Mechanical arm moving structure based on dual-motor combined control

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a mechanical arm moving structure based on double-motor combined control, which comprises a fixed seat and supporting legs, the supporting legs are mounted at the bottom of the fixed seat, a moving device is mounted in the fixed seat, and the moving device comprises a rotating unit, a lifting moving unit and a clamping unit. The rotating unit is installed in the fixing base, the lifting moving unit is installed on the top of the fixing base, and the clamping unit is installed on the top of the fixing base. According to the mechanical arm moving structure based on double-motor combined control, the lifting moving unit is installed, and two sets of telescopic lifting motors installed below the rotating unit are used for combined control, so that a lifting block is driven to ascend and descend on the outer surface of a linear rail and a clamping unit is driven to stretch out and draw back; and therefore, the whole clamping unit can be further controlled to move in a three-dimensional space, and the clamping work is completed.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm moving structure based on dual-motor joint control. Background Art

[0002] A robotic arm, as the name suggests, is a mechanism designed to imitate a human arm and is a serial robot mechanism.

[0003] By installing different actuators on the wrist of the robot arm, which can be grippers, drills, welding guns and other actuators for different working purposes, and then using the kinematic pairs of the robot arm, forearm and even wrist to achieve the target position and posture of our actuators! This implementation method is based on the serial robot, taking the parameters between the various parts of the robot arm (for example: generally taking the connecting rod torsion angle, connecting rod angle) to reverse the position of each part according to the posture of the actuator, so as to adjust these parameters and realize the motion work. However, this kind of back calculation generally has multiple solutions, which requires optimization and trade-offs. The model established by this calculation is to represent the posture of each kinematic pair with a matrix. The reverse deduction mentioned above is to deduce the posture matrix of each kinematic pair of the robot arm according to the posture matrix of the actuator. As for refinement, it is necessary to use computer programming and control system to achieve it.

[0004] The types of robotic arms also differ according to the choice of their coordinate systems, including cylindrical coordinate systems, rectangular coordinate systems, spherical coordinate systems, articulated and planar articulated industrial robots (or robotic arms). Different coordinate systems have different working spaces for the robotic arms, and different ways of implementing control calculations. The previous paragraph talks about the principle of articulated robotic arms.

[0005] However, the effectiveness of common robotic arms in positioning, clamping, and rotational movement placement still needs to be improved.

[0006] Therefore, we proposed a robotic arm mobile structure based on dual-motor joint control to solve the above problems. Utility Model Content

[0007] The purpose of the utility model is to provide a mechanical arm moving structure based on dual motor joint control to solve the problems raised in the above background technology.

[0008] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a mechanical arm mobile structure based on dual-motor joint control, comprising a fixed seat, a support leg, the bottom of the fixed seat is equipped with a support leg, the bottom of the support leg is equipped with a mobile base assembly, a mobile device is installed inside the fixed seat, the mobile device comprises a rotating unit, a lifting and moving unit, and a clamping unit, the rotating unit is installed inside the fixed seat, the lifting and moving unit is installed on the top of the fixed seat, and the clamping unit is installed on the top of the fixed seat;

[0009] The lifting and moving unit includes a telescopic lifting motor, a motor bracket, a lifting block, a linear rail, a blocking block, a limit plate, an optical axis, and a telescopic moving assembly. The motor bracket is installed inside a fixed seat, the telescopic lifting motor is installed at the bottom of the motor bracket, the linear rail is installed at the top of the fixed seat, the linear rail slider is installed on the outer surface of the linear rail, the lifting block is installed on the outer surface of the slider, the blocking block is installed on the top of the linear rail, the telescopic moving assembly is installed on the inner side of the lifting block, the limit plate is installed on the back side of the telescopic moving assembly, and the optical axis is installed on the front side of the limit plate. By installing the lifting and moving unit and jointly controlling the two sets of telescopic lifting motors installed under the rotating unit, the lifting block is driven to lift and lower on the outer surface of the linear rail and the clamping unit is extended and retracted, thereby further controlling the entire clamping unit to move in one plane.

[0010] Preferably, the telescopic moving assembly is composed of two synchronous wheels on two motors, four idle wheels in the lifting block, two idle wheels on the top of the linear rail, and two constant-length synchronous belts connecting two limit plates. One group controls the lower left and upper right movement of the clamping unit, and the other group controls the upper left and lower right movement of the clamping unit. The clamping unit can be telescoped or lifted through the joint control of the two motors. Thus, the device can perform the clamping and transportation function well.

