CN217833657U - Multi-degree-of-freedom mechanical arm - Google Patents

Abstract

The utility model discloses a multi-degree-of-freedom mechanical arm, which comprises a bracket, a rotary table, a clamping jaw vertical adjusting mechanism, a moving arm, a clamping jaw horizontal adjusting mechanism and an electric clamping jaw, wherein the bracket is arranged on the rotary table; the clamping jaw vertical adjusting mechanism comprises a first speed reducing motor and a first lead screw mechanism, the first lead screw mechanism comprises a first lead screw and a first transmission nut, the first transmission nut is fixedly connected with the moving arm, and a horizontal guide rail is arranged on the first transmission nut; clamping jaw horizontal adjustment mechanism includes second gear motor, second lead screw mechanism and slide bar, and second lead screw mechanism includes second lead screw and second drive nut, and the second lead screw passes through the bearing to be installed on first drive nut, and the one end fixed connection of slide bar is on second drive nut, and the other end installation of slide bar the electronic clamping jaw, slide bar slidable mounting is in on the guided way. The utility model discloses an electronic clamping jaw is rotatable, horizontal migration and vertical removal to have the degree of freedom of a plurality of directions.

Description

Multi-degree-of-freedom mechanical arm

Technical Field

The utility model belongs to the robot field, more specifically relates to a multi freedom arm.

Background

As is well known, robots and equipment play more and more roles in helping human beings to produce and live, along with the development of science and technology, the types of robots and the industries used in the robots are more and more, and in the industries of mechanical manufacturing, metallurgy, electronics, light industry and the like, a lot of robots are used for replacing heavy labor of human beings.

The mechanical arm is the most important component of the robot, all the work of grabbing, carrying, clamping and the like is completed by the mechanical clamping jaw on the mechanical arm, and the mechanical arm with multiple degrees of freedom means that the working range of the mechanical arm is wider, the applicability is wider, so that the research and development of the mechanical arm with high degree of freedom become the most important part. The degree of freedom of the mechanical arm used at present is not much, and the mechanical arm generally only has the degree of freedom of moving up and down and the degree of freedom of rotation, and cannot meet the requirement of accurate positioning; or the degree of freedom is too much, such as the six-axis robot widely used at present, which can replace the human to complete more complicated procedures, but the price is high, and the time consumption of the programming and computer simulation process before the factory is long and the control is more complicated.

SUMMERY OF THE UTILITY MODEL

To the above defect or the improvement demand of prior art, the utility model provides a multi freedom arm, but simple structure, control convenience can let electric clamping jaw rotatory, horizontal migration and vertical removal, and electric clamping jaw self also can move moreover and come the clamp to get and loosen article for electric clamping jaw has a plurality of degrees of freedom.

In order to achieve the above object, according to an aspect of the present invention, there is provided a multi-degree-of-freedom mechanical arm, which is characterized by comprising a support, a rotary table, a clamping jaw vertical adjusting mechanism, a moving arm, a clamping jaw horizontal adjusting mechanism and an electric clamping jaw, wherein:

the bracket is arranged on the rotating platform and is used for driving the bracket to rotate around a vertical line;

the clamping jaw vertical adjusting mechanism comprises a first speed reducing motor and a first lead screw mechanism, the first speed reducing motor is mounted on the support, the first lead screw mechanism comprises a first lead screw and a first transmission nut which is mounted on the first lead screw in a penetrating mode, the first lead screw is vertically arranged, an output shaft of the first speed reducing motor is connected with the upper end of the first lead screw, the lower end of the first lead screw is rotatably mounted on the rotating table, the first transmission nut is fixedly connected with the moving arm, and a horizontal guide rail is arranged on the first transmission nut;

clamping jaw horizontal adjustment mechanism includes second gear motor, second lead screw mechanism and slide bar, second gear motor installs on the carriage arm, second lead screw mechanism includes the second lead screw and wears the dress and is in second drive nut on the second lead screw, second lead screw level sets up and installs through the bearing on the first drive nut, the one end fixed connection of slide bar is in on the second drive nut, the other end installation of slide bar electric clamping jaw, slide bar slidable mounting is in on the guided way.

