CN108000555B - Arm-length-adjustable planar mechanical arm and robot - Google Patents

Abstract

The present invention provides an adjustable arm length plane mechanical arm and a robot, comprising a platform, a first arm, a second arm, a first link, a second link, a first arm drive assembly and a first link drive assembly. The adjustable arm-length planar manipulator sets the driving element on the platform at the bottom, the first arm and the second arm have no additional weight except their own weight and the weight of the matching link; the arms of the first arm and the second arm have no additional weight; The length can be adjusted, and it has good adaptability for different working ranges. The adjustable arm length plane manipulator and the robot have the characteristics of fast movement of the working end, strong environmental adaptability, etc., and have good effects on the rapid operation of the robot.

Description

An adjustable arm length plane mechanical arm and robot

technical field

The invention relates to the technical field of robots, in particular to an adjustable arm length plane mechanical arm and a robot.

Background technique

Robots can be divided into parallel robots and series robots. Among them, the common types of series robots are joint robots. In common joint robots, the driving element of each arm is installed on the joint connected to the forearm. With the increase of the number of arms, the load of each arm will increase accordingly, resulting in an increase in the volume of the driving power element of the arm and the movement speed of the arm. Problems such as slowing down and reducing the accuracy of the arm are not conducive to the high-speed and miniaturization of joint robots. On the other hand, the arm lengths of most articulated robots are not adjustable, which is not conducive to changing the working environment.

Therefore, a robotic arm with fast end movement and adjustable arm length is required.

SUMMARY OF THE INVENTION

In order to overcome the existing problems, embodiments of the present invention provide an adjustable-arm-length planar manipulator and a robot. The adjustable-arm-length planar manipulator and the robot set the driving element on the bottom platform, the first arm and the second In addition to its own weight and the weight of the supporting link, the arm has no additional weight, and the movement speed is fast; the length of the first arm and the second arm can be adjusted, which has good adaptability to different working conditions. The adjustable arm length plane manipulator and the robot have the characteristics of fast movement speed of the end, and have good effects on the rapid operation of the robot.

Correspondingly, the present invention provides an adjustable-arm-length planar manipulator, the adjustable-arm-length planar manipulator includes a platform, a first arm, a second arm, a first link, a second link, and a first arm drive an assembly and a first link drive assembly;

The platform is parallel to the xy plane, and a base rotation axis is fixed on the positive side of the platform x based on the base rotation axis connector;

The start end of the first arm is hinged on the base rotation shaft, and the end is hinged with the start end of the second arm;

The starting end of the first connecting rod is hinged on the base shaft, and the end is hinged with the starting end of the second connecting rod;

The end of the second link is hinged on the middle or end of the second arm;

The first arm, the second arm, the first link and the second link constitute a four-bar linkage;

The first arm driving assembly is mounted on the platform, and is used for driving the first arm to rotate around the base rotation axis;

The first link driving assembly is mounted on the platform, and is used for driving the first link to rotate around the base rotation axis.

In a preferred embodiment, the first arm and the second link are parallel and have the same length; the first link is parallel to the second arm.

In a preferred embodiment, the length of the second arm is greater than or equal to the length of the first link.

In a preferred embodiment, the first arm drive assembly includes a first arm drive base, a first arm drive motor, a first arm drive screw, a first arm drive screw slider and a first arm drive connector;

The first arm drive base is hinged in the negative x direction of the platform;

The first arm driving screw and the first arm driving screw slider are installed in the first arm driving housing, the first arm driving screw slider is sleeved on the first arm driving screw, the The first arm driving connector is connected and fixed with the first arm driving screw slider; the first arm driving connector is coaxial with the first arm driving screw, and is connected and fixed with the start end of the first arm ;

The first arm drive housing and the first arm drive motor are fixed side by side on the first arm drive base; the rotating shaft of the first arm drive motor and one end of the first arm drive screw are in the The drive base of the first arm is driven by gear connection;

The first arm driving connector is connected and fixed with the start end of the first arm and drives the first arm to rotate around the base rotation axis.

In a preferred embodiment, the first link drive assembly includes a first link drive base, a first link drive motor, a first link drive screw, a first link drive screw slider and a first link drive connector;

The first connecting rod drives the base to be hinged in the negative x direction of the platform;

The first connecting rod driving screw and the first connecting rod driving screw sliding block are installed in the first connecting rod driving shell, and the first connecting rod driving screw sliding block is sleeved on the first connecting rod driving wire On the rod, the first connecting rod driving connecting piece is connected and fixed with the first connecting rod driving screw slider; the first connecting rod driving connecting piece is coaxial with the first arm driving screw and is connected with the first connecting rod driving screw. The start end of the first connecting rod is connected and fixed;

The first connecting rod driving shell and the first connecting rod driving motor are fixed side by side on the first connecting rod driving base; the rotating shaft of the first connecting rod driving motor and the first connecting rod driving screw rod One end of the first connecting rod drive base is connected and driven based on gears;

The first connecting rod driving connecting piece is connected and fixed with the starting end of the first connecting rod and drives the first connecting rod to rotate around the base rotation axis.

