An electric mechanical arm

Abstract

The present invention relates to an electric mechanical arm, belonging to the field of robot technology, the electric mechanical arm comprises a tube body, a base and an end cover, the end cover and the base are respectively mounted on the top and bottom of the tube body by screws; a mounting seat, an articulated seat, a first clamp arm and a second clamp arm, the middle parts of the first clamp arm and the second clamp arm are both hinged on the mounting seat and the bottom ends of the first clamp arm and the second clamp arm are both hinged on the articulated seat; the mounting seat and the articulated seat are both mounted above the tube body, and a first drive assembly driving the mounting seat to rotate relative to the tube body and a second drive assembly driving the articulated seat to rise and fall relative to the tube body are also installed in the tube body, the first drive assembly and the second drive assembly are both connected to the tube body to transmit the axial force exerted on the first drive assembly and the second drive assembly to the tube body. Through the above structure, the electric mechanical arm provided by the present invention has a stronger pressure resistance in water, can be applied to deeper sea areas, and has a stronger practicality.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an electric mechanical arm. Background Art

[0002] Humans are now facing three major challenges: population, resources and environment. With the rapid economic development of various countries and the continuous increase in the world's population, humans consume more and more natural resources, and the resources on land are decreasing. In order to survive and develop, marine development is imperative. The ocean accounts for 71% of the earth's surface area and has a volume of 1.4 billion cubic kilometers. There are extremely rich biological resources and mineral resources on the seabed and in the ocean. The exploration of the ocean floor is similar to space exploration, and is also extremely attractive and challenging.

[0003] Underwater robots and underwater robot supporting facilities are the products of a variety of modern high technologies and their system integration, and are of special importance to my country's marine economy, marine industry, marine development and marine high technology. An extremely important tool for underwater robots to perform underwater tasks is the underwater manipulator. Although the underwater manipulator in the prior art can meet the requirements of light weight, due to structural limitations, the pressure resistance of the internal components is insufficient, which is suitable for shallow sea operations but not for deep sea operations. Summary of the invention

[0004] The present invention provides an electric mechanical arm, which is used to solve the technical problem that the mechanical arm in the prior art has insufficient pressure resistance in water.

[0005] The present invention is implemented by the following technical solution: an electric mechanical arm, comprising:

[0006] A tube body, a base and an end cover, wherein the end cover and the base are respectively mounted on the top end and the bottom end of the tube body by screws;

[0007] A mounting seat, an articulated seat, a first clamp arm and a second clamp arm, wherein the middle parts of the first clamp arm and the second clamp arm are both hinged on the mounting seat, and the bottom ends of the first clamp arm and the second clamp arm are both hinged on the articulated seat;

[0008] The mounting seat and the articulated seat are both installed above the tube body. A first driving component for driving the mounting seat to rotate relative to the tube body and a second driving component for driving the articulated seat to rise and fall relative to the tube body are also installed in the tube body. The first driving component and the second driving component are both connected to the tube body to transmit the axial force exerted on the first driving component and the second driving component to the tube body.

[0009] Furthermore, in order to better realize the present invention, the first drive component includes a first outer rotor motor, a nut and a screw, the first outer rotor motor and the nut are both installed in the tube body and the nut is connected to the output flange of the first outer rotor motor, the screw is threadedly connected to the nut and the screw passes through the first outer rotor motor, the base is provided with a limiting structure for limiting the rotation of the screw, the bottom end of the screw is connected to the limiting structure, the top end of the screw passes through the end cover and the mounting seat, the articulated seat is connected to the top of the screw and the articulated seat can rotate relative to the screw, the nut and the base are connected by a first force transmission component to transmit the axial force applied to the nut to the base.

[0010] Further, in order to better realize the present invention, the first force transmission component includes a first fixing rod, a first motor mounting plate, a second fixing rod, a bearing seat, a first thrust bearing and a pressure plate, the pressure plate is connected to the top of the nut, the first fixing rod is connected to the base, the first motor mounting plate is connected to the top of the first fixing rod, the first outer rotor motor is mounted on the first motor mounting plate, the second fixing rod is arranged on the top surface of the first motor mounting plate, the bearing seat is mounted on the top of the second fixing rod, the first thrust bearing is mounted on the bearing seat and is sleeved outside the nut, and the pressure plate is pressed on the first thrust bearing.

