CN210500271U

CN210500271U - Multi-joint mechanical arm

Info

Publication number: CN210500271U
Application number: CN201921424413.7U
Authority: CN
Inventors: 许臻; 许娅芬
Original assignee: Zhejiang Shuren University
Current assignee: Zhejiang Shuren University
Priority date: 2019-08-29
Filing date: 2019-08-29
Publication date: 2020-05-12
Anticipated expiration: 2029-08-29

Abstract

The utility model discloses a multi-joint mechanical arm, which can drive a vertical rod to rotate through the cooperation of a driving motor, a first belt pulley, a second belt pulley and a belt, enables the first mechanical arm to rotate along with the driving motor through the connection of the vertical rod and the first mechanical arm, enables a rotating device to slide on the first mechanical arm through the cooperation of a first sliding rail and a cylinder, enables the second mechanical arm to rotate for 360 degrees in the horizontal direction through the connection of the rotating device and the second mechanical arm, enables a clamp to slide on the second mechanical arm through the cooperation of a second sliding rail and the cylinder, clamps an object to be taken through the clamp, clamps the object to be taken through the vertical rod, the first mechanical arm, the second mechanical arm, the first sliding rail, the second sliding rail, the cylinder and the rotating device, enables the clamp to clamp the object at any position in a rotating radius, the problem that objects close to the rotating center cannot be taken is solved, and the working efficiency of the mechanical arm is improved.

Description

Multi-joint mechanical arm

Technical Field

The utility model relates to an arm technical field, concrete field is a many joints arm.

Background

The mechanical arm is a high-precision and high-speed dispensing robot hand, and is a complex system with multiple inputs, 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. In recent years, with the development of robotics, a robot structure applying high speed, high precision and high load-to-weight ratio has received attention in the fields of industry and aerospace. Due to the increase of the flexible effect of the joints and the connecting rods in the movement process, the structure is deformed, and therefore the precision of task execution is reduced. Therefore, the structural flexibility characteristics of the robot mechanical arm must be considered, and the system dynamics must be considered to realize the high-precision effective control of the flexible mechanical arm. The flexible mechanical arm is a very complex dynamic system, and the dynamic equation of the flexible mechanical arm has the characteristics of nonlinearity, strong coupling, real variation and the like. The establishment of a model of the flexible arm dynamics problem is extremely important for the research. The flexible mechanical arm is not only a rigid-flexible coupled nonlinear system, but also a nonlinear system in which the dynamic characteristics and the control characteristics of the system are mutually coupled, namely, electromechanical coupling. The purpose of the dynamics modeling is to provide a basis for control system description and controller design. The description of a general control system (including a state space description in the time domain and a transfer function description in the frequency domain) is closely related to the positioning of sensors and actuators, the transfer of information from actuators to sensors, and the dynamics of the mechanical arm. The center of the rotating radius of the traditional mechanical arm is a working dead angle, and an object close to the rotating center cannot be taken, so that the working efficiency of the mechanical arm is affected.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a many joints arm to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a multi-joint mechanical arm comprises a base, wherein a fixed cylinder is fixedly connected to the upper surface of the base, bearings are fixedly connected to the upper end and the lower end of an inner cavity of the fixed cylinder, a vertical rod is fixedly connected between the two bearings, a first belt pulley is fixedly sleeved on the outer wall of the lower side of the vertical rod, a driving motor is fixedly connected to the upper surface of the base, a second belt pulley is fixedly sleeved at the output end of the driving motor, the second belt pulley is connected with the first belt pulley in a belt transmission manner, a through hole for a belt to pass through is formed in the outer wall of the left side of the fixed cylinder, a sleeve ring is fixedly sleeved on the outer wall of the upper side of the vertical rod, a first mechanical arm is fixedly connected to the outer wall of the sleeve ring, an opening is formed in the outer wall of the fixed cylinder, the radian of the opening is 360 degrees, the first mechanical arm penetrates through the opening and, the utility model discloses a mechanical arm, including first slide rail, the inside sliding connection of first slide rail has rotating device, the last fixed surface of first arm is connected with the cylinder, the left end and the rotating device fixed connection of cylinder, the fixed second arm that has cup jointed in rotating device's bottom, the second slide rail has been seted up on the surface of second arm, the inside sliding connection of second slide rail has anchor clamps, the last fixed surface of second arm is connected with the cylinder, the left side end and the anchor clamps fixed connection of cylinder.

