Vehicle-mounted mechanical arm

Abstract

The utility model provides a kind of vehicle-mounted mechanical arm, including pedestal, rotatory table fixedly arranged on pedestal, arm support mechanism fixedly arranged on rotatory table, and clamping mechanism connected by the rotation shaft of being set at the end of arm support mechanism, the force sensor for detecting the clamping force size of clamping mechanism is arranged on the clamping mechanism, visual sensor for identifying object is also arranged at the end of the clamping mechanism, the vehicle-mounted mechanical arm is set on vehicle platform by the pedestal. By integrating mechanical arm to vehicle-mounted platform, the use scene of mechanical arm is expanded, the flexibility and applicability of mechanical arm are improved, and high-precision force sensor and visual sensor are used to cooperate with mechanical arm, support multiple complex actions, can realize grabbing flexible object and rigid object and multiple objects.

Description

Technical Field

[0001] This utility model relates to the field of vehicle-mounted mechanical technology, specifically to a vehicle-mounted robotic arm. Background Technology

[0002] With the rapid development of industrial automation and smart logistics, robotic arms have been widely used in various fields as a highly efficient tool. However, most existing robotic arms are designed for general environments, lacking specific optimization for vehicle environments, and their functions are relatively limited, failing to meet the complex and ever-changing needs of vehicle operations. Therefore, there is an urgent need for a multi-functional robotic arm specifically designed for vehicle environments to improve work efficiency and user experience. On the other hand, existing robotic arms lack monitoring of gripping force, resulting in poor gripping performance on some flexible objects. Utility Model Content

[0003] In view of this, the present invention provides a vehicle-mounted robotic arm, thereby solving one or more problems mentioned in the background art.

[0004] To solve the above-mentioned technical problems, this utility model provides a vehicle-mounted robotic arm, including a base, a rotary table disposed on the base, a boom mechanism disposed on the rotary table, and a clamping mechanism connected by a rotating shaft disposed at the end of the boom mechanism. The clamping mechanism is provided with a force sensor for detecting the magnitude of the clamping force, and the end of the clamping mechanism is also provided with a vision sensor for recognizing objects.

[0005] In the vehicle-mounted robotic arm described above, optionally, the base includes a base plate, a transition section and an inclined section. The base plate is provided with a recess for mounting a rotary table, and the four corners of the base plate are provided with bolt holes distributed in a rectangular pattern for mounting the vehicle-mounted robotic arm on a vehicle platform.

[0006] In the vehicle-mounted robotic arm described above, optionally, the rotary table includes a rotary table motor fixedly mounted on the lower surface of the base, a bearing positioning plate mounted on the upper surface of the base, a planar bearing mounted on the upper surface of the bearing positioning plate, and a support plate fixedly mounted on the upper surface of the planar bearing. The planar bearing includes an outer ring fixedly connected to the bearing positioning plate, an inner ring fixedly connected to the support plate, and a roller located between the inner ring and the outer ring.

[0007] In the vehicle-mounted robotic arm described above, optionally, a positioning shaft hole is provided on the base, and the output shaft of the rotary table motor passes through the positioning shaft hole and is fixedly connected to the inner ring. The rotary table motor drives the inner ring to rotate, thereby driving the support plate fixedly connected to the inner ring to rotate.

[0008] In the vehicle-mounted robotic arm described above, optionally, the boom mechanism includes a first connecting arm, a second connecting arm, a third connecting arm, and a fourth connecting arm connected in sequence via a pivot.

[0009] In the vehicle-mounted robotic arm described above, optionally, the boom mechanism further includes a first motor disposed on the first connecting arm for driving the second connecting arm to rotate, a second motor disposed at one end of the third connecting arm for driving the third connecting arm to rotate, a third motor disposed at the other end of the third connecting arm for driving the fourth connecting arm to rotate, and a fourth motor disposed on the fourth connecting arm near the clamping mechanism for driving the clamping mechanism to rotate.

[0010] In the vehicle-mounted robotic arm described above, optionally, the first connecting arm, the second connecting arm, the third connecting arm, and the fourth connecting arm are all cuboid frame structures composed of two mutually parallel support plates.

