Lightweight multi-degree-of-freedom modular assembly type mechanical arm

Abstract

The invention provides a lightweight multi-degree-of-freedom modular assembly type mechanical arm, and belongs to the technical field of assembly type mechanical arms. Comprising a plurality of modular mechanisms, a rotary guide mechanism used for connecting the modular mechanisms and an intelligent driving mechanism arranged in the rotary guide mechanism, each modular mechanism comprises a main body panel, a triangular hollowed-out part is formed in the top of each main body panel, each main body panel is in an equilateral triangle shape, and each main body panel is connected with the corresponding rotary guide mechanism. And second grooves are formed in the centers of three sides of the main body panel. The modular mechanism, the rotary guide mechanism and the intelligent driving mechanism are arranged, so that the mechanical arm adopts a lightweight structure, each driving joint is driven by an intelligent material, a traditional motor driving mode is abandoned, the motor weight of the mechanical arm is reduced, and the flexibility of the mechanical arm is improved; and any posture in the space can be fitted, and the space motion freedom degree is high.

Description

Technical Field

[0001] The present invention relates to the technical field of assembled mechanical arms, and in particular to a lightweight multi-degree-of-freedom modular assembled mechanical arm. Background Art

[0002] With the continuous progress of industrial automation and high-tech fields, robotic arms have gradually become key equipment in many fields such as manufacturing, medical care, and daily services. However, traditional robotic arms often encounter usage bottlenecks in certain specific application scenarios due to their large size, heavy weight, and limited operational flexibility. In order to broaden the application scope of robotic arms, especially to adapt to work environments with limited space and complex environments, the research and development of lightweight multi-DOF robotic arms has received increasing attention.

[0003] Although lightweight multi-degree-of-freedom robotic arms have solved the volume and weight problems of traditional robotic arms to a certain extent, most of these robotic arms adopt a fixed structure design, and their functions and application scope are limited, making it difficult to meet diverse operational needs. At the same time, the complexity of the robotic arm drive and control system also places high technical requirements on the operator, increasing the cost of use and difficulty of maintenance. Therefore, the present application provides a lightweight multi-degree-of-freedom modular assemblable robotic arm to meet the needs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a lightweight multi-degree-of-freedom modular assembleable robotic arm to solve the problem that the existing robotic arms adopt a fixed structure design, their functions and application scope are limited, and they are difficult to meet diverse operational needs.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A lightweight multi-degree-of-freedom modular assembleable robot arm comprises: a plurality of modular mechanisms, a rotary guide mechanism for connecting the plurality of modular mechanisms, and an intelligent drive mechanism arranged in the rotary guide mechanism;

[0007] The plurality of modular mechanisms each include a main panel, the top of the main panel is provided with a triangular hollow, the main panel is in the shape of an equilateral triangle, the three sides of the main panel are provided with a second groove in the middle, and the three sides of the main panel are provided with a first groove symmetrically distributed with three midlines as symmetry axes;

[0008] The plurality of rotary guide mechanisms each include a first outer sleeve, a rib plate integrally formed on the inner wall of the first outer sleeve, a second outer sleeve and an inner sleeve rotatably arranged on the inner wall of the second outer sleeve, a circular hole for penetrating the second outer sleeve is opened in the center of the rib plate, and the second outer sleeve is integrally formed on the inner wall of the rib plate;

[0009] The multiple intelligent driving mechanisms each include two circular panels and three cylindrical rods staggered between the two circular panels. The two circular panels are each provided with a through hole with the tracks at both ends of the inner sleeve as the axis. The cylindrical rod is made of nickel-titanium memory alloy.

[0010] Preferably, each of the triangles on the top of the main body panel is provided with a hole for arranging electric wires, and a triangle hollow is provided in the center of the top of the main body panel.

[0011] Preferably, the plurality of rotary guide mechanisms are arranged between two adjacent main body panels.

[0012] Preferably, a plurality of the first outer sleeves are disposed in a plurality of the first grooves and the second grooves.

