Multi-vision camera cooperative intelligent handling mechanical arm structure

Abstract

The utility model discloses a kind of intelligent carrying mechanical arm structures of multi-vision camera cooperation, specifically related to carrying mechanical arm structure technical field, including support column, the support column is equipped with for realizing the deflection positioning assembly of mechanical arm multidimension attitude adjustment, the deflection positioning assembly includes the reinforcing frame fixedly installed in support column top, the first connecting arm is hinged with on the reinforcing frame by hinged shaft. The utility model drives first connecting arm adjustment angle by hydraulic rod, after realizing attitude fine adjustment by servo motor driving second connecting arm and third connecting arm, controller can immediately control electric push rod to push limit chuck, so that it is embedded into the clamping groove of chuck and forms mechanical locking. In this process, hydraulic rod does not need to continuously output thrust, servo motor does not need to maintain brake state to be able to stably keep mechanical arm attitude, and the static load of driving equipment is greatly reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm structure technology, and more specifically, to an intelligent robotic arm structure with multi-vision camera collaboration. Background Technology

[0002] A handling robot is an industrial robot that can perform automated handling operations. Handling operations refer to using a device to hold a workpiece and move it from one processing position to another. Handling robots can be equipped with different end effectors to complete the handling of workpieces of various shapes and states, greatly reducing the heavy physical labor of humans.

[0003] The intelligent handling robotic arm structure with multi-vision camera collaboration is an intelligent execution system that integrates multi-view visual perception technology and robotic arm motion control technology. Its core logic is to collect information about the environment and target objects from different dimensions through multiple cameras, and after collaborative processing by algorithms, guide the robotic arm to accurately complete actions such as grasping, handling, and placement. This solves the problems of "limited field of view, inaccurate positioning, and poor adaptability" of traditional robotic arms, and is widely used in intelligent manufacturing. Currently, after the robotic arm is turned and the angle is adjusted, it is only limited by the drive device, which results in a large load on the robotic arm. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, this utility model provides a multi-vision camera collaborative intelligent handling robotic arm structure, which aims to solve the problems mentioned in the background art.

[0005] This utility model provides the following technical solution: a multi-vision camera collaborative intelligent handling robot arm structure, including a support column, on which a deflection positioning component for realizing multi-dimensional posture adjustment of the robot arm is assembled; The deflection positioning assembly includes a reinforcing frame fixedly installed on the top of the support column. A first connecting arm is hinged to the reinforcing frame via a hinge shaft. A second connecting arm is movably connected to the end of the first connecting arm away from the reinforcing frame. A third connecting arm is detachably connected to the bottom end of the second connecting arm. The connection points between the first connecting arm and the second connecting arm, and between the second connecting arm and the third connecting arm, are each equipped with locking components for locking the posture of the connecting arm after adjustment. The top of the reinforcing frame is hinged to a hydraulic rod for driving the first connecting arm to rotate around the hinge of the reinforcing frame via a hinge seat. The output end of the hydraulic rod extends to the hinge frame and is hinged to the hinge frame via a pin. The hinge frame is fixedly installed on the side of the first connecting arm.

[0006] Optionally, in one possible implementation, the locking assembly includes an electric push rod, and two sets of electric push rods are provided. One set of electric push rods is fixedly installed on the side of the hinge frame by bolts, and the other set of electric push rods is fixedly installed on the end of the second connecting arm near the third connecting arm by bolts. The output end of the electric push rod is fixedly connected to a limit clamping plate through a flange. The limit clamping plate adopts an arc-shaped structure design. A servo motor is fixedly installed in the middle of the hinge frame through a mounting base. The output shaft axis of the servo motor is perpendicular to the length direction of the first connecting arm. The output end of the servo motor is fixedly connected to a rotating shaft through a coupling. The end of the rotating shaft away from the servo motor is rotatably supported on the side wall of the corresponding connecting arm through a bearing seat, and the bottom end of the rotating shaft is coaxially fixed with the output end of the servo motor. A chuck is sleeved on the outer side of the rotating shaft through a key connection. The outer circumferential surface of the chuck is provided with a groove adapted to the limit clamping plate. The bottom end of the limit clamping plate abuts against the groove of the chuck to lock the rotation angle of the rotating shaft. Optionally, in one possible implementation, a controller is fixedly mounted on the third connecting arm by bolts. The controller integrates a data processing module, a motor drive module, and a hydraulic drive module. The hydraulic rod and the servo motor are electrically connected to the corresponding output terminal of the controller via wires. The controller also has a reserved data communication interface with a multi-vision camera. The technical effects and advantages of this utility model are as follows: After the hydraulic rod drives the first connecting arm to adjust its angle, and the servo motor drives the second and third connecting arms to achieve fine-tuning of their posture, the controller can immediately control the electric push rod to push the limit chuck, causing it to engage in the chuck's slot and form a mechanical lock. During this process, the hydraulic rod does not need to continuously output thrust, and the servo motor does not need to maintain a braking state to stably maintain the robot arm's posture, significantly reducing the static load on the drive equipment. The first connecting arm and the second connecting arm, as well as the second connecting arm and the third connecting arm, are all detachable and movable. When a connecting arm malfunctions or an end effector adapted to different workpieces needs to be replaced, it is not necessary to disassemble the entire robotic arm. Only the bolts at the corresponding connection points need to be removed to complete the component replacement. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in this disclosure, the accompanying drawings used in some embodiments will be briefly described below. Obviously, the drawings described below are only drawings of some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. involved in the embodiments of this disclosure.

