Anti-shake mechanical arm

Abstract

The application relates to an anti-shaking mechanical arm, belonging to the field of mechanical arms, which comprises a fixing part used for fixing the whole mechanical arm, one side of the fixing part being provided with a rotating part used for driving a required carried object to rotate, and the device further comprises a locking assembly used for limiting the movement of the rotating part. The application has the effect of reducing the shaking phenomenon of the carried object at one end of a carrying plate.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of a mechanical arm, in particular to a mechanical arm capable of preventing shaking. BACKGROUND

[0002] The mechanical arm refers to a complex system with high precision, multiple inputs, multiple outputs, high nonlinearity and strong coupling. Due to its unique operation flexibility, the mechanical arm has been widely applied to the fields of industrial assembly, safety explosion prevention and the like.

[0003] The mechanical arm is a complex system, and there are uncertainties such as parameter perturbation, external interference and unmodeled dynamics. Therefore, the modeling model of the mechanical arm also has uncertainties. For different tasks, the motion trajectory of the joint space of the mechanical arm needs to be planned, so as to cascade the end pose.

[0004] The existing industrial robot generally adopts a servo motor for driving, so that the industrial robot can move according to a predetermined program, so that the industrial robot can achieve a predetermined effect in actual production.

[0005] There is a two-degree-of-freedom double-shaft moving mechanical arm in the existing industrial production, which comprises a fixed plate, one end of the fixed plate is rotationally connected with a moving plate, one end of the moving plate away from the fixed plate is rotationally connected with a load plate, a first rotating motor for driving the moving plate to move is arranged between the fixed plate and the moving plate, and a second rotating motor for driving the load plate to rotate is arranged between the moving plate and the load plate.

[0006] According to the related technology in the above, the inventor considers that since the mechanical arm can be used in a relatively precise field, limiting the moving plate and the load plate by the first rotating motor and the second rotating motor is easy to cause the object carried at one end of the load plate to be unable to move to the required accurate position due to the shaking of the load plate or the moving plate, thereby causing the quality difference of the finished product. SUMMARY

[0007] In order to reduce the phenomenon of shaking of the object carried at one end of the load plate, the application provides a mechanical arm capable of preventing shaking.

[0008] The mechanical arm capable of preventing shaking provided by the application adopts the following technical scheme:

[0009] A mechanical arm capable of preventing shaking comprises a fixing part for fixing the whole mechanical arm, a rotating part for driving the object to be carried to rotate is arranged on one side of the fixing part, and the device further comprises a locking assembly for limiting the movement of the rotating part.

[0010] By adopting the above technical scheme, when it is needed to transport the specified object to the specific position by the mechanical arm, the object is moved by rotating the rotating part, and when the object is about to be moved to the appropriate position, the locking assembly can be used to limit the rotating part, thereby reducing the occurrence of the phenomenon that the rotating part moves again, and further reducing the phenomenon that the object at one end of the rotating part cannot be moved to the specific position due to the shaking of the rotating part when the rotating part moves to the appropriate position.

[0011] Optionally, the fixed part comprises a fixed plate, the rotating part comprises a moving plate rotationally connected with the fixed plate, the rotating part further comprises a carrying plate rotationally connected with the moving plate and located at a side of the moving plate away from the fixed plate, the fixed plate is provided with a first rotating motor for driving the moving plate to rotate, and the moving plate is provided with a second rotating motor for driving the carrying plate to rotate.

[0012] By adopting the above technical scheme, when it is needed to move the object by one end of the moving part, the object is placed at one side of the carrying plate, and the first rotating motor and the second rotating motor are turned on, the first rotating motor drives the moving plate to rotate, and the second rotating motor drives the carrying plate to rotate, the cooperation of the first rotating motor and the second rotating motor can make the moving plate and the carrying plate move cooperatively, and thus the carrying plate can transport the object at one end thereof to the specified position.

[0013] Optionally, a first monitoring assembly for monitoring the rotating position of the moving plate is arranged between the fixed plate and the moving plate, and a second monitoring assembly for monitoring the rotating position of the carrying plate is arranged between the moving plate and the carrying plate.

