Multi-position surface control device of mechanical arm

Abstract

The utility model discloses a mechanical arm multi-position surface control device, which relates to the technical field of mechanical arms and comprises a fixed bottom plate, a controller for electrical connection control is fixedly mounted on the upper surface of one side of the fixed bottom plate, and a first motor and an outer sleeve seat are fixedly mounted on the upper surface of the center of the fixed bottom plate. A first hydraulic cylinder is fixedly mounted on the upper surface of the rotating disc, a first mechanical outer arm is fixedly connected to the output end of the first hydraulic cylinder, and a second motor used for adjusting the rotating direction of the first mechanical inner arm is fixedly mounted on the first mechanical outer arm; a third motor used for adjusting the rotating direction of the second mechanical outer arm is fixedly mounted on the other side of the first mechanical inner arm, a mounting groove is formed in the surface of one side of the second mechanical outer arm, and the output end of the second hydraulic cylinder is fixedly connected with the second mechanical inner arm. And oil storage cylinders capable of synchronously rotating and automatically supplying lubricating oil are in threaded connection with the interiors of the rotating ends of one sides of the second motor and the third motor correspondingly. The adjusting device has the effect of improving the adjusting flexibility and practicability.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a multi-plane control device for mechanical arms. Background Art

[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics, and can be found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration, etc. Although they have different forms, they all have one common feature, which is the ability to receive instructions and accurately locate a point in three-dimensional (or two-dimensional) space to perform operations.

[0003] The existing (Announcement No.: CN216830885U) discloses, in particular, a multi-plane control device for a robotic arm, which drives the support rod to rotate through a rotating drive mechanism, thereby driving the telescopic arm and the transverse adjustment arm and the mechanical claw connected to the telescopic arm to rotate; when the first telescopic mechanism is extended or retracted, the guide plate moves up smoothly along the guide rod, so that the stability of the up and down movement of the connecting rod is greatly improved, thereby ensuring the stability of the up and down movement of the transverse adjustment arm and the mechanical claw. However, it is worth noting that although the above-mentioned patent realizes adjustment in both the transverse and longitudinal directions through the longitudinal adjustment arm and the transverse adjustment arm, the longitudinal adjustment arm and the transverse adjustment arm are only limited to the transverse and longitudinal directions, thereby lacking flexible adjustment in multiple planes, reducing the practicality of the robotic arm. In addition, during the long-term rotation of the robotic arm, if there is no lubricating oil for timely and effective lubrication, it is easy to accelerate the aging of the robotic arm and reduce its service life. Utility Model Content

[0004] The purpose of the utility model is to provide a multi-plane control device for a mechanical arm, which solves the technical problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multi-plane control device for a mechanical arm, comprising a fixed base plate, a controller for electrical connection control is fixedly installed on the upper surface of one side of the fixed base plate, a first motor and a sleeve seat are fixedly installed on the central upper surface of the fixed base plate, a turntable is fixedly installed on the output end of the first motor, and a first hydraulic cylinder is fixedly installed on the upper surface of the turntable;

[0006] The output end of the first hydraulic cylinder is fixedly connected to the first mechanical outer arm, the first mechanical outer arm is rotatably connected to the first mechanical inner arm, a second motor for adjusting the rotation direction of the first mechanical inner arm is fixedly installed on the first mechanical outer arm, the second mechanical outer arm is sleeved on the outer surface of one side of the first mechanical inner arm, and a third motor for adjusting the rotation direction of the second mechanical outer arm is fixedly installed on the other side of the first mechanical inner arm, a mounting groove is provided on the surface of one side of the second mechanical outer arm, a second hydraulic cylinder is fixedly installed in the mounting groove, the output end of the second hydraulic cylinder is fixedly connected to the second mechanical inner arm, one side rotating end of the second motor and the third motor are both threadedly connected with an oil storage cylinder that can rotate synchronously and supply lubricating oil by itself, an oil inlet hole is penetrated through the cylinder surface of one side of the oil storage cylinder, and a sealing plug is provided in the oil inlet hole.

