CN211890833U

CN211890833U - Mechanical arm

Info

Publication number: CN211890833U
Application number: CN201821744641.8U
Authority: CN
Inventors: 张贵林
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2018-10-26
Filing date: 2018-10-26
Publication date: 2020-11-10
Anticipated expiration: 2028-10-26

Abstract

The utility model discloses a mechanical arm, including tongs, curved surface gear mechanism, rotation joint, linking arm and base, its characterized in that: the gripper is positioned at the tail end of the curved gear mechanism, is connected with one tail end of the curved gear mechanism and can be used for gripping and placing an object; the curved gear mechanism is positioned between the rotating joint and the gripper, the rotating joint is connected with the other tail end of the curved gear mechanism, and the curved gear mechanism performs pure rolling motion, so that the gripper can grab and place objects more flexibly; the connecting arm is connected with the curved gear mechanism through a rotating joint and is used for grabbing a far object and a near object through rotation; the connecting arm is positioned above the base, and the base can enable the connecting arm to rotate around a rotating center. The utility model discloses can make globular article of one kind snatch, place work more high-efficient, solve effectively that other arms snatch the restriction of article to the article shape.

Description

Mechanical arm

Technical Field

The utility model relates to a technical field, concretely relates to arm are manufactured to arm.

Background

With the development of the times, high efficiency, rapidness and safety become the subjects of the production and living processes of the times at present, and the introduction of more flexible and convenient mechanical devices into the production and living processes becomes an urgent need. Therefore, the flexible and efficient robot is widely applied to production and life, and plays an important role in promoting the progress of the production and life of the human society. The light mechanical arm is rapidly developed under the background of '2025 made by China', different from the traditional robot, and a light mechanical arm system has the characteristics of high flexibility, wide adaptability, low power consumption and the like, is widely applied to the fields of industrial manufacturing, production and life, medical service and the like, and becomes the key direction of robot development in twenty-first century.

With the development of science and technology, the human society is rapidly developing towards automation and intellectualization. Since the human hands have too many limitations, such as: the hands of the person do not have too much strength and can not work in special environments such as high temperature, severe cold, deep sea, outer space and the like, and the hands of the person can not work continuously for a long time.

At present, multiple-degree-of-freedom mechanical arms are mostly on the market, wherein six-axis industrial robots are the most common in industrial manufacturing, however, the development of a six-degree-of-freedom mobile platform relates to a series of high-tech fields such as machinery, hydraulic pressure, electricity, control, computers, sensors, space motion models, real-time signal transmission processing, graphic display, dynamic simulation, machine vision and the like, and the research and development cost is high and the period is long.

SUMMERY OF THE UTILITY MODEL

To the problem, the utility model provides a mechanical arm, research and development cost is low and the cycle is short, can wide application in each field.

In order to solve the above problem, the utility model provides a scheme does:

the utility model provides a mechanical arm, includes tongs, curved surface gear mechanism, rotation joint, linking arm and base, its characterized in that: the gripper is positioned at the tail end of the curved gear mechanism and fixedly connected with one tail end of the curved gear mechanism, and the gripper can be used for gripping and placing an object; the curved gear mechanism is positioned between the rotating joint and the gripper, the rotating joint is connected with the other tail end of the curved gear mechanism, and the curved gear mechanism performs pure rolling motion, so that the gripper can grab and place objects more flexibly; the connecting arm is connected with the curved surface gear mechanism through a rotating joint, the connecting arm realizes the grabbing of a far object and a near object through rotation, and the connecting arm is positioned above the base; the base comprises a rotating arm and a base, and the connecting arm can rotate around a rotating center by the base.

The gripper comprises six mechanical fingers, two clamping plates, a worm wheel I, six worms I, two bearings I and a forward and reverse rotating motor, wherein the mechanical fingers comprise a first bone block, a second bone block, a first connecting rod, two second connecting rods, a third connecting rod, two fourth connecting rods, two fifth connecting rods, two sixth connecting rods, two first connecting plates, two second connecting plates, a supporting table, a sliding block and a screw rod, and the first bone block is connected with the first connecting rod through a pin; the upper end hole of the first connecting rod is connected with one end of the third connecting rod through a pin, and the lower end hole of the first connecting rod is connected with one end of the second connecting rod through a pin; the other end of the second connecting rod is connected with one end of a fourth connecting rod through a pin; the middle hole of the third connecting rod is connected with the middle hole of the fourth connecting rod through a pin, and the other end of the third connecting rod is connected with the fifth connecting rod through a pin; the fourth connecting rod is connected with an upper hole at one end of the second connecting plate through a pin, and the fourth connecting rod, the first connecting plate and the second connecting plate are connected through a pin; the second bone block is connected with the fourth connecting rod through a pin; the fifth connecting rod is connected with the upper hole of the first connecting plate through a pin; the second connecting plate is connected with the supporting platform through a pin; the sliding block is connected with the second connecting plate through a sixth connecting rod, the sliding block is positioned on the supporting table, and the screw rod penetrates through the sliding block; the positive and negative rotation motor is fixed on the upper clamping plate motor mounting table through bolts and nuts; a bearing I is arranged in the upper clamping plate motor mounting table; the tail end of a positive and negative rotating motor shaft is provided with a worm wheel I, the worm wheel I is connected with a motor main shaft through a key, a mechanical finger supporting table is fixedly connected with a lower clamping plate mechanical finger installing table, a mechanical finger screw rod is fixedly connected with a worm, the worm I is meshed with the worm wheel I, and the lower clamping plate is fixedly connected with an upper clamping plate; six mechanical fingers of the hand grip are equally divided on the lower clamping plate for 360 degrees, pressure strain gauges and rubber layers are sequentially arranged on the surfaces of a first bone joint and a second bone joint of the mechanical fingers, the pressure strain gauges are used for detecting the force of the hand grip when the hand grip grips an object and feeding back the force in time, the hand grip is guaranteed not to be damaged and hurt the object when the hand grip firmly grips the object, the sufficient friction force of the rubber layers guarantees the stability of the hand grip when the hand grip grips the object, the positive and negative rotation motor drives the worm gear mechanism to enable the mechanical fingers to move simultaneously, and the object can be prevented from sliding down in the gripping process to a certain extent.

