CN214569021U

CN214569021U - Simple mechanical arm

Info

Publication number: CN214569021U
Application number: CN202120696111.6U
Authority: CN
Inventors: 涂昶昶; 郭菁楠; 袁磊
Original assignee: Lanzhou University
Current assignee: Lanzhou University
Priority date: 2021-04-06
Filing date: 2021-04-06
Publication date: 2021-11-02
Anticipated expiration: 2031-04-06

Abstract

The utility model discloses a simple and easy arm relates to robotic arm technical field, including first big arm, first connecting hole has been seted up to one side outer wall of first big arm, the first spliced pole of the inner wall fixedly connected with of first connecting hole, the first flange bearing of one side outer wall fixedly connected with of first big arm, the big arm of outer wall fixedly connected with second of first flange bearing, the second connecting hole has been seted up to one side outer wall of the big arm of second, the inner wall fixedly connected with second spliced pole of second connecting hole, the outer wall fixedly connected with second flange bearing of the big arm of second, the first connecting arm of outer wall fixedly connected with of second flange bearing. Through connecting through flange bearing, can adopt 680 gold worker glue to laminate between the flange bearing, realized connecting convenient effect, solved because the connected mode is unstable, leaded to appearing the problem of damage easily and because the connected mode is complicated, leaded to the problem of being difficult for maintaining.

Description

Simple mechanical arm

Technical Field

The utility model relates to a robotic arm technical field especially relates to a simple and easy arm.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.

The three-axis mechanical arm disclosed in chinese patent CN110202566A utilizes each driving component of the electrically controlled three-axis arm to realize each function of horizontal rotation and vertical grabbing of the arm, which is not comparable to the traditional structure in terms of both motion precision and operation speed, and the arm has simple structure, easy maintenance and wide application range, however, the following problems still exist when the three-axis mechanical arm is used:

1. the problem of large load of the motor is caused because the weight of each mechanical arm is relatively heavy.

2. The connection mode is unstable, so that the problem of easy damage is caused.

3. The problem of difficult maintenance is caused by the complicated connection mode.

4. The problem of resource waste is caused by more materials used by each mechanical arm.

5. The problem of incomplete working efficiency is caused by the limited rotation angle of each mechanical arm.

6. Due to the complex design of the whole structure, the problem of complex angle calculation is caused.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a simple mechanical arm, which solves the problem that the load of a motor is large because the weight of each mechanical arm is relatively heavy; the problem of easy damage is caused due to unstable connection mode; the problem of difficult maintenance is caused by the complex connection mode; the problem of resource waste is caused by more materials used by each mechanical arm; the problem of incomplete working efficiency is caused by limited rotation angle of each mechanical arm; due to the complex design of the whole structure, the problem of complex angle calculation is caused.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a simple and easy arm, includes first big arm, first connecting hole has been seted up to one side outer wall of first big arm, the first connecting post of inner wall fixedly connected with of first connecting hole, the first flange bearing of one side outer wall fixedly connected with of first big arm, the big arm of outer wall fixedly connected with second of first flange bearing, the second connecting hole has been seted up to one side outer wall of the big arm of second, the inner wall fixedly connected with second connecting post of second connecting hole, the outer wall fixedly connected with second flange bearing of the big arm of second, the first connecting arm of outer wall fixedly connected with of second flange bearing.

Preferably, the outer wall fixedly connected with tripod of first flange bearing, the outer wall fixedly connected with third flange bearing of tripod, the outer wall fixedly connected with second linking arm of third flange bearing, the outer wall fixedly connected with fourth flange bearing of tripod, the outer wall fixedly connected with third linking arm of fourth flange bearing, the outer wall fixedly connected with fifth flange bearing of third linking arm, the outer wall fixedly connected with sixth flange bearing of the big arm of second, the outer wall fixedly connected with claw platform of fifth flange bearing and sixth flange bearing.

Preferably, the outer wall of the first connecting arm is fixedly connected with a seventh flange bearing, the outer wall of the seventh flange bearing is fixedly connected with a small arm, the inner wall of the small arm is rotatably connected with a rotating shaft, and the outer wall of one side of the small arm is fixedly connected with a first transmission gear.

