WO2020124943A1 - 一种机械臂绘图装置 - Google Patents

一种机械臂绘图装置 Download PDF

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Publication number
WO2020124943A1
WO2020124943A1 PCT/CN2019/086971 CN2019086971W WO2020124943A1 WO 2020124943 A1 WO2020124943 A1 WO 2020124943A1 CN 2019086971 W CN2019086971 W CN 2019086971W WO 2020124943 A1 WO2020124943 A1 WO 2020124943A1
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WIPO (PCT)
Prior art keywords
arm
limit switch
drawing device
mechanical
bracket
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PCT/CN2019/086971
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English (en)
French (fr)
Inventor
成润泽
崔国锋
徐庆原
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深圳市小怪兽教育科技有限公司
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Application filed by 深圳市小怪兽教育科技有限公司 filed Critical 深圳市小怪兽教育科技有限公司
Priority to US17/274,718 priority Critical patent/US20210347197A1/en
Priority to EP19897628.4A priority patent/EP3900945A4/en
Priority to JP2021517695A priority patent/JP2022501236A/ja
Priority to GB2103363.4A priority patent/GB2592129A/en
Publication of WO2020124943A1 publication Critical patent/WO2020124943A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
    • B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
    • B43L13/00—Drawing instruments, or writing or drawing appliances or accessories not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
    • B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
    • B43L13/00—Drawing instruments, or writing or drawing appliances or accessories not otherwise provided for
    • B43L13/02—Draughting machines or drawing devices for keeping parallelism
    • B43L13/022—Draughting machines or drawing devices for keeping parallelism automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Definitions

