Multifunctional grabbing mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a multifunctional grabbing mechanical arm which comprises a base, a rotating shaft, a rotating plate, a first motor, a first gear, a second gear, a first force arm, a base, a second motor, a second force arm, an intelligent control end, a two-dimensional camera, a connecting assembly, a rotating assembly and a clamping assembly. After a two-dimensional camera is used for collecting pictures at different angles, a neural radiation field is used for performing three-dimensional reconstruction, then an intelligent control end starts a first motor to drive a second gear to rotate, the second gear is meshed with the first gear, so that a rotating plate is rotated, the second motor is started to adjust the elevation angle of a first force arm in a base, and the angle of elevation of the first force arm is adjusted. The clamping assembly on the second force arm gets close to the materials and is matched with the rotating assembly to clamp the materials, at the moment, the connecting assembly adjusts the included angle between the first force arm and the second force arm, in this way, the workload of workers is reduced, and the grabbing efficiency and quality of the mechanical arm are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a multifunctional grabbing mechanical arm. Background Art

[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics, and can be found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration, etc. Although they have different forms, they all have one common feature, which is the ability to receive instructions and accurately locate a point in three-dimensional (or two-dimensional) space to perform operations.

[0003] The working mode of traditional robotic arms is to edit the expected operation trajectory and fixed-point grasping of the work process in the robotic arm teach pendant in advance, which easily increases the workload of the staff and thus affects the efficiency and quality of the robotic arm grasping. Utility Model Content

[0004] The purpose of the utility model is to provide a multifunctional grasping robot arm, which aims to solve the problem that the working mode of the traditional robot arm in the prior art is to edit the expected operation trajectory and fixed-point grasping of the work process in the robot arm teach pendant in advance, which easily increases the workload of the staff and thus affects the grasping efficiency and quality of the robot arm.

[0005] To achieve the above-mentioned purpose, the utility model provides a multifunctional grabbing mechanical arm, including a base, a rotating shaft, a rotating plate, a first motor, a first gear, a second gear, a first force arm, a base, a second motor, a second force arm, an intelligent control end, a two-dimensional camera, a connecting component, a rotating component and a clamping component, the rotating shaft is fixedly connected to the base and is located above the base, the rotating plate is rotatably connected to the rotating shaft and is located above the rotating shaft, the first motor is fixedly connected to the rotating plate and is located above the rotating plate, the output end of the first motor passes through the rotating plate, the first gear is fixedly connected to the rotating shaft and is located on the outer side wall of the rotating shaft, the second gear is fixedly connected to the first motor and is located at the output end of the first motor, and the second gear is meshed with the first gear, the base is fixedly connected to the rotating plate and is located above the rotating plate, The first force arm is rotatably connected to the base and is located on the inner wall of the base. The second motor is fixedly connected to the base and is located on one side of the base. The output end of the second motor is fixedly connected to the first force arm and is located on one side of the first force arm, and the output end of the second motor passes through the base. The second force arm is arranged above the first force arm. The connecting component is arranged between the first force arm and the second force arm. The intelligent control end is fixedly connected to the base and is located on the outer wall of the base, and the intelligent control end is electrically connected to the first motor and the second motor. The two-dimensional camera is fixedly connected to the second force arm and is located on the outer wall of the second force arm, and the two-dimensional camera is electrically connected to the intelligent control end. The rotating component is arranged at one end of the second force arm, and the clamping component is arranged on one side of the rotating component.

[0006] Among them, the connecting component includes a connecting frame and a third motor, the connecting frame is fixedly connected to the first force arm and is located at an end of the first force arm away from the base, the third motor is fixedly connected to the connecting frame and is located on one side of the connecting frame, the second force arm is rotatably connected to the connecting frame and is located on the inner wall of the connecting frame, the output end of the third motor is fixedly connected to the second force arm and is located on one side of the second force arm, and the output end of the third motor passes through the connecting frame.

