Telescopic arm capable of automatically adjusting gravity center and reverse grabbing algorithm thereof

Abstract

The invention discloses a telescopic arm capable of automatically adjusting the gravity center, and relates to the field of mechanical arms, and the telescopic arm comprises a telescopic arm which can rotate around a Z axis and a Y axis in a free space and can stretch out and draw back in the Z axis direction; the mounting seat is used for mounting the telescopic arm and can rotate along the Y axis; the balancing weight is mounted on the mounting seat, the balancing weight can rotate in the Z-axis direction along with the telescopic arm, and when the telescopic arm rotates around the Y axis, the balancing weight is always located at the other end of the rotating axis of the telescopic arm around the Y axis; the movable balancing weight is arranged on the mounting seat, and when the telescopic arm rotates along the Y axis, the balancing weight moves along the mounting seat, so that the balancing weight is always kept at the other end of the rotating axis of the telescopic arm around the Y axis, the overall gravity center is ensured to be located near the Y axis, and the situations of slipping or shaking and the like during far-end operation of the telescopic arm can be effectively prevented; the operation stability of the far end of the telescopic arm can be effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical arms, and in particular relates to a telescopic arm capable of automatically adjusting its center of gravity. Background Art

[0002] Telescopic arms are widely used in various industrial machines, life-related appliances, and medical-related equipment, including the arms of industrial robots, brackets for lighting equipment, and arms that support platforms for carrying items. Mechanical telescopic arms are often used to replace human sorting in industry to improve production efficiency.

[0003] Patents 202311216540.9 and 202311216444.4 both disclose a steerable cross telescopic arm. By providing a telescopic arm that can rotate around the Z-axis and the Y-axis, it is possible to operate a target at a predetermined position.

[0004] However, the telescopic arm of the above-mentioned prior art lacks a mechanism for balancing the center of gravity. When in use, especially when the telescopic arm is extended and needs to rotate in a large arc, the center of gravity of the telescopic arm is far away from the rotation axis position, which reduces the stability of the entire telescopic arm during remote operations and is prone to slipping or shaking. Summary of the Invention

[0005] In order to solve the problem of low stability of remote operation caused by changes in the center of gravity in the prior art, the present invention aims to provide a telescopic arm that can automatically adjust the center of gravity.

[0006] The technical solution adopted in the present invention is:

[0007] A telescopic arm capable of automatically adjusting its center of gravity comprises the telescopic arm, which can rotate about the Z-axis and the Y-axis in free space and can be extended and retracted in the Z-axis direction; a mounting seat for mounting the telescopic arm and which can rotate along the Y-axis; and a counterweight block mounted on the mounting seat. The counterweight block can rotate along the Z-axis with the telescopic arm, and when the telescopic arm rotates about the Y-axis, the counterweight block is always located at the other end of the rotation axis of the telescopic arm about the Y-axis.

[0008] Optionally, the counterweight block is movably mounted above the mounting seat, and the telescopic arm is mounted below the mounting seat; an adjustment slot is provided on the counterweight block, and a freely rolling counterweight wheel is mounted in the adjustment slot.

[0009] Optionally, a slide groove is provided on the mounting seat, a slider is slidably provided in the slide groove, and the counterweight is installed on the slider.

[0010] Optionally, the telescopic arm includes a plurality of cross-shaped and rotatably connected telescopic arm units, and adjacent telescopic arm units are rotatably connected end to end.

[0011] Optionally, the telescopic arm is driven to extend and shorten by a translation control assembly; the translation control assembly includes a third drive motor and a translation assembly arranged below the mounting seat; the two cross-arranged telescopic arm units at the top of the telescopic arm, one of which is rotatably connected to the mounting seat, and the other is rotatably connected to the translation assembly.

[0012] Optionally, the translation assembly includes a screw, an adapter block, a guide shaft and a positioning block; the guide shaft is arranged parallel to the screw, and positioning blocks are provided at both ends of the guide shaft; the top of the adapter block can be slidably mounted on the guide shaft, and the bottom of the adapter block is connected to the screw for transmission; the screw passes through the positioning block and is connected to the third drive motor for transmission.

[0013] Optionally, the mounting seat can be rotatably set on the mounting frame, a second fixed gear is fixedly set on the mounting seat, a second drive motor is set on the mounting frame, and the second drive motor is connected to the second fixed gear, so that the second drive motor drives the mounting seat to rotate around the axis of the second fixed gear.

