Intelligent robot arm

Abstract

The utility model belongs to the technical field of robot arms, particularly relates to an intelligent robot arm, and aims to solve the problems that according to an existing robot arm, the size of a clamping assembly is inconvenient to replace, materials of different sizes are clamped, the clamping effect is poor, and use requirements cannot be met. A rectangular box is installed on the robot arm body, a winding mechanism is arranged in the rectangular box, two sliding rods are connected to the winding mechanism, supporting rods are fixedly installed in the rectangular box, the two sliding rods are installed on the outer sides of the supporting rods in a sliding mode, a strip-shaped hole is formed in the rectangular box, and the two sliding rods are installed in the strip-shaped hole in a sliding mode. And sliding blocks are fixedly mounted on the two sliding rods. The material clamping device is simple in structure, the force for clamping materials is sensed through the pressure sensor, the situation that the force for clamping the materials is large or small can be avoided, and in order to adapt to grabbing of the materials of different sizes, clamping assemblies of different sizes can be replaced.

Description

Technical Field

[0001] The utility model relates to the technical field of robot arms, in particular to an intelligent robot arm. Background Art

[0002] The robot system is composed of a visual sensor, a mechanical arm system and a main control computer, wherein the mechanical arm system includes a modular mechanical arm and a dexterous hand. The construction model of the entire system can be used in welding, handling, painting, transportation, argon arc welding, electric welding, packaging and stacking, improving work efficiency, reducing labor costs, and reducing labor. Patent Publication No. CN218593026U discloses an intelligent industrial robot arm, which includes an arm body and a clamping mechanism arranged on the arm body, the clamping mechanism includes a clamping head, a plurality of electric telescopic rods are arranged below the clamping head, a fixing block is arranged at the bottom of the clamping head, a slide rail corresponding to the electric telescopic rod is arranged on the fixing block, a connecting block is arranged on the electric telescopic rod, a clamping claw is arranged below the connecting block, and a supporting mechanism for supporting the bottom of the clamped object is arranged on the clamping claw, which solves the problem that the current intelligent industrial robot arm is easy to fall off during the handling process due to the uneven surface of the object when it needs to carry irregular objects, thereby damaging the object. Most intelligent robot arms have an anti-detachment structure to prevent material damage when the clamping component is clamping and loading the object. However, this will increase the frequency of damage to the clamping component over a long period of time. Most clamping components are troublesome to disassemble, which will increase the work efficiency of disassembly or installation of the clamping component, resulting in waste of use, thereby reducing the practicality of the intelligent robot arm.

[0003] The existing robot arm is not convenient to change the size of the clamping component. The clamping effect is not good for materials of different sizes and cannot meet the use requirements. Utility Model Content

[0004] The utility model aims to solve the shortcomings of the existing robot arm, such as it is inconvenient to change the size of the clamping assembly, the poor clamping effect for clamping materials of different sizes, and the inability to meet the use requirements, and thus proposes an intelligent robot arm.

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

[0006] An intelligent robot arm comprises a robot arm body, a rectangular box is installed on the robot arm body, a winding mechanism is arranged in the rectangular box, two sliding rods are connected to the winding mechanism, support rods are fixedly installed in the rectangular box, the two sliding rods are slidably installed on the outside of the support rods, a strip hole is opened on the rectangular box, the two sliding rods are slidably installed inside the strip hole, sliders are fixedly installed on the two sliding rods, connecting plates are slidably installed on the two sliding plates, clamping assemblies are installed on the two connecting plates, locking mechanisms are installed on the two connecting plates, and the two locking mechanisms are adapted to the two clamping assemblies.

[0007] Preferably, the winding mechanism includes a servo motor, which is installed on the top inner wall of the rectangular box. The output shaft of the servo motor is fixedly mounted with a winding wheel, on which two pull ropes are installed, and the two pull ropes are fixedly mounted to two sliding rods; the servo motor drives the winding wheel to rotate, and the winding wheel reels the two pull ropes, and the two pull ropes drive the two sliding rods to approach each other.

[0008] Preferably, a slide groove is provided on the connecting plate, a slider is slidably installed in the slide groove, the slider and the slide rod are fixedly installed, a spring is fixedly installed between the slider and the slide groove, and a pressure sensor is installed between the spring and the slide groove; the slider compresses the pressure sensor through the spring, and the force of clamping the material is sensed by the pressure sensor, which can avoid the clamping force of the material being too large or too small.

