CN111844004A - Mechanical arm capable of rotating accurately - Google Patents
Mechanical arm capable of rotating accurately Download PDFInfo
- Publication number
- CN111844004A CN111844004A CN202010716800.9A CN202010716800A CN111844004A CN 111844004 A CN111844004 A CN 111844004A CN 202010716800 A CN202010716800 A CN 202010716800A CN 111844004 A CN111844004 A CN 111844004A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- arm
- telescopic section
- connecting plate
- operated
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B25J9/1692—Calibration of manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm capable of rotating accurately, which belongs to the technical field of mechanical equipment, and comprises a mechanical arm and a mechanical arm base connected with the bottom of the mechanical arm, wherein the mechanical arm base comprises a mechanical arm vertical telescopic section, a mechanical arm horizontal telescopic section connected with the mechanical arm vertical telescopic section and a mechanical arm operation section connected with the mechanical arm horizontal telescopic section, the base comprises a mounting seat, a counterweight seat is arranged at the lower side of the mounting seat, four groups of buffer mechanisms are arranged between the mounting seat and the counterweight seat, a quick clamping structure is arranged at the joint of the mechanical arm vertical telescopic section and the mounting seat, and the mechanical arm control system is used for controlling the work of the mechanical arm, so that the position information of an object to be operated can be acquired in real time, the running track of the mechanical arm can be corrected in real time, the accuracy of the running position of the mechanical arm is ensured, and in addition, the mechanical, the use of mechanical arm is convenient.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a mechanical arm capable of rotating accurately.
Background
With the rapid development and popularization of information technology and internet, the intelligent robot technology is developed rapidly, the intelligent robot is widely applied to various fields such as education, finance, medical treatment, traffic, security, electric power and the like, and great application advantages and market potentials are brought forward.
The mechanical arm is a high-precision and high-speed dispensing mechanical hand, the robot system consists of a visual sensor, a mechanical arm system and a main control computer, wherein the mechanical arm system comprises a modularized mechanical arm and a flexible hand, the mechanical arm is a complex system with multiple inputs and multiple outputs, high nonlinearity and strong coupling, and the mechanical arm is widely applied to the fields of industrial assembly, safety, explosion prevention and the like due to the unique operation flexibility.
The mechanical arm is an important component of the intelligent robot, and whether the mechanical arm can accurately perform path planning directly influences the working capacity and efficiency of the robot.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide a mechanical arm capable of rotating accurately, so that the position information of a target to be operated can be acquired in real time, the running track of the mechanical arm can be corrected in real time, the precision of the running position of the mechanical arm is ensured, and in addition, the mechanical arm can be conveniently and rapidly installed and detached with a base, and the use of the mechanical arm is facilitated.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
The mechanical arm capable of rotating accurately comprises a mechanical arm and a mechanical arm base connected with the bottom of the mechanical arm, and comprises a mechanical arm vertical telescopic section, a mechanical arm horizontal telescopic section connected with the mechanical arm vertical telescopic section and a mechanical arm operation section connected with the mechanical arm horizontal telescopic section, wherein the mechanical arm vertical telescopic section is used for telescopic adjustment in the vertical direction, the mechanical arm horizontal telescopic section is used for telescopic adjustment in the horizontal direction, and the mechanical arm operation section is used for operating a target to be operated;
the base comprises a mounting seat, a counterweight seat is arranged on the lower side of the mounting seat, four groups of buffer mechanisms are arranged between the mounting seat and the counterweight seat, a quick clamping structure is arranged at the joint of the vertical telescopic section of the mechanical arm and the mounting seat, and the vertical telescopic section of the mechanical arm and the mounting seat are quickly mounted and dismounted through the quick clamping structure;
the mechanical arm control system is used for controlling the operation of the mechanical arm.