[0011] In the vehicle-mounted robotic arm described above, optionally, the clamping mechanism includes an L-shaped mounting plate, a mounting disc, a drive gear rod, a driven gear rod, a drive gear, a gripping finger, a fifth motor, and a force sensor.

[0012] In the vehicle-mounted robotic arm described above, optionally, the output shaft of the fifth motor is fixedly connected to the drive gear, the drive gear is meshed with the active gear rod, and the active gear rod is meshed with the driven gear rod. The fifth motor drives the drive gear to rotate, thereby driving the active gear rod and the driven gear rod to rotate, thus driving the gripper to open and close.

[0013] In the vehicle-mounted robotic arm described above, optionally, the driving gear rod includes a driving gear and a first fixed rod fixedly connected to the driving gear, and the driven gear rod includes a driven gear and a second fixed rod fixedly connected to the driven gear, wherein the driven gear is a half gear.

[0014] This utility model's vehicle-mounted robotic arm expands the application scenarios of the robotic arm by integrating it into a vehicle platform, improving its flexibility and applicability. It uses high-precision force sensors and vision sensors in conjunction with the robotic arm to support a variety of complex movements and can grasp various objects, including flexible and rigid objects. Attached Figure Description

[0015] The disclosure of this utility model will become more apparent with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings:

[0016] Figure 1This is a three-dimensional structural diagram of a vehicle-mounted robotic arm according to an embodiment of the present invention;

[0017] Figure 2 This is a three-dimensional structural diagram of the base of a vehicle-mounted robotic arm according to an embodiment of the present invention;

[0018] Figure 3 This is a left view of the rotary table and base plate of a vehicle-mounted robotic arm according to an embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of the first connecting arm, the second connecting arm, and the first motor of a vehicle-mounted robotic arm according to an embodiment of the present invention;

[0020] Figure 5 This is a top view of the fourth connecting arm, vision sensor, and clamping mechanism of a vehicle-mounted robotic arm according to an embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the clamping mechanism of a vehicle-mounted robotic arm according to an embodiment of the present invention;

[0022] Figure 7 This is a top view of the clamping mechanism of a vehicle-mounted robotic arm according to an embodiment of the present invention.

[0023] Reference numerals: 1-Base; 2-Rotating table; 3-Boom mechanism; 4-Boom motor; 5-Clamping mechanism; 6-Vision sensor; 11-Base base plate; 12-Transition section; 13-Inclined section; 111-Recess; 112-Positioning shaft hole; 113-Bolt hole; 131-Equipment cavity; 21-Rotating table motor; 22-Bearing positioning plate; 23-Side bearing; 24-Support plate; 231-Outer ring; 232-Ball bearing; 233-Inner ring; 31-First connecting arm; 32-Second connecting arm; 33-Third connecting arm; 34-Fourth connecting arm; 35-... 36-Second rotating shaft; 37-Third rotating shaft; 321-Support crossbar; 341-Connecting plate; 41-First motor; 42-Second motor; 43-Third motor; 44-Fourth motor; 45-Fifth motor; 51-Clamping finger; 52-Rock arm; 53-Driving gear rod; 54-Driven gear rod; 55-Drive gear; 56-Mounting plate; 57-L-shaped mounting plate; 58-Fifth motor; 59-Force sensor; 531-Driving gear; 532-First fixed rod; 541-Driven gear; 542-Second fixed rod; 561-Rotating hole. Detailed Implementation

[0024] Referring to the accompanying drawings and specific embodiments, the structure, working principle, features, and advantages of the vehicle-mounted robotic arm of this utility model will be described below by way of example; however, all descriptions should not be used to limit this utility model in any way.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0026] Furthermore, for any single technical feature described or implied in the embodiments described herein, or any single technical feature shown or implied in the accompanying drawings, the present invention still allows for any combination or deletion of these technical features (or their equivalents) without any technical obstacle, thereby implying that these further embodiments according to the present invention are also within the scope of this description.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0028] Most existing robotic arms are designed for general environments and lack specific optimization for vehicle environments. Furthermore, their functions are relatively limited, failing to meet the complex and ever-changing operational needs of vehicles. This invention provides a vehicle-mounted robotic arm that integrates into a vehicle platform, expanding its application scenarios and improving its flexibility and applicability. Utilizing high-precision force and vision sensors in conjunction with the robotic arm, it supports various complex movements and can grasp both flexible and rigid objects.

