CN218639681U - Direct-drive multi-shaft mechanical arm - Google Patents
Direct-drive multi-shaft mechanical arm Download PDFInfo
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- CN218639681U CN218639681U CN202222454433.7U CN202222454433U CN218639681U CN 218639681 U CN218639681 U CN 218639681U CN 202222454433 U CN202222454433 U CN 202222454433U CN 218639681 U CN218639681 U CN 218639681U
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- 238000003780 insertion Methods 0.000 claims abstract description 20
- 230000037431 insertion Effects 0.000 claims abstract description 20
- 210000000078 claw Anatomy 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 abstract description 17
- 230000005484 gravity Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 244000309464 bull Species 0.000 description 2
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Abstract
The utility model provides a directly drive multiaxis arm relates to arm technical field, include: installing a base; an auxiliary chute is arranged in the middle of the top end face of the mounting base; the auxiliary chute is internally and slidably connected with a mounting rack; the top end surface of the mounting rack is fixedly connected with a mounting table; a first mechanical arm is rotationally connected in the mounting table; the left end face of the mounting table is connected with a driving motor in a fastening mode through a bolt. The movable frame is inserted into the supporting seat, so that the limiting insertion rod drives the limiting fixing ball to slide in the movable sliding groove, when the limiting fixing ball slides to the position of the limiting insertion groove, the limiting insertion rod resets along with the resilience of the return spring, the limiting fixing ball is inserted into the limiting insertion groove to limit and fix the movable frame, the mechanical claw is installed on the direct-drive multi-shaft mechanical arm, and the problem that in the disassembling process, workers need to disassemble multiple bolts, the disassembling operation is complex, and meanwhile the labor intensity of the workers is high is solved.
Description
Technical Field
The utility model relates to an arm technical field, in particular to directly drive multiaxis arm.
Background
Along with social development and technological progress, in the process of assembling the parts in the industrial assembly field, the direct-drive multi-shaft mechanical arm is generally used for clamping and fixing the workpieces so as to facilitate the assembly of the workpieces by workers.
For example, application number is CN 202022271685.7's utility model discloses a manipulator, specifically include the fixing base, four screws have all been seted up to the top avris of fixing base, the middle part fixed mounting on fixing base top has lower rotary disk, the top cover of lower rotary disk is equipped with upper rotary disk, the battery is installed to one side of lower rotary disk, lower rotary disk inner wall installs the meshing gear, upper rotary disk top middle part fixed mounting's a servo motor, a servo motor's transmission end fixed mounting has the bull stick, the one end fixed mounting of bull stick has the running gear. This scheme is through mutually supporting of first servo motor and drive gear for rotate each other between last driving disk and the lower driving disk, the first arm on the second servo motor of being convenient for and the first rotation joint carries out the horizontally rotation adjustment, rotates the joint through third servo motor's rotation to the second and adjusts, makes second arm adjustment electric telescopic handle stretch out and draw back, and the arm of being convenient for is to snatching of article, improves mechanical joint rotation flexibility ratio.
However, as for the conventional direct-drive multi-axis mechanical arm, in the using process, the direct-drive multi-axis mechanical arm is generally used for controlling the mechanical claw to move to clamp and fix a workpiece, the mechanical claw often collides with the workpiece in the moving process, so that the mechanical claw is damaged, a worker is required to disassemble the mechanical claw from the direct-drive multi-axis mechanical arm for maintenance, but the conventional direct-drive multi-axis mechanical arm is generally used for fixing the mechanical claw by using bolts, the worker is required to disassemble a plurality of bolts in the disassembling process, and the labor intensity of the worker is high while the operation is complicated.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a directly drive multiaxis arm, it has spacing fixed ball and the spacing slot that makes things convenient for the staff to carry out quick assembly disassembly to the gripper, when installing the gripper, the pulling pull ring makes the connecting plate pull up the sliding plate through the slide bar, make breaking away from spacing inserted bar of spacing support column, insert the carriage in the supporting seat with the carriage, the carriage can extrude spacing fixed ball this moment, make spacing inserted bar drive spacing fixed ball slide in the carriage, when spacing fixed ball slides the position of spacing slot, spacing inserted bar resets and carries out spacing fixed with spacing fixed ball in pegging graft spacing slot with spacing fixed ball, and then through the cooperation of spacing fixed ball and spacing slot, make things convenient for the staff to install and dismantle the gripper fast, make the staff take place to damage and can change the gripper fast in gripper, the operation is simple more swift, increase staff's work efficiency, after the mechanical installation claw advances the supporting seat, loosen and make the sliding plate reset along with the resilience of auxiliary spring, insert the spacing inserted bar and carry out the spacing fixed ball change fast in the gripper, the spacing fixed ball that the spacing fixed bar that the spacing fixed arm that takes place to increase the mechanical arm, it is not hard up to further to drive the utility model, it increases the multiaxis to directly to take place to drive the utility model.
