Multifunctional mechanical arm end effector and application thereof

Abstract

The invention discloses a multifunctional mechanical arm end effector which comprises a platform, a negative pressure suction cup radial movement device, a pneumatic chuck axial movement device and a cam-connecting rod turnover movement device, wherein the negative pressure suction cup radial movement device, the pneumatic chuck axial movement device and the cam-connecting rod turnover movement device are arranged on the platform. The negative-pressure suction cup device drives a first straight gear to be meshed with double racks through a first shaft, and double negative-pressure suction cups are driven to move in the radial direction. And the cam-connecting rod device is matched with the driving, so that the second negative pressure suction cup realizes 90-degree overturning and translation compound motion. The pneumatic chuck device is reversed by means of a bevel gear on a first shaft to drive a second shaft to drive a related gear rack, so that the axial movement of double pneumatic chucks is realized; through multi-mechanism combined transmission, accurate cooperation of the suction cups and the chucks is achieved, the whole process of bag grabbing, bag clamping, bag opening, bag closing and bag unloading is synchronously completed, and the problem of action lag or interference of traditional single-shaft driving is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic packaging equipment, in particular to a multifunctional mechanical arm end effector and application thereof. BACKGROUND

[0002] In the factory assembly line packaging process, the bag opening and bag clamping operation is a key link. In the prior art, most of the bag opening devices have the following shortcomings: first, a single mechanical structure is used for driving, and it is difficult to realize the coordinated movement of the negative pressure suction cup and the chuck, resulting in low bag opening efficiency; second, the transmission structure is complex, the precision is insufficient, and it cannot adapt to the operation requirements of bags of different specifications; third, the degree of automation is low, and manual assistance is required to complete part of the action, increasing labor costs; fourth, multiple motors are used to drive different actions, resulting in complex control logic; and fifth, the precision of multi-action coordinated control is low, and bag body deviation or damage is prone to occur. SUMMARY

[0003] The present application relates to the technical field of automatic packaging equipment, in particular to a multifunctional mechanical arm end effector and application thereof.

[0004] The object of the present application can be achieved by the following technical solutions: One of the objects of the present application is a multifunctional mechanical arm end effector, comprising a platform, a negative pressure suction cup radial motion device, a pneumatic chuck axial motion device and a cam-linkage overturning motion device arranged on the platform; The negative pressure suction cup radial motion device comprises: A first mounting bracket arranged above the platform; A first straight rack, a first straight gear and a second straight rack arranged in the first mounting bracket in sequence from top to bottom; A first negative pressure suction cup assembly arranged at the front end of the second straight rack; A second negative pressure suction cup assembly arranged at the front end of the first straight rack, which is arranged opposite to the first negative pressure suction cup assembly; A first shaft passing through the middle part of the first straight gear, one end of which is connected with a first motor; The pneumatic chuck axial motion device comprises: A second mounting bracket arranged below the platform; A third straight rack, a second straight gear and a fourth straight rack arranged in the second mounting bracket in sequence from front to back; A first bevel gear arranged at the end of the first shaft; A second shaft passing through the platform, one end of which is provided with a second bevel gear meshing with the first bevel gear, and the other end passes through the shaft center of the second straight gear; A first pneumatic chuck assembly arranged at the front end of the third straight rack; A second pneumatic chuck assembly arranged at the front end of the fourth straight rack and opposite to the first pneumatic chuck assembly; The cam-rod overturning motion device comprises: A third straight gear wheel arranged on the first shaft and having a third shaft penetrating through the middle part thereof; A cam wheel engaged with the third straight gear wheel and having a cam groove arranged on the side surface thereof; A first connecting rod having a roller arranged at one end thereof and slidably connected with the cam groove and having a second connecting rod arranged at the other end thereof and hingedly connected with the first connecting rod, wherein the second connecting rod is connected with the second negative pressure suction disc assembly and away from the first connecting rod; A third connecting rod having one end hingedly connected with the middle part of the first connecting rod and the other end hingedly connected with the platform.

[0005] Further, a flange connecting member is arranged on the platform to enable the end effector to be fixedly connected with the mechanical arm.

[0006] Further, the effector further comprises a first supporting seat and a second supporting seat arranged on the platform in a spaced manner, wherein the first shaft penetrates through the first supporting seat and the second supporting seat at two ends thereof respectively, and a first bearing and a second bearing are arranged at the connecting positions respectively.

[0007] Further, the effector further comprises a third supporting seat and a fourth supporting seat arranged on the platform in a spaced manner, wherein the second shaft penetrates through the third supporting seat and the fourth supporting seat at two ends thereof respectively, and a third bearing and a fourth bearing are arranged at the connecting positions respectively.

[0008] Further, the effector further comprises a fifth supporting seat and a sixth supporting seat arranged on the platform in a spaced manner, wherein the third shaft penetrates through the fifth supporting seat and the sixth supporting seat at two ends thereof respectively, and a fifth bearing and a sixth bearing are arranged at the connecting positions respectively.

[0009] Further, the first negative pressure suction disc assembly comprises a first negative pressure suction disc connecting member and a first negative pressure suction disc arranged on the front end of the second straight rack from inside to outside.

