Multi-degree-of-freedom mechanical arm for intelligent manufacturing

Abstract

The invention belongs to the technical field of operation machinery, and particularly relates to an intelligent manufacturing oriented multi-degree-of-freedom mechanical arm which comprises a base, a first force arm is rotationally assembled at one end of a rotating seat, a second force arm is rotationally assembled at the tail end of the first force arm, a third force arm is rotationally connected to the tail end of the second force arm, a first wall cavity is formed in the first force arm, and a second wall cavity is formed in the second force arm. A first tracking obstacle avoidance assembly is arranged on the side wall of the end, close to the second force arm, of the first force arm, a first trigger switch assembly and a first air valve are arranged in the first wall cavity, a second wall cavity is formed in the third force arm, and a second tracking obstacle avoidance assembly is arranged on the side wall of the end, close to the fourth force arm, of the third force arm. A second trigger switch assembly and a second air valve are arranged in the second wall cavity. Objects close to a force arm can be surveyed in real time, the obstacle avoidance function of the mechanical arm is optimized, the input scheme of power equipment and the internal design of the structure are optimized, and the situation that the use space of the mechanical arm is limited by a bloated structure is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of operating machines, and in particular relates to a multi-degree-of-freedom robotic arm for intelligent manufacturing. Background Art

[0002] A robotic arm is a multifunctional manipulator that can achieve automatic positioning control and repeatable programming. It imitates the functions and structural design of human arms and is used to complete various precision operation tasks in industrial manufacturing, medical surgery, scientific research and other fields. A robotic arm is usually composed of multiple joints and connecting rods. Each joint provides a certain degree of freedom, allowing the entire robotic arm to move flexibly in space. These joints can be rotary joints or mobile joints, realizing rotation and translational motion respectively.

[0003] Problems with existing technologies: When manipulating the robot arm to operate in a complex space, the existing robot arm products cannot accurately measure the distance between the important joint force arm and the objects on the work site. During the debugging and trial operation of the robot arm, how to ensure that the joint force arm does not collide with the on-site structure is also a technical problem that needs to be paid attention to. Therefore, how to optimize the obstacle avoidance function of the robot arm is also a problem that needs to be solved at present; In addition, how to ensure that the robotic arm does not have an overly bloated structural design while optimizing the robotic arm's obstacle avoidance function is also one of the keys to ensuring that the robotic arm's operation is not restricted by too much space. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom robotic arm for intelligent manufacturing, which can detect objects close to the force arm in real time, optimize the obstacle avoidance function of the robotic arm, optimize the investment plan of power equipment and the internal design of the structure, and avoid the bloated structure limiting the use space of the robotic arm.

[0005] The technical solution adopted by the present invention is as follows: A multi-degree-of-freedom mechanical arm for intelligent manufacturing, comprising a base, a rotating seat is rotatably assembled on the top of the base, one end of the rotating seat is rotatably assembled with a force arm 1, the end of the force arm 1 is rotatably assembled with a force arm 2, the end of the force arm 2 is rotatably connected to a force arm 3, the end of the force arm 3 is internally rotatably assembled with a force arm 4, a wall cavity 1 is provided inside the force arm 1, and a tracking and obstacle avoidance component 1 is provided on the side wall of the force arm 1 close to one end of the force arm 2, a trigger switch component 1 and an air valve 1 are provided inside the wall cavity 1, a wall cavity 2 is provided inside the force arm 3, and a tracking and obstacle avoidance component 2 is provided on the side wall of the force arm 3 close to one end of the force arm 4, a trigger switch component 2 and an air valve 2 are provided inside the wall cavity 2, and an air pump is fixedly installed on one end of the surface of the base; A motor for controlling the operation of the tracking and obstacle avoidance component 1 and the tracking and obstacle avoidance component 2 is fixedly installed inside the wall cavity 1, and the trigger switch component 1 cooperates with the air valve 1 to control whether the tracking and obstacle avoidance component 1 works, and the trigger switch component 2 cooperates with the air valve 2 to control whether the tracking and obstacle avoidance component 2 works; The motor and the tracking and obstacle avoiding component 2 are connected in transmission via a transmission integrated component that is arranged through the lever arm 1, the lever arm 2 and the lever arm 3.

[0006] A servo motor 1 for controlling the rotation of the swivel seat is installed on one side of the swivel seat, a servo motor 2 for controlling the rotation of a lever arm 1 is installed on the outer wall of one end of the swivel seat, a servo motor 3 for controlling the rotation of a lever arm 2 is installed on the outer wall of the lever arm 2 and at the junction of the lever arm 1 and the lever arm 2, a servo motor 4 for controlling the rotation of a lever arm 3 is installed on the outer wall of one end of the lever arm 2, and a servo motor 5 for controlling the rotation of a lever arm 4 is installed inside the end of the lever arm 3.

[0007] The outer wall of the force arm 1 is integrally provided with a transfer tube 1 located at the transition point with the force arm 2, and a gear 1 is fixedly installed on the outer surface of the transfer tube 1, the outer wall of the force arm 2 is integrally provided with a transfer tube 2 located at the transition point with the force arm 1, the transfer tube 1 is rotatably installed inside the transfer tube 2, the outer wall of the force arm 2 is rotatably installed on one side of the transfer tube 2, the gear 2 is transmission-connected to the output shaft of the servo motor 3, and the gear 2 is meshed with the gear 1; A transfer tube three is integrally provided at one end of the force arm three close to the force arm two, and the transfer tube three is rotatably installed inside the force arm two. A gear three is fixedly installed on the outer surface of the end of the transfer tube three, and a gear shaft is rotatably installed on one side inside the force arm two. The gear shaft is transmission-connected to the output shaft of the servo motor four, and the gear shaft is meshed with gear three.

