Foldable carbon fiber robotic arm with motion tracking

Abstract

The present invention relates to the field of mechanical arm technology, and discloses a foldable carbon fiber mechanical arm with motion tracking, including a movable mechanism, the movable mechanism including a main connecting arm and a secondary connecting arm, both ends of the main connecting arm are equipped with connecting heads, and the connecting head near one end of the secondary connecting arm is rotatably equipped with a side mounting plate; a detection mechanism, the detection mechanism including a main angle sensor and a secondary angle sensor; a mounting mechanism, the mounting mechanism including a connecting seat, and a tightening tool is installed on the connecting seat. The present invention constructs the relationship between the distance between the tightening tool and the mounting seat through the monitoring angle values ​​of the main angle sensor and the secondary angle sensor and the lengths of the main connecting arm and the secondary connecting arm, and based on this, each hole position corresponds to the angle value monitored by the main angle sensor and the secondary angle sensor, ensuring that each assembly hole position can detect assembly tightening, effectively preventing the phenomenon of wrong tightening or missing tightening.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical arms, and in particular, relates to a foldable carbon fiber mechanical arm with motion tracking. Background Art

[0002] The existing folding robotic arm is usually composed of a front robotic arm and a rear robotic arm. The front and rear robotic arms are generally made of steel, and the metal parts are connected together by welding. The robotic arm of this structure has a large body, a heavy force arm, a large gap between the connecting parts, low precision, inflexible use, low efficiency in the production process, and insufficient labor saving.

[0003] The load gravity is balanced by a gas spring or a spring balancer. During use, the service life is short, the load cannot be adjusted, it is not flexible, and the operator has more effort when moving up and down. The robot arm does not have a sensor and cannot realize position detection, which may cause wrong tightening or missing tightening during use.

[0004] A Chinese patent with authorization announcement number CN220593156U discloses a floating carbon fiber anti-torsion power-assisting arm. The floating carbon fiber anti-torsion power-assisting arm is made of carbon fiber material as a whole and is fixed by screws. It is easy to operate and reliable to use. It can be used with a special tightening fixture to realize the tightening of bolts and nuts on multiple working surfaces. The reaction force generated by tightening is transmitted to the pneumatic brake cylinder through the main arm mounting seat, flat key and rotating shaft, and the reaction forces are offset by the cylinder, thereby realizing the function of resisting the reaction force. By setting a tapered rolling bearing, it is ensured that the clearance of the bearing after installation can offset the influence of gravity, thereby ensuring the flexible rotation of the main arm, upper auxiliary arm and lower auxiliary arm.

[0005] However, this technical solution still has at least the following defects: when performing tightening operations on multiple assembly holes, this technical solution cannot detect the positioning of each hole according to the power-assisting arm, and there is still the phenomenon of wrong tightening or missing tightening during use. In view of this, the present invention is proposed. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a foldable carbon fiber robotic arm with motion tracking, which constructs the relationship between the distance between the tightening tool and the mounting seat through the monitoring angle values ​​of the main angle sensor and the auxiliary angle sensor and the lengths of the main connecting arm and the auxiliary connecting arm, and based on this, each hole position corresponds to the angle value monitored by the main angle sensor and the auxiliary angle sensor, ensuring that each assembly hole position can detect assembly tightening and effectively prevent wrong tightening or missed tightening.

[0007] The technical solution adopted by the present invention to solve its technical problem is:

[0008] Folding carbon fiber robotic arm with motion tracking, including:

[0009] A movable mechanism, the movable mechanism comprising a main connecting arm and a secondary connecting arm, a connecting piece is installed between the main connecting arm and the secondary connecting arm, and the main connecting arm and the secondary connecting arm rotate with each other through the connecting piece;

[0010] The mounting mechanism is connected to the auxiliary connecting arm, and a tightening tool is installed on the mounting mechanism, so that the tightening tool and the auxiliary connecting arm can rotate relative to each other through the mounting mechanism.

[0011] As a preferred embodiment of the present invention, a mounting seat is provided at one end of the main connecting arm, the mounting seat is rotatably connected to the connecting head, a pressure regulating valve is installed on the mounting seat, and a pushing device is provided on the secondary connecting arm, the pushing device includes a cylinder, a fixing ring is rotatably installed at one end of the cylinder, the fixing ring is fixedly sleeved on the secondary connecting arm, the other end of the cylinder is rotatably connected to the side mounting plate, and valve nozzles are installed at both ends of the main connecting arm, and the valve nozzles at both ends are respectively sealed and connected to the cylinder and the pressure regulating valve through conduits.