The utility model provides a directly drive multiaxis arm specifically includes: installing a base; an auxiliary chute is arranged in the middle of the top end face of the mounting base; the auxiliary chute is internally and slidably connected with a mounting rack; the top end surface of the mounting rack is fixedly connected with a mounting table; a first mechanical arm is rotationally connected in the mounting table; a driving motor is fixedly connected with the left end face bolt of the mounting table; the driving motor is coaxially connected with the first mechanical arm; the upper part of the outer wall of the first mechanical arm is rotatably connected with a rotating joint; the middle of the front end surface of the rotating joint is fixedly connected with a second mechanical arm; the front end face of the second mechanical arm is fixedly connected with a supporting seat.
Optionally, a first swing frame is fixedly connected to the rear part of the outer wall of the first mechanical arm; a swing connecting rod is rotationally connected in the first swing frame; the middle of the rear end surface of the rotating joint is fixedly connected with a second swing frame; the tail end of the swing connecting rod is rotatably connected in the second swing frame.
Optionally, a pressure slide plate is slidably connected in the auxiliary chute; the top end surface of the pressure sliding plate is contacted with the bottom end surface of the mounting frame; the bottom end surface of the pressure sliding plate is fixedly connected with a group of supporting springs in an annular array shape; the tail end of the supporting spring is fixedly connected to the bottom end face of the auxiliary sliding groove.
Optionally, the bottom end surface of the pressure sliding plate is fixedly connected with four first control racks in an annular array shape; four installation rotating shafts are rotatably connected in the installation base in an annular array shape; the outer walls of the four mounting rotating shafts are respectively and fixedly connected with a control gear; the four control gears are respectively meshed with the four first control racks; four second control racks are connected in the installation base in an annular array manner in a sliding manner; the four second control racks are respectively aligned with the four first control racks; the four second control racks are respectively meshed with the four control gears; the top end surfaces of the four second control racks are respectively and fixedly connected with a limiting mounting column; the outer wall of the mounting rack is fixedly connected with four limiting mounting blocks in an annular array shape; the four limiting mounting blocks are all connected in the auxiliary sliding chute in a sliding manner; four limit mounting columns are respectively inserted in the four limit mounting blocks.
Optionally, a movable frame is slidably connected to the front part of the supporting seat; the front end surface of the movable frame is fixedly connected with a mechanical claw; a limiting inserted rod is respectively connected in the left end surface of the supporting seat and the right end surface of the supporting seat in a sliding manner; the tail ends of the two limiting insertion rods are respectively and fixedly connected with a limiting fixing ball; the left parts of the outer walls of the two limiting insertion rods and the right parts of the outer walls of the two limiting insertion rods are respectively and fixedly connected with a limiting plate; the left end surfaces of the two limiting plates and the right end surfaces of the two limiting plates are respectively and fixedly connected with a group of reset springs; the tail ends of the two groups of reset springs are respectively and fixedly connected to the left end surface of the inner wall of the supporting seat and the right end surface of the inner wall of the supporting seat; a left end face of the movable frame and a right end face of the movable frame are respectively provided with a movable sliding chute; a limit slot is arranged in the middle of each of the two movable sliding chutes; the two limiting inserted rods are respectively connected in the two movable sliding chutes in a sliding manner; the two limit fixing balls are respectively inserted into the two limit slots.
