Self-driven mechanical arm control structure and control method

Abstract

The invention provides a self-driven mechanical arm control structure and method, and relates to the technical field of mechanical arm driving. The structure comprises a rotating shaft and a function part used for being connected with the rotating shaft; the functional part comprises a guide chain, and a first electromagnetic part and a second electromagnetic part are hung at the two ends of the guide chain respectively; the rotating shaft is provided with a guide groove used for allowing the guide chain to penetrate through conveniently, and the first electromagnetic part and the second electromagnetic part are different in height. Each mechanical arm is independently designed, and a self-driven structure of the electromagnetic part is designed at the rotating shaft of each joint, so that the working independence of each joint is ensured, and the working frequencies of the electromagnetic parts with multiple degrees of freedom can be effectively integrated, so that the purpose of cooperative working of multiple joints is achieved; and the whole driving structure does not need to be externally connected with a driving unit, and the mechanical arm is high in operation safety.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering mechanical arms, and in particular, to a self-driven mechanical arm control structure and a control method. Background Art

[0002] With the development of modern technology, some factories use robotic arms to replace manual labor. During the working process, the robotic arms often need to move according to the target stroke. For example, the material-grabbing robotic arm will reciprocate and lift according to the target height to grab materials; the swing robotic arm will swing left and right according to the target distance, etc. These strokes are often fixed and the frequency is very high.

[0003] Now many mechanical arms are modular operations. In the process of modular mechanical operation, the mechanical arms need to be strictly driven and controlled; for example, Chinese patent invention patent CN116408833A discloses a mechanical arm, which includes: a base, the base is provided with a first joint; a bogie, the bogie is installed on the base and is dynamically connected to the first joint, and the bogie is provided with a second joint, a third joint and a fourth joint; a first driving arm, the first driving arm includes a mounting cylinder, a first transmission cylinder and a second transmission cylinder, the mounting cylinder is installed on the bogie and is dynamically connected to the second joint, and the mounting cylinder, the first transmission cylinder and the second transmission cylinder are rotatably sleeved in sequence from the outside to the inside in the radial direction; a second driving arm, the second driving arm includes a third transmission cylinder and a fourth transmission cylinder, and the third transmission cylinder is rotatably sleeved outside the fourth transmission cylinder; wherein the third joint, the first transmission cylinder and the third transmission cylinder are dynamically connected in sequence, and the fourth joint, the second transmission cylinder and the fourth transmission cylinder are dynamically connected in sequence. The mechanical arm of the present invention has a low weight, a small moment of inertia of dead weight, and a high efficiency of the whole machine.

[0004] However, the driving structure of the above-mentioned robotic arm still has great defects: in a robotic arm with multiple degrees of freedom, each degree of freedom of the robotic arm can be regarded as independent, but the work of multiple degrees of freedom all conform to a large operating law. The above-mentioned robotic arm driving scheme unifies the design of multiple joints and driving arms of a robotic arm. It neither takes into account the working independence of the robotic arm joints of each degree of freedom, nor can it coordinate the work of multiple degrees of freedom. Moreover, the power of multiple joints is the external power of the external driving machine, which leads to a greater risk of failure.

[0005] Therefore, in order to solve the above problems, it is necessary for us to design a reasonable and efficient self-driven robotic arm control structure. Summary of the invention

[0006] The purpose of the present invention is to provide a self-driven robotic arm control structure, in which each robotic arm joint is designed individually and an electromagnetic self-driven structure is designed at the rotation axis of each joint, which not only ensures the working independence of each joint, but also can effectively integrate the working frequencies of electromagnetic components with multiple degrees of freedom, thereby achieving the purpose of coordinated work of multiple joints, and the entire driving structure does not require an external driving unit, and the robotic arm operation is highly safe.