  • the invention relates to a mechanical arm, in particular to a mechanical arm drawing device.
  • the reduction stepper motor is composed of a motor, a multi-stage reduction gear, and an output shaft
  • the multi-stage reduction gear slows the rotation speed of the motor and increases the torque of the motor.
  • the process of the motor And assembly determines that there is a certain gap between each two-stage reduction gear.
  • this gap has no effect, and when the motor needs to run in the reverse direction, this effect is manifested, namely The motor does not respond to the control signal less than the imaginary position; for example: if the step angle of the motor is 0.18° and the final imaginary angle of the entire gear reduction system is 1.8°, when the motor runs in one direction, you want to make It can run in the opposite direction, and the motor output shaft needs to be rotated by 10 step angles.
  • the technical task of the invention is to provide a mechanical arm drawing device in view of the above-mentioned deficiencies of the prior art.
  • a mechanical arm drawing device including a bracket, and a driving device located on the bracket, a mechanical arm connected to the driving device, wherein the driving device is composed of two It consists of a decelerating stepping motor.
  • One of the decelerating stepping motors is provided with an upper arm, an auxiliary arm is hinged at the end of the upper arm, a drawing arm is hinged at the end of the auxiliary arm, and another decelerating stepper motor
  • a lower arm is hinged, the end of the lower arm is hinged with the drawing arm, and the head end of the upper arm and the head end of the lower arm are connected by a torsion spring.
  • two limit switches are provided on the bracket, and the limit switches are respectively located on the same side of the upper arm and the lower arm.
  • the limit switch includes an upper limit switch and a lower limit switch, the upper limit switch is located on the left side of the upper arm, the lower limit switch is located on the left side of the lower arm, and the upper limit switch There is an upper limit buckle next to the lower limit switch.
  • the upper arm and the lower arm are composed of an inner arm and an outer arm, and the inner arm and the outer arm are detachably connected.
  • magnets are provided at both ends of the inner arm and the front end of the outer arm, a front cover is fixed at the end of the inner arm, and a rear cover is fixed at the front end of the outer arm.
  • the front end of the rear cover is provided with a strip-shaped limiting groove, and the outer wall of the front cover is provided with a limiting pin cooperating with the limiting groove, and the front cover is inlaid on the rear cover front end.
  • a slider with a "convex" shape is provided at the end of the inner arm or the front end of the outer arm, and a slide groove matching the slider is provided at the front end of the outer arm or the end of the inner arm, A sliding sleeve is provided at the connection between the inner arm and the outer arm.
  • the diameter of the end of the inner arm is larger than the diameter of the other area of the inner arm
  • the diameter of the front end of the outer arm is larger than the diameter of the other area of the outer arm
  • the diameter of the end of the inner arm is the same as the diameter of the front end of the outer wall .
  • a fixed buckle is provided outside the deceleration stepper motor.
  • the torsion spring always has a strong effect on the upper and lower arms during the rotation of the decelerating stepper motor to drive the upper and lower arms, thereby making up for Due to the virtual position error caused by the step angle, the limit switch is additionally set, and the upper arm and the lower arm are initially positioned.
  • the upper arm and the lower arm are designed into segments, which is convenient for installation, transportation and storage.
  • Figure 1 is a schematic diagram of the structure of the present invention.
  • FIG. 2 is a schematic diagram of the connection between the driving device of the present invention and the mechanical arm.
  • FIG. 3 is a schematic view of the position structure of the mechanical arm in the natural state of the torsion spring of the present invention.
  • FIG. 4 is a schematic structural view of the robot arm of the present invention in an initial state.
  • FIG. 5 is a schematic diagram of the structure of the limit switch and the mechanical arm of the present invention.
  • FIG. 6 is a schematic view of the structure of the mechanical arm of the present invention is split.
  • FIG. 7 is a schematic view of the structure of the mechanical arm of the present invention using a slider and a chute.
  • FIG. 8 is a cross-sectional view of the slider and the chute of the present invention.
  • Reducer stepper motor 1 upper arm 2, inner arm 21, front cover 22, limit pin 23, limit groove 24, rear cover 25, magnet 26, outer arm 27, auxiliary arm 3, painting arm 4, lower arm 5.
  • a robotic arm drawing device includes a bracket 9 and a driving device on the bracket 9 and a mechanical arm connected to the driving device, wherein the driving device is decelerated by two
  • the stepping motor 1 is composed of a mechanical arm including an upper arm 2 and a lower arm 5.
  • An upper arm 2 is provided on one of the decelerating stepping motors 1, an auxiliary arm 3 is articulated at the end of the upper arm 2, and the auxiliary arm 3
  • a drawing arm 4 is hinged at the end, and a lower arm 5 is hinged at the other deceleration stepping motor 1, the end of the lower arm 5 is hinged to the drawing arm 4, and the head end of the upper arm 2 is connected to the head of the lower arm 5
  • the ends are connected by a torsion spring 7.
  • the torsion spring Before drawing, the torsion spring is in a natural state, and the upper arm 2 is located on the right side of the lower arm 5. When drawing, rotate the upper arm 2 counterclockwise by 180 degrees to reach the working state. At this time, the upper arm 2 is located on the left side of the lower arm 5, and the upper arm 2 and the lower arm 5 Directly subjected to the action of the torsion spring 7, the force is shown by the arrow in FIG. 3, in this state, when the rotation direction of the upper arm 2 or the lower arm 5 is opposite to the direction of its force, it is directly provided by the deceleration stepper motor 1.
  • the deceleration stepper motor 1 will be directly transmitted to the output shaft to drive the movement of the mechanical arm, and when the rotation direction of the upper arm 2 or the lower arm 5 and the black arrow When the direction is the same, it is in the working state.
  • the deceleration stepper motor 1 rotates a step angle in the opposite direction, and a virtual position of the step angle is generated.
  • the torsion spring 7 immediately drives the upper arm 2 or the lower arm 5 to rotate and fill is released. The step angle comes out until the robot arm is re-clamped.
  • the limit switches include an upper limit switch 61 and a lower limit switch 62, so
  • the upper limit switch 61 is located on the left side of the upper arm 2
  • the lower limit switch 62 is located on the left side of the lower arm 5
  • an upper limit buckle 91 is provided beside the upper limit switch 61, when the upper limit switch 61
  • the support rod or the support plate at the edge of the bracket 9 can serve as an upper limit buckle 91
  • a lower limit buckle 92 is provided beside the lower limit switch 62.
  • the purpose of the bit buckle is to prevent the mechanical arm from crossing the limit switch; the swing end of the upper limit switch 61 faces, and the swing end of the lower limit switch 62 faces upward.
  • the deceleration stepper motor 1 is an open-loop control device, which has no feedback signal, an additional device is needed to sense the current position of the deceleration stepper motor 1 and the robot arm, so a limit switch is used in the device.
  • the KFC-V-202A reset switch produced by Dongguan Yahao Electronics Co., Ltd. is used. When the handle of the reset switch is deflected from the normal position to the trigger position, the following pin will be connected, so the limit switch The initial positions of the upper arm 2 and the lower arm 5 can be well determined.
  • the upper arm 2 and the lower arm 5 are both composed of the inner arm 21 and the outer arm 27, and the inner arm 21 and the outer arm 27 are detachably connected;
  • a magnet 26 is provided at both the end and the front end of the outer arm 27, a front cover 22 is fixedly provided at the end of the inner arm 21, and a rear cover 25 is fixedly provided at the front end of the outer arm 27.
  • the front end of the cover 25 is provided with a strip-shaped limiting groove 24, and the outer wall of the front cover 22 is provided with a limiting pin 23 cooperating with the limiting groove 24, and the front cover 22 is embedded in the rear The front end of the cover 25.
  • connection structure of the inner arm and the outer arm is that a slider 51 of a "convex" shape is provided at the end of the inner arm 21 or the front end of the outer arm 27, and at the front end of the outer arm 27 or the inner arm
  • the end of 21 is provided with a sliding groove 52 that cooperates with the slider 51, and a sliding sleeve 53 is provided at the connection between the inner arm 21 and the outer arm 27; the diameter of the end of the inner arm 21 is larger than that of the inner arm 21
  • the diameter of the other area, the diameter of the front end of the outer arm 27 is larger than the diameter of the other area of the outer arm 27, the diameter of the end of the inner arm 21 is the same as the diameter of the front end of the outer wall 27, in this state, the inner arm of the robot arm
  • the connection between 21 and the outer arm 27 has the largest diameter, so that when the sliding sleeve 53 slides to the connection, the expansion force received by the sliding sleeve 53 is the largest, thereby avoiding the sliding slee