[0012] As a preferred embodiment of the present invention, the installation mechanism also includes a clamping assembly, the clamping assembly includes a limit clamp block, and a magnet is installed on one side of the limit clamp block, the tightening tool is provided with a clamping section, the clamping section corresponds to the limit clamp block, a sliding rod is movably inserted on the limit clamp block, and fixing frames are fixedly installed on both ends of the sliding rod, and the fixing frames are fixedly connected to the connecting seat.

[0013] As a preferred embodiment of the present invention, the mounting mechanism also includes a locking assembly, which includes a locking rod and is distributed on both sides of the connecting seat. The locking rod is rotatably connected to the side of the connecting seat, and an alarm is installed on the connecting seat. One end of the locking rod is aligned with the side of the limit clamp, and a telescopic rod is rotatably installed on the top of the other end. The top of the telescopic rod is rotatably connected to the connecting seat, and a first spring is movably sleeved on the telescopic rod, and both ends of the first spring are respectively fixedly connected to the two ends of the telescopic rod.

[0014] As a preferred embodiment of the present invention, a connecting block is fixedly installed on the bottom of the connecting seat, a stopper is provided at the bottom of the connecting block, a plug rod is fixedly installed on the top of the stopper, the plug rod is slidably connected to the connecting block, a second spring is movably sleeved on the plug rod, a connecting rod is provided at one end of the stopper, the two ends of the connecting rod are respectively fixedly connected to the bottom of the locking rod on both sides, a groove is provided on the stopper, a stopper rod is slidably connected to the groove, a push rod is installed in the middle of the stopper rod, and one end of the push rod is rotatably connected to the auxiliary connecting arm.

[0015] As a preferred embodiment of the present invention, it also includes a detection mechanism, which includes a main angle sensor and a secondary angle sensor. The main angle sensor and the secondary angle sensor are respectively installed on the connecting heads at both ends of the main connecting arm. The position of the tightening tool is determined by the angle values ​​monitored by the main angle sensor and the secondary angle sensor and the lengths of the main connecting arm and the secondary connecting arm.

[0016] As a preferred embodiment of the present invention, it further includes a processor, on which is configured a control system for controlling the robot arm to perform motion tracking, the control system including a monitoring unit, a judgment unit, and an execution unit;

[0017] The monitoring unit is used to obtain the angle value monitored by the main angle sensor and the angle value monitored by the auxiliary angle sensor;

[0018] The judging unit is used to judge whether the tightening tool is in the assembly hole position according to the monitoring result of the monitoring unit, and generate a corresponding instruction;

[0019] The execution unit is used to control the working status of the tightening tool and the alarm according to the instructions generated by the judgment unit;

[0020] The image recognition unit is used to obtain an installation position image based on the assembly hole position, and determine the position of the tightening tool and the required torque based on the installation position image.

[0021] As a preferred embodiment of the present invention, the monitoring unit includes an angle monitoring strategy, which includes configuring a main zero-degree reference line in the main angle sensor and configuring a secondary zero-degree reference line in the secondary angle sensor, the main zero-degree reference line is parallel to the tangent direction of the mounting position of the mounting seat, and the angle value α monitored by the main angle sensor is generated based on the main zero-degree reference line, the secondary zero-degree reference line is the same as the axial direction of the main connecting arm, and the angle value β monitored by the secondary angle sensor is generated based on the secondary zero-degree reference line.

[0022] As a preferred embodiment of the present invention, the monitoring unit also includes a distance positioning strategy, which includes obtaining the length a of the main connecting arm, the length b of the secondary connecting arm, and the height h between the mechanical arm and the assembly hole, and calculating the distance between the tightening tool and the secondary angle sensor based on the length b of the secondary connecting arm and the height h between the mechanical arm and the assembly hole.

[0023] The monitoring unit also includes a distance calculation strategy, which includes calculating the distance between the tightening tool and the main angle sensor based on the length a of the main connecting arm, the distance c between the tightening tool and the secondary angle sensor, and the angle value β monitored by the secondary angle sensor.

[0024]

[0025] As a preferred embodiment of the present invention, the judgment unit includes a position information acquisition strategy, which includes detecting the position information of each assembly hole position, and acquiring the set value α of the main angle sensor corresponding to the assembly hole position based on the orientation information contained in the position information. n , based on the distance information contained in the position information, obtain the set distance x between the assembly hole position corresponding to the main angle sensor n , and obtain the setting value β of the secondary angle sensor n ;

[0026] The position information acquisition strategy also includes numbering the assembly holes based on the assembly direction, and assigning the α corresponding to each assembly hole based on the numbering sequence. n and β n Perform sequential processing;