[0007] Wherein, the rotating assembly includes a hollow column, a fourth motor, a fifth motor and a rotating frame, the hollow column is rotatably connected to the second force arm and is located at an end of the second force arm away from the connecting frame, the fourth motor is fixedly connected to the second force arm and is located on the outer side wall of the second force arm, the output end of the fourth motor is fixedly connected to the hollow column and is located on the outer side wall of the hollow column, and the output end of the fourth motor passes through the second force arm, the fifth motor is fixedly connected to the hollow column and is located on the inner side wall of the hollow column, and the rotating frame is fixedly connected to the fifth motor and is located at the output end of the fifth motor.

[0008] Wherein, the clamping assembly includes a track frame, a slide plate, a clamping plate and a cylinder, the track frame is fixedly connected to the rotating frame and is located below the rotating frame, the slide plate is slidably connected to the track frame and is located on the inner side wall of the track frame, the clamping plate is fixedly connected to the slide plate and is located below the slide plate, the cylinder is fixedly connected to the track frame and is located on the inner side wall of the track frame, and the output end of the cylinder is fixedly connected to the slide plate and is located on one side of the slide plate.

[0009] Wherein, the multifunctional grabbing robot arm further includes an auxiliary component, and the auxiliary component is arranged on the outer side wall of the rotating plate.

[0010] Wherein, the auxiliary component includes a fixed plate and an auxiliary wheel, the fixed plate is fixedly connected to the rotating plate and is located on one side of the rotating plate, and the auxiliary wheel is rotatably connected to the fixed plate and is located below the fixed plate.

[0011] The utility model provides a multifunctional grasping robot arm, which uses the two-dimensional camera to collect pictures at different angles and then uses the neural radiation field to perform three-dimensional reconstruction, and then the first motor is started by the intelligent control end to drive the second gear to rotate, and the second gear is meshed with the first gear to rotate the rotating plate, and the second motor is started to adjust the elevation angle of the first force arm in the base, so that the clamping component on the second force arm is close to the material, and then cooperates with the rotating component to clamp the material. At this time, the connecting component adjusts the angle between the first force arm and the second force arm. In this way, the workload of the staff is reduced and the efficiency and quality of the robot arm grasping are guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0013] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the utility model.

[0014] Figure 2 It is an overall front view of the first embodiment of the utility model.

[0015] Figure 3 It is an overall right side view of the first embodiment of the utility model.

[0016] Figure 4 The utility model Figure 3 AA line section view.

[0017] Figure 5 The utility model Figure 4 Enlarged view of the local structure at point B.

[0018] Figure 6 It is an overall structural diagram of the second embodiment of the utility model.

[0019] 101-base, 102-rotating shaft, 103-rotating plate, 104-first motor, 105-first gear, 106-second gear, 107-first lever, 108-base, 109-second motor, 110-second lever, 111-intelligent control terminal, 112-two-dimensional camera, 113-connecting component, 114-rotating component, 115-clamping component, 116-connecting frame, 117-third motor, 118-hollow column, 119-fourth motor, 120-fifth motor, 121-rotating frame, 122-track frame, 123-slide plate, 124-clamping plate, 125-cylinder, 201-auxiliary component, 202-fixed plate, 203-auxiliary wheel. DETAILED DESCRIPTION

[0020] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0021] First embodiment:

[0022] See also Figures 1 to 5 ,in, Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the utility model. Figure 2 It is a front view of the whole of the first embodiment of the utility model, Figure 3 It is the overall right side view of the first embodiment of the utility model. Figure 4 The utility model Figure 3 AA line section view, Figure 5 The utility model Figure 4 Enlarged view of the local structure at point B.

[0023] The utility model provides a multifunctional grabbing mechanical arm, including a base 101, a rotating shaft 102, a rotating plate 103, a first motor 104, a first gear 105, a second gear 106, a first force arm 107, a base 108, a second motor 109, a second force arm 110, an intelligent control terminal 111, a two-dimensional camera 112, a connecting component 113, a rotating component 114 and a clamping component 115, wherein the connecting component 113 includes a connecting frame 116 and a third motor 117, the rotating component 114 includes a hollow column 118, a fourth motor 119, a fifth motor 120 and a rotating frame 121, and the clamping component 115 includes a track frame 122, a slide plate 123, a clamping plate 124 and a cylinder 125.