Further, buffer gear includes upper junction plate and lower connecting plate, the lower surface at the mount pad is fixed to the upper junction plate, the upper surface at the counter weight seat is fixed to lower connecting plate, it has the arc spring to alternate between upper junction plate and the lower connecting plate, the lower extreme of upper junction plate and the upper end of lower connecting plate all are equipped with steel welt, two be provided with a supporting beam, shock attenuation energy-absorbing structure and connecting rod shock-absorbing structure between the steel welt, a supporting beam and shock attenuation energy-absorbing structure interval set up between two connecting rods, all are equipped with the spring hole that is used for alternating the arc spring in upper junction plate and the lower connecting plate, and the upper and lower end of arc spring is respectively through the fix with screw in the fixed through-hole that is located the spring hole outside. Through setting up the annular spring, the bending deformation that utilizes annular spring portion to produce obtains great deflection in limited height, utilize its plastic deformation process to realize the power consumption, thereby reach the external input energy of decay, improved its rigidity intensity and received the shearing force performance, can improve anti-seismic performance effectively, at shock attenuation energy-absorbing structure, annular spring portion and supplementary shock attenuation portion and cooperation effect down, the horizontal direction's that receives the base power, the power and the shearing force of vertical direction have all played the energy-absorbing shock attenuation, higher shock attenuation performance has, the stability of arm during operation has been guaranteed.
Furthermore, the shock absorption and energy absorption structure comprises steel plates and copper-aluminum-manganese alloy plates which are arranged in a staggered mode. The shock absorption and energy absorption structure plays roles in shock absorption and energy absorption and supporting, and has higher bearing capacity while playing roles in energy absorption and shock absorption.
Further, connecting rod shock-absorbing structure includes the connecting rod, the connecting rod both ends are equipped with the bulb respectively, be equipped with on the steel lining board with bulb matched with bulb groove, the connecting rod meets with the bulb groove that sets up on the steel lining board through the bulb, be equipped with compression spring on the connecting rod, compression spring and bulb groove are mutually supported. Set up connecting rod shock-absorbing structure, other shock-absorbing structure of cooperation damping device, further improvement anti-seismic performance, and the connecting rod meets through bulb and the bulb groove that sets up on the steel lining board, and the fluctuation that prevents to vibrate the in-process is irregular, and the phenomenon of connecting rod has been ensured to the easy rupture phenomenon of connecting rod.
Furthermore, the upper side of the mounting seat is also provided with a dust cover which is sleeved on the vertical telescopic section of the mechanical arm, a rubber sealing strip is arranged at the contact position of the dust cover and the vertical telescopic section of the mechanical arm, and the dust cover is conical.
Further, quick joint structure is including seting up the arm mounting groove on the mount pad and seting up the annular joint groove on the vertical flexible section of arm, arm mounting groove and annular joint groove phase-match, both ends all are fixed with the electro-magnet about the arm mounting groove is inside, the one end that the electro-magnet is close to the vertical flexible section of arm all is connected with the magnet piece, and magnet piece and arm mounting groove sliding connection, the magnetic pole when the electro-magnet circular telegram direction of arranging is opposite with the magnet piece. Be provided with assorted arm mounting groove and annular joint groove, and set up electro-magnet and magnet piece in the arm mounting groove, the electro-magnet produces magnetic field when the electro-magnet circular telegram, repels mutually with the magnet piece, pushes away the magnet piece annular joint inslot to the realization is to the firm joint of the vertical flexible section of arm, and because annular joint groove is the ring channel, can realize rotating in the joint, can not influence the rotation of the vertical flexible section of arm and influence the use of arm.
Further, a plurality of spherical grooves have all been seted up to the upper and lower both sides of magnet piece, the inside embedding of spherical groove has the steel ball, laminating mutually of steel ball and arm mounting groove. Owing to set up the steel ball, can guarantee that the magnet piece is smooth and easy to slide in arm mounting groove is inside, and can guarantee the vertical flexible section pivoted of arm smooth and easy nature, avoid the emergence of the dead phenomenon of card.
Further, the mechanical arm control system comprises a control module, a position sensing module and a contact sensing module;
the control module is used for controlling the working process of the mechanical arm;
the position sensing module is used for receiving a control instruction of the control module, identifying a target to be operated, acquiring position information of the target to be operated in real time, and transmitting the position information to the control module to determine a moving track of the mechanical arm;
the contact induction module is used for carrying out contact induction on the target to be operated when the mechanical arm contacts the target to be operated at the operation position, simultaneously feeding back contact information during contact in real time, and feeding back the contact information to the control module in real time until the control module controls the mechanical arm to complete the whole operation process of the target to be operated.
