Flexible claw mechanical arm provided with safety protection component

Abstract

The invention discloses a flexible claw mechanical arm with a safety protection component, and relates to the technical field of mechanical arms, the flexible claw mechanical arm comprises a base, a connecting arm is fixedly arranged above the base, a mounting block is arranged at one end of the connecting arm, a claw mechanism is arranged on the mounting block, a protection mechanism is arranged on the claw mechanism, and the safety protection component is arranged on the protection mechanism. The protection mechanism is matched with the claw mechanism to flexibly clamp an object, the claw mechanism comprises a clamping claw, a control mechanism is arranged on the clamping claw, the control mechanism is used for controlling the clamping claw to rotate, the protection mechanism comprises a sliding block internally provided with a guide rail, and a movable part capable of rotating is arranged on the sliding block. An anti-skid groove is formed in the movable piece, a buffer spring is arranged on the sliding block, a pressure sensor is arranged at one end of the buffer spring, and the pressure sensor is matched with the control mechanism to be used for adjusting the rotation range of the clamping jaw. According to the flexible claw mechanical arm provided with the safety protection component, objects can be flexibly clamped conveniently, and safety is high.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a flexible claw robotic arm provided with a safety protection component. Background Art

[0002] In today's era of rapid technological development, industrial automation has become a key force in promoting the improvement of social productivity. With the cross-integration of multiple disciplines such as artificial intelligence, sensor technology, control theory, and materials science, the field of industrial robots has achieved remarkable achievements. Among them, robotic arms, as a typical representative of industrial robots, are widely used in various industries and have profoundly changed the traditional production model.

[0003] In the manufacturing sector, robotic arms are one of the core devices on automated production lines. For example, in automobile manufacturing, robotic arms operate throughout the entire production process, from body welding and parts assembly to the final rollout of the vehicle. During body welding, robotic arms can perform operations such as spot welding and arc welding with exceptional precision and speed, ensuring the robustness and consistency of the vehicle's structure. During parts assembly, robotic arms, with their precise positioning capabilities and flexible motion trajectories, can accurately install various tiny parts into designated locations, significantly improving assembly quality and efficiency. Furthermore, in the electronics manufacturing industry, robotic arms are widely used in precision operations such as chip packaging and circuit board assembly. Their micron-level positioning accuracy can meet the high integration and reliability requirements of electronic products.

[0004] Most existing mechanical grippers are made of metal materials and have strong structural rigidity. When grasping objects, the mechanical grippers fix the objects by applying a certain clamping force. However, since it is difficult to accurately control the clamping force, it is easy for the clamping force to be too large. When the clamping force exceeds the limit that the object can withstand, it will cause scratches, dents and other damages on the surface of the object. For some objects with fragile surfaces, such as glass products and ceramic products, hard clamping may directly cause them to break, resulting in material waste and increased production costs. In addition, for some objects with precise structures, such as electronic components, precision instrument parts, etc., hard clamping may also damage their internal structure, thereby affecting the quality and function of the entire product.

[0005] Therefore, in order to solve the above problems, it is necessary for the applicant to design a flexible claw robot arm equipped with safety protection components to solve the problem. Summary of the Invention

[0006] The purpose of the present invention is to provide a flexible claw robot arm provided with a safety protection component to solve the problems raised by the above background technology.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a flexible claw robotic arm provided with a safety protection component, comprising a base, and a connecting arm fixedly arranged above the base, a mounting block being provided at one end of the connecting arm away from the base, and a claw mechanism being fixedly arranged on the mounting block, a protective mechanism being provided on the claw mechanism, and the protective mechanism cooperates with the claw mechanism to flexibly clamp an object, the claw mechanism comprising a connecting component connected to the mounting block, and a rotatable clamping claw being provided on the connecting component, a control mechanism being provided on the clamping claw, and the control mechanism being used to control the rotation of the clamping claw, the protective mechanism comprising a guide rail fixedly connected to the clamping claw, and a slider being slidingly provided inside the guide rail, a fixed shaft being fixedly provided on the slider, and a connecting plate being rotatably provided on the fixed shaft, a movable part being fixedly provided on the connecting plate, and an anti-slip groove being provided on the movable part, a buffer spring being fixedly provided on the slider, a pressure sensor being provided at one end of the buffer spring away from the slider, and the pressure sensor cooperating with the control mechanism to adjust the rotation range of the clamping claw.

