CN210081738U - Multi-degree-of-freedom multi-motion mechanical arm - Google Patents
Multi-degree-of-freedom multi-motion mechanical arm Download PDFInfo
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- CN210081738U CN210081738U CN201920912236.0U CN201920912236U CN210081738U CN 210081738 U CN210081738 U CN 210081738U CN 201920912236 U CN201920912236 U CN 201920912236U CN 210081738 U CN210081738 U CN 210081738U
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Abstract
The utility model discloses a multi freedom realizes multi-motion's arm, it has solved among the prior art arm and has had moment little, can't realize the problem of more action, has the motion that can realize a plurality of degrees of freedom of arm, has widened the motion range of arm, and overall cost is low beneficial effect moreover, its scheme as follows: a multi-degree-of-freedom multi-motion mechanical arm comprises a base, wherein a convolution mechanism is arranged on one side of the base; the first arm is a first telescopic mechanism, the telescopic mechanism is arranged between the base and the rotary mechanism, and the first arm stretches and retracts to drive the rotary mechanism to rotate; one side of the second arm is connected with the rotating mechanism, the other side of the second arm is connected with the middle support, a second telescopic mechanism is obliquely arranged on the second arm, and the second telescopic mechanism drives the second arm to realize pitching motion relative to the rotating mechanism; and one side of the third arm is hinged with the middle support, and a pair of third telescopic mechanisms which are arranged in reverse is arranged in the third arm.
Description
Technical Field
The utility model relates to an arm field especially relates to a multi freedom realizes multi-motion's arm.
Background
Among the current industrial production, there are multiple arms to have useful, and arm help workman's production and processing or independently accomplish production and processing, can effectively alleviate work intensity of labour and labor pressure, and the form of present arm is various, but the utility model people discovers that the arm can't realize the every single move simultaneously, sway and action such as rotation, and current majority arm has moment less moreover, and the higher weak point of cost, more firm like this is to adopting the arm to catch the way.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model provides a multi freedom degree realizes multi-motion's arm can realize the motion of the multiple degrees of freedom of arm, has widened the motion range of arm, and overall cost is low moreover, has great moment.
The specific scheme of the multi-freedom-degree multi-motion mechanical arm is as follows:
a multi-degree-of-freedom multi-motion mechanical arm comprises:
the rotary mechanism is arranged on one side of the base;
the first arm is a first telescopic mechanism, the telescopic mechanism is arranged between the base and the rotary mechanism, and the first arm stretches and retracts to drive the rotary mechanism to rotate;
one side of the second arm is connected with the rotating mechanism, the other side of the second arm is connected with the middle support, a second telescopic mechanism is obliquely arranged on the second arm, and the second telescopic mechanism drives the second arm to realize pitching motion relative to the rotating mechanism;
and one side of the third arm is hinged with the middle support, a pair of third telescopic mechanisms which are arranged in a reverse direction are arranged in the third arm, and the third telescopic mechanisms drive the third arm to realize swinging motion relative to the middle.
Furthermore, the rotary mechanism is a rotary bearing, the rotary bearing is arranged on the periphery of the transmission shaft of the support plate, the transmission shaft of the support plate penetrates through the support plate, and the base is fixed on the support plate.
Furthermore, a circular disc is arranged on the upper surface of the rotary bearing, the circular disc is fixed with a side support, the side support is connected with the second arm, a support plate support is arranged on the side of the circular disc, one end of the first arm is connected with the base, and the other end of the first arm is connected with the support plate support.
Furthermore, the first arm is an electric push rod, so that the cost is low and the torque is large.
Further, the second arm includes the fagging, fagging one end with the lateral part support through first round pin axle articulated connection, the other end and the middle part support of fagging are through fourth round pin axle articulated connection, one side of fagging sets up the connecting plate that the three-section connects gradually, adjacent connecting plate is the obtuse angle and connects, wherein the connecting plate and the first round pin hub connection of one side, the connecting plate and the fourth round pin hub connection of opposite side.
Further, the second arm still includes first hydraulic stem and second hydraulic stem, first hydraulic stem one end with the lateral part of fagging is connected, the other end with the lateral part support passes through second round pin hub connection, and second hydraulic stem one end is connected with the lateral part of fagging, the other end with the middle part support passes through third round pin hub connection, and the angle between first hydraulic stem and the second hydraulic stem is the obtuse angle, and two hydraulic stems reverse settings.
