CN110842936A - Cooperative robot joint module and cooperative robot - Google Patents
Cooperative robot joint module and cooperative robot Download PDFInfo
- Publication number
- CN110842936A CN110842936A CN201911113044.4A CN201911113044A CN110842936A CN 110842936 A CN110842936 A CN 110842936A CN 201911113044 A CN201911113044 A CN 201911113044A CN 110842936 A CN110842936 A CN 110842936A
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- joint module
- module
- body frame
- cooperative
- rotating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/005—Arms having a curved shape
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a cooperative robot joint module and a cooperative robot, solves the problems of limited telescopic range, insufficient flexibility and the like of the conventional robot joint module, and has the effects of capability of picking up multi-directional garbage, large picking range and flexible joint motion. The technical scheme is as follows: the manipulator comprises a mechanical arm, wherein the mechanical arm is arranged at one end of a telescopic joint module, and the other end of the telescopic joint module is connected with a first rotating module; the first rotating module is arranged above the second rotating module through a right-angle joint module, and a movable support is fixed at the bottom of the second rotating module; the mechanical arm comprises a body frame capable of being bent in multiple directions, and a strain sensor used for measuring deformation of the body frame in the movement process is fixed on the body frame.
Description
Technical Field
The invention relates to the field of robots, in particular to a cooperative robot joint module and a cooperative robot.
Background
With the continuous development of robots, the types of robots are increasing, the traditional robots are widely applied in various industries, the industrial robots are mainly used for stacking, stamping, welding, laser cutting, spraying, sorting and vision application, and the robots in any shape take robot joints as key parts. Meanwhile, due to the development of environmental protection career, people have stronger environmental protection consciousness, and the marine garbage collection needs to consume a large amount of manpower and financial resources and can not thoroughly collect all the garbage. And the cooperative robot solves the problem of picking up the marine garbage, thereby not only reducing the waste of manpower, but also saving the time and picking up the garbage more accurately.
The cooperation type robot joint module is mainly applied to marine rubbish and picks up the scene, openly has combined scalable joint module, intelligent mechanical arm, rotation joint module, portable base, can realize snatching the rubbish of different within ranges, is favorable to the development of environmental protection cause. The inventor finds that the conventional cooperative robot joint module cannot realize picking in different ranges, the picking range is monotonous, other tools are needed for moving, a large amount of manpower is needed, and the development is not perfect.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a cooperative robot joint module and a cooperative robot, which have the effects of capability of picking up multi-directional garbage, large picking range and flexible joint motion.
The invention adopts the following technical scheme:
a cooperative robot joint module comprises a mechanical arm, wherein the mechanical arm is arranged at one end of a telescopic joint module, and the other end of the telescopic joint module is connected with a first rotating module; the first rotating module is arranged above the second rotating module through a right-angle joint module, and a movable support is fixed at the bottom of the second rotating module;
the mechanical arm comprises a body frame capable of being bent in multiple directions, and a strain sensor used for measuring deformation of the body frame in the movement process is fixed on the body frame.
Further, the body frame is provided with a plurality of rotating shafts, and the body frame can rotate by taking the rotating shafts as centers; the body frame is rotated by a control system.
Furthermore, the rotating shaft is installed in the middle of the body frame, so that the body frame cannot be influenced mutually when rotating.
Furthermore, the side of the body frame is provided with a crossed basic beam, the crossed basic beam is provided with a plurality of pins, and the crossed basic beam can rotate by taking the pins as centers.
Further, the body frame is rotated by a control system.
Furthermore, the telescopic joint module comprises a cylinder body and an inner cylinder in sliding connection with the cylinder body, the inner cylinder is connected with a piston, and air pressure is formed in the cylinder body through the piston to push the inner cylinder to move.
Further, the one end that the cylinder body is arranged in to the inner tube has the joint flange, and the joint groove has been seted up to the cylinder body inner wall.
Furthermore, the movable support comprises an upper guide seat and a lower guide seat which are sleeved together, and a plurality of telescopic wheels are installed at the bottom of the lower guide seat.
Furthermore, flexible wheel includes the telescopic link, the tip installation wheel of telescopic link.
Furthermore, the telescopic rod is made by rolling a metal strip or a plastic sheet.
Further, the right angle joint module comprises a first protection cover connected with the first rotating module and a second protection cover connected with the second rotating module, and the first protection cover is perpendicular to the second protection cover.
