CN216956001U

CN216956001U - Probe remote sensing detection and identification scrap steel mechanical arm

Info

Publication number: CN216956001U
Application number: CN202220420362.6U
Authority: CN
Inventors: 孙强; 夏彬; 卢冯成; 高明海; 何川
Original assignee: Dashu Jinke Network Technology Co ltd
Current assignee: Dashu Jinke Network Technology Co ltd
Priority date: 2022-03-01
Filing date: 2022-03-01
Publication date: 2022-07-12
Anticipated expiration: 2032-03-01

Abstract

The utility model discloses a probe remote sensing detection and identification scrap steel mechanical arm, which comprises a seven-axis mechanical arm and a sliding device, wherein an induction probe is arranged on the seven-axis mechanical arm; the sliding device comprises a supporting assembly, a driving assembly and a sliding plate, the driving assembly and the sliding plate are arranged on the supporting assembly, the seven-shaft mechanical arm is fixedly arranged on the sliding plate, and the sliding plate is arranged on the driving assembly in a sliding manner; the driving assembly comprises a servo motor, a ball screw, a screw nut, two guide rods and at least one limiting shaft sleeve, the servo motor is fixedly arranged on the supporting assembly, one end of the ball screw is connected with the servo motor, the other end of the ball screw is rotatably connected with the supporting assembly, the screw nut is fixedly arranged at the bottom of the sliding plate and matched with the ball screw, the guide rods are positioned at two sides of the ball screw and fixedly arranged on the supporting assembly, the limiting shaft sleeve is fixedly arranged at the bottom of the sliding plate, and the limiting shaft sleeve is in sliding fit with the guide rods; the utility model aims to solve the problem that the existing multi-shaft seven-shaft mechanical arm is small in moving radius.

Description

Probe remote sensing detection and identification scrap steel mechanical arm

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm for identifying scrap steel through probe remote sensing detection.

Background

Remote sensing refers to non-contact, remote sensing techniques. Generally, the detection of the radiation and reflection characteristics of electromagnetic waves of an object by using a sensor/remote sensor is used. Remote sensing is the detection of a target ground object by means of a remote sensor or other electromagnetic wave sensitive instrument under the conditions of being far away from the target and not contacting the target object. The method is a science and technology for acquiring information (such as electric field, magnetic field, electromagnetic wave, seismic wave and the like) of electromagnetic waves reflected, radiated or scattered by the system, and extracting, judging, processing, analyzing and applying the information.

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.

The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in the modeling model of the seven-axis mechanical arm, and for different tasks, the motion tracks of the joint space of the seven-axis mechanical arm need to be planned, so that the end pose is formed by cascading.

In the metallurgical industry, the problems of various scrap steel types, complex material types, difficult control of classification loopholes, lagged manual classification means and the like exist, and the problem of difficulty in realizing intelligent identification is a world problem in the industry. While the adoption of the structured light 3d camera probe for intelligent identification mostly adopts fixed point positions, and meanwhile, most of the seven-axis mechanical arms in the market cannot realize multi-dimensional large-range adjustment of the movable joint arm and cannot realize variable and adjustable movable radius. Therefore, the research and development of the seven-axis mechanical arm capable of realizing multi-dimensional large-range adjustment of the movable radius and controlling the joint arm to move at any angle through one-key operation is a technical problem which needs to be solved urgently at present.

The utility model discloses a many joints arm soldered connection is disclosed for CN202021429745.7, utility model patent that the publication number is CN213080512U, the on-line screen storage device comprises a base, the bottom surface of base is equipped with first arm, second arm, third arm and soldered connection in proper order, the top of first arm and the bottom surface fixed connection of base, the top of second arm and the bottom of first arm are rotated and are connected, the top of third arm is rotated with the bottom of second arm and is connected, between second arm and the first arm and between third arm and the soldered connection all be connected through servo motor. According to the utility model, in the rotation process of the mechanical arm, the welding head can be retracted into the movable part, the third mechanical arm can be retracted into the second mechanical arm, and the second mechanical arm can be retracted into the first mechanical arm, so that the folding of the mechanical arm is realized, and the swept area in the rotation process of the mechanical arm is only the swept area of the first mechanical arm, so that the rotation space is reduced, and the utilization rate of a workshop is improved;

the specification discloses a multi-joint mechanical arm welding head, but in practical application, the welding head has the defects of small mechanical arm action range and poor practicability.