[0014] Optionally, the mounting frame can be rotatably mounted on a hanging rod, and the hanging rod is mounted on the suspension frame.

[0015] Optionally, a first fixed gear is provided on the lifting rod, a first drive motor is provided on the mounting frame, a first driving gear is provided on the first drive motor, the first driving gear and the first fixed gear are engaged with each other, and the first drive motor drives the first driving gear to move around the edge of the first fixed gear, thereby driving the entire mounting frame to rotate around the lifting rod.

[0016] Optionally, a mounting plate is provided on one side of the mounting frame, the second drive motor is installed on the mounting plate, and a first driven gear, a second driving gear and a third driven gear are respectively provided on one side of the mounting plate, which are meshed in sequence; the power output shaft of the first drive motor is transmission-connected to the second driving gear; the first driven gear is transmission-connected to the second fixed gear, and the third driven gear is used to drive the counterweight to move.

[0017] A reverse grasping algorithm for a telescopic arm capable of automatically adjusting the center of gravity comprises the following steps:

[0018] S1. Based on the position of the target point in three-dimensional space, the position is decomposed into a point p in the XOZ plane and the angle of rotation of the point p around the Z axis;

[0019] S2. Define the side length of the prism formed by the two sets of intersecting telescopic arm units as a, the half lengths of the two diagonals of the prism as w and s respectively, the axis of rotation of the telescopic arm along the Y axis as point o, and the coordinates of point p in the XOZ plane as (x, z);

[0020] S3. Since the top of one of the two telescopic arm units is fixed on the mounting base, and the other telescopic arm unit moves along the mounting base, the length of the prism diagonal changes. Point o is fixed on the mounting base, and the center of the prism is collinear with point o but does not overlap. The offset of the prism center (the distance between the center of the prism and point o, that is, half the distance moved by the moving telescopic arm unit on the mounting base) is defined as e, and the distance from the fixed end of the telescopic arm unit on the mounting base to point o is L.

[0021] It can be obtained that e=Lw(1);

[0022] S4. Define the distance from the mounting base to point p, including gs; the telescopic arm is composed of a number of telescopic arm units intersecting to form a number of equal prism-shaped borders, and g can determine the prism shape according to the number of telescopic arm units;

[0023] Since the diagonals of a prism are perpendicular to each other, the relationship between w, s, and e can be obtained according to the triangle area formula and the Pythagorean theorem:

[0024] (gs) 2 +e 2 =x 2 +z 2 (2);

[0025] w 2 +s 2 =a2 (3);

[0026] S5. Combining formulas (1), (2) and (3), according to the coordinates of point p, calculate either the offset e or w of the prism center.

[0027] So, g2 a 2 -g2w2+L2-2Lw+w2=x 2 +z2 (4),

[0028] or g2 a 2 -g2 e2+L2-2Le+e2=x 2 +z2(5),

[0029] Among them, g, L, x and y are all known quantities;

[0030] S6. In summary, after determining the coordinates of point p in the XOZ plane and obtaining the values ​​of x and z, the offset e of the center of the prism can be determined, thereby obtaining the distance that the moving telescopic arm unit moves on the mounting base. After entering the value of e, the far end of the telescopic arm can reach point p, and then the telescopic arm can be rotated around the Z axis to make the far end of the telescopic arm reach the position in three-dimensional space.

[0031] The beneficial effects of the present invention are:

[0032] The present invention provides a telescopic arm that can automatically adjust the center of gravity. A movable counterweight is provided on a mounting seat. When the telescopic arm rotates along the Y-axis, the counterweight moves along the mounting seat, thereby always remaining at the other end of the telescopic arm's rotation axis around the Y-axis, thereby ensuring that the overall center of gravity is located near the Y-axis, thereby effectively preventing the telescopic arm from slipping or shaking during remote operation, and effectively improving the stability of the remote operation of the telescopic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the installation position of the present invention.

[0034] Figure 2 It is a structural schematic diagram of the present invention.

[0035] Figure 3 It is a schematic diagram of the installation position of the first mounting base, the mounting frame and the lifting rod.

[0036] Figure 4 This is a schematic diagram of the installation location of the translation control component.

[0037] Figure 5 This is a schematic diagram of the installation position of the counterweight.

[0038] Figure 6 and Figure 7 It is a schematic diagram of the algorithm decomposition of the telescopic arm grasping the target.

