Flexible adjustable mechanical arm joint

Abstract

The utility model discloses a flexible adjustable mechanical arm joint and belongs to the field of mechanical arms, the flexible adjustable mechanical arm joint comprises a mechanical arm body, a mounting seat is arranged at one end of the mechanical arm body, a cavity is formed in the mounting seat, the mechanical arm body comprises a telescopic end, and a first flange plate is arranged on the side, close to the mounting seat, of the telescopic end; a fixing assembly is arranged between the first flange plate and the mounting base, a mounting disc is connected to the side, away from the mounting base, of the telescopic end, a mounting box is fixedly mounted on the side, away from the mounting base, of the mounting disc, and a protection box is rotationally mounted on the side, away from the mounting base, of the mounting box. Through the arrangement of the adjusting assembly, one third gear motor drives the supporting rod to rotate and wind the steel cables in the same set, the other steel cables are unwound, the telescopic end can be bent, the effect of adjusting the angle of the mechanical arm body is achieved, and through cooperation of the multiple third gear motors and the steel cables, the angle of equipment is conveniently adjusted; and the use flexibility of the equipment can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotic arms, and more specifically, to a flexible and adjustable robotic arm joint. 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 perturbation, 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 the terminal posture. With the development of science and technology, flexible robotic arms have emerged to facilitate multi-angle operation.

[0003] The patent with application number 202320912988.3 discloses a mechanical arm of a flexible joint module, including a first integrated servo motor, a second integrated servo motor, a third integrated servo motor, a first assembly plate, a first connecting cylinder, a second connecting cylinder and a third connecting cylinder, and the bottom ends of the third integrated servo motor and the first integrated servo motor are fixedly provided with bending connectors. The application sets up a quick disassembly assembly structure, which makes the operation more convenient when the device is disassembled and assembled, and the output ratio of the motor will not change, thereby ensuring the adjustment accuracy of the mechanical arm. The replaceable connecting cylinder structure sets up the device so that the device can replace connecting cylinders of different lengths according to the use requirements of the mechanical arm through the connection method of the connecting cylinder to meet the use requirements, and greatly improves the structural strength of the connecting cylinder itself with less weight gain.

[0004] In response to the above-mentioned related technologies, a quick disassembly and assembly structure is set up to make the operation more convenient when the device is disassembled and assembled. According to the use requirements of the robotic arm, connecting tubes of different lengths are replaced to meet the use requirements. The cooperation of multiple motors and connecting tubes is convenient for disassembly and assembly, but when the setting is used, multiple connecting tubes need to be adjusted synchronously to change the angle of the equipment, thereby reducing the flexibility of the equipment use. Utility Model Content

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

[0006] A flexible and adjustable mechanical arm joint comprises a mechanical arm body, a mounting seat is provided at one end of the mechanical arm body, and a cavity is opened in the mounting seat, the mechanical arm body comprises a telescopic end, and a first flange is provided on the telescopic end close to the mounting seat, a fixing component is provided between the first flange and the mounting seat, a mounting plate is connected to the telescopic end on the side away from the mounting seat, and a mounting box is fixedly installed on the mounting plate on the side away from the mounting seat, a protective box is rotatably installed on the side of the mounting box away from the mounting seat, and a rotating component is provided between the protective box and the mounting box, an inlet and outlet are opened on the side wall of the protective box, a rotating rod is rotatably installed in the protective box, and a connecting rod is fixedly installed on the side wall of the rotating rod, and a second flange is fixedly installed on the end of the connecting rod away from the rotating rod, a driving component is provided at one end of the rotating rod, and an adjustment component is provided between the mounting plate, the telescopic end and the mounting seat.

[0007] By adopting the above technical scheme, when the equipment is used, the staff fixes the robot arm body on the mounting base through the fixing component, and then splices the clamping claw with the robot arm body. Then, the telescopic end can be driven by the adjusting component to complete the adjustment of the direction of the clamping claw, and through the setting of the rotating component, it can drive the protective box and the clamping claw to rotate, and play the role of rotating objects, thereby facilitating the adjustment of the placement angle of the objects, and the driving component can be used to drive the rotating rod to rotate, and the rotating rod drives the connecting rod to swing, and the connecting rod can be used to move the clamping claw synchronously, which can play the role of adjusting the vertical position of the clamping claw, which is beneficial to improve the flexibility of equipment use.