Optionally, the left parts of the outer walls of the two limit inserting rods and the right parts of the outer walls of the two limit inserting rods are respectively inserted with a limit supporting column; the top end surfaces of the two limiting support columns are respectively and fixedly connected with a sliding plate; a guide chute is respectively arranged in the middle of the upper part of the left end face of the supporting seat and the upper part of the right end face of the supporting seat; the two sliding plates are respectively connected in the two guide sliding chutes in a sliding manner; the top end surfaces of the two guide sliding chutes are respectively and fixedly connected with an auxiliary spring; the tail ends of the two auxiliary springs are respectively and fixedly connected to the top end surfaces of the two sliding plates; the rear parts of the top end surfaces of the two sliding plates are respectively and fixedly connected with a sliding rod; the top end surfaces of the two sliding rods are fixedly connected with a connecting plate; the top end surface of the connecting plate is connected with a pull ring in a rotating mode in the middle.
Advantageous effects
The utility model discloses can make things convenient for the staff to change the gripper who directly drives the multiaxis arm fast at the in-process that uses, convenient operation is swift, improves staff's work efficiency, can make things convenient for the staff to directly drive the multiaxis arm fast simultaneously and install on the installation base to can not appear along with the long-time bolt that leads to arm installation area of using of arm produces not hard up problem, reduce the maintenance number of times that the staff directly drives the multiaxis arm, reduce staff's intensity of labour.
In addition, when the gripper is installed, the connecting plate is pulled up through the sliding rod by pulling the pull ring, the limiting support column is separated from the limiting insertion rod, the moving frame is inserted into the support seat, the limiting insertion rod drives the limiting fixing ball to slide in the moving chute, when the limiting fixing ball slides to the position of the limiting insertion groove, the limiting insertion rod resets along with the resilience of the reset spring to insert the limiting fixing ball into the limiting insertion groove to limit and fix the moving frame, the gripper is installed on the direct-drive multi-shaft mechanical arm, the gripper can be installed and disassembled by workers quickly, the workers can replace the gripper quickly when the gripper is damaged, the operation is simpler and faster, and the working efficiency of the workers is increased.
In addition, after the gripper is installed in the supporting seat, the pull ring is loosened to enable the sliding plate to reset along with resilience of the auxiliary spring, the limiting support column is inserted into the limiting insertion rod to limit and fix the limiting insertion rod, the limiting insertion rod is prevented from loosening in the process of directly driving the multi-axis mechanical arm to use, the gripper is prevented from falling off, the fixing effect of the gripper is further improved, and the practicability of the directly-driven multi-axis mechanical arm is improved.
In addition, in the use process, the direct-drive multi-shaft mechanical arm is placed in the auxiliary sliding groove through the mounting frame, at the moment, the pressure sliding plate can slide downwards in the auxiliary sliding groove under the action of gravity and can drive the first control rack to slide downwards in the mounting base, the control gear is driven to rotate through the sliding of the first control rack, the control gear drives the second control rack to slide upwards to insert the limiting mounting column into the limiting mounting block to complete the installation of the direct-drive multi-shaft mechanical arm, the direct-drive multi-shaft mechanical arm is convenient to install by workers, meanwhile, the limiting mounting column limits and fixes multiple shafts of the direct-drive multi-shaft mechanical arm under the action of the gravity of the direct-drive multi-shaft mechanical arm, the problem that bolts in a mechanical arm mounting area are loosened due to the fact that the mechanical arm is used for a long time cannot occur, the maintenance times of the direct-drive multi-shaft mechanical arm by the workers are reduced, and the labor intensity of the workers is reduced.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
The drawings in the following description relate to only some embodiments of the invention and are not intended to limit the invention.
In the drawings:
fig. 1 is a schematic view of the axial measurement structure of the present invention.
