CN117140582A - Industrial robot snatchs arm with intelligence - Google Patents
Industrial robot snatchs arm with intelligence Download PDFInfo
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- CN117140582A CN117140582A CN202311325050.2A CN202311325050A CN117140582A CN 117140582 A CN117140582 A CN 117140582A CN 202311325050 A CN202311325050 A CN 202311325050A CN 117140582 A CN117140582 A CN 117140582A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 80
- 230000000087 stabilizing effect Effects 0.000 claims description 16
- 230000017105 transposition Effects 0.000 claims description 13
- 238000000926 separation method Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 abstract description 10
- 230000001360 synchronised effect Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005728 strengthening Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent grabbing arm for an industrial robot, which belongs to the technical field of intelligent robots and comprises a mechanical arm, an executing part and a plurality of clamps, wherein the mechanical arm is connected with the executing part; the executing part comprises a connecting seat and a motor fixedly connected to the connecting seat; the clamp comprises a transmission part, a rotating shell and a plurality of clamping claw parts; the transmission part comprises a rotating seat, a main gear rotationally connected to the rotating seat and a separating gear rotationally connected to the rotating seat; the clamping jaw part comprises clamping fingers which are connected in a sliding manner in the rotating shell and a clamping gear which is connected in the rotating shell in a rotating manner; when the main gear is in transmission connection with the clamping gear, the clamping fingers take and put articles; and when in transmission connection with the separating gear, the rotating shell rotates. The invention can connect different clamps, and each clamp does not contain electrical elements, so that the switching and connection of circuits are not needed; a plurality of articles can be transferred and carried at one time, so that the working efficiency is improved; the clamping force can be adjusted without setting a sensor.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to an intelligent grabbing arm for an industrial robot.
Background
The utility model provides a utensil multistation operation claw hand's robot, includes gripper hand and arm, and the arm lower part is provided with rotating base, the gripper hand sets up in the top of arm, and the claw hand fixed plate of gripper hand includes clamping jaw assembly end, clamping jaw assembly end and embraces the claw assembly end, and wherein the long leg clamping jaw is installed to the clamping jaw assembly end, and clamping jaw assembly end installs two and indicates to embraces the claw, and rotating base's lower part is provided with supporting baseplate, and this supporting baseplate's edge is provided with the bottom plate strengthening rib, should be provided with fixed screw, and the week side of bottom plate strengthening rib is provided with the chamfer circular arc.
The scheme is provided with a plurality of clamps, but each clamp corresponds to a set of independent control system, the whole control system is complex, the weight of each clamp born by the tail end of the mechanical arm is relatively large, and the energy consumption of the mechanical arm is correspondingly improved.
The above-mentioned scheme can change the instrument automatically, but the instrument that can change does not have the centre gripping function in the instrument that can change.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent grabbing arm for an industrial robot, which can automatically replace various clamps, and the clamps can respectively clamp a plurality of articles and transfer and transport the articles at one time.
The intelligent grabbing arm for the industrial robot comprises a mechanical arm, an executing part arranged on the mechanical arm and a plurality of clamps used for clamping different types of articles; the executing part comprises a connecting seat rotationally connected to the mechanical arm and a motor fixedly connected to the connecting seat; the clamp comprises a transmission part, a rotating shell rotationally connected to the transmission part and a plurality of clamping claw parts uniformly arranged on the rotating shell along the circumferential direction.
The transmission part comprises a rotating seat which can be detachably connected with the connecting seat, a main gear which is rotationally connected with the rotating seat and can be in transmission connection with the motor, and a separating gear which is rotationally connected with the rotating seat and is in transmission connection with the rotating shell; the clamping jaw part comprises two clamping fingers which are symmetrically arranged and are in sliding connection in the rotating shell, and a clamping gear which is in transmission connection with the clamping fingers and is in rotating connection in the rotating shell.
When the main gear is in transmission connection with the clamping gear, the motor drives the clamping fingers to pick and place articles; when the main gear is in transmission connection with the separating gear, the motor drives the rotating shell to rotate, so that the main gear is in transmission connection with the clamping gears on the adjacent clamping claw parts.
As a further improvement of the invention, the transmission part comprises a switching gear which is connected with the main gear in a transmission way along the axial direction of the main gear in a sliding way, a lever which is connected with the rotating seat in a rotating way and can drive the switching gear to slide, and a positioning column which is connected with the rotating shell in a sliding way and can drive the lever to rotate.
An inner ring groove which is in sliding connection with the positioning column is formed on the rotating shell; and a plurality of positioning grooves used for limiting the positioning column to rotate along the inner ring groove are uniformly formed on the inner ring groove.
