A multi-jointed robot simulation arm

Abstract

The utility model relates to mechanical arm technical field especially is a kind of multi-joint robot simulation arm, including mechanical arm body and base assembly, and the lower end of mechanical arm body is fixedly connected with base assembly, and the upper end of base assembly is installed with fixed component, and the inboard of fixed component is fixedly connected with hydraulic control component, and fixed component includes bottom plate, and the top of bottom plate is sequentially fixedly connected with guide column and top plate, and the bottom of top plate is sequentially fixedly connected with spring, pressing plate and limit plug-in column, and hydraulic control component includes movable cylinder shell, and the inboard of movable cylinder shell is slidably connected with fixed cylinder shell, and the inboard of fixed cylinder shell is fixedly connected with check valve, and the outside of fixed cylinder shell is fixedly connected with rubber sealing ring, in the utility model, device can ensure that mechanical arm does not slacken under resonance condition, to significantly improve the positioning accuracy of end effector, enhanced the stability and reliability of operation, provide powerful guarantee for the long-term stable operation of mechanical arm.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a multi-joint robotic simulated arm. Background Technology

[0002] A multi-joint robotic simulated arm is a robotic arm system developed based on virtual simulation technology. By simulating the kinematics and dynamics of a real robotic arm, it is used to train, test, and optimize robot control algorithms. It typically includes steps such as 3D modeling, dynamic analysis, and trajectory planning, and can provide a reliable basis for the design, development, and application of robotic arms. This simulated arm can simulate the behavior of robotic arms in different environments, helping developers to conduct research and experimentation on control algorithms without the need for actual hardware. When using a multi-joint robot arm, its base is usually fixed in a designated position. However, during high-frequency rotation or complex movements, the robot arm is prone to resonance. This vibration may cause the screws at the connection points to loosen, thereby reducing the positioning accuracy of the end effector and affecting the stability and reliability of the operation. Therefore, a multi-joint robot arm is proposed to address the above problems. Utility Model Content

[0003] The purpose of this invention is to provide a multi-joint robotic arm to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: A multi-joint robotic arm includes a robotic arm body and a base assembly. The base assembly is fixedly connected to the lower end of the robotic arm body, and a fixing component is installed on the upper end of the base assembly. A hydraulic control component is fixedly connected to the inner side of the fixing component. The fixing component includes a base plate, a guide post and a top plate are fixedly connected to the top of the base plate in sequence, and a spring, a pressure plate and a limiting post are fixedly connected to the bottom of the top plate in sequence. The hydraulic control component includes a movable cylindrical shell, a fixed cylindrical shell is slidably connected to the inner side of the movable cylindrical shell, a check valve is fixedly connected to the inner side of the fixed cylindrical shell, a rubber sealing ring is fixedly connected to the outer side of the fixed cylindrical shell, a sealing airbag ball is fixedly connected to the top of the fixed cylindrical shell, a hose is fixedly connected to the inner side of the sealing airbag ball, a solenoid valve is fixedly connected to the lower end of the hose, and a flow hole is opened on the inner side of the movable cylindrical shell.

[0005] As a further optimization of this utility model, the base assembly includes a base body, a foot fixedly connected to the lower end of the base body, an insertion hole on the inner side of the foot, and a fixed connection between the top end of the base body and the lower end of the robotic arm body.

[0006] As a further optimization of this utility model, the bottom end of the pressure plate is fixedly connected to a limiting post, the limiting post is inserted into the inner side of the insertion hole, and the outer side of the limiting post is in contact with the inner side of the insertion hole.

[0007] As a further optimization of this utility model, the inner side of the pressure plate is provided with a guide hole, and a guide post is slidably connected to the inner side of the guide hole.

[0008] As a further optimization of this utility model, the top end of the pressure plate is fixedly connected to the bottom end of the movable cylinder shell, and the top plate is fixedly connected to the fixed cylinder shell through a through hole.

[0009] As a further optimization of this utility model, the inner sides of the movable cylinder shell and the fixed cylinder shell are both hollow structures. The inner side of the movable cylinder shell is in contact with the outer side of the rubber sealing ring. The inner sides of the movable cylinder shell, the fixed cylinder shell, the sealing airbag ball, and the hose are all filled with hydraulic oil.

[0010] As a further optimization of this utility model, the inner side of the sealing airbag ball is connected to the inner side of the hose, the front end of the solenoid valve is fixedly connected to the movable cylinder shell through a metal rigid pipe, and the inner side of the movable cylinder shell is connected to the inside of the metal rigid pipe through a flow hole.

[0011] Compared with the prior art, the beneficial effects of this utility model are: In this invention, the device effectively solves the problem of screw loosening caused by resonance in multi-joint robot simulated arms during high-frequency rotation or complex movements by setting up a fixing component and a hydraulic control component. Compared with the traditional bolt fixing method, this design can ensure that the robotic arm will not loosen under resonance conditions, thereby significantly improving the positioning accuracy of the end effector, enhancing the stability and reliability of operation, and providing a strong guarantee for the long-term stable operation of the robotic arm. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is an exploded structural diagram of the entire utility model; Figure 3 This is a schematic diagram of the base assembly structure of this utility model; Figure 4 This is a cross-sectional structural diagram of the fixing component of this utility model; Figure 5 This is an exploded structural diagram of the fixing component of this utility model; Figure 6 This is a cross-sectional structural diagram of the hydraulic control component of this utility model; Figure 7 This is an exploded structural diagram of the hydraulic control component of this utility model; Figure 8 This utility model Figure 7 A schematic diagram of the structure at point A.

