Mechanical arm joint assembly

Abstract

The utility model discloses a mechanical arm joint assembly, and belongs to the technical field of mechanical arms, the mechanical arm joint assembly comprises a main body module and an improved module, the main body module comprises a mounting column, the top of the mounting column is fixedly connected with a handle, the improved module is arranged at the bottom of the mounting column, and the improved module comprises a steering assembly arranged at the bottom of the mounting column; the device comprises a steering assembly, a telescopic assembly is arranged at the bottom of the steering assembly, an angle adjusting assembly is arranged at the bottom of the telescopic assembly, and a grabbing assembly is arranged at the bottom of the angle adjusting assembly. Through the arrangement of the telescopic assembly, the angle adjusting assembly and the grabbing assembly can be driven to stretch out and draw back to adjust the length, through the arrangement of the angle adjusting assembly, the grabbing assembly can be driven to rotate to adjust the angle, and through the arrangement of the grabbing assembly, objects can be grabbed.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and more specifically, to a robotic arm joint assembly. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields. A robotic arm is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade and form the terminal posture.

[0003] According to the search, the Chinese patent with publication number CN212947785U discloses a robot arm joint assembly, which includes an outer tube, an inner tube is interspersed inside the outer tube along the central axis of the outer tube, and the two ends of the inner tube respectively pass through the two ends of the outer tube, one end of the outer tube is fixedly sleeved with a circular plate, and the end of the inner tube close to the circular plate is fixedly connected with a column block, and the circular plate is fixedly connected with no less than two mounting blocks distributed in an equidistant circular array, each of the mounting blocks is hinged with a movable rod 1 and a movable rod 2. The application uses the claws and moving components set on the outer tube, so that the movable rod 1 and the L-shaped bracket will move accordingly, and the claws on each movable rod 2 are closed and close to each other to grab the animal feces, which is convenient for cleaners to handle animal feces in some narrow corners such as wall corners and trees.

[0004] With respect to the above-mentioned related technologies, the applicant believes that the fixed setting of the outer tube makes it inconvenient to adjust the angle and length, resulting in low practicality. Therefore, we propose a robotic arm joint assembly. Utility Model Content

[0005] In order to solve the above problems, the present application provides a mechanical arm joint assembly, which adopts the following technical solutions:

[0006] A mechanical arm joint assembly comprises a main body module and an improved module, wherein the main body module comprises a mounting column, the top of the mounting column is fixedly connected with a handle, the improved module is arranged at the bottom of the mounting column, the improved module comprises a steering assembly arranged at the bottom of the mounting column, a telescopic assembly is arranged at the bottom of the steering assembly, an angle adjustment assembly is arranged at the bottom of the telescopic assembly, a grab assembly is arranged at the bottom of the angle adjustment assembly, the steering assembly comprises a circular groove opened at the bottom of the mounting column, a driving motor is fixedly connected to the inside of the circular groove, and the output end of the driving motor extends to the outside of the circular groove, the telescopic assembly comprises a fixed connection to the driving motor, A connecting column at the output end of the motor, a rectangular groove is provided at the bottom of the connecting column, the telescopic component also includes a hydraulic cylinder fixedly connected to the inside of the rectangular groove, and the output end of the hydraulic cylinder extends to the outside of the rectangular groove, the output end of the hydraulic cylinder is fixedly connected to a lifting block, the angle adjustment component includes a U-shaped frame fixedly connected to the bottom of the lifting block, the inside of the U-shaped frame is rotatably connected to a rotating pin, one end of the U-shaped frame is fixedly connected to a first forward and reverse motor, and the output end of the first forward and reverse motor is fixedly connected to one end of the rotating pin, the angle adjustment component also includes a connecting block fixedly connected to the surface of the rotating pin, and the bottom of the connecting block is fixedly connected to a mounting plate.

[0007] By adopting the above technical solution, the angle and length can be adjusted, thereby improving practicality.

[0008] Furthermore, the grabbing assembly includes a mounting block fixedly connected to the bottom of the mounting plate, the mounting block is internally rotatably connected to two gears, and the two gears are meshed, and the surfaces of the two gears are provided with clamping claws.

[0009] By adopting the above technical solution, the rotation of the gear will drive the clamping claws to expand or retract.

[0010] Furthermore, the grabbing assembly also includes a second forward and reverse motor fixedly connected to one side of the mounting block, and an output end of the second forward and reverse motor is fixedly connected to the axis of one of the gears.

[0011] By adopting the above technical solution, one of the gears can be driven to rotate.

