CN114012779B - Mechanical arm capable of executing different tasks and use method thereof - Google Patents
Mechanical arm capable of executing different tasks and use method thereof Download PDFInfo
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- CN114012779B CN114012779B CN202111389665.2A CN202111389665A CN114012779B CN 114012779 B CN114012779 B CN 114012779B CN 202111389665 A CN202111389665 A CN 202111389665A CN 114012779 B CN114012779 B CN 114012779B
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 41
- 230000001681 protective effect Effects 0.000 claims description 14
- 238000003466 welding Methods 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 abstract description 8
- 230000006872 improvement Effects 0.000 description 10
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
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- 230000002265 prevention Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- 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
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Abstract
The invention relates to a mechanical arm capable of executing different tasks and a use method thereof, belonging to the field of mechanical arms, and comprising a positioning plate with threaded holes, a sliding rail disc, a mechanical arm adjusting part, a mechanical arm length telescopic part, a clamping part and the like; the top surface of the locating plate with the threaded hole is fixedly provided with the sliding rail disc, the sliding rail disc is provided with the mechanical arm adjusting part, the mechanical arm length telescopic part is arranged on the mechanical arm adjusting part, and the clamping part is arranged on the mechanical arm length telescopic part. Under the regulating action of the central control column, the first servo motor, the second servo motor and the third servo motor are controlled to operate, so that the rotation direction of the equipment is regulated, the swinging angle of the swinging plate and the swinging angle of the slotting pipe are regulated, objects can be clamped more accurately, the purpose of regulating the direction and the angle of the equipment is realized, and the equipment is convenient to grasp the objects accurately.
Description
Technical Field
The invention relates to a mechanical arm capable of executing different tasks and a use method thereof, and belongs to the field of mechanical arms.
Background
In recent years, with the development of robot technology, the design and research of a mechanical arm are widely focused, the mechanical arm refers to a complex system with high precision, multiple inputs, multiple outputs, high nonlinearity and strong coupling, and the mechanical arm has uncertainty of parameter perturbation, external interference, unmodeled dynamics and the like because of the unique operation flexibility of the mechanical arm and has wide application in the fields of industrial assembly, safety explosion prevention and the like, and for different tasks, the movement track of the joint space of the mechanical arm needs to be planned, so that the terminal pose is formed by cascading.
According to the prior patent, the publication number of the patent is CN203581539U, the technical problems that a weight can be correctly placed at any position in a space, labor is saved when the weight is used for carrying and installing materials, the length of a power-assisted mechanical arm is limited, the mechanical arm needs to be replaced for executing different tasks, the mechanical arm is troublesome to replace, and the power-assisted mechanical arm is insufficient in clamping the lower part of an object, so that the object is easy to slide or fall, and the object is damaged.
Disclosure of Invention
The invention aims to provide a mechanical arm capable of adjusting the direction and angle of a mechanical arm, easily grabbing heavy objects, ensuring the stability when grabbing objects and being applicable to grabbing objects with different heights and capable of executing different tasks and a use method thereof, so as to solve the problems that the conventional power-assisted mechanical arm is limited in length, troublesome in replacing the mechanical arm for executing different tasks and insufficient in strength when the mechanical arm grabs the objects.
The technical proposal is as follows: the utility model provides a can carry out arm of different tasks and application method thereof, includes threaded hole locating plate, slide rail dish and arm adjustment part, threaded hole locating plate top surface fixed mounting has the slide rail dish, be provided with on the slide rail dish the arm adjustment part, its characterized in that, arm length telescopic part is located on the arm adjustment part, be provided with on the arm length telescopic part the clamp is got the part, laborsaving adjusting part also sets up on the arm length telescopic part, be provided with on the arm adjustment part ESP8266 communication module.
As the improvement of above-mentioned scheme, arm adjustment part is including six poles, first servo motor, rotary disk, support, second servo motor, swing board, third servo motor, guide rail ring, swing seat and fluting pipe, be provided with in the slide rail dish six poles, be connected with on the six poles the first servo motor, first servo motor with in the slide rail dish contact each other, first servo motor output shaft top rigid coupling has the rotary disk, the rotary disk with slide rail dish rotation type is connected, the rotary disk top surface is connected with the support through the fastener, fixed mounting has on the support second servo motor, second servo motor output shaft one end welding has the swing board, fixed mounting has on the swing board third servo motor, third servo motor output shaft one end rigid coupling has the swing seat, fixed mounting has on the swing seat ESP8266 communication module, be provided with on the swing board the guide rail ring, the swing seat with on the guide rail ring sliding connection, swing seat has on the swing pipe.
As the improvement of above-mentioned scheme, the flexible part of arm length is including first electric putter, safety cover, mounting panel and slip cap, be provided with in the fluting pipe first electric putter, first electric putter telescopic shaft one end welding has the safety cover, the safety cover with fluting pipe contact each other, fixed mounting has in the safety cover the mounting panel, fixedly connected with on the safety cover the slip cap, the slip cap with fluting pipe slidingtouput.