The curved surface gear mechanism comprises a pair of curved surface gears, a curved surface gear support, two linear through type linear screw rod stepping motors, a linear through type linear screw rod stepping motor connecting block, a curved surface gear connecting shaft I, a curved surface gear connecting shaft II, a motor support I, four connecting rods, two motor fixing sleeves, an elastic corrugated pipe, a curved surface gear connecting shaft support, two ball hinge primary shafts and two ball hinge secondary shafts, wherein the curved surface gear connecting shaft I is fixedly connected with the gripper through welding; the curved surface gear connecting shaft II is connected with the rotating joint through a speed reducer; the curved gear support is arranged on the outer side of the elastic corrugated pipe; the elastic corrugated pipe is fixedly connected with the curved gear connecting shaft bracket; the curved surface gear bracket forms a spherical hinge connection through a spherical hinge primary shaft and a spherical hinge secondary shaft; the bottom edge of a connecting block of the linear through type linear screw rod stepping motor is connected with a curved surface gear bracket through a screw and a nut; the motor bracket I is fixed on the curved surface gear connecting shaft II and is connected with the motor fixing sleeve through a connecting rod; the straight line through type linear screw rod stepping motor is connected with the straight line through type linear screw rod stepping motor connecting block through the ball hinge, and compared with other gear mechanisms, the curved surface gear mechanism can realize the motion of two degrees of freedom, and the flexibility is higher.

The rotary joint comprises a speed reducer I, a connecting shaft I, a bearing II, a coupling I, a motor fixing support, a rotary joint shell and a screw I, wherein the motor support is connected with the rotary joint shell through the screw; the motor I is connected with the motor bracket through a screw; a main shaft of a motor I is connected with a connecting shaft I through a coupling I; a bearing II is arranged on the connecting shaft I, and the connecting shaft I is connected with a curved surface gear connecting shaft II through a speed reducer I; reduction gear I passes through screw I to be fixed inside the revolute joint, and revolute joint can rotate according to the relative position of object and tongs, realizes snatching of higher accuracy.

The connecting arm comprises a rotating joint I and a rotating joint II, the rotating joint I comprises two inner gear rings, two cylindrical straight gears I, a bevel gear II, two motors II and two motor supports II, and the motors II are connected with the inner parts of the rotating joint I through screws; the motor II is connected with the motor bracket II through a screw; a bevel gear I is mounted on a main shaft of the motor II; a non-tooth end of the cylindrical straight gear I is fixedly connected with a bevel gear II; the bevel gear I is meshed with the bevel gear II; the cylindrical straight gear I is meshed with the inner gear ring; the inner gear ring is fixedly connected with the arm body; the rotating joint II comprises a double-output-shaft stepping motor, two couplers II, two connecting shafts II, a screw II and two speed reducers II, and the speed reducers II are connected with the inside of the rotating joint II through screws; the speed reducer II is connected with one end of the connecting shaft II; one end shaft of the double-output-shaft motor is connected with the other end of the connecting shaft II through the coupler II, and the connecting arm can enable the mechanical arm to have larger extensibility in the longitudinal direction according to the positions of the object and the hand grip, so that the mechanical arm has a longer movement distance in the longitudinal direction.