[0013] Preferably, the first groove and the second groove are both integrally formed with protrusions on opposite sides with the center line of the main panel as the axis.

[0014] Preferably, the plurality of protrusions are arranged between the first outer sleeve and the second outer sleeve.

[0015] Preferably, the inner walls of four of the second outer sleeves are respectively penetrated on a single inner sleeve.

[0016] Preferably, each of the rotary guide mechanisms is provided with four rotary guide rails, and the four rotary guide rails are four contact surfaces between the second outer sleeve and the inner sleeve.

[0017] Preferably, both ends of the plurality of cylindrical rods are fixedly connected to the circular panels, and two adjacent circular panels are fixedly connected to the inner wall of the second outer sleeve and the inner wall of the inner sleeve respectively.

[0018] Preferably, the lightweight multi-degree-of-freedom modular assemblable robotic arm is provided with installation fixing points, and the installation fixing points are arranged at a corner of one of the main body panels.

[0019] Compared with the prior art, the present invention has at least the following beneficial effects:

[0020] 1. In the above scheme, the robot arm proposed by the present invention adopts a lightweight structure, and each driving joint is driven by intelligent materials, abandoning the traditional motor drive mode, reducing the weight of the robot arm motor, and improving the flexibility of the robot arm. In addition, the use of each joint drive and triangular modular components can fit any posture in space and has a high degree of freedom of spatial movement.

[0021] 2. In the above scheme, by setting the robot arm with the characteristics of arbitrary assembly and expansion, it can meet the requirements of the robot arm execution scale under the application characteristics of different scenarios, and can realize effective robot arm movement execution capabilities under working conditions with complex working environment and many obstacles in the workplace. It has application potential in the fields of fire search and rescue, medical machinery and safety maintenance.

[0022] 3. In the above scheme, the assembly, motion control and execution of the robotic arm can be realized by setting limited modular components. Compared with the robotic arm with a transmission belt motor, the robotic arm is easier to assemble and realize, the execution efficiency is more stable, and the overall manufacturing cost is lower, and it has a better market application scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, further serve to explain the principles of the present disclosure and to enable those skilled in the relevant art to make and use the present disclosure.

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of a lightweight multi-degree-of-freedom modular assembleable robotic arm;

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure of a lightweight multi-degree-of-freedom modular assembly type robot arm modular mechanism;

[0026] Figure 3 It is a schematic diagram of the three-dimensional structure of a lightweight multi-degree-of-freedom modular assembly type robot arm rotary guide mechanism;

[0027] Figure 4 It is an exploded view of the three-dimensional structure of the rotary guide mechanism of a lightweight, multi-degree-of-freedom modular assembly type robot arm;

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of a lightweight multi-degree-of-freedom modular assembly type robot arm intelligent drive mechanism;

[0029] Figure 6 A schematic diagram of the rotation of a lightweight multi-degree-of-freedom modular assembleable robotic arm intelligent drive mechanism;

[0030] Figure 7 It is a schematic diagram of the surrounding posture of a lightweight multi-degree-of-freedom modular assembleable robotic arm;

[0031] Figure 8 The figure is a schematic diagram of the A-type posture of a lightweight multi-degree-of-freedom modular assembleable robotic arm;

[0032] Fig. 9 It is a schematic diagram of the C-shaped posture of a lightweight multi-degree-of-freedom modular assembleable robotic arm;

[0033] Fig.10 The figure is a schematic diagram of a J-shaped posture of a lightweight multi-degree-of-freedom modular assembly type robotic arm;

[0034] Fig.11 The figure is a schematic diagram of the S-shaped posture of a lightweight multi-degree-of-freedom modular assembleable robotic arm;

[0035] Fig.12 Schematic diagram of the spiral posture of a lightweight, multi-degree-of-freedom, modularly assembled robotic arm.

