A robotic arm assembly and robot

Abstract

The application discloses a mechanical arm assembly and a robot, and relates to the field of robots, and comprises a first mechanical arm, an execution part of a robot instruction; a second steering wheel is located below the first mechanical arm; a first steering wheel is located below the second steering wheel; a second mechanical arm is located inside the first steering wheel and the second steering wheel, and the application has the beneficial effects that the steel ball is locked through friction to the second mechanical arm, the installation and fixation of the second mechanical arm are completed, the steel ball is moved downwards through the pressing spring of the button, the second mechanical arm can be pulled out from the second steering wheel, the installation and dismounting are convenient, and the second mechanical arm is easy to maintain.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a mechanical arm assembly and a robot. BACKGROUND

[0002] Robots are widely used in our daily life, and through the use of mechanical arms, repetitive actions or dangerous actions of human beings are replaced, so as to facilitate daily production and life.

[0003] The joints of the robot are frequently moved, especially the mechanical arm, which is connected with the steering wheel through the steering wheel and the steering engine.

[0004] However, due to the frequent use of the mechanical arm, the mechanical arm and the steering wheel are prone to looseness after long-term use, and the mechanical arm and the steering wheel are difficult to disassemble and maintain. SUMMARY

[0005] The purpose of the present application is to solve the problem, and provide a mechanical arm assembly and a robot.

[0006] In order to achieve the above purpose, the present application provides the following technical scheme: a mechanical arm assembly and a robot, comprising:

[0007] The first mechanical arm is the execution part of the robot instruction;

[0008] The second steering wheel is located below the first mechanical arm;

[0009] The first steering wheel is located below the second steering wheel;

[0010] The second mechanical arm is located inside the first steering wheel and the second steering wheel;

[0011] The second steering wheel is internally provided with a rotating groove and a key opening, the rotating groove is rotatably connected with a rotating ring, the bottom of the rotating ring is fixedly connected with a lock piece outer sleeve, the top of the rotating ring and the lock piece outer sleeve is provided with an octagonal through hole, the octagonal through hole is matched with the second mechanical arm, the inner side of the top of the lock piece outer sleeve is fixedly connected with a lock piece inner sleeve, a limiting opening is formed on the side ring of the lock piece inner sleeve, a steel ball track is arranged below the lock piece inner sleeve, a limiting ring is fixedly installed on the top of the steel ball track, a steel ball is slidably connected with the steel ball track, the steel ball is matched with the limiting opening, a connecting piece is fixedly connected with the bottom of the steel ball track, keys are fixedly installed on both sides of the connecting piece, a spring is fixedly connected with the bottom of the connecting piece, the bottom of the spring is fixedly connected with the inner bottom of the second steering wheel, circular through holes are formed on the upper and lower sides of the second steering wheel, and the second steering wheel is fixedly installed above the first steering wheel.

[0012] As a further scheme of the present application: the second mechanical arm comprises a mechanical arm rotating first part, and the mechanical arm rotating first part is fitted with the through hole opened on the upper side of the second rudder disc, the bottom of the mechanical arm rotating first part is fixedly connected with a mechanical arm rotating second part, and the mechanical arm rotating second part is fitted with the octagonal through hole opened on the top of the rotating ring and the lock piece outer sleeve, the bottom of the mechanical arm rotating second part is fixedly connected with a mechanical arm rotating third part, and the mechanical arm rotating third part is fitted with the through hole opened on the lower side of the second rudder disc, the lower side of the mechanical arm rotating third part is fixedly connected with a mechanical arm rotating fourth part, and the mechanical arm rotating fourth part is inserted with a first gear, and an octagonal notch is opened on the inside of the first gear, and the lower side of the first gear is rotatably connected with the first rudder disc.

[0013] As a further scheme of the present application: the top of the second mechanical arm is fixedly connected with a rotating disc, and two groups of support seats are installed on the top of the rotating disc, the top of the rotating disc is fixedly installed with a mounting plate and a limiting plate between the two groups of support seats, the side of the mounting plate is fixedly installed with a second motor, and the output end of the second motor is connected with a second worm, and the support seat is rotatably connected with a first mechanical arm.

[0014] As a further scheme of the present application: the outside of the first rudder disc is installed with a first motor, and the output end of the first motor is connected with a first worm, and the first worm is meshingly connected with the first gear.

[0015] As a further scheme of the present application: the mounting plate and the limiting plate are the same size.

[0016] As a further scheme of the present application: one end of the first mechanical arm is provided with a second gear, and the gear end of the first mechanical arm is meshingly connected with the second worm.