A cooperative robot comprising said cooperative robotic joint module.
Compared with the prior art, the invention has the beneficial effects that:
(1) the mechanical arm can be bent, and can realize multi-directional garbage pickup by matching with the first rotary joint module, the second rotary joint module and the telescopic joint module, so that the pickup range is large;
(2) the invention is provided with the telescopic wheels, so that the robot joint can move flexibly to meet the requirements on the picking height and range.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic structural diagram according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot according to a first embodiment of the invention;
FIG. 3 is a partial enlarged view of the portion A in FIG. 2;
fig. 4 is a schematic structural diagram of a telescopic joint module according to a first embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a right angle joint module according to a first embodiment of the present invention;
fig. 6 is a schematic structural diagram of a second rotary joint module according to a first embodiment of the present invention;
fig. 7 is a schematic structural diagram of a mobile support according to a first embodiment of the invention;
fig. 8 is a schematic structural view of a retractable wheel according to a first embodiment of the present invention;
FIG. 9 is a cross-sectional view of a first extension tube according to a first embodiment of the present invention;
FIG. 10 is a sectional view of a second extension tube according to a first embodiment of the present invention;
wherein: 1. robotic arm, 101, cross base beam, 102, axis of rotation, 103, strain sensor, 104, body frame, 105, connector, 106, pin, 2, expansion joint module, 3, first revolute joint module, 4, right angle joint module, 401, first protective cover, 402, second protective cover, 5, second revolute joint module, 6, mobile support, 61, upper guide, 62, lower guide, 63, expansion wheel, 630, first expansion pipe, 631, second expansion pipe, 632, wheel protective cover, 633, wheel, 634, support bar protective cover, 635, locking member, 636, support bar.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in this application, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted", "connected", "fixed", and the like in the present application should be understood broadly, and for example, the terms "mounted", "connected", and "fixed" may be fixedly connected, detachably connected, or integrated; the two components can be connected directly or indirectly through an intermediate medium, or the two components can be connected internally or in an interaction relationship, and the terms can be understood by those skilled in the art according to specific situations.
As described in the background art, the prior art has the defects of limited telescopic range and insufficient flexibility of the robot joint module, and in order to solve the technical problems, the invention provides a cooperative robot joint module and a cooperative robot.
The first embodiment is as follows:
the present invention will be described in detail with reference to fig. 1 to 10, and specifically, the structure is as follows:
the embodiment provides a cooperative robot joint module, which comprises a mechanical arm 1, a telescopic joint module 2, a first rotating module 3, a right-angle joint module 4, a second rotating module 5 and a movable support 6, wherein the mechanical arm 1 is installed at one end of the telescopic joint module 2, and the other end of the telescopic joint module 2 is connected with the first rotating module 3; the first rotating module 3 is arranged above the second rotating module 5 through a right-angle joint module 4, and a movable support 6 is fixed at the bottom of the second rotating module 5; multidirectional rotation is realized through first rotation module 3, second rotation module 5, and deformable robotic arm 1 of cooperation realizes picking up the purpose of diversified rubbish.
Specifically, as shown in fig. 2, the robot arm 1 includes a body frame 104, and in this embodiment, the body frame 104 is formed by connecting a plurality of basic beams into a rectangular frame structure. The rotating shafts 102 are provided at the middle position and both end positions on the basic beam in the longitudinal direction of the body frame 104, and the body frame 104 can rotate around the rotating shafts 102. The body frame 104 is rotated by a control system, which is the prior art and will not be described herein.
As shown in fig. 3, the basic beams of the body frame 104 in the length direction are provided with two rotation shafts 102 at each bending point with an angle of 90 °. The body frame 104 is fixed with a plurality of strain sensors 103, and the strain sensors 103 can measure the self integral deformation condition of the body frame 104 in the movement process. The top of the body frame 104 is fixed with a connecting member 105, and the bottom thereof is connected with a rotatable hand grip, which is prior art and will not be described herein.
Each side of the body frame 104 is connected with a cross basic beam 101, and the cross basic beam 101 is composed of two mutually crossed basic beams. A pin 106 is connected to both the intersection point position and the intersection point side of the intersecting basic beam 101, and the intersecting basic beam 101 can rotate about the pin 106. The installation position of the pin 106 corresponds to the position of the rotation shaft 102, so that the intersecting base beam 101 and the body frame 104 can rotate synchronously, and the stretching movement of the robot arm 1 is realized.
