CN208179528U - A kind of single driving three-freedom mechanical arm of energy conservation - Google Patents

Abstract

The utility model discloses an energy-saving single-drive three-degree-of-freedom mechanical arm, which comprises a driving base, a large mechanical arm and a small mechanical arm. The second shaft bevel gear and the third shaft bevel gear are meshed with each other; the first shaft clutch plate is installed on the upper end of the central shaft of the first shaft bevel gear, and the other end of the first shaft clutch plate is fixedly connected with the first shaft; the second shaft The central axis of the bevel gear is connected to the second rotating shaft through the rotating shaft belt transmission mechanism; the central axis of the bevel gear of the third rotating shaft is connected to the third rotating shaft through the third rotating shaft belt; the utility model drives the rotation of three degrees of freedom through a driving motor, The weight of the equipment is reduced, the space occupied by the equipment is saved, and the complexity of the structure is reduced; the respective clutches of the three rotating shafts are achieved through the cylinder, so that the three shafts can move separately.

Description

An energy-saving single-drive three-degree-of-freedom robotic arm

technical field

The utility model relates to the field of mechanical arms, in particular to an energy-saving single-drive three-degree-of-freedom mechanical arm.

Background technique

In recent years, with the development of robot technology, the application of high-speed, high-precision, and high-load-to-weight ratio robotic arm structures has attracted attention from the industrial and aerospace fields. Due to the increase of the flexibility effect of joints and connecting rods during the movement, the structure is deformed, which reduces the accuracy of task execution and increases the movement error. Currently, each mechanical arm of the robot is driven by a motor, which increases the structural complexity and weight of the overall device. Different motors are affected differently in different environments, and its control accuracy is not easy to grasp. Therefore, an energy-saving single-drive three-degree-of-freedom manipulator is proposed.

Utility model content

In order to solve the above existing problems, the utility model provides an energy-saving single-drive three-degree-of-freedom mechanical arm, which can solve the problems mentioned in the background technology.

The utility model is realized through the following technical solutions:

An energy-saving single-drive three-degree-of-freedom mechanical arm, including a driving base, a large mechanical arm and a small mechanical arm, and a driving motor, a first rotating shaft bevel gear, a second rotating shaft bevel gear and a third rotating shaft bevel gear are installed inside the driving base , the first shaft bevel gear is fixedly installed on the output shaft of the drive motor, and the two sides of the first shaft bevel gear are respectively meshed with the second shaft bevel gear and the third shaft bevel gear, and the second shaft bevel gear The intermediate shaft and the first rotating shaft are connected by a bevel gear holder; the upper end of the central shaft of the bevel gear of the first rotating shaft is equipped with a first rotating shaft clutch plate, and the other end of the first rotating shaft clutch plate is fixedly connected with the first rotating shaft. The first rotating shaft is slidingly connected to the bottom of the large mechanical arm; the central axis of the bevel gear of the second rotating shaft is connected to the second rotating shaft through a rotating shaft belt transmission mechanism, and the second rotating shaft is installed on the large mechanical arm; the third rotating shaft cone A third rotating shaft pulley is installed on the central shaft of the gear, and the third rotating shaft pulley is connected with the third rotating shaft through the third rotating shaft belt, and the middle part of the third rotating shaft belt is turned through the outer reversing pulley and the inner reversing pulley, The outer reversing pulley and the inner reversing pulley are fixedly installed on the large mechanical arm.

Further, the first shaft is connected to the first shaft clutch cylinder; the central shaft of the second shaft bevel gear is connected to the second shaft clutch cylinder; the central shaft of the third shaft bevel gear is connected to the third shaft clutch cylinder.

Further, the large mechanical arm is connected to the small mechanical arm through a third rotating shaft.

Further, the large mechanical arm is erected on the driving base.

Compared with the existing technology, the beneficial effect of the utility model is: the utility model drives the rotation of three degrees of freedom through a driving motor, which reduces the weight of the equipment, saves the occupied space of the equipment, and reduces the structure The complexity; the respective clutches of the three rotating shafts are achieved through the cylinder, so that the three shafts can move separately.