[0008] Figure 1 This is a front view of the overall structure of this utility model.

[0009] Figure 2 This is a side view of the overall structure of this utility model.

[0010] Figure 3 This utility model Figure 2 A schematic diagram of the partial structure at point A in the middle.

[0011] The attached diagram is labeled as follows: 1. Support column; 2. Reinforcing frame; 3. First connecting arm; 4. Second connecting arm; 5. Third connecting arm; 6. Hinge frame; 7. Hydraulic rod; 8. Electric push rod; 9. Limiting chuck; 10. Chuck; 11. Servo motor; 12. Controller. Detailed Implementation

[0012] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0013] This embodiment discloses a multi-vision camera collaborative intelligent handling robot arm structure, which aims to solve the problem that existing robot arms rely solely on drive devices for limiting after turning and angle adjustment, resulting in a large load.

[0014] like Figure 1 The image shown is a front view of the overall structure of this utility model. The core of this intelligent handling robotic arm structure with multi-vision camera collaboration includes a support column 1, which is made of high-strength alloy steel. Its bottom end can be fixedly connected to the ground foundation through expansion bolts to ensure the support stability of the entire robotic arm structure. A deflection positioning component is assembled on the support column 1, which is the core component for realizing multi-dimensional posture adjustment of the robotic arm.

[0015] The reinforcing frame 2 in the deflection positioning assembly is fixedly installed on the top of the support column 1 by welding. The reinforcing frame 2 has a U-shaped structure with its opening facing the first connecting arm 3. It is hinged to one end of the first connecting arm 3 via a hinge shaft, allowing the first connecting arm 3 to rotate in the vertical plane around the hinge shaft. The end of the first connecting arm 3 away from the reinforcing frame 2 is movably connected to the second connecting arm 4 via a flange, and the two can rotate relative to each other to adjust the horizontal posture of the robotic arm. The bottom end of the second connecting arm 4 is also detachably connected to the third connecting arm 5 via a flange. This detachable structure facilitates subsequent maintenance and replacement of the third connecting arm 5 or its end effector.

[0016] To reliably lock the posture of each connecting arm after adjustment, locking components are provided at the connection between the first connecting arm 3 and the second connecting arm 4, and at the connection between the second connecting arm 4 and the third connecting arm 5. Simultaneously, a hydraulic rod 7 is hinged to the top of the reinforcing frame 2 via a hinge seat. The hydraulic rod 7 is a double-acting hydraulic push rod, with its output end extending to the hinge frame 6 and hinged to it via a pin. The hinge frame 6 is bolted to the side of the first connecting arm 3. The extension and retraction of the hydraulic rod 7 drives the first connecting arm 3 to rotate stably around the hinge of the reinforcing frame 2, thus achieving vertical posture adjustment of the robotic arm.

[0017] like Figure 2 As shown, the locking assembly includes two sets of electric actuators 8. These electric actuators 8 are high-precision servo electric actuators with position feedback functionality. One set of electric actuators 8 is bolted to the side of the hinge frame 6, with its output end facing the chuck 10. The other set of electric actuators 8 is bolted to the end of the second connecting arm 4 near the third connecting arm 5, with its installation direction consistent with the first set of electric actuators 8. A limiting clamp 9 is fixedly connected to the output end of the electric actuators 8 via a flange. The limiting clamp 9 adopts an arc-shaped structure design, and its inner wall is provided with anti-slip textures to enhance friction when in contact with the chuck 10.

