360-degree operation mechanical arm

Abstract

A 360-degree operation mechanical arm comprises a base, a rotary table, a driving motor, a vertical mechanical arm body, a horizontal mechanical arm body, a manipulator, a first driving assembly and a second driving assembly, the rotary table is rotationally connected to the upper side of the base, the driving motor is connected to the lower side of the base, and an output shaft of the driving motor penetrates through the base and then is connected with a gear ring of the rotary table; the first driving assembly is connected with the vertical mechanical arm, one end of the vertical mechanical arm is hinged to the upper end face of the rotary table, the other end of the vertical mechanical arm is hinged to one end of the horizontal mechanical arm, the second driving assembly is connected with the horizontal mechanical arm, and the other end of the horizontal mechanical arm is connected with the manipulator. According to the design, the rotary table is driven to rotate through the driving motor, then the mechanical arm is driven to rotate by 360 degrees in the horizontal direction, the mechanical arm is connected in a spatial parallel four-connecting-rod connection mode, free deformation of the mechanical arm can be facilitated, and the mechanical arm can work at any position in the 360-degree space with the maximum extension length of the mechanical arm as the radius.

Description

Technical Field

[0001] This utility model relates to the field of train track surveying equipment technology, and in particular to a 360-degree working robotic arm. Background Technology

[0002] Robotic arms and robotic hands are automated operating devices that can mimic certain movements and functions of human hands and arms to grasp, move objects or operate tools according to a fixed program. With the continuous advancement of industrial technology, robotic hands and robotic arms are widely used in fields such as machinery manufacturing, metallurgy, electronics and light industry.

[0003] However, existing robotic arms often use multi-joint collaboration to complete tasks, with motors installed near the joints to drive joint movement. In this structure, the utilization efficiency of the motors is not high. At the same time, because robotic arms use multiple joints, the ratio of their own weight to load is relatively large, resulting in poor stability and flexibility, and is not conducive to reducing energy consumption and improving work efficiency. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects and problems of complex structure and poor stability of existing robotic arms, and to provide a lightweight and more stable 360-degree robotic arm.

[0005] To achieve the above objectives, the technical solution of this utility model is: a 360-degree working robotic arm, including a base, a turntable, a drive motor, a vertical robotic arm, a horizontal robotic arm, a robotic hand, a first drive assembly, and a second drive assembly. The turntable is rotatably connected to the upper side of the base, the drive motor is connected to the lower side of the base and its output shaft passes through the base and is connected to the gear ring of the turntable, the first drive assembly is connected to the vertical robotic arm, one end of the vertical robotic arm is hinged to the upper surface of the turntable, the other end of the vertical robotic arm is hinged to one end of the horizontal robotic arm, the second drive assembly is connected to the horizontal robotic arm, and the other end of the horizontal robotic arm is connected to the robotic hand.

[0006] The vertical robotic arm includes a first link, a second link, a first connecting plate, and a second connecting plate. The first connecting plate is connected to the upper side of the turntable. One end of the first link and the second link are respectively hinged to the first connecting plate, and the other end of the first link and the second link are respectively hinged to the second connecting plate. One end of the first drive assembly is hinged to the second link, and the output end of the first drive assembly is hinged to the first link. The horizontal robotic arm is hinged to the second connecting plate.

[0007] The first driving assembly comprises a first electric push rod, two first rotating rods and two first rotating bases, the first electric push rod is installed on one of the first rotating bases, the output end of the first electric push rod is connected to the other first rotating base, one end of each of the two first rotating rods is rotatably connected to the two first rotating bases respectively, and the other end of each of the two first rotating rods is rotatably connected to the first connecting rod and the second connecting rod respectively.

[0008] The first connecting plate comprises a bottom plate, two first triangular plates, two first rotating shafts and a connecting column, the bottom plate is connected to the upper side of the rotating table, the two first triangular plates are symmetrically arranged and vertically connected to the bottom plate, the connecting column is connected between the two first triangular plates, the two first rotating shafts are connected between the two first triangular plates respectively, the two first rotating shafts are located at two vertices of the first triangular plate, and one end of each of the first connecting rod and the second connecting rod is rotatably connected to the two first rotating shafts respectively.