[0017] As a further scheme of the present application: the width of the key opening is the same as the key.

[0018] As a further scheme of the present application: the steel ball is only clamped with the left and right sides of the limiting opening.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] 1. By setting the second rudder disc, the rotating ring, the lock piece outer sleeve, the lock piece inner sleeve, the steel ball, the connecting piece, the spring, the steel ball track, the limiting ring, the key, the rotating disc, the second mechanical arm, the rotating groove, the key opening, the limiting opening, the mechanical arm rotating first part, the mechanical arm rotating second part, the mechanical arm rotating third part, and the mechanical arm rotating fourth part, the steel ball is self-locked to the second mechanical arm through friction, the installation and fixation of the second mechanical arm are completed, the key presses the spring, the steel ball moves downward, and the second mechanical arm can be pulled out of the second rudder disc, so that the installation and disassembly are convenient and easy to maintain.

[0021] 2、By setting first motor, second motor, first mechanical arm, first worm, second worm, first gear, support seat, mounting plate, limiting plate, second gear, second mechanical arm, second mechanical arm inserts first gear to realize that first motor drives second mechanical arm to rotate, second motor drives first mechanical arm to rotate, and mechanical arm is flexible and convenient and not prone to loosening. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the structural schematic diagram of the present application;

[0023] Figure 2 It is the schematic diagram of the internal structure of the second steering wheel of the present application;

[0024] Figure 3 It is the structural schematic diagram of the second steering wheel of the present application;

[0025] Figure 4 It is the structural schematic diagram of the first mechanical arm and the second mechanical arm of the present application;

[0026] Figure 5 It is the sectional view of the internal structure of the first steering wheel of the present application;

[0027] Figure 6 It is the structural schematic diagram of the first gear of the present application;

[0028] Figure 7 It is the schematic diagram of the steel ball locking the second mechanical arm of the present application.

[0029] In the figure: 1, first steering wheel;2, second steering wheel;3, first motor;4, second motor;5, first mechanical arm;6, rotating ring;7, lock piece outer sleeve;8, lock piece inner sleeve;9, steel ball;10, connecting piece;11, spring;12, steel ball track;13, limiting ring;14, button;15, rotating disc;16, second mechanical arm;17, first worm;18, second worm;19, first gear;20, support seat;21, mounting plate;22, limiting plate;201, rotating groove;202, button opening;501, second gear;801, limiting opening;1601, first part of mechanical arm rotation;1602, second part of mechanical arm rotation;1603, third part of mechanical arm rotation;1604, fourth part of mechanical arm rotation. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0031] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "setting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The embodiments will be described below according to the overall structure of the present application.

[0032] Please refer to Figures 1-7 In the embodiments of the present application, a mechanical arm assembly and a robot, comprising: a first mechanical arm 5, an execution part of a robot instruction; a second steering wheel 2 located below the first mechanical arm 5, completing the installation and fixation of the second mechanical arm 16; a first steering wheel 1 located below the second steering wheel 2; a second mechanical arm 16 located inside the first steering wheel 1 and the second steering wheel 2.

