CN216127277U - Artificial intelligence robot arm with many joints are nimble to be rotated - Google Patents
Artificial intelligence robot arm with many joints are nimble to be rotated Download PDFInfo
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- CN216127277U CN216127277U CN202122058028.9U CN202122058028U CN216127277U CN 216127277 U CN216127277 U CN 216127277U CN 202122058028 U CN202122058028 U CN 202122058028U CN 216127277 U CN216127277 U CN 216127277U
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- 238000013473 artificial intelligence Methods 0.000 title claims description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 37
- 125000006850 spacer group Chemical group 0.000 claims 2
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005923 long-lasting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The utility model belongs to the technical field of intelligent robots, and discloses an artificial intelligent robot arm with flexible rotation of multiple joints, which comprises a fixed seat, wherein a transmission part capable of moving up and down is arranged on the fixed seat, the periphery of the transmission part is rotatably connected with a plurality of first movable arms, and the opening and closing of the first movable arms are driven according to the up and down movement of the transmission part; every another tip of first digging arm has splint through the pivot connection, first digging arm with be provided with telescopic machanism on the splint, telescopic machanism drive the opening and shutting of splint. The utility model utilizes a simple and efficient driving structure to enable each joint to flexibly open and close and rotate, presents diversified grasping widths and grasping angles, and obviously improves the grasping range of the robot arm.
Description
Technical Field
The utility model belongs to the technical field of intelligent robots, and particularly relates to an artificial intelligent robot arm with multiple joints capable of flexibly rotating.
Background
With the technical development of intelligent robots, the existing intelligent robots are widely applied to production or carrying operation, and the artificial intelligent robots need to be matched with mechanical arms capable of moving flexibly for use. The mechanical arm used at present is generally simple in structure, especially a tail-end grabbing part is usually intelligently operated in a simple rotating mode, the shape requirement on an object needing to be grabbed is high, the object needing to be grabbed is usually required to be customized according to the working environment, therefore, the grabbing range is limited, and the defects exist in the use process.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems in the prior art, and provides an artificial intelligent robot arm with multiple joints capable of flexibly rotating, wherein each joint can flexibly open and close and rotate by utilizing a simple and efficient driving structure.
The technical effect to be achieved by the utility model is realized by the following technical scheme:
an artificial intelligence robot arm with flexible rotation of multiple joints comprises a fixed seat, wherein a transmission part capable of moving up and down is arranged on the fixed seat, the periphery of the transmission part is rotatably connected with a plurality of first movable arms, and the opening and closing of the first movable arms are driven according to the up and down movement of the transmission part; every another tip of first digging arm has splint through the pivot connection, first digging arm with be provided with telescopic machanism on the splint, telescopic machanism drive the opening and shutting of splint.
Preferably, a second movable arm is arranged between the first movable arm and the clamping plate, one end of the second movable arm is pivotally connected with the first movable arm, and the other end of the second movable arm is pivotally connected with the clamping plate; the telescopic mechanisms comprise a first telescopic mechanism and a second telescopic mechanism, the first movable arm and the second movable arm are provided with the first telescopic mechanism, and the first telescopic mechanism drives the second movable arm to open and close; the second movable arm and the clamping plate are provided with a second telescopic mechanism, and the second telescopic mechanism drives the clamping plate to open and close.
Preferably, the device comprises a driving part, wherein the driving part is connected with the transmission part and drives the transmission part to move up and down.
Preferably, the driving part comprises a driving motor and a driving screw rod, the bottom of the driving screw rod penetrates through the fixed seat and is connected with a shaft of the driving motor, the driving motor is installed at the outer bottom of the fixed seat, a threaded through hole is formed in the center of the transmission part, and the driving screw rod is in threaded connection with the transmission part.
Preferably, the number of the first movable arms is more than two, and the first movable arms are uniformly arranged around the driving screw rod.
