WO2022151921A1 - Bras mécanique mobile de commande intelligent - Google Patents

Bras mécanique mobile de commande intelligent Download PDF

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Publication number
WO2022151921A1
WO2022151921A1 PCT/CN2021/139454 CN2021139454W WO2022151921A1 WO 2022151921 A1 WO2022151921 A1 WO 2022151921A1 CN 2021139454 W CN2021139454 W CN 2021139454W WO 2022151921 A1 WO2022151921 A1 WO 2022151921A1
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WO
WIPO (PCT)
Prior art keywords
side wall
fixedly connected
box
outer side
rod
Prior art date
Application number
PCT/CN2021/139454
Other languages
English (en)
Chinese (zh)
Inventor
陈春朝
贾芳
刘义
孙东红
Original Assignee
河南理工大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 河南理工大学 filed Critical 河南理工大学
Publication of WO2022151921A1 publication Critical patent/WO2022151921A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
    • 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
    • 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
    • B25J19/0062—Lubrication means

Definitions

  • the invention relates to the technical field of mechanical arms, in particular to an intelligently controlled movable mechanical arm.
  • the robotic arm is the most widely used automated mechanical device in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although their shapes are different, they all have a common feature, that is, they can accept instructions and accurately locate a point in the three-dimensional (or two-dimensional) space to perform operations. Joint robotic arm, Cartesian coordinate robotic arm, spherical coordinate robotic arm, polar coordinate robotic arm, cylindrical coordinate robotic arm, etc.
  • the driving part of the traditional mechanical arm may lack lubricating oil during long-term use, which will increase the wear of the mechanical arm, thereby reducing the service life of the transmission structure.
  • Manually lubricating the driving part requires a lot of manpower and time.
  • the working efficiency of the robotic arm a large amount of dust and impurities may be attached to the robotic claw during the working process of the robotic arm, and manual cleaning is time-consuming and laborious. Therefore, an intelligently controlled movable robotic arm is required.
  • the purpose of the present invention is to propose an intelligently controlled movable mechanical arm in order to solve the shortcomings existing in the prior art.
  • An intelligently controlled movable mechanical arm comprising a base, an electric lifting rod, a first motor, a mechanical claw, and a second motor, the electric lifting rod is fixedly installed on the outer side wall of the base, and the end of the electric lifting rod is fixed
  • a support plate is connected, a fixed box is fixedly connected to the outer side wall of the support plate, a lubricating box is fixedly installed on the inner side wall of the fixed box, and a partition plate is fixedly connected to the inner side wall of the lubricating box, and the A lubricating mechanism is slidably connected to the inner side wall of the lubricating box, a support rod is fixedly connected to the outer side wall of the fixed box, a connection box is fixedly connected to the end of the support rod, and a through groove is opened on the outer side wall of the connection box , the second motor is fixedly installed on the inner side wall of the connection box, the end of the output shaft of the second motor is fixedly connected with a connecting rod, the end of the connecting rod
  • the end is fixedly connected with a placing plate, the outer side wall of the base is fixedly connected with a cleaning box, the inner side wall of the cleaning box is slidably connected with a pressing mechanism, and the outer side wall of the cleaning box is fixedly connected with a cleaning pipe, so
  • the outer side wall of the cleaning pipe is provided with a locking groove, the inner side wall of the locking groove is slidably connected with a cleaning mechanism, and the cleaning mechanism is pressed against the inner side wall of the cleaning pipe;
  • the lubricating mechanism includes a pressing plate slidably connected to the inner side wall of the lubricating box, and a pull rope is fixedly connected to the outer side wall of the pressing plate, and the pulling rope runs through the lubricating box, the fixing box and the outer wall of the support plate in sequence.
  • the end of the pulling rope is fixedly connected with the outer side wall of the base
  • the outer side wall of the lubricating box is fixedly connected with a lubricating pipe
  • the end of the lubricating pipe penetrates the outer side wall of the connecting box;
  • the cleaning mechanism comprises a closing plate slidably connected to the inner side wall of the locking groove, a second spring is fixedly connected to the outer side wall of the closing plate, and the end of the second spring is fixedly connected to the outer side wall of the cleaning pipe, and the A string is fixedly connected to the outer side wall of the closing plate, the end of the string is fixedly connected to the outer side wall of the placing plate, and the end of the closing plate is pressed against the inner side wall of the cleaning pipe.
  • the pressing mechanism comprises a piston plate slidably connected to the inner side wall of the cleaning box, a pressing rod is fixedly connected to the outer side wall of the piston plate, and the end of the pressing rod penetrates the outer side wall of the cleaning box, The end of the extrusion rod is fixedly connected with the outer side wall of the support plate.
  • the diameter of the driven gear is larger than that of the driving gear, and the driven gear meshes with the driving gear.
  • the second spring is arranged around the outer side wall of the closing plate, and the material of the second spring is austenitic stainless steel.
  • a nozzle is provided on the end of the cleaning pipe.
  • the material of the first spring is spring steel, and the material of the placing plate is rubber.
  • the electric lift rod drives the support plate upward during the movement, and the support plate drives the lubrication box to move upward, so that the pull rope pulls the extrusion plate to move downward, and the extrusion plate lubricates the interior of the lubrication box.
  • the oil is squeezed, and the lubricating oil will be discharged to the inside of the connection box through the lubricating pipe, so as to lubricate the transmission mechanism composed of the driving gear and the driven gear inside the connection box, so that the connection box can be automatically adjusted during each use of the mechanical arm.
  • the internal transmission mechanism is lubricated, which reduces the wear between the transmission mechanisms, increases the service life of the transmission mechanism, and does not require manual lubrication, which greatly reduces the time and labor required for manual lubrication.
  • the radius of the driven gear is larger than that of the driving gear. The radius can reduce the torque required by the second motor in the driving process.
  • the second motor makes the limit rod start to rotate, and the limit rod drives the The active rod starts to rotate, and then the electric lifting rod is activated.
  • the electric lifting rod drives the mechanical arm to move downward.
  • the mechanical claw is pressed against the surface of the placing plate, and the downward movement continues to carry out the first spring. Compression to avoid the collapse of the transmission part caused by the direct placement of the mechanical claw.
  • the support plate drives the extrusion rod to move downward during the downward movement, and the extrusion rod drives the piston plate to move downward. The downward movement of the piston plate will affect the cleaning box.
  • FIG. 1 is a schematic structural diagram of an intelligently controlled movable mechanical arm proposed by the present invention
  • Fig. 2 is the enlarged view of A part of the present invention.
  • Fig. 3 is the enlarged view of B part of the present invention.
  • Fig. 5 is the enlarged view of D part of the present invention.
  • FIG. 6 is a top view of the connection box of the present invention.
  • an intelligently controlled movable robotic arm includes a base 1, an electric lift rod 2, a first motor 10, a mechanical claw 12, and a second motor 17.
  • the electric lift rod 2 is fixedly installed on the outside of the base 1
  • a support plate 3 is fixedly connected to the end of the electric lifting rod 2
  • a fixed box 4 is fixedly connected to the outer side wall of the support plate 3;
