CN112476426A

CN112476426A - Industrial mechanical arm capable of realizing rapid increase and decrease of degree of freedom

Info

Publication number: CN112476426A
Application number: CN202011274426.8A
Authority: CN
Inventors: 周运福; 龚新舫
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-15
Filing date: 2020-11-15
Publication date: 2021-03-12

Abstract

The invention discloses an industrial mechanical arm capable of realizing rapid increase and decrease of freedom degree, which comprises a base, a gripping device and a control device, wherein the gripping device comprises a connecting frame, an arm mechanism and a gripper mechanism, the connecting frame is arranged on the base and is rotationally connected with the base, the arm mechanism comprises a first connecting arm and a second connecting arm, one end of the first connecting arm is rotationally connected with the connecting frame, the other end of the first connecting arm is hinged with one end of the second connecting arm, and the other end of the second connecting arm is rotationally connected with the gripper mechanism; the control device comprises a first control mechanism, a second control mechanism and a third control mechanism, wherein the first control mechanism is used for controlling the connecting frame to rotate relative to the base, the second control mechanism is used for controlling the first connecting arm to rotate relative to the connecting frame, and the third control mechanism is used for controlling the gripper device to rotate relative to the second connecting arm. According to the invention, the degree of freedom can be increased and decreased rapidly through the control device, and the free work of the mechanical arm is realized.

Description

Industrial mechanical arm capable of realizing rapid increase and decrease of degree of freedom

Technical Field

The invention relates to the technical field of mechanical arms, in particular to an industrial mechanical arm capable of realizing rapid increase and decrease of freedom degrees.

Background

A mechanical arm is a common mechanical actuator, and is widely applied to various mechanical devices. The connecting axle of each linking arm of common arm is comparatively complicated with articular relation of being connected, and in addition, common arm is all different because its each joint, and this design that has led to present arm, manufacturing and maintenance cost are all higher, simultaneously because its each articulated complexity of connecting, and the user of being inconvenient for carries out secondary equipment and development according to the demand of in-service use to the arm in order to change the degree of freedom of arm.

Disclosure of Invention

The invention mainly aims to provide an industrial mechanical arm capable of realizing rapid increase and decrease of the degree of freedom, and aims to solve the problem that the degree of freedom of the mechanical arm is inconvenient to freely adjust in the prior art.

In order to achieve the above object, the present invention provides an industrial robot capable of rapidly increasing or decreasing degrees of freedom, comprising:

a base;

the grabbing device comprises a connecting frame, an arm mechanism and a grabbing hand mechanism, wherein the connecting frame is installed on the base and is rotatably connected with the base;

the control device comprises a first control mechanism, a second control mechanism and a third control mechanism, the first control mechanism is used for controlling the connecting frame to rotate relative to the base, the second control mechanism is used for controlling the first connecting arm to rotate relative to the connecting frame, and the third control mechanism is used for controlling the gripper device to rotate relative to the second connecting arm.

Preferably, the connecting frame comprises a mounting plate, the mounting plate is mounted on the base, and the first control mechanism is used for controlling the mounting plate to rotate.

Preferably, the link still includes pivot and fixed plate, the fixed plate is installed on the mounting panel, the pivot with the fixed plate rotates to be connected, first link arm is installed on the connecting axle, second control mechanism is used for control the pivot rotates.

Preferably, the grabbing device further comprises a cam and an auxiliary arm, one end of the cam is hinged to the rotating shaft, the other end of the cam is hinged to one end of the auxiliary arm, and the other end of the auxiliary arm is hinged to one end, far away from the grabbing mechanism, of the second connecting arm.

Preferably, tongs mechanism includes connector, connecting rod and two pincers sword, even the pincers sword passes through the connecting rod with the connector is articulated, the connector with the second linking arm rotates to be connected, third control mechanism is used for control the connector rotates.

Preferably, the control device further comprises a fourth control mechanism, and the fourth control mechanism is used for controlling the connecting rod to drive the opening and closing of the two clamp edges.

Preferably, the first control mechanism comprises a driving motor and a relay, the relay is used for controlling the operation of the driving motor, and the driving motor is used for driving the rotating shaft to rotate.

Preferably, the first control means, the second control means, the third control means, and the fourth control means have the same configuration.