Further, the position sensing module comprises an initial sensing unit and a process sensing unit;
the initial sensing unit is used for acquiring initial position information of a target to be operated and transmitting the initial position information to the control module to determine a pre-travelling track of the mechanical arm;
the process sensing unit is used for acquiring the position change information of the target to be operated and the real-time position information of the mechanical arm in real time in the motion process of the mechanical arm, transmitting the position change information and the real-time position information to the control module to correct the pre-moving track in real time, and determining the corrected accurate moving track.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) through setting up the annular spring, the bending deformation that utilizes annular spring portion to produce obtains great deflection in limited height, utilize its plastic deformation process to realize the power consumption, thereby reach the external input energy of decay, improved its rigidity intensity and received the shearing force performance, can improve anti-seismic performance effectively, at shock attenuation energy-absorbing structure, annular spring portion and supplementary shock attenuation portion and cooperation effect down, the horizontal direction's that receives the base power, the power and the shearing force of vertical direction have all played the energy-absorbing shock attenuation, higher shock attenuation performance has, the stability of arm during operation has been guaranteed.
(2) The shock absorption and energy absorption structure plays roles in shock absorption and energy absorption and supporting, and has higher bearing capacity while playing roles in energy absorption and shock absorption.
(3) Set up connecting rod shock-absorbing structure, other shock-absorbing structure of cooperation damping device, further improvement anti-seismic performance, and the connecting rod meets through bulb and the bulb groove that sets up on the steel lining board, and the fluctuation that prevents to vibrate the in-process is irregular, and the phenomenon of connecting rod has been ensured to the easy rupture phenomenon of connecting rod.
(4) The mechanical arm control system comprises a control module and a position sensing module, wherein the position sensing module senses the real-time position of the target to be operated in real time, corrects the running track in real time and determines the most accurate running track, so that the motion and rotation accuracy of the mechanical arm is ensured, the running efficiency of the mechanical arm is effectively improved, and the mechanical arm control system is suitable for diversified working environments.
(5) The mechanical arm control system comprises a contact sensing module, contact information during contact can be collected in real time, and the contact position and the contact information are corrected in real time through the control module, so that the fineness of the mechanical arm during operation is effectively improved.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic structural view of the present invention;
fig. 4 is a schematic structural diagram of the present invention.
Fig. 5 is a schematic structural diagram of the present invention.
The reference numbers in the figures illustrate:
the mechanical arm comprises a mechanical arm 1, a mechanical arm base 2, a mechanical arm vertical telescopic section 3, a mechanical arm horizontal telescopic section 4, a mechanical arm operation section 5, a mounting seat 6, a buffering mechanism 7, an upper connecting plate 701, a lower connecting plate 702, an arc spring 703, a spring 704 hole, a steel lining plate 705, a fixing through hole 706, a shock absorption energy absorption structure 707, a supporting beam 708, a copper aluminum manganese alloy plate 709, a compression spring 710, a steel plate 711, a ball head 712, a connecting rod 713, a ball head groove 714, a counterweight seat 8, a dust cover 9, a quick clamping structure 10, a mechanical arm mounting groove 101, an annular clamping groove 102, an electromagnet 103, a magnet 104, a ball groove 105 and a steel ball 106.
Detailed Description
The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
referring to fig. 1, a mechanical arm capable of rotating accurately comprises a mechanical arm 1 and a mechanical arm base 2 connected with the bottom of the mechanical arm 1, wherein the mechanical arm 1 comprises a mechanical arm vertical telescopic section 3, a mechanical arm horizontal telescopic section 4 connected with the mechanical arm vertical telescopic section 3 and a mechanical arm operation section 5 connected with the mechanical arm horizontal telescopic section 4, the mechanical arm vertical telescopic section 3 is used for telescopic adjustment in the vertical direction, the mechanical arm horizontal telescopic section 4 is used for telescopic adjustment in the horizontal direction, and the mechanical arm operation section 5 is used for operating an object to be operated;
the base 2 comprises a mounting seat 6, a counterweight seat 8 is arranged on the lower side of the mounting seat 6, four groups of buffer mechanisms 7 are arranged between the mounting seat 6 and the counterweight seat 8, a quick clamping structure 10 is arranged at the joint of the mechanical arm vertical telescopic section 3 and the mounting seat 6, and the mechanical arm vertical telescopic section 3 and the mounting seat 6 are quickly mounted and dismounted through the quick clamping structure 10;
and the mechanical arm control system is used for controlling the work of the mechanical arm 1.
