Swing mechanism for bionic mechanical arm

Abstract

A swing mechanism for a bionic mechanical arm belongs to the technical field of mechanical arms and comprises a first mechanical arm body, a first joint is arranged in the first mechanical arm body, the surface of the first joint is rotatably sleeved with a second joint, and the surface of the second joint is sleeved with a second mechanical arm body. Supporting wheels are rotationally connected to the sides, away from the surfaces of the second joints, of the first joints. A first connecting plate and a first connecting rod are pulled to move relatively, the first connecting rod can drive an extrusion wheel to move, then the surface of the extrusion wheel makes contact with a nylon wire and extrudes the nylon wire, and therefore the tension of the nylon wire is increased, finally the extrusion wheel extrudes the nylon wire by driving a two-way motor, and the tension of the nylon wire is increased; according to the mechanical arm, the accuracy and stability of power transmission can be ensured, errors caused by looseness are reduced, the response speed of the nylon wire can be increased, and the mechanical arm can respond to a control instruction more quickly and swing accurately.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a swing mechanism for a bionic mechanical arm. Background Art

[0002] The swing mechanism of the bionic robot arm is the key part for the bionic robot arm to achieve flexible swing and precise positioning. It usually imitates the joint and muscle structure of the organism and realizes complex movements through mechanical and transmission devices; At present, most bionic robotic arm systems use nylon wire as the core transmission element. Force is applied through precision driving equipment (such as motors, servos, etc.) to pull the nylon wire to achieve the bending and swinging movements of the robotic arm.

[0003] However, with the continuous operation and frequent swinging of the robotic arm, the contact and friction between the nylon wire and other parts inside the robotic arm become problems that cannot be ignored. This continuous physical contact will not only cause wear on the surface of the nylon wire, but also the relaxation of the nylon wire will become more and more obvious over time. The relaxation of the nylon wire will cause the error in the transmission process to increase. Reducing the tension of the nylon wire can ensure the accuracy and stability of power transmission, increase the error caused by relaxation, and reduce the response speed of the nylon wire, which will prevent the robotic arm from responding quickly to control commands and swinging accurately. Summary of the invention

[0004] In order to solve the problem that the nylon wire may rub against other components during operation and thus become loose as mentioned in the above background technology, the present invention provides a swing mechanism for a bionic robot arm.

[0005] A swing mechanism for a bionic mechanical arm, comprising a first mechanical arm body, a first joint is arranged inside the first mechanical arm body, a second joint is rotatably sleeved on the surface of the first joint, a second mechanical arm body is sleeved on the surface of the second joint, a support wheel is rotatably connected to a side of the first joint away from the surface of the second joint, and a nylon line located inside the support wheel is arranged inside the first mechanical arm body and the second mechanical arm body; An adjusting mechanism is arranged on a side of the first joint away from the second joint surface, the adjusting mechanism includes a slide rail, the slide rail is fixedly connected to the side of the first joint away from the second joint surface, the surface of the slide rail is slidably sleeved with extrusion wheels located on both sides of the support wheel, and the extrusion wheels can rotate, a first connecting rod is fixedly installed on the side of the extrusion wheel away from the first joint surface, a first connecting plate is fixedly installed on the side of the first connecting rod close to the center of the first joint, a bidirectional motor is fixedly installed inside the first joint, a rotating plate is fixedly installed on the output end of the bidirectional motor, guide holes are opened on the surface of the rotating plate, and a connecting block located inside the guide hole is fixedly installed on the side of the first connecting plate away from the first joint surface.

