a rotational degree of freedom for the first movable arm; a posture switching mechanism for changing a connection state between the driving mechanism and the first boom; the supporting and limiting mechanism is used for limiting the movement track of the first movable arm; a dual arm mechanism having two degrees of freedom. According to the triaxial steering regulation mechanical arm and the robot, the connecting state between the driving mechanism and the first movable arm can be changed by arranging the gesture replacement mechanism, so that the driving mechanism can drive the first movable arm to rotate or horizontally move, the same driving mechanism can provide the mechanical arm with a rotational degree of freedom or a translational degree of freedom, the movement modes of the mechanical arm are enriched, and the mechanical arm can be flexibly applied to different scenes.
Description
Technical Field
The application relates to the technical field of mechanical arms, in particular to a triaxial steering control mechanical arm and a robot.
Background
With the development of robot technology and the spread of applicable fields, robots have gradually become an irreplaceable tool in the fields of production, service and the like. The robot can execute different operation instructions through the mechanical arm, and the three-axis mechanical arm is a common executing mechanism on the existing automatic production robot equipment. Triaxial, generally refers to a mechanical arm having three different degrees of freedom of movement, which may be translational or rotational, or a combination of both.
Currently, each degree of freedom of the three-axis mechanical arm is determined, for example, a degree of freedom of relative rotation exists between two adjacent movable arms, and then relative horizontal movement cannot be performed between the two movable arms. In practical applications, the mechanical arm can only increase the degree of freedom of the mechanical arm by increasing the number of the movable arms and the number of the power mechanisms for driving the movable arms to move, and for the three-axis mechanical arm, the connection mode of the three movable arms is fixed, so that one movable arm movement mode cannot be changed, and the direction of the degree of freedom of the three-axis mechanical arm cannot be changed. This limits the application range of the tri-axial mechanical arm, which results in that the mechanical arm cannot be flexibly applied to different operation scenes. In view of this, we propose a three-axis steering control mechanical arm and robot.
Disclosure of Invention
The application aims to provide a three-axis steering control mechanical arm and a robot, which solve the problems in the background technology.
In order to achieve the above purpose, the present application provides the following technical solutions:
a triaxial steering control mechanical arm comprises a supporting plate; a first boom; the driving mechanism is connected with the first movable arm and provides a rotational degree of freedom for the first movable arm; a posture switching mechanism for changing a connection state between the driving mechanism and the first boom; the supporting and limiting mechanism is used for limiting the movement track of the first movable arm; a double arm mechanism having two degrees of freedom; the movable arm is characterized in that a support is fixedly connected to the first movable arm, a transmission rack is fixedly connected to the support, and the transmission rack is used for being connected with the driving mechanism to provide a translational degree of freedom for the first movable arm.
Preferably, the driving mechanism comprises a driving sleeve, the driving sleeve is rotatably mounted on the supporting plate, a first motor is fixedly mounted at one end of the driving sleeve, a connecting shaft is arranged on the driving sleeve, a driving gear is fixedly mounted on the connecting shaft, a transmission gear is meshed with the surface of the driving gear, a transmission shaft is arranged at the axis of the transmission gear, the transmission shaft is rotatably mounted on the supporting plate, an inserting rod is fixedly connected at one end of the transmission gear, and the inserting rod is inserted in the first movable arm.
Preferably, one end of the transmission shaft is fixedly connected with a supporting block, a chute is formed in the first movable arm, a guide rod is fixedly connected to the inner wall of the chute, and the inner wall of the supporting block is in sliding connection with the surface of the guide rod.
Preferably, the gesture conversion mechanism comprises a sliding rod, the surface of the sliding rod is in sliding connection with the inner wall of the supporting plate, one end of the sliding rod is fixedly connected with a first moving frame, the first moving frame is sleeved on the connecting shaft, and two ends of the driving gear are in contact with the inner wall of the first moving frame; the surface of connecting axle is equipped with first recess, be equipped with first protruding on the inner wall of drive sleeve, first protruding surface with the inner wall sliding connection of first recess.