[0009] The first connecting rod and the second connecting rod are equal in length and parallel to each other, so that the four hinge nodes of the vertical mechanical arm are arranged in a parallelogram shape.

[0010] The horizontal mechanical arm comprises a third connecting rod, a fourth connecting rod and a third connecting plate, one end of each of the third connecting rod and the fourth connecting rod is hingedly connected to the second connecting plate, the other end of each of the third connecting rod and the fourth connecting rod is hingedly connected to the third connecting plate, one end of the second driving assembly is hingedly connected to the fourth connecting rod, and the output end of the second driving assembly is hingedly connected to the third connecting rod.

[0011] The second driving assembly comprises a second electric push rod, two second rotating rods and two second rotating bases, the second electric push rod is installed on one of the second rotating bases, the output end of the second electric push rod is connected to the other second rotating base, one end of each of the two second rotating rods is rotatably connected to the two second rotating bases respectively, and the other end of each of the two second rotating rods is rotatably connected to the third connecting rod and the fourth connecting rod respectively.

[0012] The second connecting plate comprises two second triangular plates, two second rotating shafts and two connecting shafts, the two second triangular plates are symmetrically arranged, the two second rotating shafts and the two connecting shafts are connected between the two second triangular plates respectively, the two second rotating shafts are located at two vertices of the second triangular plate respectively, the two connecting shafts are located at the other two vertices of the second triangular plate, the other end of each of the first connecting rod and the second connecting rod is rotatably connected to the two second rotating shafts respectively, and one end of each of the third connecting rod and the fourth connecting rod is rotatably connected to the two connecting shafts respectively.

[0013] The third connecting plate comprises two third triangular plates and three third rotating shafts, the two third triangular plates are symmetrically arranged, the three third rotating shafts are connected between the two third triangular plates respectively, the three third rotating shafts are located at three vertices of the third triangular plate respectively, and the other ends of the third connecting rod and the fourth connecting rod are rotationally connected to the two third rotating shafts respectively.

[0014] The third connecting rod and the fourth connecting rod are equal in length and parallel to each other, so that the four hinge nodes of the horizontal mechanical arm are arranged in a parallelogram.

[0015] Compared with the prior art, the 360-degree operation mechanical arm has the following beneficial effects:

[0016] 1. In the 360-degree operation mechanical arm, the rotating platform is driven to rotate by the driving motor, so that the mechanical arm can rotate by 360 degrees in the horizontal direction, the mechanical arm adopts the connecting mode of the spatial parallel four-bar linkage, the mechanical arm can be deformed freely, and the mechanical hand can work at any position in the 360-degree space with the maximum extension length of the mechanical arm as the radius. Therefore, the 360-degree operation mechanical arm has the advantages of lightweight structure, good flexibility, etc.

[0017] 2. In the 360-degree operation mechanical arm, the horizontal mechanical arm and the vertical mechanical arm are connected by the linkage structure to form a large-space stress structure, the stress structure has good overall performance and is less affected by vibration, the bar mainly bears axial force, so that the stress is more reasonable, and the material strength can be fully utilized while the material is saved. Therefore, the 360-degree operation mechanical arm has the advantages of small self-weight, good stability, etc.

[0018] 3. In the 360-degree operation mechanical arm, the horizontal mechanical arm and the vertical mechanical arm are arranged in the hinged parallel four-bar linkage structure, so that the horizontal mechanical arm and the vertical mechanical arm can be deformed freely, the parallel four-bar linkage is divided into two variable trapezoids with large difference in the upper base and the lower base by the electric push rod diagonal bracing linkage to form a diagonal, the entire trapezoid gradually approaches a triangle, so that the trapezoid has stability, the vertical mechanical arm changes the vertical inclination in the active space by the variable parallel four-bar linkage structure to change the working height, and the horizontal mechanical arm changes the horizontal inclination in the active space by the variable parallel four-bar linkage structure to change the horizontal distance. Therefore, the 360-degree operation mechanical arm has the advantages of flexible work, high intelligentization, etc. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic view of the utility model.

[0020] Figure 2 is a structural schematic view of the vertical mechanical arm in the utility model.

