CN216967833U

CN216967833U - Multi-degree-of-freedom mechanical arm

Info

Publication number: CN216967833U
Application number: CN202220642423.3U
Authority: CN
Inventors: 邓海龙; 王成军
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2022-03-23
Filing date: 2022-03-23
Publication date: 2022-07-15
Anticipated expiration: 2032-03-23

Abstract

The utility model discloses a multi-degree-of-freedom mechanical arm, which relates to the field of mechanical arms and comprises an installation seat, wherein a rotating seat is rotatably installed on one side of the installation seat, an electric push rod is fixedly installed on one side of the rotating seat, a rotating shaft is rotatably installed on one side of the installation seat, a rotating sleeve is movably sleeved on the rotating shaft, and a first servo motor is fixedly installed on one side of the rotating sleeve. According to the utility model, the structural design is ingenious, the mechanical arm is fixed through the mounting seat, the mechanical arm respectively simulates the large arm and the small arm of a human arm through the two rocker arms, the connecting rod is driven to move according to an arc track through the electric push rod, so that the direction of the output shaft of the first servo motor is driven to face, meanwhile, the first rocker arm is driven to rotate for a certain angle through the rotation of the first servo motor, and through the design of the first planetary reducer, the transmission ratio of the first servo motor and the first rocker arm can be adjusted, so that the rotation torque is improved, and the rotation speed is reduced.

Description

Multi-degree-of-freedom mechanical arm

Technical Field

The utility model relates to the field of mechanical arms, in particular to a multi-degree-of-freedom mechanical arm.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, and has been widely applied to the fields of industrial assembly, safety explosion prevention and the like due to the unique operation flexibility.

In the prior art, mechanical arms are various, most of mechanical arms are generally composed of motors, encoders and rotating arms, servo motors are driven through control programs, the multi-degree-of-freedom mechanical arm is provided, the mechanical arm simulates large arms and small arms of human arms through two rocker arms respectively, human working states can be simulated in the working process, the multi-degree-of-freedom mechanical arm is suitable for simple working conditions, a machining station with high programming speed requirement is simple in structure, a mounting plate is arranged, the multi-degree-of-freedom mechanical arm is suitable for being mounted on various devices, meanwhile, the multi-degree-of-freedom mechanical arm can be mounted on an automatic assembly line, manpower and material resources are reduced, and the practicability is high.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a multi-degree-of-freedom mechanical arm to solve the problem that a traditional mechanical arm is difficult to intuitively simulate the working state of a human in the working process.

Preferably, one side of mount pad is rotated and is installed and rotate the seat, one side fixed mounting who rotates the seat has electric putter, one side of mount pad is rotated and is installed the axis of rotation, the rotation cover has been cup jointed in the activity in the axis of rotation, one side fixed mounting who rotates the cover has first servo motor, one side fixed mounting of first servo motor has the mounting flange board, first circular through-hole has been seted up on the mounting flange board, first servo motor's output shaft runs through first circular through-hole and install first planetary reducer, the first rocking arm of one side fixedly connected with of the slow-speed axle of first planetary reducer, the one end fixed mounting of first rocking arm has the second servo motor.

Preferably, one side of the first servo motor is fixedly provided with a connecting rod, the connecting rod is movably sleeved with a push ring, and one side of the push ring is fixedly connected to one end of the electric push rod.

Preferably, a barrel sleeve is fixedly mounted at one end of the second servo motor, a second circular through hole is formed in one end of the barrel sleeve, an output shaft of the second servo motor penetrates through the second circular through hole and is fixedly connected with a second planetary reducer, a micro motor is fixedly mounted at the slow end of the second planetary reducer, a positioning frame is fixedly mounted at the slow end of the second planetary reducer, and a positioning shaft is fixedly mounted on the positioning frame.

Preferably, the positioning shaft is movably sleeved with a gearwheel, and the output shaft of the micro motor is fixedly sleeved with a pinion.

Preferably, a second rocker arm is fixedly mounted on one side of the large gear.

