Multi-degree-of-freedom adjustable mechanical arm

Abstract

The utility model discloses a kind of multi-degree-of-freedom adjustable mechanical arm, the utility model relates to industrial automation technical field, including base, the base is fixedly connected with motor box, the upper portion of motor box is equipped with opening, first motor is fixedly installed in the side inner wall of motor box, small gear and large gear are rotatably connected in one side in motor box, the first motor drive end is connected with the small gear, first worm is rotatably connected in the other side in motor box, first worm is fixedly connected with the large gear, base horizontal direction 360 ° rotation, rotating frame vertical direction ±110 ° rotation, rotating plate vertical direction ±110 ° rotation and draw peg block horizontal direction 360 ° rotation, mechanical arm is flexibly controlled in narrow space Multi-degree-of-freedom snatch workpiece, avoid mechanical interference simultaneously, solve the technical bottleneck of traditional mechanical arm in structural complexity, rotation range and maintenance cost, realize the balance of high precision, high stability and low cost.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation technology, specifically to a multi-degree-of-freedom adjustable robotic arm. Background Technology

[0002] In existing technologies, robotic arms are important equipment in fields such as industrial automation, medical rehabilitation, and aerospace. Their performance directly affects production efficiency, operational accuracy, and safety. With the rapid development of modern manufacturing technology, traditional robotic arms mostly adopt fixed joint structures, which are difficult to adapt to the precise control of complex trajectories in three-dimensional space. Moreover, they are still insufficient in confined spaces or scenarios that require multi-directional collaborative adjustment, and cannot be flexibly adjusted with multiple degrees of freedom. Therefore, it is particularly important to design a robotic arm that can be adjusted with multiple degrees of freedom. Utility Model Content

[0003] To address the shortcomings of existing technologies, this invention provides a multi-degree-of-freedom adjustable robotic arm, solving the problem of poor flexibility in existing devices.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a multi-degree-of-freedom adjustable robotic arm, comprising a base, a motor housing fixedly connected to the base, an opening at the top of the motor housing, a first motor fixedly mounted on the inner wall of one side of the motor housing, a small gear and a large gear rotatably connected to one side of the motor housing, the drive end of the first motor connected to the small gear, a first worm gear rotatably connected to the other side of the motor housing, the first worm gear fixedly connected to the large gear, a first rotary support fixedly connected to the bottom of the motor housing, the outer ring of the first rotary support fixedly connected to the bottom of the motor housing, a first worm wheel fixedly connected to the inner ring of the first rotary support, a fixed block fixedly connected to the first worm wheel, a worm wheel plate fixedly connected to the fixed block, the large gear meshing with the small gear, the first worm wheel meshing with the first worm, a left adjustment component and a right adjustment component fixedly connected to the worm wheel plate, and a pull pin block fixedly connected to the left adjustment component.

[0005] Preferably, the left adjustment component includes a left fixed plate and a right fixed plate, both of which are fixed to the worm gear plate. Two second rotary supports are provided between the left and right fixed plates. The outer rings of the second rotary supports are fixed to the left and right fixed plates respectively, and the inner rings of each second rotary support are fixedly connected to a rotating frame. A fixed seat is provided on the rotating frame, and a support frame is movably connected to the fixed seat. A first protective shell is fixedly connected to the support frame. A second motor is provided above the first protective shell, and a first planetary reducer is connected to the drive end of the second motor. A first driving wheel, a first synchronous wheel, and a first driven wheel are rotatably connected inside the first protective shell. The output end of the first planetary reducer passes through the first protective shell and is connected to a first… The drive wheel is fixedly connected to the first driven wheel, and the first driven wheel is connected to the first lead screw via internal and external threads. The first lead screw is movably connected to a rotating plate. The right adjustment component includes a support base, which is fixed to the worm gear plate. The support base is hinged to a second protective shell. The second protective shell contains a second drive wheel, a second synchronous wheel, and a second driven wheel, which are rotatably connected to each other. A third motor is provided above the second protective shell. The drive end of the third motor is connected to a second planetary reducer. The output end of the second planetary reducer passes through the second protective shell and is connected to the second drive wheel. The second driven wheel is fixedly connected to the second lead screw, which is connected to the second lead screw via internal and external threads. A support rod is provided on the rotating frame, and the second lead screw is rotatably connected to the support rod.

