Four-degree-of-freedom part grabbing device and grabbing method

Abstract

The four-degree-of-freedom part grabbing device comprises a machine body, a horizontal arm is connected to the top of the machine body, a vertical arm is rotationally connected to the end, away from the machine body, of the horizontal arm, a wrist connecting piece is connected to the end, away from the horizontal arm, of the vertical arm, and a clamping assembly is connected to the end, away from the vertical arm, of the wrist connecting piece. The invention further discloses a grabbing method of the four-degree-of-freedom part grabbing device. Hidden potential safety hazards in the manual carrying process are thoroughly eliminated, the limitation of a traditional grabbing posture is broken through, the stability and accuracy of the thin-wall part in the grabbing process are remarkably improved, a cylindrical coordinate type mechanical arm structure is selected, four degrees of freedom of axial translation and rotation around the Z axis are integrated, and the grabbing precision is improved. According to the three-dimensional grabbing device, the clamping jaw is a profiling clamping jaw, multi-directional grabbing is achieved, the degree of dependence on a high-precision visual positioning system is greatly reduced, the system architecture is effectively simplified, and the operation flexibility and adaptability are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial automation devices, and in particular relates to a four-degree-of-freedom parts grasping device and a grasping method of the device. Background Art

[0002] As the manufacturing industry accelerates its evolution toward intelligent and automated production, automated production technology has become a core driver for improving production efficiency, reducing operating costs, and ensuring product consistency. The handling and transfer of parts (such as bearing end caps and gear blanks) is highly universal in complex processes, with typical applications including loading and unloading of CNC machine tools, automated assembly lines, and intelligent warehousing systems. Traditional manual operation suffers from inherent drawbacks such as high labor intensity, low efficiency, and insufficient positioning accuracy, necessitating technological advancements through the use of automated handling equipment.

[0003] Manipulators can be driven in a variety of ways, including hydraulic, pneumatic, and electric. Hydraulic drive offers high power and precision, making it suitable for grasping heavier parts. Pneumatic drive is relatively simple, clean, and low-cost, making it suitable for grasping lighter disks. Electric drive offers flexible motion control and low noise. The choice of drive depends on the specific application scenario and requirements for grasping accuracy.

[0004] Existing gripping devices utilize a traditional mechanical gripper structure, grasping parts by opening and closing two jaws. This type of device requires extremely high positioning accuracy during the gripping process. If the part's placement deviates, the gripper's fixed posture becomes difficult to move, preventing accurate gripping of the part. Furthermore, the small contact area between the gripper and the part can easily damage the surface of thin-walled parts, impacting product quality. Uneven weight distribution can also lead to slippage or misalignment during the gripping process, increasing the difficulty of subsequent processing and creating safety risks. Summary of the Invention

[0005] The purpose of the present invention is to provide a four-degree-of-freedom parts grasping device, which solves the problem that the parts cannot be accurately clamped due to the single posture of the clamping claws in the existing grasping device.

[0006] Another object of the present invention is to provide a grasping method for a four-degree-of-freedom part grasping device.

[0007] The technical solution adopted by the present invention is: a four-degree-of-freedom part grasping device, including a fuselage, a horizontal arm connected to the top of the fuselage, the end of the horizontal arm away from the fuselage is rotatably connected to the vertical arm, the end of the vertical arm away from the horizontal arm is connected to the wrist connector, and the end of the wrist connector away from the vertical arm is connected to the clamping assembly.

[0008] The present invention is also characterized in that: The fuselage includes a bottom plate, the surface of the bottom plate is connected to the base, the upper surface of the base is connected to the motor, the output shaft of the motor passes through the surface of the base, the output shaft of the motor is connected to the gear, the gear is meshed and connected to the transmission unit, and the transmission unit passes through the base and is connected to the horizontal arm.

[0009] The transmission unit includes a rotating shaft, which passes through the surface of the base. The shaft body of the rotating shaft is connected to a round nut, and the shaft body of the rotating shaft is also connected to a reduction gear. The reduction gear is engaged with the gear. The surface of the base is connected to a waist seat, and a tapered roller bearing is connected to the waist seat. The rotating shaft is connected to the inner ring of the tapered roller bearing. The end of the rotating shaft passing through the waist seat is connected to a connecting shaft through a flange. The end of the connecting shaft away from the rotating shaft is connected to a connecting shell, and the end of the connecting shell away from the connecting shaft is connected to the horizontal arm.

[0010] The horizontal arm includes a connecting head, an end of the connecting head is connected to the connecting shell, an end of the connecting head away from the connecting shell is connected to a horizontal shell, an inner top surface of the horizontal shell is connected to a horizontal motor, an output shaft of the horizontal motor is connected to a first ball screw, an inner top surface and an inner bottom surface of the horizontal shell are connected to a first slide rail along their length direction, the first slide rail is slidably connected to a first slider, two first sliders are connected to a first connecting plate, the two first connecting plates are arranged opposite to each other, a nut on the first ball screw is connected to one of the first connecting plates, a horizontal push block is between the two first connecting plates, an end of the horizontal push block passes through the horizontal shell and is connected to a horizontal column, and one end of the horizontal column is connected to the vertical arm through an elbow.

[0011] The number of the vibration supports and brackets is set to two, the two vibration supports are connected side by side to the inner wall of the first box body, the two vibration supports are set between the two brackets, and the two vibration wheels are in one-to-one contact with the two cams.

