Mechanical arm capable of accurately grabbing irregular objects and using method of mechanical arm

Abstract

The invention discloses a mechanical arm capable of accurately grabbing irregular objects and a using method of the mechanical arm, and belongs to the mechanical arm technology, the mechanical arm comprises a carrying system and an electric control system, a positioning grabbing assembly is fixedly installed at the output end of the carrying system, and the positioning grabbing assembly comprises a positioning clamping part capable of fixedly clamping any object; the electric control system comprises a sensing part which is arranged on the positioning and clamping part and is used for sensing the position distance of an object to be grabbed, the electric control system further comprises a control part, and the carrying system and the positioning and clamping part are both electrically connected with the control part. The carrying system and the positioning and grasping assembly are driven to move to the position above a to-be-clamped object through control of the overall electric control system, then the to-be-clamped object is inducted and accurately positioned through the induction part on the positioning and clamping part, and then accurate clamping operation is achieved through the positioning and clamping part.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator arm for accurately grasping irregular objects and a method of using the manipulator arm. Background Art

[0002] With the development of modern technology, various types of manipulators have emerged to replace human hands to grasp different objects. The biggest difference between a robot arm and a human arm is that it has higher flexibility and super endurance. However, there is no special robotic arm that can grasp some irregular objects and items with inner cavities such as bottles and cans. The existing grasping robotic arms are relatively single-function, and all of them are some kind of manipulators that clamp and grasp specific objects. Therefore, there is an urgent need to design a robotic arm that can grasp a variety of irregular objects and a variety of different types of objects. Summary of the invention

[0003] The purpose of the present invention is to address the deficiencies in the prior art and provide a robotic arm for accurately grasping irregular objects and a method of using the same, in order to solve the above-mentioned problems.

[0004] The present invention provides the following technical solutions: a robotic arm for accurately grasping irregular objects and a method for using the same, comprising a transport system and an electric control system, wherein a positioning and grasping assembly is fixedly installed at the output end of the transport system, wherein the positioning and grasping assembly comprises a positioning and clamping portion that can fixedly clamp any object, wherein the electric control system comprises a sensing portion that is arranged on the positioning and clamping portion and senses the position distance of the object to be grasped, wherein the electric control system further comprises a control portion, and the transport system and the positioning and clamping portion are both electrically connected to the control portion.

[0005] Furthermore, the transport system includes an end plate, two of which are provided, and two lifting guide rails are provided at the bottom of the end plate, a transport slider is slidably installed on the lifting guide rail, the positioning grabbing assembly is installed at the bottom of the transport slider, a transport shaft seat is installed at the top of the end plate, a transport wheel is rotatably installed on one side of the transport shaft seat, the transport wheels are connected by a transport belt, the right end of the transport wheel is installed on the output end of the servo motor, a connecting block is provided on the side wall of the transport belt, and the connecting block is connected to the transport slider Furthermore, the positioning clamping part includes an extraction plate, the top of the extraction plate is provided with an overhead bridge, two carrying sliders are fixedly connected to the top surface of the overhead bridge, the bottom end of the overhead bridge is provided with three hinge blocks arranged in a ring, the bottom end of the hinge block is provided with a support arm, the top end of the support arm is provided with a round rod inserted in the hinge block, the top of the support arm is also provided with an extension rod, the top surface of the extension rod is connected to the bottom surface of the extraction plate through a rubber band, the top of the overhead bridge is also provided with a lifting cylinder, the output end of the lifting cylinder is installed with a connector, the connector is connected to the extension rod, and the bottom end of the support arm is provided with a telescopic joint.

[0006] Furthermore, the telescopic section includes a telescopic arm, a through hole matching the telescopic arm is arranged at the center of the support arm, a return spring is arranged on the inner side of the telescopic arm, the top end of the return spring is fixedly connected to the inner side wall of the support arm, and a clamping resistance mechanism is arranged at the bottom end of the support arm.

[0007] Furthermore, the clamping and interfering mechanism comprises a sliding ball shell at the bottom end of the support arm, a resistance body is installed on the inner side of the sliding ball shell, and the sensing part comprises a sensor arranged on the resistance body, and the sensor is electrically connected to the control part.

[0008] Furthermore, the positioning clamping part includes a hanging plate, a locking bridge is provided on the top of the hanging plate, two carrying slide blocks are fixedly connected to the top surface of the locking bridge, a short tube is provided at the bottom end of the locking bridge, a drum column is detachably installed at the bottom end of the short tube, a plurality of telescopic holes are provided on the outside of the drum column, an expansion short rod is movably inserted in the telescopic hole, and rubber particles are installed on the outward end of the expansion short rod, the short tube is connected to the air pressure debugging assembly, and the sensing part includes a sensor arranged on the rubber particles, and the sensor is electrically connected to the control part.