Preferably, a connecting plate is fixedly connected to one end of the sliding rod, which is far away from the first moving frame, a driving rack is fixedly connected to the connecting plate, a driven gear is meshed with the surface of the driving rack, a sliding rack is meshed with one side of the driven gear, which is far away from the driving rack, the surface of the sliding rack is in sliding connection with the inner wall of the supporting plate, a second moving frame is fixedly connected to one end of the sliding rack, the second moving frame is sleeved on the transmission shaft, and both ends of the transmission gear are in contact with the inner wall of the second moving frame; the surface of transmission shaft is equipped with the second recess, be equipped with the second on the inner wall of drive gear and protruding, the surface of second protruding with the inner wall sliding connection of second recess.
Preferably, an adjusting screw is connected to the inner wall of the connecting plate in a threaded manner, one end of the adjusting screw is rotationally connected with the supporting plate, and a rotating handle is fixedly connected to the other end of the adjusting screw.
Preferably, the gesture conversion mechanism further comprises a mounting plate, the mounting plate is fixedly mounted on the supporting plate, and the driven gear is rotatably mounted on the mounting plate.
Preferably, the number of the supporting and limiting mechanisms is four, each supporting and limiting mechanism comprises a connecting rod, one end of each connecting rod is fixedly connected with the connecting plate, a pushing rod is fixedly connected to the connecting rod, the surface of each pushing rod is slidably connected with the inner wall of the supporting plate, and one end of each pushing rod penetrates through the supporting plate and is fixedly connected with a limiting plate.
Preferably, the double-arm mechanism comprises a second motor, the second motor is fixedly arranged on the first movable arm, the output end of the second motor is fixedly connected with a second movable arm, the inner wall of the second movable arm is fixedly connected with an electric push rod, and the output end of the electric push rod is fixedly connected with a third movable arm.
A three-axis steering control robot comprises the three-axis steering control mechanical arm.
By means of the technical scheme, the application provides the triaxial steering control mechanical arm and the robot. The method has at least the following beneficial effects:
(1) According to the triaxial steering control mechanical arm and the robot, the connecting state between the driving mechanism and the first movable arm can be changed by arranging the gesture mounting and changing mechanism, so that the driving mechanism can drive the first movable arm to rotate or horizontally move, the same driving mechanism can provide the mechanical arm with a rotational degree of freedom or a translational degree of freedom, the movement modes of the mechanical arm are enriched, and the mechanical arm can be flexibly applied to different scenes.
(2) The three-axis steering control mechanical arm and the robot are characterized in that a double-arm mechanism is arranged in the second movable arm, and when the rotation freedom degree of the second movable arm is matched with the rotation freedom degree of the second movable arm, the mechanical arm is equivalent to a joint type mechanical arm and can be applied to an operation scene of the joint type mechanical arm; when the left-right translational degree of freedom of the first movable arm is matched with the up-down translational degree of freedom of the third movable arm, the mechanical arm is equivalent to the truss type mechanical arm, so that the operation requirement of the truss type mechanical arm can be met.
(3) This triaxial turns to regulation and control arm and robot through setting up supporting stop gear, can carry out spacingly to first movable arm through four limiting plates automatically when drive gear and drive gear mesh, avoids first movable arm to take place unexpected swing when carrying out horizontal migration, has improved the stability of arm motion.
(4) This triaxial turns to regulation and control arm and robot through setting up spout and guide bar in first movable arm to set up the supporting shoe in transmission shaft one end, can increase the area of contact between actuating mechanism and the first movable arm, avoid the too concentrated stress and lead to structural damage, improved the stability of second movable arm rotation and horizontal migration simultaneously.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, illustrate and together with the description serve to explain a part of the application:
FIG. 1 is a schematic structural view of a three-axis steering control mechanical arm according to the present application;
FIG. 2 is a cross-sectional view of a portion of the structure of a tri-axial steering control mechanical arm of the present application;
FIG. 3 is a schematic diagram of a three-axis steering control arm according to the present application;
FIG. 4 is a schematic view of a driving mechanism according to the present application;
FIG. 5 is a schematic view of a second protrusion according to the present application;
FIG. 6 is a schematic view of a first protrusion according to the present application;
FIG. 7 is a schematic view of a first groove according to the present application;
FIG. 8 is a schematic view of a plunger according to the present application from a perspective;
FIG. 9 is a diagram of a second moving frame according to the present application;
FIG. 10 is a schematic diagram of a dual arm mechanism in accordance with the present application.
