Multi-arm collaborative mechanical device based on deep learning algorithm
The electromagnet and motor system driven by deep learning algorithms enables flexible disassembly and installation of multi-arm collaborative mechanical devices, solving the problem that existing devices cannot adjust the number of robotic arms, and improving the adaptability and working efficiency of the device.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHENGDU KECHENG INTELLIGENT MANUFACTURING TECHNOLOGY CO LTD
- Filing Date
- 2023-02-22
- Publication Date
- 2026-06-09
AI Technical Summary
Existing mechanical devices cannot disassemble and install robotic arms as needed, nor can they adjust the number of robotic arms to meet the work requirements of complex processes.
A multi-arm collaborative mechanical device based on deep learning algorithms is used to disassemble and install the robotic arm through the attraction of electromagnets and magnetic blocks and the cooperation of telescopic springs; the position adjustment of the mounting box is achieved by the meshing of motors and worm gears; and the angle and position adjustment of the side plates and clamping plates are achieved by the cooperation of hydraulic rods and reciprocating screws.
It enables flexible disassembly and installation of the robotic arm, improving the practicality and adaptability of the device. It can adjust the position and angle of the robotic arm according to needs to meet the work requirements of complex processes.
Smart Images
Figure CN116330258B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of multi-arm cooperative machinery technology, specifically to a multi-arm cooperative machinery device based on deep learning algorithms. Background Technology
[0002] With the rapid growth of market demand for intelligent applications, the research and development of intelligent equipment has advanced rapidly and has been widely applied. Mobile robotic arms, as a type of intelligent equipment, are widely used in various industries to assist or replace humans in completing certain tasks, greatly reducing workload and improving production efficiency. To further improve the working efficiency of mobile robotic arms and adapt to the requirements of more complex processes, multi-arm collaborative work has emerged. Since different tasks can be assigned to each robotic arm simultaneously, it is necessary to plan the motion trajectory of the robotic arm joints. However, existing mechanical devices cannot disassemble and install robotic arms according to needs, nor can they adjust the number of robotic arms as required. Therefore, we propose a multi-arm collaborative mechanical device based on deep learning algorithms. Summary of the Invention
[0003] To address the shortcomings of existing technologies, this invention provides a multi-arm collaborative mechanical device based on deep learning algorithms, which solves the problems mentioned in the background section.
[0004] To achieve the above objectives, the present invention provides the following technical solution: a multi-arm collaborative mechanical device based on a deep learning algorithm, comprising a mounting base, a third sliding groove on the top of the mounting base, a mounting plate fixedly installed inside the third sliding groove, a mounting box slidably connected inside the third sliding groove, a third slot on the top of the mounting box, a third locking block engaged inside the third slot, a limit groove inside the third locking block, a second top plate fixedly installed on the top of the third locking block, a second mounting groove inside the mounting box, a telescopic spring fixedly installed inside the second mounting groove, a pull rod disposed inside the second mounting groove, the pull rod passing through the telescopic spring, a limit block fixedly installed at one end of the pull rod, the limit block being adapted to the limit groove, a first mounting groove inside the mounting box, an electromagnet fixedly installed inside the first mounting groove, a magnetic block fixedly installed at one end of the pull rod, the magnetic block being magnetically connected to the electromagnet.
[0005] Preferably, the second top plate has an annular groove inside, and two sliders are slidably connected inside the annular groove. A first rotating block is fixedly installed between the two sliders. A hydraulic rod is fixedly installed on the top of the first rotating block. A fourth motor is fixedly installed on the bottom of the second top plate, and one end of the fourth motor is fixedly connected to the first rotating block.
[0006] Preferably, the mounting box is rotatably connected to a rotating rod, a worm gear is fixedly sleeved on the outer side of the rotating rod, and a gear is fixedly sleeved on the outer side of the rotating rod.
[0007] Preferably, a third motor is fixedly installed on one side of the mounting box, and a worm gear is fixedly installed at the output end of the third motor. The worm gear is meshed with a worm wheel, and a rack is provided on the outer side of the mounting plate. The rack is meshed with a gear.
[0008] Preferably, a first connecting rod is fixedly installed at the output end of the hydraulic rod, a first connecting plate is fixedly installed at one end of the first connecting rod, a rotating groove is provided on the top of the first connecting plate, a rotating shaft is rotatably connected inside the rotating groove, a first motor is fixedly installed on one side of the first connecting plate, and the output end of the first motor is fixedly connected to one end of the rotating shaft.