[0012] Both ends of the first ball screw are connected to the limit seats, and the nut is arranged between the two limit seats.

[0013] The vertical arm includes a vertical shell, the end of the vertical shell is connected to the elbow, the inner wall of the vertical shell is connected to a vertical motor, the output shaft of the vertical motor is connected to a second ball screw, the opposite inner walls of the vertical shell are connected to second slide rails, each second slide rail is connected to a second slider, the two second sliders are connected to a second connecting plate, one of the second connecting plates is connected to the screw nut on the second ball screw, both ends of the second ball screw are connected to limit blocks, the screw nut is arranged between the two limit blocks, a vertical push block is connected between the two second connecting plates, and the end of the vertical push block passes through the vertical shell and is connected to the wrist connector.

[0014] The wrist connecting piece includes a wrist shell, one end of which is connected to the vertical pushing block, a stepping motor is connected inside the wrist shell, and an output shaft of the stepping motor passes through the wrist shell and is connected to the clamping assembly.

[0015] The clamping assembly includes a mounting base, which is connected to the output shaft of the stepper motor. A screw elevator is connected inside the mounting base, and the screw of the screw elevator passes through the mounting base. The bottom of the mounting base is connected to a first mounting plate, and four clamping jaws are evenly hinged on the edge of the first mounting plate. The screw passes through the middle of the first mounting plate, and the rod of the screw is connected to the second mounting plate. Each clamping jaw is evenly connected to the edge of the second mounting plate.

[0016] The clamping claw includes a first connecting rod, one end of the first connecting rod is hinged to the edge of the first mounting plate, the other end of the first connecting rod is hinged to the second connecting rod, the end of the second connecting rod away from the first connecting rod is hinged to the fixed rod, the end of the fixed rod is connected to the edge of the second mounting plate, the third connecting rod is hinged to the end away from the second connecting rod with the fourth connecting rod at the hinge point, the third connecting rod is hinged to the end away from the second connecting rod with the fourth connecting rod, the fifth connecting rod is hinged to the end close to the second mounting plate, the end of the fifth connecting rod away from the fixed rod is hinged to the fourth connecting rod, the hinge point of the fifth connecting rod and the fourth connecting rod is also hinged to a clamping rod, and the inner side of the clamping rod is connected to a silicone anti-slip layer.

[0017] Another technical solution adopted by the present invention is a grasping method of a four-degree-of-freedom part grasping device, which is specifically implemented according to the following steps: Step 1. The motor rotates, driving the rotating shaft through the reduction gear, and the rotating shaft drives the entire device to perform circular motion; Step 2. The horizontal motor drives the first ball screw to rotate, which drives the first connecting plate to move horizontally through the nut. The first connecting plate drives the vertical arm and the clamping assembly to move horizontally through the horizontal push block. Step 3. The vertical motor drives the second ball screw to rotate, which drives the second connecting plate to move vertically through the screw nut. The second connecting plate drives the vertical push block to move in the vertical direction to lift the clamping assembly; Step 4. The stepper motor drives the clamping assembly to rotate, accurately aligning the position of the part to be clamped. The rotation of the screw elevator drives the second mounting plate to rise, and the part can be clamped.

[0018] The beneficial effects of the present invention are: The four-degree-of-freedom parts grasping device of the present invention completely eliminates the potential safety hazards in the manual handling process, breaks through the limitations of traditional grasping postures, and significantly improves the stability and accuracy of thin-walled parts during the grasping process. It adopts a cylindrical coordinate robotic arm structure, which integrates four degrees of freedom of axial translation and rotation around the Z axis, and fully covers any grasping position and posture in three-dimensional space. The gripper is a contour-matching gripper, which can grasp in multiple directions, greatly reducing the dependence on high-precision visual positioning systems, effectively simplifying the system architecture, and improving operational flexibility and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a structural schematic diagram of the four-degree-of-freedom parts grasping device of the present invention; Figure 2 It is a schematic diagram of the connection structure of the base in the four-degree-of-freedom parts grasping device of the present invention; Figure 3 It is a cross-sectional view of the connection structure of the base in the four-degree-of-freedom parts grasping device of the present invention; Figure 4 It is a schematic diagram of the internal structure of the horizontal arm in the four-degree-of-freedom parts grasping device of the present invention; Figure 5 It is a schematic diagram of the internal structure of the vertical arm in the four-degree-of-freedom parts grasping device of the present invention; Figure 6 It is a cross-sectional view of the connection structure of the wrist connector in the four-degree-of-freedom parts grasping device of the present invention; Figure 7 It is a schematic structural diagram of the clamping assembly in the four-degree-of-freedom parts grasping device of the present invention; Figure 8 It is a schematic diagram of the connection structure of the second mounting plate in the four-degree-of-freedom parts grasping device of the present invention.

