Anti-jamming multi-degree-of-freedom robot mechanical arm

By storing lubricant at the connection between the movable arm and the support arm of the robot, the joint corrosion and lag caused by dust accumulation is solved, the accuracy and efficiency of the robot arm is improved, and through the motor and hydraulic clamps The cooperation enhances the flexibility of the robotic arm.

CN222345632UActive Publication Date: 2025-01-14WUXI JIESHI INTELLIGENT TECH CO LTD
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Patent Information

Application Number
CN202421181447.9
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-05-28
Publication Date
2025-01-14
Estimated Expiration
2034-05-28

AI Technical Summary

Technical Problem

The connection between the movable arm and the support arm of the robot is exposed, which is easy to accumulate dust, particulate impurities and water vapor, resulting in joint corrosion and lag, affecting movement accuracy and working efficiency.

Method used

A multi-degree-of-freedom robotic arm is designed to use a joint structure of the combined shell of No. 1 and No. 2, to push the block with a spring, store lubricating oil, protect joint joints, and adjust the angle and use of hydraulic clamps through the motor and cylinder. , improve the flexibility and anti-stuttering ability of the robot arm.

Benefits of technology

It effectively reduces the accumulation of dust, particulate impurities and water vapor, prevents joint corrosion and lag, improves the movement accuracy and working efficiency of the robotic arm, and ensures product quality and flexibility in use.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model discloses an anti-jamming multi-degree-of-freedom robot mechanical arm, and relates to the technical field of mechanical arms, the anti-jamming multi-degree-of-freedom robot mechanical arm comprises a base, a supporting arm and a movable arm, a joint groove is formed in a first combination shell, a spring is arranged on the outer side of a movable rod, a first stop block is movably arranged on the outer side of the movable rod, and a second stop block is arranged on the outer side of the first stop block. A joint frame is arranged at the top end of the second combination shell, and two sets of second stop blocks are arranged on the outer side of the second combination shell. Through the first combination shell, the first stop block can be elastically pushed to extrude the second stop block through the spring, a certain amount of lubricating oil can be stored in the first combination shell and the second combination shell which are spliced, and the joint of the movable arm and the supporting arm is lubricated and protected; the situations that dust, particle impurities, water vapor and other substances in the external environment are accumulated at the joint of the movable arm and the supporting arm, and the joint of the mechanical arm is corroded, blocked and the like are effectively reduced, and the product quality and the working efficiency are effectively improved.
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Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to an anti-stuck multi-degree-of-freedom robot mechanical arm. Background Art

[0002] A robotic arm is an automated device that mimics the movement of a human arm. It can perform a variety of tasks that require high repetitiveness and precision. A robotic arm is usually composed of multiple joints, each of which can rotate or move linearly, allowing the robotic arm to move freely in three-dimensional space. The functions of a robotic arm are very wide, including welding, painting, assembly, handling, packaging, inspection, etc. They are widely used in manufacturing, medical, service and other fields.

[0003] At present, when the robot manipulator is in use, the movable joints connecting the movable arm and the supporting arm are often exposed to the outside when the movable arm connection in the manipulator is moving. Dust, particulate impurities, water vapor and other substances in the external environment are easily accumulated at the joint connection between the movable arm and the supporting arm, which may cause corrosion and jamming at the joints of the manipulator. Joint jamming will affect the movement accuracy of the manipulator, resulting in inaccurate size of processed parts and affecting product quality. Jamming will slow down the movement speed of the manipulator, reduce work efficiency and increase production cycle time.

[0004] Therefore, in view of this, the existing structural deficiencies are studied and improved, and an anti-stuck multi-degree-of-freedom robot arm is proposed. Utility Model Content