[0008] A gear six is ​​fixedly mounted on the end of the motor output shaft, and a double-end gear ring is rotatably assembled on the inner wall of the transfer tube one; The transmission integrated assembly includes transmission shaft 1, transmission shaft 2, transmission shaft 3, transmission shaft 4 and transmission shaft 5, wherein the transmission shaft 1 is rotatably installed on one side inside the force arm 1, and gear 7 and bevel gear 1 are fixedly installed at both ends of the transmission shaft 1, and gear 6 is meshed with gear 7; the transmission shaft 2 is rotatably installed on one side inside the transfer tube 1, and bevel gear 2 and gear 8 are fixedly installed at both ends of the transmission shaft 2, the bevel gear 1 is meshed with bevel gear 2, and gear 8 is meshed with the double-end gear ring.

[0009] The transmission shaft three is rotatably installed on one side of the inside of the servo motor four, and one end of the transmission shaft three is fixedly installed with a gear nine, and the gear nine is meshed with the double-end gear ring. The other end of the transmission shaft three extends to the inside of the side chamber. The transmission shaft four is rotatably installed on the inner side wall of the lever arm two, and one end of the transmission shaft four extends to the inside of the side chamber. The transmission shaft three and the transmission shaft four are connected through a sleeved crawler track one. The other end of the transmission shaft four extends to the inside of the lever arm two and is fixedly installed with a turbine. The transmission shaft five is rotatably installed inside the center line of the lever arm three axis, and one end of the transmission shaft five extends to the inside of the lever arm two and is fixedly installed with a vortex rod, and the turbine is meshed with the vortex rod.

[0010] The tracking and obstacle avoidance component 1 has the same structure as the tracking and obstacle avoidance component 2, the tracking and obstacle avoidance component 1 includes an inner ring body rotatably mounted on the inner wall of the lever arm 1, and an outer ring body rotatably mounted on the outer wall of the lever arm 1, a ranging radar is embedded on one side of the outer wall of the outer ring body, outer wall teeth are integrally provided on the edges on both sides of the inner ring body wall, inner wall of the inner ring body is integrally provided with inner wall teeth 1, inner wall teeth 2 are integrally provided on the edges on both sides of the inner wall of the outer ring body, gear 4 is rotatably mounted on the outer wall of the lever arm 1 in an array, gear 4 is arranged in four groups and there are two gears in each group, the two gears 4 in the same group are located on the same axis, and gear 5 is fixedly mounted on the side close to the two gears 4 in the same group, the gear 4 penetrates one side wall of the lever arm and meshes with the corresponding outer wall teeth, and the gear 5 meshes with the corresponding inner wall teeth 2.

[0011] The trigger switch assembly 1 has the same structure as the trigger switch assembly 2, the trigger switch assembly 1 comprises an air shell fixedly mounted inside the wall cavity 1, a cross shaft rotatably mounted inside the wall cavity 1, one end of the air shell is telescopically assembled with a connecting rod, and an air plug is mounted on the end of the connecting rod located inside the air shell, the other end of the connecting rod is fixedly connected with a push plate, one side of the push plate is rotatably assembled with a movable gear, and the movable gear is slidably sleeved on the outer surface of the cross shaft, the movable gear is detachably meshed with an inner wall tooth 1, the output shaft of the motor is connected to the cross shaft through a sleeved crawler track 2, a baffle is integrally arranged at the middle of the connecting rod, and a spring is connected between the baffle and the inner wall of the wall cavity 1; The output shaft of the motor directly serves as the driving shaft of the tracking and obstacle avoidance component one, and the transmission shaft five directly serves as the driving shaft of the tracking and obstacle avoidance component two.

[0012] The top and bottom sides of the air valve one are respectively fixedly connected with an air connecting pipe and an air intake pipe, and the other end of the air intake pipe is connected to the air outlet end of the air pump. The air connecting pipe passes through the force arm one and the force arm two and extends to the inside of the force arm three, and the end of the air connecting pipe is connected to the air valve two. The front and rear sides of the air valve one are respectively fixedly connected with an air discharge pipe and an air branch pipe, and the other end of the air branch pipe is connected to the air shell.

[0013] A cylinder is fixedly installed at one end of the air valve 1, a valve core is slidably assembled inside the air valve 1, and one end of the valve core is fixedly connected to the telescopic output end of the cylinder, a straight airway 1 is penetrated through one end of the valve core, a branch airway is opened at one end of the valve core and located at one side of the middle of the straight airway 1, the branch airway is vertically arranged with the straight airway 1 and the two are connected, a straight airway 2 is opened at one side of the valve core and located at one side of the straight airway 1, and a curved airway is opened at one side of the valve core and located at one side of the straight airway 2; The air intake pipe is communicated with the tracheal tube and the air connecting tube through the straight airway 1 and the bronchial tube; when the air intake pipe is communicated with the air connecting tube through the straight airway 2, the tracheal tube is communicated with the exhaust pipe through the curved airway.

[0014] The trigger switch assembly 2 includes an air shell 2 fixedly installed inside the wall cavity 2, and the front and rear sides of the air valve 2 are respectively fixedly connected with an air vent pipe 2 and an air branch pipe 2, and the other end of the air branch pipe 2 is connected to the air shell 2.

[0015] The technical effects achieved by the present invention are: The present invention enables the ranging radar to move around the arm, so as to detect objects that are relatively close to the first arm, and thereby feed back to the control center of the mechanical arm, so as to adaptively adjust the operation path of the mechanical arm. The structure and operation process of the tracking and obstacle avoidance component 2 are the same as those of the tracking and obstacle avoidance component 1. With the help of the tracking and obstacle avoidance component 2, objects that are relatively close to the third end of the mechanical arm can be detected, so that the mechanical arm is more suitable for processing work in complex spaces, and support is provided for the obstacle avoidance function of the mechanical arm.