As a further improvement of the invention, the clamping jaw part comprises a switching rod which is connected on the rotating shell in a sliding way and can drive the lever to rotate, a clamping shaft which is connected in the rotating shell in a rotating way and is in transmission connection with the clamping finger, two elastic rings which are symmetrically arranged and are connected on the clamping shaft in a sliding way and are in transmission connection with the switching rod, and a non-circular tube which is connected on the clamping shaft in a sliding way and can respectively drive the clamping shaft to rotate and the elastic rings to slide; the non-circular tube is in transmission connection with the clamping gear.
As a further improvement of the invention, the inner wall of the non-circular tube is formed with an inner chute which is obliquely arranged; the outer wall of the clamping shaft is formed with a radial column which extends outwards along the diameter direction and is in sliding connection with the inner chute; the non-circular tube is arranged between the two elastic rings; and a clamping spring used for enabling the elastic ring to slide towards the non-circular tube is arranged between the elastic ring and the tail end of the adjacent clamping shaft.
As a further improvement of the invention, the upper end and the lower end of the clamping finger are respectively and rotatably connected with two swing arms; the other end of the swing arm is rotationally connected with the rotating shell; a second worm wheel is arranged on the swing arm close to the clamping shaft; the clamping jaw part comprises a second worm which is rotationally connected in the rotating shell and is in transmission connection with the second worm wheel; the second worm is in transmission connection with the clamping shaft.
As a further improvement of the invention, the transmission part comprises a sun gear which is rotationally connected in the rotating seat and is in transmission connection with the main gear; the central gear is positioned on the middle vertical surface of the rotating seat; the sun gear can be in transmission connection with the clamping gear; the clamping gear is provided with a through hole penetrating through the clamping gear along the axial direction; the cross sections of the through holes and the non-circular pipes are of the same non-circular structure.
As a further improvement of the invention, a gear ring which is coaxially arranged with the rotating shaft of the rotating shell is formed in the rotating shell; the transmission part comprises a transposition gear which is connected on the rotation seat in a transmission way and is connected with the gear ring, a first worm wheel which is fixedly connected on the transposition gear and is coaxially arranged with the transposition gear, and a first worm which is fixedly connected on the separation gear and is coaxially arranged with the separation gear; the first worm wheel is in transmission connection with the first worm.
As a further improvement of the invention, two symmetrically arranged connecting holes are formed on the connecting seat; two symmetrically arranged connecting columns which can be respectively inserted into the connecting holes are formed on the rotating seat; an outer concave ring is formed on the outer wall of the connecting column; a sliding ring is respectively and slidably connected in each outer concave ring; the connecting holes are respectively and slidably connected with locking columns which can be clamped with the outer concave rings; a locking spring for enabling the locking column to slide towards the outer concave ring is arranged between the locking column and the connecting hole; the upper end of the connecting column is provided with a fixed inclined plane which can drive the locking column to slide; the lower end of the sliding ring is provided with a sliding inclined plane which can drive the locking column to slide.
As a further improvement of the invention, each connecting hole is respectively and slidably connected with a stabilizing column which can prop against the upper end of the connecting column; and a stabilizing spring used for enabling the stabilizing column to slide towards the connecting column is arranged between the stabilizing column and the connecting hole.
As a further improvement of the invention, the mechanical arm is provided with a controller; the mechanical arm is provided with a camera used for providing position information for the controller; the camera, the motor, the mechanical arm and the controller are electrically connected.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the main gear is arranged, and the main gear can rotate to drive the central gear to rotate, so that the clamping fingers are driven to clamp the conveyed articles; meanwhile, the main gear can also drive the transposition gear to rotate, and then different clamping jaw parts are switched to be connected with the central gear in a transmission mode, so that the executing part can only move in a small range to take and put articles, and meanwhile, a plurality of articles are transferred at one time, so that the working time is shortened, and the working efficiency is improved.
According to the invention, the non-circular tube is arranged, the non-circular tube rotates to drive the clamping fingers to clamp the article, meanwhile, after the clamping fingers clamp the article, the clamping shaft can not rotate, the non-circular tube can also slide relative to the clamping shaft, and further the switching gear is driven to move to be in transmission connection with the separating gear, so that the rotation of the main gear drives the rotating shell to rotate relative to the rotating seat, the next adjacent clamping jaw part is replaced to take and place the article, an electrical element is not required, the structure is simple, different clamping forces can be correspondingly met through replacing different clamping springs, and the compatibility is improved.
According to the invention, the connecting seat is arranged, so that different clamps can be automatically disconnected and connected under the control of the mechanical arm, the carrying requirements of different articles are met, the automation degree is improved, meanwhile, no electrical elements are arranged in each clamp, and when the clamps are replaced, the circuit is not required to be switched and connected, so that the production cost and the control difficulty are reduced.