[0039] Figures 8-10 It is a structural schematic diagram of the telescopic arm in different extension states in the second embodiment.

[0040] Figure 11 yes Figure 10 A magnified schematic diagram of area A in the middle.

[0041] Figure 12 This is a schematic diagram of the installation positions of the telescopic arm, the second mounting seat, the second mounting bracket and the support rod in the second embodiment.

[0042] In the figure: 100- positioning frame, 101- support rod, 1012- third fixed gear, 200- lifting rod, 201- first fixed gear, 202- mounting plate, 300- mounting frame, 310- second mounting frame, 301- first drive motor, 311- fourth drive motor, 302- first driving gear, 303- second drive motor, 313- fifth drive motor, 3030- second driving gear, 3031- first driven gear, 3032- second driven gear, 3034- third driven gear, 305- first bearing seat, 400- first mounting seat, 410- second mounting seat, 401- second fixed gear, 411- fourth fixed gear, 402 -Second bearing seat, 403-deflection axis, 413-second deflection axis, 404-fourth driven gear, 405-rack, 406-slide, 500-counterweight, 501-placement slot, 502-adjustment slide, 503-counterweight wheel, 504-over-axis slot, 600-translation control assembly, 601-third drive motor, 611-sixth drive motor, 602-first ball screw, 612-second ball screw, 603-first screw nut, 613-second screw nut, 604-guide shaft, 605-positioning block, 700-telescopic arm, 701-telescopic arm unit, 710-mounting hole, 702-transmission wheel, 703-transmission belt, 800-photovoltaic panel. DETAILED DESCRIPTION

[0043] In this embodiment, if Figures 1 to 5 The telescopic arm with automatically adjustable center of gravity includes a telescopic arm 700, which is rotatable about the Z and Y axes in free space and can be extended and retracted in the Z direction; a mounting base 400 for mounting the telescopic arm 700 and rotatable along the Y axis; and a counterweight 500 mounted on the mounting base 400. The counterweight 500 can rotate along the Z axis with the telescopic arm 700, and when the telescopic arm 700 rotates about the Y axis, the counterweight 500 remains located at the other end of the rotation axis of the telescopic arm 700 about the Y axis. By providing a movable counterweight on the mounting base, when the telescopic arm rotates about the Y axis, the counterweight moves along the mounting base, thereby always remaining at the other end of the rotation axis of the telescopic arm about the Y axis, thereby ensuring that the overall center of gravity is located near the Y axis. This effectively prevents the telescopic arm from slipping or shaking during remote operation, thereby effectively improving the stability of remote operation of the telescopic arm.

[0044] In this embodiment, if Figures 1 to 5 As shown, the counterweight 500 is movably mounted above the mounting base 400, and the telescopic arm 700 is mounted below the mounting base 400; the mounting base 400 is rotatably mounted on the mounting frame 300, and the mounting frame 300 is rotatably mounted on the hanging rod 200, which is mounted on the suspension frame 100. The suspension frame 100 is fixedly mounted above the use scene.

[0045] The mounting frame 300 is composed of two parallel portal frames, the tops of the two portal frames are connected by a sleeve, and the top of the lifting rod 200 passes through the sleeve between the tops of the two portal frames and is then connected to the suspension frame 100 by a fixed connection such as threading, clamping or welding.

[0046] A structure such as a rotation bearing may be provided between the sleeve and the hoisting rod 200 to make the rotation between the sleeve and the hoisting rod 200 more sensitive.

[0047] A first fixed gear 201 is provided on the lifting rod 200, and a first driving motor 301 is provided on the mounting frame 300. The first driving motor 301 is provided with a first driving gear 302. The first driving gear 302 is engaged with the first fixed gear 201. The first driving motor 301 drives the first driving gear 302 to move along the edge of the first fixed gear 201, thereby driving the entire mounting frame 300 to rotate around the lifting rod 200.

[0048] Specifically, such as Figure 3 As shown, the second drive motor 303 is arranged between the two portal frames, and the first fixed gear 201 is arranged in the frame bodies of the two portal frames.

[0049] In this embodiment, a second fixed gear 401 is fixedly mounted on the mounting seat 400 , and a second driving motor 303 is mounted on the mounting bracket 300 .

