CN114700925A

CN114700925A - Mechanical arm

Info

Publication number: CN114700925A
Application number: CN202210207163.1A
Authority: CN
Inventors: 黄曼绮; 王旭
Original assignee: Chengdu College of University of Electronic Science and Technology of China
Current assignee: Chengdu College of University of Electronic Science and Technology of China
Priority date: 2022-03-03
Filing date: 2022-03-03
Publication date: 2022-07-05
Anticipated expiration: 2042-03-03
Also published as: CN114700925B

Abstract

The application discloses robotic arm belongs to robotic arm technical field, and it includes base, supporting seat, flexible rotating-structure and execution structure. The supporting seat is connected with the base in a rotating mode, one end of the telescopic rotating structure is connected with the supporting seat in a rotating mode, the rotating axis of the telescopic rotating structure is perpendicular to the rotating axis of the supporting seat, and the executing structure is connected with the other end of the telescopic rotating structure. The telescopic rotating structure can drive the execution structure to rotate to any angle and can also drive the execution structure to stretch in a certain range. The motor can be arranged between the supporting seat and the base of the mechanical arm, the telescopic rotating structure adopts a special structure, and the execution structure can be driven to rotate or stretch only by two push rod motors, so that the required motors are greatly reduced while the execution structure can normally reach each position and can rotate to any angle, and the mechanical arm is more convenient to operate.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.

The arm generally is used for snatching or processing material, and current arm generally includes four rotating motor at least, and still need set up more motors if need stretch out and draw back, and the structure is complicated, and required motor is more.

Disclosure of Invention

The invention discloses a mechanical arm, which aims to solve the problems.

The technical scheme adopted by the invention for solving the technical problems is as follows:

based on the above object, the present invention discloses a robot arm, comprising:

a base;

the supporting seat is rotatably connected with the base;

the telescopic rotating structure is rotatably connected with the supporting seat at one end, is vertical to the rotating axis of the supporting seat relative to the rotating axis of the supporting seat, and can rotate and/or stretch relative to the telescopic rotating structure at the other end; and

and the execution structure is connected with the other end of the telescopic rotating structure.

Optionally: the telescopic rotating structure comprises:

one end of the first rotating seat is rotatably connected with the rotating seat, the other end of the first rotating seat is provided with a first spiral rod, and the peripheral surface of the first spiral rod is provided with a first spiral surface;

The first spiral rod is in rotating fit with the first spiral groove, the axis of the second spiral groove is in inclined arrangement with the axis of the second rotating seat, and a third spiral surface is arranged on the inner wall of the second spiral groove; and

the seat is rotated to the third, the third rotates the one end of seat and is provided with the second hob, the outer peripheral face of second hob be provided with be used for with third helicoid complex fourth helicoid, the second hob with second helicla flute normal running fit, the revolve of fourth helicoid with the revolve to opposite of first helicoid, so that first rotate the seat with when the third rotates the seat and rotates along opposite direction, first rotate the seat with the third rotates the seat and keeps away from each other or is close to, the third rotate the other end of seat with execute structural connection.

Optionally: the first helical groove and the second helical groove are arranged in parallel.

Optionally: the flexible revolution mechanic still includes:

the first connecting ring is arranged at one end, facing the second rotating seat, of the first screw rod, and is in rotating connection with the first screw rod;

the first push rod motor is arranged in the first spiral groove, and the output end of the first push rod motor is connected with the first connecting ring;

the second connecting block is arranged at one end, facing the second rotating seat, of the second spiral rod and is in rotating connection with the second spiral rod; and

and the second push rod motor is arranged in the second spiral groove, and the output end of the second push rod motor is connected with the second connecting block.

Optionally: a first clamping groove is formed in the first connecting ring and penetrates through the first connecting ring along the radial direction of the first connecting ring; the first push rod motor is provided with a first clamping block and a first elastic part, two ends of the first elastic part are respectively connected with the first spiral rod and the first clamping block, the first elastic part enables the first clamping block to have a tendency of moving outwards along the radial direction of the first push rod motor, and when the first push rod motor is matched with the first connecting ring, the first clamping block is clamped in the first clamping groove;

A second clamping groove is formed in the second connecting block and penetrates through the second connecting block along the radial direction of the second connecting block; the second push rod motor is provided with a second clamping block and a second elastic part, two ends of the second elastic part are respectively connected with the second spiral rod and the second clamping block, the second elastic part enables the second clamping block to have a trend of moving outwards along the radial direction of the second push rod motor, and when the second push rod motor is matched with the second connecting block, the second clamping block is clamped into the second clamping groove.

