Detachable mechanical arm base structure and using method

Abstract

The invention provides a detachable mechanical arm base structure and a use method, and relates to the technical field of cigarette preparation, the detachable mechanical arm base structure comprises a connected base and a split base, the split base comprises at least one split unit, the side wall of the connected base is provided with a wing plate, and the lower side of the split unit is provided with a lower probe plate and a hook plate used for being connected with the lower probe plate; a notch is formed in the wing plate, and the width of the notch is equal to that of the hook plate; electromagnetic parts are arranged on the two sides of each split unit. An inductor is arranged on the side wall of the lower probe plate; an elastic plate is arranged at the notch; the electromagnetic part and the inductor are electrically connected with the elastic plate through the controller. The detachable base is simple in structure, the detachable base is divided into the one-piece base and the split base, the multiple split units are adopted for multi-point supporting of the mechanical arm, the split units can move and move to the position below the gravity center for stable supporting when the operation gravity center of the mechanical arm shifts, mistaken touch can be effectively avoided when the one-piece base and the split base are detached, and the mechanical arm can be stably supported. And stable and safe work and disassembly of the mechanical arm are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering mechanical arms, and in particular, to a detachable mechanical arm base structure and a use method thereof. Background Art

[0002] With the development of modern technology, some factories use robotic arms to replace manual labor. The robotic arms sometimes need to be fixed during work, that is, the robotic arms need to adopt a structurally stable base structure, and even one robotic arm requires multiple bases for coordination and fixation.

[0003] Now many robot arms are modular operations. After a task of the robot arm is completed, it is often necessary to disassemble the robot arm structure and change the next working position to perform a new task, so the base of the robot arm needs to be disassembled and set; for example, Chinese patent invention patent CN103807576A discloses a detachable mechanical base, including a substrate, a first fixed plate and a second fixed plate, the substrate is provided with a strip groove, the first fixed plate and the second fixed plate are arranged in the strip groove of the substrate, the first fixed plate and the second fixed plate are perpendicular to the substrate, the first fixed plate and the second fixed plate are semicircular, and the first fixed plate and the second fixed plate are provided with arc through holes. The detachable mechanical base, first of all, is detachable, and the structure is very simple, consisting only of a substrate and two fixed plates. Secondly, the rigidity and precision of the base as a whole are increased by designing that the substrate is perpendicular to the first fixed plate and the second fixed plate. Arc through holes and round holes are also provided, which can prepare for operations with greater strength and higher precision.

[0004] However, the above-mentioned detachable mechanical base still has great defects: the entire base is still an integral structure, which cannot be used for the support of a robotic arm with multiple bases, nor can it adapt to the deviation of the center of gravity of the robotic arm when the robotic arm is operating, and the possibility of accidental touch is high during the disassembly process.

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

[0006] The object of the present invention is to provide a detachable robotic arm base structure with a simple structure, in which a detachable base is divided into a connected base and a split base, and a plurality of split units are used for multi-point support of the robotic arm. The split units are movable and can be moved below the center of gravity for stable support when the operating center of gravity of the robotic arm shifts. The connected base and the split base can effectively avoid accidental touch when being disassembled, thereby ensuring stable and safe operation and disassembly of the robotic arm.

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

[0008] A detachable robot arm base structure comprises a one-piece seat for connecting to a supporting foot and a split seat for connecting to a robot arm, the split seat comprising at least one split unit, the side wall of the one-piece seat is provided with a wing plate, the lower side of the split unit is provided with a lower probe plate and a hook plate for connecting to the lower probe plate; a notch is provided at the wing plate, and the width of the notch is equal to the width of the hook plate; electromagnetic components are provided on both sides of the split unit; an inductor is provided on the side wall of the lower probe plate; an elastic plate is provided at the notch; the electromagnetic component and the inductor are electrically connected to the elastic plate through a controller.

[0009] As a preference of the present invention, the number of the split units is at least two, and the sizes of the multiple split units are the same.