[0027] The judgment unit also includes a logic sequence strategy, wherein the logic sequence strategy includes a corresponding α corresponding to the assembly hole position after sequential processing. n and β n Determine α and β. When α and β are respectively equal to α corresponding to the current assembly hole position, n and β n When α or β is equal to α corresponding to the current assembly hole position, it indicates that the tightening tool is in the correct assembly hole position and generates a start instruction. n or β n When they are equal, it indicates that the tightening tool is not in the correct assembly hole position, and a standby command is generated;

[0028] The judgment unit also includes a sequential anti-leakage strategy, which includes when α and β are respectively associated with any group of α n and β n When the error is detected, the judgment logic is executed, and the judgment logic includes when α and β are respectively n and β n When corresponding, it indicates that the tightening tool is wrongly tightened or missed, and an alarm instruction is generated, otherwise a null instruction is generated.

[0029] As a preferred embodiment of the present invention, the execution unit includes a power control strategy, which includes obtaining instructions generated by a logical sequence strategy, and controlling the working or standby state of the tightening tool based on the instructions. When a start instruction is obtained, it indicates that the tightening operation can be performed and the tightening tool is controlled to be in a working state. When a standby instruction is obtained, it indicates that the tightening operation is prohibited and the tightening tool is controlled to be in a standby state.

[0030] The execution unit also includes an alarm processing strategy, which includes obtaining instructions generated by a sequential leakage prevention strategy and controlling the working or standby state of the alarm based on the instructions. When an alarm instruction is obtained, the alarm is controlled to work and alarm, and when an empty instruction is obtained, the alarm is controlled to be in standby state.

[0031] The image recognition unit includes a coordinate generation strategy, which includes acquiring an installation position area image based on the assembly hole position, generating a plane rectangular coordinate system based on the installation position area image, and assigning position coordinates to each assembly hole position based on the plane rectangular coordinate system;

[0032] The image recognition unit also includes an information addition strategy, which includes identifying the size of each assembly hole based on the position coordinates, calculating the torque required for each assembly hole, and adding information on the size and torque to the position coordinates, and feeding it back to the tightening tool. The tightening tool releases a torque of a corresponding magnitude when it is at the corresponding position coordinates based on the additional information.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention establishes the relationship between the distance between the tightening tool and the mounting seat through the monitoring angle values ​​of the main angle sensor and the auxiliary angle sensor and the lengths of the main connecting arm and the auxiliary connecting arm, and based on this, each hole position corresponds to the angle value monitored by the main angle sensor and the auxiliary angle sensor, ensuring that each assembly hole position can detect assembly tightening, effectively preventing the phenomenon of wrong tightening or missed tightening;

[0035] The present invention effectively reduces the overall mass of the device by providing a main connecting arm and a secondary connecting arm made of carbon fiber material, and adjusts the angle of the secondary connecting arm through a cylinder and a pressure regulating valve so that the secondary connecting arm and the tightening tool achieve load balance, thereby achieving a labor-saving effect.

[0036] The present invention provides an installation mechanism to install the tightening tool, and automatically unlocks the tool when the auxiliary connecting arm is in a horizontal state, and the operation is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of the foldable carbon fiber mechanical arm with motion tracking of the present invention;

[0038] Figure 2 This is a schematic diagram of the structure of the main connecting arm of the present invention;

[0039] Figure 3 It is a schematic diagram of the structure of the installation mechanism of the present invention;

[0040] Figure 4 It is a structural schematic diagram of the tightening tool and the installation mechanism of the present invention in a separated state;

[0041] Figure 5 This is a schematic diagram of the locking assembly structure of the present invention;

[0042] Figure 6 It is a schematic diagram of the monitoring unit flow of the present invention;

[0043] Figure 7 This is a schematic diagram of the angle detection strategy flow of the present invention;

[0044] Figure 8 This is a flow chart of the distance positioning strategy of the present invention;

[0045] Fig. 9 This is a flow chart of the distance calculation strategy of the present invention;

[0046] Fig.10 This is a schematic diagram of the judging unit flow of the present invention;

[0047] Fig.11 This is a flow chart of the location information acquisition strategy of the present invention;

[0048] Fig.12 It is a schematic diagram of the logical sequence strategy flow of the present invention;

[0049] Fig.13 It is a schematic diagram of the sequential leakage prevention strategy flow of the present invention;

[0050] Fig.14 It is a schematic diagram of the execution unit flow of the present invention;

[0051] Fig.15 Schematic diagram of the image recognition unit process of the present invention.