[0006] Preferably, it also includes: a limiting mechanism, which is arranged on a side of the slide rail away from the first joint surface, the limiting mechanism includes a fixed shell, the fixed shell is fixedly connected to the side of the slide rail away from the first joint surface, a spring is fixedly installed on one side inside the fixed shell, one end of the spring is fixedly installed with a rack located inside the fixed shell, one end of the rack is fixedly installed with a second connecting rod, one end of the second connecting rod is fixedly installed with a sealing block, the interior of the fixed shell is rotatably connected with a gear meshing with the rack, a screw rod is fixedly installed on the side of the gear away from the first joint surface, a threaded block is threadedly sleeved on the surface of the screw rod, a directional wheel is rotatably connected to the side of the threaded block close to the first joint surface, a square shell is fixedly installed on the top of the fixed shell, a second connecting plate is fixedly installed on the side of the first connecting rod close to the first joint surface, and an extrusion plate located inside the square shell is fixedly installed on the bottom end of the second connecting plate.

[0007] Preferably, it also includes: a lubrication mechanism, which is arranged on one side of the first joint surface, the lubrication mechanism includes a liquid storage tank, the liquid storage tank is fixedly connected to one side of the first joint surface, one side of the outer surface of the liquid storage tank is fixedly installed with an oil drain pipe located inside the first joint, a limit rod is fixedly installed inside the liquid storage tank, a movable plate is slidably connected to the surface of the limit rod, a blocking block located inside the liquid storage tank is fixedly installed on one side of the movable plate, a push rod is rotatably connected to one side of the inside of the liquid storage tank, a sliding rod located inside the push rod is fixedly installed on one side of the movable plate, and a rotating disk located on the outer surface of the liquid storage tank is fixedly installed on one side of the push rod.

[0008] Preferably, a protective shell is fixedly installed on the top of the fixed shell, and the protective shells form a group of two, are designed to be laterally symmetrical about the center of the first joint, and are designed around the screw rod and the threaded block.

[0009] Preferably, two limiting grooves are provided on both sides of the interior of the protective shell, and two limiting blocks are slidably connected inside the two limiting grooves, and opposite sides of the two limiting blocks are fixedly connected to the surface of the threaded block.

[0010] Preferably, a slot is provided on one side of the liquid storage tank and the rotating disk, and an insert block is inserted into the slot.

[0011] Preferably, the number of the guide holes is two, and the guide hole array is arranged on the surface of the rotating plate, and the guide holes are of curved design.

[0012] Preferably, the surface of the extrusion plate contacts the inner wall of the square shell, and the surface of the sealing block contacts the inner wall of the fixed shell.

[0013] Preferably, a guide groove is provided at the bottom end of the liquid storage tank, and the blocking block can move in the groove.

[0014] Preferably, the number of the limiting rods is two, and they are designed to be longitudinally symmetrical about the center of the moving plate, and the surface of the moving plate is smooth.

[0015] Working principle and working process of the present invention: First, the operator can drive the driving device to make the nylon line pull the second mechanical arm body to swing, and when the nylon line is in a slack state, the bidirectional motor can be driven to rotate the rotating plate and the guide hole, and the connecting block will move inside the guide hole. When moving, it will pull the first connecting plate and the first connecting rod to move relative to each other, and the first connecting rod will drive the extrusion wheel to move, and then the surface of the extrusion wheel will contact the nylon line and squeeze the nylon line, thereby increasing the tension of the nylon line; When the first connecting rod moves, the second connecting plate and the extrusion plate will move in conjunction, and then the extrusion plate will squeeze the air in the square shell and the fixed shell, and then the squeezed air will push the second connecting rod and the sealing block to move, and the sealing block will push the rack to move, and when the rack moves, the spring will be compressed, and then the rack drives the gear and the screw rod to rotate, and the threaded block will move on the surface of the screw rod, and the screw rod will drive the directional wheel to move, and then the directional wheel will be set on the surface of the nylon line, and then through the cooperation between the directional wheel and the extrusion wheel, the moving direction of the nylon line can be limited; Then, when lubrication is needed during long-term work, the plug block can be taken out from the inside of the slot, and then the rotating disk can be rotated, the rotating disk will drive the push rod to rotate, and then the sliding rod will move inside the push rod, and the sliding rod will push the sliding rod and the moving plate to move, and the moving plate will drive the blocking block to move, thereby canceling the blockage of the oil drain pipe, and then the lubricating oil inside the liquid storage tank will flow through the oil drain pipe to the connection between the first joint and the second joint, and then lubricate it, so that the robotic arm can swing more smoothly, and finally complete the operation process.