Preferably, the top of the first movable arm is fixedly connected with a first connecting seat, the upper end of the first connecting seat is connected with the connecting rod between the transmission part, and the lower end of the first connecting seat is connected with an auxiliary connecting rod between the fixed seat and the transmission part.
Preferably, the first telescopic mechanism comprises a first cylinder and a first push rod matched with the first cylinder, the tail part of the first cylinder is pivotally connected with the inner side of the first movable arm, and the outer end part of the first push rod is pivotally connected with the inner side of the second movable arm; when the first push rod extends out, the second movable arm is expanded outwards; when the first push rod retracts, the second movable arm is folded inwards.
Preferably, the bottom of the second movable arm is fixedly connected with an adapter, and the second telescopic mechanism is connected between the adapter and the outer side of the clamping plate.
Preferably, the second telescopic mechanism comprises a second cylinder and a second push rod matched with the second cylinder, the tail part of the second cylinder is in pivot connection with the adapter, and the outer end part of the second push rod is in pivot connection with the outer side of the clamping plate; when the second push rod extends out, the clamping plate is folded inwards; when the second push rod retracts, the clamping plates are pulled outwards.
Preferably, the clamping plate is provided with a gasket on a side surface facing the axis of the fixing seat, and a surface of the gasket is provided with gullies.
Compared with the prior art, the utility model has the beneficial effects that:
the utility model drives the first movable arm to open or tighten through the up-and-down displacement of the transmission piece, starts from the power part, and rapidly adjusts the grasping root in a simple movement mode; and the telescopic mechanisms are arranged on the movable arms at all levels, and the lower arm bodies or the clamping plates are driven to open and close through the telescopic mechanisms, so that a wider holding range is provided, and the telescopic device is suitable for objects with different shapes.
On the basis, the first movable arm can push and pull the second movable arms through the first telescopic structure, so that the distance between the bottoms of the second movable arms can be quickly adjusted; the bottom of the second movable arm can be provided with a clamping plate, and the second movable arm pushes and pulls the clamping plate through a second telescopic mechanism, so that the angle of the clamping plate can be quickly adjusted, namely the clamping plate can adapt to various grabbing environments;
therefore, according to the arrangement of the multi-section arm body and the corresponding telescopic mechanism, the robot arm is prompted to present diversified holding widths and holding angles, and the holding range of the robot arm is remarkably improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic perspective view of a robot arm according to the present embodiment;
FIG. 2 is a schematic bottom view of FIG. 1;
fig. 3 is a schematic plan structure diagram of the robot arm provided in this embodiment;
FIG. 4 is a schematic cross-sectional view taken along the line A-A of FIG. 3;
FIG. 5 is an enlarged view of the structure at B in FIG. 2;
in the figure, 1-the mounting seat; 1 a-upper seat; 1 b-a lower seat; 2-a support rod; 3-a connecting flange; 4-driving the motor; 5-driving the screw rod; 6-a transmission member; 7-a connecting rod; 8-a first connection seat; 9-a first movable arm; 10-a first shaft; 11-a second movable arm; 12-an auxiliary link; 13-a first cylinder; 14-an adapter; 15-clamping plate; 16-a rubber gasket; 17-a second cylinder; 18-a second shaft; 19-a first push rod; 20-a second push rod; 21-gully; 22-a first telescoping mechanism; 23-second telescoping mechanism.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Please refer to fig. 1 to 3, this embodiment provides an artificial intelligence robot arm with multiple joints flexibly rotating, the arm includes a fixing base 1, the fixing base 1 is divided into an upper base 1a and a lower base 1b which are parallel to each other and separated by a certain distance, a plurality of support rods 2 are adopted between the peripheral surface of the upper base 1a and the peripheral surface of the lower base 1b for fixed connection, the upper base 1a is connected with a connecting flange 3 through another support rod 2 at the center of the top surface, the robot arm is installed on the robot body through the connecting flange 3, and the connecting flange 3 not only has the characteristic of stable installation, but also is convenient for disassembly and assembly, and is beneficial to the subsequent maintenance operation of the arm.