[0052] In the figure:

[0053] 100, mounting seat; 101, main connecting arm; 102, connector; 103, main angle sensor; 104, auxiliary angle sensor; 105, side mounting plate; 106, auxiliary connecting arm; 107, connecting seat; 108, cylinder; 109, fixing ring; 110, valve; 111, pressure regulating valve;

[0054] 200, limit clamp; 201, tightening tool; 202, clamping section; 203, magnet; 204, slide rod; 205, fixing frame; 206, locking rod; 207, telescopic rod; 208, first spring; 209, connecting rod; 210, stop block; 211, groove; 212, stop rod; 213, push rod; 214, insert rod; 215, second spring; 216, connecting block. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0056] Embodiment 1:

[0057] like Figure 1-Figure 5 As shown, a foldable carbon fiber robotic arm with motion tracking includes,

[0058] The movable mechanism includes a main connecting arm 101 and a secondary connecting arm 106. Connectors 102 are installed at both ends of the main connecting arm 101. A side mounting plate 105 is rotatably installed on the connecting head 102 near one end of the secondary connecting arm 106. The secondary connecting arm 106 is rotatably connected to the side mounting plate 105. Both the main connecting arm 101 and the secondary connecting arm 106 are made of carbon fiber.

[0059] The detection mechanism includes a main angle sensor 103 and a secondary angle sensor 104, which are respectively mounted on the connectors 102 at both ends of the main connecting arm 101;

[0060] An installation mechanism, the installation mechanism includes a connection seat 107, and a tightening tool 201 is installed on the connection seat 107;

[0061] The position of the tightening tool 201 is determined by the angle values ​​monitored by the main angle sensor 103 and the auxiliary angle sensor 104 and the lengths of the main connecting arm 101 and the auxiliary connecting arm 106 .

[0062] like Figure 1-Figure 2 As shown, in a specific embodiment, a mounting seat 100 is provided at one end of the main connecting arm 101, and the mounting seat 100 is rotatably connected to the connecting head 102, a pressure regulating valve 111 is installed on the mounting seat 100, and a pushing device is provided on the secondary connecting arm 106, the pushing device includes a cylinder 108, a fixing ring 109 is rotatably installed at one end of the cylinder 108, the fixing ring 109 is fixedly sleeved on the secondary connecting arm 106, and the other end of the cylinder 108 is rotatably connected to the side mounting plate 105, and valves 110 are installed at both ends of the main connecting arm 101, and the valves 110 at both ends are respectively sealed and connected to the cylinder 108 and the pressure regulating valve 111 through conduits. In this setting, pressure regulation is achieved by rotating the pressure regulating valve 111, and the air pressure is transmitted to the cylinder 108 through the main connecting arm 101, thereby achieving the telescopic adjustment of the cylinder 108. The cylinder 108 drives the secondary connecting arm 106 to rotate through the fixing ring 109, thereby achieving the height adjustment of the tightening tool 201, and the current state of the position cylinder 108 when adjusted to an appropriate height, achieving load balance between the tightening tool 201 and the secondary connecting arm 106, achieving a labor-saving effect.

[0063] Embodiment 2:

[0064] like Figure 3-Figure 5 As shown, in a specific embodiment, the installation mechanism further includes a clamping assembly, which includes a limiting clamp block 200, and a magnet 203 is installed on one side of the limiting clamp block 200. A clamping section 202 is provided on the tightening tool 201, and the cross-sectional shape of the clamping section 202 is elliptical, and the clamping section 202 corresponds to the limiting clamp block 200. A slide bar 204 is movably inserted on the limiting clamp block 200, and a fixing frame 205 is fixedly installed at both ends of the slide bar 204, and the fixing frame 205 is fixedly connected to the connecting seat 107. In this setting, when the limiting clamp block 200 is unlocked, the tightening tool 201 is rotated, and the elliptical clamping section 202 pushes against the limiting clamp block 200, so that the tightening tool 201 can be taken out, and the limiting clamp block 200 can be in a closed state by relying on the magnetic force of the magnet 203 during installation.

[0065] like Figure 3-Figure 5 As shown, further, the installation mechanism also includes a locking assembly, which includes a locking rod 206 and is distributed on both sides of the connecting seat 107. The locking rod 206 is rotatably connected to the side of the connecting seat 107. An alarm is installed on the connecting seat 107. One end of the locking rod 206 is aligned with the side of the limiting clamp 200, and a telescopic rod 207 is rotatably installed on the top of the other end. The top of the telescopic rod 207 is rotatably connected to the connecting seat 107. A first spring 208 is movably sleeved on the telescopic rod 207, and the two ends of the first spring 208 are respectively fixedly connected to the two ends of the telescopic rod 207. In this setting, the stopper 210 moves and causes the connecting rod 209 to stagger therewith. At this time, the elastic force of the first spring 208 pushes the locking rod 206 to rotate and unlocks the limiting clamp 200.