Referring to fig. 3, the buffering mechanism 7 includes an upper connecting plate 701 and a lower connecting plate 702, the upper connecting plate 701 is fixed on the lower surface of the mounting seat 6, the lower connecting plate 702 is fixed on the upper surface of the counterweight seat 8, an arc-shaped spring 703 is inserted between the upper connecting plate 701 and the lower connecting plate 702, steel lining plates 705 are respectively disposed at the lower end of the upper connecting plate 701 and the upper end of the lower connecting plate 702, a support beam 708, a shock-absorbing energy-absorbing structure 707 and a connecting rod shock-absorbing structure are disposed between the two steel lining plates 705, the support beam 708 and the shock-absorbing energy-absorbing structure 707 are disposed between the two connecting rods 713 at an interval, spring holes 704 for inserting the arc-shaped spring 703 are respectively disposed in the upper connecting plate 701 and the lower connecting plate 702, the upper end and the lower end of the arc-shaped. Through setting up the annular spring, the bending deformation that utilizes annular spring portion to produce obtains great deflection in limited height, utilize its plastic deformation process to realize the power consumption, thereby reach the external input energy of decay, improved its rigidity intensity and received the shearing force performance, can improve anti-seismic performance effectively, at shock attenuation energy-absorbing structure, annular spring portion and supplementary shock attenuation portion and cooperation effect down, the horizontal direction's that receives the base power, the power and the shearing force of vertical direction have all played the energy-absorbing shock attenuation, higher shock attenuation performance has, the stability of arm during operation has been guaranteed.
Referring to fig. 3, the shock absorption structure 707 includes steel plates 711 and copper-aluminum-manganese alloy plates 709 arranged in a staggered manner, and the shock absorption structure plays roles of shock absorption, energy absorption and support, and has higher bearing capacity while playing roles of energy absorption and shock absorption.
Referring to fig. 3, the shock absorbing structure of the connecting rod includes a connecting rod 713, two ends of the connecting rod 713 are respectively provided with a ball 712, the steel lining 705 is provided with a ball groove 714 matched with the ball 712, the connecting rod 713 is connected with the ball groove 714 arranged on the steel lining 705 through the ball 712, the connecting rod 713 is provided with a compression spring 710, and the compression spring 710 is matched with the ball 712 and the ball groove 714. Set up connecting rod shock-absorbing structure, other shock-absorbing structure of cooperation damping device, further improvement anti-seismic performance, and the connecting rod meets through bulb and the bulb groove that sets up on the steel lining board, and the fluctuation that prevents to vibrate the in-process is irregular, and the phenomenon of connecting rod has been ensured to the easy rupture phenomenon of connecting rod.
Referring to fig. 1, a dust cover 9 is further disposed on the upper side of the mounting seat 6, the dust cover 9 is sleeved on the vertical telescopic section 3 of the mechanical arm, a rubber sealing strip is disposed at a contact position of the dust cover 9 and the vertical telescopic section 3 of the mechanical arm, and the dust cover 9 is conical.
Referring to fig. 1-2, the fast clamping structure 10 includes a mechanical arm mounting groove 101 formed in the mounting base 6 and an annular clamping groove 102 formed in the vertical telescopic section 3 of the mechanical arm, the mechanical arm mounting groove 101 is matched with the annular clamping groove 102, electromagnets 103 are fixed at the left and right ends inside the mechanical arm mounting groove 101, one ends of the electromagnets 103 close to the vertical telescopic section 3 of the mechanical arm are connected with magnet blocks 104, the magnet blocks 104 are slidably connected with the mechanical arm mounting groove 101, and the arrangement direction of magnetic poles of the electromagnets 103 when being electrified is opposite to that of the magnet blocks 104. Referring to fig. 4-5, a mechanical arm mounting groove 101 and an annular clamping groove 102 are provided, an electromagnet 103 and a magnet block 104 are provided in the mechanical arm mounting groove 101, when the electromagnet 103 is powered on, the electromagnet 103 generates a magnetic field, which is repulsive to the magnet block 104, and the magnet block 104 is pushed into the annular clamping groove 102, so that the vertical telescopic section 3 of the mechanical arm is firmly clamped, and since the annular clamping groove 102 is an annular groove, rotation can be realized while clamping is performed, and the rotation of the vertical telescopic section 3 of the mechanical arm is not influenced, so that the use of the mechanical arm is not influenced.
