CN213197606U - Servo-driven mechanical arm device - Google Patents
Servo-driven mechanical arm device Download PDFInfo
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- CN213197606U CN213197606U CN202022217907.7U CN202022217907U CN213197606U CN 213197606 U CN213197606 U CN 213197606U CN 202022217907 U CN202022217907 U CN 202022217907U CN 213197606 U CN213197606 U CN 213197606U
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Abstract
The application relates to the field of arm, especially, relate to a servo drive's arm device, it includes main arm, fly jib, still including setting up the drive mechanism between main arm and fly jib, drive mechanism is including seting up in the inside installation cavity of fly jib, seting up in fly jib surface and intercommunication the perforation of installation cavity, set up in on the main arm and pass the perforation stretches into fixed axle, the fixed connection of installation cavity in fixed epaxial worm wheel, set up in servo motor on the fly jib, connect in servo motor and with worm wheel engaged with worm. This application has the effect of lifting arm joint slewing motion precision.
Description
Technical Field
The application relates to the field of mechanical arms, in particular to a servo-driven mechanical arm device.
Background
The mechanical arm is used for application occasions such as remote control, target detection and the like in a narrow and deep motion space, and is generally formed by serially connecting multiple sections of single mechanical arms through rotary joints and used as a supporting part of a tail end manipulator; in order to reduce the dead weight of a multi-section rotary mechanical arm and improve the motion obstacle avoidance capability and the tail end carrying capability of the multi-section rotary mechanical arm in a narrow and deep space, a telescopic cylinder is used for controlling a rotary motion driving mode of a mechanical arm joint to be applied more so far.
In view of the above related technologies, the inventor believes that, in the practical and practical process of the mechanical arm, because the precision of the telescopic cylinder for controlling the telescopic amount is low, the driving mode of the rotary motion cannot meet the requirement in some working scenes requiring high precision.
SUMMERY OF THE UTILITY MODEL
In order to promote the precision to arm joint rotary motion, this application provides a servo drive's arm device.
The application provides a servo drive's arm device adopts following technical scheme:
a servo-driven mechanical arm device comprises a main arm, an auxiliary arm and a transmission mechanism arranged between the main arm and the auxiliary arm, wherein the transmission mechanism comprises a mounting cavity arranged inside the auxiliary arm, a through hole arranged on the surface of the auxiliary arm and communicated with the mounting cavity, a fixed shaft arranged on the main arm and penetrating through the through hole to stretch into the mounting cavity, a worm wheel fixedly connected to the fixed shaft, a servo motor arranged on the auxiliary arm and a worm connected to the servo motor and meshed with the worm wheel.
Through adopting above-mentioned technical scheme, under the fixed axle, the worm wheel, worm and servo motor's cooperation, through servo motor drive worm rotation, make the worm under the cooperation of worm wheel, drive the sub-jib and wholly rotate, and drive the worm through servo motor, conveniently control the turned angle and the slew velocity of worm, precision when lifting machinery arm makes slewing motion, through the worm wheel, the auto-lock nature of worm, the relative rotational position between main arm and the sub-jib is injectd, increase the stability of motion between main arm and the sub-jib, and through the worm wheel, the great characteristic of transmission ratio between the worm, make servo motor rotate when driving the sub-jib for the main arm more accurate.
Preferably, the connecting device further comprises a connecting groove which is arranged on the inner wall of the through hole and extends circumferentially around the fixed shaft, and a connecting ring which is fixedly connected to the fixed shaft and is rotatably connected to the connecting groove.
By adopting the technical scheme, under the matching between the connecting groove and the connecting ring, the axial connection between the main arm and the auxiliary arm is limited and supported, so that the stability between the main arm and the auxiliary arm is improved.
Preferably, the surface of the connecting ring, which is close to the main arm, is provided with a rolling groove extending circumferentially around the fixed shaft, and a plurality of balls are uniformly arranged in the rolling groove circumferentially around the fixed shaft.