[0016] Beneficial effects of the present invention: The present invention drives the bidirectional motor to rotate the rotating plate and the guide hole, and the connecting block moves inside the guide hole. When moving, the first connecting plate and the first connecting rod are pulled to move relative to each other, and the first connecting rod drives the extrusion wheel to move. Then the surface of the extrusion wheel contacts the nylon line and squeezes the nylon line, thereby increasing the tension of the nylon line. Finally, the bidirectional motor is driven to make the extrusion wheel squeeze the nylon line, thereby increasing the tension of the nylon line. This ensures the accuracy and stability of power transmission, reduces errors caused by relaxation, and speeds up the response speed of the nylon line, so that the robot arm can respond to control instructions more quickly and swing accurately. The present invention links the second connecting plate and the extrusion plate to move while the first connecting rod moves, and then the extrusion plate squeezes the air in the square shell and the fixed shell, and then the squeezed air pushes the second connecting rod and the sealing block to move, and the sealing block pushes the rack to move, and when the rack moves, the spring is compressed, and then the rack drives the gear and the screw to rotate, and the threaded block moves on the surface of the screw, and the screw drives the directional wheel to move, and then the directional wheel is sleeved on the surface of the nylon line, and then the moving direction of the nylon line can be limited by the cooperation between the directional wheel and the extrusion wheel, and finally the directional wheel is driven to move by the first connecting rod linking the gear and the screw, and then the nylon line can be limited by the cooperation between the extrusion wheel and the directional wheel, so as to avoid deviation or jitter during the transmission process, thereby improving the accuracy and stability of the swing of the mechanical arm; The present invention rotates the rotating disk and the pushing rod, and then the sliding rod moves inside the pushing rod, and the sliding rod pushes the sliding rod and the moving plate to move, and the moving plate drives the blocking block to move, thereby canceling the blockage of the oil drain pipe, and then the lubricating oil inside the liquid storage tank passes through the oil drain pipe and flows to the connection between the first joint and the second joint, and then lubricates it, and finally the pushing rod is rotated to make the blocking block cancel the blockage of the oil drain pipe, and then the first joint and the second joint can be lubricated, thereby significantly reducing the static friction coefficient, extending the service life of the mechanical arm, reducing the vibration and noise caused by impact, and improving the overall stability of the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the cross-section of the mechanical part of the present invention; Figure 3 It is a schematic diagram showing the joint of the present invention; Figure 4 This is a schematic diagram of a cross-section of the first joint of the present invention; Figure 5 It is a schematic diagram showing the components of the adjustment mechanism of the present invention; Figure 6 This is a schematic diagram of a cross-sectional protective shell of the present invention; Figure 7 It is a schematic diagram of a cross-sectional fixed shell of the present invention; Figure 8 This is a schematic diagram of a cross-sectional view of a liquid storage tank of the present invention; Fig. 9 It is a schematic diagram of a cross-sectional view of a movable plate of the present invention.

[0018] In the figure: 1. the first mechanical arm body; 2. the first joint; 3. the second joint; 4. the second mechanical arm body; 5. nylon line; 6. the slide rail; 7. the extrusion wheel; 8. the first connecting rod; 9. the first connecting plate; 10. the bidirectional motor; 11. the rotating plate; 12. the guide hole; 13. the connecting block; 14. the fixed shell; 15. the spring; 16. the rack; 17. the gear; 18. the screw rod; 19. the threaded block; 20. the directional wheel; 21. the second connecting rod; 22. the sealing block; 23. the square shell; 24. the second connecting plate; 25. the extrusion plate; 26. the liquid storage tank; 27. the oil drain pipe; 28. the limit rod; 29. ​​the moving plate; 30. the blocking block; 31. the push rod; 32. the sliding rod; 33. the rotating disk; 34. the protective shell; 35. the limit groove; 36. the limit block; 37. the slot; 38. the plug block; 39. the support wheel. DETAILED DESCRIPTION

[0019] See also Figures 1 to 9 Shown is an embodiment of the present invention.