[0009] Preferably, a tension spring is installed on the outer side of the slide rod, the tension spring is fixedly installed with the inner wall of the rectangular box, and the tension spring is sleeved on the outer side of the support rod; the tension spring provides a reset tension for the slide rod.

[0010] Preferably, the clamping assembly includes a clamping plate, an anti-slip pad is provided on the inner side of the clamping plate, two mounting blocks are fixedly installed on the clamping plate, two mounting grooves are provided on the connecting plate, and the two mounting blocks are movably connected to the two mounting grooves; the anti-slip pad can increase the friction for grasping the material.

[0011] Preferably, the locking mechanism includes a pull plate, two locking rods are provided on the inner side of the pull plate, the ends of the two locking rods are inclined, two sliding holes are provided on the connecting plate, the two locking rods are slidably connected to the inner walls of the two sliding holes, two locking grooves are provided on the two mounting blocks, and the two locking rods cooperate with the two locking grooves; two elastic rods are fixedly installed on the inner side of the pull plate, two elastic grooves are provided on the connecting plate, the two elastic rods are slidably connected to the inner walls of the two elastic grooves, the elastic rods are slidably connected to the inner walls of the elastic grooves, and a tension spring is fixedly installed between the elastic rod and the elastic groove; through the elastic force of the tension spring, the elastic rod drives the pull plate to move, and the pull plate drives the two locking rods to enter the two locking grooves, so that the mounting block can be fixed.

[0012] In the utility model, the beneficial effects of the intelligent robot arm are:

[0013] In this solution, the servo motor reels two pull ropes through the reel, and the two pull ropes drive two slide bars to approach each other, and the two slide bars drive two sliders to move, and the two sliders drive two connecting plates to approach each other through two springs, and the two connecting plates drive two clamping plates to approach each other, and the two clamping plates drive two anti-slip pads to approach each other to clamp the material, and the slider compresses the pressure sensor through the spring, and the pressure sensor senses the force of clamping the material, so as to avoid the clamping force of the material being too large or too small;

[0014] When the clamping assembly needs to be replaced in this solution, the pull plate is pulled to drive the two locking rods to move and leave the two locking grooves, thereby releasing the fixation of the two mounting blocks. The clamping plate is pulled to drive the two mounting blocks to leave the two mounting grooves, and the clamping assembly can be replaced. Through the elastic force of the tension spring, the elastic rod drives the pull plate to move, and the pull plate drives the two locking rods to enter the two locking grooves, thereby completing the replacement of the clamping assembly.

[0015] The utility model has a simple structure and can avoid clamping the material with a larger or smaller force by sensing the force of clamping the material through the pressure sensor. In order to adapt to the grabbing of materials of different sizes, clamping components of different sizes can be replaced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural schematic diagram of an intelligent robot arm proposed by the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of part A of an intelligent robot arm proposed in the utility model;

[0018] Figure 3 This is a three-dimensional structural schematic diagram of the clamping plate, anti-slip pad and two mounting blocks proposed by the utility model;

[0019] Figure 4 The present invention is a three-dimensional structural schematic diagram of the pull plate, two locking rods and two elastic rods.

[0020] In the figure: 1. Robot arm body; 2. Rectangular box; 3. Servo motor; 4. Winding wheel; 5. Pull rope; 6. Support rod; 7. Bar hole; 8. Sliding rod; 9. Tension spring; 10. Slide groove; 11. Sliding block; 12. Spring; 13. Pressure sensor; 14. Connecting plate; 15. Mounting groove; 16. Mounting block; 17. Clamping plate; 18. Anti-slip pad; 19. Locking groove; 20. Locking rod; 21. Pull plate; 22. Elastic rod; 23. Tension spring; 24. Elastic groove. DETAILED DESCRIPTION

[0021] The technical solution of this embodiment will be clearly and completely described below in conjunction with the drawings in this embodiment. Obviously, the described embodiment is only a part of this embodiment, rather than all of the embodiments.

