Multi-degree-of-freedom mechanical arm

Abstract

The utility model discloses a multi-degree-of-freedom mechanical arm which comprises a quick release assembly, a fixed assembly, a large arm assembly, a rotating assembly, a middle arm assembly, a small arm assembly and an electric clamping jaw, the fixed assembly is vertically arranged above the quick release assembly and connected to the quick release assembly, and the large arm assembly is vertically arranged at the top end of the fixed assembly; one end of the large arm assembly is hinged to the fixed assembly, the rotating assembly is transversely arranged above the large arm assembly and hinged to the other end of the large arm assembly, the middle arm assembly is located on the other side of the rotating assembly, one end of the middle arm assembly is hinged to the rotating assembly, and the small arm assembly is located at the other end of the middle arm assembly and hinged to the middle arm assembly. According to the quick-release mechanical arm, the fixing base of the mechanical arm can be quickly clamped, fixed and loosened through the quick-release assembly, and therefore the effect of quickly replacing the mechanical arm is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of automated robots, and particularly relates to a multi-degree-of-freedom robotic arm. Background Art

[0002] A robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety explosion protection, and other fields.

[0003] Chinese Patent Publication No.: CN 220499186 U, discloses a similar multi-degree-of-freedom bionic robotic arm, including a chassis and a chassis servo installed below the chassis; the output end of the chassis servo is fixedly connected to the chassis; an inner upper arm servo and an outer upper arm servo are fixedly installed on the chassis; one end of the upper arm is connected to the output ends of the inner upper arm servo and the outer upper arm servo through a hinge structure; the upper arm is connected by a reinforcing rod; the other end of the upper arm is connected to one end of the middle arm and the output end of the middle arm servo through a hinge structure; the middle arm servo is fixed on the middle arm; the other end of the middle arm is fixed with a small arm servo, and the output end of the small arm servo is hinged to one end of the small arm; the other end of the small arm is fixedly connected to a support plate; a rotating servo is fixedly connected to the support plate; the output end of the rotating servo is connected to a gripper fixing plate; a gripper servo is installed on the fixing plate; the output end of the gripper servo is hinged to a gear elbow lever; the end of the gear elbow lever is hinged to a gripper; a connecting rod is hinged between the fixing plate and the gripper.

[0004] However, when the above device grabs an object with the robotic arm, due to insufficient degrees of freedom, the turning solely relies on the rotation of the chassis. When turning, the entire robotic arm needs to be rotated, resulting in inflexible turning and slow grasping adjustment. Moreover, during the use process, when the robotic arm needs to be replaced, the disassembly and assembly of the existing robotic arm often require manual disassembly and assembly of multiple bolts, with cumbersome steps and affecting work efficiency. Summary of the Utility Model

[0005] The problem to be solved by the utility model is to overcome the disadvantages in the above-mentioned prior art that when the robotic arm grabs an object, due to insufficient degrees of freedom, the turning solely relies on the rotation of the chassis. When turning, the entire robotic arm needs to be rotated, resulting in inflexible turning and slow grasping adjustment. Moreover, during the use process, when the robotic arm needs to be replaced, the disassembly and assembly of the existing robotic arm often require manual disassembly and assembly of multiple bolts, with cumbersome steps and affecting work efficiency.

[0006] A multi-degree-of-freedom robotic arm is proposed, which includes a quick-release component for installing the robotic arm, a fixing component for fixing the robotic arm, a large arm component for adjusting the radial height, a rotating component for rotating the middle arm component, a middle arm component for adjusting the lateral length, a small arm component for adjusting the electric gripper, and an electric gripper for gripping an object. The fixing component is vertically arranged above the quick-release component and connected to the quick-release component. The top of the fixing component is vertically provided with a large arm component. One end of the large arm component is hinged to the fixing component. The rotating component is horizontally arranged above the large arm component and hinged to the other end of the large arm component. The middle arm component is located on the other side of the rotating component, and one end of the middle arm component is hinged to the rotating component. The small arm component is located at the other end of the middle arm component and hinged to the middle arm component. The electric gripper is connected to the small arm component.