Referring to fig. 1-2, the magnet block 104 has a plurality of spherical grooves 105 formed on both upper and lower sides thereof, and steel balls 106 are embedded in the spherical grooves 105, and the steel balls 106 are attached to the robot mounting groove 101. Due to the arrangement of the steel balls 106, the magnet block 104 can be guaranteed to slide smoothly inside the mechanical arm mounting groove 101, the rotating smoothness of the vertical telescopic section 3 of the mechanical arm can be guaranteed, and the phenomenon of blocking is avoided.
The mechanical arm control system comprises a control module, a position sensing module and a contact sensing module;
the control module is used for controlling the working process of the mechanical arm;
the position sensing module is used for receiving a control instruction of the control module, identifying a target to be operated, acquiring position information of the target to be operated in real time, and transmitting the position information to the control module to determine a moving track of the mechanical arm;
the contact induction module is used for carrying out contact induction on the target to be operated when the mechanical arm contacts the target to be operated at the operation position, simultaneously feeding back contact information during contact in real time, and feeding back the contact information to the control module in real time until the control module controls the mechanical arm to complete the whole operation process of the target to be operated.
The position sensing module comprises an initial sensing unit and a process sensing unit;
the initial sensing unit is used for acquiring initial position information of a target to be operated and transmitting the initial position information to the control module so as to determine a pre-travelling track of the mechanical arm;
the process sensing unit is used for acquiring the position change information of the target to be operated and the real-time position information of the mechanical arm in real time in the motion process of the mechanical arm, transmitting the position change information and the real-time position information to the control module to correct the pre-moving track in real time, and determining the corrected accurate moving track.
The mechanical arm control system comprises a control module and a position sensing module, wherein the position sensing module senses the real-time position of the target to be operated in real time, corrects the running track in real time and determines the most accurate running track, so that the motion and rotation accuracy of the mechanical arm is ensured, the running efficiency of the mechanical arm is effectively improved, and the mechanical arm control system is suitable for diversified working environments.
The mechanical arm control system comprises a contact sensing module, contact information during contact can be collected in real time, and the contact position and the contact information are corrected in real time through the control module, so that the fineness of the mechanical arm during operation is effectively improved.
The above; but are merely preferred embodiments of the invention; the scope of the invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; the technical scheme and the improved concept of the invention are equally replaced or changed; are intended to be covered by the scope of the present invention.
Claims (9)
1. The utility model provides a but accurate pivoted arm, includes arm (1) and arm base (2) that are connected bottom arm (1), its characterized in that: the device comprises a mechanical arm vertical telescopic section (3), a mechanical arm horizontal telescopic section (4) connected with the mechanical arm vertical telescopic section (3) and a mechanical arm operation section (5) connected with the mechanical arm horizontal telescopic section (4), wherein the mechanical arm vertical telescopic section (3) is used for telescopic adjustment in the vertical direction, the mechanical arm horizontal telescopic section (4) is used for telescopic adjustment in the horizontal direction, and the mechanical arm operation section (5) is used for operating a target to be operated;
the base (2) comprises a mounting seat (6), a counterweight seat (8) is arranged on the lower side of the mounting seat (6), four groups of buffer mechanisms (7) are arranged between the mounting seat (6) and the counterweight seat (8), a quick clamping structure (10) is arranged at the joint of the vertical telescopic section (3) of the mechanical arm and the mounting seat (6), and the vertical telescopic section (3) of the mechanical arm and the mounting seat (6) are quickly mounted and dismounted through the quick clamping structure (10);
the mechanical arm control system is used for controlling the work of the mechanical arm (1).
2. The precisely rotatable robotic arm of claim 1, wherein: the buffer mechanism (7) comprises an upper connecting plate (701) and a lower connecting plate (702), the upper connecting plate (701) is fixed on the lower surface of the mounting seat (6), the lower connecting plate (702) is fixed on the upper surface of the counterweight seat (8), an arc-shaped spring (703) is inserted between the upper connecting plate (701) and the lower connecting plate (702), steel lining plates (705) are arranged at the lower end of the upper connecting plate (701) and the upper end of the lower connecting plate (702), a supporting beam (708), a shock absorption energy absorption structure (707) and a connecting rod shock absorption structure are arranged between the two steel lining plates (705), the supporting beam (708) and the shock absorption energy structure (707) are arranged between the two connecting rods (713) at intervals, spring holes (704) for inserting the arc-shaped springs (703) are arranged in the upper connecting plate (701) and the lower connecting plate (702), the upper end and the lower end of each arc-shaped spring (703) are respectively fixed in fixing through holes (706) positioned outside the spring, the fixing through holes (706) are arranged in an array.