[0016] In the present invention, trigger switch component one cooperates with gas valve one to control whether tracking and obstacle avoidance component one is working, and trigger switch component two cooperates with gas valve two to control whether tracking and obstacle avoidance component two is working. The two tracking and obstacle avoidance components can be operated independently according to the actual working environment, and only an air pipe running through lever arm one, lever arm two and lever arm three is required to realize distributed control.

[0017] The transmission integrated component in the present invention realizes the effect of one motor providing kinetic energy for tracking obstacle avoidance component one and tracking obstacle avoidance component two, optimizes the investment plan of power equipment, optimizes the internal space of the structure, and avoids the bloated structure limiting the use space of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a structural diagram of a mechanical arm provided by an embodiment of the present invention; Figure 2 is a partial cross-sectional structural diagram of a mechanical arm provided by an embodiment of the present invention; Figure 3 is a combined disassembly diagram of a mechanical arm provided by an embodiment of the present invention; Figure 4 It is a structural diagram of the transition point between the first lever arm and the second lever arm provided by an embodiment of the present invention; Figure 5 yes Figure 4 The local enlarged structure diagram at A in the middle; Figure 6 is a structural schematic diagram of a tracking and obstacle avoidance component 1 provided in an embodiment of the present invention; Figure 7 This is a disassembled diagram of a tracking obstacle avoidance component 1, a motor, a transmission shaft 1, and a trigger switch component 1 provided in an embodiment of the present invention; Figure 8 is a combined structural diagram of a trigger switch assembly 1 and a gas valve 1 provided in an embodiment of the present invention; Fig. 9 It is a cross-sectional structural diagram of a gas valve 1 provided in an embodiment of the present invention.

[0019] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Base; 2. Rotating seat; 201. Servo motor 1; 202. Servo motor 2; 3. Force arm 1; 301. Wall cavity 1; 302. Transfer tube 1; 303. Gear 1; 304. Double-end gear ring; 4. Force arm 2; 401. Servo motor 3; 402. Servo motor 4; 403. Transfer tube 2; 404. Gear 2; 405. Side chamber; 406. Gear shaft; 5. Force arm 3; 501. Servo motor 5; 502. Wall cavity 2; 50 3. Transfer tube 3; 504. Gear 3; 6. Lever 4; 7. Tracking and obstacle avoidance component 1; 701. Inner ring body; 702. Outer wall tooth; 703. Inner wall tooth 1; 704. Outer ring body; 705. Inner wall tooth 2; 706. Gear 4; 707. Gear 5; 708. Range finder radar; 8. Motor; 801. Gear 6; 9. Transmission shaft 1; 901. Gear 7; 902. Bevel gear 1; 10. Transmission shaft 2; 1001. Bevel gear 2; 100 2. Gear 8; 11. Transmission shaft 3; 1101. Gear 9; 1102. Track 1; 12. Transmission shaft 4; 1201. Turbine; 13. Transmission shaft 5; 1301. Turbine rod; 14. Trigger switch assembly 1; 1401. Air housing; 1402. Connecting rod; 1403. Air plug; 1404. Push plate; 1405. Cross shaft; 1406. Live gear; 1407. Track 2; 1408. Baffle; 1409. Spring; 15. Air valve 1; 1501, air intake pipe; 1502, air branch pipe; 1503, air connecting pipe; 1504, air vent pipe; 1505, cylinder; 1506, valve core; 1507, straight airway one; 1508, air branch; 1509, straight airway two; 1510, curved airway; 16, tracking and obstacle avoidance component two; 17, trigger switch component two; 1701, air shell two; 18, air valve two; 1801, air branch pipe two; 1802, air vent pipe two; 19, air pump. DETAILED DESCRIPTION

[0020] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0021] like Figure 1-Figure 9 As shown, a multi-degree-of-freedom mechanical arm for intelligent manufacturing includes a base 1, a swivel base 2 is rotatably assembled on the top of the base 1, a powerful arm 1 3 is rotatably assembled on one end of the swivel base 2, a powerful arm 2 4 is rotatably assembled on the end of the powerful arm 1 3, a powerful arm 3 5 is rotatably assembled on the end of the powerful arm 2 4, a powerful arm 4 6 is rotatably assembled on the end of the powerful arm 3 5, a powerful arm 4 6 is rotatably assembled on the end of the powerful arm 3 5, a servo motor 1 201 for controlling the rotation of the swivel base 2 is installed on one side of the swivel base 2, a servo motor 2 202 for controlling the rotation of the powerful arm 1 3 is installed on the outer wall of one end of the swivel base 2, a servo motor 3 401 for controlling the rotation of the powerful arm 2 4 is installed on the outer wall of the powerful arm 2 4 and located at the junction of the powerful arm 1 3 and the powerful arm 2 4, a servo motor 4 402 for controlling the rotation of the powerful arm 3 5 is installed on the outer wall of one end of the powerful arm 2 4, and a servo motor 5 501 for controlling the rotation of the powerful arm 4 6 is installed on the end of the powerful arm 3 5; Refer to the attached Figure 1 and Figure 3 The outer wall of the force arm 1 3 is integrally provided with a transfer tube 1 302 at the transition point with the force arm 2 4, and a gear 1 303 is fixedly installed on the outer surface of the transfer tube 1 302. The outer wall of the force arm 2 4 is integrally provided with a transfer tube 2 403 at the transition point with the force arm 1 3. The transfer tube 1 302 is rotatably installed inside the transfer tube 2 403. The outer wall of the force arm 2 4 is rotatably provided with a gear 2 404 at one side of the transfer tube 2 403. The gear 2 404 is connected to the output of the servo motor 3 401. The output shaft is connected by transmission, and gear two 404 is meshed with gear one 303; a transfer tube three 503 is integrally provided at one end of the force arm three 5 close to the force arm two 4, and the transfer tube three 503 is rotatably installed inside the force arm two 4, and the outer surface of the end of the transfer tube three 503 is fixedly installed with gear three 504, and a gear shaft 406 is rotatably installed on one side inside the force arm two 4, and the gear shaft 406 is connected by transmission to the output shaft of the servo motor four 402, and the gear shaft 406 is meshed with gear three 504.