[0010] Further, the second negative pressure suction disc assembly comprises a first rack connecting member, a second negative pressure suction disc connecting member and a second negative pressure suction disc. The first rack connecting member is arranged at the front end of the first straight rack. The second negative pressure suction disc connecting member is arranged at one end of the second connecting rod away from the first connecting rod. The second negative pressure suction disc is arranged on the second negative pressure suction disc connecting member.

[0011] Further, the first pneumatic chuck assembly comprises a third rack connecting member arranged at the front end of the third straight rack, a first pneumatic cylinder arranged on the third rack connecting member, and a first pneumatic chuck arranged at the output end of the first pneumatic cylinder.

[0012] Further, the second pneumatic chuck assembly comprises a fourth rack connecting piece arranged at the front end of the fourth straight rack, a second cylinder arranged on the fourth rack connecting piece, and a second pneumatic chuck arranged at the output end of the second cylinder.

[0013] The second object of the present application is the application of the multifunctional mechanical arm end effector as described above to bag grabbing, bag clamping, bag opening, bag closing and bag unloading. In the above processes, the present application realizes precise coupling of radial and axial movements through the combination of gear and rack transmission, cam-linkage mechanism and bevel gear reversing; different specifications of bags can be adapted by adjusting the straight rack stroke and the clamping force of the pneumatic chuck; different sizes of gear and rack can be correspondingly adjusted by adjusting the cam lift and the remote rest angle; the control difficulty can be reduced by controlling three devices with a single motor, and the specific process is as follows: Bag grabbing comprises the following steps: the first shaft is driven to rotate counterclockwise by the first motor, the third straight gear on the first shaft is engaged with the cam on the third shaft, the third shaft and the cam are driven to rotate synchronously, and the rotational movement of the cam is converted into the planar movement of the first connecting rod; the first connecting rod, the third connecting rod and the second connecting rod together constitute a planar linkage mechanism, in the lift phase of the cam, the planar linkage mechanism drives the second negative pressure suction disc connecting piece and the second negative pressure suction disc arranged at the end thereof to rotate about 23 degrees around the hinge point with the third connecting rod; in the remote rest phase of the cam, the planar linkage mechanism drives the second negative pressure suction disc connecting piece to translate along the Y direction, so as to complete the bag grabbing and positioning together with the first negative pressure suction disc; Bag clamping comprises the following steps: when the bag is moved to the bag opening station, the first pneumatic chuck and the second pneumatic chuck have been moved to the predetermined clamping position through the bag grabbing step; the first pneumatic chuck and the second pneumatic chuck are closed by the first cylinder and the second cylinder to clamp the two sides of the bag; bag opening comprises the following steps: the first shaft is driven to rotate clockwise by the first motor, the power is transmitted in two ways: first, the first straight gear on the first shaft is engaged with the first straight rack and the second straight rack at the same time, the rotational movement of the first shaft is converted into the linear movement of the first straight rack and the second straight rack, and the first negative pressure suction disc and the second negative pressure suction disc at the ends of the first straight rack and the second straight rack are pulled radially outward along the Y direction; second, the first bevel gear on the first shaft is engaged with the second bevel gear on the second shaft at 90°, the power is reversed and transmitted to the second shaft, the second straight gear on the second shaft is engaged with the third straight rack and the fourth straight rack at the same time, the rotational movement of the second shaft is converted into the linear movement of the third straight rack and the fourth straight rack, and then the first pneumatic chuck and the second pneumatic chuck are retracted axially along the X direction; to realize the linkage of opening the bag opening together with the first pneumatic chuck and the second pneumatic chuck retracted axially along the X direction while the first negative pressure suction disc and the second negative pressure suction disc are pulled radially outward along the Y direction; The closing bag includes the following steps: the first motor drives the first shaft to rotate counterclockwise, wherein: the meshing relationship between the first straight gear on the first shaft and the first and second straight racks is unchanged, the first and second negative pressure suction discs at the ends of the first and second straight racks are driven to move radially inward along the Y direction; the meshing relationship between the first bevel gear on the first shaft and the second bevel gear on the second shaft is unchanged, and after reversing, the second straight gear on the second shaft is driven to rotate in the opposite direction, thereby driving the third and fourth straight racks and the first and second pneumatic chucks fixedly connected thereto to move axially outward along the X direction; to realize the linkage of the inward movement of the first and second negative pressure suction discs along the Y direction and the outward movement of the first and second pneumatic chucks along the X direction, the bag opening is closed. The bag unloading stage includes the following steps: the mechanical arm moves to the bag unloading station, at this time the first and second pneumatic chucks are opened; the first and second negative pressure suction discs are closed in the negative pressure state; the bag body is unloaded, the first motor rotates clockwise to make the cam reach the beginning section of the lift stage, and a new round of bag grabbing stage is started.

[0014] Compared with the prior art, the present application has the following advantages: (1) The device of the present application realizes the precise cooperation of the radial movement of the negative pressure suction disc and the axial movement of the pneumatic chuck through the combination design of the gear and rack transmission of the first shaft, the second shaft and the third shaft, the cam link mechanism and the bevel gear reversing. The first shaft drives the first straight gear to mesh with the first pair of racks, driving the double negative pressure suction disc to move radially along the Y direction, and at the same time, the cam-link overturning movement device makes the second negative pressure suction disc realize 90-degree overturning and translation compound motion to grab the bag; in addition, through the 90° meshing reversing of the first bevel gear and the second bevel gear, the second straight gear on the second shaft is driven to transmit with the second pair of racks, realizing the X-direction axial movement of the pneumatic chuck. This design makes the negative pressure suction disc outward pulling and the chuck inward movement or the negative pressure suction disc inward movement and the chuck outward movement synchronous linkage, which can accurately complete the whole process of "bag grabbing-bag clamping-bag opening-bag closing-bag unloading" complex action, avoiding the action lag or interference problem of the traditional single shaft drive.