Furthermore, middle part support middle part fagging, middle part fagging one side with the second arm be connected, the opposite side with the third arm be connected, the both sides of middle part fagging set up the middle part curb plate, the middle part lateral part with second hydraulic stem be connected.
Furthermore, the third arm is hinged to the middle support through a fifth pin shaft, sixth pin shafts are arranged on two sides of the fifth pin shaft respectively, the third arm comprises a bottom plate connected with the middle support, the bottom plate is provided with two seventh pin shafts, a third hydraulic rod is arranged between the sixth pin shaft and the seventh pin shaft on one side, a fourth hydraulic rod is arranged between the sixth pin shaft and the seventh pin shaft on the other side, and the third hydraulic rod and the fourth hydraulic rod are arranged in parallel but are arranged in opposite directions.
Furthermore, the third arm is provided with a fifth hydraulic rod, one end of the fifth hydraulic rod is connected with the third arm through an eighth pin shaft, the other end of the fifth hydraulic rod is connected with the fourth arm through a ninth pin shaft, and the ninth pin shaft is used for connecting the third arm and the fourth arm.
Furthermore, the convolution mechanism is provided with an encoder, the second arm is provided with an inclination angle sensor to detect the pitching angle of the second arm in real time, the third arm is provided with a gyroscope, the fourth arm is also provided with a gyroscope, and the encoder, the inclination angle sensor and the gyroscope are respectively connected with the controller.
A use method of a multi-degree-of-freedom multi-motion mechanical arm comprises the following steps:
the first telescopic mechanism performs telescopic motion to drive the revolving mechanism to rotate, and correspondingly drives the second arm and the third arm to rotate;
the second telescopic mechanism performs telescopic motion to drive the second arm to realize up-and-down pitching motion relative to the rotary bearing;
the pair of third telescopic mechanisms realizes reverse telescopic motion, so that the third arm is driven to realize swinging motion.
Compared with the prior art, the beneficial effects of the utility model are that:
1) the utility model discloses a setting of a plurality of arms can realize rotating, luffing motion, the motion of swaing, can realize the motion of six degrees of freedom, has widened the working range of arm.
2) The utility model discloses a setting of arm, through the reliable connection of a plurality of arms, realize multiple motion form, satisfy the user demand, wholly have moreover with low costs, moment is big, safe and reliable's characteristics.
3) The utility model discloses a setting of encoder, inclination sensor, gyroscope etc. can feed back arm space position appearance in real time, is convenient for to the control of arm action.
3) The utility model discloses a setting of a plurality of hydraulic stems, hydraulic stem thrust is big and stable, effective reduce cost, through electric putter's setting, effectively promotes the rotation of arm, has characteristics with low costs and that the moment of torsion is big.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.
Fig. 1 is a schematic view of an overall robot arm according to an embodiment of the present invention;
fig. 2 is a schematic view of an overall robot arm according to an embodiment of the present invention;
FIG. 3 is an enlarged view of the first arm according to the embodiment of the present invention;
FIG. 4 is an enlarged view of the inside of the second arm according to the embodiment of the present invention;
FIG. 5 is an enlarged view of a second arm according to an embodiment of the present invention;
FIG. 6 is an enlarged view of the inside of the third arm according to the embodiment of the present invention;
FIG. 7 is an enlarged view of a third arm according to an embodiment of the present invention;
wherein, 1, a base, 2, an electric push rod, 3, a support plate, 4, a support plate transmission shaft, 5, a rotary bearing, 6, a side support, 7, a second arm, 8, a middle support, 9, a third arm, 10, a fourth arm, 11, a second gyroscope, 12, a support, 13, a first gyroscope, 14, a top plate, 15, a middle support plate, 16, a first connecting plate, 17, a second connecting plate, 18, a third connecting plate, 19, an inclined support, 20, a first protection plate, 21, a first pin shaft, 22, a fourth pin shaft, 23, a middle side plate, 24, a half plate, 25, a sixth pin shaft, 26, a third protection plate, 27, a ninth pin shaft, 28, a fifth pin shaft, 29, a self-lubricating shaft sleeve, 30, an upper support plate support, 31, a lower support plate, 32, a second pin shaft, 33, 34, a third pin shaft, 35, a second hydraulic rod, 36, a second middle part, 37, a first middle pin shaft, 38. the hydraulic press comprises a first hydraulic rod, 39, an inclination angle sensor, 40, an inner rib plate, 41, a third hydraulic rod, 42, a fourth hydraulic rod, 43, a fifth hydraulic rod, 44, an eighth pin shaft, 45, a bottom plate, 46, a seventh pin shaft, 47, a supporting plate and 48, a circular disc.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As the background art introduces, the deficiencies in the prior art, in order to solve the above technical problems, the present invention provides a multi-degree-of-freedom multi-motion mechanical arm, which is described in the following with reference to the attached drawings.