[0020] A swing mechanism for a bionic robot arm, comprising a first robot arm body 1, a first joint 2 is arranged inside the first robot arm body 1, a second joint 3 is rotatably sleeved on the surface of the first joint 2, a second robot arm body 4 is sleeved on the surface of the second joint 3, a support wheel 39 is rotatably connected to the side of the first joint 2 away from the surface of the second joint 3, and a nylon line 5 located inside the support wheel 39 is arranged inside the first robot arm body 1 and the second robot arm body 4; An adjusting mechanism is arranged on the side of the first joint 2 away from the surface of the second joint 3, and the adjusting mechanism includes a slide rail 6, which is fixedly connected to the side of the first joint 2 away from the surface of the second joint 3, and the surface of the slide rail 6 is slidably sleeved with extrusion wheels 7 located on both sides of the support wheel 39, and the extrusion wheels 7 can rotate, and a first connecting rod 8 is fixedly installed on the side of the extrusion wheel 7 away from the surface of the first joint 2, and a first connecting plate 9 is fixedly installed on the side of the first connecting rod 8 close to the center of the first joint 2, a bidirectional motor 10 is fixedly installed inside the first joint 2, and a rotating plate 11 is fixedly installed on the output end of the bidirectional motor 10, and a guide hole 12 is opened on the surface of the rotating plate 11, and a connecting block 13 located inside the guide hole 12 is fixedly installed on the side of the first connecting plate 9 away from the surface of the first joint 2.

[0021] The operator drives the device to pull the nylon wire 5 to move inside the support wheel 39. The support wheel 39 rotates due to the friction between the nylon wire 5 and the support wheel 39, thereby reducing the wear of the nylon wire 5. Then, the nylon wire 5 pulls the second robot body 4 to bend, thereby achieving swinging. When the nylon line 5 pulls the second mechanical arm body 4 for a long time to swing and becomes loose, the bidirectional motor 10 can be driven to rotate the rotating plate 11, and then the connecting block 13 will move inside the guide hole 12. While moving, the guide hole 12 will pull the first connecting plate 9 to move toward each other, and the first connecting plate 9 will drive the first connecting rod 8 to move, and the first connecting rod 8 will drive the extrusion wheel 7 to move on the surface of the slide rail 6, and then the surface of the extrusion wheel 7 will contact the surface of the nylon line 5, and then the nylon line 5 will be pushed to move, thereby increasing the tension of the nylon line 5, and when the nylon line 5 moves, through the friction between the nylon line 5 and the extrusion wheel 7, the moving nylon line 5 will drive the extrusion wheel 7 to rotate, so that the nylon line 5 can move more smoothly, and finally, by driving the bidirectional motor 10 to make the extrusion wheel 7 squeeze the nylon line 5 and increase the tension of the nylon line 5, the accuracy and stability of power transmission can be ensured, the error caused by relaxation can be reduced, and the response speed of the nylon line can be accelerated, so that the mechanical arm can respond to control instructions more quickly and swing accurately.

[0022] like Figure 3 , Figure 6 and Figure 7 As shown, it also includes: a limiting mechanism, which is arranged on the side of the slide rail 6 away from the surface of the first joint 2, the limiting mechanism includes a fixed shell 14, the fixed shell 14 is fixedly connected to the side of the slide rail 6 away from the surface of the first joint 2, a spring 15 is fixedly installed on one side inside the fixed shell 14, one end of the spring 15 is fixedly installed with a rack 16 located inside the fixed shell 14, one end of the rack 16 is fixedly installed with a second connecting rod 21, one end of the second connecting rod 21 is fixedly installed with a sealing block 22, the inside of the fixed shell 14 is rotatably connected with a gear 17 meshing with the rack 16, the side of the gear 17 away from the surface of the first joint 2 is fixedly installed with a screw rod 18, the surface of the screw rod 18 is threadedly sleeved with a threaded block 19, and the side of the threaded block 19 close to the surface of the first joint 2 is rotatably connected with a directional wheel 20, the top of the fixed shell 14 is fixedly installed with a square shell 23, the side of the first connecting rod 8 close to the surface of the first joint 2 is fixedly installed with a second connecting plate 24, and the bottom end of the second connecting plate 24 is fixedly installed with an extrusion plate 25 located inside the square shell 23.