[0006] Preferably, the rotating frame is provided with a first fixed plate and a second fixed plate, and two third rotary supports are provided between the first fixed plate and the second fixed plate. The outer rings of the third rotary supports are fixed to the first fixed plate and the second fixed plate respectively, and the inner rings of the third rotary supports are fixedly connected to the rotating plate. The rotating plate is fixedly connected to a base plate, and a fourth motor is fixedly installed on one side of the base plate. The base plate is provided with a fourth rotary support, the outer ring of the fourth rotary support is fixed to the base plate, and the inner ring of the fourth rotary support is fixedly connected to a second worm gear. The second worm gear is fixedly connected to the pull stud block. The drive end of the fourth motor is connected to a first gear. The fourth motor is fitted with a housing, and a rotating shaft is fixedly connected to the housing. A second worm is provided on one side of the second worm gear. One end of the second worm is fixedly connected to the second gear, and the other end of the second worm is rotatably connected to the rotating shaft.

[0007] Preferably, the first nut and the second nut are respectively provided with an upper tapered roller bearing and a lower tapered roller bearing at their upper and lower ends, and a copper sleeve is provided between the upper tapered roller bearing and the lower tapered roller bearing. The copper sleeve is sleeved on the outside of the first nut and the second nut, and a copper sleeve protective shell is provided on the outside of the copper sleeve.

[0008] Preferably, the first driving wheel meshes with the first synchronous wheel, and the first synchronous wheel meshes with the first driven wheel.

[0009] Preferably, the second driving wheel and the second synchronous wheel mesh with each other, and the second synchronous wheel and the second driven wheel mesh with each other.

[0010] Preferably, the first gear meshes with the second gear, and the second worm gear meshes with the second worm.

[0011] Preferably, the rotating plate and the rotating frame can both rotate 110 degrees clockwise and counterclockwise relative to the axis of rotation of the base.

[0012] Preferably, the first gear and the second gear are provided with a gear protective shell. Beneficial effects

[0013] This utility model provides a multi-degree-of-freedom adjustable robotic arm, which has the following advantages: This utility model has a simple structure and is easy to use. By rotating the base horizontally by 360°, rotating the rotating frame vertically by ±110°, rotating the rotating plate vertically by ±110°, and rotating the pull stud block horizontally by 360°, the robotic arm can achieve flexible control and grasping of workpieces in a confined space with multiple degrees of freedom. At the same time, it avoids mechanical interference and solves the technical bottlenecks of traditional robotic arms in terms of structural complexity, rotation range, and maintenance costs, achieving a balance between high precision, high stability, and low cost. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model.

[0015] Figure 2 This is the front view of the present invention.

[0016] Figure 3 This is a side view of the present invention.

[0017] Figure 4 This is a cross-sectional view of the rotating frame of this utility model.