[0036] [reference numerals]

[0037] 1. Modular mechanism; 101. Main panel; 102. First groove; 103. Second groove; 104. Triangular hollowing; 105. Hole; 2. Rotary guide mechanism; 201. First outer sleeve; 202. Inner sleeve; 203. Rib; 204. Second outer sleeve; 3. Intelligent drive mechanism; 301. Circular panel; 302. Cylindrical rod; 303. Through hole; 4. Installation fixing point.

[0038] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments, and the adjustments or modifications made are still included in the scope of the attached claims. DETAILED DESCRIPTION

[0039] The following is a detailed description of a lightweight multi-degree-of-freedom modular assembleable robot arm provided by the present invention in combination with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternative methods to implement some known technologies; and the accompanying drawings are only for a more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0040] It should be noted that the references to "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0041] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0042] It will be understood that the meaning of “on,” “over,” and “above” in this disclosure should be interpreted in the broadest manner, so that “on” means not only “directly on” something, but also includes the meaning of being “on” something with intervening features or layers therebetween, and “on” or “over” means not only “on” or “above” something, but also includes the meaning of being “on” or “above” something with no intervening features or layers therebetween.

[0043] Additionally, spatially relative terms such as "under," "beneath," "lower," "above," "upper," and the like may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as shown in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein may be similarly interpreted accordingly.

[0044] like Figure 1 As shown, an embodiment of the present invention provides a lightweight multi-degree-of-freedom modular assemblable robotic arm, comprising: a plurality of modular mechanisms 1, a rotary guide mechanism 2 for connecting the plurality of modular mechanisms 1, and an intelligent drive mechanism 3 arranged in the rotary guide mechanism 2.

[0045] The modular components 1 are assembled and connected through the rotary guide mechanism 2, and a complete robot arm can be formed by connecting several modular components 1 through multiple rotary guide mechanisms 2. In addition, the intelligent driving mechanism 3 is used to provide driving force to drive each modular component 1 to achieve relative rotation to achieve the desired motion state of the robot arm.

[0046] like Figure 2As shown, multiple modular mechanisms 1 include a main body panel 101, a triangular hollow 104 is opened on the top of the main body panel 101, the main body panel 101 is shaped like an equilateral triangle, second grooves 103 are opened in the center of three sides of the main body panel 101, first grooves 102 are opened on three sides of the main body panel 101 and are symmetrically distributed with three center lines as symmetry axes, empty holes 105 for arranging wires are opened in the top triangle of the main body panel 101, and a triangular hollow 104 is opened in the center of the top of the main body panel 101.

[0047] The equilateral triangle shape allows for arbitrary assembly, so that the rotating guide mechanism 3 can be installed on three sides of the main panel 101. The triangular hollow 104 is used to reduce the mass of the subject panel 101. The triangular hollow 104 has the same direction and shape as the main panel 101, thereby achieving lightweight robotic arms. The hollow holes 105 are used for arranging wires in the robotic arms, and the slender wires can be arranged in different positions of different modular components.

[0048] like Figure 1-2 , Figure 4 As shown, multiple rotary guide mechanisms 2 include a first outer sleeve 201, a rib plate 203 integrally formed on the inner wall of the first outer sleeve 201, a second outer sleeve 204 and an inner sleeve 202 rotatably arranged on the inner wall of the second outer sleeve 204, a circular hole for penetrating the second outer sleeve 204 is opened in the center of the rib plate 203, and the second outer sleeve 204 is integrally formed on the inner wall of the rib plate 203, and multiple rotary guide mechanisms 2 are arranged between two adjacent main body panels 101, multiple first outer sleeves 201 are arranged in multiple first grooves 102 and second grooves 103, and the first grooves 102 and the second grooves 103 are integrally formed with protrusions on opposite sides of the axis with the center line of the main body panel 101 as the axis, and multiple protrusions are arranged between the first outer sleeve 201 and the second outer sleeve 204, wherein four inner walls of the second outer sleeves 204 are respectively penetrated on a single inner sleeve 202, and a single rotary guide mechanism 2 is provided with four rotating guide rails, and the four rotating guide rails are the contact surfaces of the four second outer sleeves 204 and the inner sleeve 202.