[0029] like Figure 1As shown, the robotic arm of this utility model includes a base 1, a rotary table 2 fixedly mounted on the base for driving the boom mechanism 3, a boom mechanism 3 fixedly mounted on the rotary table 2, a clamping mechanism 5 fixedly mounted at the end of the boom mechanism, a vision sensor 6 mounted at the end of the boom mechanism for identifying the clamped object, and a boom motor 4 for driving the boom mechanism and clamping mechanism. The vehicle-mounted robotic arm is mounted on a vehicle platform via the base 1. The boom mechanism 3 includes a first connecting arm 31, a second connecting arm 32, a third connecting arm 33, and a fourth connecting arm 34 connected sequentially via rotating shafts 35, 36, and 37. The boom motor 4 also includes a first motor 41 disposed on the first connecting arm 31 for driving the second connecting arm 32 to rotate, a second motor 42 disposed at one end of the third connecting arm 33 for driving the third connecting arm 33 to rotate, a third motor 43 disposed at the other end of the third connecting arm 33 for driving the fourth connecting arm 34 to rotate, and a fourth motor 44 disposed on the fourth connecting arm 34 near the clamping mechanism 5 for driving the clamping mechanism 5 to rotate.

[0030] Furthermore, such as Figure 2 As shown, the base 1 includes a base plate 11, a transition section 12, and an inclined section 13, wherein the base plate 11 and the inclined section 13 are connected by the transition section 12. The base plate 11 is rectangular, with a recess 111 in the middle for mounting the rotary table 2, and four bolt holes 113 symmetrically arranged in a rectangular pattern at the four corners. The recess 111 is circular, with its upper surface lower than the upper surface of the base plate 11, and a circular positioning shaft hole 112 in the middle. The inclined section 13 has two rectangular equipment cavities 131 on the side away from the transition section 12 for mounting other equipment.

[0031] The base 1 provides an integrated platform for the boom mechanism 4 and bears the forces of various parts of the robotic arm during operation, including the weight of each part of the robotic arm itself, the inertial force generated during movement, and the interaction force generated during operation. On the other hand, through the bolt holes 113 of the base plate 11, the robotic arm can be easily mounted on the vehicle platform, which improves the flexibility and applicability of the robotic arm.

[0032] Furthermore, such as Figure 3As shown, the rotary table 2 includes a rotary table motor 21 mounted on the lower surface of the base plate 11, used to drive the rotary table 2 to rotate. A bearing positioning plate 22, a planar bearing 23, and a support plate 24 are sequentially arranged on the upper surface of the base plate 11. The bearing positioning plate 22 is fixedly mounted on the upper surface of the base plate 11 to fix the planar bearing 23. The planar bearing 23 includes an outer ring 231 fixedly connected to the bearing positioning plate 22, an inner ring 233 fixedly connected to the support plate 24, and balls 222 located between the inner ring 233 and the outer ring 231. The output shaft of the rotary table motor 21 passes through a positioning shaft hole 112 provided on the base plate 11 and is fixedly connected to the inner ring 233. The rotary table motor 21 drives the inner ring 233 to rotate, thereby driving the support plate 24 fixedly connected to the inner ring 233 to rotate. The rotary table motor 21 drives the rotary table 2 to rotate, thereby driving the arm mechanism 3 to rotate to a designated position, and then driving the clamping mechanism to move to a designated position, thus expanding the working coverage area of ​​the robotic arm.