[0018] A servo motor 11 is fixedly mounted in the middle of the hinge frame 6 via a mounting base. The servo motor 11 is a servo motor with a braking function, and its output shaft axis is perpendicular to the length direction of the first connecting arm 3 to ensure that the power transmission direction matches the rotation requirements of the connecting arm. The output end of the servo motor 11 is fixedly connected to a rotating shaft via a coupling. The end of the rotating shaft away from the servo motor 11 is rotatably supported on the side wall of the corresponding connecting arm via a bearing seat to ensure the coaxiality and stability of the rotating shaft during rotation. Furthermore, the bottom end of the rotating shaft is coaxially fixed with the output end of the servo motor 11 to ensure that the servo motor 11 can accurately drive the rotating shaft to rotate. A chuck 10 is fitted on the outside of the rotating shaft via a key connection. The outer circumferential surface of the chuck 10 is provided with a groove that matches the limiting clamp 9. When it is necessary to lock the posture of the connecting arm, the electric push rod 8 drives the limiting clamp 9 to extend, so that its bottom end abuts against the groove of the chuck 10. Through the cooperation between the limiting clamp 9 and the groove, the rotation angle of the rotating shaft is reliably locked, thereby fixing the posture of the connecting arm and avoiding the problem of excessive load caused by relying solely on the servo motor 11 or hydraulic rod 7 for limiting.

[0019] In addition, such as Figure 1As shown, a controller 12 is bolted to the third connecting arm 5. The controller 12 is an industrial-grade PLC controller, integrating a data processing module, a motor drive module, and a hydraulic drive module. The hydraulic control valve group of the hydraulic rod 7 is electrically connected to the hydraulic drive module of the controller 12 via wires. The servo motor 11 and the electric push rod 8 are electrically connected to the motor drive module of the controller 12 via wires. The controller 12 also has a reserved communication interface, which can establish a data communication connection with the multi-vision camera system. The multi-vision camera system can collect information such as the position and posture of the target object from different dimensions and transmit the data to the controller 12. After analysis and processing by the data processing module, the controller 12 can accurately control the movements of the hydraulic rod 7, the servo motor 11, and the electric push rod 8 to achieve precise positioning and reliable locking of the robotic arm, and complete tasks such as grasping, handling, and placing. The specific working principle is as follows: When using the intelligent handling robotic arm structure with multi-vision camera collaboration, the multi-vision camera system first acquires image information of the target object and its surrounding environment. After converting the acquired image data into digital signals, the camera system transmits them to the controller 12 through a reserved data communication interface. The processing module of the controller 12 analyzes the received image data and calculates the posture parameters that the robotic arm needs to adjust, including the rotation angle of the first connecting arm 3 and the relative rotation angle between the second connecting arm 4 and the third connecting arm 5.

[0020] Based on the calculated attitude parameters, the controller 12 first controls the hydraulic rod 7 to move, and the output end of the hydraulic rod 7 extends or retracts, driving the first connecting arm 3 to rotate around the hinge of the reinforcing frame 2 to a preset angle; at the same time, the controller 12 controls the servo motor 11 at the corresponding position to start, and the servo motor 11 drives the rotating shaft to rotate, thereby driving the second connecting arm 4 to rotate relative to the first connecting arm 3 and the third connecting arm 5 to rotate relative to the second connecting arm 4, so that the actuator installed on the robotic arm moves to the grasping position of the target object.

[0021] Once the robotic arm is adjusted to the preset posture, the controller 12 controls the electric push rod 8 in the locking assembly to move. The electric push rod 8 drives the limit clamp 9 to extend, so that the bottom end of the limit clamp 9 abuts against the slot of the chuck 10. Through the mechanical locking action of the limit clamp 9 and the slot, the posture of each connecting arm is fixed. At this time, the hydraulic rod 7 and the servo motor 11 do not need to continuously output power to maintain the posture, which effectively reduces the load on the drive equipment.

[0022] After the target object is grasped and transported, the controller 12 first controls the electric push rod 8 to retract, releases the limit clamp 9 from locking the chuck 10, and then controls the hydraulic rod 7 and servo motor 11 to move in the opposite direction, adjusting the robotic arm to the initial position or the next working position, repeating the above actions to achieve continuous automated handling operations.

[0023] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

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