CN110919660A - Desktop cooperation mechanical arm - Google Patents
Desktop cooperation mechanical arm Download PDFInfo
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- CN110919660A CN110919660A CN201911361632.XA CN201911361632A CN110919660A CN 110919660 A CN110919660 A CN 110919660A CN 201911361632 A CN201911361632 A CN 201911361632A CN 110919660 A CN110919660 A CN 110919660A
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- 239000004677 Nylon Substances 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 229920001296 polysiloxane Polymers 0.000 claims 1
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- 238000012423 maintenance Methods 0.000 abstract description 6
- 230000002452 interceptive effect Effects 0.000 abstract description 2
- 230000003993 interaction Effects 0.000 description 5
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 4
- 239000000741 silica gel Substances 0.000 description 4
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- 230000008859 change Effects 0.000 description 1
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- 230000002349 favourable effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The present invention provides a tabletop cooperation robot arm, comprising: the base, the first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint. Wherein, first joint is installed on the base, connects through the connecting plate between the joint, and articulated connection makes it have high flexibility on the basis of guaranteeing the high accuracy removal of robotic arm. The first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint can independently rotate respectively, and then the execution tool is driven to realize three-dimensional motion. The modular joint structure can make the maintenance and assembly more simple and convenient. In addition, this arm still has display module assembly and information acquisition module to realize interactive function. Compared with the existing desktop-level mechanical arm, the desktop cooperation mechanical arm provided by the invention has the advantages of high operation precision, simplicity in assembly, low maintenance cost, light weight and capability of observing data, and the use experience is greatly improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a desktop-level mechanical arm, and particularly relates to a desktop cooperation mechanical arm.
Background
Along with the gradual reduction of Chinese population dividends, more and more industries need to change people by machines to reduce labor cost, and intelligent science and technology is used for improving the living consumption quality of people. This requires that the robot has functions of high efficiency, easy interaction, safety, and the like, and can cooperate with a human. At present, the traditional robot is mainly applied to industries such as 3C electronics, warehouse logistics, medical treatment, daily chemicals and machining, and is gradually applied to the fields of service and education. Desktop level robots are also currently widely used in the marketplace. However, most desktop robots in the current market adopt a stepping motor and a steering engine driving scheme, the tail end precision is low, and the bearing capacity is poor. And the existing desktop robot has complex assembly process, is often limited by the outer frame of the robot in the assembly process, so that the maintenance cost is high and the assembly efficiency is low. Meanwhile, the robot does not have an intuitive interactive window to display parameter information such as performance parameters, fault information and commodity interfaces, and the interactivity with people is poor.
The invention aims to provide a desktop cooperation mechanical arm which is high in end precision, light in weight, easy to assemble and intuitive in data.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a desktop cooperation mechanical arm. Compared with the existing mechanical arm at the desktop level, the mechanical arm is high in operation precision, simple to assemble, low in maintenance cost, light in weight and capable of observing data, and the use experience is greatly improved.
The present invention provides a tabletop cooperation robot arm, comprising: the joint comprises a base, a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint, wherein the first joint is installed on the base, and the second joint is connected with the first joint through a first connecting plate; the third joint is connected with the second joint through a second connecting plate; the fourth joint is connected with a third connecting plate through a switching disc, and the third connecting plate is connected with the third joint; the fifth joint is connected with a fourth connecting plate through the adapter plate, and the fourth connecting plate is connected with the fourth joint; the sixth joint is connected with a fifth connecting plate through the adapter plate, and the fifth connecting plate is connected with the fifth joint; the joint output end of the sixth joint is used for installing an executing tool; the first joint, the second joint and the third joint adopt the same joint module; the fourth joint, the fifth joint and the sixth joint are driven by direct drive motors; and the first joint rotates horizontally, and the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint can rotate independently respectively, so as to drive the execution tool to realize three-dimensional motion.
In an embodiment of the present invention, the robot arm further includes: the display module comprises a display module and an information acquisition module, wherein the information acquisition module is arranged on the display module; and the display module is connected with the base through a connecting frame.
In a specific embodiment of the present invention, the information collecting module includes: the device comprises a camera module and a sound acquisition module, wherein the camera module is used for acquiring image information; and the sound collection module is used for collecting sound information.
Wherein the camera module comprises: infrared camera, color camera, infrared degree of depth camera.
In a specific embodiment of the present invention, the connection frame includes: the steering mechanism comprises a first connecting frame, a second connecting frame and a steering motor, wherein the first connecting frame is fixed on the base, the steering motor is fixedly arranged on the first connecting frame, and one end of the second connecting frame is fixedly arranged at the output end of the steering motor; and the display module is arranged at the other end of the second connecting frame.