In a preferred embodiment, the first arm includes a first outer arm and a first inner arm, the first inner arm being slidable inside the first outer arm and based on a passage through the first outer arm and the first inner arm. The latch of the first inner arm is locked.

In a preferred embodiment, the second arm includes two second sub-arms and a second sliding block; the two second sub-arms are fixed to each other through a second arm connecting piece;

The cross-sectional shape of the second slider is I-shaped, and the waist is clamped between the two second sub-arms, and is locked on the two second sub-arms based on screws;

A pulley is installed on the second sliding block, and when the screw is loosened, the second sliding block can slide axially on the two second sub-arms based on the pulley.

Correspondingly, the present invention also provides a robot, which includes any one of the above-mentioned adjustable arm length planar manipulator arms and a working end; the working end is mounted on the second arm end.

The present invention provides an adjustable arm length plane manipulator and a robot, comprising a platform, a first arm, a second arm, a first link, a second link, a first arm drive assembly and a first link drive assembly. The adjustable arm length plane manipulator and the robot set the driving element on the bottom platform, the first arm and the second arm have no extra weight except their own weight and the weight of the matching link, and the movement speed is fast; The length of the arm and the second arm can be adjusted, which has good adaptability for different working conditions. The adjustable arm length plane manipulator and the robot have the characteristics of fast end movement speed and strong environmental adaptability, and have good effects on the rapid operation of the robot.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only are some embodiments of the present invention, which are useful in the art

For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

Fig. 1 shows a three-dimensional schematic diagram of a planar manipulator with adjustable arm length according to an embodiment of the present invention;

Fig. 2 shows the front view of the adjustable arm length plane manipulator according to the embodiment of the present invention;

Fig. 3 shows the front view of the first arm of the embodiment of the present invention;

Fig. 4 shows the front view of the first connecting rod of the embodiment of the present invention;

Fig. 5 shows the motion diagram of the adjustable arm length plane manipulator according to the embodiment of the present invention;

FIG. 6 shows a perspective view of the first link drive assembly of the embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

FIG. 1 shows a schematic diagram of a three-dimensional structure of a planar manipulator with adjustable arm length according to an embodiment of the present invention. An adjustable arm length planar robotic arm provided by an embodiment of the present invention includes a platform 101, a first arm 102, a second arm 103, a first link 105, a second link 104, a first arm drive assembly 107, and a first arm drive assembly 107. A link 106 drives the assembly.

The platform 101 is parallel to the xy plane, and a base shaft 108 is fixed above the platform x in the positive direction based on the base shaft connector 109 . In a specific implementation, the top surface of the platform 101 is a plane, the plane is parallel to the xy plane, and the shape is not unique. On the positive position of the platform x, there are two vertically arranged base shaft connectors 109 for installing the base shaft 108, and both ends of the base shaft 108 are respectively fixed on the two base shaft and base shaft connectors 109. The base rotating shaft connector 109 is mainly used to suspend and fix the base rotating shaft to a set height, so as to leave a space between the base rotating shaft and the platform for other components to move and avoid interference. In the embodiment of the present invention, the axis of the base rotation shaft 108 is parallel to the y-axis.

FIG. 3 shows a front view of the structure of the first arm according to the embodiment of the present invention. In a specific implementation, the first arm 102 may adopt a hollow structure to reduce its own weight. According to the overall structure shown in FIG. 1 , the first arm 102 is hinged on the base shaft 108 at the beginning, and the end is hinged with the beginning of the second arm 103 ; in order for the first arm drive assembly 107 to be installed and connected, the first arm An arm 102 extends from a first arm connecting piece in the direction that the starting end deviates from the ending end, and the first arm connecting piece is hinged with the output end of the first arm driving assembly. It should be noted that the first arm connecting piece and the first arm are relatively fixed, and the axial length of the first arm connecting piece is smaller than the axial length of the first arm. The displacement, through the pivot point of the base rotating shaft 108, is enlarged to a large displacement of the end of the first arm, which is beneficial to the rapid movement of the end of the first arm.

