Mechanical arm device provided with various different end effectors

Abstract

The utility model relates to the technical field of end effectors, and discloses a mechanical arm device with various different end effectors, which comprises a sleeve, the front end of the sleeve is open, a plurality of sliding chutes are arranged on the inner wall of the sleeve, a gear mounting seat is mounted in the sleeve, and a driving gear and a driving motor are mounted on the gear mounting seat to realize gear rotation; each end effector comprises a rack, the racks are in sliding fit with the sliding grooves, different executing mechanisms are arranged at the front ends of the different racks, the gear mounting base rotates through a sleeve motor, so that the driving gear is matched with the racks of the different end effectors, and the end effectors get in and out of the sleeve through the driving motor. The driving gear is matched with racks on different end executors through the driving motor and the sleeve motor, the racks stretch out of or retract into the sleeve, rapid switching of the end executors is achieved, the end executors do not need to be disassembled and assembled, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of end effectors, in particular to a mechanical arm device equipped with a variety of different end effectors. Background Art

[0002] The advantages of the robotic arm, such as being able to work continuously and stably and reducing maintenance costs, make the robotic arm widely used in various fields. In the field of industrial manufacturing, the robotic arm can complete repetitive operations such as assembly, welding, spraying, and handling, improving production efficiency and quality. The robotic arm can also be used for operations such as planting, shearing, and picking in the agricultural field. Agricultural robotic arms can improve the production efficiency and quality of crops. However, at present, the end effector of the robotic arm is mostly a single actuator. The end of the robotic arm is equipped with a mounting mechanism that can match different types of end effectors. Different end effectors can be installed on the mounting mechanism at the end of the robotic arm according to different tasks, so that different end effectors can be replaced to complete multiple different tasks. However, this method requires the end effector to be disassembled and replaced before completing different tasks, which is inconvenient to operate and inefficient.

[0003] Authorization announcement No. CN114406869B discloses a robotic arm end effector with a dual-tool switching function. This solution can realize the switching of two working modes: end face grinding and plane grinding. It relies on the end face grinding mechanism to extend or retract the plane grinding mechanism to achieve the working mode switching. However, the working modes that can be achieved by this solution are limited. Due to structural limitations, it can only carry two working tools and only has the function of switching between two working modes. Utility Model Content

[0004] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a mechanical arm device equipped with a variety of different end effectors. According to actual needs, multiple slide slots and end effectors can be set accordingly to meet the switching between different working modes and have a wide range of applications.

[0005] In order to achieve the above purpose, the utility model is implemented through the following technical solutions:

[0006] A robotic arm device equipped with a variety of different end effectors, comprising:

[0007] The sleeve has an opening at the front end, a plurality of slide grooves are arranged on the inner wall of the sleeve, a gear mounting seat is arranged inside the sleeve, and a driving gear and a driving motor are arranged on the gear mounting seat to realize the gear rotation;

[0008] Several end effectors include racks, which are slidably matched with slide grooves. Different actuators are arranged at the front ends of different racks. The gear mounting seat is rotated by a sleeve motor so that the driving gear is matched with the racks of different end effectors, and the end effector is moved in and out of the sleeve by the driving motor.

[0009] As a further implementation, the end of the sleeve is used to connect to a driving arm.

[0010] As a further implementation, the sleeve motor is installed at the end of the sleeve, the output shaft of the sleeve motor is coaxial with the sleeve, and the output shaft extends into the interior of the sleeve to connect to the gear mounting seat.

[0011] As a further implementation method, the top of the gear mounting seat is U-shaped for mounting a driving gear, and a driving motor is provided on the outer side of the gear mounting seat, and an output end of the driving motor is connected to the driving gear.

[0012] As a further implementation, the slide groove is arranged along the length direction of the sleeve, the end of the slide groove is closed and provided with a spring, the spring is located in the slide groove and the front end of the spring is connected to the end of the rack.

[0013] As a further implementation, the end of the sleeve is closed by a bottom plate, a hole is opened in the center of the bottom plate for the output shaft of the sleeve motor to pass through, and the sleeve motor is installed on the outer side of the bottom plate.

[0014] As a further implementation method, a cover plate is provided at the front end of the sleeve, the cover plate and the sleeve are detachably provided, and through holes are provided on the cover plate corresponding to different end effectors.

[0015] As a further implementation, the end effector includes a cutting mechanism, a mechanical claw mechanism, and a rotating knife mechanism.

