阅读说明：本技术 一种可用于野外机器人的机械臂改进结构 (Mechanical arm improvement structure for field robot ) 是由 夏伟 白贺 琚子晗 杨喜童 于 2021-09-16 设计创作，主要内容包括：本发明专利是基于常用机械臂结构的改进,以舵机为主要动力单元,共6个舵机分级作用在各转动关节,共2个舵机作用于机械臂手爪结构。将机械臂单手爪抓取结构改进为基于丝杠结构的双手爪可开合结构,两机械爪结构间有可伸缩钻孔装置,将两手臂结构中的大臂换为电动推杆；前段结构灵活化,零件常见,成本低,具有更强的经济实用性。采用模块化组件,组装简易,效果直观,体积小,重量轻。转盘的内圈可转动,其中心螺纹连接在底座舵机主舵盘上,由底座舵机带动转盘的内圈转动；转盘的内圈上具有手臂连接件。(The invention relates to an improvement based on a common mechanical arm structure, which takes a steering engine as a main power unit, 6 steering engines act on each rotating joint in a grading way, and 2 steering engines act on a mechanical arm paw structure. The single-claw grabbing structure of the mechanical arm is improved into a double-claw openable structure based on a screw structure, a telescopic drilling device is arranged between the two mechanical claw structures, and a large arm in the two mechanical claw structures is replaced by an electric push rod; the forepart structure is flexible, and the part is common, and is with low costs, has stronger economical and practical nature. The modularized assembly is adopted, so that the assembly is simple and easy, the effect is visual, the size is small, and the weight is light. The inner ring of the rotary table can rotate, the center of the rotary table is connected to the main steering wheel of the base steering engine through threads, and the inner ring of the rotary table is driven to rotate by the base steering engine; the inner ring of the rotary disc is provided with an arm connecting piece.)

1. The utility model provides a can be used to open-air robot's arm to improve structure which characterized in that: the first steering engine (1-1-1) at the bottom is arranged on the chassis and drives the mechanical arm to rotate in the whole circumference. The first arm of the mechanical arm is fixed on the bottom structure, and the second steering engine (1-1-2) is used as a driving device to enable the first arm to rotate in a half-circle mode with the bottom as a base point. The second arm is fixed on a third steering engine (1-1-3) on the other side of the first arm, and the third steering engine (1-1-3) is used as a driving device to rotate around the circumference by taking the steering engine as a base point. The other end of the second arm of the machine is connected with a fourth steering engine (1-1-4) to control the end part to rotate, a fifth steering engine (1-1-5) is a part of a rotating structure and provides power for rotation of the gripping device, a sixth steering engine (1-1-6) is installed beside the drilling device and provides power for extension and retraction of the drilling device, a hollow rotating plate (5-1-14) is connected through a gear, a seventh steering engine (1-1-7) is connected beside a lead screw (5-1-16) for controlling opening and closing of two claws, the tail end of the seventh steering engine is connected with the gripping device, and an eighth steering engine (1-1-8) and a ninth steering engine (1-1-9) provide power for two identical claw clamping structures.

2. The improved structure of the mechanical arm for the field robot as claimed in claim 1, is characterized in that: the arm connecting piece comprises a steering engine connecting piece hydraulic device and a hollow rotating plate structure with a steering engine as a driving unit. The chassis is a spiral connecting piece (2-12), one side of the connecting piece is connected with a first steering engine (1-1-1), and the other side of the connecting piece is connected with the whole mechanical arm integral structure. The first arm (1-1-10) of the mechanical arm with the integral structure is an existing product, has mature and reliable performance, and is a small electric push rod capable of being produced in mass.

3. The improved structure of the mechanical arm for the field robot as claimed in claim 2, is characterized in that: the hollow rotating plate (5-1-14) with the steering engine as a driving unit is connected with the large gear (4-18) through a stud, the small gear (4-19) is used as power, and the small gear arranged on the steering engine is meshed with the large gear.

4. The improved structure of the mechanical arm for the field robot as claimed in claim 1, is characterized in that: the drilling device is connected with an L-shaped fixing plate (4-29), a rack is fixed on the fixing plate and externally meshed with a gear (4-30) arranged on the steering engine, and the rack on the device is driven by the rotation of the steering engine control gear, so that the drilling device is stretched.

5. The improved structure of the mechanical arm for the field robot as claimed in claim 1, is characterized in that: the grabbing device consists of two identical composite hinged gear transmission devices, one gear (5-3-23) is driven to rotate by the eighth ninth steering engine, the other gear (5-3-14) is meshed with the driving gear (5-3-23) to be driven, and then the whole mechanical claw is driven to complete grabbing actions.