The multi-shaft mechanical arm in the prior art cannot transversely move while swinging, so that the working range is narrow, and the practicability is poor.

SUMMERY OF THE UTILITY MODEL

The utility model provides a probe remote sensing detection and identification scrap steel mechanical arm, and aims to solve the problem that the existing multi-axis mechanical arm is small in moving radius.

In order to solve the technical problems, the technical scheme adopted by the utility model is as follows:

a probe remote sensing detection identification scrap steel mechanical arm comprises a seven-shaft mechanical arm and a sliding device, wherein an induction probe is arranged on the seven-shaft mechanical arm, the sliding device comprises a supporting assembly, a driving assembly and a sliding plate, the driving assembly and the sliding plate are arranged on the supporting assembly, the seven-shaft mechanical arm is fixedly arranged on the sliding plate, and the sliding plate is arranged on the driving assembly in a sliding manner;

the driving assembly comprises a servo motor, a ball screw, a screw nut, two guide rods and at least one limiting shaft sleeve, the servo motor is fixedly arranged on the supporting assembly, the ball screw is rotatably arranged on the supporting assembly, one end of the ball screw is connected with the servo motor, the screw nut is fixedly arranged at the bottom of the sliding plate and matched with the ball screw, the guide rods are positioned at two sides of the ball screw and fixedly arranged on the supporting assembly, the limiting shaft sleeve is fixedly arranged at the bottom of the sliding plate, and the limiting shaft sleeve is in sliding fit with the guide rods. Wherein, the supporting component includes two limiting plates, backing plate and bottom plate, and the bottom plate can be dismantled the top that sets up at the backing plate, and drive assembly sets up on the bottom plate, and the setting can be dismantled on the bottom plate to the limiting plate, and servo motor is fixed to be set up on the bottom plate, and ball one end is connected with servo motor, and the other end rotates with the limiting plate of keeping away from servo motor one side to be connected, and the guide arm is located ball's both sides to fixed the setting on the bottom plate.

Wherein, the backing plate can be dismantled with the bottom plate and be connected through a plurality of first connecting portion.

Wherein, the limiting plate can be dismantled with the bottom plate through a plurality of second connecting portion and be connected.

Further optimize, keep away from the limiting plate of servo motor one side and have the bearing, ball and bearing normal running fit.

Further optimize, be provided with the shaft coupling on the servo motor, servo motor with ball passes through the shaft coupling and can dismantle the connection.

Further, the bottom plate and the backing plate are both made of aluminum profiles.

Wherein, the quantity of spacing axle sleeve has three.

Further defined, the first connecting portion comprises a vertical portion and a horizontal portion, and the vertical portion is fixedly connected with the horizontal portion to form an L-shaped first connecting portion.

Further, the first connecting part and the second connecting part are identical in structure.

Compared with the prior art, the utility model has the following beneficial effects:

the utility model mainly comprises seven mechanical arms and a sliding device, in the actual use process, a worker controls a servo motor to rotate forward or backward so as to drive a ball screw to rotate, as a lead screw nut is in sliding fit with the ball screw, the lead screw nut drives a sliding plate and the seven mechanical arms fixedly arranged on the sliding plate to slide on a supporting component, wherein the ball screw is rotationally connected with the supporting component, the rotation of the ball screw is more stable, the seven mechanical arms swing by the own seven mechanical arms in the sliding process so as to achieve the effect of swinging in a large range, in the left-right sliding process of the seven mechanical arms, the seven mechanical arms are more stable in the swinging and sliding processes due to the matching of a guide rod and a plurality of limiting shaft sleeves, wherein a limiting block can effectively limit the movement stroke of the seven mechanical arms and prevent the seven mechanical arms from being disengaged from the ball screw, the base plate is matched with the bottom plate, so that the centrifugal force generated when the seven mechanical arms swing can be shared longitudinally and transversely, and the stability of the seven mechanical arms in work is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a schematic view of the present invention.

