Differential sucker type multi-degree-of-freedom mechanical arm

Abstract

The utility model relates to the technical field of industrial automation, in particular to a differential sucker type multi-degree-of-freedom mechanical arm which comprises a large arm, a small arm, a connecting arm, a first moving mechanism, a second moving mechanism and a differential mechanism. The differential mechanism comprises two single-pass copper columns, a suction cup, two first motors, two driving wheels, two driven wheels, a differential large end, a fixing plate and two counter-locking screws, the two single-pass copper columns are in bolted connection with the small arm, the two first motors are in bolted connection with the corresponding single-pass copper columns respectively, the differential small end is meshed with the differential large end, and the two counter-locking screws are arranged on the suction cup. Through the arrangement of the structure, the problems that in the prior art, due to the fact that the suction cup depends on the smoothness and non-porous characteristics of the surface of an object, the suction effect on the rough or porous surface is limited, and application of the suction cup in diversified and complex operation environments is limited to a certain degree are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial automation technical field especially relates to a differential speed sucking disc formula multi -freedom degree mechanical arm. BACKGROUND

[0002] In the current field of automation and robotics, the design of the end effector of a robotic arm is crucial for improving the flexibility, adaptability and efficiency of operations. Traditional end effectors of robotic arms, such as grippers and suction cups, perform well in their respective application scenarios.

[0003] However, the existing technology relies on the smoothness and non-porous nature of the object surface, and the suction effect is limited for rough or porous surfaces, which to some extent limits its application in diversified and complex operating environments. SUMMARY

[0004] The utility model aims at providing a differential speed sucking disc formula multi -freedom degree mechanical arm, solves the problem that the existing technology relies on the smoothness and non-porous nature of the object surface, and the suction effect is limited for rough or porous surfaces, which to some extent limits its application in diversified and complex operating environments.

[0005] To achieve the above-mentioned purpose, the utility model provides a differential speed sucking disc formula multi -freedom degree mechanical arm, including big arm, small arm, connecting arm, first moving mechanism, second moving mechanism and differential mechanism, the first moving mechanism is arranged between the big arm and the small arm, the second moving mechanism is arranged between the connecting arm and the big arm, the differential mechanism includes two single -pass copper columns, a sucking disc, two first motors, two driving wheels, two driven wheels, a differential big end, a fixed plate and two locking screws, two single -pass copper columns are connected with the small arm bolt and are located one side of the small arm respectively, two first motors are connected with corresponding single -pass copper column bolt respectively and are located inside the small arm, two driving wheels are connected with the output end of corresponding first motor and are located one side of corresponding first motor, two locking screws are connected with the small arm bolt and are located below corresponding driving wheel, two driven wheels are fixedly connected with corresponding locking screw respectively and are sleeved on the surface of corresponding locking screw, the driving wheel is transmission connection with the driven wheel, the fixed plate is rotationally connected with two locking screws and is located between two locking screws, the differential big end is connected with the fixed plate bolt and is located below the fixed plate, one end of two driven wheels is provided with a differential small end, the differential small end is engaged with the differential big end, the sucking disc is connected with the differential big end bolt and is located below the differential big end.

[0006] The first moving mechanism comprises a second motor, a shaft coupling, a driving gear and a driven gear, the second motor is fixedly connected with the small arm and located at one end of the small arm, the shaft coupling is connected with the output end of the second motor and located below the second motor, the driving gear is fixedly connected with the output end of the second motor and located below the second motor, and the driven gear is fixed in the inside of the large arm.

[0007] The second moving mechanism comprises a third motor, a plug bolt, a driving bevel gear, an axle system connecting piece and a driven bevel gear, the third motor is bolted with the large arm connecting plate and located in the inside of the large arm, the driving bevel gear is fixedly connected with the output end of the third motor, the driven bevel gear is engaged with the driving bevel gear and located on one side of the driven gear, the axle system connecting piece is clamped with the connecting arm and located in the inside of the connecting arm, and the plug bolt is bolted with the connecting arm through the driven bevel gear and the axle system connecting piece.

[0008] The lower side of the fixed plate is provided with a sealing ring, a first flange bearing and a first plane thrust needle bearing, and the two sides of the driven gear are provided with a plurality of differential small end plane thrust needle bearings and a plurality of differential small end flange bearings.

[0009] The second plane thrust needle bearing, the angular contact bearing, the first bearing washer and the bearing pad are arranged between the driven bevel gear and the axle system connecting piece, and the second flange bearing, the second bearing washer and the third plane thrust needle bearing are arranged on one side of the driven gear.

