Seven-axis cooperative mechanical arm
By installing batteries on the outside of the robot arm and automatically replacing them with electric chucks and conductive mechanisms, the problem of idle power supply heat dissipation and charging is solved, and the production efficiency and equipment balance of the robot arm are improved.
Patent Information
- Application Number
- CN202420702398.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-08
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2034-04-08
AI Technical Summary
The power supply of the existing robot arm is set inside the console, which is inconvenient to remove, resulting in complex heat dissipation design and the equipment is idle when charging, resulting in wasted resources and affecting the company's production efficiency.
A seven-axis cooperative robot arm is designed, the battery is placed outside the device, fixed by an electric chuck and a conductive mechanism, to achieve thermal dissipation and balance distribution of the battery, and to automatically replace the battery with mechanical claws to reduce idle time during charging.
No additional heat dissipation devices are required, and the battery design balances the mobile base, reducing idle time when the device is charged and improving enterprise production efficiency.
Smart Images
Figure CN222290161U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical arms, in particular to a seven-axis cooperative mechanical arm. Background Art
[0002] As mechanization impacts every aspect of our lives, manual labor in some positions can no longer meet the needs of reality. For example, low efficiency of manual labor leads to low profit margins for enterprises. In addition, in some special cases, manual labor can cause irreversible damage to the human body.
[0003] The existing announcement number is CN209273429U. A kind of mechanical arm, through the setting of three Mecanum wheels, can realize the movement of the mechanical arm in any direction in the horizontal plane by only using the mutual coordination of the rotation speed and steering between the wheels, so that it can reduce the weight of the entire mechanical arm as much as possible, and also ensure the stability of the entire mechanical arm, and provide a large driving force for the mechanical arm; the control system is used to control the movement of the Mecanum wheel, and the rotation coordination of the first axis mechanical arm, the second axis mechanical arm, the third axis mechanical arm, the fourth axis mechanical arm, the fifth axis mechanical arm and the gripper is controlled to realize the designated clamping and placing movement of objects within the arm span height range on the horizontal plane; the start button is used to realize the start of the mechanical arm, and the emergency stop button is used to realize the emergency stop of the mechanical arm to avoid large losses in unexpected situations; the setting of the rs485 communication interface, the network port and the USB interface makes the open source environment of the mechanical arm wide, and users can realize different control instructions by burning different programs, which is convenient to meet the needs of different users. In summary, the mechanical arm can be widely used in the fields of mechanical manufacturing, metallurgy, electronics and human daily life, replacing some manual operations, improving the profit margin of enterprises, and bringing huge benefits to enterprises. However, the existing technology has shortcomings. For example, the power supply is set inside the console, which is inconvenient to take out. Therefore, a corresponding heat dissipation structure needs to be designed to cool the power supply. At the same time, when the power supply is charging, the device will be idle, which will undoubtedly cause great waste and is not conducive to enterprise production. Utility Model Content
[0004] The purpose of the utility model is to provide a seven-axis collaborative robot arm to solve the problems in the prior art.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a seven-axis collaborative robotic arm, comprising a mobile base and a seven-axis robotic arm body, the mobile base being a rectangular structure, two Mecanum wheels being installed on each side of the mobile base, four motors corresponding to the Mecanum wheels being arranged inside the mobile base, a seven-axis robotic arm body mounting seat being fixed on one side of the top of the mobile base, the seven-axis robotic arm body being fixed on the top of the seven-axis robotic arm body mounting seat, two battery fixing seats being installed on the other side of the top of the mobile base, each battery fixing seat being installed with a battery, the battery fixing seat being composed of an electric chuck and a conductive mechanism, and the conductive mechanism being installed in a groove at the center of the electric chuck.
[0006] Preferably, the conductive mechanism consists of a conductive ring fixing plate, an electric push rod, a large conductive ring and a small conductive ring, the conductive ring fixing plate is fixed on the output end of the electric push rod, the small conductive ring is fixed at the top middle position of the conductive ring fixing plate, and the large conductive ring is arranged around the small conductive ring and fixed on the top of the conductive ring fixing plate.
[0007] Preferably, a large conductive ring and a small conductive ring are provided at the bottom of the battery, which cooperate with the large conductive ring and the small conductive ring respectively.
[0008] Preferably, the battery has a cylindrical structure, and the mechanical claw of the seven-axis robotic arm body is a four-claw mechanical claw.
[0009] Compared with the prior art, the beneficial effect of the utility model is that the design of the battery of the utility model being located outside the equipment itself can achieve good heat dissipation of the battery, so there is no need to install a corresponding heat dissipation device for the battery. At the same time, the battery and the main body of the seven-axis robotic arm are respectively located on both sides of the top of the mobile base, which is conducive to balancing the mobile base so that one side of the mobile base is not too heavy. The utility model is provided with two batteries, which are fixed by a battery fixing seat. The battery fixing seat is composed of an electric chuck and a conductive mechanism. The electric chuck is controlled to be loosened and clamped by a host built into the mobile base. When the battery power is lower than a threshold, only a battery with sufficient power needs to be replaced. During the replacement process, the main body of the seven-axis robotic arm drives the mechanical claw to grab one of the batteries, and then the host controls the electric chuck to release the grabbed battery, and then the main body of the seven-axis robotic arm drives the mechanical claw to replace the grabbed battery. During the replacement process, the other battery that has not been released by the electric chuck is used for power supply. In this way, the idle time caused by equipment charging can be reduced, which is beneficial to enterprise production. BRIEF DESCRIPTION OF THE DRAWINGS
[0010] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:
[0011] Figure 1 It is a schematic diagram of the overall external structure of the utility model;
[0012] Figure 2 It is a structural schematic diagram of a battery fixing seat of the utility model.