[0008] Furthermore, the fixing assembly includes a positioning ring fixedly mounted on the first flange plate close to the mounting seat, the mounting seat close to the telescopic end is provided with a positioning groove matching the positioning ring, the first flange plate and the mounting seat are fixed by bolts, and the mounting seat close to the robotic arm body is provided with a screw groove matching the bolt.

[0009] By adopting the above technical solution, the staff places the positioning ring installed on one side of the first flange in the positioning groove opened on the side wall of the mounting seat. Through the cooperation of the positioning ring and the positioning groove, the robot arm body is positioned. When the first flange is in contact with the mounting seat, the bolts pass through the first flange and are screwed into the screw grooves opened on the side wall of the mounting seat to fix the robot arm body.

[0010] Furthermore, the rotating assembly includes a support column rotatably installed in the installation box, the side wall fixing sleeve of the support column is provided with a driven gear, the end of the support column away from the telescopic end passes through the installation box and is fixedly connected to the side opposite to the protective box, a first reduction motor is fixedly installed in the installation box, and the output shaft fixing sleeve of the first reduction motor is provided with a driving gear, and the driving gear and the driven gear are meshed.

[0011] By adopting the above technical solution, the first reduction motor drives the driving gear to rotate, the driving gear drives the driven gear to rotate, the driven gear drives the support column to rotate, and the support column rotates synchronously with the protective box and the clamp, thereby adjusting the angle of object placement.

[0012] Furthermore, a limiting ring is fixedly installed on one side of the protection box close to the installation box, and a limiting groove matching the limiting ring is formed on one side of the installation box close to the protection box.

[0013] By adopting the above technical solution, when the protection box rotates, the protection box rotates in the limiting groove with the limiting ring, and the cooperation between the limiting ring and the limiting groove is conducive to maintaining the stability of the protection box rotation.

[0014] Furthermore, the driving assembly includes a box body fixedly installed on one side of the protective box, a second reduction motor fixedly installed in the box body, one end of the rotating rod passes through the box body and is fixedly connected to the output shaft of the second reduction motor, two symmetrically distributed stabilizing rods are fixedly installed on the side wall of the connecting rod, and an arc groove matching the stabilizing rod on the same side is opened on the inner wall of the protective box.

[0015] By adopting the above technical solution, the second reduction motor drives the rotating rod to rotate, and the rotating rod drives the connecting rod, the second flange and the clamping claw to rotate synchronously, thereby adjusting the vertical position of the clamping claw, making it convenient for the equipment to clamp and fix objects at different angles, which is beneficial to improving the flexibility of the equipment.

[0016] Furthermore, the adjustment component includes a plurality of mounting frames fixedly installed in the mounting seat, support rods are rotatably installed in the mounting frames, a third reduction motor is fixedly installed on one side of the mounting frame, one end of the support rod passes through the mounting frame of the same group and is fixedly connected to the conveying shaft of the third reduction motor of the same group, the side walls of the support rods are wrapped with steel cables, the telescopic end is composed of a plurality of stacked airbags, the side walls of the airbags are fixedly installed with wire transmission rings distributed in a circular array, and springs distributed in a circular array are fixedly connected between two adjacent airbags, the mounting seat is provided with through holes distributed in a circular array on one side close to the robot arm body, one end of the steel cable passes through the through holes and the wire transmission rings of the same group and is fixedly connected to the side opposite to the mounting disk.

[0017] By adopting the above technical solution, when it is necessary to adjust the bending angle of the telescopic end, one or two of the third reduction motors are used to drive the support rods of the same group to rotate, so as to achieve the effect of winding the steel cable, and the remaining steel cables are unwound, so that the telescopic end can be bent, which is convenient for the equipment to clamp objects later. The telescopic end is composed of a plurality of stacked air bags, and the side walls of the air bags play a role of limiting the steel cables through the setting of the wire transmission ring, which helps to avoid the phenomenon of the steel cables being entangled casually, and a spring is provided between two adjacent air bags, which plays a supporting role through the elasticity of the spring, which is beneficial to improve the toughness of the telescopic end.

[0018] Furthermore, the inner wall of the wire transmission ring is rotatably mounted with balls distributed in a ring array.

[0019] By adopting the above technical solution, the inner wall of the wire transmission ring is provided with balls, which is helpful to reduce the wear between the steel cable and the wire transmission ring, thereby achieving the effect of protecting the steel cable.