[0007] In order to achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0008] A self-driven mechanical arm control structure comprises a rotating shaft and a functional part connected to the rotating shaft; the functional part comprises a guide chain, and a first electromagnetic part and a second electromagnetic part are mounted on both ends of the guide chain respectively; a guide groove for facilitating the guide chain to pass through is arranged on the rotating shaft, and the heights of the first electromagnetic part and the second electromagnetic part are different;

[0009] The magnetic force generated by the first electromagnetic component and the second electromagnetic component after being energized causes the first electromagnetic component and the second electromagnetic component to move closer to or farther away, driving the guide chain to transmit, thereby driving the rotating shaft to rotate and driving the mechanical arm to move.

[0010] As a preferred embodiment of the present invention, a counterweight is provided on the guide chain; and the number of the counterweight is at least two.

[0011] As a preferred embodiment of the present invention, a plurality of the counterweights are distributed on the guide chain, so that when the distance between the first electromagnetic member and the second electromagnetic member is a predetermined value, the total mass of the counterweights on both sides of the rotating shaft is the same;

[0012] When the robot arm performs reciprocating motion, after the first electromagnetic member and the second electromagnetic member are energized and magnetized, the distance between the first electromagnetic member and the second electromagnetic member changes within a predetermined value, thereby driving the robot arm to perform reciprocating motion;

[0013] When the robotic arm performs load-bearing motion, the target distance between the first electromagnetic component and the second electromagnetic component is obtained when the total mass difference of the counterweights on both sides of the rotating shaft is the load-bearing mass; after the first electromagnetic component and the second electromagnetic component are energized and magnetized, the distance between the first electromagnetic component and the second electromagnetic component is the target distance.

[0014] As a preferred embodiment of the present invention, the functional part includes a limiting bin for limiting the first electromagnetic component and the second electromagnetic component.

[0015] As a preferred embodiment of the present invention, the rotating shaft includes a cylindrical rotating shaft and a tower-shaped rotating shaft, both of which are provided with guide grooves, the number of the guide grooves is at least two, and the number of the functional parts is at least two.

[0016] As a preferred embodiment of the present invention, a groove is provided at one end of the cylindrical rotating shaft close to the tower-shaped rotating shaft; and a protrusion for being inserted into the groove is provided at one end of the tower-shaped rotating shaft close to the cylindrical rotating shaft.

[0017] As a preferred embodiment of the present invention, the number of the grooves and the number of the protrusions are at least two.

[0018] As a preferred embodiment of the present invention, the guide chain includes at least one connecting link, the counterweight is arranged on the connecting link, and the guide groove is provided with anti-slip grooves.

[0019] The present invention also provides a control method for a self-driven mechanical arm control structure, comprising the following steps:

[0020] S1: Obtain the displacement stroke of the robot arm;

[0021] S2: Obtain the rotation angle of the rotation axis according to the displacement stroke of the robot arm;

[0022] S3: obtaining the transmission amount of the guide chain according to the rotation angle of the rotation shaft;

[0023] S4: The magnetic force generated by energizing the first electromagnetic component and the second electromagnetic component causes the first electromagnetic component and the second electromagnetic component to move closer or farther away, until the displacement of the first electromagnetic component is equal to the transmission amount of the guide chain, driving the guide chain to transmit, thereby driving the rotating shaft to rotate and driving the robotic arm to move.

[0024] As a preferred embodiment of the present invention, before executing step S1, a plurality of counterweights are distributed on the guide chain;

[0025] Calculate the distance between the first electromagnetic member and the second electromagnetic member when the total mass of the counterweight members on both sides of the rotating shaft is the same, as a predetermined value;

[0026] After executing step S3, the method further includes:

[0027] S4: If the robot arm performs reciprocating motion, after the first electromagnetic member and the second electromagnetic member are energized and magnetized, the distance between the first electromagnetic member and the second electromagnetic member changes within a predetermined value, thereby driving the robot arm to perform reciprocating motion;

[0028] S5; if the robot arm is performing load-bearing motion, obtain the target distance between the first electromagnetic component and the second electromagnetic component when the total mass difference of the counterweights on both sides of the rotating shaft is the load-bearing mass; after the first electromagnetic component and the second electromagnetic component are energized and magnetized, the distance between the first electromagnetic component and the second electromagnetic component is the target distance.