[0050] Specifically, a mounting plate 202 is provided on the side of the mounting frame 300 away from the first drive motor 301, and the second drive motor 303 is installed on the mounting plate 202. A first driven gear 3031, a second driving gear 3030 and a third driven gear 3034 that are meshed in sequence are respectively provided on one side of the mounting plate 202; the power output shaft of the second drive motor 303 is transmission-connected to the second driving gear 3030.

[0051] In this embodiment, if Figures 2 to 5 As shown, two first bearing seats 305 are disposed between the two door-shaped frames, a second bearing seat 402 is disposed on the mounting seat 400, and a deflection shaft 403 sequentially passes through one of the first bearing seats 305, the mounting seat 400, the second fixed gear 401, and the other first bearing seat 305. Both ends of the deflection shaft 403 are rotatably mounted within the second bearing seats 305.

[0052] The first driven gear 3031 is coaxially provided with a second driven gear 3032, and the second driven gear 3032 is meshed with the second fixed gear 401. The second driving gear 3030 drives the second driven gear 3032 to rotate by driving the first driven gear 3031, so that the entire second fixed gear 401 drives the mounting base 400 to rotate around the deflection axis 403.

[0053] At the same time, the third driven gear 3034 meshes with the fourth driven gear 404. The fourth driven gear 404 is mounted on the deflection axis 403. A rack 405 is provided on the mounting base 400, and the rack 405 is fixedly connected to the counterweight 500. Therefore, when the second drive motor 303 drives the mounting base 400 to rotate about the deflection axis 403, the rack 405 moves in a direction opposite to the rotation direction. At the same time, after the mounting base 400 rotates about the deflection axis 403, the mounting base 400 tilts, causing the counterweight 500 thereon to tilt. Under the action of gravity, the counterweight wheel 503 on the counterweight 500 rolls in a direction opposite to the rotation direction of the telescopic arm 700, thereby maintaining the entire center of gravity in a centered position.

[0054] In this embodiment, if Figures 2 to 5 As shown, the second fixed gear 401 is disposed on one side of the top surface of the mounting base 400, the counterweight 500 is located between the second fixed gear 401 and the second drive motor 303, and the bottom of the counterweight 500 is provided with an over-axis slot 504, through which the deflection shaft 403 passes. The over-axis slot 504 is provided along the moving direction of the counterweight 500, so that the counterweight 500 does not interfere with the deflection shaft 403 during movement.

[0055] In this embodiment, an adjusting slot 502 is provided on the counterweight block 500 , and the counterweight wheel 503 is installed in the adjusting slot 502 so as to be able to roll freely.

[0056] Specifically, arc-shaped adjustment slots 502 are provided on both sides of the counterweight block 500 , and rolling shafts are provided on both sides of the counterweight wheel 503 . The rolling shafts are located in the adjustment slots 502 and can roll along the adjustment slots 502 .

[0057] The counterweight block 500 is further provided with a placement groove 501 , which is in the same arc shape as the adjustment slide groove 502 , and the counterweight wheel 503 is placed in the placement groove 501 .

[0058] In this embodiment, if Figures 2 to 5 As shown, a slide groove 406 is provided on the mounting seat 400, and a slider is slidably provided on the slide groove 406, and the counterweight block 500 and the rack 405 are both installed on the slider.

[0059] When the second driving motor 303 drives the rack 405 to move, the rack 405 drives the slider to move along the sliding groove 406 , thereby driving the counterweight 500 to move along the sliding groove 406 .

[0060] In this embodiment, the sliding groove 406 is opened along the length direction of the mounting base 400 .

[0061] In this embodiment, if Figures 1 to 5As shown, the telescopic arm 700 includes a plurality of cross-connected and rotatably connected telescopic arm units 701, the adjacent telescopic arm units 701 are rotatably connected head to tail, the middle parts of the two cross-connected telescopic arm units 701 are hingedly connected, and the two telescopic arm units 701 connected head to tail are rotatably connected, so that the plurality of telescopic arm units 701 form a Figure 1 、 Figure 2 、 Figure 6 and Figure 7 In the several prisms shown, the two top telescopic arm units 701 are driven to move closer to or away from each other by the translation control component 600, so that the diagonal length of the prism changes. The top end of one of the telescopic arm units 701 can be rotatably mounted on the mounting base 400, and the other telescopic arm unit 701 can be moved along the length direction of the mounting base 400.