[0013] In the image: 1. The robotic arm itself; 2. Base assembly; 21. Base body; 22. Feet; 23. Socket; 3. Fixing components; 31. Base plate; 32. Guide post; 33. Spring; 34. Pressure plate; 35. Limiting insert; 36. Top plate; 37. Through hole; 38. Guide hole; 4. Hydraulic control components; 41. Movable cylinder shell; 42. Fixed cylinder shell; 43. Check valve; 44. Rubber sealing ring; 45. Sealing airbag ball; 46. Hoses; 47. Solenoid valve; 48. Flow hole. Detailed Implementation

[0014] 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.

[0015] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0016] Please see Figures 1-8 This utility model provides a technical solution: A multi-joint robotic arm includes a robotic arm body 1 and a base assembly 2. The base assembly 2 is fixedly connected to the lower end of the robotic arm body 1, and a fixing assembly 3 is installed on the upper end of the base assembly 2. A hydraulic control assembly 4 is fixedly connected to the inner side of the fixing assembly 3. The fixing assembly 3 includes a base plate 31, a guide post 32 and a top plate 36 are fixedly connected to the top of the base plate 31 in sequence, and a spring 33, a pressure plate 34 and a limiting post 35 are fixedly connected to the bottom of the top plate 36 in sequence. The hydraulic control assembly 4 includes a movable cylinder shell 41, a fixed cylinder shell 42 is slidably connected to the inner side of the movable cylinder shell 41, a check valve 43 is fixedly connected to the inner side of the fixed cylinder shell 42, a rubber sealing ring 44 is fixedly connected to the outer side of the fixed cylinder shell 42, a sealing airbag ball 45 is fixedly connected to the top of the fixed cylinder shell 42, a hose 46 is fixedly connected to the inner side of the sealing airbag ball 45, a solenoid valve 47 is fixedly connected to the lower end of the hose 46, and a flow hole 48 is opened on the inner side of the movable cylinder shell 41.

[0017] As a further implementation of this solution, the base assembly 2 includes a base body 21, with a foot 22 fixedly connected to the lower end of the base body 21. An insertion hole 23 is provided on the inner side of the foot 22. The top end of the base body 21 is fixedly connected to the lower end of the robotic arm body 1. Through the above settings, a basic structure is provided for the installation and fixation of the robotic arm, ensuring the overall stability of the robotic arm and providing a reliable connection point for subsequent fixation and anti-loosening measures. As a further implementation of this solution, a limiting post 35 is fixedly connected to the bottom end of the pressure plate 34. The limiting post 35 is inserted into the inner side of the insertion hole 23, and the outer side of the limiting post 35 fits against the inner side of the insertion hole 23. Through the above arrangement, the insertion and cooperation between the limiting post 35 and the insertion hole 23 makes the connection between the pressure plate 34 and the base body 21 tighter. The fit design enhances the stability of the connection part, reduces the risk of loosening due to resonance, and improves the reliability of the robotic arm in complex movements. As a further implementation of this solution, a guide hole 38 is provided on the inner side of the pressure plate 34, and a guide post 32 is slidably connected to the inner side of the guide hole 38. The top end of the pressure plate 34 is fixedly connected to the bottom end of the movable cylindrical shell 41, and the top plate 36 is fixedly connected to the fixed cylindrical shell 42 through the through hole 37. Through the above settings, the lateral sway caused by resonance is effectively reduced, and the motion accuracy and stability of the robotic arm are further improved. This ensures that the connection between the components will not loosen due to resonance during high-frequency rotation or complex motion, thereby enhancing the overall stability of the robotic arm. As a further implementation of this solution, the inner sides of the movable cylinder shell 41 and the fixed cylinder shell 42 are both hollow structures. The inner side of the movable cylinder shell 41 is fitted to the outer side of the rubber sealing ring 44. The inner sides of the movable cylinder shell 41, the fixed cylinder shell 42, the sealing airbag ball 45, and the hose 46 are all filled with hydraulic oil. The inner side of the sealing airbag ball 45 is connected to the inner side of the hose 46. The front end of the solenoid valve 47 is fixedly connected to the movable cylinder shell 41 through a metal rigid pipe. The inner side of the movable cylinder shell 41 is connected to the inside of the metal rigid pipe through a flow hole 48. Through the above settings, the device's anti-loosening ability under resonance conditions ensures the stability and reliability of the robotic arm in complex movements. At the same time, it can effectively prevent hydraulic oil leakage. By using the backstop of hydraulic oil, it can limit the movement direction of the installed pressure plate 34, thereby improving the stability of fixing the robotic arm.