[0012] In summary, this application includes the following beneficial technical effects:

[0013] (1) By setting the steering component, the telescopic component, the angle adjustment component and the grabbing component can be driven to turn and adjust the position; by setting the telescopic component, the angle adjustment component and the grabbing component can be driven to telescope and adjust the length; by setting the angle adjustment component, the grabbing component can be driven to rotate and adjust the angle, thereby improving practicality;

[0014] (2) By setting the driving motor, the connecting column can be driven to rotate, by setting the hydraulic cylinder, the lifting block can be driven to rise and fall, and by setting the first forward and reverse motor, the mounting plate can be driven to rotate;

[0015] (3) By setting the gears, when one of the gears rotates, it can drive the other gear to rotate in the opposite direction. By setting the second forward and reverse motor, one of the gears can be driven to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of this application;

[0017] Figure 2 This is a schematic diagram of the explosion structure of this application;

[0018] Figure 3 It is a schematic diagram of the cross-sectional exploded structure of the steering assembly and the telescopic assembly of the present application;

[0019] Figure 4 This is a schematic diagram of the exploded structure of the angle adjustment component and the grabbing component of the present application.

[0020] Description of the numbers in the figure:

[0021] 100, main body module; 110, mounting column; 120, handle;

[0022] 200, improvement module; 210, steering assembly; 211, circular groove; 212, driving motor; 220, telescopic assembly; 221, connecting column; 222, rectangular groove; 223, hydraulic cylinder; 224, lifting block; 230, angle adjustment assembly; 231, U-shaped frame; 232, rotating pin; 233, first forward and reverse motor; 234, connecting block; 235, mounting plate; 240, grabbing assembly; 241, mounting block; 242, gear; 243, clamping claw; 244, second forward and reverse motor. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0024] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0025] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] The following is combined with Figure 1-4 This application is described in further detail.

[0027] See also Figure 1-4A mechanical arm joint component includes a main body module 100 and an improved module 200, the main body module 100 includes a mounting column 110, the top of the mounting column 110 is fixedly connected with a handle 120, the improved module 200 is arranged at the bottom of the mounting column 110, the improved module 200 includes a steering assembly 210 arranged at the bottom of the mounting column 110, a telescopic assembly 220 is arranged at the bottom of the steering assembly 210, an angle adjustment assembly 230 is arranged at the bottom of the telescopic assembly 220, and a grabbing assembly 240 is arranged at the bottom of the angle adjustment assembly 230, the steering assembly 210 includes a circular groove 211 opened at the bottom of the mounting column 110, a driving motor 212 is fixedly connected to the inside of the circular groove 211, and the output end of the driving motor 212 extends to the outside of the circular groove 211, and the telescopic assembly 220 includes a fixed connection to the driving motor 212. The connecting column 221 at the output end of the machine 212 has a rectangular groove 222 at the bottom of the connecting column 221. The telescopic component 220 also includes a hydraulic cylinder 223 fixedly connected to the inside of the rectangular groove 222, and the output end of the hydraulic cylinder 223 extends to the outside of the rectangular groove 222. The output end of the hydraulic cylinder 223 is fixedly connected to a lifting block 224. The angle adjustment component 230 includes a U-shaped frame 231 fixedly connected to the bottom of the lifting block 224, and the inside of the U-shaped frame 231 is rotatably connected to a rotating pin 232. One end of the U-shaped frame 231 is fixedly connected to a first forward and reverse motor 233, and the output end of the first forward and reverse motor 233 is fixedly connected to one end of the rotating pin 232. The angle adjustment component 230 also includes a connecting block 234 fixedly connected to the surface of the rotating pin 232, and the bottom of the connecting block 234 is fixedly connected to a mounting plate 235.

[0028] By setting the steering component 210, the telescopic component 220, the angle adjustment component 230 and the grabbing component 240 can be driven to steer and adjust the position; by setting the telescopic component 220, the angle adjustment component 230 and the grabbing component 240 can be driven to telescope and adjust the length; by setting the angle adjustment component 230, the grabbing component 240 can be driven to rotate and adjust the angle; and by setting the grabbing component 240, objects can be grabbed.

[0029] By starting the drive motor 212, the drive motor 212 will drive the clamping claw 243 to rotate and adjust the position through the connecting column 221. By starting the hydraulic cylinder 223, the hydraulic cylinder 223 will drive the clamping claw 243 to lift and adjust the height through the lifting block 224. By starting the first forward and reverse motor 233, the first forward and reverse motor 233 will drive the clamping claw 243 to rotate and adjust the angle through the rotating pin 232, the connecting block 234 and the mounting plate 235, thereby improving the practicality of the present robotic arm.