Drawings
FIG. 1 is a schematic view of the working state of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a schematic diagram of an exploded construction of the present invention;
FIG. 4 is an exploded view of the actuator of the present invention
FIG. 5 is a schematic view of the structure of the rotary shell of the present invention;
FIG. 6 is an exploded view of the transmission of the present invention;
FIG. 7 is an exploded view of the jaw portion of the present invention;
FIG. 8 is a schematic view of the structure of the invention for picking and placing articles;
fig. 9 is a schematic diagram of a switching position of the present invention.
The reference numerals in the figures illustrate: 10. a mechanical arm; 2. an execution unit; 21. a connecting seat; 211. a connection hole; 22. a motor; 221. an output shaft; 23. a stabilizing column; 24. a stabilizing spring; 25. locking the column; 251. a lower inclined plane; 252. an upper inclined plane; 26. a locking spring; 3. a transmission part; 31. a rotating seat; 311. a connecting column; 3111. an outer concave ring; 3112. a fixed inclined plane; 32. a slip ring; 321. a sliding inclined plane; 331. a main gear; 332. a non-cylindrical body; 333. an input jack; 34. a switching gear; 341. a driven female ring; 342. a non-circular aperture; 343. a separation spring; 35. a lever; 351. a terminal slot; 352. stirring the column; 361. a transposition gear; 362. a first worm wheel; 371. a first worm; 372. a separating gear; 381. a synchronizing gear; 382. a sun gear; 383. a synchronous belt; 39. positioning columns; 391. a linkage column; 41. rotating the shell; 411. a gear ring; 412. an inner ring groove; 4121. a positioning groove; 42. a cover; 5. a clamping claw part; 51. a clamping finger; 52. swing arms; 521. a second worm wheel; 531. a second worm; 532. a first transmission gear; 54. a clamping shaft; 541. a radial column; 542. a second transmission gear; 55. a non-round tube; 551. an inner chute; 56. an elastic ring; 561. a drive column; 57. a clamping spring; 58. clamping the gear; 581. a through hole; 59. a switching lever; 591. and a switching chute.
Detailed Description
First embodiment: referring to fig. 1-9, an intelligent gripping arm for an industrial robot includes a mechanical arm 10 with multiple degrees of freedom, an executing part 2 arranged on the mechanical arm 10, and a plurality of clamps for clamping different types of objects; the executing part 2 comprises a connecting seat 21 rotatably connected to the mechanical arm 10 and a motor 22 fixedly connected to the connecting seat 21; the fixture comprises a transmission part 3, a rotating shell 41 which is longitudinally arranged and rotatably connected with a rotating shaft on the transmission part 3, and a plurality of clamping jaw parts 5 which are uniformly arranged on the rotating shell 41 along the circumferential direction.
In actual production and use, the device also comprises a conveying belt for continuously conveying the articles to be carried and transferred, a tray for loading the articles, a workbench for placing a clamp and a rotating table for moving the mechanical arm 10; two mechanical arms 10 are symmetrically arranged on the rotating table; the two mechanical arms 10 alternately grip and stack the articles.
The transmission part 3 comprises a rotating seat 31 which can be detachably connected with the connecting seat 21, a main gear 331 which is longitudinally arranged on a rotating shaft which is rotatably connected with the rotating seat 31 and can be in transmission connection with the motor 22, and a separating gear 372 which is rotatably connected with the rotating seat 31 and is in transmission connection with the rotating shell 41; the clamping jaw part 5 comprises two symmetrically arranged clamping fingers 51 which are in sliding connection with the rotary shell 41 and clamping gears 58 which are in transmission connection with the clamping fingers 51 and are in rotary connection with the rotary shell 41.
A cover 42 is fixedly connected to the rotary case 41.
The gripping ends of the gripping fingers 51 on the various jigs are different, such as a flat grip for gripping a cubic article, a wedge grip for gripping a tubular article, etc.
An input jack 333 is formed at the central position of the upper end of the main gear 331; an output shaft 221 capable of being inserted into the input jack 333 is fixedly connected to the output shaft of the motor 22; the cross section of the output shaft 221 and the input jack 333 is a non-circular structure with the same shape.
When the main gear 331 is in transmission connection with the clamping gear 58, the motor 22 drives the clamping finger 51 to take and put articles; when the main gear 331 is in driving connection with the separating gear 372, the motor 22 drives the rotating shell 41 to rotate, so that the main gear 331 is in driving connection with the clamping gear 58 on the adjacent clamping jaw part 5.