[0009] Furthermore, the air pressure adjustment assembly includes an air machine at the top of the locking bridge, and the output end of the air machine is connected to the short pipe and the closed chamber inside the drum column through the short air pipe.

[0010] Furthermore, a suction nozzle is movably inserted into the bottom end of the drum column, a rubber ring is arranged on the top end of the drum column, and a sensor is also arranged on the suction nozzle, and the sensor is electrically connected to the control unit.

[0011] Furthermore, a method for using a robotic arm for accurately grasping irregular objects comprises the following steps: S1: The servo motor drives the carrying belt through the carrying wheel, and the carrying slider moves synchronously with the carrying belt. As a result, the carrying slider and the object to be clamped below it will also change positions back and forth along the straight line. S2: The lifting cylinder drives the connector to move upward, and the connector drives three extension rods. The three extension rods and the support arm twist inward at the same time until the support arm locks the outer wall of the object to be clamped; S3: The telescopic arm applies downward pressure through the return spring, and the bottom end of the telescopic arm further clamps the object to be clamped. The sliding ball shell and the bottom of the abutment body can hold small objects and irregular objects tightly and securely. S4: Similarly, when clamping irregular bottles and cans, you can switch to the hanging plate clamping mode, align the opening of the bottle and can with the drum column, and then rush high-pressure air into the drum column. All the expansion short rods will expand outward until the end of the expansion short rod hits the inner wall of the can body. The pressure of each expansion short rod is the same; S5: The air machine injects high-pressure air into the drum column. The drum column has the same pressure in all directions, ensuring that the expansion force of each expanded short rod is the same. The suction nozzle will also be pushed downward at the same time to press against the bottom of the bottle.

[0012] Beneficial effects of the present invention: When clamping irregular objects, the present device achieves precise clamping operation through the ingenious design of the mechanical part and the precise sensing and positioning of the electronic control part. Both the electronic control system and the sensing part are mature existing technologies and will not be described in detail in this application. First, the transport system and the positioning and grasping assembly are driven to move above the object to be clamped through the control of the overall electronic control system, and then the sensing part on the positioning clamping part senses and precisely positions the object to be clamped, and then the positioning clamping part achieves precise clamping operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of the present invention in front view; Figure 2 A schematic diagram of a side view of the present invention; Figure 3 It is a schematic diagram of the local structure of the present invention; Figure 4 Schematic diagram of positioning and grabbing components of the present invention Figure 1 ; Figure 5 Schematic diagram of positioning and grabbing components of the present invention Figure 2 ; Figure 6 Schematic diagram of the hanging plate of the present invention Figure 1 ; Figure 7 Schematic diagram of the hanging plate of the present invention Figure 2 ; Description of reference numerals: Carrying system 1, end plate 11, lifting guide rail 12, carrying slider 13, carrying axle seat 14, carrying wheel 15, carrying belt 16, servo motor 17, connecting block 18, positioning and grabbing component 2, extraction plate 21, overhead bridge 22, hinged block 23, support arm 24, extension rod 25, rubber band 26, lifting cylinder 27, connector 28, telescopic arm 29, return spring 211, sliding ball shell 212, hanging plate 3, locking bridge 31, short tube 32, drum column 33, expansion short rod 34, air machine 35, suction nozzle 36. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0015] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0016] First embodiment, refer to Figures 1 to 7 A mechanical arm for accurately grasping irregular objects and a method for using the same as shown, comprises a transport system 1 and an electric control system, wherein a positioning grasping assembly 2 is fixedly mounted on the output end of the transport system 1, wherein the positioning grasping assembly 2 comprises a positioning clamping portion that can fixedly clamp any object, wherein the electric control system comprises a sensing portion arranged on the positioning clamping portion for sensing the position distance of the object to be grasped, wherein the electric control system further comprises a control portion, wherein the transport system 1 and the positioning clamping portion are both electrically connected to the control portion, and when the device clamps irregular objects, accurate clamping operation is achieved through the ingenious design of the mechanical portion and accurate sensing and positioning of the electric control portion, respectively. The electric control system and the sensing portion are both mature prior arts and will not be described in detail in this application, and firstly, the transport system 1 and the positioning grasping assembly are driven to move above the object to be clamped through the control of the overall electric control system, and then the sensing portion on the positioning clamping portion senses and accurately positions the object to be clamped, and then the positioning clamping portion achieves accurate clamping operation, like Figure 3As shown, the transport system 1 includes an end plate 11, of which there are two end plates 11, and two lifting guide rails 12 are provided at the bottom end of the end plate 11, on which a transport slider 13 is slidably installed, and the positioning and grabbing assembly 2 is installed at the bottom end of the transport slider 13, and a transport shaft seat 14 is installed at the top of the end plate 11, and a transport wheel 15 is rotatably installed on one side of the transport shaft seat 14, and the transport wheels 15 are connected by a transport belt 16, and the right end of the transport wheel 15 is installed on the output end of the servo motor 17, and a connecting block 18 is provided on the side wall of the transport belt 16, and the connecting block 18 is connected to the transport slider 13, and the servo motor 17 drives the transport belt 16 to operate through the transport wheel 15, and the transport slider 13 runs synchronously with the transport belt 16, so that the transport slider 13 can be accurately moved to the top of the object to be clamped, completing the preliminary action of precise clamping.