[0021] Figure 3 is a structural schematic view of the first driving assembly in the utility model.

[0022] Figure 4 is a structural schematic view of the first connecting plate in the utility model.

[0023] Figure 5 is a structural schematic view of the second connecting plate in the utility model.

[0024] Figure 6 is a structural schematic view of the horizontal mechanical arm in the utility model.

[0025] Figure 7 is a structural schematic view of the second driving assembly in the utility model.

[0026] Figure 8 is a structural schematic view of the third connecting plate in the utility model.

[0027] In the drawing: base 1, rotary table 2, driving motor 3, vertical mechanical arm 4, first connecting rod 41, second connecting rod 42, first connecting plate 43, bottom plate 431, first triangular plate 432, first rotating shaft 433, connecting column 434, second connecting plate 44, second triangular plate 441, second rotating shaft 442, connecting shaft 443, horizontal mechanical arm 5, third connecting rod 51, fourth connecting rod 52, third connecting plate 53, third triangular plate 531, third rotating shaft 532, first driving assembly 6, first electric push rod 61, first rotating rod 62, first rotating seat 63, second driving assembly 7, second electric push rod 71, second rotating rod 72, second rotating seat 73, mechanical hand 8. DETAILED DESCRIPTION

[0028] The utility model is further explained in detail in connection with the drawings, the specific embodiment and the following.

[0029] Embodiment 1:

[0030] Referring to Figures 1 to 8 A 360-degree operation mechanical arm includes base 1, rotary table 2, driving motor 3, vertical mechanical arm 4, horizontal mechanical arm 5, mechanical hand 8, first driving assembly 6 and second driving assembly 7, the rotary table 2 is rotationally connected on the upside of the base 1, the driving motor 3 is connected on the downside of the base 1 and the output shaft is connected with the gear ring of the rotary table 2 after passing through the base 1, the first driving assembly 6 is connected with the vertical mechanical arm 4, one end of the vertical mechanical arm 4 is hinged to the upper end face of the rotary table 2, the other end of the vertical mechanical arm 4 is hinged to one end of the horizontal mechanical arm 5, the second driving assembly 7 is connected with the horizontal mechanical arm 5, the other end of the horizontal mechanical arm 5 is connected with the mechanical hand 8.

[0031] The vertical mechanical arm 4 comprises a first connecting rod 41, a second connecting rod 42, a first connecting plate 43, and a second connecting plate 44, the first connecting plate 43 is connected to the upper side of the rotary table 2, one end of the first connecting rod 41 and the second connecting rod 42 is respectively hinged to the first connecting plate 43, the other end of the first connecting rod 41 and the second connecting rod 42 is respectively hinged to the second connecting plate 44, one end of the first driving assembly 6 is hinged to the second connecting rod 42, the output end of the first driving assembly 6 is hinged to the first connecting rod 41, the horizontal mechanical arm 5 is hinged to the second connecting plate 44, the lengths of the first connecting rod 41 and the second connecting rod 42 are equal and parallel to each other, so that the four hinge nodes of the vertical mechanical arm 4 are arranged in a parallelogram.

[0032] The horizontal mechanical arm 5 comprises a third connecting rod 51, a fourth connecting rod 52, and a third connecting plate 53, one end of the third connecting rod 51 and the fourth connecting rod 52 is respectively hinged to the second connecting plate 44, the other end of the third connecting rod 51 and the fourth connecting rod 52 is respectively hinged to the third connecting plate 53, one end of the second driving assembly 7 is hinged to the fourth connecting rod 52, the output end of the second driving assembly 7 is hinged to the third connecting rod 51, the lengths of the third connecting rod 51 and the fourth connecting rod 52 are equal and parallel to each other, so that the four hinge nodes of the horizontal mechanical arm 5 are arranged in a parallelogram.

[0033] Embodiment 2:

[0034] The basic content is equivalent to embodiment 1, the difference is that:

[0035] Referring to Figures 2 to 5 , the first driving assembly 6 comprises a first electric push rod 61, two first rotating rods 62, and two first rotating seats 63, the first electric push rod 61 is installed in one of the first rotating seats 63, the output end of the first electric push rod 61 is connected to the other first rotating seat 63, one end of the two first rotating rods 62 is respectively rotationally connected to the two first rotating seats 63, the other end of the two first rotating rods 62 is respectively rotationally connected to the first connecting rod 41 and the second connecting rod 42.