[0014] By adopting the above technical scheme, in the process of moving the moving plate, the first monitoring assembly can monitor the moving state of the moving plate in real time, so that when the moving plate moves to the specific position, the locking assembly can timely open to limit the position of the moving plate, thereby reducing the shaking of the moving plate, and in the process of moving the carrying plate, the second monitoring assembly can monitor the moving state of the carrying plate in real time, so that when the carrying plate moves to the specific position, the locking assembly can timely open to limit the position of the carrying plate, thereby reducing the shaking of the carrying plate.

[0015] Optionally, the first monitoring assembly comprises a first laser emitter installed on the fixed plate, and the moving plate is provided with a first photosensitive sensor for receiving the signal emitted by the first laser emitter; and the second monitoring assembly comprises a second laser emitter installed on the moving plate, and the carrying plate is provided with a second photosensitive sensor for receiving the signal emitted by the second laser emitter.

[0016] When the position of the moving plate needs to be monitored by the first detection assembly, the first laser emitter and the first photosensitive sensor are turned on, and the first laser emitter continuously emits light onto the first photosensitive sensor during the movement of the moving plate, so that the staff can grasp the position of the moving plate at any time and make a timely response; when the position of the moving plate needs to be monitored by the second detection assembly, the second laser emitter and the second photosensitive sensor are turned on, and the second laser emitter continuously emits light onto the second photosensitive sensor during the movement of the moving plate, so that the staff can grasp the position of the moving plate at any time and make a timely response.

[0017] Optionally, the locking assembly comprises a protective cover on the moving plate, the locking assembly further comprises a first driving gear fixedly connected with one end of the output shaft of the first rotating motor penetrating the moving plate, a first driven gear meshing with one side of the first driving gear, a first rotating shaft penetrating and fixedly connected with the first driven gear, one end of the first rotating shaft being rotatably connected with the moving plate, the moving plate further rotatably connected with a second rotating shaft, the second rotating shaft being fixedly provided with a second driven gear, the second driven gear meshing with one side of a second driving gear, the output shaft of the second rotating motor penetrating the moving plate and being fixedly connected with the second driving gear, one side of the protective cover close to the first rotating shaft being provided with a first locking plate, one side of the protective cover close to the second rotating shaft being further provided with a second locking plate, and the protective cover being internally provided with a locking hydraulic cylinder, two sides of the locking hydraulic cylinder being respectively fixedly provided with a first push plate for fixing the first rotating shaft on one side of the first locking plate and a second push plate for fixing the second rotating shaft on one side of the second locking plate.

[0018] By adopting the above technical scheme, when the first detection assembly detects that the moving plate is about to move to a specific position, the locking hydraulic cylinder is started, the piston rod on the side close to the first rotating shaft of the locking hydraulic cylinder moves to the side close to the first rotating shaft, thereby driving the first push plate to move to the side close to the first locking plate, so that the first push plate and the first locking plate clamp the first rotating shaft inside, achieving the fixation of the first rotating shaft, and at the same time the fixation of the first rotating shaft fixes the first driven gear, since the first driving gear meshes with the first driven gear, thereby fixing the first driving gear and the first rotating motor fixedly connected with the first driving gear, so that the moving plate is difficult to continue to move.

[0019] When the second monitoring component monitors that the object plate is about to move to the appropriate position, the locking hydraulic cylinder is opened, the piston rod close to the second rotating shaft side moves to the direction close to the second rotating shaft, and the piston rod moves while driving the second push plate to move to the side close to the second locking plate, so that the second push plate and the second locking plate perform the anti-shake operation of slowing down and then stopping the second rotating shaft, and when the second rotating shaft is fixed, the second driven gear fixedly connected with the second rotating shaft drives the second driving gear and the output shaft of the second rotating motor to be fixed, thereby realizing the fixation of the position of the object plate.

[0020] By fixing the first rotating shaft and the second rotating shaft through the locking hydraulic cylinder, the relative position between the fixed plate and the moving plate or the moving plate and the object plate is fixed through the first rotating shaft and the second rotating shaft, thereby reducing the anti-shake operation of the mechanical arm in the case of power failure or difficulty in using electrical components.

[0021] Optionally, the first locking plate is provided with a first reinforcing component for reinforcing the position of the first rotating shaft, and the second locking plate is provided with a second reinforcing component for reinforcing the position of the second rotating shaft.