Fig. 2 is a schematic view of the rear view axial measurement structure of the present invention.
Fig. 3 is a schematic sectional view of the present invention.
Fig. 4 is a schematic sectional structural view of the mounting base of the present invention.
Fig. 5 is a schematic view of the cross-sectional axial measurement structure of the present invention.
Fig. 6 is an enlarged schematic view of the structure at a in fig. 5 according to the present invention.
Fig. 7 is a schematic view of the left-side axial measurement structure of the present invention.
Fig. 8 is an enlarged schematic view of the present invention at B of fig. 7.
List of reference numerals
1. Installing a base; 101. an auxiliary chute; 102. a support spring; 103. a pressure slide plate; 104. a first control rack; 105. a control gear; 106. installing a rotating shaft; 107. a second control rack; 108. limiting the mounting column; 109. a mounting frame; 110. a limiting mounting block; 111. an installation table; 112. a first robot arm; 113. a drive motor; 114. a first swing frame; 115. a revolute joint; 116. a second swing frame; 117. a swing link; 118. a second mechanical arm; 119. a supporting seat; 120. a guide chute; 121. a limiting inserted rod; 122. a limiting fixing ball; 123. a limiting plate; 124. a return spring; 125. a sliding plate; 126. limiting the supporting columns; 127. a slide bar; 128. an auxiliary spring; 129. a connecting plate; 130. a pull ring; 131. a movable frame; 132. a gripper; 133. a moving chute; 134. and limiting the slot.
Detailed Description
In order to make the purpose, scheme and advantage of the technical scheme of the utility model clearer, the drawings of the specific embodiment of the utility model will be combined hereafter, and the technical scheme of the embodiment of the utility model is clearly and completely described. Unless otherwise indicated, terms used herein have the ordinary meaning in the art. Like reference symbols in the various drawings indicate like elements.
Example (b): please refer to fig. 1 to fig. 8:
the utility model provides a directly drive multiaxis arm, include: installing a base 1;
an auxiliary chute 101 is arranged in the middle of the top end face of the mounting base 1; the auxiliary chute 101 is connected with an installation frame 109 in a sliding manner; the top end surface of the mounting frame 109 is fixedly connected with a mounting table 111; a first mechanical arm 112 is rotatably connected to the mounting table 111; a driving motor 113 is fixedly connected to the left end face of the mounting table 111 through a bolt; the driving motor 113 is coaxially connected with the first robot arm 112; the upper part of the outer wall of the first mechanical arm 112 is rotatably connected with a rotating joint 115; a second mechanical arm 118 is fixedly connected to the center of the front end face of the rotating joint 115; a support seat 119 is fixedly connected to the front end surface of the second mechanical arm 118.
Furthermore, according to the embodiment of the present invention, as shown in fig. 2, a first swing frame 114 is fixedly connected to a rear portion of the outer wall of the first robot arm 112; a swing link 117 is rotatably connected to the first swing frame 114; the swing link 117 is a rectangular rod-shaped structure; a second swing frame 116 is fixedly connected to the center of the rear end surface of the rotating joint 115; the end of the swing link 117 is rotatably connected to the inside of the second swing frame 116, so that the first swing frame 114 is driven to rotate in the rotating process of the first mechanical arm 112, the swing link 117 pulls the rotating joint 115 to rotate in the rotating process of the first swing frame 114, and the second mechanical arm 118 is driven to rotate by the rotation of the rotating joint 115, so that the second mechanical arm 118 can rotate at multiple angles, and articles at different positions can be conveniently clamped.
Furthermore, according to the embodiment of the present invention, as shown in fig. 3 and 4, a pressure slide plate 103 is slidably connected in the auxiliary chute 101; the pressure slide plate 103 is of a circular plate-shaped structure; the top end surface of the pressure slide plate 103 is in contact with the bottom end surface of the mounting frame 109; the bottom end surface of the pressure sliding plate 103 is fixedly connected with a group of supporting springs 102 in an annular array shape; the end fixed connection of supporting spring 102 is on the bottom face of supplementary spout 101 to after placing supplementary spout 101 with mounting bracket 109, extrude pressure slide 103 under the effect of mounting bracket 109 gravity, make pressure slide 103 slide and extrude supporting spring 102 downwards in supplementary spout 101, after taking out mounting bracket 109, pressure slide 103 kick-backs along with the reseing of supporting spring 102.
