Six-degree-of-freedom horizontal multi-joint mechanical arm

Abstract

The invention relates to the technical field of mechanical arms, in particular to a six-degree-of-freedom horizontal multi-joint mechanical arm which comprises a support. The horizontal assembly comprises a connecting column, the bottom of the connecting column is fixedly connected with a horizontal piece, the four tail ends of the horizontal piece are fixedly connected with electrodes, one end of each electrode penetrates into the horizontal piece, and an inner cavity of the horizontal piece is filled with mercury accounting for half of the volume of the cavity; and the adjusting assembly comprises an air cylinder, one side of the air cylinder is fixedly connected with an air pump, the inner wall of the air cylinder is provided with a vent hole communicated with the air pump, and the inner wall of the air cylinder is fixedly connected with a check block. According to the six-degree-of-freedom horizontal multi-joint mechanical arm, mercury is injected into the horizontal piece, so that the horizontal position is automatically adjusted through the air cylinder after the device moves to the operation position, stable operation of the mechanical arm is ensured, abrasion between structures is reduced, the service life of the mechanical arm is prolonged, and the use efficiency of the mechanical arm is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and specifically to a six-degree-of-freedom horizontal multi-joint robotic arm. Background Art

[0002] A robotic arm is a mechanical device with high flexibility and a wide range of application fields. An end effector is usually installed at the end of the robotic arm for performing specific operation tasks, such as grasping, handling, welding, and scanning.

[0003] The installation base position of traditional robotic arms is relatively fixed, and the horizontal adjustment has been calibrated before installation and is commonly used for processing tasks in factories. However, when loaded on mobile devices, due to the complex outdoor site environment, when the mobile device transports the robotic arm to the operation position, the ground at this position has not been processed, causing the robotic arm to tilt, resulting in mechanical component wear and reduced execution efficiency during long-term operation of the robotic arm. Summary of the Invention

[0004] The purpose of the present invention is to provide a six-degree-of-freedom horizontal multi-joint robotic arm to solve the problem that the installation base position of traditional robotic arms is relatively fixed, and the horizontal adjustment has been calibrated before installation and is commonly used for processing tasks in factories. However, when loaded on mobile devices, due to the complex outdoor site environment, when the mobile device transports the robotic arm to the operation position, the ground at this position has not been processed, causing the robotic arm to tilt, resulting in mechanical component wear and reduced execution efficiency during long-term operation of the robotic arm. To achieve the above purpose, the present invention provides the following technical solution: A six-degree-of-freedom horizontal multi-joint robotic arm, including a bracket; A horizontal component, the horizontal component includes a connecting column, the bottom of the connecting column is fixedly connected with a horizontal member, four ends of the horizontal member are fixedly connected with electrodes, and one end of the electrode penetrates into the horizontal member, and the inner cavity of the horizontal member is filled with mercury occupying half of the cavity volume; An adjusting component, the adjusting component includes a cylinder, one side of the cylinder is fixedly connected with an air pump, the inner wall of the cylinder is provided with a ventilation hole communicating with the air pump, a stop block is fixedly connected to the inner wall of the cylinder, a piston is movably sleeved on the inner wall of the cylinder, a push rod is fixedly connected to the bottom of the piston and the push rod penetrates out of the bottom of the cylinder and is movably connected, and the bottom of the push rod is fixedly connected to the top of the bracket.

[0005] Further preferably, the bottom of the cylinder is fixedly connected with a bottom plate, and multiple cylinders are respectively located at the four corners of the top of the bottom plate. The top of the connecting column is fixedly connected to the bottom of the bottom plate. The top of the bottom plate is fixedly connected with a support outer cover, and the top of the support outer cover is fixedly connected with a mounting table. A first servo motor is fixedly connected to the inner wall of the top of the support outer cover, and the output end of the first servo motor is fixedly connected with a first-level rotating arm. The bottom of the first-level rotating arm is movably connected to the mounting table through a bearing. A battery pack for supplying power to each servo motor, cylinder and driving motor, a control module for controlling the device, and a wireless communication module are installed inside the bracket.

[0006] Further preferably, the top of the first-level rotating arm is fixedly connected with a second servo motor, the output shaft end of the second servo motor is fixedly connected with a second-level rotating arm, the top of one side of the second-level rotating arm is fixedly connected with a third servo motor, and the output shaft end of the third servo motor is fixedly connected with a third-level rotating arm.