[0022] By adopting the above technical solutions, the anti-shake performance of the mechanical arm can be improved by the existence of the first reinforcing component and the second reinforcing component, and the possibility of shaking of the mechanical arm is further reduced.

[0023] Optionally, the first reinforcing component comprises a first reinforcing gear fixed to the outer side of the first rotating shaft, the first locking plate is provided with a plurality of first telescopic grooves, each of the first telescopic grooves is provided with a first reinforcing rod for abutting against the first reinforcing gear, and each of the first reinforcing rods and the inner wall of the first telescopic groove is provided with a first pressure spring for connecting the two.

[0024] By adopting the above technical solutions, when it is necessary to fix the position of the moving plate, the first push plate is pushed to the side close to the first locking plate by the locking hydraulic cylinder during the movement of the first push plate to the side close to the first locking plate, and the first push plate pushes a plurality of first reinforcing rods to the side close to the first locking plate, so that the plurality of first reinforcing rods abut against the first reinforcing gear on the first rotating shaft, thereby realizing further fixation of the first rotating shaft and further fixation of the moving plate.

[0025] Optionally, the second reinforcing component comprises a second reinforcing gear fixed to the outer side of the second rotating shaft, the second locking plate is provided with a plurality of second telescopic grooves, each of the second telescopic grooves is provided with a second reinforcing rod for abutting against the second reinforcing gear, and each of the second reinforcing rods and the inner wall of the second telescopic groove is provided with a second pressure spring for connecting the two.

[0026] By adopting the technical scheme, when it is necessary to fix the position of the object plate, in the process that the locking hydraulic cylinder drives the second push plate to move to the side close to the second locking plate, the second push plate pushes a plurality of second reinforcing rods to the side close to the second locking plate, so that the second reinforcing rods are in abutment with the second reinforcing gears on the second rotating shaft, thereby further fixing the second rotating shaft and further fixing the object plate.

[0027] In summary, the present application has at least one of the following beneficial technical effects:

[0028] 1. The locking assembly can lock the moving state of the object plate and the moving plate, thereby reducing the phenomenon that the object on one side of the object plate is difficult to be transported to the designated position when the object plate and the moving plate continue to shake after moving to a specific position.

[0029] 2. The presence of the first monitoring assembly and the second monitoring assembly enables the worker to have a more accurate grasp of the moving state of the object plate and the moving plate, thereby further increasing the accuracy of the locking assembly in fixing the position of the object plate and the moving plate.

[0030] 3. The presence of the first reinforcing assembly and the second reinforcing assembly can further fix the position of the object plate and the moving plate, thereby further increasing the accuracy of the moving position of the object plate and the moving plate. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a schematic diagram of the overall structure of the embodiment of the present application.

[0032] Figure 2 is a schematic diagram of the half-section structure of the locking assembly of the embodiment of the present application.

[0033] Figure 3 is a schematic diagram of the connection relationship structure of the first reinforcing assembly and the second reinforcing assembly of the embodiment of the present application.

[0034] Figure 4 is a control structure block diagram of the industrial computer of the embodiment of the present application.

[0035] Explanation of reference signs: 1, fixed part; 11, fixed plate; 12, first rotating motor; 2, rotating part; 21, moving plate; 22, second rotating motor; 23, object carrying plate; 3, locking assembly; 31, protective cover; 32, first driving gear; 321, first driven gear; 322, first rotating shaft; 33, second driving gear; 331, second driven gear; 332, second rotating shaft; 34, first locking plate; 341, first accommodating groove; 342, first telescopic groove; 35, second locking plate; 351, second accommodating groove; 352, second telescopic groove; 36, locking hydraulic cylinder; 361, fixed rod; 362, first push plate; 3621, first locking groove; 363, second push plate; 3631, second locking groove; 4, first monitoring assembly; 41, first laser emitter; 42, first photosensitive sensor; 5, second monitoring assembly; 51, second laser emitter; 52, second photosensitive sensor; 6, first reinforcing assembly; 61, first reinforcing gear; 62, first reinforcing rod; 63, first pressure spring; 7, second reinforcing assembly; 71, second reinforcing gear; 72, second reinforcing rod; 73, second pressure spring. DETAILED DESCRIPTION

[0036] The following will be described in detail below with reference to the accompanying drawings. Figure 1 - the accompanying drawings Figure 4 The present application is further described in detail.