Preferably, there are two sliding rods, and correspondingly, there are two guiding rails;

and each sliding rod comprises a push rod and a connecting rod which are fixedly connected together, the push rod is fixedly connected to the second transmission nut, and the connecting rod is provided with the electric clamping jaw.

Preferably, the sliding rod passes through the first transmission nut from a through hole on the first transmission nut.

Preferably, the revolving stage includes casing, third gear motor, worm gear mechanism, transmission shaft, bearing platform and rotating disc, third gear motor sets up in the casing, worm gear mechanism includes intermeshing's worm and worm wheel, the worm is connected third gear motor, the vertical setting of central line of worm wheel and the worm wheel with transmission shaft coaxial coupling, the top of casing sets up the bearing platform, rotating disc level sets up and passes through the bearing platform accepts, the upper end of transmission shaft is passed connect behind the bearing platform rotating disc, and the transmission shaft with bearing platform rotatable coupling, the last installation of rotating disc the lower extreme of support with the lower extreme of screw mechanism's lead screw, in order to be used for driving the support with screw mechanism rotates.

Preferably, the transmission shaft with bearing platform clearance fit, the top of bearing platform is provided with annular groove A, install many ball A in the annular groove A, the bottom of rotating disc is in the position that corresponds to annular groove A is provided with the annular groove B that is used for preventing these ball A from dropping, and all ball A all stretch into in the annular groove B.

Preferably, a protective cover is installed on the casing;

the top of rotating disc is provided with annular groove C, install many balls B in the annular groove C, the bottom of visor is in corresponding to the position of annular groove C is provided with the annular groove D that is used for preventing these balls B from dropping, and all balls B all stretch into in the annular groove D.

Preferably, the end of the moving arm far away from the screw rod is installed through an installation table on the electric clamping jaw, and the electric clamping jaw is detachably connected with the installation table.

Preferably, the device further comprises a plurality of guide rods, each guide rod is vertically arranged on the support, the moving arm comprises an arm body and a plurality of lug parts arranged on the arm body, and each lug part is movably arranged on one guide rod in a penetrating mode.

Preferably, the guide rail is integrally formed with the first drive nut.

Generally, through the utility model discloses above technical scheme who conceives compares with prior art, can gain following beneficial effect:

1) The utility model provides a mechanical arm, carriage arm and electric clamping jaw can drive through the revolving stage and rotate, and can adjust the height from top to bottom through first gear motor and first lead screw mechanism, through adjusting length about second gear motor and the second lead screw mechanism, electric clamping jaw self also can come the clamp to get and loosen article through the action moreover, and through the combination of these degrees of freedom, electric clamping jaw can be applicable to the clamp of article and get and carry in the whole operating space.

2) The utility model discloses a vertical removal and the horizontal migration of removal arm all drive through screw mechanism for electronic clamping jaw is accurate at the during operation location.

3) The utility model discloses an electronic clamping jaw and removal arm are through installation piece demountable installation, can press from both sides the difference of getting article and change different mechanical clamping jaw according to the institute, and it is very convenient to dismantle, change.

4) The utility model discloses a drive mechanism has adopted lead screw and the drive nut of lead screw mechanism to mutually support, can realize self-locking function for the carriage release arm can obtain the auto-lock, can protect gear motor, has increased arm overall structure's life.

4) The utility model discloses an independent control between a plurality of degrees of freedom can open alone and can make up at will again, provides the variety for the motion of arm.

5) The utility model discloses a be triangle-shaped between the drive nut of removal arm and two ears, make removal arm and electronic clamping jaw more stable in the motion process.

Drawings

Fig. 1 is an external structure diagram of the present invention;

FIG. 2 is a schematic structural view of the present invention after the moving arm and the support are moved;

fig. 3 is a cross-sectional view of the present invention;

fig. 4 is an exploded view of the actuator of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to 4, the multi-degree-of-freedom mechanical arm comprises a support 13, a rotary table, a clamping jaw vertical adjusting mechanism, a moving arm, a clamping jaw horizontal adjusting mechanism and an electric clamping jaw 42, wherein the moving arm comprises a motor mounting frame 24 and a mounting cover plate 23, and the motor mounting frame 24 is fixedly connected with the mounting cover plate 23, and the multi-degree-of-freedom mechanical arm comprises:

the bracket 13 is mounted on the rotating platform and is used for driving the bracket 13 to rotate around a vertical line; the rotary table may have an existing structure, as long as it can drive the support 13 to rotate 360 °.

