CN111157452A

CN111157452A - Auxiliary mechanism

Info

Publication number: CN111157452A
Application number: CN202010006509.2A
Authority: CN
Inventors: 陈柏瑞
Original assignee: Inventec Pudong Technology Corp; Inventec Corp
Current assignee: Inventec Pudong Technology Corp; Inventec Corp
Priority date: 2020-01-03
Filing date: 2020-01-03
Publication date: 2020-05-15

Abstract

The application provides an assist mechanism, includes: the tool comprises a base, a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism and a tool mechanism. The first driving mechanism is arranged on the base, the second driving mechanism is connected with the first driving mechanism, the third driving mechanism is connected with the second driving mechanism, the fourth driving mechanism is connected with the third driving mechanism, and the tool mechanism is connected with the fourth driving mechanism. According to the tool mechanism, the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are mutually linked to drive the tool mechanism to move, and the tool mechanism can assist to replace hands to execute various different works, such as clamping of articles, large-quantity repeated work or work with dangerousness and the like.

Description

Auxiliary mechanism

Technical Field

The present application relates to an auxiliary mechanism, and more particularly, to an auxiliary mechanism for assisting various experimental operations.

Background

The development of the technology, whether the medicine technology or the general articles for daily life, is based on a great deal of experimental data, which are the results of the daily and tedious efforts of researchers.

Most experiments need manual operation through manpower, but some experiments often need one person to take charge of various tasks, such as manual operation, recording experiments, calculating experiment changes, adjusting component proportion of the experiments, timing and waiting time and the like, so that unnecessary carelessness is often caused by too many things needing to be operated, the experiments which take much time are failed, and much time is spent again. In addition, some work may require a large number of repeated operations during the experiment; the method is characterized by comprising the following steps of carrying out experiment operation means which cannot be accurately operated by human hands, carrying out work which is dangerous to operate by human hands and the like. The above is a difficulty most of which are encountered in the experimental process.

Disclosure of Invention

The application provides an auxiliary mechanism to it is not enough to meet the experiment manpower through the experimentation to solve at present, alone need bear too many numerous and complicated work, or have dangerous experimental operation in the experimentation, can't pass through artificial experimental operation scheduling problem even.

To solve the above problem, the present application is implemented as follows:

the application provides an assist mechanism, includes: the tool comprises a base, a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism and a tool mechanism. The first driving mechanism is provided with a first driver and a shaft rod, the first driver is arranged on the base, the shaft rod comprises a first shaft part and a second shaft part, the first shaft part and the second shaft part are integrally formed, the first driver is linked with the first shaft part of the shaft rod, and the first driver drives the shaft rod to rotate; the second driving mechanism is provided with a second driver, an axle center and a linkage rod, the second driver is arranged at the second shaft part, the second driver is linked with the axle center, the axle center is linked with the linkage rod, the driver drives the axle center to rotate, and the axle center drives the linkage rod to rotate; the third driving mechanism is provided with a third driver, a lifting assembly and a lifting support, the third driver is linked with the lifting assembly, the lifting assembly is screwed with the lifting support, the third driver drives the lifting assembly to rotate, and the lifting assembly drives the lifting support to move up and down; the fourth driving mechanism is provided with a fourth driver and a connecting rod, the fourth driver is arranged on the lifting bracket, and the fourth driver drives the connecting rod to rotate; the tool mechanism is arranged on the connecting rod and comprises a body, a clamping assembly and a plurality of electronic components, the clamping assembly is arranged on one side of the body, and the electronic components are arranged on the body.

In an embodiment of the present application, it provides an assist mechanism. The auxiliary mechanism is provided with a plurality of driving mechanisms, the tool mechanism is driven to move through the mutual linkage of the driving mechanisms, the operation freedom degree of the tool mechanism is large, and the tool mechanism can assist to replace hands to execute various different works. The complicated work in the experimental process, or the work which is difficult or even dangerous to operate manually, and the like are assisted by the auxiliary mechanism to operate and execute by the experimenter, so that a large amount of workload of the experimenter can be reduced, and the experimenter can be more concentrated on the experiment.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic view of the assist mechanism of the present application;

FIG. 2 is an operation diagram of the auxiliary mechanism of the present application;

fig. 3 is a control block diagram of the assist mechanism of the present application.

Detailed Description

Embodiments of the present application are illustrated in the drawings and, for purposes of clarity, numerous implementation details are set forth in the following description. It should be understood, however, that these implementation details should not be used to limit the application. That is, in some embodiments of the present application, details of these implementations are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings. In the following embodiments, the same or similar components will be denoted by the same reference numerals.