[0020] In the figure, 1. Body, 11. Base, 12. Bottom plate, 13. Rotating shaft, 131. Round nut, 132. Reduction gear, 133. Flange, 134. Connecting shaft, 135. Connecting shell, 14. Motor, 141. Gear, 15. Waist seat, 151. Tapered roller bearing, 2. Horizontal arm, 21. Connecting head, 22. Horizontal shell, 23. Horizontal motor, 24. First ball screw, 241. Nut, 242. Limit seat, 25. First slide rail, 26. First slider, 27. First connecting plate, 28. Horizontal push block, 29. Horizontal column, 210. Elbow, 3. Vertical arm, 31. Vertical shell, 32 .Vertical motor, 33. Second ball screw, 331. Screw nut, 332. Limit block, 34. Second slide rail, 341. Second slider, 35. Second connecting plate, 36. Vertical push block, 4. Wrist connector, 41. Stepper motor, 42. Wrist housing, 5. Clamping assembly, 51. Mounting seat, 511. Screw, 52. First mounting plate, 53. Clamping jaw, 531. First connecting rod, 532. Second connecting rod, 533. Fixed rod, 534. Third connecting rod, 535. Fourth connecting rod, 536. Fifth connecting rod, 537. Clamping rod, 538. Silicone anti-slip layer, 54. Second mounting plate, 55. Screw lift. DETAILED DESCRIPTION

[0021] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] The present invention provides a four-degree-of-freedom parts grasping device, such as Figure 1As shown, it includes a fuselage 1, a horizontal arm 2 is connected to the top of the fuselage 1, a vertical arm 3 is rotatably connected to the end of the horizontal arm 2 away from the fuselage 1, a wrist connector 4 is connected to the end of the vertical arm 3 away from the horizontal arm 2, and a clamping assembly 5 is connected to the end of the wrist connector 4 away from the vertical arm 3. The fuselage 1 serves as a supporting component of the entire device, ensuring the stability of the entire device. The fuselage 1 can rotate 360 ​​degrees, allowing the clamping assembly 5 to clamp parts more flexibly. The vertical arm 3 can be extended and retracted along the horizontal arm 2 to extend the clamping distance of the device. The wrist connector 4 can be extended and retracted along the vertical arm 3 to raise and lower the clamping assembly 5, and the wrist connector 4 can drive the clamping assembly 5 to rotate, allowing more flexible and accurate clamping of parts, effectively and accurately realizing part loading and unloading, improving production efficiency, reducing production costs, and reducing manual operations.

[0023] Example 1 A four-degree-of-freedom parts grasping device includes a fuselage 1, a horizontal arm 2 is connected to the top of the fuselage 1, the end of the horizontal arm 2 away from the fuselage 1 is rotatably connected to a vertical arm 3, the end of the vertical arm 3 away from the horizontal arm 2 is connected to a wrist connector 4, and the end of the wrist connector 4 away from the vertical arm 3 is connected to a clamping assembly 5.

[0024] like Figure 2-3 As shown, the machine body 1 includes a base plate 12, the surface of which is connected to a base 11. A motor 14 is connected to the upper surface of the base 11. The output shaft of the motor 14 passes through the surface of the base 11 and is connected to a gear 141. The gear 141 meshes with a transmission unit, which passes through the base 11 and connects to the horizontal arm 2. The base plate 12 has a circular structure, which increases the contact area with the ground and ensures the stability of the device. A vibration-damping pad is connected to the bottom of the base plate 12 to reduce impact force and extend the service life of the base plate 12. Depending on actual operating conditions, an array of threaded holes can be opened in the base plate 12 and connected via bolts to further stabilize the device. The base 11 is a cylindrical shell, and the gear 141 is disposed within the base 11. The motor 14 drives the transmission unit through the gear 141, which in turn drives the horizontal arm 2, thereby driving the entire working component. The torque of the motor 14 is 12 N·m, and the output speed is 240 r / min.

[0025] The transmission unit includes a rotating shaft 13, which passes through the surface of the base 11. The shaft body of the rotating shaft 13 is connected to a round nut 131. The shaft body of the rotating shaft 13 is also connected to a reduction gear 132. The reduction gear 132 is engaged with the gear 141. The surface of the base 11 is connected to a waist seat 15. The waist seat 15 is connected to a tapered roller bearing 151. The rotating shaft 13 is connected to the inner ring of the tapered roller bearing 151. The end of the rotating shaft 13 passing through the waist seat 15 is connected to a connecting shaft 134 through a flange 133. The end of the connecting shaft 134 away from the rotating shaft 13 is connected to a connecting shell 135. The end of the connecting shell 135 away from the connecting shaft 134 is connected to the horizontal arm 2. Round nut 131 is installed inside base 11 to stabilize reduction gear 132 and prevent it from slipping during rotation. Waist seat 15 is fixedly connected to base 11. Gear 141 drives reduction gear 132 to rotate, which in turn drives rotary shaft 13, which in turn drives horizontal arm 2 via connecting shaft 134. Rotating shaft 13 adopts a hollow design, effectively reducing cost and device weight.

[0026] Example 2 A four-degree-of-freedom parts grasping device includes a fuselage 1, a horizontal arm 2 is connected to the top of the fuselage 1, the end of the horizontal arm 2 away from the fuselage 1 is rotatably connected to a vertical arm 3, the end of the vertical arm 3 away from the horizontal arm 2 is connected to a wrist connector 4, and the end of the wrist connector 4 away from the vertical arm 3 is connected to a clamping assembly 5.

[0027] The fuselage 1 includes a bottom plate 12, the surface of the bottom plate 12 is connected to the base 11, the upper surface of the base 11 is connected to the motor 14, the output shaft of the motor 14 passes through the surface of the base 11, the output shaft of the motor 14 is connected to the gear 141, the gear 141 is meshed with the transmission unit, and the transmission unit passes through the base 11 and is connected to the horizontal arm 2.