[0016] As a further implementation method, the cutting mechanism and the mechanical claw mechanism both include a mounting plate located at the front end of the rack, a motor is provided on the bottom surface of the mounting plate, the output end of the motor passes through the mounting plate and is connected to the telescopic block, the two sides of the telescopic block are connected to the connecting rod through a connecting shaft, both ends of the connecting shaft are rotatably connected to the telescopic block and the connecting rod, the top end of the connecting rod is connected to different actuators, the bottom end is rotatably connected to the rotating rod, and the bottom end of the rotating rod is rotatably connected to the mounting plate.

[0017] As a further implementation method, the rotating knife mechanism includes a mounting plate located at the front end of the rack, a motor is provided on the bottom surface of the mounting plate, the output end of the motor passes through the mounting plate and is connected to a connecting piece, a driving motor is provided on one side of the top end of the connecting piece, and the output end of the driving motor passes through the connecting piece to connect the rotating knife.

[0018] The beneficial effects of the above utility model are as follows:

[0019] 1. The utility model realizes the cooperation between the driving gear and the racks on different end effectors through the driving motor and the sleeve motor, so that the rack can be extended or retracted into the sleeve, and the end effector can be quickly switched. There is no need to disassemble and install the end effector, which improves work efficiency.

[0020] 2. The utility model adopts the setting of the spring. After the gear is separated from the rack, the spring can make the rack close to the end of the sleeve. During operation, the end actuator will not extend out of the sleeve at will, ensuring safety.

[0021] 3. The utility model can be provided with a plurality of slide slots and end effectors according to actual needs to meet the switching between different working modes and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0023] Figure 1 This is a schematic diagram of the overall structure of the mechanical claw mechanism in the embodiment of the utility model;

[0024] Figure 2 This is a schematic diagram of the overall structure of the cutter mechanism in the embodiment of the utility model;

[0025] Figure 3 This is a schematic diagram of the overall structure of the rotary cutter mechanism in the embodiment of the utility model;

[0026] Figure 4 It is a schematic diagram of the overall structure of the sleeve in the embodiment of the utility model;

[0027] Figure 5 It is a schematic diagram of the overall structure of the mechanical arm device in the embodiment of the utility model;

[0028] Figure 6 It is a schematic diagram of the overall structure of the end effector in the embodiment of the utility model;

[0029] Figure 7 It is a schematic diagram of the structure of the cooperation between the driving gear and the rack in the embodiment of the utility model.

[0030] In the figure: the distances or sizes between parts are exaggerated to show the positions of various parts, and the schematic diagram is for reference only.

[0031] Among them: 1—first connecting shaft, 2—first motor, 3—mechanical claw, 4—first telescopic block, 5—first connecting rod; 6—second connecting shaft, 7—second motor, 8—cutter, 9—second telescopic block, 10—second connecting rod; 11—connecting piece, 12—third motor, 13—rotating knife, 14—driving motor, 16—sleeve, 17—sleeve motor, 18—driving gear, 19—driving motor, 20—gear mounting seat, 21—cutter mechanism, 22—mechanical claw mechanism, 23—rotating knife mechanism, 24—slide groove, 25—rack. DETAILED DESCRIPTION

[0032] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0033] Embodiment 1

[0034] In a typical implementation of the present invention, reference is made to Figure 1 As shown, a mechanical arm device equipped with a variety of different end effectors includes a sleeve 16 and a plurality of end effectors slidably mounted inside the sleeve. The sleeve is equipped with a driving gear 18 to cooperate with the racks of the different end effectors to drive the end effectors to extend or retract into the sleeve.

[0035] like Figure 4 and Figure 5 As shown, the sleeve is a cylindrical structure with an open front end, and the end of the sleeve 16 is used to connect the drive arm, which drives the sleeve 16 to move. The inner wall of the sleeve 16 is provided with three slide grooves, which extend along the length direction of the sleeve.

[0036] In a preferred example, a base plate is installed at the end of the sleeve 16, and the end of the sleeve 16 is closed by the base plate. A hole is opened in the center of the base plate, and a sleeve motor 17 is arranged on the outer side of the base plate. The output shaft of the sleeve motor 17 passes through the center opening of the base plate. The output shaft of the sleeve motor 17 is coaxial with the sleeve 16, and the output shaft extends to the interior of the sleeve 16 and is connected to the gear mounting seat 20, driving the gear mounting seat to rotate around the axis of the mounting seat.

[0037] The gear mounting seat 20 is installed at the center of the sleeve. The top of the gear mounting seat 20 is U-shaped and is used to install the driving gear 18. The driving gear 18 is installed on the gear mounting seat 20 through a bearing and a shaft. A driving motor is provided on the outer side of the gear mounting seat 20. The output end of the driving motor 19 is connected to the driving gear. The driving motor 19 drives the driving gear to rotate around its axis.