In the figure: 1. a support plate; 2. a first boom; 21. a chute; 22. a guide rod; 23. a bracket; 24. a drive rack; 25. an extension groove; 26. a guide groove; 3. a driving mechanism; 31. a transmission shaft; 311. a second groove; 32. a transmission gear; 321. a second protrusion; 33. a support block; 34. a rod; 35. a drive gear; 36. a connecting shaft; 361. a first groove; 37. a first motor; 38. a drive sleeve; 381. a first protrusion; 4. a posture conversion mechanism; 41. a slide bar; 42. a connecting plate; 43. a first moving frame; 44. adjusting a screw; 45. a rotating handle; 46. a driving rack; 47. a driven gear; 48. a mounting plate; 49. sliding racks; 410. a second moving frame; 5. supporting and limiting mechanisms; 51. a connecting rod; 52. a push rod; 53. a limiting plate; 54. a guide slide block; 6. a double arm mechanism; 61. a second motor; 62. a second boom; 63. an electric push rod; 64. and a third boom.
Detailed Description
The following description of the embodiments of the present application 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 application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
Referring to fig. 1 to 10, the present application provides a technical solution:
a triaxial steering control mechanical arm comprises a support plate 1 and a first movable arm 2, wherein the relative motion state between the first movable arm 2 and the support plate 1 can provide a first degree of freedom for the mechanical arm, and the degree of freedom is a rotational degree of freedom or a translational degree of freedom. The first boom 2 is provided with a double arm mechanism 6, and the double arm mechanism 6 has two degrees of freedom. The support plate 1 is provided with a drive mechanism 3, the drive mechanism 3 being connected to the first boom 2 for providing the first boom 2 with a degree of rotational freedom. The first movable arm 2 is fixedly connected with a bracket 23, the bracket 23 is fixedly connected with a transmission rack 24, and the transmission rack 24 is used for being connected with the driving mechanism 3 to provide a translational degree of freedom for the first movable arm 2. The support plate 1 is provided with a posture switching mechanism 4 for changing a connection state between the driving mechanism 3 and the first movable arm 2 so that the driving mechanism 3 can drive the first movable arm 2 to rotate or translate. And the supporting and limiting mechanism 5 is used for limiting the movement track of the first movable arm 2 so that the parallel movement of the first movable arm 2 is more stable.
According to the structure, the mechanical arm can be flexibly applied to different occasions and provides different functions. Specifically, the driving mechanism 3 can drive the first movable arm 2 to turn three hundred and sixty degrees, so that the movement state of the mechanical arm is more flexible and the coverage angle is larger. Through gesture conversion mechanism 4, can change the connected state between actuating mechanism 3 and the first movable arm 2 to make actuating mechanism 3 be connected with drive rack 24, actuating mechanism 3 is when the operation this moment, can drive first movable arm 2 and carry out horizontal migration, and the arm motion state of this moment is simpler, more easily controls.
In this embodiment, the dual-arm mechanism 6 includes a second motor 61, the second motor 61 is fixedly mounted on the first movable arm 2, the output end of the second motor 61 is fixedly connected with a second movable arm 62, the second movable arm 62 can be driven to rotate relative to the first movable arm 2 through the second motor 61, so that a second degree of freedom is provided for the mechanical arm, an electric push rod 63 is fixedly connected to the inner wall of the second movable arm 62, the output end of the electric push rod 63 is fixedly connected with a third movable arm 64, and the third movable arm 64 can be driven to stretch and retract through the arrangement of the electric push rod 63, so that a third degree of freedom is provided for the mechanical arm. In use, the rotational degrees of freedom of the first and second movable arms 2, 62 cooperate with each other such that the present robotic arm is equivalent to a joint-type robotic arm; the left-right translational degree of freedom of the first movable arm 2 and the up-down translational degree of freedom of the third movable arm 64 are mutually matched, so that the mechanical arm is equivalent to a truss type mechanical arm, and different operation requirements can be met.