[0028] The transmission unit includes a rotating shaft 13, which passes through the surface of the base 11. The shaft body of the rotating shaft 13 is connected to a round nut 131. The shaft body of the rotating shaft 13 is also connected to a reduction gear 132. The reduction gear 132 is engaged with the gear 141. The surface of the base 11 is connected to a waist seat 15. The waist seat 15 is connected to a tapered roller bearing 151. The rotating shaft 13 is connected to the inner ring of the tapered roller bearing 151. The end of the rotating shaft 13 passing through the waist seat 15 is connected to a connecting shaft 134 through a flange 133. The end of the connecting shaft 134 away from the rotating shaft 13 is connected to a connecting shell 135. The end of the connecting shell 135 away from the connecting shaft 134 is connected to the horizontal arm 2.

[0029] like Figure 4As shown, the horizontal arm 2 includes a connecting head 21, the end of the connecting head 21 is connected to the connecting shell 135, the end of the connecting head 21 away from the connecting shell 135 is connected to the horizontal shell 22, the inner top surface of the horizontal shell 22 is connected to the horizontal motor 23, the output shaft of the horizontal motor 23 is connected to the first ball screw 24, the inner top surface and the inner bottom surface of the horizontal shell 22 are connected to the first slide rail 25 along the length direction, the first slide rail 25 is slidably connected to the first slider 26, the two first sliders 26 are connected to the first connecting plate 27, the two first connecting plates 27 are arranged opposite to each other, the nut 241 on the first ball screw 24 is connected to one of the first connecting plates 27, and a horizontal push block 28 is placed between the two first connecting plates 27. The end of the horizontal push block 28 passes through the horizontal shell 22 and is connected to a horizontal column 29. One end of the horizontal column 29 is connected to the vertical arm 3 through an elbow 210. The cross section of the connecting head 21 is an L-shaped structure with a cavity inside. An opening is provided at the end of the horizontal housing 22 connected to the vertical arm 3 to facilitate the extension and retraction of the horizontal column 29 and the horizontal pushing block 28. The horizontal motor 23 is connected to the inner top surface of the horizontal housing 22 through a bracket. The horizontal motor 23 is arranged close to the connecting head 21. The nut 241 is sleeved on the first ball screw 24. The length direction of the first ball screw 24 is consistent with the length direction of the horizontal housing 22. The horizontal motor 23 drives the first ball screw 24 to rotate, and the nut 241 performs linear motion along the first ball screw 24, driving the first connecting plate 27 connected to the nut 241 to slide. During the sliding process of the first connecting plate 27, the first slider 26 connected to it slides along the first slide rail 25, while driving the horizontal pushing block 28 and the other first connecting plate 27 to slide. The first slider 26 not only ensures the stability of the first connecting plate 27, but also guides it. Each first connecting plate 27 is connected to two first sliders 26, and each first slider 26 corresponds to a first slide rail 25.

[0030] Both ends of the first ball screw 24 are connected to the limiting seats 242, and the nut 241 is arranged between the two limiting seats 242. The setting of the limiting seat 242 prevents the nut 241 from sliding off.

[0031] Example 3 A four-degree-of-freedom parts grasping device includes a fuselage 1, a horizontal arm 2 is connected to the top of the fuselage 1, the end of the horizontal arm 2 away from the fuselage 1 is rotatably connected to a vertical arm 3, the end of the vertical arm 3 away from the horizontal arm 2 is connected to a wrist connector 4, and the end of the wrist connector 4 away from the vertical arm 3 is connected to a clamping assembly 5.

[0032] The fuselage 1 includes a bottom plate 12, the surface of the bottom plate 12 is connected to the base 11, the upper surface of the base 11 is connected to the motor 14, the output shaft of the motor 14 passes through the surface of the base 11, the output shaft of the motor 14 is connected to the gear 141, the gear 141 is meshed with the transmission unit, and the transmission unit passes through the base 11 and is connected to the horizontal arm 2.

[0033] The transmission unit includes a rotating shaft 13, which passes through the surface of the base 11. The shaft body of the rotating shaft 13 is connected to a round nut 131. The shaft body of the rotating shaft 13 is also connected to a reduction gear 132. The reduction gear 132 is engaged with the gear 141. The surface of the base 11 is connected to a waist seat 15. The waist seat 15 is connected to a tapered roller bearing 151. The rotating shaft 13 is connected to the inner ring of the tapered roller bearing 151. The end of the rotating shaft 13 passing through the waist seat 15 is connected to a connecting shaft 134 through a flange 133. The end of the connecting shaft 134 away from the rotating shaft 13 is connected to a connecting shell 135. The end of the connecting shell 135 away from the connecting shaft 134 is connected to the horizontal arm 2.

[0034] The horizontal arm 2 includes a connecting head 21, the end of the connecting head 21 is connected to the connecting shell 135, the end of the connecting head 21 away from the connecting shell 135 is connected to the horizontal shell 22, the inner top surface of the horizontal shell 22 is connected to the horizontal motor 23, the output shaft of the horizontal motor 23 is connected to the first ball screw 24, the inner top surface and the inner bottom surface of the horizontal shell 22 are connected to the first slide rail 25 along the length direction, the first slide rail 25 is slidably connected to the first slider 26, the two first sliders 26 are connected to the first connecting plate 27, the two first connecting plates 27 are arranged opposite to each other, the nut 241 on the first ball screw 24 is connected to one of the first connecting plates 27, and a horizontal push block 28 is placed between the two first connecting plates 27. The end of the horizontal push block 28 passes through the horizontal shell 22 and is connected to a horizontal column 29. One end of the horizontal column 29 is connected to the vertical arm 3 through an elbow 210.