[0015] (2) The device of the present application adopts the modular combination of negative pressure suction disc and pneumatic chuck, and the second negative pressure suction disc can realize posture adjustment through cam lift and remote rest angle. When the operation task needs to be switched, only the front end tool (such as replacing different specifications of suction disc or chuck) needs to be replaced, which can quickly adapt to the grabbing requirements of different specifications of bags. At the same time, the linkage control of the pneumatic chuck and the negative pressure suction disc reduces the downtime of manual adjustment of tools in the traditional device.

[0016] (3) The device of the present invention is rigidly connected to the end of the robotic arm through the mounting flange. Relying on the multi-joint motion capability of the robotic arm, it can achieve flexible operation in complex work positions such as high altitude, near ground, and narrow space. In the scenario of bagged material palletizing, the robotic arm can drive the device to move along a three-dimensional trajectory. The negative pressure suction cup achieves posture adjustment through cam lift and far rest angle, accurately adsorbing the designated position of tilted or stacked bags. In the assembly line loading process, the device can be quickly positioned to the loading port at different heights with the robotic arm. The pneumatic chuck works with the suction cup to complete the stable clamping of the opening, solving the problem of the limited applicability of traditional fixed work position devices. Attached Figure Description

[0017] Figure 1 This is one of the schematic diagrams of the multifunctional robotic arm end effector of the present invention; Figure 2 This is a schematic diagram of the bag-grabbing mechanism of the multifunctional robotic arm end effector of the present invention; Figure 3 This is a second schematic diagram of the multifunctional robotic arm end effector of the present invention; Figure 4 This is a schematic diagram of the platform of the present invention; Figure 5 This is a schematic diagram of the radial motion device of the negative pressure suction cup of the present invention; Figure 6 This is a schematic diagram of the pneumatic chuck axial movement device of the present invention; Figure 7 This is one of the schematic diagrams of the cam-linkage flipping motion device of the present invention; Figure 8 This is a second schematic diagram of the cam-linkage flipping motion device of the present invention; Figure 9 This is a cross-sectional view of the first axis of the present invention; Figure 10 This is a cross-sectional view of the second axis of the present invention; Figure 11 This is a cross-sectional view of the third axis of the present invention; The diagram shows the following labels: 1-Platform; 2-Negative pressure suction cup radial motion device; 3-Pneumatic chuck axial motion device; 4-Cam-connecting rod flipping motion device; 11-First motor base; 12-Flange connector; 21-First motor; 221-First spur rack; 222-Second spur rack; 23-First shaft; 231-First tapered pin; 232-Second tapered pin; 233-Fifth tapered pin; 241-First support seat; 242-Second support seat; 243-First bearing; 244-Second bearing; 25-First spur gear; 26-First bevel gear; 27-First negative pressure suction cup connector; 28-First negative pressure suction cup; 29-First rack connector; 31-Second bevel gear; 32-Second shaft; 321-Third tapered pin; 322-Fourth tapered pin; 331-Third support; 332-Fourth support; 34-Second spur gear; 351-Third spur rack; 352-Fourth spur rack; 361-Fourth rack connector; 362-Third rack connector; 371-First cylinder; 372-Second cylinder; 381-First pneumatic chuck; 382-Second pneumatic chuck; 391-Third bearing; 392-Fourth bearing; 40-Third shaft; 401-Sixth tapered pin; 41-Cam; 42-First connecting rod; 43-Second connecting rod; 44-Second negative pressure suction cup connector; 45-Third connecting rod; 46-Roller; 47-Third spur gear; 481-Fifth support; 482-Sixth support; 4811-Fifth bearing; 4812-Sixth bearing; 49-Second negative pressure suction cup; 50-Bag. Detailed Implementation

[0018] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are implemented based on the technical solution of the present invention, providing detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0019] In the description of this invention, it should be noted that the terms "radial," "axial," "outward pull," "inward," "inward," "outward," "X-axis," "Y-axis," and "Z-axis," etc., indicate the orientation or positional relationship based on the orientation or positional relationship determined in real life according to the ground and the direction of the end joint of the robotic arm. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0020] In the description of this invention, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this invention, the terms "clockwise" and "counterclockwise" are both directional descriptions as seen from the direction a person is facing the first motor.

[0022] In the description of this invention, the term "bag gripper" describes the second negative pressure suction cup adhering to the bag under vacuum; "bag clamping" describes the closed clamping of the bag by the symmetrical pneumatic clamps of the pneumatic clamp axial movement device. "Bag opening" describes the coordinated bag opening action formed by the linkage of the devices, namely "negative pressure suction cup pulling outward - pneumatic clamp retracting inward". "Bag closing" describes the reverse coordinated bag opening action formed by the linkage of the devices, namely "negative pressure suction cup pulling outward - pneumatic clamp retracting inward". "Bag unloading" describes the opposite movement of the pneumatic clamps and the cessation of vacuum suction by the negative pressure suction cup.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Unless otherwise specified, the functional components or structures in the following embodiments or examples are conventional components or structures used in the art to achieve the corresponding functions.