Furthermore, one end of the second connecting frame, which is connected with the display module, is provided with a sucker for mounting the display module.
In a specific embodiment of the present invention, the joint module includes: the device comprises a driver, a double-encoder module, a servo motor, a speed reducer, an output flange, a main frame and a cooling fan, wherein the driver is connected with the servo motor and used for controlling the servo motor to rotate; the double-encoder module is connected with the driver and is used for detecting the rotation angle of the servo motor and the rotation angle of the output end of the speed reducer; the speed reducer is connected with the servo motor and is used for adjusting the speed and the rotation angle; the output flange is fixedly connected to the speed reducer and used for structural connection; the heat dissipation fan is arranged on the driver and used for dissipating heat; and the main frame is used for providing a mounting platform for the servo motor, the driver, the double-encoder module and the speed reducer and is also used for fixedly connecting a connecting plate between joints.
In a specific embodiment of the invention, each joint and the connecting plate are provided with a shell on the outer side, and the shell is made of ABS and soft silica gel.
In a specific embodiment of the invention, the connecting plates are made of reinforced nylon composite material.
In an embodiment of the present invention, the joint output end of the sixth joint has a flange for providing a mounting platform for an execution tool.
According to the above embodiment, the present invention provides a table top cooperative mechanical arm with the following advantages: the mechanical arm realizes high-precision tail end operation through a plurality of joints relative to the existing mechanical arm, and the mechanical arm realizes modularization and is simpler to mount and maintain. By using a lightweight material, the weight of the robot arm is reduced, and the weight is reduced. The data of the mechanical arm can be displayed and the use interaction experience of a user can be improved by adding the display system.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is an external view of a robotic arm cooperating with a table top according to the present invention.
Fig. 2 is a joint structure of the table top cooperative mechanical arm provided by the invention.
Fig. 3 is an overall structural view of a table top cooperative mechanical arm provided by the invention.
Fig. 4 is an exploded view of a joint module of a table top cooperative mechanical arm according to the present invention.
Description of reference numerals:
1-base, 2-first joint, 3-second joint, 4-third joint, 5-fourth joint, 6-fifth joint, 7-sixth joint, 8-first connecting plate, 9-second connecting plate, 10-adapter plate, 11-third connecting plate, 12-fourth connecting plate, 13-fifth connecting plate, 14-joint module, 15-display module, 16-information acquisition module, 17-connecting frame, 18-camera module, 19-sound acquisition module, 20-first connecting frame, 21-second connecting frame, 22-steering motor, 23-connecting frame fixing seat, 24-sucking disc, 25-driver, 26-double encoder module, 27-servo motor, 28-speed reducer, 29-output flange, 30-main frame, 31-cooling fan and 32-flange plate.
Detailed Description
Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the present disclosure without departing from the scope or spirit of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification. The specification and examples are exemplary only.
Fig. 2 shows an articulation structure of a table top cooperative mechanical arm provided by the present invention. In the embodiment shown in fig. 2, the robot arm comprises: a base 1, a first joint 2, a second joint 3, a third joint 4, a fourth joint 5, a fifth joint 6, and a sixth joint 7. Wherein,
the first joint 2 is fixedly arranged on the base 1, and the second joint 3 is connected with the first joint 2 through a first connecting plate 8. One end of the first connecting plate 8 is connected with the joint output end of the first joint 2, so that the rotation of the first connecting plate 8 is realized. The other end of the first connecting plate 8 is fixedly connected to the second joint 3, and the motor of the first joint 2 rotates to drive the first connecting plate 8 and the second joint 3 to rotate. The third joint 4 is connected to the second joint 3 by a second connecting plate 9. One end of the second connecting plate 9 is fixedly connected to the joint output end of the second joint 3, and the motor of the second joint 3 rotates to drive the second connecting plate 9 to rotate. The other end of the second connecting plate 9 is fixedly connected to the joint output end of the third joint 4, when the motor of the third joint 4 rotates, the joint output end is fixed with the fixed position of the second connecting plate 9, and the other part of the third joint 4 rotates. The fourth joint 5 is connected with a third connecting plate 11 through an adapter plate 10, and the third connecting plate 11 is connected with the third joint 4. One end of the third connecting plate 11 is fixedly connected with the third joint 4, the other end of the third connecting plate 11 is fixedly connected with the fourth joint 5 through the adapter plate 10, and the connecting part is not the joint output end of the fourth joint 5. The fifth joint 6 is connected with a fourth connecting plate 12 through an adapter plate 10, and the fourth connecting plate 12 is connected with the fourth joint 5. One end of the fourth connecting plate 12 is fixedly connected to the joint output end of the fourth joint 5, a motor of the fourth joint can drive the fourth connecting plate 12 to rotate, the other end of the fourth connecting plate 12 is fixedly connected with the fifth joint 6 through the adapter plate 10, and the connecting position is not the joint output end of the fifth joint 6. In a similar way, the sixth joint 7 is connected with the fifth connecting plate 13 through the adapter plate 10, and the fifth connecting plate 13 is connected with the fifth joint 6. The connection position of the sixth joint 7 and the adapter plate 10 is not the joint output end of the sixth joint 7, and the joint output end of the sixth joint 7 is used for installing an execution tool. The sixth joint 7 is used as a distal joint, and the joint output end thereof is used for installing an execution tool so as to realize specific operation actions. In this embodiment, the joint output end of the sixth joint 7 has a flange 32, and the flange 32 can be used to provide a mounting platform for the execution tool. The coordinated motion of six joints can realize the accurate motion of arm, accurately reach preset position. The execution tool in this embodiment is not limited to the gripper, the robot, and the like.