The clamping jaw vertical adjusting mechanism comprises a first speed reducing motor and a first screw rod mechanism, the first speed reducing motor is installed on the support 13, the first screw rod mechanism comprises a first screw rod 15 and a first transmission nut 16 which is installed on the first screw rod 15 in a penetrating mode, the first screw rod 15 is vertically arranged, an output shaft of the first speed reducing motor is connected with the upper end of the first screw rod 15, the lower end of the first screw rod 15 is rotatably installed on the rotating platform, the first transmission nut 16 is fixedly connected with the moving arm, a horizontal guide rail 16-1 is arranged on the first transmission nut 16, and the guide rail 16-1 and the first transmission nut 16 are preferably integrally formed; specifically, the first speed reducing motor includes a first driving motor 11 and a first gear box 12, an input shaft of the first gear box 12 is connected to an output shaft of the first driving motor 11, and an output shaft of the first gear box 12 is connected to a first lead screw 15 of the first lead screw mechanism. The first gearbox 12 is flanged onto the support 13 and the inner teeth of the first drive nut 16 are intermeshed with the outer teeth of the first lead screw 15, which translates the rotation of the first lead screw 15 into a movement of the first drive nut 16. The first drive motor 11 allows the entire moving arm to have a degree of freedom of moving up and down. Still set up many guide arms 14 on the support 13, every guide arm 14 is all vertical to be set up on the support 13, the moving arm includes the arm body and sets up a plurality of ears 17 on the arm body, every ear 17 is worn the dress respectively in the activity on one on the guide arm 14, guide arm 14 can lead moving up and down of moving arm. The moving arm, the first drive nut 16 and the guide rail 16-1 are preferably integrally formed.

Clamping jaw horizontal adjustment mechanism includes second gear motor, second lead screw mechanism and slide bar, second gear motor installs on the motor mounting bracket 24 of shift arm, and installation apron 23 lid is in motor mounting bracket 24, including sealing second gear motor, second lead screw mechanism includes second lead screw 25 and wears the dress and is in second drive nut 26 on the second lead screw 25, second lead screw 25 level sets up and installs through bearing 15-1 on first drive nut 16, the one end fixed connection of slide bar is in on the second drive nut 26, the other end installation of slide bar electric clamping jaw 42, slide bar slidable mounting is in on the guided way 16-1. Specifically, the second reduction motor includes a second drive motor 21 and a second gear box 22, an input shaft of the second gear box 22 is connected to an output shaft of the second moving motor, and an output shaft of the second gear box 22 is connected to a second lead screw 25 of the second lead screw mechanism. The inner teeth of the second drive nut 26 intermesh with the outer teeth of the second lead screw 25, which translates rotation of the second lead screw 25 into movement of the second drive nut 26. The second driving motor 21 enables the second transmission nut 26 and the sliding rod to obtain the freedom degree of horizontal movement, and the sliding rod can slide left and right on the guide rail 16-1, so that the working range of the mechanical arm in the horizontal direction can be effectively expanded.

Further, two sliding rods are provided, and correspondingly, two guide rails 16-1 are also provided;

for each sliding rod, the sliding rod comprises a push rod 26 and a connecting rod 43 which are fixedly connected together, the push rod 26 and the connecting rod 43 are preferably fixedly connected together through a nut, the push rod 26 is fixedly connected to the second transmission nut 26, and the connecting rod 43 is provided with the electric clamping jaw 42. The two guide rails 16-1 and the two sliding rods which are arranged in the front and the back enable the electric clamping jaw 42 to move more stably.

Further, the sliding rod passes through the first transmission nut 16 from the through hole on the first transmission nut 16, and then is received by the guide rail 16-1 outside the first transmission nut 16.