[0036] The first connecting plate 43 comprises a bottom plate 431, two first triangular plates 432, two first rotating shafts 433, and a connecting column 434, the bottom plate 431 is connected to the upper side of the rotary table 2, the two first triangular plates 432 are symmetrically arranged and vertically connected to the bottom plate 431, the connecting column 434 is connected between the two first triangular plates 432, the two first rotating shafts 433 are respectively connected between the two first triangular plates 432, the two first rotating shafts 433 are located at the two vertices of the first triangular plate 432, one end of the first connecting rod 41 and the second connecting rod 42 is respectively rotationally connected to the two first rotating shafts 433;

[0037] The second connecting plate 44 comprises two second triangular plates 441, two second rotating shafts 442 and two connecting shafts 443, the two second triangular plates 441 are symmetrically arranged, the two second rotating shafts 442 and the two connecting shafts 443 are connected between the two second triangular plates 441 respectively, the two second rotating shafts 442 are located at two vertices of the second triangular plate 441 respectively, and the two connecting shafts 443 are located at another vertex of the second triangular plate 441, the other end of the first connecting rod 41 and the second connecting rod 42 is rotationally connected to the two second rotating shafts 442 respectively, and one end of the third connecting rod 51 and the fourth connecting rod 52 is rotationally connected to the two connecting shafts 443 respectively.

[0038] Embodiment 3:

[0039] The basic content is equivalent to that of embodiment 1, except that:

[0040] Referring to Figures 6 to 8 Figures 6 to 8 , the second driving assembly 7 comprises a second electric push rod 71, two second rotating rods 72 and two second rotating bases 73, the second electric push rod 71 is installed on one of the second rotating bases 73, the output end of the second electric push rod 71 is connected to the other second rotating base 73, one end of the two second rotating rods 72 is rotationally connected to the two second rotating bases 73 respectively, and the other end of the two second rotating rods 72 is rotationally connected to the third connecting rod 51 and the fourth connecting rod 52 respectively.

[0041] The third connecting plate 53 comprises two third triangular plates 531 and three third rotating shafts 532, the two third triangular plates 531 are symmetrically arranged, the three third rotating shafts 532 are connected between the two third triangular plates 531 respectively, and the three third rotating shafts 532 are located at three vertices of the third triangular plate 531 respectively, the other end of the third connecting rod 51 and the fourth connecting rod 52 is rotationally connected to the two third rotating shafts 532 respectively, and a mechanical arm is installed on the other third rotating shaft 532.

Claims

1. A 360 degree work robot arm characterized by: The base (1), the rotating table (2), the driving motor (3), the vertical mechanical arm (4), the horizontal mechanical arm (5), the mechanical hand (8), the first driving assembly (6) and the second driving assembly (7) are included, the rotating table (2) is rotatably connected to the upper side of the base (1), the driving motor (3) is connected to the lower side of the base (1) and the output shaft passes through the base (1) and is connected with the gear ring of the rotating table (2), the first driving assembly (6) is connected with the vertical mechanical arm (4), one end of the vertical mechanical arm (4) is hingedly connected to the upper end surface of the rotating table (2), the other end of the vertical mechanical arm (4) is hingedly connected to one end of the horizontal mechanical arm (5), the second driving assembly (7) is connected with the horizontal mechanical arm (5), and the other end of the horizontal mechanical arm (5) is connected with the mechanical hand (8).

2. A 360 degree work robot arm according to claim 1, characterized in that: The vertical mechanical arm (4) includes a first connecting plate (43), a second connecting plate (44), a first connecting plate (43) and a second connecting plate (44), the first connecting plate (43) is connected to the upper side of the rotating table (2), one end of the first connecting plate (43) is hingedly connected to the first connecting plate (43), the other end of the first connecting plate (43) is hingedly connected to the second connecting plate (44), one end of the first driving assembly (6) is hingedly connected to the second connecting plate (44), and the output end of the first driving assembly (6) is hingedly connected to the first connecting plate (41).

