CN220241525U - Small-size automatic robotic arm that circles round - Google Patents

Abstract

The utility model discloses a small automatic rotary mechanical arm, and relates to the technical field of mechanical equipment. The device comprises a primary rotating arm, a secondary rotating arm and a top rotating head which are sequentially connected, wherein the bottom of the primary rotating arm C is provided with a mounting hole, and a first servo motor and a transmission assembly are arranged below the primary rotating arm; a second servo motor and a driving wheel are arranged above the primary rotating arm, and a driven wheel is arranged in the secondary rotating arm; a third servo motor, a transmission assembly and a flange seat are arranged below the top rotating head, the third servo motor drives the flange seat to circumferentially rotate through the transmission assembly, and a mounting groove is formed in the flange seat; the first servo motor and the second servo motor control the mechanical arm to axially rotate. The utility model provides a rotatable and circumferentially rotatable mechanical arm.

Description

Small-size automatic robotic arm that circles round

Technical Field

The utility model relates to the technical field of mechanical devices, in particular to an automatic rotary mechanical arm.

Background

The flexible rotation function of the mechanical arm is often used on mechanical equipment with higher automation as an operation arm, and mechanical arms with different flexible degrees are also needed in agricultural planting. The mechanical arm has different requirements on the rotation angle and the rotation direction according to different use scenes, and in order to meet the requirements on agricultural planting, picking, transportation and the like, the adaptive mechanical arm needs to be designed in a targeted manner.

Therefore, in order to solve the above technical problem, a new technical solution is required to solve the problem. In particular to an automatic rotary mechanical arm.

Disclosure of Invention

The utility model provides an automatic rotary mechanical arm for solving the technical problem that the existing agricultural mechanical equipment lacks an operating arm which is developed in a targeted mode.

The technical scheme is as follows for realizing the purpose: the automatic rotary mechanical arm comprises a primary rotary arm, a secondary rotary arm and a top rotating head which are sequentially connected, wherein the bottom of the primary rotary arm is provided with a mounting hole, and a first servo motor and a transmission assembly are arranged below the primary rotary arm; a second servo motor and a driving wheel are arranged above the primary rotating arm, and a driven wheel is arranged in the secondary rotating arm; a third servo motor, a transmission assembly and a flange seat are arranged below the top rotating head, the third servo motor drives the flange seat to circumferentially rotate through the transmission assembly, and a mounting groove is formed in the flange seat; the first servo motor and the second servo motor control the mechanical arm to axially rotate.

Preferably, the first-stage rotary arm comprises a left-stage rotary arm and a right-stage rotary arm which are connected with each other, the first servo motor is arranged below the left-stage rotary arm through a first servo motor fixing seat, a first annular gear is arranged between the left-stage rotary arm and the right-stage rotary arm, a planetary gear assembly is arranged in the first annular gear, an output shaft of the first servo motor is connected with a sun gear through a planetary gear assembly in a driving manner, a blank cap is further arranged outside the right-stage rotary arm, a joint fixing sheet is fixedly connected below the first servo motor fixing seat and the blank cap, and the mounting hole is formed in the joint fixing sheet.

Preferably, the planetary gear assembly comprises a planetary gear fixing seat A, a planetary gear assembly and a planetary gear fixing seat B which are sequentially arranged; the planetary gear assembly is provided with three groups, the planetary gear assembly comprises a planetary gear, an abrasion-resistant shaft sleeve and a planetary gear fixing shaft which are sleeved in sequence, the planetary gear fixing shaft is fixed on a planetary gear fixing seat B through a locking screw, the planetary gear fixing seat B is arranged on one side of a right primary rotating arm, a second bearing is further arranged between the planetary gear fixing seat B and the right primary rotating arm, the planetary gear is meshed with a first annular gear, and the blank cap is arranged on the outer side of the planetary gear fixing seat B.

Preferably, a mounting slot is further formed above the primary rotating arm, a second servo motor is arranged in the mounting slot, the second servo motor is fixed on the primary rotating arm through a second servo motor fixing piece, and an output shaft of the second servo motor is connected with a driving wheel.

Preferably, the second-stage rotating arm comprises a left second-stage rotating arm and a right second-stage rotating arm which are mutually connected, a second annular gear is arranged between the left second-stage rotating arm and the right second-stage rotating arm, a driven wheel is arranged on one side of the left second-stage rotating arm and is in transmission connection with the driving wheel, the driven wheel is connected with a sun gear transmission shaft, the sun gear transmission shaft is meshed with the second annular gear through a second planetary gear assembly, the second planetary gear assembly comprises a first planetary gear fixing seat, a second planetary gear fixing seat and a second planetary gear assembly, the second planetary gear assembly is meshed with the second annular gear, the first planetary gear fixing seat is arranged in the left second-stage rotating arm, the second planetary gear fixing seat is arranged in the right second-stage rotating arm, a third bearing is arranged between the first planetary gear fixing seat and the left second-stage rotating arm, and a fourth bearing is arranged between the second planetary gear fixing seat and the right second-stage rotating arm.

Preferably, a first embedded flange bearing seat and a first gland are further arranged between the driven wheel and the left secondary rotating arm in sequence, and a second gland and a second embedded flange bearing seat are further arranged outside the second planet wheel fixing seat in sequence.

Preferably, the upper parts of the left secondary rotating arm and the right secondary rotating arm are connected through a fixing piece and a second stud.

Preferably, the top rotating head comprises a third servo motor, a third servo motor fixing piece, a transmission rotating shaft, a coupler and a flange seat, wherein the third servo motor fixing piece is arranged on the third servo motor and connected with the secondary rotating arm, the output end of the third servo motor is connected with the transmission rotating shaft, the coupler is arranged outside the transmission rotating shaft, and one end of the coupler is connected with the flange seat.

Preferably, a bearing seat and a bearing seat fixing piece are further arranged between the flange seat and the coupler, a second fixing hole is formed in the bearing seat fixing piece, and the second fixing hole is connected with the secondary rotating arm.

Advantageous effects

The automatic rotary mechanical arm provided by the utility model has the advantages that the primary rotary arm and the secondary rotary arm are used for rotary use of the mechanical arm, the flexible degree of freedom of operation is provided for the mechanical arm, the top is provided with the rotary head, the flange seat above the rotary head is internally provided with the mounting groove, tools of electric scissors and cameras can be mounted in the mounting groove, the flexible operation requirement of the mechanical arm is realized through rotary operation of the primary rotary arm and the secondary rotary arm and circumferential rotation operation of the top rotary head, and the mounting hole arranged below the primary rotary arm can be mounted on modern agricultural equipment for combined use.

Drawings

Fig. 1 is a schematic view of the overall structure of the present utility model.

Fig. 2 is a schematic view of the overall installation and disassembly structure of the present utility model.

FIG. 3 is a schematic diagram of an exploded assembly structure of an A assembly and a B assembly of the present utility model.

Fig. 4 is an exploded view of the primary swing arm of the present utility model.

Fig. 5 is a schematic view of the overall structure of the primary swing arm of the present utility model.

Fig. 6 is an exploded view of the two-stage swing arm of the present utility model.

Fig. 7 is a schematic view of the overall structure of the two-stage swing arm of the present utility model.

Fig. 8 is a schematic view of an exploded construction of the top rotary head of the present utility model.

Fig. 9 is a schematic view of the overall structure of the top rotary head of the present utility model.

Wherein:

a top rotating head B secondary rotating arm C primary rotating arm; 11-a first servo motor; 12-a first planar bearing; 13-a first servo motor fixing seat; 14-a sun gear; 15-a first bearing; 151-a second bearing; 16-left primary swivel arm; 161-right primary swivel arm; 162-first stud; 163-a second servomotor; 164-a second servo motor stator; 165-a second planar bearing; 166-driving wheel; 17-a first ring gear; 18-joint fixing piece; 181-mounting holes; 191-a planet wheel fixing seat A; 192-planetary gears; 193-wear sleeve; 194-planetary gear fixed shaft; 195-locking screws; 196-planet wheel fixing seat B; 197-cap; 21-driven wheel; 22-a sun gear drive shaft; 23-a third planar bearing; 231-fourth plane bearing; 232-a fifth planar bearing; 24-a first embedded flange bearing seat; 241-second embedded flange bearing mount; 25-a first gland; 251-a second gland; 26-a first planet carrier; 261-a second planet wheel fixing seat; 27-a third bearing; 271-fourth bearings; 281-left secondary swing arm; 282-right secondary swing arm; 283-fixing piece; 284-a second stud; 29-a second ring gear; 291-second wear sleeve; 292-second planetary gear; 293-a second planetary gear fixed shaft; 31-a third servo motor; 32-a third servo motor stator; 321-a first fixing hole; 33-sixth planar bearings; 34-a transmission rotating shaft; 35-coupling; 36-locking the screw; 37-bearing seat fixing piece; 371-second fixation hole; 38-bearing seats; 39-flange seat.

Detailed Description

The present utility model will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. The specific embodiments described herein are illustrative only and are not intended to limit the scope of the utility model. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present utility model.

In the description of the present utility model, it will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

In the description of the present utility model, it should be noted that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or orientations or positional relationships in which the inventive product is conventionally placed in use, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 to 9, an automatic rotary mechanical arm comprises a primary rotary arm C, a secondary rotary arm B and a top rotary head a which are sequentially connected, wherein the secondary rotary arm is installed and connected above the primary rotary arm, the top rotary head is installed and connected above the secondary rotary arm, and the connection modes are all fixedly connected through screws. The bottom of the primary rotating arm C is provided with a mounting hole 181, and the mounting hole enables the whole automatic rotating arm to be mounted on other mechanical equipment, so that the mechanical arm is used as an operation arm, and the operation requirement is completed. The lower part of the primary rotating arm C is provided with a first servo motor 11 and a transmission assembly, and the first servo motor and the transmission assembly provide power for the rotating of the primary rotating arm C. The primary rotating arm C is provided with a second servo motor 163 and a driving wheel 166, the secondary rotating arm B is internally provided with a driven wheel 21, the secondary rotating arm is arranged above the primary rotating arm, the driven wheel is in transmission connection with the driving wheel through a transmission belt, and the second servo motor provides power for the rotation of the secondary rotating arm. Meanwhile, the second servo motor, the driving wheel, the driven wheel and other power components and transmission components can also be arranged in the secondary rotating arm. The top rotating head A below is equipped with third servo motor 31, drive assembly and flange seat 39, third servo motor 31 passes through drive assembly and drives flange seat 39 circumference rotates, be equipped with the mounting groove on the flange seat 39, can operate the mounting tool in the mounting groove, equipment such as electric shears, camera. The first servo motor 11 and the second servo motor 163 control the mechanical arm to axially rotate, the first servo motor and the second servo motor drive the rotating arm and the second rotating arm to rotate with the connecting point as the center of a circle and the length of the rotating arm as the radius, namely, axially rotate. The flange seat is perpendicular to the rotation plane of the primary rotating arm and the secondary rotating arm.

As shown in fig. 4 and 5, the primary rotating arm C includes a left primary rotating arm 16 and a right primary rotating arm 161 which are connected to each other, a circular mounting opening is provided below the left primary rotating arm and the right primary rotating arm, and a transmission assembly is mounted in the circular mounting opening. The first servo motor 11 is arranged below the left-stage rotating arm 16 through the first servo motor fixing seat 13, a first annular gear 17 is arranged between the left-stage rotating arm 16 and the right-stage rotating arm 161, a planetary gear assembly is arranged in the first annular gear 17, an output shaft of the first servo motor 11 is connected with a sun gear 14, the sun gear 14 is in transmission connection with the first annular gear 17 through the planetary gear assembly, a blank cap 197 is further arranged outside the right-stage rotating arm 161, a joint fixing plate 18 is fixedly connected below the first servo motor fixing seat 13 and the blank cap 197, and a mounting hole 181 is arranged in the joint fixing plate 18. The upper parts of the left-stage swivel arm 16 and the right-stage swivel arm 161 are connected by a first stud 162, and the lower parts are fixed by a joint fixing piece. The purpose of this setting is that the arm that circles round of making both sides is fixed from top to bottom, and when arm side direction atress, plane bearing is difficult to become flexible. Enhancing the usability.

The planetary gear assembly comprises a planetary gear fixing seat A191, a planetary gear assembly and a planetary gear fixing seat B196 which are sequentially arranged, and the planetary gear assembly is arranged in the middle. The planetary gear assembly is provided with three groups, the planetary gear assembly comprises a planetary gear 192, a wear-resisting shaft sleeve 193 and a planetary gear fixing shaft 194 which are sleeved in sequence, the planetary gear fixing shaft 194 is fixed on a planetary gear fixing seat B196 through a locking screw 195, the planetary gear fixing seat B196 is arranged on one side of a right-stage rotating arm 161, a second bearing 151 is further arranged between the planetary gear fixing seat B196 and the right-stage rotating arm 161, the planetary gear 192 is meshed with the first inner gear ring 17, and a blank cover 197 is arranged on the outer side of the planetary gear fixing seat B196.

Bearings can be additionally arranged at the rotating connection positions of the parts of the primary rotating arm C. The front of the output shaft of the first servo motor 11 is also provided with a first plane bearing 12, and a first bearing 15 is arranged between the left primary rotating arm 16 and the first servo motor fixing seat 13.

As shown in fig. 4, an installation slot is further formed above the primary rotating arm C, a second servo motor 163 is disposed in the installation slot, the second servo motor 163 is fixed on the primary rotating arm C through a second servo motor fixing piece 164, an output shaft of the second servo motor 163 is connected with a driving wheel 166, and a second plane bearing 165 is disposed between the output shaft and the driving wheel.

As shown in fig. 6 and 7, the secondary rotating arm B includes a left secondary rotating arm 281 and a right secondary rotating arm 282 that are connected with each other, a second ring gear 29 is disposed between the left secondary rotating arm 281 and the right secondary rotating arm 282, a driven wheel 21 is disposed on one side of the left secondary rotating arm 281, the driven wheel 21 is in driving connection with the driving wheel 166, the driven wheel 21 is connected with a sun gear transmission shaft 22, the sun gear transmission shaft 22 is meshed with the second ring gear 29 through a second planetary gear assembly, the second planetary gear assembly includes a first planetary gear fixing seat 26, a second planetary gear fixing seat 261 and a second planetary gear assembly, the second planetary gear assembly is meshed with the second ring gear 29, the first planetary gear fixing seat 26 is disposed in the left secondary rotating arm 281, the second planetary gear fixing seat 261 is disposed in the right secondary rotating arm 282, a third bearing 27 is disposed between the first planetary gear fixing seat 26 and the left secondary rotating arm 281, and a fourth bearing is disposed between the second planetary gear fixing seat 261 and the right secondary rotating arm 271.

The second planetary gear assembly includes a second planetary gear 292, a second wear sleeve 291, and a second planetary gear stationary shaft, all three nested inside. A fourth plane bearing 231 is arranged in front of the second planetary gear, and a fifth plane bearing 232 is arranged behind the second planetary gear. The second planetary gear assembly is provided with three groups, the inner sides of the three groups of planetary gear assemblies are meshed with the sun gear transmission shaft, and the outer sides of the three groups of planetary gear assemblies are meshed with the inner part of the second annular gear.

As shown in fig. 6, a first embedded flange bearing seat 24 and a first gland 25 are further disposed between the driven wheel 21 and the left secondary rotating arm 281 in sequence, and a second gland 251 and a second embedded flange bearing seat 241 are further disposed outside the second planet wheel fixing seat 261 in sequence. A third plane bearing 23 is also arranged between the sun gear transmission shaft 22 and the first embedded flange bearing seat 24.

The upper parts of the left secondary swing arm 281 and the right secondary swing arm 282 are connected through a fixing piece 283 and a second stud 284.

As shown in fig. 8 and 9, the top rotary head a includes a third servo motor 31, a third servo motor fixing piece 32, a transmission rotating shaft 34, a coupling 35 and a flange seat 39, the third servo motor 31 is provided with the third servo motor fixing piece 32, and a sixth plane bearing 33 is provided between the third servo motor 31 and the coupling 35. The two sides of the third servo motor fixing piece 32 are provided with first fixing holes 321, and the first fixing holes 321 are connected with the secondary rotating arm B, as shown in FIG. 3. The output end of the third servo motor 31 is connected with a transmission rotating shaft 34, a coupler 35 is arranged outside the transmission rotating shaft 34, and one end of the coupler 35 is connected with the flange seat 39. The flange seat 39 and the coupling 35 are further provided with a bearing seat 38 and a bearing seat fixing piece 37 therebetween, the bearing seat fixing piece 37 is provided with a second fixing hole 371, and the second fixing hole 371 is connected with the secondary rotating arm B, as shown in fig. 3.

The first servo motor and the second servo motor are horizontally arranged on the mechanical arm, the third servo motor is vertically arranged on the mechanical arm, the first servo motor and the second servo motor control the rotation of the mechanical arm, and the third servo motor controls the circumferential rotation of the flange seat, so that a tool arranged on the flange seat rotates circumferentially together.

The utility model provides an automatic rotary mechanical arm which can flexibly rotate and can circumferentially rotate, and the automatic rotary mechanical arm can be arranged on mechanical equipment to meet the operation requirement.

The above embodiments are only for illustrating the present utility model, not for limiting the present utility model, and various changes and modifications may be made by one of ordinary skill in the relevant art without departing from the spirit and scope of the present utility model, and therefore, all equivalent technical solutions are also within the scope of the present utility model, and the scope of the present utility model is defined by the claims.

Claims (9)

1. A small-size automatic robotic arm that circles round, its characterized in that: the device comprises a primary rotating arm (C), a secondary rotating arm (B) and a top rotating head (A) which are sequentially connected, wherein a mounting hole (181) is formed in the bottom of the primary rotating arm (C), and a first servo motor (11) and a transmission assembly are arranged below the primary rotating arm (C); a second servo motor (163) and a driving wheel (166) are arranged above the primary rotating arm (C), and a driven wheel (21) is arranged in the secondary rotating arm (B); a third servo motor (31), a transmission assembly and a flange seat (39) are arranged below the top rotating head (A), the third servo motor (31) drives the flange seat (39) to circumferentially rotate through the transmission assembly, and a mounting groove is formed in the flange seat (39); the first servo motor (11) and the second servo motor (163) control the mechanical arm to axially rotate.

2. A miniature automatic rotary robot as defined in claim 1, wherein: the utility model discloses a solar energy power generation device, including left one-level arm (16) and right one-level arm (161) that revolve, first servo motor (11) are including interconnect's left one-level arm (16) and right one-level arm (161) that revolve, first servo motor fixing base (13) set up in left one-level arm (16) below that revolves, be equipped with first ring gear (17) between left one-level arm (16) and right one-level arm (161) that revolve, be equipped with planetary gear assembly in first ring gear (17), output shaft of first servo motor (11) sun gear (14), sun gear (14) are connected with first ring gear (17) transmission through planetary gear assembly, right one-level arm (161) outside still is equipped with stifle (197), still fixedly connected with joint stationary blade (18) in first servo motor fixing base (13) and stifle (197), mounting hole (181) set up in joint stationary blade (18).

3. A miniature automatic rotary robot as claimed in claim 2, wherein: the planetary gear assembly comprises a planetary gear fixing seat A (191), a planetary gear assembly and a planetary gear fixing seat B (196) which are sequentially arranged; the planetary gear assembly is provided with three groups, the planetary gear assembly comprises a planetary gear (192), a wear-resisting shaft sleeve (193) and a planetary gear fixing shaft (194) which are sequentially sleeved, the planetary gear fixing shaft (194) is fixed on a planetary gear fixing seat B (196) through a locking screw (195), the planetary gear fixing seat B (196) is installed on one side of a right-stage rotating arm (161), a second bearing (151) is further arranged between the planetary gear fixing seat B (196) and the right-stage rotating arm (161), the planetary gear (192) is meshed with a first inner gear ring (17), and a blank cap (197) is arranged on the outer side of the planetary gear fixing seat B (196).

4. A miniature automatic rotary robot as claimed in claim 2, wherein: the utility model discloses a rotary robot, including first class arm (C) and second servo motor, first class arm (C) top that circles round still is equipped with the installation slotted hole, be equipped with second servo motor (163) in the installation slotted hole, second servo motor (163) are fixed on first class arm (C) that circles round through second servo motor stationary blade (164), output shaft connection action wheel (166) of second servo motor (163).

5. A miniature, self-rotating robotic arm as defined in claim 4, wherein: the secondary is revolved arm (B) and is including interconnect's left secondary arm (281) and right secondary arm (282) that revolve, be equipped with second ring gear (29) between left secondary arm (281) and right secondary arm (282) that revolve, left secondary arm (281) one side is equipped with from driving wheel (21), from driving wheel (21) with action wheel (166) transmission is connected, from driving wheel (21) connection sun gear transmission shaft (22), sun gear transmission shaft (22) are through second planetary gear assembly and second ring gear (29) meshing, second planetary gear assembly includes first planet wheel fixing base (26), second planet wheel fixing base (261) and second planetary gear assembly, second planet wheel assembly with second ring gear (29) meshing, first planet wheel fixing base (26) set up in left secondary arm (281), second planet wheel fixing base (261) set up in right secondary arm (282), first planet wheel fixing base (26) are equipped with second planet wheel fixing base (281) and second planet wheel fixing base (261) are equipped with between second planet wheel (27) and second arm (271).

6. A miniature, self-rotating robotic arm as defined in claim 5, wherein: a first embedded flange bearing seat (24) and a first gland (25) are further arranged between the driven wheel (21) and the left secondary rotary arm (281) in sequence, and a second gland (251) and a second embedded flange bearing seat (241) are further arranged outside the second planet wheel fixing seat (261) in sequence.

7. A miniature, self-rotating robotic arm as defined in claim 5, wherein: the upper parts of the left secondary rotating arm (281) and the right secondary rotating arm (282) are connected with a second stud (284) through a fixing piece (283).

8. A miniature automatic rotary robot as defined in claim 1, wherein: the top rotating head (A) comprises a third servo motor (31), a third servo motor fixing piece (32), a transmission rotating shaft (34), a coupler (35) and a flange seat (39), wherein the third servo motor fixing piece (32) is arranged on the third servo motor (31), the third servo motor fixing piece (32) is connected with a secondary rotating arm (B), the output end of the third servo motor (31) is connected with the transmission rotating shaft (34), the coupler (35) is arranged outside the transmission rotating shaft (34), and one end of the coupler (35) is connected with the flange seat (39).

9. A miniature automatic rotary robot as defined in claim 8, wherein: a bearing seat (38) and a bearing seat fixing piece (37) are further arranged between the flange seat (39) and the coupler (35), a second fixing hole (371) is formed in the bearing seat fixing piece (37), and the second fixing hole (371) is connected with the secondary rotating arm (B).