The base comprises a rotating arm and a base, the rotating arm comprises a speed reducer III, a coupler III, a connecting shaft III, a bearing III and a rotating arm shell, and a driven gear of the speed reducer III is fixedly connected with a rotating joint II of the connecting arm through a shaft; the connecting shaft III is connected with a driving shaft of a speed reducer III through a coupling III; the bearing III is arranged on the connecting shaft III and is fixed on the base; the speed reducer III comprises two eccentric crankshafts, an input shaft, two gear snap springs, two needle roller bearings I, two needle roller bearings II, two cylindrical straight gears II, an RV gear I, an RV gear II, two gaskets I, two gaskets II, two tapered roller bearings I, four tapered roller bearings II, a needle tooth shell, an angular contact bearing I, an angular contact bearing II, a planet carrier I, a planet carrier II, two bearing snap springs and an oil seal, wherein shaft teeth at one end of the eccentric crankshafts are fixed in center holes of the cylindrical straight gears II through the gear snap springs; the needle roller bearings I and II are respectively arranged on the eccentric parts of the eccentric crankshafts, and the two eccentric parts of the eccentric crankshafts are adjacent; two cylindrical straight gears II are meshed with the input shaft teeth; the RV gears I and II are respectively arranged on the needle roller bearings I and II and are adjacent to each other; a gasket I and a tapered roller bearing I are respectively arranged above the RV gear I; the needle gear shell is meshed with the RV gears I and II; the angular contact bearing I is arranged between the RV gear I and the cylindrical straight gear II and is fixed inside the pin gear shell, and a planet carrier I and an oil seal are sequentially arranged on the angular contact bearing I; a gasket II, a tapered roller bearing II, an angular contact bearing II and a planet carrier II are sequentially arranged below the RV gear II; a bearing snap spring is arranged on the surface of the tapered roller bearing II and is fixed in a hole of the planet carrier II, and the rotating arm can rotate 360 degrees, so that the transverse working range of the mechanical arm is greatly expanded; the base comprises a motor III, a motor bracket III, a connecting shaft III, two bearings IV, a bearing V, a bearing VI, a worm gear II, a worm II, a pin and a base shell, wherein the connecting shaft III is provided with the worm gear II; the bearing IV is arranged on two sides of the worm gear II; the bearing V is connected with the connecting shaft III and fixed at the bottom of the base; the bearing VI is fixed on the side wall of the base through a pin; the worm II is matched with the bearing VI, one end of the worm II is meshed with the worm wheel II, and the other end of the worm II is connected with the motor III; the motor III is connected with the motor bracket III through a screw; and the motor bracket III is connected with the side wall of the base through a screw.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the utility model provides a novel mechanical arm mechanical structure, compared with the traditional mechanical arm, the mechanical arm mechanical structure has the advantages of short safe research and development period, low price, strong adaptability and the like;

2. the curved surface gear mechanism of the utility model has high transmission efficiency and simple mechanical structure, and greatly improves the flexibility;

3. the mechanical arm gripper of the utility model combines the positive and negative rotation motor with the worm gear, and the mechanical fingers can keep moving simultaneously, thereby avoiding damage to objects due to unbalanced stress;

4. the utility model discloses an RV cycloid reduction gears is used to the arm rocking arm, has greatly improved the efficiency of rocking arm.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic view of a three-dimensional structure of the gripper of the present invention;

FIG. 3 is a schematic view of the three-dimensional structure of the curved gear mechanism of the present invention;

fig. 4 is a schematic view of the three-dimensional structure of the rotary joint of the present invention;

fig. 5 is a schematic perspective view of the connecting arm of the present invention;

fig. 6 is a schematic view of the three-dimensional structure of the base of the present invention;

fig. 7 is a schematic view of the internal three-dimensional structure of the gripper of the present invention;

fig. 8 is a perspective view of the mechanical finger of the present invention;

fig. 9 is a schematic diagram of the engagement of the curved-surface gear mechanism of the present invention;

fig. 10 is a schematic perspective view of the connecting shaft sleeve of the curved-surface gear mechanism of the present invention;

fig. 11 is a schematic perspective view of the inside of the rotary joint of the present invention;

fig. 12 is a schematic perspective view of the inner portion of the upper end of the connecting arm of the present invention;

fig. 13 is a schematic perspective view of the interior of the lower end of the connecting arm of the present invention;

fig. 14 is a full sectional view of the swivel arm of the present invention;

fig. 15 is a schematic perspective view of the base of the present invention;

fig. 16 is a full sectional view of a speed reducer iii according to the present invention;

fig. 17 is a partial view of the planetary gear of the present invention.