[0022] Embodiment 1

[0023] Reference Figure 1-Figure 4 A smart robot arm comprises a robot arm body 1, a rectangular box 2 is installed on the robot arm body 1, a winding mechanism is arranged in the rectangular box 2, two slide bars 8 are connected to the winding mechanism, support bars 6 are fixedly installed in the rectangular box 2, the two slide bars 8 are slidably installed on the outside of the support bars 6, a strip hole 7 is opened on the rectangular box 2, the two slide bars 8 are slidably installed inside the strip hole 7, sliders 11 are fixedly installed on the two slide bars 8, connecting plates 14 are slidably installed on the two sliders 11, clamping assemblies are installed on the two connecting plates 14, locking mechanisms are installed on the two connecting plates 14, and the two locking mechanisms are adapted to the two clamping assemblies.

[0024] In this embodiment, the winding mechanism includes a servo motor 3, which is installed on the top inner wall of the rectangular box 2. The output shaft of the servo motor 3 is fixedly installed with a winding wheel 4, on which two pull ropes 5 are installed, and the two pull ropes 5 are fixedly installed with two slide bars 8; the servo motor 3 drives the winding wheel 4 to rotate, and the winding wheel 4 reels the two pull ropes 5, and the two pull ropes 5 drive the two slide bars 8 to approach each other.

[0025] In this embodiment, a slide groove 10 is opened on the connecting plate 14, and a slider 11 is slidably installed in the slide groove 10. The slider 11 and the slide rod 8 are fixedly installed. A spring 12 is fixedly installed between the slider 11 and the slide groove 10, and a pressure sensor 13 is installed between the spring 12 and the slide groove 10; the slider 11 compresses the pressure sensor 13 through the spring 12, and the pressure sensor 13 senses the force of clamping the material, which can avoid the clamping force of the material being too large or too small.

[0026] In this embodiment, a tension spring 9 is installed on the outer side of the slide rod 8. The tension spring 9 is fixed to the inner wall of the rectangular box 2 and sleeved on the outer side of the support rod 6. The tension spring 9 provides a reset tension for the slide rod 8.

[0027] In this embodiment, the clamping assembly includes a clamping plate 17, an anti-slip pad 18 is arranged on the inner side of the clamping plate 17, two mounting blocks 16 are fixedly mounted on the clamping plate 17, two mounting grooves 15 are provided on the connecting plate 14, and the two mounting blocks 16 are movably connected to the two mounting grooves 15; the anti-slip pad 18 can increase the friction for grasping the material.

[0028] In this embodiment, the locking mechanism includes a pull plate 21, and two locking rods 20 are provided on the inner side of the pull plate 21. The ends of the two locking rods 20 are both inclined. Two sliding holes are provided on the connecting plate 14, and the two locking rods 20 are slidably connected to the inner walls of the two sliding holes. Two locking grooves 19 are provided on the two mounting blocks 16, and the two locking rods 20 cooperate with the two locking grooves 19; two elastic rods 22 are fixedly installed on the inner side of the pull plate 21, and two elastic grooves 24 are provided on the connecting plate 14. The two elastic rods 22 are slidably connected to the inner walls of the two elastic grooves 24, and the elastic rods 22 are slidably connected to the inner walls of the elastic grooves 24, and a tension spring 23 is fixedly installed between the elastic rod 22 and the elastic groove 24; through the elastic force of the tension spring 23, the elastic rod 22 drives the pull plate 21 to move, and the pull plate 21 drives the two locking rods 20 to enter the two locking grooves 19, so that the mounting block 16 can be fixed.

[0029] Working principle: when in use, install the robot arm body 1 on the intelligent robot, and turn on the power and the intelligent robot. The servo motor 3 drives the winding wheel 4 to rotate, and the winding wheel 4 winds up the two pull ropes 5. The two pull ropes 5 drive the two slide bars 8 to approach each other, and the two slide bars 8 drive the two sliders 11 to move. The two sliders 11 drive the two connecting plates 14 to approach each other through two springs 12. The two connecting plates 14 drive the two clamping plates 17 to approach each other. The two clamping plates 17 drive the two anti-slip pads 18 to approach each other to clamp the material. The slider 11 compresses the pressure sensor 13 through the spring 12. The pressure sensor 13 senses the force of clamping the material, which can avoid the clamping force of the material being too large or too small. Set a suitable clamping pressure value, start the servo motor 3 in reverse, loosen the two pull ropes 5, and through the tension of the two tension springs 9, the two slide bars 8 move away from each other, and the two clamping plates 17 drive the two anti-slip pads 18 to move away from each other to release the fixation of the material. When the clamping assembly needs to be replaced, pull the pull plate 21 to drive the two locking rods 20 to move and leave the two locking grooves 19, release the fixation of the two mounting blocks 16, pull the clamping plate 17 to drive the two mounting blocks 16 to leave the two mounting grooves 15, and the clamping assembly can be replaced. Through the elastic force of the tension spring 23, the elastic rod 22 drives the pull plate 21 to move, and the pull plate 21 drives the two locking rods 20 to enter the two locking grooves 19, and the replacement of the clamping assembly is completed.

