Industrial mechanical arm capable of being finely adjusted through visual identification

Abstract

The invention discloses an industrial mechanical arm capable of being finely adjusted through visual identification, and relates to the field of industrial mechanical arms. The industrial mechanical arm capable of being finely adjusted through visual identification comprises a base, the base comprises a plurality of sets of motors and transmission arms, and the output end of the base is connected with a limiting plate; a visual camera is installed at the bottom end of the limiting plate, the limiting plate is hollow, a bidirectional air cylinder is installed in the limiting plate, the output end of the bidirectional air cylinder is connected with an output rod, and the outer side of the output rod is rotationally connected with a supporting disc. Through the arranged base and the motors, in the using process, the angle of the limiting plate can be controlled through the motors, so that it is guaranteed that the limiting plate is located above materials all the time, then the motors are started, the limiting plate can be driven to move to the position above the materials, and through cooperation with a supporting disc, an electromagnetic negative pressure assembly and suction cups, the materials are conveyed to the position above the materials; and different materials are clamped, and the clamping efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of industrial robotic arms, specifically an industrial robotic arm that is finely adjusted through visual recognition. Background Technology

[0002] Industrial robotic arms are automated equipment in modern manufacturing that simulates the movements of human arms. With precise and controllable multi-degree-of-freedom motion, they complete repetitive tasks such as grasping, handling, assembly, welding, and processing according to preset programs or real-time commands. They are core equipment driving the transformation of production towards automation and intelligence. Their core components consist of three key modules: the mechanical structure, acting as the "body," comprises a base, a multi-joint arm, a flexible wrist, and replaceable end effectors. The base provides stable support, while the arm and wrist achieve multi-dimensional movement through rotation and translation joints. The end effector adapts to different operating scenarios, such as grippers, suction cups, spray guns, or cutting tools. The control system, like the "brain," receives commands and plans motion paths through algorithms, precisely controlling joint angles and movement speed, keeping errors within millimeters or even micrometers. The drive system, like the "muscles," provides power to the robotic arm. Currently, mainstream electric drives are widely used in various precision manufacturing fields due to their high precision and low pollution, especially in logistics and transportation processes where industrial robotic arms are needed to sort and move packages before transport.

[0003] Existing technologies, such as the industrial robotic arm disclosed in Chinese Patent Publication No. CN113478472B, target objects with flat surfaces. An adjusting mechanism drives a rotating shaft, which in turn rotates a clamping block within a side hole. This causes the free end of the clamping block to rotate directly below the slider, passing over the contact surface between the slider and the object. This ensures that the free end of the clamping block does not contact the object's surface when the slider is in contact with it. A driving mechanism then drives two sliders to move towards each other, clamping the object by abutting against its surface, and transferring the object to its destination. Compared to existing technologies, this solution increases the contact area by using sliders instead of clamping blocks, thus enhancing the clamping effect and improving the stability of the clamping, effectively preventing damage caused by the object falling.

[0004] However, the existing technology has an overly simple structure. During the clamping and logistics transfer process, it needs to deal with different objects. Some objects cannot be moved from above and need to be clamped from the side, but some products can only be clamped from above. When adjusting, the existing technology usually requires multiple sets of clamps, which is inefficient. Secondly, in order to ensure connection stability, the clamps need to be aligned with the objects during the use of the robotic arm. The existing technology usually uses a guide plate to guide the objects and then uses a clamping mechanism to move them automatically. However, in many cases, the angle of the guide plate is not suitable, which can sometimes lead to deviations and affect the transfer efficiency. Summary of the Invention

[0005] Based on this, the purpose of this invention is to provide an industrial robotic arm that can be finely adjusted through visual recognition, so as to solve the technical problems of inconvenience in clamping different objects and easy deviation between the material and the robotic arm.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an industrial robotic arm for fine-tuning via visual recognition, comprising a base, the base including multiple sets of motors and a transmission arm, a limit plate connected to the output end of the base, a vision camera mounted on the bottom end of the limit plate, a hollow interior of the limit plate, and a bidirectional cylinder installed inside the limit plate, an output rod connected to the output end of the bidirectional cylinder, a support plate rotatably connected to the outer side of the output rod, a rotating shaft connected to the end of the support plate, a limit plate connected to the connection position between the support plate and the output rod, multiple sets of electronic control components connected to the top of the support plate, and electromagnetic negative pressure components mounted on both sides of each set of electronic control components, a suction cup connected to the bottom end of the electromagnetic negative pressure components. When adsorbing the top of a material, the support plate remains horizontal, and the limit plate is inserted into the interior of the limit plate to limit the support plate. When adsorbing the side of a material, the support plate remains vertical, and the support plate adheres to both sides of the material.