In a typical embodiment of the present invention, as shown in fig. 1 and 2, a multi-degree-of-freedom multi-motion mechanical arm comprises a base 1 fixed to a support plate 3, the base 1 has a set height, the support plate is fixed (can be fixed to a desktop), the base 1 is connected to a first arm, the first arm is horizontally disposed with respect to the support plate 3 and has a set height with respect to the support plate 3, the first arm is a linear pushing mechanism, in this embodiment, the linear pushing mechanism is an electric push rod 2, one end of the electric push rod 2 is fixed to a side portion of the base 1, the other end is connected to a support plate bracket disposed at a side portion of a slewing bearing 5, an outer ring of the slewing bearing is fixed to the support plate, a support plate transmission shaft 4 is disposed inside the inner ring, the support plate transmission shaft 4 passes through the support plate 3, the slewing bearing 5 is connected to a side portion bracket, therefore, the electric push rod 2 stretches and retracts to drive the inner ring of the slewing bearing 5 to rotate, and further the second arm 7 is driven to rotate relative to the side support.
The upper surface of the inner ring of the slewing bearing 5 is fixedly provided with a circular disc 48, the side part of the circular disc 48 is provided with a support plate bracket, the support plate bracket comprises an upper support plate bracket 30 and a lower support plate bracket 31, as shown in fig. 3, a connecting shaft is arranged between the upper support plate bracket 30 and the lower support plate bracket 31, the end part of a push rod of the electric push rod 2 is connected with the connecting shaft, and the connecting shaft is vertically arranged.
Wherein, extension board transmission shaft 4 ring sets up the encoder through encoder support 32 and is used for measuring slewing bearing's turned angle, encoder support 32 and extension board 3 fixed connection, and lateral part support 6 sets up first round pin axle 21 with second arm 7 and is connected, and first round pin axle 21 is equipped with self-lubricating axle sleeve 29.
The second arm 7 is longer than the third arm, the second arm 7 can realize pitching motion relative to the side support 6, specifically the second arm 7 comprises a supporting plate 47, one end of the supporting plate 47 is connected with the side support through a first pin 21, the other end of the supporting plate 47 is connected with the middle support 8 through a fourth pin 22, one side of the supporting plate 47 is provided with three sections of connecting plates which are sequentially connected, namely a first connecting plate 16, a second connecting plate 17 and a third connecting plate 18, the adjacent connecting plates are connected in an obtuse angle, wherein the third connecting plate 18 is connected with the first pin 21, the first connecting plate 16 is connected with the fourth pin 22, an inner rib plate 40 is arranged between the supporting plate 47 and the corresponding connecting plate, specifically as shown in figure 4, the second arm comprises a first inner rib plate, a second inner rib plate and a third inner rib plate, the three inner rib plates are arranged at intervals, an inclination angle sensor 39 is further arranged on the inner surface of the first, a pair of hydraulic mechanisms, namely a first hydraulic rod 38 and a second hydraulic rod 35, are arranged between the middle bracket 8 and the side bracket 6, one end of the first hydraulic rod 38 is connected with the side part of the supporting plate 47 through a first middle pin shaft 37, the other end is connected with the side bracket 6 through a second pin shaft 33, one end of the second hydraulic rod 35 is connected with the side part of the supporting plate through a second middle pin shaft 36, the other end is connected with the middle bracket 8 through a third pin shaft 34, a set distance is arranged between the first middle pin shaft 37 and the second middle pin shaft 36, and under a normal state, an angle between the first hydraulic rod 38 and the second hydraulic rod 35 is an obtuse angle, and the two hydraulic rods are arranged in opposite directions (not in the same straight line), the second arm 7 drives the second arm 7 to pitch up and down relative to the slewing bearing 5 through the telescopic motion of the first hydraulic rod 38, the third arm 9 and the middle bracket 8 perform a pitching motion relative to the second arm 7 by the telescopic motion of the second hydraulic rod 35.