[0035] Both ends of the first ball screw 24 are connected to the limiting seats 242 , and the nut 241 is disposed between the two limiting seats 242 .

[0036] like Figure 5As shown, the vertical arm 3 includes a vertical shell 31, the vertical shell 31 is connected to the elbow 210, the inner wall of the vertical shell 31 is connected to the vertical motor 32, the output shaft of the vertical motor 32 is connected to the second ball screw 33, the relative inner walls of the vertical shell 31 are connected to the second slide rails 34, each second slide rail 34 is connected to a second slider 341, the two second sliders 341 are connected to a second connecting plate 35, one of the second connecting plates 35 is connected to the screw nut 331 on the second ball screw 33, both ends of the second ball screw 33 are connected to the limiting blocks 332, the screw nut 331 is arranged between the two limiting blocks 332, and a vertical push block 36 is connected between the two second connecting plates 35, and the end of the vertical push block 36 passes through the vertical shell 31 and is connected to the wrist connector 4. An opening is also provided at the end of the vertical housing 31 away from the elbow 210, which facilitates the extension and retraction of the vertical push block 36 and the wrist connector 4 in the vertical direction. The vertical motor 32 is arranged close to the elbow 210, and the length direction of the second ball screw 33 is consistent with the length direction of the vertical housing 31. The two second connecting plates 35 are arranged opposite to and parallel to each other. The extension and retraction principle in the vertical arm 3 is the same as the extension and retraction principle of the horizontal arm 2. The vertical motor 32 drives the second ball screw 33 to rotate, and the screw nut 331 moves linearly along the second ball screw 33, and then drives the vertical push block 36 to move through the second connecting plate 35, thereby realizing the movement of the wrist connector 4 in the vertical direction.

[0037] Example 4 A four-degree-of-freedom parts grasping device includes a fuselage 1, a horizontal arm 2 is connected to the top of the fuselage 1, the end of the horizontal arm 2 away from the fuselage 1 is rotatably connected to a vertical arm 3, the end of the vertical arm 3 away from the horizontal arm 2 is connected to a wrist connector 4, and the end of the wrist connector 4 away from the vertical arm 3 is connected to a clamping assembly 5.

[0038] The fuselage 1 includes a bottom plate 12, the surface of the bottom plate 12 is connected to the base 11, the upper surface of the base 11 is connected to the motor 14, the output shaft of the motor 14 passes through the surface of the base 11, the output shaft of the motor 14 is connected to the gear 141, the gear 141 is meshed with the transmission unit, and the transmission unit passes through the base 11 and is connected to the horizontal arm 2.

[0039] The transmission unit includes a rotating shaft 13, which passes through the surface of the base 11. The shaft body of the rotating shaft 13 is connected to a round nut 131. The shaft body of the rotating shaft 13 is also connected to a reduction gear 132. The reduction gear 132 is engaged with the gear 141. The surface of the base 11 is connected to a waist seat 15. The waist seat 15 is connected to a tapered roller bearing 151. The rotating shaft 13 is connected to the inner ring of the tapered roller bearing 151. The end of the rotating shaft 13 passing through the waist seat 15 is connected to a connecting shaft 134 through a flange 133. The end of the connecting shaft 134 away from the rotating shaft 13 is connected to a connecting shell 135. The end of the connecting shell 135 away from the connecting shaft 134 is connected to the horizontal arm 2.

[0040] The horizontal arm 2 includes a connecting head 21, the end of the connecting head 21 is connected to the connecting shell 135, the end of the connecting head 21 away from the connecting shell 135 is connected to the horizontal shell 22, the inner top surface of the horizontal shell 22 is connected to the horizontal motor 23, the output shaft of the horizontal motor 23 is connected to the first ball screw 24, the inner top surface and the inner bottom surface of the horizontal shell 22 are connected to the first slide rail 25 along the length direction, the first slide rail 25 is slidably connected to the first slider 26, the two first sliders 26 are connected to the first connecting plate 27, the two first connecting plates 27 are arranged opposite to each other, the nut 241 on the first ball screw 24 is connected to one of the first connecting plates 27, and a horizontal push block 28 is placed between the two first connecting plates 27. The end of the horizontal push block 28 passes through the horizontal shell 22 and is connected to a horizontal column 29. One end of the horizontal column 29 is connected to the vertical arm 3 through an elbow 210.

[0041] Both ends of the first ball screw 24 are connected to the limiting seats 242 , and the nut 241 is disposed between the two limiting seats 242 .

[0042] The vertical arm 3 includes a vertical housing 31, which is connected to the elbow 210, and the inner wall of the vertical housing 31 is connected to a vertical motor 32, and the output shaft of the vertical motor 32 is connected to a second ball screw 33, and the relative inner walls of the vertical housing 31 are connected to second slide rails 34, each second slide rail 34 is connected to a second slider 341, and the two second sliders 341 are connected to a second connecting plate 35, one of the second connecting plates 35 is connected to the screw nut 331 on the second ball screw 33, and both ends of the second ball screw 33 are connected to a limiting block 332, and the screw nut 331 is arranged between the two limiting blocks 332, and a vertical push block 36 is connected between the two second connecting plates 35, and the end of the vertical push block 36 passes through the vertical housing 31 and is connected to the wrist connector 4.

[0043] like Figure 6 As shown, the wrist connector 4 includes a wrist housing 42, one end of which is connected to the vertical push block 36. A stepper motor 41 is connected to the wrist housing 42, and the output shaft of the stepper motor 41 passes through the wrist housing 42 and is connected to the clamping assembly 5. The stepper motor 41 drives the clamping assembly 5 to rotate, which can accurately position the part.

