Patent ID: 11951614
Assignee: HANGZHOU DIANZI UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 7:
8. The dual-joint multi-degree-of-freedom mechanical arm according to claim 1, wherein each of the three bidirectional driving components (2) comprises a housing (2-2), a stretching driving motor (2-3), a rotary driving motor (2-4), an output shaft (2-6), a dual-purpose cylindrical gear (2-7), a circumferential transmission gear (2-9), a circumferential driving gear (2-10), an axial transmission gear (2-11) and an axial driving gear (2-12); the output shaft (2-6) and the housing (2-2) form a cylindrical joint; the circumferential transmission gear (2-9) is rotatably connected in the housing (2-2); an axial line of the circumferential transmission gear (2-9) is parallel to an axial line of the output shaft (2-6); the axial transmission gear (2-11) is rotatably connected in the housing (2-2); and an axial line of the axial transmission gear (2-11) is perpendicular to an axial line of the output shaft (2-6);
both the stretching driving motor (2-3) and the rotary driving motor (2-4) are fixed in the housing (2-2); the axial driving gear (2-12) is fixed on the output shaft (2-6) of the stretching driving motor (2-3); the circumferential driving gear (2-10) is fixed on the output shaft (2-6) of the rotary driving motor (2-4); the circumferential driving gear (2-10) is meshed with the circumferential transmission gear (2-9); and the axial driving gear (2-12) is meshed with the axial transmission gear (2-11); and
the dual-purpose cylindrical gear (2-7) is coaxially fixed on the output shaft (2-6); an outer circumferential surface of the dual-purpose cylindrical gear (2-7) is provided with a plurality of gear tooth arrays evenly distributed along a circumferential direction of an axial line of the cylindrical gear (2-7); each gear tooth array comprises a plurality of dual-purpose gear teeth sequentially arranged at equal intervals along an axial direction of the dual-purpose cylindrical gear (2-7); two side surfaces of each dual-purpose gear tooth in a tangential direction of the dual-purpose cylindrical gear (2-7) are circumferential meshing tooth surfaces (7-1) being able to be matched with the circumferential transmission gear (2-9) for transmission; two side surfaces of each dual-purpose gear tooth along the axial direction of the dual-purpose cylindrical gear (2-7) are axial meshing tooth surfaces (7-2) being able to matched with the axial transmission gear (2-11) for transmission; in a working process, the circumferential transmission gear rotates to drive the dual-purpose cylindrical gear to rotate; and the axial transmission gear rotates to drive the dual-purpose cylindrical gear to move in an axial direction.