[0009] Preferably, a mounting block is fixedly sleeved on the outer side of the rotating shaft, and a first side plate is fixedly installed on one side of the mounting block.
[0010] Preferably, a first slot is provided on both sides of the first side plate, a first block is engaged inside the first slot, a second connecting plate is fixedly installed at one end of the first block, a first top plate is fixedly installed on the top of the second connecting plate, a fixing plate is installed on the outer side of the first top plate and the first side plate, and a second sliding groove is provided inside the fixing plate.
[0011] Preferably, the top of the fixing plate is provided with a first sliding groove, the inside of the first sliding groove is slidably connected to a second rotating block, the outside of the second rotating block is rotatably connected to a second connecting rod, the top of the fixing plate is fixedly installed with a second motor, and the output end of the second motor is fixedly installed with a reciprocating lead screw.
[0012] Preferably, a movable plate is threadedly connected to the outer side of the reciprocating lead screw, the movable plate is rotatably connected to the second connecting rod, a connecting block is fixedly installed at the bottom of the second rotating block, an extension plate is fixedly installed at the bottom of the connecting block, a second slot is provided on one side of the extension plate, a second locking block is engaged inside the second slot, and a clamping plate is fixedly installed on one side of the second locking block.
[0013] This invention provides a multi-arm cooperative mechanical device based on deep learning algorithms, which has the following advantages:
[0014] 1. This multi-arm collaborative mechanical device based on deep learning algorithms uses an electromagnet to attract a magnetic block, which moves a limiting block at one end of a pull rod. The moving limiting block compresses a telescopic spring, allowing a third locking block to be inserted into a third slot, thus installing the second top plate. Then, the electromagnet is released from its attraction to the magnetic block, and the spring's return force resets the limiting block, causing it to lock into a limiting slot, completing the limiting and installation of the third locking block. Finally, the first locking block is inserted into the first slot, completing the installation of the first top plate. This allows for the disassembly and installation of the fixing plate as needed, improving its practicality.
[0015] 2. This multi-arm collaborative mechanical device based on deep learning algorithms uses a third motor to drive a worm gear to rotate. The worm gear meshes with a worm wheel, which in turn drives a rotating rod to rotate. The rotation of the rotating rod drives an outer gear to rotate. The gear meshes with a rack, which moves the mounting box. The position of the mounting box can be adjusted as needed. A fourth motor drives a first rotating block to rotate, which in turn drives a slider to slide inside an annular groove. The rotation of the first rotating block can adjust the lateral angle of the first side plate, and the hydraulic rod can adjust the height of the first side plate.
[0016] 3. This multi-arm collaborative mechanical device based on deep learning algorithms uses a first motor to drive a rotating shaft to rotate, which in turn drives the outer rotating groove to rotate. This allows the folding angle of the first side plate to be adjusted as needed. A second motor drives a reciprocating screw to rotate, which in turn moves the outer moving plate. The movement of the moving plate allows the angle of the second connecting rod to be adjusted. The rotation of the second connecting rod allows the second rotating block to slide inside the first sliding groove, which in turn moves the bottom extension plate. By inserting the second locking block into the second locking slot, the clamping plate can be installed. The position of the clamping plate can be adjusted by moving the extension plate, thus completing the clamping operation. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of the present invention;
[0018] Figure 2 This is a front view of the structure of the present invention;
[0019] Figure 3 For the present invention Figure 1 Enlarged view of point A in the image;
[0020] Figure 4 For the present invention Figure 2 Enlarged view of point B in the image;
[0021] Figure 5This is an external view of the first connecting plate of the present invention;
[0022] Figure 6 This is an external view of the second connecting plate of the present invention.
[0023] In the diagram: 1. Mounting base; 2. Electromagnet; 3. Mounting plate; 4. Rack; 5. Third slide groove; 6. Annular groove; 7. First mounting groove; 8. Magnetic block; 9. First rotating block; 10. Slider; 11. Hydraulic rod; 12. First connecting rod; 13. Rotating groove; 14. First connecting plate; 15. Rotating shaft; 16. Mounting block; 17. First motor; 18. First locking block; 19. First side plate; 20. First slot; 21. Second connecting plate; 22. First top plate; 23. Clamping plate; 24. Second locking block; 25. Second slot; 26. Extension plate; 27. Fixing plate; 28. First slide groove; 29. Second rotating block; 30. Connecting block; 31. Second motor; 32. Reciprocating lead screw; 33. Moving plate; 34. Second connecting rod; 35. Second slide groove; 36. Worm gear; 37. Worm wheel; 38. Rotating rod; 41. Mounting box; 42. Third motor; 43. Second top plate; 44. Fourth motor; 45. Pull rod; 46. Second mounting groove; 47. Telescopic spring; 48. Third slot; 49. Limiting groove; 50. Limiting block; 51. Third locking block; 52. Gear. Detailed Implementation
[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.