It should be noted that, lateral part support 6 includes two side ears, two side ears pass through bracing 19 and circular plate 48 fixed connection, bracing 19 part covers circular plate 48 top and lateral part, 19 one side of bracing is the L type and is used for being connected with the side ear, make second arm 7 locate slewing bearing 5's oblique top like this, and then raise second arm 7 and third arm 9, the lateral part of slewing bearing and circular plate 48 is located to the side ear, middle part support 8 includes middle fagging 15, middle part fagging 15's both sides set up middle part curb plate 23, second arm 7 all sets up the second guard plate in the both sides of a plurality of connecting plates in order to protect inside a pair of hydraulic pressure mechanism.
The middle side plates on two sides of the middle support 8 are both in a nearly triangular shape, the middle support 8 is provided with a third arm 9 relative to the other side of the second arm 7, the third arm 9 is hinged with the middle support 8 through a fifth pin shaft 28, and the fifth pin shaft 28 and the center line of the fourth pin shaft are perpendicular to each other.
The two ends of the fifth pin 28 are supported by the half plates 24 connected to the middle support 8, as shown in fig. 6 and 7, two sixth pin shafts 25 are disposed between the two half plates 24 on both sides of the fifth pin 28, the third arm 9 includes a bottom plate 45 connected to one of the half plates, the bottom plate 45 is provided with two seventh pin shafts 46, a third hydraulic rod 41 is disposed between the sixth pin shaft 25 and the seventh pin shaft 46 on one side, a fourth hydraulic rod 42 is disposed between the sixth pin shaft 25 and the seventh pin shaft 46 on the other side, the third hydraulic rod 41 and the fourth hydraulic rod 42 are disposed in parallel but in opposite directions, and the third arm is driven to swing left and right relative to the sixth pin shaft, i.e., the middle support, by the opposite telescopic movement of the two hydraulic rods.
The side part of the bottom plate 45 is provided with a third prevention plate 26, a top plate 14 is arranged above the bottom plate and used for protecting the internal structure of the third arm, the inner side of the bottom plate 45 is also provided with an eighth pin shaft 44, the eighth pin shaft 44 is vertical to a third hydraulic rod, the eighth pin shaft 44 is connected with the fourth arm 10 through a fifth hydraulic rod 43, the fifth hydraulic rod 43 is arranged at the lower part between the third hydraulic rod 41 and the fourth hydraulic rod 42, one end of the fifth hydraulic rod 43 is fixedly connected with the eighth pin shaft 44, the other end of the fifth hydraulic rod 43, namely the end part of a telescopic rod, is hinged with the fourth arm 10, the fourth arm 10 is shorter than the third arm 9, and the fourth arm comprises a support 12, the support of the fourth arm 10 is connected with a third protection plate 26 of the third arm 9 through a ninth pin shaft 27, the end part of a telescopic rod of the fifth hydraulic rod is connected with the ninth pin shaft 27, the fourth arm is driven to perform a pitching motion relative to the third arm by the telescopic motion of the fifth hydraulic rod 43.
The electric push rod and the hydraulic cylinders are connected with the programmable PLC, the controller controls the sequential actions of the mechanisms, the controller is further connected with the tilt angle sensor 39 and the encoder, the tilt angle sensor is used for measuring the pitch angle of the second arm, the third arm is provided with the first gyroscope 13, the fourth arm is provided with the second gyroscope 11, the swing angle of the third 9 arm and the pitch angle of the fourth arm 10 can be detected in real time, and then the space position of the tail end of the mechanical arm can be calculated.
In addition, the electric push rod and each hydraulic rod may be replaced with another power mechanism.
The multi-degree-of-freedom electro-hydraulic servo hybrid mechanical arm provided by the embodiment can realize six-degree-of-freedom motion, and the specific use method is as follows:
the electric push rod 2 in the first arm realizes telescopic motion, the rotary bearing 5 is driven to rotate by the support plate bracket, and the second arm and the third arm are correspondingly driven to rotate relative to the support plate 3;
the second arm 7 drives the second arm 7 to pitch up and down relative to the slewing bearing through the telescopic motion of the first hydraulic rod 38, and drives the third arm 9 and the middle support 8 to pitch relative to the second arm through the telescopic motion of the second hydraulic rod 35;
the third hydraulic rod 41 and the fourth hydraulic rod 42 in the third arm realize reverse telescopic motion, so that the third arm is driven to realize swinging motion relative to the middle support;
the fifth telescopic rod 43 extends and retracts to drive the fourth arm 10 to implement pitching motion relative to the third arm.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A multi-degree-of-freedom multi-motion mechanical arm is characterized by comprising:
the rotary mechanism is arranged on one side of the base;
the first arm is a first telescopic mechanism, the telescopic mechanism is arranged between the base and the rotary mechanism, and the first arm stretches and retracts to drive the rotary mechanism to rotate;
one side of the second arm is connected with the rotating mechanism, the other side of the second arm is connected with the middle support, a second telescopic mechanism is obliquely arranged on the second arm, and the second telescopic mechanism drives the second arm to realize pitching motion relative to the rotating mechanism;
and one side of the third arm is hinged with the middle support, a pair of third telescopic mechanisms which are arranged in a reverse direction are arranged in the third arm, and the third telescopic mechanisms drive the third arm to realize swinging motion relative to the middle.