The transmission part 3 includes a switching gear 34 connected to the main gear 331 in a driving manner along the axial direction of the main gear 331, a lever 35 connected to the rotating base 31 in a rotating manner and capable of driving the switching gear 34 to slide, and a positioning column 39 connected to the rotating housing 41 in a sliding manner and capable of driving the lever 35 to rotate.
The main gear 331 is formed with a non-cylinder 332 coaxially arranged; the switching gear 34 is formed with a non-circular hole 342 which is coaxially arranged and slidably connected with the non-circular shaft 332; the cross sections of the non-cylinder 332 and the non-round hole 342 are non-round structures with the same shape; a separation spring 343 for sliding the switching gear 34 away from the separation gear 372 is provided between the switching gear 34 and the main gear 331.
The switching gear 34 is formed with a driven concave ring 341 coaxially arranged; the middle part of the lever 35 is rotationally connected with the rotating seat 31; one end of the lever 35, which is close to the switching gear 34, is formed with a toggle post 352 for driving the driven concave ring 341 to longitudinally slide; an end groove 351 is formed at one end of the lever 35 far away from the switching gear 34; the positioning column 39 is formed with a linkage column 391 slidably connected to the end groove 351 for driving the end groove 351 to slide.
An inner ring groove 412 which is in sliding connection with the positioning column 39 is formed on the rotating shell 41; a plurality of positioning grooves 4121 for limiting the positioning column 39 to rotate along the inner ring groove 412 are uniformly formed on the inner ring groove 412; a guide inclined surface is formed at the connection position of the positioning groove 4121 and the inner ring groove 412.
When the positioning post 39 is located in the positioning groove 4121, the main gear 331 is in driving connection with the corresponding clamping gear 58, the main gear 331 is not in driving connection with the separating gear 372, and the rotating housing 41 cannot rotate relative to the rotating seat 31.
When the positioning post 39 is located in the inner ring groove 412, the main gear 331 is in driving connection with the separating gear 372, and the rotating housing 41 rotates relative to the rotating seat 31, so that the main gear 331 is in driving connection with the next adjacent clamping wheel 58.
The clamping jaw part 5 comprises a switching rod 59 which is connected to the rotating shell 41 in a sliding manner and can drive the lever 35 to rotate, a clamping shaft 54 which is connected to the rotating shell 41 in a transmission manner and is connected with the clamping finger 51 in a rotating manner, two elastic rings 56 which are symmetrically arranged and are connected to the clamping shaft 54 in a transmission manner and are connected with the switching rod 59 in a sliding manner, and a non-circular tube 55 which is connected to the clamping shaft 54 in a sliding manner and can respectively drive the clamping shaft 54 to rotate and the elastic rings 56 to slide; the non-circular tube 55 is in driving connection with the clamping gear 58.
Two symmetrically arranged switching chute 591 are formed on the switching rod 59; the elastic ring 56 is formed with driving posts 561 slidably connected to the switching chute 591, respectively.
An inner chute 551 which is obliquely arranged is formed on the inner wall of the non-circular tube 55; the outer wall of the clamping shaft 54 is formed with a radial column 541 extending outward in a diameter direction and slidably connected to the inner chute 551; the non-circular tube 55 is arranged between the two elastic rings 56; a clamping spring 57 for sliding the elastic ring 56 toward the non-circular tube 55 is provided between the elastic ring 56 and the adjacent end of the clamping shaft 54.
The rotation of the non-circular tube 55 causes the inner chute 551 to drive the radial column 541 to rotate, so as to rotate the clamping shaft 54, that is, the clamping finger 51 slides to clamp the article; when the article is clamped, the clamping shaft 54 cannot rotate continuously, the non-circular tube 55 rotates continuously, so that the non-circular tube 55 slides relative to the clamping shaft 54, and then drives the elastic ring 56 to slide, and the clamping spring 57 compresses the storage force.
By replacing the clamping springs 57, the clamping fingers 51 can be made to provide different maximum clamping forces for the article.
The upper end and the lower end of the clamping finger 51 are respectively and rotatably connected with two swing arms 52; the other end of the swing arm 52 is rotatably connected with the rotary shell 41; a second worm wheel 521 is provided on the swing arm 52 near the grip shaft 54; the clamping jaw part 5 comprises a second worm 531 which is rotationally connected in the rotating shell 41 and is in transmission connection with the second worm wheel 521; the second worm 531 is in driving connection with the clamping shaft 54.
The second worm 531 is formed with a first transmission gear 532 coaxially arranged thereon; the clamping shaft 54 is formed with a second transmission gear 542 coaxially disposed in transmission connection with the first transmission gear 532.