3. A precisely rotatable robotic arm as claimed in claim 2, wherein: the shock absorption and energy absorption structure (707) comprises steel plates (711) and copper-aluminum-manganese alloy plates (709) which are arranged in a staggered mode.
4. A precisely rotatable robotic arm as claimed in claim 2, wherein: the shock absorption structure of the connecting rod comprises a connecting rod (713), ball heads (712) are arranged at two ends of the connecting rod (713) respectively, a ball head groove (714) matched with the ball heads (712) is formed in the steel lining plate (705), the connecting rod (713) is connected with the ball head groove (714) formed in the steel lining plate (705) through the ball heads (712), a compression spring (710) is arranged on the connecting rod (713), and the compression spring (710) is matched with the ball heads (712) and the ball head groove (714).
5. The precisely rotatable robotic arm of claim 1, wherein: the upper side of the mounting seat (6) is further provided with a dust cover (9), the dust cover (9) is sleeved on the vertical telescopic section (3) of the mechanical arm, a rubber sealing strip is arranged at the contact position of the dust cover (9) and the vertical telescopic section (3) of the mechanical arm, and the dust cover (9) is conical.
6. The precisely rotatable robotic arm of claim 1, wherein: quick joint structure (10) are including offering arm mounting groove (101) on mount pad (6) and offering annular joint groove (102) on the vertical flexible section (3) of arm, arm mounting groove (101) and annular joint groove (102) phase-match, both ends all are fixed with electro-magnet (103) about arm mounting groove (101) is inside, the one end that electro-magnet (103) are close to the vertical flexible section (3) of arm all is connected with magnet piece (104), and magnet piece (104) and arm mounting groove (101) sliding connection, the direction of arranging of the magnetic pole when electro-magnet (103) circular telegram is opposite with magnet piece (104).
7. The precisely rotatable arm of claim 6, wherein: a plurality of spherical grooves (105) are formed in the upper side and the lower side of the magnet block (104), steel balls (106) are embedded into the spherical grooves (105), and the steel balls (106) are attached to the mechanical arm mounting groove (101).
8. The precisely rotatable robotic arm of claim 1, wherein: the mechanical arm control system comprises a control module, a position sensing module and a contact sensing module;
the control module is used for controlling the working process of the mechanical arm;
the position sensing module is used for receiving a control instruction of the control module, identifying a target to be operated, acquiring position information of the target to be operated in real time, and transmitting the position information to the control module to determine a moving track of the mechanical arm;
the contact induction module is used for carrying out contact induction on the target to be operated when the mechanical arm contacts the target to be operated at the operation position, simultaneously feeding back contact information during contact in real time, and feeding back the contact information to the control module in real time until the control module controls the mechanical arm to complete the whole operation process of the target to be operated.
9. The precisely rotatable arm of claim 8, wherein: the position sensing module comprises an initial sensing unit and a process sensing unit;
the initial sensing unit is used for acquiring initial position information of a target to be operated and transmitting the initial position information to the control module to determine a pre-travelling track of the mechanical arm;
the process sensing unit is used for acquiring the position change information of the target to be operated and the real-time position information of the mechanical arm in real time in the motion process of the mechanical arm, transmitting the position change information and the real-time position information to the control module to correct the pre-moving track in real time, and determining the corrected accurate moving track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010716800.9A CN111844004A (en) | 2020-07-23 | 2020-07-23 | Mechanical arm capable of rotating accurately |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010716800.9A CN111844004A (en) | 2020-07-23 | 2020-07-23 | Mechanical arm capable of rotating accurately |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111844004A true CN111844004A (en) | 2020-10-30 |