4 shows a front view of the first link structure of the embodiment of the present invention, the second arm 103 is composed of two second arm cover plates, and more than one second arm is passed between the two second arm cover plates Fixtures are fixed. In combination with the overall structure shown in FIG. 1 , the first link 105 is hinged to the base shaft at the beginning, and the end is hinged to the start of the second link 104 ; in order to install and connect the first link drive assembly 103 , the first link A connecting rod 105 extends out of a first connecting rod connecting piece in the direction that the starting end is away from the end, and the first connecting rod connecting piece is hinged with the output end of the first connecting rod driving assembly 106 . It should be noted that the first connecting rod connecting piece and the first connecting rod are relatively fixed, and the axial length of the first connecting rod connecting piece is smaller than the axial length of the first connecting rod. The small displacement of the rod connecting piece is enlarged to the large displacement of the end of the first connecting rod through the fulcrum of the base rotating shaft, which is beneficial to the rapid movement of the end of the first connecting rod.

The end of the second link 104 is hinged on the second arm.

Further, the first arm 102 and the second arm 103 can be made of aluminum or aluminum alloy with a lower density to further reduce their weight.

Figure 5 shows a schematic structural diagram of the adjustable-arm-length planar manipulator. Combined with the front view of the adjustable-arm-length planar manipulator in Figure 2, the first arm, the second arm, the first link, and the first arm are replaced by straight lines. For the two connecting rods, each hinge point is replaced by a circle, and the names of the hinge points are as follows: the base rotation axis, that is, the hinge point between the beginning of the first arm 102 and the beginning of the first link 105 is the first hinge point 121, the first connection The hinge point between the end of the rod 105 and the beginning of the second link 104 is the second hinge point 122 , the hinge point between the end of the first arm 102 and the beginning of the second arm 103 is the third hinge point 123 , and the end of the second link 104 and the second hinge point 123 The hinge point of the arm 103 is the fourth hinge point 124 , and the first arm 102 , the second arm 103 , the first link 105 and the second link 104 form a four-link mechanism.

In the specific implementation, the end of the second arm 103 can be set on the fourth hinge point 124. Since the end of the second arm 103 is relatively close to the fourth hinge point 124 at this time, it can be known from the lever principle that the end of the second arm 103 is close to the fourth hinge point 124. Relative to the displacement of the start end of the second arm 103, it has a narrowing effect, which is beneficial to improve the control accuracy of the end of the second arm 103; however, due to the structural limitation of the four-bar linkage mechanism, this setting method will lead to a smaller range of motion of the second arm 103 .

Therefore, in the specific implementation, the length of the second arm can also be extended so that the end extends out of the fourth hinge point 124 . This arrangement is beneficial to increase the range of motion of the second arm and make it suitable for more working environments.

Further, the first arm 102 and/or the second arm 103 can also be set as telescopic arms, so as to flexibly adjust the movement range and trajectory of the working end of the adjustable arm length planar robotic arm.

There are two main types of telescopic boom structures: sliding telescopic boom and nested telescopic boom.

Sliding telescopic arm refers to the purpose of changing the length of the arm by adjusting the distance of the end on the arm. The embodiment of the present invention is introduced by adopting a sliding telescopic boom structure for the second arm.

The second arm includes two second sub-arms 137 and a second slider. The cross-section of the second sub-arms 137 is L-shaped, and the upper ends of the two second sub-arms 137 are fixed to each other through the second arm connecting member 139; Between the lower ends of 137, the tops are respectively locked on the two second sub-arms 137 based on screws;

A pulley is installed on the second sliding block 141 , and when the screw is loosened, the second sliding block can slide axially on the two second sub-arms 137 based on the pulley.

The working end is installed on the second sliding block, and by adjusting the distance of the second sliding block on the second arm, the distance from the working end to the beginning of the second arm can be adjusted, which is equivalent to adjusting the length of the second arm.

The telescopic arm of the telescopic type means that the arm has a multi-section structure, and the rear section structure is sleeved in the front section structure, and the overall length is adjusted by telescopic. The embodiments of the present invention are described by using a sleeved telescopic boom structure for the first arm.

The first arm includes a first outer arm 143 and a first inner arm 142; the opposite sides of the first inner arm 142 are provided with long grooves in the axial direction, and the first outer arm 143 is respectively provided with screw holes corresponding to the long grooves The head of a quick-release screw 145 is covered with a spring, and the tail extends into the screw hole at one end of the first outer arm 143, passes through the two long grooves of the first inner arm 142 in turn, and extends from the screw at the other end of the first outer arm 143. The hole is pierced and a quick release wrench 144 is hinged at the tail; when the quick release wrench 144 moves clockwise as shown in the figure, the first outer arm 143 can be compressed, so that the pipe diameter of the first outer arm 143 is slightly reduced, and the The inner first inner arm 142 is pressed to complete the fastening.

