Mechanical arm tail end mechanism based on round belt rotating device

Abstract

The invention discloses a mechanical arm tail end mechanism based on a round belt rotating device, relates to the technical field of flexible clamping, and aims to solve the problems that according to an existing mechanical arm tail end design, objects cannot be clamped without damage; the problems that an existing grabbing device cannot adapt to objects to be grabbed in different shapes, surface roughness degrees and textures, and the grabbed angles of the objects are adjusted at the same time are solved, the grabbing device comprises an assembling plate, a gear, a driving device I and supporting arms, the driving device I is fixed to the assembling plate, the supporting arm located at the left end is fixed to an output shaft of the driving device I, and a shaft is arranged on the assembling plate; the supporting arm located at the right end rotates around the shaft, and the supporting arm located at the left end and the supporting arm located at the right end are in meshing transmission through a gear. The section of the flexible rotating piece is circular, a driving device II installed at the lower end of the supporting arm drives the object to reciprocate in the length direction of the supporting arm by driving the flexible rotating piece, and the flexible clamping device is used for flexibly clamping the object and can adjust the spatial position and posture of the object to be clamped at multiple angles.

Description

Technical Field

[0001] The invention relates to the technical field of flexible clamping, and in particular to a mechanical arm end mechanism based on a round belt rotating device. Background Art

[0002] In scenarios where non-destructive grasping of objects is required, there are currently various robot arm end designs, including flexible robotic claws, bionic robotic claws, vacuum suction cups, and magnetic grippers. Flexible mechanical claws usually use elastomeric materials, which can wrap the surface of objects and provide uniform grasping force, but they have the disadvantages of cumbersome control, complex material deformation, and poor grasping accuracy and repeatability. Bionic mechanical claws imitate the limb structure of organisms, such as human hands or animal tentacles, and control multiple degrees of freedom joints to complete irregular and diverse object grasping, but they have the disadvantages of complex design, high manufacturing cost, high control requirements, and the need to write adaptive grasping control programs for different objects. Vacuum suction cups absorb objects through negative pressure, with a fast grasping speed. The adsorption process will not cause indentations or damage to the surface of the object. It is suitable for handling fragile objects with smooth surfaces. The structure is relatively simple, but the grasping effect is affected by the surface characteristics of the object, and it cannot handle objects with rough surfaces. The performance of the suction cup is easily affected by environmental factors such as air pressure, temperature, and humidity, and it is easy to fail to grasp due to the loss of negative pressure. Magnetic grippers grasp through magnetic force, are suitable for carrying metal products, and will not cause wear on the surface of objects, but cannot handle non-metallic materials or non-magnetic objects. The scope of application is limited and may be affected by electromagnetic interference in some environments.

[0003] In summary, the existing robot arm end design has the problems of being unable to achieve damage-free gripping of objects, being unable to adapt to objects of different shapes, surface roughness, and textures to be grasped, and being unable to adjust the angle at which the object is grasped. It has defects and limitations. Summary of the invention

[0004] In order to solve the problems that the existing robot arm end design is unable to achieve damage-free clamping of objects; unable to adapt to objects to be grasped with different shapes, surface roughness, and textures, and at the same time adjust the grasping angle of the object, the present invention further provides a robot arm end mechanism based on a round belt rotating device to solve the problems raised in the above background technology.

[0005] The technical solution of the present invention is:

[0006] A mechanical arm end mechanism based on a round belt rotating device, comprising an assembly plate, a gear, a driving device I and a support arm, wherein the driving device I is fixed on the assembly plate, the support arm at the left end is fixed on the output shaft of the driving device I, a shaft is provided on the assembly plate, the support arm at the right end rotates around the shaft, and the support arm at the left end and the support arm at the right end are meshed and driven by gears;

[0007] It also includes a flexible rotating member and a driving device II. The two support arms are both equipped with a flexible rotating member for flexible multi-point clamping of an object. The cross section of the flexible rotating member is circular. The driving device II installed at the lower end of the support arm drives the flexible rotating member to drive the object to reciprocate along the length direction of the support arm.

[0008] Furthermore, the flexible rotating member is a round belt.

[0009] Furthermore, two flexible rotating parts are installed on each support arm, two single-groove pulleys are installed at the end of the support arm, and the single-groove pulleys are provided with anti-collision fillets. A double-groove pulley is installed in the middle section of the support arm, and the double-groove pulley is connected to the output shaft of the drive device II. The two flexible rotating parts are respectively installed on the corresponding single-groove pulley and double-groove pulley grooves.

[0010] Furthermore, the driving device I adopts an electric motor, and the driving device II adopts a steering gear.