[0062] Specifically, the translation control assembly 600 includes a third drive motor 601 disposed below the mounting base 400 and a translation assembly. The top of the telescopic arm 700 has two cross-arranged telescopic arm units 701, one of which is rotatably connected to the mounting base 400 and the other is rotatably connected to the translation assembly. The translation assembly includes a screw 602, an adapter block 603, a guide shaft 604, and a positioning block 605. The guide shaft 604 is arranged parallel to the screw 602, with positioning blocks 605 provided at each end. The top of the adapter block 603 is slidably mounted on the guide shaft 604, and the bottom of the adapter block 603 is transmission-connected to the screw 602. The screw 602 passes through the positioning block 605 and is transmission-connected to the third drive motor 601.

[0063] Specifically, the screw rod 602 and the slide groove 406 are parallel to each other.

[0064] In this embodiment, if Figure 3 As shown, a transmission wheel 702 is mounted on a telescopic arm unit 701 rotatably mounted on a mounting base 400 and on multiple telescopic arm units 701 connected end to end. The transmission wheels 702 are mounted on rotating shafts connected end to end to the telescopic arm units 701. Adjacent transmission wheels 702 are connected by a transmission belt 703. The prior art has related structures involving transmission wheels 702 and transmission belts 703, and their functions, principles, and structures can be referred to in the prior art (such as invention patents with application numbers 202311216540.9 and 202311216444.4).

[0065] Example 1:

[0066] The following combination Figure 6 and Figure 7 The reverse grasping algorithm of the telescopic arm of the present invention is further explained in combination with a specific application scenario.

[0067] In this embodiment, the present invention is used in a robotic arm for picking up or placing billiard balls.

[0068] In this embodiment, the suspension frame 100 is installed above the billiard table. Several sensors are provided on the suspension frame 100 or the billiard table. The sensors are used to identify and record information of billiard balls on the billiard table (including billiard ball color, number and position information).

[0069] The sensor may be a photoelectric sensor or a laser ranging sensor.

[0070] A grabbing actuator is installed at the distal end of the telescopic arm 700. The grabbing actuator can be an element or structure that can achieve simple grabbing, such as a finger cylinder.

[0071] The sensor, the capture actuator, the first drive motor 301 , the second drive motor 303 and the third drive motor 601 are all connected to the controller.

[0072] Before operation, the controller stores the initial position information of the telescopic arm 700 and defines the length of the telescopic arm unit as a, that is, the side length of the prism formed by the two groups of intersecting telescopic arm units is a, and half of the length of the two diagonals of the prism is w and s respectively;

[0073] Since the top of one of the two telescopic arm units is fixed on the mounting base, and the other telescopic arm unit moves along the mounting base, the length of the diagonal line of the prism changes, the position of point o on the mounting base is fixed, and the center of the prism is collinear with point o but does not overlap;

[0074] The distance from the mounting base to point p includes gs; the telescopic arm is composed of a number of telescopic arm units crossing to form a number of equal prism-shaped borders, and g can determine the prism according to the number of telescopic arm units.

[0075] At runtime, the following steps are involved:

[0076] S1. The sensor identifies the target billiard ball to be grasped and defines the position of the billiard ball as point p. The position of point p can be obtained by the sensor. Based on the position of the target point in three-dimensional space, the position is decomposed into point p in the XOZ plane and the angle of rotation of point p around the Z axis.

[0077] S2. Define the length of the telescopic arm unit as a, that is, the side length of the prism formed by the two sets of intersecting telescopic arm units is a, the half lengths of the two diagonals of the prism are w and s respectively, the axis of rotation of the telescopic arm along the Y axis is point o, and the coordinates of point p in the XOZ plane are (x, z). The coordinates of point p can be decomposed into the telescopic length and rotation angle of the telescopic arm;

[0078] S3. Define the offset of the prism center (the distance between the prism center and point o, i.e., half the distance the telescopic arm unit moves on the mounting base) as e, and the distance from the fixed end of the telescopic arm unit on the mounting base to point o as L. L is the distance between the fixed end of the telescopic arm unit and the fixed point o, which is a fixed value and can be measured;

[0079] It can be obtained that e=Lw(1);

[0080] S4. Based on the perpendicularity of the diagonals of a prism, the triangle area formula, and the Pythagorean theorem, we can obtain the relationship between w, s, and e. The relationship between the target point and the center offset is established as follows:

[0081] (gs) 2 +e 2 =x 2 +z 2 (2);

[0082] w 2 +s 2 =a2 (3);

[0083] S5. Combining formulas (1), (2) and (3), according to the coordinates of point p, calculate either the offset e or w of the prism center.