[0010] The utility model discloses a differential suction disc type multi -freedom degree mechanical arm, two single -pass copper column with small arm bolt connection is located one side in small arm respectively, two first motor is bolted with corresponding single -pass copper column respectively and is located in the inside of small arm, two driving wheels are connected with the output end of corresponding first motor and are located one side of corresponding first motor, two locking screws are bolted with small arm and are located below corresponding driving wheel, two driven wheels are fixedly connected with corresponding locking screw respectively and are set on the surface of corresponding locking screw, the driving wheel is transmission connection with driven wheel, the fixed plate is rotatably connected with two locking screws and is located between two locking screws, the differential big end is bolted with the fixed plate and is located below the fixed plate, and the differential small end is arranged on one end of two driven wheels. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0012] Figure 1 is a structural schematic diagram of the differential chuck type multi-degree-of-freedom mechanical arm of the present application.

[0013] Figure 2 is a structural schematic diagram of the differential mechanism of the present application.

[0014] Figure 3 is a split schematic diagram of the differential mechanism of the present application.

[0015] Figure 4 is a structural schematic diagram of the first moving mechanism of the present application.

[0016] Figure 5 is a split schematic diagram of the first moving mechanism of the present application.

[0017] Figure 6 is a structural schematic diagram of the second moving mechanism of the present application.

[0018] Figure 7 is a split schematic diagram of the second moving mechanism of the present application.

[0019] 1-large arm, 2-small arm, 3-connection arm, 4-single copper column, 5-first motor, 6-driving wheel, 7-driven wheel, 8-differential large end, 9-fixing plate, 10-anti-lock screw, 11-second motor, 12-coupling, 13-driving gear, 14-driven gear, 15-third motor, 16-bolt, 17-driving bevel gear, 18-axle connection piece, 19-driven bevel gear, 20-sealing ring, 21-first flange bearing, 22-first plane thrust needle bearing, 23-second plane thrust needle bearing, 24-angular contact bearing, 25-first bearing washer, 26-bearing pad, 27-second flange bearing, 28-second bearing washer, 29-third plane thrust needle bearing, 30-chuck, 31-differential small end plane thrust needle bearing, 32-differential small end flange bearing, 33-differential small end. DETAILED DESCRIPTION

[0020] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein like references numerals designate identical or functionally similar elements throughout the several views. The embodiments described below are merely examples and are not intended to limit the application of the present application.

[0021] Referring to Figures 1 to 7 The utility model provides a differential sucking disc formula multi -freedom degree mechanical arm, including big arm 1, small arm 2, connecting arm 3, first mobile mechanism, second mobile mechanism and differential mechanism, first mobile mechanism set up between big arm 1 with small arm 2, second mobile mechanism sets up between connecting arm 3 with big arm 1, differential mechanism includes two single -pass copper column 4, sucking disc 30, two first motor 5, two driving wheels 6, two driven wheels 7, differential big end 8, fixed plate 9 and two lock screw 10, two single -pass copper column 4 with small arm 2 bolt connection lies in one side of small arm 2 respectively, two first motor 5 is bolted with corresponding single -pass copper column 4 respectively and located in the inside of small arm 2, two driving wheels 6 with corresponding first motor 5's output is connected and located in corresponding first motor 5's one side, two lock screw 10 with small arm 2 bolt connection and located in corresponding driving wheel 6 below, two driven wheels 7 are fixedly connected with corresponding lock screw 10 respectively and are set on the surface of corresponding lock screw 10, driving wheel 6 is transmission connection with driven wheel 7, fixed plate 9 is rotationally connected with two lock screw 10 and is located between two lock screw 10, differential big end 8 is bolted with fixed plate 9 and is located in fixed plate 9 below, one end of two driven wheels 7 is provided with differential small end 33, differential small end 33 is engaged with differential big end 8, sucking disc 30 is bolted with differential big end 8 and is located in differential big end 8 below.

[0022] In the embodiment, the first motor 5 drives the corresponding driving wheel 6 to rotate, the driving wheel 6 drives the driven wheel 7 to rotate, the two differential small ends 33 drive the differential big end 8 to rotate, when the power of the two first motors 5 is different, the two differential small ends 33 drive the differential big end 8 to rotate, and the differential big end 8 rotates around the lock bolt as the axis, when the power of the two first motors 5 is the same, the position of the differential big end 8 does not change and rotates around its own axis.

[0023] Further, the first moving mechanism comprises a second motor 11, a shaft coupling 12, a driving gear 13 and a driven gear 14, the second motor 11 is fixedly connected with the small arm 2 and located at one end of the small arm 2, the shaft coupling 12 is connected with the output end of the second motor 11 and located below the second motor 11, the driving gear 13 is fixedly connected with the output end of the second motor 11 and located below the second motor 11, and the driven gear 14 is fixed in the inside of the large arm 1, and the driving gear 13 is engaged with the driven gear 14.

[0024] In the embodiment, the second motor 11 drives the driving gear 13 to rotate, the driving gear 13 drives the driven gear 14 to rotate, so that the small arm 2 rotates around the large arm 1.

