Three-degree-of-freedom series-parallel electromagnetic drive mechanical arm

Abstract

The invention discloses a three-degree-of-freedom series-parallel electromagnetic drive mechanical arm which comprises at least two sets of mechanical arm joints sequentially arranged in the axial direction. The mechanical arm joint comprises a bottom plate, a plurality of driving mechanisms and a voltage reduction module, and the voltage reduction module is in communication connection with the power module; and between the adjacent mechanical arm joints, the output end of the driving mechanism of the previous section is rotationally connected with the bottom plate of the next section, a control module in communication connection with the power module is arranged at the bottom of the bottom plate at the head end, and the control module is in communication connection with the driving mechanisms. According to the three-degree-of-freedom series-parallel electromagnetic driving mechanical arm, traditional mechanical transmission parts such as a motor and a lead screw are abandoned, so that a driving element and an executing mechanism are tightly integrated, intermediate links are reduced, the energy conversion efficiency is improved, miniaturization and light weight of the mechanical arm are achieved, the size of the whole machine is further reduced, and adaptability is improved; and the operation can be carried out in a complex or limited space.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a three-degree-of-freedom series-parallel electromagnetic drive mechanical arm. Background Art

[0002] Debris from abandoned satellites, rocket wreckage, and other space activities not only threatens the safety of spacecraft in orbit, but also many on-orbit tasks such as object capture and equipment maintenance need to be completed in a small space. As an innovative technology, the super-redundant robotic arm has shown great potential in space debris cleaning and on-orbit operations.

[0003] The traditional rope-driven snake-like robot arm consists of three parts: the robot arm body, the drive system, and the control and power supply system. The robot arm body is composed of multiple vertebrae (or joint segments) connected in series, and each vertebrae is hollow inside to reduce the overall weight. The vertebrae are connected relative to each other through flexible connections (such as universal joints or ball and socket joints); the drive system at the rear end of the robot arm includes a small high-torque motor, a precision reducer, and multiple high-strength ropes or cables that run through the entire robot arm. The motor reduces the speed and increases the torque through the reducer, and then transmits the power to each joint through the rope to control its rotation angle; the control part of the robot arm includes processors, sensors, actuators and other components, which are responsible for receiving external commands and controlling the action of the drive mechanism, thereby achieving precise control of the robot arm. The power supply part usually includes batteries, power management modules and other components to ensure that the robot arm maintains a stable power supply during long-term work.

[0004] As the number of joints of traditional rope-driven snake-like robotic arms increases, the number of rear motors also increases accordingly, leading to the problem of volume redundancy and increasing the difficulty of control; the rope needs to pass through multiple joints, resulting in motion coupling between the joints, reducing the accuracy and stability of the robotic arm; due to reasons such as rope tension distribution and joint constraints, the overall deflection angle of the robotic arm is small and its activity space is limited. Summary of the invention

[0005] The purpose of the present invention is to provide a series-parallel electromagnetic drive robotic arm with two degrees of freedom, so as to solve the problems of structural redundancy, excessive weight of the whole machine, and small overall deflection angle of the robotic arm in the existing serpentine robotic arm.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] A three-degree-of-freedom serial-parallel electromagnetic drive mechanical arm, comprising: at least two groups of mechanical arm joints arranged in sequence along the axial direction;

[0008] The mechanical arm joint comprises a base plate, a plurality of driving mechanisms evenly spaced on the top of the base plate, and a step-down module arranged on the base plate and communicatively connected with the driving mechanisms, the step-down modules correspond to the driving mechanisms one by one, the step-down modules are communicatively connected with the power module, and the driving mechanisms on all the mechanical arm joints correspond to each other and are arranged in an array;

[0009] Between adjacent mechanical arm joints, the output end of the driving mechanism of the upper section is rotatably connected to the bottom plate of the next section, the output end of the driving mechanism at the end is rotatably connected to the top plate, and a control module is provided at the bottom of the bottom plate at the head end, which is communicatively connected to the power module, and the control module is communicatively connected to the driving mechanism;

[0010] The control module is used to control the extension and retraction of the driving mechanism, thereby causing the robotic arm to extend or deflect.