[0029] The beneficial effect of the self-driven robotic arm control structure and control method of the present invention is that each robotic arm joint is designed individually, and an electromagnetic self-driven structure is designed at the rotation axis of each joint, which not only ensures the working independence of each joint, but also can effectively integrate the working frequencies of electromagnetic components with multiple degrees of freedom, thereby achieving the purpose of coordinated work of multiple joints, and the entire drive structure does not require an external drive unit, and the robotic arm operation safety is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a three-dimensional structural schematic diagram of a self-driven mechanical arm control structure of the present invention;

[0031] Figure 2 It is a side view structural schematic diagram of a self-driven mechanical arm control structure (with only a cylindrical rotating shaft) of the present invention. DETAILED DESCRIPTION

[0032] The following are specific embodiments of the present invention, which further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0033] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement and steps of modules and steps set forth in these embodiments do not limit the scope of the present invention.

[0034] At the same time, it should be understood that for the convenience of description, the processes in the drawings are not just performed separately, but multiple steps are performed in an interlaced manner.

[0035] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0036] Technologies, methods, and systems known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and systems should be considered part of the authorization specification.

[0037] Embodiment 1: Figure 1 , 2 The figure is only one of the embodiments of the present invention, a self-driven robot arm control structure, comprising a rotating shaft 1 and a functional part 2 for connecting with the rotating shaft 1; the functional part 2 comprises a guide chain 21, and the two ends of the guide chain 21 are respectively mounted with a first electromagnetic part 23 and a second electromagnetic part 24; the rotating shaft 1 is provided with a guide groove 13 for facilitating the guide chain 21 to pass through, and the heights of the first electromagnetic part 23 and the second electromagnetic part 24 are different;

[0038] In the present invention, the rotation of the rotating shaft 1 will drive the robot arm to rotate. In fact, the rotation of the rotating shaft 1 at each joint of the robot arm drives the joint to rotate, thereby driving the robot arm to operate.

[0039] Here, the functional part 2 is arranged on the rotating shaft 1, and the guide chain 21 of the functional part 2 is transmitted in the guide groove 13 of the rotating shaft 1, thereby driving the rotating shaft 1 to rotate.

[0040] Moreover, the transmission mode of the guide chain 21 in the present invention is self-driven, that is, the driving of the internal structure of the guide chain 21 drives the guide chain 21 to transmit, and the specific mode is: the first electromagnetic component 23 and the second electromagnetic component 24 are respectively mounted at both ends of the guide chain 21, and the first electromagnetic component 23 and the second electromagnetic component 24 can be energized to generate magnetism; if the first electromagnetic component 23 and the second electromagnetic component 24 have the same magnetic properties, the first electromagnetic component 23 and the second electromagnetic component 24 repel each other and move away; conversely, if the first electromagnetic component 23 and the second electromagnetic component 24 have different magnetic properties, the first electromagnetic component 23 and the second electromagnetic component 24 attract each other and approach each other.

[0041] by Figure 2 For example, when the first electromagnetic component 23 and the second electromagnetic component 24 are close to each other, the guide chain 21 drives the rotating shaft 1 to rotate clockwise; on the contrary, when the first electromagnetic component 23 and the second electromagnetic component 24 are far away from each other, the rotating shaft 1 rotates counterclockwise.