[0018] In the diagram: 1. Base; 2. Motor housing; 3. First motor; 4. First slewing support; 5. First worm gear; 6. Worm gear plate; 7. First worm; 8. Pinion; 9. Gear; 10. Tie block; 11. Left fixed plate; 12. Right fixed plate; 13. Second slewing support; 14. Rotating frame; 15. Fixed seat; 16. Support frame; 17. First protective shell; 18. Second motor; 19. First planetary reducer; 20. First driving wheel; 21. First synchronous wheel; 22. First driven wheel; 23. First lead screw nut; 24. First lead screw; 25. Rotating plate; 26. First fixed plate; 27. Second fixed plate ; 28. Third slewing support; 29. ​​Base plate; 30. Fourth motor; 31. Fourth slewing support; 32. Second worm gear; 33. First gear; 34. Second worm; 35. Second gear; 36. Support seat; 37. Second protective shell; 38. Second driving wheel; 39. Second synchronous wheel; 40. Second driven wheel; 41. Third motor; 42. Second planetary reducer; 43. Second lead screw nut; 44. Second lead screw; 45. Support rod; 46. Upper tapered roller bearing; 47. Lower tapered roller bearing; 48. Copper sleeve; 49. Copper sleeve protective shell; 50. Fixing block; 51. Gear protective shell; 52. Rotating shaft. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Please see Figure 1-4This utility model provides a technical solution: a multi-degree-of-freedom adjustable robotic arm, including a base 1, a motor housing 2 fixedly connected to the base 1, an opening at the top of the motor housing 2, a first motor 3 fixedly installed on the inner wall of one side of the motor housing 2, a small gear 8 and a large gear 9 rotatably connected to one side of the motor housing 2, the drive end of the first motor 3 being connected to the small gear 8, a first worm gear 7 rotatably connected to the other side of the motor housing 2, the first worm gear 7 being fixedly connected to the large gear 9, a first rotary support 4 fixedly connected to the bottom of the motor housing 2, the outer ring of the first rotary support 4 being fixedly fixed to the bottom of the motor housing 2, and a first worm wheel 5 fixedly connected to the inner ring of the first rotary support 4. A fixing block 50 is attached, and a worm gear plate 6 is fixedly connected to the fixing block 50. The large gear 9 meshes with the small gear 8, and the first worm gear 5 meshes with the first worm 7. A left adjustment component and a right adjustment component are fixedly connected to the worm gear plate 6. A pull pin block 10 is fixedly connected to the left adjustment component. The left adjustment component includes a left fixing plate 11 and a right fixing plate 12, both of which are fixed to the worm gear plate 6. Two second rotary supports 13 are provided between the left and right fixing plates 11 and 12. The outer rings of the second rotary supports 13 are fixed to the left and right fixing plates 11 and 12 respectively, and the inner rings of the second rotary supports 13 are fixedly connected to a rotating frame 14. A fixed seat 15 is provided on the moving frame 14. A support frame 16 is movably connected to the fixed seat 15. A first protective shell 17 is fixedly connected to the support frame 16. A second motor 18 is provided above the first protective shell 17. A first planetary reducer 19 is connected to the drive end of the second motor 18. A first driving wheel 20, a first synchronous wheel 21, and a first driven wheel 22 are rotatably connected inside the first protective shell 17. The output end of the first planetary reducer 19 passes through the first protective shell 17 and is connected to the first driving wheel 20. A first nut 23 is fixedly connected to the first driven wheel 22. A first lead screw 24 is connected to the first nut 23 by internal and external threads. A rotating plate 25 is movably connected to the first lead screw 24. The right adjustment component includes... A support base 36 is fixed to the worm gear plate 6. A second protective shell 37 is hinged to the support base 36. A second driving wheel 38, a second synchronous wheel 39, and a second driven wheel 40 are rotatably connected inside the second protective shell 37. A third motor 41 is provided above the second protective shell 37. A second planetary reducer 42 is connected to the drive end of the third motor 41. The output end of the second planetary reducer 42 passes through the second protective shell 37 and is connected to the second driving wheel 38. A second nut 43 is fixedly connected to the second driven wheel 40. A second lead screw 44 is connected to the second nut 43 by internal and external threads. A support rod 45 is provided on the rotating frame 14. The second lead screw 44 is rotatably connected to the support rod 45.The rotating frame 14 is provided with a first fixed plate 26 and a second fixed plate 27. Two third rotary supports 28 are provided between the first fixed plate 26 and the second fixed plate 27. The outer rings of the third rotary supports 28 are fixed to the first fixed plate 26 and the second fixed plate 27 respectively, and the inner rings of the third rotary supports 28 are fixedly connected to the rotating plate 25. A base plate 29 is fixedly connected to the rotating plate 25. A fourth motor 30 is fixedly installed on one side of the base plate 29. A fourth rotary support 31 is provided on the base plate 29. The outer ring of the fourth rotary support 31 is fixed to the base plate 29, and a second worm gear 32 is fixedly connected to the inner ring of the fourth rotary support 31. The second worm gear 32 is fixedly connected to the tie block 10. A first gear 33 is connected to the drive end of the fourth motor 30. A housing is fitted around the fourth motor 30, and a rotating shaft 52 is fixedly connected to the housing. A second worm 34 is provided on one side of the second worm gear 32, and a second gear 35 is fixedly connected to one end of the second worm 34. 34 The other end is rotatably connected to the rotating shaft 52; the upper and lower ends of the first nut 23 and the second nut 43 are respectively provided with an upper tapered roller bearing 46 and a lower tapered roller bearing 47, and a copper sleeve 48 is provided between the upper tapered roller bearing 46 and the lower tapered roller bearing 47. The copper sleeve 48 is sleeved on the outside of the first nut 23 and the second nut 43, and a copper sleeve protective shell 49 is provided on the outside of the copper sleeve 48; the first drive wheel 20 and the first synchronous wheel 21 mesh with each other, and the first synchronous wheel 21 and The first driven wheel 22 meshes with the second driven wheel 38; the second driving wheel 38 meshes with the second synchronous wheel 39, and the second synchronous wheel 39 meshes with the second driven wheel 40; the first gear 33 meshes with the second gear 35, and the second worm gear 32 meshes with the second worm 34; the rotating plate 25 and the rotating frame 14 can both rotate 110 degrees clockwise and counterclockwise relative to the rotation axis of the base 1; the first gear 33 and the second gear 35 are provided with gear protective shells 51.