By adopting the technical scheme, under the matching among the connecting ring, the rolling groove, the ball and the inner wall, when the auxiliary arm rotates relative to the main arm, the sliding friction between the connecting ring and the inner wall of the connecting groove is converted into rolling friction through the ball, and the loss generated by the auxiliary arm during rotation is reduced.
Preferably, the main arm is provided with an adjusting hole along the axial direction of the fixed shaft, and an adjusting mechanism for adjusting and limiting the axial position of the fixed shaft is arranged in the adjusting hole.
By adopting the technical scheme, the adjusting mechanism is additionally arranged between the adjusting hole and the fixed shaft, so that when the mechanical arm is used in working environments with different heights, the axial distance between the main arm and the auxiliary arm can be changed through the adjusting mechanism, and the mechanical arm can adapt to different working environments.
Preferably, the adjusting mechanism includes a rotating groove which is provided on the surface of the main arm far away from the auxiliary arm and communicated with the adjusting hole, and an adjusting ring which is arranged in the rotating groove and coaxial with the adjusting hole in a rotating manner, the fixed shaft is slidably connected in the adjusting hole and in threaded connection with the inner wall of the adjusting ring, an axial limiting part is arranged between the adjusting ring and the inner wall of the rotating groove, and a circumferential limiting part is arranged between the adjusting hole and the fixed shaft.
By adopting the technical scheme, under the coordination among the adjusting ring, the fixed shaft, the axial limiting part and the circumferential limiting part, when the axial position of the fixed shaft relative to the main arm needs to be adjusted, the auxiliary arm is driven to move axially under the action of the circumferential limiting part by rotating the adjusting ring to be connected with the fixed shaft on the inner wall of the adjusting ring in a threaded manner so as to adjust the distance between the main arm and the auxiliary arm.
Preferably, the axial locating part includes set up in rotate inslot wall and around spacing groove, the fixed connection that adjustable ring circumference extends in the adjustable ring lateral wall just rotate connect in the spacing ring of spacing inslot.
Through adopting above-mentioned technical scheme, under the cooperation of spacing groove and spacing ring to the axial position between adjusting ring and the rotation inslot wall is injectd, and makes the adjustable ring rotate for the spacing groove.
Preferably, the circumferential limiting part comprises a sliding groove which is formed in the surface of the fixed shaft and extends axially along the fixed shaft, and a sliding block which is fixedly connected to the inner wall of the adjusting hole and is slidably connected to the sliding groove.
Through adopting above-mentioned technical scheme, under the cooperation of spout and slider to prescribe a limit to the circumferential direction position between fixed axle and the regulation hole, and make the fixed axle can carry out axial displacement for adjusting.
Preferably, the surface of the adjusting ring remote from the secondary arm is provided with a rib extending radially along the adjusting ring.
Through adopting above-mentioned technical scheme, through set up the bead on the adjustable ring to carry out the application of force to the adjustable ring.
In summary, the present application includes at least one of the following beneficial technical effects:
1. under the matching of the fixed shaft, the worm wheel, the worm and the servo motor, the rotation angle and the rotation speed of the worm are conveniently controlled, and the precision of the mechanical arm in the process of rotating motion is improved;
2. under the matching among the connecting ring, the rolling groove, the ball and the inner wall, when the auxiliary arm rotates relative to the main arm, the sliding friction between the connecting ring and the inner wall of the connecting groove is converted into rolling friction through the ball, so that the loss generated by the auxiliary arm during rotation is reduced;
3. the adjusting mechanism is additionally arranged between the adjusting hole and the fixed shaft, so that when the mechanical arm is used in working environments with different heights, the axial distance between the main arm and the auxiliary arm can be changed through the adjusting mechanism, and the mechanical arm can adapt to different working environments.
Drawings
Fig. 1 is a schematic view of the overall structure of the present embodiment.
Fig. 2 is a partial sectional view of the present embodiment.
Description of reference numerals: 1. a main arm; 2. an auxiliary arm; 3. a transmission mechanism; 4. an adjustment mechanism; 5. a mounting cavity; 6. perforating; 7. a fixed shaft; 8. a worm gear; 9. a servo motor; 10. a worm; 11. connecting grooves; 12. a connecting ring; 13. a rolling groove; 14. a ball bearing; 15. an adjustment hole; 16. a rotating groove; 17. an adjusting ring; 18. a rib; 19. an axial stop; 20. a limiting groove; 21. a limiting ring; 22. a circumferential limit piece; 23. a chute; 24. a slide block.