[0011] Preferably, the clamping unit includes a clamping motor, a support plate, a transmission gear, a transmission gear ring, a left clamping arm, and a right clamping arm. The clamping motor is installed on the top of the fixed seat, the support plate is installed on the bottom of the clamping motor, the transmission gear is installed on the output shaft of the clamping motor, the transmission gear ring is installed on the outer surface of the transmission gear, the left clamping arm is installed on the outer surface of the transmission gear ring, and the right clamping arm is installed on the outer surface of the transmission gear ring, so that by installing the clamping unit and starting the clamping motor, the transmission gear is driven by the clamping motor to rotate, and the transmission gear rotates, so that the transmission gear is meshed with the left clamping arm and the transmission gear ring, thereby controlling the left clamping arm and the right clamping arm to complete the clamping work.

[0012] Preferably, the right clamping arm is fixedly connected to the transmission gear ring, so that the right clamping arm is driven to rotate by meshing with the transmission gear ring, thereby facilitating clamping of the workpiece.

[0013] Preferably, the rotating unit includes a rotating disc, a fixed column, a rotating motor, bearing balls, and a rotating transmission rod. The rotating disc is installed inside the fixed seat, the fixed column is installed on the top of the rotating disc, the rotating motor is installed on the bottom of the fixed seat, the bearing balls are installed on the outer surface of the rotating disc, and the rotating transmission rod is installed on the output shaft of the rotating motor. By installing the rotating unit, the rotating motor is started, and the rotating transmission rod is driven by the rotating motor to rotate, so that the rotating transmission rod is rotated to control the rotation of the rotating disc, so that the place where clamping and transportation is required can be positioned and rotated, thereby facilitating clamping and transportation.

[0014] Preferably, the rotating transmission rod is fixedly connected to the bottom of the rotating disc, so that the rotating disc is further rotated by rotating the rotating transmission rod, thereby facilitating the rotation.

[0015] Preferably, a groove for mounting a bearing ball is installed on the inner side of the fixing seat, so that the device can be further rotated by movably connecting the fixing seat with the rotating disk.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] 1. The robot arm mobile structure based on dual-motor joint control is installed with a lifting and moving unit, and is jointly controlled by two sets of telescopic lifting motors installed under the rotating unit, thereby driving the lifting block to lift and lower on the outer surface of the linear rail and the telescopic clamping unit, and then starting the rotating motor, so as to further control the movement of the entire clamping unit in three-dimensional space, thereby completing the clamping work.

[0018] 2. The robot arm moving structure based on dual-motor joint control installs a clamping unit and starts the clamping motor, which drives the transmission gear to rotate. The transmission gear rotates, so that the transmission gear engages with the left clamping arm and the transmission gear ring, thereby controlling the left clamping arm and the right clamping arm to complete the clamping work. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall structure diagram of the utility model;

[0020] Figure 2 This is a bottom structure diagram of the utility model;

[0021] Figure 3 This is the internal structure diagram of the fixing seat of the utility model;

[0022] Figure 4 This is a structural diagram of the clamping unit of the utility model;

[0023] Figure 5 This is the installation diagram of the base assembly structure of the utility model;

[0024] Figure 6 It is a horizontal mirror image of the synchronous belt a of the utility model wound around b;

[0025] Figure 7 This is a horizontal mirror image of the synchronous belt b of the utility model wound as a.

[0026] In the figure: 101, fixed seat; 102, support foot; 201, rotating disk; 202, fixed column; 203, rotating motor; 204, bearing ball; 205, rotating transmission rod; 301, clamping motor; 302, support plate; 303, transmission gear; 304, transmission gear ring; 305, left clamping arm; 306, right clamping arm; 401, telescopic lifting motor; 402, fixed plate; 403, lifting block; 404, linear rail; 405, blocking block; 406, limiting plate; 407, optical axis; 408, telescopic moving assembly; 409, linear sliding bearing; 410, linear rail slider; 5, moving base assembly. DETAILED DESCRIPTION

[0027] 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.

[0028] See also Figure 1-Figure 7 , the utility model provides a technical solution:

[0029] Embodiment 1:

[0030] A mechanical arm mobile structure based on dual-motor joint control includes a fixed base 101 and a support leg 102. The support leg 102 is installed at the bottom of the fixed base 101. The bottom of the support leg 102 is installed with a mobile base assembly 5. A mobile device is installed inside the fixed base 101. The mobile device includes a lifting and moving unit. The lifting and moving unit is installed on the top of the fixed base 101.