[0021] Those skilled in the art can connect the components in this case sequentially. The specific connection and operation sequence should refer to the working principle described below. The detailed connection methods are well-known technologies in the field. The working principle and process are mainly described below.

[0022] Example: In use, firstly, connect the workpiece to the tie block 10, fix the base 1 on the required working platform, turn on the first motor 3, and the first motor 3 drives the small gear 8 to drive the large gear 9 to move, thereby causing the first worm 7 to drive the first worm wheel 5 to rotate. The worm wheel plate 6 achieves 360° horizontal rotation through the first slewing support 4, providing an initial angle reference for the overall mechanism. Simultaneously, start the second motor 18, whose output end drives the first driving wheel 20 to rotate through the first planetary reducer 19, and causes the first synchronous wheel 21 and the first driven wheel 22 to rotate synchronously, thereby causing the first lead screw 24 to move axially within the first lead screw nut 23, and then causing the first lead screw 24 to drive the rotating plate 25 to move left and right. The total vertical range of motion of the rotating plate 25 is 220 degrees. Start the fourth motor 30, which drives the first gear 33, thereby causing the second gear 35 to drive the second worm 34 to rotate, and then causing the second worm 34 to drive the second worm wheel 32 to achieve 360° horizontal rotation. The 0-degree rotation allows for precise control of the vertical and horizontal gripping angles of the rivet block 10. Next, the third motor 41 is activated, controlling the rotation of the second driven wheel 40, which in turn causes the second lead screw 44 to move axially within the second nut 43. This, in turn, causes the second lead screw 44 to drive the rotating frame 14 to move left and right via the support rod 45. The rotating frame 14 has a range of motion of 220 degrees to compensate for the horizontal angle of the right adjustment component. The combination of the upper tapered roller bearing 46, the lower tapered roller bearing 47, and the copper sleeve 48 on the first nut 23 and the second nut 43 effectively enhances the radial load-bearing capacity, ensuring that interference with the work platform is avoided within the 220° rotation range. The gear protective shell 51 provides sealing protection for the first gear 33 and the second gear 35, extending the lifespan of the transmission system. In summary, this mechanism reduces structural complexity compared to traditional six-axis robotic arms, enabling flexible multi-directional control in confined spaces and improving the device's practicality and work efficiency.

[0023] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0024] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom adjustable robotic arm, comprising a base (1), characterized in that, The base (1) is fixedly connected to a motor housing (2). The motor housing (2) has an opening at the top. A first motor (3) is fixedly installed on the inner wall of one side of the motor housing (2). A small gear (8) and a large gear (9) are rotatably connected to one side of the motor housing (2). The drive end of the first motor (3) is connected to the small gear (8). A first worm gear (7) is rotatably connected to the other side of the motor. The first worm gear (7) is fixedly connected to the large gear (9). A first slewing support (4) is fixedly connected to the bottom of the motor housing (2). The outer ring of the first slewing support (4) is fixed to the bottom of the motor housing (2). The inner ring of the first slewing support (4) is fixedly connected to the first worm gear (5). The first worm gear (5) is fixedly connected to the fixing block (50). The fixing block (50) is fixedly connected to the worm gear plate (6). The large gear (9) meshes with the small gear (8). The first worm gear (5) meshes with the first worm (7). The worm gear plate (6) is fixedly connected to the left adjustment component and the right adjustment component. The left adjustment component is fixedly connected to the pull pin block (10).