Detailed Description
The present application is described in further detail below with reference to figures 1-2.
The embodiment of the application discloses servo drive's arm device. Referring to fig. 1 and 2, a servo-driven mechanical arm device includes a main arm 1, an auxiliary arm 2, a transmission mechanism 3, and an adjusting mechanism 4, wherein the main arm 1 and the auxiliary arm 2 are both arranged in a kidney shape, the auxiliary arm 2 is hinged to the main arm 1 through the transmission mechanism 3 for controlling the rotation position of the auxiliary arm 2 relative to the main arm 1, and the adjusting mechanism 4 is arranged between the main arm 1 and the auxiliary arm 2 for controlling the distance between the main arm 1 and the auxiliary arm 2.
In order to increase the stability of supporting the auxiliary arm 2, the auxiliary arm further comprises a connecting groove 11 which is arranged on the inner wall of the through hole 6 and extends circumferentially around the fixed shaft 7, and a connecting ring 12 which is fixedly connected to the fixed shaft 7 and is rotatably connected into the connecting groove 11, a rolling groove 13 which extends circumferentially around the fixed shaft 7 is formed in the surface, close to the main arm 1, of the connecting ring 12, a plurality of balls 14 are uniformly arranged in the rolling groove 13 circumferentially around the fixed shaft 7, when the auxiliary arm 2 rotates relative to the main arm 1, sliding friction between the connecting ring 12 and the inner wall of the connecting groove 11 is converted into rolling friction through the balls 14, and loss generated when the auxiliary arm 2 rotates.
In order to facilitate the adjustment of the distance between the main arm 1 and the auxiliary arm 2, the main arm 1 is provided with an adjusting hole 15 along the axial direction of the fixing shaft 7, the adjusting hole 15 axially penetrates through the main arm 1 along the fixing shaft 7, the adjusting mechanism 4 comprises a rotating groove 16 which is arranged on the surface of the main arm 1 far away from the auxiliary arm 2 and is communicated with the adjusting hole 15, an adjusting ring 17 which is rotatably arranged in the rotating groove 16 and is coaxial with the adjusting hole 15, the fixing shaft 7 is slidably connected in the adjusting hole 15 and is in threaded connection with the inner wall of the adjusting ring 17, wherein the rotating groove 16 is annular and is coaxial with the adjusting hole 15, the surface of the adjusting ring 17 far away from the auxiliary arm 2 is provided with a convex rib 18 which radially extends along the adjusting ring 17, an axial limiting part 19 is arranged between the adjusting ring 17 and the inner wall of the rotating groove 16, the axial limiting part 19 comprises a limiting groove 20 which is arranged on the inner wall, under the cooperation of the limiting groove 20 and the limiting block, the axial relative position between the adjusting ring 17 and the rotating groove 16 is defined.
A circumferential limiting part 22 is arranged between the adjusting hole 15 and the fixing shaft 7, the circumferential limiting part 22 comprises a sliding groove 23 which is arranged on the surface of the fixing shaft 7 and extends along the axial direction of the fixing shaft 7, and a sliding block 24 which is fixedly connected to the inner wall of the adjusting hole 15 and is slidably connected in the sliding groove 23, and under the matching of the sliding groove 23 and the sliding block 24, the circumferential rotating position between the fixing shaft 7 and the adjusting hole 15 is limited.
The implementation principle of the servo-driven mechanical arm device in the embodiment of the application is as follows:
when the auxiliary arm 2 rotates relative to the main arm 1, the worm 10 is driven to rotate through the servo motor 9, the worm 10 drives the auxiliary arm 2 to integrally rotate under the cooperation of the worm wheel 8, the worm 10 is driven through the servo motor 9, the rotation angle and the rotation speed of the worm 10 are conveniently controlled, and the precision of the mechanical arm in rotary motion is improved.