FIG. 2 is a second schematic structural diagram of the present invention.

Fig. 3 is a schematic structural diagram of a second embodiment of the present invention.

Fig. 4 is a partial enlarged view of the utility model at a in fig. 3.

Fig. 5 is a partial enlarged view of the utility model at B in fig. 1.

Fig. 6 is a partial enlarged view of the utility model at C in fig. 1.

In the figure, 1-seven-shaft mechanical arm, 2-sliding plate, 3-limiting plate, 4-backing plate, 5-bottom plate, 6-servo motor, 7-ball screw, 8-screw nut, 9-guide rod, 10-limiting shaft sleeve, 11-first connecting part, 12-second connecting part, 13-bearing, 14-coupler, 15-vertical part, 16-horizontal part, 17-buffer device, 18-buffer bolt, 19-thread, 20-buffer area, 21-buffer head, 22-bump, 23-sliding chute, 24-fixing part and 25-spring.

Detailed Description

The present invention will be further described with reference to the following examples, which are intended to illustrate only some, but not all, of the embodiments of the present invention. Other embodiments used by those skilled in the art can be obtained without any creative effort based on the embodiments in the present invention, and all of them belong to the protection scope of the present invention.

Example one

As shown in fig. 1-5, the embodiment discloses a scrap steel remote sensing detection and identification mechanical arm with a probe, which comprises a seven-axis mechanical arm 1 and a sliding device, wherein an induction probe is arranged on the seven-axis mechanical arm 1, the sliding device comprises a supporting component, a driving component and a sliding plate 2, the driving component and the sliding plate 2 are arranged on the supporting component, the seven-axis mechanical arm 1 is fixedly arranged on the sliding plate 2, and the sliding plate 2 is arranged on the driving component in a sliding manner;

the driving assembly comprises a servo motor 6, a ball screw 7, a screw nut 8, two guide rods 9 and at least one limiting shaft sleeve 10, the servo motor 6 is fixedly arranged on the supporting assembly, the ball screw 7 is rotatably arranged on the supporting assembly, one end of the ball screw is connected with the servo motor 6, the screw nut 8 is fixedly arranged at the bottom of the sliding plate 2 and is matched with the ball screw 7, the guide rods 9 are positioned at two sides of the ball screw 7 and are fixedly arranged on the supporting assembly, the limiting shaft sleeve 10 is fixedly arranged at the bottom of the sliding plate 2, and the limiting shaft sleeve 10 is in sliding fit with the guide rods 9;

the supporting component comprises two limiting plates 3, backing plate 4 and bottom plate 5, bottom plate 5 can be dismantled the top that sets up at backing plate 4, drive assembly sets up on bottom plate 5, limiting plate 3 can be dismantled the setting on bottom plate 5, servo motor 6 is fixed to be set up on bottom plate 5, ball 7 rotates to be installed on limiting plate 3 and wherein one end is connected with servo motor 6, guide arm 9 is located ball 7's both sides, and fixed the setting on bottom plate 5, wherein stopper 3 can restrict seven arm 1's motion stroke effectively, prevent that seven arm 1 from breaking away from the cooperation with ball 7, centrifugal force when backing plate 4 and bottom plate 5 cooperation can be followed vertically and transversely share seven arm 1 swings, and then improve seven arm 1 stability at the during operation.