Preferably, a clamp mounting plate is fixedly mounted at one end of the second rocker arm.

Preferably, the pinion gear and the bull gear are engaged.

In conclusion, the technical effects and advantages of the utility model are as follows:

1. according to the utility model, the structural design is ingenious, the mechanical arm is fixed through the mounting seat, the mechanical arm respectively simulates the large arm and the small arm of a human arm through the two rocker arms, the connecting rod is driven to move according to an arc track through the electric push rod, so that the direction of the output shaft of the first servo motor is driven to face, meanwhile, the first rocker arm is driven to rotate for a certain angle through the rotation of the first servo motor, and through the design of the first planetary reducer, the transmission ratio of the first servo motor and the first rocker arm can be adjusted, so that the rotation torque is improved, and the rotation speed is reduced.

2. The mechanical transmission is stable, the rotating torque is improved and the rotating speed is reduced through the design of the small gear and the large gear, and the clamp mounting plate is suitable for fixedly mounting various clamps.

Drawings

FIG. 1 is a schematic perspective view of a multi-degree of freedom mechanical arm according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of another perspective view of a multi-degree of freedom robotic arm in an embodiment of the present application;

FIG. 3 is an enlarged view of the structure at A in FIG. 1;

fig. 4 is a schematic top view of a multi-degree of freedom mechanical arm according to an embodiment of the present disclosure.

In the figure: 1. a mounting seat; 2. a rotating seat; 3. an electric push rod; 4. a rotating shaft; 5. rotating the sleeve; 6. a first servo motor; 7. fixing the flange plate; 8. a first planetary reducer; 9. a first rocker arm; 10. a second servo motor; 11. a barrel sleeve; 12. a micro motor; 13. a positioning frame; 14. a bull gear; 15. a second rocker arm; 16. a clamp mounting plate; 17. and (4) connecting the rods.

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 a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example (b): referring to fig. 1-4, a multi-degree-of-freedom mechanical arm includes a mounting base 1, and is characterized in that: one side of the mounting seat 1 is rotatably provided with a rotating seat 2, one side of the rotating seat 2 is fixedly provided with an electric push rod 3, a rotating shaft 4 is rotatably arranged on one side of the mounting seat 1, a rotating sleeve 5 is movably sleeved on the rotating shaft 4, a first servo motor 6 is fixedly arranged on one side of the rotating sleeve 5, a fixed flange plate 7 is fixedly arranged on one side of the first servo motor 6, a first circular through hole is arranged on the fixed flange plate 7, an output shaft of the first servo motor 6 penetrates through the first circular through hole and is provided with a first planetary reducer 8, one side of the slow shaft of the first planetary reducer 8 is fixedly connected with a first rocker arm 9, one end of the first rocker arm 9 is fixedly provided with a second servo motor 10, the second servo motor 10 and the first servo motor 6 are controlled by a control system, and the control system sends pulses to control the rotation angle.

Further, in the above scheme, a connecting rod 17 is fixedly mounted on one side of the first servo motor 6, a push ring is movably sleeved on the connecting rod 17, one side of the push ring is fixedly connected to one end of the electric push rod 3, and the design of the electric push rod 3 increases the degree of freedom in one direction.

Further, in the above scheme, one end of the second servo motor 10 is fixedly provided with a barrel sleeve 11, one end of the barrel sleeve 11 is provided with a second circular through hole, an output shaft of the second servo motor 10 penetrates through the second circular through hole and is fixedly connected with a second planetary reducer, a micro motor 12 is fixedly installed at the slow end of the second planetary reducer, a positioning frame 13 is fixedly installed at the slow end of the second planetary reducer, a positioning shaft is fixedly installed on the positioning frame 13, and the positioning support function is realized through the design of the positioning frame 13.

Further, in the above scheme, the positioning shaft is movably sleeved with a large gear 14, an output shaft of the micro motor 12 is fixedly sleeved with a small gear, and mechanical energy can be transmitted through gear engagement by the design of the small gear.

