Mechanical arm mechanism capable of moving in multiple axes

Abstract

The utility model discloses a mechanical arm mechanism capable of moving in multiple axes. The mechanical arm comprises a base, a connecting installation assembly arranged on the surface of the base and a multi-axis moving assembly arranged on the surface of the base, the connecting installation assembly comprises a movable groove formed in the base, a connecting plate is arranged in the base, a connecting opening is formed in the surface of the connecting plate, and a mechanical arm body is connected into the connecting opening in a matched mode. The bottom of the mechanical arm body and the interior of a connecting opening formed in the surface of a connecting plate are installed, so that the mechanical arm body is convenient to install and connect, the connecting convenience is improved, the connecting plate is installed and connected in a first embedding groove and a second embedding groove through an embedding block fixedly connected with the surface, and the connecting plate can move in a base; and through movable grooves formed in the first caulking groove and the second caulking groove, the transverse plate fixedly connected with the bottom of the connecting plate can move conveniently, and the overall mounting and moving space is increased.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm equipment technical field, concretely is a kind of multi-axis mobile mechanical arm mechanism. BACKGROUND

[0002] In recent years, with the development of robot technology, the robot structure with high speed, high precision and high load-weight ratio has attracted attention in the industry and aerospace field. Due to the increase of the flexibility effect of joints and connecting rods during movement, the structure is deformed, which reduces the precision of task execution. Therefore, the flexibility characteristics of the robot arm structure must be considered, and the system dynamics characteristics must also be considered to achieve high-precision effective control of the flexible robot arm. The flexible robot arm is a very complex dynamic system, and its dynamic equation has the characteristics of nonlinearity, strong coupling and real variation. The establishment of the model is extremely important for the research of flexible arm dynamics. The flexible robot arm is not only a rigid-flexible coupled nonlinear system, but also a nonlinear system with mutual coupling of system dynamics characteristics and control characteristics, i.e. electromechanical coupling. The purpose of dynamic modeling is to provide a basis for the description of the control system and the design of the controller. The description of the general control system (including the state space description in time domain and the transfer function description in frequency domain) is closely related to the positioning of sensors / actuators, the information transmission from actuators to sensors and the dynamic characteristics of the robot arm.

[0003] The existing published patent (publication number CN216830974U) discloses an arm rod connecting structure suitable for multi-axis robot arm and multi-axis robot arm. The arm rod connecting structure includes a hollow arm rod, a first flange and a second flange. One end of the hollow arm rod is detachably connected to one end of the first flange through a first connecting piece. The other end of the hollow arm rod is detachably connected to one end of the second flange through a second connecting piece. The other end of the first flange and the other end of the second flange respectively have a first connecting structure and a second connecting structure. The first connecting structure and the second connecting structure are respectively used to connect the robot arm components. In the utility model, the hollow arm rod is connected to the flange in a structure with small volume and mass, which can be applied to space-limited space. The size can be easily made into different size models. The structure is simple and the cost is low.

[0004] However, there are some problems in the use of the existing multi-axis mobile robot arm mechanism. 1. The multi-axis mobile robot arm mechanism on the market has low overall connection, installation and adjustment, which is not convenient for multi-directional multi-axis adjustment. 2. The overall movement of the multi-axis mobile robot arm mechanism on the market is not convenient, which is not convenient for quick movement of the robot arm as a whole, reducing the convenience. SUMMARY

[0005] The utility model discloses a mechanical arm mechanism of multi -axis removal can be provided to solve the problem of the above -mentioned background art.

[0006] To solve above -mentioned technical problem, the utility model provides the following technical scheme: including base, set up the connecting installation component of base surface and set up the multi -axis removal component of base surface,

[0007] Connecting installation component includes the movable slot of opening in the base interior, the connecting plate is arranged in the base interior, the connecting port is opened in the connecting plate surface, and the mechanical arm body is connected with the connecting port in the inside cooperation, and the mechanical arm body is installed through the connecting plate,

[0008] Multi -axis removal component includes the cross plate of fixed connection's connecting plate bottom, the motor is connected with the cross plate surface one side cooperation, and the motor output end is connected with the pivot input end, and the movable wheel is detachably connected on the pivot surface, and the movable wheel is movably connected in the base interior, and the movable wheel drives the mechanical wall body and carries out multi -axis removal.

[0009] Preferably, the first embedding groove is opened on the surface of the base, and the second embedding groove is opened on the surface of the base.