Preferably, rotating device is including being located the inside shell of first slide rail, the right side outer wall of shell and the left side fixed connection of cylinder, the inside fixedly connected with gear motor of shell, gear motor's the fixed cover of output has connect first gear, the inner chamber top of shell is rotated and is pegged graft and have been had the bull stick, the bull stick rotates the lower surface that runs through the shell and extends to the outside of shell, the outer wall fixed cover that the bull stick is located the shell inside has connect the second gear, first gear and second gear intermeshing, the lateral wall that the bull stick is located the shell outside has cup jointed the second arm.

Preferably, the clamp is a pneumatic clamp, and the clamp and the air cylinder share one set of air valve.

Preferably, the surface of base is equipped with the mounting groove, the quantity of mounting groove is a plurality of, the inside grafting of mounting groove has the balancing weight.

Compared with the prior art, the beneficial effects of the utility model are that: a multi-joint mechanical arm provides a stable foundation for the mechanical arm through a base, the stable foundation is provided for the rotation of an upright rod through the matching of a fixed cylinder and a bearing, the driving motor can drive the upright rod to rotate through the matching of a driving motor, a first belt pulley, a second belt pulley and a belt, the first mechanical arm can rotate along with the rotation of a vertical plate through an opening when the vertical plate rotates through the connection of the upright rod and a first mechanical arm, so that the first mechanical arm can rotate at 340 degrees on a horizontal position, a rotating device can slide on the first mechanical arm through the matching of a first sliding rail and a cylinder, the second mechanical arm can rotate at 360 degrees in the horizontal direction through the connection of the rotating device and a second mechanical arm, and a clamp can slide on the second mechanical arm through the matching of a second sliding rail and the cylinder, the object of will taking is got through anchor clamps and is got, reaches the purpose of the object of taking, and this arm passes through pole setting, first arm, second arm, first slide rail, second slide rail, cylinder and rotating device's cooperation for anchor clamps can get the object of any position in the rotation radius and press from both sides, have solved the problem that the object that is close to rotation center can't be taken, improve the work efficiency of arm.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of the structure at A in FIG. 1;

fig. 3 is an enlarged schematic view of the structure at B in fig. 1.

In the figure: 1-base, 2-fixed cylinder, 3-bearing, 4-vertical rod, 5-first belt pulley, 6-driving motor, 7-second belt pulley, 8-belt, 9-through hole, 10-lantern ring, 11-first mechanical arm, 12-opening, 13-first sliding rail, 14-rotating device, 141-shell, 142-reducing motor, 143-first gear, 144-rotating rod, 145-second gear, 15-cylinder, 16-second mechanical arm, 17-second sliding rail, 18-clamp, 19-mounting groove and 20-counterweight block.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: a multi-joint mechanical arm comprises a base 1, wherein a fixed cylinder 2 is fixedly connected to the upper surface of the base 1, bearings 3 are fixedly connected to the upper end and the lower end of an inner cavity of the fixed cylinder 2, a vertical rod 4 is fixedly connected between the two bearings 3, a first belt pulley 5 is fixedly sleeved on the lower outer wall of the vertical rod 4, a driving motor 6 is fixedly connected to the upper surface of the base 1, a second belt pulley 7 is fixedly sleeved on the output end of the driving motor 6, the second belt pulley 7 is in transmission connection with the first belt pulley 5 through a belt 8, a through hole 9 for the belt 8 to pass through is formed in the outer wall on the left side of the fixed cylinder 2, a lantern ring 10 is fixedly sleeved on the outer wall on the upper side of the vertical rod 4, a first mechanical arm 11 is fixedly connected to the outer wall of the lantern ring 10, an opening 12 is formed in the outer wall of the fixed cylinder 2, the radian of the opening 12 is 340 degrees, the first mechanical, first slide rail 13 has been seted up on the surface of first arm 11, the inside sliding connection of first slide rail 13 has rotating device 14, the last fixed surface of first arm 11 is connected with cylinder 15, the left side end and the rotating device 14 fixed connection of cylinder 15, the fixed cover in bottom of rotating device 14 has been connect second arm 16, second slide rail 17 has been seted up on the surface of second arm 16, the inside sliding connection of second slide rail 17 has anchor clamps 18, the last fixed surface of second arm 16 is connected with cylinder 15, the left side end and the anchor clamps 18 fixed connection of cylinder 15.