[0084] So, g2 a 2 -g2w2+L2-2Lw+w2=x 2 +z2 (4),

[0085] or g2 a 2 -g2 e2+L2-2Le+e2=x 2 +z2 (5),

[0086] Among them, g, L, x and y are all known quantities;

[0087] S6. In summary, after determining the coordinates of point p in the XOZ plane and obtaining the values ​​of x and z, the offset e of the center of the prism can be determined, thereby obtaining the distance that the moving telescopic arm unit moves on the mounting base. After entering the value of e, the telescopic length of the telescopic arm can be determined, and then the second drive motor drives the mounting base to rotate, so that the far end of the telescopic arm reaches the position of point p in the XOZ plane; the far end of the telescopic arm can reach point p, and then the telescopic arm is rotated around the Z axis, so that the far end of the telescopic arm can reach the position in three-dimensional space.

[0088] That is, after the controller obtains the three-dimensional spatial position information of the target point according to sensor recognition, it decomposes the three-dimensional spatial position information into point p in the XOZ plane and the rotation angle of the Z axis; then decomposes the position information of point p in the XOZ plane into the telescopic length of the telescopic arm and the rotation angle around the Y axis (that is, the rotation angle of the telescopic arm driven by the second drive motor);

[0089] The center offset e is then calculated according to the above method to determine the telescopic length of the telescopic arm. The mounting base is then driven to rotate by the second drive motor, so that the far end of the telescopic arm reaches the point p in the XOZ plane. The entire mounting frame is then driven to rotate around the Z axis by the first drive motor, so that the telescopic arm reaches the target three-dimensional space position. The capture actuator then moves to capture the billiard ball at the target position.

[0090] When placing a billiard ball, the telescopic arm returns to its initial position after catching it. By inputting or pre-inputting the 3D position information of the desired location of the billiard ball from the far end of the telescopic arm, and then decomposing this 3D position information as described above, the telescopic arm can place the billiard ball at the target location.

[0091] Example 2:

[0092] The following combination Figures 8-12 And another specific application scenario to further illustrate the technical solution of the present invention.

[0093] In this embodiment, the present invention is used for stacking and unfolding photovoltaic panels.

[0094] In this embodiment, if Figures 8-10 As shown, the telescopic arm 700 is installed on the support pole 101, and the support pole 101 is installed on the ground.

[0095] Similar to the first embodiment, the telescopic arm 700 includes a plurality of cross-connected and rotatably connected telescopic arm units 701, the adjacent telescopic arm units 701 are rotatably connected head to tail, the two cross-connected telescopic arm units 701 are hinged in the middle, and the two telescopic arm units 701 connected head to tail are rotatably connected, so that the plurality of telescopic arm units 701 form a Figure 1 、 Figure 2 、 Figure 6 and Figure 7 Several prisms are shown.

[0096] The difference from the first embodiment is that:

[0097] In this embodiment, if Figure 12 As shown, a plurality of mounting holes 710 are provided on the telescopic arm 700 , and the photovoltaic panels 800 are installed in the mounting holes 710 .

[0098] In this embodiment, if Figure 12 As shown, the two telescopic arm units 701 of the telescopic arm 700 closest to the support rod 101 are rotatably mounted on the translation mechanism composed of the second ball screw 612 and the second screw nut 613, and the other is rotatably mounted on the second mounting seat 410.

[0099] In this embodiment, if Figure 11 and Figure 12 As shown, the second mounting base 410 includes two parallel long mounting plates, a second ball screw 612 is arranged parallel to the two long mounting plates, and the telescopic arm unit 701 is hingedly connected to one end of the long mounting plate. The two ends of the long mounting plates are connected by a short mounting plate, and the two ends of the second ball screw 612 are rotatably mounted on the short mounting plates. The sixth drive motor 611 is disposed on one of the short mounting plates and is in transmission connection with the second ball screw 612. A second screw nut 613 is mounted on the second ball screw 612 and is hingedly connected to the telescopic arm unit 701.

[0100] When the second screw nut 613 moves along the second ball screw 612 , the telescopic arm 700 extends or shortens.