[0007] Further preferably, the top of one side of the third-level rotating arm is fixedly connected with a fourth servo motor, the output shaft end of the fourth servo motor is fixedly connected with a fourth-level rotating arm, a fifth servo motor is fixedly connected to the inside of the fourth-level rotating arm, the output end of the fourth-level rotating arm is fixedly connected with a fifth-level rotating arm, the top of one side of the fifth-level rotating arm is fixedly connected with a sixth servo motor, the output shaft end of the sixth servo motor is fixedly connected with a sixth-level rotating arm, and the end of the sixth-level rotating arm is used for loading an execution device.

[0008] Further preferably, connecting pieces are fixedly connected to the four corners of the bottom of the bracket, a driving motor is fixedly connected to one side of the connecting piece, and the output shaft end of the driving motor penetrates through the connecting piece and is movably connected. The output shaft end of the driving motor is fixedly connected with a traveling wheel.

[0009] Further preferably, each end of the horizontal member has two electrodes, and the two electrodes are distributed vertically. The two electrodes at the same end of the horizontal member are respectively a positive electrode and a negative electrode, and both electrodes are electrically connected to the air pump on the corresponding cylinder.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows: In the present invention, by injecting mercury into the horizontal member, the device can automatically adjust its horizontal position through the cylinder after moving to the operating position, thereby ensuring the stable operation of the robotic arm, reducing the wear between structures, and improving the service life and usage efficiency of the device.

[0011] In the present invention, through the cooperation of the horizontal member and multiple cylinders, the process of manual horizontal position adjustment is reduced, thereby improving the reliability of the independent operation of the device and the operability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1Schematic diagram of the three-dimensional structure of the present invention; Figure 2 Schematic diagram of the explosion structure of the present invention; Figure 3 Schematic diagram of the partial three-dimensional structure of the present invention; Figure 4 Schematic diagram of the horizontal component structure of the present invention; Figure 5 Schematic diagram of the sectional structure of the present invention; Figure 6 For the present invention Figure 5 Enlarged structure diagram of part A in

[0013] In the figure: 1, bracket; 2, horizontal component; 3, adjustment component; 4, bottom plate; 5, support outer cover; 6, first servo; 7, mounting table; 8, first-level rotating arm; 9, second servo; 10, second-level rotating arm; 11, third servo; 12, third-level rotating arm; 13, fourth servo; 14, fourth-level rotating arm; 15, fifth-level rotating arm; 16, sixth servo; 17, sixth-level rotating arm; 18, connecting piece; 19, driving motor; 20, walking wheel; 201, connecting column; 202, horizontal piece; 203, electrode; 301, cylinder; 302, ventilation hole; 303, stopper; 304, piston; 305, push rod. Detailed implementation manners

[0014] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technical staff in the art without creative work fall within the protection scope of the present invention.

[0015] Please refer to Figures 1-6 , the present invention provides a technical solution: a six-degree-of-freedom horizontal multi-joint robotic arm, including a bracket 1; A horizontal component 2, the horizontal component 2 includes a connecting column 201, the bottom of the connecting column 201 is fixedly connected with a horizontal piece 202, four ends of the horizontal piece 202 are fixedly connected with electrodes 203 and one end of the electrode 203 penetrates into the horizontal piece 202, and the inner cavity of the horizontal piece 202 is filled with mercury accounting for half of the cavity volume; An adjustment component 3, the adjustment component 3 includes a cylinder 301, one side of the cylinder 301 is fixedly connected with an air pump, the inner wall of the cylinder 301 is provided with a ventilation hole 302 communicated with the air pump, a stopper 303 is fixedly connected to the inner wall of the cylinder 301, a piston 304 is movably sleeved on the inner wall of the cylinder 301, the bottom of the piston 304 is fixedly connected with a push rod 305 and the push rod 305 penetrates out of the bottom of the cylinder 301 and is movably connected, and the bottom of the push rod 305 is fixedly connected to the top of the bracket 1.