Abstract

一种机械臂绘图装置，包括支架、位于支架上的驱动装置及与驱动装置连接的机械臂；驱动装置由两台减速步进电机（1）组成，在一个减速步进电机上设有上臂（2），在上臂的末端铰接有辅臂（3），在辅臂的末端铰接有画臂（4），在另一个减速步进电机上铰接有下臂（5），下臂的末端与画臂铰接，上臂的首端与下臂的首端之间通过扭簧（7）连接。由于上臂与下臂的首端通过扭簧连接，所以减速步进电机在带动上臂和下臂转动过程中，扭簧始终对上臂和下臂有力的作用，从而弥补了因为步距角而产生的虚位误差。而且在支架上还设有两个限位开关（61、62），可很好地对上臂和下臂进行初始定位，此外上臂与下臂设计成分段式，可方便安装、运输及收纳。

Description

一种机械臂绘图装置 技术领域
本发明涉及一种机械臂，尤其是一种机械臂绘图装置。
背景技术
在采用机械臂进行绘图时，由于减速步进电机内是由电机、多级减速齿轮、输出轴组成，因此多级减速齿轮将电机的旋转速度变慢并将电机的力矩增大，电机的工艺和装配等决定了每两级减速齿轮之间都有一定的间隙，当电机向某个方向旋转时，这个间隙没有影响，而当电机需要反向运行的时候，这个效应就表现了出来，即电机对小于虚位的控制信号无反应；例如：若电机的步距角为0.18°，而整个齿轮减速系统最终的虚位角为1.8°，则在电机向其中一个方向运行时，要想使其能够向相反的方向运行，需要让电机输出轴转动10个步距角，此时齿轮箱才走完1.8°的虚位角，输出轴才开始向相反的方向运动，这样我们便丢失了10个步进信号，造成了1.8°的误差，而这个误差体现在最终的绘图效果上就是绘图偏差极大，实际输出的图形与存储的图形差别极大。
实用新型内容
发明的技术任务是针对以上现有技术的不足，而提供一种机械臂绘图装置。
发明解决其技术问题所采用的技术方案是：一种机械臂绘图装置，包括支架，以及位于所述支架上的驱动装置，与所述驱动装置连接的机械臂，其中所述驱动装置是由两台减速步进电机组成，在其中一个减速步进电机上设有上臂，在所述上臂的末端铰接有辅臂，在所述辅臂的末端铰接有画 臂，在另一个减速步进电机上铰接有下臂，所述下臂的末端与所述画臂铰接，所述上臂的首端与下臂的首端之间通过扭簧连接。
进一步改进：在所述支架上设有两个限位开关，所述限位开关分别位于所述上臂和下臂的同一侧。
进一步改进：所述限位开关包括上限位开关和下限位开关，所述上限位开关位于所述上臂的左侧，所述下限位开关位于所述下臂的左侧，在所述上限位开关旁设有上限位扣，在所述下限位开关旁设有下限位扣。
进一步改进：所述上限位开关的摆动端朝向，所述下限位开关的摆动端朝上。
进一步改进：所述上臂与下臂均由内臂和外臂组成，所述内臂与外臂之间可拆卸式连接。
进一步改进：在所述内臂的末端与外臂的前端均设有磁铁，在所述内臂的末端固定设有前套盖，在所述外臂的前端固定设有后套盖，在所述后套盖的前端设有条形的限位槽，在所述前套盖的外壁设有与所述限位槽配合的限位销，所述前套盖镶嵌在所述后套盖的前端。
进一步改进：在所述内臂的末端或者是外臂的前端设有“凸”字形的滑块，在所述外臂的前端或内臂的末端设有与所述滑块配合的滑槽，在所述内臂与外臂的连接处设有滑套。
进一步改进：所述内臂末端的直径大于所述内臂其他区域的直径，所述外臂前端的直径大于所述外臂其他区域的直径，所述内臂末端的直径与外壁前端的直径相同。
进一步改进：在所述减速步进电机外设有固定扣。
发明的优点：首先，因为在上臂与下臂的前端是通过扭簧连接，所以减速步进电机在带动上臂和下臂转动过程中，扭簧始终对上臂和下臂有力的作用，从而弥补了因为步距角而产生的虚位误差，另外设置的限位开关，还很好的对上臂和下臂进行初始定位，最后将上臂和下臂设计成分段式，从而方便安装、运输及收纳。
附图说明
图1是本发明的结构示意图。
图2是本发明驱动装置与机械臂的连接示意图。
图3是本发明扭簧自然态下机械臂的位置结构示意图。
图4是本发明机械臂初始状态下的结构示意图。
图5是本发明限位开关与机械臂的结构示意图。
图6是本发明机械臂呈分体式的结构示意图。
