CN113561164B - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN113561164B CN113561164B CN202110547573.6A CN202110547573A CN113561164B CN 113561164 B CN113561164 B CN 113561164B CN 202110547573 A CN202110547573 A CN 202110547573A CN 113561164 B CN113561164 B CN 113561164B
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- CN
- China
- Prior art keywords
- joint module
- mechanical arm
- module
- manipulator
- clamping
- Prior art date
- Legal status (The legal status 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 status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator which comprises a mechanical arm, a joint module, a screw rod module and a clamping unit, wherein the joint module comprises a first joint module, a second joint module and a third joint module, two ends of the mechanical arm are respectively connected with the first joint module and the second joint module, the second joint module is connected with the third joint module through a connecting component, the screw rod module comprises a screw rod component and a servo motor, and the servo motor is connected with the second joint module through the connecting component; based on the structure of the invention, the invention has less degree of freedom, low cost and rapid speed, can be applied to the field of agricultural picking, can be applied to outdoor environment, and realizes rapid positioning of three-dimensional space. By using the joint module and the screw rod module, the positioning and picking industries with high speed and high precision can be realized.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a manipulator.
Background
With the development of science and technology and the smaller population of agriculture, more and more innovations are provided in agriculture, and the mechanized operation gradually replaces the manual labor, and reduces a plurality of difficulties for laborers. Large machines have been completely replaced by humans, such as farming, wheat harvesting, corn harvesting, etc., but have not achieved the intended effect in the field of picking, which is a major component of agricultural machines, but have achieved favorable results for various crops, but have been small flowers and fruits for small areas of land or objects of execution, etc., and when picking with conventional robotic arms or manipulators under the conditions of picking or pollination, etc., the intended effect has not been achieved due to insufficient degrees of freedom of the products. And, there is a greater problem in that: the operation precision is high, the first-level degree of freedom is high, the cooperative robot and the industrial mechanical arm are very expensive, the action is not fast enough and the robot is not suitable for agricultural picking, so that a manipulator with low cost, high speed and high degree of freedom is needed to assist in the agricultural picking field.
Disclosure of Invention
The invention provides a manipulator aiming at the defects in the prior art.
In order to solve the technical problems, the invention is solved by the following technical scheme:
the manipulator comprises a manipulator arm, a joint module, a screw rod module and a clamping unit, wherein the joint module comprises a first joint module, a second joint module and a third joint module, two ends of the manipulator arm are respectively connected with the first joint module and the second joint module, the second joint module is connected with the third joint module through a connecting component, the third joint module is rotationally connected with the clamping unit, the screw rod module is connected with the second joint module through a connecting component, and the screw rod module is connected with an external connecting structure;
when the mechanical arm picks, the lead screw module controls the mechanical arm to do telescopic motion in the direction of grabbing objects according to the positions of grabbing objects, the first joint module controls the mechanical arm to rotate in the Z-axis direction according to the positions of grabbing objects, the second joint module controls the mechanical arm to rotate in the Y-axis direction, and the third joint module controls the clamping unit to rotate according to the positions of grabbing objects so as to achieve the direction of grabbing objects.
As an implementation manner, the first joint module comprises a first control rotation device for driving the mechanical arm to rotate along the Z axis, and the first control rotation device is connected with one end of the mechanical arm.
As an implementation manner, the second joint module comprises a second control rotation device for realizing rotation of the mechanical arm along the Y axis, and the second drive control rotation device is connected with the other end of the mechanical arm.
As an implementation manner, the third joint module comprises a third control rotation device for realizing rotation of the clamping unit along the X axis, and the third control rotation device is respectively connected with the connecting component and the clamping unit.
As an embodiment, the screw module includes a screw assembly and a control rotation device, and the control rotation device is connected with the second joint module through a connection assembly.
As an implementation manner, the clamping unit comprises a clamping structure, an opening and closing structure, a fourth control rotating device and a rotating component, wherein the fourth control rotating device controls the reciprocating motion of the opening and closing assembly to further realize the opening and closing of the clamping structure, and the rotating component is connected with the third control rotating device to realize the rotation of the clamping unit.
As an implementation manner, the clamping unit further comprises a fixing seat, the opening and closing component and the rotating component are arranged inside the fixing seat, the clamping structure is matched with the opening and closing component, and the clamping structure is arranged on the outer side of the fixing seat.
As an implementation mode, the opening and closing assembly comprises a first bolt, a second bolt and a rotating shaft, threads matched with the first bolt and the second bolt are arranged on the rotating shaft, the fourth servo motor is rotationally connected with the rotating shaft, the clamping structure comprises a first structure and a second structure, the first bolt is fixedly connected with the first structure, and the second bolt is fixedly connected with the second structure.