[0022] According to the above structure, a processing tool, such as a mechanical claw, a welding gun, etc., is directly installed on the output end of the force arm four 6, the servo motor one 201 is operated to control the rotation of the swivel seat 2, the servo motor two 202 is operated to control the rotation of the force arm one 3, the servo motor three 401 is operated to control the rotation of the force arm two 4 through the meshing of the gear two 404 and the gear one 303, the servo motor four 402 is operated to control the rotation of the force arm three 5 through the meshing of the gear shaft 406 and the gear three 504, and finally, the servo motor five 501 is operated to control the rotation of the force arm four 6. The above processes are all prior arts and will not be described in detail here.

[0023] Embodiment 1: Refer to the attached Figure 2 A wall cavity 301 is provided inside the lever arm 1 3, and a tracking obstacle avoidance component 1 7 is provided on the side wall of the lever arm 1 3 near one end of the lever arm 2 4, a wall cavity 2 502 is provided inside the lever arm 3 5, and a tracking obstacle avoidance component 2 16 is provided on the side wall of the lever arm 3 5 near one end of the lever arm 4 6; Refer to the attached Figure 4 , Figure 6-Figure 7 The tracking and obstacle avoidance component 17 has the same structure as the tracking and obstacle avoidance component 216. The tracking and obstacle avoidance component 17 includes an inner ring body 701 rotatably mounted on the inner wall of the arm 13, an outer ring body 704 rotatably mounted on the outer wall of the arm 13, a ranging radar 708 is embedded on one side of the outer wall of the outer ring body 704, outer wall teeth 702 are integrally arranged on the edges of both sides of the outer wall of the inner ring body 701, inner wall teeth 1 703 are integrally arranged on the inner wall of the inner ring body 701, and inner wall teeth 703 are integrally arranged on both sides of the inner wall of the outer ring body 704. The edges are all integrally provided with inner wall teeth 2 705, and the outer wall of the force arm 3 is rotatably installed with gears 4 706 in an array. The gears 4 706 are arranged in four groups with two gears in each group. The two gears 4 706 in the same group are located on the same axis, and the sides of the two gears 4 706 in the same group that are close to each other are fixedly installed with gears 5 707. The gears 4 706 penetrate the side wall of the force arm 3 and mesh with the corresponding outer wall teeth 702, and the gears 5 707 mesh with the corresponding inner wall teeth 2 705.

[0024] According to the above structure, after the inner ring body 701 is driven to rotate, the gear four 706 on the outer wall of the force arm 3 is driven to rotate together through the meshing of the gear four 706 and the outer wall tooth 702, and then the outer ring body 704 is started to rotate by means of the meshing of the gear five 707 and the inner wall tooth two 705, thereby realizing the circular motion of the ranging radar 708. During the operation of the robotic arm, by making the ranging radar 708 move around the body of the force arm 3, objects close to the force arm 3 can be detected, and the feedback is given to the control center of the robotic arm to adaptively adjust the operation path of the robotic arm. The structure and operation process of the tracking and obstacle avoidance component two 16 are the same as those of the tracking and obstacle avoidance component one 7, so they are not displayed too much in this article. With the help of the tracking and obstacle avoidance component two 16, objects close to the end of the force arm three 5 can be detected, so that the robotic arm is more suitable for processing work in complex spaces, providing support for the obstacle avoidance function of the robotic arm.

[0025] The working principle of the present invention is as follows: after the inner ring body 701 is driven to rotate, the gear four 706 is engaged with the outer wall tooth 702 to drive the gear four 706 of the outer wall of the lever arm 3 to rotate together, and then the gear five 707 is engaged with the inner wall tooth two 705 to start the outer ring body 704 to rotate, thereby realizing the circular motion of the ranging radar 708. During the operation of the mechanical arm, by making the ranging radar 708 move around the lever arm 3, objects that are relatively close to the lever arm 3 can be detected. The structure and operation process of the obstacle avoidance component 2 16 are the same as those of the tracking and obstacle avoidance component 17. With the help of the tracking and obstacle avoidance component 2 16, objects that are relatively close to the end of the lever arm 3 5 can be detected.

[0026] Embodiment 2: Refer to the attached Figure 2 and Figure 4 An air pump 19 is fixedly installed at one end of the surface of the base 1, a trigger switch component 14 and an air valve 15 are arranged inside the wall cavity 1 301, a trigger switch component 2 17 and an air valve 2 18 are arranged inside the wall cavity 2 502, and a motor 8 for controlling the operation of the tracking and obstacle avoidance component 1 7 and the tracking and obstacle avoidance component 2 16 is fixedly installed inside the wall cavity 1 301; Refer to the attached Figure 7-Figure 8The trigger switch assembly 14 has the same structure as the trigger switch assembly 2 17. The trigger switch assembly 14 includes an air shell 1401 fixedly installed inside the wall cavity 1 301, and a cross shaft 1405 rotatably installed inside the wall cavity 1 301. One end of the air shell 1401 is telescopically assembled with a connecting rod 1402, and one end of the connecting rod 1402 located inside the air shell 1401 is equipped with an air plug 1403, and the other end of the connecting rod 1402 is fixedly connected with a push plate 1404, and one side of the push plate 1404 is rotatably assembled with a movable gear 1406, and The movable gear 1406 is slidably mounted on the outer surface of the cross shaft 1405, and the movable gear 1406 is detachably meshed with the inner wall tooth 1703. The output shaft of the motor 8 is connected to the cross shaft 1405 through the mounted track 1407. A baffle 1408 is integrally provided at the middle of the connecting rod 1402, and a spring 1409 is connected between the baffle 1408 and the inner wall of the wall cavity 301. The output shaft of the motor 8 is directly used as the driving shaft of the tracking and obstacle avoidance component 17, and the transmission shaft 5 13 is directly used as the driving shaft of the tracking and obstacle avoidance component 2 16.