[0044] Example 5 A four-degree-of-freedom parts grasping device includes a fuselage 1, a horizontal arm 2 is connected to the top of the fuselage 1, the end of the horizontal arm 2 away from the fuselage 1 is rotatably connected to a vertical arm 3, the end of the vertical arm 3 away from the horizontal arm 2 is connected to a wrist connector 4, and the end of the wrist connector 4 away from the vertical arm 3 is connected to a clamping assembly 5.

[0045] The fuselage 1 includes a bottom plate 12, the surface of the bottom plate 12 is connected to the base 11, the upper surface of the base 11 is connected to the motor 14, the output shaft of the motor 14 passes through the surface of the base 11, the output shaft of the motor 14 is connected to the gear 141, the gear 141 is meshed with the transmission unit, and the transmission unit passes through the base 11 and is connected to the horizontal arm 2.

[0046] The transmission unit includes a rotating shaft 13, which passes through the surface of the base 11. The shaft body of the rotating shaft 13 is connected to a round nut 131. The shaft body of the rotating shaft 13 is also connected to a reduction gear 132. The reduction gear 132 is engaged with the gear 141. The surface of the base 11 is connected to a waist seat 15. The waist seat 15 is connected to a tapered roller bearing 151. The rotating shaft 13 is connected to the inner ring of the tapered roller bearing 151. The end of the rotating shaft 13 passing through the waist seat 15 is connected to a connecting shaft 134 through a flange 133. The end of the connecting shaft 134 away from the rotating shaft 13 is connected to a connecting shell 135. The end of the connecting shell 135 away from the connecting shaft 134 is connected to the horizontal arm 2.

[0047] The horizontal arm 2 includes a connecting head 21, the end of the connecting head 21 is connected to the connecting shell 135, the end of the connecting head 21 away from the connecting shell 135 is connected to the horizontal shell 22, the inner top surface of the horizontal shell 22 is connected to the horizontal motor 23, the output shaft of the horizontal motor 23 is connected to the first ball screw 24, the inner top surface and the inner bottom surface of the horizontal shell 22 are connected to the first slide rail 25 along the length direction, the first slide rail 25 is slidably connected to the first slider 26, the two first sliders 26 are connected to the first connecting plate 27, the two first connecting plates 27 are arranged opposite to each other, the nut 241 on the first ball screw 24 is connected to one of the first connecting plates 27, and a horizontal push block 28 is placed between the two first connecting plates 27. The end of the horizontal push block 28 passes through the horizontal shell 22 and is connected to a horizontal column 29. One end of the horizontal column 29 is connected to the vertical arm 3 through an elbow 210.

[0048] Both ends of the first ball screw 24 are connected to the limiting seats 242 , and the nut 241 is disposed between the two limiting seats 242 .

[0049] The vertical arm 3 includes a vertical housing 31, which is connected to the elbow 210, and the inner wall of the vertical housing 31 is connected to a vertical motor 32, and the output shaft of the vertical motor 32 is connected to a second ball screw 33, and the relative inner walls of the vertical housing 31 are connected to second slide rails 34, each second slide rail 34 is connected to a second slider 341, and the two second sliders 341 are connected to a second connecting plate 35, one of the second connecting plates 35 is connected to the screw nut 331 on the second ball screw 33, and both ends of the second ball screw 33 are connected to a limiting block 332, and the screw nut 331 is arranged between the two limiting blocks 332, and a vertical push block 36 is connected between the two second connecting plates 35, and the end of the vertical push block 36 passes through the vertical housing 31 and is connected to the wrist connector 4.

[0050] The wrist connector 4 includes a wrist housing 42 , one end of which is connected to the vertical push block 36 , a stepper motor 41 is connected inside the wrist housing 42 , and an output shaft of the stepper motor 41 passes through the wrist housing 42 and is connected to the clamping assembly 5 .

[0051] like Figure 7-8 As shown, the clamping assembly 5 includes a mounting base 51, which is connected to the output shaft of the stepper motor 41, and a screw elevator 55 is connected inside the mounting base 51. The screw 511 of the screw elevator 55 passes through the mounting base 51, and the bottom of the mounting base 51 is connected to a first mounting plate 52. Four clamping jaws 53 are evenly hinged on the edge of the first mounting plate 52. The screw rod 511 passes through the middle of the first mounting plate 52, and the rod body of the screw rod 511 is connected to the second mounting plate 54. Each clamping jaw 53 is evenly connected to the edge of the second mounting plate 54. The stepper motor 41 drives the mounting base 51 to rotate. The working principle of the screw lift 55 is similar to that of the ball screw. The second mounting plate 54 is equivalent to the nut on the ball screw. The rotation of the screw lift 55 drives the screw rod 511 to rotate. The second mounting plate 54 can only move linearly along the screw rod 511 under the limiting action of the four clamping jaws 53. When the second mounting plate 54 reciprocates along the screw rod 511, the clamping jaws 53 can be opened or clamped to clamp the parts.