As the improvement of above-mentioned scheme, press from both sides and get the part including concave template, press from both sides and get pole, activity push pedal, connecting rod and catch bar, safety cover one side fixed mounting has the concave template, it is connected with a pair of to press from both sides to get the pole to rotate on the concave template, sliding connection has on the mounting panel the activity push pedal, it is connected with two to rotate on the activity push pedal the connecting rod, homonymy the connecting rod with press from both sides and get the pole rotation type and be connected, activity push pedal one end rigid coupling has the catch bar, the catch bar with mounting panel sliding connection.
As the improvement of above-mentioned scheme, laborsaving adjusting part is including second electric putter, fulcrum pole, third electric putter, pushing block and fluting pendulum rod, mounting panel bottom surface fixed mounting has the second electric putter, second electric putter telescopic shaft one end welding has the fulcrum pole, the last swivelling joint of pushing rod has the fluting pendulum rod, the fluting pendulum rod with the spacing cooperation of fulcrum pole, the setting of third electric putter is in the mounting panel bottom surface, third electric putter telescopic shaft one end welding has the pushing block, the pushing block with the spacing cooperation of fluting pendulum rod.
As the improvement of above-mentioned scheme, still including stably snatching the part, press from both sides and get and be provided with on the pole stably snatch the part, stably snatch the part including friction strip and pressure sensor, press from both sides and get and be provided with on the pole friction strip, be provided with in the friction strip pressure sensor.
As the improvement of above-mentioned scheme, still including bottom sprag spare, it is provided with on the pole to press from both sides to get bottom sprag spare, bottom sprag spare is including arc panel, screw rod, nut, fourth servo motor and cambered surface roof, it has cup jointed to press from both sides to get the symmetry on the pole the screw rod, the joint has the cambered surface board on the two screw rods jointly, be connected with through threaded connection's mode on the screw rod the nut, the nut with press from both sides and get the pole mutual contact, be provided with on the arc panel fourth servo motor, fourth servo motor output shaft one end welding has the cambered surface roof.
As the improvement of above-mentioned scheme, still including the scram part, threaded hole locating plate top surface is installed through the mode that the fastener connected the scram part, the scram part is including riser, bee calling organ and scram switch, threaded hole locating plate top surface is connected with through the mode that the fastener connected the riser, riser top fixed mounting has bee calling organ, scram switch fixed mounting in riser below.
As the improvement of above-mentioned scheme, still including the high telescopic part of arm, the top is the mode of four corners distribution in the rotary disk is provided with the high telescopic part of arm, the high telescopic part of arm is including fourth electric putter and guide disc, the top is the mode of four corners distribution in the rotary disk and installs fourth electric putter, fourth electric putter telescopic shaft bottom welding has the guide disc, the guide disc with slide rail dish sliding connection.
As the improvement of above-mentioned scheme, still including well accuse post, well accuse post fixed mounting in take screw hole locating plate top surface, well accuse post is including switching power supply, power module and control module, switching power supply is whole device power supply, switching power supply output with power module passes through circuit connection, the power module input has the power master switch through circuit connection, power module with control module passes through electric connection, control module input with ESP8266 communication module passes through circuit connection, be connected with DS1302 clock circuit and 24C02 circuit on the control module, pressure sensor the buzzer with scram switch all with control module passes through electric connection, first servo motor the second servo motor the third servo motor the fourth servo motor the first electric putter the second electric putter the third electric putter and the fourth electric putter all with control module passes through peripheral circuit connection.
As an improvement of the scheme, the application method of the mechanical arm capable of executing different tasks comprises the following working steps:
S1: setting data parameters: operating a remote control center to set working parameter data of the equipment, transmitting the working parameter data signals of the equipment to an ESP8266 communication module by the remote control center, and transmitting the signals to a control module by the ESP8266 communication module through a circuit;
S2: adjusting the direction angle: the control module receives signals and then controls the first servo motor, the second servo motor and the third servo motor to operate, so that the equipment rotates to a proper direction, the swinging plate swings and adjusts to a proper angle, the slotted tube swings and adjusts to a proper angle, and the control module controls the first servo motor, the second servo motor and the third servo motor to stop operating;
s3: clamping an object: the control module controls the third electric push rod to extend for 5 cm, so that the slotting swing rod swings to drive the push rod and the movable push plate to move in the direction away from the swing seat, and the movable push plate drives the clamping rod to move in opposite directions through the connecting rod, and the clamping rod clamps an object;
s4: placing an object: the equipment is adjusted to a proper direction and angle again, the control module controls the third electric push rod to shrink by 5 cm again, so that the grooved swing rod swings and resets, the grooved swing rod drives the push rod and the movable push plate to move towards the direction close to the swing seat, the movable push plate drives the clamping rod to move relatively through the connecting rod, and the clamping rod puts down the clamped object;
S5: gripping larger or heavier items: the ESP8266 communication module transmits signals to the control module, the control module receives the signals and then controls the second electric push rod to shrink for 3 cm, so that the fulcrum bar moves towards the direction away from the third electric push rod, the swinging fulcrum of the slotting swing rod backwards enables the swinging amplitude of the slotting swing rod to be increased, the movement stroke of the push rod and the movable push plate is further, and the grabbing force of the object grabbing rod for grabbing is increased;
S6: the object is clamped below: the cambered surface plate and the upper device thereof are mounted on the clamping rod through a screw rod and a nut, the ESP8266 communication module receives a signal sent by the remote control center and transmits the signal to the control module, and the control module controls the fourth servo motor to operate, so that the cambered surface plate rotates ninety degrees to support an object, and the object is prevented from sliding or tilting when being clamped under a heavier object;
S7: closing the device: when the remote control center detects the running condition of the equipment in real time and the equipment runs abnormally, the remote control center sends a signal to an ESP8266 communication module, the ESP8266 communication module transmits the signal to a control module, and the control module controls a buzzer to sound to remind a worker to press a scram switch, and the scram switch controls the equipment to stop running;
S8: clamping high-altitude objects: the ESP8266 communication module receives a signal sent by the remote control center and transmits the signal to the control module, and the control module controls the fourth electric push rod to stretch for 20 cm, so that the rotary disc and the device on the rotary disc move upwards, the position of the equipment is increased, and the clamping rod can clamp objects at a higher position.