[0007] In the technical solution of the present utility model, when it is necessary to rotate the electric gripper to grip something, only the rotating component is needed to rotate the middle arm component, the small arm component and the electric gripper, without rotating the entire robotic arm. When it is necessary to replace the robotic arm, only need to pull up the pull rope, and then rotate the worm in the reverse direction. After the hook claw opens outwards, the entire robotic arm can be taken out from the bottom plate. Subsequently, after placing the new robotic arm on the bottom plate, the worm can be rotated in the forward direction. After the hook claw returns to its original position and catches the fixing component, the pull rope can be released to allow the ratchet pawl to snap into the interior of the gear to limit the worm, so as to solve the problems mentioned in the technical background that when the robotic arm grabs, due to insufficient degrees of freedom, the steering solely relies on the rotation of the chassis, and the entire robotic arm needs to be rotated during steering, resulting in inflexible steering and slow grabbing adjustment. And during the use process, when the robotic arm needs to be replaced, the disassembly and assembly of the existing robotic arm often require manual disassembly and assembly of multiple bolts, with cumbersome steps and affecting work efficiency.

[0008] Preferably, in the technical solution of the present utility model, the quick-release component includes a bottom plate, hook claws, a rotating shaft, a first torsion spring and a driving component. There are two rotating shafts, both of which are rotatably arranged inside the bottom plate, and the two rotating shafts are respectively arranged on both sides of the fixing component. There are four hook claws, which are divided into two groups. The two groups of hook claws are respectively vertically arranged on both sides of the fixing component, and the bottoms of the two groups of hook claws are respectively connected to the two rotating shafts. There are two first torsion springs, both of which are arranged at one end of the rotating shaft. The two torsion springs are respectively sleeved on the two rotating shafts, and the two ends of the torsion spring are respectively connected to the bottom plate and the rotating shaft. The driving component is arranged at the other end of the rotating shaft and connected to the inside of the bottom plate. When the hook claws open outwards, the robotic arm can be replaced, and when they are reset inwards, the two groups of hook claws can hook the fixing component, so that the robotic arm can be quickly replaced.

[0009] For the optimization of the technical solution of the present utility model, the driving assembly includes a worm gear, a worm, a gear, a ratchet tooth, a pull rope, a second torsion spring, a fixed cylinder and a hand wheel. There are two worm gears, both of which are vertically arranged at one end of the rotating shaft, and the two worm gears are respectively connected to the two rotating shafts. The worm is located below the worm gear and is rotatably arranged inside the bottom plate, and the two worm gears are both meshed with the worm. One end of the worm passes through the bottom plate and is arranged outside the bottom plate. The gear is located on one side of the bottom plate and is connected to the worm. The ratchet tooth is located above the gear, and one end of the ratchet tooth is connected to the bottom plate. The second torsion spring is horizontally located on one side of the ratchet tooth and sleeved on the connecting shaft of the ratchet tooth, and the two ends of the second torsion spring are respectively connected to the ratchet tooth and the bottom plate. The fixed cylinder is sleeved outside the ratchet tooth and the gear. The pull rope is connected to the other end of the ratchet tooth. The hand wheel is located on one side of the fixed cylinder and is connected to the worm. When the worm rotates forward or backward, it will drive the two groups of claw hooks to open outward or reset inward synchronously through the worm, so that the robotic arm can be quickly replaced or fixed.

[0010] For the optimization of the technical solution of the present utility model, the fixing assembly includes a fixed seat and a first motor. The fixed seat is vertically connected to the quick-release assembly. The large arm assembly is vertically arranged above the fixed seat, and one end of the large arm assembly is hinged to the top of the fixed seat. The first motor is horizontally connected to the top of the fixed seat, and the output end of the first motor is connected to the large arm assembly. When the first motor rotates forward and backward, it will drive the large arm assembly to rotate forward and backward, so as to adjust the relative angle between the large arm assembly and the fixed seat.

[0011] For the optimization of the technical solution of the present utility model, the large arm assembly includes a first rotating plate, a first moving plate, a first electric lead screw and a second motor. One end of the first rotating plate is connected above the fixed seat. The first electric lead screw is vertically connected inside the first rotating plate. The first moving plate is located above the first electric lead screw and is slidably arranged inside the first rotating plate, and the first moving plate is connected to the first electric lead screw. The rotating assembly is located above the first moving plate and is connected to the first moving plate. The second motor is horizontally connected to the top of the first moving plate, and the output end of the second motor is connected to the rotating assembly. When the first lead screw rotates forward and backward, it will adjust the heights of the rotating assembly, the small arm assembly and the middle arm assembly through the first moving plate, so as to adjust the clamping height of the electric gripper.