[0031] The lifting and moving unit includes a telescopic lifting motor 401, a fixed plate 402, a lifting block 403, a linear rail 404, a blocking block 405, a limiting plate 406, an optical axis 407, and a telescopic moving assembly 408. The fixed plate 402 is installed inside the fixed seat 101, the telescopic lifting motor 401 is installed at the bottom of the fixed plate 402, the linear rail 404 is installed at the top of the fixed seat 101, the linear rail slider 410 is installed on the outer surface of the linear rail 404, the lifting block 403 is installed on the outer surface of the linear rail slider 410, the blocking block 405 is installed on the top of the linear rail 404, and the telescopic lifting motor 401 is installed at the bottom of the fixed plate 402. The retractable moving component 408 is installed on the inner side of the lifting block 403, the limit plates 406 are installed at both ends of the optical axis 407, the linear sliding bearing 409 is installed inside the lifting block 403, and the optical axis 407 is installed inside the linear sliding bearing 409. By installing the lifting and moving unit, the two sets of telescopic lifting motors 401 installed under the rotating unit are jointly controlled to drive the lifting block 403 to rise and fall on the outer surface of the linear rail 404 and the clamping unit to retract, so that the entire clamping unit can be further controlled to move in a plane, thereby completing the clamping work.

[0032] The telescopic moving component 408 consists of two synchronous wheels on two groups of motors, four idle wheels in the lifting block 403, two idle wheels on the top of the linear rail 404, and two constant-length synchronous belts connecting the two limit plates 406. One group controls the lower left and upper right movement of the clamping unit, and the other group controls the upper left and lower right movement of the clamping unit. The clamping unit can be telescoped or lifted through the joint control of the two groups of motors, so that the device can perform the clamping and transportation functions well.

[0033] Embodiment 2:

[0034] On the basis of the first embodiment, the mobile device further includes a clamping unit, and the clamping unit is installed on the top of the fixing seat 101;

[0035] The clamping unit includes a clamping motor 301, a support plate 302, a transmission gear 303, a transmission ring gear 304, a left clamping arm 305, and a right clamping arm 306. The clamping motor 301 is installed on the top of the fixed base 101, the support plate 302 is installed on the bottom of the clamping motor 301, the transmission gear 303 is installed on the output shaft of the clamping motor 301, the transmission ring gear 304 is installed on the outer surface of the transmission gear 303, the left clamping arm 305 is installed on the outer surface of the transmission ring gear 304, and the right clamping arm 306 is installed on the outer surface of the transmission ring gear 304, so that by installing the clamping unit and starting the clamping motor 301, the clamping motor 301 drives the transmission gear 303 to rotate, and the transmission gear 303 rotates, so that the transmission gear 303 is meshed with the left clamping arm 305 and the transmission ring gear 304, thereby controlling the left clamping arm 305 and the right clamping arm 306 to complete the clamping work.

[0036] The right clamp arm 306 is fixedly connected to the transmission gear ring 304 , so that the right clamp arm 306 is driven to rotate by meshing with the transmission gear ring 304 , thereby facilitating clamping of the workpiece.

[0037] Embodiment three:

[0038] On the basis of the first and second embodiments, the mobile device further includes a rotating unit, which is installed inside the fixing seat 101;

[0039] The rotating unit includes a rotating disc 201, a fixed column 202, a rotating motor 203, a bearing ball 204, and a rotating transmission rod 205. The rotating disc 201 is installed inside the fixed base 101, the fixed column 202 is installed on the top of the rotating disc 201, the rotating motor 203 is installed on the bottom of the fixed base 101, the bearing ball 204 is installed on the outer surface of the rotating disc 201, and the rotating transmission rod 205 is installed on the output shaft of the rotating motor 203. By installing the rotating unit, the rotating motor 203 is started, and the rotating transmission rod 205 is driven by the rotating motor 203 to rotate, so that the rotating transmission rod 205 is rotated to control the rotating disc 201 to rotate, so that the place where clamping and transportation is required can be positioned and rotated, thereby facilitating clamping and transportation.

[0040] The rotating transmission rod 205 is fixedly connected to the bottom of the rotating disc 201, so that the rotating transmission rod 205 rotates, thereby further rotating the rotating disc 201, thereby facilitating the rotation.

[0041] A groove for mounting the bearing ball 204 is installed on the inner side of the fixing seat 101, so that the fixing seat 101 and the rotating disk 201 are movably connected to further achieve the effect of rotating the device.