  • a lubricating box 5 is fixedly installed on the inner side wall of the fixed box 4, a partition plate 23 is fixedly connected to the inner side wall of the lubricating box 5, and a lubricating mechanism is slidably connected to the inner side wall of the lubricating box 5, and the lubricating mechanism includes a sliding connection on the lubricating box. 5.
  • the squeeze plate 24 on the inner side wall, the outer side wall of the squeeze plate 24 is fixedly connected with a pull rope 22, the pull rope 22 runs through the lubricating box 5, the fixing box 4 and the outer wall of the support plate 3 in turn, and the end of the pull rope 22 It is fixedly connected to the outer side wall of the base 1, and the outer side wall of the lubrication box 5 is fixedly connected with a lubrication pipe 25.
  • the end of the lubrication pipe 25 penetrates the outer side wall of the connection box 7, and the lubrication mechanism can lubricate the driving gear 20 and the driven gear 21. , reducing the friction loss between the driving gear 20 and the driven gear 21, thereby increasing the service life of the driving gear 20 and the driven gear 21;
  • a support rod 6 is fixedly connected to the outer side wall of the fixed box 4 , and a connection box 7 is fixedly connected to the end of the support rod 6 .
  • the end of the output shaft of the second motor 17 is fixedly connected with a connecting rod 18, the end of the connecting rod 18 is rotatably connected with the inner side wall of the connecting box 7, and the outer side wall of the connecting rod 18 is fixedly connected with the driving gear 20, the connecting box
  • the limit rod 19 is rotatably connected to the inner side wall of the limit rod 19, and a driven gear 21 is fixedly connected to the outer side wall of the limit rod 19.
  • the diameter of the driven gear 21 is larger than the diameter of the driving gear 20, and the driven gear 21 is in phase with the driving gear 20.
  • the outer side wall of the limit rod 19 is fixedly connected with the active rod 9 , the active rod 9 penetrates through the through slot 8 , and the first motor 10 is fixedly installed on the active rod 9 .
  • the fixing rod 11 penetrates the outer side wall of the active rod 9 , the mechanical claw 12 is fixedly connected with the end of the fixing rod 11 , and the outer side wall of the base 1 is fixedly connected.
  • a plurality of first springs 14 are fixedly connected to the inner side wall of the placing box 13, the end of the first spring 14 is fixedly connected to a placing plate 15, the material of the first spring 14 is spring steel, and the spring steel has high tensile strength , elastic limit, fatigue strength and good elasticity, so as to shock absorption through contraction when subjected to external force, the material of the placing plate 15 is rubber;
  • a cleaning box 26 is fixedly connected to the outer side wall of the base 1, and an extrusion mechanism is slidably connected to the inner side wall of the cleaning box 26.
  • the extrusion mechanism includes a piston plate 27 slidably connected to the inner side wall of the cleaning box 26.
  • An extrusion rod 16 is fixedly connected to the wall, the end of the extrusion rod 16 penetrates the outer side wall of the cleaning box 26, and the end of the extrusion rod 16 is fixedly connected with the outer side wall of the support plate 3. compressed gas;
  • the outer side wall of the cleaning box 26 is fixedly connected with a cleaning pipe 28, the end of the cleaning pipe 28 is provided with a nozzle, the outer side wall of the cleaning pipe 28 is provided with a locking groove 29, and the inner side wall of the locking groove 29 is slidably connected with a cleaning mechanism, The cleaning mechanism is pressed against the inner side wall of the cleaning pipe 28.
  • the cleaning mechanism includes a closing plate 30 slidably connected to the inner side wall of the locking groove 29.
  • the outer side wall of the closing plate 30 is fixedly connected with a second spring 31.
  • the end of the second spring 31 It is fixedly connected with the outer side wall of the cleaning pipe 28, and the second spring 31 is arranged around the outer side wall of the closing plate 30.
  • the material of the second spring 31 is austenitic stainless steel.
  • the outer side wall of the closing plate 30 is fixedly connected with a string 32, the end of the string 32 is fixedly connected with the outer side wall of the placing plate 15, and the end of the closing plate 30 is abutted against the inner side wall of the cleaning pipe 28;
  • the cleaning mechanism can clean the dust and impurities on the surface of the mechanical claw 12 without manual cleaning, which saves a lot of manpower and time.
  • the ultrasonic sensor, laser sensor and visual sensor can judge the distance and shape between the obstacle and the machine, and the motion planning module based on the intelligent optimization algorithm realizes the control of the robotic arm and the mobile platform. , and then realize the adjustment of the mobile posture and position.
  • the ROS system platform is built on the mobile robot industrial computer, and the wireless network connection, sensor information collection, signal analysis and processing, human-computer interaction and other robot system modules are built to realize the robot's SLAM function and navigation function; by designing a visual following positioning algorithm, it can realize the recognition and target positioning of the grasping target under ROS; according to the feedback information of the force sensor on the wrist of the manipulator, the position force hybrid algorithm, fuzzy self-adaptation and other algorithms are used to adjust Gripper movement trajectory and gripping force.
  • the electric lift rod 2 drives the support plate 3 to move downward, the support plate 3 drives the fixed box 4 to move upward, and the support plate 3 moves upward through the pulling rope 22 to drive the extrusion plate 24.
  • the pressing plate 24 moves downward to squeeze the lubricating oil in the lubricating box 5, and the lubricating oil in the lubricating box 5 is discharged to the interior of the connecting box 7 through the lubricating pipe 25, so that the driving gear 20 and the driven gear 20 are connected to the driven gear 20.
  • the gear 21 is lubricated to reduce the friction loss between the driving gear 20 and the driven gear 21, thereby increasing the service life of the driving gear 20 and the driven gear 21;
  • the second motor 17 drives the connecting rod 18 to start to rotate
  • the connecting rod 18 drives the driving gear 20 to start to rotate
  • the driving gear 20 meshes with the driven gear 21, so that the limit rod 19 starts to rotate, and driven
  • the radius of the gear 21 is larger than the radius of the driving gear 20, so that the torque required for the rotation of the second motor 17 can be reduced
  • the limit rod 19 drives the driving rod 9 to start to rotate, adjusts the angle of the mechanical arm
  • the first motor 10 drives the fixing rod 11 to start to rotate, so as to adjust the angle of the mechanical claw, and then fix the goods through the mechanical claw 12, so that the goods can be transported.
  • the second motor 17 When the operation of the mechanical arm is finished, the second motor 17 is started , the second motor 17 makes the limit rod 19 start to rotate, the limit rod 19 drives the active rod 9 to rotate counterclockwise, and then starts the electric lift rod 2, the electric lift rod 2 drives the support plate 3 to move down, and the support plate 3 drives the mechanical arm
  • the robot moves downward, the robot arm is pressed against the outer side wall of the placing plate 15 during the downward movement, so as to realize the support function of the robot arm and avoid the long-term suspension of the robot arm, so that the driving gear 20 and the driven gear 21 are formed.
  • the transmission device is damaged.
  • the hole pressing rod 16 moves downward, and the pressing rod 16 drives the piston plate 27 to move downward.
  • the downward movement of the piston plate 27 will affect the air in the cleaning box 26. Compression is performed, and the mechanical claw 12 will move the placing plate 15 downward to compress the first spring 14, and the placing plate 15 will pull the string 32 to move downward, thereby realizing the opening of the cleaning pipe 28, and the compressed gas inside the cleaning box 26 passes through the cleaning process.
  • the pipe 28 is sprayed to the surface of the mechanical claw 12 to clean the dust and magazines on the surface of the mechanical claw 12 without manual cleaning, saving a lot of manpower and time;