In this embodiment, the driving mechanism 3 includes a first motor 37, the first motor 37 is fixedly mounted on the support plate 1, a driving sleeve 38 is fixedly mounted at an output end of the first motor 37, the driving sleeve 38 is rotatably mounted on the support plate 1, and power can be provided for rotation of the driving sleeve 38 through the first motor 37. The drive sleeve 38 is provided with a connecting shaft 36, and the connecting shaft 36 is fixedly provided with a drive gear 35. Further, a first groove 361 is formed on the surface of the connecting shaft 36, a first protrusion 381 is formed on the inner wall of the driving sleeve 38, and the first protrusion 381 is embedded in the first groove 361 to limit the relative rotation between the connecting shaft 36 and the driving sleeve 38, so that the driving sleeve 38 can synchronously drive the connecting shaft 36 to rotate when rotating, and further drive the driving gear 35 to rotate. The first protrusion 381 may slide in the first recess 361, so that the connecting shaft 36 may move axially relative to the driving sleeve 38, and since the driving gear 35 is fixed on the connecting shaft 36, the driving gear 35 may be synchronously driven to move when the connecting shaft 36 moves, so that the driving gear 35 moves above the driving rack 24 and is engaged with the driving rack 24, and at this time, the driving gear 35 may drive the driving rack 24 to move horizontally. The number of the first protrusions 381 and the number of the first grooves 361 are all plural, so that the transmission between the driving sleeve 38 and the connecting shaft 36 is more stable. The surface of the driving gear 35 is meshed with the transmission gear 32, when the driving gear 35 rotates, the transmission gear 32 can be synchronously driven to rotate, a transmission shaft 31 is arranged at the axle center of the transmission gear 32, and the transmission shaft 31 is rotatably arranged on the supporting plate 1 and used for supporting the transmission gear 32. The surface of the transmission shaft 31 is provided with a second groove 311, the inner wall of the transmission gear 32 is provided with a second protrusion 321, and the surface of the second protrusion 321 is in sliding connection with the inner wall of the second groove 311. One end fixedly connected with four inserted bars 34 of drive gear 32, four inserted bars 34 are circular array distribution taking drive gear 32's axis as the center, have seted up three jack on the first movable arm 2, and wherein three inserted bars 34 peg graft in first movable arm 2 for drive gear 32 when rotating, can drive first movable arm 2 in step and rotate.
Further, a supporting block 33 is fixedly connected to one end of the transmission shaft 31, a sliding groove 21 is formed in the first movable arm 2, and the surface of the supporting block 33 is slidably connected with the inner wall of the sliding groove 21. The guide rod 22 is fixedly connected to the inner wall of the chute 21, and the inner wall of the supporting block 33 is slidably connected with the surface of the guide rod 22, so that the contact area between the driving mechanism 3 and the first movable arm 2 is increased, and structural damage caused by excessive concentration of stress is avoided. The guide rod 22 is provided with a jack, one of the four inserting rods 34 is inserted into the jack, so that the structural stress is more balanced, and the stability of the connection between the driving mechanism 3 and the first movable arm 2 is improved.
In order to change the transmission state between the driving mechanism 3 and the first movable arm 2, the gesture conversion mechanism 4 comprises a slide bar 41, the surface of the slide bar 41 is in sliding connection with the inner wall of the support plate 1, two ends of the slide bar 41 penetrate through the support plate 1, one end of the slide bar is fixedly connected with a first moving frame 43, the first moving frame 43 is sleeved on the connecting shaft 36, the connecting shaft 36 can rotate in the first moving frame 43 to avoid motion interference, two ends of the driving gear 35 are in contact with the inner wall of the first moving frame 43, the first moving frame 43 is in a clamping state on the driving gear 35, the driving gear 35 can be synchronously driven to move by moving the first moving frame 43, the driving gear 35 is further disengaged from the transmission gear 32, and the driving mechanism 3 is connected with the transmission rack 24, and at the moment, the driving mechanism 3 can drive the first movable arm 2 to horizontally move during operation. One end of the sliding rod 41 far away from the first moving frame 43 is fixedly connected with a connecting plate 42, a driving rack 46 is fixedly connected to the connecting plate 42, and a driven gear 47 is meshed with the surface of the driving rack 46. The posture switching mechanism 4 further includes a mounting plate 48, the mounting plate 48 is fixedly mounted on the support plate 1, the driven gear 47 is rotatably mounted on the mounting plate 48, and the driven gear 47 can be supported by providing the mounting plate 48. The driven gear 47 is engaged with a sliding rack 49 on a side away from the driving rack 46, and when the driven gear 47 rotates, the driving rack 46 and the sliding rack 49 move in opposite directions. The surface of the sliding rack 49 is in sliding connection with the inner wall of the support plate 1, one end of the sliding rack 49 is fixedly connected with a second moving frame 410, the second moving frame 410 is sleeved on the transmission shaft 31, the second moving frame 410 can move on the surface of the transmission shaft 31 along the axis direction of the transmission shaft, motion interference is avoided, two ends of the transmission gear 32 are in contact with the inner wall of the second moving frame 410, and the transmission gear 32 can be synchronously driven to move when the second moving frame 410 moves.