[0007] Optionally, the surface of the fixed base plate is symmetrically provided with threaded slots for mounting on a machine or the ground.

[0008] Optionally, the first motor, the turntable and the first hydraulic cylinder are all sleeved inside the outer sleeve seat, and a notch is provided on the central upper surface of the outer sleeve seat for the output end of the first hydraulic cylinder to cooperate with the rotation of the first motor.

[0009] Optionally, upper and lower surfaces on different sides of the first mechanical inner arm and the first mechanical outer arm are respectively fixedly connected to fixing frames, and the second motor and the third motor are both fixedly installed inside the fixing frames.

[0010] Optionally, the output end of the second motor passes through the other side of the first mechanical outer arm and is fixedly connected to the first limit shaft, and the first limit shaft is fixedly sleeved inside the first mechanical inner arm, the output end of the third motor passes through the other side of the second mechanical outer arm and is fixedly connected to the second limit shaft, and the second limit shaft is fixedly sleeved on the second mechanical outer arm, one side surface of the first limit shaft and the second limit shaft are fixedly connected to a discharging drum, the surface of the discharging drum is connected to the internal bearing and has an oil outlet hole, one side surface of the discharging drum is fixedly connected to an externally threaded drum, one side surface of the oil storage drum is fixedly connected to a connecting pipe, and the connecting pipe is threadedly connected to the external threaded surface of the externally threaded drum, an oil storage sponge is plugged inside the oil storage drum, and an extrusion block for extruding the oil storage sponge is fixedly installed inside the oil storage drum, and the other end of the oil storage sponge is plugged inside the connecting pipe and the discharging drum.

[0011] Optionally, a circumferential surface of the fixed base plate is provided with a slide groove and a limit slide groove connected to the upper and lower parts, and an integrated rotating rod and a limit turntable are fixedly connected to the lower surface of the turntable, and the rotating rod and the limit turntable slide in the slide groove and the limit slide groove respectively.

[0012] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0013] The utility model uses the first motor, the first hydraulic cylinder, the second motor, the third motor and the second hydraulic cylinder electrically driven by the controller, so that when the user uses the mechanical arm, he can drive the first motor to drive the entire mechanical arm to reach the required mechanical operation angle, drive the first hydraulic cylinder to reach the required mechanical operation height of the entire mechanical arm, drive the second motor and the third motor, so that the first mechanical inner arm and the second mechanical outer arm can change the mechanical operation angle inside the corresponding first mechanical outer arm and outside the first mechanical inner arm, and the output end of the second hydraulic cylinder can drive the second mechanical inner arm to reach the required mechanical operation length. It is worth noting that when the second motor and the third motor respectively drive the first mechanical outer arm, the first mechanical inner arm and the second mechanical outer arm to perform corresponding mechanical rotation, the oil storage cylinder will also provide effective lubrication effect to the mechanical rotating part in time to extend the service life of the mechanical arm and avoid mechanical aging, thereby realizing the flexibility and practicality of adjusting the multi-plane control device of the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the front view of the structure of the utility model;

[0015] Figure 2 It is a front cross-sectional view of the structure of the utility model;

[0016] Figure 3 For the utility model structure Figure 2 The enlarged view of point A in the middle;

[0017] Figure 4 It is an enlarged cross-sectional view of the oil storage cylinder in the structure of the utility model.

[0018] In the figure: 1-fixed base plate, 2-threaded notch, 3-controller, 4-first motor, 5-turntable, 6-chute, 7-limiting chute, 8-turn rod, 9-limiting turntable, 10-first hydraulic cylinder, 11-outer sleeve, 12-notch, 13-first mechanical outer arm, 14-first mechanical inner arm, 15-second motor, 16-first limiting rotating shaft, 17-fixed frame, 18-second mechanical outer arm, 19-third motor, 20-second limiting shaft, 21-mounting groove, 22-second hydraulic cylinder, 23-second mechanical inner arm, 24-oil storage cylinder, 25-discharging rotating cylinder, 26-oil outlet hole, 27-external threaded cylinder, 28-connecting pipe, 29-oil storage sponge, 30-extrusion block, 31-oil inlet hole, 32-sealing plug. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] Embodiment 1:

[0021] See also Figures 1 to 4 The utility model provides a technical solution: a multi-plane control device for a mechanical arm, comprising a fixed base plate 1, a surface of the fixed base plate 1 is symmetrically provided with threaded notches 2 for installation on a machine or the ground, a controller 3 for electrical connection control is fixedly installed on one side upper surface of the fixed base plate 1, a first motor 4 and a sleeve seat 11 are fixedly installed on the central upper surface of the fixed base plate 1, a turntable 5 is fixedly installed on the output end of the first motor 4, and a first hydraulic cylinder 10 is fixedly installed on the upper surface of the turntable 5;

[0022] The output end of the first hydraulic cylinder 10 is fixedly connected to the first mechanical outer arm 13, and the first mechanical inner arm 14 is rotatably connected in the first mechanical outer arm 13. A second motor 15 for adjusting the rotation direction of the first mechanical inner arm 14 is fixedly installed on the first mechanical outer arm 13. The second mechanical outer arm 18 is sleeved on the outer surface of one side of the first mechanical inner arm 14, and a third motor 19 for adjusting the rotation direction of the second mechanical outer arm 18 is fixedly installed on the other side of the first mechanical inner arm 14. A mounting groove 21 is provided on the surface of one side of the second mechanical outer arm 18, and a second hydraulic cylinder 22 is fixedly installed in the mounting groove 21. The output end of the second hydraulic cylinder 22 is fixedly connected to the second mechanical inner arm 23. The second motor 15 and the third motor 19 are both threadedly connected to an oil storage cylinder 24 that can rotate synchronously and supply lubricating oil by itself, and an oil inlet hole 31 is opened through the cylinder surface of one side of the oil storage cylinder 24, and a sealing plug 32 is plugged in the oil inlet hole 31.

[0023] More specifically, in this embodiment, first, the fixed base plate 1 is installed on the machine or the ground through the threaded notch 2. When the user uses the robot arm, he can drive the first motor 4 to drive the entire robot arm to reach the required mechanical operation angle through the controller 3 on the fixed base plate 1 as needed, drive the first hydraulic cylinder 10 on the turntable 5 to reach the required mechanical operation height of the entire robot arm, drive the second motor 15 and the third motor 19, so that the first robot inner arm 14 and the second robot outer arm 18 can change the mechanical operation angle inside and outside the corresponding first robot outer arm 13, and the installation slot 21 is The output end of the second hydraulic cylinder 22 can drive the second mechanical inner arm 23 to reach the required length of mechanical operation. It is worth noting that the user needs to store oil in the oil storage cylinder 24 through the oil inlet hole 31, and then seal it with a sealing plug 32 to ensure that when the second motor 15 and the third motor 19 respectively drive the first mechanical outer arm 13, the first mechanical inner arm 14 and the second mechanical outer arm 18 to perform corresponding mechanical rotation, the oil storage cylinder 24 will also provide effective lubrication effect to the mechanical rotating parts in time to extend the service life of the mechanical arm and avoid mechanical aging, thereby realizing the flexibility and practicality of adjusting the multi-plane control device of the mechanical arm.

[0024] Furthermore, the first motor 4 , the turntable 5 and the first hydraulic cylinder 10 are all sleeved inside the outer sleeve seat 11 , and a notch 12 is provided on the central upper surface of the outer sleeve seat 11 for the output end of the first hydraulic cylinder 10 to cooperate with the rotation of the first motor 4 .

[0025] It is worth noting that the output end of the first motor 4 drives the turntable 5 and the first hydraulic cylinder 10 to rotate accordingly inside the outer sleeve seat 11, and the notch 12 of the outer sleeve seat 11 will not hinder the output end of the first hydraulic cylinder 10 from cooperating with the first motor 4 to rotate accordingly.