[0037] The embodiment of the present application discloses an anti-shake mechanical arm, which refers to Figure 1 and Figure 2 , comprising a fixed part 1, the fixed part 1 is horizontally arranged, one side of the fixed part 1 is fixedly connected with a support frame, the support frame is not shown in the figure, and the side of the fixed part 1 away from the support frame is provided with a rotating part 2, the rotating part 2 is also horizontally arranged, and the rotating part 2 is located on the upper side of the end of the fixed part 1 away from the support frame, the fixed part 1 is used for supporting the rotating part 2 to rotate above the fixed part 1, and the side of the rotating part 2 away from the fixed part 1 is used for carrying an object.

[0038] The fixed part 1 is provided with a locking assembly 3, and the locking assembly 3 is used for limiting the relative position relationship between the fixed part 1 and the rotating part 2.

[0039] When the mechanical arm needs to be used in actual use, the object to be moved is carried by the rotating part 2 of the mechanical arm, and moves under the support of the fixed part 1, so that the object is carried, and at the same time, due to the existence of the locking assembly 3, when the rotating part 2 moves to a proper position, the locking assembly 3 can fix the relative position between the rotating part 2 and the fixed part 1.

[0040] The position of the rotating part 2 is fixed by the locking assembly 3, which can reduce the phenomenon that the object carried by one end of the rotating part 2 cannot be accurately placed at the required placement position due to the shaking of the rotating part 2 during movement and deviation from the required movement position.

[0041] The fixed part 1 comprises a fixed plate 11 fixedly connected to the support frame, and the fixed plate 11 is horizontally arranged. The inner side of the fixed plate 11 away from the support frame is provided with a first rotating motor 12, and the first rotating motor 12 is vertically arranged. The output shaft of the first rotating motor 12 penetrates the fixed plate 11. The rotating part 2 comprises a moving plate 21 arranged horizontally and a load plate 23 arranged parallel to the moving plate 21 above the moving plate 21. The inner side of the moving plate 21 close to the load plate 23 is provided with a second rotating motor 22, and the second rotating motor 22 is vertically arranged. The output shaft of the second rotating motor 22 penetrates the moving plate 21 and the load plate 23, and the output shaft of the second rotating motor 22 is fixedly connected to the load plate 23. The end of the output shaft of the first rotating motor 12 penetrating the fixed plate 11 penetrates the side of the moving plate 21 away from the load plate 23, and is fixedly connected to the moving plate 21.

[0042] When the object needs to be moved by the mechanical arm, the object is first placed on one side of the load plate 23, and then the first rotating motor 12 and the second rotating motor 22 are started at the same time. The moving plate 21 is moved by the first rotating motor 12, and the load plate 23 is moved by the second rotating motor 22, so as to realize the migration of the object on one side of the load plate 23.

[0043] The first monitoring assembly 4 for monitoring the movement of the fixed plate 11 is arranged between the fixed plate 11 and the moving plate 21. The second monitoring assembly 5 for monitoring the movement of the load plate 23 is arranged between the moving plate 21 and the load plate 23.

[0044] The existence of the first monitoring assembly 4 and the second monitoring assembly 5 can realize real-time monitoring of the positional relationship between the moving plate 21 and the load plate 23, so that the locking assembly 3 can more accurately limit the positional relationship between the moving plate 21 and the load plate 23, thereby reducing the phenomenon that the moving plate 21 and the load plate 23 move too much and deviate from the required movement position.

[0045] The first monitoring assembly 4 comprises a first laser emitter 41 installed on the side of the fixed plate 11 close to the moving plate 21. The first light-sensitive sensor 42 is installed around the output shaft of the first rotating motor 12 on the side of the moving plate 21 close to the end of the fixed plate 11. In actual use, the first light-sensitive sensor 42 is used to receive the signal emitted by the first laser emitter 41.

[0046] The second monitoring assembly 5 comprises a second laser emitter 51 installed on the moving plate 21 close to the object plate 23, and an annular second photosensitive sensor 52 is installed on the side of the object plate 23 close to the end of the moving plate 21 around the output shaft of the second rotating motor 22. In actual use, the second photosensitive sensor 52 is used to receive the signal emitted by the second laser emitter 51.