It should be noted that, the inner wall of the connecting plate 42 is connected with the adjusting screw 44 in a threaded manner, one end of the adjusting screw 44 is rotatably connected with the supporting plate 1, and the connecting plate 42 can only move horizontally due to the limiting action of the sliding rod 41, so that when the adjusting screw 44 rotates, screw transmission is generated between the adjusting screw 44 and the connecting plate 42, and the connecting plate 42 is driven to move along the axial direction of the adjusting screw 44. The other end of the adjusting screw 44 is fixedly connected with a rotating handle 45, so that the adjusting screw 44 can be conveniently rotated.
In this embodiment, the number of the supporting and limiting mechanisms 5 is four, two groups of supporting and limiting mechanisms 5 are vertically symmetrical, and two supporting and limiting mechanisms 5 in each group are bilaterally symmetrical, so that the first movable arm 2 in a horizontal moving state can be stably supported. Specifically, each supporting and limiting mechanism 5 includes a connecting rod 51, the connecting rod 51 is a folding rod, one end of the connecting rod 51 is fixedly connected with the connecting plate 42 and can move along with the movement of the connecting plate 42, a pushing rod 52 is fixedly connected to the connecting rod 51, the surface of the pushing rod 52 is slidably connected with the inner wall of the supporting plate 1, and one end of the pushing rod 52 penetrates through the supporting plate 1 and is fixedly connected with a limiting plate 53. The distance between the upper and lower symmetrical limiting plates 53 is the same as the height of the first movable arm 2, and when the two limiting plates 53 move forwards for a certain distance, the first movable arm 2 can be clamped up and down, so that the first movable arm 2 can be limited, and the first movable arm 2 is prevented from rotating.
In addition, the limiting plate 53 is fixedly connected with the guide slide block 54, the upper side and the lower side of the first movable arm 2 are respectively provided with the extending groove 25 and the guide groove 26 for the guide slide block 54 to slide, the extending groove 25 is communicated with the guide groove 26, the guide slide block 54 on the limiting plate 53 can enter the guide groove 26 from the extending groove 25 in the moving process of the limiting plate 53, and when the first movable arm 2 moves left and right, the guide slide block 54 can slide in the guide groove 26, so that the limiting effect is improved.
Working principle: the motion state of the first movable arm 2 in the triaxial steering control mechanical arm can be changed. When the first boom 2 is required to have a degree of freedom of rotation, the drive gear 35 is engaged with the transmission gear 32, and the plunger 34 on the transmission gear 32 is inserted into the first boom 2. At this time, the first motor 37 is started, the output end of the first motor 37 synchronously drives the driving sleeve 38 to rotate, the driving sleeve 38 is matched with the first groove 361 on the inner wall of the connecting shaft 36 through the first protrusions 381 formed on the driving sleeve 38, so as to synchronously drive the connecting shaft 36 to rotate, the connecting shaft 36 synchronously drives the driving gear 35 to rotate, the driving gear 35 drives the transmission gear 32 to rotate through meshing, and the transmission gear 32 drives the first movable arm 2 to rotate through the plurality of inserting rods 34 fixed on the driving gear.