Description of drawings

Fig. 1 is a schematic diagram of the front view structure of an energy-saving single-drive three-degree-of-freedom mechanical arm described in the utility model;

Fig. 2 is a left-view structure diagram of an energy-saving single-drive three-degree-of-freedom mechanical arm described in the utility model;

Fig. 3 is a schematic diagram of the internal structure of the drive base of the energy-saving single-drive three-degree-of-freedom mechanical arm described in the present invention.

In the figure: 1. Drive base; 2. Drive motor; 3. Bevel gear fixed frame; 4. Second shaft clutch cylinder; 5. First shaft clutch cylinder; 6. Second shaft belt transmission mechanism; 7. Second shaft Bevel gear; 8, the first shaft; 9, the second shaft; 10, large mechanical arm; 11, the third shaft belt; 12, the third shaft pulley; 13, the third shaft bevel gear; 14, the third shaft clutch cylinder ; 15, the clutch plate of the first rotating shaft; 16, the bevel gear of the first rotating shaft; 17, the outer reversing pulley; 18, the inner reversing pulley; 19, the third rotating shaft; 20, the small mechanical arm.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail:

As shown in Figure 1-3, an energy-saving single-drive three-degree-of-freedom mechanical arm includes a driving base 1, a large mechanical arm 10 and a small mechanical arm 20, and a driving motor 2 and a first shaft bevel gear 16 are installed inside the driving base 1. , the second rotating shaft bevel gear 7 and the third rotating shaft bevel gear 13, the first rotating shaft bevel gear 16 is fixedly installed on the output shaft of the driving motor 2, the driving motor 2 can drive the first rotating shaft bevel gear 16 to rotate, the first rotating shaft bevel gear 16 The two sides of the two sides are respectively meshed with the second rotating shaft bevel gear 7 and the third rotating shaft bevel gear 13, and the second rotating shaft bevel gear 7 and the third rotating shaft bevel gear 13 are driven to rotate by meshing with the first rotating shaft bevel gear 16, The intermediate shaft of the second rotating shaft bevel gear 7 is connected with the first rotating shaft 8 through the bevel gear holder 3, and when the first rotating shaft 8 rotates, the bevel gear fixing mount 3 and the second rotating shaft bevel gear 7 are integrated with the first rotating shaft bevel gear. The center of 16 rotates; the upper end of the center shaft of the first rotating shaft bevel gear 16 is equipped with a first rotating shaft clutch plate 15, and the other end of the first rotating shaft clutch plate 15 is fixedly connected with the first rotating shaft 8, and the first rotating shaft 8 is connected to the bottom of the large mechanical arm 10 Sliding connection, the first rotating shaft 8 is connected to the first rotating shaft clutch cylinder 5, and the first rotating shaft clutch plate 15 can be separated and merged through the expansion and contraction of the first rotating shaft clutch cylinder 5. When separated, the first rotating shaft 8 stops rotating and merges. When the first rotating shaft 8 rotates; the central axis of the second rotating shaft bevel gear 7 is connected to the second rotating shaft 9 through the rotating shaft belt transmission mechanism 6, and the second rotating shaft 9 is installed on the large mechanical arm 10, and the central axis of the second rotating shaft bevel gear 7 is connected to The second rotating shaft clutch cylinder 4 can be used to engage and separate the second rotating shaft bevel gear 7 and the first rotating shaft bevel gear 16 through the second rotating shaft clutching cylinder 4; the third rotating shaft bevel gear 13 is equipped with a third rotating shaft pulley on the central shaft 12. The third rotating shaft pulley 12 is connected to the third rotating shaft 19 through the third rotating shaft belt 11, the middle part of the third rotating shaft belt 11 is turned by the outer reversing pulley 17 and the inner reversing pulley 18, and the outer reversing pulley 17 and the inner reversing pulley The belt pulley 18 is fixedly installed on the large mechanical arm 10, the central axis of the third rotating shaft bevel gear 13 is connected to the third rotating shaft clutch cylinder 14, and the third rotating shaft bevel gear 13 and the first rotating shaft bevel gear can be connected by the third rotating shaft clutch cylinder 14. 16 Engagement and disengagement. The large mechanical arm 10 is connected to the small mechanical arm 20 through the third rotating shaft 19 . The large mechanical arm 10 is erected on the driving base 1 .