Please refer to fig. 1, which is a schematic diagram of an auxiliary mechanism of the present application. As shown in the drawings, the present application provides an assisting mechanism 1 for assisting a user to perform various tasks, reducing the workload of the user. The assist mechanism 1 according to the present embodiment includes: the tool comprises a base 11, a first driving mechanism 13, a second driving mechanism 15, a third driving mechanism 17, a fourth driving mechanism 19 and a tool mechanism 21.

Please refer to fig. 2, which is an operation diagram of the auxiliary mechanism of the present application. As shown in the figure, the first driving mechanism 13 is disposed on the base 11, the first driving mechanism 13 has a first driver 131 and a shaft rod 133, the first driver 131 is disposed on the base 11, the shaft rod includes a first shaft portion 1331 and a second shaft portion 1333, one end of the first shaft portion 1331 is connected to one end of the second shaft portion 1333, the first shaft portion 1331 and the second shaft portion 1333 are integrally formed, the first shaft portion 1331 and the second shaft portion 1333 have an included angle θ, and the included angle θ is ninety degrees, and is in an inverted L-shaped structure. The first driver 131 is coupled with the first shaft portion 1331 of the shaft 133, and the first driver 131 drives the shaft 133 to rotate, wherein the first shaft portion 1333 of the shaft 133 is vertically disposed on the base 11, the first shaft portion 1331 rotates in a radial direction, and the second shaft portion 1333 rotates horizontally around the first shaft portion 1331.

Furthermore, the second driving mechanism 15 is linked with the first driving mechanism 13, the second driving mechanism 15 has a second driver 151, a shaft 153 and a linkage rod 155, the second driver 15 is disposed at the other end of the second shaft portion 1333, the second driver 15 links the shaft 153, the shaft 153 links one end of the linkage rod 155, the second driver 15 drives the shaft 153 to rotate, and the shaft 153 drives the linkage rod 155 to rotate. The linking rod 155 is parallel to the second shaft portion 1333, and the linking rod 155 rotates horizontally around the shaft 153.

The third driving mechanism 17 is linked with the second driving mechanism 15, the third driving mechanism 17 has a third driver 171, a lifting component 173 and a lifting support 175, the third driver 171 is linked with the lifting component 173, and the lifting component 173 includes an axis 1731, a gear 1733 and a rotating shaft 1735. The third driver 171 drives the shaft 1731 to rotate, the shaft 1731 drives the gear 1733 to rotate, and the gear 1733 drives the shaft 1735 to rotate. The shaft 1735 is screwed to one end of the elevating bracket 175, wherein the shaft 1735 has an external thread on the surface thereof, the elevating bracket 175 has a through hole at one end thereof, the through hole has a thread on the inner wall thereof, and the external thread of the shaft 1735 is screwed to the internal thread of the through hole of the elevating bracket 175. Thus, the rotation of the shaft 1735 in both the forward and reverse directions will drive the lifting bracket 175 to ascend or descend. The present application adjusts the height of the elevating bracket 175 by the third driving mechanism 171.

In addition, lifting support 175 includes first support 1751 and second support 1753, and first support 1751 and second support 1753 are perpendicular to each other, and first support 1751 is parallel to each other with trace 155, and second support 1753 is parallel to each other with pivot 1735. The shaft 1735 is screwed to the first bracket 1751, and the second bracket 1753 is inserted into the linkage 155. When the linkage 155 rotates horizontally, the second support 1753 passing through the linkage 155 is driven to move horizontally, so that the lifting support 175 moves horizontally to a proper position.

The fourth driving mechanism 19 has a fourth driver 191 and a connecting rod 193, the fourth driver 191 is disposed at one end of the second support 1735 of the elevating support 175, and the fourth driver 191 drives the connecting rod 193 to rotate.

The tool mechanism 21 is disposed on the connecting rod 193, the tool mechanism 21 includes a body 200, a clamping assembly 211 and a plurality of electronic components 210, the clamping assembly 211 is disposed on one side of the body 200, and the plurality of electronic components 210 are disposed on the body 200.

Please refer to fig. 3, which is a block diagram of the auxiliary mechanism of the present application. As shown in the drawings, in the present embodiment, the auxiliary mechanism 1 further includes a main controller 212, and the main controller 212 controls the operations of the clamping assembly 211 and the plurality of electronic components 210, respectively. Wherein the plurality of electronic components 210 includes an image sensor 213, an electromagnetic assembly 215, a laser assembly 217, or/and a light emitting assembly 219.

As described above, the clamping assembly 211 is a multifunctional chuck that is electrically controlled, the clamping assembly 211 can freely pick and place a tool or an object, and the clamping assembly 211 has a driving mechanism that drives a motor and a reduction gear, and the driving mechanism can provide sufficient clamping force for the multifunctional chuck to stably clamp the tool or the object.