The industrial mechanical arm capable of realizing the rapid increase and decrease of the degree of freedom is characterized in that the connecting frame is controlled by the first control mechanism to rotate on the base for 360 degrees, the second control mechanism is used for controlling the first connecting arm to rotate on the connecting frame, and the third control mechanism is used for controlling the gripper mechanism to rotate for 360 degrees relative to the second connecting arm, so that the gripper mechanism can freely complete gripping.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a perspective view of an industrial robot capable of rapidly increasing and decreasing degrees of freedom according to an embodiment of the present invention;

FIG. 2 is a perspective view of another perspective of an industrial robot capable of achieving fast increasing and decreasing degrees of freedom according to an embodiment of the present invention;

FIG. 3 is an enlarged view of area A of FIG. 2;

fig. 4 is a schematic diagram of an internal structure of a first control mechanism of an industrial robot capable of rapidly increasing and decreasing degrees of freedom according to an embodiment of the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Mechanical arm	231	Connecting head
1	Base seat	232	Clamp blade
				2	Gripping device	24	Cam wheel
21	Connecting frame	25	Auxiliary arm
				211	Mounting plate	3	Control device
212	Fixing plate	31	First control mechanism
				213	Rotating shaft	311	Relay with a movable contact
22	Arm mechanism	312	Driving motor
				221	First connecting arm	32	Second control mechanism
222	Second connecting arm	33	Third control mechanism
				23	Gripper mechanism	34	Fourth control mechanism

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides an industrial mechanical arm capable of realizing rapid increase and decrease of freedom degree.

As shown in fig. 1 to 4, in the present embodiment, an industrial robot 100 capable of achieving fast increasing and decreasing degrees of freedom includes a base 1, a gripping device 2 and a control device 3, the gripping device 2 includes a connecting frame 21, an arm mechanism 22 and a gripper mechanism 23, the connecting frame 21 is mounted on the base 1, the connecting frame 21 is rotatably connected with the base 1, the arm mechanism 22 includes a first connecting arm 221 and a second connecting arm 222, one end of the first connecting arm 221 is rotatably connected with the connecting frame 21, the other end of the first connecting arm 221 is hinged with one end of the second connecting arm 222, and the other end of the second connecting arm 222 is rotatably connected with the gripper mechanism 23; the control means 3 comprises a first control means 31 for controlling the rotation of the link frame 21 relative to the base 1, a second control means 32 for controlling the rotation of the first link arm 221 relative to the link frame 21, and a third control means 33 for controlling the rotation of the gripper means relative to the second link arm 222.

Specifically, in the present embodiment, the first control mechanism 31 controls the connecting frame 21 to rotate on the base 1 by 360 °, the second control mechanism 32 controls the first connecting arm 221 to rotate on the connecting frame 21, and the third control mechanism 33 controls the gripper mechanism 23 to rotate relative to the second connecting arm 222360 °, so that the gripper mechanism 23 can freely complete the gripping operation, and the industrial robot arm 100 capable of rapidly increasing and decreasing the degree of freedom in the present embodiment can achieve rapid increasing and decreasing the degree of freedom, thereby achieving free operation of the robot arm 100.

Further, as shown in fig. 1 to 3, the connection frame 21 includes a mounting plate 211, the mounting plate 211 is mounted on the base 1, and the first control mechanism 31 is used for controlling the mounting plate 211 to rotate. The first control mechanism 31 controls the mounting plate 211 to rotate 360 ° on the base 1, so that the whole gripping device 2 can rotate 1360 ° around the base 1360 to adjust the gripping position of the gripper mechanism 23.

In this embodiment, as shown in fig. 1 to fig. 3, the connecting frame 21 further includes a rotating shaft 213 and a fixing plate 212, the fixing plate 212 is mounted on the mounting plate 211, the rotating shaft 213 is rotatably connected to the fixing plate 212, the first connecting arm 221 is mounted on the connecting shaft, and the second control mechanism 32 is configured to control the rotating shaft 213 to rotate. The second control mechanism 32 drives the first connecting arm 221 to rotate by controlling the rotation shaft 213, so as to adjust the grabbing position of the grabbing device 2 in the vertical direction.

In this embodiment, as shown in fig. 1 to 3, the gripping device 2 further includes a cam 24 and an auxiliary arm 25, one end of the cam 24 is hinged to the rotating shaft 213, the other end of the cam 24 is hinged to one end of the auxiliary arm 25, and the other end of the auxiliary arm 25 is hinged to one end of the second connecting arm 222 away from the gripper mechanism 23. When the rotating shaft 213 drives the first connecting arm 221 to rotate, the cam 24 is driven to rotate at the same time, the cam 24 drives the auxiliary arm 25 to rotate, the second connecting arm 222 is driven to rotate by the auxiliary arm 25, the grabbing position of the grabbing mechanism 23 is adjusted by the second connecting arm 222, the overall degree of freedom of the grabbing device 2 is further increased, and meanwhile, the auxiliary arm 25 can be fixed by stopping the rotation of the rotating shaft 213, so that the degree of freedom is reduced.

In this embodiment, as shown in fig. 1 to 3, the gripper mechanism 23 includes a connection head 231, a connection rod and two gripper blades 232, the connection rod is hinged to the connection head 231 through the connection rod 232, the connection head 231 is rotatably connected to the second connection arm 222, and the third control mechanism 33 is configured to control the connection head 231 to rotate. The third control mechanism 33 controls the connecting head 231360 to rotate, so that the two clamp blades 232360 rotate to adjust the grasping position of the clamp blade 232.