In the figure: 1. a gripper, 2, a curved gear mechanism, 3, a rotary joint, 4, a connecting arm, 5, a base, 101, a mechanical finger, 102, a clamping plate, 103, a worm wheel I, 104, a worm I, 105, a bearing I, 106, a forward and reverse rotating motor, 1011, a first bone block, 1012, a second bone block, 1013, a first connecting rod, 1014, a second connecting rod, 1015, a third connecting rod, 1016, a fourth connecting rod, 1017, a fifth connecting rod, 1018, a sixth connecting rod, 1019, a first connecting plate, 10110, a second connecting plate, 10111, a supporting table, 10112, a sliding block, 10113, a screw rod, 201, a curved gear, 202, a curved gear bracket, 203, a straight through linear screw rod stepping motor, 204, a straight through linear screw rod stepping motor connecting block, 205, a curved gear connecting shaft I, 206, a curved gear connecting shaft II, 207, a motor bracket I, 208, a connecting shaft, 209, a motor fixing sleeve, 210. elastic bellows, 211, a curved gear connecting shaft bracket, 212, two ball hinge primary shafts, 213, two ball hinge secondary shafts, 301, a reducer I, 302, a connecting shaft I, 303, a bearing II, 304, a coupling I, 305, a motor I, 306, a motor fixing bracket, 307, a rotary joint housing, 308, a screw I, 401, a rotary joint I, 402, a rotary joint II, 4011, an inner gear ring, 4012, a cylindrical spur gear I, 4013, a bevel gear I, 4014, a bevel gear II, 4015, a motor II, 4016, a motor bracket II, 4021, a double-output shaft stepping motor, 4022, a coupling II, 4023, a connecting shaft II, 4024, a screw II, 4025, a reducer II, 501, a rotating arm, 502, a base, 5011, a reducer III, 5012, a coupling III, 5013, a connecting shaft III, 5014, a bearing III, 5015, a rotating arm housing, 50111, an eccentric crankshaft, 50112, an input shaft, 50113, a gear snap spring, 50114. the device comprises needle roller bearings I, 50115, two needle roller bearings II, 50116, a cylindrical straight gear II, 50117, an RV gear I, 50118, an RV gear II, 50119, gaskets I, 501110, gaskets II, 501111, tapered roller bearings I, 501112, tapered roller bearings II, 501113, a needle tooth housing, 501114, an angular contact bearing I, 501115, an angular contact bearing II, 501116, a planet carrier I, 501117, a planet carrier II, 501118, a bearing snap spring, 501119, an oil seal, 5021, a motor III, 5022, a motor bracket III, 5023, a connecting shaft III, 5024, a bearing IV, 5025, a bearing V, 5026, a bearing VI, 5027, a worm gear II, 5028, a worm, 5029, a pin, 50210 and a base housing.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

as shown in fig. 1, a mechanical arm comprises a hand grip 1, a curved gear mechanism 2, a rotary joint 3, a connecting arm 4 and a base 5, and is characterized in that: the gripper 1 is positioned at the tail end of the curved gear mechanism 2, the gripper 1 is fixedly connected with one tail end of the curved gear mechanism 2, and the gripper 1 can be used for gripping and placing an object; the curved gear mechanism 2 is positioned between the rotating joint 3 and the gripper 1, the rotating joint 3 is connected with the other end of the curved gear mechanism 2, and the curved gear mechanism 2 makes pure rolling motion, so that the gripper can grab and place objects more flexibly; the connecting arm 4 is connected with the curved surface gear mechanism 2 through the rotating joint 3, and the connecting arm 4 realizes the grabbing of far and near objects through rotation; the connecting arm 4 is positioned above the base 5, and the base 5 can enable the connecting arm 4 to rotate around a rotating center.

As shown in fig. 2, 7 and 8, the gripper 1 includes six mechanical fingers 101, two clamping plates 102, a worm wheel i 103, six worms i 104, two bearings i 105 and a forward-reverse motor 106, the mechanical fingers 101 include a first bone 1011, a second bone 1012, a first connecting rod 1013, two second connecting rods 1014, a third connecting rod 1015, two fourth connecting rods 1016, two fifth connecting rods 1017, two sixth connecting rods 1018, two first connecting plates 1019, two second connecting plates 10110, a support platform 10111, a slider 10112 and a screw 10113, the first bone 1011 and the first connecting rod 1013 are connected with the first connecting rod 1013 by a pin; the upper end hole of the first connecting rod 1013 is connected with one end of the third connecting rod 1015 through a pin, and the lower end hole of the first connecting rod 1013 is connected with one end of the second connecting rod 1014 through a pin; the other end of the second connecting rod 1014 is connected with one end of a fourth connecting rod 1016 through a pin; the middle hole of the third connecting rod 1015 is connected with the middle hole of the fourth connecting rod 1016 through a pin, and the other end of the third connecting rod 1015 is connected with the fifth connecting rod 1017 through a pin; the fourth connecting rod 1016 is connected with an upper hole at one end of the second connecting plate 10110 through a pin, and the fourth connecting rod 1016, the first connecting plate 1019 and the second connecting plate 10110 are connected through a pin; the second bone piece 1012 is connected with a fourth connecting rod 1016 through a pin; the fifth connecting rod 1017 is connected with a hole above the first connecting plate 1019 through a pin; the second connecting plate 10110 is connected with the supporting platform through a pin; the slide block 10112 is connected with the second connecting plate 10110 through a sixth connecting rod 1018, the slide block 10112 is positioned on the supporting platform 10111, and the screw rod 10113 penetrates through the slide block 10112; the forward and reverse rotation motor 106 is fixed on the upper clamping plate motor mounting table through bolts and nuts; a bearing I105 is arranged in a motor mounting table in the clamping plate; the tail end of the shaft of the forward and reverse rotation motor 106 is provided with a worm gear I103, and the worm gear I103 is connected with the main shaft of the forward and reverse rotation motor 106 through a key; the supporting platform 10111 is fixedly connected with the mechanical finger mounting platform of the clamping plate 102; the screw rod 10113 is fixedly connected with the worm I104; the worm I104 is meshed with the worm wheel I103; six mechanical fingers 101 of tongs divide equally 360 degrees at splint 102 mechanical finger mount table, pressure strain gauge and rubber layer have been put in proper order on mechanical finger 101 first bone 1011 and second bone 1012 surface, pressure strain gauge is used for detecting the dynamics of tongs when snatching the object and in time feedbacks, guarantee that the tongs can not damage, harm the object when firmly grabbing the object, the abundant frictional force on rubber layer guarantees the stability of tongs when snatching the object, positive and negative motor 106 drive worm gear mechanism makes mechanical finger 101 move simultaneously, can prevent the landing of object in the process of snatching to a certain extent.