[0017] like Figure 3 , 4 As shown, the positioning clamping part includes an extraction plate 21, the top of the extraction plate 21 is provided with an overhead bridge 22, two carrying sliders 13 are fixedly connected to the top surface of the overhead bridge 22, the bottom end of the overhead bridge 22 is provided with three hinge blocks 23 arranged in a ring, the bottom end of the hinge block 23 is provided with a support arm 24, the top end of the support arm 24 is provided with a round rod inserted in the hinge block 23, and the top end of the support arm 24 is also provided with an extension rod 25, the top surface of the extension rod 25 is connected to the bottom of the extraction plate 21 through a rubber band 26. The top of the overhead bridge 22 is also provided with a lifting cylinder 27, and the output end of the lifting cylinder 27 is installed with a connector 28, which is connected to the extension rod 25. The bottom end of the support arm 24 is provided with a telescopic joint, and the lifting cylinder 27 drives the connector 28 to move upward, and the connector 28 will drive the three extension rods 25. The three groups of extension rods 25 and the support arm 24 will move inward at the same time until the support arm 24 locks the outer wall of the object to be clamped, thereby completing the preliminary clamping of the outer wall of the irregular object.

[0018] like Figure 4 As shown, the telescopic section includes a telescopic arm 29, a through hole matching the telescopic arm 29 is set at the center of the support arm 24, a return spring 211 is set on the inner side of the telescopic arm 29, the top of the return spring 211 is fixedly connected to the inner wall of the support arm 24, and a clamping and resistance mechanism is set at the bottom end of the support arm 24. The telescopic arm 29 applies downward pressure through the return spring 211, and then the bottom end of the telescopic arm 29 will further clamp the object to be clamped, and the sliding ball shell 212 and the bottom of the resistance body can tightly fix small objects and irregular objects.

[0019] like Figure 4As shown, the clamping and interference mechanism includes a sliding ball shell 212 at the bottom end of the support arm 24, and a interference body is installed on the inner side of the sliding ball shell 212. The sensing part includes a sensor arranged on the interference body, and the sensor is electrically connected to the control part. When it is necessary to clamp a small and irregular object, the sensor in the device can be an infrared sensor or a proximity switch in the prior art, etc., through the sliding ball shell 212, in order to complete the precise control and clamping of the object to be clamped.

[0020] The second embodiment, as Figure 6 , 7 As shown, the positioning clamping part includes a hanging plate 3, a locking bridge 31 is arranged on the top of the hanging plate 3, two carrying slide blocks 13 are fixedly connected to the top surface of the locking bridge 31, a short tube 32 is arranged on the bottom end of the locking bridge 31, a drum column 33 is detachably installed on the bottom end of the short tube 32, a plurality of telescopic holes are arranged on the outer side of the drum column 33, an expansion short rod 34 is movably inserted in the telescopic hole, and rubber particles are installed on the outward end of the expansion short rod 34, the short tube 32 is connected to the air pressure debugging component, the sensing part includes a sensor arranged on the rubber particles, and the sensor is electrically connected to the control part. When it is necessary to clamp an irregular bottle body, the sensor 32 is connected to the air pressure debugging component. The overall hanging plate 3 replaces the positioning and grasping component 2. The hanging plate 3 is moved initially to the top of the bottle to be clamped. The position and distance of the bottle to be clamped are judged by the sensor. Because the control program and the type of sensor in this device are all existing technologies, when the control sensor judges to the precise position, the drum column 33 can be inserted, and then high-pressure air is rushed into the drum column 33. All the expanded short rods 34 will expand outward until the ends of the expanded short rods 34 are against the inner wall of the can body. The pressure of each expanded short rod 34 is the same. This locking method is relatively stable and causes less damage to the body of the metal can body.