6. The improved structure of the mechanical arm for the field robot as claimed in claim 1, is characterized in that: the opening and closing structure of the claw part (grabbing structure) of the two hands of the mechanical arm is formed by connecting one side of a connecting rod with a claw bottom plate, the other side of the connecting rod is connected with a lead screw (5-1-16), a gear is arranged in the middle of the lead screw and serves as a transmission mechanism, and the steering engine drives the gear to rotate, so that the opening and closing action of the two claw structures approaching and keeping away from the mechanical arm is realized, and the mechanical arm is flexible.

The technical field is as follows:

the invention belongs to the technical field of mechanical arms, and relates to a mechanical arm for an exploration robot.

Background art:

in some complex terrains, in different situations, machines are often required to search for places where a human cannot go, mechanical equipment has stronger adaptability, a mechanical arm can achieve a sampling or destruction function on the searching machine, the human society is continuously undergoing automation revolution, accordingly, many emergencies are caused, the searching machine can be used for replacing the human in order to reduce casualties, and the improved mechanical arm is improved in order to provide effective help for the machine in the emergencies. In some special environments, the machine provided with the improved mechanical arm can complete a series of special operations, such as dangerous goods sampling, position environment detection and the like.

The invention content is as follows:

aiming at the defects of the existing structure, some improvements are provided for enabling the assembled mechanical arm to have stronger capability of coping with special conditions on the basis of saving cost.

The technical scheme is as follows:

the utility model provides an assemble mechanical arm and improve structure which characterized in that: the first steering engine (1-1-1) at the bottom is arranged on the chassis and drives the mechanical arm to rotate in a whole circumference. The first arm of the mechanical arm is fixed on the bottom structure, and the second steering engine (1-1-2) is used as a driving device to enable the first arm to rotate in a half-circle mode with the bottom as a base point.

Further, the second arm (1-1-11) is fixed on a third steering engine (1-1-3) on the other side of the first arm (1-1-10) and rotates around the circumference by taking the third steering engine (1-1-3) as a driving device and taking the steering engine as a base point.

Further, a fourth steering engine is fixed to the other end of the second arm and is connected with the drilling device through an L-shaped link (3-27).

Furthermore, a sixth steering engine (1-1-6) is fixed beside the drilling device and provides power for the stretching of the drilling device.

Specifically, the drilling device is connected with a fixing plate, a rack is fixed on the fixing plate and meshed with gears (4-30) arranged on the steering engine, and therefore the drilling device stretches out and draws back.

Furthermore, a fifth steering engine (1-1-5) is arranged at the other end of the drilling device opposite to the sixth steering engine (1-1-6), and is meshed with a hollow gear (4-18) through a gear (4-19) to serve as a hollow rotating plate (4-14) of a connecting piece between the arm and the claw.

Furthermore, a seventh steering engine (1-1-7) is connected with a screw rod (5-1-16) for controlling the two claws to open and close, the tail end of the seventh steering engine is connected with a grabbing device, and a ninth steering engine (1-1-9) and an eighth steering engine (1-1-8) provide power for two identical claw grabbing structures.

Further, the arm connecting piece comprises a steering engine connecting piece, L-shaped fixing plates (3-27) and a rotating plate structure with a steering engine as a driving unit.

Furthermore, the chassis is a spiral connecting piece (2-12), one side of the chassis is connected with a first steering engine (1-1-1), and the other side of the chassis is connected with the whole mechanical arm integral structure through a second steering engine (1-1-2).

Specifically, the rotating plate takes a steering engine as a driving unit and is driven by a gear, a hollow large gear (4-18) is connected with the hollow rotating plate (4-14), a small gear (4-19) is used as power to be externally meshed with the large gear and is arranged on the steering engine to control the rotation of the whole claw part structure.

Specifically, the claw grabbing device consists of two identical composite hinged gear transmission devices, a steering engine drives a half gear connecting rod structure (5-3-14) to rotate, the other connecting rod gear (5-3-23) is meshed with a driving gear (5-3-24) to be driven, and the opening and closing of connecting rods (5-3-22) at the tail ends of the two gear mechanisms are controlled.

Furthermore, the two-claw (grabbing structure) opening and closing structure is composed of a connecting rod (1-1-31) and a lead screw (5-1-16), one side of the connecting rod is connected with a claw structure chassis (5-1-17), the other side of the connecting rod is connected with one end of the lead screw, a fixed internal gear is arranged in the middle of the connecting rod and serves as a transmission mechanism, an external gear is arranged on a steering engine and is externally meshed with the internal gear, and the gear rotates to drive the lead screw, so that the opening and closing actions of approaching and keeping away the two claw structures are realized.

Drawings

Fig. 1 is a schematic view of the overall structure.

Fig. 2 is a schematic view of the chassis structure.