Further, the revolving stage includes casing, third gear motor, worm wheel 33 worm 32 mechanism, transmission shaft 34, bearing platform 38-2 and rotating disc 36, third gear motor sets up in the casing, worm wheel 33 worm 32 mechanism includes intermeshing's worm 32 and worm wheel 33, worm 32 connects third gear motor, third gear motor sets up in the casing, third gear motor includes third driving motor 39 and third gear box 39-1, the mounting panel A that is provided with in the casing, third gear box 39-1 installs on the mounting panel A. An input shaft of the third gear box 39-1 is connected with an output shaft of the third driving motor 39, and an output shaft of the third gear box 39-1 is connected with the worm 32. The center line of the worm wheel 33 is vertically arranged and the worm wheel 33 is coaxially connected with the transmission shaft 34, the top end of the housing is provided with the bearing table 38-2, the rotating disc 36 is horizontally arranged and is received by the bearing table 38-2, the upper end of the transmission shaft 34 passes through the bearing table 38-2 and then is connected with the rotating disc 36, the transmission shaft 34 is rotatably connected with the bearing table 38-2, and the top end of the rotating disc 36 is provided with the bracket 13 for driving the bracket 13 to rotate. The third driving motor 39 is transversely arranged in the casing, the rear end of the third driving motor 39 is provided with an encoder, the front end of the third driving motor 39 is provided with a third gear box 39-1, and the third gear box 39-1 is fixedly arranged on a mounting plate A in the casing and is fixed through screws. The worm 32 extends from the through hole of the mounting plate a and is horizontally disposed within the housing. The worm wheel 33 and worm 32 mechanism has a self-locking function and is matched with the self-locking function of the lead screw mechanism, so that the electric clamping jaw is effectively prevented from shifting caused by uncontrollable factors. The third gear motor is meshed with the worm 32 through the worm wheel 33 to transmit staggered motion, and the rotating disc 36 is driven to rotate, so that the mechanical arm has rotational freedom. The rotation of the rotary disk 36 can drive the bracket 13 and the first speed reduction motor on the bracket 13, and the moving arm on the transmission nut to rotate.

The transmission shaft 34 is in clearance fit with the bearing table 38-2, an annular groove A is formed in the top end of the bearing table 38-2, a plurality of balls A35-1 are mounted in the annular groove A, an annular groove B for preventing the balls A35-1 from falling is formed in the position, corresponding to the annular groove A, of the bottom end of the rotary disc 36, all the balls A35-1 extend into the annular groove B, and friction between the rotary disc 36 and the bearing table 38-2 can be reduced through the balls A35-1. By adopting the ball A35-1, a bearing is not needed to be arranged between the transmission shaft 34 and the bearing platform 38-2, so that the transmission shaft 34, the rotating disc 36 and other parts are convenient to disassemble and assemble.

Further, a protective cover 38-1 is installed on the housing, an annular groove C is formed at the top end of the rotating disk 36, a plurality of balls B35-2 are installed in the annular groove C, an annular groove D for preventing the balls B35-2 from falling is formed at the bottom end of the protective cover 38-1 at a position corresponding to the annular groove C, and all the balls B35-2 extend into the annular groove D. The rotating disk 36 is protected by the protective cover 38-1, and the balls B35-2 reduce the frictional force between the protective cover 38-1 and the rotating disk 36. The housing includes a shell 38, a bottom cover 37 and a top cover 31, the bottom cover 37 receiving the shell 38 and the top cover 31. The housing 38 and the bottom cover 37 together enclose the third reduction motor therein. The protective cover 38-1 is preferably fixed to the housing 38 by screws, the top cover 31 is also preferably fixed to the housing 38 by screws, and the protective cover 38-1, the housing 38, the bottom cover 37, the top cover 31, etc. integrally enclose the rotating disk 36 and the driving mechanism such as the third reduction motor, etc. therein, so that the rotating table becomes an independent module.

Further, the moving arm is provided with the electric clamping jaw 42 through a mounting block, and the electric clamping jaw 42 is detachably connected with the mounting block 41. The electric clamping jaw 42 is fixedly arranged on the mounting block 41 through a screw, and the mounting block 41 is driven to move in the horizontal direction through a sliding rod, so that the electric clamping jaw 42 is more flexible in grabbing and moving.

