A robot manipulator based on deep learning

Abstract

The present invention belongs to the technical field of robot manipulators, and in particular, a robot manipulator based on deep learning. The following scheme is proposed, including a control base, on which turntable one, turntable two, arm one, turntable three, swivel head, arm two, a balancing component and a suction component are sequentially connected. A limiting component is arranged between the turntable one and the turntable two, and between the turntable three and the swivel head. The limiting component includes a limiting member and a cylinder with an annular structure. The cylinder rotates in a circle relative to the limiting member, and a pressure block is connected to one end of the cylinder facing the limiting member. The present invention presses the pressure block into the limiting member through the cylinder, thereby limiting the turntable one and the turntable two, and between the turntable three and the swivel head, so as to improve the stopping stability of arm one and arm two, and avoid loosening activities affecting the normal handling work of the robot arm.

Description

Technical Field

[0001] The present invention relates to the technical field of robot manipulators, and in particular to a robot manipulator based on deep learning. Background Art

[0002] Composite robots are mainly used in processes such as grasping, handling, and assembly of workpieces. In addition, composite robots can also be quickly deployed in many scenarios such as automated factory warehousing and sorting, automated goods supermarkets, etc., to provide automated and flexible operation support for automatic handling, loading and unloading, and sorting of materials.

[0003] The commonly used robot manipulator consists of multiple rotating mechanisms interconnected to realize the functions of the manipulator by moving the clamp mechanism or the suction cup mechanism, and the manipulator can be used intelligently by connecting to a computer to record common movement modes and stop positions. However, after the robot manipulator has been in continuous motion for a long time, the connection position of the rotating mechanism for the arm position is prone to loosening, resulting in inaccurate or unstable positioning. Summary of the invention

[0004] Based on the technical problems of the background technology, the present invention proposes a robot manipulator based on deep learning.

[0005] A deep learning-based robot manipulator proposed in the present invention comprises a control base, on which are sequentially connected a swivel seat 1, a swivel seat 2, an arm 1, a swivel seat 3, a swivel head, an arm 2, a balancing assembly and a suction assembly, wherein the swivel seat 1 rotates around a vertical line on the control base, the swivel seat 2 is rotatably connected to the swivel seat 1, the swivel seat 2 rotates around a horizontal line, the arm 1 is installed between the swivel seat 2 and the swivel seat 3, one end of the swivel seat 3 is rotatably connected to the swivel head, the arm 2 is installed between the swivel head and the balancing assembly, and the suction assembly is installed below the balancing assembly; a limiting assembly is arranged between the swivel seat 1 and the swivel seat 2, and between the swivel seat 3 and the swivel head, the limiting assembly comprises a limiting member and a cylinder with an annular structure, the cylinder rotates in a circle relative to the limiting member, and a pressure block is connected to one end of the cylinder facing the limiting member.

[0006] Preferably, the balancing component is provided with a swivel seat four installed with the arm rod two, one end of the swivel seat four is rotatably connected with the swivel seat five, one end of the swivel seat five is rotatably connected with the electric push rod, the suction component is installed below the electric push rod, and the swivel seat four and the swivel seat five are vertically arranged in the horizontal direction.

[0007] Preferably, the limiting member is provided with a mounting ring, the mounting ring is provided with a mounting cavity of an annular structure towards the position of the pressing block, the mounting cavity is provided with limiting blocks distributed in an annular array, and the positions of the pressing block and the limiting blocks correspond.

[0008] Preferably, the limit block is arranged in an M-shaped structure, a groove is arranged in the middle position of the limit block toward one end of the pressing block, and a gap groove is formed between two adjacent limit blocks.

[0009] Preferably, a sleeve is fixed at a position on the inner wall of the installation cavity corresponding to the limit block, a spring three is installed on the inner side of the sleeve, a sliding rod is installed on the end of the spring three, the inner cross-section of the sleeve is set to a rectangular structure, and a sliding block slidably connected to the sleeve is fixed on the outer wall of the sliding rod.

[0010] Preferably, a shaft is fixed to one end of the slide rod facing the limit block, rotating blocks are fixed to both ends of the limit block, the circumferential outer walls at both ends of the shaft are rotatably connected to the rotating blocks, and a spring is connected between the limit block and the shaft.