[0038] like Figure 1-Figure 3 , Figure 6 As shown, the present embodiment provides three groups of end effectors, which respectively cooperate with different slide grooves, wherein each group of end effectors includes a rack 25, the rack 25 slidably cooperates with the slide groove 24, different front ends (i.e., top ends) of different racks are provided with different actuators, and the gear mounting seat 20 is rotated by a sleeve motor, so that the driving gear cooperates with the racks of different end effectors, and the end effector is driven into and out of the sleeve by the driving motor.

[0039] like Figure 4 and Figure 5As shown, the slide groove is arranged along the length direction of the sleeve, the end of the slide groove is closed by the bottom plate and is provided with a spring, the spring is located in the slide groove 24 and the front end is connected to the end of the rack, and the end of the spring is connected to the bottom plate. When the driving gear and the rack are released, the spring pulls the rack to the end of the sleeve, which can fix the end actuator.

[0040] In a preferred example, the slide groove 24 can be configured as a clamping groove structure to prevent the rack 25 from being separated from the slide groove.

[0041] In a preferred example, a cover plate is provided at the front end of the sleeve 16, and the cover plate and the sleeve 16 are detachably provided, and through holes are provided on the cover plate corresponding to different end effectors. The through holes allow the end effector to extend out, and the provision of the cover plate can protect the end effector inside the sleeve when the robot arm is operating.

[0042] like Figure 1-Figure 3 As shown, the end effector of this embodiment includes a cutter mechanism 21, a mechanical claw mechanism 22, and a rotary knife mechanism 23. In other examples, multiple slide slots and end effectors can be provided to cooperate according to the operation requirements to achieve switching between multiple working modes.

[0043] The cutter mechanism 21 and the mechanical claw mechanism 22 both include a mounting plate located at the top of the rack, a motor is provided on the bottom surface of the mounting plate, the output end of the motor passes through the mounting plate and is connected to the telescopic block, the two sides of the telescopic block are connected to the connecting rod through a connecting shaft, both ends of the connecting shaft are rotatably connected to the telescopic block and the connecting rod, the top end of the connecting rod is connected to different actuators, the bottom end is rotatably connected to the rotating rod, and the bottom end of the rotating rod is rotatably connected to the mounting plate.

[0044] like Figure 1 As shown, the mechanical claw mechanism includes a rack, a mounting plate is provided on one side of the top of the rack, a first motor 2 is provided on the bottom of the mounting plate, the output shaft of the first motor 2 passes through the mounting plate and extends upward for a set distance to connect to the first telescopic block 4, the first telescopic block is slotted on the left and right sides and provided with through holes, and is installed with one end of the first connecting shaft 1 through the through holes and the pin shaft to realize the rotational connection between the first connecting shaft 1 and the first telescopic block 4. The other end of the first connecting shaft 1 is rotationally connected to the slot in the middle position of the first connecting rod 5. The lifting and lowering of the first telescopic block 4 is realized, driving the lifting and lowering of the first connecting rods 5 on both sides. A mechanical claw 3 is fixed on each of the tops of the two first connecting rods 5, and the bottom ends are rotationally connected to the rotating rod, and the bottom ends of the rotating rods are rotationally connected to the mounting plate. The lifting and lowering of the first telescopic block 4 is realized by the action of the first motor 2, and then the clamping work of the two mechanical claws is realized under the action of the first connecting rod 5 and the rotating rod.

[0045] like Figure 2As shown, the structure of the cutter mechanism is the same as that of the mechanical claw mechanism, except that the actuator is a cutter 8, and the structure includes a second connecting shaft 6, a second motor 7, a cutter 8, a second telescopic block 9, and a second connecting rod 10. The second telescopic block 9 is lifted and lowered by the action of the second motor 7, and then the shearing work of the two cutters is realized under the action of the second connecting rod 10 and the rotating rod.

[0046] like Figure 3 As shown, the structure of the rotary cutter mechanism 23 includes a connecting member 11, a third motor 12, a rotary cutter 13, and a driving motor 14. A mounting plate is provided at the top of the rack of the rotary cutter mechanism 23, and a third motor is provided at the lower side of the mounting plate. The third motor 12 is a telescopic motor, and the output shaft of the telescopic motor passes through the mounting plate to connect the connecting member. The connecting member 11 is a support rod structure, and a driving motor 14 is provided at one side of the top of the connecting member 11. The output end of the driving motor 14 passes through the connecting member 11 to connect and rotate, driving the rotary cutter 13 to rotate, and the third motor 12 drives the rotary cutter 13 to rise and fall.