[0027] Refer to the attached Figure 8-Figure 9 The structure of the air valve 15 is similar to that of the air valve 2 18. The top and bottom sides of the air valve 15 are fixedly connected with an air connecting pipe 1503 and an air inlet pipe 1501, and the other end of the air inlet pipe 1501 is connected to the air outlet end of the air pump 19. The air connecting pipe 1503 penetrates the force arm 13 and the force arm 2 4 and extends to the inside of the force arm 3 5. The end of the air connecting pipe 1503 is connected to the air valve 2 18. The front and rear sides of the air valve 15 are fixedly connected with an air release pipe 1504 and an air branch pipe 1502, and the other end of the air branch pipe 1502 is connected to the air shell 1401. A cylinder 1505 is fixedly installed at one end of the air valve 15, and a valve core 1506 is slidingly assembled inside the air valve 15. Refer to the attached Figure 8-Figure 9 , and one end of the valve core 1506 is fixedly connected to the telescopic output end of the cylinder 1505, one end of the valve core 1506 is penetrated by a straight airway 1507, one end of the valve core 1506 is located at one side of the middle of the straight airway 1507 and a branch airway 1508 is opened, the branch airway 1508 is vertically arranged with the straight airway 1507 and the two are connected, and the valve core 1506 is located at one side of the straight airway 1507 and a straight airway is opened Second 1509, the valve core 1506 is located on one side of the straight airway second 1509 and is provided with a curved airway 1510; the air intake pipe 1501 is communicated with the tracheal tube 1502 and the air connecting tube 1503 through the straight airway one 1507 and the bronchial tube 1508 at the same time; when the air intake pipe 1501 is communicated with the air connecting tube 1503 through the straight airway second 1509, the tracheal tube 1502 is communicated with the exhaust pipe 1504 through the curved airway 1510.

[0028] The trigger switch assembly 17 includes an air shell 1701 fixedly installed inside the wall cavity 502. The front and rear sides of the air valve 18 are respectively fixedly connected with an air vent pipe 1802 and an air branch pipe 1801, and the other end of the air branch pipe 1801 is connected to the air shell 1701.

[0029] According to the above structure, when it is necessary to control the operation of the tracking and obstacle avoidance component 7, the cylinder 1505 is started and controls the valve core 1506 to move, and at the same time, the air intake pipe 1501 is connected to the air branch pipe 1502 and the air connecting pipe 1503 through the straight air channel 1507 and the branch air channel 1508. When the air pump 19 is working, the gas delivered will enter the air shell 1401 through the air branch pipe 1502, and the air plug 1403 will move immediately, and the air plug 1403 will move through the connecting rod 1 402, the push plate 1404 pushes the movable gear 1406, the spring 1409 is compressed, and the movable gear 1406 is then meshed with the inner wall tooth 1 703 of the inner wall of the inner ring body 701. At this time, when the motor 8 is working, the cross shaft 1405 and the movable gear 1406 can be driven to rotate through the crawler 2 1407, and then the inner ring body 701 is driven to rotate through the meshing of the movable gear 1406 and the inner wall tooth 1 703, so as to realize the ranging radar 708 On the contrary, when the cylinder 1505 controls the air intake pipe 1501 to communicate with the air connecting pipe 1503 through the straight air passage 1509, the air branch pipe 1502 communicates with the exhaust pipe 1504 through the curved air passage 1510. At this time, the spring 1409 drives the connecting rod 1402 and the air plug 1403 to reset, and the movable gear 1406 separates from the inner wall tooth 1 703. The gas in the air shell 1401 will be discharged through the exhaust pipe 1504, but by The air inlet pipe 1501 is still connected to the air connecting pipe 1503, so that the air pump 19 can still deliver air to the air valve 18 in the wall cavity 502. When the air connecting pipe 1503 is controlled to be connected to the air branch pipe 1801, the air immediately enters the air housing 1701, so that the tracking and obstacle avoidance component 16 can be operated. Similarly, when the air in the air housing 1701 is discharged through the air discharge pipe 1802, the tracking and obstacle avoidance component 16 stops operating. In the above process, the trigger switch component 14 cooperates with the air valve 15 to control whether the tracking and obstacle avoidance component 17 is working, and the trigger switch component 2 17 cooperates with the air valve 2 18 to control whether the tracking and obstacle avoidance component 2 16 is working. The two tracking and obstacle avoidance components can be operated independently according to the actual working environment, and only an air pipe 1503 running through the lever arm 1 3, the lever arm 2 4 and the lever arm 3 5 is required to realize distributed control.