[0011] Furthermore, in order to better implement the present invention, the limiting structure is a square tube, the bottom end of the lead screw is provided with a square head adapted to the square tube, and the square head is inserted into the square tube.

[0012] Furthermore, in order to better realize the present invention, it also includes a sliding bearing, which is installed on the top end of the lead screw through a screw, and the hinge seat is connected to the sliding bearing.

[0013] Furthermore, in order to better realize the present invention, the second driving assembly includes a second outer rotor motor and a rotating sleeve, the second outer rotor motor is installed in the tube body, the rotating sleeve is rotatably installed on the end cover and the top end of the rotating sleeve extends out of the end cover, the mounting seat is installed on the top end of the rotating sleeve, and the bottom end of the rotating sleeve is connected to the output flange of the second outer rotor motor, the screw passes through the second outer rotor motor and the rotating sleeve, and the rotating sleeve and the end cover are connected by a second force transmission assembly to transmit the axial force exerted on the rotating sleeve to the end cover.

[0014] Further, in order to better realize the present invention, the second force transmission component includes a second thrust bearing and a pressure cover, the end cover is provided with a bearing chamber, the bearing chamber is inserted into the tube body, the rotating sleeve is rotatably connected in the bearing chamber and a shoulder is provided on the outer wall of the rotating sleeve, the shoulder is located in the bearing chamber, the second thrust bearing is installed in the bearing chamber, the pressure cover is connected to the bottom end of the end cover and is located at the bottom opening of the bearing chamber, and the pressure cover presses the second thrust bearing onto the shoulder.

[0015] Furthermore, in order to better implement the present invention, a deep groove ball bearing is also installed in the bearing chamber, and the shaft shoulder is installed in the inner hole of the deep groove ball bearing.

[0016] Furthermore, in order to better implement the present invention, a bolt is threaded on the bottom end of the rotating sleeve, a flange is connected to the output flange of the second outer rotor motor, a socket is provided on the flange, and the bolt is inserted into the socket.

[0017] Furthermore, in order to better implement the present invention, sealing rings are provided between the lead screw and the rotating sleeve, between the rotating sleeve and the end cover, between the outer wall of the bearing chamber and the inner wall of the tube body, and between the base and the tube body.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The electric mechanical arm provided by the present invention has a base and an end cover respectively installed on the bottom and top of a tube body by screws, the middle parts of the first clamping arm and the second clamping arm are respectively hinged on the mounting seat, and the bottom ends of the first clamping arm and the second clamping arm are respectively hinged on the hinge seat. At this time, the hinge seat is driven to rise and fall relative to the mounting seat, so that the first clamping arm and the second clamping arm can be driven to clamp or loosen. The mounting seat and the hinge seat are both located above the tube body, and the first driving assembly and the second driving assembly are installed in the tube body, wherein the first driving assembly drives the above-mentioned mounting seat to rotate relative to the tube body, and then drives the clamping claw composed of the above-mentioned first clamping arm and the second clamping arm to rotate relative to the tube body, and the second driving assembly drives the above-mentioned hinge seat to rise and fall relative to the tube body, so that the above-mentioned clamping claw can be driven to clamp or loosen, and the above-mentioned first driving assembly and the second driving assembly are both The above-mentioned tube bodies are connected to each other, so that the axial force exerted on the first drive assembly and the second drive assembly is transmitted to the tube body. Since the tube body is fixedly installed when the electric mechanical arm is in use, the above-mentioned structure is adopted, and the axial force exerted on the first drive assembly and the second drive assembly will be transmitted to the fixed component, that is, the fixed component will support the first drive assembly and the second drive assembly to avoid the first drive assembly and the second drive assembly being damaged due to the large axial force. When the electric mechanical arm is used for deep-sea operations, the axial force formed by the sea water pressure acting on the mounting seat and the clamping claw is very large, that is, the axial force transmitted to the first drive assembly and the second drive assembly is very large, but the axial force is transmitted to the tube body, thereby avoiding the first drive assembly and the second drive assembly from being damaged by the high pressure of the deep sea, so the electric mechanical arm has a stronger pressure resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a schematic structural diagram of an electric mechanical arm in an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 a cross-sectional view of the structure shown;

[0023] Figure 3 yes Figure 2 A local enlarged view of area A;

[0024] Figure 4 yes Figure 2 A local enlarged view of area B in FIG.