[0026] Furthermore, the upper and lower surfaces of different sides of the first mechanical inner arm 14 and the first mechanical outer arm 13 are respectively fixedly connected with a fixing frame 17, the second motor 15 and the third motor 19 are both fixedly installed inside the fixing frame 17, the output end of the second motor 15 passes through the other side of the first mechanical outer arm 13 and is fixedly connected to the first limiting rotating shaft 16, and the first limiting rotating shaft 16 is fixedly sleeved inside the first mechanical inner arm 14, the output end of the third motor 19 passes through the other side of the second mechanical outer arm 18 and is fixedly connected to the second limiting shaft 20, and the second limiting shaft 20 is fixedly sleeved in the second mechanical outer arm 18, the first limiting rotating shaft 16 is fixedly sleeved inside the first mechanical inner arm 14, A discharging drum 25 is fixedly connected to the inner surface of one side of the shaft 16 and the second limit shaft 20. The surface of the discharging drum 25 is connected to the internal bearing and is provided with an oil outlet hole 26. An external threaded cylinder 27 is fixedly connected to the outer surface of the discharging drum 25. A connecting pipe 28 is fixedly connected to the outer threaded surface of the external threaded cylinder 27 on the outer surface of the oil storage cylinder 24. The connecting pipe 28 is threadedly connected to the outer threaded surface of the external threaded cylinder 27. An oil storage sponge 29 is plugged inside the oil storage cylinder 24. An extrusion block 30 for extruding the oil storage sponge 29 is fixedly installed inside the oil storage cylinder 24. The other end of the oil storage sponge 29 is plugged inside the connecting pipe 28 and the discharging drum 25.

[0027] Specifically, the second motor 15 and the third motor 19 installed in the upper and lower surface fixing frames 17 on different sides of the first mechanical inner arm 14 and the first mechanical outer arm 13 can maintain the overall balance. The output end of the second motor 15 will drive the first mechanical inner arm 14 to change the angle of mechanical operation by driving the first limit shaft 16. The output end of the third motor 19 will drive the second mechanical outer arm 18 to change the secondary angle of mechanical operation by driving the second limit shaft 20. In addition, when the first limit shaft 16 and the second limit shaft 20 perform a rotational movement to change the angle, they will also drive the oil storage cylinders 24 connected to them to rotate. Corresponding to the rotational movement, since a certain amount of lubricating oil has been stored inside the oil storage sponge 29, the oil storage sponge 29 will also expand as the lubricating oil is injected, and during the rotation process, since the squeezing block 29 is made of elastic material and is provided with a plurality of squeezing blocks 30, the oil storage sponge 29 will be squeezed to a certain extent, and the squeezed oil storage sponge 29 will output the lubricating oil through squeezing, and the lubricating oil stored in the oil storage sponge 29 will also provide lubrication effect to the bearing at the rotating end through the oil outlet hole 26 of the discharging drum 25, and the oil storage cylinder 24 can be connected to the threaded connection of the external threaded cylinder 27 and the connecting pipe 28, so that the oil storage sponge 29 can be replaced as needed.

[0028] Embodiment 2, based on the above embodiment:

[0029] Furthermore, a sliding groove 6 and a limiting sliding groove 7 are connected to the upper and lower surfaces of the fixed base plate 1, and an integrated rotating rod 8 and a limiting rotating disk 9 are fixedly connected to the lower surface of the rotating disk 5, and the rotating rod 8 and the limiting rotating disk 9 slide in the sliding groove 6 and the limiting sliding groove 7 respectively.