[0011] Furthermore, it also includes a threaded copper column and a steering gear connecting plate. The threaded copper column is fixed to the lower end of the support arm through a nut I, the steering gear connecting plate is fixed to the lower end of the threaded copper column through a nut II, and the drive device II is fixedly connected to the steering gear connecting plate through bolts and nuts III.

[0012] Furthermore, it also includes a carbon rod, which is rotatably connected to the front end of the support arm through a bearing, and the two single-groove pulleys are both interference-fitted with the carbon rod.

[0013] Furthermore, the output shaft of the driving device I is fixedly connected to one support arm, and the other support arm is rotatably connected to the assembly plate via a bearing.

[0014] Furthermore, a baffle is installed on the support arm located on the left side.

[0015] Furthermore, the baffle is a semi-arc structure.

[0016] Furthermore, a plurality of mechanical arm connection holes are provided on the assembly plate.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. A mechanical arm end mechanism based on a round belt rotating device is provided with a set of support arms that can be opened and closed, and is driven to open and close symmetrically by gears and a driving device I. Each support arm is provided with two flexible rotating parts for clamping. The flexible rotating parts can flexibly contact with the object to be clamped to achieve non-destructive clamping. Since there are four flexible rotating parts, it is possible to perform four-point clamping on spherical objects to be clamped, cylindrical symmetrical clamping on columnar structures, and line contact clamping on rectangular objects to be clamped, thereby achieving clamping of various forms of objects to be clamped.

[0019] 2. The drive device II installed on the support arm can drive the flexible rotating member forward and backward. When the support arm is closed and the clamping is completed, the flexible rotating member can drive the object to be clamped to move between the support arms to adjust the clamping position of the object to be clamped. The two drive devices II can drive the two flexible rotating members separately. When the flexible rotating member on one side is stationary and the flexible rotating member on the other side moves forward, the object to be clamped can be rotated. The spatial position and posture of the object to be clamped can be adjusted at multiple angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the end mechanism of the robot arm based on the round belt rotating device. Figure I ;

[0021] Figure 2 This is a schematic diagram of the structure of the end mechanism of the robot arm based on the round belt rotating device. Figure II ;

[0022] Figure 3 This is an exploded view of a single-sided round belt rotating device.

[0023] In the figure: 1. single-groove pulley; 2. flexible rotating part; 3. support arm; 4. drive device II; 5. servo connecting plate; 6. threaded copper column; 7. assembly plate; 8. nut I; 9. gear; 10. bearing; 11. mechanical arm connecting hole; 12. baffle; 13. drive device I; 14. bolt; 15. nut II; 16. double-groove pulley; 17. carbon rod; 18. bearing; 19. nut III. DETAILED DESCRIPTION

[0024] Specific implementation method 1: See Figure 1-3 The working principle of the flexible gripping of the mechanism is introduced. A mechanical arm end mechanism based on a round belt rotating device, the embodiment includes an assembly plate 7, a gear 9, a driving device Ⅰ13 and a support arm 3. The driving device Ⅰ13 is fixed on the assembly plate 7. The support arm 3 at the left end is fixed on the output shaft of the driving device Ⅰ13. The assembly plate 7 is provided with a shaft. The support arm 3 at the right end rotates around the shaft. The support arm 3 at the left end and the support arm 3 at the right end are meshed and transmitted through the gear 9.

[0025] It also includes a flexible rotating part 2 and a driving device II4. The two support arms 3 are each equipped with a flexible rotating part 2 for flexible multi-point clamping of objects. The cross-section of the flexible rotating part 2 is circular. The driving device II4 installed at the lower end of the support arm 3 drives the flexible rotating part 2 to cause the object to reciprocate along the length direction of the support arm 3.

[0026] Specific implementation method 2: See Figure 1-3As shown, the output shaft of the driving device I13 of this embodiment is fixedly connected to one support arm 3, and the other support arm 3 is rotatably connected to the assembly plate 7 through a bearing 10.

[0027] Furthermore, the flexible rotating member 2 is a member that is flexible in motion and can move back and forth. The assembly plate 7 plays a supporting role. The bearing 10 with an outer diameter of 8 mm and an inner diameter of 5 mm is embedded in the center of the gear 9 located on the right support arm 3. A protruding cylinder is provided on the right side of the assembly plate 7. The bearing 10 is installed on the protruding cylinder through a retaining spring, so that the support arm 3 is hinged on the protruding cylinder. The driving device I13 is fixedly connected to the lower end of the assembly plate 7 by bolts. The output shaft of the driving device I13 passes through the assembly plate 7 and is fixedly connected to the gear 9 located on the left support arm 3. The gears 9 on the two support arms 3 are meshed with each other. The driving device I13 rotates, driving the support arm 3 on the left to rotate. The support arm 3 on the left drives the support arm 3 on the right to rotate through the meshing gears 9. The gear transmission is set to realize the rotation clamping of the two support arms 3 at equal angles, thereby completing the clamping action.