[0018] Workflow: During installation, multiple base plates 31 are pre-welded and fixed to the workbench, and multiple solenoid valves 47 are in the open state. Multiple operators push multiple pressure plates 34 upwards. The pressure plates 34 slide outside the guide post 32 through the guide hole 38, compressing the spring 33. The pressure plates 34 drive the movable cylinder shell 41 upwards, sliding outside the fixed cylinder shell 42. At this time, the hydraulic oil inside the movable cylinder shell 41 flows through the hose 46 and solenoid valve 47 to the interior of the sealing airbag ball 45, causing the sealing airbag ball 45 to inflate and press the base... The main body 21 is placed between multiple base plates 31, and the insertion hole 23 is aligned with the limiting insertion post 35. The pressure plate 34 is released, and under the action of the spring 33, the pressure plate 34 and the movable cylinder shell 41 are pushed downward. At this time, the hydraulic oil inside the sealing airbag ball 45 will flow back to the flow hole 48 and the interior of the movable cylinder shell 41 through the hose 46 and the solenoid valve 47. The sealing airbag ball 45 contracts until the limiting insertion post 35 is inserted into the interior of the insertion hole 23. At the same time, the pressure plate 34 presses the upper end of the foot 22. Then, the multiple solenoid valves 47 are closed to complete the installation. During use, resonance is prone to occur when the robotic arm body 1 rotates at high frequency or undergoes complex movements. The hydraulic oil located at the lower end of the check valve 43 is in a sealed state. By preventing the hydraulic oil from flowing backward through the check valve 43, the moving cylinder 41 can be prevented from moving upward, thereby preventing the pressure plate 34 from moving upward. At the same time, the spring 33 applies a continuous downward thrust to the pressure plate 34, which will immediately eliminate any gap between the pressure plate 34 and the foot seat 22. This setting will only make the pressure plate 34 more and more tightly fixed to the foot seat 22, changing the traditional method of fixing with bolts. When resonance occurs, it can ensure that the robotic arm does not loosen, ensuring the positioning accuracy of the robotic arm end effector, as well as the stability and reliability of operation.

[0019] 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-joint robotic arm, comprising a robotic arm body (1) and a base assembly (2), characterized in that: The lower end of the robotic arm body (1) is fixedly connected to a base assembly (2), and a fixing assembly (3) is installed on the upper end of the base assembly (2). A hydraulic control assembly (4) is fixedly connected to the inner side of the fixing assembly (3). The fixing component (3) includes a base plate (31), a guide post (32) and a top plate (36) are fixedly connected to the top of the base plate (31) in sequence, and a spring (33), a pressure plate (34) and a limiting post (35) are fixedly connected to the bottom of the top plate (36) in sequence. The hydraulic control assembly (4) includes a movable cylinder shell (41), a fixed cylinder shell (42) is slidably connected to the inner side of the movable cylinder shell (41), a check valve (43) is fixedly connected to the inner side of the fixed cylinder shell (42), a rubber sealing ring (44) is fixedly connected to the outer side of the fixed cylinder shell (42), a sealing airbag ball (45) is fixedly connected to the top of the fixed cylinder shell (42), a hose (46) is fixedly connected to the inner side of the sealing airbag ball (45), a solenoid valve (47) is fixedly connected to the lower end of the hose (46), and a flow hole (48) is opened on the inner side of the movable cylinder shell (41).

2. The multi-joint robotic arm according to claim 1, characterized in that: The base assembly (2) includes a base body (21), a foot (22) is fixedly connected to the lower end of the base body (21), an insertion hole (23) is provided on the inner side of the foot (22), and the top end of the base body (21) is fixedly connected to the lower end of the robotic arm body (1).

3. The multi-joint robotic arm according to claim 1, characterized in that: The bottom end of the pressure plate (34) is fixedly connected to a limiting pin (35), which is inserted into the inner side of the socket (23), and the outer side of the limiting pin (35) is in contact with the inner side of the socket (23).

4. The multi-joint robotic arm according to claim 1, characterized in that: The pressure plate (34) has a guide hole (38) on its inner side, and a guide post (32) is slidably connected to the inner side of the guide hole (38).

5. The multi-joint robotic arm according to claim 1, characterized in that: The top of the pressure plate (34) is fixedly connected to the bottom of the movable cylindrical shell (41), and the top plate (36) is fixedly connected to the fixed cylindrical shell (42) through the through hole (37).

6. The multi-joint robotic arm according to claim 1, characterized in that: The inner side of the movable cylinder (41) and the inner side of the fixed cylinder (42) are both hollow structures. The inner side of the movable cylinder (41) is in contact with the outer side of the rubber sealing ring (44). The inner side of the movable cylinder (41), the inner side of the fixed cylinder (42), the inner side of the sealing airbag ball (45) and the inner side of the hose (46) are all filled with hydraulic oil.

7. The multi-joint robotic arm according to claim 1, characterized in that: The inner side of the sealing airbag ball (45) is connected to the inner side of the hose (46), the front end of the solenoid valve (47) is fixedly connected to the movable cylinder shell (41) through a metal hard tube, and the inner side of the movable cylinder shell (41) is connected to the inside of the metal hard tube through a flow hole (48).

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