[0016] In this embodiment, as Figure 1 , Figure 2 and Figure 3 shown, a bottom plate 4 is fixedly connected to the bottom of the cylinder 301. A plurality of cylinders 301 are respectively located at the four corners of the top of the bottom plate 4. The top of the connecting column 201 is fixedly connected to the bottom of the bottom plate 4. A support outer cover 5 is fixedly connected to the top of the bottom plate 4. An installation platform 7 is fixedly connected to the top of the support outer cover 5. A first servo motor 6 is fixedly connected to the inner wall of the top of the support outer cover 5. The output end of the first servo motor 6 is fixedly connected to a first-level rotating arm 8. The bottom of the first-level rotating arm 8 is movably connected to the installation platform 7 through a bearing. A battery pack for supplying power to each servo motor, the cylinder 301 and the drive motor 19, a control module for controlling the device, and a wireless communication module are installed inside the bracket 1.

[0017] In this embodiment, as Figure 1 , Figure 2 and Figure 3 shown, a second servo motor 9 is fixedly connected to the top of the first-level rotating arm 8. The output shaft end of the second servo motor 9 is fixedly connected to a second-level rotating arm 10. A third servo motor 11 is fixedly connected to the top of one side of the second-level rotating arm 10. The output shaft end of the third servo motor 11 is fixedly connected to a third-level rotating arm 12.

[0018] In this embodiment, as Figure 1 , Figure 2 and Figure 3 shown, a fourth servo motor 13 is fixedly connected to the top of one side of the third-level rotating arm 12. The output shaft end of the fourth servo motor 13 is fixedly connected to a fourth-level rotating arm 14. A fifth servo motor is fixedly connected to the inside of the fourth-level rotating arm 14. The output end of the fourth-level rotating arm 14 is fixedly connected to a fifth-level rotating arm 15. A sixth servo motor 16 is fixedly connected to one side of the fifth-level rotating arm 15. The output shaft end of the sixth servo motor 16 is fixedly connected to a sixth-level rotating arm 17. The end of the sixth-level rotating arm 17 is used for loading the execution device.

[0019] In this embodiment, as Figure 1 , Figure 2 and Figure 5As shown in the figure, connecting pieces 18 are fixedly connected to the four corners of the bottom of the support 1. A driving motor 19 is fixedly connected to one side of the connecting piece 18, and the output shaft end of the driving motor 19 penetrates through the connecting piece 18 and is movably connected. A walking wheel 20 is fixedly connected to the output shaft end of the driving motor 19. When in use, when the device moves to the operating position and the position is uneven, the mercury in the level member 202 converges to one side under the action of gravity. As the mercury converges, the two electrodes 203 at the end of the level member 202 are submerged by the mercury, thus making the circuit connected, enabling the air pump in the cylinder 301 at the corresponding position to start. By pumping air into the cylinder 301 through the air pump, the piston 304 is pushed under the action of pressure, thereby pushing the push rod 305 downward to push, causing the bottom plate 4 and the multi-stage robotic arm on its top to be lifted for horizontal position adjustment. When the bottom plate 4 gradually becomes horizontal, the level member 202 also gradually becomes horizontal, and the mercury in the level member 202 gradually changes from the converged state to a horizontal state, so that the mercury no longer submerges the uppermost electrode 203. At this time, the circuit is disconnected and the horizontal adjustment is completed.

[0020] In this embodiment, as Figure 2 、 Figure 4 and Figure 5 shown, each end of the level member 202 has two electrodes 203, and the two electrodes 203 are distributed vertically. The two electrodes on the same end of the level member 202 are respectively the positive electrode and the negative electrode, and both electrodes are electrically connected to the air pump on the cylinder 301 at the corresponding position.

[0021] The usage method and advantages of the present invention: This six-degree-of-freedom horizontal multi-joint robotic arm, when in use, the working process is as follows: As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 shown, when in use, when the device moves to the operating position and the position is uneven, the mercury in the level member 202 converges to one side under the action of gravity. As the mercury converges, the two electrodes 203 at the end of the level member 202 are submerged by the mercury, thus making the circuit connected, enabling the air pump in the cylinder 301 at the corresponding position to start. By pumping air into the cylinder 301 through the air pump, the piston 304 is pushed under the action of pressure, thereby pushing the push rod 305 downward to push, causing the bottom plate 4 and the multi-stage robotic arm on its top to be lifted for horizontal position adjustment. When the bottom plate 4 gradually becomes horizontal, the level member 202 also gradually becomes horizontal, and the mercury in the level member 202 gradually changes from the converged state to a horizontal state, so that the mercury no longer submerges the uppermost electrode 203. At this time, the circuit is disconnected and the horizontal adjustment is completed.