[0010] Preferably, the connecting installation component includes an embedding block fixedly connected to the surface of the connecting plate, and the embedding block is movably connected in the first embedding groove and the second embedding groove.

[0011] Preferably, the first embedding groove and the second embedding groove are in communication, and the first embedding groove and the second embedding groove are in the form of a cross.

[0012] Preferably, the multi-axis movement assembly further comprises an inner groove opened in the cross plate, and the movable wheel is movably connected in the inner groove.

[0013] Preferably, a plurality of holes are opened on both sides of the surface of the cross plate.

[0014] Preferably, a circular bearing is embeddedly connected in the hole, and the pivot is movably connected in the circular bearing.

[0015] Compared with the prior art, the utility model has the beneficial effects that:

[0016] The utility model discloses: when providing the connecting installation measure of multiaxial movement, the mechanical arm body installs through the connecting port inside that the bottom and the surface of connecting plate open, makes it convenient for installation connection, increases the connecting convenience, and the connecting plate installs and connects through the embedding block fixed connection of surface in first embedding groove and second embedding groove, makes it connecting plate can move in the base, and the movable slot inside that first embedding groove and second embedding groove open is convenient for the transverse plate fixed connection of its connecting plate bottom to move, increases its whole installation moving space, and then the mechanical arm mechanism of multiaxial movement is higher when using for the whole connecting installation adjustability, and the adjustment use of multidirectional multiaxis is not carried out.

[0017] The utility model discloses: when needing to go into multiaxial movement, the power supply current output end of multiple motors is connected through external power supply, and its motor work drives the rotation of the input end of the rotating shaft connected with its output end, and the rotating shaft drives the rotation of the moving wheel connected with the surface, and the moving wheel rotates in the inner groove inside the transverse plate, and the moving wheel moves in the movable slot at the bottom of first embedding groove and second embedding groove, that is, can drive the connecting plate to move in first embedding groove and second embedding groove, which is convenient for multiaxis adjustment of the mechanical arm body, and then the mechanical arm mechanism of multiaxial movement is more convenient when using the whole moving measure, which is convenient for quickly driving the whole mechanical arm to move and adjust, and the convenience is increased. ACCURACY OF DRAWINGS

[0018] Figure 1 It is the whole structure schematic diagram of the utility model embodiment;

[0019] Figure 2 It is the embedding block structure schematic diagram of the utility model embodiment;

[0020] Figure 3 It is the connecting plate bottom structure schematic diagram of the utility model embodiment;

[0021] Figure 4 It is the opening inside structure schematic diagram of the utility model embodiment.

[0022] In the drawing: 1, base;2, first embedding groove;3, second embedding groove;4, connecting installation assembly;401, movable slot;402, connecting plate;403, connecting port;404, embedding block;5, multiaxial movement assembly;501, transverse plate;502, inner groove;503, opening;504, round bearing;505, motor;506, rotating shaft;507, moving wheel;6, mechanical arm body. DETAILED DESCRIPTION

[0023] In order to facilitate the solution, the utility model discloses a kind of multi-axis movable mechanical arm mechanism. The technical scheme in the utility model embodiment will be clearly and completely described below with the drawings in the utility model embodiment, apparently, the described embodiment is only a part of the utility model embodiment, not all embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor are within the scope of the utility model protection. Embodiment

[0024] Please refer to Figures 1-4 The embodiment provides a kind of multi-axis movable mechanical arm mechanism. The technical scheme in the utility model embodiment will be clearly and completely described below with the drawings in the utility model embodiment, apparently, the described embodiment is only a part of the utility model embodiment, not all embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor are within the scope of the utility model protection.

[0025] In the embodiment, further, the surface of the base 1 is provided with a first embedding groove 2, the surface of the base 1 is provided with a second embedding groove 3, the connecting and mounting assembly 4 includes an embedded block 404 fixedly connected to the surface of the connecting plate 402, the embedded block 404 is movably connected inside the first embedding groove 2 and the second embedding groove 3, the first embedding groove 2 and the second embedding groove 3 are communicated, and the first embedding groove 2 and the second embedding groove 3 are in the form of a cross.

[0026] Specifically, the first embedding groove 2 and the second embedding groove 3 are in the form of a cross to facilitate the formation of multi-axis coordinates, so that the mechanical arm body 6 moves in multiple positions, increases the connectivity, and the embedded block 404 is connected with the first embedding groove 2 and the second embedding groove 3 inside to facilitate stable installation as a whole.