[0007] By adopting the above technical solution, materials can be easily clamped in different directions, improving the clamping effect, and materials can be easily moved off the conveyor belt, thus improving efficiency.

[0008] The invention is further configured such that a first motor is connected to the top of the base, a second motor is connected to the output of the first motor, a first rotating arm is connected to the output of the second motor, a third motor is mounted on the top of the first rotating arm, and the first rotating arm is driven to the second rotating arm via the third motor. A fourth motor is connected to the bottom of the second rotating arm, and connecting plates are mounted on both sides of the fourth motor. The fourth motor is driven to the limiting plate and the second rotating arm via the connecting plates.

[0009] Preferably, it can easily drive the limiting plate to move synchronously with the material, and facilitates the alignment of the limiting plate with the material.

[0010] The present invention is further configured such that a baffle is installed inside the limiting plate, and the limiting plate is attached to the outside of the output rod through the baffle.

[0011] Preferably, the output rod can be easily limited by the baffle, thereby improving stability.

[0012] The invention is further configured such that the top of the bidirectional cylinder is connected to an electrical wire guide groove, an electrical wire clamp is installed inside the electrical wire guide groove, and the wire extends through the electrical wire guide groove to the top of the support plate, and the wire is connected to each group of electrical control components.

[0013] Preferably, the wires can be easily moved above the support plate for easy connection with each group of wires.

[0014] The invention is further configured such that an adjusting cylinder is installed at the bottom end of the output rod, and a push plate is connected to the end of the adjusting cylinder. The end of the push plate is arc-shaped, and the bottom end of the support plate is connected to an angle adjusting slider. The angle adjusting slider is in contact with the push plate to change the angle of the support plate.

[0015] Preferably, the angle of the support plate can be controlled by conveniently moving the propulsion plate through the adjustment of the cylinder.

[0016] The present invention is further configured such that the side of the push plate is inclined, and when the support plate needs to be lifted, the push plate is located below the angle adjustment slider, and the push plate lifts the support plate through the inclined surface. When the support plate needs to be kept vertical, the push plate is set perpendicular to the angle adjustment slider.

[0017] Preferably, the angle of the support plate can be easily controlled, thereby clamping and limiting the material on the side.

[0018] The present invention is further configured such that the bottom end of the electromagnetic negative pressure component is connected to a fixing frame, the top end of the fixing frame is fixedly connected to the inner wall of the support plate, and the fixing frame is located below the suction cup.

[0019] Preferably, the electromagnetic negative pressure component can be conveniently limited and fixed by a fixing frame.

[0020] The present invention is further configured such that the inner wall of the suction cup is provided with an inner liner and a friction block, the inner liner is connected to the electromagnetic negative pressure component, and the friction block is arranged around the inner liner.

[0021] Preferably, it facilitates the adsorption of materials.

[0022] In summary, the present invention has the following main beneficial effects: 1. The present invention, through the base and various sets of motors, can control the angle of the limiting plate during use by multiple sets of motors, thereby ensuring that the limiting plate is always above the material. Then, by starting each set of motors, the limiting plate can be moved to above the material. In conjunction with the support plate, electromagnetic negative pressure component and various sets of suction cups, different materials can be clamped, thereby improving clamping efficiency.