The first inner arm 142 can move along the long groove. After the position adjustment is completed, the first inner arm 142 and the first outer arm 143 can be quickly fixed by the locking action of the quick release wrench 144 to realize length adjustment.

Similarly, the second link can also be configured as a telescopic structure such as the first arm structure.

The four-bar linkage mechanism has two movable links, which are the first arm 102 and the first link 105 respectively. By controlling the first arm 102 and the first link 105, the movement of the end of the second arm can be realized.

In the specific implementation, although the four-bar linkage mechanism of any structure can realize the corresponding displacement control of the end of the second arm, in order to make the control calculation of the end of the second arm more convenient, each side of the four-bar linkage mechanism in the embodiment of the present invention The length can be set as the following parameters: the first arm 102 is parallel to the second link 104 and has the same length; the first link 105 is parallel to the second arm 103 ; at this time, the The four-bar linkage is in the shape of a parallelogram, the posture of the first arm 102 and the second link 104 are the same, the posture of the second arm 103 and the first link 105 are the same, and the calculation of the end can be based on the length of the first link, the first arm The length, the length of the second arm, the angle between the first link and the first arm can be quickly obtained, which makes the software control easier.

The above is the introduction of the mechanical structure of the embodiment of the present invention. In the embodiment of the present invention, the four-bar linkage mechanism has two moving links, which are the first arm and the first link, respectively. By controlling the first arm and the first link The rod can realize the movement of the end of the second arm. The driving of the first arm and the first link will be introduced below.

It should be noted that the start end of the first arm and the start end of the first connecting rod are hinged on the base rotating shaft respectively, and the base rotating shaft is used as the fulcrum of rotation, but the two are relatively independent when they move directly and do not interfere with each other.

FIG. 6 shows a partial enlarged view of the first link driving assembly according to the embodiment of the present invention. The first link drive assembly includes a first link drive base 130, a first link drive motor 131, a first link drive connector 133, a first link drive screw 134 and a first link drive slider 135;

The first connecting rod driving base 130 is hinged to the negative direction of x of the platform, and the first connecting rod driving motor 131 is fixed on the first connecting rod driving base 130; A connecting rod driving base 130; the first connecting rod driving screw 134 and the first connecting rod driving screw sliding block 135 are installed in the first connecting rod driving housing 136, the first connecting rod driving screw sliding The block 135 is sleeved on the first connecting rod driving screw 134, and the first connecting rod driving connecting piece 133 is connected and fixed with the first connecting rod driving screw sliding block 135; the first connecting rod driving connection The component 133 is coaxial with the first connecting rod driving screw 134, and is connected and fixed with the beginning of the first connecting rod 105;

The first link drive housing 136 and the first link drive motor 131 are fixed on the first link drive base 130 side by side; the rotating shaft of the first link drive motor 131 and the first link drive One end of the rod driving screw 134 is driven in the first link driving base 130 based on gear connection.

In the specific implementation, the first connecting rod driving motor drives the lead rod of the first connecting rod driving screw slider mechanism to rotate, and drives the sliding sleeve to move along the axial direction of the first connecting rod driving screw sliding block mechanism; The first connecting rod connecting piece of the connecting rod driving screw-slider mechanism is driven and rotates around the base rotating shaft, and drives the first connecting rod to rotate around the base rotating shaft through the lever principle.

Similarly, the structure of the first arm drive assembly is the same as that of the first link drive assembly, and the description will not be repeated.

Further, the adjustable-arm-length planar manipulator provided by the embodiment of the present invention can be applied to a robot, and the robot includes one of the adjustable-arm-length planar manipulator arms and a working end provided by the embodiment of the present invention. In a specific implementation, the platform of the adjustable arm length plane manipulator can be fixed on a base, and the base can be a fixed base or a movable base, such as a sliding rail, a conveyor belt, etc.; The characteristics of the fast moving speed of the second arm can be applied to industries such as spraying. In the spraying industry, a lightweight nozzle can be installed at the end of the second arm to achieve the purpose of rapid spraying.

Further, as two joints of the multi-joint robot, the adjustable-arm-length planar mechanical arm of the embodiment of the present invention has a good effect on the weight reduction of the multi-joint robot arm.