When the distance between the auxiliary arm 2 and the main arm 1 needs to be adjusted, the adjusting ring 17 is rotated to enable the fixed shaft 7 which is in threaded connection with the inner wall of the adjusting ring 17 to drive the auxiliary arm 2 to move axially under the action of the circumferential limiting part 22, so that the distance between the main arm 1 and the auxiliary arm 2 is adjusted.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (8)
1. The utility model provides a servo driven robotic arm device, includes main arm (1), auxiliary arm (2), its characterized in that: still including setting up drive mechanism (3) between main arm (1) and fly jib (2), drive mechanism (3) including set up in installation cavity (5) inside fly jib (2), set up in fly jib (2) surface and intercommunication perforation (6) of installation cavity (5), set up in on main arm (1) and pass perforation (6) stretch into fixed axle (7) of installation cavity (5), fixed connection in worm wheel (8) on fixed axle (7), set up in servo motor (9) on fly jib (2), connect in servo motor (9) and with worm (10) that worm wheel (8) engaged with.
2. A servo driven robotic arm assembly as claimed in claim 1, wherein: the connecting device is characterized by further comprising a connecting groove (11) which is arranged on the inner wall of the through hole (6) and extends around the circumferential direction of the fixed shaft (7), and a connecting ring (12) which is fixedly connected with the fixed shaft (7) and is rotatably connected in the connecting groove (11).
3. A servo driven robotic arm assembly as claimed in claim 2, wherein: the surface, close to the main arm (1), of the connecting ring (12) is provided with a rolling groove (13) extending along the circumferential direction of the fixed shaft (7), and a plurality of balls (14) are uniformly arranged in the rolling groove (13) along the circumferential direction of the fixed shaft (7).
4. A servo driven robotic arm assembly as claimed in claim 1, wherein: the main arm (1) is provided with an adjusting hole (15) along the axial direction of the fixed shaft (7), and an adjusting mechanism (4) used for adjusting and limiting the axial position of the fixed shaft (7) is arranged in the adjusting hole (15).
5. A servo driven robotic arm assembly as claimed in claim 4, wherein: adjustment mechanism (4) including set up in the surface of auxiliary jib (2) is kept away from in main arm (1) and with communicating rotation groove (16) in regulation hole (15), rotate set up in rotate in groove (16) and be coaxial adjustable ring (17) with regulation hole (15), fixed axle (7) sliding connection in regulation hole (15) and threaded connection in adjustable ring (17) inner wall, adjustable ring (17) with be provided with axial locating part (19) between rotation groove (16) inner wall, regulation hole (15) with be provided with circumference locating part (22) between fixed axle (7).
6. A servo driven robotic arm assembly as claimed in claim 5, wherein: axial locating part (19) including set up rotate groove (16) inner wall and around spacing groove (20), the fixed connection that adjustable ring (17) circumference extends in adjustable ring (17) lateral wall and rotate connect in spacing ring (21) in spacing groove (20).
7. A servo driven robotic arm assembly as claimed in claim 5, wherein: the circumference locating part (22) comprises a sliding groove (23) which is arranged on the surface of the fixed shaft (7) and axially extends along the fixed shaft (7), and a sliding block (24) which is fixedly connected to the inner wall of the adjusting hole (15) and is slidably connected to the sliding groove (23).
8. A servo driven robotic arm assembly as claimed in claim 5, wherein: the surface of the adjusting ring (17) far away from the auxiliary arm (2) is provided with a convex rib (18) extending along the radial direction of the adjusting ring (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022217907.7U CN213197606U (en) | 2020-09-30 | 2020-09-30 | Servo-driven mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022217907.7U CN213197606U (en) | 2020-09-30 | 2020-09-30 | Servo-driven mechanical arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213197606U true CN213197606U (en) | 2021-05-14 |
Family
ID=75824930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022217907.7U Active CN213197606U (en) | 2020-09-30 | 2020-09-30 | Servo-driven mechanical arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213197606U (en) |
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2020
- 2020-09-30 CN CN202022217907.7U patent/CN213197606U/en active Active
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