The beneficial effects are that:
Under the regulating action of the central control column, the first servo motor, the second servo motor and the third servo motor are controlled to operate, so that the rotation direction of the equipment is regulated, the swinging angle of the swinging plate and the swinging angle of the slotting pipe are regulated, objects can be clamped more accurately, the purpose of regulating the direction and the angle of the equipment is realized, and the equipment is convenient to grasp the objects accurately.
Under the action of the third electric push rod, the third electric push rod stretches to enable the clamping rod to move in opposite directions, the clamping rod clamps the object, the third electric push rod contracts to enable the clamping rod to move in opposite directions, the clamping rod puts down the clamped object, and therefore clamping operation on the object is completed.
Through changing the swing fulcrum of fluting pendulum rod, make fluting pendulum rod swing width of cloth increase degree, push rod and movable push pedal motion stroke are farther, increase clamp get the pole and snatch the dynamics for press from both sides and get the pole and easily snatch heavier article, friction between the pole is got with clamp to the friction strip can increase the article simultaneously, avoids the article to get the pole from pressing from both sides and falls.
Through the fourth servo motor that sets up, the operation of fourth servo motor can make the cambered surface roof rotate ninety degrees for the cambered surface roof supports the article bottom, guarantees to press from both sides the stability when getting the pole and press from both sides the article, avoids pressing from both sides to get the landing or toppling over when taking heavier article below.
Through the fourth electric putter that sets up for rotary disk and upper device upward movement, make this equipment position height can rise, press from both sides the pole and can press from both sides the article of getting higher department and get, make this equipment be applicable to the article of snatching different height.
Drawings
Fig. 1 is a schematic perspective view of a first embodiment of the present application.
Fig. 2 is a schematic perspective view of a second embodiment of the present application.
Fig. 3 is a schematic perspective view of a third embodiment of the present application.
Fig. 4 is a schematic perspective view of a first part of a mechanical arm adjusting component according to the present application.
Fig. 5 is a schematic perspective view of a part of a cross-section of a mechanical arm adjusting part according to the present application.
Fig. 6 is a schematic sectional, split and three-dimensional structure of a height telescopic part of a mechanical arm provided by the application.
Fig. 7 is a schematic cross-sectional perspective view of a length-adjustable part of a mechanical arm according to the present application.
Fig. 8 is a schematic perspective view of a second part of the mechanical arm adjusting component provided by the application.
Fig. 9 is a schematic perspective view of a gripping member according to the present application.
Fig. 10 is a schematic perspective view of a labor-saving adjusting component provided by the application.
Fig. 11 is a schematic view of a part of a three-dimensional structure of a labor-saving adjusting component provided by the application.
Fig. 12 is a schematic perspective view of a stable grabbing component provided by the present application.
Fig. 13 is a schematic view of a partial perspective structure of a bottom support member provided by the present application.
Fig. 14 is a partially disassembled perspective view of the bottom support part according to the present application.
Fig. 15 is a schematic perspective view of an emergency stop component according to the present application.
Fig. 16 is a circuit block diagram provided by the present application.
Fig. 17 is a schematic circuit diagram provided by the present application.
Fig. 18 is a schematic circuit diagram of an ESP8266 communication module provided by the present application.
Reference numerals in the figures: 1_threaded hole positioning plate, 2_slide rail plate, 3_mechanical arm adjusting part, 301_six-sided bar, 302_first servo motor, 303_rotating disk, 304_support, 305_second servo motor, 306_swing plate, 307_third servo motor, 308_rail ring, 309_swing seat, 3010_slotted tube, 4_mechanical arm length telescoping part, 401_first electric push rod, 402_protective cover, 403_404_sliding sleeve, 5_clamping part, 501_concave plate, 502_clamping bar, 503_movable push plate, 504_connecting rod, 505_push rod, 6_labor saving adjusting part, 601_second electric push rod, 602_fulcrum bar, 603_third electric push rod, 604_push block, 605_slotted swing rod, 7_center pillar, 8_ES8266 communication module, 9_stable clamping part, 901_friction bar, 902_pressure sensor, 10_bottom supporting part, 401_arc panel, 1002_screw, 1003_nut, 1004_fourth servo motor, 1005_arc surface part, 11_top plate, 11_emergency stop, 11_power saving adjusting part, 601_second electric push rod, 602_third electric push rod, 604_push rod, 605_stable clamping part, 1103_friction bar, 902_stable clamping part, 10_bottom supporting part, 10_arc supporting part, 1002_arc_arc panel, 1002_stop, and 1202_stop, and 1202_stop_stop, and 1202_stop.