[0033] The second steering wheel 2 is internally provided with a rotating groove 201 and a button opening 202. The rotating groove 201 is rotationally connected with a rotating ring 6. The bottom of the rotating ring 6 is fixedly connected with a lock piece outer sleeve 7. The top of the rotating ring 6 and the lock piece outer sleeve 7 is provided with an octagonal through hole. The octagonal through hole is engaged with the second mechanical arm 16. The inner side of the top of the lock piece outer sleeve 7 is fixedly connected with a lock piece inner sleeve 8. The side ring of the lock piece inner sleeve 8 is provided with a limiting opening 801. The lower side of the lock piece inner sleeve 8 is provided with a steel ball track 12. The top of the steel ball track 12 is fixedly installed with a limiting ring 13. When the second mechanical arm 16 is pulled out, the steel ball 9 is prevented from rolling out of the steel ball track 12. The steel ball track 12 is slidingly connected with the steel ball 9. The steel ball 9 is clamped with the limiting opening 801. The steel ball 9 is only clamped with the left and right sides of the limiting opening 801. The limiting opening 801 limits the left and right sides of the steel ball 9. The steel ball 9 can move up and down. The bottom of the steel ball track 12 is fixedly connected with a connecting piece 10. The left and right sides of the connecting piece 10 are fixedly installed with a button 14. The width of the button opening 202 is the same as that of the button 11. The bottom of the connecting piece 10 is fixedly connected with a spring 11. The bottom of the spring 11 is fixedly connected with the inner bottom of the second steering wheel 2. The button 14 is pressed to compress the spring 11. The steel ball 9 moves downward. The friction between the steel ball 9 and the second mechanical arm 16 is self-locked. The second mechanical arm 16 can be pulled out. The disassembly is completed. The upper and lower sides of the second steering wheel 2 are provided with circular through holes. The second steering wheel 2 is fixedly installed above the first steering wheel 1. The second mechanical arm 16 comprises a mechanical arm rotating first part 1601. The mechanical arm rotating first part 1601 is engaged with the through hole provided on the upper side of the second steering wheel 2. The bottom of the mechanical arm rotating first part 1601 is fixedly connected with a mechanical arm rotating second part 1602. The mechanical arm rotating second part 1602 is engaged with the octagonal through hole provided on the top of the rotating ring 6 and the lock piece outer sleeve 7. The bottom of the mechanical arm rotating second part 1602 is fixedly connected with a mechanical arm rotating third part 1603. The mechanical arm rotating third part 1603 is engaged with the through hole provided on the lower side of the second steering wheel 2. The lower side of the mechanical arm rotating third part 1603 is fixedly connected with a mechanical arm rotating fourth part 1604. The mechanical arm rotating fourth part 1604 is inserted with a first gear 19. An octagonal notch is provided inside the upper side of the first gear 19. The lower side of the first gear 19 is rotationally connected with the inside of the first steering wheel 1. The mechanical arm is installed. The second mechanical arm 16 is inserted into the inside of the second steering wheel 2. The second mechanical arm 16 gives the downward friction of the steel ball 9. The second mechanical arm 16 can be easily inserted into the opening above the first gear 19. Due to the action of the spring 11, the connecting piece 10, the steel ball track 12 and the steel ball 9 move upward. At this time, the second mechanical arm 16 and the steel ball 9 form a friction self-locking. The second mechanical arm 16 cannot move upward. At the same time, due to the engagement of the mechanical arm rotating second part 1602 with the octagonal through hole provided on the top of the rotating ring 6 and the lock piece outer sleeve 7, the second mechanical arm 16 cannot rotate. The installation of the second mechanical arm 16 is completed.

[0034] Please refer to Figure 1 , Figure 3 and Figure 4 , the top of the second mechanical arm 16 is fixedly connected with a rotating disc 15, and the top of the rotating disc 15 is provided with two groups of support seats 20, between the two groups of support seats 20, the top of the rotating disc 15 is fixedly provided with a mounting plate 21 and a limiting plate 22, the mounting plate 21 and the limiting plate 22 are the same size, one side of the mounting plate 21 is fixedly provided with a second motor 4, and the output end of the second motor 4 is connected with a second worm 18, the support seat 20 is rotatably connected with a first mechanical arm 5, the first worm 17 is meshed with a first gear 19, one end of the first mechanical arm 5 is provided with a second gear 501, and the gear end of the first mechanical arm 5 is meshed with the second worm 18, the second motor 4 is started, the first mechanical arm 5 rotates through the meshing effect of the second worm 18 and the second gear 501, the outside of the first steering disc 1 is provided with the first motor 3, and the output end of the first motor 3 is connected with the first worm 17, the first motor 3 is started, the second mechanical arm 16 is driven to rotate through the meshing effect of the first worm 17 and the first gear 19, at this time, the rotating disc 15, the rotating ring 6, the lock piece outer sleeve 7, the lock piece inner sleeve 8 and the steel ball 9 also rotate together.

[0035] The working principle of the present application is: install the mechanical arm, insert the second mechanical arm 16 into the second steering disc 2, the second mechanical arm 16 provides the downward friction force of the steel ball 9, the second mechanical arm 16 can be easily inserted into the opening above the first gear 19, under the action of the spring 11, the connecting piece 10, the steel ball track 12 and the steel ball 9 are driven to move upward, at this time, the second mechanical arm 16 and the steel ball 9 form a friction self-locking, the second mechanical arm 16 cannot move upward, at the same time, the second mechanical arm 16 cannot rotate due to the engagement of the second part 1602 of the mechanical arm rotating with the octagonal hole in the top of the rotating ring 6 and the lock piece outer sleeve 7, the installation of the second mechanical arm 16 is completed, the first motor 3 is started, the second mechanical arm 16 is driven to rotate through the meshing effect of the first worm 17 and the first gear 19, at this time, the rotating disc 15, the rotating ring 6, the lock piece outer sleeve 7, the lock piece inner sleeve 8 and the steel ball 9 also rotate together, the second motor 4 is started, the first mechanical arm 5 rotates through the meshing effect of the second worm 18 and the second gear 501, when the mechanical arm needs to be disassembled, the spring 11 is compressed by pressing the button 14, the steel ball 9 moves downward, the friction self-locking of the steel ball 9 and the second mechanical arm 16 is contacted, the second mechanical arm 16 can be pulled out, and the disassembly is completed.