The axle center department of fixing base 1 runs through and is provided with vertical drive lead screw 5, driving motor 4 is installed to the outer bottom of lower seat 1b, 5 one end of drive lead screw and driving motor 4's axle hookup, the other end runs through lower seat 1b and up extend until with upper seat 1a rotary type is connected. The driving screw rod 5 is of a screw rod structure and is connected with a driving piece 6 in a rotating mode, a corresponding threaded through hole is formed in the center of the driving piece 6, the driving motor 4 drives the driving screw rod 5 to rotate clockwise or anticlockwise, and then the driving piece 6 is driven to move up and down along the driving screw rod 5 by the aid of the screw rod principle.
On the basis, the circumferential surface of the transmission part 6 is respectively connected with first movable arms 9 through a plurality of connecting rods, the connecting rods 7 and the first movable arms 9 are uniformly arranged around the driving screw rod 5, the bottom end of each first movable arm 9 is connected with a second movable arm 11 through a first rotating shaft 10, and the bottom end of each second movable arm 11 is connected with a clamping plate 15 through a second rotating shaft 18;
according to the structure, the transmission piece 6 can drive the first movable arms 9 to be opened and closed synchronously through the connecting rods 7 in the up-and-down moving process, so that the distance between every two first movable arms 9 can be rapidly adjusted in a large range, the distance between every two second movable arms 11 and the distance between every two clamping plates 15 can be changed, and the arms can provide different holding widths.
It should be added that, in order to ensure that the first movable arm 9 can stably rotate relative to the transmission element 6, a first connecting seat 8 is fixedly connected to the top of the first movable arm 9, the connecting rod 7 is connected between the upper end of the first connecting seat 8 and the transmission element 6, and an auxiliary connecting rod 12 is connected between the lower end of the first connecting seat 8 and the fixed seat 1. The first movable arm 9 is supported on the foundation by the auxiliary link 12 and then rotated by the link 7.
It will be appreciated that the number of said first movable arms 9 must be more than two to accomplish the gripping of the object. In this embodiment, the number of the first movable arms 9 is preferably 4, that is, the arms adopt a four-claw gripping form, and compared with two claws or three claws, the gripping range of this embodiment is wider, and a more stable clamping capability can be provided; and compared with a six-claw structure, the structure of the embodiment is more concise and efficient, and is enough to realize complete restriction in the horizontal direction.
Referring to fig. 4, the first movable arm 9 and the second movable arm 11 are provided with a first telescopic mechanism 22, and the distance between the bottoms of the second movable arms 11, that is, the distance between the clamping plates 15, can be adjusted by the push-pull action of the first telescopic mechanism 22, so as to provide different gripping sizes; the second movable arm 11 and the clamp plate 15 are provided with a second telescopic mechanism 23, and the setting angle of the clamp plate 15, that is, the orientation thereof, can be changed by the push-pull action of the second telescopic mechanism 23, so as to provide different holding gestures.
In some embodiments, the telescopic mechanism is in the form of a pneumatic cylinder push rod, and specifically, the first telescopic mechanism 22 includes a first pneumatic cylinder 13 and a first push rod 19 (shown in fig. 3) associated with the first pneumatic cylinder 13, a tail portion of the first pneumatic cylinder 13 is pivotally connected to an inner side of the first movable arm 9, and an outer end portion of the first push rod 19 is pivotally connected to an inner side of the second movable arm 11; when the first push rod 19 extends, the bottom of the second movable arm 11 is spread outwards; when the first push rod 19 is retracted, the bottom of the second movable arm 11 is folded inwards.