[0010] As a preferred embodiment of the present invention, the number of the notches is the same as the number of the split units.

[0011] As a preferred embodiment of the present invention, the spacings between the plurality of notches are different.

[0012] As a preferred embodiment of the present invention, the sensor is a distance sensor.

[0013] As a preferred embodiment of the present invention, the number of the sensors on one lower probe plate is two, and the elastic plate is an arc-shaped member.

[0014] As a preferred embodiment of the present invention, the elastic plate is connected to a retraction controller and a pop-up spring.

[0015] As a preferred embodiment of the present invention, a limiting block is provided at the end of the conjoined seat.

[0016] The present invention also provides a method for using a detachable mechanical arm base structure, comprising the following steps:

[0017] S1: During installation, insert the hook plate of the split unit into the notch to connect multiple split units to the robot arm;

[0018] S2: When the robot arm is working, the center of gravity position of the robot arm is obtained in real time, and a magnetic field is generated by energizing the electromagnetic component to control at least one split unit to move below the center of gravity position of the robot arm;

[0019] S3: During disassembly, the distance between two adjacent notches is obtained to generate a predetermined magnetic field strength value; the electromagnetic component is energized to generate a predetermined magnetic field strength, so that the two split units are displaced under the action of the magnetic force until the distance between the two split units is equal to the distance between the two notches; the elastic plate is aligned through the sensor, the elastic plate is controlled to retract, and the split unit is removed from the notch.

[0020] As a preferred embodiment of the present invention, when executing step S3, it specifically includes:

[0021] S31: Obtaining the distance between two adjacent gaps and generating a predetermined magnetic field strength value;

[0022] S32: The electromagnetic element is energized to generate a predetermined magnetic field strength, so that the two split units are displaced under the action of the magnetic force until the distance between the two split units is equal to the distance between the two gaps;

[0023] S33: obtaining the distance from the arc-shaped elastic plate through two sensors, ensuring that the sensing distance values ​​in front of the two sensors are respectively the first preset value and the second preset value, and executing step S34;

[0024] S34: The retraction controller of the elastic plate overcomes the elastic force of the pop-up spring, controls the elastic plate to retract, and the split unit escapes from the notch.

[0025] The beneficial effects of the detachable robot arm base structure and the use method of the present invention are: the structure is simple, the detachable base is divided into a connected base and a split base, a plurality of split units are used to provide multi-point support for the robot arm, and the split units are displaceable. When the operating center of gravity of the robot arm shifts, they are displaced to below the center of gravity for stable support, and accidental touch can be effectively avoided when the connected base and the split base are disassembled, thereby ensuring stable and safe operation and disassembly of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an overall three-dimensional schematic diagram of a detachable mechanical arm base structure of the present invention. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Embodiment 1: Figure 1The figure shown is only one of the embodiments of the present invention, a detachable robot arm base structure, including a one-piece seat 1 for connecting to a supporting foot and a split seat 2 for connecting to a robot arm, the split seat 2 includes at least one split unit, the side wall of the one-piece seat 1 is provided with a wing plate 11, the lower side of the split unit is provided with a lower probe plate 21 and a hook plate 22 for connecting to the lower probe plate 21; a notch 12 is provided at the wing plate 11, and the width of the notch 12 is equal to the width of the hook plate 22; electromagnetic components 23 are provided on both sides of the split unit; a sensor 24 is provided on the side wall of the lower probe plate 21; an elastic plate 13 is provided at the notch 12; the electromagnetic component 23 and the sensor 24 are both electrically connected to the elastic plate 13 through a controller.

[0033] In the present invention, the one-piece seat 1 is connected to the supporting foot, and the split seat 2 is connected to the main body of the robotic arm structure. The one-piece seat 1 is an integral structure formed in one piece, and the split seat 2 is a split structure, which is composed of multiple split units. By connecting the split seat 2 to the one-piece seat 1, the robotic arm can be fixedly installed; conversely, by detaching the split seat 2 from the one-piece seat 1, the robotic arm can be disassembled.