[0011] Further, in the mechanical arm joint at the head end, the voltage reduction module is arranged on the top of the bottom plate, and the voltage reduction module evenly spaces the driving mechanism;

[0012] In the remaining robot arm joints, the step-down module is arranged at the bottom of the base plate.

[0013] Furthermore, the driving mechanism comprises a hollow cylinder arranged on the top of the bottom plate, a magnetic block slidably arranged in the hollow cylinder, and a push rod arranged on the top of the magnetic block, wherein the end of the push rod away from the magnetic block extends out of the hollow cylinder and is rotatably connected to the bottom plate of the upper section of the robot arm joint;

[0014] A vertical groove is provided in the axial direction on the outer wall of the hollow cylinder. A plurality of radial annular grooves are provided on the outer wall of the hollow cylinder which are evenly spaced and connected to the vertical grooves. Electromagnetic modules which are respectively connected to the control module and the step-down module for communication are installed in the vertical grooves. An electromagnetic coil which is connected to the electromagnetic module for communication is wound around the radial annular groove. When the electromagnetic coil is energized, the magnetic force generated by the electromagnetic coil attracts the magnetic force of the magnetic block.

[0015] Furthermore, the depth of the vertical groove is greater than the depth of the radial annular groove.

[0016] Furthermore, the electromagnetic module is located inside the electromagnetic coil.

[0017] Furthermore, the outer edge of the electromagnetic coil is flush with the outer wall of the hollow cylinder.

[0018] Furthermore, the bottom end of the electromagnetic module passes through the corresponding bottom plate and is communicatively connected with the step-down module.

[0019] Furthermore, a mounting groove for mounting the hollow cylinder is provided on the bottom plate, and a clamping block which is clamped with the inner wall of the bottom end of the hollow cylinder is provided at the bottom center of the mounting groove.

[0020] Furthermore, the bottom plate is covered with a shell, and the hollow cylinder is located inside the shell;

[0021] Between adjacent mechanical arm joints, the end of the push rod of the upper section away from the magnetic block passes through the top wall of the shell and is rotatably connected to the bottom plate of the next section.

[0022] Furthermore, the push rod of the upper mechanical arm joint and the bottom plate of the next mechanical arm joint, and the push rod at the end and the top plate are rotatably connected through a connecting rod mechanism;

[0023] The connecting rod mechanism includes a hinge and a ball chain rotatably connected to the hinge. The hinge is respectively arranged at the bottom of the top plate and the bottom plate of the next mechanical arm joint, and the ball chain is arranged at the end of the push rod of the previous mechanical arm joint.

[0024] The present invention has the following beneficial effects:

[0025] 1. The three-degree-of-freedom series-parallel electromagnetic drive robot arm of the present invention has multiple robot arm joints connected in series, and multiple driving mechanisms on a single robot arm joint are arranged in parallel, so that the maximum deflection angle of a single robot arm joint can reach 45°, so that the robot arm as a whole can deflect at a large angle.

[0026] 2. The three-degree-of-freedom series-parallel electromagnetic drive robotic arm of the present invention abandons traditional mechanical transmission components such as motors and screws, so that the drive elements are tightly integrated, the intermediate links are reduced, the energy conversion efficiency is improved, the miniaturization and lightweight of the robotic arm are realized, the volume of the whole machine is further reduced, the adaptability is improved, and it can be operated in complex or confined spaces.

[0027] 3. The three-degree-of-freedom series-parallel electromagnetic drive robot arm of the present invention provides a large current to the drive mechanism through a power module and a step-down module. The control module is used to control and adjust the current of the drive mechanism and enable the output end of the drive mechanism to move stably and accurately.