[0020] In summary, this application includes the following beneficial technical effects:

[0021] (1) In the present application, by setting up the adjustment component, one of the third reduction motors drives the support rod to rotate and reel in the same group of steel cables, while the remaining steel cables unwind, so that the telescopic end can be bent, thereby achieving the effect of adjusting the angle of the robot arm body. Through the cooperation of multiple third reduction motors and steel cables, the angle of the equipment can be adjusted conveniently, which is beneficial to improving the flexibility of the equipment.

[0022] (2) In the present application, the telescopic end is formed by stacking a plurality of airbags, and the side walls of the airbags are provided with a wire transmission ring, and the wire transmission ring is provided with a ball bearing, which facilitates the sliding of the steel cable and helps to reduce the wear between the steel cable and the wire transmission ring. A spring is provided between two adjacent airbags, and the elasticity of the spring plays a supporting role, which helps to improve the toughness of the telescopic end.

[0023] (3) In the present application, the rotation assembly and the driving assembly cooperate to adjust the direction and angle of the clamping jaws, making it easier for the device to clamp objects in different positions, thereby improving the flexibility of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a flexible and adjustable robotic arm joint;

[0025] Figure 2 For this application Figure 1 A magnified view of middle;

[0026] Figure 3 A cross-sectional view of the present application;

[0027] Figure 4 For this application Figure 3 Enlarged view of middle B;

[0028] Figure 5 For this application Figure 3 Enlarged view of middle C;

[0029] Figure 6 It is a cross-sectional view of the box body in this application.

[0030] Description of the numbers in the figure:

[0031] 1. Mounting seat; 2. Robot arm body; 21. First flange; 211. Positioning ring; 22. Telescopic end; 221. Spring; 222. Wire transmission ring; 23. Mounting plate; 24. Mounting box; 241. First reduction motor; 242. Driving gear; 243. Support column; 244. Driven gear; 245. Limiting ring; 25. Protective box; 251. Connecting rod; 252. Inlet and outlet; 253. Rotating rod; 3. Box body; 31. Second reduction motor; 4. Steel cable; 5. Through hole; 6. Bolt; 7. Third reduction motor; 8. Mounting frame; 9. Support rod. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] 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.

[0035] The following is combined with Figure 1-6 This application is described in further detail.

[0036] See also Figure 1-6 A flexible and adjustable mechanical arm joint comprises a mechanical arm body 2, a mounting seat 1 is provided at one end of the mechanical arm body 2, and a cavity is opened in the mounting seat 1, the mechanical arm body 2 comprises a telescopic end 22, and a first flange 21 is provided on the side of the telescopic end 22 close to the mounting seat 1, a fixing component is provided between the first flange 21 and the mounting seat 1, the fixing component comprises a positioning ring 211 fixedly installed on the side of the first flange 21 close to the mounting seat 1, a positioning groove matching the positioning ring 211 is opened on the side of the mounting seat 1 close to the telescopic end 22, and the first flange 21 and The mounting seats 1 are fixed by bolts 6, and a screw groove matching the bolt 6 is opened on the side of the mounting seat 1 close to the robot arm body 2. When the equipment is in use, the staff places the positioning ring 211 installed on one side of the first flange 21 in the positioning groove opened on the side wall of the mounting seat 1. Through the cooperation of the positioning ring 211 and the positioning groove, the robot arm body 2 is positioned. When the first flange 21 is in contact with the mounting seat 1, the bolt 6 passes through the first flange 21 and is screwed into the screw groove opened on the side wall of the mounting seat 1, so as to fix the robot arm body 2.

[0037] A mounting plate 23 is connected to the side of the telescopic end 22 away from the mounting seat 1, and a mounting box 24 is fixedly installed on the side of the mounting plate 23 away from the mounting seat 1, and a protective box 25 is rotatably installed on the side of the mounting box 24 away from the mounting seat 1. An adjustment component is provided between the mounting plate 23, the telescopic end 22 and the mounting seat 1, and the adjustment component includes a plurality of mounting frames 8 fixedly installed in the mounting seat 1, and support rods 9 are rotatably installed in the mounting frames 8. A third reduction motor 7 is fixedly installed on one side of the mounting frame 8, and one end of the support rod 9 passes through the same group of mounting frames 8 and is fixedly connected to the conveying shaft of the third reduction motor 7 in the same group, the side walls of the support rod 9 are all surrounded by steel cables 4, the telescopic end 22 is composed of multiple air bags stacked, the side walls of the air bags are fixedly installed with wire transmission rings 222 distributed in a circular array, and springs 221 distributed in a circular array are fixedly connected between two adjacent air bags, and the mounting seat 1 is provided with through holes 5 distributed in a circular array on one side close to the robot body 2, one end of the steel cable 4 passes through the through holes 5 and the wire transmission ring 222 in the same group and is fixedly connected to the side opposite to the mounting plate 23.