Optionally: the first screw rod is provided with a first connecting hole which is used for being matched with the first clamping groove, and the first connecting hole penetrates through the first screw rod along the radial direction of the first screw rod; a second connecting hole used for being matched with the second clamping groove is formed in the second spiral rod, and the second connecting hole penetrates through the second spiral rod along the radial direction of the second spiral rod;

a first sliding block, a second sliding block, a third elastic piece and a fourth elastic piece are arranged on the second rotating seat, two ends of the third elastic piece are respectively connected with the first sliding block and the second rotating seat, and the third elastic piece enables the first sliding block to have a tendency of moving outwards along the radial direction of the first spiral groove; two ends of the fourth elastic part are respectively connected with the second sliding block and the second rotating seat, and the fourth elastic part enables the second sliding block to have the trend of moving outwards along the radial direction of the second spiral groove;

When the first push rod motor contracts to the minimum stroke, the first connecting hole is collinear with the first clamping groove; when the second push rod motor contracts to the minimum stroke, the second connecting hole is collinear with the second clamping groove.

Optionally: a first sliding groove and a second sliding groove are formed in the second rotating seat, the first sliding groove is arranged along the radial direction of the first spiral groove, the first sliding groove penetrates through the second rotating seat, and the first sliding block and the third elastic piece are located in the first sliding groove; the second sliding groove is arranged along the radial direction of the second spiral groove, the second sliding groove penetrates through the second rotating seat, and the second sliding block and the fourth elastic piece are located in the second sliding groove.

Optionally: the second rotating seat is also provided with a first limiting block, a second limiting block, a fifth elastic piece and a sixth elastic piece, two ends of the fifth elastic piece are respectively connected with the first limiting block and the second rotating seat, and the fifth elastic piece enables the first limiting block to have a tendency of entering the first sliding groove; two ends of the sixth elastic piece are respectively connected with the second limiting block and the second rotating seat, and the sixth elastic piece enables the second limiting block to have a tendency of entering the second sliding groove.

Optionally: the first limiting block slides relative to the second rotating seat along the axial direction of the second rotating seat, and the first limiting block is positioned on a moving path of the first screw rod, and when the first push rod motor contracts to a minimum stroke, the first screw rod pushes the first limiting block to leave the range of the first sliding groove;

the second limiting block slides relative to the second rotating seat along the axial direction of the second rotating seat, the second limiting block is located on a moving path of the second screw rod, and when the second push rod motor contracts to a minimum stroke, the second screw rod pushes the second limiting block to leave the range of the second sliding groove.

Optionally: a first groove is formed in one end, away from the first rotating seat, of the first spiral rod, the first groove is coaxially arranged with the first spiral rod, the first groove is sunken along the axial direction of the first spiral rod, and the first connecting hole is formed in the side wall of the first groove;

the second hob deviates from one end of the third rotating seat is provided with a second groove, the second groove is coaxially arranged with the second hob, the second groove is formed in the axial direction of the second hob and is sunken, and the second connecting hole is formed in the side wall of the second groove

Compared with the prior art, the invention has the following beneficial effects:

according to the mechanical arm disclosed by the invention, the motor can be arranged between the supporting seat and the base, the telescopic rotating structure adopts a special structure, the execution structure can be driven to rotate or stretch only by two push rod motors, and the required motors are greatly reduced while the execution structure can normally reach each position and can rotate to any angle, so that the mechanical arm is more convenient to operate.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic view of a robotic arm as disclosed in embodiments of the present invention;

FIG. 2 illustrates a cross-sectional view of the telescoping transmission structure disclosed in an embodiment of the present invention in a first state;

FIG. 3 shows an enlarged view of a portion of FIG. 2 at I in accordance with an embodiment of the present disclosure;