[0008] Preferably, the connecting component includes a connecting plate fixedly connected to the mounting block, and a fixing rod is fixedly provided on the connecting plate, a fixing plate is fixedly provided at one end of the fixing rod away from the connecting plate, and a stabilizing block is provided on the fixing plate, a connecting rod is rotatably provided on the stabilizing block, and the connecting rod is rotatably connected to the clamping claw.

[0009] By adopting the above technical solution, a multi-level stable connection between the claw mechanism and the mounting block is achieved through the connecting components consisting of the connecting plate, the fixed rod, the fixed plate, the stabilizing block and the connecting rod. The rigid connection between the fixed rod and the connecting plate provides axial support, and the cooperation between the fixed plate and the stabilizing block enhances the lateral torsion resistance, so that the clamping claw can maintain a stable mechanical transmission path during movement, avoiding positioning errors caused by structural looseness. At the same time, the rotating connection design between the connecting rod and the clamping claw further optimizes the flexibility and coordination of the clamping action, ensures uniform force distribution during the clamping process, and improves the reliability and durability of the overall robotic arm.

[0010] Preferably, the control mechanism comprises a reinforcement bar rotatably connected to the clamping claw, a limit bar rotatably provided on the reinforcement bar, and a movable frame rotatably provided on the limit bar.

[0011] By adopting the above technical solution and the linkage design of reinforcement strips, limit strips and mobile frames, the controllability of the movement of the clamping claw is significantly improved. The rotational connection between the reinforcement strip and the clamping claw enhances the local structural strength, and the cooperation between the limit strip and the mobile frame can accurately constrain the rotation range of the clamping claw to prevent mechanical interference or clamping loss of control due to excessive rotation. Through the synergistic effect of the multi-stage transmission mechanism, dual fine adjustment of the clamping force and the clamping angle is achieved, which is particularly suitable for precision operation scenarios with strict requirements on the clamping trajectory.

[0012] Preferably, a threaded rod is provided on the inner thread of the movable frame, and a servo motor located on the inner side of the fixed rod is provided at one end of the threaded rod.

[0013] By adopting the above technical solution, the combination of the threaded rod and the servo motor provides a high-precision, reversible linear control method for the drive of the clamping claw. When the servo motor drives the threaded rod to rotate, the movable frame can perform precise axial displacement along the threaded rod, thereby converting the rotational motion into the clamping or release action of the clamping claw. This not only improves the response speed of the clamping force, but also avoids accidental loosening caused by external force interference during the clamping process through the self-locking characteristics of the threaded transmission. It is particularly suitable for industrial scenarios that require frequent starting and stopping or dynamic adjustment of the clamping force.

[0014] Preferably, a stabilizing rod is fixedly provided on the servo motor, and a fixing plate is fixedly provided on one end of the stabilizing rod away from the servo motor, an extension rod is fixedly provided on the fixing plate, and the extension rod is fixedly connected to the fixing plate.

[0015] By adopting the above technical solution, the nested structure of the stabilizing rod, fixed plate and extension rod constructs a multi-stage shock absorption and reinforcement system between the servo motor and the fixed plate. The combination of the stabilizing rod and the fixed plate effectively disperses the vibration energy of the servo motor during operation, and the rigid connection between the extension rod and the fixed plate further enhances the overall stability of the drive system, significantly reducing the risk of mechanical resonance caused by high-speed movement or sudden load changes, ensuring the smoothness of the clamping action and the repeatability of positioning accuracy, and is particularly suitable for high-speed automated production lines.

[0016] Preferably, a stabilizing member is fixedly provided on the fixing plate, and the stabilizing member is rotatably connected to the threaded rod.

[0017] By adopting the above technical solution and introducing the stabilizer, the connection method between the threaded rod and the fixed plate is optimized. By designing the rotational connection between the stabilizer and the threaded rod, the radial wear of the threaded rod during long-term operation is reduced, and the bending deformation of the threaded rod caused by eccentric load is avoided through multi-point support, which greatly improves the life and efficiency of the transmission system. At the same time, it reduces the energy loss caused by mechanical friction, which helps to achieve energy-saving and lightweight design of the robotic arm.

[0018] Preferably, the pressure sensor is communicatively connected to an external control system, and the detection threshold of the pressure sensor can be dynamically adjusted. When the clamping pressure exceeds the threshold, the servo motor drives the threaded rod to rotate in the opposite direction to reduce the clamping force.