[0025] One of the objectives of this invention is to provide a multifunctional robotic arm end effector, comprising a platform 1, and a negative pressure suction cup radial motion device 2, a pneumatic chuck axial motion device 3, and a cam-linkage flipping motion device 4 mounted on the platform 1. The negative pressure suction cup radial motion device 2 includes: a first mounting frame, a first spur rack 221, a first spur gear 25, a second spur rack 222, a first negative pressure suction cup assembly, a second negative pressure suction cup assembly, and a first shaft 23; wherein, the first mounting frame is mounted above the platform 1; the first spur rack 221, the first spur gear 25, and the second spur rack 222 are sequentially arranged from top to bottom within the first mounting frame; the first negative pressure suction cup assembly is located at the front end of the second spur rack 222; the second negative pressure suction cup assembly is located at the front end of the first spur rack 221, and is arranged opposite to the first negative pressure suction cup assembly; the first shaft 23 passes through the middle of the first spur gear 25, and one end of it is connected to a first motor 21.

[0026] The pneumatic chuck axial movement device 3 includes: a second mounting frame, a third spur rack 351, a second spur gear 34, a fourth spur rack 352, a second shaft 32, a first pneumatic chuck assembly, and a second pneumatic chuck assembly; wherein, the second mounting frame is disposed below the platform 1; the third spur rack 351, the second spur gear 34, and the fourth spur rack 352 are sequentially disposed in the second mounting frame from front to back; the first bevel gear 26 is disposed at the end of the first shaft 23; the second shaft 32 passes through the platform 1, one end of which is provided with a second bevel gear 31 that meshes with the first bevel gear 26, and the other end passes through the shaft of the second spur gear 34; the first pneumatic chuck assembly is disposed at the front end of the third spur rack 351; the second pneumatic chuck assembly is disposed at the front end of the fourth spur rack 352, and is disposed opposite to the first pneumatic chuck assembly.

[0027] The cam-linkage flipping motion device 4 includes: a third spur gear 47, a cam 41, a first link 42, and a third link 45; wherein, the third spur gear 47 is mounted on the first shaft 23, with the third shaft 40 passing through its middle part; the cam 41 meshes with the third spur gear 47, and has a cam groove on its side; one end of the first link 42 is provided with a roller 46 that slides in connection with the cam groove, and the other end is provided with a second link 43 that is hinged to it, the second link 43 being away from the first link 42 and connected to the second negative pressure suction cup assembly; one end of the third link 45 is hinged to the middle part of the first link 42, and the other end is hinged to the platform 1.

[0028] In some embodiments of the present invention, the platform 1 is further provided with a flange connector 12 so that the end effector can be fixedly connected to the end of the robotic arm.

[0029] In some embodiments of the present invention, the actuator further includes a first support seat 241 and a second support seat 242 spaced apart on the platform 1, with the two ends of the first shaft 23 passing through the first support seat 241 and the second support seat 242 respectively, and the connection is provided with a first bearing 243 and a second bearing 244 respectively.

[0030] In some embodiments of the present invention, the actuator further includes a third support 331 and a fourth support 332 spaced apart on the platform 1, with the two ends of the second shaft 32 passing through the third support 331 and the fourth support 332 respectively, and the connection points are respectively provided with a third bearing 391 and a fourth bearing 392.

[0031] In some embodiments of the present invention, the actuator further includes a fifth support 481 and a sixth support 482 spaced apart on the platform 1, with the two ends of the third shaft 40 passing through the fifth support 481 and the sixth support 482 respectively, and the connection is provided with a fifth bearing 4811 and a sixth bearing 4812 respectively.

[0032] In some embodiments of the present invention, the first negative pressure suction cup assembly includes a first negative pressure suction cup connector 27 and a first negative pressure suction cup 28 disposed from the inside to the outside at the front end of the second straight toothed rack 222.

[0033] In some embodiments of the present invention, the second negative pressure suction cup assembly includes a first rack connector 29, a second negative pressure suction cup connector 44, and a second negative pressure suction cup 49; the first rack connector 29 is disposed at the front end of the first straight rack 221; the second negative pressure suction cup connector 44 is disposed at the end of the second connecting rod 43 opposite to the first connecting rod 42; and the second negative pressure suction cup 49 is disposed on the second negative pressure suction cup connector 44.

[0034] In some embodiments of the present invention, the first pneumatic chuck assembly includes a third rack connector 362 disposed at the front end of the third rack 351, a first cylinder 371 disposed on the third rack connector 362, and a first pneumatic chuck 381 disposed at the output end of the first cylinder 371.

[0035] In some embodiments of the present invention, the second pneumatic chuck assembly includes a fourth rack connector 361 disposed at the front end of the fourth rack 352, a second cylinder 372 disposed on the fourth rack connector 361, and a second pneumatic chuck 382 disposed at the output end of the second cylinder 372.