[0034] Among them, there are multiple supporting feet, and the one-piece seat 1 can be leveled; the one-piece seat 1 is a long strip. It should be noted that the one-piece seat 1 can be a straight-line piece, an L-shaped piece, a U-shaped piece, or even an S-shaped piece. It is only necessary to ensure that a very small section of the one-piece seat 1 is almost horizontal to facilitate the installation of the split unit.

[0035] The side wall of the one-piece seat 1 is provided with a wing plate 11, and the lower side of the split unit is provided with a lower probe plate 21 and a hook plate 22 for connecting with the lower probe plate 21; the wing plate 11 is provided with a notch 12, and the width of the notch 12 is equal to the width of the hook plate 22.

[0036] During installation, the hook plate 22 of the split unit is inserted into the notch 12 , and then the split unit is slid along the extension direction of the integrated seat 1 , so that the lower probe plate 21 and the hook plate 22 of the split unit are half-covered on the wing plate 11 .

[0037] It should be noted that when the robotic arm is fixed and installed, first insert the hook plates of multiple split units into the notch to connect the multiple split units to the robotic arm; at this time, a single split unit is located at the notch and the robotic arm cannot be detached; only when all the split units correspond to the notch can the robotic arm be disassembled.

[0038] Moreover, an elastic plate 13 is provided at the notch 12, and the elastic plate 13 is connected to a retraction controller and a pop-up spring; the elastic plate 13 is connected to a pop-up spring, and even if all the split units correspond to the notch, if the elastic plate 13 is not retracted, the robotic arm cannot be disassembled, thereby effectively avoiding accidental disassembly. Only during installation or when determining to disassemble, the elastic force of the pop-up spring is overcome by the retraction controller to control the retraction of the elastic plate. At this time, if all the split units correspond to the notch, the robotic arm can be disassembled.

[0039] In the present invention, electromagnetic components 23 are provided on both sides of the split unit; when the robotic arm is working, the center of gravity position of the robotic arm is obtained in real time, and a magnetic field is generated by energizing the electromagnetic component to control at least one split unit to move below the center of gravity position of the robotic arm; if the combined seat 1 is an arc-shaped structure, the split unit can be displaced in two directions along the extension direction of the combined seat 1, and the robotic arm is jointly supported by multiple split units.

[0040] Here, controlling at least one split unit to displace below the center of gravity of the robot arm has a broad meaning, which means that at least one split unit supports the center of gravity of the robot arm. It can be controlling two or more split units to displace around a point below the center of gravity, so that multiple split units cooperate to support the center of gravity of the robot arm.

[0041] In the present invention, a sensor 24 is provided on the side wall of the lower probe plate 21; the sensor 24 senses the position of the elastic plate 13 to ensure that the split unit corresponds to the notch. In addition, the electromagnetic component 23 and the sensor 24 are electrically connected to the elastic plate 13 through the controller, that is, only the electromagnetic component 23 drives the split unit to move, and the sensor 24 senses the position of the elastic plate 13 correctly. At this time, the controller can control the elastic plate 13 to retract under the disassembly instruction. At this time, the elastic plate retracts, and all the split units correspond to the notch, so the robotic arm can be disassembled.

[0042] It should be noted that: when the robotic arm is disassembled, the distance between two adjacent notches is obtained to generate a predetermined magnetic field strength value; the electromagnetic component is energized to generate a predetermined magnetic field strength, so that the two split units are displaced under the action of the magnetic force until the distance between the two split units is equal to the distance between the two notches; the alignment of the elastic plate is confirmed by the sensor, the elastic plate is controlled to retract, and the split unit is removed from the notch.