Fig. 3 is a schematic structural view of the robot arm.

Fig. 4 is a schematic view of the overall structure of the drilling and rotating apparatus.

FIG. 5 is a schematic view of a jaw grasping configuration.

The specific implementation mode is as follows:

the technical solution is further explained by the following embodiments with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of an improved design overall structure of a mechanical arm, the mechanical arm is an eight-steering mechanical arm and comprises five parts, namely a base structure, a mechanical arm structure, a drilling device, a mechanical arm claw part rotating opening and closing structure and a mechanical arm claw structure. The base structure mainly comprises a base steering engine, a fixed plate material and a plurality of connecting pieces; the mechanical arm structure comprises three arm steering engines, a plurality of connecting pieces and an L-shaped fixing plate; the drilling device comprises a steering engine, a drill bit, an electric drill, an irregular fixed plate and a plurality of connecting pieces, wherein the steering engine, the drill bit and the electric drill realize the function of a telescopic structure; the claw part rotating opening and closing structure comprises two steering engines connected with gears, a screw rod, gears of different specifications, a hollow rectangular plate, a fixing plate and a plurality of connecting pieces; the clamping jaw comprises two clamping jaw steering engines, a gear connecting rod structure and a plurality of fixing pieces, and the connecting pieces are common fixing pieces such as studs and the like.

FIG. 2 shows a bottom structure, the bottom of the bottom structure comprises a steering engine, two fixing plates (2-13) and a circular plate (2-12) with threads, the three plates are arranged in parallel, the steering engine (2-1) at the bottom is fixed between the two rectangular fixing plates and is a power unit of an integrated structure, and the steering engine is connected with a lower section structure of the integrated mechanical arm through the circular plate (2-12) with threads and drives the integrated rotation.

FIG. 3 shows a basic structure of a first arm and a second arm of a mechanical arm, the first arm of the mechanical arm is an electric push rod, the second arm of the mechanical arm is fixed (3-27) with a steering engine through an L-shaped plate through U-shaped connecting plates (3-28), the lower portion of the first arm of the mechanical arm is connected with a second steering engine (1-1-2) through irregular round-bottom connecting pieces (3-26), and the upper portion of the first arm (1-1-10) of the mechanical arm is connected with a third steering engine (1-1-3) through irregular connecting pieces (3-26). One side of the second arm (1-1-11) of the mechanical arm is connected with a third steering engine (1-1-3) through a fixed plate, and the other end of the second arm (1-1-11) of the mechanical arm is connected with a fourth steering engine (1-1-4) through a fixed plate.

Fig. 4 is a schematic diagram of the overall structure of the drilling rotary device, which comprises connecting pieces such as a miniature electric drill (4-20) of a core device, a fourth steering engine (1-1-4) for controlling the extension and retraction of the drilling device, hollow rectangular plate plates (4-14) and the like. The miniature electric drill (4-20) is connected with an L-shaped fixing plate (4-29), the miniature electric drill is clamped in the center through the fixing plate and fixed, the sixth steering engine (1-1-6) is arranged on one side of the electric drill, a gear arranged on the sixth steering engine (1-1-6) is externally meshed with a rack fixed on the electric drill, the gear is driven through the sixth steering engine (1-1-6), and the rack is driven to achieve the telescopic function. The rotary structure comprises a steering engine, hollow connecting plates (1-1-31), studs and hollow gears (4-18), wherein the hollow gears (4-18) and hollow rectangular plates (4-14) are placed in parallel, the centers of the two parts are the centers of hollow circle centers, the hollow gears are partially welded on the rectangular plates (4-14), a fifth steering engine (1-1-5) is fixed on the other side of the drilling device, the gears mounted on the steering engine are externally meshed with the hollow gears, and the gears are driven by the steering engine to realize the function of free rotation of the tail ends.

Fig. 5 is a schematic view of a claw part structure, and the opening and closing structure comprises a steering engine, a hollow connecting plate, a screw rod, a stud and a claw structure. One side of the lower part of the hollow plate is fixedly provided with a lead screw (5-1-16) for controlling the opening and closing of two claws of the mechanical arm, and two ends of the lead screw are connected with a sliding circular table (5-2-17) at the lower part of the claw structure through U-shaped connecting rods (1-1-31). The claw structure part is connected with a first half gear connecting rod structure (5-3-24) through a steering engine to rotate, a second connecting rod gear (5-3-23) is meshed with the driving gear externally, the first gear structure is controlled through a seventeenth-eighth steering engine, the second gear structure is driven, opening and closing of the connecting rod mechanisms at the tail ends of the two gear mechanisms are achieved, structure grabbing actions are further completed, and the lower parts of the two gear rod mechanisms are fixed on the circular truncated cone through two L-shaped plates.