Detailed Description
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11 and fig. 12, the present embodiment proposes a mechanical arm capable of performing different tasks and a method for using the same, including a positioning plate 1 with a threaded hole, a slide rail disc 2, a mechanical arm adjusting part 3, a mechanical arm length telescoping part 4, a gripping part 5, a labor-saving adjusting part 6 and an ESP8266 communication module 8, the slide rail disc 2 is fixedly mounted on the top surface of the positioning plate 1 with the threaded hole, the mechanical arm adjusting part 3 is disposed on the slide rail disc 2, the mechanical arm adjusting part 3 is used for adjusting the device to a proper gripping direction and angle, the mechanical arm length telescoping part 4 is disposed on the mechanical arm adjusting part 3, the mechanical arm length telescoping part 4 is used for adjusting the device to a length required to be adjusted for preset data, the gripping part 5 is disposed on the mechanical arm length telescoping part 4, the labor-saving adjusting part 6 is also disposed on the mechanical arm length telescoping part 4, the labor-saving adjusting part 6 is used for gripping an object, the labor-saving adjusting part 6 is also disposed on the mechanical arm length telescoping part 4, when gripping a heavy object is used for increasing, the gripping force of the gripping and the gripping part is used for sending out the ESP communication module 8266, and the remote end of the communication module is disposed at the remote end receiving data receiving module 828.
The mechanical arm adjusting part 3 comprises a hexahedral rod 301, a first servo motor 302, a rotating disc 303, a support 304, a second servo motor 305, a swinging plate 306, a third servo motor 307, a guide rail ring 308, a swinging seat 309 and a slotted tube 3010, wherein the hexahedral rod 301 is arranged at the bottom of the sliding rail disc 2, the first servo motor 302 is connected with the first servo motor 302 in a sliding manner, the first servo motor 302 is contacted with the bottom of the sliding rail disc 2, the top end of an output shaft of the first servo motor 302 is fixedly connected with the rotating disc 303, the rotating disc 303 is rotationally connected with the sliding rail disc 2, the top surface of the rotating disc 303 is connected with the support 304 through a fastener, the second servo motor 305 is fixedly arranged on the support 304, the swinging plate 306 is welded at one end of the output shaft of the second servo motor 305, the third servo motor 307 is fixedly arranged on the swinging plate 306 far away from the support 304, the swinging seat 309 is fixedly arranged on the output shaft of the third servo motor 307, the communication module 8 is fixedly arranged on the swinging seat 309, the guide rail ring 308 is arranged on the swinging plate 306 near the third servo motor 307, the ESP is connected with the guide rail ring 308 in a sliding manner, the swinging seat 309 is fixedly connected with the slotted tube 3010 on the swinging seat 309.
The mechanical arm length telescopic part 4 comprises a first electric push rod 401, a protective cover 402, a mounting plate 403 and a sliding sleeve 404, wherein the first electric push rod 401 is arranged in a slotted tube 3010, the protective cover 402 for protecting parts inside the equipment is welded at one end of the telescopic shaft of the first electric push rod 401, the protective cover 402 is in contact with the slotted tube 3010, the mounting plate 403 is fixedly mounted in the protective cover 402, the sliding sleeve 404 is fixedly connected to the protective cover 402, and the sliding sleeve 404 is connected with the slotted tube 3010 in a sliding mode.
The clamping component 5 comprises a concave plate 501, a clamping rod 502, a movable push plate 503, a connecting rod 504 and a pushing rod 505, wherein the concave plate 501 is fixedly arranged on one side of the protective cover 402, a pair of clamping rods 502 are rotatably connected to the concave plate 501, the clamping rods 502 are used for clamping objects, the movable push plate 503 is slidably connected to the mounting plate 403, the movable push plate 503 is rotatably connected with the two connecting rods 504, the connecting rods 504 on the same side are rotatably connected with the clamping rods 502, one end of the movable push plate 503 is fixedly connected with the pushing rod 505, and the pushing rod 505 is slidably connected with the mounting plate 403.
The labor-saving adjusting part 6 comprises a second electric push rod 601, a fulcrum rod 602, a third electric push rod 603, a pushing block 604 and a grooved swing rod 605, wherein the second electric push rod 601 is fixedly arranged on the bottom surface of the mounting plate 403 close to the pushing rod 505, the fulcrum rod 602 is welded at one end of a telescopic shaft of the second electric push rod 601, the grooved swing rod 605 is rotatably connected to the pushing rod 505, and a large grabbing force is needed when the clamping rod 502 is directly grabbed, so that the grooved swing rod 605 is designed into a labor-saving lever, heavy objects are easy to grab, the purpose of assisting is achieved, the grooved swing rod 605 is in limit fit with the fulcrum rod 602, the third electric push rod 603 is arranged on the bottom surface of the mounting plate 403, the pushing block 604 is welded at one end of a telescopic shaft of the third electric push rod 603, and the pushing block 604 is in limit fit with the grooved swing rod 605.