[0012] For the optimization of the technical solution of the present utility model, the rotation assembly includes a rotating plate, an electric rotating table, a connecting plate and a third motor. The rotating plate is connected above the first moving plate. The electric rotating table is fixedly connected to the rotating plate. The connecting plate is horizontally connected to the output end of the electric rotating table. The middle arm assembly is located on one side of the rotation assembly, and one end of the middle arm assembly is connected to the connecting plate. The third motor is connected to one end of the connecting plate, and the output end of the third motor is connected to the middle arm assembly. The rotation assembly can quickly drive the middle arm assembly, the small arm assembly and the electric gripper to rotate, without driving the entire robotic arm to rotate, thereby improving the clamping efficiency of the robotic arm.

[0013] For the optimization of the technical solution of the present utility model, the middle arm assembly includes a second rotating plate, a second moving plate, a second electric lead screw and a fourth motor. One end of the second rotating plate is connected to the connecting plate. The second electric lead screw is arranged inside the second rotating plate and connected to the second rotating plate. The second moving plate is slidably arranged inside the second rotating plate, and the second electric lead screw is connected to the second moving plate. The small arm assembly is connected to the second moving plate. The fourth motor is connected to the end of the second moving plate, and the output end of the fourth motor is connected to the second moving plate. When the second electric lead screw rotates forward and backward, it will adjust the relative position between the second moving plate and the second rotating plate, thereby extending the lateral clamping length of the electric gripper.

[0014] For the optimization of the technical solution of the present utility model, the small arm assembly includes a third rotating plate and a fifth motor. One end of the third rotating plate is connected to the second moving plate. The fifth motor is arranged at the middle position of the other end of the third rotating plate. The electric gripper is located outside the third rotating plate, and the electric gripper is connected to the output end of the fifth motor. When the fifth motor rotates, it will change the relative angle between the third rotating plate and the second moving plate, thereby changing the clamping angle of the electric gripper.

[0015] The beneficial effects of the present utility model compared with the prior art are as follows:

[0016] The present utility model can quickly clamp and fix and release the fixed seat of the robotic arm through the quick-release assembly, thereby achieving the effect of quickly replacing the robotic arm. And when turning is required, the rotation assembly can quickly drive the middle arm assembly, the small arm assembly and the electric gripper to rotate, without driving the entire robotic arm to rotate, thereby improving the clamping efficiency of the robotic arm. And under the action of the large arm assembly and the middle arm assembly, the small arm assembly and the electric gripper can move to the position of the fixing assembly, and then clamp the article, without any clamping dead angle. Description of the Drawings

[0017] Figure 1 It is a three-dimensional structure schematic diagram of a multi-degree-of-freedom robotic arm;

[0018] Figure 2Schematic diagram of the three-dimensional structure of a multi-degree-of-freedom robotic arm;

[0019] Figure 3 Schematic diagram of the three-dimensional structure of the clamping state of a multi-degree-of-freedom robotic arm;

[0020] Figure 4 Schematic diagram of the structural cooperation between the quick-release component and the fixing component of a multi-degree-of-freedom robotic arm;

[0021] Figure 5 Schematic diagram of the structure of the quick-release component of a multi-degree-of-freedom robotic arm (the bottom plate and the fixed cylinder are integrated, and a piece is removed to show the internal structure.);

[0022] Figure 6 is Figure 5 Enlarged schematic diagram of point A of

[0023] Figure 7 Schematic diagram of the internal structure of the quick-release component of a multi-degree-of-freedom robotic arm (the bottom plate is integrated, and a piece is removed to show the internal structure.);

[0024] In the figure: 1 - quick-release component, 11 - bottom plate, 12 - hook claw, 13 - rotating shaft, 14 - first torsion spring, 2 - fixing component, 21 - fixing seat, 22 - first motor, 3 - large arm component, 31 - first rotating plate, 32 - first moving plate, 33 - first electric lead screw, 34 - second motor, 4 - rotating component, 41 - rotating plate, 42 - electric rotating table, 43 - connecting plate, 44 - third motor, 5 - middle arm component, 51 - second rotating plate, 52 - second moving plate, 53 - second electric lead screw, 54 - fourth motor, 6 - small arm component, 61 - third rotating plate, 62 - fifth motor, 7 - electric gripper, 8 - driving component, 81 - worm gear, 82 - worm, 83 - gear, 84 - ratchet tooth, 85 - pulling rope, 86 - second torsion spring, 87 - fixed cylinder, 88 - hand wheel. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present invention will be described in detail in conjunction with the accompanying Figures 1-7 drawings in the embodiments of the present invention.