3. A 360 degree work robot arm according to claim 2, characterized in that: The first driving assembly (6) includes a first electric push rod (61), two first rotating rods (62) and two first rotating seats (63), the first electric push rod (61) is installed in one of the first rotating seats (63), the output end of the first electric push rod (61) is connected to the other first rotating seat (63), one end of the two first rotating rods (62) is rotatably connected to the two first rotating seats (63), respectively, and the other end of the two first rotating rods (62) is rotatably connected to the first connecting rod (41) and the second connecting rod (42), respectively.

4. A 360 degree work robot arm according to claim 3, characterized in that: The first connecting plate (43) includes a bottom plate (431), two first triangular plates (432), two first rotating shafts (433) and a connecting column (434), the bottom plate (431) is connected to the upper side of the rotating table (2), the two first triangular plates (432) are symmetrically arranged and vertically connected to the bottom plate (431), the connecting column (434) is connected between the two first triangular plates (432), the two first rotating shafts (433) are connected between the two first triangular plates (432), respectively, and the two first rotating shafts (433) are located at two vertices of the first triangular plate (432), one end of the first connecting rod (41) and the second connecting rod (42) is rotatably connected to the two first rotating shafts (433), respectively.

5. A 360 degree work robot arm according to claim 2, characterized in that: The first connecting rod (41) and the second connecting rod (42) are equal in length and parallel to each other, so that the four hinge points of the vertical mechanical arm (4) are arranged in a parallelogram.

6. A 360 degree work robot arm according to claim 3, characterized in that: The horizontal mechanical arm (5) comprises a third connecting rod (51), a fourth connecting rod (52), and a third connecting plate (53), one end of the third connecting rod (51) and the fourth connecting rod (52) is respectively hinged to the second connecting plate (44), the other end of the third connecting rod (51) and the fourth connecting rod (52) is respectively hinged to the third connecting plate (53), one end of the second driving assembly (7) is hinged to the fourth connecting rod (52), and the output end of the second driving assembly (7) is hinged to the third connecting rod (51).

7. A 360 degree work robot arm according to claim 6, characterized in that: The second driving assembly (7) comprises a second electric push rod (71), two second rotating rods (72), and two second rotating bases (73), the second electric push rod (71) is installed in one of the second rotating bases (73), the output end of the second electric push rod (71) is connected to the other second rotating base (73), one end of the two second rotating rods (72) is respectively rotatably connected to the two second rotating bases (73), and the other end of the two second rotating rods (72) is respectively rotatably connected to the third connecting rod (51) and the fourth connecting rod (52).

8. A 360 degree work robot arm according to claim 6, characterized in that: The second connecting plate (44) comprises two second triangular plates (441), two second rotating shafts (442), and two connecting shafts (443), the two second triangular plates (441) are symmetrically arranged, the two second rotating shafts (442) and the two connecting shafts (443) are respectively connected between the two second triangular plates (441), the two second rotating shafts (442) are respectively located at two vertices of the second triangular plate (441), the two connecting shafts (443) are located at the other vertex of the second triangular plate (441), and the other end of the first connecting rod (41) and the second connecting rod (42) is respectively rotatably connected to the two second rotating shafts (442), and one end of the third connecting rod (51) and the fourth connecting rod (52) is respectively rotatably connected to the two connecting shafts (443).

9. A 360 degree work robot arm according to claim 6, characterized in that: The third connecting plate (53) comprises two third triangular plates (531) and three third rotating shafts (532), the two third triangular plates (531) are symmetrically arranged, the three third rotating shafts (532) are respectively connected between the two third triangular plates (531), the three third rotating shafts (532) are respectively located at three vertices of the third triangular plate (531), the other end of the third connecting rod (51) and the fourth connecting rod (52) is respectively rotatably connected to the two third rotating shafts (532), and a mechanical arm is installed on the other third rotating shaft (532).

10. A 360 degree work robot arm according to claim 6, characterized in that: The third connecting rod (51) and the fourth connecting rod (52) are equal in length and parallel to each other, so that the four hinge points of the horizontal mechanical arm (5) are arranged in a parallelogram.

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