[0036] The second aspect of the invention relates to the application of a multifunctional robotic arm end effector as described above, used for gripping, clamping, opening, closing, and unloading bags on a bag body 50, wherein... The bag-grabbing process includes the following steps: the first motor 21 drives the first shaft 23 to rotate counterclockwise, the third spur gear 47 on the first shaft 23 meshes with the cam 41 on the third shaft 40, driving the third shaft 40 and the cam 41 to rotate synchronously, converting the rotational motion of the cam 41 into the planar motion of the first connecting rod 42; the first connecting rod 42, the third connecting rod 45, and the second connecting rod 43 together form a planar linkage mechanism. During the lifting phase of the cam 41, the planar linkage mechanism drives the second negative pressure suction cup connector 44 and the second negative pressure suction cup 49 located at its end to rotate about 23 degrees around the hinge point with the third connecting rod 45; during the far rest phase of the cam 41, the planar linkage mechanism drives the second negative pressure suction cup connector 44 to translate along the Y direction, so as to cooperate with the first negative pressure suction cup 28 to complete the grasping and positioning of the bag body 50. The bag clamping process includes the following steps: when the bag body 50 is transferred to the bag opening station, the first pneumatic clamp 381 and the second pneumatic clamp 382 have moved to the predetermined clamping position through the bag gripping step; the first pneumatic clamp 381 and the second pneumatic clamp 382 are driven to close by the first cylinder 371 and the second cylinder 372 to clamp the two sides of the bag body 50.

[0037] The bag opening process includes the following steps: The first motor 21 drives the first shaft 23 to rotate clockwise, with power transmitted in two paths: Firstly, the first spur gear 25 on the first shaft 23 simultaneously meshes with the first spur rack 221 and the second spur rack 222, converting the rotational motion of the first shaft 23 into linear motion of the first spur rack 221 and the second spur rack 222, driving the first negative pressure suction cup 28 and the second negative pressure suction cup 49 at the ends of the first spur rack 221 and the second spur rack 222 to pull radially outward along the Y direction; Secondly, the first bevel gear 26 on the first shaft 23 and the second bevel gear on the second shaft 32... 31 engages at 90°, reversing the power and transmitting it to the second shaft 32. The second spur gear 34 on the second shaft 32 simultaneously engages with the third spur rack 351 and the fourth spur rack 352, converting the rotational motion of the second shaft 32 into the linear motion of the third spur rack 351 and the fourth spur rack 352, thereby driving the first pneumatic chuck 381 and the second pneumatic chuck 382 to retract axially in the X direction. This achieves the linkage of the first negative pressure suction cup 28 and the second negative pressure suction cup 49 pulling outward in the Y direction while the first pneumatic chuck 381 and the second pneumatic chuck 382 retract inward in the X direction, thus opening the bag opening.

[0038] The bag closing process includes the following steps: The first motor 21 drives the first shaft 23 to rotate counterclockwise, wherein: the meshing relationship between the first spur gear 25 on the first shaft 23 and the first spur rack 221 and the second spur rack 222 remains unchanged, driving the first negative pressure suction cup 28 and the second negative pressure suction cup 49 at the ends of the first spur rack 221 and the second spur rack 222 to retract radially in the Y direction; the meshing relationship between the first bevel gear 26 on the first shaft 23 and the second bevel gear 31 on the second shaft 32 remains unchanged, and after reversal, the second spur gear 34 on the second shaft 32 is driven to rotate in the opposite direction, thereby driving the third spur rack 351 and the fourth spur rack 352 and the first pneumatic clamp 381 and the second pneumatic clamp 382 fixed thereon to pull axially outward in the X direction; so as to achieve the linkage of the first negative pressure suction cup 28 and the second negative pressure suction cup 49 retracting in the Y direction and the first pneumatic clamp 381 and the second pneumatic clamp 382 pulling outward in the X direction, thereby closing the bag opening; The unloading stage includes the following steps: the robotic arm moves to the unloading station, at which time the first pneumatic chuck 381 and the second pneumatic chuck 382 are opened; the first negative pressure suction cup 28 and the second negative pressure suction cup 49 are closed; the bag body 50 is unloaded, and the first motor 21 rotates clockwise to make the cam 41 move to the beginning of the lifting stage, starting a new round of bag gripping stage.

[0039] Example This embodiment provides a multifunctional robotic arm end effector that can be applied to automated bag gripping, opening and clamping in factories. The actuator includes a platform 1, a negative pressure suction cup radial motion device 2, a pneumatic chuck axial motion device 3 and a cam-linkage flipping motion device 4. In this embodiment, the negative pressure suction cup radial motion device 2 includes a first mounting frame disposed above the platform 1; a first rack 221, a first spur gear 25, and a second rack 222 arranged sequentially from top to bottom within the first mounting frame; a first negative pressure suction cup assembly disposed at the front end of the second rack 222; a second negative pressure suction cup assembly disposed at the front end of the first rack 221, which is disposed opposite to the first negative pressure suction cup assembly; and a first shaft 23 passing through the middle of the first spur gear 25, one end of which is connected to a first motor 21. In this embodiment, the pneumatic chuck axial movement device 3 includes: a second mounting frame disposed below the platform 1; a third spur rack 351, a second spur gear 34, and a fourth spur rack 352 arranged sequentially from front to back within the second mounting frame; a first bevel gear 26 disposed at the end of the first shaft 23; a second shaft 32 passing through the platform 1, one end of which is provided with a second bevel gear 31 meshing with the first bevel gear 26, and the other end passing through the shaft of the second spur gear 34; a first pneumatic chuck assembly disposed at the front end of the third spur rack 351; and a second pneumatic chuck assembly disposed at the front end of the fourth spur rack 352, which is disposed opposite to the first pneumatic chuck assembly. In this embodiment, the cam-linkage flipping motion device 4 includes: a third spur gear 47 mounted on a first shaft 23, through which a third shaft 40 passes; a cam 41 meshing with the third spur gear 47, with a cam groove on its side; a first link 42, one end of which is provided with a roller 46 slidably connected to the cam groove, and the other end of which is provided with a second link 43 hinged to it, the second link 43 being away from the first link 42 and connected to the second negative pressure suction cup assembly; and a third link 45, one end of which is hinged to the middle of the first link 42, and the other end of which is hinged to the platform 1.