As shown in fig. 1, 3, 9, 10 and 13, the curved gear mechanism 2 includes a pair of curved gears 201, a curved gear bracket 202, two straight through type linear lead screw stepping motors 203, a straight through type linear lead screw stepping motor connecting block 204, a curved gear connecting shaft i 205, a curved gear connecting shaft ii 206, a motor bracket i 207, four connecting rods 208, two motor fixing sleeves 209, an elastic corrugated tube 210, a curved gear connecting shaft bracket 211, two ball hinge primary shafts 212 and two ball hinge secondary shafts 213, the curved gear connecting shaft i 205 is fixedly connected with the gripper 1 by welding, and the curved gear connecting shaft ii 206 is connected with the rotary joint 3 by a reducer i 301; the curved gear bracket 202 is arranged on the outer side of the elastic corrugated pipe 210; the elastic corrugated pipe 210 is fixedly connected with the curved gear connecting shaft bracket 211; the curved gear bracket 202 is connected with the spherical hinge secondary shaft 213 through the spherical hinge primary shaft 212; the bottom edge of the linear through type linear screw rod stepping motor connecting block 204 is connected with the curved surface gear bracket 202 through screws and nuts; motor support I207 is fixed on curved surface gear connecting axle II 206, and motor support I207 passes through connecting rod 208 with the fixed cover 209 of motor to be connected, and straight line through formula straight line lead screw step motor 203 is connected through the ball hinge with straight line through formula straight line lead screw step motor connecting block 204, compares other gear mechanism, and curved surface gear mechanism can realize the motion of two degrees of freedom, and the flexibility is higher.

As shown in fig. 1, fig. 3, fig. 4 and fig. 11, the rotary joint 3 includes a reducer i 301, a connecting shaft i 302, a bearing ii 303, a coupling i 304, a motor i 305, a motor fixing bracket 306, a rotary joint housing 307 and a screw i 308, wherein the motor fixing bracket 306 is connected with the rotary joint housing 307 through the screw; the motor I305 is connected with the motor fixing bracket 306 through a screw; a main shaft of a motor I305 is connected with a connecting shaft I302 through a coupling I304; a bearing II 303 is arranged on the connecting shaft I302; the connecting shaft I302 is connected with a curved gear connecting shaft II 206 through a speed reducer I301; reduction gear I301 passes through I308 of screw to be fixed inside rotary joint 3, and rotary joint 3 can rotate according to the relative position of object and tongs, realizes snatching of higher accuracy.

As shown in fig. 1, 5, 12 and 13, the connecting arm 4 includes a rotating joint i 401 and a rotating joint ii 402, the rotating joint i 401 includes two inner gear rings 4011, two cylindrical spur gears i 4012, a bevel gear i 4013, a bevel gear ii 4014, two motors ii 4015 and two motor supports ii 4016, and the motors ii 4015 are connected with the inside of the rotating joint i 401 through screws; the motor II 4015 is connected with the motor bracket II 4016 through a screw; a main shaft of the motor II 4015 is provided with a bevel gear I4013; a non-tooth end of the cylindrical straight gear I4012 is fixedly connected with a bevel gear II 4014; the bevel gear I4013 is meshed with the bevel gear II 4014; the cylindrical straight gear I4012 is meshed with the inner gear ring 4011; the inner gear ring 4011 is fixedly connected with the arm body; the rotating joint II 402 comprises a double-output-shaft stepping motor 4021, two couplers II 4022, two connecting shafts II 4023, a screw II 4024 and two reducers II 4025, and the reducer II 4025 is connected with the inside of the rotating joint II 402 through the screw II 4024; the reducer II 4025 is connected with one end of the connecting shaft II 4023; one end shaft of the double-output-shaft stepping motor 4021 is connected with the other end of the connecting shaft II 4023 through the coupling II 4022, and the connecting arm 4 can enable the mechanical arm to have larger extensibility in the longitudinal direction according to the positions of the object and the gripper, so that the mechanical arm has a longer movement distance in the longitudinal direction.