Referring to fig. 5, further, an adapter 14 is fixedly connected to the bottom of the second movable arm 11, and the second telescopic mechanism 23 is connected between the adapter 14 and the outer side of the clamping plate 15. The second telescopic mechanism 23 comprises a second cylinder 17 and a second push rod 20 matched with the second cylinder 17, the tail part of the second cylinder 17 is pivotally connected with the adapter 14, and the outer end part of the second push rod 20 is pivotally connected with the outer side of the clamping plate 15; when the second push rod 20 extends, the clamping plate 15 is folded inwards; when the second push rod 20 is retracted, the clamping plate 15 is pulled outward.
Of course, in other embodiments, the telescopic mechanism may also adopt a form such as a worm, a rack, an electric push rod, and the like, and all the forms can achieve the push-pull effect, but the simple rigid transmission is often complex in structure and inconvenient to maintain, and the conventional rigid transmission needs relatively single action conditions and is not completely adapted to the multi-angle inclined movement characteristics of the mechanical arm. And the telescopic machanism of this embodiment preferably adopts the cylinder push rod, draws the advantage that pneumatic transmission structure is light, the motion is steady, effort is strong and stable for the gesture of robot arm is adjusted more nimble fast, and can provide stable intensity of grabbing.
In some embodiments, the clamping plate 15 is adhered with a rubber pad 16 (as shown in fig. 1-3) on a side facing the axis of the fixing base 1, and the surface of the rubber pad 16 is provided with grooves 21, which can provide a large friction force and is not prone to wear on the surface of the object.
In other embodiments, the first movable arm 9 may be directly pivotally connected to the clamping plate 15, in which case the first movable arm 9 should have a bent shape, the upper end of the first movable arm 9 is still movably connected to the transmission member 6 and the lower seat 1b by the connecting rod 7 and the auxiliary connecting rod 12, and a telescopic mechanism is installed on the outer side of the lower portion of the first movable arm 9 and the outer side of the clamping plate 15, so as to form a two-stage swivel joint.
However, in order to achieve the widest possible range of motion, it is preferable that the robot arm of the present embodiment follows the principle of three-stage transmission, wherein the first movable arm 9 corresponds to an upper arm portion of the robot arm, the second movable arm 11 corresponds to a lower arm portion of the robot arm, the clamping plate 15 corresponds to a wrist portion, and the robot arm clamps the object through the clamping plate 15, and three or more stages of telescopic mechanisms are used to make the posture adjustment of the robot arm more flexible, and further reduce the direct force transmission of the clamping process to the transmission member 6 and the fixing base 1, so that the overall structure is more reliable, and the stable and long-lasting clamping strength is provided.
The working principle of the present embodiment is briefly described here:
before use, firstly, the robot arm is fixedly connected with a robot body through a connecting flange 3 and a matched bolt, an external power supply is switched on, a driving motor 4 is started, a driving screw rod 5 drives a driving piece 6 to move upwards, and the driving piece 6 simultaneously pushes the bottom ends of four first movable arms 9 to be outwards propped open through a matching connecting rod 7 and a first connecting seat 8; then start four first cylinders 13 in step, come the corresponding second digging arm 11 of pulling through the shrink of first push rod 19, with the help of connecting rod 10, the bottom of second digging arm 11 can be gathered together towards fixing base 1 axis, and then dwindle the interval between every splint 15, promptly dwindle and grab the width, when splint 15 is pressed close to and is waited to centre gripping article, the user starts second cylinder 17 according to the demand, through second cylinder 17 pulling or promote splint 15, and then the angle of adjustment splint 15, until splint 15 cooperation rubber packing 16 presss from both sides the article tightly.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. An artificial intelligence robot arm with flexible rotation of multiple joints is characterized by comprising a fixed seat, wherein a transmission part capable of moving up and down is arranged on the fixed seat, the periphery of the transmission part is rotatably connected with a plurality of first movable arms, and the plurality of first movable arms are driven to open and close according to the up and down movement of the transmission part; every another tip of first digging arm has splint through the pivot connection, first digging arm with be provided with telescopic machanism on the splint, telescopic machanism drive the opening and shutting of splint.