[0043] The present invention discloses a detachable robot arm base structure with a simple structure. The detachable base is divided into a connected base and a split base. A plurality of split units are used to provide multi-point support for the robot arm. The split units are displaceable. When the operating center of gravity of the robot arm shifts, the split units are displaced to below the center of gravity for stable support. When the connected base and the split base are disassembled, accidental touch can be effectively avoided, thereby ensuring stable and safe operation and disassembly of the robot arm.

[0044] Embodiment 2, still as Figure 1 The figure shown is only one of the embodiments of the present invention. On the basis of the first embodiment, in a detachable robot arm base structure of the present invention, the number of the split units is at least two, and the sizes of the multiple split units are the same; the number of the notches 12 is the same as the number of the split units, and the multiple split units correspond one-to-one to the multiple notches.

[0045] In one embodiment of the present invention, the spacings between the plurality of notches 12 are different, which can further prevent all the split units from being aligned with the notch positions, thereby preventing accidental disassembly.

[0046] Then, when the robotic arm is disassembled, it is necessary to obtain the distance between any two adjacent notches and generate multiple predetermined magnetic field strength values; the electromagnetic parts of multiple split units are energized separately to generate different predetermined magnetic field strengths, so that multiple groups of two split units are displaced under the action of magnetic force, and the distance between multiple groups of two split units is equal to the distance between two corresponding notches.

[0047] In the present invention, the sensor 24 is a distance sensor, the number of the sensors 24 on one lower probe plate 21 is two, and the elastic plate 13 is an arc-shaped member.

[0048] There are two sensors 24 on a lower probe plate 21, one of which senses the distance of the arc vertex position of the elastic plate, and the other senses the distance of the non-vertex position of the elastic plate. Only when the sensing distance values ​​of the two sensors 24 are correct can the hook plate be aligned with the notch and disassembly can be performed.

[0049] In summary, when the robotic arm is disassembled, the distance between two adjacent notches is first obtained to generate a predetermined magnetic field strength value; then, the electromagnetic component is energized to generate a predetermined magnetic field strength, so that the two split units are displaced under the action of the magnetic force until the distance between the two split units is equal to the distance between the two notches; then, the distance from the arc-shaped elastic plate is obtained through two sensors to ensure that the sensing distance values ​​in front of the two sensors are respectively the first preset value and the second preset value; finally, the retraction controller of the elastic plate overcomes the elastic force of the pop-up spring, controls the retraction of the elastic plate, and the split unit escapes from the notch.

[0050] Finally, a limiting block 14 is provided at the end of the side of the one-piece seat 1 to prevent the split seat from escaping from the end of the one-piece seat.

[0051] Embodiment 3, the present invention further provides a method for using a detachable mechanical arm base structure in all the above embodiments, comprising the following steps:

[0052] S1: During installation, insert the hook plate of the split unit into the notch to connect multiple split units to the robot arm;

[0053] S2: When the robot arm is working, the center of gravity position of the robot arm is obtained in real time, and a magnetic field is generated by energizing the electromagnetic component to control at least one split unit to move below the center of gravity position of the robot arm;

[0054] S3: During disassembly, the distance between two adjacent notches is obtained to generate a predetermined magnetic field strength value; the electromagnetic component is energized to generate a predetermined magnetic field strength, so that the two split units are displaced under the action of the magnetic force until the distance between the two split units is equal to the distance between the two notches; the elastic plate is aligned through the sensor, the elastic plate is controlled to retract, and the split unit is removed from the notch.

[0055] It should be noted that when executing step S3, it specifically includes:

[0056] S31: Obtaining the distance between two adjacent gaps and generating a predetermined magnetic field strength value;

[0057] S32: The electromagnetic element is energized to generate a predetermined magnetic field strength, so that the two split units are displaced under the action of the magnetic force until the distance between the two split units is equal to the distance between the two gaps;

[0058] S33: obtaining the distance from the arc-shaped elastic plate through two sensors, ensuring that the sensing distance values ​​in front of the two sensors are respectively the first preset value and the second preset value, and executing step S34;

[0059] Confirm the alignment of the elastic plate, control the elastic plate to retract, and the split unit will come out from the notch

[0060] S34: The retraction controller of the elastic plate overcomes the elastic force of the pop-up spring, controls the elastic plate to retract, and the split unit escapes from the notch.