2. The multi-degree-of-freedom adjustable robotic arm according to claim 1, characterized in that, The left adjustment component includes a left fixed plate (11) and a right fixed plate (12). Both the left fixed plate (11) and the right fixed plate (12) are fixed to the worm gear plate (6). Two second rotary supports (13) are provided between the left fixed plate (11) and the right fixed plate (12). The outer ring of the second rotary support (13) is fixed to the left fixed plate (11) and the right fixed plate (12) respectively. The inner ring of the second rotary support (13) is fixedly connected to a rotating frame (14). A fixed seat (15) is provided on the rotating frame (14). The fixed base (15) is movably connected to a support frame (16), and the support frame (16) is fixedly connected to a first protective shell (17). A second motor (18) is provided above the first protective shell (17). The drive end of the second motor (18) is connected to a first planetary reducer (19). A first driving wheel (20), a first synchronous wheel (21), and a first driven wheel (22) are rotatably connected inside the first protective shell (17). The output end of the first planetary reducer (19) passes through the first protective shell (17) and is connected to the first driving wheel (20). The first driven wheel (22) is fixedly connected to a first nut (23), the first nut (23) is internally and externally threaded to a first lead screw (24), the first lead screw (24) is movably connected to a rotating plate (25), the right adjustment component includes a support base (36), the support base (36) is fixed to the worm gear plate (6), the support base (36) is hinged to a second protective shell (37), the second protective shell (37) is rotatably connected to a second driving wheel (38), a second synchronous wheel (39) and a second driven wheel (40), respectively. A third motor (41) is provided above the second protective shell (37). The drive end of the third motor (41) is connected to a second planetary reducer (42). The output end of the second planetary reducer (42) passes through the second protective shell (37) and is connected to a second driving wheel (38). The second driven wheel (40) is fixedly connected to a second nut (43). The second nut (43) is internally and externally threaded to a second lead screw (44). A support rod (45) is provided on the rotating frame (14). The second lead screw (44) is rotatably connected to the support rod (45).

3. The multi-degree-of-freedom adjustable robotic arm according to claim 2, characterized in that, The rotating frame (14) is provided with a first fixed plate (26) and a second fixed plate (27). Two third rotary supports (28) are provided between the first fixed plate (26) and the second fixed plate (27). The outer ring of the third rotary support (28) is fixed to the first fixed plate (26) and the second fixed plate (27) respectively. The inner ring of the third rotary support (28) is fixedly connected to the rotating plate (25). The rotating plate (25) is fixedly connected to a base plate (29). A fourth motor (30) is fixedly installed on one side of the base plate (29). A fourth rotary support (31) is provided on the base plate (29). The outer ring of the fourth slewing support (31) is fixed to the base plate (29). The inner ring of the fourth slewing support (31) is fixedly connected to the second worm gear (32). The second worm gear (32) is fixedly connected to the pull pin block (10). The drive end of the fourth motor (30) is connected to the first gear (33). The fourth motor (30) is covered with a housing. A rotating shaft (52) is fixedly connected to the housing. A second worm (34) is provided on one side of the second worm gear (32). A second gear (35) is fixedly connected to one end of the second worm (34). The other end of the second worm (34) is rotatably connected to the rotating shaft (52).

4. The multi-degree-of-freedom adjustable robotic arm according to claim 2, characterized in that, The first nut (23) and the second nut (43) are respectively provided with an upper tapered roller bearing (46) and a lower tapered roller bearing (47) at their upper and lower ends. A copper sleeve (48) is provided between the upper tapered roller bearing (46) and the lower tapered roller bearing (47). The copper sleeve (48) is sleeved on the outside of the first nut (23) and the second nut (43). A copper sleeve protective shell (49) is provided on the outside of the copper sleeve (48).

5. A multi-degree-of-freedom adjustable robotic arm according to claim 2, characterized in that, The first driving wheel (20) meshes with the first synchronous wheel (21), and the first synchronous wheel (21) meshes with the first driven wheel (22).

6. The multi-degree-of-freedom adjustable robotic arm according to claim 2, characterized in that, The second driving wheel (38) meshes with the second synchronous wheel (39), and the second synchronous wheel (39) meshes with the second driven wheel (40).

7. A multi-degree-of-freedom adjustable robotic arm according to claim 3, characterized in that, The first gear (33) meshes with the second gear (35), and the second worm gear (32) meshes with the second worm (34).

8. A multi-degree-of-freedom adjustable robotic arm according to claim 2, characterized in that, The rotating plate (25) and the rotating frame (14) can both rotate 110 degrees clockwise and counterclockwise relative to the axis of rotation of the base (1).

9. A multi-degree-of-freedom adjustable robotic arm according to claim 3, characterized in that, The first gear (33) and the second gear (35) are provided with gear protective shells (51).

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