The transmission part 3 comprises a synchronous gear 381 which is rotationally connected in the rotating seat 31 and is in transmission connection with the main gear 331, and a central gear 382 which is rotationally connected on the rotating seat 31 and is in transmission connection with the synchronous gear 381; a synchronous belt 383 for transmission is arranged between the synchronous gear 381 and the central gear 382; the central gear 382 is positioned on the middle vertical surface of the rotating seat 31; the sun gear 382 can be in driving connection with the clamping gear 58; the clamping gear 58 is formed with a through hole 581 penetrating the clamping gear 58 in the axial direction; the cross section of the through hole 581 and the cross section of the non-circular tube 55 are of the same non-circular structure.
A gear ring 411 coaxially arranged with the rotation shaft of the rotation housing 41 is formed in the rotation housing 41; the transmission part 3 comprises a transposition gear 361 which is rotationally connected to the rotation seat 31 and is in transmission connection with the gear ring 411, a first worm wheel 362 which is fixedly connected to the transposition gear 361 and is coaxially arranged with the transposition gear 361, and a first worm 371 which is fixedly connected to the separation gear 372 and is coaxially arranged with the separation gear 372; the first worm wheel 362 is in driving connection with the first worm 371.
Two symmetrically arranged connecting holes 211 are formed in the connecting seat 21; two symmetrically arranged connecting posts 311 which can be respectively inserted into the connecting holes 211 are formed on the rotating seat 31; an outer concave ring 3111 is formed on the outer wall of the connecting column 311; a sliding ring 32 is slidably connected in each of the outer concave rings 3111; a locking column 25 which can be clamped with the outer concave ring 3111 is respectively connected with the connecting holes 211 in a sliding manner; a locking spring 26 for sliding the locking post 25 toward the outer concave ring 3111 is provided between the locking post 25 and the connection hole 211; the upper end of the connecting post 311 is formed with a fixed inclined surface 3112 capable of driving the locking post 25 to slide; the sliding ring 32 has a sliding slope 321 formed at the lower end thereof, which can drive the locking post 25 to slide.
A lower inclined surface 251 capable of abutting against the fixed inclined surface 3112 is formed at the lower end of the locking column 25 facing the connecting column 311; the locking post 25 is formed with an upper inclined surface 252 which can be abutted against the sliding inclined surface 321 toward the upper end of one side of the connecting post 311.
Each of the connection holes 211 is slidably connected with a stabilizing column 23 capable of abutting against the upper end of the connection column 311; a stabilizing spring 24 for sliding the stabilizing post 23 toward the connecting post 311 is provided between the stabilizing post 23 and the connecting hole 211.
The mechanical arm 10 is provided with a controller; the mechanical arm 10 is provided with a camera for providing position information for the controller; the camera, the motor 22, and the mechanical arm 10 are electrically connected to the controller.
The controller controls the mechanical arm 10 to drive the executing part 2 to move to the upper part of the appointed clamp according to the types of the required carried and transferred articles provided by the camera, and enables each connecting hole 211 to be opposite to the corresponding connecting column 311, then the executing part 2 moves downwards, and the connecting column 311 is inserted into the connecting hole 211. At the same time, the output shaft 221 is inserted into the input jack 333, and the motor 22 is in driving connection with the rotating seat 31. The downward movement of the connection hole 211 drives the locking post 251 to move downward, so that the lower inclined surface 251 and the fixed inclined surface 3112 are propped against each other and move relatively, the locking spring 26 compresses the stored force, the locking post 251 moves to be aligned with the outer concave ring 3111, and the locking post 251 moves to the original position under the elastic force of the locking spring 26. In this process, the connecting post 311 and the stabilizing post 23 move relatively, so that the stabilizing spring 24 compresses the stored force, and the locking post 25 and the upper end of the inner wall of the outer concave ring 3111 are abutted, and the rotating seat 31 and the connecting seat 21 are relatively fixed.
Then, the controller controls the actuating part 2 to move to the upper end of the conveying belt, and enables the corresponding clamping jaw part 5 to be positioned in the conveying direction, and when the controller moves the articles on the conveying belt to be close to the actuating part 2 according to the position information provided by the camera, the controller controls the motor 22 to work so that the output shaft 221 rotates positively, and the output shaft 221 rotates positively to drive the input jack 333 to rotate positively. The input jack 333 rotates to drive the main gear 331 to rotate, the main gear 331 rotates to drive the synchronous gear 381 to rotate, the synchronous gear 381 drives the central gear 382 to rotate forward through the synchronous belt 383, the central gear 382 rotates to drive the clamping gear 58 to rotate so as to drive the through hole 581 to rotate, and the through hole 581 rotates to drive the non-circular tube 55 to rotate so as to drive the inner chute 551 to rotate forward. The forward rotation of the inner chute 551 drives the radial column 541 to rotate and then rotates the clamping shaft 54, i.e., the second transmission gear 542 rotates to drive the first transmission gear 532 to rotate and then rotate the second worm 531, and the second worm 531 rotates to drive the second worm wheel 521 to rotate and then rotate the swing arm 51 forward. The swing arm 51 rotates forward to drive the two opposite clamps 51 to move in opposite directions to clamp the articles on the conveying belt.