[0061] The present invention provides a detachable robot arm base structure and a use method. The structure is simple. The detachable base is divided into a connected base and a split base. A plurality of split units are used to provide multi-point support for the robot arm. The split units are displaceable. When the operating center of gravity of the robot arm shifts, the split units are displaced to below the center of gravity for stable support. When the connected base and the split base are disassembled, accidental touch can be effectively avoided, thereby ensuring stable and safe operation and disassembly of the robot arm.

[0062] 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 detachable mechanical arm base structure, characterized in that: The invention comprises a one-piece seat (1) for connecting with a supporting foot and a split seat (2) for connecting with a mechanical arm, wherein the split seat (2) comprises at least one split unit, the side wall of the one-piece seat (1) is provided with a wing plate (11), the lower side of the split unit is provided with a lower probe plate (21) and a hook plate (22) for connecting with the lower probe plate (21); a notch (12) is provided at the wing plate (11), and the width of the notch (12) is equal to the width of the hook plate (22); electromagnetic components (23) are provided on both sides of the split unit; an inductor (24) is provided on the side wall of the lower probe plate (21); an elastic plate (13) is provided at the notch (12); and the electromagnetic component (23) and the inductor (24) are both electrically connected to the elastic plate (13) through a controller.

2. The detachable mechanical arm base structure according to claim 1, characterized in that: The number of the split units is at least two, and the sizes of the multiple split units are the same.

3. The detachable mechanical arm base structure according to claim 2, characterized in that: The number of the notches (12) is the same as the number of the split units.

4. The detachable mechanical arm base structure according to claim 3, characterized in that: The spacings between the plurality of notches (12) are all different.

5. The detachable mechanical arm base structure according to claim 1, characterized in that: The sensor (24) is a distance sensor.

6. The detachable mechanical arm base structure according to claim 5, characterized in that: The number of the sensors (24) on one of the lower probe plates (21) is two, and the elastic plate (13) is an arc-shaped piece.

7. The detachable mechanical arm base structure according to claim 5, characterized in that: The elastic plate (13) is connected with a retraction controller and a pop-up spring.

8. The detachable mechanical arm base structure according to claim 1, characterized in that: A limiting block (14) is provided at the end of the conjoined seat (1).

9. A method for using a detachable mechanical arm base structure according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: During installation, insert the hook plate of the split unit into the notch to connect multiple split units to the robot arm; S2: When the robot arm is working, the center of gravity position of the robot arm is obtained in real time, and a magnetic field is generated by energizing the electromagnetic component to control at least one split unit to move below the center of gravity position of the robot arm; S3: During disassembly, the distance between two adjacent notches is obtained to generate a predetermined magnetic field strength value; the electromagnetic component is energized to generate a predetermined magnetic field strength, so that the two split units are displaced under the action of the magnetic force until the distance between the two split units is equal to the distance between the two notches; The sensor confirms the alignment of the elastic plate, controls the elastic plate to retract, and the split unit is released from the notch.

10. The method for using the detachable mechanical arm base structure according to claim 9, characterized in that: When executing step S3, it specifically includes: S31: Obtaining the distance between two adjacent gaps and generating a predetermined magnetic field strength value; S32: The electromagnetic element is energized to generate a predetermined magnetic field strength, so that the two split units are displaced under the action of the magnetic force until the distance between the two split units is equal to the distance between the two gaps; S33: obtaining the distance from the arc-shaped elastic plate through two sensors, ensuring that the sensing distance values ​​in front of the two sensors are respectively the first preset value and the second preset value, and executing step S34; S34: The retraction controller of the elastic plate overcomes the elastic force of the pop-up spring, controls the elastic plate to retract, and the split unit escapes from the notch.

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