[0026] As Figure 1 shown, a multi-degree-of-freedom robotic arm includes a quick-release component 1 for installing the robotic arm, a fixing component 2 for fixing the robotic arm, a large arm component 3 for adjusting the radial height, a rotating component 4 for rotating the middle arm component 5, a middle arm component 5 for adjusting the lateral length, a small arm component 6 for adjusting the electric gripper 7, and an electric gripper 7 for clamping an object. The fixing component 2 is vertically arranged above the quick-release component 1, and the fixing component 2 is clamped on the quick-release component 1, and a large arm component 3 is vertically arranged above the fixing component 2.

[0027] As Figure 1 shown, one end of the boom assembly 3 is rotatably connected to the fixed assembly 2. Therefore, the boom assembly 3 can rotate in both forward and reverse directions with the connection point between the fixed assembly 2 and the boom assembly 3 as the center of rotation. The rotating assembly 4 is horizontally arranged above the boom assembly 3, and the rotating assembly 4 is rotatably connected to the top end of the boom assembly 3. Therefore, the rotating assembly 4 can rotate relatively with the connection point between the rotating assembly 4 and the boom assembly 3 as the center of rotation. The middle arm assembly 5 is horizontally arranged on one side of the boom assembly 3, and one end of the middle arm assembly 5 is rotatably connected to one end of the rotating assembly 4.

[0028] As Figure 1 shown, therefore, when needed, the rotating assembly 4 can drive the middle arm assembly 5 to rotate horizontally 360 degrees with the rotating assembly 4 itself as the center of rotation. The forearm assembly 6 is connected to the middle arm assembly 5. Therefore, when the middle arm assembly 5 rotates, it will drive the forearm assembly 6 to rotate. And because one end of the middle arm assembly 5 is rotatably connected to the rotating assembly 4, when needed, the middle arm assembly 5 can rotate relatively with the connection point between the rotating assembly 4 and the middle arm assembly 5 as the center of rotation.

[0029] As Figure 1 shown, the forearm assembly 6 is horizontally arranged on one side of the boom assembly 3, and one end of the forearm assembly 6 is rotatably connected to the other end of the middle arm assembly 5. The electric gripper 7 is arranged at the other end of the forearm assembly 6 and is fixedly connected to the center position of the forearm assembly 6. Therefore, the forearm assembly 6 rotates relatively with the connection point between the forearm assembly 6 and the middle arm assembly 5 as the center of rotation. When the forearm assembly 6 rotates, the relative angle between the forearm assembly 6 and the middle arm assembly 5 will change. Because the electric gripper 7 is fixedly connected to the forearm assembly 6, when the forearm assembly 6 rotates, it will drive the electric gripper 7 to rotate to adjust the clamping angle of the electric gripper 7.

[0030] As Figures 2-3 shown, the fixed assembly 2 includes a fixture 21 and a first motor 22. The fixture 21 is vertically arranged above the quick-release assembly 1 and is snap-connected to the quick-release assembly 1. Therefore, when it is necessary to replace the robotic arm, the fixture 21 can be removed from the quick-release assembly 1 and then the robotic arm can be replaced. The boom assembly 3 is vertically arranged above the fixture 21, and the top end of the boom assembly 3 is rotatably connected to the top end of the fixture 21.

[0031] As Figures 2-3 shown, the first motor 22 is horizontally arranged inside the fixture 21 and is connected to the upper part of the fixture 21 by screws. And the output end of the first motor 22 passes through the fixture 21 and is connected to the boom assembly 3 by snap connection. Therefore, when the output shaft of the first motor 22 rotates in both forward and reverse directions, the first motor 22 will drive the boom assembly 3 to rotate in both forward and reverse directions with the axis of the output shaft of the first motor 22 as the center.

[0032] AsFigures 2-3 As shown, the boom assembly 3 includes a first rotating plate 31, a first moving plate 32, a first electric lead screw 33, and a second motor 34. The first rotating plate 31 is vertically arranged above the fixture 21, and the bottom end of the first rotating plate 31 is rotatably connected to the fixture 21. Therefore, when the output shaft of the first motor 22 rotates, it will drive the first rotating plate 31 to rotate. The first electric lead screw 33 is arranged inside the first rotating plate 31 along the length direction of the first rotating plate 31, and the first electric lead screw 33 is fixedly connected to the center position of the first rotating plate 31 by screws.

[0033] As Figures 2-3 shown, the first moving plate 32 is slidably arranged inside the first rotating plate 31 along the length direction of the first rotating plate 31. Therefore, the first moving plate 32 and the first rotating plate 31 can slide relative to each other, and the first moving plate 32 is threadedly connected to the first electric lead screw 33. Therefore, when the first electric lead screw 33 rotates forward or backward, the first electric lead screw 33 will drive the first moving plate 32 to slide up and down to adjust the heights of the rotating assembly 4, the middle arm assembly 5, the small arm assembly 6, and the electric gripper 7.

