A P-plate clamping mechanism, robotic arm gripper, and control method

Abstract

The present invention relates to a P-plate clamping mechanism, a robotic arm gripper, and a control method, comprising a bracket, a fastener, a bearing, a drive motor, and a lug; the lug is L-shaped as a whole, with two lugs and a fastener slidably connected to the bracket; the lug is L-shaped as a whole, with the two lugs symmetrically arranged, and the sliding direction of the lug is perpendicular to the sliding direction of the fastener; the fastener is swallow-shaped as a whole, with sliding holes symmetrically provided on both sides of the fastener, the sliding holes being "-" shaped, and bearings rotatably connected to the lug, with the bearings on the two lugs correspondingly inserted into the sliding holes; a drive motor is fixedly connected to the bracket, a gear is connected to the output shaft of the drive motor, and a rack is provided on one side of the fastener to match the gear, and the rack and the gear are meshed. The advantages of the mechanism are that, through the special structural design of the fastener and the lug, the drive motor can be used to control the lug to grasp and place the P-plate material, thereby achieving higher control accuracy and being capable of handling more delicate and complex operations.

Description

Technical Field

[0001] The present invention relates to the technical field of P-board glue dispensing production lines, and more particularly to a P-board clamping mechanism, a robotic arm gripper, and a control method. Background Art

[0002] In current robotics research, end-point grippers are one of the most widely used components in robotics. Their primary function is to grasp, carry, and place objects. They have a variety of structural forms and principles, allowing them to be designed based on different applications, as well as the shape and material of the objects. Common structures include mechanical grippers, pneumatic grippers, hydraulic grippers, and electric grippers.

[0003] At present, the existing P-board mechanical grippers have complex structures and use the extension and contraction of telescopic rods to achieve the gripping and placement of P-boards. They have low operating accuracy and low work efficiency and are unable to cope with more delicate and complex operations.

[0004] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Summary of the Invention

[0005] The object of the present invention is to provide a P-plate clamping mechanism, a robotic arm gripper and a control method, wherein the P-plate clamping mechanism can not only improve the accuracy of material clamping, but also improve the working efficiency of the machine.

[0006] The present invention provides a P-plate clamping mechanism, comprising a bracket, a fastener, a bearing, a driving motor and a hanging ear; the hanging ear is L-shaped as a whole, and two hanging ears and one fastener are slidably connected to the bracket; the hanging ear is L-shaped as a whole, and the two hanging ears are symmetrically arranged, and the sliding direction of the hanging ear is perpendicular to the sliding direction of the fastener; the fastener is swallow-shaped as a whole, and sliding holes are symmetrically provided on both sides of the fastener, and the sliding holes are "~"-shaped, and the bearing is rotatably connected to the hanging ear, and the bearings on the two hanging ears are correspondingly inserted into the sliding holes; the driving motor is fixedly connected to the bracket, and a gear is connected to the output shaft of the driving motor, and a rack matching the gear is provided on one side of the fastener, and the rack and the gear are meshed; when the driving motor rotates, the gear drives the fastener to slide on the bracket through the rack, and the sliding fastener is pushed by the bearing through the sliding hole and the two hanging ears synchronously approach or move away along the movement direction perpendicular to the fastener.

[0007] Furthermore, the P-board clamping mechanism also includes a first slide rail and a second slide rail, the first slide rail and the second slide rail are both fixedly connected to the bracket, and the first slide rail and the second slide rail are perpendicular; a first slide groove is provided on the hanging ear to cooperate with the first slide rail, and the first slide groove can be slidably mounted on the first slide rail; a second slide groove is provided on the fastener to cooperate with the second slide rail, and the second slide groove can be slidably mounted on the second slide rail.

[0008] Furthermore, the P-plate clamping mechanism further includes a clamping member, which includes a T-shaped plate and a pressure plate. The T-shaped plate is fixedly attached to the fastener, and the pressure plate is vertically connected to the other end of the T-shaped plate.

[0009] Furthermore, the cross-section of the bracket is trapezoidal as a whole, and the bracket includes a connecting plate and a mounting plate; the mounting plates are symmetrically connected at two edges of the connecting plate, and the fasteners, the drive motor and the hanging ears are installed on both mounting plates.