2. An artificial intelligence robot arm having multiple joints for flexible rotation according to claim 1, wherein a second movable arm is provided between the first movable arm and the clamp plate, one end of the second movable arm is pivotally connected to the first movable arm, and the other end is pivotally connected to the clamp plate; the telescopic mechanisms comprise a first telescopic mechanism and a second telescopic mechanism, the first movable arm and the second movable arm are provided with the first telescopic mechanism, and the first telescopic mechanism drives the second movable arm to open and close; the second movable arm and the clamping plate are provided with a second telescopic mechanism, and the second telescopic mechanism drives the clamping plate to open and close.
3. The artificial intelligence robot arm of claim 1, including a drive unit, wherein the drive unit is connected to the driving member and drives the driving member to move up and down.
4. The artificial intelligence robot arm with multi-joint flexible rotation of claim 3, wherein the driving part includes a driving motor and a driving screw rod, the bottom of the driving screw rod penetrates through the fixing base and is connected with the shaft of the driving motor, the driving motor is installed at the outer bottom of the fixing base, the center of the driving member is provided with a threaded through hole, and the driving screw rod is in threaded connection with the driving member.
5. The artificial intelligence robot arm of claim 4, wherein the number of the first movable arms is two or more, and the first movable arms are evenly arranged around the driving screw.
6. The artificial intelligence robot arm with multi-joint flexible rotation of claim 1, wherein a first connecting seat is fixedly connected to the top of the first movable arm, a connecting rod is connected between the upper end of the first connecting seat and the transmission member, and an auxiliary connecting rod is connected between the lower end of the first connecting seat and the fixed seat.
7. An artificial intelligence robot arm having multiple joints for flexible rotation according to claim 2, wherein the first telescoping mechanism comprises a first cylinder and a first push rod matching with the first cylinder, the tail of the first cylinder is pivotally connected to the inner side of the first movable arm, and the outer end of the first push rod is pivotally connected to the inner side of the second movable arm; when the first push rod extends out, the second movable arm is expanded outwards; when the first push rod retracts, the second movable arm is folded inwards.
8. The artificial intelligence robot arm with flexible rotation of multiple joints according to claim 2, wherein an adapter is fixedly connected to the bottom of the second movable arm, and the second telescopic mechanism is connected between the adapter and the outer side of the clamping plate.
9. The artificial intelligence robot arm with multi-joint flexible rotation of claim 8, wherein the second telescoping mechanism includes a second cylinder and a second push rod matched with the second cylinder, the tail of the second cylinder is pivotally connected with the adapter, and the outer end of the second push rod is pivotally connected with the outer side of the clamping plate; when the second push rod extends out, the clamping plate is folded inwards; when the second push rod retracts, the clamping plates are pulled outwards.
10. An artificial intelligence robot arm having multi-joint flexibility as claimed in claim 9, wherein the splint has spacers on the side facing the holder axis, the spacers having a surface with corrugations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122058028.9U CN216127277U (en) | 2021-08-30 | 2021-08-30 | Artificial intelligence robot arm with many joints are nimble to be rotated |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122058028.9U CN216127277U (en) | 2021-08-30 | 2021-08-30 | Artificial intelligence robot arm with many joints are nimble to be rotated |
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| CN216127277U true CN216127277U (en) | 2022-03-25 |
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| CN202122058028.9U Expired - Fee Related CN216127277U (en) | 2021-08-30 | 2021-08-30 | Artificial intelligence robot arm with many joints are nimble to be rotated |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114947309A (en) * | 2022-06-14 | 2022-08-30 | 泉州嘉宏鞋材有限公司 | High bradyseism sports shoes sole and manufacture equipment thereof |
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2021
- 2021-08-30 CN CN202122058028.9U patent/CN216127277U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114947309A (en) * | 2022-06-14 | 2022-08-30 | 泉州嘉宏鞋材有限公司 | High bradyseism sports shoes sole and manufacture equipment thereof |
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Granted publication date: 20220325 |
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