Then, the output shaft 221 continues to rotate to drive the non-circular tube 55 to continue to rotate, but after the article is clamped, the clamping shaft 54 cannot rotate, the rotation of the non-circular tube 55 will enable the inner chute 551 and the radial column 541 to slide relatively, i.e. the non-circular tube 55 slides forward relative to the clamping shaft 54, the sliding of the non-circular tube 55 drives the elastic ring 56 in the moving direction to slide synchronously, and the clamping spring 57 compresses the storing force. The elastic ring 56 slides to drive the transmission column 561 to slide, and the transmission column 561 slides to drive the switching chute 591 to slide, so that the switching rod 59 slides towards the lever 35 and further abuts against the lever 35. The switch lever 59 slides to drive the lever 35 to rotate, the lever 35 rotates to drive the end groove 351 to rotate, and the end groove 351 rotates to drive the linkage post 391 to slide, so that the positioning post 39 slides along the positioning groove 4121 into the inner ring groove 412. The lever 35 rotates to drive the toggle post 352 to rotate, the toggle post 352 rotates to drive the driven concave ring 341 to slide, so that the switching gear 34 slides to be in transmission connection with the separating gear 372, and the separating spring 343 compresses the accumulated force. In this process, the controller continues to drive the mechanical arm 10 to work according to the position information provided by the camera, and drives the executing part 2 to clamp the next article.
The input jack 333 rotates to further drive the non-cylinder 332 to rotate, the non-cylinder 332 rotates to drive the non-circular hole 342 to rotate so as to enable the switching gear 34 to rotate forward, the switching gear 34 rotates to drive the separating gear 372 to rotate so as to enable the first worm 371 to rotate, and the first worm 371 rotates to drive the first worm wheel 362 to rotate so as to enable the transposition gear 361 to rotate forward. The transposition gear 361 rotates forward relative to the gear ring 41, driving the rotation housing 41 to rotate relative to the rotation seat 31, i.e. each clamping claw 5 rotates relative to the rotation seat 31. The central gear 382 is separated from the clamping gear 58, the elastic ring 56 returns to the original position under the action of the elastic force of the clamping spring 57, then the switching rod 59 is driven to return to the original position, the switching rod 59 is not contacted with the lever 35 any more, the non-circular tube 55 returns to the original position, the clamping gear 58 reversely rotates for a certain angle, the second worm 531 and the second worm wheel 521 are self-locked, the swing arm 52 cannot rotate, and the clamping finger 51 keeps clamping an article.
The rotation of the rotating housing 41 simultaneously rotates the inner ring groove 412 in synchronization with the rotation of the sun gear 382 into driving engagement with the next adjacent clamp gear 58 as the next adjacent detent 4121 rotates into alignment with the detent post 39. The spring force of the separating spring 343 drives the switching gear 34 to slide to the original position, and no longer contacts with the separating gear 372, and the switching gear 34 slides to drive the lever 35 to rotate reversely, so that the positioning column 39 slides into the positioning groove 4121, and the rotating shell 41 and the rotating seat 31 are relatively fixed. The output shaft 221 continues to rotate to drive the next adjacent clamping jaw part 5 to work, and continues to clamp the next article on the conveying belt, so that the next article is reciprocated.
After all the clamping claw parts 5 on the rotating shell 41 clamp articles, the controller immediately controls the rotating table to rotate, at the moment, the controller controls the corresponding motor 22 to work so that the output shaft 221 reversely rotates, the output shaft 221 reversely rotates to drive the swing arm 52 to reversely rotate, and the two clamping fingers 51 slide in the directions away from each other to put down the clamped articles. After the two clamping fingers 51 move to the limit position, the two swing arms 52 cannot continue to rotate, that is, the clamping shaft 54 cannot rotate, the non-circular tube 55 reversely slides relative to the clamping shaft 54, and further abuts against the other elastic ring 56 in the moving direction and drives the non-circular tube 55 to slide, so that the lever 35 rotates to drive the switching gear 34 to move to the separating gear 372 for transmission connection, the rotating shell 41 reversely rotates relative to the rotating seat 31, and then the central gear 382 is in transmission connection with the next adjacent clamping gear 58. And the clamped articles are moved to the upper part of the tray to be orderly stacked. Meanwhile, the rotating table rotates to drive the other mechanical arm 10 to clamp the articles on the conveyor belt according to the same flow, the two mechanical arms 10 alternately work, the executing part 2 only moves to clamp and stack the articles in a small range, and the mechanical arm 10 transfers and carries a plurality of articles at one time, so that the carrying and transferring time is shortened, and the working efficiency is improved.