As an embodiment, the clamping structure is a clamping jaw or a manipulator.
As an implementation manner, when the clamping structure is a clamping jaw, the first structure is provided with a first acting portion, the second structure is provided with a second acting portion, and the first acting portion and the second acting portion are located on the same plane and are in relative positions.
The invention has the remarkable technical effects due to the adoption of the technical scheme:
based on the structure of the invention, the invention has less degree of freedom, low cost and rapid speed, can be applied to the field of agricultural picking, can be applied to household environment, and realizes rapid positioning of three-dimensional space. By using the joint module and the screw rod module, the positioning and picking industries with high speed and high precision can be realized.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a schematic representation of one state of the invention;
FIG. 4 is a schematic cross-sectional view of the clamping unit;
FIG. 5 is another cross-sectional schematic view of the clamping unit;
fig. 6 is a schematic diagram of a cylindrical coordinate system.
Reference numerals in the drawings illustrate:
1. a mechanical arm; 2. a first joint module; 3. a second joint module; 4. a third joint module; 5. a screw module; 6. a clamping unit; 61. a fixing seat; 62. a rotating member; 63. a first structure; 64. a second structure; 65. a first bolt; 66. a second bolt; 67. a clamping jaw; 68. a rotation shaft; 7. a third servo motor; 8. and a fourth servo motor.
Detailed Description
The present invention will be described in further detail with reference to the following examples, which are illustrative of the present invention and are not intended to limit the present invention thereto.
Example 1:
1-3, the manipulator comprises a manipulator 1, a joint module, a screw rod module 5 and a clamping unit 6, wherein the joint module comprises a first joint module 2, a second joint module 3 and a third joint module 4, two ends of the manipulator 1 are respectively connected with the first joint module 2 and the second joint module 3, the second joint module 3 is connected with the third joint module 4 through a connecting component, the third joint module 4 is rotationally connected with the clamping unit 6, the screw rod module 5 comprises a screw rod component and a control rotating device, and the control rotating device is connected with the second joint module 3 through the connecting component; when the mechanical arm 1 picks, the control rotating device drives the screw rod assembly according to the position of the grabbing object to control the mechanical arm 1 to do telescopic motion in the grabbing object direction, the first joint module 2 controls the mechanical arm 1 to rotate in the Z-axis direction according to the position of the grabbing object, the second joint module 3 controls the mechanical arm 1 to rotate in the Y-axis direction, and the third joint module 4 controls the clamping unit 6 to rotate according to the position of the grabbing object to achieve the direction of the grabbing object. It should be noted that the first joint module 2, the second joint module 3 and the third joint module 4 may rotate synchronously or may rotate separately. However, if a more precise steering is desired, synchronous rotation is easier to achieve, and in a cylindrical coordinate system, the direction of rotation about each axis is obtained directly.
In all embodiments of the present invention, the screw assembly is connected to a fixed assembly, which is an external connection structure. The fixed component can be a part of a robot body, a part of a walking structure or other connecting seats, and is used for providing a fixed base for the manipulator and providing a fixed point for the manipulator.
In one embodiment, the first joint module 2 includes a first control rotation device, where the first control rotation device may include a first harmonic reducer and a first servo motor for driving the mechanical arm 1 to rotate along the Z axis, or only include the first servo motor, and the first harmonic reducer is connected to the first servo motor; the second joint module 3 comprises a second control rotation device, the second control rotation device can comprise a second harmonic speed reducer motor and a second servo motor for realizing the rotation of the mechanical arm 1 along the Y axis, or only comprises the second servo motor, and the second harmonic speed reducer is connected with the second servo motor; the third joint module 4 includes a third control rotation device, where the third control rotation device may include a third harmonic speed reducer motor and a third servo motor 7 for implementing rotation of the clamping unit 6 along the X axis, or only includes the third servo motor, where the third harmonic speed reducer is connected to the third servo motor 7, and a rotating shaft of the third servo motor 7 is connected to the clamping unit 6, in one embodiment, each joint module uses a servo motor and a harmonic speed reducer, and the rotation angle of each shaft can be accurately adjusted by the servo motor, so that rotation on the Y axis, the Z axis, and the X axis is more accurate, and then a grabber can be accurately grabbed, more accurately, a motor shaft of the first servo motor is connected to the first harmonic speed reducer, a motor shaft of the second servo motor is connected to the second harmonic speed reducer, and a motor shaft of the third servo motor 7 is connected to the third harmonic speed reducer. The mechanical arm 1 can be positioned at any point within a certain range of a cylindrical coordinate system through synchronous or asynchronous rotation of the mechanical arm 1 in the Y and Z directions and telescopic movement in one direction, as shown in fig. 6, and the rotation in the X direction can be synchronously or asynchronously performed with the rotation in the Y and Z directions, so that the front-end clamping jaw 67 can be used for orienting the grabbed object.