[0010] The present invention also provides a robotic arm gripper, comprising the above-mentioned P-plate clamping mechanism.

[0011] Furthermore, the robotic arm gripper also includes a camera, a robotic arm and a PLC controller; the drive motor, the camera and the robotic arm are all connected to the PLC controller, the camera is fixed on the bracket, and the head end of the robotic arm is fixedly connected to the connecting plate.

[0012] The present invention also provides a control method, which is applied to the above-mentioned robotic arm gripper, comprising the following steps:

[0013] The camera collects data and transmits the position and judgment information to the robotic arm through the visual algorithm. After the robotic arm reaches the specified coordinate, it sends a signal to the PLC controller. The PLC controller transmits the instruction to the drive motor. The PLC controller controls the robotic arm to drive the P-board clamping mechanism to grab and place the P-board material.

[0014] Further, the following steps are included:

[0015] S1: The camera takes a photo to confirm the exact position of the P-board material in the material box and obtain the grabbing coordinates;

[0016] S2: When the hanging ear approaches the P-board, the driving motor pushes the rack, and the rack pushes the fastener to open the hanging ear, thereby locking and grabbing the P-board;

[0017] S3: After the grabbing is completed, the robot arm rotates 0°-360° and places the p-board material on the p-board operating platform;

[0018] S4: The driving motor pushes the rack, and the rack pulls back the fastener to retract the lug;

[0019] S5: The hanging ear returns to the top of the P-board material, the camera takes a photo to confirm the coordinates of the P-board material, and the hanging ear is used to grab the material and return to the P-board station to wait;

[0020] S6: After the P-board operation process is completed, the hanging ears remove the P-board glue-dispensing finished product on the platform;

[0021] S7: The robot arm rotates 180°, and the hanging ear places the material on the P-board station. The robot arm returns and the hanging ear places the P-board glue-dispensed finished product back into the material box;

[0022] S8: Execute the operations of step S1 to step S7 in a loop.

[0023] The P-board clamping mechanism provided by the present invention, through the special structural design of the fasteners and the hanging ears, can use the driving motor to control the hanging ears to grab and place the P-board materials, has higher control accuracy, and can cope with more delicate and complex operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural schematic diagram of the P-plate clamping mechanism provided in an embodiment of the present invention.

[0025] Figure 2 for Figure 1 Schematic diagram of the combination of the fasteners, lugs and drive motor of the P-plate clamping mechanism.

[0026] Figure 3 for Figure 1 Schematic diagram of the combination of the fastener and the hanging ear of the P plate clamping mechanism.

[0027] Figure 4 for Figure 1 Schematic plan view of the P-plate clamping mechanism.

[0028] Figure 5 for Figure 1 Another structural diagram of the middle P plate clamping mechanism.

[0029] Figure 6 for Figure 1 Schematic diagram of the structure of the P-plate clamping mechanism and the P-plate material.

[0030] Figure 7 A schematic plan view of a robotic arm gripper according to an embodiment of the present invention.

[0031] Figure 8 A schematic structural diagram of a robotic arm gripper provided in an embodiment of the present invention.

[0032] Figure 9 A schematic structural diagram of the combination of a robotic arm gripper and a P-board material provided in an embodiment of the present invention.

[0033] Figure 10 A planar schematic diagram of the combination of a robotic arm gripper and a P-board material provided in an embodiment of the present invention.

[0034] Figure 11 A flow chart of a control method provided in an embodiment of the present invention.

[0035] The reference numerals and components in the drawings are as follows:

[0036] 1. Bracket 11, connecting plate 12, mounting plate

[0037] 2. Fastener 21, slide hole 22, rack

[0038] 23. Second chute 3. Bearing 4. Drive motor

[0039] 41, gear 5, lug 51, first chute

[0040] 6. First slide rail 7. Second slide rail 8. Clamping piece

[0041] 81, T-shaped plate 82, pressure plate 9, camera

[0042] 100, Robotic Arm 200, P-Board Material DETAILED DESCRIPTION

[0043] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0044] The terms "first", "second", "third", "fourth", etc. in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0045] Example 1