When the first movable arm 2 needs to have translational degree of freedom, the first movable arm 2 is first rotated to a horizontal state as shown in fig. 1, then the rotating handle 45 is rotated, the rotating handle 45 drives the adjusting screw 44 to rotate, the connecting plate 42 is driven to move to one side of the supporting plate 1 through spiral transmission when the adjusting screw 44 rotates because the connecting plate 42 only can horizontally move, the connecting plate 42 drives the first moving frame 43 to move through the sliding rod 41, and the first moving frame 43 clamps the driving gear 35, so that in the moving process of the first moving frame 43, the driving gear 35 is synchronously driven to move, the driving gear 35 drives the connecting shaft 36 fixedly connected with the driving gear 35 to slide on the inner wall of the driving sleeve 38, and the driving gear 35 is disengaged from the transmission gear 32 and meshed with the transmission rack 24 in the moving process. In the moving process of the connecting plate 42, the driving rack 46 is synchronously driven to move, the driving rack 46 drives the driven gear 47 to rotate through meshing, the driven gear 47 drives the sliding rack 49 at the bottom of the driven gear to reversely move through meshing, and the sliding rack 49 drives the transmission gear 32 to slide on the transmission shaft 31 through the second moving frame 410 and move to one side of the supporting plate 1, so that the inserting rod 34 on the transmission gear 32 is separated from the first movable arm 2, and the restriction of the inserting rod 34 on the horizontal movement of the first movable arm 2 is relieved. In this process, the connecting plate 42 further synchronously drives the four connecting rods 51 fixedly connected thereto to move, and the four connecting rods 51 drive the limiting plates 53 to move to a side far away from the supporting plate 1 through the pushing rods 52, wherein the two limiting plates 53 are respectively contacted with the upper and lower sides of the first movable arm 2, so as to achieve the purpose of supporting and limiting the limiting plates 53. It should be noted that, during the contact process with the first movable arm 2, the guide sliding blocks 54 on the two limiting plates 53 enter the guide grooves 26 from the extending grooves 25, so as to improve the limiting effect. Then, the first motor 37 is started again, the output end of the first motor 37 drives the connecting shaft 36 to rotate through the driving sleeve 38, and then drives the driving gear 35 to rotate, the driving gear 35 drives the transmission gear 32 to move left and right through meshing, and the transmission gear 32 drives the first movable arm 2 to move left and right through the support 23.
Example two
A three-axis steering control robot comprises a three-axis steering control mechanical arm in the first embodiment.
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 application 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 application, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a triaxial turns to regulation and control arm which characterized in that includes:
a support plate (1);
a first boom (2);
a driving mechanism (3), wherein the driving mechanism (3) is connected with the first movable arm (2) and provides a rotational degree of freedom for the first movable arm (2);
a posture switching mechanism (4) for changing a connection state between the driving mechanism (3) and the first boom (2);
a supporting and limiting mechanism (5) for limiting the movement track of the first movable arm (2);
-a double arm mechanism (6), said double arm mechanism (6) having two degrees of freedom;
the movable arm (2) is fixedly connected with a support (23), the support (23) is fixedly connected with a transmission rack (24), and the transmission rack (24) is used for being connected with the driving mechanism (3) to provide a translational degree of freedom for the first movable arm (2).
2. The triaxial steering control mechanical arm according to claim 1, characterized in that the driving mechanism (3) comprises a driving sleeve (38), the driving sleeve (38) is rotatably mounted on the supporting plate (1), one end of the driving sleeve (38) is fixedly provided with a first motor (37), the driving sleeve (38) is provided with a connecting shaft (36), the connecting shaft (36) is fixedly provided with a driving gear (35), the surface of the driving gear (35) is meshed with a transmission gear (32), a transmission shaft (31) is arranged at the axis of the transmission gear (32), the transmission shaft (31) is rotatably mounted on the supporting plate (1), one end of the transmission gear (32) is fixedly connected with a plug rod (34), and the plug rod (34) is plugged in the first movable arm (2).
3. The triaxial steering control mechanical arm according to claim 2, characterized in that one end of the transmission shaft (31) is fixedly connected with a supporting block (33), a chute (21) is formed in the first movable arm (2), a guide rod (22) is fixedly connected to the inner wall of the chute (21), and the inner wall of the supporting block (33) is slidably connected with the surface of the guide rod (22).