In one embodiment, as shown in fig. 4-5, the clamping unit 6 includes a clamping structure, an opening and closing structure, a fourth control rotation device, and a rotation component 62, where the fourth control rotation device controls the reciprocating motion of the opening and closing assembly to further open and close the clamping structure, the rotation component 62 is connected with the control rotation device to implement rotation of the clamping unit 6, specifically, the fourth control rotation device may be a fourth servo motor 8 or a stepper motor, the third control rotation device may be a third servo motor 7 or a stepper motor, and more specifically, the clamping unit 6 further includes a fixing seat 61, the opening and closing assembly and the rotation component 62 are disposed inside the fixing seat 61, the clamping structure and the opening and closing assembly are mutually matched, and the clamping structure is disposed outside the fixing seat 61. In order to achieve the simple and rapid opening and closing of the clamping structure, the opening and closing assembly comprises a first bolt 65, a second bolt 66 and a rotating shaft 68, threads matched with the first bolt 65 and the second bolt 66 are arranged on the rotating shaft 68, the fourth servo motor 8 is rotationally connected with the rotating shaft 68, the clamping structure comprises a first structure 63 and a second structure 64, the first bolt 65 is fixedly connected with the first structure 63, and the second bolt 66 is fixedly connected with the second structure 64.
In all embodiments of the present invention, the specific structure of the gripping structure is not limited as long as gripping of the gripped object can be achieved, but in order to enable gripping more accurately and quickly, the gripping structure is a gripping jaw 67, an air jaw or a manipulator. When the clamping structure is a clamping jaw 67, the first structure 63 is provided with a first action portion, the second structure 64 is provided with a second action portion, and the first action portion and the second action portion are located on the same plane and are in opposite positions.
The specific working process comprises the following steps:
the lead screw module 5 stretches and contracts in one direction according to the position of the grabbing object, so that the rest part of the manipulator except the lead screw module 5 stretches and contracts in the direction and is close to the grabbing object;
the first servo motor in the first joint module 2 controls the mechanical arm 1 to rotate in the Z-axis direction according to the position of the grabber, meanwhile, the second servo motor in the second joint module 3 controls the mechanical arm 1 to rotate in the Y-axis direction and the third control rotating device in the third joint module 4 controls the clamping unit 6 to rotate in the X-axis direction, so that the clamping structure just rotates to the grabber position (of course, the control sequence of all the servo motors can be adjusted and is not limited in sequence, and only the grabber can be accurately positioned), and at the moment, the fourth control rotating device in the clamping unit 6 controls the opening and closing of the opening and closing assembly to drive the opening and closing of the clamping structure, so that the grabber is grabbed.
In addition, the specific embodiments described in the present specification may differ in terms of parts, shapes of components, names, and the like. All equivalent or simple changes of the structure, characteristics and principle according to the inventive concept are included in the protection scope of the present invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions in a similar manner without departing from the scope of the invention as defined in the accompanying claims.
Claims (6)
1. The manipulator is characterized by comprising a manipulator, a joint module, a screw rod module and a clamping unit, wherein the joint module comprises a first joint module, a second joint module and a third joint module, two ends of the manipulator are respectively connected with the first joint module and the second joint module, the second joint module is connected with the third joint module through a connecting component, the third joint module is rotationally connected with the clamping unit, and the screw rod module is connected with the second joint module through the connecting component;
when the mechanical arm picks, the screw rod module controls the mechanical arm to do telescopic motion in the direction of grabbing objects according to the positions of grabbing objects, the first joint module controls the mechanical arm to rotate in the Z-axis direction according to the positions of grabbing objects, the second joint module controls the mechanical arm to rotate in the Y-axis direction, the third joint module controls the clamping unit to rotate towards grabbing objects according to the positions of grabbing objects, and the first joint module, the second joint module and the third joint module can synchronously rotate and also can respectively rotate;
the first joint module comprises a first control rotating device for driving the mechanical arm to rotate along the Z axis, and the first control rotating device is connected with one end of the mechanical arm;
the second joint module comprises a second control rotating device for realizing the rotation of the mechanical arm along the Y axis, and the second control rotating device is connected with the other end of the mechanical arm;
the third joint module comprises a third control rotation device for realizing the rotation of the clamping unit along the X axis, and the third control rotation device is respectively connected with the connecting component and the clamping unit;
the screw rod module comprises a screw rod assembly and a control rotating device, and the control rotating device is connected with the second joint module through a connecting assembly.