[0025] Please see Figures 1 to 6This invention provides a technical solution: a multi-arm collaborative mechanical device based on a deep learning algorithm, including a mounting base 1. A third sliding groove 5 is formed on the top of the mounting base 1. A mounting plate 3 is fixedly installed inside the third sliding groove 5. A mounting box 41 is slidably connected inside the third sliding groove 5. A third slot 48 is formed on the top of the mounting box 41. A third locking block 51 is engaged inside the third slot 48. A limiting groove 49 is formed inside the third locking block 51. A second top plate 43 is fixedly installed on the top of the third locking block 51. A second mounting groove 46 is formed inside the mounting box 41. A telescopic spring 47 is fixedly installed inside the second mounting groove 46. A pull rod 45 is provided inside the second mounting groove 46, passing through the telescopic spring 47. A limiting block 50 is fixedly installed at one end of the pull rod 45, and the limiting block 50 is adapted to the limiting groove 49. A first mounting... An electromagnet 2 is fixedly installed inside the first mounting slot 7. A magnetic block 8 is fixedly installed at one end of the pull rod 45. The magnetic block 8 is magnetically connected to the electromagnet 2. By using the electromagnet 2 to attract the magnetic block 8, the limiting block 50 at one end of the pull rod 45 can be moved. When the limiting block 50 moves, it compresses the telescopic spring 47. Then, the third locking block 51 can be inserted into the third locking slot 48 to complete the installation of the second top plate 43. Then, the electromagnet 2 is released from attracting the magnetic block 8. The rebound force of the telescopic spring 47 can reset the limiting block 50, so that it is locked into the limiting slot 49, completing the limiting and installation of the third locking block 51. Then, the first locking block 18 is inserted into the first locking slot 20 to complete the installation of the first top plate 22. Thus, the fixing plate 27 can be disassembled and installed as needed, improving its practicality.
[0026] The second top plate 43 has an annular groove 6 inside, with two sliders 10 slidably connected inside the annular groove 6. A first rotating block 9 is fixedly installed between the two sliders 10. A hydraulic rod 11 is fixedly installed on the top of the first rotating block 9. A fourth motor 44 is fixedly installed at the bottom of the second top plate 43, with one end of the fourth motor 44 fixedly connected to the first rotating block 9. A rotating rod 38 is rotatably connected inside the mounting box 41. A worm gear 37 is fixedly sleeved on the outside of the rotating rod 38, and a gear 52 is fixedly sleeved on the outside of the rotating rod 38. A third motor 42 is fixedly installed on one side of the mounting box 41. A worm 36 is fixedly installed at the output end of the third motor 42, and the worm 36 meshes with the worm gear 37. The mounting plate 3... A rack 4 is provided on the outer side, which meshes with a gear 52. By using a third motor 42 to drive the worm 36 to rotate, the worm 36 meshes with a worm wheel 37, which can drive the rotating rod 38 to rotate. The rotation of the rotating rod 38 can drive the outer gear 52 to rotate. The gear 52 meshes with the rack 4, which can drive the mounting box 41 to move. Thus, the position of the mounting box 41 can be adjusted as needed. By using a fourth motor 44 to drive the first rotating block 9 to rotate, the slider 10 slides inside the annular groove 6. The rotation of the first rotating block 9 can adjust the lateral angle of the first side plate 19, and the hydraulic rod 11 can adjust the height of the first side plate 19.