4. The triaxial steering control mechanical arm according to claim 2, characterized in that the gesture conversion mechanism (4) comprises a sliding rod (41), the surface of the sliding rod (41) is in sliding connection with the inner wall of the supporting plate (1), one end of the sliding rod (41) is fixedly connected with a first moving frame (43), the first moving frame (43) is sleeved on the connecting shaft (36), and two ends of the driving gear (35) are in contact with the inner wall of the first moving frame (43);
the surface of connecting axle (36) is equipped with first recess (361), be equipped with first protrusion (381) on the inner wall of drive sleeve (38), the surface of first protrusion (381) with the inner wall sliding connection of first recess (361).
5. The triaxial steering control mechanical arm according to claim 4, characterized in that one end of the sliding rod (41) far away from the first moving frame (43) is fixedly connected with a connecting plate (42), a driving rack (46) is fixedly connected to the connecting plate (42), a driven gear (47) is meshed with the surface of the driving rack (46), a sliding rack (49) is meshed with one side of the driven gear (47) far away from the driving rack (46), the surface of the sliding rack (49) is in sliding connection with the inner wall of the supporting plate (1), one end of the sliding rack (49) is fixedly connected with a second moving frame (410), the second moving frame (410) is sleeved on the transmission shaft (31), and two ends of the transmission gear (32) are in contact with the inner wall of the second moving frame (410);
the surface of transmission shaft (31) is equipped with second recess (311), be equipped with second protruding (321) on the inner wall of drive gear (32), the surface of second protruding (321) with the inner wall sliding connection of second recess (311).
6. The triaxial steering control mechanical arm according to claim 5, characterized in that an adjusting screw (44) is connected to the inner wall of the connecting plate (42) in a threaded manner, one end of the adjusting screw (44) is rotatably connected with the supporting plate (1), and the other end of the adjusting screw (44) is fixedly connected with a rotating handle (45).
7. The three-axis steering control mechanical arm according to claim 5, characterized in that the posture switching mechanism (4) further comprises a mounting plate (48), the mounting plate (48) is fixedly mounted on the support plate (1), and the driven gear (47) is rotatably mounted on the mounting plate (48).
8. The triaxial steering control mechanical arm according to claim 5, wherein the number of the supporting limiting mechanisms (5) is four, each supporting limiting mechanism (5) comprises a connecting rod (51), one end of each connecting rod (51) is fixedly connected with each connecting plate (42), each connecting rod (51) is fixedly connected with a pushing rod (52), the surface of each pushing rod (52) is slidably connected with the inner wall of the corresponding supporting plate (1), and one end of each pushing rod (52) penetrates through the corresponding supporting plate (1) and is fixedly connected with a limiting plate (53).
9. The triaxial steering control mechanical arm according to claim 1, characterized in that the double-arm mechanism (6) comprises a second motor (61), the second motor (61) is fixedly installed on the first movable arm (2), the output end of the second motor (61) is fixedly connected with a second movable arm (62), an electric push rod (63) is fixedly connected to the inner wall of the second movable arm (62), and the output end of the electric push rod (63) is fixedly connected with a third movable arm (64).