[0047] like Figure 7 As shown, by rotating the sleeve motor, the gear mounting seat can drive the gear to rotate to different racks and mesh with the racks. By rotating the drive motor 19, the corresponding rack can be extended upward from the sleeve, and then the corresponding end effector operation can be performed. When the end effector needs to be switched, the drive motor rotates in the opposite direction, the rack retracts into the sleeve, and the gear mounting seat continues to drive the gear to rotate to the corresponding rack. The drive motor 19 enables the corresponding rack to extend out of the sleeve, realizing the rapid switching of the end effector without the need to disassemble and install the end effector, thereby improving work efficiency.

[0048] Through the setting of the spring, after the gear is disengaged from the rack, the spring can make the rack close to the end of the sleeve. During operation, the end effector will not extend out of the sleeve at will, ensuring safety.

[0049] It can be understood that the outer diameter of the gear is adapted to the diameter of the inscribed circle formed by the inner side surfaces of the plurality of racks, ensuring that when the gear rotates to the corresponding position, one side thereof is meshed with the rack and the other side is located between the two racks.

[0050] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A robotic arm device equipped with a plurality of different end effectors, characterized in that: include: The sleeve has an opening at the front end, a plurality of slide grooves are arranged on the inner wall of the sleeve, a gear mounting seat is arranged inside the sleeve, and a driving gear and a driving motor are arranged on the gear mounting seat to realize the gear rotation; Several end effectors include racks, which are slidably matched with slide grooves. Different actuators are arranged at the front ends of different racks. The gear mounting seat is rotated by a sleeve motor so that the driving gear is matched with the racks of different end effectors, and the end effector is moved in and out of the sleeve by the driving motor.

2. A robotic arm device equipped with a plurality of different end effectors according to claim 1, characterized in that: The end of the sleeve is used for connecting the driving arm.

3. A robotic arm device equipped with a plurality of different end effectors according to claim 1, characterized in that: The sleeve motor is installed at the end of the sleeve, the output shaft of the sleeve motor is coaxial with the sleeve, and the output shaft extends into the interior of the sleeve to connect with the gear mounting seat.

4. A robotic arm device equipped with a plurality of different end effectors according to claim 3, characterized in that: The top of the gear mounting seat is U-shaped and is used to mount the driving gear. A driving motor is arranged on the outer side of the gear mounting seat, and the output end of the driving motor is connected to the driving gear.

5. The robot arm device equipped with a plurality of different end effectors according to claim 1, characterized in that: The slide groove is arranged along the length direction of the sleeve, the end of the slide groove is closed and provided with a spring, the spring is located in the slide groove and the front end of the spring is connected to the end of the rack.

6. A robotic arm device equipped with a plurality of different end effectors according to claim 1, characterized in that: The end of the sleeve is closed by a bottom plate, and a hole is opened in the center of the bottom plate for the output shaft of the sleeve motor to pass through, and the sleeve motor is mounted on the outer side of the bottom plate.

7. A robotic arm device equipped with a plurality of different end effectors according to claim 1, characterized in that: A cover plate is arranged at the front end of the sleeve, the cover plate and the sleeve are detachably arranged, and through holes are arranged on the cover plate corresponding to different end effectors.

8. The robot arm device equipped with a plurality of different end effectors according to claim 1, characterized in that: The end effector comprises a cutting mechanism, a mechanical claw mechanism and a rotating knife mechanism.

9. A robotic arm device equipped with a plurality of different end effectors according to claim 8, characterized in that: The cutter mechanism and the mechanical claw mechanism both include a mounting plate located at the front end of the rack, a motor is provided on the bottom surface of the mounting plate, an output end of the motor passes through the mounting plate and is connected to the telescopic block, both sides of the telescopic block are connected to the connecting rod through a connecting shaft, both ends of the connecting shaft are rotatably connected to the telescopic block and the connecting rod, the top end of the connecting rod is connected to different actuators, the bottom end is rotatably connected to the rotating rod, and the bottom end of the rotating rod is rotatably connected to the mounting plate.

10. A robotic arm device equipped with a variety of different end effectors according to claim 8, characterized in that: The rotating knife mechanism includes a mounting plate located at the front end of the rack, a motor is provided on the bottom surface of the mounting plate, the output end of the motor passes through the mounting plate and is connected to a connecting piece, a driving motor is provided on one side of the top end of the connecting piece, and the output end of the driving motor passes through the connecting piece to connect the rotating knife.

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