[0023] 2. The included limiting plate, bidirectional cylinder, support plate, and suction cup allow for the following: When material needs to be adsorbed from the top, the cylinder pushes the support plate to unfold, and then the bidirectional cylinder pulls the limiting plate to insert into the limiting plate, thus fixing the support plate and improving the stability of movement. When material needs to be adsorbed from both sides, the cylinder retracts the push plate, causing the support plate to rotate. After moving to both sides of the material, the push plate retracts completely, keeping the support plate vertical and in contact with the outside of the material. Then, the electromagnetic negative pressure component and suction cup are activated, causing the suction cup to adhere to the outside of the material, facilitating material transportation. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention; Figure 3 This is a schematic diagram of the support disk structure of the present invention; Figure 4 This is a schematic diagram of the base and each set of robotic arms of the present invention; Figure 5 This is a schematic diagram of the bidirectional cylinder mounting structure of the present invention; Figure 6 This is a schematic diagram of the structure of the support plate and the bidirectional cylinder of the present invention; Figure 7 This is a schematic diagram of the horizontally arranged support plate structure of the present invention; Figure 8 This is a schematic diagram of the bidirectional cylinder when the support plate of the present invention is horizontally set; Figure 9 This is a schematic diagram of the structure of the adjusting cylinder when the support plate of the present invention is horizontally set; Figure 10 This is a schematic diagram of the structure of the support plate of the present invention hanging at a 90-degree angle; Figure 11 This is a schematic diagram of the structure of the support plate and each set of suction cups of the present invention; Figure 12 This is a schematic diagram of the bidirectional cylinder when the support plate of the present invention is lowered; Figure 13 This is a schematic diagram of the structure of the bidirectional cylinder of the present invention; Figure 14 This is a schematic diagram of the internal structure of the suction cup of the present invention.

[0025] Explanation of reference numerals in the attached figures: 1. Base; 101. First motor; 102. Second motor; 103. First rotating arm; 104. Third motor; 105. Second rotating arm; 106. Fourth motor; 107. Connecting plate; 108. Connecting seat; 2. Limiting plate; 201. Vision camera; 3. Support plate; 301. Limiting plate; 302. Rotating shaft; 303. Angle adjustment slider; 4. Electrical control assembly; 5. Electromagnetic negative pressure assembly; 501. Suction cup; 5011. Inner liner; 5012. Friction block; 502. Fixing frame; 6. Two-way cylinder; 601. Output rod; 602. Wire guide groove; 603. Wire clamp; 7. Adjusting cylinder; 701. Push plate. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0027] The embodiments of the present invention will now be described.

[0028] Example: An industrial robotic arm that uses visual recognition for fine-tuning; see [link to relevant documentation]. Figure 1 and Figure 2 The system includes a base 1, with a first motor 101 connected to its top. A second motor 102 is connected to the output of the first motor 101, and a first rotating arm 103 is connected to the output of the second motor 102. A third motor 104 is mounted on the top of the first rotating arm 103, which is then connected to a second rotating arm 105 via the third motor 104. A fourth motor 106 is connected to the bottom of the second rotating arm 105, and connecting plates 107 are mounted on both sides of the fourth motor 106. The fourth motor 106 is connected to a limiting plate 2 and the second rotating arm 105 via the connecting plates 107, allowing for convenient adjustment of the angle of the base 1. During adjustment, multiple motors and transmission arms control the equipment.

[0029] Please see Figures 1 to 12The output end of the connecting plate 107 is connected to a connecting seat 108, which is fixedly connected to the limiting plate 2. A vision camera 201 is installed at the bottom of the limiting plate 2. The limiting plate 2 is hollow inside, and a two-way cylinder 6 is installed inside the limiting plate 2. The output end of the two-way cylinder 6 is connected to an output rod 601. A support plate 3 is rotatably connected to the outside of the output rod 601. A rotating shaft 302 is connected to the end of the support plate 3. A limiting plate 301 is connected to the connection position between the support plate 3 and the output rod 601. Multiple sets of electronic control components 4 are connected to the top of the support plate 3, and electromagnetic negative pressure components 5 are installed on both sides of each set of electronic control components 4. A suction cup 501 is connected to the bottom of the electromagnetic negative pressure components 5. When adsorbing material at the top, the support plate 3 remains horizontal. The limiting plate 301 is inserted into the limiting plate 2 to limit the support plate 3. When adsorbing material from the side, the support plate 3 remains vertical and fits against both sides of the material, thus driving two sets of supports. An adjusting cylinder 7 is installed at the bottom of the output rod 601. The end of the adjusting cylinder 7 is connected to a push plate 701, which has an arc-shaped end. The bottom of the support plate 3 is connected to an angle adjusting slider 303. The angle adjusting slider 303 fits against the push plate 701 to change the angle of the support plate 3. The side of the push plate 701 is inclined. When it is necessary to lift the support plate 3, the push plate 701 is located below the angle adjusting slider 303. The push plate 701 lifts the support plate 3 through the inclined surface. When the support plate 3 needs to be kept vertical, the push plate 701 is set perpendicular to the angle adjusting slider 303, which allows for free control and adjustment of the angle of the support plate 3. After adjustment, it is convenient to clamp the material in different directions.