[0019] By adopting the above technical solution, dynamic adaptive adjustment of the clamping force is achieved through closed-loop control of the pressure sensor and the servo motor. The real-time detection data of the pressure sensor is combined with the algorithm of the external control system to dynamically adjust the clamping force threshold according to the material, shape and surface characteristics of the object. When the clamping pressure exceeds the threshold, the servo motor immediately drives the threaded rod to rotate in the opposite direction to reduce the clamping force, thereby avoiding damage to the object within a millisecond response.

[0020] Preferably, a shock-absorbing cavity is provided inside the extension rod, and the shock-absorbing cavity is filled with damping gel.

[0021] By adopting the above technical solution, a shock-absorbing cavity filled with damping gel is set inside the extension rod, which solves the problem of high-frequency vibration during high-speed movement of the robotic arm. The damping gel absorbs impact energy through viscoelastic deformation, significantly suppressing the transmission of vibration to the clamping claw, and avoiding clamping position deviation or object slippage due to mechanical jitter.

[0022] Compared with the prior art, the present invention has the following beneficial effects: the flexible claw robot arm provided with a safety protection component facilitates flexible clamping of objects and has high safety. The specific contents are as follows; The flexible claw robot arm works in conjunction with a multi-level buffer structure through closed-loop control to achieve precise and safe object grasping. Its core mechanism is a servo motor driving the threaded rod to rotate, driving the mobile frame and linkage mechanism to control the opening and closing of the clamping claw. During the clamping process, the movable parts of the protective mechanism contact the surface of the object through the anti-slip groove, and the buffer spring is compressed and deformed and transmits real-time pressure data to the sensor. When the clamping force exceeds the dynamic threshold, the system immediately triggers the servo motor to reverse and adjust the clamping angle to reduce the force, forming a "detection-feedback-adjustment" closed-loop control. At the same time, the fixed rod, the stabilizing block and the extension rod construct a stable transmission path. Combined with the support of the threaded rod's stabilizing parts and the damping gel filled in the extension rod, it effectively absorbs vibration energy, and the dual action of the buffer spring and the flexible anti-slip structure disperses local stress to ensure that brittle objects are not damaged. The entire robot arm integrates rigid precision transmission and flexible adaptive adjustment, balancing the clamping force and positioning accuracy in millisecond-level response, significantly improving the safe grasping ability of precision components and fragile materials, and has high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the three-dimensional structure of the claw mechanism of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the protection mechanism of the present invention; Figure 4 Schematic diagram of the three-dimensional structure of the control mechanism of the present invention Figure 1 ; Figure 5Schematic diagram of the three-dimensional structure of the control mechanism of the present invention Figure 2 ; Figure 6 For the present invention Figure 4 A schematic diagram of the structure enlarged in the middle; Figure 7 For the present invention Figure 5 Schematic diagram of the structure enlarged at point B.

[0024] In the figure: 1. Base; 2. Claw mechanism; 3. Protection mechanism; 4. Control mechanism; 10. Connecting arm; 11. Mounting block; 20. Connecting plate; 21. Fixing rod; 22. Fixing plate; 23. Stabilizing block; 24. Connecting rod; 25. Clamping claw; 30. Guide rail; 31. Slider; 32. Fixed shaft; 33. Connecting plate; 34. Movable part; 35. Anti-slip groove; 36. Buffer spring; 37. Pressure sensor; 40. Reinforcement strip; 41. Limiting strip; 42. Moving frame; 43. Threaded rod; 44. Servo motor; 45. Stabilizing rod; 46. Fixing plate; 47. Extension rod; 48. Stabilizing part. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] See also Figure 1-Figure 7 The present invention provides a technical solution: a flexible claw robot arm with a safety protection component, comprising a base 1, and a connecting arm 10 is fixedly arranged above the base 1, a mounting block 11 is provided at one end of the connecting arm 10 away from the base 1, and a claw mechanism 2 is fixedly provided on the mounting block 11, and a protection mechanism 3 is provided on the claw mechanism 2, and the protection mechanism 3 cooperates with the claw mechanism 2 to flexibly clamp an object, the claw mechanism 2 includes a connecting component connected to the mounting block 11, and a rotatable clamping claw 25 is provided on the connecting component, and a control mechanism 4 is provided on the clamping claw 25, and the control mechanism 4 is used to control the rotation of the clamping claw 25. The protection mechanism 3 includes a guide rail 30 fixedly connected to the clamping claw 25, and a slider 31 is slidably provided inside the guide rail 30. A fixed shaft 32 is fixedly provided on the slider 31, and a connecting plate 33 is rotatably provided on the fixed shaft 32. A movable part 34 is fixedly provided on the connecting plate 33, and an anti-slip groove 35 is provided on the movable part 34. A buffer spring 36 is fixedly provided on the slider 31. A pressure sensor 37 is provided at the end of the buffer spring 36 away from the slider 31. The pressure sensor 37 cooperates with the control mechanism 4 to adjust the rotation range of the clamping claw 25.