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un bras mécanique mobile de commande intelligent comprenant une base (1), une tige d'élévation/abaissement électrique (2), un premier moteur (10), une griffe mécanique (12) et un second moteur (17). La tige d'élévation/abaissement électrique (2) est montée de manière fixe sur la paroi latérale externe de la base (1), une plaque de support (3) est reliée de manière fixe à l'extrémité arrière de la tige d'élévation/abaissement électrique (2), une boîte fixe (4) est reliée de manière fixe à la paroi latérale externe de la plaque de support (3), une boîte de lubrification (5) est montée de manière fixe sur la paroi latérale interne de la boîte fixe (4), une plaque de séparation (23) est reliée de manière fixe à la paroi latérale interne de la boîte de lubrification (5), un mécanisme de lubrification est relié de façon coulissante à la paroi latérale interne de la boîte de lubrification (5), une tige de support (6) est reliée de manière fixe à la paroi latérale externe de la boîte fixe (4), une boîte de raccordement (7) est reliée de manière fixe à l'extrémité arrière de la tige de support (6) et une plaque de placement (15) tire un train de tiges (32) pour le déplacer vers le bas, de telle sorte qu'un tuyau de nettoyage (28) soit ouvert, un gaz comprimé à l'intérieur d'une boîte de nettoyage (26) soit pulvérisé sur la surface de la griffe mécanique (12) à travers le tuyau de nettoyage (28) pour nettoyer la poussière et les impuretés sur la surface de la griffe mécanique (12), un nettoyage manuel ne soit pas nécessaire et une grande quantité de main-d'œuvre et de temps soient réduites.
PCT/CN2021/139454 2021-01-13 2021-12-20 Bras mécanique mobile de commande intelligent WO2022151921A1 (fr)