[0011] Preferably, the pressing block is configured as a truncated cone structure, and the outer diameter of the pressing block gradually increases in a direction away from the installation cavity.

[0012] Preferably, a connecting tube is provided between arm one and arm two, the inner walls at both ends of the connecting tube are slidably connected with connecting rods, a spring two is connected between the two connecting rods, and arm one and arm two are rotationally connected to the ends of the connecting rod away from the connecting tube.

[0013] Preferably, a first magnetic block is installed in the middle position of the top of the connecting tube, a second magnetic block is installed at the end of the top of the connecting rod away from the connecting tube, and the limit block is made of magnetic material.

[0014] The beneficial effects of the present invention are:

[0015] 1. In the present invention, after moving to the specified position, the pressure block is pressed into the limit piece by the cylinder, thereby limiting the position between the swivel seat 1 and the swivel seat 2, and between the swivel seat 3 and the swivel head, so as to improve the stopping stability of the arm 1 and the arm 2, and avoid loosening activities that affect the normal handling work of the robot arm.

[0016] 2. In the present invention, by setting the limit blocks which are distributed in an annular shape and have an M-shaped structure, when the pressure block is pushed in, the limit blocks are squeezed against each other in the circumferential direction, and the pressure blocks at corresponding positions are pushed into the sleeve along with the sliding rod, thereby improving the limiting effect of the limit member on the pressure block as a whole, so as to improve the stability of the stop state between the swivel seat 1 and the swivel seat 2, and between the swivel seat 3 and the rotating head. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of a deep learning-based robot manipulator proposed by the present invention;

[0018] Figure 2 A schematic diagram of the overall connection structure of arm 1 and arm 2 of a robot manipulator based on deep learning proposed by the present invention;

[0019] Figure 3 A schematic diagram of the limiter and pressing block structure of a robot manipulator based on deep learning proposed by the present invention;

[0020] Figure 4 A schematic diagram of the structure of a limiter of a robot manipulator based on deep learning proposed by the present invention;

[0021] Figure 5 This is a schematic diagram of the internal structure of a mounting ring of a robot manipulator based on deep learning proposed by the present invention;

[0022] Figure 6 A schematic diagram of the limit block structure of a robot manipulator based on deep learning proposed by the present invention;

[0023] Figure 7 This is a schematic diagram of the structure of arm 1 and arm 2 of a robot manipulator based on deep learning proposed by the present invention;

[0024] Figure 8 A schematic diagram of the connecting tube and connecting rod structure of a robot manipulator based on deep learning proposed by the present invention;

[0025] Fig. 9 This is a schematic diagram of the structure inside the connecting tube of a deep learning-based robot manipulator proposed in the present invention.

[0026] In the figure: 1 control base, 2 swivel seat 1, 3 swivel seat 2, 4 arm rod 1, 5 swivel seat 3, 6 swivel head, 7 arm rod 2, 8 balance assembly, 801 swivel seat 4, 802 swivel seat 5, 803 electric push rod, 9 suction assembly, 10 limiter, 11 cylinder, 12 pressure block, 13 mounting ring, 131 mounting cavity, 14 limiter, 141 groove, 142 clearance groove, 15 sleeve, 16 slide rod, 17 shaft rod, 18 swivel block, 19 slider, 20 spring 1, 21 connecting pipe, 22 connecting rod, 221 movable rod, 23 spring 2, 24 movable sleeve, 25 magnetic block 1, 26 magnetic block 2. DETAILED DESCRIPTION