[0030] The working principle of the present invention is as follows: when it is necessary to control the operation of the tracking and obstacle avoidance component 7, the cylinder 1505 is started and controls the valve core 1506 to move, and the air inlet pipe 1501 is connected to the air branch pipe 1502 and the air connecting pipe 1503 at the same time. When the air pump 19 is working, the gas delivered will enter the air shell 1401 through the air branch pipe 1502, and the air plug 1403 will move immediately, and push the movable gear 1406 through the connecting rod 1402 and the push plate 1404. The movable gear 1406 will then mesh with the inner wall tooth 1703 of the inner wall of the inner ring body 701. At this time, when the motor 8 is working, it can drive the cross shaft 1405 and the movable gear 1406 to rotate through the crawler 1407, and then drive the inner ring body 701 to rotate through the meshing of the movable gear 1406 and the inner wall tooth 1703, so as to realize the circular motion of the ranging radar 708; on the contrary, the air When the cylinder 1505 controls the air intake pipe 1501 to communicate with the air connecting pipe 1503, the air branch pipe 1502 is connected to the exhaust pipe 1504 through the curved air passage 1510. At this time, the spring 1409 will drive the connecting rod 1402 and the air plug 1403 to reset, and the gas in the air shell 1401 will be discharged through the exhaust pipe 1504, and the movable gear 1406 will be separated from the inner wall tooth 1 703. However, since the air intake pipe 1501 is still connected to the air connecting pipe 1503, the air pump 19 will still supply gas to the air valve 2 18 in the wall cavity 2 502; similarly, when the air connecting pipe 1503 is controlled to communicate with the air branch pipe 2 1801, the gas immediately enters the interior of the air shell 2 1701, which can make the tracking and obstacle avoidance component 2 16 operate. When the gas inside the air shell 2 1701 is discharged through the exhaust pipe 2 1802, the tracking and obstacle avoidance component 2 16 stops operating.

[0031] Embodiment three: Refer to the attached Figure 2 and Figure 4 The motor 8 is connected to the tracking obstacle avoidance component 2 16 through a transmission integrated component that is arranged in the lever arm 1 3, the lever arm 2 4 and the lever arm 3 5; Refer to the attached Figure 4 and Figure 5 , a gear six 801 is fixedly installed at the end of the output shaft of the motor 8, and a double-end gear ring 304 is rotatably assembled on the inner wall of the transfer tube 1 302. The transmission integrated assembly includes a transmission shaft 1 9, a transmission shaft 2 10, a transmission shaft 3 11, a transmission shaft 4 12 and a transmission shaft 5 13, wherein the transmission shaft 1 9 is rotatably installed on one side of the inside of the force arm 1 3, and the two ends of the transmission shaft 1 9 are respectively fixedly installed with a gear seven 901 and a bevel gear one 902, and the gear six 801 is meshed with the gear seven 901; the transmission shaft 2 10 is rotatably installed on one side of the inside of the transfer tube 1 302, and the two ends of the transmission shaft 2 10 are respectively fixedly installed with a bevel gear two 1001 and a gear eight 1002, the bevel gear one 902 is meshed with the bevel gear two 1001, and the gear eight 1002 is meshed with the double-end gear ring 304; Refer to the attached Figure 4and Figure 5 , the transmission shaft three 11 is rotatably installed on one side of the servo motor four 402, and one end of the transmission shaft three 11 is fixedly installed with a gear nine 1101, the gear nine 1101 is meshed with the double-end gear ring 304, and the other end of the transmission shaft three 11 extends to the inside of the side chamber 405, the transmission shaft four 12 is rotatably installed on the inner side wall of the force arm two 4, and one end of the transmission shaft four 12 extends to the inside of the side chamber 405, the transmission shaft three 11 and the transmission shaft four 12 are connected through the sleeve track one 1102, the other end of the transmission shaft four 12 extends to the inside of the force arm two 4 and is fixedly installed with a turbine 1201, the transmission shaft five 13 is rotatably installed inside the axis centerline of the force arm three 5, one end of the transmission shaft five 13 extends to the inside of the force arm two 4 and is fixedly installed with a vortex rod 1301, and the turbine 1201 is meshed with the vortex rod 1301.

[0032] According to the above structure, when the motor 8 is working, it can drive the transmission shaft 1 9 to rotate through the meshing of the gear 6 801 and the gear 7 901, and drive the transmission shaft 2 10 to rotate through the meshing of the gear 7 901 and the bevel gear 2 1001, and then drive the transmission shaft 3 11 to rotate through the meshing of the gear 8 1002 and the double-end gear ring 304, and the meshing of the gear 9 1101 and the double-end gear ring 304. The double-end gear ring 304 arranged on the inner wall of the transfer tube 1 302 can ensure the relative rotation between the sight arm 1 3 and the force arm 2 4, thereby ensuring the transmission between the transmission shaft 2 10 and the transmission shaft 3 11. Finally, through Crawler track 1102 drives transmission shaft 4 12 to rotate, and then drives transmission shaft 5 13 to rotate through the engagement of turbine 1201 and worm rod 1301. Transmission shaft 5 13 arranged inside the axial center line of lever arm 3 5 can prevent relative rotation between lever arm 2 4 and lever arm 3 5, thereby ensuring transmission between transmission shaft 4 12 and transmission shaft 5 13. The transmission integrated component realizes the effect of a motor 8 providing kinetic energy for tracking and obstacle avoidance component 1 7 and tracking and obstacle avoidance component 2 16, thereby optimizing the investment plan of power equipment, optimizing the internal space of the structure, and avoiding the bloated structure from limiting the use space of the robotic arm.

[0033] The working principle of the present invention is: when the motor 8 is working, it can drive the transmission shaft 1 9 to rotate through the engagement of gear 6 801 and gear 7 901, drive the transmission shaft 2 10 to rotate through the engagement of gear 7 901 and bevel gear 2 1001, and then drive the transmission shaft 3 11 to rotate through the engagement of gear 8 1002 and double-end gear ring 304, and the engagement of gear 9 1101 and double-end gear ring 304, and finally, drive shaft 4 12 to rotate through track 1 1102, and then drive shaft 5 13 to rotate through the engagement of turbine 1201 and worm shaft 1301. By integrating the above processes, the effect of a motor 8 providing kinetic energy for tracking and obstacle avoidance component 1 7 and tracking and obstacle avoidance component 2 16 can be achieved.