As shown in fig. 4, the telescopic joint module is a large double-acting single-piston hydraulic cylinder, and the reciprocating motion of the smart arm can be realized through the motion of a hydraulic rod.
The first rotary joint module 3 is a single-degree-of-freedom rotary joint, and can realize the left-right movement of the telescopic joint module 2. As shown in fig. 6, the right angle joint module 4 includes a first boot 401 and a second boot 402, and the first boot 401 and the second boot 402 are perpendicular to each other. In this embodiment, the first protection cover 401 and the second protection cover 402 are in a circular ring structure, the second protection cover 402 is connected to the second rotary joint module 5, and the first rotary joint module 3 is fixed to a side surface of the first protection cover 401.
As shown in fig. 7, the second rotary joint module 5 has an inner ring and an outer ring, and the inner ring is rotatable with respect to the outer ring. The second boot 402 is fixed to the outer race of the second rotary joint module 5. The multi-direction rotation can be realized through the mutual movement of the right-angle joint module 4 and the rotary joint module 5. The outer ring bottom of second rotary joint module 5 links to each other with removal type support 6, removal type support 6 is including the cover establish last guide holder 61 and lower guide holder 62 together, goes up guide holder 61 and guide holder 62 down and constitutes extending structure, and goes up guide holder 61 and links to each other with second rotary joint module 5.
As shown in fig. 8, a plurality of telescopic wheels 63 are installed at the bottom of the lower guide 62 for better movement. In this example, four telescopic wheels 63 are provided for smooth movement. The telescopic wheel 63 comprises a telescopic rod and a wheel 633 arranged at the end part of the telescopic rod, the wheel 633 is provided with a wheel protective cover 632, and the wheel 633 can rotate relative to the wheel protective cover 632.
Further, the telescopic rod comprises a first telescopic pipe 630 and a second telescopic pipe 631 which are sleeved together, the second telescopic pipe 631 is formed by rolling a metal strip or a plastic sheet, and the metal strip or the plastic sheet is pre-shaped into an elastic curling layer with a memory function and smaller than the inner diameter of the first telescopic pipe 630, so that the telescopic rod has a self-tightening function, and the curling layer always has elastic potential energy for applying pressure to the telescopic rod. A support rod 636 is arranged in the first extension pipe 630 along the axial direction thereof, and a support rod protective sleeve 634 matched with the support rod 636 is arranged in the second extension pipe 631 through a locking piece 635 at the end part thereof.
When the cooperation robot need remove, through control, the flexible pipe 631 of second stretches out from first reducing pipe 630, and the flexible length of the flexible pipe 631 of second is the length of bracing piece 636, stretches out retaining member 635 and locks behind the certain length, prevents that the flexible pipe 631 of second from droing and taking place the accident. When the cooperation robot is worked, locking is relieved to retaining member 635, and the flexible pipe 631 of second is received back first reducing pipe 630 through bracing piece 636 in, and retaining member 635 locks when retrieving the flexible pipe 631 of second, prevents that the flexible pipe 631 of second from rocking and then influencing the normal work of robot. The support rod 636 is connected to the second extension tube 631 through the support rod protection cover 634, so as to prevent the winding wire from affecting the operation of the support rod 636.
In this embodiment, each joint module is made of a material with high rigidity and water resistance.
Example two:
the present embodiment provides a cooperative robot comprising the cooperative robot joint module of the first embodiment.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. The cooperative robot joint module is characterized by comprising a mechanical arm, wherein the mechanical arm is arranged at one end of a telescopic joint module, and the other end of the telescopic joint module is connected with a first rotating module; the first rotating module is arranged above the second rotating module through a right-angle joint module, and a movable support is fixed at the bottom of the second rotating module;
the mechanical arm comprises a body frame capable of being bent in multiple directions, and a strain sensor used for measuring deformation of the body frame in the movement process is fixed on the body frame.
2. The joint module of claim 1, wherein the body frame is provided with a plurality of rotation shafts, and the body frame is rotatable around the rotation shafts.
3. The cooperative robotic joint module according to claim 2, wherein the body frame is provided at a side thereof with a cross base beam, the cross base beam being provided with a plurality of pins, the cross base beam being rotatable about the pins.