[0052] The clamping jaw 53 includes a first link 531, one end of the first link 531 is hinged to the edge of the first mounting plate 52, the other end of the first link 531 is hinged to the second link 532, the end of the second link 532 away from the first link 531 is hinged to the fixing rod 533, the end of the fixing rod 533 is connected to the edge of the second mounting plate 54, the hinge point between the second link 532 and the fixing rod 533 is hinged to the third link 534, the end of the third link 534 away from the second link 532 is hinged to the fourth link 535, the end of the fixing rod 533 close to the second mounting plate 54 is hinged to the fifth link 536, the end of the fifth link 536 away from the fixing rod 533 is hinged to the fourth link 535, the hinge point between the fifth link 536 and the fourth link 535 is also hinged to a clamping rod 537, and the inner side of the clamping rod 537 is connected to a silicone anti-slip layer 538. The second connecting rod 532 and the third connecting rod 534 are integrally formed. The third connecting rod 534, the fixing rod 533, the fifth connecting rod 536, and the fourth connecting rod 535 form a parallelogram structure. The ends of the clamping rod 537 are bent to facilitate clamping of parts. The silicone anti-slip layer 538 increases friction when clamping parts while protecting them from damage and scratches. When the second mounting plate 54 rises, the clamping rods 537 move closer together through the multi-link linkage, clamping the parts. Conversely, when the second mounting plate 54 descends, the clamping rods 537 release the parts.

[0053] Example 6 The grasping method of the four-degree-of-freedom part grasping device is specifically implemented according to the following steps: Step 1. The motor 14 rotates, driving the rotary shaft 13 to rotate through the reduction gear 141, and the rotary shaft 13 drives the entire device to perform circular motion; Step 2. The horizontal motor 23 drives the first ball screw 24 to rotate, which drives the first connecting plate 27 to move horizontally through the nut 241. The first connecting plate 27 drives the vertical arm 3 and the clamping assembly 5 to move horizontally through the horizontal push block 28; Step 3. The vertical motor 32 drives the second ball screw 33 to rotate, which drives the second connecting plate 35 to move vertically through the screw nut 331. The second connecting plate 35 drives the vertical push block 36 to move in the vertical direction, thereby raising and lowering the clamping assembly 5. Step 4. The stepper motor 41 drives the clamping assembly 5 to rotate, accurately aligning the position of the part to be clamped. The rotation of the screw elevator 55 drives the second mounting plate 54 to rise, and the part can be clamped.

[0054] The working principle of the four-degree-of-freedom parts grasping device of the present invention is as follows: The motor 14 drives the reduction gear 132 to rotate through the gear 141, and the reduction gear 132 drives the rotary shaft 13 to rotate, and then drives the horizontal arm 2 to rotate through the connecting shaft 134. The horizontal motor 23 drives the first ball screw 24 to rotate, and the nut 241 makes a linear motion along the first ball screw 24, driving the first connecting plate 27 connected to the nut 241 to slide, that is, driving the horizontal push block 28 to move horizontally, realizing the extension and retraction of the vertical arm 3 in the horizontal direction, and the vertical motor 32 drives the second ball screw 33 to rotate, and the screw nut 3 31 makes linear motion along the second ball screw 33, and then drives the vertical push block 36 to move through the second connecting plate 35, so as to realize the vertical movement of the wrist connector 4, and the stepping motor 41 drives the clamping assembly 5 to rotate, and the screw elevator 55 drives the screw rod 511 to rotate, and drives the second mounting plate 54 to make linear motion along the screw rod 511. When the second mounting plate 54 rises, the clamping rods 537 approach each other through the multi-link linkage, so as to clamp the parts. On the contrary, when the second mounting plate 54 descends, the clamping rod 537 releases the parts.

[0055] The four-degree-of-freedom parts grasping device of the present invention completely eliminates the potential safety hazards during manual handling, breaks through the limitations of traditional grasping postures, and significantly improves the stability and accuracy of thin-walled parts during the grasping process. It adopts a cylindrical coordinate robotic arm structure and integrates four degrees of freedom of axial translation and rotation around the Z axis, fully covering any grasping position and posture in three-dimensional space.

Claims

1. Four-degree-of-freedom parts grasping device, characterized in that: The invention comprises a fuselage (1), wherein the top of the fuselage (1) is connected to a horizontal arm (2), the end of the horizontal arm (2) away from the fuselage (1) is rotatably connected to a vertical arm (3), the end of the vertical arm (3) away from the horizontal arm (2) is connected to a wrist connector (4), and the end of the wrist connector (4) away from the vertical arm (3) is connected to a clamping assembly (5).

2. The four-degree-of-freedom parts grasping device according to claim 1, characterized in that: The body (1) includes a bottom plate (12), a plate surface of the bottom plate (12) is connected to a base (11), an upper surface of the base (11) is connected to a motor (14), an output shaft of the motor (14) passes through the surface of the base (11), the output shaft of the motor (14) is connected to a gear (141), the gear (141) is meshedly connected to a transmission unit, and the transmission unit passes through the base (11) and is connected to the horizontal arm (2).

3. The four-degree-of-freedom parts grasping device according to claim 2, characterized in that: The transmission unit includes a rotating shaft (13), the rotating shaft (13) passes through the surface of the base (11), the shaft body of the rotating shaft (13) is connected to a round nut (131), the shaft body of the rotating shaft (13) is also connected to a reduction gear (132), the reduction gear (132) is meshed with a gear (141), the surface of the base (11) is connected to a waist seat (15), the waist seat (15) is connected to a tapered roller bearing (151), the rotating shaft (13) is connected to the inner ring of the tapered roller bearing (151), the end of the rotating shaft (13) passing through the waist seat (15) is connected to a connecting shaft (134) through a flange (133), the end of the connecting shaft (134) away from the rotating shaft (13) is connected to a connecting shell (135), and the end of the connecting shell (135) away from the connecting shaft (134) is connected to the horizontal arm (2).