[0047] When the mechanical arm needs to move the object, the first rotating motor 12 and the second rotating motor 22 are started at the same time, and the first laser emitter 41 and the first photosensitive sensor 42 and the second laser emitter 51 and the second photosensitive sensor 52 are started. In the process of rotating the moving plate 21, the first laser emitter 41 continuously emits signals to the first photosensitive sensor 42, so that the first photosensitive sensor 42 can monitor the angle of the moving plate 21 in real time, and at the same time, the second laser emitter 51 continuously emits signals to the second photosensitive sensor 52, so that the second photosensitive sensor 52 can monitor the angle of the object plate 23 in real time.

[0048] When the moving plate 21 is about to move to the specified position, the first photosensitive sensor 42 sends a signal to open the locking assembly 3 to slow down the moving plate 21, so that when the moving plate 21 moves to the appropriate position, the locking assembly 3 can fix the relative position between the moving plate 21 and the fixed plate 11 in time. When the object plate 23 is about to move to the specified position, the second photosensitive sensor 52 sends a signal to open the locking assembly 3 to slow down the object plate 23, so that when the object plate 23 moves to the appropriate position, the locking assembly 3 can fix the relative position between the object plate 23 and the fixed plate 11 in time.

[0049] Referring to Figure 2 and Figure 3 , the locking assembly 3 comprises a protective cover 31 located on the upper surface of the moving plate 21 and fixedly connected with the upper surface of the moving plate 21. One end of the output shaft of the first rotating motor 12 penetrates the moving plate 21 and is located inside the protective cover 31. A first driving gear 32 is fixedly sleeved outside the end of the output shaft of the first rotating motor 12 located inside the protective cover 31. A first driven gear 321 is engaged on one side of the first driving gear 32. A first rotating shaft 322 is penetrated in the middle of the first driven gear 321 and fixedly connected. One end of the first rotating shaft 322 close to the moving plate 21 is rotationally connected with the moving plate 21, and the other end of the first rotating shaft 322 away from the moving plate 21 is rotationally connected with the inner top wall of the protective cover 31.

[0050] The output shaft of the second rotating motor 22 penetrates one end of the object plate 23 and is also located inside the protective cover 31, and the locking assembly 3 further comprises a second driving gear 33 fixedly sleeved on the output shaft of the second rotating motor 22 located inside the protective cover 31, one side of the second driving gear 33 is engaged with a second driven gear 331, the middle position of the second driven gear 331 is penetrated and fixedly connected with a second rotating shaft 332, the second rotating shaft 332 is vertically arranged, one end of the second rotating shaft 332 close to the moving plate 21 is rotationally connected with the moving plate 21, and the other end of the second rotating shaft 332 away from the moving plate 21 is rotationally connected with the inner top wall of the protective cover 31.

[0051] The inner side wall of the protective cover 31 close to the first rotating shaft 322 is fixedly connected with a first locking plate 34, the first locking plate 34 is arranged in a circular arc shape, and the circular arc opening of the first locking plate 34 faces the side close to the first rotating shaft 322, the first rotating shaft 322 is located inside the first locking plate 34 and abuts against the inner wall of the first locking plate 34, and the inner side wall of the protective cover 31 close to the second rotating shaft 332 is provided with a second locking plate 35, the second locking plate 35 is also arranged in a circular arc shape, and the circular arc opening of the second locking plate 35 faces the side close to the second rotating shaft 332, and the second rotating shaft 332 is located inside the second locking plate 35 and abuts against the inner side wall of the second locking plate 35.

[0052] A locking hydraulic cylinder 36 is arranged between the first locking plate 34 and the second locking plate 35, the locking hydraulic cylinder 36 is horizontally arranged, and the upper and lower sides of the locking hydraulic cylinder 36 are both provided with a fixing rod 361 for fixing the locking hydraulic cylinder 36 inside the protective cover 31. The locking hydraulic cylinder 36 is arranged as a double-shaft hydraulic cylinder, a first push plate 362 is fixedly connected to the piston rod of the locking hydraulic cylinder 36 close to the first rotating shaft 322, the first push plate 362 is also arranged in a circular arc shape, and the circular arc opening of the first push plate 362 faces the side close to the first rotating shaft 322, and when the piston rod of the locking hydraulic cylinder 36 drives the first push plate 362 to move to the side close to the first locking plate 34, the first push plate 362 and the first locking plate 34 can clamp the first rotating shaft 322 inside the first push plate 362 and the first locking plate 34 to fix the position of the first rotating shaft 322.