FIG. 4 shows an enlarged view of a portion of FIG. 2 at II of the disclosed embodiment of the invention;

FIG. 5 illustrates a cross-sectional view of a first rotating bed in accordance with an embodiment of the present disclosure;

FIG. 6 illustrates a cross-sectional view of a first pusher motor disclosed in an embodiment of the present invention;

FIG. 7 illustrates a cross-sectional view of a second rotatable mount disclosed in an embodiment of the present invention;

FIG. 8 illustrates a cross-sectional view of a third rotating turret disclosed in an embodiment of the present invention;

FIG. 9 illustrates a cross-sectional view of a second pusher motor disclosed in an embodiment of the present invention;

FIG. 10 illustrates a cross-sectional view of the telescopic drive disclosed in the embodiments of the present invention in a second state;

fig. 11 shows a cross-sectional view of the telescopic transmission structure disclosed in the embodiment of the present invention in a third state.

In the figure:

100-base, 200-support base, 300-telescopic rotating structure, 310-first rotating base, 311-first screw rod, 3111-first connecting hole, 312-first connecting ring, 3121-first clamping groove, 320-second rotating base, 321-first spiral groove, 3221-first sliding groove, 3222-first sliding block, 3223-third elastic member, 3231-first limiting block, 3232-fifth elastic member, 3241-second sliding groove, 3242-second sliding block, 3243-fourth elastic member, 3251-second limiting block, 3252-sixth elastic member, 326-second spiral groove, 330-third rotating base, 331-second screw rod, 3311-second connecting hole, 332-second connecting ring, 3321-second clamping groove, 340-first push rod motor, 341-a first abdicating groove, 342-a first clamping block, 343-a first elastic member, 350-a second push rod motor, 351-a second abdicating groove, 352-a second clamping block, 353-a second elastic member, 400-an implementation structure.

Detailed Description

The invention is described in further detail below by means of specific embodiments and with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as disclosed in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of the orientation or the positional relationship is based on the orientation or the positional relationship shown in the drawings, or the orientation or the positional relationship which is usually placed when the product of the application is used, or the orientation or the positional relationship which is usually understood by those skilled in the art, or the orientation or the positional relationship which is usually placed when the product of the application is used, is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or the element which is indicated must have a specific orientation, be configured and operated in a specific orientation, and therefore, cannot be understood as the limitation of the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or may be indirectly connected through an intermediate. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.

Example (b):

referring to fig. 1, an embodiment of the invention discloses a robot arm, which includes a base 100, a supporting base 200, a telescopic rotating structure 300, and an executing structure 400. The supporting seat 200 is rotatably connected with the base 100, the rotation axis of the supporting seat 200 is vertically arranged, one end of the telescopic rotating structure 300 is rotatably connected with the supporting seat 200, the rotation axis of the telescopic rotating structure 300 relative to the supporting seat 200 is perpendicular to the rotation axis of the supporting seat 200, and the executing structure 400 is connected with the other end of the telescopic rotating structure 300. The telescopic rotating structure 300 can drive the executing structure 400 to rotate to any angle, and can also drive the executing structure 400 to be telescopic within a certain range, so that the executing structure 400 can grab materials or process the materials.

The disclosed arm of this embodiment can set up a motor between supporting seat 200 and base 100, and flexible rotating-structure 300 adopts special construction, only needs two push rod motors, can realize driving execution structure 400 and rotate or stretch out and draw back, when guaranteeing that each position that reaches that execution structure 400 can be normal and can rotate to arbitrary angle, very big reduction required motor, it is more convenient to make it operate.

The base 100 is used for fixing the position of an installation table, the ground, the wall surface and the like, the supporting seat 200 is rotatably connected with the base 100, and the supporting seat 200 can rotate relative to the base 100 along the axis of the supporting seat. The supporting base 200 has a certain height to lift the retractable rotating structure 300 and the actuating structure 400 to a sufficient height, so that the actuating structure 400 can be conveniently retracted and rotated.