[0030] More specifically, in this embodiment, the output shaft of the first motor 4 will also drive the rotating rod 8 and the limiting turntable 9 to rotate inside the slide groove 6 and the limiting slide groove 7 respectively to ensure the stability of the multi-plane control device of the robot arm in adjusting different angles.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-plane control device for a robotic arm, comprising a fixed base plate (1), characterized in that: A controller (3) for electrical connection control is fixedly mounted on an upper surface of one side of the fixed base plate (1); a first motor (4) and an outer sleeve seat (11) are fixedly mounted on the central upper surface of the fixed base plate (1); a rotating disk (5) is fixedly mounted on the output end of the first motor (4); and a first hydraulic cylinder (10) is fixedly mounted on the upper surface of the rotating disk (5); The output end of the first hydraulic cylinder (10) is fixedly connected to a first mechanical outer arm (13), the first mechanical outer arm (13) is rotatably connected to a first mechanical inner arm (14), a second motor (15) for adjusting the rotation direction of the first mechanical inner arm (14) is fixedly mounted on the first mechanical outer arm (13), a second mechanical outer arm (18) is sleeved on an outer surface of one side of the first mechanical inner arm (14), and a third motor (19) for adjusting the rotation direction of the second mechanical outer arm (18) is fixedly mounted on the other side of the first mechanical inner arm (14). ), a mounting groove (21) is provided on one side surface of the second mechanical outer arm (18), a second hydraulic cylinder (22) is fixedly installed in the mounting groove (21), an output end of the second hydraulic cylinder (22) is fixedly connected to a second mechanical inner arm (23), a rotating end of one side of the second motor (15) and the third motor (19) is threadedly connected to an oil storage cylinder (24) which can rotate synchronously and supply lubricating oil by itself, an oil inlet hole (31) is formed through one side surface of the oil storage cylinder (24), and a sealing plug (32) is provided in the oil inlet hole (31).

2. A multi-plane control device for a robotic arm according to claim 1, characterized in that: The surface of the fixed base plate (1) is symmetrically provided with threaded notches (2) for installation on machinery or the ground.

3. A multi-plane control device for a robotic arm according to claim 1, characterized in that: The first motor (4), the turntable (5) and the first hydraulic cylinder (10) are all sleeved inside the outer sleeve seat (11), and a notch (12) is provided on the central upper surface of the outer sleeve seat (11) for the output end of the first hydraulic cylinder (10) to cooperate with the rotation of the first motor (4).

4. The multi-plane control device for a robotic arm according to claim 1, characterized in that: The upper and lower surfaces on different sides of the first mechanical inner arm (14) and the first mechanical outer arm (13) are respectively fixedly connected to a fixing frame (17), and the second motor (15) and the third motor (19) are both fixedly mounted inside the fixing frame (17).

5. A multi-plane control device for a robotic arm according to claim 4, characterized in that: The output end of the second motor (15) passes through the other side of the first mechanical outer arm (13) and is fixedly connected to a first limit rotating shaft (16), and the first limit rotating shaft (16) is fixedly sleeved inside the first mechanical inner arm (14); the output end of the third motor (19) passes through the other side of the second mechanical outer arm (18) and is fixedly connected to a second limit rotating shaft (20), and the second limit rotating shaft (20) is fixedly sleeved on the second mechanical outer arm (18); one side surface of the first limit rotating shaft (16) and the second limit rotating shaft (20) are fixedly connected to a discharge rotating drum (25), and the discharge rotating drum ( The surfaces of the discharge drum (25) are connected to the internal bearing and are provided with oil outlet holes (26); one side of the drum surface of the discharge drum (25) is fixedly connected to an external threaded drum (27); one side of the drum surface of the oil storage drum (24) is fixedly connected to a connecting pipe (28), and the connecting pipe (28) is threadedly connected to the external threaded surface of the external threaded drum (27); an oil storage sponge (29) is plugged inside the oil storage drum (24), and an extrusion block (30) for extruding the oil storage sponge (29) is fixedly installed inside the oil storage drum (24); the other end of the oil storage sponge (29) is plugged inside the connecting pipe (28) and the discharge drum (25).

6. The multi-plane control device for a robotic arm according to claim 1, characterized in that: A sliding groove (6) and a limiting sliding groove (7) are provided on the upper and lower surfaces of the fixed bottom plate (1); an integrated rotating rod (8) and a limiting rotating disc (9) are fixedly connected to the lower surface of the rotating disc (5); and the rotating rod (8) and the limiting rotating disc (9) slide in the sliding groove (6) and the limiting sliding groove (7) respectively.

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