[0027] Example 1: Reference Figure 1-Figure 6A robot manipulator based on deep learning includes a control base 1, on which are sequentially connected a swivel seat 1, a swivel seat 2, an arm 1, a swivel seat 3, a swivel head 6, an arm 2, a balancing component 8 and a suction component 9, the swivel seat 1 rotates around a vertical line on the control base 1, the swivel seat 1 controls itself to rotate relative to the control base 1, the swivel seat 2 3 is rotatably connected to the swivel seat 1 2, the swivel seat 2 3 controls itself to rotate relative to the swivel seat 1 2 around a horizontal line, the arm 1 4 is installed between the swivel seat 2 3 and the swivel seat 3 5, so that the arm 1 4 and the swivel seat 3 5 rotate with the swivel seat 2 3, one end of the swivel seat 3 5 is rotatably connected with the swivel head 6, the swivel seat 3 5 drives the swivel head 6 to rotate around a horizontal line, the arm 2 7 is installed between the swivel head 6 and the balancing component 8, so that the balancing component 8 and the arm 2 7 rotate with the swivel head 6, and the suction component 9 is installed below the balancing component 8, so that the goods are fixed by the suction component 9 for suction or clamping, and the goods are sucked or clamped by the swivel seat 1 2, the swivel seat 2 3, the swivel seat 2 The seat three 5 and the balance component 8 realize the movement of the suction component 9 to achieve the working effect of the robot arm, and the balance component 8 is used to ensure that the suction component 9 and the goods are always kept vertically placed to maintain the stability of the robot arm when carrying the goods; a limiting component is arranged between the swivel seat one 2 and the swivel seat two 3, and between the swivel seat three 5 and the rotary head 6, and the limiting component includes a limiting member 10 and a cylinder 11 with an annular structure, and the cylinder 11 rotates in a circle relative to the limiting member 10. A pressure block 12 is connected to one end of the cylinder 11 facing the limiting member 10, so that the swivel seat two 3 rotates relative to the swivel seat one 2, and the rotary head 6 rotates relative to the swivel seat three 5 to realize the movement of the robot arm. After moving to the specified position, the pressure block 12 is pressed against the limiting member 10 by the cylinder 11, so that the swivel seat one 2 and the swivel seat two 3, and the swivel seat three 5 and the rotary head 6 are limited, so as to improve the stopping stability of the arm rod one 4 and the arm rod two 7, and avoid loosening activities affecting the normal handling work of the robot arm.

[0028] In the present invention, reference is made to Figure 1-Figure 6 The balancing component 8 is provided with a swivel seat four 801 installed with the arm two 7. The swivel seat four 801 rotates with the arm two 7 and the rotating head 6. One end of the swivel seat four 801 is rotatably connected to the swivel seat five 802. One end of the swivel seat five 802 is rotatably connected to the electric push rod 803. The suction component 9 is installed below the electric push rod 803. The swivel seat four 801 and the swivel seat five 802 are vertically arranged in the horizontal direction. The swivel seat four 801 drives the swivel seat five 802 to rotate around the horizontal line, and the swivel seat five 802 drives the electric push rod 803 to rotate around the horizontal line, so that the mechanical arm moving the arm one 4 and the arm two 7 moves the suction component 9 and the goods to the corresponding positions, and the suction component 9 and the goods are controlled to maintain a vertical state through the vertically arranged swivel seat four 801 and the swivel seat five 802 to grasp, move and place, thereby further improving the stability of the mechanical arm in transporting goods.

[0029] In the present invention, reference is made to Figure 1-Figure 6The limiting member 10 is provided with a mounting ring 13, and the mounting ring 13 is provided with a mounting cavity 131 of an annular structure toward the position of the pressure block 12, and a limiting block 14 distributed in a ring array is arranged in the mounting cavity 131, and the position of the pressure block 12 corresponds to the position of the limiting block 14, and the limiting block 14 is arranged in an M-shaped structure, and a groove 141 of a V-shaped structure is provided in the middle position of the limiting block 14 toward one end of the pressure block 12, and a gap groove 142 of a V-shaped structure is formed between two adjacent limiting blocks 14. When the pressure block 12 is extended into the mounting cavity 131 by the cylinder 11, the pressure block 12 will extend into the groove 141 or into the gap groove 142, so that the side wall of the pressure block 12 is squeezed and contacted with the side wall of the groove 141 or with both sides of the gap groove 142, so that the pressure block 12 is limited in the circumferential direction by the limiting block 14, so as to realize the long-term stability of the positioning between the swivel seat 1 2 and the swivel seat 2 3, and between the swivel seat 3 5 and the rotary head 6 after stopping.