The telescopic rotating structure 300 is mainly used for driving the executing structure 400 to be telescopic and rotated, so that the executing structure 400 can be rotated to any angle or can be telescopic to any position. Referring to fig. 2, the telescopic rotating structure 300 includes a first rotating base 310, a second rotating base 320 and a third rotating base 330.

Referring to fig. 5, one end of the first rotating seat 310 is rotatably connected to the supporting seat 200, and an axis of the first rotating seat 310 rotating relative to the supporting seat 200 is perpendicular to an axis of the supporting seat 200. One end of the first rotating seat 310 departing from the supporting seat 200 is provided with a first spiral rod 311, the first spiral rod 311 and the first rotating seat 310 are coaxially arranged, the outer peripheral surface of the first spiral rod 311 is provided with a first spiral surface, and the first spiral surface is in a spiral line shape along the axis direction of the first spiral rod 311. A first groove and a first connection hole 3111 are disposed at an end of the first screw rod 311 facing away from the first rotating base 310. The first groove is provided coaxially with the first screw 311, and the first groove extends in the axial direction of the first screw 311. First connecting hole 3111 is located the lateral wall of first recess, and first connecting hole 3111 is along the radial setting of first recess, and the one end that just first connecting hole 3111 deviates from first recess extends to first hob 311 global to make first connecting hole 3111 run through first hob 311.

Referring to fig. 7, the second rotating base 320 is provided with a first spiral groove 321 for matching with the first spiral rod 311, and an inner wall of the first spiral groove 321 is provided with a second spiral surface which is in a spiral shape along an axial direction of the first spiral groove 321. The second spiral surface is engaged with the first spiral surface, so that the first spiral rod 311 can move relative to the second rotary base 320 along the axial direction of the first spiral groove 321 when rotating in the first spiral groove 321. The second rotating seat 320 is further provided with a first sliding slot 3221, the first sliding slot 3221 is disposed along a radial direction of the first spiral groove 321, one end of the first sliding slot 3221 extends to communicate with the first spiral groove 321, and the other end of the first sliding slot 3221 extends to a peripheral wall of the second rotating seat 320, so that the first sliding slot 3221 can penetrate through a side wall of the second rotating seat 320.

The second rotating seat 320 is further provided with a first slider 3222, a third elastic member 3223, a first limiting block 3231 and a fifth elastic member 3232. The first slider 3222 is slidably disposed in the first sliding groove 3221, two ends of the third elastic element 3223 are respectively connected to the second rotating seat 320 and the first slider 3222, and the third elastic element 3223 makes the first slider 3222 have a tendency of moving outward along the radial direction of the first spiral groove 321. The fifth elastic member 3232 has both ends connected to the first limiting block 3231 and the second rotating base 320, respectively, and the fifth elastic member 3232 makes the first limiting block 3231 have a tendency to enter the first slide groove 3221. In this embodiment, the first limiting block 3231 is slid relative to the second rotating base 320 along the axial direction of the first spiral groove 321, so that the first limiting block 3231 and the fifth elastic member 3232 can be directly installed in the first spiral groove 321, and the first limiting block 3231 can be installed on the moving path of the first spiral rod 311, so that the position of the first limiting block 3231 can be controlled when the first spiral rod 311 moves. Normally, the first slider 3222 is moved outward along the radial direction of the first spiral groove 321 under the action of the third elastic element 3223, so that an end of the first slider 3222 close to the first spiral groove 321 is spaced from the first spiral groove 321 by a certain distance. The first limiting block 3231 extends into the first sliding groove 3221 under the action of the fifth elastic element 3232 and is clamped between the first slider 3222 and the first spiral groove 321, so that the first slider 3222 cannot be clamped into the first spiral groove 321 even under external force, and the first slider 3222 is prevented from being mistakenly inserted into the first spiral groove 321 and then being influenced by expansion and contraction of the first spiral rod 311.

Referring to fig. 2, 3, 5 and 6, a first connection ring 312 is disposed in the first groove of the first screw rod 311, the first connection ring 312 has a circular cross-section, and the first connection ring 312 is rotatably connected to the first screw rod 311. A first locking groove 3121 is provided on the first connection ring 312, and the first locking groove 3121 penetrates through the first connection ring 312 in a radial direction of the first connection ring 312. The first latching groove 3121 is formed at the same height as the first connection hole 3111, that is, when the first connection ring 312 rotates relative to the first screw bar 311, the first latching groove 3121 and the first connection hole 3111 are coaxial at a certain time.