[0034] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A multi-degree-of-freedom robot arm for intelligent manufacturing, comprising a base (1), a top of the base (1) being rotatably assembled with a swivel seat (2), one end of the swivel seat (2) being rotatably assembled with a force arm 1 (3), the end of the force arm 1 (3) being rotatably assembled with a force arm 2 (4), the end of the force arm 2 (4) being rotatably connected with a force arm 3 (5), the end of the force arm 3 (5) being rotatably assembled with a force arm 4 (6), characterized in that: The first arm (3) has a wall cavity (301) formed inside, and a tracking and obstacle avoidance component (7) is arranged on the side wall of the first arm (3) close to one end of the second arm (4), a trigger switch component (14) and a gas valve (15) are arranged inside the first wall cavity (301), the third arm (5) has a wall cavity (502) formed inside, and a tracking and obstacle avoidance component (16) is arranged on the side wall of the third arm (5) close to one end of the fourth arm (6), a trigger switch component (17) and a gas valve (18) are arranged inside the second wall cavity (502), and an air pump (19) is fixedly mounted on one end of the surface of the base (1); A motor (8) for controlling the operation of the first tracking and obstacle avoidance component (7) and the second tracking and obstacle avoidance component (16) is fixedly installed inside the first wall cavity (301), and the first trigger switch component (14) cooperates with the first air valve (15) to control whether the first tracking and obstacle avoidance component (7) is working, and the second trigger switch component (17) cooperates with the second air valve (18) to control whether the second tracking and obstacle avoidance component (16) is working; The motor (8) is connected to the tracking obstacle avoidance component 2 (16) through a transmission integrated component that is arranged through the first lever arm (3), the second lever arm (4) and the third lever arm (5).

2. The multi-degree-of-freedom robotic arm for intelligent manufacturing according to claim 1, characterized in that: A servo motor 1 (201) for controlling the rotation of the swivel seat (2) is installed on one side of the swivel seat (2); a servo motor 2 (202) for controlling the rotation of a lever arm 1 (3) is installed on the outer wall of one end of the swivel seat (2); a servo motor 3 (401) for controlling the rotation of a lever arm 2 (4) is installed on the outer wall of the lever arm 2 (4) and at the junction of the lever arm 1 (3) and the lever arm 2 (4); a servo motor 4 (402) for controlling the rotation of a lever arm 3 (5) is installed on the outer wall of one end of the lever arm 2 (4); and a servo motor 5 (501) for controlling the rotation of a lever arm 4 (6) is installed inside the end of the lever arm 3 (5).

3. The multi-degree-of-freedom robotic arm for intelligent manufacturing according to claim 2, characterized in that: The outer wall of the force arm 1 (3) is integrally provided with a transfer tube 1 (302) at the transition point with the force arm 2 (4), and a gear 1 (303) is fixedly installed on the outer surface of the transfer tube 1 (302); the outer wall of the force arm 2 (4) is integrally provided with a transfer tube 2 (403) at the transition point with the force arm 1 (3); the transfer tube 1 (302) is rotatably installed inside the transfer tube 2 (403); the outer wall of the force arm 2 (4) is rotatably installed on one side of the transfer tube 2 (403); the gear 2 (404) is transmission-connected to the output shaft of the servo motor 3 (401), and the gear 2 (404) is meshed with the gear 1 (303); A transfer tube 3 (503) is integrally provided at one end of the force arm 3 (5) close to the force arm 2 (4); the transfer tube 3 (503) is rotatably mounted inside the force arm 2 (4); a gear 3 (504) is fixedly mounted on the outer surface of the end of the transfer tube 3 (503); a gear shaft (406) is rotatably mounted on one side inside the force arm 2 (4); the gear shaft (406) is transmission-connected to the output shaft of the servo motor 4 (402), and the gear shaft (406) is meshed with the gear 3 (504).

4. The multi-degree-of-freedom robotic arm for intelligent manufacturing according to claim 3, characterized in that: A gear six (801) is fixedly mounted on the end of the output shaft of the motor (8), and a double-end gear ring (304) is rotatably assembled on the inner wall of the transfer tube one (302); The transmission integrated component comprises a transmission shaft 1 (9), a transmission shaft 2 (10), a transmission shaft 3 (11), a transmission shaft 4 (12) and a transmission shaft 5 (13), wherein the transmission shaft 1 (9) is rotatably mounted on one side inside the force arm 1 (3), and the two ends of the transmission shaft 1 (9) are respectively fixedly mounted with a gear 7 (901) and a bevel gear 1 (902), and the gear 6 (801) is meshed with the gear 7 (901); the transmission shaft 2 (10) is rotatably mounted on one side inside the transfer tube 1 (302), and the two ends of the transmission shaft 2 (10) are respectively fixedly mounted with a bevel gear 2 (1001) and a gear 8 (1002), the bevel gear 1 (902) is meshed with the bevel gear 2 (1001), and the gear 8 (1002) is meshed with the double-end gear ring (304).

5. The multi-degree-of-freedom robotic arm for intelligent manufacturing according to claim 4, characterized in that: The transmission shaft three (11) is rotatably mounted on one side of the interior of the servo motor four (402), and one end of the transmission shaft three (11) is fixedly mounted with a gear nine (1101), the gear nine (1101) is meshed with the double-end gear ring (304), and the other end of the transmission shaft three (11) extends to the interior of the side chamber (405), and the transmission shaft four (12) is rotatably mounted on the inner side wall of the force arm two (4), and one end of the transmission shaft four (12) extends to the interior of the side chamber (405). The shaft three (11) is connected to the transmission shaft four (12) by means of a sleeved crawler track one (1102); the other end of the transmission shaft four (12) extends to the inside of the lever arm two (4) and is fixedly mounted with a turbine (1201); the transmission shaft five (13) is rotatably mounted inside the axis of the lever arm three (5); one end of the transmission shaft five (13) extends to the inside of the lever arm two (4) and is fixedly mounted with a worm gear (1301); the turbine (1201) is meshed with the worm gear (1301).