[0049] The first outer sleeve 201, the second outer sleeve 204 and the rib 203 together constitute the outer sleeve, and the convex block is the same protruding part on the edge of the left groove, the edge of the right groove and the edges on both sides of the middle groove. The convex block is connected to the modular mechanism 1 and the rotary guide mechanism 2 by being stuck at the rib 203. The two adjacent main body panels 101 are connected to the four outer sleeves. The outer sleeve and the inner sleeve 202 are both hollow cylindrical sleeves, wherein the end of the outer sleeve 4 is closed, and the inner sleeve 202 is a through-hole cylindrical sleeve. Between the two adjacent main body panels 101, one of the main body panels 101 is fixedly connected to the outer sleeve, and the other main body panel 101 is fixedly connected to the end of the inner sleeve 202, so that the inner sleeve 202 rotates with the intelligent driving mechanism 3, and the inner sleeve 202 drives the main panel 101 fixedly connected thereto to rotate, so as to realize the rotation between the main panel 101 and the outer sleeve, so that the rotation angle position switching of the adjacent fixed main body panels 101 can be realized, thereby controlling the robot arm to change any action behavior in space.

[0050] like Figure 4-6 As shown, the multiple intelligent driving mechanisms 3 each include two circular panels 301 and three cylindrical rods 302 staggered between the two circular panels 301, the two circular panels 301 are each provided with a through hole 303 with the tracks of the two ends of the inner sleeve 202 as the axis, the cylindrical rod 302 is made of nickel-titanium memory alloy, both ends of the multiple cylindrical rods 302 are fixedly connected to the circular panels 301, and two adjacent circular panels 301 are respectively fixedly connected to the inner wall of the second outer sleeve 204 and the inner wall of the inner sleeve 202.

[0051] When the material is electrified, heat can be generated, thereby changing the temperature. After the temperature changes, the nickel-titanium memory alloy material will undergo memory deformation under the stimulation of temperature. Under the stimulation of temperature heat treatment, the cylindrical rod 302 is repeatedly compressed and twisted to obtain a memory function. The cylindrical rod 302 is an elongated cylinder with inclined unequal surfaces. The ends of the elongated cylindrical rod 302 are equidistantly connected to the circumferential position of the circular panel 301. The circular panel 301 is provided with a through hole 303 to reduce its own weight and facilitate the air circulation generated by the two circular panels 301 during the twisting process. The cylindrical rod 302 is made of nickel-titanium memory alloy material. When the cylindrical rod 302 is energized, the temperature changes, the trained nickel-titanium memory alloy material changes shape, and the cylindrical rod 302 twists, thereby realizing the rotational movement of the circular panel 301 at the end. The circular panels 301 fixed at both ends of the cylindrical rod 302 are respectively fixedly connected to the second outer sleeve 204 and the inner sleeve 202. One of the circular panels 301 drives the inner sleeve 202 to rotate, and the other circular panel 301 drives the outer sleeve to rotate. The inner sleeve 202 and the outer sleeve achieve relative rotation, thereby controlling the adjacent fixed main panel 101 to rotate relative to each other.

[0052] The heat formula for the heat generated by a conductor when it is energized is an expression of Joule's law. It describes which factors are related to the heat generated when current passes through a conductor. Specifically, the formula is: Q=12Rt, where Q is the heat generated by the current passing through the conductor, usually in joules (J), I is the current passing through the conductor, in amperes (A), R is the resistance of the conductor, in ohms (Ω), and t is the time the current passes through the conductor, in seconds (s).

[0053] like Figure 7-12 As shown, the lightweight multi-degree-of-freedom modular assemblable robotic arm is provided with an installation fixing point 4, and the installation fixing point 4 is arranged at a corner of one of the main body panels 101.