The base 1 provides a stable foundation for the mechanical arm, the fixed cylinder 2 is matched with the bearing 3 to provide a stable foundation for the rotation of the vertical rod 4, the driving motor 6 can drive the vertical rod 4 to rotate through the matching of the driving motor 6, the first belt pulley 5, the second belt pulley 7 and the belt 8, the first mechanical arm 11 can rotate along with the vertical rod 4 through the opening 12 when the vertical rod 4 is connected with the first mechanical arm 11, so that the first mechanical arm 11 can rotate at 340 degrees on the horizontal position through the connection of the vertical rod 4 and the first mechanical arm 11, objects in the range of 20 degrees are remained and can be clamped through the rotation of the second mechanical arm 16, the rotating device 14 can slide on the first mechanical arm 11 through the matching of the first sliding rail 13 and the air cylinder 15, and the rotating device 14 is connected with the second mechanical arm 16, the second mechanical arm 16 can slide on the first mechanical arm 11, the clamp 18 can slide on the second mechanical arm 16 through the matching of the second slide rail 17 and the cylinder 15, and the object to be taken is clamped through the clamp 18, so that the purpose of taking the object is achieved.

Specifically, rotating device 14 is including being located the inside shell 141 of first slide rail 13, the right side outer wall of shell 141 and the left side fixed connection of cylinder 15, the inside fixedly connected with gear motor 142 of shell 141, the fixed cover of output of gear motor 142 has been connect first gear 143, the inner chamber top of shell 141 rotates to be inserted and has been had bull stick 144, bull stick 144 rotates the lower surface that runs through shell 141 and extends to the outside of shell 141, bull stick 144 is located the fixed cover of the inside outer wall of shell 141 and has been connected second gear 145, first gear 143 and second gear 145 intermeshing, the lateral wall that bull stick 144 is located the outside of shell 141 has cup jointed second arm 16.

The speed reduction motor 142 is connected with the first gear 143, so that the speed reduction motor 142 can drive the first gear 143 to rotate, the rotating rod 144 provides a rotating basis for the second gear 145, the first gear 143 is meshed with the second gear 145, so that the first gear 143 can drive the second gear 145 to rotate, and the purpose of rotating the rotating rod 144 is achieved, through the connection of the second gear 145 and the second mechanical arm 16, the second mechanical arm 16 can be driven by the speed reduction motor 142 to rotate, so that the second mechanical arm 16 can rotate in a 360-degree dead angle-free manner in the horizontal direction, through the cooperation of the shell 141, the first slide rail 13 and the cylinder 15, the cylinder 15 can control the position of the shell 141 on the first mechanical arm 11, and through the connection of the rotating rod 144 and the shell 141, the second mechanical arm 16 can slide left and right on the first mechanical arm 11 along with the shell 141.

Specifically, the clamp 18 is a pneumatic clamp, and the clamp 18 and the air cylinder 15 share one set of air valves.

By using a pneumatic clamp 18, the clamp 18 can share a set of air valves with the air cylinder 15, the occupied area of a plurality of air valve devices is reduced, and the required working place is smaller when the device is used.

Specifically, the surface of base 1 is equipped with mounting groove 19, the quantity of mounting groove 19 is a plurality of, the inside grafting of mounting groove 19 has balancing weight 20.

Provide the contact for being connected of balancing weight 20 and base 1 through mounting groove 19 for balancing weight 20 can be stable install on base 1, increase base 1's stability through balancing weight 20, prevent the phenomenon of turning on one's side.