[0025] Figure 5 yes Figure 2 A local enlarged view of the C region;

[0026] Figure 6 yes Figure 2 A local enlarged view of area D in FIG.

[0027] In the figure:

[0028] 1-tube body; 2-base; 3-end cover; 4-mounting seat; 5-hinged seat; 6-first clamping arm; 7-second clamping arm; 8-first outer rotor motor; 9-nut; 10-screw; 11-limiting structure; 12-first fixing rod; 13-first motor mounting plate; 14-second fixing rod; 15-bearing seat; 16-first thrust bearing; 17-pressure plate; 18-sliding bearing; 19-second outer rotor motor; 20-rotating sleeve; 21-second thrust bearing; 22-pressure cover; 23-bearing chamber; 24-deep groove ball bearing; 25-bolt; 26-sealing ring; 27-guide sleeve; 28-cable transfer connector; 29-second motor mounting plate; 30-flange; 31-third fixing rod. DETAILED DESCRIPTION

[0029] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0030] Embodiment 1:

[0031] The present embodiment provides an electric robotic arm, comprising a tube body 1, a base 2 and an end cover 3. The tube body 1, the base 2 and the end cover 3 are all structural parts made of waterproof materials (such as stainless steel). The end cover 3 and the base 2 are respectively detachably fixed to the bottom and top ends of the tube body 1 by screws, and the end cover 3 blocks the top end of the tube body 1, and the base 2 blocks the bottom end of the tube body 1.

[0032] It also includes a mounting seat 4, an articulated seat 5, a first clamping arm 6 and a second clamping arm 7, wherein the first clamping arm 6 and the second clamping arm 7 are arranged opposite to each other and the middle part of the first clamping arm 6 and the middle part of the second clamping arm 7 are both hinged on the above-mentioned mounting seat 4, and the bottom end of the first clamping arm 6 and the bottom end of the second clamping arm 7 are both hinged on the above-mentioned articulated seat 5. In this way, by driving the articulated seat 5 to rise and fall relative to the mounting seat 4, the clamping claws composed of the first clamping arm 6 and the second clamping arm 7 can be driven to clamp or release.

[0033] The above-mentioned mounting seat 4 and the above-mentioned hinge seat 5 are both installed above the above-mentioned tube body 1, and the first driving assembly and the second driving assembly are installed in the above-mentioned tube body 1, wherein the first driving assembly drives the above-mentioned mounting seat 4 to rotate relative to the tube body 1, and then drives the clamping claw composed of the above-mentioned first clamping arm 6 and the second clamping arm 7 to rotate relative to the tube body 1, and the second driving assembly drives the above-mentioned hinge seat 5 to rise and fall relative to the tube body 1, so that the above-mentioned clamping claw can be driven to clamp or release, and the above-mentioned first driving assembly and the second driving assembly are both connected to the above-mentioned tube body 1, so as to transmit the axial force exerted on the first driving assembly and the second driving assembly to the tube body 1. Since the tube body 1 is fixedly installed when the electric mechanical arm is in use, the axial force exerted on the first driving assembly and the second driving assembly is transmitted to the external fixed component.

[0034] By adopting the above structure, the axial force exerted on the first drive assembly and the second drive assembly will be transmitted to the fixed component, that is, the fixed component will support the first drive assembly and the second drive assembly to avoid the first drive assembly and the second drive assembly being damaged due to the large axial force. When the electric manipulator arm is used for deep-sea operations, the axial force formed by the sea water pressure acting on the mounting seat 4 and the clamping claw is very large, that is, the axial force transmitted to the first drive assembly and the second drive assembly is very large, but the axial force is transmitted to the pipe body 1, thereby avoiding the first drive assembly and the second drive assembly from being damaged by the high pressure of the deep sea, so the electric manipulator arm has a stronger pressure resistance.