In this embodiment, as shown in fig. 1 to 3, the control device 3 further includes a fourth control mechanism 34, and the fourth control mechanism 34 is used for controlling the opening and closing of the two clamp blades 232 driven by the connecting rod. The fourth control mechanism 34 drives the link to rotate, and the link drives the two clamp blades 232 to close or open, so that the gripper mechanism 23 can pick up or put down the target.

In this embodiment, as shown in fig. 1 and 4, the first control mechanism 31 includes a driving motor 312 and a relay 311, the control switch is used for controlling the operation of the driving motor 312, and the relay 311 is used for driving the rotation shaft 213 to rotate. The relay 311 is used for controlling the on-off of the driving motor 312, so that the driving motor 312 can be rapidly controlled to operate, the increase and decrease of the degree of freedom of the mechanical arm 100 can be rapidly controlled, the work of the driving motor 312 and the relay 311 can be controlled by a battery, and the operation of the driving motor 312 and the relay 311 can be controlled by a circuit.

In the present embodiment, the first control means 31, the second control means 32, the third control means 33, and the fourth control means 34 have the same internal configuration. The control structure with the same structure is adopted, the control is convenient, the structure is simple, and the operation of the driving motor 312 can be rapidly controlled, so that the increase and decrease of the integral degree of freedom of the mechanical arm 100 can be rapidly controlled.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. An industrial robot arm capable of achieving rapid increase and decrease of degrees of freedom, comprising:

a base (1);

the grabbing device (2) comprises a connecting frame (21), an arm mechanism (22) and a gripper mechanism (23), the connecting frame (21) is mounted on the base (1), the connecting frame (21) is rotatably connected with the base (1), the arm mechanism (22) comprises a first connecting arm (221) and a second connecting arm, one end of the first connecting arm (221) is rotatably connected with the connecting frame (21), the other end of the first connecting arm (221) is hinged with one end of the second connecting arm, and the other end of the second connecting arm is rotatably connected with the gripper mechanism (23);

the control device (3) comprises a first control mechanism (31), a second control mechanism (32) and a third control mechanism (33), the first control mechanism (31) is used for controlling the connecting frame (21) to rotate relative to the base (1), the second control mechanism (32) is used for controlling the first connecting arm (221) to rotate relative to the connecting frame (21), and the third control mechanism (33) is used for controlling the gripper to rotate relative to the second connecting arm.

2. An industrial robot with rapid increase and decrease of freedom according to claim 1, characterized in that said connecting frame (21) comprises a mounting plate (211), said mounting plate (211) is mounted on said base (1), and said first control mechanism (31) is used for controlling said mounting plate (211) to rotate.

3. An industrial robot arm capable of achieving rapid increase and decrease of freedom degree according to claim 2, wherein the connecting frame (21) further comprises a rotating shaft (213) and a fixing plate (212), the fixing plate (212) is mounted on the mounting plate (211), the rotating shaft (213) is rotatably connected with the fixing plate (212), the first connecting arm (221) is mounted on the connecting shaft, and the second control mechanism (32) is used for controlling the rotating shaft (213) to rotate.

4. An industrial robot arm capable of achieving rapid increase and decrease of freedom degree according to claim 3, wherein the gripping device (2) further comprises a cam (24) and an auxiliary arm (25), one end of the cam (24) is hinged to the rotating shaft (213), the other end of the cam (24) is hinged to one end of the auxiliary arm (25), and the other end of the auxiliary arm (25) is hinged to one end of the second connecting arm far away from the gripper mechanism (23).

5. The industrial robot arm capable of achieving the rapid increase and decrease of the degree of freedom according to claim 3, wherein the gripper mechanism (23) comprises a connecting head (231), a connecting rod and two gripper blades (232), the two gripper blades (232) are hinged to the connecting head (231) through the connecting rod, the connecting head (231) is rotatably connected to the second connecting arm, and the third control mechanism (33) is used for controlling the connecting head (231) to rotate.

6. An industrial robot arm with rapid increase and decrease of freedom as claimed in claim 5, wherein said control device (3) further comprises a fourth control mechanism (34), said fourth control mechanism (34) is used for controlling said connecting rod to drive the opening and closing of said two clamp blades (232).

7. An industrial robot capable of achieving rapid increase and decrease of freedom degree according to claim 6, characterized in that the first control mechanism (31) comprises a driving motor (312) and a relay (311), the relay (311) is used for controlling the operation of the driving motor (312), and the driving motor (312) is used for driving the rotating shaft (213) to rotate.

8. An industrial robot arm with rapid increase and decrease of freedom according to claim 7, characterized in that the first control mechanism (31), the second control mechanism (32), the third control mechanism (33) and the fourth control mechanism (34) are identical in structure.