[0028] 4. The driving mechanism of the present invention inputs control instructions to the electromagnetic module through the control module, and realizes the input of current to any electromagnetic coil. The step-down module is used to reduce the voltage, thereby increasing the current; when any electromagnetic coil is energized, it generates a magnetic force that attracts the magnetic block, thereby changing the position of the magnetic block in the hollow cylinder, and by inputting current to the electromagnetic coils at different positions, the magnetic block is controlled to move up and down in the hollow cylinder. When the magnetic block moves, it will drive the push rod to move, thereby changing the deflection angle between the upper base plates, and finally realizing the deflection of the robotic arm; when all the magnetic blocks in the same robotic arm joint move to the same position, the push rod moves the same distance, thereby realizing the extension and retraction of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of a three-degree-of-freedom series-parallel electromagnetic drive robotic arm;

[0030] Figure 2 It is a schematic diagram of the structure of the robot arm joint;

[0031] Figure 3 It is a schematic diagram of the specific structure of the robot arm joint;

[0032] Figure 4 for Figure 1 A schematic diagram of the enlarged structure of part A;

[0033] Figure 5 This is a schematic diagram of the structure of the bottom plate in the lowest end of the robotic arm joint.

[0034] In the figure: 1. Robot arm joint; 11. Bottom plate; 111. Mounting groove; 112. Block; 12. Driving mechanism; 121. Hollow cylinder; 122. Magnetic block; 123. Push rod; 124. Vertical groove; 125. Radial annular groove; 126. Electromagnetic module; 127. Electromagnetic coil; 13. Step-down module; 2. Top plate; 3. Control module; 4. Housing; 5. Connecting rod mechanism; 51. Hinge; 52. Ball chain. DETAILED DESCRIPTION

[0035] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0036] like Figures 1 to 5 As shown, in an embodiment of the present invention, a three-degree-of-freedom series-parallel electromagnetic drive mechanical arm is provided, comprising: at least two groups of mechanical arm joints 1 arranged in sequence along the axial direction; a plurality of mechanical arm joints 1 are connected in series along the axial direction, and two adjacent mechanical arm joints 1 are rotated in coordination. In this embodiment, there are six mechanical arm joints 1. In other embodiments of the present invention, the mechanical arm joints 1 can be set to three, four, five, seven, etc., without specific limitation, and the number and type of mechanical arm joints can be flexibly configured according to specific needs.

[0037] The robotic arm joint 1 includes a base plate 11, a plurality of driving mechanisms 12 evenly spaced on the top of the base plate 11, and a step-down module 13 arranged on the base plate 11 and communicatively connected to the driving mechanisms 12. The step-down module 13 corresponds to the driving mechanisms 12 one by one, and the step-down module 13 is communicatively connected to the power supply module. The driving mechanisms 12 on all the robotic arm joints 1 correspond to each other and are arranged in an array. The step-down module 13 is a step-down module commonly used in existing robotic arms or manipulators, and will not be described in detail herein. In this embodiment, in the robotic arm joint 1 at the head end, the step-down module 13 is arranged on the top of the base plate 11, and the step-down module 13 evenly spaces the driving mechanisms 12. In the remaining robotic arm joints 1, the step-down module 13 is arranged at the bottom of the base plate 11, and the step-down module 13 is used to reduce the voltage, thereby increasing the current.

[0038] Between adjacent robotic arm joints 1, the output end of the driving mechanism 12 of the upper section is rotatably connected to the bottom plate 11 of the next section, so when the driving mechanism 12 is extended or retracted, the bottom plate 11 of the next section can be deflected, thereby causing the robotic arm to deflect as a whole; the output end of the driving mechanism 12 at the end is rotatably connected to the top plate 2, and the bottom of the bottom plate 11 at the head end is provided with a control module 3 that is communicatively connected to the power module. The control module 3 can be set to one, or two, three, four, etc., and the number thereof is determined according to the number of parallel driving mechanisms 12 and series robotic arm joints 1, and no specific restrictions are made here; and the control module 3 adopts an ESP32 chip, and the control module 3 is communicatively connected to the driving mechanism 12. The control module 3 is used to control the extension and retraction of the driving mechanism 12, thereby causing the robotic arm to extend or retract or deflect; the control module 3 is used to control and adjust the current on the driving mechanism 12, and enable the output end of the driving mechanism 12 in the robotic arm joint 1 to be able to stably and accurately extend and retract. The present invention abandons traditional mechanical transmission components such as motors and screws, so that the drive element 12 is tightly integrated, the intermediate links are reduced, the energy conversion efficiency is improved, the miniaturization and lightweight of the robot arm are achieved, the volume of the whole machine is further reduced, the adaptability is improved, and it can be operated in complex or confined spaces.