[0023] Through the design of the limiting mechanism, when the first connecting rod 8 moves, the second connecting plate 24 will be linked to move, and the second connecting plate 24 will push the extrusion plate 25 to move inside the square shell 23. During the movement of the extrusion plate 25, the air inside the square shell 23 and the fixed shell 14 will be squeezed, and then the squeezed air will push the sealing block 22 to move, and the sealing block 22 will drive the second connecting rod 21 to move, and the second connecting rod 21 will push the rack 16 to move. Because the rack 16 is meshed with the gear 17, the moving rack 16 will drive the gear 17 to rotate, and when the rack 16 moves, the spring 15 will be compressed, and then the gear 17 will drive the wire The rod 18 rotates, and since the screw rod 18 is threadedly connected with the threaded block 19, when the screw rod 18 rotates, the threaded block 19 will move on the surface of the screw rod 18, and then the threaded block 19 will drive the directional wheel 20 to move, and then the surface of the directional wheel 20 will contact the surface of the nylon line 5, and after the contact, the moving nylon line 5 will also drive the directional wheel 20 to rotate, and finally the first connecting rod 8 links the gear 17 and the screw rod 18 to drive the directional wheel 20 to move, and then through the cooperation between the extrusion wheel 7 and the directional wheel 20, the nylon line 5 can be limited to avoid deviation or jitter during the transmission process, thereby improving the accuracy and stability of the robot arm swing; When the extrusion wheel 7 stops increasing the tension of the nylon line 5, the second connecting plate 24 and the extrusion plate 25 will reset, and then the compressed spring 15 will push the rack 16 to move, and then the rack 16 will drive the gear 17 and the screw rod 18 to drive the threaded block 19 and the directional wheel 20 to reset.

[0024] like Figure 3 , Figure 8 and Fig. 9 As shown, it also includes: a lubrication mechanism, which is arranged on one side of the surface of the first joint 2, the lubrication mechanism includes a liquid storage tank 26, the liquid storage tank 26 is fixedly connected to one side of the surface of the first joint 2, one side of the outer surface of the liquid storage tank 26 is fixedly installed with an oil drain pipe 27 located inside the first joint 2, a limit rod 28 is fixedly installed inside the liquid storage tank 26, a movable plate 29 is slidably connected to the surface of the limit rod 28, a blocking block 30 located inside the liquid storage tank 26 is fixedly installed on one side of the movable plate 29, a push rod 31 is rotatably connected to one side of the liquid storage tank 26, a sliding rod 32 located inside the push rod 31 is fixedly installed on one side of the movable plate 29, and a rotating disk 33 located on the outer surface of the liquid storage tank 26 is fixedly installed on one side of the push rod 31.

[0025] Through the design of the lubrication mechanism, when the mechanical arm needs lubrication, the rotating disk 33 can be rotated, and the rotating disk 33 will drive the pushing rod 31 to rotate. When the pushing rod 31 rotates, the sliding rod 32 will move inside it, and then the pushing rod 31 will push the sliding rod 32 to move, and the sliding rod 32 will drive the moving plate 29 to move on the surface of the limiting rod 28, and the moving plate 29 will drive the blocking block 30 to move, and then the blocking block 30 will cancel the blockage of the oil drain pipe 27, and then the lubricating oil inside the liquid storage tank 26 will enter the inside of the oil drain pipe 27. Since the other end of the oil drain pipe 27 is located at the connection between the first joint 2 and the second joint 3, the lubricating oil will flow to its connection, and then the first joint 2 and the second joint 3 can be lubricated, and finally the blocking block 30 can cancel the blockage of the oil drain pipe 27 by rotating the pushing rod 31, and then the first joint 2 and the second joint 3 can be lubricated, thereby significantly reducing the static friction coefficient, extending the service life of the mechanical arm, and reducing the vibration and noise caused by impact, thereby improving the overall stability of the mechanical arm.