A first push rod motor 340 is installed in the first spiral groove 321, the first push rod motor 340 is installed at the bottom of the first spiral groove 321, and an output end of the first push rod motor 340 is arranged towards a port of the first spiral groove 321, that is, an output end of the first push rod motor 340 is arranged towards the first spiral rod 311. The output end of the first push rod motor 340 extends into the first connection ring 312 and can form a snap connection with the first connection ring 312. A first receding groove 341 is formed at the output end of the first push rod motor 340, and a first clamping block 342 and a first elastic member 343 are further formed at the output end of the first push rod motor 340. The first blocking block 342 and the first elastic member 343 are both located in the first yielding groove 341, two ends of the first elastic member 343 are respectively connected with the first screw rod 311 and the first blocking block 342, and the first elastic member 343 makes the first blocking block 342 have a tendency of moving outward along the radial direction of the first push rod motor 340. When the first push rod motor 340 is engaged with the first connection ring 312, the first latch 342 is latched into the first latch groove 3121. After the connection is completed, the first push rod motor 340 can drive the first connection ring 312 and the first screw rod 311 to move together along the first spiral groove 321 by stretching. When the first push rod motor 340 retracts to a minimum stroke, the first locking groove 3121, the first connection hole 3111 and the first sliding groove 3221 are exactly located on the same straight line, and at this time, the first screw rod 311 exactly pushes the first limiting block 3231 to leave the range of the first sliding groove 3221. At this time, the first slider 3222 can slide along the first sliding groove 3221, the first connection hole 3111 and the first spiral groove 321 under the action of an external force, so as to push the first clamping block 342 into the first receding groove 341, at this time, the first push rod motor 340 is separated from the first connection ring 312, and the second rotating seat 320 is also separated from the first rotating seat 310, at this time, the first rotating seat 310 and the second rotating seat 320 can be maintained and repaired respectively.

In order to ensure the connection stability between the first push rod motor 340 and the first connection ring 312, the first locking block 342 may be provided with more than two, and correspondingly, the first elastic member 343, the first slider 3222, the first control block, and the fifth elastic member 3232 are provided with more than two, and the number of these components is consistent with the number of the first locking blocks 342 and are installed in a one-to-one correspondence manner.

Referring to fig. 8, one end of the second rotating base 320 is connected to the actuating structure 400. One end of the second rotating base 320, which is away from the actuating structure 400, is provided with a second screw rod 331, the second screw rod 331 and the second rotating base 320 are coaxially arranged, the outer circumferential surface of the second screw rod 331 is provided with a third screw surface, and the third screw surface is in a spiral shape along the axial direction of the second screw rod 331. A second groove and a second connection hole 3311 are formed at an end of the second screw rod 331 facing away from the second rotating base 320. The second groove is coaxially disposed with the second screw rod 331, and the second groove extends in the axial direction of the second screw rod 331. The second connecting hole 3311 is located on a sidewall of the second groove, the second connecting hole 3311 is disposed along a radial direction of the second groove, and an end of the second connecting hole 3311 deviating from the second groove extends to a circumferential surface of the second screw rod 331, so that the second connecting hole 3311 penetrates the second screw rod 331.

Referring to fig. 7, a second spiral groove 326 for matching with the second spiral rod 331 is formed on the second rotating base 320, and an inner wall of the second spiral groove 326 is a second spiral surface which is in a spiral line shape along an axial direction of the second spiral groove 326. The second spiral surface is engaged with the second spiral surface, so that the second screw 331 can move relative to the second rotating base 320 in the axial direction of the second spiral groove 326 when rotating in the second spiral groove 326. The second rotating seat 320 is further provided with a second sliding groove 3241, the second sliding groove 3241 is arranged along a radial direction of the second spiral groove 326, one end of the second sliding groove 3241 extends to be communicated with the second spiral groove 326, and the other end of the second sliding groove 3241 extends to a peripheral wall of the second rotating seat 320, so that the second sliding groove 3241 can penetrate through a side wall of the second rotating seat 320.