[0034] As Figures 2-3 shown, the rotating assembly 4 is horizontally arranged above the first moving plate 32, and the rotating assembly 4 is rotatably connected to the top end of the first moving plate 32. The second motor 34 is horizontally arranged inside the first moving plate 32 and is fixedly connected to the first moving plate 32 by screws, and the output shaft of the second motor 34 passes through the first moving plate 32 and is connected to the rotating assembly 4 by a clamping method. Therefore, when the output shaft of the second motor 34 rotates forward and backward, the second motor 34 will drive the rotating assembly 4 to rotate forward and backward around the axis of the output shaft of the second motor 34 to adjust the relative angle between the rotating assembly 4 and the boom assembly 3.

[0035] As Figures 2-3 shown, the rotating assembly 4 includes a rotating plate 41, an electric rotating table 42, a connecting plate 43, and a third motor 44. The rotating plate 41 is rotatably connected to the top end of the first moving plate 32, and the rotating plate 41 is clamped to the second motor 34. Therefore, when the output shaft of the second motor 34 rotates, it will drive the rotating plate 41 to rotate. The electric rotating table 42 is horizontally arranged above the rotating plate 41, and the electric rotating table 42 is fixedly connected to the rotating plate 41 by screws. Therefore, when the rotating plate 41 is driven by the second motor 34 to rotate, the rotating plate 41 will drive the electric rotating table 42 to rotate.

[0036] As Figures 2-3As shown, the connecting plate 43 is arranged at the top of the electric rotating table 42, and the connecting plate 43 is fixedly connected to the output end of the electric rotating table 42 by screws. Therefore, the output end of the electric rotating table 42 can drive the connecting plate 43 to rotate around the axis of the output end of the electric rotating table 42. The middle arm assembly 5 is rotatably connected to the connecting plate 43. Therefore, when the electric rotating table 42 drives the connecting plate 43 to rotate, the connecting plate 43 will drive the middle arm assembly 5 to rotate around the axis of the output end of the electric rotating table 42.

[0037] As Figures 2-3 shown, one end of the connecting plate 43 is fixedly connected to the electric rotating table 42, and the other end of the connecting plate 43 is provided with a third motor 44 and a middle arm assembly 5. The third motor 44 is arranged inside the connecting plate 43 and is fixedly connected to the inside of the connecting plate 43 by screws. One end of the middle arm assembly 5 is rotatably connected to the connecting plate 43, and the output end of the third motor 44 passes through the connecting plate 43 and is engaged with the middle arm assembly 5.

[0038] As Figures 2-3 shown, the middle arm assembly 5 includes a second rotating plate 51, a second moving plate 52, a second electric lead screw 53 and a fourth motor 54. One end of the second rotating plate 51 is rotatably connected to the connecting plate 43, and the output end of the third motor 44 passes through the connecting plate 43 and is engaged with the second rotating plate 51. Therefore, when the output shaft of the third motor 44 rotates forward and backward, it will drive the second rotating plate 51 to rotate forward and backward around the axis of the output shaft of the third motor 44. The second electric lead screw 53 is arranged inside the second rotating plate 51 along the length direction of the second rotating plate 51.

[0039] As Figures 2-3 shown, and the second electric lead screw 53 is fixedly connected to the center position of the second rotating plate 51 by screws. The second moving plate 52 is slidably arranged inside the second rotating plate 51 along the length direction of the second rotating plate 51. Therefore, the second moving plate 52 and the second rotating plate 51 can slide relative to each other, and the second moving plate 52 is threadedly connected to the second electric lead screw 53. Therefore, when the second electric lead screw 53 rotates forward or backward, the second electric lead screw 53 will drive the second moving plate 52 to slide reciprocally along the length direction of the second rotating plate 51.

[0040] As Figures 2-3As shown in the figure, it is used to adjust the relative distance between the small arm assembly 6 and the electric gripper 7 and the rotating assembly 4. The small arm assembly 6 and the fourth motor 54 are both located at one end of the second moving plate 52. The fourth motor 54 is arranged inside the second moving plate 52 and is fixedly connected to the second moving plate 52 by screws. The small arm assembly 6 is rotatably connected to the second moving plate 52, and the output shaft of the fourth motor 54 passes through the second moving plate 52 and is engaged with the small arm assembly 6. Therefore, when the output shaft of the fourth motor 54 rotates forward and backward, the fourth motor 54 will drive the small arm assembly 6 to rotate forward and backward around the axis of the output shaft of the fourth motor 54.