[0005] The purpose of the utility model is to provide a multi-degree-of-freedom robot arm that is anti-jamming, so as to solve the problem that the movable joints connecting the movable arm and the supporting arm proposed in the above-mentioned background technology are mostly often exposed to the outside, and dust, particulate impurities, water vapor and other substances in the external environment are easily accumulated at the joint connection between the movable arm and the supporting arm, which may cause corrosion and jamming at the joints of the robot arm.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A multi-degree-of-freedom robot mechanical arm that prevents jamming comprises a base, a support arm and a movable arm, wherein the outer side of the movable arm is detachably connected to a No. 1 combination shell, a coupling groove is provided inside the No. 1 combination shell, two groups of moving rods are arranged on the outer side of the No. 1 combination shell, springs are arranged on the outer side of the moving rods, and a No. 1 blocking block is movably provided on the outer side of the moving rods, the outer side of the movable arm is detachably connected to a No. 2 combination shell, a coupling frame is arranged on the top end of the No. 2 combination shell, and the coupling frame is engaged with the coupling groove, and two groups of No. 2 blocking blocks are arranged on the outer side of the No. 2 combination shell.

[0008] Preferably, a No. 1 motor is disposed on the front side of the base, and an output end of the No. 1 motor is connected to the support arm.

[0009] Preferably, a No. 2 motor is provided on the front side of the support arm, and an output end of the No. 2 motor is connected to the movable arm.

[0010] Preferably, the other end of the movable arm is connected to a cylinder, and the output end of the cylinder is provided with a mounting shell.

[0011] Preferably, a No. 3 motor is arranged inside the mounting shell, and a hydraulic clamp is arranged at the output end of the No. 3 motor.

[0012] Preferably, two groups of locking plates are provided on one side of the No. 1 combination shell, and a locking shell is provided on one side of the No. 2 combination shell. The locking plates movably penetrate the interior of the locking shell, and the locking plates are made of rubber plates.

[0013] Preferably, inner walls of the No. 1 combined shell and the No. 2 combined shell are both provided with a rubber layer, and the rubber layer is in contact with the outer side of the movable arm.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The utility model arranges a No. 1 combined shell and a No. 2 combined shell, inserts two groups of positioning plates on one side of the No. 1 combined shell into the positioning shell on one side of the No. 2 combined shell, and then engages the engaging frame with the engaging groove. Then, the movable rod is movably positioned at the inner arc hole of the No. 2 blocking block, and the spring can elastically push the No. 1 blocking block to squeeze the No. 2 blocking block by utilizing the elastic effect of the spring. A certain amount of lubricating oil can be stored inside the spliced ​​No. 1 combined shell and the No. 2 combined shell to lubricate and protect the connection between the movable arm and the support arm, effectively reducing the accumulation of dust, particulate impurities, water vapor and other substances in the external environment at the joint connection between the movable arm and the support arm, causing corrosion and jamming at the joint of the mechanical arm, and effectively improving product quality and work efficiency.

[0016] 2. The utility model can adjust the use angles of the support arm and the movable arm by setting the No. 1 motor and the No. 2 motor and cooperating with the No. 1 motor and the No. 2 motor, and can adjust the use position of the hydraulic clamp by using the cylinder. Since the hydraulic clamp is connected to the output end of the No. 3 motor, when the No. 3 motor is running, the use angle of the hydraulic clamp can be rotated to adjust the use angle of the hydraulic clamp, and the hydraulic clamp can be used to clamp objects, thereby effectively ensuring the flexibility of the use of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional front structure of the device body;

[0018] Figure 2It is a schematic diagram of the three-dimensional side structure of the device body;

[0019] Figure 3 It is a schematic diagram of the support arm structure of the device body;

[0020] Figure 4 It is a schematic diagram of the explosion structure of the No. 1 combined shell and the No. 2 combined shell of the device body;

[0021] Figure 5 This is a schematic diagram of the structure at point A of the device body.

[0022] In the figure: 1. base; 2. motor No. 1; 3. support arm; 4. motor No. 2; 5. movable arm; 6. cylinder; 7. mounting shell; 8. motor No. 3; 9. hydraulic clamp; 10. combination shell No. 1; 11. joint groove; 12. positioning plate; 13. moving rod; 14. spring; 15. blocking block No. 1; 16. combination shell No. 2; 17. joint frame; 18. positioning shell; 19. blocking block No. 2; 20. rubber layer. DETAILED DESCRIPTION

[0023] 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.