[0030] For details regarding the above embodiments, please refer to [link / reference]. Figure 5 The limiting plate 2 has a baffle installed inside. The limiting plate 2 is attached to the outside of the output rod 601 through the baffle, which facilitates the limiting of the end of the output rod 601.

[0031] For details regarding the above embodiments, please refer to [link / reference]. Figure 5 The top of the bidirectional cylinder 6 is connected to a wire guide groove 602. A wire clamp 603 is installed inside the wire guide groove 602. The wire extends through the wire guide groove 602 to the top of the support plate 3. The wire is connected to each group of electronic control components 4, so that different electronic control components 4 can be conveniently powered, and negative pressure adsorption is achieved through the electromagnetic negative pressure component 5.

[0032] In the above embodiment, please refer to the figure for details. The inner wall of the suction cup 501 is provided with an inner liner 5011 and a friction block 5012. The inner liner 5011 is connected to the electromagnetic negative pressure component 5, and the friction block 5012 is arranged around the inner liner 5011.

[0033] For details regarding the above embodiments, please refer to [link / reference]. Figure 12The inner wall of the suction cup 501 is provided with an inner liner 5011 and a friction block 5012. The inner liner 5011 is connected to the electromagnetic negative pressure component 5. The friction block 5012 is arranged around the inner liner 5011 to improve the adsorption effect.

[0034] In use, the present invention first installs the base 1 on the side of the conveyor belt for transporting materials. The angles of the rotating arms on the base 1 are adjusted to position the limiting plate 2 above the conveyor belt, ensuring the limiting plate 2 remains horizontal. Then, the materials to be sorted are placed on the conveyor belt and moved below the limiting plate 2 via the conveyor belt. At this time, the vision camera 201 captures and identifies the materials, while simultaneously controlling the motors within the base 1 to move the limiting plate 2 synchronously with the materials. After identifying the type of material, the control center adjusts the angles of the two support plates 3 as needed. If the material is adsorbed at the top, the adjusting cylinder 7 pushes the push plate 701 to move below the angle adjustment slider 303. The rounded part can easily fit with the angle adjustment slider 303 until the top of the support plate 3 is pushed to fit with the bottom of the wire guide groove 602. At this time, the support plate 3 is horizontal. Then the bidirectional cylinder 6 is activated. The output rod 601 of the bidirectional cylinder 6 pulls the two sets of support plates 3 to move into the limiting plate 2. At this time, the limiting plate 301 is inserted into the limiting plate 2 to fix the support plate 3, thereby limiting the support plate 3. Then the first motor 101 and the third motor 104 are activated to drive the support plate 3 to move downward to above the material, so that the suction cup 501 fits and squeezes against the top of the material, causing the suction cup 501 to deform and the inner liner 5011 to fit tightly against the top of the material. Then the electromagnetic negative pressure components 5 are activated to draw the inner liner 5011 into Negative pressure is applied, and the limiting plate 2 continues to move downwards until the inner liner 5011 is under negative pressure. The electromagnetic negative pressure component 5 is then deactivated, allowing the suction cups 501 to adhere to the material. Subsequently, the first motor 101 and the third motor 104 are activated, moving the limiting plate 2 away from the conveyor belt and lifting the material. Multiple suction cups 501 can effectively adsorb materials of different sizes. At this time, the limiting plate 301 supports the support plate 3, reducing pressure on the adjusting cylinder 7 and minimizing damage. Then, the rotating structure below the base 1 moves the material to other corresponding conveyor lines, achieving material classification. If, at this time, the visual camera 201 captures material that is clamped from the side (such as framed fruits and vegetables), the adjusting cylinder 7 is activated to push the material... As the feed plate 701 moves inward, the angle adjustment slider 303 slides along the outer wall of the feed plate 701. Under the action of gravity, the support plate 3 rotates, causing each set of suction cups 501 to rotate to the horizontal direction. Then, the first motor 101 and the third motor 104 drive the limiting plate 2 to move downward until the support plate 3 moves to both sides of the material. At this time, the support plate 3 is tightly attached to both sides of the material, and the suction cups 501 are attached to both sides of the material. The electromagnetic negative pressure component 5 is activated, so that the suction cups 501 also adsorb and clamp the material. Then, through the base 1 and its control structure, the material is moved, thereby performing material diversion processing. According to the needs, different materials can be classified by the vision camera 201, which facilitates the clamping and transportation of different materials.