[0042] When the rotating shaft 1 is set horizontally, both ends of the guide chain 21 sag under gravity by default; however, there is still the possibility that the rotating shaft is set vertically. In this case, there are two ways to self-drive the guide chain 21: the first is to form a certain angle between the guide chain 21 and the rotating shaft 1, and the guide chain 21 is tilted downward to mount the first electromagnetic component 23 and the second electromagnetic component 24, and still rely on gravity and magnetic force to drive the rotating shaft 1 to rotate; the second is to set the guide chain 21 horizontally, and set a compensation roller at the end of the first electromagnetic component 23 and the second electromagnetic component 24 away from the rotating shaft 1, and the first electromagnetic component 23 is connected to the second electromagnetic component 24 through the compensation rope 26. The compensation rope 26 refers to Figure 2 The structure in .

[0043] Generally speaking, the matching space of gravity is sought as much as possible to make the first electromagnetic component 23 and the second electromagnetic component 24 hang downward. Of course, the first electromagnetic component 23 and the second electromagnetic component 24 can also be hung downward while the compensation rope 26 is arranged at the lower side of the first electromagnetic component 23 and the second electromagnetic component 24, such as Figure 2 shown.

[0044] Finally, the magnetic force generated by the first electromagnetic component 23 and the second electromagnetic component 24 after being energized causes the first electromagnetic component 23 and the second electromagnetic component 24 to move closer or farther away, driving the guide chain 21 to transmit, thereby driving the rotating shaft to rotate and driving the robotic arm to move.

[0045] The present invention provides a self-driven robotic arm control structure, in which each robotic arm joint is designed individually, and an electromagnetic self-driven structure is designed at the rotation axis of each joint, which not only ensures the working independence of each joint, but also can effectively integrate the working frequencies of electromagnetic parts with multiple degrees of freedom, thereby achieving the purpose of coordinated work of multiple joints, and the entire driving structure does not require an external driving unit, and the robotic arm operation safety is high.

[0046] Embodiment 2, still as Figure 1 , 2 The figure is only one of the embodiments of the present invention. On the basis of the first embodiment, in a self-driven robot arm control structure of the present invention, a counterweight 22 is provided on the guide chain 21; the number of the counterweight 22 is at least two.

[0047] A plurality of the counterweights 22 are distributed on the guide chain 21, so that when the distance between the first electromagnetic member 23 and the second electromagnetic member 24 is a predetermined value, the total mass of the counterweights 22 on both sides of the rotating shaft 1 is the same;

[0048] When the robot arm performs reciprocating motion, after the first electromagnetic member 23 and the second electromagnetic member 24 are energized and magnetized, the distance between the first electromagnetic member 23 and the second electromagnetic member 24 changes within a predetermined value, thereby driving the robot arm to perform reciprocating motion;

[0049] When the robotic arm performs load-bearing movement, the target distance between the first electromagnetic component 23 and the second electromagnetic component 24 is obtained when the total mass difference of the counterweight components 22 on both sides of the rotating shaft 1 is the load-bearing mass; after the first electromagnetic component 23 and the second electromagnetic component 24 are energized and magnetized, the distance between the first electromagnetic component 23 and the second electromagnetic component 24 is the target distance.

[0050] Embodiment three, still as Figure 1 , 2 The figure shown is only one embodiment of the present invention. Based on any of the above embodiments, in a self-driven robotic arm control structure of the present invention, the rotating shaft 1 includes a cylindrical rotating shaft 11 and a tower-shaped rotating shaft 12, and the cylindrical rotating shaft 11 and the tower-shaped rotating shaft 12 are both provided with guide grooves 13, the number of the guide grooves 13 is at least two, and the number of the functional parts 2 is at least two.

[0051] Of course, a groove 14 is provided at one end of the cylindrical rotating shaft 11 close to the tower-shaped rotating shaft 12; a convex column for inserting into the groove is provided at one end of the tower-shaped rotating shaft 12 close to the cylindrical rotating shaft 11, that is, the cylindrical rotating shaft 11 and the tower-shaped rotating shaft 12 can be used separately or in combination; it is also possible to choose to set the functional part 2 at different outer diameters of the tower-shaped rotating shaft 12, so as to change the driving stroke of the rotating shaft 1 of the entire self-driving structure.