[0030] Embodiment 2

[0031] The difference between the second embodiment and the first embodiment is that a handle is installed on the outer side of the pull plate 21 , and the handle is used to pull the pull plate 21 to move, so that the pull plate 21 can be operated conveniently.

[0032] The locking mechanism is replaced with a bolt. After the mounting block 16 is installed in the mounting groove 15, the mounting block 16 is locked by the bolt. The fixing of the mounting block 16 is released by removing the bolt, and the clamping assembly can be replaced. The present application includes all structural shapes, sizes and materials of Example 1. In order to meet specific usage conditions, they can be selected and adjusted. The accompanying drawings are all schematic structural diagrams, and the specific actual sizes can be appropriately adjusted.

[0033] The above is only a preferred specific implementation of this embodiment, but the protection scope of this embodiment is not limited to this. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and utility model concept of this embodiment within the technical scope disclosed in this embodiment, which should be covered by the protection scope of this embodiment.

Claims

1. An intelligent robot arm, comprising a robot arm body (1), a rectangular box (2) being mounted on the robot arm body (1), characterized in that: A winding mechanism is arranged in the rectangular box (2), and two sliding rods (8) are connected to the winding mechanism. A support rod (6) is fixedly installed in the rectangular box (2), and the two sliding rods (8) are slidably installed on the outside of the support rod (6). A strip hole (7) is opened in the rectangular box (2), and the two sliding rods (8) are slidably installed inside the strip hole (7). A slider (11) is fixedly installed on the two sliding rods (8), and a connecting plate (14) is slidably installed on the two sliders (11). A clamping assembly is installed on the two connecting plates (14), and a locking mechanism is installed on the two connecting plates (14). The two locking mechanisms are adapted to the two clamping assemblies.

2. The intelligent robot arm according to claim 1, characterized in that: The connecting plate (14) is provided with a slide groove (10), a slider (11) is slidably mounted in the slide groove (10), the slider (11) and the slide rod (8) are fixedly mounted, a spring (12) is fixedly mounted between the slider (11) and the slide groove (10), and a pressure sensor (13) is mounted between the spring (12) and the slide groove (10).

3. The intelligent robot arm according to claim 1, characterized in that: The winding mechanism comprises a servo motor (3), the servo motor (3) being mounted on the top inner wall of the rectangular box (2), a winding wheel (4) being fixedly mounted on the output shaft of the servo motor (3), two pull ropes (5) being mounted on the winding wheel (4), and the two pull ropes (5) being fixedly mounted on the two slide bars (8).

4. The intelligent robot arm according to claim 1, characterized in that: A tension spring (9) is installed on the outer side of the slide rod (8), the tension spring (9) is fixedly installed on the inner wall of the rectangular box (2), and the tension spring (9) is sleeved on the outer side of the support rod (6).

5. The intelligent robot arm according to claim 1, characterized in that: The clamping assembly comprises a clamping plate (17), an anti-slip pad (18) is arranged on the inner side of the clamping plate (17), two mounting blocks (16) are fixedly mounted on the clamping plate (17), two mounting grooves (15) are provided on the connecting plate (14), and the two mounting blocks (16) are movably connected to the two mounting grooves (15).

6. The intelligent robot arm according to claim 5, characterized in that: The locking mechanism comprises a pull plate (21), two locking rods (20) are provided on the inner side of the pull plate (21), the ends of the two locking rods (20) are both inclined, two sliding holes are provided on the connecting plate (14), the two locking rods (20) are slidably connected to the inner walls of the two sliding holes, and two locking grooves (19) are provided on the two mounting blocks (16), the two locking rods (20) are matched with the two locking grooves (19).

7. The intelligent robot arm according to claim 6, characterized in that: Two elastic rods (22) are fixedly mounted on the inner side of the pull plate (21), two elastic grooves (24) are provided on the connecting plate (14), the elastic rods (22) are slidably connected to the inner walls of the elastic grooves (24), and a tension spring (23) is fixedly mounted between the elastic rods (22) and the elastic grooves (24).

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