图7是本发明机械臂采用滑块与滑槽连接的结构示意图。
图8是本发明滑块与滑槽连接的剖视图。
减速步进电机1、上臂2、内臂21、前套盖22、限位销23、限位槽24、后套盖25、磁铁26、外臂27、辅臂3、画臂4、下臂5、滑块51、滑槽52、滑套53、上限位开关61、下限位开关62、扭簧7、固定扣8、支架9、上限位扣91、下限位扣92。
具体实施方式
下面结合说明书附图对发明做以下详细说明。
如图1-6所示，一种机械臂绘图装置，包括支架9，以及位于所述支架9上的驱动装置，与所述驱动装置连接的机械臂，其中所述驱动装置是由两 台减速步进电机1组成，机械臂包括上臂2和下臂5，在其中一个减速步进电机1上设有上臂2，在所述上臂2的末端铰接有辅臂3，在所述辅臂3的末端铰接有画臂4，在另一个减速步进电机1上铰接有下臂5，所述下臂5的末端与所述画臂4铰接，所述上臂2的首端与下臂5的首端之间通过扭簧7连接。
在绘图前，扭簧处于自然状态，上臂2位于下臂5的右侧，绘图时将上臂2逆时针旋转180度到达工作状态，此时上臂2位于下臂5左侧，上臂2与下臂5直接受到扭簧7的作用，受力情况如图3中箭头所示，在此状态下，当上臂2或下臂5转动的方向与其受力方向相反时，直接由减速步进电机1提供动力，因为扭簧7已经把虚位压紧，故此时减速步进电机1的动力会直接传递到输出轴上带动机械臂的运动，而当上臂2或下臂5的转动方向与黑色箭头的方向相同时为工作状态，此时减速步进电机1向反方向旋转一个步距角，则产生了一个步距角的虚位，则扭簧7马上驱动上臂2或下臂5旋转填充被释放出来的步距角，直到机械臂被重新夹紧为止。
在所述支架9上设有两个限位开关，所述限位开关分别位于所述上臂2和下臂5的同一侧；所述限位开关包括上限位开关61和下限位开关62，所述上限位开关61位于所述上臂2的左侧，所述下限位开关62位于所述下臂5的左侧，在所述上限位开关61旁设有上限位扣91，当上限位开关61位于支架9的边缘时，此时支架9边缘处的支撑杆或支撑板之类的物体，都可以充当上限位扣91，在所述下限位开关62旁设有下限位扣92，设置的限位扣的目的是为了防止机械臂越过限位开关；所述上限位开关61的摆动端朝向，所述下限位开关62的摆动端朝上。
由于减速步进电机1是开环控制器件，其没有反馈信号，所以需要有附加的器件来感知减速步进电机1和机械臂的当前位置，因此装置中使用了限位开关，该限位开关应用的是东莞市亚豪电子有限公司生产的KFC-V-202A复位型开关，复位开关的柄由正常位置受力的作用偏转到触发位置时，下面的引脚会连通，因此通过限位开关可以很好的对上臂2和下臂5进行初始位置的确定。
为了便于机械臂的安装及运输，因此上臂2与下臂5均由内臂21和外臂27组成，所述内臂21与外臂27之间可拆卸式连接；在所述内臂21的末端与外臂27的前端均设有磁铁26，在所述内臂21的末端固定设有前套盖22，在所述外臂27的前端固定设有后套盖25，在所述后套盖25的前端设有条形的限位槽24，在所述前套盖22的外壁设有与所述限位槽24配合的限位销23，所述前套盖22镶嵌在所述后套盖25的前端。
内臂与外臂的另一种连接结构为，在所述内臂21的末端或者是外臂27的前端设有“凸”字形的滑块51，在所述外臂27的前端或内臂21的末端设有与所述滑块51配合的滑槽52，在所述内臂21与外臂27的连接处设有滑套53；所述内臂21末端的直径大于所述内臂21其他区域的直径，所述外臂27前端的直径大于所述外臂27其他区域的直径，所述内臂21末端的直径与外壁27前端的直径相同，这种状态下，机械臂的内臂21与外臂27之间的连接处直径最大，这样当滑套53滑动到连接处时，滑套53受到的扩张力最大，从而避免了滑套53滑落的情况，这样设计不仅方便内臂21与外臂22的对接，同时滑套53还很好的确保了连接位置的稳定；在所述减速步进电机1外设有固定扣8。
以上所述仅为发明的实施例，并非因此限制发明的专利范围，凡是利用发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在发明的专利保护范围内。