[0024] Embodiment 1

[0025] like Figure 1 - Figure 5 As shown, a multi-degree-of-freedom robot mechanical arm with anti-stuck includes a base 1, a support arm 3 and a movable arm 5. The outer side of the movable arm 5 is detachably connected to a first combination shell 10, and the interior of the first combination shell 10 is provided with a joint groove 11. The outer side of the first combination shell 10 is provided with two groups of moving rods 13, and the outer side of the moving rod 13 is provided with a spring 14. The outer side of the moving rod 13 is movably provided with a first blocking block 15. The outer side of the movable arm 5 is detachably connected to a second combination shell 16, and the top of the second combination shell 16 is provided with a spring 14. A joining frame 17 is provided at the end, and the joining frame 17 is engaged and connected with the joining groove 11, two groups of No. 2 blocking blocks 19 are provided on the outer side of the No. 2 combination shell 16, two groups of blocking plates 12 are provided on one side of the No. 1 combination shell 10, and a blocking shell 18 is provided on one side of the No. 2 combination shell 16. The blocking plate 12 movably passes through the interior of the blocking shell 18. The blocking plate 12 is made of rubber plate, and the inner walls of the No. 1 combination shell 10 and the No. 2 combination shell 16 are both provided with rubber layers 20, and the rubber layer 20 is in contact with the outer side of the movable arm 5.

[0026] Furthermore, after the combination shell No. 1 10 and the combination shell No. 2 16 are combined, the connection between the movable arm 5 and the support arm 3 can be covered. The joint groove 11 is opened inside the combination shell No. 1 10, and the joint groove 11 provides a fitting connection space for the joint frame 17. After the joint frame 17 is engaged with the joint groove 11, it presents a "convex" shape and a "concave" shape connection shape, so that the combination shell No. 1 10 and the combination shell No. 2 16 can be spliced ​​and combined.

[0027] Furthermore, after the two groups of positioning plates 12 set on one side of the No. 1 combination shell 10 are inserted into the positioning shell 18 set on one side of the No. 2 combination shell 16, the engaging frame 17 set on the top of the No. 2 combination shell 16 is engaged with the engaging groove 11 opened inside the No. 1 combination shell 10, and the No. 1 combination shell 10 and the No. 2 combination shell 16 can be combined and spliced, and the moving rod 13 is movably positioned at the arc hole inside the No. 2 blocking block 19, so that the No. 1 blocking block 15 movably arranged on the outer side of the moving rod 13 is located below the No. 2 blocking block 19, and the spring 14 can utilize the elastic effect of the spring 14 to elastically push the No. 1 blocking block 15 to squeeze the No. 2 blocking block 19, and a certain amount of lubricating oil can be stored inside the spliced ​​No. 1 combination shell 10 and the No. 2 combination shell 16 to lubricate and protect the connection between the movable arm 5 and the support arm 3, effectively reducing the accumulation of dust, particulate impurities and water vapor in the external environment at the joint connection between the movable arm 5 and the support arm 3, causing corrosion and jamming at the joints of the mechanical arm, and effectively improving product quality and work efficiency.

[0028] Embodiment 2

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, the utility model proposes an anti-stuck multi-degree-of-freedom robot manipulator. Compared with the first embodiment, as another implementation mode of the utility model, a No. 1 motor 2 is arranged on the front of the base 1, and the output end of the No. 1 motor 2 is connected to the support arm 3, and a No. 2 motor 4 is arranged on the front of the support arm 3, and the output end of the No. 2 motor 4 is connected to the movable arm 5, and the other end of the movable arm 5 is connected to a cylinder 6, and a mounting shell 7 is arranged on the output end of the cylinder 6, and a No. 3 motor 8 is arranged inside the mounting shell 7, and a hydraulic clamp 9 is arranged on the output end of the No. 3 motor 8.

[0030] Furthermore, the base 1 is the main bottom supporting component of the multi-degree-of-freedom robot arm. Since the support arm 3 is connected to the output end of the No. 1 motor 2, the use angle of the support arm 3 can be adjusted when the No. 1 motor 2 is running. The movable arm 5 is movably connected to the support arm 3, and the movable arm 5 is connected to the output end of the No. 2 motor 4. When the No. 2 motor 4 is running, the movable arm 5 can adjust the use angle around the support arm 3.