[0028] Furthermore, the flexible rotating member 2 is used to contact with the object to be clamped to complete the clamping. The contact portion between the flexible rotating member 2 and the object to be clamped is parallel to the support arm 3. The flexible rotating member 2 is made of a flexible material and will not cause damage to the surface of the object when clamping. The flexible rotating member 2 can be deformed when clamping to increase the contact area with the object to be clamped, so that the force on the object to be clamped is more uniform.

[0029] Specific implementation method three: see Figure 1-3 As shown, the flexible rotating member 2 in this embodiment is a round belt.

[0030] Furthermore, the flexible rotating member 2 is a round belt, and can also be a flexible and reversible moving member: a steel wire, a chain, or a belt.

[0031] Specific implementation method four: see Figure 1-3 The installation method of the flexible rotating part is introduced. In this embodiment, two flexible rotating parts 2 are installed on each support arm 3, two single-groove pulleys 1 are installed at the end of the support arm 3, and the single-groove pulley 1 is provided with anti-collision fillets. A double-groove pulley 16 is installed in the middle section of the support arm 3. The double-groove pulley 16 is connected to the output shaft of the driving device II 4, and the two flexible rotating parts 2 are respectively installed on the corresponding single-groove pulley 1 and double-groove pulley 16 belt grooves.

[0032] Specific implementation method five: see Figure 1-3 As shown, this embodiment further includes a carbon rod 17 , which is rotatably connected to the front end of the support arm 3 via a bearing 18 , and both of the two single-groove pulleys 1 are interference-fitted with the carbon rod 17 .

[0033] Furthermore, a bearing 18 with an outer diameter of 6 mm, an inner diameter of 3 mm, and a height of 2.5 mm is embedded in the front end of the support arm 3, a carbon rod 17 with a length of 20 mm is fixed in the inner diameter of the bearing 18, two single-groove pulleys 1 are fixed on the carbon rod 17, and one single-groove pulley 1 is located at the upper end of the support arm 3, and the other single-groove pulley 1 is located at the lower end of the support arm 3. The double-groove pulley 16 passes through the support arm 3, the upper belt groove of the double-groove pulley 16 is exposed at the upper end of the support arm 3, and the lower belt groove of the double-groove pulley 16 is exposed at the lower end of the support arm 3. One of the two flexible rotating members 2 is installed at the upper end of the support arm 3, and the other is installed at the lower end of the support arm 3.

[0034] Furthermore, the outer edge of the single-groove pulley 1 exceeds the front end of the support arm 3, the diameter of the single-groove pulley 1 is greater than the width of the support arm 3, and the single-groove pulley 1 is provided with an anti-collision fillet, so that only the flexible rotating member 2 contacts the object to be clamped during the clamping process, avoiding the single-groove pulley 1 and the support arm 3 from contacting the object to be clamped or other surrounding objects during the grasping process to cause damage to the object. Since there are four flexible rotating members 2, a spherical object to be clamped can be clamped at four points, a cylindrical symmetrical clamping can be achieved for a columnar structure, and a line contact clamping can be achieved for a rectangular object to be clamped, so as to achieve clamping of various forms of objects to be clamped. The drive device II4 installed on the support arm 3 can drive the flexible rotating member 2 forward and backward. When the support arm 3 is closed and the clamping is completed, the flexible rotating member 2 can drive the object to be clamped to move between the support arms to adjust the clamping position of the object to be clamped. The two drive devices II4 can drive the two flexible rotating members 2 separately. When the flexible rotating member 2 on one side is stationary and the flexible rotating member 2 on the other side moves forward, the object to be clamped can be rotated, so as to adjust the spatial position and posture of the object to be clamped at multiple angles.

[0035] Specific implementation method six: see Figure 2 As shown, the driving device Ⅰ13 of this embodiment adopts a motor, and the driving device Ⅱ4 adopts a steering gear.

[0036] Furthermore, the drive device I13 uses a motor to more accurately control the angle and speed of opening and closing of the support arm 3. The drive device II4 uses a steering gear to accurately control the forward distance of the flexible rotating member 2 to achieve a small distance movement of the clamped object and accurately control the rotation angle of the clamped object.

[0037] Specific implementation method seven: See Figure 2-3 The fixing method of the drive device II 4 is introduced. This embodiment also includes a threaded copper column 6 and a steering gear connecting plate 5. The threaded copper column 6 is fixed to the lower end of the support arm 3 through a nut I8, and the steering gear connecting plate 5 is fixed to the lower end of the threaded copper column 6 through a nut II 15. The drive device II 4 is fixedly connected to the steering gear connecting plate 5 through a bolt 14 and a nut III 19.