In the present embodiment, the same joint module 23 is used for the first joint 2, the second joint 3, and the third joint 4. The joint module 23 can be independently assembled, modularization can be realized when the mechanical arm is installed, installation and later maintenance are simpler and more convenient, and the maintenance cost is reduced. As shown in fig. 4, in the embodiment of the present embodiment, the joint module 23 includes: a driver 25, a dual encoder module 26, a servo motor 27, a reducer 28, an output flange 29, a main frame 30, and a heat dissipation fan 31. Wherein, driver 25 is connected with servo motor 27, and driver 25 is used for controlling servo motor 27 to rotate. The dual encoder module 26 is connected to the driver 25, and the dual encoder module 26 is configured to detect a rotation angle of the servo motor 27 and a rotation angle of an output end of the reducer 28, so as to transmit a rotation angle parameter to the driver 25, so that the driver 25 controls rotation of the servo motor 27. The speed reducer 28 is connected to the servo motor 27, and the speed reducer 28 is used for speed adjustment and rotation angle adjustment, and can increase the output torque of the servo motor 27. The reduction gear in this embodiment is cavity harmonic reduction gear, and this reduction gear is inside cavity, is favorable to passing through of the inside cable of arm. The output flange 29 is fixedly connected to the reduction gear unit 28, and the output flange 29 serves for structural connection. The connection end of the first connection plate 8 to the first joint 2 is fixed to the output flange 29 of the first joint 2. In the same way, two ends of the second connecting plate 9 are respectively connected to the output flanges 29 of the second joint 2 and the third joint. The heat dissipation fan 31 is disposed on the driver 25, and the heat dissipation fan 31 is used for dissipating heat to prevent the temperature at the joint from being too high, thereby preventing the driver and the circuit structure from being damaged. The addition of the driver 25, the dual encoder module 26, the servo motor 27 and the reducer 28 can make the movement of the mechanical arm more accurate, and realize high-speed, high-flexibility and high-precision operation.
The main frame 30 is used to provide a mounting platform for the servo motor 27, the driver 25, the dual encoder module 26 and the decelerator 28, and also to fix the connection plate between the connection joints. The connection position of the first connection plate 8 and the second joint 3 is on the main frame 30, and the first connection plate 8 and the second joint 3 are fixed together through the fixing bolt on the main frame 30. Similarly, the connecting position of the third connecting plate 11 and the third joint 4 is also on the main frame 30, and the third connecting plate 11 and the main frame 30 on the third joint 4 are fixedly connected by welding or fixing bolts.
In this embodiment, the fourth joint 5, the fifth joint 6, and the sixth joint 7 are all driven by a motor driver to directly drive a motor, and the main structures of the fourth joint 5, the fifth joint 6, and the sixth joint 7 are a direct drive motor and a motor driver, and the direct drive motor realizes connection between the joints by using a transfer disc and a connecting plate.
The first joint 2 horizontally rotates, and the second joint 3, the third joint 4, the fourth joint 5, the fifth joint 6 and the sixth joint 7 can independently rotate respectively, so that the execution tool is driven to realize three-dimensional motion.
In a specific implementation mode of the embodiment, each joint and the outer side of the connecting plate of the mechanical arm are provided with a shell, and the shell is made of ABS and soft silica gel. The soft silica gel makes the arm and when the people collided, can have certain buffering and guard action. And the buffer performance that the shell of silica gel material has can also carry out the protection of certain degree to the arm structure, reduces the probability that the arm structure takes place the damage because of the collision. The connecting plates are all made of reinforced nylon composite materials. On the basis of meeting the requirements on the rigidity and the strength of the mechanical arm, the whole weight of the connecting plate is reduced, so that the load/dead weight ratio of the mechanical arm is improved, and the requirement on the lightweight of the robot is met.