[0039] Moreover, the driving mechanism 12 on a single robot arm joint 1 in this embodiment is provided with three groups, and the bottom plate 11 is a triangular structure, the shape of the top plate 2 is the same as that of the bottom plate 11, and the driving mechanisms 12 are respectively arranged at intervals at the top triangular position of the bottom plate 11 to form a parallel driving structure; the control module 3 is used to control the extension and retraction of the driving mechanism 12 on the robot arm joint 1, and the deflection angle of a single robot arm joint 1 can reach up to 45° at most, thereby realizing the extension and retraction of the robot arm and large-angle deflection. In other embodiments of the present invention, the driving mechanism 12 can be set to two groups, four groups, five groups, etc., and the number of the step-down modules 13 corresponds thereto, so that each driving mechanism 12 can be driven independently, so that the drive of different arm segments is decoupled.

[0040] like Figure 2 and Figure 3 As shown, the driving mechanism 12 includes a hollow cylinder 121 arranged on the top of the base plate 11, the hollow cylinder 121 is hollow inside, and has openings at the top and the bottom; a magnetic block 122 is slidably arranged in the hollow cylinder 121, the magnetic block 122 is a cylindrical structure, the size of the magnetic block 122 matches the inner diameter of the hollow cylinder 121, and the opening size at the top of the hollow cylinder 121 is slightly smaller than the size of the magnetic block 122, so that the magnetic block 122 can be prevented from slipping; and a push rod 123 is arranged on the top of the magnetic block 122, the end of the push rod 123 away from the magnetic block 122 extends out of the hollow cylinder 121 and is rotatably connected to the base plate 11 of the previous section of the robot arm joint 1; the hollow cylinder 121 is made of aluminum, stainless steel, copper or plastic.

[0041] A vertical groove 124 is provided in the axial direction on the outer wall of the hollow cylinder 121, and a plurality of radial annular grooves 125 are provided on the outer wall of the hollow cylinder 121 which are evenly spaced and connected to the vertical groove 124. An electromagnetic module 126 which is respectively connected to the control module 3 and the step-down module 13 for communication is installed in the vertical groove 124, and an electromagnetic coil 127 which is connected to the electromagnetic module 126 for communication is wound on the radial annular groove 125. When the electromagnetic coil 127 is energized, the magnetic force generated by the electromagnetic coil 127 is attracted to the magnetic force of the magnetic block 122; wherein, the electromagnetic module 126 is a PCB board which integrates a plurality of PMOS, SMD LEDs, SMD resistors, SMD resistors, power strips, and 74HC595 control chips, and is used to provide current to the electromagnetic coil 127 at any time.

[0042] In this embodiment, the depth of the vertical groove 124 is greater than the depth of the radial annular groove 125; the electromagnetic module 126 is located on the inner side of the electromagnetic coil 127; the outer edge of the electromagnetic coil 127 is flush with the outer wall of the hollow cylinder 121; the bottom end of the electromagnetic module 126 passes through the corresponding base plate 11 and is communicated with the step-down module 13.

[0043] The control module 3 inputs control instructions to the electromagnetic module 126, and inputs current to any electromagnetic coil 127. The step-down module 13 is used to reduce the voltage, thereby increasing the current. When any electromagnetic coil 127 is energized, it generates a magnetic force that attracts the magnetic block 122, thereby changing the position of the magnetic block 122 in the hollow cylinder 121. By inputting current to the electromagnetic coils 127 at different positions, the magnetic block 122 is driven to move up and down in the hollow cylinder 121. When the magnetic block 122 moves, it will drive the push rod 123 to move, thereby changing the deflection angle between the upper base plate 11, and finally realizing the deflection of the robotic arm. When all the magnetic blocks 122 in the same robotic arm joint 1 move to the same position, the push rod 123 moves the same distance, thereby realizing the extension and retraction of the robotic arm.