[0066] like Figure 3-Figure 5 As shown, further, a connecting block 216 is fixedly installed at the bottom of the connecting seat 107, a stopper 210 is arranged at the bottom of the connecting block 216, a plug rod 214 is fixedly installed at the top of the stopper 210, the plug rod 214 is slidably connected to the connecting block 216, a second spring 215 is movably sleeved on the plug rod 214, a connecting rod 209 is arranged at one end of the stopper 210, both ends of the connecting rod 209 are respectively fixedly connected to the bottom of the locking rod 206 on both sides, a groove 211 is opened on the stopper 210, a stopper 212 is slidably connected to the groove 211, a push rod 213 is installed in the middle of the stopper 212, and one end of the push rod 213 is rotatably connected to the auxiliary connecting arm 106. In this setting, when disassembling the tightening tool 201, the tightening tool 201 is moved up until the secondary connecting arm 106 is in a horizontal state. At this time, the angle between the secondary connecting arm 106 and the connecting seat 107 changes, and the push rod 213 is displaced based on the angle change. The push rod 213 moves the stop block 210 by pushing the groove 211.

[0067] Embodiment 3:

[0068] like Figure 6-Figure 15 As shown, the foldable carbon fiber mechanical arm with motion tracking also includes a processor, and the processor is configured with a control system for controlling the mechanical arm to perform motion tracking, and the control system includes a monitoring unit, a judgment unit, an execution unit, and an image recognition unit;

[0069] The monitoring unit is used to obtain the angle value monitored by the main angle sensor 103 and the angle value monitored by the auxiliary angle sensor;

[0070] The judging unit is used to judge whether the tightening tool 201 is in the assembly hole position according to the monitoring result of the monitoring unit, and generate a corresponding instruction;

[0071] The execution unit is used to control the working status of the tightening tool 201 and the alarm according to the instructions generated by the judgment unit;

[0072] The image recognition unit is used to obtain an installation position image based on the assembly hole position, and determine the position of the tightening tool 201 and the required torque based on the installation position image.

[0073] The monitoring unit includes an angle monitoring strategy, which includes configuring a main zero-degree reference line in the main angle sensor 103 and configuring a secondary zero-degree reference line in the secondary angle sensor 104. The main zero-degree reference line is parallel to the tangent direction of the installation position of the mounting seat 100, and the angle value α monitored by the main angle sensor 103 is generated based on the main zero-degree reference line. The secondary zero-degree reference line is the same as the axial direction of the main connecting arm 101, and the angle value β monitored by the secondary angle sensor 104 is generated based on the secondary zero-degree reference line.

[0074] The monitoring unit also includes a distance positioning strategy, which includes obtaining the length a of the main connecting arm 101, the length b of the secondary connecting arm, and the height h between the mechanical arm and the assembly hole, and calculating the distance between the tightening tool 201 and the secondary angle sensor 104 based on the length b of the secondary connecting arm and the height h between the mechanical arm and the assembly hole.

[0075] The monitoring unit also includes a distance calculation strategy, which includes calculating the distance between the tightening tool 201 and the main angle sensor 103 based on the length a of the main connecting arm, the distance c between the tightening tool 201 and the secondary angle sensor 104, and the angle value β monitored by the secondary angle sensor 104.

[0076]

[0077] The judgment unit includes a position information acquisition strategy, which includes detecting the position information of each assembly hole position, and acquiring the setting value α of the main angle sensor 103 corresponding to the assembly hole position based on the orientation information contained in the position information.n , based on the distance information contained in the position information, the set distance x between the assembly hole position and the main angle sensor 103 is obtained. n , and obtain the setting value β of the auxiliary angle sensor 104 n ;

[0078] The location information acquisition strategy also includes numbering the assembly holes based on the assembly direction, numbering them as 1.2.3...n, and assigning the α corresponding to each assembly hole based on the numbering sequence. n and β n The processing is performed sequentially, and the processing result is α1β1.α2β2.α3β3...α n and β n ;

[0079] The judgment unit also includes a logic sequence strategy, which includes the α corresponding to the assembly hole position after sequential processing. n and β n Determine α and β. When α and β are respectively equal to α corresponding to the current assembly hole position, n and β n When α or β is equal to α corresponding to the current assembly hole position, it indicates that the tightening tool 201 is in the correct assembly hole position and generates a start instruction. n or β n When they are equal, it indicates that the tightening tool 201 is not in the correct assembly hole position, and a standby instruction is generated;

[0080] The judgment unit also includes a sequential anti-leakage strategy, which includes when α and β are respectively with any group of α n and β n When the corresponding, the judgment logic is executed, the judgment logic includes when α and β are respectively with α of the wrong position n and β n When corresponding, it indicates that the tightening tool 201 is wrongly tightened or missed, and an alarm instruction is generated, otherwise a null instruction is generated.