The utility model discloses a first driving motor 11, second driving motor 21, third driving motor 39 and the clamp that is used for electric clamping jaw 42 indicate that the clamp that removes indicates that driving motor all has the encoder, and the gear box of adoption not only can reduce the rotational speed, can also increase torsion, improves the handling capacity of arm and enables the arm operation more steady. The first driving motor 11, the second driving motor 21, the third driving motor 39 and the electric clamping jaw 42 are driven independently and controlled independently without mutual interference, and can independently control the motion of the mechanical arm, so that the mechanical arm can clamp, clamp and loosen articles and can be combined randomly, and diversity is provided for the motion of the mechanical arm.

The utility model discloses driver of independent design is used for the drive first gear motor, second gear motor, third gear motor rotate and clamping jaw driving motor work, and the driver includes driver upper cover 51, PCB board 52 and mounting panel 53, driver upper cover 51 and PCB board 52 are all installed on the mounting panel 53, and driver upper cover 51 surrounds on the PCB board 52 to make PCB board 52 be located in the driver upper cover 51. The PCB 52 is fixedly arranged on the mounting plate 53 through four screws A50-2, the driver upper cover 51 and the mounting plate 53 are fixedly arranged through four screws B50-1, the PCB 52 is wrapped in the driver upper cover 51, the driver is integrally formed, and the position of the driver can be flexibly arranged. The driver can be arranged inside the top cover or outside the mechanical arm as a whole, and is used for driving and controlling the movement of the mechanical arm. The bottom cover 37 and the top cover 31 together enclose the drive inside.

The utility model discloses a working process as follows:

first driving motor 11 circular telegram back drives first lead screw 15 rotatory, if first lead screw 15 is the dextrorotation lead screw, then from last down sees, when first lead screw 15 anticlockwise rotation, first drive nut 16 moves down, drives whole moving arm and moves down, through circular telegram for electric clamping jaw 42, makes electric clamping jaw 42's clamp indicate to open and shut, can press from both sides the article of getting the low position, also can transport the article of eminence to the low position. When the first lead screw 15 rotates clockwise, the first transmission nut 16 moves upwards to drive the moving arm to move upwards integrally, so that articles at a lower position can be carried to a higher position, and articles at the higher position can be clamped to form a degree of freedom in the vertical direction. The guide rod 14 and the bracket 13 provide upper and lower limiting points for the transmission nut, so that the mechanical arm can only freely move up and down in the limiting points.

After the second driving motor 21 is powered on, the second lead screw 25 is driven to rotate, if the second lead screw 25 is a right-handed lead screw, when the second lead screw 25 rotates counterclockwise when looking left from the right, the second transmission nut 26 moves left to drive the push rod 26 connected with the second transmission nut 26 to move left, and further the connecting rod 43 connected with the push rod 26 is pushed to move left to enable the electric clamping jaw 42 to stretch out in the horizontal direction. Similarly, when the second lead screw 25 rotates clockwise, the second transmission nut 26 moves to the right, which drives the push rod 26 to move to the right, so that the electric clamping jaw 42 retracts. The shrinkage is controlled through the positive and negative rotation of the motor, so that the moving arm can carry articles in a horizontal plane. The second lead screw 25, the push rod 26 and the whole length of the connecting rod 43 form a limit point of a horizontal plane, so that the electric clamping jaw 42 can only move within the range of the limit point.

After the third driving motor 39 is powered on, the worm 32 is driven to rotate, the worm 32 rotates to drive the worm wheel 33 meshed with the worm to rotate, the worm wheel 33 rotates to drive the transmission shaft 34 fixedly mounted with the worm wheel 33 to rotate, and further the rotating disc 36 mounted at the upper end of the transmission shaft 34 is driven to rotate, the rotating disc 36 rotates to drive the moving arm to integrally rotate, so that the electric clamping jaw 42 can clamp and take articles in the limiting space and carry the articles to any position in the limiting space.