[0038] The drive device Ⅱ4 is fixed to the steering gear connecting plate 5 by four M2*8 bolts 14 and M2 nuts Ⅲ19. Two M3*11 threaded copper pillars 6 are fixed to the top of the steering gear connecting plate 5 by two M3*6 nuts Ⅱ15, and the two threaded copper pillars 6 are fixed to the lower end of the support arm 3 by two M3*6 nuts Ⅰ8, thus completing the installation of the drive device Ⅱ4. The threaded copper pillars 6 are used to suspend and fix the drive device Ⅱ4 below the support arm 3, so that the double-groove pulley 16 passes through the upper and lower ends of the support arm 3 with equal length, so that the two flexible rotating parts 2 are symmetrically installed at the upper and lower ends of the support arm 3.

[0039] Specific implementation method eight: See Figure 1 As shown, in this embodiment, a baffle 12 is detachably mounted on the support arm 3 on the left side.

[0040] Specific implementation method nine: See Figure 1 As shown, the baffle 12 of this embodiment is a semi-arc structure.

[0041] Further, the baffle 12 is designed to prevent the object to be clamped from falling outside the effective clamping position when it moves on the flexible rotating member 2. The baffle 12 of different shapes can be replaced according to the shape of the object to be clamped, such as a plate-shaped baffle.

[0042] Specific implementation method ten: See Figure 1 As shown, the assembly plate 7 of this embodiment is provided with a plurality of mechanical arm connection holes 11. The mechanical arm connection holes 11 are used to connect with mechanical arms of different models.

Claims

1. A mechanical arm end mechanism based on a round belt rotating device, comprising an assembly plate (7), a gear (9), a driving device I (13) and a support arm (3), wherein the driving device I (13) is fixed on the assembly plate (7), the support arm (3) at the left end is fixed on the output shaft of the driving device I (13), a shaft is provided on the assembly plate (7), the support arm (3) at the right end rotates around the shaft, and the support arm (3) at the left end is meshed with the support arm (3) at the right end through the gear (9) for transmission; Features: The invention also comprises a flexible rotating member (2) and a driving device II (4). The two supporting arms (3) are both provided with a flexible rotating member (2) for flexibly clamping an object at multiple points. The cross section of the flexible rotating member (2) is circular. The driving device II (4) is installed at the lower end of the supporting arm (3) and drives the flexible rotating member (2) to cause the object to reciprocate along the length direction of the supporting arm (3).

2. The robot end mechanism based on the round belt rotating device according to claim 1 is characterized in that: The flexible rotating member (2) is a belt with a circular cross section.

3. The robot end mechanism based on the round belt rotating device according to claim 2 is characterized in that: Two flexible rotating members (2) are installed on each support arm (3), two single-groove pulleys (1) are installed at the end of the support arm (3), and the single-groove pulleys (1) are provided with anti-collision rounded corners. A double-groove pulley (16) is installed in the middle section of the support arm (3), and the double-groove pulley (16) is connected to the output shaft of the driving device II (4) in a transmission manner. The two flexible rotating members (2) are respectively installed on the corresponding single-groove pulley (1) and double-groove pulley (16) belt grooves.

4. The robot end mechanism based on the round belt rotating device according to claim 3 is characterized in that: The driving device I (13) adopts an electric motor, and the driving device II (4) adopts a steering gear.

5. The robot end mechanism based on the round belt rotating device according to claim 4 is characterized in that: The invention also comprises a threaded copper column (6) and a steering gear connecting plate (5), wherein the threaded copper column (6) is fixed to the lower end of the support arm (3) through a nut I (8), the steering gear connecting plate (5) is fixed to the lower end of the threaded copper column (6) through a nut II (15), and the driving device II (4) is fixedly connected to the steering gear connecting plate (5) through a bolt (14) and a nut III (19).

6. The robot end mechanism based on the round belt rotating device according to claim 5 is characterized in that: It also includes a carbon rod (17), which is rotatably connected to the front end of the support arm (3) through a bearing (18), and the two single-groove pulleys (1) are both interference-fitted with the carbon rod (17).

7. The robot end mechanism based on the round belt rotating device according to claim 5 is characterized in that: The output shaft of the driving device I (13) is fixedly connected to one supporting arm (3), and the other supporting arm (3) is rotatably connected to the assembly plate (7) via a bearing (10).

8. The robot end mechanism based on the round belt rotating device according to claim 6 is characterized in that: A baffle (12) is detachably mounted on the support arm (3) on the left side.

9. The robot end mechanism based on the round belt rotating device according to claim 8, characterized in that: The baffle (12) is a semi-arc structure.

10. The robot end mechanism based on the round belt rotating device according to claim 1, characterized in that: The assembly plate (7) is provided with a plurality of mechanical arm connection holes (11).

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