[0052] In the present invention, the number of the grooves 14 and the number of the protrusions are at least two.

[0053] Furthermore, the functional part 2 includes a limiting compartment 25 for limiting the first electromagnetic component 23 and the second electromagnetic component 24 .

[0054] Finally, the guide chain 21 includes at least one connecting link, the counterweight is arranged on the connecting link, and the guide groove 13 is provided with anti-skid grooves, and the guide groove 13 can also be provided with anti-skid protrusions or even anti-skid meshing teeth.

[0055] Embodiment 3, the present invention further provides a control method of a self-driven robotic arm control structure in all the above embodiments, comprising the following steps:

[0056] S1: Obtain the displacement stroke of the robot arm;

[0057] S2: Obtain the rotation angle of the rotation axis according to the displacement stroke of the robot arm;

[0058] S3: obtaining the transmission amount of the guide chain according to the rotation angle of the rotation shaft;

[0059] S4: The magnetic force generated by energizing the first electromagnetic component and the second electromagnetic component causes the first electromagnetic component and the second electromagnetic component to move closer or farther away, until the displacement of the first electromagnetic component is equal to the transmission amount of the guide chain, driving the guide chain to transmit, thereby driving the rotating shaft to rotate and driving the robotic arm to move.

[0060] In the present invention, before executing step S1, a plurality of counterweights are distributed on the guide chain;

[0061] Calculate the distance between the first electromagnetic member and the second electromagnetic member when the total mass of the counterweight members on both sides of the rotating shaft is the same, as a predetermined value;

[0062] After executing step S3, the method further includes:

[0063] S4: If the robot arm performs reciprocating motion, after the first electromagnetic member and the second electromagnetic member are energized and magnetized, the distance between the first electromagnetic member and the second electromagnetic member changes within a predetermined value, thereby driving the robot arm to perform reciprocating motion;

[0064] S5; if the robot arm is performing load-bearing motion, obtain the target distance between the first electromagnetic component and the second electromagnetic component when the total mass difference of the counterweights on both sides of the rotating shaft is the load-bearing mass; after the first electromagnetic component and the second electromagnetic component are energized and magnetized, the distance between the first electromagnetic component and the second electromagnetic component is the target distance.

[0065] The present invention provides a self-driven robotic arm control structure and control method, wherein each robotic arm joint is individually designed, and an electromagnetic self-driven structure is designed at the rotation axis of each joint, which not only ensures the working independence of each joint, but also can effectively integrate the working frequencies of electromagnetic components with multiple degrees of freedom, thereby achieving the purpose of coordinated work of multiple joints, and the entire driving structure does not require an external driving unit, and the robotic arm operation safety is high.

[0066] The present invention is not limited to the specific implementation modes described above, and the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made to the above implementation modes based on the technical essence of the present invention shall be included in the protection scope of the present invention.

Claims

1. A self-driven robotic arm control structure, characterized in that: The invention comprises a rotating shaft (1) and a functional part (2) for connecting with the rotating shaft (1); the functional part (2) comprises a guide chain (21), and two ends of the guide chain (21) are respectively connected with a first electromagnetic part (23) and a second electromagnetic part (24); a guide groove (13) for facilitating the guide chain (21) to pass through is provided on the rotating shaft (1), and the heights of the first electromagnetic part (23) and the second electromagnetic part (24) are different; The magnetic force generated by the first electromagnetic component (23) and the second electromagnetic component (24) when electricity is supplied to generate magnetism causes the first electromagnetic component (23) and the second electromagnetic component (24) to move closer to or farther away from each other, driving the guide chain (21) to transmit, thereby driving the rotating shaft to rotate and driving the mechanical arm to move.

2. A self-driven robotic arm control structure according to claim 1, characterized in that: The guide chain (21) is provided with a counterweight (22); the number of the counterweight (22) is at least two.