[0035] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. An industrial robot arm for fine tuning by visual recognition, comprising a base (1), characterised in that: The base (1) includes a plurality of motor and transmission arm, the output end of the base (1) is connected with a limiting plate (2), the bottom end of the limiting plate (2) is installed with a visual camera (201), the inside of the limiting plate (2) is hollow, and the inside of the limiting plate (2) is installed with a double-way air cylinder (6), the output end of the double-way air cylinder (6) is connected with an output rod (601), the outer side of the output rod (601) is rotatably connected with a supporting disc (3), the end of the supporting disc (3) is connected with a rotating shaft (302), the connecting position of the supporting disc (3) and the output rod (601) is connected with a limiting clamping plate (301), the top end of the supporting disc (3) is connected with a plurality of electric control assemblies (4), and the two sides of each electric control assembly (4) is installed with an electromagnetic negative pressure assembly (5), the bottom end of the electromagnetic negative pressure assembly (5) is connected with a suction disc (501), when the top of the material is adsorbed, the supporting disc (3) remains horizontal, the limiting clamping plate (301) is inserted into the inside of the limiting plate (2) to limit the supporting disc (3), when the side of the material is adsorbed, the supporting disc (3) remains vertical, and the supporting disc (3) is attached to the two sides of the material.

2. The industrial robot arm for fine tuning by visual recognition according to claim 1, characterized in that: The top end of the base (1) is connected with a first motor (101), the output end of the first motor (101) is connected with a second motor (102), the output end of the second motor (102) is connected with a first rotating arm (103), the top end of the first rotating arm (103) is installed with a third motor (104), and the first rotating arm (103) is drivingly connected with a second rotating arm (105) through the third motor (104). The bottom end of the second rotating arm (105) is connected with a fourth motor (106), and the two sides of the fourth motor (106) are installed with a connecting plate (107). The fourth motor (106) is drivingly connected with the limiting plate (2) and the second rotating arm (105) through the connecting plate (107).

3. The industrial robot arm for fine tuning by visual recognition according to claim 1, characterized in that: The inside of the limiting plate (2) is installed with a baffle, and the limiting plate (2) is attached to the outside of the output rod (601) through the baffle.

4. The industrial robot arm for fine tuning by visual recognition according to claim 1, characterized in that: The top end of the double-way air cylinder (6) is connected with a wire guide groove (602), the inside of the wire guide groove (602) is installed with a wire clamping plate (603), the wire extends above the supporting disc (3) through the wire guide groove (602), and the wire is connected with each electric control assembly (4).

5. The industrial robotic arm for fine tuning by visual recognition according to claim 1, characterized in that: The bottom end of the output rod (601) is installed with an adjusting air cylinder (7), the end of the adjusting air cylinder (7) is connected with a pushing plate (701), the end of the pushing plate (701) is in a circular arc shape, the bottom end of the supporting disc (3) is connected with an angle adjusting sliding block (303), the angle adjusting sliding block (303) is attached to the pushing plate (701) to change the angle of the supporting disc (3).

6. The industrial robot arm for fine tuning by visual recognition according to claim 5, characterized in that: The side of the pushing plate (701) is an inclined surface, when the supporting disc (3) needs to be lifted, the pushing plate (701) is located below the angle adjusting sliding block (303). The pushing plate (701) lifts the supporting disc (3) through the inclined surface, and when the supporting disc (3) needs to remain vertical, the pushing plate (701) is vertically arranged with the angle adjusting sliding block (303).

7. The industrial robotic arm for fine tuning by visual recognition according to claim 1, characterized in that: The bottom end of the electromagnetic negative pressure component (5) is connected with a fixing frame (502), the top end of the fixing frame (502) is fixedly connected with the inner wall of the supporting disc (3), and the fixing frame (502) is located below the suction disc (501).

8. The industrial robotic arm for fine tuning by visual recognition according to claim 1, characterized in that: The inner wall of the suction disc (501) is provided with an inner container (5011) and a friction block (5012), the inner container (5011) is connected with the electromagnetic negative pressure component (5), and the friction block (5012) is arranged around the inner container (5011).

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