[0030] In the present invention, reference is made to Figure 1-Figure 6 A sleeve 15 is fixed at a position corresponding to the inner wall of the installation cavity 131 and the limit block 14, a spring three is installed inside the sleeve 15, and a slide bar 16 extending toward the limit block 14 is installed at the end of the spring three. The inner cross-section of the sleeve 15 is set to a rectangular structure, and a slider 19 slidably connected with the sleeve 15 is fixed on the outer wall of the slide bar 16. An axle rod 17 is fixed to one end of the slide bar 16 facing the limit block 14, and rotating blocks 18 are fixed at both ends of the limit block 14. The circumferential outer walls at both ends of the axle rod 17 are rotatably connected with the rotating block 18, and a spring 20 is connected between the limit block 14 and the axle rod 17. The pressing block 12 is set to a truncated cone structure, and the outer diameter of the pressing block 12 gradually increases in the direction away from the installation cavity 131, so that when the pressing block 12 moves toward the installation cavity 131, the pressing block 12 is rotated. During extrusion: when the pressure block 12 corresponds to the position of the groove 141, the pressure block 12 will squeeze the inner wall of the groove 141, on the one hand, squeeze the slider 19 into the sleeve 15 along the direction of the slide bar 16, so as to limit the slide bar 16 and the limit block 14 through the fixed sleeve 15, and on the other hand, the limit block 14 is deflected toward one side around the shaft 17 to squeeze the spring 1 20, and the other side of the limit block 14 of the M-shaped structure is deflected outward to squeeze the limit block 14 at the adjacent position, and one side of the limit block 14 at the adjacent position is squeezed and deflected inward, thereby improving the limiting operation of the limit block 14 on the pressure block 12 in the circumferential direction, thereby ensuring the stable operation between the pressure block 12 and the limit member 10, and improving the stable operation between the arm 1 4 and the arm 2 7;

[0031] When the pressure block 12 corresponds to the position of the gap groove 142, the pressure block 12 with a truncated cone structure will squeeze the inclined side walls of the two adjacent limit blocks 14, and at the same time squeeze the adjacent limit blocks 14 to move along the direction of the slide bar 16, and squeeze the side walls of the adjacent limit blocks 14 in the circumferential direction, so that the corresponding side walls of the limit blocks 14 are deflected inwards to squeeze the spring 1 20, and the other sides of the adjacent limit blocks 14 are deflected outwards to squeeze the corresponding side walls of the limit blocks 14;

[0032] Therefore, by setting the limit blocks 14 which are distributed in an annular shape and have an M-shaped structure, when the pressure block 12 is pushed in, the limit blocks 14 are squeezed against each other in the circumferential direction, and the pressure block 12 at the corresponding position is pushed into the sleeve 15 along the slide rod 16, thereby improving the limiting effect of the limit member 10 on the pressure block 12 as a whole, so as to improve the stability of the stop state between the swivel seat 1 2 and the swivel seat 2 3, and between the swivel seat 3 5 and the rotary head 6.

[0033] Embodiment 2: Embodiment 2 includes all structures and methods of Embodiment 1, with reference to Figure 1-Figure 9 , a robot manipulator based on deep learning, based on Example 1, a connecting tube 21 is arranged between arm 1 4 and arm 2 7, connecting rods 22 are slidably connected to the inner walls of both ends of the connecting tube 21, a spring 23 is connected between the two connecting rods 22, arm 1 4 and arm 2 7 are rotatably connected to the ends of the connecting rod 22 away from the connecting tube 21, a movable rod 221 is fixed to the end of the connecting rod 22, and a movable sleeve 24 is fixed at the position corresponding to the movable sleeve 221 of arm 1 4 and arm 2 7, and the movable rod 221 is rotatably connected to the inner side of the movable sleeve 24, so that the two connecting rods 22 can be telescopically slid relative to the connecting tube 21 during the opening and closing process of arm 1 4 and arm 2 7, so as to buffer the activity between arm 1 4 and arm 2 7 through the spring 23 between the two connecting rods 22, thereby providing stability of the manipulator in the process of carrying goods.

[0034] In the present invention, reference is made to Figure 1-Figure 9 A magnetic block 25 is installed in the middle position of the top of the connecting tube 21, and a magnetic block 26 is installed at the end of the top of the connecting rod 22 away from the connecting tube 21. The limit block 14 is made of magnetic material. When the arm 1 4 and the arm 2 7 are moved away from each other and opened, the position of the limit piece 10 between the connecting tube 21 and the rotating seat 3 5 and the rotating head 6 is close, and the limit blocks 14 on both sides of the magnetic block 25 at the bottom of the mounting ring 13 are deflected due to the magnetic attraction force, so that the limit blocks 14 are squeezed against each other to further improve the limiting stability effect of the pressure block 12; when the arm 1 4 and the arm 2 7 are close to each other, the magnetic block 1 25 and the two magnetic blocks 26 are closed in the same direction of the corresponding limit piece 10, so as to ensure the magnetic attraction effect of the limit block 14; thereby further improving the buffering effect of the movement of the arm during the use of the manipulator, and improving the stopping effect of the manipulator after stopping.