[0021] like Figure 6 , 7 As shown, the air pressure debugging component includes an air machine 35 at the top of the locking bridge 31. The output end of the air machine 35 is connected to the short pipe 32 and the closed chamber inside the drum column 33 through the air supply short pipe. The air machine 35 rushes high-pressure air into the drum column 335, and then all directions inside the drum column 335 have the same pressure, ensuring that the expansion force of each expanded short rod 34 is the same.

[0022] like Figure 7 As shown, a suction nozzle 36 is movably inserted at the bottom of the drum column 33, and a rubber ring is provided at the top of the drum column 33. A sensor is also provided on the suction nozzle 36, and the sensor is electrically connected to the control unit. The suction nozzle 36 will also be pushed downward to press against the bottom of the tank body to prevent the tank body from shaking too much during processing. The rubber ring locks the top of the inner wall of the tank body.

[0023] like Figure 6 , 7 As shown, the material of the short tube 32 is rolled from two-millimeter sheet metal, and the drum column 33 is replaced with different heights according to the working conditions. A plunger block is provided at the bottom end of the gas transmission short tube, and an air inlet is provided at the top end of the short tube 32. The plunger block is installed in the air inlet. When processing different types of pipe bodies, drum columns 33 of different heights are replaced. The short tube 32 and the drum column 33 can be disassembled at will, which is convenient for repair work when the parts are damaged.

[0024] A method for using a robotic arm for accurately grasping irregular objects comprises the following steps: S1: The servo motor 17 drives the carrying belt 16 to operate through the carrying wheel 15, and the carrying slider 13 runs synchronously with the carrying belt 16. Then, the carrying slider 13 and the object to be clamped below it will also change positions back and forth along the straight line. S2: The lifting cylinder 27 drives the connecting body 28 to move upward, and the connecting body 28 drives the three extension rods 25. The three groups of extension rods 25 and the support arm 24 are twisted inward at the same time until the support arm 24 locks the outer wall of the object to be clamped; S3: The telescopic arm 29 applies downward pressure through the return spring 211, and the bottom end of the telescopic arm 29 further clamps the object to be clamped. The sliding ball shell 212 and the bottom of the abutment body can clamp and fix small objects and irregular objects; S4: Similarly, when clamping irregular bottles and cans, the material clamping mode of the hanging plate 3 can be switched, the opening of the bottle and can is aligned with the drum column 33 and inserted, and then high-pressure air is rushed into the drum column 33, and all the expansion short rods 34 will expand outward until the ends of the expansion short rods 34 are against the inner wall of the can body, and the pressure of each expansion short rod 34 is the same; S5: The air machine 35 injects high-pressure air into the drum column 33, and the drum column 33 has the same pressure in all directions, ensuring that the expansion force of each expanded short rod 34 is the same, and the suction nozzle 36 will also be pushed downward to press against the bottom of the bottle at the same time.

[0025] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robotic arm for accurately grasping irregular objects, characterized in that: It includes a carrier system (1) and an electronic control system; A positioning and grabbing component (2) is fixedly mounted on the output end of the transport system (1); The positioning and grasping assembly (2) comprises a positioning and clamping part capable of fixing and clamping any object, and the electric control system comprises a sensing part arranged on the positioning and clamping part for sensing the position and distance of the object to be grasped; The electric control system further includes a control unit; The transport system (1) and the positioning clamping part are both electrically connected to the control part.

2. A mechanical arm for accurately grasping irregular objects according to claim 1, characterized in that: The transport system (1) comprises an end plate (11), wherein two end plates (11) are provided in total, and two lifting guide rails (12) are provided at the bottom of the end plate (11), a transport slider (13) is slidably mounted on the lifting guide rail (12), the positioning grabbing assembly (2) is mounted at the bottom of the transport slider (13), a transport shaft seat (14) is mounted at the top of the end plate (11), a transport wheel disc (15) is rotatably mounted on one side of the transport shaft seat (14), the transport wheels (15) are connected by a transport belt (16), the right end transport wheel disc (15) is mounted on the output end of a servo motor (17), a connecting block (18) is provided on the side wall of the transport belt (16), and the connecting block (18) is connected to the transport slider (13).