Example 2
The scheme of example 1 is further described in conjunction with the specific operation described below:
As shown in fig. 12, as a preferred embodiment, on the basis of the above manner, the device further comprises a stable grabbing component 9, the clamping rod 502 is provided with the stable grabbing component 9, the stable grabbing component 9 is used for preventing an object from sliding off the clamping rod 502, the stable grabbing component 9 comprises a friction strip 901 and a pressure sensor 902, the clamping rod 502 is provided with the friction strip 901, the friction strip 901 is used for increasing friction between the object and the clamping rod 502, the pressure sensor 902 is arranged in the friction strip 901, and the pressure sensor 902 is used for sensing pressure and sending a signal to the control module.
As shown in fig. 13 and 14, as a preferred embodiment, based on the above manner, the present invention further includes a bottom supporting member 10, a bottom supporting member 10 is disposed on the clamping rod 502, the bottom supporting member 10 is used for supporting the bottom of the object, the bottom supporting member 10 includes a cambered surface plate 1001, a screw 1002, a nut 1003, a fourth servo motor 1004 and a cambered surface top plate 1005, the clamping rod 502 is symmetrically sleeved with the screw 1002, the two screws 1002 are fixedly connected with the cambered surface plate 1001 together, the screw 1002 is connected with the nut 1003 in a threaded connection manner, the nut 1003 is in contact with the clamping rod 502, the cambered surface plate 1001 is provided with the fourth servo motor 1004, one end of an output shaft of the fourth servo motor 1004 is welded with the cambered surface top plate 1005, and the cambered surface top plate 1005 is used for supporting the bottom of the object.
As shown in fig. 15, as a preferred embodiment, on the basis of the above manner, the emergency stop device 11 is further included, the top surface of the positioning plate 1 with a threaded hole is provided with the emergency stop device 11 in a manner of being connected by a fastener, the emergency stop device 11 is used for controlling equipment to stop operating, the emergency stop device 11 comprises a vertical plate 1101, a buzzer 1102 and an emergency stop switch 1103, the vertical plate 1101 is connected to the top surface of the positioning plate 1 with a threaded hole in a manner of being connected by a fastener, the buzzer 1102 is fixedly installed above the vertical plate 1101, the buzzer 1102 is used for prompting the staff that the equipment is abnormal, the emergency stop switch 1103 is fixedly installed below the vertical plate 1101, and the emergency stop switch 1103 is used for controlling the equipment to stop operating.
As shown in fig. 6, as a preferred embodiment, the present invention further includes a mechanical arm height telescopic member 12, the mechanical arm height telescopic member 12 is disposed in a manner that the top in the rotating disk 303 is distributed in four corners, the mechanical arm height telescopic member 12 is used for adjusting the height of the rotating disk 303 and the device thereon, the mechanical arm height telescopic member 12 includes a fourth electric push rod 1201 and a guiding disk 1202, the fourth electric push rod 1201 is mounted in a manner that the top in the rotating disk 303 is distributed in four corners, the guiding disk 1202 is welded at the bottom end of the telescopic shaft of the fourth electric push rod 1201 far from the rotating disk 303, and the guiding disk 1202 is slidably connected with the slide rail disk 2.
Example 3
The schemes of examples 1 and 2 are further described below in conjunction with specific modes of operation, as described below:
specifically, the using method of the mechanical arm capable of executing different tasks is as follows:
People press a power supply main switch to enable the device to be electrified, a worker operates a remote control center to set working parameter data of the device, the remote control center sends working parameter data signals of the device to an ESP8266 communication module 8, the ESP8266 communication module 8 transmits the signals to a control module through a circuit, the control module receives the signals and then controls a first electric push rod 401 to extend to a preset data adjustment length, the first electric push rod 401 extends to drive a protective cover 402 and an upper device of the protective cover to move to a proper position, after 0.1 seconds, the control module controls a first servo motor 302, a second servo motor 305 and a third servo motor 307 to operate, an output shaft of the first servo motor 302 drives a rotary disc 303 and the upper device of the rotary disc to rotate, the device rotates to enable the device to rotate to a proper direction, an output shaft of the second servo motor 305 drives a swinging plate 306 to rotate, the output shaft of the third servo motor 307 drives a swinging seat 309 and a grooving pipe 3010 to rotate, and the grooving pipe 3010 swings to adjust to a proper angle. After the equipment is adjusted to a proper direction and angle, the control module controls the first servo motor 302, the second servo motor 305 and the third servo motor 307 to stop running, the remote control center sends out a signal to the ESP8266 communication module 8 after 0.1 second, the ESP8266 communication module 8 receives the signal and transmits the signal to the control module, the control module controls the third electric push rod 603 to stretch for 5 cm after receiving the signal, the third electric push rod 603 stretches to push the grooved swing rod 605 to swing, the grooved swing rod 605 drives the push rod 505 and the movable push plate 503 to move in a direction far away from the swing seat 309, the movable push plate 503 drives the clamping rod 502 to move in a opposite direction through the connecting rod 504, and the clamping rod 502 clamps an object.
After the third electric push rod 603 extends for five centimeters, the first servo motor 302, the second servo motor 305 and the third servo motor 307 are controlled to operate again through the 0.1 second control module, the direction and the swinging angle of the equipment are adjusted, after the direction and the swinging angle of the equipment are adjusted to proper directions and angles, the control module controls the first servo motor 302, the second servo motor 305 and the third servo motor 307 to stop operating again, after 0.1 second, the control module controls the third electric push rod 603 to shrink for 5 centimeters, the third electric push rod 603 shrinks and pushes the slotting swing rod 605 to swing and reset, the slotting swing rod 605 drives the push rod 505 and the movable push plate 503 to move towards the direction close to the swinging seat 309, the movable push plate 503 drives the clamping rod 502 to move relatively through the connecting rod 504, the clamping rod 502 puts down the clamped object, and the clamping operation of the object is completed.