[0053] A second push plate 363 is fixedly connected to the piston rod of the locking hydraulic cylinder 36 close to the second rotating shaft 332, the second push plate 363 is arranged in a circular arc shape, and the circular arc opening of the second push plate 363 faces the side close to the second rotating shaft 332, and when the piston rod of the locking hydraulic cylinder 36 drives the second push plate 363 to move to the side close to the second locking plate 35, the second push plate 363 and the second locking plate 35 can clamp the second rotating shaft 332 between the second push plate 363 and the second locking plate 35, so as to fix the second rotating shaft 332.

[0054] When the first photosensitive sensor 42 monitors that the moving plate 21 is about to reach the specified position, the locking hydraulic cylinder 36 drives the first push plate 362 to move to the side close to the first locking plate 34 through the piston rod close to the first rotating shaft 322, so as to realize the process from deceleration to fixation of the first rotating shaft 322 through the first push plate 362 and the first locking plate 34, fix the first rotating shaft 322 at the specified position, so as to fix the first driven gear 321 driven by the first rotating shaft 322, fix the first driving gear 32 and the first rotating motor 12 driven by the first driven gear 321, and further realize the fixation of the moving plate 21.

[0055] When the second photosensitive sensor 52 monitors that the object plate 23 is about to move to the specified position, the locking hydraulic cylinder 36 is started to drive the second push plate 363 to move to the side close to the second locking plate 35 through the piston rod close to the second rotating shaft 332, so as to realize the process from deceleration to fixation of the second rotating shaft 332, fix the second rotating shaft 332 at the specified position, so as to fix the second driven gear 331 driven by the second rotating shaft 332, fix the second driving gear 33 and the second rotating motor 22 driven by the second driven gear 331, and further realize the fixation of the object plate 23.

[0056] Therefore, when the electric appliance fails or is in a power-off state, the relative positions between the object plate 23 and the moving plate 21 and between the moving plate 21 and the fixed plate 11 can still be fixed under the driving of the locking hydraulic cylinder 36, so as to reduce the phenomenon that the object carried by one end of the object plate 23 falls or is damaged due to the absence of effective positioning means in the power-off state.

[0057] Referring to Figure 2 and Figure 4 , the industrial computer is used for receiving the signals transmitted by the first photosensitive sensor 42 and the second photosensitive sensor 52, and is used for controlling the locking hydraulic cylinder 36 to be opened.

[0058] The signals of the first photosensitive sensor 42 and the second photosensitive sensor 52 are received by the industrial computer, so as to realize the accurate control of the locking hydraulic cylinder 36 and realize the accurate control of the first rotating shaft 322 and the second rotating shaft 332 from deceleration to stop.

[0059] Referring to Figure 2 and Figure 3 , the first reinforcing assembly 6 is arranged between the first push plate 362 and the first locking plate 34, and is used for further limiting the fixation state of the first rotating shaft 322. The second reinforcing assembly 7 is arranged between the second push plate 363 and the second locking plate 35, and is used for further limiting the fixation state of the second rotating shaft 332.

[0060] Through the first reinforcing assembly 6 and the second reinforcing assembly 7, the positions of the first rotating shaft 322 and the second rotating shaft 332 can be further limited, so that the positions of the first rotating shaft 322 and the second rotating shaft 332 can be more stable.

[0061] The first reinforcing assembly 6 comprises a first reinforcing gear 61 fixedly sleeved on the first rotating shaft 322, the first locking plate 34 is provided with a first containing groove 341 for placing the first reinforcing gear 61 on the side close to the first rotating shaft 322, and the first push plate 362 is provided with a first locking groove 3621 for placing the first reinforcing gear 61 on the side close to the first rotating shaft 322. The two ends of the first locking plate 34 away from the inner side wall of the protective cover 31 are provided with first telescopic grooves 342, and the inside of each first telescopic groove 342 is provided with a first reinforcing rod 62. The first reinforcing rod 62 is L-shaped, and the long side of each L-shaped first reinforcing rod 62 is located in the inside of the first telescopic groove 342. The L-shaped short side of each first reinforcing rod 62 is arranged towards the direction close to the first reinforcing gear 61. The inside of each first telescopic groove 342 is provided with a first pressure spring 63. One side of each first pressure spring 63 close to the first reinforcing rod 62 in the same first telescopic groove 342 is fixedly connected with the first reinforcing rod 62, and the other side of each first pressure spring 63 away from the first reinforcing rod 62 is fixedly connected with the inner wall of the first telescopic groove 342.