The second rotating base 320 is further provided with a second slider 3242, a fourth elastic member 3243, a second limiting block 3251 and a sixth elastic member 3252. The second slide block 3242 is slidably disposed in the second sliding groove 3241, two ends of the fourth elastic element 3243 are respectively connected to the second rotating base 320 and the second slide block 3242, and the fourth elastic element 3243 makes the second slide block 3242 have a tendency of moving outward along a radial direction of the second spiral groove 326. Both ends of the sixth elastic member 3252 are connected to the second limiting block 3251 and the second rotating base 320, respectively, and the sixth elastic member 3252 makes the second limiting block 3251 have a tendency to enter the second slide groove 3241. In this embodiment, the second limiting block 3251 is slid relative to the second rotating base 320 along the axial direction of the second spiral groove 326, so that the second limiting block 3251 and the sixth elastic member 3252 can be directly installed in the second spiral groove 326, and the second limiting block 3251 can be installed on the moving path of the second spiral rod 331, so that the position of the second limiting block 3251 can be controlled when the second spiral rod 331 moves. Normally, the second slider 3242 moves outward along the radial direction of the second spiral groove 326 under the action of the fourth elastic element 3243, so that an end of the second slider 3242 close to the second spiral groove 326 is spaced from the second spiral groove 326. The second limiting block 3251 extends into the second sliding groove 3241 under the action of the sixth elastic element 3252 and is clamped between the second sliding block 3242 and the second spiral groove 326, so that the second sliding block 3242 cannot be clamped into the second spiral groove 326 even if external force is applied, and the second sliding block 3242 is prevented from being mistakenly inserted into the second spiral groove 326 and then affecting the extension and retraction of the second spiral rod 331.

Referring to fig. 2, 4, 8 and 9, a second connection ring 332 is disposed in the second recess of the second screw 331, the second connection ring 332 has a circular cross-section, and the second connection ring 332 is rotatably connected to the second screw 331. A second engaging groove 3321 is formed in the second coupling ring 332, and the second engaging groove 3321 penetrates the second coupling ring 332 in a radial direction of the second coupling ring 332. The second engaging groove 3321 is formed at the same height as the second connecting hole 3311, i.e., when the second connecting ring 332 is rotated with respect to the second screw rod 331, the second engaging groove 3321 and the second connecting hole 3311 are coaxial at a certain time.

A second push rod motor 350 is installed in the second spiral groove 326, the second push rod motor 350 is installed at the bottom of the second spiral groove 326, and an output end of the second push rod motor 350 is arranged towards a port of the second spiral groove 326, that is, an output end of the second push rod motor 350 is arranged towards the second spiral rod 331. The output end of the second push rod motor 350 extends into the second connection ring 332 and can be engaged with the second connection ring 332. A second abdicating groove 351 is formed at an output end of the second push rod motor 350, and a second latch 352 and a second elastic member 353 are also formed at the output end of the second push rod motor 350. The second latch 352 and the second elastic member 353 are both located in the second yielding groove 351, two ends of the second elastic member 353 are respectively connected with the second screw rod 331 and the second latch 352, and the second elastic member 353 enables the second latch 352 to have a tendency of moving outwards along the radial direction of the second push rod motor 350. When the second push rod motor 350 is engaged with the second coupling ring 332, the second latch 352 is latched into the second latch slot 3321. After the connection is completed, the second push rod motor 350 expands and contracts to drive the second connection ring 332 and the second screw rod 331 to move together along the second spiral groove 326. When the second push rod motor 350 is retracted to a minimum stroke, the second locking groove 3321, the second connecting hole 3311 and the second sliding groove 3241 are exactly positioned on the same straight line, and at this time, the second screw rod 331 exactly pushes the second limiting block 3251 to leave the range of the second sliding groove 3241. At this time, the second slider 3242 can slide along the second sliding groove 3241, the second connecting hole 3311 and the second spiral groove 326 under the action of an external force to push the second latch 352 into the second receding groove 351, and at this time, the second push rod motor 350 is separated from the second connecting ring 332, so that the second rotating seat 320 is separated from the second rotating seat 320, and at this time, the second rotating seat 320 and the second rotating seat 320 can be maintained and repaired, respectively.