When the object is larger or heavier, the friction force between the clamping rod 502 and the object is smaller, so that the clamping rod 502 is not easy to clamp the object, the ESP8266 communication module 8 transmits signals to the control module, the control module receives the signals and then controls the second electric push rod 601 to shrink by 3 cm, the second electric push rod 601 shrinks to drive the fulcrum rod 602 to move towards the direction far away from the third electric push rod 603, the swinging fulcrum of the slotting swing rod 605 is backwards, the power arm of the equipment taking the slotting swing rod 605 as a lever mechanism is enabled to be longer, the clamping force of the clamping rod 502 on the object can be still increased under the condition that the pushing force of the third electric push rod 603 is unchanged, the operation is repeated, the clamping rod 502 is enabled to stably clamp and put down the object, and the clamping rod 502 is required to directly clamp the object by using a larger grabbing force, so that the slotting swing rod 605 is designed into an adjustable labor-saving lever, the heavier object is easy to grasp, and the power-assisted aim is achieved. After 0.1 second, the control module controls the second electric push rod 601 to stretch for 3 cm, and the second electric push rod 601 stretches to drive the fulcrum bar 602 to move and reset towards the direction approaching to the third electric push rod 603.
When the clamping rod 502 clamps the object, the friction between the object and the clamping rod 502 can be increased by the friction strip 901, the object is prevented from sliding off the clamping rod 502, meanwhile, the object can squeeze the friction strip 901, the pressure sensor 902 senses the pressure, the pressure sensor 902 sends out a signal, the control module receives the signal and then transmits the signal to the ESP8266 communication module 8, the ESP8266 communication module 8 transmits the signal to the remote control center, an operator can read signal data received by the remote control center, and the operator can know whether the clamping force applied to the object by the clamping rod 502 can clamp the object at the moment through the signal data.
When the lower part of the object needs to be clamped, a worker firstly installs the cambered surface plate 1001 and an upper device thereof on the clamping rod 502 through the screw 1002 and the nut 1003, a control center sends a signal to the ESP8266 communication module 8, the ESP8266 communication module 8 receives the signal and transmits the signal to the control module, the control module receives the signal and then controls the fourth servo motor 1004 to operate, and an output shaft of the fourth servo motor 1004 drives the cambered surface plate 1005 to rotate ninety degrees, so that the cambered surface plate 1005 supports the bottom of the object, and slipping or toppling of the heavier object is avoided when the lower part of the object is clamped. After the work is completed, the worker removes the arc surface plate 1001 and the device thereon from the grip lever 502.
When the remote control center detects that the equipment is abnormal in operation, the remote control center sends a signal to the ESP8266 communication module 8, the ESP8266 communication module 8 transmits the signal to the control module, the control module controls the buzzer 1102 to sound, the fact that the equipment is abnormal is indicated, a worker manually presses the emergency stop switch 1103, and the emergency stop switch 1103 controls the equipment to stop operating, so that the equipment is prevented from continuing to operate.
When the higher object needs to be clamped, the remote control center sends a signal to the ESP8266 communication module 8, the ESP8266 communication module 8 transmits the signal to the control module, and the control module controls the fourth electric push rod 1201 to stretch by 20 cm, so that the fourth electric push rod 1201 drives the rotating disc 303 and the device thereon to move upwards, the position of the equipment is increased, and the clamping rod 502 can clamp the higher object.
As shown in fig. 1, as a preferred embodiment, further, on the basis of the above manner, the device further includes a central control column 7, the central control column 7 is fixedly mounted on the top surface of the positioning plate 1 with a threaded hole, the central control column 7 includes a switching power supply, a power supply module and a control module, the switching power supply supplies power to the whole device, an output end of the switching power supply is connected with the power supply module through a circuit, an input end of the power supply module is connected with a power supply main switch through a circuit, the power supply module is electrically connected with the control module, an input end of the control module is connected with the ESP8266 communication module 8 through a circuit, the control module is connected with a DS1302 clock circuit and a 24C02 circuit, the pressure sensor 902, the buzzer 1102 and the emergency stop switch 1103 are electrically connected with the control module, and the first servo motor 302, the second servo motor 305, the third servo motor 307, the fourth servo motor 1004, the first electric push rod 401, the second electric push rod 601, the third electric push rod 603 and the fourth electric push rod 1201 are all connected with the control module through peripheral circuits.
The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (7)
1. The utility model provides a can carry out arm of different tasks, including take screw hole locating plate (1), slide rail dish (2) arm adjustment part (3), arm length telescopic part (4), clamp get part (5), laborsaving adjusting part (6) and ESP8266 communication module (8), take screw hole locating plate (1) top surface fixed mounting have slide rail dish (2), be provided with on the slide rail dish (2) arm adjustment part (3), characterized in that, arm length telescopic part (4) are located on arm adjustment part (3), be provided with on arm length telescopic part (4) clamp get part (5), laborsaving adjusting part (6) are provided with equally on arm length telescopic part (4), be provided with on arm adjustment part (3) part ESP8266 communication module (8).