[0027] Wherein: the output end of the hydraulic rod 11 is fixedly installed with a first connecting rod 12, one end of the first connecting rod 12 is fixedly installed with a first connecting plate 14, the top of the first connecting plate 14 is provided with a rotating groove 13, the inside of the rotating groove 13 is rotatably connected with a rotating shaft 15, one side of the first connecting plate 14 is fixedly installed with a first motor 17, the output end of the first motor 17 is fixedly connected with one end of the rotating shaft 15, the outside of the rotating shaft 15 is fixedly sleeved with a mounting block 16, one side of the mounting block 16 is fixedly installed with a first side plate 19, both sides of the first side plate 19 are provided with first slots 20, the inside of the first slots 20 is used to lock... A first locking block 18 is connected to the first locking block 18. A second connecting plate 21 is fixedly installed at one end of the first locking block 18. A first top plate 22 is fixedly installed on the top of the second connecting plate 21. Fixing plates 27 are installed on the outer sides of the first top plate 22 and the first side plate 19. A second sliding groove 35 is opened inside the fixing plate 27. A first sliding groove 28 is opened on the top of the fixing plate 27. A second rotating block 29 is slidably connected inside the first sliding groove 28. A second connecting rod 34 is rotatably connected to the outer side of the second rotating block 29. A second motor 31 is fixedly installed on the top of the fixing plate 27. A reciprocating screw is fixedly installed at the output end of the second motor 31. A movable plate 33 is threadedly connected to the outer side of the reciprocating lead screw 32. The movable plate 33 is rotatably connected to the second connecting rod 34. A connecting block 30 is fixedly installed at the bottom of the second rotating block 29. An extension plate 26 is fixedly installed at the bottom of the connecting block 30. A second slot 25 is opened on one side of the extension plate 26. A second locking block 24 is locked inside the second slot 25. A clamping plate 23 is fixedly installed on one side of the second locking block 24. By using the first motor 17 to drive the rotating shaft 15 to rotate, the outer rotating slot 13 can be driven to rotate. Thus, the folding angle of the first side plate 19 can be adjusted as needed. The second motor 31 drives the reciprocating screw 32 to rotate, which in turn moves the outer movable plate 33. The movement of the movable plate 33 adjusts the angle of the second connecting rod 34. The rotation of the second connecting rod 34 causes the second rotating block 29 to slide inside the first slide groove 28, thereby moving the bottom extension plate 26. The installation of the clamping plate 23 is completed by inserting the second locking block 24 into the second locking groove 25. The position of the clamping plate 23 can be adjusted by moving the extension plate 26, thus completing the clamping operation.
[0028] In summary, this multi-arm collaborative mechanical device based on deep learning algorithms, when in use, utilizes the electromagnet 2 to attract the magnetic block 8, which moves the limiting block 50 at one end of the pull rod 45. When the limiting block 50 moves, it compresses the telescopic spring 47, thereby engaging the third locking block 51 into the third locking slot 48 to complete the installation of the second top plate 43. Then, the electromagnet 2 is released from its attraction to the magnetic block 8, and the rebound force of the telescopic spring 47 resets the limiting block 50, causing it to engage in the limiting groove 49. The first part completes the limiting and installation work of the third locking block 51. Then, the first locking block 18 is inserted into the first locking slot 20 to complete the installation of the first top plate 22. By using the third motor 42 to drive the worm 36 to rotate, and the worm 36 meshing with the worm wheel 37, the rotating rod 38 can be rotated. The rotation of the rotating rod 38 can drive the outer gear 52 to rotate. The gear 52 meshing with the rack 4 can drive the mounting box 41 to move, thereby adjusting the mounting box as needed. At position 41, the first rotating block 9 is rotated by the fourth motor 44, which simultaneously causes the slider 10 to slide inside the annular groove 6. The rotation of the first rotating block 9 can adjust the lateral angle of the first side plate 19, and the hydraulic rod 11 can adjust the height of the first side plate 19. The first motor 17 drives the rotating shaft 15 to rotate, which in turn drives the outer rotating groove 13 to rotate, thereby adjusting the folding angle of the first side plate 19 as needed. The second motor 31 drives the reciprocating screw 32 to rotate, which in turn drives the outer moving plate 33 to move. The movement of the moving plate 33 can adjust the angle of the second connecting rod 34. The rotation of the second connecting rod 34 can drive the second rotating block 29 to slide inside the first sliding groove 28, thereby moving the bottom extension plate 26. The installation of the clamping plate 23 can be completed by inserting the second locking block 24 into the second locking groove 25. The position of the clamping plate 23 can be adjusted by moving the extension plate 26, thereby completing the clamping operation.