[0101] In this embodiment, if Figure 11 and Figure 12 As shown, the two long mounting plates are rotatably connected to the top of the second mounting bracket 310 on both sides via a second deflection shaft 413. However, the second deflection shaft 413 is fixedly connected to the two long mounting plates. A fourth fixed gear 411 is fixedly mounted on the second deflection shaft 413. The second mounting bracket 310 is provided with a fifth drive motor 313, which is in transmission connection with the second fixed gear 411. The fifth drive motor 313 drives the second deflection shaft 413 to rotate via the second fixed gear 411, thereby driving the second mounting bracket 410 to rotate.

[0102] In this embodiment, if Figures 8-12 As shown, a third fixed gear 1012 is provided on the top of the support rod 101, and the top of the support rod 101 can be rotatably installed at the center of the bottom of the second mounting frame 310, and the bottom of the second mounting frame 310 passes through the center of the third fixed gear 1012. A fourth drive motor 311 is also installed on the second mounting frame 310, and the power output shaft of the fourth drive motor 311 passes through the second mounting frame 310 and is transmission-connected to the third fixed gear 1012, so that the fourth drive motor 311 drives the entire second mounting frame 310 to rotate around the axis of the third fixed gear 1012.

[0103] In this embodiment, the axis of the third fixed gear 1012 forms the Z-axis, the second deflection axis 413 forms the Y-axis, and the axis of the second ball screw 612 forms the X-axis. Specifically, the fourth drive motor 311 drives the second mounting bracket 310 and the second mounting base 410 thereon to rotate about the Z-axis, while the fifth drive motor 313 drives the second mounting base 410 to rotate about the Y-axis. The sixth drive motor 611 drives the extension and retraction of the telescopic arm 700, thereby driving the deployment or stacking of the photovoltaic panels 800 on the telescopic arm unit 701.

[0104] This embodiment is suitable for adjusting the angle of the photovoltaic panel, so that the photovoltaic panel can always maintain the optimal incident angle of sunlight, thereby ensuring the efficiency of photovoltaic power generation.

[0105] At the same time, in photovoltaic power generation areas such as Gobi or deserts, there will be a lot of wind and sand, which can easily cause damage to the photovoltaic panels. The telescopic arm of the present invention can also fold the photovoltaic panels and stack them (such as Figure 8 As shown), wind and sand damage the photovoltaic panels.

[0106] The remaining parts not described in this embodiment may be the same as those in the first embodiment.

[0107] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0108] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0109] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A telescopic arm capable of automatically adjusting the center of gravity, characterized in that: include: The telescopic arm (700) can rotate around the Z axis and the Y axis in a free space, and comprises a plurality of cross-shaped and rotatably connected telescopic arm units (701), and the telescopic movement is achieved by the two top telescopic arm units (701) moving closer to or farther from each other; A mounting seat (400) for mounting the telescopic arm unit (701) and capable of rotating along the Y-axis and the Z-axis; The counterweight block (500) is movably mounted on the mounting seat (400), and the counterweight block (500) can rotate along the Z-axis direction following the telescopic arm (700), and when the telescopic arm (700) rotates around the Y-axis, the counterweight block (500) is always located at the other end of the rotation axis of the telescopic arm (700) around the Y-axis.

2. A telescopic arm capable of automatically adjusting the center of gravity according to claim 1, characterized in that: The counterweight block (500) is movably mounted above the mounting seat (400), and the telescopic arm (700) is mounted below the mounting seat (400); The counterweight block (500) is provided with an adjustment slot (502), and a freely rolling counterweight wheel (503) is installed in the adjustment slot (502).

3. The telescopic arm capable of automatically adjusting the center of gravity according to claim 2, characterized in that: The mounting seat (400) is provided with a slide groove (406), the slide groove (406) is slidably provided with a slider, and the counterweight block (500) is mounted on the slider.

4. The telescopic arm capable of automatically adjusting the center of gravity according to claim 1, characterized in that: The telescopic arm (700) comprises a plurality of cross-shaped telescopic arm units (701) that are rotatably connected together, and adjacent telescopic arm units (701) are rotatably connected end to end.

5. The telescopic arm capable of automatically adjusting the center of gravity according to claim 1, characterized in that: The telescopic arm (700) is driven to extend and shorten by a translation control component (600); The translation control assembly (600) comprises a third drive motor (601) and a translation assembly arranged below the mounting seat (400); The telescopic arm (700) has two cross-arranged telescopic arm units (701) at the top, one of which is rotatably connected to the mounting seat (400), and the other of which is rotatably connected to the translation assembly.