[0031] Furthermore, by operating the cylinder 6, the use position of the hydraulic clamp 9 can be adjusted, and the mounting shell 7 provides installation space and protection for the internal motor No. 3. Since the hydraulic clamp 9 is connected to the output end of the motor No. 3, when the motor No. 3 is running, the use angle of the hydraulic clamp 9 can be rotated to adjust, and the hydraulic clamp 9 can be used to clamp objects.

[0032] Working principle: When in use, the use angles of the support arm 3 and the movable arm 5 can be adjusted by the cooperation of the No. 1 motor 2 and the No. 2 motor 4, and the use position of the hydraulic clamp 9 can be adjusted by the cylinder 6. Since the hydraulic clamp 9 is connected to the output end of the No. 3 motor 8, the use angle of the hydraulic clamp 9 can be rotated and adjusted when the No. 3 motor 8 is running, and the hydraulic clamp 9 can be used to clamp objects, effectively ensuring the flexibility of the use of the robot arm;

[0033] After inserting the two groups of locking plates 12 on one side of the No. 1 combination shell 10 into the locking shell 18 on one side of the No. 2 combination shell 16, the engaging frame 17 is engaged with the engaging groove 11, and then the moving rod 13 is moved to the inner arc hole of the No. 2 blocking block 19. By utilizing the elastic effect of the spring 14, the spring 14 can elastically push the No. 1 blocking block 15 to squeeze the No. 2 blocking block 19. A certain amount of lubricating oil can be stored inside the spliced ​​combination shell No. 10 and the No. 2 combination shell 16 to lubricate and protect the connection between the movable arm 5 and the support arm 3, effectively reducing the accumulation of dust, particulate impurities, water vapor and other substances in the external environment at the joint connection between the movable arm 5 and the support arm 3, causing corrosion and jamming at the joints of the robotic arm, and effectively improving product quality and work efficiency.

[0034] This is how the anti-stuttering multi-DOF robotic arm works.

[0035] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A multi-degree-of-freedom robot arm with an anti-stuck function, comprising a base (1), a support arm (3) and a movable arm (5), characterized in that: The outer side of the movable arm (5) is detachably connected to a first combination shell (10), a coupling groove (11) is provided inside the first combination shell (10), two groups of moving rods (13) are arranged on the outer side of the first combination shell (10), a spring (14) is arranged on the outer side of the moving rod (13), a first blocking block (15) is movably arranged on the outer side of the moving rod (13), the outer side of the movable arm (5) is detachably connected to a second combination shell (16), a coupling frame (17) is arranged at the top end of the second combination shell (16), and the coupling frame (17) is engaged with the coupling groove (11), and two groups of second blocking blocks (19) are arranged on the outer side of the second combination shell (16).

2. The anti-stuttering multi-degree-of-freedom robot arm according to claim 1, characterized in that: A first motor (2) is arranged on the front side of the base (1), and an output end of the first motor (2) is connected to a support arm (3).

3. The anti-stuttering multi-degree-of-freedom robot arm according to claim 2, characterized in that: A second motor (4) is arranged on the front side of the support arm (3), and an output end of the second motor (4) is connected to the movable arm (5).

4. The anti-stuttering multi-degree-of-freedom robot arm according to claim 3, characterized in that: The other end of the movable arm (5) is connected to a cylinder (6), and the output end of the cylinder (6) is provided with a mounting shell (7).

5. The anti-stuttering multi-degree-of-freedom robot arm according to claim 4, characterized in that: A third motor (8) is arranged inside the installation shell (7), and a hydraulic clamp (9) is arranged at the output end of the third motor (8).

6. The anti-stuttering multi-degree-of-freedom robot arm according to claim 1, characterized in that: Two groups of locking plates (12) are arranged on one side of the first combination shell (10), and a locking shell (18) is arranged on one side of the second combination shell (16). The locking plates (12) are movable and penetrate the interior of the locking shell (18). The locking plates (12) are made of rubber plates.

7. The anti-stuttering multi-DOF robot arm according to claim 1, characterized in that: The inner walls of the first combined shell (10) and the second combined shell (16) are both provided with a rubber layer (20). Furthermore, the rubber layer (20) is in contact with the outer side of the movable arm (5).