Artificial intelligence robot arm

Abstract

The utility model belongs to the technical field of intelligent robot arms, and particularly discloses an artificial intelligence robot arm which is used for solving the technical problem that articles cannot be stably grabbed and continuously carried due to the fact that carried or transferred articles are influenced by gravity center change and irregular outer surfaces. Comprising a rotating seat arranged at the bottom of a packaging frame, a clamping rod is arranged at the output tail end of the rotating seat, and a plurality of air bag rods connected with a pneumatic output element are installed in the clamping rod; in the whole clamping process, preliminary adjustment is conducted in a mode of adapting to the to-be-grabbed object in advance, secondary adaptive adjustment and the final clamping process are completed in combination with the specific shape of the outer vertical face of the to-be-grabbed object, adaptive adjustment is conducted according to the irregularity and gravity center change of the outer vertical face of the to-be-grabbed object in the carrying or turnover process of the object, and the clamping efficiency is improved. Therefore, the object to be grabbed can be stably clamped, and finally the requirement for the continuous carrying or turnover operation process of the object to be grabbed is met.

Description

Technical Field

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

[0002] Intelligent robots are increasingly being used in a wide range of fields, including but not limited to warehousing and logistics, consumer goods processing and manufacturing, surgical operations and medical rehabilitation, building and indoor delivery, intelligent companionship and emotional interaction, complex environment cleaning, emergency security, film and television shooting, energy and mineral collection, and national defense and military, etc.

[0003] Regardless of the application site and field, when an intelligent robot is used to carry or circulate items, most of them need to use a robot control terminal to realize related functions. However, in the prior art, when different items need to be carried or circulated, if the center of gravity of the items to be carried or circulated changes or the outer surface is irregular, the robot control terminal accessories need to be replaced to achieve stable grasping, which affects the continuous carrying of the items.

[0004] In view of the above technical defects, a solution is now proposed. Utility Model Content

[0005] The utility model aims to provide an artificial intelligence robot arm to solve the problem that objects being transported or circulated cannot be stably grasped and continuously transported due to changes in the center of gravity and irregularities in the outer surface.

[0006] The purpose of the utility model can be achieved through the following technical solutions: an artificial intelligence robot, comprising a rotating seat arranged at the bottom of a packaging frame, a clamping rod is arranged at the output end of the rotating seat, and a plurality of airbag rods connected to a pneumatic output element are installed in the clamping rod; a plurality of cross rails are arranged outside the rotating seat, an annular rail seat is sleeved in the middle of the outer ring surface of the rotating seat, a driving assembly connected to the cross rail is arranged in the annular rail seat, and the driving assembly includes a mounting seat and a walking wheel;

[0007] A telescopic component is slidably mounted outside the cross rail, an output end at the bottom of the telescopic component is connected to an arc-shaped connecting rod, an end of the connecting rod away from the telescopic component is connected to a rotating component, and the output end of the rotating component is connected to the clamping rod.

[0008] Preferably, the telescopic assembly includes an electric push rod and a connecting part, and the electric push rod is started to drive the clamping rod to move in the vertical direction through the connecting part. The rotating assembly includes a motor and a connecting part, and the starting motor drives the clamping rod to rotate axially with the motor output shaft as the axis through the connecting part.

[0009] Preferably, a sliding block is slidably mounted outside the cross rail, the bottom of each sliding block is connected to the top of the telescopic assembly, and the sliding block drives the clamping rod to move in the horizontal direction.

[0010] Preferably, the inner end of the cross rail is connected to a support block, and a connecting block fixedly connected to the support block is provided on the side of the mounting seat close to the cross rail. A motor drivingly connected to the travel wheel is embedded in the upper middle part of the mounting seat, and a rail groove with a "convex"-shaped cross-section is provided on the outer side of the annular rail seat. The travel wheel and the connecting block match the rail groove together, and the rotation of the travel wheel drives the cross rail to rotate around the central axis of the rotating seat.