4. The cooperative robotic joint module of claim 1, wherein the telescopic joint module comprises an inner cylinder slidably connected to a cylinder, the inner cylinder being connected to a piston, and the inner cylinder being moved by the piston by forming air pressure inside the cylinder.
5. The joint module of a cooperative robot as claimed in claim 4, wherein the end of the inner cylinder disposed inside the cylinder body has a locking flange, and the inner wall of the cylinder body is provided with a locking groove.
6. The cooperative robotic joint module as claimed in claim 1, wherein the mobile support comprises an upper guide and a lower guide nested together, and the lower guide has a plurality of retractable wheels mounted on a bottom thereof.
7. The cooperative robotic joint module as claimed in claim 6, wherein the retractable wheels comprise retractable rods with wheels mounted to ends of the retractable rods.
8. The cooperative robotic joint module as claimed in claim 7, wherein the telescoping rod is made of a metal strip or a plastic sheet.
9. The cooperative robotic joint module of claim 1, wherein the right angle joint module comprises a first protective cover attached to the first rotating module, a second protective cover attached to the second rotating module, the first protective cover being perpendicular to the second protective cover.
10. A cooperative robot comprising a cooperative robotic joint module according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911113044.4A CN110842936A (en) | 2019-11-14 | 2019-11-14 | Cooperative robot joint module and cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911113044.4A CN110842936A (en) | 2019-11-14 | 2019-11-14 | Cooperative robot joint module and cooperative robot |
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| Publication Number | Publication Date |
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| CN110842936A true CN110842936A (en) | 2020-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911113044.4A Pending CN110842936A (en) | 2019-11-14 | 2019-11-14 | Cooperative robot joint module and cooperative robot |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0985652A (en) * | 1995-09-20 | 1997-03-31 | Komatsu Ltd | Work execution robot |
| CN202292753U (en) * | 2011-09-29 | 2012-07-04 | 济宁市质量技术监督信息所 | Installation and detection device for street lamp |
| CN104858892A (en) * | 2015-06-11 | 2015-08-26 | 佛山市南海区广工大数控装备协同创新研究院 | Modularized robot based on intelligent mechanical arm |
| CN207508580U (en) * | 2017-11-21 | 2018-06-19 | 烟台海众汽车零部件有限公司 | A kind of multiple degrees of freedom moving automobile welding robot |
| CN109079773A (en) * | 2018-10-19 | 2018-12-25 | 王亮 | A kind of mechanical arm with rotation function |
| CN109848971A (en) * | 2019-03-19 | 2019-06-07 | 上海工程技术大学 | A kind of industrial parallel robot for stacking |
| CN209256913U (en) * | 2018-12-22 | 2019-08-16 | 重庆衍数自动化设备有限公司 | A kind of multi-direction adjustment structure of manipulator |
| CN110434827A (en) * | 2019-08-29 | 2019-11-12 | 南京捷思汽车科技有限公司 | A kind of industrial robot positioning clamping jaw device |
-
2019
- 2019-11-14 CN CN201911113044.4A patent/CN110842936A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0985652A (en) * | 1995-09-20 | 1997-03-31 | Komatsu Ltd | Work execution robot |
| CN202292753U (en) * | 2011-09-29 | 2012-07-04 | 济宁市质量技术监督信息所 | Installation and detection device for street lamp |
| CN104858892A (en) * | 2015-06-11 | 2015-08-26 | 佛山市南海区广工大数控装备协同创新研究院 | Modularized robot based on intelligent mechanical arm |
| CN207508580U (en) * | 2017-11-21 | 2018-06-19 | 烟台海众汽车零部件有限公司 | A kind of multiple degrees of freedom moving automobile welding robot |
| CN109079773A (en) * | 2018-10-19 | 2018-12-25 | 王亮 | A kind of mechanical arm with rotation function |
| CN209256913U (en) * | 2018-12-22 | 2019-08-16 | 重庆衍数自动化设备有限公司 | A kind of multi-direction adjustment structure of manipulator |
| CN109848971A (en) * | 2019-03-19 | 2019-06-07 | 上海工程技术大学 | A kind of industrial parallel robot for stacking |
| CN110434827A (en) * | 2019-08-29 | 2019-11-12 | 南京捷思汽车科技有限公司 | A kind of industrial robot positioning clamping jaw device |
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Application publication date: 20200228 |