[0040] Please see Figure 4 and Figures 9-11 The platform 1 is rigidly connected to the end of the robotic arm via a flange connector 12, serving as the system support foundation; the first shaft 23 is supported by a first support seat 241 and a second support seat 242, and is fixed to the platform 1 via a first bearing 243 and a second bearing 244; the second shaft 32 is supported by a third support seat 331 and a fourth support seat 332, and is fixed to the platform 1 via a third bearing 391 and a fourth bearing 392; the third shaft 40 is supported by a fifth support seat 481 and a sixth support seat 482, and is fixed to the platform 1 via a fifth bearing 4811 and a sixth bearing 4812.

[0041] Please see Figure 5The negative pressure suction cup radial motion device 2 is first driven by the cam-linkage flipping motion device 4 to drive the second negative pressure suction cup 49 to adsorb one side of the bag body, and through the lifting section of the cam 41, the second negative pressure suction cup 49 rotates 90 degrees to keep it axially aligned with the first negative pressure suction cup 28. Further, the first motor 21 drives the first shaft 23, on which there is a first spur gear 25 fixed by the first conical pin 231 and a first bevel gear 26 fixed by the second conical pin 232; the first spur gear 25 meshes with the first spur rack 221 and the second spur rack 222 at the same time, driving the first negative pressure suction cup 28 and the second negative pressure suction cup 49 to move radially in the Y direction.

[0042] Please see Figure 6 The pneumatic chuck axial movement device 3 is driven by a second bevel gear 31 meshing with a first bevel gear 26 at a 90° reversal to drive a second shaft 32. The second shaft 32 has a second spur gear 34 fixed by a third conical pin 321 and a second bevel gear 31 fixed by a fourth conical pin 322. The second spur gear 34 meshes with the third spur rack 351 and the fourth spur rack 352 simultaneously, driving the first pneumatic chuck 381 and the second pneumatic chuck 382, ​​which are fixed on the third rack connector 362 and the fourth rack connector 361, to retract synchronously along the X-axis. The first pneumatic chuck 381 and the second pneumatic chuck 382 are driven by the first cylinder 371 and the second cylinder 372, respectively.

[0043] Please see Figures 7-8 The cam-linkage flipping motion device 4 drives a cam 41 fixed to the third shaft 40 by a sixth conical pin 401 via a third spur gear 47 fixed to the first shaft 23 by a fifth conical pin 233. The cam 41 and roller 46 roll in the cam groove, driving a first connecting rod 42 connected to the roller 46 at one end. The middle of the first connecting rod 42 is hinged to a third connecting rod 45 fixed on the platform, and the other end of the first connecting rod 42 is connected to a second connecting rod 43. One end of the second negative pressure suction cup connector 44 is connected to the second negative pressure suction cup 49, and the other end is connected to the first spur rack connector 29. When the first motor 21 drives counterclockwise, during the lifting phase of the cam 41, the second negative pressure suction cup 49 achieves a 90-degree rotational movement through the cam-linkage mechanism design. During the far rest phase of the cam 41, the second negative pressure suction cup 49 achieves a Y-axis translational movement through the cam-linkage mechanism design.

[0044] Specifically, a large food factory's 20kg rice packaging line needs to use a robotic arm to drive this device to process woven bags that are 400mm wide, 600mm long, and 2mm thick.

[0045] Please refer to the following: Figure 4 The platform 1 is fixed to the end of a robotic arm capable of bearing a load of over 30 kg via a flange connector 12.

[0046] Please refer to the following:Figure 2 A schematic diagram of the bag gripping device; the robotic arm drives this device to open the vacuum state of the second negative pressure suction cup 49, so that the vertical second negative pressure suction cup 49 can suck up the bag.

[0047] Please refer to the following: Figures 1-3 The first motor 21 drives the first shaft 23 counterclockwise, which in turn drives the first spur gear 25 with a module of 2 and 48 teeth to mesh with the first spur rack 221 and the second spur rack 222 with a stroke of 250mm. At the same time, it cooperates with the cam 41 on the third shaft 40 to reach the lift section. The cam-linkage flipping motion device rotates the second negative pressure suction cup 49 90 degrees to align with the first negative pressure suction cup 28. Then, when the cam 41 reaches its far rest section, the two negative pressure suction cups begin to move radially inward until the bag is simultaneously sucked up by the two negative pressure suction cups. At the same time, the first bevel gear 26 with a module of 2 and 48 teeth meshes with the second bevel gear 31 to achieve a 90-degree orthogonal reversal transmission to the second shaft 32. This drives the second spur gear 34 with a module of 2 and 96 teeth to mesh with the third spur rack 351 and the fourth spur rack 352 with a stroke of 250 mm. This drives the double pneumatic chuck with a clamping force of 100 N, which is fixed on the third rack connector 362 and the fourth rack connector 361, to pull axially outward. When the bag 50 reaches the bag opening position, the first cylinder 371 and the second cylinder 372 drive the double pneumatic chuck to close and clamp the edge of the bag.