[0035] Embodiment 2:

[0036] This embodiment is a specific implementation of Embodiment 1. In this embodiment, the first drive assembly includes a first outer rotor motor 8, a nut 9 and a lead screw 10. The first outer rotor motor 8 and the nut 9 are both installed in the tube body 1. Optimally, the first outer rotor motor 8 is a harmonic reduction motor. The nut 9 is connected to the output flange of the first outer rotor motor 8 by screws, and the nut 9 is located above the first outer rotor motor 8. A limiting structure 11 is provided on the base 2, and the limiting structure 11 is inserted into the tube body 1. The lead screw 10 is threadedly connected to the nut 9 and passes through the first outer rotor motor 8 and then connected to the limiting structure 11. The limiting structure 11 can limit the rotation of the lead screw 10. In this way, when the nut 9 rotates under the drive of the first outer rotor motor 8, the lead screw 10 can be driven to rise and fall relative to the tube body 1. The top end of the lead screw 10 passes through the end cover 3 and the mounting seat 4, and the articulated seat 5 is connected to the top end of the lead screw 10. It should be noted that the mounting seat 4 is actually connected to the tube body 1, so that the articulated seat 5 can move up and down relative to the mounting seat 4 under the drive of the lead screw 10, thereby driving the clamping claw composed of the first clamping arm 6 and the second clamping arm 7 to clamp or loosen.

[0037] In addition, the articulated seat 5 in this embodiment can rotate relative to the top of the lead screw 10, that is, the lead screw 10 can drive the articulated seat 5 to move up and down, and the articulated seat 5 can also rotate at the top of the lead screw 10. The nut 9 in this embodiment is connected to the base 2 through the first transmission assembly, so that the axial force on the nut 9 is transmitted to the base 2.

[0038] The lead screw 10 and the nut 9 form a lead screw nut transmission pair to convert the rotation of the first outer rotor motor 8 into linear movement and transmit it to the articulated seat 5, thereby driving the clamping claws to clamp or loosen. The lead screw 10 passes through the first outer rotor motor 8 and connects to the limiting structure 11, so that the overall structure can be made more compact. When in use, the external pressure acts on the top of the lead screw 10 and then transmits it to the nut 9. Since the nut 9 is connected to the base 2 through the first force transmission component, and the base 2 is connected to the tube body 1, the axial force on the nut 9 will be transmitted to the base 2 and the tube body 1, so that the first outer rotor motor 8 will not be damaged through the lead screw 10 and the nut 9.

[0039] As an optimal implementation mode of this embodiment, the first force transmission component in this embodiment includes a first fixed rod 12, a first motor mounting plate 13, a second fixed rod 14, a bearing seat 15, a first thrust bearing 16 and a pressure plate 17. The above-mentioned first fixed rod 12, the first motor mounting plate 13, the second fixed rod 14, the bearing seat 15, the first thrust bearing 16 and the pressure plate 17 are all structural parts made of stainless steel and can withstand strong pressure.

[0040] The pressure plate 17 is connected to the top of the nut 9 by screws, so that the pressure plate 17 and the first outer rotor motor 8 are respectively located at the top and bottom of the nut 9, the first fixing rod 12 is connected to the base 2 by screws and inserted into the inside of the tube body 1, and the first motor mounting plate 13 is mounted on the top of the first fixing rod 12 by screws. There are multiple first fixing rods 12, and the multiple first fixing rods 12 surround the first outer rotor motor 8 and are evenly distributed. The first outer rotor motor 8 is suspended on the first motor mounting plate 13 by screws and is located below the first motor mounting plate 13.

[0041] The second fixing rod 14 is arranged on the top surface of the first motor mounting plate 13 and is in a vertical state. The number of the second fixing rods 14 is also multiple. The multiple second fixing rods 14 surround the nut 9 and are evenly distributed. The bearing seat 15 is arranged at the top of the second fixing rod 14. It is worth noting that the bearing seat 15 is a thrust bearing seat. The first thrust bearing 16 is installed on the bearing seat 15, and the first thrust bearing 16 is sleeved on the outside of the nut 9, and the pressure plate 17 is pressed on the first thrust bearing 16.

[0042] Through the above structure, the axial force of the lead screw 10 on the nut 9 is transmitted to the pressure plate 17 through the nut 9, and then the pressure plate 17 is transmitted to the first thrust bearing 16, and the first thrust bearing 16 is transmitted to the bearing seat 15, and the bearing seat 15 transmits the axial force to the second fixing rod 14, and the second fixing rod 14 is transmitted to the first motor mounting plate 13, and the first motor mounting plate 13 transmits it to the first fixing rod 12, and finally transmitted to the base 2 through the first fixing rod 12, and the base 2 is connected to the above-mentioned tube body 1 by screws, so that the axial force on the nut 9 is finally transmitted to the shell of the electric mechanical arm provided in this embodiment. The above-mentioned base 2 is provided with a mounting position. When installed and used, the mounting position is used to connect with other joints or components, so that the electric mechanical arm provided in this embodiment can be installed. Since the base 2 is connected to an external object, the axial force on the above-mentioned nut 9 is transmitted to the external object, thereby avoiding damage to the first outer rotor motor 8, so that the pressure resistance of the electric mechanical arm provided in this embodiment is stronger.