[0022] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and the descriptions in the specification are only preferred examples of the present invention, which are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A six-degree-of-freedom horizontal multi-joint robotic arm, characterized in that: comprising a bracket (1); A horizontal component (2), the horizontal component (2) comprising a connecting column (201), the bottom of the connecting column (201) being fixedly connected to a horizontal member (202), the four ends of the horizontal member (202) being fixedly connected to electrodes (203) and one end of the electrode (203) penetrating into the horizontal member (202), the inner cavity of the horizontal member (202) being filled with mercury occupying half of the cavity volume; An adjusting component (3), the adjusting component (3) comprising a cylinder (301), one side of the cylinder (301) being fixedly connected to an air pump, an inner wall of the cylinder (301) being provided with an air vent (302) connected to the air pump, a stopper (303) being fixedly connected to the inner wall of the cylinder (301), a piston (304) being movably sleeved on the inner wall of the cylinder (301), a push rod (305) being fixedly connected to the bottom of the piston (304) and the push rod (305) being movably connected through the bottom of the cylinder (301), and the bottom of the push rod (305) being fixedly connected to the top of the bracket (1).

2. A six-degree-of-freedom horizontal multi-joint robotic arm according to claim 1, characterized in that: The bottom of the cylinder (301) is fixedly connected to a bottom plate (4), a plurality of the cylinders (301) are respectively located at the top four corners of the bottom plate (4), the top of the connecting column (201) is fixedly connected to the bottom of the bottom plate (4), the top of the bottom plate (4) is fixedly connected to a supporting outer cover (5), the top of the supporting outer cover (5) is fixedly connected to a mounting platform (7), the top inner wall of the supporting outer cover (5) is fixedly connected to a first steering gear (6), the output end of the first steering gear (6) is fixedly connected to a first-stage swing arm (8), and the bottom of the first-stage swing arm (8) is movably connected to the mounting platform (7) via a bearing.

3. A six-degree-of-freedom horizontal multi-joint robotic arm according to claim 2, characterized in that: The top of the primary rotary arm (8) is fixedly connected to a second steering gear (9), the output shaft end of the second steering gear (9) is fixedly connected to a secondary rotary arm (10), the top of one side of the secondary rotary arm (10) is fixedly connected to a third steering gear (11), and the output shaft end of the third steering gear (11) is fixedly connected to a tertiary rotary arm (12).

4. A six-degree-of-freedom horizontal multi-joint robotic arm according to claim 3, characterized in that: A fourth steering gear (13) is fixedly connected to the top of one side of the three-stage swing arm (12); an output shaft end of the fourth steering gear (13) is fixedly connected to a fourth-stage swing arm (14); a fifth steering gear is fixedly connected inside the fourth-stage swing arm (14); an output end of the fourth-stage swing arm (14) is fixedly connected to a fifth-stage swing arm (15); a sixth steering gear (16) is fixedly connected to one side of the five-stage swing arm (15); an output shaft end of the sixth steering gear (16) is fixedly connected to a sixth-stage swing arm (17); and a distal end of the sixth-stage swing arm (17) is used for loading an actuator.

5. The six-degree-of-freedom horizontal multi-joint robotic arm according to claim 1, characterized in that: Connecting pieces (18) are fixedly connected to the four corners of the bottom of the bracket (1), a driving motor (19) is fixedly connected to one side of the connecting piece (18), and an output shaft end of the driving motor (19) passes through the connecting piece (18) and is movably connected, and a walking wheel (20) is fixedly connected to the output shaft end of the driving motor (19).

6. The six-degree-of-freedom horizontal multi-joint robotic arm according to claim 1, characterized in that: Each end of the horizontal member (202) has two electrodes (203), and the two electrodes (203) are distributed up and down. The two electrodes on the same end of the horizontal member (202) are respectively a positive electrode and a negative electrode, and both electrodes are electrically connected to the air pump on the cylinder (301) at the corresponding position.

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