In order to ensure the connection stability of the second push rod motor 350 and the second connection ring 332, the second latch 352 may be provided in more than two, and correspondingly, the second elastic member 353, the second slider 3242, the second control block, and the sixth elastic member 3252 are provided in more than two, and the number of these components is the same as that of the second latch 352, and the components are installed in a one-to-one correspondence manner.

In the present embodiment, the axis of the first spiral groove 321 is disposed obliquely to the axis of the second rotary holder 320, and the axis of the second spiral groove 326 is disposed obliquely to the axis of the second rotary holder 320. Referring to fig. 10 and 11, the first and

second spiral grooves

321 and 326 having inclined axes can drive the actuating structure 400 to more angles, and at the same time, compared to the first and

second spiral grooves

321 and 326 being coaxially arranged with the second rotating base 320, the arrangement can change the orientation of the actuating structure 400 while ensuring that the telescopic length of the actuating structure 400 is not changed, or can make the actuating structure 400 telescopic without changing the angle of the actuating structure 400.

Specifically, the rotation direction of the fourth spiral surface is opposite to that of the first spiral surface, so that when the first rotating seat 310 and the third rotating seat 330 rotate in opposite directions, the first rotating seat 310 and the third rotating seat 330 are far away from or close to each other, and when the first rotating seat 310 and the third rotating seat 330 rotate in the same direction, the relative distance between the first rotating seat 310 and the third rotating seat 330 is not changed.

When the first rotating seat 310 and the third rotating seat 330 rotate in the same direction and at the same speed, the first rotating seat 310 and the third rotating seat 330 move away from or close to each other, but at this time, the angle of the actuating structure 400 does not change; when the first rotating seat 310 and the third rotating seat 330 rotate in opposite directions at the same speed, the relative distance between the first rotating seat 310 and the third rotating seat 330 is not changed, but the angle of the actuating structure 400 is changed; when the rotation directions or the rotation speeds of the first rotating base 310 and the third rotating base 330 are different, the actuator 400 may be angularly changed while approaching or departing from the supporting base 200.

In this embodiment, the actuating structure 400 may be a mechanical claw for grasping a material, a grinding disc for grinding the material, a nozzle for spraying paint, or the like. When the actuator 400 is a gripper, it has a gripping direction which is generally perpendicular to the actuator 400 and the telescopic rotator 300, and on this basis, a more delicate operation is required in controlling the orientation of the actuator 400.

As a preferred embodiment of this embodiment, the first spiral groove 321 and the second spiral groove 326 are arranged in parallel, so that the control is more convenient. Simultaneously, first helicla flute 321 and second helicla flute 326 parallel arrangement back, can be better control the direction of snatching of gripper to more convenient snatch the material.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robotic arm, comprising:

a base;

the supporting seat is rotationally connected with the base;

the telescopic rotating structure is in rotating connection with the supporting seat, the telescopic rotating structure is perpendicular to the rotating axis of the supporting seat relative to the rotating axis of the supporting seat, and the other end of the telescopic rotating structure can rotate and/or stretch relative to the telescopic rotating structure; and

2. The mechanical arm as claimed in claim 1, wherein said telescopic turning structure comprises:

the seat is rotated to the third, the third rotates the one end of seat and is provided with the second hob, the outer peripheral face of second hob be provided with be used for with third helicoid complex fourth helicoid, the second hob with second helicla flute normal running fit, the turning of fourth helicoid with the turning of first helicoid is opposite, so that first rotate the seat with when the third rotates the seat and rotates along opposite direction, first rotate the seat with the third rotates the seat and keeps away from each other or is close to, the third rotate the seat the other end with carry out structural connection.