The utility model mainly comprises a seven-shaft mechanical arm 1 and a sliding device, in the actual use process, a worker controls a servo motor to rotate forwards or backwards so as to drive a ball screw 7 to rotate, as the screw nut 8 is in sliding fit with the ball screw 7, the screw nut 8 drives the sliding plate 2 and the seven mechanical arms fixedly arranged on the sliding plate 2 to slide on the bottom plate, wherein the ball screw 7 is rotationally connected with the limit plate 3, so that the rotation of the ball screw 7 is more stable, the seven-shaft mechanical arm 1 swings in the sliding process so as to achieve the effect of large-range swinging, in the process of sliding the seven-axis mechanical arm 1 left and right, the guide rod 9 and the plurality of limiting shaft sleeves 10 are matched, so that the seven-axis mechanical arm 1 is more stable in the swinging and sliding processes, meanwhile, the base plate 4 fixed below the bottom plate 5 provides more powerful guarantee for the stability of the work of the seven-axis mechanical arm 1.

The base plate 4 is detachably connected with the bottom plate 5 through a plurality of first connecting parts 11;

the limiting plate 3 is detachably connected with the bottom plate 5 through a plurality of second connecting parts 12;

in actual use, because seven arms horizontal hunting cause the connection of bottom plate 5, backing plate 4 and limiting plate 3 unstable, can make the connection of bottom plate 5, backing plate 4 and limiting plate 3 more stable after setting up first connecting portion 11 and second connecting portion 12.

Further optimize, ball 7 passes through bearing 13 and is connected with the limiting plate rotation.

Further optimize, be provided with shaft coupling 14 on the servo motor 6, servo motor 6 with ball 7 passes through shaft coupling 14 and can dismantle the connection.

Further, the bottom plate 5 and the backing plate 4 are both made of aluminum profiles, and the aluminum profiles are low in manufacturing cost, light in weight, high in strength, durable and suitable for processing.

Wherein, there is three limiting shaft sleeve 10's quantity, sets up three limiting shaft sleeve 10 and can make slide 2 more stable when sliding.

Further, the first connecting portion 11 comprises a vertical portion 15 and a horizontal portion 16, the vertical portion 15 and the horizontal portion 16 are fixedly connected to form an L-shaped first connecting portion 11, and this arrangement has the advantage of facilitating quick detachment by a worker.

Further, the first connecting portion 11 and the second connecting portion 12 are identical in structure.

Example two

As shown in fig. 6, the present embodiment is further optimized on the basis of the first embodiment, in the present embodiment, a buffering device 17 is screwed on the limiting plate 3 far away from the servo motor, the position of the buffering device 17 corresponds to the position of the side wall of the sliding plate 2, the buffering device 17 includes a buffering bolt 18, a thread 19 is arranged on the surface of the buffering bolt 18, a buffering area 20 is arranged in the buffering bolt 18, a buffering head 21 is slidably arranged in the buffering area 20, protrusions 22 are arranged on both sides of the buffering head 21, a sliding groove 23 is arranged in the buffering area 20, the buffering head 21 and the buffering area 20 are slidably matched with the sliding groove 23 through the protrusions 22, a fixing portion 24 and a spring 25 are arranged in the sliding groove 23, one end of the spring 25 is fixedly connected with the fixing portion 24, and the other end of the spring 25 is connected with the protrusions 22;

in the actual use process, the lead screw nut 8 drives the sliding plate 2 and the seven-axis mechanical arm to slide on the ball screw 7, but in the sliding process, the waving range of the seven-axis mechanical arm needs to be controlled, at the moment, the buffer bolt 18 is in threaded connection with the limiting plate 3 according to different understandable ranges, the waving range of the seven-axis mechanical arm is limited according to different lengths of the exposed buffer bolt 18, so that unnecessary action waste is avoided, the waving range of the seven-axis mechanical arm can be accurately controlled, and the practicability of the utility model is enhanced;

further optimization, the end part of the buffer head 21 is provided with a pressure sensor, and the pressure sensor is connected with a relay in a circuit of the servo motor 6 through a controller;