[0026] like Figure 2 and Figure 6 As shown, a protective shell 34 is fixedly installed on the top of the fixed shell 14 , and the protective shells 34 are arranged in groups of two, and are designed to be laterally symmetrical about the center of the first joint 2 , and the protective shells 34 are designed around the screw rod 18 and the threaded block 19 .

[0027] Through the design of the protective shell 34 , since the protective shell 34 is designed around the screw rod 18 and the threaded block 19 , the screw rod 18 and the threaded block 19 can be protected, thereby increasing the service life of the screw rod 18 and the threaded block 19 .

[0028] like Figure 7 and Fig. 9 As shown, two limit grooves 35 are provided on both sides of the interior of the protective shell 34, and two limit blocks 36 are slidably connected inside the two limit grooves 35. The opposite sides of the two limit blocks 36 are fixedly connected to the surface of the threaded block 19, and a slot 37 is provided on one side of the liquid storage tank 26 and the rotating disk 33, and an insert block 38 is inserted into the interior of the slot 37.

[0029] Through the design of the limit groove 35 and the limit block 36, when the threaded block 19 moves, the limit block 36 will move inside the limit groove 35. Since the size of the limit block 36 is compatible with the limit groove 35, the moving direction of the threaded block 19 can be limited to ensure that the threaded block 19 can move normally. Through the design of the slot 37 and the insert block 38, when lubrication is required, the insert block 38 can be taken out from the inside of the slot 37, thereby canceling the fixation of the rotating disk 33. Then the operator can rotate the rotating disk 33 to lubricate the first joint 2 and the second joint 3. After the lubrication is completed, the rotating disk 33 can be rotated in the opposite direction to allow the push rod 31 to re-block the oil drain pipe 27. After the blocking is completed, the slot 37 on one side of the rotating disk 33 and the liquid storage tank 26 will overlap, and then the insert block 38 can be inserted into the inside of the slot 37 again, thereby fixing the rotating disk 33.

[0030] like Figure 5 and Figure 7 As shown, there are two guide holes 12 , and an array of guide holes 12 is arranged on the surface of the rotating plate 11 . The guide holes 12 are curved in design. The surface of the extrusion plate 25 contacts the inner wall of the square shell 23 , and the surface of the sealing block 22 contacts the inner wall of the fixed shell 14 .

[0031] Through the design of the guide hole 12, when the rotating plate 11 and the guide hole 12 rotate, since the guide hole 12 is designed to be curved, when the connecting block 13 moves inside the guide hole 12, it will pull the first connecting plate 9 to move relative to or toward each other. Through the design of the extrusion plate 25 and the sealing block 22, since the extrusion plate 25 contacts the inner wall of the square shell 23, leakage is avoided when the extrusion plate 25 squeezes the air inside the square shell 23 and the fixed shell 14, and the surface of the sealing block 22 contacts the inner wall of the fixed shell 14, thereby facilitating the squeezed air to push the sealing block 22 to move.

[0032] like Figure 8 and Fig. 9 As shown, a guide groove is provided at the bottom end of the liquid storage box 26, and the blocking block 30 can move in the groove. There are two limit rods 28, which are designed to be longitudinally symmetrical about the center of the movable plate 29, and the surface of the movable plate 29 is smooth.

[0033] Through the design of the blocking block 30, when the blocking block 30 moves, it will move inside the guide groove. Then, when the blocking block 30 cancels the blockage of the oil drain pipe 27, the lubricating oil will enter the inside of the oil drain pipe 27 along the guide groove. Through the design of the limit rod 28, since the limit rod 28 is symmetrically designed and has a smooth surface, the limit rod 28 can limit the moving direction of the movable plate 29 and can make the movable plate 29 move more smoothly.