[0042] Working principle: When an object needs to be clamped, the rotating motor 203 is started, and the rotating motor 203 drives the rotating transmission rod 205 to rotate, thereby rotating the rotating transmission rod 205 to control the rotation of the rotating disc 201, so that the place where clamping and transportation is required can be positioned and rotated. After the positioning is completed, the telescopic lifting motor 401 is started, so that the telescopic lifting motor 401 jointly drives the synchronous belt in the telescopic moving component 408 to move, thereby generating a pulling force on the idler wheel in the lifting block, thereby driving the lifting block to lift and the clamping unit installed on the limit plate to extend and retract. When the clamping unit contacts the target workpiece, the clamping motor 301 is started, and the clamping motor 301 drives the transmission gear 303 to rotate. The transmission gear 303 rotates, so that the transmission gear 303 is engaged with the left clamping arm 305 and the transmission gear ring 304, thereby controlling the left clamping arm 305 and the right clamping arm 306 to complete the clamping work.

[0043] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A mechanical arm moving structure based on dual motor joint control, comprising a fixing seat (101) and a supporting leg (102), characterized in that: A support foot (102) is installed at the bottom of the fixed seat (101), a movable base assembly (5) is installed at the bottom of the support foot (102), a movable device is installed inside the fixed seat (101), the movable device comprises a rotating unit, a lifting and moving unit, and a clamping unit, the rotating unit is installed inside the fixed seat (101), the lifting and moving unit is installed on the top of the fixed seat (101), and the clamping unit is installed on the top of the fixed seat (101); The rotating unit comprises a rotating disc (201), a fixed column (202), a rotating motor (203), a bearing ball (204), and a rotating transmission rod (205); the rotating disc (201) is mounted inside a fixed seat (101); the fixed column (202) is mounted on the top of the rotating disc (201); the rotating motor (203) is mounted on the bottom of the fixed seat (101); the bearing ball (204) is mounted on the outer surface of the rotating disc (201); and the rotating transmission rod (205) is mounted on the output shaft of the rotating motor (203); The lifting and moving unit comprises a telescopic lifting motor (401), a motor bracket (402), a lifting block (403), a linear rail (404), a blocking block (405), a limit plate (406), an optical axis (407), a telescopic moving assembly (408), a linear sliding bearing (409), and a linear rail slider (410). The motor bracket (402) is installed at the bottom of the rotating disc (201), the telescopic lifting motor (401) is installed on the motor bracket (402), and the linear rail (404) is installed on the rotating disc (201). The linear rail slider (410) is installed on the outer surface of the linear rail (404), the lifting block (403) is installed on the outer surface of the linear rail slider (410), the blocking block (405) is installed on the top of the linear rail (404), the telescopic moving component (408) is installed on the inner side of the lifting block (403), the limit plate (406) is installed on both ends of the optical axis (407), the linear sliding bearing (409) is installed inside the lifting block (403), and the optical axis (407) is installed inside the linear sliding bearing (409).

2. The mechanical arm moving structure based on dual motor joint control according to claim 1 is characterized in that: The telescopic moving component (408) is composed of two synchronous wheels on two groups of motors, four idle wheels in the lifting block (403), two idle wheels on the top of the linear rail (404), and two constant-length synchronous belts connecting two limit plates (406). One group controls the lower left and upper right movement of the clamping unit, and the other group controls the upper left and lower right movement of the clamping unit. The clamping unit can be telescoped or lifted through the joint control of the two groups of motors.

3. The mechanical arm moving structure based on dual motor joint control according to claim 1 is characterized in that: The clamping unit comprises a clamping motor (301), a support plate (302), a transmission gear (303), a transmission gear ring (304), a left clamping arm (305), and a right clamping arm (306); the clamping motor (301) is mounted on the top of a fixing seat (101); the support plate (302) is mounted on the bottom of the clamping motor (301); the transmission gear (303) is mounted on the output shaft of the clamping motor (301); the transmission gear ring (304) is mounted on the outer surface of the transmission gear (303); the left clamping arm (305) is mounted on the outer surface of the transmission gear ring (304); and the right clamping arm (306) is mounted on the outer surface of the transmission gear ring (304).

4. The mechanical arm moving structure based on dual motor joint control according to claim 3 is characterized in that: The right clamping arm (306) is fixedly connected to the transmission gear ring (304).

5. The mechanical arm moving structure based on dual motor joint control according to claim 1 is characterized in that: The rotating transmission rod (205) is fixedly connected to the bottom of the rotating disc (201), so that the rotating disc (201) rotates by rotating the transmission rod (205).

6. The mechanical arm moving structure based on dual motor joint control according to claim 1 is characterized in that: A groove for mounting a bearing ball (204) is installed on the inner side of the fixing seat (101).

Images