The working principle is as follows: the base 1 provides a stable foundation for the mechanical arm, the fixed cylinder 2 is matched with the bearing 3 to provide a stable foundation for the rotation of the vertical rod 4, the driving motor 6 can drive the vertical rod 4 to rotate through the matching of the driving motor 6, the first belt pulley 5, the second belt pulley 7 and the belt 8, the first mechanical arm 11 can rotate along with the rotation of the vertical rod 4 through the opening 12 when the vertical rod 4 is connected with the first mechanical arm 11, so that the first mechanical arm 11 can rotate at 340 degrees on the horizontal position, the rotating device 14 can slide on the first mechanical arm 11 through the matching of the first sliding rail 13 and the air cylinder 15, the second mechanical arm 16 can slide on the first mechanical arm 11 through the connection of the rotating device 14 and the second mechanical arm 16, and through the matching of the second sliding rail 17 and the air cylinder 15, so that the clamp 18 can slide on the second mechanical arm 16 to clamp the object to be taken by the clamp 18, thereby achieving the purpose of taking the object.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A multi-joint mechanical arm comprises a base (1), and is characterized in that: the upper surface of the base (1) is fixedly connected with a fixed cylinder (2), the upper end and the lower end of the inner cavity of the fixed cylinder (2) are fixedly connected with bearings (3), two bearings (3) are fixedly connected with a vertical rod (4), a first belt pulley (5) is fixedly sleeved on the outer wall of the lower side of the vertical rod (4), a driving motor (6) is fixedly connected with the upper surface of the base (1), the output end of the driving motor (6) is fixedly sleeved with a second belt pulley (7), the second belt pulley (7) is in transmission connection with the first belt pulley (5) through a belt (8), the outer wall of the left side of the fixed cylinder (2) is provided with a through hole (9) for the belt (8) to pass through, the outer wall of the upper side of the vertical rod (4) is fixedly sleeved with a lantern ring (10), and the outer wall of the lantern ring (10) is fixedly, the outer wall of the fixed cylinder (2) is provided with an opening (12), the radian of the opening (12) is 340 degrees, the first mechanical arm (11) penetrates through the opening (12) and extends to the outside of the fixed cylinder (2), the surface of the first mechanical arm (11) is provided with a first sliding rail (13), the inside of the first sliding rail (13) is connected with a rotating device (14) in a sliding manner, the upper surface of the first mechanical arm (11) is fixedly connected with a cylinder (15), the left end of the cylinder (15) is fixedly connected with the rotating device (14), the bottom of the rotating device (14) is fixedly connected with a second mechanical arm (16), the surface of the second mechanical arm (16) is provided with a second sliding rail (17), the inside of the second sliding rail (17) is connected with a clamp (18) in a sliding manner, the upper surface of the second mechanical arm (16) is fixedly connected with the cylinder (15), the left end of the air cylinder (15) is fixedly connected with the clamp (18).

2. A multi-joint robotic arm as claimed in claim 1, wherein: rotating device (14) is including being located inside shell (141) of first slide rail (13), the right side outer wall of shell (141) and the left side fixed connection of cylinder (15), the inside fixedly connected with gear motor (142) of shell (141), the fixed cover of output of gear motor (142) has connect first gear (143), the inner chamber top of shell (141) is rotated and is pegged graft and has been had bull stick (144), bull stick (144) rotate the lower surface that runs through shell (141) and extend to the outside of shell (141), bull stick (144) are located the fixed cover of the inside outer wall of shell (141) and have been connect second gear (145), first gear (143) and second gear (145) intermeshing, bull stick (144) are located the outside lateral wall of shell (141) and have been cup jointed second arm (16).

3. A multi-joint robotic arm as claimed in claim 1, wherein: the clamp (18) is a pneumatic clamp, and the clamp (18) and the air cylinder (15) share one set of air valve.

4. A multi-joint robotic arm as claimed in claim 1, wherein: the surface of base (1) is equipped with mounting groove (19), the quantity of mounting groove (19) is a plurality of, the inside grafting of mounting groove (19) has balancing weight (20).