[0035] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot manipulator based on deep learning, comprising a control base (1), to which a first rotating base (2), a second rotating base (3), a first arm (4), a third rotating base (5), a rotating head (6), a second arm (7), a balancing component (8) and a suction component (9) are sequentially connected, characterized in that: The first rotating seat (2) rotates on the control base (1) around a vertical line, the second rotating seat (3) is rotatably connected to the first rotating seat (2), the second rotating seat (3) rotates around a horizontal line, the first arm (4) is installed between the second rotating seat (3) and the third rotating seat (5), one end of the third rotating seat (5) is rotatably connected to a rotating head (6), the second arm (7) is installed between the rotating head (6) and the balancing component (8), and the suction component (9) is installed below the balancing component (8); A limiting assembly is provided between the rotating seat 1 (2) and the rotating seat 2 (3), and between the rotating seat 3 (5) and the rotating head (6). The limiting assembly comprises a limiting member (10) with an annular structure and a cylinder (11). The cylinder (11) rotates in a circle relative to the limiting member (10). One end of the cylinder (11) facing the limiting member (10) is connected to a pressing block (12). The limiting member (10) is provided with a mounting ring (13). The mounting ring (13) is provided with an annular mounting cavity (131) at a position facing the pressing block (12). The limiting blocks (14) distributed in an annular array are arranged in the mounting cavity (131). The pressing block (1 2) corresponding to the position of the limit block (14), the limit block (14) is arranged to be an M-shaped structure, a sleeve (15) is fixed at a position of the inner wall of the installation cavity (131) corresponding to the limit block (14), a spring three is installed inside the sleeve (15), a slide bar (16) is installed at the end of the spring three, a shaft rod (17) is fixed to one end of the slide bar (16) facing the limit block (14), a rotating block (18) is fixed at both ends of the limit block (14), the circumferential outer walls at both ends of the shaft rod (17) are rotatably connected to the rotating block (18), and a spring one (20) is connected between the limit block (14) and the shaft rod (17).

2. A deep learning based robot manipulator according to claim 1, characterized in that: The balancing component (8) is provided with a rotating seat four (801) connected to the arm two (7); one end of the rotating seat four (801) is rotatably connected to the rotating seat five (802); one end of the rotating seat five (802) is rotatably connected to the electric push rod (803); the suction component (9) is installed below the electric push rod (803); the rotating seat four (801) and the rotating seat five (802) are vertically arranged in the horizontal direction.

3. A deep learning based robot manipulator according to claim 2, characterized in that: A groove (141) is provided at a middle position of one end of the limit block (14) facing the pressing block (12), and a gap groove (142) is formed between two adjacent limit blocks (14).

4. A deep learning based robot manipulator according to claim 3, characterized in that: The inner cross-section of the sleeve (15) is configured to be a rectangular structure, and a sliding block (19) slidably connected to the inside of the sleeve (15) is fixed to the outer wall of the sliding rod (16).

5. A deep learning based robot manipulator according to claim 4, characterized in that: The pressing block (12) is configured as a truncated cone-shaped structure, and the outer diameter of the pressing block (12) gradually increases in a direction away from the installation cavity (131).

6. A deep learning based robot manipulator according to claim 5, characterized in that: A connecting tube (21) is provided between the arm rod 1 (4) and the arm rod 2 (7), the inner walls at both ends of the connecting tube (21) are slidably connected to connecting rods (22), a spring 2 (23) is connected between the two connecting rods (22), and the arm rod 1 (4) and the arm rod 2 (7) are respectively rotatably connected to the ends of the connecting rod (22) away from the connecting tube (21).

7. A deep learning based robot manipulator according to claim 6, characterized in that: A first magnetic block (25) is installed in the middle of the top of the connecting tube (21), a second magnetic block (26) is installed at the end of the top of the connecting rod (22) away from the connecting tube (21), and the limit block (14) is made of magnetic material.

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