[0034] The working principle and working process of this embodiment: First, the operator can drive the driving device to make the nylon line 5 pull the second mechanical arm body 4 to swing, and when the nylon line 5 is in a slack state during operation, the bidirectional motor 10 can be driven to rotate the rotating plate 11 and the guide hole 12, and the connecting block 13 will move inside the guide hole 12, and when moving, it will pull the first connecting plate 9 and the first connecting rod 8 to move relative to each other, and the first connecting rod 8 will drive the extrusion wheel 7 to move, and then the surface of the extrusion wheel 7 will contact with the nylon line 5, and will squeeze the nylon line 5, thereby increasing the tension of the nylon line 5; When the first connecting rod 8 moves, the second connecting plate 24 and the extrusion plate 25 will move in conjunction, and then the extrusion plate 25 will squeeze the air in the square shell 23 and the fixed shell 14, and then the squeezed air will push the second connecting rod 21 and the sealing block 22 to move, and the sealing block 22 will push the rack 16 to move, and when the rack 16 moves, the spring 15 will be compressed, and then the rack 16 will drive the gear 17 and the screw rod 18 to rotate, and the threaded block 19 will move on the surface of the screw rod 18, and the screw rod 18 will drive the directional wheel 20 to move, and then the directional wheel 20 will be sleeved on the surface of the nylon line 5, and then through the cooperation between the directional wheel 20 and the extrusion wheel 7, the moving direction of the nylon line 5 can be limited; Then, when lubrication is needed during long-term work, the insert block 38 can be taken out from the inside of the slot 37, and then the rotating disk 33 can be rotated, the rotating disk 33 will drive the push rod 31 to rotate, and then the sliding rod 32 will move inside the push rod 31, and the sliding rod 32 will push the sliding rod 32 and the moving plate 29 to move, and the moving plate 29 will drive the blocking block 30 to move, canceling the blockage of the oil drain pipe 27, and then the lubricating oil inside the liquid storage tank 26 will pass through the oil drain pipe 27 to the connection between the first joint 2 and the second joint 3, and then lubricate it, so that the robot arm swings more smoothly, and finally completes the operation process.

Claims

1. A swing mechanism for a bionic robot arm, comprising a first robot arm body (1), characterized in that: The first mechanical arm body (1) is provided with a first joint (2) inside, a second joint (3) is rotatably sleeved on the surface of the first joint (2), a second mechanical arm body (4) is sleeved on the surface of the second joint (3), a support wheel (39) is rotatably connected to a side of the first joint (2) away from the surface of the second joint (3), and a nylon line (5) located inside the support wheel (39) is provided inside the first mechanical arm body (1) and the second mechanical arm body (4); The adjusting mechanism is arranged on a side of the first joint (2) away from the surface of the second joint (3), the adjusting mechanism comprising a slide rail (6), the slide rail (6) being fixedly connected to the side of the first joint (2) away from the surface of the second joint (3), the surface of the slide rail (6) being slidably sleeved with extrusion wheels (7) located on both sides of the support wheel (39), and the extrusion wheels (7) being rotatable, a first connecting rod (8) being fixedly installed on the side of the extrusion wheel (7) away from the surface of the first joint (2), a first connecting plate (9) being fixedly installed on the side of the first connecting rod (8) close to the center of the first joint (2), a bidirectional motor (10) being fixedly installed inside the first joint (2), a rotating plate (11) being fixedly installed at the output end of the bidirectional motor (10), a guide hole (12) being opened on the surface of the rotating plate (11), and a connecting block (13) located inside the guide hole (12) being fixedly installed on the side of the first connecting plate (9) away from the surface of the first joint (2).