4. The four-degree-of-freedom parts grasping device according to claim 3, characterized in that: The horizontal arm (2) includes a connecting head (21), an end of the connecting head (21) is connected to the connecting shell (135), an end of the connecting head (21) away from the connecting shell (135) is connected to a horizontal shell (22), an inner top surface of the horizontal shell (22) is connected to a horizontal motor (23), an output shaft of the horizontal motor (23) is connected to a first ball screw (24), and the inner top surface and inner bottom surface of the horizontal shell (22) are both connected to a first slide rail (25) along the length direction thereof, and the first slide rail (25) is slidably connected to the horizontal shell (22). A first slider (26) is connected, and the two first sliders (26) are both connected to a first connecting plate (27). The two first connecting plates (27) are arranged opposite to each other. The nut (241) on the first ball screw (24) is connected to one of the first connecting plates (27). A horizontal push block (28) is provided between the two first connecting plates (27). The end of the horizontal push block (28) passes through the horizontal housing (22) and is connected to a horizontal column (29). One end of the horizontal column (29) is connected to the vertical arm (3) through an elbow (210).

5. The four-degree-of-freedom parts grasping device according to claim 4, characterized in that: Both ends of the first ball screw (24) are connected to limit seats (242), and the nut (241) is arranged between the two limit seats (242).

6. The four-degree-of-freedom parts grasping device according to claim 4, characterized in that: The vertical arm (3) includes a vertical housing (31), the end of the vertical housing (31) is connected to the elbow (210), the inner wall of the vertical housing (31) is connected to a vertical motor (32), the output shaft of the vertical motor (32) is connected to a second ball screw (33), the opposite inner side walls of the vertical housing (31) are connected to second slide rails (34), each second slide rail (34) is connected to a second slider (341), and the two second sliders (341) are connected to the second slider (341). Two connecting plates (35), one of the second connecting plates (35) is connected to a screw nut (331) on a second ball screw (33), both ends of the second ball screw (33) are connected to limit blocks (332), the screw nut (331) is arranged between the two limit blocks (332), a vertical push block (36) is connected between the two second connecting plates (35), and an end of the vertical push block (36) passes through the vertical housing (31) and is connected to the wrist connector (4).

7. The four-degree-of-freedom parts grasping device according to claim 6, characterized in that: The wrist connecting member (4) includes a wrist housing (42), one end of which is connected to the vertical push block (36), a stepper motor (41) is connected to the wrist housing (42), and an output shaft of the stepper motor (41) passes through the wrist housing (42) and is connected to the clamping assembly (5).

8. The four-degree-of-freedom parts grasping device according to claim 7, characterized in that: The clamping assembly (5) includes a mounting base (51), the mounting base (51) is connected to the output shaft of the stepper motor (41), a screw elevator (55) is connected inside the mounting base (51), a screw rod (511) of the screw elevator (55) passes through the mounting base (51), the bottom of the mounting base (51) is connected to a first mounting plate (52), the edge of the first mounting plate (52) is evenly hinged with four clamping claws (53), the screw rod (511) passes through the middle of the first mounting plate (52), the rod body of the screw rod (511) is connected to a second mounting plate (54), and each of the clamping claws (53) is evenly connected to the edge of the second mounting plate (54).

9. The four-degree-of-freedom parts grasping device according to claim 8, characterized in that: The clamping jaw (53) includes a first connecting rod (531), one end of the first connecting rod (531) is hinged to the edge of the first mounting plate (52), the other end of the first connecting rod (531) is hinged to a second connecting rod (532), the end of the second connecting rod (532) away from the first connecting rod (531) is hinged to a fixing rod (533), the end of the fixing rod (533) is connected to the edge of the second mounting plate (54), and the hinge point between the second connecting rod (532) and the fixing rod (533) is hinged to a third connecting rod (533). 34), the end of the third link (534) away from the second link (532) is hinged to the fourth link (535), the end of the fixed rod (533) close to the second mounting plate (54) is hinged to the fifth link (536), the end of the fifth link (536) away from the fixed rod (533) is hinged to the fourth link (535), and the hinge point of the fifth link (536) and the fourth link (535) is further hinged to a clamping rod (537), and the inner side of the clamping rod (537) is connected to a silicone anti-slip layer (538).

10. The grasping method of the four-degree-of-freedom part grasping device according to any one of claims 1 to 9, characterized in that: Please follow the steps below to implement it: Step 1. The motor (14) rotates, driving the rotary shaft (13) to rotate through the reduction gear (141), and the rotary shaft (13) drives the entire device to perform circular motion; Step 2. The horizontal motor (23) drives the first ball screw (24) to rotate, and drives the first connecting plate (27) to move horizontally through the nut (241). The first connecting plate (27) drives the vertical arm (3) and the clamping assembly (5) to move horizontally through the horizontal push block (28); Step 3. The vertical motor (32) drives the second ball screw (33) to rotate, and drives the second connecting plate (35) to move vertically through the screw nut (331). The second connecting plate (35) drives the vertical push block (36) to move in the vertical direction, thereby lifting and lowering the clamping assembly (5); Step 4. The stepper motor (41) drives the clamping assembly (5) to rotate and accurately align the position of the part to be clamped. The rotation of the screw elevator (55) drives the second mounting plate (54) to rise, thereby clamping the part.

Images