[0046] Figure 1 A schematic structural diagram of a P-plate clamping mechanism according to an embodiment of the present invention is provided. Figure 2 for Figure 1 Schematic diagram of the combination of the fastener, lug and drive motor of the P plate clamping mechanism. Figure 3 for Figure 1 Schematic diagram of the combination of the fastener and the hanging ear of the P plate clamping mechanism, Figure 6 for Figure 1 Schematic diagram of the structure of the P-plate clamping mechanism and the P-plate material. Figure 1 、 Figure 2 、 Figure 3 、 Figure 6The P-plate clamping mechanism provided by the embodiment of the present invention includes a bracket 1, a fastener 2, a bearing 3, a drive motor 4 and a hanging ear 5; the hanging ear 5 is L-shaped as a whole, and two hanging ears 5 and a fastener 2 are slidably connected to the bracket 1; the hanging ear 5 is L-shaped as a whole, and the two hanging ears 5 are symmetrically arranged, and the sliding direction of the hanging ear 5 is perpendicular to the sliding direction of the fastener 2; the fastener 2 is swallow-shaped as a whole, and sliding holes 21 are symmetrically provided on both sides of the fastener 2, and the sliding holes 21 are "~"-shaped. The bearings 3 are rotatably connected to the hanging ear 5, and the bearings 3 on the two hanging ears 5 are correspondingly inserted into the sliding holes 21; the driving motor 4 is fixedly connected to the bracket 1, and the output shaft of the driving motor 4 is connected to a gear 41. A rack 22 that cooperates with the gear 41 is provided on one side of the fastener 2, and the rack 22 is meshed with the gear 41;

[0047] It should be noted that when the drive motor 4 rotates, the gear 41 drives the fastener 2 to slide on the bracket 1 through the rack 22, and the sliding fastener 2 pushes the two hanging ears 5 along the movement direction perpendicular to the fastener 2 through the sliding hole 21 and the bearing 3 to synchronously move closer or farther away.

[0048] Further references Figure 6 When the P-board clamping mechanism of the present invention is used, the lug 5 is inserted into the connection port of the P-board material 200, the driving motor 4 rotates, the gear 41 drives the fastener 2 to slide on the bracket 1 through the rack 22, and the sliding fastener 2 pushes the two lugs 5 to open through the sliding hole 21 by the bearing 3; the head of the L-shaped lug 5 is engaged in the connection port of the P-board material 200, thereby achieving the gripping of the P-board material 200;

[0049] Figure 4 for Figure 1 Schematic diagram of the P plate clamping mechanism. Figure 2 、 Figure 3 、 Figure 4 The P-board clamping mechanism of the present invention also includes a first slide rail 6 and a second slide rail 7, which are both fixedly connected to the bracket 1, and the first slide rail 6 and the second slide rail 7 are perpendicular; a first slide groove 51 that cooperates with the first slide rail 6 is provided on the hanging ear 5, and the first slide groove 51 can be slidably mounted on the first slide rail 6; a second slide groove 23 that cooperates with the second slide rail 7 is provided on the fastener 2, and the second slide groove 23 can be slidably mounted on the second slide rail 7.

[0050] It should be noted that the design of the first slide rail 6 and the second slide rail 7 makes the hanging ear 5 and the fastener 2 more stable when sliding on the bracket 1.

[0051] Figure 5 for Figure 1 Another structural diagram of the P plate clamping mechanism. Please refer to Figure 5The P-plate clamping mechanism of the present invention further includes a clamping member 8, which includes a T-shaped plate 81 and a pressure plate 82. The T-shaped plate 81 is fixedly attached to the fastener 2, and the pressure plate 82 is vertically connected to the other end of the T-shaped plate 81.

[0052] It should be noted that when the ear 5 is inserted into the connecting port of the P-board material 200, the driving motor 4 rotates, and the gear 41 drives the fastener 2 to slide on the bracket 1 through the rack 22, and the sliding fastener 2 pushes the two ears 5 to open through the sliding hole 21 by the bearing 3; at the same time, the clamping part 8 will approach the P-board material 200 as the fastener 2 moves until the P-board material 200 is pressed, thereby achieving further clamping while grasping the P-board material 200, further preventing the P-board material 200 from falling off during the grasping process.