Furthermore, according to the embodiment of the present invention, as shown in fig. 3 and 4, four first control racks 104 are fixedly connected to the bottom end surface of the pressure slide plate 103 in an annular array; four installation rotating shafts 106 are rotatably connected in the installation base 1 in an annular array shape; the outer walls of the four mounting rotating shafts 106 are respectively and fixedly connected with a control gear 105; the four control gears 105 are respectively meshed with the four first control racks 104; four second control racks 107 are slidably connected in the installation base 1 in an annular array shape; the four second control racks 107 are respectively aligned with the four first control racks 104; four second control racks 107 are respectively meshed with the four control gears 105; the top end surfaces of the four second control racks 107 are respectively and fixedly connected with a limiting mounting column 108; four limiting mounting blocks 110 are fixedly connected to the outer wall of the mounting frame 109 in an annular array; the four limiting installation blocks 110 are all connected in the auxiliary sliding groove 101 in a sliding manner; four spacing erection columns 108 are respectively inserted in four spacing erection blocks 110, thereby in the process of downward sliding of the pressure slide plate 103, the first control rack 104 can be driven to slide downward in the erection base 1, the control gear 105 is driven to rotate through the sliding of the first control rack 104, the second control rack 107 is driven to slide upward through the rotation of the control gear 105, the spacing erection columns 108 are inserted in the spacing erection blocks 110, and further the cooperation of the spacing erection columns 108 and the spacing erection blocks 110 is convenient for the worker to quickly and directly install the multi-shaft driving mechanical arm, meanwhile, the spacing erection columns 108 are used for spacing and fixing the multi-shaft driving mechanical arm under the gravity action of the direct-driving multi-shaft mechanical arm, so the problem that bolts in the mechanical arm installation area are loosened along with the long-time use of the mechanical arm can not occur, the maintenance times of the worker on the direct-driving multi-shaft mechanical arm can be reduced, and the labor intensity of the worker can be reduced.
In addition, according to the embodiment of the present invention, as shown in fig. 6 and 8, a moving frame 131 is slidably connected to the front portion of the supporting base 119; a mechanical claw 132 is fixedly connected to the front end face of the movable frame 131; a limiting inserted rod 121 is respectively connected in a sliding manner in the left end surface of the supporting seat 119 and the right end surface of the supporting seat 119; the tail ends of the two limit inserting rods 121 are respectively and fixedly connected with a limit fixing ball 122; the left parts of the outer walls of the two limit inserting rods 121 and the right parts of the outer walls of the two limit inserting rods 121 are respectively and fixedly connected with a limit plate 123; the left end surfaces of the two limit plates 123 and the right end surfaces of the two limit plates 123 are respectively and fixedly connected with a group of return springs 124; the tail ends of the two groups of reset springs 124 are respectively and fixedly connected to the left end surface of the inner wall of the supporting seat 119 and the right end surface of the inner wall of the supporting seat 119; a moving chute 133 is respectively arranged on the left end surface of the moving frame 131 and the right end surface of the moving frame 131; a limit slot 134 is respectively arranged in the middle of the two moving chutes 133; the two limiting insertion rods 121 are respectively connected in the two moving chutes 133 in a sliding manner; two spacing fixed balls 122 are pegged graft respectively in two spacing slots 134, thereby after removing frame 131 and inserting in supporting seat 119, remove spout 133 and can extrude spacing fixed ball 122, make spacing inserted bar 121 drive spacing fixed ball 122 slide in removing spout 133, when spacing fixed ball 122 slides the position of spacing slot 134, spacing inserted bar 121 resets along with the resilience of reset spring 124 and carries out spacing fixed with spacing fixed ball 122 grafting into spacing slot 134 in removing frame 131, and then through the cooperation of spacing fixed ball 122 and spacing slot 134, make things convenient for the staff to install and dismantle gripper 132 fast, make the staff take place to damage at gripper 132 and can change gripper 132 fast, the operation is simple more swift, increase staff's work efficiency.