[0025] Further, the second moving mechanism comprises a third motor 15, a set screw 16, a driving bevel gear 17, a shafting connecting piece 18 and a driven bevel gear 19, the third motor 15 is bolted with the connecting plate of the large arm 1 and located in the inside of the large arm 1, the driving bevel gear 17 is fixedly connected with the output end of the third motor 15, the driven bevel gear 19 is engaged with the driving bevel gear 17 and located at one side of the driven gear 14, the shafting connecting piece 18 is clamped with the connecting arm 3 and located in the inside of the connecting arm 3, and the set screw 16 is bolted with the connecting arm 3 through the driven bevel gear 19 and the shafting connecting piece 18.

[0026] In the embodiment, the third motor 15 drives the driving bevel gear 17 to rotate, the driving bevel gear 17 drives the driven bevel gear 19 to rotate, so that the large arm 1 rotates around the connecting arm 3.

[0027] Further, the lower side of the fixed plate 9 is provided with a sealing ring 20, a first flange bearing 21 and a second plane thrust needle bearing 22, and the two sides of the driven gear 7 are provided with a plurality of differential small end plane thrust needle bearings 31 and a plurality of differential small end flange bearings 32.

[0028] In the embodiment, the differential large end 8 is fixed on the fixed plate 9 through the sealing ring 20, the first flange bearing 21 and the second plane thrust needle bearing 22, so that the stability is improved.

[0029] Further, the second plane thrust needle bearing 23, the angular contact bearing 24, the first bearing washer 25 and the bearing pad 26 are arranged between the driven bevel gear 19 and the shafting connecting piece 18, and the second flange bearing 27, the second bearing washer 28 and the third plane thrust needle bearing 29 are arranged at one side of the driven gear 14.

[0030] In the embodiment, the driven bevel gear 19 and the driven gear 14 are fixed by the above structure respectively, and stability is improved.

[0031] The above only discloses a preferred embodiment of the utility model, and of course cannot limit the utility model right scope, and the person skilled in the art can understand that all or part of the processes of the above embodiment are realized, and equivalent changes made according to the utility model claim still belong to the range covered by the utility model.

Claims

1. A differential suction disc type multi-degree-of-freedom mechanical arm, comprising a large arm, a small arm, a connecting arm, a first moving mechanism and a second moving mechanism, the first moving mechanism is arranged between the large arm and the small arm, and the second moving mechanism is arranged between the connecting arm and the large arm, characterized in that it further comprises a differential mechanism, the differential mechanism comprises two single-pass copper columns, a suction disc, two first motors, two driving wheels, two driven wheels, a differential large end, a fixed plate and two locking screws, the two single-pass copper columns are bolted to the small arm and are located on one side of the small arm respectively, the two first motors are bolted to the corresponding single-pass copper columns and are located inside the small arm respectively, the two driving wheels are connected with the output ends of the corresponding first motors and are located on one side of the corresponding first motors, the two locking screws are bolted to the small arm and are located below the corresponding driving wheels, the two driven wheels are fixedly connected with the corresponding locking screws and are sleeved on the surfaces of the corresponding locking screws respectively, the driving wheels are in transmission connection with the driven wheels, the fixed plate is in rotational connection with the two locking screws and is located between the two locking screws, the differential large end is bolted to the fixed plate and is located below the fixed plate, one end of each of the two driven wheels is provided with a differential small end, the differential small end is engaged with the differential large end, and the suction disc is bolted to the differential large end and is located below the differential large end.

2. The differential suction disc type multi-degree-of-freedom mechanical arm according to claim 1, characterized in that the first moving mechanism comprises a second motor, a shaft coupling, a driving gear and a driven gear, the second motor is fixedly connected with the small arm and is located at one end of the small arm, the shaft coupling is connected with the output end of the second motor and is located below the second motor, the driving gear is fixedly connected with the output end of the second motor and is located below the second motor, the driven gear is fixedly arranged inside the large arm, and the driving gear is engaged with the driven gear.

3. The differential suction disc type multi-degree-of-freedom mechanical arm according to claim 2, characterized in that the second moving mechanism comprises a third motor, a set screw, a driving bevel gear, an axle system connecting piece and a driven bevel gear, the third motor is bolted to the large arm connecting plate and is located inside the large arm, the driving bevel gear is fixedly connected with the output end of the third motor, the driven bevel gear is engaged with the driving bevel gear and is located on one side of the driven gear, the axle system connecting piece is clamped to the connecting arm and is located inside the connecting arm, and the set screw is bolted to the connecting arm through the driven bevel gear and the axle system connecting piece.

4. The differential suction disc type multi-degree-of-freedom mechanical arm according to claim 3, characterized in that a sealing ring, a first flange bearing and a first plane thrust needle bearing are arranged below the fixed plate, and a plurality of third plane thrust needle bearings and a plurality of differential small end second flange bearings are arranged on both sides of the driven wheel. ​ ​ ​ ​ 5. The differential chuck multi-DOF manipulator of claim 4, wherein, a second flat thrust needle bearing, an angular contact bearing, a first bearing washer and a bearing spacer are arranged between the driven bevel gear and the shafting connecting piece, and a second flange bearing, a second bearing washer and a third flat thrust needle bearing are arranged on one side of the driven gear.

Images