[0033] Furthermore, such as Figure 4 As shown, both the first connecting arm 31 and the second connecting arm 32 are cuboid frame structures, each consisting of two parallel support plates. A first motor 41 for driving the rotation of the second connecting arm 32 is located between the two support plates of the first connecting arm 31. Three support crossbars 321, perpendicular to and parallel to the support plates, are arranged between the second connecting arms 32 to enhance their structural strength. The first connecting arm 31 and the second connecting arm 32 are connected by a first rotating shaft 35. When the output shaft of the first motor 41 rotates, it drives the second connecting arm 32 to rotate around the first rotating shaft 35.

[0034] Furthermore, such as Figure 1 As shown, both the third connecting arm 33 and the fourth connecting arm 34 are cuboid frame structures, each consisting of two parallel support plates. A second motor 42 for driving the rotation of the third connecting arm 33 is located between the two support plates of the third connecting arm 33, near the side of the second connecting arm 32. Similarly, a third motor 43 for driving the rotation of the fourth connecting arm 34 is located between the two support plates of the third connecting arm 33, near the side of the fourth connecting arm 34.

[0035] Furthermore, such as Figure 5As shown, the fourth connecting arm 34 is a cuboid frame structure, consisting of two parallel support plates and a connecting plate 341 perpendicular to the support plates for mounting the fourth motor 44. The fourth motor 44 is fixedly connected to the connecting arm 341 by bolts through holes in the connecting arm 341. The output shaft of the fourth motor 44 is fixedly connected to the clamping mechanism 5, driving the clamping mechanism 5 to rotate around the output shaft of the fourth motor 44. A vision sensor 6 for identifying the clamped object is also fixedly mounted on one side of the output shaft of the fourth motor 44. The vision sensor 6 can be a camera and / or an infrared sensor, capable of identifying the object's color, size, and shape.

[0036] Furthermore, such as Figures 6 to 7 As shown, the clamping mechanism 5 includes an L-shaped mounting plate 57 for mounting other components of the clamping mechanism 5. The L-shaped mounting plate 57 is fixedly connected to the output shaft of the fourth motor 44 by bolts. The rotation of the output shaft of the fourth motor 44 drives the L-shaped mounting plate 57 to rotate, thereby driving the entire clamping mechanism 5 to rotate. A mounting plate 56 is fixedly mounted on the L-shaped mounting plate 57. The surface of the mounting plate 56 has a rotating hole 561. A rocker arm 52, a driving gear rod 53, and a driven gear rod 54 are hinged through the rotating hole. The upper surface of the gripper finger 51 has multiple rotating holes 561. The rocker arm 52 connects the mounting plate 56 and the gripper finger 51 together through the rotating holes 561.

[0037] A drive gear 55 is also mounted on the mounting plate 56 via a shaft connection. A fifth motor 58 for driving the drive gear 55 and a force sensor 59 for detecting the gripping force of the gripper fingers 51 are sequentially arranged on one side of the drive gear 55. The force sensor 59 can detect the reaction force of the object on the gripper fingers 51 when the gripper fingers 51 are holding the object, and transmit the force signal to the onboard robotic arm control unit. The control unit can improve the control accuracy of the gripping mechanism 5 by adjusting the output torque of the fifth motor 58.

[0038] The driving gear rod 53 includes a driving gear 531 and a first fixed rod 532 fixedly connected to the driving gear. The driven gear rod 54 includes a driven gear 541 and a second fixed rod 542 fixedly connected to the driven gear 541. The driving gear 531 is a full gear, and the driven gear 541 is a half gear. The driving gear 531 and the driven gear 541 are meshed together, and the driving gear 531 is also meshed with the drive gear 55. When the output shaft of the fifth motor 58 rotates, it drives the drive gear 55 to rotate, thereby driving the driving gear 531 and the driven gear 541 to rotate, which in turn drives the gripper finger 51 to open and close.

[0039] This utility model's vehicle-mounted robotic arm expands the application scenarios of the robotic arm by integrating it into a vehicle platform, improving its flexibility and applicability. It uses high-precision force sensors and vision sensors in conjunction with the robotic arm to support a variety of complex movements and can grasp various objects, including flexible and rigid objects.

[0040] The technical scope of this utility model is not limited to the contents of the above description. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this utility model, and all such modifications and variations should fall within the scope of this utility model.