[0053] Further references Figure 5 The bracket 1 of the present invention has a trapezoidal cross-section and comprises a connecting plate 11 and a mounting plate 12. The mounting plates 12 are symmetrically connected to the two edges of the connecting plate 11. Fasteners 2, drive motors 4, and mounting lugs 5 are mounted on each mounting plate 12. This allows two P-sheet materials 200 to be grasped at once, improving work efficiency.

[0054] Figure 7 A schematic plan view of a robotic arm gripper provided in an embodiment of the present invention, Figure 8 This is a schematic diagram of the structure of the robotic arm gripper provided by an embodiment of the present invention. Figure 7 、 Figure 8 The present invention also provides a robotic arm gripper, comprising the above-mentioned P-plate clamping mechanism.

[0055] Specifically, the robotic arm gripper of the present invention also includes a camera 9, a robotic arm 100 and a PLC controller; the drive motor 4, the camera 9 and the robotic arm 100 are all connected to the PLC controller, the camera 9 is fixed on the bracket 1, and the head end of the robotic arm 100 is fixedly connected to the connecting plate 11.

[0056] Figure 9 This is a schematic diagram of the structure of the combination of the robotic arm gripper and the P-board material provided by the embodiment of the present invention. Figure 10 A schematic plan view of the combination of a robotic arm gripper and a P-board material provided by an embodiment of the present invention. Figure 11 This is a flow chart of the control method provided by the embodiment of the present invention. Figure 9 、 Figure 10 、 Figure 11 The present invention also provides a control method, which is applied to the above-mentioned robotic arm gripper, comprising the following steps:

[0057] The camera 9 collects data and transmits the position and judgment information to the robot arm 100 through the visual algorithm. After the robot arm 100 reaches the specified coordinate, it sends a signal to the PLC controller. The PLC controller transmits the instruction to the drive motor 4. The PLC controller also controls the robot arm 100 to drive the P-board clamping mechanism to grab and place the P-board material 200.

[0058] Specifically, the control method of the present invention comprises the following steps:

[0059] S1: The camera 9 takes a picture to confirm the exact position of the P-board material 200 in the material box and obtains the grabbing coordinates;

[0060] S2: After the lug 5 approaches the P-board, the driving motor 4 pushes the rack 22, and the rack 22 pushes the fastener 2 to open the lug 5, thereby locking and grabbing the P-board;

[0061] S3: After the grabbing is completed, the robot arm 100 rotates 0°-360° and places the p-board material on the p-board operating platform;

[0062] S4: The driving motor 4 pushes the rack 22, and the rack 22 pulls back the fastener 2 to retract the lug 5;

[0063] S5: The hanging ear 5 returns to the top of the P-board material 200, the camera 9 takes a picture to confirm the coordinates of the P-board material 200, and the hanging ear 5 is used to grab the material and return to the P-board station to wait;

[0064] S6: After the P-board operation process is completed, the hanging ear 5 removes the P-board glue-dispensing product on the platform;

[0065] S7: The robot arm 100 rotates 180°, and the hanging ear 5 places the material on the P-board station. The robot arm 100 returns and the hanging ear 5 places the P-board glue-dispensed finished product back into the material box;

[0066] S8: Execute the operations of step S1 to step S7 in a loop.

[0067] Based on the above description, it can be seen that the advantages of the present invention are:

[0068] The P-board clamping mechanism provided by the present invention, through the special structural design of the fasteners and the hanging ears, can use the driving motor to control the hanging ears to grab and place the P-board materials, has higher control accuracy, and can cope with more delicate and complex operations.

[0069] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A P-plate clamping mechanism, characterized in that: It includes a bracket (1), a fastener (2), a bearing (3), a drive motor (4) and a hanging ear (5); The hanging ears (5) are L-shaped as a whole, and two hanging ears (5) and one fastener (2) are slidably connected on the bracket (1); the two hanging ears (5) are symmetrically arranged, and the sliding direction of the hanging ears (5) is perpendicular to the sliding direction of the fastener (2); The fastener (2) is swallow-shaped as a whole, and sliding holes (21) are symmetrically provided on both sides of the fastener (2), and the sliding holes (21) are in a "~" shape. The bearing (3) is rotatably connected to the hanging ear (5), and the bearings (3) on the two hanging ears (5) are correspondingly inserted into the sliding holes (21); The drive motor (4) is fixedly connected to the bracket (1), a gear (41) is connected to the output shaft of the drive motor (4), a rack (22) that cooperates with the gear (41) is provided on one side of the fastener (2), and the rack (22) and the gear (41) are meshed; When the driving motor (4) rotates, the gear (41) drives the fastener (2) to slide on the bracket (1) through the rack (22), and the sliding fastener (2) is pushed by the bearing (3) through the sliding hole (21) to push the two hanging ears (5) to move synchronously closer or farther along the direction of movement perpendicular to the fastener (2).