[0062] When the first push plate 362 moves to the side close to the first locking plate 34 under the drive of the locking hydraulic cylinder 36, the first push plate 362 pushes the first reinforcing rods 62 at both ends of the first locking plate 34 to move to the inside of the first telescopic groove 342 during the movement, so that the short side of the first reinforcing rod 62 abuts against the first reinforcing gear 61, thereby further fixing the first rotating shaft 322. When the first push plate 362 moves to the side away from the first locking plate 34 under the drive of the locking hydraulic cylinder 36, so as not to lock the first rotating shaft 322, both first reinforcing rods 62 move to the side away from the inside of the first telescopic groove 342 under the drive of the first pressure spring 63 fixedly connected therewith, so as not to abut against the first reinforcing gear 61, thereby enabling the first rotating shaft 322 to continue to rotate.

[0063] The second reinforcing assembly 7 comprises a second reinforcing gear 71 fixedly sleeved on the second rotating shaft 332, the second locking plate 35 is provided with a second containing groove 351 for placing the second reinforcing gear 71 on one side close to the second rotating shaft 332, and the second push plate 363 is provided with a second locking groove 3631 for placing the second reinforcing gear 71 on one side close to the second rotating shaft 332. The second locking plate 35 is provided with a second telescopic groove 352 at each end away from the inner side wall of the protective cover 31, and each second telescopic groove 352 is provided with a second reinforcing rod 72 inside. The second reinforcing rod 72 is L-shaped, and the long side of each L-shaped second reinforcing rod 72 is located inside the second telescopic groove 352. The short side of each second reinforcing rod 72 is arranged towards the direction close to the second reinforcing gear 71. Each second telescopic groove 352 is provided with a second pressure spring 73 inside, one side of each second pressure spring 73 close to the second reinforcing rod 72 in the same second telescopic groove 352 is fixedly connected with the second reinforcing rod 72, and the other side of each second pressure spring 73 away from the second reinforcing rod 72 is fixedly connected with the inner wall of the second telescopic groove 352. When the second rotating shaft 332 no longer needs to be fixed, the locking hydraulic cylinder 36 is started to drive the second push plate 363 to move away from the second locking plate 35, so that the two second reinforcing rods 72 are driven by the second pressure springs 73 connected thereto to move away from the inside of the second telescopic groove 352, thereby releasing the restriction on the second rotating shaft 332, and further enabling the second rotating shaft 332 to continue to move.

[0064] When the second push plate 363 is driven by the locking hydraulic cylinder 36 to move towards the second locking plate 35, the second push plate 363 pushes the second reinforcing rods 72 at both ends of the second locking plate 35 to move towards the inside of the second telescopic groove 352 during movement, so that the short side of the second reinforcing rod 72 abuts against the second reinforcing gear 71, thereby achieving further fixation of the second rotating shaft 332.

[0065] The implementation principle of the anti-shake mechanical arm is that when it is necessary to move an object by the mechanical arm, the first rotating motor 12 and the second rotating motor 22 are started to enable the object at one end of the object carrying plate 23 to be transported to a specified position.

[0066] During movement, the first laser emitter 41 and the second laser emitter 51 continuously transmit signals to the first photosensitive sensor 42 or the second photosensitive sensor 52, so that the industrial computer can continuously grasp the movement state of the moving plate 21 and the object carrying plate 23, thereby enabling the industrial computer to timely control the locking hydraulic cylinder 36 to lock the first rotating shaft 322 and the second rotating shaft 332.

[0067] When the first push plate 362 and the first locking plate 34 abut against each other, the second push plate 363 and the second locking plate 35 abut against each other, and the first rotating shaft 322 and the second rotating shaft 332 are fixed, the two first reinforcing rods 62 and the two second reinforcing rods 72 also simultaneously further reinforce the first rotating shaft 322 and the second rotating shaft 332, so as to further reduce the occurrence of shaking of the moving plate 21 and the object plate 23.