2. The swing mechanism for a bionic robot arm according to claim 1, characterized in that: The invention also comprises: a limiting mechanism, which is arranged on a side of the slide rail (6) away from the surface of the first joint (2), the limiting mechanism comprising a fixed shell (14), the fixed shell (14) being fixedly connected to the side of the slide rail (6) away from the surface of the first joint (2), a spring (15) being fixedly installed on one side of the interior of the fixed shell (14), a rack (16) located inside the fixed shell (14) being fixedly installed on one end of the spring (15), a second connecting rod (21) being fixedly installed on one end of the rack (16), a sealing block (22) being fixedly installed on one end of the second connecting rod (21), and the interior of the fixed shell (14) being rotatably connected to the fixing member. A gear (17) meshing with the rack (16) is provided, a screw rod (18) is fixedly mounted on the side of the gear (17) away from the surface of the first joint (2), a threaded block (19) is threadedly sleeved on the surface of the screw rod (18), a side of the threaded block (19) close to the surface of the first joint (2) is rotatably connected to a directional wheel (20), a square shell (23) is fixedly mounted on the top of the fixed shell (14), a second connecting plate (24) is fixedly mounted on the side of the first connecting rod (8) close to the surface of the first joint (2), and an extrusion plate (25) located inside the square shell (23) is fixedly mounted on the bottom of the second connecting plate (24).

3. The swing mechanism for a bionic robot arm according to claim 1, characterized in that: The invention also comprises: a lubricating mechanism, which is arranged on one side of the surface of the first joint (2), the lubricating mechanism comprising a liquid storage tank (26), the liquid storage tank (26) being fixedly connected to one side of the surface of the first joint (2), an oil drain pipe (27) located inside the first joint (2) being fixedly mounted on one side of the outer surface of the liquid storage tank (26), a limit rod (28) being fixedly mounted inside the liquid storage tank (26), a moving plate (29) being slidably connected to the surface of the limit rod (28), a blocking block (30) located inside the liquid storage tank (26) being fixedly mounted on one side of the moving plate (29), a push rod (31) being rotatably connected to one side of the liquid storage tank (26), a sliding rod (32) located inside the push rod (31) being fixedly mounted on one side of the moving plate (29), and a rotating disk (33) located on the outer surface of the liquid storage tank (26) being fixedly mounted on one side of the push rod (31).

4. The swing mechanism for a bionic robot arm according to claim 2, characterized in that: A protective shell (34) is fixedly mounted on the top of the fixed shell (14). The protective shells (34) are arranged in groups of two and are designed to be transversely symmetrical about the center of the first joint (2). The protective shells (34) are designed around the screw rod (18) and the threaded block (19).

5. The swing mechanism for a bionic robot arm according to claim 4, characterized in that: Two limiting grooves (35) are provided on both sides of the interior of the protective shell (34), and two limiting blocks (36) are slidably connected inside the two limiting grooves (35), and opposite sides of the two limiting blocks (36) are fixedly connected to the surface of the threaded block (19).

6. The swing mechanism for a bionic robot arm according to claim 3, characterized in that: A slot (37) is provided on one side of the liquid storage box (26) and the rotating disk (33), and an insert block (38) is inserted into the interior of the slot (37).

7. The swing mechanism for a bionic robot arm according to claim 1, characterized in that: The number of the guide holes (12) is two, and the guide holes (12) are arranged in an array on the surface of the rotating plate (11), and the guide holes (12) are of curved design.

8. The swing mechanism for a bionic robot arm according to claim 2, characterized in that: The surface of the extrusion plate (25) contacts the inner wall of the square shell (23), and the surface of the sealing block (22) contacts the inner wall of the fixed shell (14).

9. The swing mechanism for a bionic robot arm according to claim 3, characterized in that: A guide groove is provided at the bottom end of the liquid storage box (26), and the blocking block (30) is movable in the groove.

10. The swing mechanism for a bionic robot arm according to claim 3, characterized in that: The number of the limiting rods (28) is two, and they are designed to be longitudinally symmetrical about the center of the moving plate (29), and the surface of the moving plate (29) is smooth.

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