[0041] As Figures 2-3 shown in the figure, the small arm assembly 6 includes a third rotating plate 61 and a fifth motor 62. One end of the third rotating plate 61 is rotatably connected to the second moving plate 52 and is engaged with the output shaft of the fourth motor 54. Therefore, the fourth motor 54 will drive the third rotating plate 41 to rotate forward and backward around the axis of the output shaft of the fourth motor 54 to adjust the relative angle between the third rotating plate 61 and the second moving plate 52. The electric gripper 7 is fixedly connected to the other end of the third rotating plate 61.

[0042] As Figures 2-3 shown in the figure, therefore, when the fourth motor 54 drives the third rotating plate 61 to rotate, the third rotating plate 61 will synchronously drive the electric gripper 7 to rotate to adjust the clamping angle of the electric gripper 7. The fifth motor 62 is arranged at the middle position of the other end of the third rotating plate 61 and is fixedly connected to the third rotating plate 61 by screws. The electric gripper 7 is located outside the third rotating plate 61, and the electric gripper 7 is connected to the output end of the fifth motor 62 by screws. Therefore, the fifth motor 62 will drive the electric gripper 7 to rotate forward and backward around the axis of the output shaft of the fifth motor 62.

[0043] As Figures 4-5 shown in the figure, the quick-release assembly 1 includes a bottom plate 11, a hook 12, a rotating shaft 13, a first torsion spring 14 and a driving assembly 8. There are two rotating shafts 13 which are both rotatably arranged inside the bottom plate 11, and the two rotating shafts 13 are respectively arranged on both sides of the fixture 21. There are four hooks 12 which are divided into two groups. The two groups of hooks 12 are respectively vertically arranged on both sides of the fixing assembly 2, and the bottoms of the two groups of hooks 12 are respectively connected to the two rotating shafts 13 by pin keys. Therefore, the hook 12 can rotate forward and backward around the axis of the rotating shaft 13, and at the same time, the rotating shaft 13 will drive the hook 12 to rotate synchronously when rotating.

[0044] As Figures 4-5As shown in the figure, there are two first torsion springs 14, both of which are arranged at one end of the rotating shaft 13. The two torsion springs are respectively sleeved on the two rotating shafts 13, and both ends of the torsion springs are respectively connected to the bottom plate 11 and the rotating shaft 13 by means of clamping. Therefore, when the two groups of hook claws 12 are synchronously opened outward due to the replacement of the robotic arm, the first torsion spring 14 will deform and start to store energy. So after the robotic arm is replaced, the first torsion spring 14 will drive the rotating shaft 13 and the hook claws 12 to reset by using the stored energy until both groups of hook claws 12 hook the fixture 21 of the robotic arm. The driving component 8 is arranged at the other end of the rotating shaft 13 and is connected to the inside of the bottom plate 11.

[0045] As Figures 6-7 shown in the figure, the driving component 8 includes a worm gear 81, a worm 82, a gear 83, a ratchet tooth 84, a pull rope 85, a second torsion spring 86, a fixed cylinder 87 and a handwheel 88. There are two worm gears 81, both of which are vertically arranged at one end of the rotating shaft 13, and the two worm gears 81 are respectively connected to the two rotating shafts 13 by pin keys. Therefore, when the worm gear 81 rotates forward and backward, the worm gear 81 will synchronously drive its corresponding rotating shaft 13 to rotate synchronously. The worm 82 is located below the worm gear 81 and is rotatably arranged inside the bottom plate 11, and the two worm gears 81 are both meshed with the worm 82, and the thread helix directions meshed with the two worm gears 81 are opposite.

[0046] As Figures 6-7 shown in the figure, therefore, when the worm 82 rotates, the helix directions of the two worm gears 81 are opposite. Therefore, the two groups of hook claws 12 can be synchronously opened outward and reset inward under the drive of the rotating shaft 13 and the worm gear 81. One end of the worm 82 passes through the bottom plate 11 and is arranged outside the bottom plate 11. The gear 83 is located on one side of the bottom plate 11 and is connected to the worm 82 by a pin key. Therefore, when the worm 82 rotates forward and backward, it will synchronously drive the gear 83 to rotate forward and backward. The ratchet tooth 84 is located above the gear 83, and one end of the ratchet tooth 84 is rotatably connected to the bottom plate 11.