If the first lead screw 15 and the second lead screw 25 are left-handed lead screws, the movement of the first transmission nut 16 and the second transmission nut 26 is reversed.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (9)

1. The utility model provides a multi freedom arm, its characterized in that includes support, revolving stage, the vertical guiding mechanism of clamping jaw, carriage arm, clamping jaw horizontal adjustment mechanism and electronic clamping jaw, wherein:

the bracket is arranged on the rotating platform and is used for driving the bracket to rotate around a vertical line;

the clamping jaw vertical adjusting mechanism comprises a first speed reducing motor and a first lead screw mechanism, the first speed reducing motor is installed on the support, the first lead screw mechanism comprises a first lead screw and a first transmission nut which is installed on the first lead screw in a penetrating mode, the first lead screw is vertically arranged, an output shaft of the first speed reducing motor is connected with the upper end of the first lead screw, the lower end of the first lead screw is rotatably installed on the rotating platform, the first transmission nut is fixedly connected with the moving arm, and a horizontal guide rail is arranged on the first transmission nut;

clamping jaw horizontal adjustment mechanism includes second gear motor, second lead screw mechanism and slide bar, second gear motor installs on the carriage arm, second lead screw mechanism includes the second lead screw and wears the dress and is in second drive nut on the second lead screw, second lead screw level sets up and installs through the bearing on the first drive nut, the one end fixed connection of slide bar is in on the second drive nut, the other end installation of slide bar the electric clamping jaw, the slide bar slidable mounting be in on the guided way.

2. The multi-degree-of-freedom mechanical arm of claim 1, wherein there are two of the sliding rods and correspondingly two of the guide rails;

and each sliding rod comprises a push rod and a connecting rod which are fixedly connected together, the push rod is fixedly connected to the second transmission nut, and the connecting rod is provided with the electric clamping jaw.

3. The multi-degree-of-freedom robotic arm of claim 1, wherein the sliding rod passes through the first drive nut from a through hole in the first drive nut.

4. The multi-degree-of-freedom mechanical arm according to claim 1, wherein the rotating table comprises a housing, a third speed reduction motor, a worm and gear mechanism, a transmission shaft, a bearing table and a rotating disc, the third speed reduction motor is disposed in the housing, the worm and gear mechanism comprises a worm and a worm wheel which are meshed with each other, the worm is connected with the third speed reduction motor, a central line of the worm wheel is vertically disposed, the worm wheel is coaxially connected with the transmission shaft, the bearing table is disposed on a top end of the housing, the rotating disc is horizontally disposed and is supported by the bearing table, an upper end of the transmission shaft penetrates through the bearing table and is connected with the rotating disc, the transmission shaft is rotatably connected with the bearing table, and a lower end of the support and a lower end of a lead screw of the lead screw mechanism are mounted on the rotating disc to drive the support and the lead screw mechanism to rotate.

5. The MDOF mechanical arm as claimed in claim 4, wherein the shaft is in clearance fit with the bearing table, the bearing table has a circular groove A on the top, a plurality of balls A are installed in the circular groove A, the bottom of the rotating disk has a circular groove B at a position corresponding to the circular groove A for preventing the balls A from falling, and all the balls A extend into the circular groove B.

6. The MDOF robot arm of claim 4, wherein the housing has a protective cover mounted thereon;

the top of rotating disc is provided with annular groove C, install many balls B in the annular groove C, the bottom of visor is corresponding to annular groove C's position is provided with the annular groove D that is used for preventing these balls B from dropping, and all balls B all stretch into in the annular groove D.

7. The MDOF mechanical arm of claim 1, wherein the end of the moving arm away from the lead screw is provided with the electric clamping jaw through a mounting table, and the electric clamping jaw is detachably connected with the mounting table.

8. The multi-degree-of-freedom mechanical arm according to claim 1, further comprising a plurality of guide rods, wherein each guide rod is vertically arranged on the support, the moving arm comprises an arm body and a plurality of ear parts arranged on the arm body, and each ear part is movably arranged on one guide rod in a penetrating manner.

9. The MDOF robot arm of claim 1, wherein the guide rail is integrally formed with the first drive nut.

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