Working principle: Turn on the driving motor 2 to rotate the first rotating shaft bevel gear 16, and drive the first rotating shaft clutch cylinder 5 to connect the first rotating shaft clutch plate 15 of the first rotating shaft 8 to the first rotating shaft bevel gear 16, allowing the large mechanical arm 10 vertical rotation, now the first rotating shaft 8 drives the bevel gear holder 3 and the second rotating shaft bevel gear 7 to rotate with the center of the first rotating shaft bevel gear 16 as a whole; driving the second rotating shaft clutch cylinder 4 can make the second rotating shaft bevel The gear 7 meshes with and separates from the first rotating shaft bevel gear 16. When meshing, the second rotating shaft bevel gear 7 can be rotated, so that the second rotating shaft 9 can be driven to rotate through the second rotating shaft belt transmission mechanism 6, and then the large mechanical arm 10 can be rotated laterally. ; When driving the third rotating shaft clutch cylinder 14, the third rotating shaft bevel gear 13 and the first rotating shaft bevel gear 16 can be engaged and separated; Rotate so that the small mechanical arm 20 rotates relative to the large mechanical arm 10; in order to prevent the third shaft belt 11 from contacting with other parts during work, it will turn to the outer reversing pulley 17 and the inner reversing pulley 18. By controlling the expansion and contraction of the first rotating shaft clutch cylinder 5, the second rotating shaft clutch cylinder 4 and the third rotating shaft clutch cylinder 14, the respective movements or linkage of the first rotating shaft 8, the second rotating shaft 9 and the third rotating shaft 19 can be achieved, so that Achieve three-degree-of-freedom movement of the robotic arm.

The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The new model also has various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents.

Claims (4)

1. An energy-saving single-drive three-degree-of-freedom mechanical arm, comprising a driving base (1), a large mechanical arm (10) and a small mechanical arm (20), characterized in that: a driving motor is installed inside the driving base (1) (2), the first rotating shaft bevel gear (16), the second rotating shaft bevel gear (7) and the third rotating shaft bevel gear (13), the first rotating shaft bevel gear is fixedly installed on the output shaft of the drive motor (2) ( 16), the two sides of the first rotating shaft bevel gear (16) are respectively engaged with the second rotating shaft bevel gear (7) and the third rotating shaft bevel gear (13), and the middle of the second rotating shaft bevel gear (7) shaft and the first rotating shaft (8) are connected by a bevel gear holder (3); the upper end of the center shaft of the first rotating shaft bevel gear (16) is equipped with a first rotating shaft clutch (15), and the first rotating shaft clutch (15) The other end is fixedly connected with the first rotating shaft (8), and the first rotating shaft (8) is slidingly connected with the bottom of the large mechanical arm (10); the central axis of the second rotating shaft bevel gear (7) passes through the rotating shaft belt The transmission mechanism (6) is connected to the second rotating shaft (9), and the second rotating shaft (9) is installed on the large mechanical arm (10); the third rotating shaft is installed on the central shaft of the bevel gear (13) of the third rotating shaft Pulley (12), the third rotating shaft pulley (12) is connected to the third rotating shaft (19) through the third rotating shaft belt (11), and the middle part of the third rotating shaft belt (11) passes through the outer reversing pulley (17) Steering with the inner reversing pulley (18), the outer reversing pulley (17) and the inner reversing pulley (18) are fixedly installed on the large mechanical arm (10). 2. An energy-saving single-drive three-degree-of-freedom mechanical arm according to claim 1, characterized in that: the first rotating shaft (8) is connected to the first rotating shaft clutch cylinder (5); the second rotating shaft bevel gear The central axis of (7) is connected to the second rotary shaft clutch cylinder (4); the central shaft of the third rotary shaft bevel gear (13) is connected to the third rotary shaft clutch cylinder (14). 3. An energy-saving single-drive three-degree-of-freedom mechanical arm according to claim 1, characterized in that: the large mechanical arm (10) is connected to the small mechanical arm (20) through a third rotating shaft (19). 4. An energy-saving single-drive three-degree-of-freedom mechanical arm according to claim 1, characterized in that: the large mechanical arm (10) is erected on the driving base (1).