[0027] Further, the multi-axis moving assembly 5 further includes an inner groove 502 formed in the inner surface of the horizontal plate 501, and the moving wheel 507 is movably connected inside the inner groove 502.

[0028] Specifically, the inner groove 502 facilitates the installation of the rotating shaft 506 and the moving wheel 507, increasing the installation, the opening 503 facilitates the connection of the circular bearing 504, and the circular bearing 504 facilitates the installation of the rotating shaft 506, increasing the installation convenience, and the rotation of the circular bearing 504 facilitates the movement of the rotating shaft 506.

[0029] Working principle: when the multi-axis moving connection installation measure is carried out, the mechanical arm body 6 is installed inside the connecting port 403 opened on the surface of the connecting plate 402 through the bottom, which facilitates the installation connection and increases the connection convenience; the connecting plate 402 is installed and connected in the first embedding groove 2 and the second embedding groove 3 through the embedding block 404 fixedly connected on the surface, so that the connecting plate 402 can move in the base 1, the horizontal plate 501 fixedly connected on the bottom of the connecting plate 402 is facilitated to move through the movable groove 401 opened inside the first embedding groove 2 and the second embedding groove 3, which increases the overall installation moving space, and the multi-axis moving mechanical arm mechanism has high overall connection installation adjustability when in use, and is not used for multi-directional multi-axis adjustment, when multi-axis movement is needed, the power supply current output end of the plurality of motors 505 is connected through the external power supply, the motor 505 works to drive the rotating shaft 506 input end connected with the output end to rotate, the rotating shaft 506 drives the moving wheel 507 connected on the surface to rotate, the moving wheel 507 rotates in the inner groove 502 opened in the horizontal plate 501, so that the moving wheel 507 moves in the movable groove 401 opened at the bottom of the first embedding groove 2 and the second embedding groove 3, that is, the connecting plate 402 can be driven to move in the first embedding groove 2 and the second embedding groove 3, facilitating the multi-axis adjustment of the mechanical arm body 6, and the overall movement measure of the multi-axis moving mechanical arm mechanism is more convenient when in use, facilitating the quick movement and adjustment of the mechanical arm body.

[0030] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A multi-axis movable robotic arm mechanism, characterized in that: It comprises a base (1), a connection and installation component (4) arranged on the surface of the base (1), and a multi-axis moving component (5) arranged on the surface of the base (1); The connecting and installing component (4) includes a movable groove (401) provided inside the base (1), a connecting plate (402) is provided inside the base (1), a connecting port (403) is provided on the surface of the connecting plate (402), a robot body (6) is connected to the inside of the connecting port (403), and the robot body (6) is installed through the connecting plate (402); The multi-axis moving assembly (5) comprises a horizontal plate (501) fixedly connected to the bottom of the connecting plate (402); a motor (505) is cooperatively connected to one side of the surface of the horizontal plate (501); an output end of the motor (505) is connected to an input end of a rotating shaft (506); a moving wheel (507) is detachably connected to the surface of the rotating shaft (506); the moving wheel (507) is movably connected to the inside of the base (1); and the mechanical wall body is driven to perform multi-axis movement via the moving wheel (507).

2. The multi-axis movable robotic arm mechanism according to claim 1, characterized in that: A first embedding groove (2) is provided on the surface of the base (1), and a second embedding groove (3) is provided on the surface of the base (1).

3. The multi-axis movable robotic arm mechanism according to claim 1, characterized in that: The connection and installation assembly (4) comprises an insert (404) fixedly connected to the surface of the connection plate (402), and the insert (404) is movably connected inside the first insert groove (2) and the second insert groove (3).

4. The multi-axis movable robotic arm mechanism according to claim 2, characterized in that: The first embedding groove (2) and the second embedding groove (3) are internally communicated with each other, and the first embedding groove (2) and the second embedding groove (3) are cross-shaped.

5. The multi-axis movable robotic arm mechanism according to claim 1, characterized in that: The multi-axis moving assembly (5) further comprises an inner groove (502) opened inside the transverse plate (501), and the moving wheel (507) is movably connected inside the inner groove (502).

6. The multi-axis movable robotic arm mechanism according to claim 5, characterized in that: Openings (503) are provided on both sides of the surface of the transverse plate (501), and there are a plurality of openings (503).

7. The multi-axis movable robotic arm mechanism according to claim 6, characterized in that: A circular bearing (504) is embedded and connected inside the opening (503), and a rotating shaft (506) is matched and connected inside the circular bearing (504).

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