The mechanical arm adjusting part (3) comprises a six-face rod (301), a first servo motor (302), a rotating disc (303), a support (304), a second servo motor (305), a swinging plate (306), a third servo motor (307), a guide rail ring (308), a swinging seat (309) and a slotted pipe (3010), wherein the six-face rod (301) is arranged at the inner bottom of the sliding rail disc (2), the six-face rod (301) is connected with the first servo motor (302) in a sliding manner, the first servo motor (302) is in contact with the inner bottom of the sliding rail disc (2), the top end of an output shaft of the first servo motor (302) is fixedly connected with the rotating disc (303), the rotating disc (303) is rotatably connected with the sliding rail disc (2), the top surface of the rotating disc (303) is connected with the support (304) through a fastener, one end of the second servo motor (305) is welded with the swinging plate (306), the swinging plate (306) is fixedly arranged at one end of the output shaft, the third servo motor (307) is fixedly arranged at one end of the output shaft (307), the ESP (309) is fixedly connected with the communication seat (309), the guide rail ring (308) is arranged on the swinging plate (306), the swinging seat (309) is connected with the guide rail ring (308) in a sliding mode, and the slotted tube (3010) is fixedly connected to the swinging seat (309);
The mechanical arm length telescopic component (4) comprises a first electric push rod (401), a protective cover (402), a mounting plate (403) and a sliding sleeve (404), wherein the first electric push rod (401) is arranged in a slotted tube (3010), one end of a telescopic shaft of the first electric push rod (401) is welded with the protective cover (402), the protective cover (402) is in contact with the slotted tube (3010), the mounting plate (403) is fixedly arranged in the protective cover (402), the sliding sleeve (404) is fixedly connected onto the protective cover (402), and the sliding sleeve (404) is connected with the slotted tube (3010) in a sliding mode;
The clamping component (5) comprises a concave plate (501), a clamping rod (502), a movable push plate (503), a connecting rod (504) and a pushing rod (505), wherein the concave plate (501) is fixedly arranged on one side of the protective cover (402), a pair of clamping rods (502) are rotatably connected to the concave plate (501), the movable push plate (503) is slidably connected to the mounting plate (403), two connecting rods (504) are rotatably connected to the movable push plate (503), the connecting rods (504) are rotatably connected to the clamping rod (502) on the same side, one end of the movable push plate (503) is fixedly connected with the pushing rod (505), and the pushing rod (505) is slidably connected to the mounting plate (403);
Laborsaving adjusting part (6) are including second electric putter (601), fulcrum pole (602), third electric putter (603), pushing block (604) and fluting pendulum rod (605), mounting panel (403) bottom surface fixed mounting have second electric putter (601), second electric putter (601) telescopic shaft one end welding has fulcrum pole (602), be connected with on pushing rod (505) fluting pendulum rod (605), fluting pendulum rod (605) with fulcrum pole (602) limit fit, third electric putter (603) set up mounting panel (403) bottom surface, third electric putter (603) telescopic shaft one end welding has pushing block (604), pushing block (604) with fluting pendulum rod (605) limit fit.
2. The mechanical arm capable of performing different tasks according to claim 1, further comprising a stable grabbing component (9), wherein the stable grabbing component (9) is arranged on the clamping rod (502), the stable grabbing component (9) comprises a friction strip (901) and a pressure sensor (902), the friction strip (901) is arranged on the clamping rod (502), and the pressure sensor (902) is arranged in the friction strip (901).
3. The mechanical arm capable of performing different tasks according to claim 2, further comprising a bottom supporting component (10), wherein the clamping rod (502) is provided with the bottom supporting component (10), the bottom supporting component (10) comprises an arc panel (1001), a screw (1002), a nut (1003), a fourth servo motor (1004) and an arc top plate (1005), the clamping rod (502) is symmetrically sleeved with the screw (1002), arc top plates (1001) are fixedly connected to the two screws (1002) together, the screw (1002) is connected with the nut (1003) in a threaded connection mode, the nut (1003) is in contact with the clamping rod (502), the arc top plate (1001) is provided with the fourth servo motor (1004), and one end of an output shaft of the fourth servo motor (1004) is welded with the arc top plate (1005).
4. A manipulator according to claim 3, further comprising a scram member (11), wherein the scram member (11) is mounted on the top surface of the threaded hole positioning plate (1) by means of fastening means, the scram member (11) comprises a vertical plate (1101), a buzzer (1102) and a scram switch (1103), the vertical plate (1101) is connected to the top surface of the threaded hole positioning plate (1) by means of fastening means, the buzzer (1102) is fixedly mounted above the vertical plate (1101), and the scram switch (1103) is fixedly mounted below the vertical plate (1101).
5. The mechanical arm capable of executing different tasks according to claim 4, further comprising a mechanical arm height telescopic component (12), wherein the mechanical arm height telescopic component (12) is arranged at the inner top of the rotating disc (303) in a manner of being distributed in four corners, the mechanical arm height telescopic component (12) comprises a fourth electric push rod (1201) and a guide disc (1202), the fourth electric push rod (1201) is arranged at the inner top of the rotating disc (303) in a manner of being distributed in four corners, the guide disc (1202) is welded at the bottom end of a telescopic shaft of the fourth electric push rod (1201), and the guide disc (1202) is connected with the sliding rail disc (2) in a sliding mode.