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CN202110044730.1 2021-01-13
CN202110044730.1A CN112792841B (zh) 2021-01-13 2021-01-13 一种智能控制可移动式机械手臂

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LU (1) LU502039B1 (fr)
WO (1) WO2022151921A1 (fr)

Cited By (4)

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Publication number Priority date Publication date Assignee Title
CN115446814A (zh) * 2022-09-13 2022-12-09 鼎先智能装备科技(宿迁)有限公司 一种可单臂旋转夹紧的工业机械手
CN115488651A (zh) * 2022-10-25 2022-12-20 浙江冠欣虹智能科技有限公司 一种数控机床用四轴转台
CN116060405A (zh) * 2023-03-09 2023-05-05 临沂瀚海环境咨询有限公司 一种危废油漆桶自动化分类处理装置
CN116100600A (zh) * 2023-03-01 2023-05-12 长春大正博凯汽车设备有限公司 一种移动式抓手停放装置

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CN112792841B (zh) * 2021-01-13 2021-09-17 河南理工大学 一种智能控制可移动式机械手臂
CN113664810B (zh) * 2021-10-12 2022-07-22 江苏铁锚玻璃股份有限公司 一种辐射环境下搬运重物的机械手
CN115533962A (zh) * 2022-11-30 2022-12-30 海疆(江苏)智能科技有限公司 一种适用于机械生产车间内使用的工业机器人

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KR101029555B1 (ko) * 2010-08-02 2011-04-15 (주)레베산업 로봇 암의 윤활유 공급 장치
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115446814A (zh) * 2022-09-13 2022-12-09 鼎先智能装备科技(宿迁)有限公司 一种可单臂旋转夹紧的工业机械手
CN115488651A (zh) * 2022-10-25 2022-12-20 浙江冠欣虹智能科技有限公司 一种数控机床用四轴转台
CN115488651B (zh) * 2022-10-25 2023-06-09 浙江冠欣虹智能科技有限公司 一种数控机床用四轴转台
CN116100600A (zh) * 2023-03-01 2023-05-12 长春大正博凯汽车设备有限公司 一种移动式抓手停放装置
CN116100600B (zh) * 2023-03-01 2023-08-15 长春大正博凯汽车设备有限公司 一种移动式抓手停放装置
CN116060405A (zh) * 2023-03-09 2023-05-05 临沂瀚海环境咨询有限公司 一种危废油漆桶自动化分类处理装置
CN116060405B (zh) * 2023-03-09 2023-09-08 临沂瀚海环境咨询有限公司 一种危废油漆桶自动化分类处理装置

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LU502039B1 (en) 2022-07-13
CN112792841B (zh) 2021-09-17

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