[0038] When it is necessary to adjust the bending angle of the telescopic end 22, one or two of the third reduction motors 7 are used to drive the support rods 9 of the same group to rotate, so as to achieve the effect of winding the steel cable 4, and the remaining steel cables 4 are unwound, so that the telescopic end 22 can be bent, which is convenient for the equipment to clamp items later. The telescopic end 22 is formed by stacking multiple air bags, and the side walls of the air bags are provided with a wire transmission ring 222 to limit the steel cable 4, which helps to avoid the phenomenon of the steel cable 4 being entangled casually, and a spring 221 is provided between two adjacent air bags, which plays a supporting role through the elasticity of the spring 221, which is beneficial to improve the toughness of the telescopic end 22, and the inner wall of the wire transmission ring 222 is rotatably installed with ball bearings distributed in a ring array. The inner wall of the wire transmission ring 222 is provided with ball bearings, which is beneficial to reduce the wear between the steel cable 4 and the wire transmission ring 222, thereby achieving the effect of protecting the steel cable 4.

[0039] A rotating assembly is provided between the protective box 25 and the mounting box 24, and the rotating assembly includes a support column 243 rotatably mounted in the mounting box 24, a side wall fixing sleeve of the support column 243 is provided with a driven gear 244, the end of the support column 243 away from the telescopic end 22 passes through the mounting box 24 and is fixedly connected to the side opposite to the protective box 25, a first reduction motor 241 is fixedly installed in the mounting box 24, and a driving gear 242 is fixedly provided on the output shaft fixing sleeve of the first reduction motor 241, the driving gear 242 and the driven gear 244 are meshed, the driving gear 244 is driven to rotate by the first reduction motor 241, the driving gear 244 drives the driven gear 242 to rotate, the driven gear 242 drives the support column 243 to rotate, the support column 243 rotates synchronously with the protective box 25 and the clamp, so as to adjust the angle of placement of the objects.

[0040] A limiting ring 245 is fixedly installed on the side of the protection box 25 close to the installation box 24. A limiting groove matching the limiting ring 245 is opened on the side of the installation box 24 close to the protection box 25. When the protection box 25 rotates, the protection box 25 rotates in the limiting groove with the limiting ring 245. The cooperation between the limiting ring 245 and the limiting groove is conducive to maintaining the stability of the rotation of the protection box 25.

[0041] An inlet and outlet 252 is provided on the side wall of the protection box 25, a rotating rod 253 is rotatably installed in the protection box 25, and a connecting rod 251 is fixedly installed on the side wall of the rotating rod 253, and a second flange is fixedly installed on the end of the connecting rod 251 away from the rotating rod 253, and a driving component is provided on one end of the rotating rod 253, the driving component includes a box body 3 fixedly installed on one side of the protection box 25, a second reduction motor 31 is fixedly installed in the box body 3, one end of the rotating rod 253 passes through the box body 3 and is fixedly connected to the output shaft of the second reduction motor 31, two symmetrically distributed stabilizing rods are fixedly installed on the side wall of the connecting rod 251, and an arc groove matching the stabilizing rod on the same side is provided on the inner wall of the protection box 25, the rotating rod 253 is driven to rotate by the second reduction motor 31, and the rotating rod 253 drives the connecting rod 251, the second flange and the clamp to rotate synchronously, which can play a role in adjusting the vertical position of the clamp, so that the equipment can clamp and fix objects at different angles, which is conducive to improving the flexibility of the equipment.

[0042] The implementation principle of the embodiment of the present application is: when the equipment is in use, the staff fixes the robot arm body 2 on the mounting base 1 through the fixing assembly, and then splices the clamping claw with the robot arm body 2. Then, the telescopic end 22 can be driven by the adjusting assembly to complete the adjustment of the direction of the clamping claw, and through the setting of the rotating assembly, it can drive the protective box 25 and the clamping claw to rotate, and play the role of rotating objects, thereby facilitating the adjustment of the placement angle of the objects, and the driving assembly can be used to drive the rotating rod 253 to rotate, and the rotating rod 253 drives the connecting rod 251 to swing, and the connecting rod 251 can be used to move the clamping claw synchronously, which can play the role of adjusting the vertical position of the clamping claw, which is beneficial to improve the flexibility of equipment use.