[0048] Please refer to the following: Figures 1-3 Driven clockwise by the first motor 21, the bag is opened by a combined motion of the negative pressure suction cup radial motion device 2, the pneumatic chuck axial motion device 3, and the cam-connecting rod flipping motion device 4. This motion creates a coordinated action of "negative pressure suction cup pulling outward and pneumatic chuck retracting inward". Each of the two negative pressure suction cups pulls outward by 100mm in the Y direction to open the bag opening, while the two pneumatic chucks retract inward by 50mm in the X direction to clamp the bag edge, achieving the maximum opening size.

[0049] Please refer to the following: Figures 1-3 Schematic diagram; Driven counterclockwise by the first motor 21, the bag is closed by a combined motion of the negative pressure suction cup radial motion device 2, the pneumatic chuck axial motion device 3, and the cam-linkage flipping motion device 4, forming a coordinated action of "negative pressure suction cup retracting inward - pneumatic chuck pulling outward".

[0050] Finally, the device completes all actions. At this point, the robotic arm moves to the designated bag placement position, the dual cylinders close, and the dual pneumatic grippers open; the dual negative pressure suction cups de-vacuum; the bag is unloaded, the first motor 21 rotates clockwise to the beginning of the lifting stage of the cam 41, and the second negative pressure suction cup 49 returns to the vertical position. A new round of bag gripping begins.

[0051] In this embodiment, the first motor 21 is a stepper motor or a servo motor; the stepper motor model can be an 86GYB250B two-phase hybrid stepper motor, and the servo motor model can be a DH-03X servo motor.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A multifunctional robotic arm end effector, characterized in that, It includes a platform (1), and a negative pressure suction cup radial motion device (2), a pneumatic chuck axial motion device (3) and a cam-linkage flipping motion device (4) provided on the platform (1). The negative pressure suction cup radial motion device (2) includes: A first mounting bracket is installed above the platform (1); The first spur rack (221), the first spur gear (25), and the second spur rack (222) are arranged sequentially from top to bottom within the first mounting bracket. A first negative pressure suction cup assembly is provided at the front end of the second straight rack (222); A second negative pressure suction cup assembly is provided at the front end of the first straight toothed rack (221), which is arranged opposite to the first negative pressure suction cup assembly; The first shaft (23) passes through the middle of the first spur gear (25), and one end of it is connected to the first motor (21). The pneumatic chuck axial motion device (3) includes: A second mounting bracket is provided below the platform (1); The third spur rack (351), the second spur gear (34) and the fourth spur rack (352) are arranged sequentially from front to back in the second mounting bracket. A first bevel gear (26) is provided at the end of the first shaft (23); The second shaft (32) passes through the platform (1), one end of which is provided with a second bevel gear (31) that meshes with the first bevel gear (26), and the other end passes through the shaft of the second spur gear (34); A first pneumatic chuck assembly is located at the front end of the third straight rack (351); A second pneumatic chuck assembly is provided at the front end of the fourth straight rack (352), and is arranged opposite to the first pneumatic chuck assembly; The cam-linkage flipping motion device (4) includes: A third spur gear (47) is provided on the first shaft (23), through which the third shaft (40) passes. The cam (41) that meshes with the third spur gear (47) has a cam groove on its side; The first connecting rod (42) has a roller (46) that is slidably connected to the cam groove at one end, and a second connecting rod (43) that is hinged to the other end. The second connecting rod (43) is away from the first connecting rod (42) and connected to the second negative pressure suction cup assembly. The third link (45) is hinged at one end to the middle of the first link (42) and at the other end to the platform (1).

2. The multifunctional robotic arm end effector according to claim 1, characterized in that, The platform (1) is also provided with a flange connector (12) so that the end effector can be fixedly connected to the end of the robotic arm.

3. The multifunctional robotic arm end effector according to claim 1, characterized in that, The actuator also includes a first support seat (241) and a second support seat (242) spaced apart on the platform (1). The two ends of the first shaft (23) pass through the first support seat (241) and the second support seat (242) respectively, and the connection is provided with a first bearing (243) and a second bearing (244).

4. The multifunctional robotic arm end effector according to claim 1, characterized in that, The actuator also includes a third support (331) and a fourth support (332) spaced apart on the platform (1). The two ends of the second shaft (32) pass through the third support (331) and the fourth support (332) respectively, and the connection is provided with a third bearing (391) and a fourth bearing (392).

5. A multifunctional robotic arm end effector according to claim 1, characterized in that, The actuator also includes a fifth support (481) and a sixth support (482) spaced apart on the platform (1). The two ends of the third shaft (40) pass through the fifth support (481) and the sixth support (482) respectively, and the connection is provided with a fifth bearing (4811) and a sixth bearing (4812).

6. The multifunctional robotic arm end effector according to claim 1, characterized in that, The first negative pressure suction cup assembly includes a first negative pressure suction cup connector (27) and a first negative pressure suction cup (28) disposed from the inside to the outside at the front end of the second straight toothed rack (222).