In the electronic components 210, the image sensor 213 includes a stereo sensing element 2131 and an auxiliary sensing element 2133, the stereo sensing element 2131 is disposed at the bottom of the main body 200, and the auxiliary sensing element 2133 is disposed at the side of the main body 200. The stereo sensing assembly 2131 is used for optical positioning of tools or objects, so that subsequent users can quickly arrange materials, automatically classify and reposition the materials. The lens of the stereo sensing assembly 2131 can be deflected by a large angle, and can be positioned by shooting through various angles. Furthermore, the auxiliary sensing element 2133 is located at one side of the stereo sensing element 2131, the auxiliary sensing element 2133 also has a lens for positioning, and the auxiliary sensing element 2133 can be used for assisting the optical positioning of the stereo sensing element 2131.

The light-emitting component 219 has multi-stage adjustable color light sources, and can emit light sources of various colors according to the user's requirements. The light-emitting component 219 can be used to assist the illumination of the image sensor 213, and when the image sensor 213 performs the image capturing and positioning, the light-emitting component can be used to reduce the dead angle of the light source around the object or the tool, so as to avoid the situation that when the object or the tool performs the image capturing and positioning, the low illumination around the object or the tool will be blurred and the accurate positioning cannot be performed.

The laser assembly 217 can be adjusted in power, and a powerful laser can be used to laser engrave a desired pattern. The laser with small power can be used for marking the position on the object to assist the alignment or calculation. In addition, the combination of the laser assembly 217 and the image sensor 213 may be used for precision positioning and optical measurement of a measurement tool or object, among other things. Furthermore, the electromagnetic element 215 may be used to attract a metal object or a magnetic object such as a screw.

In the present embodiment, the mechanical controller 218 is electrically connected to the main controller 212, the first driving mechanism 13, the second driving mechanism 15, the third driving mechanism 17 and the fourth driving mechanism 19, the mechanical controller 218 is used for automatically controlling the driving mechanism assembly of the auxiliary mechanism 1, and the mechanical controller 218 can provide various program drives and controls related to detailed operations of the first driving mechanism 13, the second driving mechanism 15, the third driving mechanism 17 and the fourth driving mechanism 19. In addition, the mechanical controller 218 further comprises a plurality of sensors (not shown), which can be used to sense the foreign objects in the surrounding space and avoid the mechanism from colliding, so as to avoid the mechanism from colliding with the user during the mechanism operation of the first driving mechanism 13, the second driving mechanism 15, the third driving mechanism 17 and the fourth driving mechanism 19.

The present embodiment is not limited to the above-described automatic control method, and the user may directly adjust the horizontal rotation of the shaft 133 of the first driving mechanism 13, the horizontal rotation of the interlinking lever 155 of the second driving mechanism 15, the vertical lifting and lowering of the lifting bracket of the third driving mechanism 17, and the rotation direction of the tool mechanism 21 connected to the fourth driving mechanism 19 by a manual method.

In addition, in the present embodiment, the main controller 212 includes a recording unit 220, and the recording unit 220 is used for storing and controlling operations of the clamping assembly 211, the image sensor 213, the electromagnetic assembly 215, the laser assembly 217, the light-emitting assembly 219, and/or the mechanical controller 218. The operation of the mechanical controller 218 includes the actuation modes of the first driving mechanism 13, the second driving mechanism 15, the third driving mechanism 17 and the fourth driving mechanism 19. The user can record the operation modes of various mechanisms in the experimental process through the recording unit 220, wherein the tracking and playback of the direct operation mode of the user in the manual mode and the automatic operation mode of the mechanism of the main controller 212 can be recorded. If a user needs to perform a lot of repeated experiments during the experiment process, the user can read the operation mode in the recording unit 220 through the main controller 212, and then can perform the same experiment procedure repeatedly.

In the present embodiment, the auxiliary mechanism 1 further includes an input device 214 and/or an output device 216, and the input device 214 is electrically connected to the main controller 212. The input device 214 includes a touch panel, a button or a lever, etc. which are manually inputted, and the user can control the operation of the clamping device 211, the image sensor 213, the electromagnetic device 215, the laser device 217, the light emitting device 219 and/or the mechanical controller 218 by controlling the main controller 212 through the manually inputted input device 214.

The input device 214 also includes a microphone for inputting voice, a voice recognition system, etc. after a user sends a specific command and the specific command is received by the voice input device, the specific command is converted into a specific command signal by the voice recognition system and sent to the main controller 212 to control the operations of the clamping device 211, the image sensor 213, the electromagnetic device 215, the laser device 217, the light emitting device 219 and/or the mechanical controller 218.

In addition, the auxiliary mechanism 1 further includes an output component 216, the output component 216 includes a display panel through display and/or a player through voice output, when the user inquires about the data or inputs the question through the input component 216, the main controller 212 can output the corresponding data or answer through the display panel of the output component 216 and/or the player.