[0068] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, so: any equivalent changes made on the basis of the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A dithering robot arm, characterized by: The device comprises a fixing part (1) for fixing the whole mechanical arm, one side of the fixing part (1) is provided with a rotating part (2) for driving the object to be carried to rotate, and the device further comprises a locking assembly (3) for limiting the movement of the rotating part (2); The fixing part (1) comprises a fixing plate (11), the rotating part (2) comprises a moving plate (21) rotationally connected with the fixing plate (11), the rotating part (2) further comprises a carrying plate (23) located on the side of the moving plate (21) away from the fixing plate (11) and rotationally connected with the moving plate (21), the fixing plate (11) is provided with a first rotating motor (12) for driving the moving plate (21) to rotate, and the moving plate (21) is provided with a second rotating motor (22) for driving the carrying plate (23) to rotate; A first monitoring assembly (4) is arranged between the fixing plate (11) and the moving plate (21) for monitoring the rotating position of the moving plate (21), and a second monitoring assembly (5) is arranged between the moving plate (21) and the carrying plate (23) for monitoring the rotating position of the carrying plate (23); The locking assembly (3) comprises a protective cover (31) located on the moving plate (21), the locking assembly (3) further comprises a first driving gear (32) fixedly connected with the output shaft of the first rotating motor (12) and penetrating through one end of the moving plate (21), one side of the first driving gear (32) is engaged with a first driven gear (321), a first rotating shaft (322) penetrates and is fixedly connected with the first driven gear (321), one end of the first rotating shaft (322) is rotationally connected with the moving plate (21), the moving plate (21) is further rotationally connected with a second rotating shaft (332), the second rotating shaft (332) is fixedly provided with a second driven gear (331), one side of the second driven gear (331) is engaged with a second driving gear (33), the output shaft of the second rotating motor (22) penetrates the carrying plate (23) and is fixedly connected with the second driving gear (33), one side of the protective cover (31) close to the first rotating shaft (322) is provided with a first locking plate (34), one side of the protective cover (31) close to the second rotating shaft (332) is further provided with a second locking plate (35), and the inside of the protective cover (31) is provided with a locking hydraulic cylinder (36), two sides of the locking hydraulic cylinder (36) are respectively fixedly provided with a first push plate (362) for fixing the first rotating shaft (322) on one side of the first locking plate (34) and a second push plate (363) for fixing the second rotating shaft (332) on one side of the second locking plate (35); The first locking plate (34) is provided with a first reinforcing assembly (6) for reinforcing the position of the first rotating shaft (322), and the second locking plate (35) is provided with a second reinforcing assembly (7) for reinforcing the position of the second rotating shaft (332). The first reinforcing assembly (6) comprises a first reinforcing gear (61) fixed outside the first rotating shaft (322), a plurality of first telescopic grooves (342) are formed in the first locking plate (34), and the inside of each first telescopic groove (342) is provided with a first reinforcing rod (62) used for abutting against the first reinforcing gear (61); and a first pressure spring (63) used for connecting the first reinforcing rod (62) and the inner wall of the first telescopic groove (342) is arranged between the first reinforcing rod (62) and the inner wall of the first telescopic groove (342); The second reinforcing assembly (7) comprises a second reinforcing gear (71) fixed outside the second rotating shaft (332), a plurality of second telescopic grooves (352) are formed in the second locking plate (35), and the inside of each second telescopic groove (352) is provided with a second reinforcing rod (72) used for abutting against the second reinforcing gear (71); and a second pressure spring (73) used for connecting the second reinforcing rod (72) and the inner wall of the second telescopic groove (352) is arranged between the second reinforcing rod (72) and the inner wall of the second telescopic groove (352).

2. The anti-shake mechanical arm according to claim 1, characterized in that: The first monitoring assembly (4) comprises a first laser emitter (41) installed on the fixed plate (11), and the moving plate (21) is provided with a first photosensitive sensor (42) used for receiving signals emitted by the first laser emitter (41); and the second monitoring assembly (5) comprises a second laser emitter (51) installed on the moving plate (21), and the object plate (23) is provided with a second photosensitive sensor (52) used for receiving signals emitted by the second laser emitter (51).

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