[0030] The grabbing assembly 240 includes a mounting block 241 fixedly connected to the bottom of the mounting plate 235, and the mounting block 241 is internally rotatably connected to two gears 242, and the two gears 242 are meshed with each other. The surfaces of the two gears 242 are provided with clamping claws 243. The grabbing assembly 240 also includes a second forward and reverse motor 244 fixedly connected to one side of the mounting block 241, and the output end of the second forward and reverse motor 244 is fixedly connected to the axis center of one of the gears 242.

[0031] By starting the second forward and reverse motor 244, the second forward and reverse motor 244 will drive one of the gears 242 to rotate, thereby driving the other gear 242 to rotate in the opposite direction, and then driving the two clamping claws 243 to expand or contract in opposite directions, so as to clamp the object.

[0032] The implementation principle of the embodiment of the present application is as follows: when work is required, the drive motor 212 can be started, and the drive motor 212 will drive the connecting column 221 to rotate, thereby driving the clamping claw 243 to rotate and adjust the position; by starting the hydraulic cylinder 223, the hydraulic cylinder 223 will drive the lifting block 224 to lift and lower, thereby driving the clamping claw 243 to lift and lower, and then the height of the clamping claw 243 can be adjusted; by starting the first forward and reverse motor 233, the first forward and reverse motor 233 will drive the rotating pin 232 to rotate, and the rotating pin 232 will drive the mounting plate 235 to rotate through the connecting block 234, thereby driving the clamping claw 243 to adjust the angle; by starting the second forward and reverse motor 244, the second forward and reverse motor 244 will drive one of the gears 242 to rotate, thereby driving the other gear 242 to rotate in the opposite direction, thereby driving the two clamping claws 243 to move closer or farther from each other, thereby realizing the function of grasping, so that the present mechanical arm can adjust the position, length and angle, thereby improving practicality.

[0033] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot arm joint assembly, comprising a main module (100) and an improved module (200), characterized in that: The main body module (100) comprises a mounting column (110), a handle (120) being fixedly connected to the top of the mounting column (110), and the improved module (200) being arranged at the bottom of the mounting column (110); The improved module (200) comprises a steering assembly (210) arranged at the bottom of the mounting column (110), a telescopic assembly (220) being arranged at the bottom of the steering assembly (210), an angle adjustment assembly (230) being arranged at the bottom of the telescopic assembly (220), and a grabbing assembly (240) being arranged at the bottom of the angle adjustment assembly (230), the steering assembly (210) comprising a circular groove (211) provided at the bottom of the mounting column (110), a driving motor (212) being fixedly connected to the inside of the circular groove (211), and an output end of the driving motor (212) extending to the outside of the circular groove (211), the telescopic assembly (220) comprising a connecting column (221) fixedly connected to the output end of the driving motor (212), a rectangular groove (222) being provided at the bottom of the connecting column (221), and the telescopic assembly (2 20) further comprises a hydraulic cylinder (223) fixedly connected to the inside of the rectangular groove (222), and the output end of the hydraulic cylinder (223) extends to the outside of the rectangular groove (222), the output end of the hydraulic cylinder (223) is fixedly connected to a lifting block (224), the angle adjustment component (230) comprises a U-shaped frame (231) fixedly connected to the bottom of the lifting block (224), the inside of the U-shaped frame (231) is rotatably connected to a rotating pin (232), one end of the U-shaped frame (231) is fixedly connected to a first forward and reverse motor (233), and the output end of the first forward and reverse motor (233) is fixedly connected to one end of the rotating pin (232), and the angle adjustment component (230) further comprises a connecting block (234) fixedly connected to the surface of the rotating pin (232), and the bottom of the connecting block (234) is fixedly connected to a mounting plate (235).

2. A mechanical arm joint assembly according to claim 1, characterized in that: The grab assembly (240) comprises a mounting block (241) fixedly connected to the bottom of the mounting plate (235); two gears (242) are rotatably connected inside the mounting block (241); the two gears (242) are meshed with each other, and clamping claws (243) are provided on the surfaces of the two gears (242).

3. A mechanical arm joint assembly according to claim 2, characterized in that: The grab assembly (240) further comprises a second forward and reverse motor (244) fixedly connected to one side of the mounting block (241), and an output end of the second forward and reverse motor (244) is fixedly connected to the axis of one of the gears (242).

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