3. The mechanical arm for accurately grasping irregular objects according to claim 1, characterized in that: The positioning clamping portion comprises an extraction plate (21), the top of the extraction plate (21) is provided with an overhead bridge (22), two carrying slide blocks (13) are fixedly connected to the top surface of the overhead bridge (22), the bottom end of the overhead bridge (22) is provided with three hinge blocks (23) arranged in a ring shape, the bottom end of the hinge block (23) is provided with a support arm (24), the top end of the support arm (24) is provided with a round rod inserted in the hinge block (23), the top end of the support arm (24) is also provided with an extension rod (25), the top surface of the extension rod (25) is connected to the bottom surface of the extraction plate (21) through a rubber band (26), the top end of the overhead bridge (22) is also provided with a lifting cylinder (27), the output end of the lifting cylinder (27) is installed with a connector (28), the connector (28) is connected to the extension rod (25), and the bottom end of the support arm (24) is provided with a telescopic joint.

4. The mechanical arm for accurately grasping irregular objects according to claim 3, characterized in that: The telescopic section comprises a telescopic arm (29), a through hole matching the telescopic arm (29) is arranged at the center of the support arm (24), a return spring (211) is arranged on the inner side of the telescopic arm (29), the top end of the return spring (211) is fixedly connected to the inner side wall of the support arm (24), and a clamping and abutting mechanism is arranged at the bottom end of the support arm (24).

5. The mechanical arm for accurately grasping irregular objects according to claim 4, characterized in that: The clamping and resisting mechanism comprises a sliding ball shell (212) at the bottom end of the support arm (24), a resisting body is installed on the inner side of the sliding ball shell (212), and the sensing part comprises a sensor arranged on the resisting body, and the sensor is electrically connected to the control part.

6. The mechanical arm for accurately grasping irregular objects according to claim 1, characterized in that: The positioning clamping part comprises a hanging plate (3), a locking bridge (31) is arranged at the top of the hanging plate (3), two carrying slide blocks (13) are fixedly connected to the top surface of the locking bridge (31), a short tube (32) is arranged at the bottom of the locking bridge (31), a drum column (33) is detachably mounted at the bottom of the short tube (32), a plurality of telescopic holes are arranged on the outside of the drum column (33), an expansion short rod (34) is movably inserted in the telescopic hole, and rubber particles are mounted on the outward end of the expansion short rod (34), the short tube (32) is connected to the air pressure adjustment component, and the sensing part comprises a sensor arranged on the rubber particles, and the sensor is electrically connected to the control part.

7. A mechanical arm for accurately grasping irregular objects according to claim 6, characterized in that: The air pressure adjustment assembly comprises an air machine (35) at the top end of the locking bridge (31), and the output end of the air machine (35) is connected to the short pipe (32) and the sealed chamber inside the drum column (33) through the short air delivery pipe.

8. The mechanical arm for accurately grasping irregular objects according to claim 7, characterized in that: The bottom end of the drum column (33) is also movably interspersed with a suction nozzle (36), and the top end of the drum column (33) is also provided with a circle of rubber ring. The suction nozzle (36) is also provided with a sensor, and the sensor is electrically connected to the control unit.

9. A method for using a mechanical arm for accurately grasping irregular objects according to any one of claims 1 to 8, characterized in that: The steps include: S1: The servo motor (17) drives the carrying belt (16) to operate through the carrying wheel (15), and the carrying slider (13) runs synchronously with the carrying belt (16). As a result, the carrying slider (13) and the object to be clamped below it will also change positions back and forth along the straight line. S2: The lifting cylinder (27) drives the connecting body (28) to move upward, and the connecting body (28) drives the three extension rods (25), and the three groups of extension rods (25) and the support arm (24) are twisted inward at the same time until the support arm (24) locks the outer wall of the object to be clamped; S3: The telescopic arm (29) applies downward pressure through the return spring (211), so that the bottom end of the telescopic arm (29) further clamps the object to be clamped, and the sliding ball shell (212) and the bottom of the abutment body can clamp and fix small objects and irregular objects; S4: Similarly, when clamping irregular bottles and cans, the material clamping mode of the hanging plate (3) can be switched, the opening of the bottle and can is aligned with the drum column (33) and inserted, and then high-pressure air is injected into the drum column (33), and all the expansion short rods (34) will expand outward until the ends of the expansion short rods (34) are against the inner wall of the can body, and the pressure of each expansion short rod (34) is the same; S5: The air machine (35) injects high-pressure air into the drum column (33), and the drum column (33) has the same pressure in all directions, ensuring that the expansion force of each expansion short rod (34) is the same, and the suction nozzle (36) will also be pushed downward to press against the bottom of the bottle at the same time.

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