[0027] The connecting component includes a connecting disk 20 fixedly connected to the mounting block 11, and a fixing rod 21 is fixedly provided on the connecting disk 20, and a fixing disk 22 is fixedly provided on the end of the fixing rod 21 away from the connecting disk 20, and a stabilizing block 23 is provided on the fixing disk 22, and a connecting rod 24 is rotatably provided on the stabilizing block 23, and the connecting rod 24 is rotatably connected to the clamping claw 25. The fixed connection between the connecting disk 20 and the mounting block 11 ensures the stability of the overall structure, and the fixing rod 21 extends axially to form a rigid support, which effectively resists the torsional load during the clamping process; the matching design of the fixing disk 22 and the stabilizing block 23, through the bidirectional rotation connection between the connecting rod 24 and the clamping claw 25, efficiently converts the linear motion of the driving mechanism into the precise opening and closing action of the clamping claw 25, which not only maintains the vertical accuracy of the clamping trajectory, but also disperses stress through multiple nodes to avoid local overload.

[0028] The control mechanism 4 includes a reinforcement bar 40 rotatably connected to the clamping claw 25, and a limit bar 41 is rotatably provided on the reinforcement bar 40, and a movable frame 42 is rotatably provided on the limit bar 41, and a threaded rod 43 is threaded on the inner side of the movable frame 42, and a servo motor 44 located on the inner side of the fixed rod 21 is provided at one end of the threaded rod 43, a stabilizing rod 45 is fixedly provided on the servo motor 44, and a fixed plate 46 is fixedly provided on the end of the stabilizing rod 45 away from the servo motor 44, an extension rod 47 is fixedly provided on the fixed plate 46, and the extension rod 47 is fixedly connected to the fixed disk 22, a stabilizing member 48 is fixedly provided on the fixed disk 22, and the stabilizing member 48 is rotatably connected to the threaded rod 43, a shock-absorbing cavity is provided inside the extension rod 47, and the shock-absorbing cavity is filled with damping gel.

[0029] Through the above-mentioned structural design, the rotational connection between the reinforcement bar 40 and the clamping claw 25 enhances the local rigidity of the clamping claw, and the cooperation between the limit bar 41 and the movable frame 42 converts the rotational power of the servo motor 44 into the linear opening and closing action of the clamping claw 25, and ensures that there is no back-off deviation in the clamping process through the self-locking characteristics of the threaded rod 43; the servo motor 44 is fixed at three points by the stabilizing rod 45, the fixing plate 46 and the extension rod 47 to form a stable drive module, combined with the rotational support of the threaded rod 43 by the stabilizing part 48, effectively suppressing transmission deflection and radial vibration; the shock-absorbing cavity filled with damping gel in the extension rod 47 absorbs high-frequency impact through viscoelastic deformation, significantly reducing the resonance interference during high-speed movement of the robotic arm, and at the same time improving the smoothness of the transmission of the threaded rod 43.

[0030] The pressure sensor 37 is communicatively connected to the external control system, and the detection threshold of the pressure sensor 37 can be dynamically adjusted. When the clamping pressure exceeds the threshold, the servo motor 44 drives the threaded rod 43 to rotate in the opposite direction to reduce the clamping force. Through the closed-loop control of the pressure sensor 37 and the servo motor 44, dynamic adaptive adjustment of the clamping force is achieved. The real-time detection data of the pressure sensor 37 is combined with the algorithm of the external control system to dynamically adjust the clamping force threshold according to the material, shape and surface characteristics of the object. When the clamping pressure exceeds the threshold, the servo motor 44 immediately drives the threaded rod 43 to rotate in the opposite direction to reduce the clamping force, thereby avoiding damage to the object within a millisecond response.