Further, in the above solution, a second swing arm 15 is fixedly installed on one side of the large gear 14, and the rotation of the second swing arm 15 simulates the small arm of the human arm.

Further, in the above-mentioned scheme, a clamp mounting plate 16 is fixedly mounted at one end of the second swing arm 15, and the function of fixedly mounting the workpiece clamp is realized through the design of the clamp mounting plate 16.

Further, in the above scheme, the pinion is meshed with the gearwheel 14, and by the design of the pinion and the gearwheel 14, a certain torque can be increased, and the load capacity of the equipment is improved.

This practical theory of operation:

in the utility model, a mechanical arm is fixed by a mounting seat 1, the mechanical arm respectively simulates a big arm and a small arm of a human arm by two rocker arms, a connecting rod 17 is driven by an electric push rod 3 to move according to an arc track, so that the direction of an output shaft of a first servo motor 6 is driven, meanwhile, a first rocker arm 9 is driven to rotate for a certain angle by the rotation of the first servo motor 6, through the design of a first planetary reducer 8, the transmission ratio of the first servo motor 6 and the first rocker arm 9 can be adjusted, so that the rotation torque is improved, the rotation speed is reduced, through the design of a small gear and a big gear 14, the rotation torque is improved, the rotation speed is reduced, through the design of a clamp mounting plate 16, the utility model is suitable for fixedly mounting various clamps, the utility model can simulate the working state of human in the working process, is suitable for simple working condition, has fast programming speed requirement, and has simple structure, the mounting seat 1 is suitable for being mounted on various devices, and can be mounted on an automatic assembly line, so that manpower and material resources are reduced, and the practicability is high.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the utility model.

Claims

1. A multi freedom arm, includes mount pad (1), its characterized in that: a rotating seat (2) is rotatably arranged at one side of the mounting seat (1), an electric push rod (3) is fixedly arranged at one side of the rotating seat (2), a rotating shaft (4) is rotatably arranged on one side of the mounting seat (1), a rotating sleeve (5) is movably sleeved on the rotating shaft (4), a first servo motor (6) is fixedly arranged on one side of the rotating sleeve (5), a fixed flange plate (7) is fixedly arranged on one side of the first servo motor (6), a first circular through hole is arranged on the fixed flange plate (7), an output shaft of the first servo motor (6) penetrates through the first circular through hole and is provided with a first planetary reducer (8), one side of a slow speed shaft of the first planetary reducer (8) is fixedly connected with a first rocker arm (9), and a second servo motor (10) is fixedly arranged at one end of the first rocker arm (9).

2. The multi-degree-of-freedom robotic arm of claim 1, wherein: one side fixed mounting of first servo motor (6) has connective bar (17), the movable sleeve joint has pushed away the ring on connective bar (17), one side fixed connection of pushing away the ring in the one end of electric putter (3).

3. The multi-degree-of-freedom robotic arm of claim 1, wherein: one end fixed mounting of second servo motor (10) has barrel casing (11), the circular through-hole of second has been seted up to the one end of barrel casing (11), the output shaft of second servo motor (10) runs through the circular through-hole of second and fixedly connected with second planetary reducer, the slow speed fixed mounting of second planetary reducer has micro motor (12), the slow speed fixed mounting of second planetary reducer has locating rack (13), fixed mounting has the location axle on locating rack (13).

4. The multi-degree-of-freedom robotic arm of claim 3, wherein: the positioning shaft is movably sleeved with a large gear (14), and an output shaft of the micro motor (12) is fixedly sleeved with a small gear.

5. The multi-degree-of-freedom robotic arm of claim 4, wherein: and a second rocker arm (15) is fixedly arranged on one side of the large gear (14).

6. The multi-degree-of-freedom robotic arm of claim 5, wherein: and a clamp mounting plate (16) is fixedly mounted at one end of the second rocker arm (15).

7. The multi-degree-of-freedom robotic arm of claim 4, wherein: the pinion gear is meshed with the gearwheel (14).