Preferably, the outer wall of first drive gear is provided with first drive gear, first drive gear tooth meshes with the tooth of first rotating gear mutually, the outer wall of axis of rotation rotates and is connected with second drive gear, the outer wall fixed connection of one side outer wall and the first big arm of second drive gear, second drive gear's outer wall is provided with second rotating gear, second drive gear tooth meshes with the tooth of second rotating gear mutually.

Preferably, the outer wall fixedly connected with base of axis of rotation, the outer wall fixedly connected with first motor and the second motor of base, the inner wall bottom fixedly connected with rolling disc of base, the bottom outer wall fixedly connected with third motor of rolling disc.

Preferably, the output end of the first motor is fixedly connected with the outer wall of one side of the first rotating gear, and the output end of the second motor is fixedly connected with the outer wall of one side of the second rotating gear.

Compared with the prior art, the utility model provides a pair of simple and easy arm has following beneficial effect:

1. the utility model provides a simple and easy arm connects through flange bearing, can adopt 680 gold worker glue to laminate between the flange bearing, has realized connecting convenient effect, has solved because the connected mode is unstable, has leaded to appearing the problem of damage easily and because the connected mode is complicated, has leaded to the problem that is difficult for maintaining.

2. The utility model provides a simple and easy arm, it rotates to drive the rolling disc through the third motor, thereby realize 360 rotations of arm, rotate through the second motor, rotation between the adjacent gear, realize the rotation of first big arm, carry out the motion of angle, rotate through first motor, volume between the adjacent gear rotates, it rotates to drive the forearm, carry out radial motion, can cover most region on the perpendicular, thereby make and to drive the arm and reach all limit angles in the space, the effect that control is simple has been realized, solved because every arm turned angle is limited, the incomplete problem of work efficiency has been led to.

3. The utility model provides a simple and easy arm makes the claw platform can receive the mechanics restriction of two armed levers through the linking arm to reach fixed angle unchangeable, design suitable claw platform mechanism can make the gripper remain the horizontality throughout, be applicable to balanced clamp and get the sight, solved because the weight of every arm is comparatively heavy relatively, has leaded to the big problem of load of motor.

4. The utility model provides a simple and easy arm is the platelike material of fretwork through all assembly parts, allows the veneer cutting preparation, and it is very convenient to produce, and the cost is extremely low, has solved because the used material of every arm is more, has leaded to the problem of wasting of resources.

5. The utility model provides a simple and easy arm can solve all coordinates in the plane through two drive joint angles, and the analytic very convenient clarity of motion has solved because overall structure designs complicacy, has leaded to the problem that the angle calculation is complicated.

Drawings

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

fig. 2 is a schematic structural view of the first large arm of the present invention;

FIG. 3 is a schematic view of the structure of the small arm of the present invention;

fig. 4 is a schematic view of a partial structure of the present invention.

In the figure: 1. a first large arm; 2. a first connection hole; 3. a first connecting column; 4. a first flange bearing; 5. a second large arm; 6. a second connection hole; 7. a second connecting column; 8. a second flange bearing; 9. a first connecting arm; 10. a tripod; 11. a third flange bearing; 12. a second connecting arm; 13. a fourth flange bearing; 14. a third connecting arm; 15. a fifth flange bearing; 16. a sixth flange bearing; 17. a claw table; 18. a seventh flange bearing; 19. a small arm; 20. a rotating shaft; 21. a first drive gear; 22. a first rotating gear; 23. a second transmission gear; 24. a second rotating gear; 25. a base; 26. a first motor; 27. a second motor; 28. rotating the disc; 29. a third motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments; based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The first embodiment is as follows:

