CN221736201U - Multi-degree-of-freedom mechanical arm - Google Patents

Abstract

The present application provides a multi-degree-of-freedom mechanical arm, including a guide seat, a slide groove is provided on the top outer wall of the guide seat, a slide seat is provided inside the slide groove, a mounting shaft is rotatably installed on the top outer wall of the slide seat, a first mechanical arm is fixed on the top outer wall of the mounting shaft, a multi-directional drive assembly is provided at the connection between the first mechanical arm and the slide seat, and a second mechanical arm is connected to one end of the top of the first mechanical arm. The present application controls the clockwise rotation of the dual-axis stepper motor through the setting of the multi-directional drive assembly, which drives the first gear to rotate under the action of the one-way bearing, drives the bobbin to rotate in the slide seat under the cooperation of the first gear and the second gear, and drives the slide seat to move horizontally in the slide groove at the top of the guide seat under the cooperation of the screw hole in the rotating bobbin and the screw, thereby realizing the adjustment of the lateral position of the mechanical arm, controlling the dual-axis stepper motor to rotate counterclockwise, and realizing the all-round turnover adjustment of the working direction of the mechanical arm at the top of the mounting shaft.

Description

A multi-degree-of-freedom robotic arm

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm with multiple degrees of freedom.

Background Art

A robotic arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields. The robotic arm is a complex system with uncertainties such as parameter perturbation, external interference, and unmodeled dynamics; therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade to form the terminal posture. Patent: CN219485697U discloses a multi-degree-of-freedom robotic arm, including a base, the surface of the base is rotatably connected to a claw arm assembly, and the end of the claw arm assembly away from the base is rotatably connected to a mechanical claw, and the surface of the mechanical claw is provided with a reinforcement device, and the reinforcement device includes two mounting plates, and the two mounting plates are respectively fixedly connected to the two sides of the surface of the mechanical claw.

However, the existing mechanical arms on the market have a relatively simple structure, which cannot conveniently and effectively adjust the multi-degree-of-freedom drive of the mechanical arm, and cannot realize the drive control of the full-range movement and flipping of the mechanical arm, which affects the use of the mechanical arm, and the mechanical arm structure does not have the ability of automatic lubrication and maintenance. Therefore, we make improvements on this and propose a multi-degree-of-freedom mechanical arm.

Utility Model Content

The purpose of the utility model is to address the defects and shortcomings of the prior art: to provide a multi-degree-of-freedom robotic arm that can effectively perform multi-degree-of-freedom drive adjustment, realize all-round mobile and flipping drive control, and overcome the problem that the robotic arm structure in the prior art does not have the ability of automatic lubrication and maintenance.

The technical solution adopted by the utility model to solve its technical problems is: a multi-degree-of-freedom robotic arm, including a guide seat, a slide groove is opened on the top outer wall of the guide seat, a slide seat is arranged inside the slide groove, a mounting shaft is rotatably mounted on the top outer wall of the slide seat, a first robotic arm is fixed on the top outer wall of the mounting shaft, a multi-directional drive component is arranged at the connection between the first robotic arm and the slide seat, a second robotic arm is connected to one end of the top of the first robotic arm, a flipping and telescopic drive component is arranged at the connection between the first robotic arm and the second robotic arm, and a turbine pump, a second stepping motor and a rotating shaft are fixed on one side outer wall of the first robotic arm and the second robotic arm.

Preferably, the multi-directional drive assembly comprises a mounting bracket fixed to the outer wall of the top of the slide seat, a dual-axis stepper motor is inlaid and installed on the outer wall of the mounting bracket, one end of the dual-axis stepper motor driving shaft is connected to the first bevel gear, and the second bevel gear is fixedly mounted on the outer wall of the mounting shaft, the first bevel gear and the second bevel gear are meshingly connected, a bobbin is rotatably mounted on the outer wall of the slide seat, a screw hole is opened inside the bobbin, a screw is threadedly connected inside the screw hole, and both ends of the screw are rotatably connected to the inner walls on both sides of the slide groove, a first gear is fixedly mounted on the outer wall of the end portion of the bobbin, the other end of the driving shaft of the dual-axis stepper motor is connected to the second gear, a one-way bearing is installed at the connection between the driving shaft of the dual-axis stepper motor and the first gear and the second gear, and the first gear and the second gear are meshingly connected.

Preferably, the above-mentioned flip and telescopic driving assembly includes a connecting frame arranged between the first mechanical arm and the second mechanical arm, and a connecting shaft is rotatably connected on the inner walls of both sides of the connecting frame, a half gear is set and fixed on the middle outer wall of the connecting shaft, and a double-sided rack is meshed and connected between the half gears, a hydraulic rod is inlaid and installed on the outer wall of one side of the connecting frame, one end of the telescopic rod of the hydraulic rod is connected to one end of the double-sided rack, a connecting rack is fixed on the outer wall of one side of the half gear, an insertion guide groove is opened on the outer walls at both ends of the first mechanical arm and the second mechanical arm, one end of the connecting rack is inserted into the inside of the insertion guide groove, and a rotating shaft is rotatably connected on the inner wall of the end of the insertion guide groove, a third gear is set and fixed on the middle part of the rotating shaft, the third gear is meshed and connected with the connecting rack, a second stepping motor is fixed on the outer wall of one side of the first mechanical arm and the second mechanical arm, and the second stepping motor and the rotating shaft are coaxially connected.

Preferably, a turbine pump is fixed on an outer wall of one side of the first robotic arm and the second robotic arm, the second stepper motor and the rotating shaft are coaxially connected to the turbine pump, the suction end of the turbine pump is connected to a suction tube, the pumping end of the turbine pump is connected to a pumping tube, and one end of the pumping tube passes through the interior of the insert guide groove.

Preferably, the chute is filled with lubricating oil, the suction tube is a telescopic tube, and the end of the suction tube passes through the interior of the chute.

Preferably, a rotating bearing is embedded in the rotating connection between the bobbin and the slide seat.

The beneficial effects of the utility model are:

The utility model robot arm controls the double-axis stepper motor to rotate clockwise through the setting of a multi-directional drive component, and the first gear is driven to rotate under the action of the one-way bearing, and the bobbin is driven to rotate in the slide seat under the cooperation of the first gear and the second gear, and the slide seat is driven to move laterally in the slide groove at the top of the guide seat under the cooperation of the screw hole in the rotating bobbin, thereby realizing the adjustment of the lateral position of the robot arm, and the double-axis stepper motor is controlled to rotate counterclockwise, and the first bevel gear is driven to rotate under the action of the one-way bearing, and the installation shaft is driven to rotate on the top of the guide seat under the cooperation of the first bevel gear and the second bevel gear, thereby realizing the all-round turnover adjustment of the working direction of the robot arm at the top of the installation shaft, and effectively overcoming the problem that the traditional robot arm cannot move laterally.

By setting the flip telescopic drive component, the hydraulic rod is controlled to work, and the telescopic rod of the hydraulic rod drives the double-sided rack to perform telescopic adjustment, and the cooperative transmission of the double-sided rack and the half gear drives the half gear to rotate and adjust around the connecting shaft, thereby driving the connecting racks at the ends of the half gears on both sides to flip, thereby realizing the flipping adjustment between the first robotic arm and the second robotic arm, and completing a large-scale flipping of the robotic arm through a small stroke of the hydraulic rod. The second stepper motor can be controlled to work and drive the third gear to rotate through the rotating shaft, and the cooperative transmission of the third gear and the connecting rack will drive the connecting rack to perform telescopic adjustment in the insertion guide groove, thereby realizing the adjustment of the length of the robotic arm, effectively overcoming the problem that the length of the traditional robotic arm cannot be telescopically adjusted.

During the operation of the second stepper motor, the turbine pump will be driven to suck the lubricating oil in the slide groove through the suction tube, and the lubricating oil will be pumped into the insertion guide groove through the pump pipe, thereby lubricating the telescopic structure of the robotic arm, effectively overcoming the problem that traditional robotic arms are unable to perform automatic lubrication and maintenance.

BRIEF DESCRIPTION OF THE DRAWINGS

The utility model is further described below in conjunction with the accompanying drawings and embodiments.

FIG1 is a schematic diagram of the three-dimensional structure of a multi-degree-of-freedom robotic arm provided in the present application.

FIG2 is an enlarged structural diagram of region A in the multi-degree-of-freedom robotic arm provided in the present application.

FIG3 is an enlarged structural diagram of region B in the multi-degree-of-freedom robotic arm provided in the present application.

FIG. 4 is a schematic diagram of a front view cross-sectional structure of a connection frame in a multi-degree-of-freedom robotic arm provided in the present application.

FIG5 is an enlarged structural diagram of the C region in the multi-degree-of-freedom robotic arm provided in the present application.

Description of reference numerals: 1. guide seat; 2. slide groove; 3. slide seat; 4. mounting shaft; 5. first mechanical arm; 6. multi-directional drive assembly; 7. second mechanical arm; 8. flip telescopic drive assembly; 9. turbine pump; 10. suction pipe; 11. pump pipe;

601, mounting frame; 602, dual-axis stepping motor; 603, first bevel gear; 604, second bevel gear; 605, bobbin; 606, screw; 607, screw hole; 608, first gear; 609, second gear; 610, one-way bearing;

801, connecting frame; 802, connecting shaft; 803, half gear; 804, hydraulic rod; 805, double-sided rack; 806, connecting rack; 807, insertion guide groove; 808, rotating shaft; 809, third gear; 810, second stepping motor.

DETAILED DESCRIPTION

In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Therefore, the following detailed description of the embodiments of the utility model is not intended to limit the scope of the utility model for which protection is sought, but merely represents some of the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. It should be noted that, in the absence of conflict, the embodiments in the utility model and the features and technical solutions in the embodiments can be combined with each other.

In the description of the present utility model, it should be noted that the terms "upper", "lower", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

Please refer to Figures 1-5. This embodiment proposes a multi-degree-of-freedom robotic arm, including a guide seat 1, a slide groove 2 is opened on the top outer wall of the guide seat 1, a slide seat 3 is arranged inside the slide groove 2, a mounting shaft 4 is rotatably mounted on the top outer wall of the slide seat 3, a first robotic arm 5 is fixed on the top outer wall of the mounting shaft 4, a multi-directional driving component 6 is arranged at the connection between the first robotic arm 5 and the slide seat 3, and a second robotic arm 7 is connected to one end of the top of the first robotic arm 5.

Embodiment 1:

The multi-directional driving assembly 6 includes a mounting frame 601 fixed on the outer wall of the top of the slide 3, a dual-axis stepper motor 602 is inlaid and installed on the outer wall of the mounting frame 601, one end of the driving shaft of the dual-axis stepper motor 602 is connected with a first bevel gear 603, a second bevel gear 604 is fixed on the outer wall of the mounting shaft 4, the first bevel gear 603 and the second bevel gear 604 are meshed and connected, a bobbin 605 is rotatably installed on the outer wall of the slide 3, a screw hole 607 is opened inside the bobbin 605, a screw rod 606 is screwed and connected inside the screw hole 607, and both ends of the screw rod 606 are rotatably connected to the inner walls of both sides of the slide 2, a first gear 608 is fixed on the outer wall of the end of the bobbin 605, the other end of the driving shaft of the dual-axis stepper motor 602 is connected with a second gear 609, and a one-way bearing 610 is installed at the connection between the driving shaft of the dual-axis stepper motor 602 and the second gear 609. The gear 608 and the second gear 609 are meshed and connected. During the use of the multi-degree-of-freedom robotic arm, the dual-axis stepper motor 602 is controlled to rotate clockwise, and the first gear 608 is driven to rotate under the action of the one-way bearing 610. The cooperation of the first gear 608 and the second gear 609 will drive the bobbin 605 to rotate in the slide 3. The cooperation of the screw hole 607 and the screw 606 in the rotating bobbin 605 will drive the slide 3 to move horizontally in the top slide groove 2 of the guide seat 1, thereby realizing the adjustment of the lateral position of the robotic arm. The dual-axis stepper motor 602 can be controlled to rotate counterclockwise, and the first bevel gear 603 is driven to rotate under the action of the one-way bearing 610. The cooperation of the first bevel gear 603 and the second bevel gear 604 will drive the installation shaft 4 to rotate on the top of the guide seat 1, thereby realizing the all-round turnover adjustment of the working direction of the robotic arm at the top of the installation shaft 4.

Embodiment 2:

The flip telescopic drive assembly 8 includes a connection frame 801 arranged between the first mechanical arm 5 and the second mechanical arm 7. The inner walls of both sides of the connection frame 801 are rotatably connected with a connection shaft 802. A half gear 803 is fixedly mounted on the middle outer wall of the connection shaft 802. A double-sided rack 805 is meshed and connected between the half gears 803. A hydraulic rod 804 is embedded and installed on the outer wall of one side of the connection frame 801. One end of the telescopic rod of the hydraulic rod 804 is connected to one end of the double-sided rack 805. The half gear 803 is meshed and connected to the double-sided rack 805. A connecting rack 806 is fixed on the outer wall of one side of 803, and an insertion guide groove 807 is opened on the outer walls of both ends of the first mechanical arm 5 and the second mechanical arm 7. One end of the connecting rack 806 is inserted into the inside of the insertion guide groove 807, and a rotating shaft 808 is rotatably connected on the inner wall of the end of the insertion guide groove 807. A third gear 809 is fixed in the middle of the rotating shaft 808. The third gear 809 is meshed and connected with the connecting rack 806. The first mechanical arm 5 and the second mechanical arm 7 are fixed on the outer wall of one side. There is a second stepper motor 810, which is coaxially connected to the rotating shaft 808. The multi-degree-of-freedom robotic arm consists of a first robotic arm 5 and a second robotic arm 7. During use, the hydraulic rod 804 can be controlled to work. The telescopic rod of the hydraulic rod 804 drives the double-sided rack 805 to perform telescopic adjustment. Under the cooperative transmission of the double-sided rack 805 and the half gear 803, the half gear 803 is driven to rotate and adjust around the connecting shaft 802, thereby driving the connecting rack 806 at the ends of the half gears 803 on both sides to flip, thereby realizing the flipping adjustment between the first robotic arm 5 and the second robotic arm 7. The large-scale flipping of the robotic arm is completed through the small stroke of the hydraulic rod 804. The second stepper motor 810 can be controlled to work and drive the third gear 809 to rotate through the rotating shaft 808. Under the cooperative transmission of the third gear 809 and the connecting rack 806, the connecting rack 806 will be driven to perform telescopic adjustment in the insertion guide groove 807, thereby realizing the adjustment of the length of the robotic arm.

Embodiment three:

A turbine pump 9 is fixed on the outer wall of one side of the first robotic arm 5 and the second robotic arm 7, the second stepper motor 810 and the rotating shaft 808 are coaxially connected to the turbine pump 9, the suction end of the turbine pump 9 is connected to a suction pipe 10, the pumping end of the turbine pump 9 is connected to a pumping pipe 11, and one end of the pumping pipe 11 passes through the interior of the insertion guide groove 807. The second stepper motor 810 will drive the turbine pump 9 to work during operation, and the lubricating oil in the slide groove 2 is sucked through the suction pipe 10, and the lubricating oil is pumped into the insertion guide groove 807 through the pumping pipe 11, which plays a role in lubricating the telescopic structure of the robotic arm.

Embodiment 4:

The chute 2 is filled with lubricating oil. The suction pipe 10 is a telescopic pipe, and the end of the suction pipe 10 passes through the interior of the chute 2 to facilitate the pumping of the lubricating oil in the chute 2.

Embodiment five:

A rotating bearing is embedded and installed at the rotating connection between the bobbin 605 and the slide seat 3. The arrangement of the rotating bearing enables the bobbin 605 to rotate more smoothly.

Specifically, when the multi-degree-of-freedom robotic arm is working/in use: during the use of the multi-degree-of-freedom robotic arm, the dual-axis stepper motor 602 is controlled to rotate clockwise, and the first gear 608 is driven to rotate under the action of the one-way bearing 610, and the bobbin 605 is driven to rotate in the slide 3 under the cooperation of the first gear 608 and the second gear 609, and the slide 3 is driven to move horizontally in the top slide groove 2 of the guide seat 1 under the cooperation of the screw hole 607 and the screw 606 in the rotating bobbin 605, thereby realizing the adjustment of the lateral position of the robotic arm, and the dual-axis stepper motor 602 can be controlled to rotate counterclockwise, and the first bevel gear 603 is driven to rotate under the action of the one-way bearing 610, and the installation shaft 4 is driven to rotate on the top of the guide seat 1 under the cooperation of the first bevel gear 603 and the second bevel gear 604, thereby realizing the all-round turnover adjustment of the working direction of the robotic arm at the top of the installation shaft 4; the multi-degree-of-freedom robotic arm is composed of a first robotic arm 5 and a second robotic arm 7, and can control the hydraulic rod during use. 804 works, the telescopic rod of the hydraulic rod 804 drives the double-sided rack 805 to perform telescopic adjustment, and drives the half gear 803 to rotate and adjust around the connecting shaft 802 under the cooperative transmission of the double-sided rack 805 and the half gear 803, thereby driving the connecting rack 806 at the ends of the half gears 803 on both sides to flip, thereby realizing the flip adjustment between the first mechanical arm 5 and the second mechanical arm 7, and completing the large-scale flipping of the mechanical arm through the small stroke of the hydraulic rod 804, and can control the second stepping motor 810 to work through the rotating shaft 808 to drive the third gear 809 to rotate, and under the cooperative transmission of the third gear 809 and the connecting rack 806, it will drive the connecting rack 806 to perform telescopic adjustment in the insertion guide groove 807, thereby realizing the adjustment of the length of the mechanical arm; during the operation of the above-mentioned second stepping motor 810, the turbine pump 9 will be driven to work, and the lubricating oil in the slide groove 2 will be sucked through the suction pipe 10, and the lubricating oil will be pumped into the insertion guide groove 807 through the pump liquid pipe 11, which plays a role in lubricating the telescopic structure of the mechanical arm.

The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements that do not depart from the spirit and scope of the present invention are included in the scope of the claims of the present invention.

Claims (6)

1. A multi-degree-of-freedom robotic arm, characterized in that it comprises a guide seat (1), a slide groove (2) is provided on the top outer wall of the guide seat (1), a slide seat (3) is arranged inside the slide groove (2), a mounting shaft (4) is rotatably mounted on the top outer wall of the slide seat (3), a first robotic arm (5) is fixed on the top outer wall of the mounting shaft (4), a multi-directional drive component (6) is provided at the connection between the first robotic arm (5) and the slide seat (3), a second robotic arm (7) is connected to one end of the top of the first robotic arm (5), and a flipping and telescopic drive component (8) is provided at the connection between the first robotic arm (5) and the second robotic arm (7). 2. A multi-degree-of-freedom robotic arm according to claim 1, characterized in that the multi-directional driving assembly (6) comprises a mounting frame (601) fixed on the outer wall of the top of the slide (3), a dual-axis stepping motor (602) is embedded and installed on the outer wall of the mounting frame (601), one end of the driving shaft of the dual-axis stepping motor (602) is connected to a first bevel gear (603), a second bevel gear (604) is fixedly sleeved on the outer wall of the mounting shaft (4), the first bevel gear (603) and the second bevel gear (604) are meshingly connected, a bobbin (605) is rotatably installed on the outer wall of the slide (3), the bobbin (605) is rotatably mounted on the outer wall of the slide A screw hole (607) is provided inside the tube (605), a screw rod (606) is threadedly connected inside the screw hole (607), and both ends of the screw rod (606) are rotatably connected to the inner walls of both sides of the slide groove (2), a first gear (608) is fixedly mounted on the outer wall of the end of the tube (605), the other end of the driving shaft of the dual-axis stepping motor (602) is connected to the second gear (609), a one-way bearing (610) is installed at the connection between the driving shaft of the dual-axis stepping motor (602) and the first gear (608) and the second gear (609), and the first gear (608) and the second gear (609) are meshingly connected. 3. A multi-degree-of-freedom mechanical arm according to claim 1, characterized in that the flip telescopic drive assembly (8) comprises a connecting frame (801) arranged between the first mechanical arm (5) and the second mechanical arm (7), and connecting shafts (802) are rotatably connected on the inner walls on both sides of the connecting frame (801), and a half gear (803) is fixedly mounted on the middle outer wall of the connecting shaft (802), and a double-sided rack (805) is meshedly connected between the half gears (803), and a hydraulic rod (804) is embedded and installed on the outer wall of one side of the connecting frame (801), and one end of the telescopic rod of the hydraulic rod (804) is connected to one end of the double-sided rack (805), and the half gear (803) A connecting rack (806) is fixed on an outer wall on one side, and insertion guide grooves (807) are provided on the outer walls at both ends of the first mechanical arm (5) and the second mechanical arm (7). One end of the connecting rack (806) is inserted into the inside of the insertion guide groove (807), and a rotating shaft (808) is rotatably connected to the inner wall of the end of the insertion guide groove (807). A third gear (809) is fixed in a sleeve in the middle of the rotating shaft (808), and the third gear (809) is meshingly connected to the connecting rack (806). A second stepping motor (810) is fixed on an outer wall on one side of the first mechanical arm (5) and the second mechanical arm (7), and the second stepping motor (810) and the rotating shaft (808) are coaxially connected. 4. A multi-degree-of-freedom robotic arm according to claim 3, characterized in that a turbine pump (9) is fixed on an outer wall of one side of the first robotic arm (5) and the second robotic arm (7), the second stepper motor (810) and the rotating shaft (808) are coaxially connected to the turbine pump (9), the suction end of the turbine pump (9) is connected to a suction pipe (10), the pumping end of the turbine pump (9) is connected to a pumping pipe (11), and one end of the pumping pipe (11) passes through the interior of the insertion guide groove (807). 5. A multi-degree-of-freedom robotic arm according to claim 4, characterized in that the slide groove (2) is filled with lubricating oil, the pipette (10) is a telescopic tube, and the end of the pipette (10) passes through the interior of the slide groove (2). 6. A multi-degree-of-freedom robotic arm according to claim 2, characterized in that a rotary bearing is embedded and installed at the rotary connection between the barrel (605) and the slide seat (3).