6. The multi-degree-of-freedom robotic arm for intelligent manufacturing according to claim 5, characterized in that: The tracking obstacle avoidance component 1 (7) has the same structure as the tracking obstacle avoidance component 2 (16), and the tracking obstacle avoidance component 1 (7) comprises an inner ring body (701) rotatably mounted on the inner wall of the lever arm 1 (3), and an outer ring body (704) rotatably mounted on the outer wall of the lever arm 1 (3), a ranging radar (708) being embedded and mounted on one side of the outer wall of the outer ring body (704), outer wall teeth (702) being integrally provided on the edges of both sides of the outer wall of the inner ring body (701), inner wall teeth 1 (703) being integrally provided on the inner wall of the inner ring body (701), and inner wall teeth 2 (704) being integrally provided on the inner wall of the outer ring body (704). The edges of both sides of the wall are integrally provided with inner wall teeth 2 (705), and the outer wall of the force arm 1 (3) is rotatably mounted with gears 4 (706), the gears 4 (706) are arranged in four groups and each group has two gears, the two gears 4 (706) in the same group are located on the same axis, and the sides of the two gears 4 (706) in the same group that are close to each other are fixedly mounted with gears 5 (707), the gears 4 (706) penetrate the side wall of the force arm 1 (3) and mesh with the corresponding outer wall teeth (702), and the gears 5 (707) mesh with the corresponding inner wall teeth 2 (705).

7. The multi-degree-of-freedom robotic arm for intelligent manufacturing according to claim 6, characterized in that: The trigger switch assembly 1 (14) has the same structure as the trigger switch assembly 2 (17). The trigger switch assembly 1 (14) comprises an air shell (1401) fixedly mounted inside the wall cavity 1 (301), and a cross shaft (1405) rotatably mounted inside the wall cavity 1 (301). One end of the air shell (1401) is telescopically assembled with a connecting rod (1402), and an air plug (1403) is installed at one end of the connecting rod (1402) located inside the air shell (1401). The other end of the connecting rod (1402) is fixedly connected to a push plate (1404). , a movable gear (1406) is rotatably assembled on one side of the push plate (1404), and the movable gear (1406) is slidably sleeved on the outer surface of the cross shaft (1405), the movable gear (1406) is detachably meshed with the inner wall tooth one (703), the output shaft of the motor (8) is transmission-connected to the cross shaft (1405) through the sleeved crawler track two (1407), the middle part of the connecting rod (1402) is integrally provided with a baffle (1408), and a spring (1409) is connected between the baffle (1408) and the inner wall of the wall cavity one (301); The output shaft of the motor (8) directly serves as the driving shaft of the tracking and obstacle avoidance component one (7), and the transmission shaft five (13) directly serves as the driving shaft of the tracking and obstacle avoidance component two (16).

8. The multi-degree-of-freedom robotic arm for intelligent manufacturing according to claim 7, characterized in that: The top and bottom sides of the air valve 1 (15) are respectively fixedly connected with an air connection pipe (1503) and an air inlet pipe (1501), and the other end of the air inlet pipe (1501) is connected to the air outlet end of the air pump (19). The air connection pipe (1503) passes through the first force arm (3), the second force arm (4) and extends to the inside of the third force arm (5), and the end of the air connection pipe (1503) is connected to the second air valve (18). The front and rear sides of the air valve 1 (15) are respectively fixedly connected with an air discharge pipe (1504) and an air branch pipe (1502), and the other end of the air branch pipe (1502) is connected to the air shell (1401).

9. The multi-degree-of-freedom robotic arm for intelligent manufacturing according to claim 8, characterized in that: A cylinder (1505) is fixedly mounted on one end of the air valve 1 (15), a valve core (1506) is slidably assembled inside the air valve 1 (15), and one end of the valve core (1506) is fixedly connected to the telescopic output end of the cylinder (1505), a straight airway 1 (1507) is penetrated through one end of the valve core (1506), a tributary airway (1508) is opened on one end of the valve core (1506) and located on a side of the middle of the straight airway 1 (1507), the tributary airway (1508) and the straight airway 1 (1507) are arranged vertically and the two are connected, a straight airway 2 (1509) is opened on one side of the valve core (1506) and located on a side of the straight airway 1 (1507), and a curved airway (1510) is opened on one side of the valve core (1506) and located on a side of the straight airway 2 (1509); The air intake pipe (1501) is in communication with the tracheobronchial tube (1502) and the air connecting tube (1503) through the straight airway 1 (1507) and the bronchial tube (1508); when the air intake pipe (1501) is in communication with the air connecting tube (1503) through the straight airway 2 (1509), the tracheobronchial tube (1502) is in communication with the air discharge pipe (1504) through the curved airway (1510).

10. The multi-degree-of-freedom robotic arm for intelligent manufacturing according to claim 9, characterized in that: The trigger switch assembly 2 (17) comprises a gas housing 2 (1701) fixedly mounted inside the wall cavity 2 (502), and the gas valve 2 (18) is fixedly connected to a gas release pipe 2 (1802) and a gas branch pipe 2 (1801) at the front and rear sides thereof, respectively, and the other end of the gas branch pipe 2 (1801) is connected to the gas housing 2 (1701).

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