In addition, after the articles on the conveying belt are changed, the controller controls the arm wall 10 to drive the clamp to prop against the upper end of the workbench, and further drives the executing part 2 to slide downwards, namely, drives the locking column 25 to slide downwards relative to the connecting column 311, and the lower inclined plane 251 props against the upper end of the sliding ring 32, and the locking column 25 slides horizontally under the driving of the sliding ring 32 to drive the locking spring 26 to compress the storing force. When the locking post 25 moves below the sliding ring 32, the locking post 25 slides to the original position under the elastic force of the locking spring 26. Then the actuating part 2 moves upwards, the locking column 25 slides upwards to drive the sliding ring 32 to slide upwards, so that the sliding ring 32 slides upwards to prop against the upper end of the outer concave ring 3111, the sliding ring 32 cannot slide continuously, the actuating part 2 moves upwards to drive the locking column 25 to slide horizontally by the sliding inclined surface 321, the locking spring 26 compresses the accumulated force, the locking column 25 cannot prop against the upper end of the outer concave ring 3111, the locking column 25 slides upwards to be out of contact with the connecting column 311, the locking column 25 slides to the original position under the action of the elastic force of the locking spring 26, and meanwhile the sliding ring 32 slides downwards to the original position under the action of gravity.
In the process of automatically replacing the clamp, no electrical element is arranged in the clamp, so that the switching and connection of circuits are not needed, the control precision and the control difficulty are reduced, and the manufacturing cost is reduced.
According to the invention, different clamps can be connected to cope with different articles, and each clamp does not contain an electrical element, so that the switching and connection of circuits are not needed, and the production cost and the control difficulty are reduced; the invention can transfer and carry a plurality of articles at one time, and the clamp moves only in a small range, thereby shortening the working time and improving the working efficiency; according to the invention, after the article is taken and placed by one clamp, the next clamp can be automatically switched to take and place, the clamping force can be adjusted, and a sensor is not required to be arranged.
Claims (10)
1. An intelligent grabbing arm for an industrial robot is characterized in that: the device comprises a mechanical arm (10), an executing part (2) arranged on the mechanical arm (10) and a plurality of clamps for clamping different types of articles; the executing part (2) comprises a connecting seat (21) rotationally connected to the mechanical arm (10) and a motor (22) fixedly connected to the connecting seat (21); the clamp comprises a transmission part (3), a rotating shell (41) rotationally connected to the transmission part (3), and a plurality of clamping jaw parts (5) uniformly arranged on the rotating shell (41) along the circumferential direction;
the transmission part (3) comprises a rotating seat (31) which can be detachably connected with the connecting seat (21), a main gear (331) which is rotatably connected with the rotating seat (31) and can be in transmission connection with the motor (22), and a separating gear (372) which is rotatably connected with the rotating seat (31) and is in transmission connection with the rotating shell (41); the clamping jaw part (5) comprises two symmetrically arranged clamping fingers (51) which are in sliding connection with the rotary shell (41) and a clamping gear (58) which is in transmission connection with the clamping fingers (51) and is in rotary connection with the rotary shell (41);
when the main gear (331) is in transmission connection with the clamping gear (58), the motor (22) drives the clamping finger (51) to take and put articles; when the main gear (331) is in transmission connection with the separation gear (372), the motor (22) drives the rotating shell (41) to rotate, so that the main gear (331) is in transmission connection with the clamping gear (58) on the adjacent clamping jaw part (5).
2. An intelligent gripping arm for an industrial robot according to claim 1, wherein: the transmission part (3) comprises a switching gear (34) which is axially and slidably connected to the main gear (331) along the main gear (331) and is in transmission connection with the main gear (331), a lever (35) which is rotatably connected to the rotating seat (31) and can drive the switching gear (34) to slide, and a positioning column (39) which is slidably connected to the rotating shell (41) and can drive the lever (35) to rotate;
an inner ring groove (412) which is connected with the positioning column (39) in a sliding way is formed on the rotating shell (41); a plurality of positioning grooves (4121) used for limiting the positioning column (39) to rotate along the inner ring groove (412) are uniformly formed on the inner ring groove (412).