[0081] The execution unit includes a power control strategy, which includes obtaining instructions generated by a logic sequence strategy, and controlling the working or standby state of the tightening tool 201 based on the instructions. When a start instruction is obtained, it indicates that the tightening operation can be performed and the tightening tool 201 is controlled to be in a working state. When a standby instruction is obtained, it indicates that the tightening operation is prohibited and the tightening tool 201 is controlled to be in a standby state.

[0082] The execution unit also includes an alarm processing strategy, which includes obtaining instructions generated by a sequential leakage prevention strategy and controlling the working or standby state of the alarm based on the instructions. When an alarm instruction is obtained, the alarm is controlled to work and alarm, and when an empty instruction is obtained, the alarm is controlled to be in standby state.

[0083] The image recognition unit includes a coordinate generation strategy, which includes acquiring an installation position area image based on the assembly hole position, generating a plane rectangular coordinate system based on the installation position area image, and assigning position coordinates to each assembly hole position based on the plane rectangular coordinate system;

[0084] The image recognition unit also includes an information addition strategy, which includes identifying the size of each assembly hole based on the position coordinates, calculating the torque required for each assembly hole, and adding the size and torque information to the position coordinates, and feeding it back to the tightening tool 201. When the tightening tool 201 is at the corresponding position coordinate based on the additional information, the corresponding torque is released;

[0085] The implementation principle of the foldable carbon fiber mechanical arm with motion tracking of this embodiment is as follows: when in use, the staff moves the handheld tightening tool 201 to any position to perform assembly tightening operation. When the tightening tool 201 is in any position, the relationship between the distance between the tightening tool 201 and the secondary angle sensor 104, the length of the main connecting arm 101, the angle value monitored by the main angle sensor 103 and the angle value monitored by the secondary angle sensor 104 are determined, and each assembly hole position is monitored based on this to obtain the angle value monitored by the main angle sensor 103 and the angle value monitored by the secondary angle sensor 104 corresponding to each assembly hole position, and at the same time, each assembly hole position is numbered in sequence, so that while the assembly tightening process is carried out in sequence, the angle value monitored by the main angle sensor 103 and the angle value monitored by the secondary angle sensor 104 can correspond to each assembly hole position, effectively preventing the problem of wrong tightening or missing tightening;

[0086] By rotating the pressure regulating valve 111 to achieve pressure regulation, the air pressure is transmitted to the cylinder 108 through the main connecting arm 101, thereby achieving the telescopic adjustment of the cylinder 108, and the cylinder 108 drives the auxiliary connecting arm 106 to rotate through the fixing ring 109, thereby achieving the height adjustment of the tightening tool 201, and when the height is adjusted to a suitable level, the current state of the position cylinder 108 is adjusted to achieve load balance between the tightening tool 201 and the auxiliary connecting arm 106, thereby achieving a labor-saving effect;

[0087] When disassembling the tightening tool 201, the tightening tool 201 is moved up until the auxiliary connecting arm 106 is in a horizontal state. At this time, the auxiliary connecting arm 106 and the connecting seat 107 change their angles, and the push rod 213 is displaced based on the angle change. The push rod 213 pushes the groove 211 to move the stopper 210, and the stopper 210 moves and causes the connecting rod 209 to stagger with it. At this time, the elastic force of the first spring 208 pushes the locking rod 206 to rotate and unlocks the limiting clamp 200. At this time, the tightening tool 201 is rotated, and the elliptical clamping section 202 pushes against the limiting clamp 200, so that the tightening tool 201 can be taken out;

[0088] When installing the tightening tool 201, install it at the limit clamp 200 and close the limit clamp 200. The limit clamp 200 remains in a closed state under the action of the magnet 203. Move the installation mechanism as a whole downward while pulling the connecting rod 209 to a state connected to the stop block 210. At this time, the locking rod 206 locks the limit clamp 200 again, thereby realizing the installation of the tightening tool 201.

