Multifunctional grabbing mechanical arm system

Abstract

The utility model discloses a multifunctional grabbing mechanical arm system which comprises a grabbing arm body, supporting bottom rods which are arranged at equal intervals are fixedly installed on the left side of the grabbing arm body, movable grooves which are arranged at equal intervals are formed in the tops of the supporting bottom rods, and sealing plates are connected to the inner walls of the supporting bottom rods in a sliding mode. According to the utility model, the movable grabbing arm main body drives the plurality of groups of supporting bottom rods and the pressing plate to synchronously move so as to clamp printed matters, so that the printed matters with different specifications can be quickly grabbed, and meanwhile, the friction between the printed matters and the grabbing arm can be reduced through the plurality of groups of rolling shafts; the printed matter is prevented from being damaged and adhering to the grabbing arms at the same time, the bottom contact area of the printed matter to be clamped is large through cooperation of the multiple sets of rolling shafts capable of moving downwards, the movable grooves synchronously generate suction force, the contact area with the top of the printed matter is increased through the top pressing bags, and therefore the printed matter of different specifications can be effectively clamped.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, and more specifically to a multifunctional grabbing mechanical arm system. Background Art

[0002] In the production process of printed products, a robot is used to assist in the transportation of printed products, and a gripping mechanism is usually used during the transportation. However, the gripping mechanisms currently used mostly only use a simple mechanical pressing method to grip during the gripping process, which may cause the printed products in contact with the gripping mechanism to adhere to its surface, resulting in defective products and affecting subsequent gripping work.

[0003] For example, the patent with application number CN202111586209.7 discloses a gripping device for printed materials, including a main body, a push rod is provided at one end of the main body, a support assembly is provided on the side of the main body close to the push rod, and a pressing assembly is provided at one end of the push rod facing the support assembly. When the device is working, the main body can be moved to the printed material to be grasped, and then the main body is inserted into the printed material. During this process, the printed material will slide on the surface of the support assembly. Here, the traditional sliding friction is replaced with rolling friction, which can not only effectively reduce the friction between the printed product and the support assembly and reduce the risk of breakage, but also reduce the contact area between the printed product and the support assembly, thereby reducing the adhesion of the printed product to it. In addition, the pressing assembly can also automatically adapt to the pressing method according to the position of the grasped printed product, without manual operation, and is more intelligent.

[0004] This structure uses multiple sets of rollers to achieve rolling friction to reduce the friction between the printed product and the grabbing arm, but this structure causes a smaller contact area at the bottom of the printed product during the subsequent clamping and grabbing process. At the same time, the pressure of the rollers at the bottom of the top that are subjected to force on the printed product will increase, resulting in a poor clamping effect. At the same time, the clamping and grabbing efficiency of different printed products in this structure is not high, and the pressure needs to be adjusted as well as the position of the printed product inside the grabbing device. Therefore, professionals in this field provide a multifunctional grabbing robot arm system to solve the above-mentioned problems. Utility Model Content

[0005] In response to the problems existing in the prior art, the purpose of the utility model is to provide a multifunctional grasping robot arm system that can realize the rapid grasping of printed materials of different specifications. At the same time, through the coordinated use of multiple sets of sensors, it can intelligently and autonomously complete the grasping of printed materials, reduce the number of human operation steps and improve production efficiency.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A multifunctional grabbing mechanical arm system comprises a grabbing arm body, a supporting bottom bar arranged at equal distances is fixedly installed on the left side of the grabbing arm body, an active groove arranged at equal distances is opened on the top of the supporting bottom bar, a sealing plate is slidably connected to the inner wall of the supporting bottom bar, and a roller arranged at equal distances is rotatably connected to the top of the sealing plate, the top of the roller passes through the active groove and extends to the top of the supporting bottom bar, an air pump is fixedly installed on the bottom of the supporting bottom bar, and the air pump is connected to the inside of the supporting bottom bar through a pipeline, an infrared ranging sensor is installed on the left side of the grabbing arm body, and the interior of the grabbing arm body is integrated There is a processor, the air pump and the infrared ranging sensor are both connected to the processor signal, the grabbing arm body is fixedly installed with a clamping cylinder, the bottom end of the clamping cylinder is fixedly installed with a carrying plate, the bottom of the carrying plate is slidably connected with a pressure plate, the top of the pressure plate is fixedly connected with a uniformly distributed spring, the top of the spring is fixedly connected to the bottom of the carrying plate, the top of the pressure plate is fixedly installed with a pressure sensor, the pressure sensor and the clamping cylinder are both connected to the processor signal, the bottom of the pressure plate is fixedly connected with a pressure bag, the top of the pressure plate is fixedly connected with two air bags, and the air bags are connected to the inside of the pressure bag.