3. The robotic arm of claim 2, wherein the first helical groove and the second helical groove are disposed in parallel.

4. The mechanical arm as claimed in claim 2, wherein said telescopic turning structure further comprises:

the second connecting block is arranged at one end, facing the second rotating seat, of the second screw rod and is in rotating connection with the second screw rod; and

5. The mechanical arm as claimed in claim 4, wherein the first connecting ring is provided with a first clamping groove, and the first clamping groove penetrates through the first connecting ring along the radial direction of the first connecting ring; the first push rod motor is provided with a first clamping block and a first elastic part, two ends of the first elastic part are respectively connected with the first spiral rod and the first clamping block, the first elastic part enables the first clamping block to have a tendency of moving outwards along the radial direction of the first push rod motor, and when the first push rod motor is matched with the first connecting ring, the first clamping block is clamped in the first clamping groove;

A second clamping groove is formed in the second connecting block and penetrates through the second connecting block along the radial direction of the second connecting block; the second push rod motor is provided with a second clamping block and a second elastic piece, two ends of the second elastic piece are respectively connected with the second spiral rod and the second clamping block, the second elastic piece enables the second clamping block to have a trend of moving outwards in the radial direction of the second push rod motor, and when the second push rod motor is matched with the second connecting block, the second clamping block is clamped into the second clamping groove.

6. The mechanical arm according to claim 5, wherein a first connection hole for matching with the first clamping groove is arranged on the first screw rod, and the first connection hole penetrates through the first screw rod along the radial direction of the first screw rod; the second screw rod is provided with a second connecting hole which is used for being matched with the second clamping groove, and the second connecting hole penetrates through the second screw rod along the radial direction of the second screw rod;

a first sliding block, a second sliding block, a third elastic piece and a fourth elastic piece are arranged on the second rotating seat, two ends of the third elastic piece are respectively connected with the first sliding block and the second rotating seat, and the third elastic piece enables the first sliding block to have a tendency of moving outwards along the radial direction of the first spiral groove; two ends of the fourth elastic piece are respectively connected with the second sliding block and the second rotating seat, and the fourth elastic piece enables the second sliding block to have the trend of moving outwards along the radial direction of the second spiral groove;

When the first push rod motor contracts to the minimum stroke, the first connecting hole is collinear with the first clamping groove; when the second push rod motor contracts to the minimum stroke, the second connecting hole and the second clamping groove are collinear.

7. The mechanical arm according to claim 6, wherein a first sliding chute and a second sliding chute are arranged on the second rotating seat, the first sliding chute is arranged along the radial direction of the first spiral groove, the first sliding chute penetrates through the second rotating seat, and the first sliding block and the third elastic member are positioned in the first sliding chute; the second sliding groove is arranged along the radial direction of the second spiral groove, the second sliding groove penetrates through the second rotating seat, and the second sliding block and the fourth elastic piece are located in the second sliding groove.

8. The mechanical arm according to claim 7, wherein a first limiting block, a second limiting block, a fifth elastic member and a sixth elastic member are further arranged on the second rotating seat, two ends of the fifth elastic member are respectively connected with the first limiting block and the second rotating seat, and the fifth elastic member enables the first limiting block to have a tendency of entering the first sliding groove; two ends of the sixth elastic piece are respectively connected with the second limiting block and the second rotating seat, and the sixth elastic piece enables the second limiting block to have a tendency of entering the second sliding groove.

9. The mechanical arm according to claim 8, wherein the first limiting block slides relative to the second rotating seat along the axial direction of the second rotating seat, and the first limiting block is located on the moving path of the first screw rod, when the first push rod motor retracts to the minimum stroke, the first screw rod pushes the first limiting block to leave the range of the first chute;

the second limiting block slides relative to the second rotating seat along the axial direction of the second rotating seat, the second limiting block is located on the moving path of the second spiral rod, and when the second push rod motor contracts to the minimum stroke, the second spiral rod pushes the second limiting block to leave the range of the second sliding groove.

10. The mechanical arm according to claim 6, wherein a first groove is arranged at one end of the first screw rod, which is far away from the first rotating seat, the first groove is coaxially arranged with the first screw rod, the first groove is concave along the axial direction of the first screw rod, and the first connecting hole is positioned on the side wall of the first groove;

one end of the second screw rod, which deviates from the third rotating seat, is provided with a second groove, the second groove is coaxially arranged with the second screw rod, the second groove is formed along the axis direction of the second screw rod, and the second connecting hole is formed in the side wall of the second groove.