As shown in fig. 1, fig. 5, fig. 6, fig. 14, fig. 15, fig. 16 and fig. 17, the base 5 comprises a rotating arm 501 and a base 502, the rotating arm 501 comprises a speed reducer iii 5011, a coupler iii 5012, a connecting shaft iii 5013, a bearing iii 5014 and a rotating arm housing 5015, and a driven gear of the speed reducer iii 5011 is fixedly connected with a rotating joint ii 402 of the connecting arm 4 through a shaft; the connecting shaft III 5013 is connected with a driving shaft of the speed reducer III 5011 through a coupler III 5013, a bearing III 5014 is arranged on the connecting shaft III 5013, and the bearing III 5014 is fixed on the base 502; the reducer III 5011 comprises two eccentric crankshafts 50111, an input shaft 50112, two gear snap springs 50113, two needle bearings I50114, two needle bearings II 50115, two straight cylindrical gears II 50116, an RV gear I50117, an RV gear II 50118, two gaskets I50119, two gaskets II 501110, two tapered roller bearings I501111, four tapered roller bearings II 501112, a pin gear housing 501113, an angular contact bearing I501114, an angular contact bearing II 501115, a planet carrier I501116, a planet carrier II 501117, two bearing snap springs 501118 and an oil seal 501119, wherein one end shaft tooth of the eccentric crankshafts 50111 is fixed in a central hole of the straight cylindrical gears II 50116 through the gear snap springs 50113; the needle roller bearing I50114 and the needle roller bearing II 50115 are respectively arranged on the eccentric part of the eccentric crankshaft 50111, and the two eccentric parts of the eccentric crankshaft are adjacent; the two cylindrical straight gears II 50116 are meshed with the shaft teeth of the input shaft 50112; the RV gear I50117 and the RV gear II 50118 are respectively installed on the needle bearing I50114 and the needle bearing II 50115, and the RV gear I50117 and the RV gear II 50118 are adjacent; a gasket I50119 and a tapered roller bearing I501111 are respectively arranged above the RV gear I50117; the needle gear housing 501113 is meshed with an RV gear I50117 and an RV gear II 50118; an angular contact bearing I501115 is arranged between the RV gear I50117 and the cylindrical straight gear II 50116 and is fixed inside the pin gear housing 501113, and a planet carrier I501116 and an oil seal 501119 are sequentially arranged on the angular contact bearing I501115; a gasket II 50119, a tapered roller bearing II 501112, an angular contact bearing II 501115 and a planet carrier II 501117 are sequentially arranged below the RV gear II 50118; a bearing snap spring 501118 is arranged on the surface of the conical roller bearing II 501112, the bearing snap spring 501118 is fixed in a hole of the planet carrier II 501117, and the rotating arm 501 can rotate 360 degrees, so that the transverse working range of the mechanical arm is greatly expanded; the base 502 comprises a motor III 5021, a motor bracket III 5022, a connecting shaft III 5023, two bearings IV 5024, a bearing V5025, a bearing VI 5026, a worm gear II 5027, a worm II 5028, a pin 5029 and a base shell 50210, wherein the worm gear II 5027 is mounted on the connecting shaft III 5023; a bearing IV 5026 is arranged on two sides of the worm gear II 5027; a bearing V5025 is connected with a connecting shaft III 5023, and the bearing V5025 is fixed at the bottom of the base 502; the bearing VI 5026 is fixed on the side wall of the base 50210 through a pin 5029; the worm II 5028 is matched with the bearing VI 5024, one end of the worm II 5028 is meshed with the worm gear II 5027, and the other end of the worm II 5028 is connected with the motor III 5021; the motor III 5021 is connected with the motor bracket III 5022 through a screw; the motor bracket III 5022 is connected with the side wall of the base 502 through a screw.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a mechanical arm, includes tongs, curved surface gear mechanism, rotation joint, linking arm and base, its characterized in that: the gripper is positioned at the tail end of the curved surface gear mechanism and fixedly connected with one tail end of the curved surface gear mechanism; the curved surface gear mechanism is positioned between the rotating joint and the gripper, and the rotating joint is connected with the other tail end of the curved surface gear mechanism; the connecting arm is connected with the curved surface gear mechanism through a rotating joint and is positioned above the base; the base comprises a rotating arm and a base; wherein:

the gripper comprises six mechanical fingers, two clamping plates, a worm wheel I, six worms I, two bearings I and a forward and reverse rotating motor, wherein the mechanical fingers comprise a first bone block, a second bone block, a first connecting rod, two second connecting rods, a third connecting rod, two fourth connecting rods, two fifth connecting rods, two sixth connecting rods, two first connecting plates, two second connecting plates, a supporting table, a sliding block and a screw rod, and the first bone block is connected with the first connecting rod through a pin; the upper end hole of the first connecting rod is connected with one end of the third connecting rod through a pin, and the lower end hole of the first connecting rod is connected with one end of the second connecting rod through a pin; the other end of the second connecting rod is connected with one end of a fourth connecting rod through a pin; the middle hole of the third connecting rod is connected with the middle hole of the fourth connecting rod through a pin, and the other end of the third connecting rod is connected with the fifth connecting rod through a pin; the fourth connecting rod is connected with an upper hole at one end of the second connecting plate through a pin, and the fourth connecting rod, the first connecting plate and the second connecting plate are connected through a pin; the second bone block is connected with the fourth connecting rod through a pin; the fifth connecting rod is connected with the upper hole of the first connecting plate through a pin; the second connecting plate is connected with the supporting platform through a pin; the sliding block is connected with the second connecting plate through a sixth connecting rod, the sliding block is positioned on the supporting table, and the screw rod penetrates through the sliding block; a positive and negative rotation motor is fixed on an upper clamping plate motor mounting table through bolts and nuts, a bearing I is arranged in the upper clamping plate motor mounting table, a worm wheel I is arranged at the tail end of a positive and negative rotation motor shaft, the worm wheel I is connected with a motor spindle through a key, a mechanical finger supporting table is fixedly connected with a gripper lower clamping plate, a mechanical finger screw rod is fixedly connected with a worm, the worm I is meshed with the worm wheel I, and the gripper lower clamping plate is fixedly connected with an upper clamping plate; six mechanical fingers of the hand grip are equally divided on the lower clamping plate for 360 degrees, and pressure strain gauges and rubber layers are sequentially arranged on the surfaces of a first condyle and a second condyle of the mechanical fingers;

the curved surface gear mechanism comprises a pair of curved surface gears, a curved surface gear support, two linear through type linear screw rod stepping motors, a linear through type linear screw rod stepping motor connecting block, a curved surface gear connecting shaft I, a curved surface gear connecting shaft II, a motor support I, four connecting rods, two motor fixing sleeves, an elastic corrugated pipe, a curved surface gear connecting shaft support, two ball hinge primary shafts and two ball hinge secondary shafts, wherein the curved surface gear connecting shaft I is fixedly connected with the gripper through welding, and the curved surface gear connecting shaft II is connected with a rotating joint through a speed reducer; the curved surface gear support is arranged on the outer side of the elastic corrugated pipe, the elastic corrugated pipe is fixedly connected with the curved surface gear connecting shaft support, and the curved surface gear support is connected with the spherical hinge through a spherical hinge primary shaft and a spherical hinge secondary shaft; the bottom edge of a connecting block of the linear through type linear screw rod stepping motor is connected with a curved surface gear bracket through a screw and a nut, a motor bracket I is fixed on a curved surface gear connecting shaft II, and the motor bracket I is connected with a motor fixing sleeve through a connecting rod; the linear through type linear screw rod stepping motor is connected with a linear through type linear screw rod stepping motor connecting block through a ball hinge;

the rotary joint comprises a speed reducer I, a connecting shaft I, a bearing II, a coupling I, a motor fixing support, a rotary joint shell and a screw I, wherein the motor support is connected with the rotary joint shell through the screw; the motor I is connected with the motor bracket through a screw; a main shaft of a motor I is connected with a connecting shaft I through a coupling I, and a bearing II is arranged on the connecting shaft I; the connecting shaft I is connected with a curved surface gear connecting shaft II through a speed reducer I; the speed reducer I is fixed inside the rotary joint through a screw I;

the connecting arm comprises a rotating joint I and a rotating joint II, the rotating joint I comprises two inner gear rings, two cylindrical straight gears I, a bevel gear II, two motors II and two motor supports II, and the motors II are connected with the inner parts of the rotating joint I through screws; the motor II is connected with the motor bracket II through a screw; a bevel gear I is mounted on a main shaft of the motor II; a tooth-free end of the cylindrical straight gear I is fixedly connected with a bevel gear II, the bevel gear I is meshed with the bevel gear II, the cylindrical straight gear I is meshed with an inner gear ring, and the inner gear ring is fixedly connected with the arm body; the rotating joint II comprises a double-output-shaft stepping motor, two couplers II, two connecting shafts II, a screw II and two speed reducers II, and the speed reducers II are connected with the inside of the rotating joint II through the screws II; the speed reducer II is connected with one end of the connecting shaft II; a main shaft at one end of the double-output-shaft motor is connected with the other end of the connecting shaft II through a coupling II;