[0008] As a further description of the above technical solution: the pressure bag has good ductility, and the bottom of the pressure bag is connected with evenly distributed anti-slip protrusions.

[0009] As a further description of the above technical solution: two guide shafts are fixedly connected to the top of the pressure plate, and the top ends of the guide shafts penetrate and extend to the top of the bearing plate.

[0010] As a further description of the above technical solution: a flashing light is fixedly installed on the top of the carrier plate, and the flashing light is connected to the processor signal.

[0011] As a further description of the above technical solution: uniformly distributed one-way valves are arranged inside the supporting bottom rod, and the one-way valves are installed on the sealing plate and penetrate to the bottom of the sealing plate.

[0012] As a further description of the above technical solution: the sealing plate and the inner wall of the supporting bottom rod are subjected to sliding sealing treatment, a limiting block is connected to the sealing plate, and the limiting block is slidably connected to the inner wall of the supporting bottom rod.

[0013] Compared with the prior art, the advantages of the present invention are:

[0014] In the utility model, the printed matter is clamped by driving multiple groups of supporting bottom bars and pressure plates to move synchronously through the movable grabbing arm main body, so that printed matters of different specifications can be quickly grabbed. At the same time, multiple groups of rollers can reduce the friction between the printed matter and the grabbing arm, so as to prevent the printed matter from being damaged and also prevent the printed matter from sticking to the grabbing arm. With the cooperation of multiple groups of downwardly movable rollers, the bottom contact area of ​​the printed matter is large when it is to be clamped, and the movable groove generates suction synchronously, and the top pressure bag increases the contact area with the top of the printed matter, so that effective clamping and subsequent grabbing can be completed for printed matters of different specifications. At the same time, the coordinated use of multiple groups of sensors enables the robot arm to intelligently and autonomously complete the grabbing of printed matters, thereby reducing the number of operating steps for personnel and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0016] Figure 2 This is a schematic diagram of the front cross-sectional structure of the support bottom rod portion of the utility model;

[0017] Figure 3 This is a schematic diagram of the three-dimensional structure of the pressing plate of the utility model;

[0018] Figure 4 It is a schematic diagram of the principle of the utility model.

[0019] Description of the numbers in the figure:

[0020] 1. Grabbing arm body; 2. Support bottom rod; 3. Movable groove; 4. Sealing plate; 5. Roller; 6. Air pump; 7. Infrared ranging sensor; 8. Processor; 9. Clamping cylinder; 10. Loading plate; 11. Pressure plate; 12. Spring; 13. Pressure sensor; 14. Pressure bag; 15. Air bag; 16. Guide shaft; 17. Flashing light; 18. One-way valve; 19. Limit block. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0022] See also Figures 1 to 4In the utility model, a multifunctional grabbing mechanical arm system includes a grabbing arm body 1, a supporting bottom rod 2 arranged at equal distances is fixedly installed on the left side of the grabbing arm body 1, and an active groove 3 arranged at equal distances is opened on the top of the supporting bottom rod 2. A sealing plate 4 is slidably connected to the inner wall of the supporting bottom rod 2, and a roller 5 arranged at equal distances is rotatably connected to the top of the sealing plate 4. The top of the roller 5 passes through the active groove 3 and extends to the top of the supporting bottom rod 2. An air pump 6 is fixedly installed at the bottom of the supporting bottom rod 2, and the air pump 6 is connected to the inside of the supporting bottom rod 2 through a pipeline. An infrared ranging sensor 7 is installed on the left side of the grabbing arm body 1, and a processor 8 is integrated inside the grabbing arm body 1. The air pump 6 and the infrared ranging sensor The distance sensors 7 are all connected to the processor 8 signals, a clamping cylinder 9 is fixedly installed on the grabbing arm body 1, a supporting plate 10 is fixedly installed on the bottom end of the clamping cylinder 9, a pressure plate 11 is slidably connected to the bottom of the supporting plate 10, a uniformly distributed spring 12 is fixedly connected to the top of the pressure plate 11, the top of the spring 12 is fixedly connected to the bottom of the supporting plate 10, a pressure sensor 13 is fixedly installed on the top of the pressure plate 11, the pressure sensor 13 and the clamping cylinder 9 are both connected to the processor 8 signals, a pressure bag 14 is fixedly connected to the bottom of the pressure plate 11, two air bags 15 are fixedly connected to the top of the pressure plate 11, and the air bags 15 are connected to the inside of the pressure bag 14, wherein the grabbing arm body 1 is adapted to be equipped with a robotic arm.