[0043] It is worth noting that, in the present embodiment, a cable transfer connector 28 is installed on the base 2 , and the cable transfer connector 28 is used to plug in a cable for supplying power to the first outer rotor motor 8 so as to drive the first outer rotor motor 8 to operate.

[0044] Embodiment 3:

[0045] This embodiment is a specific implementation of embodiment 2. The limiting structure 11 in this embodiment is a square tube vertically arranged on the above-mentioned base 2. A square head adapted to the square tube is provided at the bottom end of the above-mentioned screw 10. The square head is plugged into the above-mentioned square tube. The limiting effect of the inner wall of the square tube on the square head makes the square head only move up and down in the square tube but not rotate, so that the screw 10 can only move up and down but not rotate.

[0046] Embodiment 4:

[0047] This embodiment is a better implementation of embodiment 2. In this embodiment, a sliding bearing 18 coaxial with the lead screw 10 is installed at the top end thereof by a screw, and the articulated seat 5 is connected to the sliding bearing 18, so that the articulated seat 5 can rotate relative to the lead screw 10 and the lead screw 10 can drive the articulated seat 5 to move up and down. Moreover, through this structure, the rotation of the articulated seat 5 on the lead screw 10 can be made more flexible.

[0048] Embodiment 5:

[0049] This embodiment is a specific implementation of the above embodiment. The second driving assembly in this embodiment includes a second outer rotor motor 19 and a rotating sleeve 20. The second outer rotor motor 19 is installed in the tube body 1. The rotating sleeve 20 is rotatably installed on the end cover 3 and the top of the rotating sleeve 20 extends out of the end cover 3. The mounting seat 4 is installed on the top of the rotating sleeve 20 by screws. The bottom of the rotating sleeve 20 is connected to the output flange of the second outer rotor motor 19. The second outer rotor motor 19 is also powered by the cable. When the second outer rotor motor 19 is powered on, it will drive the rotating sleeve 20 to rotate on the end cover 3, thereby driving the mounting seat 4 to rotate relative to the tube body 1. The first clamp arm 6 and the second clamp arm 7 are connected to the mounting seat 4. In this way, the clamp composed of the first clamp arm 6 and the second clamp arm 7 can be driven to rotate relative to the tube body 1. So that the clamp can clamp objects from different angles.

[0050] The rotating sleeve 20 and the end cover 3 are connected via a second force transmission component, so that the axial force on the rotating sleeve 20 is transmitted to the end cover 3. In actual use, the mounting seat 4 is subjected to axial pressure from an external object, and the mounting seat 4 transmits it to the rotating sleeve 20. After being transmitted by the second force transmission component, the axial force on the rotating sleeve 20 will be transmitted to the end cover 3, and the end cover 3 is connected to the pipe body 1. Therefore, the axial force on the rotating sleeve 20 is transmitted to the pipe body 1 and the base 2, so as to avoid the axial force on the rotating sleeve 20 being transmitted to the second outer rotor motor 19 and causing damage to the second outer rotor motor 19.

[0051] As a best implementation of this embodiment, in this embodiment, a third fixing rod 31 is vertically provided on the top wall of the first motor mounting plate 13, and the number of the third fixing rods 31 is also multiple, and the multiple third fixing rods 31 surround the second fixing rod 14 and the length of the third fixing rod 31 is greater than the second fixing rod 14. A second motor mounting plate 29 is installed on the top of the third fixing rod 31, and the second outer rotor motor 19 is installed on the second motor mounting plate 29 by screws. In this way, the second outer rotor motor 19 is located above the first outer rotor motor 8, so that the structure is more compact. The lead screw 10 passes through the second outer rotor motor 19 and the rotating sleeve 20 and extends out.