2. The multi-degree-of-freedom multi-motion mechanical arm of claim 1, wherein the swivel mechanism is a swivel bearing, the swivel bearing is disposed around a support plate transmission shaft, the support plate transmission shaft is disposed through the support plate, and the base is fixed to the support plate.
3. The multi-degree-of-freedom multi-motion mechanical arm according to claim 2, wherein the circular plate is fixed to a side bracket fixed to the upper surface of the swivel bearing, the side bracket is connected to the second arm, a support plate bracket is arranged on the side of the circular plate, and the first arm is connected to the base at one end and connected to the support plate bracket at the other end.
4. The multi-degree-of-freedom multi-motion mechanical arm according to claim 1, wherein the swivel mechanism is provided with an encoder, the second arm is provided with an inclination angle sensor, the third arm is provided with a gyroscope, and the encoder, the inclination angle sensor and the gyroscope are respectively connected with the controller.
5. The multi-degree-of-freedom multi-motion mechanical arm according to claim 3, wherein the second arm comprises a supporting plate, one end of the supporting plate is hinged to the side support through a first pin, the other end of the supporting plate is hinged to the middle support through a fourth pin, three sections of connecting plates which are sequentially connected are arranged on one side of the supporting plate, adjacent connecting plates are connected in an obtuse angle, the connecting plate on one side is connected with the first pin, and the connecting plate on the other side is connected with the fourth pin.
6. The multi-degree-of-freedom multi-motion mechanical arm according to claim 5, wherein the second arm further comprises a first hydraulic rod and a second hydraulic rod, one end of the first hydraulic rod is connected with the side portion of the supporting plate, the other end of the first hydraulic rod is connected with the side portion support through a second pin, one end of the second hydraulic rod is connected with the side portion of the supporting plate, the other end of the second hydraulic rod is connected with the middle support through a third pin, and an angle between the first hydraulic rod and the second hydraulic rod is an obtuse angle.
7. The multi-degree-of-freedom multi-motion mechanical arm as claimed in claim 6, wherein the middle support plate is connected to the second arm at one side and the third arm at the other side, middle side plates are disposed at two sides of the middle support plate, and the middle side portions are connected to the second hydraulic rod.
8. The multi-degree-of-freedom multi-motion mechanical arm according to claim 5, wherein the third arm is hinged to the middle support through a fifth pin, sixth pins are respectively arranged on two sides of the fifth pin, the third arm comprises a bottom plate connected with the middle support, the bottom plate is provided with two seventh pins, a third hydraulic rod is arranged between the sixth pin and the seventh pin on one side, a fourth hydraulic rod is arranged between the sixth pin and the seventh pin on the other side, and the third hydraulic rod and the fourth hydraulic rod are arranged in parallel but are arranged in opposite directions.
9. The multi-degree-of-freedom multi-motion mechanical arm as claimed in claim 1, wherein the third arm is provided with a fifth hydraulic rod, one end of the fifth hydraulic rod is connected with the third arm through an eighth pin, the other end of the fifth hydraulic rod is connected with the fourth arm through a ninth pin, and the ninth pin is used for connecting the third arm with the fourth arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920912236.0U CN210081738U (en) | 2019-06-17 | 2019-06-17 | Multi-degree-of-freedom multi-motion mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920912236.0U CN210081738U (en) | 2019-06-17 | 2019-06-17 | Multi-degree-of-freedom multi-motion mechanical arm |
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| CN210081738U true CN210081738U (en) | 2020-02-18 |
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| CN201920912236.0U Active CN210081738U (en) | 2019-06-17 | 2019-06-17 | Multi-degree-of-freedom multi-motion mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142750A (en) * | 2019-06-17 | 2019-08-20 | 山东大学 | A kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises and method |
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2019
- 2019-06-17 CN CN201920912236.0U patent/CN210081738U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142750A (en) * | 2019-06-17 | 2019-08-20 | 山东大学 | A kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises and method |
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