Foldable mechanical arm steel frame structure

Abstract

The invention discloses a foldable mechanical arm steel frame structure. The foldable mechanical arm steel frame structure comprises main support rods and subsidiary support rods. The main support rods and the subsidiary support rods are each of a rectangular columnar structure, and the connecting ends of the main support rods and the subsidiary support rods are each provided with a shaft hole. Fixing shafts are arranged in the shaft holes, and the main support rods and the subsidiary support rods are connected to the surfaces of the fixing shafts in a sleeved manner through the shaft holes. According to the foldable mechanical arm steel frame structure, the main support rods, the subsidiary support rods, the fixing shafts and a connector are arranged to form the rotatable and foldable steel frame structure, a small number of materials are used, and light-weight assembling can be achieved conveniently; meanwhile, a first adjustment rod and a second adjustment rod arranged between the main support rods can rotate relative to each other, sliding blocks slide on the surfaces of sliding rods, and the distance between the main support rods can be adjusted, so that the force bearing areaof the main support rods is adjusted and the force bearing load is increased; and meanwhile, when the foldable mechanical arm steel frame structure is not used, contraction can be achieved through the first adjustment rod and the second adjustment rod, and thus, the space occupation area is greatly reduced.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, and more specifically relates to a steel frame structure of a foldable mechanical arm. Background technique [0002] The robotic arm refers to a complex system with high precision, multiple input and multiple output, high nonlinearity, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields. The manipulator is a complex system with uncertainties such as parameter perturbation, external interference and unmodeled dynamics. Therefore, there are uncertainties in the modeling model of the manipulator. For different tasks, it is necessary to plan the motion trajectory of the joint space of the manipulator, so as to cascade to form the end pose. [0003] At present, in order to meet the telescopic, rotating and lifting functions of the manipulator, the existing steel frame structure of the manipulato...

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Problems solved by technology

[0003] At present, in order to meet the telescopic, rotating and lifting functions of the manipulator, the existing steel frame structure of the manipulator has a complex structure and a large volume, which not only increases the space occupied by the manipulator, but also increases the time required for telescopic, rotating or lifting. The stress on the functional parts or joints will reduce the strength of the robotic arm after long-term use and affect the normal operation of its functions

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