[0052] As an optimal implementation mode of this embodiment, the second force transmission component in this embodiment includes a second thrust bearing 21 and a pressure cover 22. The end cover 3 is provided with a bearing chamber 23. When the end cover 3 is installed on the upper end of the tube body 1, the bearing chamber 23 is inserted into the inside of the tube body 1. The rotating sleeve 20 is rotatably inserted in the bearing chamber 23. The second thrust bearing 21 is installed in the bearing chamber 23. A shoulder is provided on the outer wall of the rotating sleeve 20. The upper surface of the second thrust bearing 21 is tightly attached to the lower surface of the shoulder. The pressure cover 22 is connected to the top end of the bearing chamber 23 (that is, the bottom end of the end cover 3) by screws and seals the bottom opening of the bearing chamber 23. The pressure cover 22 is tightly attached to the lower surface of the second thrust bearing 21. With this structure, the axial force exerted on the rotating sleeve 20 is transmitted to the second thrust bearing 21 through the shaft shoulder, and the second thrust bearing 21 transmits the axial force to the pressure cover 22. The pressure cover 22 and the end cover 3 are connected together, so the axial force exerted on the rotating sleeve 20 is transmitted to the end cover 3, thereby preventing the axial force exerted on the rotating sleeve 20 from being transmitted to the second outer rotor motor 19.

[0053] In this way, neither the first outer rotor motor 8 nor the second outer rotor motor 19 will bear axial force, so the electric manipulator arm provided in this embodiment has stronger pressure resistance in water.

[0054] As a better implementation of this embodiment, since the rotating sleeve 20 will rotate relative to the end cover 3 and the bearing chamber 23, in order to reduce the friction force on the rotating sleeve 20 when it rotates, in this embodiment, a head deep groove ball bearing 24 is also installed in the above-mentioned bearing chamber 23, and the above-mentioned shoulder is fitted and inserted in the inner hole of the deep groove ball bearing 24.

[0055] Embodiment 6:

[0056] This embodiment is a better implementation of the above embodiment. In this embodiment, a sealing ring 26 is provided between the above-mentioned screw 10 and the rotating sleeve 20, between the rotating sleeve 20 and the end cover 3 (the inner wall of the bearing chamber 23), between the outer wall of the bearing chamber 23 and the inner wall of the tube body 1, and between the base 2 and the tube body 1, so as to prevent water from penetrating into the tube body 1 from between the screw 10 and the rotating sleeve 20, between the rotating sleeve 20 and the end cover 3 (the inner wall of the bearing chamber 23), between the outer wall of the bearing chamber 23 and the inner wall of the tube body 1, and between the base 2 and the tube body 1 to damage the first outer rotor motor 8 and the second outer rotor motor 19. It is worth noting that the sealing rings 29 provided in this embodiment are all sealing rings that can withstand high water pressure. In addition, the sealing ring 26 between the above-mentioned screw 10 and the rotating sleeve 20 and the sealing ring 26 between the rotating sleeve 26 and the end cover 3 are all rotating sealing rings, which can produce a seal when rotating.

[0057] This embodiment is a best implementation of embodiment 5. In this embodiment, a bolt 25 is screwed on the bottom end of the rotating sleeve 20. The number of bolts 25 is multiple, and the multiple bolts 25 are evenly distributed and each bolt 25 protrudes from the lower surface of the rotating sleeve 20. A flange 30 is connected to the output flange of the second outer rotor motor 19 by screws. The flange 30 is provided with a vertical plug hole. The number of the plug holes is also multiple and corresponds to the multiple bolts 25 one by one. A bolt 25 is inserted into each plug hole. The limiting effect of the plug hole wall on the bolt 25 is utilized to achieve the purpose of using the second outer rotor motor 19 to drive the rotating sleeve 20 to rotate. At this time, the connection between the rotating sleeve 20 and the flange 30 is not a hard connection, which further reduces the impact on the second outer rotor motor 19.

[0058] As a better implementation of this embodiment, in this embodiment, a guide sleeve 27 is sleeved on the outside of each bolt 25, and the outer diameter of the guide sleeve 27 is slightly smaller than the aperture of the above-mentioned insertion hole. When in use, the guide sleeve 27 and the bolt 25 are inserted into the insertion hole in cooperation, and there is a certain gap between the outer wall of the guide sleeve 27 and the inner wall of the insertion hole, thereby ensuring that the rotating sleeve 20 and the flange 30 will not cause poor rotation or jamming due to poor installation position and coaxiality.