[0013] In the figure: 1. Mobile base; 2. Mecanum wheel; 3. Seven-axis robot arm main body mounting base; 4. Seven-axis robot arm main body; 5. Battery; 6. Battery fixing base; 7. Electric chuck; 8. Groove; 9. Conductive mechanism; 10. Conductive ring fixing plate; 11. Electric push rod; 12. Large conductive ring; 13. Small conductive ring. DETAILED DESCRIPTION
[0014] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the utility model. Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the utility model for which protection is sought, but merely represents the selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the utility model.
[0015] See also Figure 1-2 In the embodiment of the utility model, a seven-axis collaborative robot arm includes a mobile base 1 and a seven-axis robot arm body 4. The mobile base 1 is a rectangular parallelepiped structure. Two Mecanum wheels 2 are installed on both sides of the mobile base 1. Four motors corresponding to the Mecanum wheels 2 are arranged inside the mobile base 1. A seven-axis robot arm body mounting seat 3 is fixed on one side of the top of the mobile base 1. The seven-axis robot arm body 4 is fixed on the top of the seven-axis robot arm body mounting seat 3. Two battery fixing seats 6 are installed on the other side of the top of the mobile base 1. A battery 5 is installed on each battery fixing seat 6. The battery fixing seat 6 is composed of an electric chuck 7 and a conductive mechanism 9. The conductive mechanism 9 is installed in a groove 8 at the center of the electric chuck 7.
[0016] The conductive mechanism 9 is composed of a conductive ring fixing plate 10, an electric push rod 11, a large conductive ring 12 and a small conductive ring 13. The conductive ring fixing plate 10 is fixed on the output end of the electric push rod 11, the small conductive ring 13 is fixed at the top middle position of the conductive ring fixing plate 10, the large conductive ring 12 is arranged around the small conductive ring 13 and fixed on the top of the conductive ring fixing plate 10, and the bottom of the battery 5 is provided with a large conductive circle and a small conductive circle respectively cooperating with the large conductive ring 12 and the small conductive ring 13.
[0017] The battery 5 is of cylindrical structure, and the mechanical claw of the seven-axis robot arm body 4 is a four-claw mechanical claw.
[0018] The working principle of the utility model is: the design of the battery 5 of the utility model being located outside the equipment can itself enable the battery 5 to dissipate heat well, so there is no need to install a corresponding heat dissipation device for the battery 5. At the same time, the battery 5 and the seven-axis robot arm body 4 are respectively located on both sides of the top of the mobile base 1, which is conducive to making the mobile base 1 balanced and not making one side of the mobile base 1 too heavy. The utility model is provided with two batteries 5, which are fixed by a battery fixing seat 6. The battery fixing seat 6 is composed of an electric chuck 7 and a conductive mechanism 9. The electric chuck 7 is controlled to be loosened and clamped by the host built into the mobile base 1. When the power of the battery 5 is lower than the threshold, it is only necessary to replace the battery 5 with sufficient power. During the replacement process, the seven-axis robot arm body 4 drives the mechanical claw to grab one of the batteries 5, and then the host controls the electric chuck 7 to release the grabbed battery 5, and then the seven-axis robot arm body 4 drives the mechanical claw to replace the grabbed battery 5. During the replacement process, the other battery 5 that has not been released by the electric chuck 7 is powered. In this way, the idle time caused by equipment charging can be reduced, which is beneficial to enterprise production.
[0019] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.
Claims
1. A seven-axis collaborative robot arm, comprising a mobile base (1) and a seven-axis robot arm body (4), characterized in that: The mobile base (1) is in the shape of a rectangular parallelepiped. Two Mecanum wheels (2) are respectively installed on both sides of the mobile base (1). Four motors corresponding to the Mecanum wheels (2) are arranged inside the mobile base (1). A seven-axis robot arm main body mounting seat (3) is fixed on one side of the top of the mobile base (1). The seven-axis robot arm main body (4) is fixed on the top of the seven-axis robot arm main body mounting seat (3). Two battery fixing seats (6) are installed on the other side of the top of the mobile base (1). Each battery fixing seat (6) is respectively installed with a storage battery (5). The battery fixing seat (6) is composed of an electric chuck (7) and a conductive mechanism (9). The conductive mechanism (9) is installed in a groove at the center of the electric chuck (7).
2. The seven-axis collaborative robot arm according to claim 1, characterized in that: The conductive mechanism (9) is composed of a conductive ring fixing plate (10), an electric push rod (11), a large conductive ring (12) and a small conductive ring (13); the conductive ring fixing plate (10) is fixed to the output end of the electric push rod (11); the small conductive ring (13) is fixed to the middle position of the top of the conductive ring fixing plate (10); and the large conductive ring (12) is arranged around the small conductive ring (13) and fixed to the top of the conductive ring fixing plate (10).
3. The seven-axis collaborative robot arm according to claim 2, characterized in that: The bottom of the storage battery (5) is provided with a large conductive ring and a small conductive ring which respectively cooperate with the large conductive ring (12) and the small conductive ring (13).
4. The seven-axis collaborative robot arm according to claim 1, characterized in that: The storage battery (5) has a cylindrical structure, and the mechanical claw of the seven-axis mechanical arm body (4) is a four-claw mechanical claw.