6. The mechanical arm capable of executing different tasks according to claim 5, further comprising a central control column (7), wherein the central control column (7) is fixedly installed on the top surface of the locating plate (1) with a threaded hole, the central control column (7) comprises a switching power supply, a power supply module and a control module, the switching power supply supplies power for the whole device, an output end of the switching power supply is connected with the power supply module through a circuit, an input end of the power supply module is connected with a power supply main switch through a circuit, the power supply module is connected with the control module through an electric connection, an input end of the control module is connected with the ESP8266 communication module (8) through a circuit, a DS1302 clock circuit and a 24C02 circuit are connected to the control module, the pressure sensor (902), the buzzer (1102) and the emergency stop switch (1103) are all connected with the control module through an electric connection, and the first servo motor (302), the second servo motor (305), the third servo motor (307), the fourth servo motor (1004), the first electric motor (401), the second electric putter (401), the electric putter (601) and the peripheral putter (601) are all connected with the electric putter (601).
7. The application method of the mechanical arm capable of executing different tasks is characterized by comprising the following working steps:
S1: setting data parameters: operating a remote control center to set working parameter data of the mechanical arm, transmitting a working parameter data signal of the mechanical arm to an ESP8266 communication module (8) by the remote control center, and transmitting the signal to the control module by the ESP8266 communication module (8);
S2: adjusting the direction angle: the control module receives signals and then controls the first servo motor (302), the second servo motor (305) and the third servo motor (307) to operate, so that the equipment rotates to a proper direction, the swinging plate (306) swings and adjusts to a proper angle, the slotted tube (3010) swings and adjusts to a proper angle, and the control module controls the first servo motor (302), the second servo motor (305) and the third servo motor (307) to stop operating;
S3: clamping an object: the control module controls the third electric push rod (603) to stretch for 5cm, so that the grooved swing rod (605) swings to drive the push rod (505) and the movable push plate (503) to move in the direction away from the swing seat (309), the movable push plate (503) drives the clamping rod (502) to move in opposite directions through the connecting rod (504), and the clamping rod (502) clamps an object;
S4: placing an object: the equipment is adjusted to a proper direction and an angle again, the control module controls the third electric push rod (603) to shrink for 5 cm, so that the slotting swing rod (605) swings and resets, the slotting swing rod (605) drives the push rod (505) and the movable push plate (503) to move towards the direction close to the swing seat (309), the movable push plate (503) drives the clamping rod (502) to move relatively through the connecting rod (504), and the clamping rod (502) puts down the clamped object;
S5: gripping larger or heavier items: the ESP8266 communication module (8) transmits signals to the control module, the control module receives the signals and then controls the second electric push rod (601) to shrink for 3 cm, so that the fulcrum rod (602) moves towards the direction far away from the third electric push rod (603), the swinging fulcrum of the slotted swing rod (605) backwards increases the swinging amplitude of the slotted swing rod, the movement stroke of the push rod (505) and the movable push plate (503) is further, and the grabbing force of the object grabbing rod (502) for grabbing is increased;
S6: the object is clamped below: the arc panel (1001) and the upper device thereof are installed on the clamping rod (502) through a screw rod (1002) and a nut (1003), a signal sent by a remote control center is received by an ESP8266 communication module (8) and transmitted to a control module, the control module controls a fourth servo motor (1004) to operate, the arc panel (1005) is enabled to rotate ninety degrees to support an object, and slipping or toppling of the object under the clamping of a heavy object is avoided;
S7: closing the device: when the remote control center detects the running condition of the equipment in real time and the equipment runs abnormally, the remote control center sends a signal to an ESP8266 communication module (8), the ESP8266 communication module (8) transmits the signal to a control module, the control module controls a buzzer (1102) to sound so as to remind a worker to press an emergency stop switch (1103), and the emergency stop switch (1103) controls the equipment to stop running;
S8: clamping high-altitude objects: ESP8266 communication module (8) received the signal that the remote control center sent and transmitted to control module, control module control fourth electric putter (1201) extend 20 centimetres, make rotary disk (303) and upper device upward movement for this equipment position height risees, and gripping pole (502) can carry out the gripping to the article of higher department.
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| CN202111389665.2A CN114012779B (en) | 2021-11-22 | 2021-11-22 | Mechanical arm capable of executing different tasks and use method thereof |
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| CN114571441B (en) * | 2022-03-29 | 2024-01-09 | 宁夏职业技术学院 | Industrial robot |
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Effective date of registration: 20240516 Address after: Standard Factory Phase I 01 # 1-303, No. 98 Xiyuan Second Road, Xiyong Street, High tech Zone, Shapingba District, Chongqing, 400000 Applicant after: CHONGQING JUZIXING TECH Co.,Ltd. Country or region after: China Applicant after: Chongqing Juzi Robot Co.,Ltd. Address before: 518000 Room 303, Shanghang building, building 23, Shangbu Industrial Zone, No. 3013, Hongli Road, Huahang community, Huaqiang North Street, Futian District, Shenzhen, Guangdong Province Applicant before: Ke Liulin Country or region before: China |
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