In this embodiment, the user can operate the input device 214 manually or automatically. After the first driving mechanism 13, the second driving mechanism 15, the third driving mechanism 17 and the fourth driving mechanism 19 are actuated, the tool mechanism 21 is moved to a plurality of areas, which can be named as a working area, a material area or a tool area, respectively, and recorded in the recording unit 220. When the user wants to move to the tool area to take the required tool or move to the material area to take the required material through the clamping component 211 of the tool mechanism 21, the user can clearly give instructions to perform the operation.

Furthermore, when the tool mechanism 21 moves to each area, the image sensor 213 performs image positioning on the area, and records the relative position of each object (such as a tool or a material) in the recording unit 220. In the process of taking the object, the tool mechanism 21 further calculates the accurate positioning of each object through an algorithm, and then moves the tool mechanism 21 to obtain each object. In addition, the tool mechanism 21 may repeat the operation fixing operation by the recording operation in the recording unit 220.

To sum up, this application provides an complementary unit, and complementary unit has a plurality of actuating mechanism, goes to drive tool mechanism through above-mentioned each actuating mechanism's interlock each other and removes, and tool mechanism's degree of freedom of operation is big, and tool mechanism can assist and replace the hand to go to carry out various different work. The complicated work in the experimental process, or the work which is difficult or even dangerous to operate manually, and the like are assisted by the auxiliary mechanism to operate and execute by the experimenter, so that a large amount of workload of the experimenter can be reduced, and the experimenter can be more concentrated on the experiment.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing description shows and describes several preferred embodiments of the present application, but as before, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as contemplated by the subject application, either as described above or as indicated by the technical or scientific knowledge in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.

Claims

1. An assist mechanism, comprising:

a base;

the first driving mechanism is provided with a first driver and a shaft rod, the first driver is arranged on the base, the shaft rod comprises a first shaft part and a second shaft part, the first shaft part and the second shaft part are integrally formed, the first driver is linked with the first shaft part of the shaft rod, and the first driver drives the shaft rod to rotate;

the second driving mechanism is provided with a second driver, an axis and a linkage rod, the second driver is arranged at the second shaft part, the second driver is linked with the axis, the axis is linked with the linkage rod, the driver drives the axis to rotate, and the axis drives the linkage rod to rotate;

the third driving mechanism is provided with a third driver, a lifting assembly and a lifting support, the third driver is linked with the lifting assembly, the lifting assembly and the lifting support are mutually screwed, the third driver drives the lifting assembly to rotate, and the lifting assembly drives the lifting support to move up and down;

the fourth driving mechanism is provided with a fourth driver and a connecting rod, the fourth driver is arranged on the lifting bracket, and the fourth driver drives the connecting rod to rotate;

the tool mechanism is arranged on the connecting rod and comprises a body, a clamping assembly and a plurality of electronic components, wherein the clamping assembly is arranged on one side of the body, and the electronic components are arranged on the body.

2. The assist mechanism of claim 1 wherein said first shaft portion is angled relative to said second shaft portion.

3. The assisting mechanism of claim 1, wherein the lifting assembly includes a shaft, a gear and a shaft, the third actuator drives the shaft to rotate, the shaft drives the gear to rotate, the gear drives the shaft to rotate, the shaft is screwed with the lifting bracket, and the rotation of the shaft in both forward and reverse directions drives the lifting bracket to ascend or descend.

4. The assisting mechanism of claim 3, wherein the lifting bracket comprises a first bracket and a second bracket, the first bracket and the second bracket are perpendicular to each other, the rotating shaft is screwed to the first bracket, and the second bracket is inserted into the linking rod.

5. The assist mechanism of claim 1, comprising a master controller that controls operation of the clamping assembly and the plurality of electronic components, respectively.

6. Auxiliary mechanism according to claim 1 or 5, characterized in that a plurality of said electronic components comprise image sensors, electromagnetic components, laser components or/and light emitting components.

7. The assist mechanism as recited in claim 6, further comprising a mechanical controller electrically connected to the controller, the first drive mechanism, the second drive mechanism, the third drive mechanism, and the fourth drive mechanism, respectively.

8. The assist mechanism of claim 7, wherein the master controller includes a recording unit for storing and controlling operations of the clamping assembly, the image sensor, the electromagnetic assembly, the laser assembly, the light emitting assembly, and a mechanical controller.

9. The assisting mechanism of claim 6, wherein the image sensor comprises a stereo sensing element and an auxiliary sensing element, the stereo sensing element is disposed at the bottom of the body, and the auxiliary sensing element is disposed at a side of the body.

10. The assist mechanism of claim 5, further comprising an input assembly and an output assembly, wherein the input assembly and the output assembly are electrically connected to the main controller, respectively.