[0044] In order to facilitate the installation of the hollow cylinder 121, a mounting groove 111 for mounting the hollow cylinder 121 is opened on the bottom plate 11, and a clamping block 112 is provided at the bottom center of the mounting groove 111 to clamp with the bottom inner wall of the hollow cylinder 121; the clamping block 112 is clamped with the bottom opening of the hollow cylinder 121.

[0045] like Figure 1 and Figure 4As shown, a shell 4 is provided on the bottom plate 11, and a hollow cylinder 121 is located inside the shell 4; the shell 4 is used to protect the driving mechanism 12, while preventing a large amount of dust from accumulating on the driving mechanism 12 to avoid affecting subsequent use; the shell 4 is a triangular prism structure with an open bottom and a hollow interior, which matches the shape of the bottom plate 11, and the top wall of the shell 4 is provided with three through holes matching the push rod 123. Between adjacent robot arm joints 1, the end of the push rod 123 of the upper section away from the magnetic block 122 passes through the top wall of the shell 4 and is rotatably connected to the bottom plate 11 of the next section.

[0046] Specifically, the push rod 123 of the previous robotic arm joint 1 and the bottom plate 11 at the top, as well as the push rod 123 at the end and the top plate 2 are rotatably connected via a connecting rod mechanism 5; the connecting rod mechanism 5 includes a hinge 51 and a ball chain 52 rotatably connected to the hinge 51, the top end of the ball chain 52 is rotatably matched with the hinge 51 through an axial hole, the hinge 51 is respectively arranged at the bottom of the top plate 2 and the bottom plate 11 of the next robotic arm joint 1, and the ball chain 52 is arranged at the end of the push rod 123 of the previous robotic arm joint 1; rotational coordination between adjacent robotic arm joints 1 is achieved through the hinge 51 and the ball chain 52 on the connecting rod mechanism 5.

[0047] The three-degree-of-freedom series-parallel electromagnetic drive robotic arm of the present invention provides a large current to the electromagnetic coil 127 in the drive mechanism 12 through the power module and the step-down module 13. The control module 3 is used to input control instructions to the electromagnetic module 126, and to input current to any electromagnetic coil 127, so that the magnetic block 122 and the push rod 123 can move up and down along the hollow cylinder 121 stably and accurately, and finally realize the extension or deflection of the robotic arm; through the setting of the drive mechanism 12, the miniaturization and lightweight of the robotic arm are achieved, and the volume of the robotic arm is further reduced, so that it can be operated in a complex or restricted and narrow space.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-degree-of-freedom series-parallel electromagnetic drive robotic arm, It is characterized in that include: At least two groups of mechanical arm joints (1) arranged in sequence along the axial direction; The mechanical arm joint (1) comprises a base plate (11), a plurality of driving mechanisms (12) evenly spaced on the top of the base plate (11), and a voltage reduction module (13) arranged on the base plate (11) and communicatively connected to the driving mechanisms (12), wherein the voltage reduction modules (13) correspond to the driving mechanisms (12) one by one, the voltage reduction modules (13) are communicatively connected to a power supply module, and the driving mechanisms (12) on all the mechanical arm joints (1) correspond to each other and are arranged in an array; Between adjacent mechanical arm joints (1), the output end of the driving mechanism (12) of the upper section is rotatably connected to the bottom plate (11) of the lower section, the output end of the driving mechanism (12) at the end is rotatably connected to the top plate (2), and a control module (3) is provided at the bottom of the bottom plate (11) at the head end, which is communicatively connected to the power module, and the control module (3) is communicatively connected to the driving mechanism (12); The control module (3) is used to control the extension and retraction of the drive mechanism (12), thereby causing the mechanical arm to extend or deflect.