In addition, according to the embodiment of the present invention, as shown in fig. 6 and 8, the left parts of the outer walls of the two limit inserting rods 121 and the right parts of the outer walls of the two limit inserting rods 121 are respectively inserted with one limit supporting column 126; the top end surfaces of the two limiting support columns 126 are respectively and fixedly connected with a sliding plate 125; a guide chute 120 is respectively arranged in the middle of the upper part of the left end face of the supporting seat 119 and the upper part of the right end face of the supporting seat 119; the two sliding plates 125 are respectively connected in the two guide chutes 120 in a sliding manner; the top end surfaces of the two guide chutes 120 are fixedly connected with an auxiliary spring 128 respectively; the tail ends of the two auxiliary springs 128 are respectively fixedly connected to the top end surfaces of the two sliding plates 125; the rear parts of the top end surfaces of the two sliding plates 125 are respectively and fixedly connected with a sliding rod 127; the top end surfaces of the two sliding rods 127 are fixedly connected with a connecting plate 129; the top end face of the connecting plate 129 is connected with a pull ring 130 in a rotating mode in the middle, so that when the gripper 132 is installed, the pull ring 130 is pulled to enable the connecting plate 129 to pull up the sliding plate 125 through the sliding rod 127, the limiting support column 126 is separated from the limiting insert rod 121, after the gripper 132 is installed in the supporting seat 119, the pull ring 130 is loosened to enable the sliding plate 125 to reset along with resilience of the auxiliary spring 128, the limiting support column 126 is inserted into the limiting insert rod 121 to limit and fix the limiting insert rod 121, the situation that the limiting insert rod 121 is loosened in the using process of the direct-driven multi-axis mechanical arm to cause the gripper 132 to fall off is prevented, the fixing effect of the gripper 132 is further improved, and the practicability of the direct-driven multi-axis mechanical arm is improved.
The specific use mode and function of the embodiment are as follows:
in the use process of the present invention, the direct drive multi-axis robot arm is placed in the auxiliary chute 101 through the mounting frame 109, the pressure slide plate 103 is extruded under the action of the gravity of the mounting frame 109, the pressure slide plate 103 slides downward in the auxiliary chute 101 and extrudes the support spring 102, after the mounting frame 109 is taken out, the pressure slide plate 103 rebounds along with the reset of the support spring 102, in the downward sliding process of the pressure slide plate 103, the first control rack 104 is driven to slide downward in the mounting base 1, the control gear 105 is driven to rotate by the sliding of the first control rack 104, the second control rack 107 is driven to slide upward by the rotation of the control gear 105 to insert the limit mounting post 108 into the limit mounting block 110, thereby facilitating the worker to quickly install the direct drive multi-axis robot arm through the cooperation of the limit mounting post 108 and the limit mounting block 110, meanwhile, since the limit mounting post 108 is inserted into the direct drive multi-axis robot arm under the action of the gravity of the control gear 105, the problem that the bolt in the mounting area of the robot arm becomes loose due to the long-time use of the robot arm is solved, the labor times of the maintenance of the direct drive multi-axis robot arm are reduced, the worker, the pull ring is inserted into the fixed ball mounting rack 122, the fixed ball 122, when the pull rod 122 is pulled into the slide ball mounting rack 122, the slide ball 121, the slide ball mounting rack 122, the reset ball 121, the reset ball mounting rack 122 is pulled in the reset ball 121, the reset ball mounting rack 121, furthermore, through the cooperation of the limiting fixing balls 122 and the limiting slots 134, the mechanical claw 132 can be conveniently and rapidly installed and disassembled by a worker, the worker can rapidly replace the mechanical claw 132 when the mechanical claw 132 is damaged, the operation is simpler and faster, the working efficiency of the worker is increased, after the mechanical claw 132 is installed in the supporting seat 119, the pull ring 130 is loosened to enable the sliding plate 125 to reset along with the resilience of the auxiliary spring 128, the limiting support pillar 126 is inserted into the limiting support pillar 121 to limit and fix the limiting support pillar 121, the limiting support pillar 121 is prevented from loosening in the use process of the multi-axis direct-driven mechanical arm to cause the mechanical claw 132 to fall off, the fixing effect of the mechanical claw 132 is further increased, the practicability of the direct-driven multi-axis mechanical arm is improved, the driving motor 113 is started to adjust the angle of the first mechanical arm 112, the first swinging frame 114 can be driven to rotate in the rotating process of the first swinging frame 114, the rotating joint 115 can be pulled to rotate through the swinging connecting rod 117 in the rotating process, the second mechanical arm 118 can be driven to rotate through the rotation of the rotating joint 115, and the multi-angle of the second mechanical arm 118 can be convenient for holding objects at different positions.