2. The P-plate clamping mechanism according to claim 1, characterized in that: The P-plate clamping mechanism further comprises a first slide rail (6) and a second slide rail (7), wherein the first slide rail (6) and the second slide rail (7) are both fixedly connected to the bracket (1), and the first slide rail (6) and the second slide rail (7) are perpendicular; A first slide groove (51) is provided on the hanging ear (5) and matches the first slide rail (6), and the first slide groove (51) can be slidably sleeved on the first slide rail (6); A second slide groove (23) cooperating with the second slide rail (7) is provided on the fastener (2), and the second slide groove (23) can be slidably sleeved on the second slide rail (7).

3. The P-plate clamping mechanism according to claim 1, characterized in that: The P-plate clamping mechanism further comprises a clamping member (8), the clamping member (8) comprising a T-shaped plate (81) and a pressure plate (82), the T-shaped plate (81) being fixedly attached to the fastener (2), and the pressure plate (82) being vertically connected to the other end of the T-shaped plate (81).

4. The P-plate clamping mechanism according to claim 1, characterized in that: The cross-section of the bracket (1) is trapezoidal as a whole, and the bracket (1) comprises a connecting plate (11) and a mounting plate (12); The mounting plates (12) are symmetrically connected to the two edges of the connecting plate (11), and the fasteners (2), the drive motors (4) and the hanging ears (5) are both mounted on the two mounting plates (12).

5. A robotic arm gripper, characterized in that: Includes the P-board clamping mechanism described in claim 4.

6. The robotic arm gripper according to claim 5, characterized in that: The robotic arm gripper further includes a camera (9), a robotic arm (100) and a PLC controller; The driving motor (4), the camera (9) and the robotic arm (100) are all connected to the PLC controller, the camera (9) is fixed on the bracket (1), and the head end of the robotic arm (100) is fixedly connected to the connecting plate (11).

7. A control method, applied to the robotic arm gripper according to claim 5 or claim 6, characterized in that: The following steps are involved: The camera (9) collects data and transmits the position and judgment information to the robot arm (100) through the visual algorithm. After the robot arm (100) reaches the specified coordinate, it sends a signal to the PLC controller. The PLC controller transmits the instruction to the drive motor (4). The PLC controller controls the robot arm (100) to drive the P-board clamping mechanism to grab and place the P-board material (200).

8. The control method according to claim 7, characterized in that: The following steps are involved: S1: The camera (9) takes a picture to confirm the exact position of the P-plate material (200) in the material box and obtains the grabbing coordinates; S2: After the hanging ear (5) approaches the P-plate, the driving motor (4) pushes the rack (22), and the rack (22) pushes the fastener (2) to open the hanging ear (5), thereby locking and grabbing the P-plate; S3: After the grabbing is completed, the robot arm (100) rotates 0°-360° and places the p-board material on the p-board operating platform; S4: the driving motor (4) pushes the rack (22), and the rack (22) pulls back the fastener (2) to retract the hanging ear (5); S5: The hanging ear (5) returns to the top of the P-board material (200), the camera (9) takes a picture to confirm the coordinates of the P-board material (200), and uses the hanging ear (5) to grab the material, and returns to the P-board station to wait; S6: After the P-board operation process is completed, the hanging ear (5) removes the P-board glue-dispensing product on the platform; S7: the robot arm (100) rotates 180 degrees, the lug (5) places the material on the P-board station, the robot arm (100) returns and the lug (5) places the P-board glue-dispensing product back into the material box; S8: Execute the operations of step S1 to step S7 in a loop.

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