[0089] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A foldable carbon fiber robotic arm with motion tracking, characterized in that: include, A movable mechanism, the movable mechanism comprising a main connecting arm (101) and a secondary connecting arm (106), a connecting piece being installed between the main connecting arm (101) and the secondary connecting arm (106), the main connecting arm (101) and the secondary connecting arm (106) being rotatable with each other via the connecting piece, connecting heads (102) being installed at both ends, a side mounting plate (105) being rotatably installed on the connecting head (102) close to one end of the secondary connecting arm (106), and the secondary connecting arm (106) being rotatably connected to the side mounting plate (105); A detection mechanism, the detection mechanism comprising a main angle sensor (103) and a secondary angle sensor (104), the main angle sensor (103) and the secondary angle sensor (104) being respectively mounted on connectors (102) at both ends of a main connecting arm (101); A mounting mechanism, the mounting mechanism being connected to the secondary connecting arm (106), a tightening tool (201) being mounted on the mounting mechanism, and the tightening tool and the secondary connecting arm (106) being rotated relative to each other through the mounting mechanism; The mounting mechanism comprises a connecting seat (107), the connecting seat (107) being rotatably connected to the auxiliary connecting arm (106), a clamping assembly being arranged on one side of the connecting seat (107), the clamping assembly comprising a limiting clamping block (200), and a magnet (203) being arranged on one side of the limiting clamping block (200), a clamping section (202) being arranged on the tightening tool (201), the clamping section (202) corresponding to the limiting clamping block (200), a sliding rod (204) being movably inserted on the limiting clamping block (200), a fixing frame (205) being fixedly installed at both ends of the sliding rod (204), the fixing frame (205) being fixedly connected to the connecting seat (107) Then, the installation mechanism also includes a locking assembly, which includes a locking rod (206) and is distributed on both sides of the connecting seat (107). The locking rod (206) is rotatably connected to the side of the connecting seat (107). An alarm is installed on the connecting seat (107). One end of the locking rod (206) is aligned with the side of the limiting clamp (200), and a telescopic rod (207) is rotatably installed on the top of the other end. The top of the telescopic rod (207) is rotatably connected to the connecting seat (107). A first spring (208) is movably sleeved on the telescopic rod (207), and the two ends of the first spring (208) are respectively fixedly connected to the two ends of the telescopic rod (207); A connecting block (216) is fixedly installed at the bottom of the connecting seat (107), a stopper (210) is arranged at the bottom of the connecting block (216), an insertion rod (214) is fixedly installed at the top of the stopper (210), the insertion rod (214) is slidably connected to the connecting block (216), a second spring (215) is movably sleeved on the insertion rod (214), a connecting rod (209) is arranged at one end of the stopper (210), the two ends of the connecting rod (209) are respectively fixedly connected to the bottom of the locking rod (206) on both sides, a groove (211) is provided on the stopper (210), a stopper (212) is slidably connected to the groove (211), a push rod (213) is installed in the middle of the stopper (212), and one end of the push rod (213) is rotatably connected to the auxiliary connecting arm (106).

2. The foldable carbon fiber mechanical arm with motion tracking according to claim 1, characterized in that: The connecting member comprises a mounting plate (105), connecting heads (102) are installed at both ends of the main connecting arm (101), wherein the connecting head (102) at one end is rotatably connected to the mounting plate (105), a mounting seat (100) is provided at one end of the main connecting arm (101), the mounting seat (100) is rotatably connected to the connecting head (102), a pressure regulating valve (111) is installed on the mounting seat (100), and a pushing device is provided on the auxiliary connecting arm (106). The pushing device comprises a cylinder (108), one end of which is rotatably mounted with a fixing ring (109), the fixing ring (109) being fixedly sleeved on the auxiliary connecting arm (106), the other end of the cylinder (108) being rotatably connected to the side mounting plate (105), and valves (110) being mounted at both ends of the main connecting arm (101), the valves (110) at both ends being sealedly connected to the cylinder (108) and the pressure regulating valve (111) respectively through conduits.

3. The foldable carbon fiber mechanical arm with motion tracking according to claim 2, characterized in that: The invention also comprises a detection mechanism, wherein the detection mechanism comprises a main angle sensor (103) and a secondary angle sensor (104), wherein the main angle sensor (103) and the secondary angle sensor (104) are respectively mounted on the connectors (102) at both ends of the main connecting arm (101), and the position of the tightening tool (201) is determined by the angle values ​​monitored by the main angle sensor (103) and the secondary angle sensor (104) and the lengths of the main connecting arm (101) and the secondary connecting arm (106).

4. The foldable carbon fiber mechanical arm with motion tracking according to claim 3, characterized in that: It also includes a processor, on which is configured a control system for controlling the robot arm to perform motion tracking, the control system including a monitoring unit, a judgment unit, an execution unit and an image recognition unit; The monitoring unit is used to obtain the angle value monitored by the main angle sensor (103) and the angle value monitored by the auxiliary angle sensor; The judging unit is used to judge whether the tightening tool (201) is in the assembly hole position according to the monitoring result of the monitoring unit, and to generate a corresponding instruction; The execution unit is used to control the working states of the tightening tool (201) and the alarm according to the instructions generated by the judgment unit; The image recognition unit is used to obtain an installation position image based on the assembly hole position, and to determine the position of the tightening tool (201) and the required torque based on the installation position image.