3. An intelligent gripping arm for an industrial robot according to claim 2, wherein: the clamping jaw part (5) comprises a switching rod (59) which is connected to the rotating shell (41) in a sliding manner and can drive the lever (35) to rotate, a clamping shaft (54) which is connected to the rotating shell (41) in a transmission manner and is connected with the clamping finger (51), two elastic rings (56) which are symmetrically arranged and are connected to the clamping shaft (54) in a sliding manner and are connected to the switching rod (59) in a transmission manner, and a non-circular tube (55) which is connected to the clamping shaft (54) in a sliding manner and can respectively drive the clamping shaft (54) to rotate and the elastic rings (56) to slide; the non-circular tube (55) is in transmission connection with the clamping gear (58).
4. An intelligent gripping arm for an industrial robot according to claim 3, wherein: an inner chute (551) which is obliquely arranged is formed on the inner wall of the non-circular tube (55); the outer wall of the clamping shaft (54) is formed with a radial column (541) which extends outwards along the diameter direction and is in sliding connection with the inner chute (551); the non-circular tube (55) is arranged between the two elastic rings (56); a clamping spring (57) for enabling the elastic ring (56) to slide towards the non-circular tube (55) is arranged between the elastic ring (56) and the tail end of the adjacent clamping shaft (54).
5. An intelligent gripping arm for an industrial robot according to claim 3, wherein: two swing arms (52) are respectively and rotatably connected to the upper end and the lower end of the clamping finger (51); the other end of the swing arm (52) is rotationally connected with the rotating shell (41); a second worm wheel (521) is arranged on the swing arm (52) close to the clamping shaft (54); the clamping jaw part (5) comprises a second worm (531) which is rotationally connected in the rotating shell (41) and is in transmission connection with the second worm wheel (521); the second worm (531) is in transmission connection with the clamping shaft (54).
6. An intelligent gripping arm for an industrial robot according to claim 3, wherein: the transmission part (3) comprises a central gear (382) which is rotationally connected in the rotating seat (31) and is in transmission connection with the main gear (331); the central gear (382) is positioned on the middle vertical surface of the rotating seat (31); the sun gear (382) can be in drive connection with the clamping gear (58); a through hole (581) penetrating the clamping gear (58) along the axial direction is formed in the clamping gear (58); the cross section of the through hole (581) and the cross section of the non-circular pipe (55) are of the same non-circular structure.
7. An intelligent gripping arm for an industrial robot according to claim 1, wherein: a gear ring (411) which is coaxially arranged with the rotation shaft of the rotation shell (41) is formed in the rotation shell (41); the transmission part (3) comprises a transposition gear (361) which is rotationally connected to the rotation seat (31) and is in transmission connection with the gear ring (411), a first worm wheel (362) which is fixedly connected to the transposition gear (361) and is coaxially arranged with the transposition gear (361), and a first worm (371) which is fixedly connected to the separation gear (372) and is coaxially arranged with the separation gear (372); the first worm wheel (362) is in driving connection with the first worm (371).
8. An intelligent gripping arm for an industrial robot according to claim 1, wherein: two symmetrically arranged connecting holes (211) are formed in the connecting seat (21); two symmetrically arranged connecting columns (311) which can be respectively inserted into the connecting holes (211) are formed on the rotating seat (31); an outer concave ring (3111) is formed on the outer wall of the connecting column (311); a sliding ring (32) is respectively and slidably connected with each outer concave ring (3111); the connecting holes (211) are respectively and slidably connected with locking columns (25) which can be clamped with the outer concave rings (3111); a locking spring (26) for sliding the locking column (25) to the outer concave ring (3111) is arranged between the locking column (25) and the connecting hole (211); a fixed inclined surface (3112) capable of driving the locking column (25) to slide is formed at the upper end of the connecting column (311); the lower end of the sliding ring (32) is provided with a sliding inclined surface (321) capable of driving the locking post (25) to slide.
9. An intelligent gripping arm for an industrial robot as claimed in claim 8, wherein: each connecting hole (211) is respectively and slidably connected with a stabilizing column (23) which can prop against the upper end of the connecting column (311); a stabilizing spring (24) for enabling the stabilizing column (23) to slide towards the connecting column (311) is arranged between the stabilizing column (23) and the connecting hole (211).
10. An intelligent gripping arm for an industrial robot according to claim 1, wherein: a controller is arranged on the mechanical arm (10); the mechanical arm (10) is provided with a camera for providing position information for the controller; the camera, the motor (22) and the mechanical arm (10) are electrically connected with the controller.
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| CN117140582B (en) | 2024-03-29 |
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