[0024] According to the present specific embodiment, the rotating shaft 102 is fixedly connected to the base 101 and is located above the base 101; the rotating plate 103 is rotatably connected to the rotating shaft 102 and is located above the rotating shaft 102; the first motor 104 is fixedly connected to the rotating plate 103 and is located above the rotating plate 103; the output end of the first motor 104 passes through the rotating plate 103; the first gear 105 is fixedly connected to the rotating shaft 102 and is located on the outer side wall of the rotating shaft 102; the second gear 106 is fixedly connected to the first motor 104 and is located at the output end of the first motor 104; and the second gear 106 is connected to the first motor 104 and is located at the output end of the first motor 104. A gear 105 is meshed, the base 108 is fixedly connected to the rotating plate 103 and is located above the rotating plate 103, the first force arm 107 is rotatably connected to the base 108 and is located on the inner side wall of the base 108, the second motor 109 is fixedly connected to the base 108 and is located on one side of the base 108, the output end of the second motor 109 is fixedly connected to the first force arm 107 and is located on one side of the first force arm 107, and the output end of the second motor 109 passes through the base 108, the second force arm 110 is arranged above the first force arm 107, and the connecting component 113 is arranged on the first force arm 107 The intelligent control terminal 111 is fixedly connected to the base 101 and is located on the outer side wall of the base 101, and the intelligent control terminal 111 is electrically connected to the first motor 104 and the second motor 109, the two-dimensional camera 112 is fixedly connected to the second arm 110 and is located on the outer side wall of the second arm 110, and the two-dimensional camera 112 is electrically connected to the intelligent control terminal 111, the rotating component 114 is arranged at one end of the second arm 110, and the clamping component 115 is arranged on one side of the rotating component 114, and the two-dimensional camera 112 is used to collect pictures at different angles and then use neural radiation The field is reconstructed in three dimensions, and then the first motor 104 is started by the intelligent control end 111 to drive the second gear 106 to rotate. Since the second gear 106 is meshed with the first gear 105, the rotating plate 103 is rotated, and the second motor 109 is started to adjust the elevation angle of the first force arm 107 in the base 108, so that the clamping component 115 on the second force arm 110 is close to the material, and then the rotating component 114 is cooperated to clamp the material. At this time, the connecting component 113 adjusts the angle between the first force arm 107 and the second force arm 110. In this way, the workload of the staff is reduced and the efficiency and quality of the robot arm grasping are guaranteed.

[0025] Neural Radiance Field (NeRF) is a deep learning model specifically designed for modeling three-dimensional implicit space, also known as a fully connected neural network or multi-layer perceptron. The main task of NeRF is novel view synthesis, the goal of which is to capture a series of scenes from an existing view (including the captured images and the internal and external parameters corresponding to each image), and then synthesize images from a new view based only on the pose internal parameters and the image, without the need for an intermediate three-dimensional reconstruction process.

[0026] PyBullet is a Python module developed based on the famous open source physics engine Bullet. As shown in the figure below, PyBullet is mainly used for robot simulation and learning. PyBullet supports loading various robot description files such as URDF, SDF, MJCF, and provides forward / inverse kinematics, forward / inverse dynamics, collision detection, ray intersection query and other functions. In addition to robot simulation and learning, PyBullet can also be used for physical simulation of games, visual effects and machine learning. PyBullet can build a training environment for reinforcement learning.

[0027] Among them, the connecting frame 116 is fixedly connected to the first force arm 107 and is located at one end of the first force arm 107 away from the base 108, the third motor 117 is fixedly connected to the connecting frame 116 and is located on one side of the connecting frame 116, the second force arm 110 is rotatably connected to the connecting frame 116 and is located on the inner wall of the connecting frame 116, the output end of the third motor 117 is fixedly connected to the second force arm 110 and is located on one side of the second force arm 110, and the output end of the third motor 117 passes through the connecting frame 116, the third motor 117 is started, and the inner angle of the second force arm 110 in the connecting frame 116 is adjusted to facilitate the clamping assembly 115 to approach the material, effectively reducing the workload of the staff.