[0054] The assembled whole robot arm is fixed at the desired position by installing the fixing point 4, and the posture of the robot arm in space can be switched arbitrarily by controlling the power supply of the intelligent driving mechanism 3 at different joint positions.

[0055] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0056] A person skilled in the art will appreciate that all or part of the steps in the above-mentioned embodiment method can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc.

[0057] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A lightweight multi-degree-of-freedom modular assembleable robotic arm, characterized in that: include: A plurality of modular mechanisms (1), a rotary guide mechanism (2) for connecting the plurality of modular mechanisms (1), and an intelligent drive mechanism (3) arranged in the rotary guide mechanism (2); The plurality of modular mechanisms (1) each comprise a main body panel (101), the top of the main body panel (101) being provided with a triangular hollow (104), the shape of the main body panel (101) being an equilateral triangle, the three sides of the main body panel (101) each being provided with a second groove (103) in the middle, and the three sides of the main body panel (101) each being provided with a first groove (102) symmetrically distributed with three midlines as symmetry axes; The plurality of rotary guide mechanisms (2) each comprise a first outer sleeve (201), a rib plate (203) integrally formed on the inner wall of the first outer sleeve (201), a second outer sleeve (204), and an inner sleeve (202) rotatably arranged on the inner wall of the second outer sleeve (204); a circular hole for penetrating the second outer sleeve (204) is provided at the center of the rib plate (203); and the second outer sleeve (204) is integrally formed on the inner wall of the rib plate (203); The plurality of intelligent driving mechanisms (3) each comprise two circular panels (301) and three cylindrical rods (302) staggeredly distributed between the two circular panels (301); the two circular panels (301) each have a through hole (303) with the tracks at both ends of the inner sleeve (202) as an axis; and the cylindrical rods (302) are made of nickel-titanium memory alloy.

2. The lightweight multi-degree-of-freedom modular assembleable robot arm according to claim 1, characterized in that: Holes (105) for arranging electric wires are provided in the triangular portions at the top of the main body panel (101), and a triangular hollow portion (104) is provided in the center of the top of the main body panel (101).

3. The lightweight multi-degree-of-freedom modular assembleable robot arm according to claim 1, characterized in that: The plurality of rotary guide mechanisms (2) are each arranged between two adjacent main body panels (101).

4. The lightweight multi-degree-of-freedom modular assembleable robot arm according to claim 1, characterized in that: The plurality of first outer sleeves (201) are all disposed in the plurality of first grooves (102) and second grooves (103).

5. The lightweight multi-degree-of-freedom modular assembleable robot arm according to claim 4, characterized in that: The first groove (102) and the second groove (103) are both integrally formed with protrusions on opposite sides with the center line of the main panel (101) as the axis.

6. The lightweight multi-degree-of-freedom modular assembleable robot arm according to claim 5, characterized in that: The plurality of protrusions are arranged between the first outer sleeve (201) and the second outer sleeve (204).

7. The lightweight multi-degree-of-freedom modular assembleable robotic arm according to claim 1, characterized in that: The inner walls of four of the second outer sleeves (204) are respectively penetrated on a single inner sleeve (202).

8. The lightweight multi-degree-of-freedom modular assembleable robot arm according to claim 7, characterized in that: Each of the rotary guide mechanisms (2) is provided with four rotary guide rails, and the four rotary guide rails are four contact surfaces between the second outer sleeve (204) and the inner sleeve (202).

9. The lightweight multi-degree-of-freedom modular assembleable robot arm according to claim 8, characterized in that: Both ends of the plurality of cylindrical rods (302) are fixedly connected to the circular panels (301), and two adjacent circular panels (301) are respectively fixedly connected to the inner wall of the second outer sleeve (204) and the inner wall of the inner sleeve (202).

10. The lightweight multi-degree-of-freedom modular assembleable robot arm according to claim 1, characterized in that: The lightweight multi-degree-of-freedom modular assembleable mechanical arm is provided with an installation fixing point (4), and the installation fixing point (4) is arranged at a corner of one of the main body panels (101).

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