[0059] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An electric mechanical arm, characterized in that: include: A tube body, a base and an end cover, wherein the end cover and the base are respectively mounted on the top end and the bottom end of the tube body by screws; A mounting seat, an articulated seat, a first clamp arm and a second clamp arm, wherein the middle parts of the first clamp arm and the second clamp arm are both hinged on the mounting seat, and the bottom ends of the first clamp arm and the second clamp arm are both hinged on the articulated seat; The mounting seat and the hinge seat are both mounted above the tube body, a second driving assembly driving the mounting seat to rotate relative to the tube body and a first driving assembly driving the hinge seat to rise and fall relative to the tube body are mounted in the tube body, the first driving assembly and the second driving assembly are both connected to the tube body to transmit the axial force exerted on the first driving assembly and the second driving assembly to the tube body; The first driving assembly comprises a first outer rotor motor, a nut and a lead screw, wherein the first outer rotor motor and the nut are both mounted in the tube body and the nut is connected to the output flange of the first outer rotor motor, the lead screw is threadedly connected to the nut and the lead screw passes through the first outer rotor motor, a limiting structure for limiting the rotation of the lead screw is provided on the base, the bottom end of the lead screw is connected to the limiting structure, the top end of the lead screw passes through the end cover and the mounting seat, the hinge seat is connected to the top of the lead screw and the hinge seat can rotate relative to the lead screw, and the nut and the base are connected by a first force transmission assembly to transmit the axial force exerted on the nut to the base; The first force transmission component includes a first fixing rod, a first motor mounting plate, a second fixing rod, a bearing seat, a first thrust bearing and a pressure plate, wherein the pressure plate is connected to the top end of the nut, the first fixing rod is connected to the base, the first motor mounting plate is connected to the top end of the first fixing rod, the first outer rotor motor is mounted on the first motor mounting plate, the second fixing rod is arranged on the top surface of the first motor mounting plate, the bearing seat is mounted on the top end of the second fixing rod, the first thrust bearing is mounted on the bearing seat and sleeved outside the nut, and the pressure plate is pressed on the first thrust bearing.

2. An electric mechanical arm according to claim 1, characterized in that: The limiting structure is a square tube, and the bottom end of the lead screw is provided with a square head adapted to the square tube, and the square head is inserted into the square tube.

3. The electric mechanical arm according to claim 1, characterized in that: It also includes a sliding bearing, which is installed on the top end of the lead screw through a screw, and the hinge seat is connected to the sliding bearing.

4. An electric mechanical arm according to any one of claims 1 to 3, characterized in that: The second driving assembly includes a second outer rotor motor and a rotating sleeve, the second outer rotor motor is installed in the tube body, the rotating sleeve is rotatably installed on the end cover and the top end of the rotating sleeve extends out of the end cover, the mounting seat is installed on the top end of the rotating sleeve, and the bottom end of the rotating sleeve is connected to the output flange of the second outer rotor motor, the lead screw passes through the second outer rotor motor and the rotating sleeve, and the rotating sleeve and the end cover are connected by a second force transmission assembly to transmit the axial force exerted on the rotating sleeve to the end cover.

5. The electric mechanical arm according to claim 4, characterized in that: The second force transmission component includes a second thrust bearing and a pressure cover. The end cover is provided with a bearing chamber, and the bearing chamber is inserted into the tube body. The rotating sleeve is rotatably connected in the bearing chamber and a shaft shoulder is provided on the outer wall of the rotating sleeve. The shaft shoulder is located in the bearing chamber. The second thrust bearing is installed in the bearing chamber. The pressure cover is connected to the bottom end of the end cover and is located at the bottom opening of the bearing chamber. The pressure cover presses the second thrust bearing onto the shaft shoulder.

6. An electric mechanical arm according to claim 5, characterized in that: A deep groove ball bearing is also installed in the bearing chamber, and the shaft shoulder is installed in the inner hole of the deep groove ball bearing.

7. An electric mechanical arm according to claim 4, characterized in that: The bottom end of the rotating sleeve is threaded with a bolt, the output flange of the second outer rotor motor is connected with a flange plate, the flange plate is provided with an insertion hole, and the bolt is inserted into the insertion hole.

8. The electric mechanical arm according to claim 5, characterized in that: Sealing rings are provided between the lead screw and the rotating sleeve, between the rotating sleeve and the end cover, between the outer wall of the bearing chamber and the inner wall of the tube body, and between the base and the tube body.

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