2. The manipulator of claim 1, wherein the clamping unit comprises a clamping structure, an opening and closing assembly, a fourth control rotation device, and a rotation member, the fourth control rotation device controls the opening and closing assembly to reciprocate to open and close the clamping structure, and the rotation member is connected to the third control rotation device to rotate the clamping unit.
3. The manipulator of claim 2, wherein the clamping unit further comprises a fixing base, the opening and closing assembly and the rotating member are disposed inside the fixing base, the clamping structure is matched with the opening and closing assembly, and the clamping structure is disposed outside the fixing base.
4. A manipulator according to claim 3, wherein the opening and closing assembly comprises a first bolt, a second bolt and a rotating shaft, the rotating shaft is provided with threads which are mutually matched with the first bolt and the second bolt, the fourth control rotating device is rotationally connected with the rotating shaft, the clamping structure comprises a first structure and a second structure, the first bolt is fixedly connected with the first structure, and the second bolt is fixedly connected with the second structure.
5. The manipulator of claim 4, wherein the gripping structure is a jaw or a manipulator.
6. The manipulator of claim 5, wherein when the clamping structure is a clamping jaw, the first structure is provided with a first acting portion, and the second structure is provided with a second acting portion, and the first acting portion and the second acting portion are located on the same plane and are in opposite positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110547573.6A CN113561164B (en) | 2021-05-19 | 2021-05-19 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110547573.6A CN113561164B (en) | 2021-05-19 | 2021-05-19 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113561164A CN113561164A (en) | 2021-10-29 |
| CN113561164B true CN113561164B (en) | 2023-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110547573.6A Active CN113561164B (en) | 2021-05-19 | 2021-05-19 | Mechanical arm |
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| CN (1) | CN113561164B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2527498A1 (en) * | 1982-05-27 | 1983-12-02 | Deberg Walter Van | MANIPULATOR ROBOT |
| CN205148313U (en) * | 2015-09-09 | 2016-04-13 | 东莞市隆盛压铸设备有限公司 | The robot structure |
| CN107598942A (en) * | 2017-10-20 | 2018-01-19 | 广东伯朗特智能装备股份有限公司 | A kind of automatic telescopic spary coating type industrial robot and control method |
| CN108698237A (en) * | 2016-02-29 | 2018-10-23 | 生活机器人学股份有限公司 | Direct acting telescoping mechanism and mechanical arm mechanism with the direct acting telescoping mechanism |
| CN108748248A (en) * | 2018-07-24 | 2018-11-06 | 广西师范学院 | A kind of logistics machinery arm device |
| CN208179542U (en) * | 2018-05-19 | 2018-12-04 | 黄河科技学院 | A kind of novel telescopic manipulator |
| CN109352640A (en) * | 2018-11-09 | 2019-02-19 | 蒲培忠 | A kind of telescopic bionic machine human arm |
| CN210132521U (en) * | 2019-06-10 | 2020-03-10 | 北京物资学院 | Manipulator based on AGV car |
| CN210256179U (en) * | 2019-06-20 | 2020-04-07 | 苏州大学 | Terminal clamping device of robot |
-
2021
- 2021-05-19 CN CN202110547573.6A patent/CN113561164B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2527498A1 (en) * | 1982-05-27 | 1983-12-02 | Deberg Walter Van | MANIPULATOR ROBOT |
| CN205148313U (en) * | 2015-09-09 | 2016-04-13 | 东莞市隆盛压铸设备有限公司 | The robot structure |
| CN108698237A (en) * | 2016-02-29 | 2018-10-23 | 生活机器人学股份有限公司 | Direct acting telescoping mechanism and mechanical arm mechanism with the direct acting telescoping mechanism |
| CN107598942A (en) * | 2017-10-20 | 2018-01-19 | 广东伯朗特智能装备股份有限公司 | A kind of automatic telescopic spary coating type industrial robot and control method |
| CN208179542U (en) * | 2018-05-19 | 2018-12-04 | 黄河科技学院 | A kind of novel telescopic manipulator |
| CN108748248A (en) * | 2018-07-24 | 2018-11-06 | 广西师范学院 | A kind of logistics machinery arm device |
| CN109352640A (en) * | 2018-11-09 | 2019-02-19 | 蒲培忠 | A kind of telescopic bionic machine human arm |
| CN210132521U (en) * | 2019-06-10 | 2020-03-10 | 北京物资学院 | Manipulator based on AGV car |
| CN210256179U (en) * | 2019-06-20 | 2020-04-07 | 苏州大学 | Terminal clamping device of robot |
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| Publication number | Publication date |
|---|---|
| CN113561164A (en) | 2021-10-29 |
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