5. The foldable carbon fiber mechanical arm with motion tracking according to claim 4, characterized in that: The monitoring unit comprises an angle monitoring strategy, wherein the angle monitoring strategy comprises configuring a main zero-degree reference line in the main angle sensor (103) and configuring a secondary zero-degree reference line in the secondary angle sensor (104), wherein the main zero-degree reference line is parallel to the tangent direction of the mounting position of the mounting seat (100), and an angle value α monitored by the main angle sensor (103) is generated based on the main zero-degree reference line, and the secondary zero-degree reference line is the same as the axial direction of the main connecting arm (101), and an angle value β monitored by the secondary angle sensor (104) is generated based on the secondary zero-degree reference line; The monitoring unit also includes a distance positioning strategy, which includes obtaining a length a of the main connecting arm (101), a length b of the secondary connecting arm, and a height h between the mechanical arm and the assembly hole, and calculating the distance between the tightening tool (201) and the secondary angle sensor (104) based on the length b of the secondary connecting arm and the height h between the mechanical arm and the assembly hole. The monitoring unit further comprises a distance calculation strategy, wherein the distance calculation strategy comprises calculating the distance between the tightening tool (201) and the main angle sensor (103) based on the length a of the main connecting arm, the distance c between the tightening tool (201) and the secondary angle sensor (104), and the angle value β monitored by the secondary angle sensor (104).

6. The foldable carbon fiber mechanical arm with motion tracking according to claim 5, characterized in that: The judgment unit includes a position information acquisition strategy, which includes detecting the position information of each assembly hole position, and acquiring a setting value α of a main angle sensor (103) corresponding to the assembly hole position based on the orientation information contained in the position information. n , based on the distance information contained in the position information, obtain the set distance x between the assembly hole position and the main angle sensor (103) n , and obtain the setting value β of the auxiliary angle sensor (104) n ; The position information acquisition strategy also includes numbering the assembly holes based on the assembly direction, and assigning the α corresponding to each assembly hole based on the numbering sequence. n and β n Perform sequential processing; The judgment unit also includes a logic sequence strategy, wherein the logic sequence strategy includes a corresponding α corresponding to the assembly hole position after sequential processing. n and β n Determine α and β. When α and β are respectively equal to α corresponding to the current assembly hole position, n and β n When α or β is equal to α corresponding to the current assembly hole position, it indicates that the tightening tool (201) is in the correct assembly hole position, and a start instruction is generated. n or β n When they are equal, it indicates that the tightening tool (201) is not in the correct assembly hole position, and a standby instruction is generated; The judgment unit also includes a sequential anti-leakage strategy, which includes when α and β are respectively associated with any group of α n and β n When the error is detected, the judgment logic is executed, and the judgment logic includes when α and β are respectively n and β n When corresponding, it indicates that the tightening tool (201) is incorrectly tightened or missed, and generates an alarm instruction, otherwise, a null instruction is generated.

7. The foldable carbon fiber mechanical arm with motion tracking according to claim 6, characterized in that: The execution unit comprises a power control strategy, the power control strategy comprises obtaining instructions generated by a logic sequence strategy, and controlling the working or standby state of the tightening tool (201) based on the instructions, when the start instruction is obtained, it indicates that the tightening operation can be performed, and the tightening tool (201) is controlled to be in the working state, and when the standby instruction is obtained, it indicates that the tightening operation is prohibited, and the tightening tool (201) is controlled to be in the standby state; The execution unit also includes an alarm processing strategy, which includes obtaining instructions generated by a sequential leakage prevention strategy and controlling the working or standby state of the alarm based on the instructions. When an alarm instruction is obtained, the alarm is controlled to work and alarm, and when an empty instruction is obtained, the alarm is controlled to be in standby state.

8. The foldable carbon fiber mechanical arm with motion tracking according to claim 7, characterized in that: The image recognition unit includes a coordinate generation strategy, which includes acquiring an installation position area image based on the assembly hole position, generating a plane rectangular coordinate system based on the installation position area image, and assigning position coordinates to each assembly hole position based on the plane rectangular coordinate system; The image recognition unit also includes an information addition strategy, which includes identifying the size of each assembly hole based on the position coordinates, calculating the torque required for each assembly hole, adding information on the size and torque to the position coordinates, and feeding back to the tightening tool (201). The tightening tool (201) releases a torque of a corresponding magnitude when it is at the corresponding position coordinates based on the added information.

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