10. A three-axis steering control robot comprising the three-axis steering control mechanical arm according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310968906.1A CN116690545B (en) | 2023-08-03 | 2023-08-03 | Triaxial steering regulation and control mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310968906.1A CN116690545B (en) | 2023-08-03 | 2023-08-03 | Triaxial steering regulation and control mechanical arm and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116690545A true CN116690545A (en) | 2023-09-05 |
| CN116690545B CN116690545B (en) | 2023-10-17 |
Family
ID=87837788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310968906.1A Active CN116690545B (en) | 2023-08-03 | 2023-08-03 | Triaxial steering regulation and control mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116690545B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201086290Y (en) * | 2007-07-30 | 2008-07-16 | 杨刚 | Pneumatic three free degree mechanical arm |
| CN206764058U (en) * | 2017-01-17 | 2017-12-19 | 惠州英特智能设备有限公司 | A kind of three axle robert arm |
| CN107825409A (en) * | 2017-11-09 | 2018-03-23 | 无锡百禾工业机器人有限公司 | A kind of feeding mechanical hand |
| US20180116759A1 (en) * | 2016-10-27 | 2018-05-03 | Max-Planck-Gesellschaft Zur Forderung Der Wissenschaften E.V. | Positioning system for an imaging device |
| CN207915466U (en) * | 2018-03-09 | 2018-09-28 | 戴卡智能科技(常州)有限公司 | Carrying three axle robert |
| CN113119078A (en) * | 2021-05-23 | 2021-07-16 | 琦星智能科技股份有限公司 | Five-axis material conveying mechanical arm |
| CN214081515U (en) * | 2021-08-06 | 2021-08-31 | 广东科佩克机器人有限公司 | Telescopic mechanical arm |
| CN218747824U (en) * | 2022-05-26 | 2023-03-28 | 北京化工大学 | Clutch type one-way joint driving mechanism |
-
2023
- 2023-08-03 CN CN202310968906.1A patent/CN116690545B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201086290Y (en) * | 2007-07-30 | 2008-07-16 | 杨刚 | Pneumatic three free degree mechanical arm |
| US20180116759A1 (en) * | 2016-10-27 | 2018-05-03 | Max-Planck-Gesellschaft Zur Forderung Der Wissenschaften E.V. | Positioning system for an imaging device |
| CN206764058U (en) * | 2017-01-17 | 2017-12-19 | 惠州英特智能设备有限公司 | A kind of three axle robert arm |
| CN107825409A (en) * | 2017-11-09 | 2018-03-23 | 无锡百禾工业机器人有限公司 | A kind of feeding mechanical hand |
| CN207915466U (en) * | 2018-03-09 | 2018-09-28 | 戴卡智能科技(常州)有限公司 | Carrying three axle robert |
| CN113119078A (en) * | 2021-05-23 | 2021-07-16 | 琦星智能科技股份有限公司 | Five-axis material conveying mechanical arm |
| CN214081515U (en) * | 2021-08-06 | 2021-08-31 | 广东科佩克机器人有限公司 | Telescopic mechanical arm |
| CN218747824U (en) * | 2022-05-26 | 2023-03-28 | 北京化工大学 | Clutch type one-way joint driving mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116690545B (en) | 2023-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105500338A (en) | Double-arm SCARA (selective compliance assembly robot arm) industrial robot | |
| CN107225557A (en) | A kind of architectural engineering is with multi-function operation machine people | |
| CN108656092B (en) | Series-parallel robot based on four branched chains, two-rotation and one-movement parallel mechanism | |
| CN105729450A (en) | Four-degree-of-freedom parallel mechanism | |
| CN111375946B (en) | Industrial welding robot | |
| CN105082110B (en) | Actuation redundancy formula Three Degree Of Freedom stabilized platform | |
| CN102069496A (en) | Linearly-driven four-degree of freedom hybrid mechanical arm | |
| CN110238821A (en) | A kind of full symmetric parallel institution of driving of highly redundant containing closed-loop element | |
| CN109719717A (en) | A kind of new energy intelligent robot clamping device | |
| CN108189022A (en) | A kind of robot support arm | |
| CN116690545B (en) | Triaxial steering regulation and control mechanical arm and robot | |
| CN210161139U (en) | 2PRU-2PUR three-degree-of-freedom redundant drive parallel mechanism | |
| CN116652490A (en) | High-applicability welding robot | |
| CN112276912B (en) | Parallel mechanism containing orthogonal double-linear driving branched chain | |
| CN219854577U (en) | Automatic change shrink arm | |
| CN208214928U (en) | A kind of stereo garage formula tool magazine | |
| CN214526754U (en) | Material taking and placing device with adjustable distance | |
| CN109202937B (en) | Modular multi-joint line control robot | |
| CN209207505U (en) | A kind of compound movement manipulator | |
| CN200945556Y (en) | Five-coordinate numerical control machine machining center based on three-coordinate power head | |
| CN117565108B (en) | Six-axis mechanical arm assembly protective sleeve equipment | |
| CN105856274B (en) | A kind of dibit concentric locating platform singly driven | |
| CN213858298U (en) | Mechanical arm for machining | |
| CN212706751U (en) | Multi-arm control equipment | |
| CN218226737U (en) | High-speed manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |