CN114083524A

CN114083524A - Six-degree-of-freedom control mechanical arm

Info

Publication number: CN114083524A
Application number: CN202111462583.6A
Authority: CN
Inventors: 崔洁
Original assignee: Poyuejiaye Wuxi Technology Co ltd
Current assignee: Poyuejiaye Wuxi Technology Co ltd
Priority date: 2021-12-02
Filing date: 2021-12-02
Publication date: 2022-02-25

Abstract

The invention discloses a six-degree-of-freedom control mechanical arm which comprises a fixed seat and a motor, wherein slide rails are arranged on two sides of the fixed seat, a movable plate is arranged on the top of the fixed seat, the bottom of the movable plate is connected with a side plate, the inner side of the side plate is connected with a clamping block, the bottom of the movable plate is connected with balls, sliding grooves are distributed on the outer side of the balls, and a motor box is arranged on the top of the movable plate. This six degree of freedom control arms, the combined use between slide rail and the movable plate through setting up can drive whole arm and carry out horizontal removal to conveniently make the arm can have the working space who more beats the scope, the practicality of whole device has been improved, the work of the follow-up arm of being convenient for, drive the curb plate through the movable plate and carry out lateral shifting on the slide rail when the arm at the during operation, thereby can drive the arm at top and remove thereupon, make things convenient for follow-up arm to carry out work in the home range of difference at the during operation.

Description

Six-degree-of-freedom control mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a six-degree-of-freedom control mechanical arm.

Background

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

The general mechanical arm in the market has a small moving range, so that the working range of the mechanical arm is limited, and the whole work is not facilitated.

Disclosure of Invention

The present invention is directed to a six-degree-of-freedom control robot arm, so as to solve the problems mentioned in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a six degree of freedom control mechanical arm, includes fixing base and motor, the slide rail is installed to the both sides of fixing base, the movable plate is installed at the top of fixing base, and the bottom of movable plate is connected with the curb plate, the inboard of curb plate is connected with the fixture block, the bottom of movable plate is connected with the ball, and the outside of ball distributes and have the spout, the motor case is installed at the top of movable plate for it adjusts the orientation to drive the arm the motor is installed in the inner chamber of motor case, the top of motor is connected with the axis of rotation, and the surface of axis of rotation is connected with the bearing, the outside of bearing distributes and has the through-hole, the top of motor case distributes and have the protecting crust, and the bottom of protecting crust installs the tray, the bottom of tray is connected with supplementary gyro wheel.

Furthermore, the slide rails are symmetrically distributed along the vertical central line of the fixing seat, and the slide rails and the fixing seat are vertically distributed

Furthermore, the side plate is in sliding connection with the sliding rail through the clamping block, and the diameter size of the inner side of the side plate is matched with the diameter size of the outer side of the clamping block.

Furthermore, the diameter size of the inner side of the bearing is matched with the diameter size of the outer side of the rotating shaft, and the rotating shaft and the protective shell are vertically distributed.

Further, the pneumatic cylinder is installed to the inner chamber bottom of protecting crust, and the top of pneumatic cylinder is connected with the hydraulic stem, the inner chamber of protecting crust is equipped with the cavity, the top of hydraulic stem is connected with the fixed plate, and the top of fixed plate is connected with first linking arm, the top of first linking arm is connected with the second linking arm, and the other end of second linking arm is connected with the pivot, the inboard of pivot is connected with the third linking arm.

Further, the auxiliary rollers are distributed along the vertical center line of the motor box at equal intervals, and the protective shell is rotatably connected with the motor box through the auxiliary rollers.

Further, the cylinder is installed at the top of second linking arm, and the other end of cylinder is connected with the connecting rod, the right-hand member of third linking arm is connected with the arm and presss from both sides, the lifting hook is installed to the both sides of third linking arm, the access door is installed to the front end of motor case.

Furthermore, the third connecting arm is rotationally connected with the second connecting arm through a rotating shaft, and the second connecting arm is rotationally connected with the first connecting arm through a rotating shaft.

Compared with the prior art, the invention has the beneficial effects that: the six-degree-of-freedom control mechanical arm;

1. the sliding rail and the moving plate are combined for use, so that the whole mechanical arm can be driven to transversely move, the mechanical arm can have a working space within a wider working range conveniently, the practicability of the whole device is improved, the subsequent mechanical arm can conveniently work, when the mechanical arm works, the moving plate drives the side plate to transversely move on the sliding rail, the mechanical arm at the top can be driven to move along with the side plate, and the subsequent mechanical arm can conveniently work within different moving ranges when the mechanical arm works.

2. According to the invention, through the joint use of the telescopic rod and the rotating shaft, the height position of the mechanical arm can be adjusted while the orientation of the mechanical arm is adjusted, so that the mechanical arm can conveniently process articles at a higher position, when the mechanical arm works, the rotating shaft can be driven by the arranged motor to drive the mechanical arm to rotate for 360 degrees, so that the working range of the mechanical arm is enlarged, the effect of the mechanical arm is improved, and meanwhile, when the mechanical arm needs to work at a high position, the hydraulic rod can be driven by the hydraulic cylinder to ascend, so that the mechanical arm can be driven to ascend, and the construction treatment of the high position is facilitated.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a six-degree-of-freedom control robot arm according to the present invention;

FIG. 2 is an enlarged structural view of a six-degree-of-freedom controlled robot arm of the present invention at A in FIG. 1;

FIG. 3 is a schematic diagram of an elevational structure of a six-degree-of-freedom control robot arm according to the present invention;

fig. 4 is a schematic side view of a fixing base of a six-degree-of-freedom control mechanical arm according to the present invention.

In the figure: 1. a fixed seat; 2. a slide rail; 3. moving the plate; 4. a side plate; 5. a clamping block; 6. a ball bearing; 7. a chute; 8. a motor case; 9. a motor; 10. a rotating shaft; 11. a bearing; 12. a through hole; 13. a protective shell; 14. a tray; 15. an auxiliary roller; 16. a hydraulic cylinder; 17. a hydraulic lever; 18. a cavity; 19. a fixing plate; 20. a first connecting arm; 21. a second connecting arm; 22. a rotating shaft; 23. a third connecting arm; 24. a cylinder; 25. a connecting rod; 26. an arm clamp; 27. a hook; 28. an access door.

Detailed Description

Referring to fig. 1, fig. 2 and fig. 4, the present invention provides a technical solution: a six-degree-of-freedom control mechanical arm comprises a fixed seat 1 and a motor 9, wherein slide rails 2 are mounted on two sides of the fixed seat 1, the slide rails 2 are symmetrically distributed along a vertical central line of the fixed seat 1, the slide rails 2 are vertically distributed with the fixed seat 1, a movable plate 3 is mounted at the top of the fixed seat 1, the bottom of the movable plate 3 is connected with a side plate 4, the side plate 4 is in sliding connection with the slide rails 2 through clamping blocks 5, the diameter size of the inner side of the side plate 4 is matched with the diameter size of the outer side of the clamping blocks 5, the inner side of the side plate 4 is connected with the clamping blocks 5, the bottom of the movable plate 3 is connected with balls 6, sliding grooves 7 are distributed on the outer side of the balls 6, a motor box 8 is mounted at the top of the movable plate 3 and used for driving the motor 9 for adjusting the orientation to be mounted in an inner cavity of the motor box 8, and a rotating shaft 10 can be driven by the motor 9 to rotate along with the motor, therefore, the rotating shaft 10 drives the protective shell 13 connected with the top to rotate along with the rotating shaft, the top of the motor 9 is connected with the rotating shaft 10, the outer surface of the rotating shaft 10 is connected with the bearing 11, the inner diameter of the bearing 11 is matched with the outer diameter of the rotating shaft 10, the rotating shaft 10 and the protective shell 13 are vertically distributed, through holes 12 are distributed in the outer side of the bearing 11, the protective shell 13 is distributed above the motor box 8, the bottom of the protective shell 13 is provided with the tray 14, the bottom of the tray 14 is connected with the auxiliary rollers 15, the auxiliary rollers 15 are equidistantly distributed along the vertical central line of the motor box 8, the protective shell 13 is rotatably connected with the motor box 8 through the auxiliary rollers 15, the protective shell 13 can be conveniently rotated through the auxiliary rollers 15, and meanwhile, a certain auxiliary rotating effect can be achieved;

referring to fig. 1 and 3, a hydraulic cylinder 16 is installed at the bottom of an inner cavity of a protective shell 13, a hydraulic rod 17 is connected to the top of the hydraulic cylinder 16, the hydraulic rod 17 can be driven by the hydraulic cylinder 16 to move up and down, so that a mechanical arm at the top can be driven to adjust the height, and the mechanical arm at the top is convenient for subsequent work, a cavity 18 is formed in the inner cavity of the protective shell 13, a fixing plate 19 is connected to the top of the hydraulic rod 17, a first connecting arm 20 is connected to the top of the fixing plate 19, a second connecting arm 21 is connected to the top of the first connecting arm 20, a rotating shaft 22 is connected to the other end of the second connecting arm 21, a third connecting arm 23 is connected to the inner side of the rotating shaft 22, the third connecting arm 23 is rotatably connected to the second connecting arm 21 through the rotating shaft 22, and the second connecting arm 21 is rotatably connected to the first connecting arm 20 through the rotating shaft 22, when the second connecting arm 21 rotates, the third connecting arm 23 can rotate around the second connecting arm 21 through the rotating shaft 22;

referring to fig. 1 and 3, an air cylinder 24 is installed at the top of the second connecting arm 21, the other end of the air cylinder 24 is connected with a connecting rod 25, the connecting rod 25 can be pulled through the arranged air cylinder 24, so that the connecting rod 25 drives the third connecting arm 23 to rotate around the second connecting arm 21, the right end of the third connecting arm 23 is connected with an arm clamp 26, lifting hooks 27 are installed on two sides of the third connecting arm 23, an access door 28 is installed at the front end of the motor box 8, and the arranged access door 28 facilitates maintenance of the motor 9 inside the motor box 8.

In summary, when the six-degree-of-freedom control mechanical arm is used, according to the structure shown in fig. 1 and 3, firstly, the fixing base 1 is placed at a designated position, the whole device is fixed, after the whole device is fixed, an external power supply is switched on, the mechanical arm starts to work, articles are clamped by the arm clamp 26, then the connecting rod 25 is driven by the air cylinder 24 to move, then when the connecting rod 25 is pulled under the action of the air cylinder 24, the third connecting arm 23 is driven to move along with the connecting rod, the third connecting arm 23 rotates around the second connecting arm 21, the articles clamped by the arm clamp 26 are driven to move and transport, and then the second connecting arm 21 rotates around the first connecting arm 20 through the rotating shaft 22, so that the clamped articles can be moved and transported;

then according to the structure shown in fig. 1, fig. 2 and fig. 3, when the orientation of the whole mechanical arm needs to be adjusted, the motor 9 is started, the rotating shaft 10 is driven to rotate by the motor 9, then the protective shell 13 at the top is driven to rotate along with the rotating shaft 10, then the tray 14 at the bottom is driven to rotate along with the protective shell 13 when the protective shell 13 rotates, the tray 14 rotates around the auxiliary roller 15 at the bottom, the protective shell 13 can be stabilized to a certain extent while the protective shell 13 rotates by the rotation of the auxiliary roller 15, the protective shell 13 is prevented from being inclined due to the over-high rotating speed, when the position height of the mechanical arm needs to be adjusted, the hydraulic rod 17 at the top is driven to move upwards by the hydraulic cylinder 16, and then the fixing plate 19 synchronously moves upwards under the action of the hydraulic rod 17, then the fixing plate 19 drives the mechanical arm arranged at the top to adjust the height;

finally, according to the structure shown in fig. 1 and 4, when the mechanical arm needs to be adjusted in the transverse position, the moving plate 3 is used for driving the mechanism at the top to perform transverse adjustment, when the moving plate 3 moves, the side plates 4 at two sides of the bottom are driven to perform transverse movement, then the side plates 4 drive the clamping blocks 5 mounted on the inner sides to move along with the side plates, so that the clamping blocks 5 perform transverse movement in the sliding rails 2, the stability of the moving plate 3 in the moving process is improved, and meanwhile, when the moving plate 3 moves, the balls 6 movably mounted at the bottom are driven to move along with the moving plate 3, so that the moving plate 3 is assisted to move, and the friction force generated when the moving plate 3 moves is reduced.

Claims

1. The six-degree-of-freedom control mechanical arm is characterized by comprising a fixed seat (1) and a motor (9), sliding rails (2) are mounted on two sides of the fixed seat (1), a movable plate (3) is mounted at the top of the fixed seat (1), a side plate (4) is connected to the bottom of the movable plate (3), a clamping block (5) is connected to the inner side of the side plate (4), balls (6) are connected to the bottom of the movable plate (3), sliding grooves (7) are distributed in the outer side of the balls (6), a motor box (8) is mounted at the top of the movable plate (3), the motor (9) used for driving the mechanical arm to adjust the orientation is mounted in an inner cavity of the motor box (8), a rotating shaft (10) is connected to the top of the motor (9), a bearing (11) is connected to the outer surface of the rotating shaft (10), through holes (12) are distributed in the outer side of the bearing (11), the upper portion of motor case (8) distributes and has protecting crust (13), and the bottom of protecting crust (13) installs tray (14), the bottom of tray (14) is connected with supplementary gyro wheel (15).

2. The six-degree-of-freedom control mechanical arm according to claim 1, wherein the slide rails (2) are symmetrically distributed along a vertical central line of the fixed base (1), and the slide rails (2) and the fixed base (1) are vertically distributed.

3. The six-degree-of-freedom control mechanical arm according to claim 1, wherein the side plate (4) is in sliding connection with the sliding rail (2) through a clamping block (5), and the inner diameter of the side plate (4) is matched with the outer diameter of the clamping block (5).

4. The six-degree-of-freedom control mechanical arm according to claim 1, wherein the inside diameter of the bearing (11) is matched with the outside diameter of the rotating shaft (10), and the rotating shaft (10) and the protective shell (13) are vertically distributed.

5. The six-degree-of-freedom control mechanical arm according to claim 1, wherein a hydraulic cylinder (16) is mounted at the bottom of an inner cavity of the protective shell (13), a hydraulic rod (17) is connected to the top of the hydraulic cylinder (16), a cavity (18) is formed in the inner cavity of the protective shell (13), a fixing plate (19) is connected to the top of the hydraulic rod (17), a first connecting arm (20) is connected to the top of the fixing plate (19), a second connecting arm (21) is connected to the top of the first connecting arm (20), a rotating shaft (22) is connected to the other end of the second connecting arm (21), and a third connecting arm (23) is connected to the inner side of the rotating shaft (22).

6. The six-degree-of-freedom control mechanical arm according to claim 1, wherein the auxiliary rollers (15) are distributed at equal intervals along the vertical center line of the motor box (8), and the protective shell (13) is in rotary connection with the motor box (8) through the auxiliary rollers (15).

7. The six-degree-of-freedom control mechanical arm according to claim 5, wherein a cylinder (24) is mounted at the top of the second connecting arm (21), a connecting rod (25) is connected to the other end of the cylinder (24), an arm clamp (26) is connected to the right end of the third connecting arm (23), lifting hooks (27) are mounted on two sides of the third connecting arm (23), and an access door (28) is mounted at the front end of the motor box (8).

8. A six degree-of-freedom control arm according to claim 7, characterised in that the third link arm (23) is in rotational connection with the second link arm (21) via a pivot (22), and the second link arm (21) is in rotational connection with the first link arm (20) via a pivot (22).