In a specific implementation manner of this embodiment, as shown in fig. 1, the robot arm further includes: a display module 15 and an information acquisition module 16. Wherein, the information acquisition module 16 is arranged on the display module 15. The display module 15 is connected with the base 1 through a connecting frame 17. In this embodiment, the display module 15 is a display screen for displaying and interacting information. And the information collecting module 16 includes: camera module 18, sound collection module 19. The camera module 18 is used for collecting image information. The camera module 18 includes: infrared camera, color camera, infrared degree of depth camera. Through the cooperation of different cameras, the depth-of-field image can be acquired, information such as gestures, gestures and expressions can be captured, and then object or gesture recognition can be completed by utilizing a visual recognition algorithm. The sound collection module 19 is used for collecting sound information. The sound collection module 19 is a ring array of microphones, and when the sound source emits sound, the time of the sound arriving at different microphones may be different, and the position of the sound source can be determined by the time difference. Meanwhile, the sound collection module 19 can collect voice, and voice interaction with a user is completed through a voice technology.
In this embodiment, as shown in fig. 3, the connecting frame 17 includes: a first connecting frame 20, a second connecting frame 21 and a steering motor 22. Wherein, the first connecting frame 20 is fixed on the base 1, and the steering motor 22 is fixedly installed on the first connecting frame 20. One end of the second connecting frame 21 is provided with a connecting frame fixing seat 23, and the connecting frame fixing seat 23 is fixedly installed at the output end of the steering motor 22 through the adapter plate 10, so that the steering motor 22 can drive the second connecting frame 21 to rotate. The connecting frame 17 further comprises a shell, and the shell is used for covering the outer sides of the first connecting frame 20, the second connecting frame 21, the steering motor 22, the connecting frame fixing seat 23 and the adapter plate 10, so that the connecting frame has the functions of attractiveness and protection. In this embodiment, the housing is a multi-section housing, one section of the housing covers the outer sides of the first connecting frame 20 and the steering motor 22, and the other section of the housing covers the outer sides of the second connecting frame 21, the connecting frame fixing seat 23 and the adapter plate 10. A rotating gap is reserved between the two sections of shells, so that relative rotation between the two sections of shells is facilitated. In addition, the display module 15 is mounted on the other end of the second connecting frame 21. The second connecting frame 21 further has a suction cup 24 at an end connected to the display module 15, and the suction cup 24 is used for mounting the display module 15. Through pressing the spanner on the sucking disc 24 for form the negative pressure in the sucking disc 24, thereby make display module assembly 15 lock solid sucking disc 24 on second link 21 because its dismantlement is convenient, and fixed firm, in the mechanical arm debugging scene, sucking disc 24 can be convenient take off the display module assembly 15 of arm for off-line programming or on-line assign the instruction operation in real time.
In a specific implementation manner of this embodiment, the robot arm may be externally connected to a controller, and the controller is a general controller, and is also modularized. The image information collected by the camera module 18 is then transmitted to the controller. The same sound collection module 19 will pass the collected sound information to the controller. The sound collection module 19 is a microphone of an annular array, the controller judges the position of the sound source according to the time difference of the sound information, and then controls the steering motor 22 on the connecting frame 17 to steer, so as to align the display module 15 to the sound source. Meanwhile, the sound collection module 19 can collect voice, and voice algorithm processing is performed through the controller, so that the mechanical arm can perform voice interaction with a user. The camera module 18 can acquire depth-of-field images through the cooperation of different cameras, capture information such as gestures and gestures, recognize objects or gestures by using a visual recognition algorithm, and the controller controls the mechanical arm to make corresponding motions according to recognized image signals. When interacting with people, the camera module 18 identifies through an algorithm by capturing information of human faces, and then the controller controls the display module 15 to display different emoticons so as to realize a more humanized interaction mode. In addition, when the controller needs to control the mechanical arm to make a series of motions, the controller controls the drivers 25 of the first joint 2, the second joint 3 and the third joint 4 through algorithm calculation, and the drivers 25 drive the servo motors 27 of the corresponding joints to rotate. Meanwhile, the dual encoder module 26 on the joint module 14 detects the rotation angle and the rotation number of turns of the servo motor 27 in real time, and transmits the detection information to the driver 25 in real time, and when the rotation number of turns or the rotation angle of the servo motor 27 detected by the dual encoder module 26 reaches the number of turns or the rotation angle set by the controller, the driver 25 controls the servo motor 27 to stop rotating. The fourth joint 5, the fifth joint 6 and the sixth joint 7 are also given driving instructions by the controller, and the motor driver drives the direct drive motor of the corresponding joint to operate, so that the movement of the mechanical arm and the operation action of the tail end joint are further realized.