in the actual use process, when the sliding plate 2 contacts the buffer head 21, the pressure sensor senses the pressure transmission signal of the sliding plate 2 and sends the signal to the controller, and the controller controls the on-off of the relay in the servo motor 6 and controls the start and stop of the servo motor, so that the sliding plate 2 is protected, and the rigid impact between the sliding plate 2 and the limiting plate 3 is avoided.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the utility model. The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, it should be noted that any modifications, equivalents and improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a probe remote sensing surveys discernment steel scrap arm, includes seven arms (1), is provided with inductive probe, its characterized in that on seven arms (1): the robot manipulator further comprises a sliding device, the sliding device comprises a supporting assembly, a driving assembly and a sliding plate (2), the driving assembly and the sliding plate (2) are arranged on the supporting assembly, the seven-shaft mechanical arm (1) is fixedly arranged on the sliding plate (2), and the sliding plate (2) is arranged on the driving assembly in a sliding manner;

the driving assembly comprises a servo motor (6), a ball screw (7), a screw nut (8), two guide rods (9) and at least one limiting shaft sleeve (10), the servo motor (6) is fixedly arranged on the supporting assembly, the ball screw (7) is rotatably arranged on the supporting assembly, one end of the ball screw is connected with the servo motor (6), the screw nut (8) is fixedly arranged at the bottom of the sliding plate (2) and matched with the ball screw (7), the guide rods (9) are positioned at two sides of the ball screw (7) and fixedly arranged on the supporting assembly, the limiting shaft sleeve (10) is fixedly arranged at the bottom of the sliding plate (2), and the limiting shaft sleeve (10) is in sliding fit with the guide rods (9);

the supporting component comprises two limiting plates (3), a backing plate (4) and a bottom plate (5), the bottom plate (5) can be detachably arranged above the backing plate (4), the driving component is arranged on the bottom plate (5), the two limiting plates (3) are arranged at two ends of the bottom plate (5) respectively, the servo motor (6) is fixedly arranged on the bottom plate (5), the ball screw (7) is rotatably arranged on the limiting plates (3), one end of the ball screw is connected with the servo motor (6), the two guide rods (9) are arranged on two sides of the ball screw (7) respectively, and the two guide rods are fixedly arranged on the bottom plate (5).

2. The mechanical arm for remote sensing, detecting and identifying scrap steel by the probe according to claim 1, characterized in that: the backing plate (4) is detachably connected with the bottom plate (5) through a plurality of first connecting parts (11).

3. The mechanical arm for remote sensing detection and identification of scrap steel by the probe according to claim 2, characterized in that: the limiting plate (3) is detachably connected with the bottom plate (5) through a plurality of second connecting parts (12).

4. The mechanical arm for remote sensing, detecting and identifying scrap steel by the probe according to claim 1, characterized in that: the ball screw (7) is rotatably connected with the limiting plate through a bearing (13).

5. The mechanical arm for remote sensing, detecting and identifying scrap steel by the probe according to claim 1, characterized in that: the servo motor (6) is provided with a coupler (14), and the servo motor (6) is detachably connected with the ball screw (7) through the coupler (14).

6. The mechanical arm for remote sensing, detecting and identifying scrap steel by the probe according to claim 1, characterized in that: the bottom plate (5) and the backing plate (4) are both made of aluminum profiles.

7. The mechanical arm for remote sensing, detecting and identifying scrap steel by the probe according to claim 1, characterized in that: the number of the limiting shaft sleeves (10) is three.

8. The mechanical arm for remotely sensing, detecting and identifying scrap steel by the probe according to claim 2, characterized in that: the first connecting portion (11) comprises a vertical portion (15) and a horizontal portion (16), and the vertical portion (15) and the horizontal portion (16) are fixedly connected to form an L-shaped first connecting portion.

9. The mechanical arm for remotely sensing, detecting and identifying scrap steel by the probe according to claim 8, wherein the mechanical arm comprises: the first connecting part (11) and the second connecting part (12) have the same structure.