[0023] The pressure capsule 14 has good ductility, and the bottom of the pressure capsule 14 is connected with uniformly distributed anti-slip bumps;

[0024] Uniformly distributed one-way valves 18 are arranged inside the supporting bottom rod 2 . The one-way valves 18 are installed on the sealing plate 4 and penetrate to the bottom of the sealing plate 4 .

[0025] The sealing plate 4 and the inner wall of the supporting bottom rod 2 are subjected to sliding sealing treatment. A limiting block 19 is connected to the sealing plate 4 , and the limiting block 19 is slidably connected to the inner wall of the supporting bottom rod 2 .

[0026] In the initial preparation state, the air pump 6 inflates the inside of the supporting bottom rod 2 to make its internal high pressure, and the sealing plate 4 is forced to move upward to send multiple groups of rollers 5 out of the movable groove 3. The grabbing arm body 1 drives the components to move to the left, so that the multiple groups of supporting bottom rods 2 are synchronously in contact with the bottom of the printed matter, and the bottom of the printed matter contacts the multiple groups of rolling rollers 5, and the rollers 5 rotate, so that the bottom friction of the printed matter is small when it enters the top of the supporting bottom rod 2. The infrared ranging sensor 7 monitors the distance of the printed matter in real time, and the processor 8 receives the signal. When the supporting bottom rod 2 moves to a certain position, the printed matter is at the top center position of the supporting bottom rod 2. The processor 8 controls the grabbing arm body 1 to stabilize and change the control of the air pump 6 to discharge the internal gas of the supporting bottom rod 2. At this time, the high-pressure gas inside the supporting bottom rod 2 is gradually discharged from the sealing plate 4 under the action of gravity. It starts to move downward, and the roller 5 moves downward into the movable groove 3, while the bottom of the printed product fits with the top of the supporting bottom rod 2. Due to the continuous operation of the air pump 6, the airflow on the top of the sealing plate 4 is discharged through the one-way valve 18, so that the multiple groups of movable grooves 3 generate a certain suction force to limit the printed product. Then the processor 8 controls the clamping cylinder 9 to operate, and the carrier plate 10 drives the pressure plate 11 to move downward. The pressure bag 14 first contacts the top of the printed product. The pressure bag 14 that is gradually stressed begins to deform and sends the internal gas to the inside of the air bag 15. The concave and convex pressure bag 14 on the top will also fit in, thereby increasing the contact area with the printed product. As the value of the pressure sensor 13 gradually increases, the processor 8 will control the clamping cylinder 9 to stop after reaching the set value, and the robotic arm can cooperate with the grabbing arm body 1 to move the grabbed printed product.

[0027] In the utility model, the printed matter is clamped by driving the movable grabbing arm body 1 to drive multiple groups of supporting bottom rods 2 and the pressure plate 11 to move synchronously, so that printed matters of different specifications can be quickly grabbed. At the same time, multiple groups of rollers 5 can reduce the friction between the printed matter and the grabbing arm, so as to prevent the printed matter from being damaged and also prevent the printed matter from sticking to the grabbing arm. With the multiple groups of downwardly movable rollers 5, the bottom contact area of ​​the printed matter is large when it is to be clamped, and the movable groove 3 generates suction synchronously, and the top pressure bag 14 increases the contact area with the top of the printed matter, so that printed matters of different specifications can be effectively clamped and subsequently grabbed. At the same time, the coordinated use of multiple groups of sensors enables the robot arm to intelligently and autonomously complete the grabbing of printed matters, thereby reducing the number of operating steps and improving production efficiency.