[0028] Secondly, the hollow column 118 is rotatably connected to the second lever arm 110 and is located at one end of the second lever arm 110 away from the connecting frame 116. The fourth motor 119 is fixedly connected to the second lever arm 110 and is located at the outer side wall of the second lever arm 110. The output end of the fourth motor 119 is fixedly connected to the hollow column 118 and is located at the outer side wall of the hollow column 118, and the output end of the fourth motor 119 passes through the second lever arm 110. The fifth motor 120 is fixedly connected to the hollow column 118 and is located at the inner side wall of the hollow column 118. The rotating frame 121 is fixedly connected to the fifth motor 120 and is located at the output end of the fifth motor 120. The fourth motor 119 is started to adjust the clamping angle of the hollow column 118 in the second lever arm 110. Then, the fifth motor 120 is started to align the rotating frame 121 with the material, which is beneficial to the operation of the clamping assembly 115 and quickly achieves the purpose of clamping the material.

[0029] At the same time, the track frame 122 is fixedly connected to the rotating frame 121 and is located below the rotating frame 121. The slide plate 123 is slidably connected to the track frame 122 and is located on the inner side wall of the track frame 122. The clamping plate 124 is fixedly connected to the slide plate 123 and is located below the slide plate 123. The cylinder 125 is fixedly connected to the track frame 122 and is located on the inner side wall of the track frame 122. The output end of the cylinder 125 is fixedly connected to the slide plate 123 and is located on one side of the slide plate 123. The cylinder 125 is started to press against the slide plate 123 and move inward until the clamping plate 124 contacts the material. Clamping the material in this way can effectively reduce the fatigue of the staff.

[0030] When using the multifunctional grabbing robot arm of the utility model, the two-dimensional camera 112 is used to collect pictures at different angles and then three-dimensional reconstruction is performed using the neural radiation field. Then, the first motor 104 is started by the intelligent control terminal 111 to drive the second gear 106 to rotate. Since the second gear 106 is meshed with the first gear 105, the rotating plate 103 is rotated. The second motor 109 is started to adjust the elevation angle of the first force arm 107 in the base 108. The third motor 117 is started to adjust the inner angle of the second force arm 110 in the connecting frame 116. The fourth motor 119 is started to adjust the clamping angle of the hollow column 118 in the second force arm 110. Then, the fifth motor 120 is started to align the rotating frame 121 with the material, and the cylinder 125 is opened to press the slide plate 123 to move inward until the clamping plate 124 contacts the material. In this way, the workload of the staff is reduced, the efficiency and quality of the robot arm grasping are guaranteed, and the fatigue intensity of the staff is reduced.

[0031] Second embodiment:

[0032] Based on the first embodiment, please refer to Figure 6 , Figure 6 It is an overall structural diagram of the second embodiment of the utility model.

[0033] The utility model provides a multifunctional grabbing mechanical arm, which also includes an auxiliary component 201 . The auxiliary component 201 includes a fixing plate 202 and an auxiliary wheel 203 .

[0034] According to this specific embodiment, the auxiliary component 201 is disposed on the outer side wall of the rotating plate 103 . The auxiliary component 201 is added to facilitate the rotation of the rotating plate 103 and improve the stability of the rotating plate 103 .

[0035] Among them, the fixed plate 202 is fixedly connected to the rotating plate 103 and is located on one side of the rotating plate 103. The auxiliary wheel 203 is rotatably connected to the fixed plate 202 and is located below the fixed plate 202. With the cooperation of the fixed plate 202 and the auxiliary wheel 203, the rotating plate 103 is assisted to rotate, which effectively improves the stability of the rotating plate 103.