7. A multifunctional robotic arm end effector according to claim 1, characterized in that, The second negative pressure suction cup assembly includes a first rack connector (29), a second negative pressure suction cup connector (44), and a second negative pressure suction cup (49). The first rack connector (29) is located at the front end of the first straight rack (221); The second negative pressure suction cup connector (44) is located at the end of the second connecting rod (43) away from the first connecting rod (42); The second negative pressure suction cup (49) is disposed on the second negative pressure suction cup connector (44).

8. A multifunctional robotic arm end effector according to claim 1, characterized in that, The first pneumatic chuck assembly includes a third rack connector (362) located at the front end of the third rack (351), a first cylinder (371) located on the third rack connector (362), and a first pneumatic chuck (381) located at the output end of the first cylinder (371).

9. A multifunctional robotic arm end effector according to claim 1, characterized in that, The second pneumatic chuck assembly includes a fourth rack connector (361) located at the front end of the fourth rack (352), a second cylinder (372) located on the fourth rack connector (361), and a second pneumatic chuck (382) located at the output end of the second cylinder (372).

10. An application of the multifunctional robotic arm end effector as described in any one of claims 1-9, wherein it is mounted at the end of a robotic arm, characterized in that, Applications include bag gripping, bag clamping, bag opening, bag closing, and bag unloading on the bag body (50), among which, The bag grabbing process includes the following steps: the first motor (21) drives the first shaft (23) to rotate counterclockwise, the third spur gear (47) on the first shaft (23) meshes with the cam (41) on the third shaft (40), driving the third shaft (40) and the cam (41) to rotate synchronously, converting the rotational motion of the cam (41) into the planar motion of the first link (42); the first link (42), the third link (45), and the second link (43) together constitute a planar linkage mechanism. During the lifting phase of the cam (41), the planar linkage mechanism drives the second negative pressure suction cup connector (44) and the second negative pressure suction cup (49) located at its end to rotate about 23 degrees around the hinge point with the third link (45); during the far rest phase of the cam (41), the planar linkage mechanism drives the second negative pressure suction cup connector (44) to translate along the Y direction, so as to cooperate with the first negative pressure suction cup (28) to complete the grabbing and positioning of the bag body (50); The bag clamping process includes the following steps: when the bag body (50) is transferred to the bag opening station, the first pneumatic clamp (381) and the second pneumatic clamp (382) have moved to the predetermined clamping position through the bag gripping step; the first pneumatic clamp (381) and the second pneumatic clamp (382) are driven to close by the first cylinder (371) and the second cylinder (372) to clamp the two sides of the bag body (50); The bag opening process includes the following steps: The first motor (21) drives the first shaft (23) to rotate clockwise, and the power is transmitted in two paths: First path, the first spur gear (25) on the first shaft (23) meshes with the first spur rack (221) and the second spur rack (222) at the same time, converting the rotational motion of the first shaft (23) into the linear motion of the first spur rack (221) and the second spur rack (222), driving the first negative pressure suction cup (28) and the second negative pressure suction cup (49) at the ends of the first spur rack (221) and the second spur rack (222) to pull outward radially in the Y direction; Second path, the first bevel gear (26) on the first shaft (23) meshes with the second bevel gear on the second shaft (32) The wheel (31) meshes at 90°, reversing the power and transmitting it to the second shaft (32). The second spur gear (34) on the second shaft (32) meshes with the third spur rack (351) and the fourth spur rack (352) at the same time, converting the rotational motion of the second shaft (32) into the linear motion of the third spur rack (351) and the fourth spur rack (352), thereby driving the first pneumatic chuck (381) and the second pneumatic chuck (382) to retract axially in the X direction; so as to realize the linkage of the first negative pressure suction cup (28) and the second negative pressure suction cup (49) pulling outward in the Y direction, while the first pneumatic chuck (381) and the second pneumatic chuck (382) retract inward in the X direction, thus opening the bag opening; The bag closing process includes the following steps: The first motor (21) drives the first shaft (23) to rotate counterclockwise, driving the first negative pressure suction cup (28) and the second negative pressure suction cup (49) at the ends of the first spur rack (221) and the second spur rack (222) to retract radially in the Y direction; the meshing relationship between the first bevel gear (26) on the first shaft (23) and the second bevel gear (31) on the second shaft (32) remains unchanged, and after reversal, the second spur gear (34) on the second shaft (32) is driven to rotate in the opposite direction, thereby driving the third spur rack (351) and the fourth spur rack (352) and the first pneumatic chuck (381) and the second pneumatic chuck (382) fixed on them to pull outward axially in the X direction; so as to realize the linkage of the first negative pressure suction cup (28) and the second negative pressure suction cup (49) retracting in the Y direction while the first pneumatic chuck (381) and the second pneumatic chuck (382) pulling outward in the X direction, thus closing the bag opening; The unloading stage includes the following steps: the robotic arm moves to the unloading station, the first pneumatic chuck (381) and the second pneumatic chuck (382) open; the first negative pressure suction cup (28) and the second negative pressure suction cup (49) close the negative pressure state; the bag body (50) is unloaded, the first motor (21) rotates clockwise to make the cam (41) move to the beginning of the lifting stage, and start a new round of bag gripping stage.

Images