the base comprises a rotating arm and a base, the rotating arm comprises a speed reducer III, a coupler III, a connecting shaft III, a bearing III and a rotating arm shell, and a driven gear of the speed reducer III is fixedly connected with a rotating joint II of the connecting arm through a shaft; the connecting shaft III is connected with a driving shaft of a speed reducer III through a coupling III, a bearing III is installed on the connecting shaft III, and the bearing III is fixed on the base; the speed reducer III comprises two eccentric crankshafts, an input shaft, two gear snap springs, two needle roller bearings I, two needle roller bearings II, two straight cylindrical gears II, an RV gear I, an RV gear II, two gaskets I, two gaskets II, two tapered roller bearings I, four tapered roller bearings II, a needle tooth shell, an angular contact bearing I, an angular contact bearing II, a planet carrier I, a planet carrier II, two bearing snap springs and an oil seal, wherein shaft teeth at one end of the eccentric crankshafts are fixed in center holes of the straight cylindrical gears II through the gear snap springs; the needle roller bearings I and II are respectively arranged on the eccentric parts of the eccentric crankshafts, and the two eccentric parts of the eccentric crankshafts are adjacent; two cylindrical straight gears II are meshed with the input shaft teeth; the RV gears I and II are respectively arranged on the needle roller bearings I and II and are adjacent to each other; a gasket I and a tapered roller bearing I are respectively arranged above the RV gear I; the needle gear shell is meshed with the RV gears I and II; the angular contact bearing I is arranged between the RV gear I and the cylindrical straight gear II and is fixed inside the pin gear shell, and a planet carrier I and an oil seal are sequentially arranged on the angular contact bearing I; a gasket II, a tapered roller bearing II, an angular contact bearing II and a planet carrier II are sequentially arranged below the RV gear II; a bearing snap spring is arranged on the surface of the tapered roller bearing II and is fixed in a hole of the planet carrier II, and the rotating arm can rotate by 360 degrees; the base comprises a motor III, a motor bracket III, a connecting shaft III, two bearings IV, a bearing V, a bearing VI, a worm gear II, a worm II, a pin and a base shell, wherein the connecting shaft III is provided with the worm gear II; the bearing IV is arranged on two sides of the worm gear II; the bearing V is connected with the connecting shaft III and fixed at the bottom of the base; the bearing VI is fixed on the side wall of the base through a pin; the worm II is matched with the bearing VI, one end of the worm II is meshed with the worm wheel II, and the other end of the worm II is meshed with the motor III; the motor III is connected with the motor bracket III through a screw; and the motor bracket III is connected with the side wall of the base through a screw.

2. A robot arm according to claim 1, wherein: the hand grip comprises six mechanical fingers, and the six mechanical fingers are equally divided on the lower clamping plate by 360 degrees; the surfaces of the first condyle and the second condyle of the mechanical finger are respectively provided with a pressure strain gauge and a rubber layer.

3. A robot arm according to claim 1, wherein: the curved surface gear support is provided with a first-stage shaft hole position connecting shaft, and the same end of the elastic corrugated pipe is provided with a second-stage shaft hole position connecting shaft.

4. A robot arm according to claim 1, wherein: reduction gear I be harmonic speed reducer ware, I main shaft of motor passes through the key-type connection with reduction gear I.

5. A robot arm according to claim 1, wherein: the speed reducer II is connected with the connecting shaft II through a key, and the structures of the two sides of the connecting arm are the same.

6. A robot arm according to claim 1, wherein: the rotating arm is connected with the base through a bolt.

7. A robot arm according to claim 1, wherein: the speed reducer III comprises two eccentric crankshafts, an input shaft, two gear snap springs, two needle roller bearings I, two needle roller bearings II, two straight cylindrical gears II, an RV gear I, an RV gear II, two gaskets I, two gaskets II, two tapered roller bearings I, two tapered roller bearings II, a needle tooth shell, an angular contact bearing I, an angular contact bearing II, a planet carrier I, a planet carrier II, two bearing snap springs and an oil seal, wherein shaft teeth of the eccentric crankshafts are fixed in center holes of the straight cylindrical gears II through the gear snap springs; the needle roller bearings I and II are respectively arranged on the eccentric parts of the eccentric crankshafts, and the two eccentric parts of the eccentric crankshafts are adjacent; two cylindrical straight gears II are meshed with the input shaft teeth; the RV gears I and II are arranged on the needle roller bearings I and II and are adjacent to each other; a gasket I and a tapered roller bearing I are respectively arranged above the RV gear I; the needle gear shell is meshed with the RV gears I and II; the angular contact bearing I is arranged between the RV gear I and the cylindrical straight gear II and is fixed inside the pin gear shell, and the planetary carrier I and the oil seal are sequentially arranged on the angular contact bearing; a gasket II, a tapered roller bearing II, an angular contact bearing II and a planet carrier II are sequentially arranged below the RV gear II; and a bearing snap spring is arranged on the surface of the conical roller bearing II, and the bearing snap spring is fixed in the hole of the planet carrier II.

8. A robot arm according to claim 7, wherein: the input shaft is a stepped shaft, shaft teeth are arranged above the shaft, a hollow shaft is arranged below the shaft, and a key groove is formed in the hollow shaft.

9. A robot arm according to claim 7, wherein: the two eccentric parts of the eccentric crankshaft are not concentric.

10. A robot arm according to claim 7, wherein: the tapered roller bearing I and the tapered roller bearing II are both mounted to the shaft of the non-eccentric portion of the eccentric crankshaft.