[0043] 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 flexible and adjustable mechanical arm joint, comprising a mechanical arm body (2), characterized in that: A mounting seat (1) is provided at one end of the mechanical arm body (2), and a cavity is provided in the mounting seat (1), the mechanical arm body (2) comprises a telescopic end (22), and a first flange (21) is provided on a side of the telescopic end (22) close to the mounting seat (1), a fixing component is provided between the first flange (21) and the mounting seat (1), a mounting plate (23) is connected to a side of the telescopic end (22) away from the mounting seat (1), and a mounting box (24) is fixedly installed on a side of the mounting plate (23) away from the mounting seat (1), and a side of the mounting box (24) away from the mounting seat (1) is rotated A protective box (25) is rotatably installed, and a rotating assembly is provided between the protective box (25) and the mounting box (24); an inlet and outlet (252) is provided on the side wall of the protective box (25); a rotating rod (253) is rotatably installed in the protective box (25), and a connecting rod (251) is fixedly installed on the side wall of the rotating rod (253); a second flange is fixedly installed at one end of the connecting rod (251) away from the rotating rod (253); a driving assembly is provided at one end of the rotating rod (253); and an adjusting assembly is provided between the mounting plate (23), the telescopic end (22) and the mounting seat (1).

2. A flexible and adjustable mechanical arm joint according to claim 1, characterized in that: The fixing assembly comprises a positioning ring (211) fixedly mounted on a side of the first flange (21) close to the mounting seat (1); a positioning groove matching the positioning ring (211) is provided on a side of the mounting seat (1) close to the telescopic end (22); the first flange (21) and the mounting seat (1) are fixed by bolts (6); and a screw groove matching the bolts (6) is provided on a side of the mounting seat (1) close to the mechanical arm body (2).

3. A flexible and adjustable mechanical arm joint according to claim 1, characterized in that: The rotating assembly includes a support column (243) rotatably mounted in the mounting box (24), a side wall fixing sleeve of the support column (243) is provided with a driven gear (244), one end of the support column (243) away from the telescopic end (22) passes through the mounting box (24) and is fixedly connected to the side opposite to the protective box (25), a first reduction motor (241) is fixedly mounted in the mounting box (24), and a driving gear (242) is fixedly mounted on the output shaft of the first reduction motor (241), and the driving gear (242) is meshed with the driven gear (244).

4. The flexible and adjustable mechanical arm joint according to claim 1, characterized in that: A limiting ring (245) is fixedly mounted on one side of the protection box (25) close to the installation box (24), and a limiting groove matching the limiting ring (245) is provided on one side of the installation box (24) close to the protection box (25).

5. The flexible and adjustable mechanical arm joint according to claim 1, characterized in that: The driving assembly comprises a box body (3) fixedly mounted on one side of the protective box (25), a second reduction motor (31) fixedly mounted inside the box body (3), one end of the rotating rod (253) passing through the box body (3) and fixedly connected to the output shaft of the second reduction motor (31), two symmetrically distributed stabilizing rods fixedly mounted on the side wall of the connecting rod (251), and an arc groove matching the stabilizing rod on the same side is provided on the inner wall of the protective box (25).

6. The flexible and adjustable mechanical arm joint according to claim 1, characterized in that: The adjustment assembly comprises a plurality of mounting frames (8) fixedly mounted in the mounting seat (1), support rods (9) being rotatably mounted in the mounting frames (8), a third reduction motor (7) being fixedly mounted on one side of the mounting frame (8), one end of the support rod (9) passing through the mounting frame (8) of the same group and being fixedly connected to the conveying shaft of the third reduction motor (7) of the same group, a steel cable (4) being wound around the side walls of the support rod (9), the telescopic end (22) being formed by stacking a plurality of air bags, the side walls of the air bags being fixedly mounted with wire transmission rings (222) distributed in an annular array, and springs (221) distributed in an annular array being fixedly connected between two adjacent air bags, a through hole (5) distributed in an annular array being provided on the side of the mounting seat (1) close to the robot arm body (2), one end of the steel cable (4) passing through the through hole (5) and the wire transmission ring (222) of the same group and being fixedly connected to the side opposite to the mounting plate (23).

7. A flexible and adjustable mechanical arm joint according to claim 6, characterized in that: The inner wall of the wire transmission ring (222) is rotatably mounted with balls distributed in a ring array.

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