referring to fig. 1-4, the present invention provides a technical solution: a simple mechanical arm comprises a first big arm 1, a first connecting hole 2 is arranged on the outer wall of one side of the first big arm 1, a first connecting column 3 is fixedly connected to the inner wall of the first connecting hole 2, a first flange bearing 4 is fixedly connected to the outer wall of one side of the first big arm 1, a second big arm 5 is fixedly connected to the outer wall of the first flange bearing 4, a second connecting hole 6 is arranged on the outer wall of one side of the second big arm 5, a second connecting column 7 is fixedly connected to the inner wall of the second connecting hole 6, a second flange bearing 8 is fixedly connected to the outer wall of the second big arm 5, a first connecting arm 9 is fixedly connected to the outer wall of the second flange bearing 8, a seventh flange bearing 18 is fixedly connected to the outer wall of the first connecting arm 9, a small arm 19 is fixedly connected to the outer wall of the seventh flange bearing 18, a rotating shaft 20 is rotatably connected to the inner wall of the small arm 19, a first transmission gear 21 is fixedly connected to the outer wall of one side of the small arm 19, the outer wall of the first transmission gear 21 is provided with a first rotating gear 22, teeth of the first transmission gear 21 are meshed with teeth of the first rotating gear 22, the outer wall of the rotating shaft 20 is rotatably connected with a second transmission gear 23, the outer wall of one side of the second transmission gear 23 is fixedly connected with the outer wall of the first large arm 1, the outer wall of the second transmission gear 23 is provided with a second rotating gear 24, teeth of the second transmission gear 23 are meshed with teeth of the second rotating gear 24, the outer wall of the rotating shaft 20 is fixedly connected with a base 25, the outer wall of the base 25 is fixedly connected with a first motor 26 and a second motor 27, the bottom of the inner wall of the base 25 is fixedly connected with a rotating disc 28, the outer wall of the bottom of the rotating disc 28 is fixedly connected with a third motor 29, the output end of the first motor 26 is fixedly connected with the outer wall of one side of the first rotating gear 22, and the output end of the second motor 27 is fixedly connected with the outer wall of one side of the second rotating gear 24.

In the embodiment, the flange bearings are connected, 680 metalwork glue can be adopted between the flange bearings for laminating, the effect of convenient connection is realized, the problems that the flange bearings are easy to damage due to unstable connection mode and the flange bearings are difficult to maintain due to complex connection mode are solved, the rotating disc 28 is driven to rotate through the third motor 29, so that the mechanical arms rotate for 360 degrees, the first big arm 1 is rotated to perform angular motion through the rotation of the second motor 27 and the rotation of the adjacent gears, the small arm 19 is driven to rotate to perform radial motion through the rotation of the first motor 26 and the rotation of the adjacent gears, most regions on the vertical plane can be covered, so that the mechanical arms can be driven to reach all limit angles in the space, the effect of simple control is realized, and the problem that the rotation angle of each mechanical arm is limited is solved, resulting in a problem of incomplete work efficiency.

Example two:

referring to fig. 1-4, based on the first embodiment, the present invention provides a technical solution: outer wall fixedly connected with tripod 10 of first flange bearing 4, the outer wall fixedly connected with third flange bearing 11 of tripod 10, the outer wall fixedly connected with second linking arm 12 of third flange bearing 11, the outer wall fixedly connected with fourth flange bearing 13 of tripod 10, the outer wall fixedly connected with third linking arm 14 of fourth flange bearing 13, the outer wall fixedly connected with fifth flange bearing 15 of third linking arm 14, the outer wall fixedly connected with sixth flange bearing 16 of the big arm 5 of second, the outer wall fixedly connected with claw platform 17 of fifth flange bearing 15 and sixth flange bearing 16.

In the embodiment, the claw table 17 can be limited by the mechanics of the two arm rods through the connecting arm, so that the fixed angle is unchanged, the mechanical claw can be always kept in a horizontal state by designing a proper claw table 17 mechanism, the balanced clamping scene is suitable, the problem of large load of a motor due to the fact that the weight of each mechanical arm is relatively heavy is solved, all assembly parts are made of hollow plate-shaped materials, a single plate is allowed to be cut and manufactured, the production is very convenient and fast, the cost is extremely low, and the problem of resource waste due to the fact that more materials are used by each mechanical arm is solved, the arm gap of the robot is connected by using an M3 stud to achieve strength, the whole set of structure is extremely simple, all coordinates in a plane can be solved by only two driving joint angles, the motion analysis is very convenient and clear, and the problem of complex angle calculation caused by complex overall structure design is solved.