[0047] As Figures 6-7 shown in the figure, the second torsion spring 86 is horizontally located on one side of the ratchet tooth 84 and is sleeved on the connecting shaft of the ratchet tooth 84, and both ends of the second torsion spring 86 are respectively connected to the ratchet tooth 84 and the bottom plate 11 by means of clamping. Therefore, when the ratchet tooth 84 rotates forward or backward, the second torsion spring 86 will deform and start to store energy. The fixed cylinder 87 is sleeved outside the ratchet tooth 84 and the gear 83 and is welded to the bottom plate 11. The pull rope 85 is connected to the other end of the ratchet tooth 84. Therefore, when the pull rope 85 is pulled upward, the ratchet tooth 84 will start to rotate counterclockwise.

[0048] As Figures 6-7As shown, at this time, the worm 82 can rotate forward and backward. Meanwhile, the second torsion spring 86 starts to store energy. When the pull rope 85 is released, the second torsion spring 86 drives the ratchet 84 to reset and the ratchet 84 will be stuck inside the gear 83. At this time, the worm 82 can no longer rotate forward and backward. The handwheel 88 is located on one side of the fixed cylinder 87 and is connected to the worm through a pin key. Therefore, the worm 82 can be driven to rotate forward and backward by the handwheel 88.

[0049] The movement process of this embodiment: Manually pull up the pull rope 85 to take out the ratchet 84 from inside the gear 83. Then rotate the handwheel 88 forward. After the worm 82 opens the two sets of hook claws 12 outward through the worm gear 81, place the fixture 21 of the robotic arm on the bottom plate 11. Then rotate the worm 82 in the reverse direction. After the two sets of hook claws 12 hook the fixture 21, release the pull rope 85 to make the pawl get stuck inside the gear 83 again. Then, according to the position of the item to be clamped, adjust the radial height and transverse length of the electric gripper 7 through the first electric lead screw 33 and the second electric lead screw 53.

[0050] After the height and length of the electric gripper 7 reach the standard, start the first motor 22, the second motor 34, the third motor 44, the fourth motor 54 and the fifth motor 62, and make their output shafts rotate forward or backward to adjust the relative angles between the fixed component 2, the large arm component 3, the middle arm component 5 and the small arm component 6, so as to ensure that the electric gripper 7 can correctly clamp the required item. Then, according to the position where the item needs to be placed, rotate the middle arm component 5 and the small arm component 6 through the electric rotating table 42.

[0051] When the middle arm component 5 and the small arm component 6 rotate, they can drive the item to rotate through the electric gripper 7. After the rotation is completed, start the first motor 22, the second motor 34, the third motor 44, the fourth motor 54 and the fifth motor 62 again, so that the electric gripper 7 can place the item at the required position.

[0052] The above embodiments are only used to illustrate the technical idea of the present invention and cannot limit the protection scope of the present invention. Any modification made on the basis of the technical solution according to the technical idea proposed by the present invention falls within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom robotic arm, characterized in that: It includes a quick-release component (1) for installing a robotic arm, a fixing component (2) for fixing the robotic arm, a large arm component (3) for adjusting the radial height, a rotating component (4) for rotating the middle arm component (5), a middle arm component (5) for adjusting the lateral length, a small arm component (6) for adjusting an electric gripper (7), and an electric gripper (7) for gripping an article. The fixing component (2) is vertically arranged above the quick-release component (1) and connected to the quick-release component (1). The top end of the fixing component (2) is vertically provided with the large arm component (3). One end of the large arm component (3) is hinged to the fixing component (2). The rotating component (4) is horizontally arranged above the large arm component (3) and hinged to the other end of the large arm component (3). The middle arm component (5) is located on the other side of the rotating component (4), and one end of the middle arm component (5) is hinged to the rotating component (4). The small arm component (6) is located at the other end of the middle arm component (5) and hinged to the middle arm component (5). The electric gripper (7) is connected to the small arm component (6).

2. The multi-degree-of-freedom robotic arm according to claim 1, wherein: The quick-release component (1) includes a bottom plate (11), a claw (12), a rotating shaft (13), a first torsion spring (14), and a driving component (8). There are two rotating shafts (13) which are both rotatably arranged inside the bottom plate (11), and the two rotating shafts (13) are respectively arranged on both sides of the fixing component (2). There are four claws (12) which are divided into two groups. The two groups of claws (12) are respectively vertically arranged on both sides of the fixing component (2), and the bottom ends of the two groups of claws (12) are respectively connected to the two rotating shafts (13). There are two first torsion springs (14) which are both arranged at one end of the rotating shaft (13). The two torsion springs are respectively sleeved on the two rotating shafts (13), and the two ends of the torsion spring are respectively connected to the bottom plate (11) and the rotating shaft (13). The driving component (8) is arranged at the other end of the rotating shaft (13) and connected to the inside of the bottom plate (11).