[0036] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A robotic arm assembly and a robot, comprising: First robotic arm (5), the part that executes robot commands; The second rudder (2) is located below the first robotic arm (5); The first rudder disc (1) is located below the second rudder disc (2); The second robotic arm (16) is located inside the first rudder disk (1) and the second rudder disk (2); The second rudder disk (2) is characterized by having a rotating groove (201) and a button opening (202) inside. The rotating groove (201) is rotatably connected to a rotating ring (6), and a locking sleeve (7) is fixedly connected to the bottom of the rotating ring (6). Both the rotating ring (6) and the locking sleeve (7) have octagonal through holes at their tops, and the octagonal through holes engage with the second robotic arm (16). A locking inner sleeve (8) is fixedly connected to the inner side of the top of the locking sleeve (7), and a limit opening (801) is provided on the side ring of the locking inner sleeve (8). 8) is provided with a ball bearing track (12) below it, and a limit ring (13) is fixedly installed on the top of the ball bearing track (12). The ball bearing track (12) is slidably connected with a ball bearing (9), and the ball bearing (9) is engaged with the limit opening (801). The bottom of the ball bearing track (12) is fixedly connected with a connector (10), and buttons (14) are fixedly installed on both sides of the connector (10). The bottom of the connector (10) is fixedly connected with a spring (11), and the bottom of the spring (11) is fixedly connected to the inner bottom of the second rudder disk (2). The upper and lower parts of the second rudder disk (2) are connected to the ball bearing track (12). Both sides are provided with circular through holes. The second rudder disk (2) is fixedly installed above the first rudder disk (1). The second mechanical arm (16) includes a first part (1601) for rotating the mechanical arm, and the first part (1601) for rotating the mechanical arm fits into the through hole on the upper side of the second rudder disk (2). The bottom of the first part (1601) for rotating the mechanical arm is fixedly connected to a second part (1602) for rotating the mechanical arm, and the second part (1602) for rotating the mechanical arm fits into the octagonal through hole on the top of the rotating ring (6) and the locking sleeve (7). The mechanical arm The bottom of the rotating second part (1602) is fixedly connected to the rotating third part (1603) of the robotic arm, and the rotating third part (1603) of the robotic arm fits into the through hole opened on the lower side of the second rudder disk (2). The lower part of the rotating third part (1603) of the robotic arm is fixedly connected to the rotating fourth part (1604) of the robotic arm, and the rotating fourth part (1604) of the robotic arm is inserted with the first gear (19). The upper part of the first gear (19) has an octagonal slot, and the lower part of the first gear (19) is rotatably connected to the interior of the first rudder disk (1).

2. The robotic arm assembly and robot according to claim 1, characterized in that, The top of the second robotic arm (16) is fixedly connected to a rotating disk (15), and two sets of support seats (20) are installed on the top of the rotating disk (15). An installation plate (21) and a limiting plate (22) are fixedly installed between the two sets of support seats (20) and on the top of the rotating disk (15), respectively. A second motor (4) is fixedly installed on one side of the installation plate (21), and a second worm gear (18) is connected to the output end of the second motor (4). The support seat (20) is rotatably connected to the first robotic arm (5).

3. The robotic arm assembly and robot according to claim 1, characterized in that, A first motor (3) is installed on the outside of the first rudder disk (1), and the output end of the first motor (3) is connected to a first worm (17), which meshes with a first gear (19).

4. The robotic arm assembly and robot according to claim 2, characterized in that, The mounting plate (21) and the limiting plate (22) are the same size.

5. A robotic arm assembly and robot according to claim 2, characterized in that, The first robotic arm (5) is provided with a second gear (501) at one end, and the gear end of the first robotic arm (5) is meshed with the second worm (18).

6. The robotic arm assembly and robot according to claim 1, characterized in that, The width of the button opening (202) is the same as that of the button (14).

7. A robotic arm assembly and robot according to claim 1, characterized in that, The steel ball (9) engages only with the left and right sides of the limiting opening (801).

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