2. The three-degree-of-freedom serial-parallel electromagnetic drive mechanical arm according to claim 1, It is characterized in that In the mechanical arm joint (1) at the head end, the pressure reduction module (13) is arranged on the top of the base plate (11), and the pressure reduction module (13) evenly spaces the driving mechanisms (12); In the remaining robot arm joints (1), the voltage reduction module (13) is arranged at the bottom of the base plate (11).

3. The three-degree-of-freedom serial-parallel electromagnetic drive mechanical arm according to claim 1, It is characterized in that The driving mechanism (12) comprises a hollow cylinder (121) arranged on the top of the bottom plate (11), a magnetic block (122) slidably arranged in the hollow cylinder (121), and a push rod (123) arranged on the top of the magnetic block (122), wherein the end of the push rod (123) away from the magnetic block (122) extends out of the hollow cylinder (121) and is rotatably connected to the bottom plate (11) of the robot arm joint (1) described in the previous section; The outer wall of the hollow cylinder (121) is provided with a vertical groove (124) along the axial direction, and the outer wall of the hollow cylinder (121) is provided with a plurality of radial annular grooves (125) which are evenly spaced and connected to the vertical groove (124). An electromagnetic module (126) which is respectively connected to the control module (3) and the step-down module (13) is installed in the vertical groove (124). An electromagnetic coil (127) which is connected to the electromagnetic module (126) is wound around the radial annular groove (125). When the electromagnetic coil (127) is energized, the magnetic force generated by the electromagnetic coil (127) is attracted to the magnetic force of the magnetic block (122).

4. The three-degree-of-freedom series-parallel electromagnetic drive mechanical arm according to claim 3, It is characterized in that The depth of the vertical groove (124) is greater than the depth of the radial annular groove (125).

5. The three-degree-of-freedom serial-parallel electromagnetic drive mechanical arm according to claim 4, It is characterized in that The electromagnetic module (126) is located inside the electromagnetic coil (127).

6. The three-degree-of-freedom serial-parallel electromagnetic drive mechanical arm according to claim 5, It is characterized in that The outer edge of the electromagnetic coil (127) is flush with the outer wall of the hollow cylinder (121).

7. The three-degree-of-freedom serial-parallel electromagnetic drive mechanical arm according to claim 3, It is characterized in that The bottom end of the electromagnetic module (126) passes through the corresponding bottom plate (11) and is communicatively connected with the voltage reduction module (13).

8. The three-degree-of-freedom serial-parallel electromagnetic drive mechanical arm according to claim 3, It is characterized in that The bottom plate (11) is provided with a mounting groove (111) for mounting the hollow cylinder (121), and a clamping block (112) is provided at the bottom center of the mounting groove (111) and is clamped with the inner wall of the bottom end of the hollow cylinder (121).

9. The three-degree-of-freedom serial-parallel electromagnetic drive mechanical arm according to any one of claims 3 to 8, It is characterized in that The bottom plate (11) is covered with a shell (4), and the hollow cylinder (121) is located inside the shell (4); Between adjacent mechanical arm joints (1), the end of the push rod (123) of the upper section away from the magnetic block (122) passes through the top wall of the housing (4) and is rotatably connected to the bottom plate (11) of the lower section.

10. The three-degree-of-freedom serial-parallel electromagnetic drive mechanical arm according to claim 9, It is characterized in that The push rod (123) of the upper section of the mechanical arm joint (1) and the bottom plate (11) of the lower section of the mechanical arm joint (1), as well as the push rod (123) at the end and the top plate (2) are rotatably connected via a connecting rod mechanism (5); The connecting rod mechanism (5) includes a hinge (51) and a ball chain (52) rotatably connected to the hinge (51), wherein the hinge (51) is respectively arranged at the bottom of the top plate (2) and the bottom plate (11) of the next section of the robotic arm joint (1), and the ball chain (52) is arranged at the end of the push rod (123) of the previous section of the robotic arm joint (1).

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