[0029] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A multi-arm cooperative mechanical device based on deep learning algorithms, comprising a mounting base (1), characterized in that: The top of the mounting base (1) is provided with a third sliding groove (5), and a mounting plate (3) is fixedly installed inside the third sliding groove (5). A mounting box (41) is slidably connected inside the third sliding groove (5). The top of the mounting box (41) is provided with a third slot (48), and a third locking block (51) is locked inside the third slot (48). A limit groove (49) is provided inside the third locking block (51). A second top plate (43) is fixedly installed on the top of the third locking block (51). A second mounting groove (46) is provided inside the mounting box (41). A telescopic spring (47) is fixedly installed inside the mounting slot (46). A pull rod (45) is provided inside the second mounting slot (46). The pull rod (45) passes through the telescopic spring (47). A limit block (50) is fixedly installed at one end of the pull rod (45). The limit block (50) is adapted to the limit slot (49). A first mounting slot (7) is opened inside the mounting box (41). An electromagnet (2) is fixedly installed inside the first mounting slot (7). A magnetic block (8) is fixedly installed at one end of the pull rod (45). The magnetic block (8) is magnetically connected to the electromagnet (2). The second top plate (43) has an annular groove (6) inside, and two sliders (10) are slidably connected inside the annular groove (6). A first rotating block (9) is fixedly installed between the two sliders (10). A hydraulic rod (11) is fixedly installed on the top of the first rotating block (9). A fourth motor (44) is fixedly installed on the bottom of the second top plate (43). One end of the fourth motor (44) is fixedly connected to the first rotating block (9). The output end of the hydraulic rod (11) is fixedly installed with a first connecting rod (12), and a first connecting plate (14) is fixedly installed at one end of the first connecting rod (12). A rotating groove (13) is opened on the top of the first connecting plate (14), and a rotating shaft (15) is rotatably connected inside the rotating groove (13). A first motor (17) is fixedly installed on one side of the first connecting plate (14), and the output end of the first motor (17) is fixedly connected to one end of the rotating shaft (15).
2. The multi-arm cooperative mechanical device based on deep learning algorithm according to claim 1, characterized in that: The mounting box (41) is rotatably connected to a rotating rod (38), a worm gear (37) is fixedly sleeved on the outside of the rotating rod (38), and a gear (52) is fixedly sleeved on the outside of the rotating rod (38).
3. The multi-arm cooperative mechanical device based on deep learning algorithm according to claim 1, characterized in that: A third motor (42) is fixedly installed on one side of the mounting box (41). A worm (36) is fixedly installed at the output end of the third motor (42). The worm (36) is meshed with a worm wheel (37). A rack (4) is provided on the outer side of the mounting plate (3). The rack (4) is meshed with a gear (52).
4. The multi-arm cooperative mechanical device based on deep learning algorithm according to claim 1, characterized in that: An installation block (16) is fixedly sleeved on the outside of the rotating shaft (15), and a first side plate (19) is fixedly installed on one side of the installation block (16).
5. A multi-arm cooperative mechanical device based on a deep learning algorithm according to claim 4, characterized in that: The first side plate (19) has a first slot (20) on both sides. The first slot (20) is fitted with a first block (18). A second connecting plate (21) is fixedly installed at one end of the first block (18). A first top plate (22) is fixedly installed on the top of the second connecting plate (21). A fixing plate (27) is installed on the outer side of both the first top plate (22) and the first side plate (19). A second sliding groove (35) is opened inside the fixing plate (27).
6. A multi-arm cooperative mechanical device based on a deep learning algorithm according to claim 5, characterized in that: The top of the fixed plate (27) is provided with a first sliding groove (28), and a second rotating block (29) is slidably connected inside the first sliding groove (28). A second connecting rod (34) is rotatably connected to the outside of the second rotating block (29). A second motor (31) is fixedly installed on the top of the fixed plate (27), and a reciprocating screw (32) is fixedly installed at the output end of the second motor (31).
7. A multi-arm cooperative mechanical device based on a deep learning algorithm according to claim 6, characterized in that: The reciprocating screw (32) is threaded with a movable plate (33) on the outside. The movable plate (33) is rotatably connected to the second connecting rod (34). A connecting block (30) is fixedly installed at the bottom of the second rotating block (29). An extension plate (26) is fixedly installed at the bottom of the connecting block (30). A second slot (25) is provided on one side of the extension plate (26). A second locking block (24) is locked inside the second slot (25). A clamping plate (23) is fixedly installed on one side of the second locking block (24).