In the adjustable-arm-length planar manipulator and the robot provided by the embodiment of the present invention, the driving element is arranged on the platform at the bottom. The first arm and the second arm have no additional weight except for their own weight and the weight of the matching link, and have an end. It has the characteristics of fast moving speed, etc., which has a good effect on the rapid operation of the robot; using a four-bar linkage in the shape of a parallelogram, the calculation of the end position of the second arm is relatively easy, which greatly reduces the difficulty of programming the control software, which is beneficial to the The popular use of the adjustable arm length plane manipulator; the length of the first arm and the second arm can be adjusted, which has good adaptability to different working conditions.

The above provides a detailed introduction to an adjustable arm length planar manipulator and a robot provided by the embodiments of the present invention. The principles and implementations of the present invention are described with specific examples in this paper. The descriptions of the above embodiments are only used for Help to understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification It should not be construed as a limitation of the present invention.

Claims (3)

1. The arm-length-adjustable planar mechanical arm is characterized by comprising a platform, a first arm, a second arm, a first connecting rod, a second connecting rod, a first arm driving assembly and a first connecting rod driving assembly, wherein the first arm and the second arm are telescopic arms;

the platform is parallel to the xy plane, and a base rotating shaft is fixed above the x direction of the platform based on a base rotating shaft connecting piece;

the starting end of the first arm is hinged to the base rotating shaft, and the tail end of the first arm is hinged to the starting end of the second arm;

the starting end of the first connecting rod is hinged to the base rotating shaft, and the tail end of the first connecting rod is hinged to the starting end of the second connecting rod;

the tail end of the second connecting rod is hinged to the middle part or the tail end of the second arm;

the first arm, the second arm, the first connecting rod and the second connecting rod form a four-bar linkage;

the first arm driving assembly is arranged on the platform and used for driving the first arm to rotate around the base rotating shaft;

the first connecting rod driving assembly is arranged on the platform and used for driving the first connecting rod to rotate around the base rotating shaft;

the first arm and the second connecting rod are parallel and equal in length; the first link is parallel to the second arm;

the second arm length is greater than or equal to the first link length;

the first arm driving assembly comprises a first arm driving base, a first arm driving motor, a first arm driving screw rod sliding block and a first arm driving connecting piece;

the first arm driving base is hinged to the x negative direction of the platform;

the first arm driving screw rod and the first arm driving screw rod sliding block are arranged in the first arm driving shell, the first arm driving screw rod sliding block is sleeved on the first arm driving screw rod, and the first arm driving connecting piece is fixedly connected with the first arm driving screw rod sliding block; the first arm driving connecting piece is coaxial with the first arm driving screw rod and is fixedly connected with the starting end of the first arm;

the first arm driving shell and the first arm driving motor are fixed on the first arm driving base side by side; a rotating shaft of the first arm driving motor and one end of the first arm driving screw rod are in transmission in the first arm driving base based on gear connection;

the first arm driving connecting piece is fixedly connected with the initial end of the first arm and drives the first arm to rotate around the base rotating shaft;

the first arm comprises a first outer arm and a first inner arm, the first inner arm is slidable inside the first outer arm and locked to the first outer arm based on a lock passing through the first outer arm and the first inner arm:

the second arm comprises two second sub-arms and a second sliding block; the two second sub-arms are fixed with each other through a second arm connecting piece;

the section of the second sliding block is I-shaped, and the waist part of the second sliding block is clamped between the two second sub-arms and is locked on the two second sub-arms based on screws;

a pulley is mounted on the second slider, and the second slider can slide on the two second sub-arms in the axial direction based on the pulley when the screw is loosened.

2. The adjustable arm length planar robot of claim 1, wherein said first link drive assembly comprises a first link drive base, a first link drive motor, a first link drive lead screw slide, and a first link drive link;

the first connecting rod drives the base to be hinged to the x negative direction of the platform;

the first connecting rod driving screw rod and the first connecting rod driving screw rod sliding block are arranged in the first connecting rod driving shell, the first connecting rod driving screw rod sliding block is sleeved on the first connecting rod driving screw rod, and the first connecting rod driving connecting piece is fixedly connected with the first connecting rod driving screw rod sliding block; the first connecting rod driving connecting piece is coaxial with the first connecting rod driving screw rod and is fixedly connected with the initial end of the first connecting rod;

the first connecting rod driving shell and the first connecting rod driving motor are fixed on the first connecting rod driving base side by side; a rotating shaft of the first connecting rod driving motor and one end of the first connecting rod driving screw rod are in transmission in the first connecting rod driving base based on gear connection;

the first connecting rod driving connecting piece is fixedly connected with the initial end of the first connecting rod and drives the first connecting rod to rotate around the base rotating shaft.

3. A robot comprising the adjustable-length planar robotic arm of claim 1 or 2 and a working tip; the working end is mounted on the second arm end.

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