Redundant mechanical arm and system for controlling redundant mechanical arm

Abstract

The invention discloses a redundant mechanical arm which comprises a base, a joint arm frame and a grabbing and lifting part. The joint arm frame is connected with the base and the grabbing and lifting part, the joint arm frame comprises a plurality of arm frame bodies, and the arm frame bodies are sequentially connected into a whole through hinge and offset sliding pairs, so that the freedom degree of the configuration of the redundant mechanical arm is adjustable; and the grabbing and lifting part comprises a two-degree-of-freedom rotary side-tipping device and a grabbing and lifting tool, and the two-degree-of-freedom rotary side-tipping device is connected with the grabbing and lifting tool through a tool quick-changing mechanism, so that the grabbing and lifting tool can swing and rotate, and the grabbing and lifting tool has redundant spatial degrees of freedom. The degree of freedom of the configuration of the redundant mechanical arm is adjustable, so that the mechanical arm can be folded in a non-working state, the space occupied by placement is greatly reduced, the storage space of the mechanical arm is smaller, and portability and universality are higher.

Description

technical field [0001] The invention belongs to the field of engineering machinery, in particular to a redundant mechanical arm and a system for controlling the redundant mechanical arm. Background technique [0002] At present, engineering mechanical arms have been widely used outdoors and in factory environments. For example, engineering machinery such as various excavators, concrete pouring pump trucks, logging machines, and end-hook support vehicles have applied mechanical arms, but the above-mentioned types Construction manipulators generally have disadvantages such as few degrees of freedom, difficult terminal control, inconvenient operation, large space occupation in non-working state, and difficult storage and transportation. [0003] In addition, with the rapid development of science and technology today, intelligent equipment and intelligent control methods are gradually replacing traditional construction machinery and control methods. Intelligent construction mach...

AI Technical Summary

Problems solved by technology

However, the existing mechanical control system or method is open-loop control, manual visual inspection and manual intervention control mode, the control accuracy is low, and when the end of the mechanical arm moves away from the operator or the operator's field of vision is limited, it will affect the control of the mechanical arm. Operability and safety pose great difficulties

In addition, although the method of connecting multi-stage jib joints in series on the same plane can provide a large working space for the manipulator, it still does not solve the problem of the lack of spatial freedom, which also makes the manipulator unable to be effectively folded after recovery. Or it takes up a lot of space after being folded. At the same time, the existing engineering manipulators generally have the problem that the number of degrees of freedom is small or that they cannot provide spatial degrees of freedom.

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