Finally, it should be noted that the present invention is generally illustrated by one/a pair of components when describing the positions of the components and the matching relationship between the components, etc., however, it should be understood by those skilled in the art that such positions, matching relationship, etc. are also applicable to other components/other paired components.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention, which is defined by the appended claims.
Claims (6)
1. A direct drive multi-axis robotic arm, comprising: a mounting base (1); an auxiliary sliding groove (101) is formed in the middle of the top end face of the mounting base (1); the auxiliary chute (101) is internally and slidably connected with an installation frame (109); the top end surface of the mounting rack (109) is fixedly connected with a mounting table (111); a first mechanical arm (112) is rotationally connected with the mounting table (111); a driving motor (113) is fixedly connected to the left end face of the mounting table (111) through a bolt; the driving motor (113) is coaxially connected with the first mechanical arm (112); the upper part of the outer wall of the first mechanical arm (112) is rotatably connected with a rotating joint (115); a second mechanical arm (118) is fixedly connected to the center of the front end face of the rotating joint (115); the front end face of the second mechanical arm (118) is fixedly connected with a supporting seat (119).
2. The direct drive multi-axis robot arm of claim 1, wherein: a first swing frame (114) is fixedly connected to the rear part of the outer wall of the first mechanical arm (112); a swing connecting rod (117) is rotatably connected to the first swing frame (114); the rear end surface of the rotating joint (115) is fixedly connected with a second swinging frame (116) in the middle; the tail end of the swinging connecting rod (117) is rotatably connected in the second swinging frame (116).
3. The direct drive multi-axis robot arm of claim 1, wherein: a pressure sliding plate (103) is connected in the auxiliary sliding chute (101) in a sliding manner; the top end surface of the pressure slide plate (103) is contacted with the bottom end surface of the mounting frame (109); the bottom end surface of the pressure slide plate (103) is fixedly connected with a group of supporting springs (102) in an annular array shape; the tail end of the supporting spring (102) is fixedly connected to the bottom end face of the auxiliary sliding chute (101).
4. The direct drive multi-axis robotic arm of claim 3, wherein: the bottom end surface of the pressure sliding plate (103) is fixedly connected with four first control racks (104) in an annular array shape; four mounting rotating shafts (106) are rotatably connected in the mounting base (1) in an annular array shape; the outer walls of the four mounting rotating shafts (106) are respectively and fixedly connected with a control gear (105); the four control gears (105) are respectively meshed with the four first control racks (104); four second control racks (107) are connected in the installation base (1) in an annular array manner in a sliding manner; the four second control racks (107) are respectively aligned with the four first control racks (104); four second control racks (107) are respectively meshed with the four control gears (105); the top end surfaces of the four second control racks (107) are respectively and fixedly connected with a limiting mounting column (108); four limiting installation blocks (110) are fixedly connected to the outer wall of the installation frame (109) in an annular array shape; the four limiting mounting blocks (110) are all connected in the auxiliary sliding groove (101) in a sliding manner; four limit mounting columns (108) are respectively inserted into the four limit mounting blocks (110).