[0028] See also Figure 1 and 3 , wherein: two guide shafts 16 are fixedly connected to the top of the pressing plate 11 , and the top ends of the guide shafts 16 penetrate and extend to the top of the carrying plate 10 .

[0029] In the present invention, the setting of the guide shaft 16 can limit the pressing plate 11, so that the pressing plate 11 is always located at the bottom of the carrying plate 10 to maintain stable movement in the vertical direction.

[0030] See also Figure 1 and 4 , wherein: a flashing light 17 is fixedly installed on the top of the carrier board 10 , and the flashing light 17 is connected to the processor 8 by signal.

[0031] In the utility model, when the grabbing arm body 1 performs actions such as positioning, clamping and grabbing the printed matter, the processor 8 controls the flashing light 17 to flash the corresponding light, thereby prompting the personnel so as to understand the current status of the equipment in time.

[0032] The above is only a preferred specific implementation of the utility model; however, the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and improved ideas of the utility model within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model.

Claims

1. A multifunctional grabbing robot arm system, comprising a grabbing arm body (1), characterized in that: The left side of the grabbing arm body (1) is fixedly provided with a supporting bottom rod (2) arranged at equal distances, the top of the supporting bottom rod (2) is provided with movable grooves (3) arranged at equal distances, a sealing plate (4) is slidably connected to the inner wall of the supporting bottom rod (2), the top of the sealing plate (4) is rotatably connected to rollers (5) arranged at equal distances, the top of the roller (5) passes through the movable groove (3) and extends to the top of the supporting bottom rod (2), an air pump (6) is fixedly installed at the bottom of the supporting bottom rod (2), the air pump (6) is connected to the inside of the supporting bottom rod (2) through a pipeline, an infrared ranging sensor (7) is installed on the left side of the grabbing arm body (1), a processor (8) is integrated inside the grabbing arm body (1), and the air pump (6) and the infrared ranging sensor (7) are both connected to the processor (8) signal. A clamping cylinder (9) is fixedly mounted on the grabbing arm body (1), a supporting plate (10) is fixedly mounted on the bottom end of the clamping cylinder (9), a pressure plate (11) is slidably connected to the bottom of the supporting plate (10), a uniformly distributed spring (12) is fixedly connected to the top of the pressure plate (11), the top of the spring (12) is fixedly connected to the bottom of the supporting plate (10), a pressure sensor (13) is fixedly mounted on the top of the pressure plate (11), the pressure sensor (13) and the clamping cylinder (9) are both connected to the processor (8) signal, a pressure bag (14) is fixedly connected to the bottom of the pressure plate (11), two air bags (15) are fixedly connected to the top of the pressure plate (11), and the air bags (15) are connected to the inside of the pressure bag (14).

2. A multifunctional grabbing robot arm system according to claim 1, characterized in that: The pressure bag (14) has good ductility, and the bottom of the pressure bag (14) is connected with evenly distributed anti-slip convex points.

3. The multifunctional grabbing robot arm system according to claim 1, characterized in that: Two guide shafts (16) are fixedly connected to the top of the pressure plate (11), and the top ends of the guide shafts (16) penetrate and extend to the top of the bearing plate (10).

4. The multifunctional grabbing robot arm system according to claim 1, characterized in that: A flashing light (17) is fixedly mounted on the top of the carrier plate (10), and the flashing light (17) is signal-connected to the processor (8).

5. The multifunctional grabbing robot arm system according to claim 1, characterized in that: Uniformly distributed one-way valves (18) are arranged inside the supporting bottom rod (2); the one-way valves (18) are mounted on the sealing plate (4) and penetrate to the bottom of the sealing plate (4).

6. The multifunctional grabbing robot arm system according to claim 1, characterized in that: The sealing plate (4) and the inner wall of the supporting bottom rod (2) are subjected to sliding sealing treatment, and a limiting block (19) is connected to the sealing plate (4), and the limiting block (19) is slidably connected to the inner wall of the supporting bottom rod (2).

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