The foregoing is merely an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principle of the present invention should fall within the protection scope of the present invention.
Claims (10)
1. A tabletop collaboration arm comprising: a base (1), a first joint (2), a second joint (3), a third joint (4), a fourth joint (5), a fifth joint (6) and a sixth joint (7), wherein,
the first joint (2) is arranged on the base (1), and the second joint (3) is connected with the first joint (2) through a first connecting plate (8); the third joint (4) is connected with the second joint (3) through a second connecting plate (9); the fourth joint (5) is connected with a third connecting plate (11) through an adapter plate (10), and the third connecting plate (11) is connected with the third joint (4); the fifth joint (6) is connected with a fourth connecting plate (12) through the adapter plate (10), and the fourth connecting plate (12) is connected with the fourth joint (5); the sixth joint (7) is connected with a fifth connecting plate (13) through the adapter plate (10), and the fifth connecting plate (13) is connected with the fifth joint (6);
the joint output end of the sixth joint (7) is used for installing an execution tool;
the first joint (2), the second joint (3) and the third joint (4) adopt the same joint module (14);
the fourth joint (5), the fifth joint (6) and the sixth joint (7) are driven by direct drive motors; and
the first joint (2) horizontally rotates, and the second joint (3), the third joint (4), the fourth joint (5), the fifth joint (6) and the sixth joint (7) can independently rotate respectively, so that the execution tool is driven to realize three-dimensional motion.
2. The boom of claim 1, further comprising: a display module (15) and an information acquisition module (16), wherein,
the information acquisition module (16) is arranged on the display module (15); and
the display module (15) is connected with the base (1) through a connecting frame (17).
3. A desktop cooperative arm according to claim 2, wherein said information gathering module (16) comprises: a camera module (18) and a sound collecting module (19), wherein,
the camera module (18) is used for collecting image information; and
the sound collection module (19) is used for collecting sound information.
4. The boom of claim 3, wherein the camera module (18) comprises: infrared camera, color camera, infrared degree of depth camera.
5. The boom of claim 2, wherein the connecting frame (17) comprises: a first connecting frame (20), a second connecting frame (21) and a steering motor (22), wherein,
the first connecting frame (20) is fixed on the base (1), the steering motor (22) is fixedly installed on the first connecting frame (20), and one end of the second connecting frame (21) is fixedly installed at the output end of the steering motor (22); and
the display module (15) is arranged at the other end of the second connecting frame (21).
6. A desk-top cooperative mechanical arm according to claim 5, wherein the second connecting frame (21) is provided with a suction cup (24) at one end connected with the display module (15) for mounting the display module (15).
7. A desktop cooperative mechanical arm according to claim 1, wherein said joint module (23) comprises: a driver (25), a dual encoder module (26), a servo motor (27), a reducer (28), an output flange (29), a main frame (30) and a heat radiation fan (31),
the driver (25) is connected with the servo motor (27) and is used for controlling the servo motor (27) to rotate;
the double-encoder module (26) is connected with the driver (25) and is used for detecting the rotating angle of the servo motor (27) and the rotating angle of the output end of the speed reducer (28);
the speed reducer (28) is connected with the servo motor (27) and is used for adjusting the speed and the rotation angle;
the output flange (29) is fixedly connected to the speed reducer (28) and used for structural connection;
the heat dissipation fan (31) is arranged on the driver (25) and used for dissipating heat; and
the main frame (30) is used for providing a mounting platform for the servo motor (27), the driver (25), the double-encoder module (26) and the speed reducer (28) and is also used for fixedly connecting a connecting plate between joints.
8. The cooperative desktop robotic arm of claim 1, wherein each joint and web has a housing on the outside, the housing being made of ABS and soft silicone.
9. The cooperative arm of claim 1, wherein the connecting plates are each formed of reinforced nylon composite.
10. The boom of claim 1, wherein the joint output end of the sixth joint (7) has a flange (32) for providing a mounting platform for an implement.
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| CN201911361632.XA CN110919660A (en) | 2019-12-26 | 2019-12-26 | Desktop cooperation mechanical arm |
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| CN201911361632.XA CN110919660A (en) | 2019-12-26 | 2019-12-26 | Desktop cooperation mechanical arm |
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