3. A multi-degree-of-freedom robotic arm according to claim 2, characterized in that: The driving assembly (8) includes a worm gear (81), a worm (82), a gear (83), a ratchet tooth (84), a pulling rope (85), a second torsion spring (86), a fixed cylinder (87) and a handwheel (88). There are two worm gears (81), both of which are vertically arranged at one end of the rotating shaft (13), and the two worm gears (81) are respectively connected to the two rotating shafts (13). The worm (82) is located below the worm gear (81) and is rotatably arranged inside the bottom plate (11), and the two worm gears (81) are both meshed with the worm (82). One end of the worm (82) passes through the bottom plate (11) and is arranged outside the bottom plate (11). The gear (83) is located on one side of the bottom plate (11) and is connected to the worm (82). The ratchet tooth (84) is located above the gear (83), and one end of the ratchet tooth (84) is connected to the bottom plate (11). The second torsion spring (86) is horizontally located on one side of the ratchet tooth (84) and is sleeved on the connecting shaft of the ratchet tooth (84), and the two ends of the second torsion spring (86) are respectively connected to the ratchet tooth (84) and the bottom plate (11). The fixed cylinder (87) is sleeved outside the ratchet tooth (84) and the gear (83). The pulling rope (85) is connected to the other end of the ratchet tooth (84). The handwheel (88) is located on one side of the fixed cylinder (87) and is connected to the worm.

4. A multi-degree-of-freedom robotic arm according to claim 2, wherein: The fixing assembly (2) includes a fixing seat (21) and a first motor (22). The fixing seat (21) is vertically connected to the quick-release assembly (1). The boom assembly (3) is vertically arranged above the fixing seat (21), and one end of the boom assembly (3) is hinged to the top end of the fixing seat (21). The first motor (22) is horizontally connected to the top end of the fixing seat (21), and the output end of the first motor (22) is connected to the boom assembly (3).

5. A multi-degree-of-freedom robotic arm according to claim 4, characterized in that: The boom assembly (3) includes a first rotating plate (31), a first moving plate (32), a first electric lead screw (33) and a second motor (34). One end of the first rotating plate (31) is connected above the fixing seat (21). The first electric lead screw (33) is vertically connected inside the first rotating plate (31). The first moving plate (32) is located above the first electric lead screw (33) and is slidably arranged inside the first rotating plate (31), and the first moving plate (32) is connected to the first electric lead screw (33). The rotating assembly (4) is located above the first moving plate (32) and is connected to the first moving plate (32). The second motor (34) is horizontally connected to the top end of the first moving plate (32), and the output end of the second motor (34) is connected to the rotating assembly (4).

6. A multi-degree-of-freedom robotic arm according to claim 5, characterized in that: The rotating assembly (4) includes a rotating plate (41), an electric rotating table (42), a connecting plate (43), and a third motor (44). The rotating plate (41) is connected above the first moving plate (32). The electric rotating table (42) is fixedly connected to the rotating plate (41). The connecting plate (43) is horizontally connected to the output end of the electric rotating table (42). The middle arm assembly (5) is located on one side of the rotating assembly (4), and one end of the middle arm assembly (5) is connected to the connecting plate (43). The third motor (44) is connected to one end of the connecting plate (43), and the output end of the third motor (44) is connected to the middle arm assembly (5).

7. A multi-degree-of-freedom robotic arm according to claim 6, characterized in that: The middle arm assembly (5) includes a second rotating plate (51), a second moving plate (52), a second electric lead screw (53), and a fourth motor (54). One end of the second rotating plate (51) is connected to the connecting plate (43). The second electric lead screw (53) is arranged inside the second rotating plate (51) and connected to the second rotating plate (51). The second moving plate (52) is slidably arranged inside the second rotating plate (51), and the second electric lead screw (53) is connected to the second moving plate (52). The small arm assembly (6) is connected to the second moving plate (52). The fourth motor (54) is connected to the end of the second moving plate (52), and the output end of the fourth motor (54) is connected to the second moving plate (52).

8. The multi-degree-of-freedom robotic arm according to claim 7, characterized in that: The small arm assembly (6) includes a third rotating plate (61) and a fifth motor (62). One end of the third rotating plate (61) is connected to the second moving plate. The fifth motor (62) is arranged at the middle position of the other end of the third rotating plate (61). The electric gripper (7) is located outside the third rotating plate (61), and the electric gripper (7) is connected to the output end of the fifth motor (62).

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