Family
ID=72949343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010716800.9A Pending CN111844004A (en) | 2020-07-23 | 2020-07-23 | Mechanical arm capable of rotating accurately |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111844004A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319491A (en) * | 2021-06-23 | 2021-08-31 | 芜湖常瑞汽车部件有限公司 | Mechanical arm mounting seat for automobile welding |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6296255B1 (en) * | 1998-10-26 | 2001-10-02 | Teijin Seiki Co., Ltd. | Sealing mechanism for sealing a vacuum chamber |
| CN201669703U (en) * | 2010-05-14 | 2010-12-15 | 郑州新大方重工科技有限公司 | Turnover mechanical arm |
| CN104786215A (en) * | 2015-05-04 | 2015-07-22 | 奇瑞汽车股份有限公司 | Cylindrical coordinate type robot |
| CN207172075U (en) * | 2017-09-04 | 2018-04-03 | 昆山恒盛金属科技有限公司 | A kind of mechanical arm captures positioner automatically |
| CN108789416A (en) * | 2018-07-27 | 2018-11-13 | 中国科学院自动化研究所 | System and method for controlling double mechanical arms flexibility livewire work |
| CN209907638U (en) * | 2018-12-28 | 2020-01-07 | 青海民族大学 | Engineering damping device used under foundation differential settlement and earthquake coupling |
| CN209938669U (en) * | 2019-06-11 | 2020-01-14 | 东北林业大学 | Electric power-assisted cart |
-
2020
- 2020-07-23 CN CN202010716800.9A patent/CN111844004A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6296255B1 (en) * | 1998-10-26 | 2001-10-02 | Teijin Seiki Co., Ltd. | Sealing mechanism for sealing a vacuum chamber |
| CN201669703U (en) * | 2010-05-14 | 2010-12-15 | 郑州新大方重工科技有限公司 | Turnover mechanical arm |
| CN104786215A (en) * | 2015-05-04 | 2015-07-22 | 奇瑞汽车股份有限公司 | Cylindrical coordinate type robot |
| CN207172075U (en) * | 2017-09-04 | 2018-04-03 | 昆山恒盛金属科技有限公司 | A kind of mechanical arm captures positioner automatically |
| CN108789416A (en) * | 2018-07-27 | 2018-11-13 | 中国科学院自动化研究所 | System and method for controlling double mechanical arms flexibility livewire work |
| CN209907638U (en) * | 2018-12-28 | 2020-01-07 | 青海民族大学 | Engineering damping device used under foundation differential settlement and earthquake coupling |
| CN209938669U (en) * | 2019-06-11 | 2020-01-14 | 东北林业大学 | Electric power-assisted cart |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319491A (en) * | 2021-06-23 | 2021-08-31 | 芜湖常瑞汽车部件有限公司 | Mechanical arm mounting seat for automobile welding |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111844004A (en) | Mechanical arm capable of rotating accurately | |
| WO2020073540A1 (en) | Magnetic source detection device fixedly connecting external magnet and magnetic sensor array | |
| CN208331666U (en) | A kind of carbon dioxide detector bracket | |
| CN110262157A (en) | The method of optical anti-vibration lens assembly and its optical anti-vibration | |
| CN211278393U (en) | Six-freedom-degree movement device based on Stewart parallel mechanism and telescopic mechanism thereof | |
| ES2083120T3 (en) | HELICOPTER MAST VIBRATION SIMULATOR. | |
| CN114001782A (en) | Geological disaster monitoring device | |
| CN110261988A (en) | Autofocus lens component and its Atomatic focusing method | |
| CN107228804B (en) | A kind of jump bit for vertical mechanical shock test machine | |
| CN209894900U (en) | Delta parallel structure-based mouse track performance detection device | |
| CN213239039U (en) | Air detection device for environmental monitoring | |
| CN210920738U (en) | Angle adjusting device of industrial camera | |
| CN112253676B (en) | Vibration damping device and robot | |
| CN207724102U (en) | A kind of servo-drive power control polishing and grinding apparatus | |
| CN208255329U (en) | Electrostatic discharge testing system | |
| CN215910509U (en) | Friction wheel speed measuring mechanism based on PID control algorithm | |
| CN208420741U (en) | Camera settings for display screen detection | |
| CN112198735A (en) | Lens driving device | |
| CN207593600U (en) | Automatic positioning equipment | |
| EP0210781A1 (en) | Slidable carriage mount for disc memory apparatus | |
| CN220019262U (en) | Device for wear testing | |
| CN220525548U (en) | Ball falling testing device | |
| CN110488910A (en) | Orient guide mechanism and apparatus and method for, medium | |
| CN217195215U (en) | Accurate counterpoint platform counterpoints | |
| CN214888582U (en) | Universal guide mechanism of seismic isolation and reduction platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201030 |