Claims (9)

  1. 一种机械臂绘图装置，包括支架，以及位于所述支架上的驱动装置，与所述驱动装置连接的机械臂，其特征在于：所述驱动装置是由两台减速步进电机组成，在其中一个减速步进电机上设有上臂，在所述上臂的末端铰接有辅臂，在所述辅臂的末端铰接有画臂，在另一个减速步进电机上铰接有下臂，所述下臂的末端与所述画臂铰接，所述上臂的首端与下臂的首端之间通过扭簧连接。
  2. 根据权利要求1所述的一种机械臂绘图装置，其特征在于：在所述支架上设有两个限位开关，所述限位开关分别位于所述上臂和下臂的同一侧。
  3. 根据权利要求2所述的一种机械臂绘图装置，其特征在于：所述限位开关包括上限位开关和下限位开关，所述上限位开关位于所述上臂的左侧，所述下限位开关位于所述下臂的左侧，在所述上限位开关旁设有上限位扣，在所述下限位开关旁设有下限位扣。
  4. 根据权利要求3所述的一种机械臂绘图装置，其特征在于：所述上限位开关的摆动端朝向，所述下限位开关的摆动端朝上。
  5. 根据权利要求1所述的一种机械臂绘图装置，其特征在于：所述上臂与下臂均由内臂和外臂组成，所述内臂与外臂之间可拆卸式连接。
  6. 根据权利要求5所述的一种机械臂绘图装置，其特征在于：在所述内臂的末端与外臂的前端均设有磁铁，在所述内臂的末端固定设有前套盖，在所述外臂的前端固定设有后套盖，在所述后套盖的前端设有条形的限位槽，在所述前套盖的外壁设有与所述限位槽配合的限位销，所述前套盖镶嵌在所述后套盖的前端。
  7. 根据权利要求5所述的一种机械臂绘图装置，其特征在于：在所述内臂的末端或者是外臂的前端设有“凸”字形的滑块，在所述外臂的前端或内臂的末端设有与所述滑块配合的滑槽，在所述内臂与外臂的连接处设有滑套。
  8. 根据权利要求7所述的一种机械臂绘图装置，其特征在于：所述内臂末端的直径大于所述内臂其他区域的直径，所述外臂前端的直径大于所述外臂其他区域的直径，所述内臂末端的直径与外壁前端的直径相同。
  9. 根据权利要求1～8其中任意一项所述的一种机械臂绘图装置，其特征在于：在所述减速步进电机外设有固定扣。
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