3. A self-driven robotic arm control structure according to claim 2, characterized in that: A plurality of the counterweights (22) are distributed on the guide chain (21), so that when the distance between the first electromagnetic member (23) and the second electromagnetic member (24) is a predetermined value, the total mass of the counterweights (22) on both sides of the rotating shaft (1) is the same; When the mechanical arm performs reciprocating motion, after the first electromagnetic component (23) and the second electromagnetic component (24) are energized and magnetized, the distance between the first electromagnetic component (23) and the second electromagnetic component (24) changes within a predetermined value, thereby driving the mechanical arm to perform reciprocating motion; When the mechanical arm performs load-bearing motion, a target distance between the first electromagnetic component (23) and the second electromagnetic component (24) is obtained when the total mass difference of the counterweight components (22) on both sides of the rotating shaft (1) is the load-bearing mass; after the first electromagnetic component (23) and the second electromagnetic component (24) are energized to generate magnetism, the distance between the first electromagnetic component (23) and the second electromagnetic component (24) is the target distance.

4. The self-driven robotic arm control structure according to claim 1, characterized in that: The functional part (2) comprises a limiting bin (25) for limiting the first electromagnetic component (23) and the second electromagnetic component (24).

5. The self-driven robotic arm control structure according to claim 1, characterized in that: The rotating shaft (1) comprises a cylindrical rotating shaft (11) and a tower-shaped rotating shaft (12), and both the cylindrical rotating shaft (11) and the tower-shaped rotating shaft (12) are provided with guide grooves (13), the number of the guide grooves (13) is at least two, and the number of the functional parts (2) is at least two.

6. A self-driven robotic arm control structure according to claim 5, characterized in that: A groove (14) is provided at one end of the cylindrical rotating shaft (11) close to the tower-shaped rotating shaft (12); and a protrusion for being inserted into the groove is provided at one end of the tower-shaped rotating shaft (12) close to the cylindrical rotating shaft (11).

7. A self-driven robotic arm control structure according to claim 6, characterized in that: The number of the grooves (14) and the number of the protrusions are at least two.

8. The self-driven robotic arm control structure according to claim 2, characterized in that: The guide chain (21) comprises at least one connecting link, the counterweight is arranged on the connecting link, and the guide groove (13) is provided with anti-slip grooves.

9. A control method for a self-driven robotic arm control structure according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: Obtain the displacement stroke of the robot arm; S2: Obtain the rotation angle of the rotation axis according to the displacement stroke of the robot arm; S3: obtaining the transmission amount of the guide chain according to the rotation angle of the rotation shaft; S4: The magnetic force generated by energizing the first electromagnetic component and the second electromagnetic component causes the first electromagnetic component and the second electromagnetic component to move closer or farther away, until the displacement of the first electromagnetic component is equal to the transmission amount of the guide chain, driving the guide chain to transmit, thereby driving the rotating shaft to rotate and driving the robotic arm to move.

10. The control method of a self-driving robot arm control structure according to claim 9, characterized in that: Before executing step S1, a plurality of counterweights are distributed on the guide chain; Calculate the distance between the first electromagnetic member and the second electromagnetic member when the total mass of the counterweight members on both sides of the rotating shaft is the same, as a predetermined value; After executing step S3, the method further comprises: S4: If the robot arm performs reciprocating motion, after the first electromagnetic member and the second electromagnetic member are energized and magnetized, the distance between the first electromagnetic member and the second electromagnetic member changes within a predetermined value, thereby driving the robot arm to perform reciprocating motion; S5; if the robot arm is performing load-bearing motion, obtain the target distance between the first electromagnetic component and the second electromagnetic component when the total mass difference of the counterweights on both sides of the rotating shaft is the load-bearing mass; after the first electromagnetic component and the second electromagnetic component are energized and magnetized, the distance between the first electromagnetic component and the second electromagnetic component is the target distance.

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