5. The direct drive multi-axis robot arm of claim 1, wherein: the front part of the supporting seat (119) is connected with a moving frame (131) in a sliding way; the front end surface of the movable frame (131) is fixedly connected with a mechanical claw (132); a limiting inserted rod (121) is respectively connected in the left end surface of the supporting seat (119) and the right end surface of the supporting seat (119) in a sliding manner; the tail ends of the two limiting insertion rods (121) are respectively and fixedly connected with a limiting fixing ball (122); the left parts of the outer walls of the two limit inserting rods (121) and the right parts of the outer walls of the two limit inserting rods (121) are respectively and fixedly connected with a limit plate (123); the left end surfaces of the two limit plates (123) and the right end surfaces of the two limit plates (123) are respectively and fixedly connected with a group of reset springs (124); the tail ends of the two groups of reset springs (124) are respectively and fixedly connected to the left end surface of the inner wall of the supporting seat (119) and the right end surface of the inner wall of the supporting seat (119); a moving chute (133) is respectively arranged on the left end surface of the moving frame (131) and the right end surface of the moving frame (131); a limit slot (134) is arranged in the middle of each of the two movable sliding grooves (133); the two limiting insertion rods (121) are respectively connected in the two moving sliding grooves (133) in a sliding manner; the two limit fixing balls (122) are respectively inserted into the two limit slots (134).
6. The direct drive multi-axis robot arm of claim 5, wherein: the left parts of the outer walls of the two limiting insertion rods (121) and the right parts of the outer walls of the two limiting insertion rods (121) are respectively inserted with a limiting support column (126); the top end surfaces of the two limiting support columns (126) are respectively and fixedly connected with a sliding plate (125); a guide sliding chute (120) is respectively arranged in the middle of the upper part of the left end face of the supporting seat (119) and the upper part of the right end face of the supporting seat (119); the two sliding plates (125) are respectively connected in the two guide sliding chutes (120) in a sliding manner; the top end surfaces of the two guide chutes (120) are respectively and fixedly connected with an auxiliary spring (128); the tail ends of the two auxiliary springs (128) are respectively and fixedly connected to the top end surfaces of the two sliding plates (125); the rear parts of the top end surfaces of the two sliding plates (125) are respectively and fixedly connected with a sliding rod (127); the top end surfaces of the two sliding rods (127) are fixedly connected with a connecting plate (129); the top end surface of the connecting plate (129) is connected with a pull ring (130) in a rotating way in the middle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222454433.7U CN218639681U (en) | 2022-09-16 | 2022-09-16 | Direct-drive multi-shaft mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222454433.7U CN218639681U (en) | 2022-09-16 | 2022-09-16 | Direct-drive multi-shaft mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218639681U true CN218639681U (en) | 2023-03-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222454433.7U Active CN218639681U (en) | 2022-09-16 | 2022-09-16 | Direct-drive multi-shaft mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117718946A (en) * | 2024-02-07 | 2024-03-19 | 哈尔滨学院 | Multifunctional manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117718946A (en) * | 2024-02-07 | 2024-03-19 | 哈尔滨学院 | Multifunctional manipulator |
| CN117718946B (en) * | 2024-02-07 | 2024-04-16 | 哈尔滨学院 | Multifunctional manipulator |
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Effective date of registration: 20240131 Address after: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee after: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. Country or region after: Zhong Guo Address before: 130012 No. 333 Xueli Road, Kuancheng District, Changchun City, Jilin Province Patentee before: Changchun Institute of Electronic Science and technology Country or region before: Zhong Guo |
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Effective date of registration: 20240320 Address after: Room 702, 7th Floor, Building 1, No. 1477 Anda Street, Chaoyang District, Changchun City, Jilin Province, 130000 Patentee after: Jilin Liangzhi Technology Co.,Ltd. Country or region after: Zhong Guo Address before: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee before: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. Country or region before: Zhong Guo |
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