The working principle is as follows: the device is moved to a working area, all parts are connected through flange bearings, 680 metalwork glue can be adopted between the flange bearings for laminating, the effect of convenient connection is realized, the problems that the parts are easy to damage due to unstable connection mode and the parts are difficult to maintain due to complex connection mode are solved, the rotating disc 28 is driven to rotate through the third motor 29, so that 360-degree rotation of the mechanical arm is realized, the rotation of the first big arm 1 is realized through the rotation of the second motor 27 and the rotation of the adjacent gears, the angular motion is carried out, the rotation of the adjacent gears through the rotation of the first motor 26 drives the small arm 19 to rotate for radial motion, most areas on a vertical plane can be covered, the mechanical arm can be driven to reach all limit angles in the space, the effect of simple control is realized, and the problem that the rotation angle of each mechanical arm is limited is solved, the problem of incomplete working efficiency is caused, the claw table 17 can be limited by the mechanics of two arm rods through the connecting arm, therefore, the fixed angle is unchanged, the mechanical claw can be always kept in a horizontal state by designing a proper claw table 17 mechanism, the mechanical claw is suitable for a balanced clamping scene, the problem of large load of a motor caused by the relatively heavy weight of each mechanical arm is solved, all assembly parts are made of hollow plate-shaped materials, a single plate is allowed to be cut and manufactured, the production is very convenient and fast, the cost is extremely low, the problem of resource waste caused by more materials used by each mechanical arm is solved, the arm gap of the robot is connected by using an M3 stud to achieve strength, the whole set of structure is extremely simple, all coordinates in a plane can be solved by only two driving joint angles, the motion analysis is very convenient and clear, and the problem of complex angle calculation caused by complex overall structure design is solved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A simple mechanical arm comprises a first big arm (1), and is characterized in that: first connecting hole (2) have been seted up to one side outer wall of first big arm (1), the first connecting post of inner wall fixedly connected with (3) of first connecting hole (2), the first flange bearing of one side outer wall fixedly connected with (4) of first big arm (1), the big arm of outer wall fixedly connected with second (5) of first flange bearing (4), second connecting hole (6) have been seted up to one side outer wall of the big arm of second (5), the inner wall fixedly connected with second spliced pole (7) of second connecting hole (6), the outer wall fixedly connected with second flange bearing (8) of the big arm of second (5), the first connecting arm of outer wall fixedly connected with (9) of second flange bearing (8).

2. The mechanical arm as claimed in claim 1, wherein: the outer wall fixedly connected with tripod (10) of first flange bearing (4), the outer wall fixedly connected with third flange bearing (11) of tripod (10), the outer wall fixedly connected with second linking arm (12) of third flange bearing (11), the outer wall fixedly connected with fourth flange bearing (13) of tripod (10), the outer wall fixedly connected with third linking arm (14) of fourth flange bearing (13), the outer wall fixedly connected with fifth flange bearing (15) of third linking arm (14), the outer wall fixedly connected with sixth flange bearing (16) of the big arm of second (5), the outer wall fixedly connected with claw platform (17) of fifth flange bearing (15) and sixth flange bearing (16).

3. The mechanical arm as claimed in claim 1, wherein: the outer wall fixedly connected with seventh flange bearing (18) of first linking arm (9), the outer wall fixedly connected with forearm (19) of seventh flange bearing (18), the inner wall of forearm (19) rotates and is connected with axis of rotation (20), one side outer wall fixedly connected with first drive gear (21) of forearm (19).

4. A simple mechanical arm as claimed in claim 3, wherein: the outer wall of first drive gear (21) is provided with first rotating gear (22), first drive gear (21) tooth meshes with the tooth of first rotating gear (22) mutually, the outer wall of axis of rotation (20) rotates and is connected with second drive gear (23), the outer wall fixed connection of one side outer wall and first big arm (1) of second drive gear (23), the outer wall of second drive gear (23) is provided with second rotating gear (24), second drive gear (23) tooth meshes with the tooth of second rotating gear (24) mutually.

5. The mechanical arm as claimed in claim 4, wherein: the outer wall fixedly connected with base (25) of axis of rotation (20), the outer wall fixedly connected with first motor (26) and second motor (27) of base (25), the inner wall bottom fixedly connected with rolling disc (28) of base (25), the bottom outer wall fixedly connected with third motor (29) of rolling disc (28).

6. The mechanical arm as claimed in claim 5, wherein: the output end of the first motor (26) is fixedly connected with the outer wall of one side of the first rotating gear (22), and the output end of the second motor (27) is fixedly connected with the outer wall of one side of the second rotating gear (24).