Claims

1. A vehicle-mounted robotic arm, characterized in that, The vehicle-mounted robotic arm includes: a base (1), a rotary table (2) mounted on the base, a boom mechanism (3) mounted on the rotary table, and a clamping mechanism (5) connected by a rotating shaft at the end of the boom mechanism (3). The clamping mechanism (5) is provided with a force sensor (59) for detecting the magnitude of the clamping force of the clamping mechanism, and the end of the clamping mechanism (5) is also provided with a vision sensor (6) for recognizing objects.

2. The vehicle-mounted robotic arm according to claim 1, characterized in that, The base (1) includes a base plate (11), a transition part (12) and an inclined part (13). The base plate (11) is provided with a recess (111) for mounting the rotary table (2). The base plate (11) has bolt holes (113) arranged in a rectangular pattern at its four corners for mounting the vehicle-mounted robotic arm on the vehicle platform.

3. The vehicle-mounted robotic arm according to claim 1, characterized in that, The rotary table (2) includes a rotary table motor (21) fixedly mounted on the lower surface of the base (1), a bearing positioning plate (22) fixedly mounted on the upper surface of the base (1), a flat bearing (23) mounted on the upper surface of the bearing positioning plate (22), and a support plate (24) mounted on the upper surface of the flat bearing (23). The flat bearing (23) includes an outer ring (231) fixedly connected to the bearing positioning plate (22), an inner ring (233) fixedly connected to the support plate (24), and balls (222) located between the inner ring (233) and the outer ring (231).

4. The vehicle-mounted robotic arm according to claim 3, characterized in that, The base (1) has a positioning shaft hole (112). The output shaft of the rotary table motor (21) passes through the positioning shaft hole (112) and is fixedly connected to the inner ring (233). The rotary table motor (21) drives the inner ring (233) to rotate, thereby driving the support disk (24) fixedly connected to the inner ring (233) to rotate.

5. The vehicle-mounted robotic arm according to claim 1, characterized in that, The boom mechanism (3) includes a first connecting arm (31), a second connecting arm (32), a third connecting arm (33) and a fourth connecting arm (34) connected in sequence by a pivot.

6. The vehicle-mounted robotic arm according to claim 5, characterized in that, The boom mechanism (3) further includes a first motor (41) disposed on the first connecting arm (31) for driving the second connecting arm (32) to rotate, a second motor (42) disposed at one end of the third connecting arm (33) for driving the third connecting arm (33) to rotate, a third motor (43) disposed at the other end of the third connecting arm (33) for driving the fourth connecting arm (34) to rotate, and a fourth motor (44) disposed on the fourth connecting arm (34) near one end of the clamping mechanism (5) for driving the clamping mechanism (5) to rotate.

7. The vehicle-mounted robotic arm according to claim 5, characterized in that, The first connecting arm (31), the second connecting arm (32), the third connecting arm (33) and the fourth connecting arm (34) are all cuboid frame structures composed of two parallel support plates.

8. The vehicle-mounted robotic arm according to claim 1, characterized in that, The clamping mechanism (5) includes an L-shaped mounting plate (57), a mounting disk (56), a drive gear rod (53), a driven gear rod (54), a drive gear (55), a clamping finger (51), a fifth motor (58), and a force sensor (59).

9. The vehicle-mounted robotic arm according to claim 8, characterized in that, The output shaft of the fifth motor (58) is fixedly connected to the drive gear (55), the drive gear (55) is meshed with the active gear rod (53), and the active gear rod (53) is meshed with the driven gear rod (54). The fifth motor (58) drives the drive gear (55) to rotate, thereby driving the active gear rod (53) and the driven gear rod (54) to rotate, thus driving the gripper (51) to open and close.

10. The vehicle-mounted robotic arm according to claim 9, characterized in that, The driving gear rod (53) includes a driving gear (531) and a first fixed rod (532) fixedly connected to the driving gear (531). The driven gear rod (54) includes a driven gear (541) and a second fixed rod (542) fixedly connected to the driven gear (541). The driven gear (541) is a half gear.

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