6. The telescopic arm capable of automatically adjusting the center of gravity according to claim 5, characterized in that: The translation assembly comprises a screw rod (602), an adapter block (603), a guide shaft (604) and a positioning block (605); The guide shaft (604) is arranged in parallel with the screw rod (602), and positioning blocks (605) are arranged at both ends of the guide shaft (604); The top of the adapter block (603) is slidably mounted on the guide shaft (604), and the bottom of the adapter block (603) is drivingly connected to the screw rod (602); The screw rod (602) passes through the positioning block (605) and is transmission-connected to the third driving motor (601).

7. The telescopic arm capable of automatically adjusting the center of gravity according to claim 1, characterized in that: The mounting seat (400) is rotatably arranged on the mounting frame (300); a second fixed gear (401) is fixedly arranged on the mounting seat (400); a second driving motor (303) is arranged on the mounting frame (300); the second driving motor (303) is transmission-connected to drive the second fixed gear (401), so that the second driving motor (303) drives the mounting seat (400) to rotate around the axis of the second fixed gear (401).

8. The telescopic arm capable of automatically adjusting the center of gravity according to claim 7, characterized in that: The mounting frame (300) can be rotatably mounted on the hanging rod (200), and the hanging rod (200) is mounted on the suspension frame (100).

9. The telescopic arm capable of automatically adjusting the center of gravity according to claim 8, characterized in that: The hoisting rod (200) is provided with a first fixed gear (201), the mounting frame (300) is provided with a first driving motor (301), the first driving motor (301) is provided with a first driving gear (302), the first driving gear (302) and the first fixed gear (201) are meshed with each other, and the first driving motor (301) drives the first driving gear (302) to move around the edge of the first fixed gear (201), thereby driving the entire mounting frame (300) to rotate around the hoisting rod (200); A mounting plate (202) is provided on one side of the mounting frame (300), the second drive motor (303) is mounted on the mounting plate (202), and a first driven gear (3031), a second driving gear (3030) and a third driven gear (3034) are respectively provided on one side of the mounting plate (202) and are meshed in sequence; a power output shaft of the second drive motor (303) is drivingly connected to the second driving gear (3030); The first driven gear (3031) is transmission-connected to the second fixed gear (401), and the third driven gear (3034) is used to drive the counterweight (500) to move.

10. The reverse grabbing algorithm of the telescopic arm according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. According to the position of the target point in the three-dimensional space, the position is decomposed into a point p in the XOZ plane and the angle of rotation of the point p around the Z axis; S2. Define the side length of the prism formed by the two sets of intersecting telescopic arm units as a, the half lengths of the two diagonals of the prism as w and s respectively, the axis of rotation of the telescopic arm along the Y axis as point o, and the coordinates of point p in the XOZ plane as (x, z); S3. Since the top of one of the two telescopic arm units is fixed on the mounting base, and the other telescopic arm unit moves along the mounting base, the length of the diagonal line of the prism changes. The position of point o on the mounting base is fixed. The center of the prism is collinear with point o but does not overlap. The offset of the center of the prism is defined as e. The distance from the fixed end of the telescopic arm unit on the mounting base to point o is L. It can be obtained that e = Lw(1); S4, define the distance from the mounting base to point p including gs; the telescopic arm is composed of a number of telescopic arm units crossing to form a number of equal prism-shaped borders, and g can determine the prism according to the number of telescopic arm units; Since the diagonals of the prism are perpendicular to each other, the relationship between w, s and e can be obtained according to the triangle area formula and the Pythagorean theorem: (gs) 2 +e 2 =x 2 +z 2 (2); w 2 +s 2 =a2 (3); S5. Combining formulas (1), (2) and (3), according to the coordinates of point p, find the offset e or w of the center of the prism. So, g2 a 2 -g2w2+L2-2Lw+w2=x 2 +z2(4), Or g2 a 2 -g2 e2 + L2 - 2Le + e2 = x 2 +z2(5), Among them, g, L, x and y are all known quantities; S6. In summary, after determining the coordinates of point p in the XOZ plane and obtaining the values ​​of x and z, the offset e of the center of the prism can be determined, thereby obtaining the distance that the moving telescopic arm unit moves on the mounting base. After entering the value of e, the far end of the telescopic arm can reach point p, and then the telescopic arm is rotated around the Z axis to make the far end of the telescopic arm reach the position in the three-dimensional space.

Images