[0036] When the multifunctional grabbing mechanical arm of the utility model is used, the cooperation between the fixed plate 202 and the auxiliary wheel 203 assists the rotating plate 103 to rotate, thereby effectively improving the stability of the rotating plate 103 .

[0037] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A multifunctional grabbing robot arm, characterized in that: The invention comprises a base, a rotating shaft, a rotating plate, a first motor, a first gear, a second gear, a first force arm, a base, a second motor, a second force arm, an intelligent control end, a two-dimensional camera, a connecting component, a rotating component and a clamping component, wherein the rotating shaft is fixedly connected to the base and is located above the base, the rotating plate is rotatably connected to the rotating shaft and is located above the rotating shaft, the first motor is fixedly connected to the rotating plate and is located above the rotating plate, the output end of the first motor passes through the rotating plate, the first gear is fixedly connected to the rotating shaft and is located at the outer side wall of the rotating shaft, the second gear is fixedly connected to the first motor and is located at the output end of the first motor, and the second gear is meshed with the first gear, the base is fixedly connected to the rotating plate and is located above the rotating plate, the first force arm is rotatably connected to the base The second motor is fixedly connected to the base and is located on one side of the base. The output end of the second motor is fixedly connected to the first lever and is located on one side of the first lever, and the output end of the second motor passes through the base. The second lever is arranged above the first lever, and the connecting component is arranged between the first lever and the second lever. The intelligent control end is fixedly connected to the base and is located on the outer side wall of the base, and the intelligent control end is electrically connected to the first motor and the second motor. The two-dimensional camera is fixedly connected to the second lever and is located on the outer side wall of the second lever, and the two-dimensional camera is electrically connected to the intelligent control end. The rotating component is arranged at one end of the second lever, and the clamping component is arranged on one side of the rotating component.

2. The multifunctional grabbing mechanical arm according to claim 1, characterized in that: The connecting assembly includes a connecting frame and a third motor, the connecting frame is fixedly connected to the first force arm and is located at an end of the first force arm away from the base, the third motor is fixedly connected to the connecting frame and is located at one side of the connecting frame, the second force arm is rotatably connected to the connecting frame and is located on the inner side wall of the connecting frame, the output end of the third motor is fixedly connected to the second force arm and is located at one side of the second force arm, and the output end of the third motor passes through the connecting frame.

3. The multifunctional grabbing mechanical arm according to claim 2, characterized in that: The rotating assembly includes a hollow column, a fourth motor, a fifth motor and a rotating frame. The hollow column is rotatably connected to the second force arm and is located at an end of the second force arm away from the connecting frame. The fourth motor is fixedly connected to the second force arm and is located on the outer side wall of the second force arm. The output end of the fourth motor is fixedly connected to the hollow column and is located on the outer side wall of the hollow column, and the output end of the fourth motor passes through the second force arm. The fifth motor is fixedly connected to the hollow column and is located on the inner side wall of the hollow column. The rotating frame is fixedly connected to the fifth motor and is located at the output end of the fifth motor.

4. The multifunctional grabbing mechanical arm according to claim 3, characterized in that: The clamping assembly includes a track frame, a slide plate, a clamping plate and a cylinder. The track frame is fixedly connected to the rotating frame and is located below the rotating frame. The slide plate is slidably connected to the track frame and is located on the inner side wall of the track frame. The clamping plate is fixedly connected to the slide plate and is located below the slide plate. The cylinder is fixedly connected to the track frame and is located on the inner side wall of the track frame. The output end of the cylinder is fixedly connected to the slide plate and is located on one side of the slide plate.

5. The multifunctional grabbing mechanical arm according to claim 4, characterized in that: The multifunctional grabbing mechanical arm further comprises an auxiliary component, and the auxiliary component is arranged on the outer side wall of the rotating plate.

6. The multifunctional grabbing mechanical arm according to claim 5, characterized in that: The auxiliary component comprises a fixed plate and an auxiliary wheel, wherein the fixed plate is fixedly connected to the rotating plate and is located at one side of the rotating plate, and the auxiliary wheel is rotatably connected to the fixed plate and is located below the fixed plate.

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