[0031] Working principle: When using the flexible claw robot arm equipped with safety protection components, the servo motor 44 drives the threaded rod 43 to rotate, driving the movable frame 42 to move axially along the threaded rod 43, and then through the linkage of the limit bar 41 and the reinforcement bar 40, the clamping claw 25 is controlled to open and close around the rotating axis of the connecting rod 24. During the clamping process, the protective mechanism 3 on the inside of the clamping claw 25 contacts the surface of the object, and the movable part 34 increases the friction through the anti-slip groove 35. At the same time, the slider 31 slides along the guide rail 30 to compress the buffer spring 36, so that the clamping force is transmitted to the pressure sensor 37 after being buffered by the spring deformation. The pressure sensor 37 detects the clamping pressure in real time and feeds back the data to the external control system. When the pressure exceeds the preset threshold, the control system immediately triggers the servo motor 44 to reverse, drive the threaded rod 43 back, reduce the closing angle of the clamping claw 25, thereby reducing the clamping force and avoiding damage to the object, achieving millisecond-level response, and ensuring that the clamping force is always within a safe range.

[0032] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0033] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible claw robot arm provided with a safety protection component, comprising a base (1), and a connecting arm (10) fixedly provided above the base (1), characterized in that: The end of the connecting arm (10) away from the base (1) is provided with a mounting block (11), and a claw mechanism (2) is fixedly provided on the mounting block (11), the claw mechanism (2) is provided with a protective mechanism (3), and the protective mechanism (3) cooperates with the claw mechanism (2) to flexibly clamp an object, the claw mechanism (2) includes a connecting component connected to the mounting block (11), and a rotatable clamping claw (25) is provided on the connecting component, the clamping claw (25) is provided with a control mechanism (4), and the control mechanism (4) is used to control the rotation of the clamping claw (25), the protective mechanism (3) includes a connecting component fixed to the clamping claw (25), and the connecting component is provided with a rotatable clamping claw (25). A guide rail (30) is fixedly connected, and a slider (31) is slidably provided inside the guide rail (30), a fixed shaft (32) is fixedly provided on the slider (31), and a connecting plate (33) is rotatably provided on the fixed shaft (32), a movable part (34) is fixedly provided on the connecting plate (33), and an anti-slip groove (35) is provided on the movable part (34), a buffer spring (36) is fixedly provided on the slider (31), and a pressure sensor (37) is provided at one end of the buffer spring (36) away from the slider (31), and the pressure sensor (37) cooperates with the control mechanism (4) to adjust the rotation range of the clamping claw (25).

2. The flexible claw robotic arm with a safety protection component according to claim 1, characterized in that: The connecting component includes a connecting disk (20) fixedly connected to the mounting block (11), and a fixing rod (21) is fixedly provided on the connecting disk (20), a fixing disk (22) is fixedly provided on one end of the fixing rod (21) away from the connecting disk (20), and a stabilizing block (23) is provided on the fixing disk (22), a connecting rod (24) is rotatably provided on the stabilizing block (23), and the connecting rod (24) is rotatably connected to the clamping claw (25).

3. The flexible claw robot arm with a safety protection component according to claim 1, characterized in that: The control mechanism (4) comprises a reinforcement bar (40) rotatably connected to the clamping claw (25), a limit bar (41) rotatably provided on the reinforcement bar (40), and a movable frame (42) rotatably provided on the limit bar (41).

4. The flexible claw robot arm with a safety protection component according to claim 3, characterized in that: The movable frame (42) is provided with a threaded rod (43) on the inner side thereof, and a servo motor (44) located on the inner side of the fixed rod (21) is provided at one end of the threaded rod (43).

5. The flexible claw robot arm with a safety protection component according to claim 4, characterized in that: A stabilizing rod (45) is fixedly provided on the servo motor (44), and a fixing plate (46) is fixedly provided on one end of the stabilizing rod (45) away from the servo motor (44). An extension rod (47) is fixedly provided on the fixing plate (46), and the extension rod (47) is fixedly connected to the fixing plate (22).

6. The flexible claw robot arm with a safety protection component according to claim 5, characterized in that: A stabilizing member (48) is fixedly provided on the fixed disk (22), and the stabilizing member (48) is rotatably connected to the threaded rod (43).

7. The flexible claw robot arm with a safety protection component according to claim 4, characterized in that: The pressure sensor (37) is in communication with an external control system, and the detection threshold of the pressure sensor (37) can be dynamically adjusted. When the clamping pressure exceeds the threshold, the servo motor (44) drives the threaded rod (43) to rotate in the opposite direction to reduce the clamping force.

8. The flexible claw robot arm with a safety protection component according to claim 5, characterized in that: A shock-absorbing cavity is provided inside the extension rod (47), and the shock-absorbing cavity is filled with damping gel.

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