[0011] Preferably, the output end of the rotating assembly is fixedly connected with a lower probe rod, the bottom of the lower probe rod is connected to the clamping rod, and the lower probe rod is a structure inclined downward at 45 degrees.

[0012] Preferably, the clamping rod is an arc-shaped hollow structure and is made of metal material, the airbag rod is arranged at the lower end of the inner concave surface of the clamping rod and protrudes to the outside, and the upper end of the inner concave surface of the airbag rod is provided with a plurality of anti-slip parts.

[0013] Beneficial effects of the utility model:

[0014] (1) The utility model preliminarily adjusts the entire clamping process in a manner that pre-adapts to the object to be grasped, and completes the secondary adaptation adjustment and the final clamping process in combination with the specific shape of the outer surface of the object to be grasped, thereby realizing adaptive adjustment according to the irregularity of the outer surface and the change of the center of gravity during the transportation or turnover of the object, so as to achieve stable clamping of the object to be grasped, and finally meets the continuous transportation or turnover operation process requirements of the object to be grasped;

[0015] (2) Among them, according to the shape of the object, the angle between each horizontal rail is first changed: the motor is started to drive the running wheel to rotate and drive the horizontal rail to swing, and finally drive the clamping rod to complete the position change to achieve the purpose of initially adapting to the outer surface of the object to be grasped; the spacing distance of the clamping rod is then changed: the spacing distance between the clamping rods is changed by the horizontal movement of the sliding block on the horizontal rail, and when the telescopic component moves downward and the clamping rod is covered outside the object to be grasped, the sliding block is continued to be started, and the sliding block moves radially along the rotating seat to further adapt to the outer surface of the object to be grasped; if the outer surface is affected by the irregular object to be grasped, the rotating component is started before the clamping rod contacts the object, and the rotating component drives the clamping rod to rotate, and similarly, the anti-slip part on the clamping rod contacts the object to be grasped and stops, and finally, gas is filled into the airbag rod to achieve a tight clamping of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The utility model is further described below in conjunction with the accompanying drawings;

[0017] Figure 1 It is a structural stereogram of the entire utility model;

[0018] Figure 2 It is a schematic diagram of the top view structure of the utility model;

[0019] Figure 3 It is a structural schematic diagram of a single grabbing assembly of the utility model;

[0020] Figure 4 It is a structural schematic diagram of the rotating seat of the utility model;

[0021] Figure 5 It is a structural schematic diagram of the walking assembly of the utility model;

[0022] Figure 6 It is a cross-sectional view of the installation structure of the walking assembly and the rotating seat of the utility model;

[0023] Figure 7 It is a structural schematic diagram of a deformed single grabbing assembly of the utility model;

[0024] Figure 8 It is a schematic diagram of the overall structure of a partial grasping component deformation of the utility model.

[0025] Legend: 1. Packaging frame; 2. Rotating seat; 3. Cross rail; 4. Sliding block; 5. Telescopic assembly; 6. Connecting rod; 7. Rotating assembly; 8. Probe rod; 9. Clamping rod; 10. Airbag rod; 11. Anti-slip part; 12. Support block; 13. Annular rail seat; 14. Rail groove; 15. Connecting block; 16. Mounting seat; 17. Motor; 18. Traveling wheel. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] Embodiment 1: This embodiment is used to solve the problem that the transported or circulated items cannot be stably grasped and continuously transported due to the change of center of gravity and irregular outer surface.

[0028] See also Figure 1 - Figure 8As shown, this embodiment is an artificial intelligence robot, including a rotating seat 2 arranged at the bottom of a packaging frame 1, a clamping rod 9 is arranged at the output end of the rotating seat 2, and a plurality of airbag rods 10 connected to the pneumatic output element are installed in the clamping rod 9; a plurality of cross rails 3 are arranged outside the rotating seat 2, and a ring rail seat 13 is sleeved in the middle of the outer ring surface of the rotating seat 2, and a driving assembly connected to the cross rail 3 is arranged in the ring rail seat 13, and the driving assembly includes a mounting seat 16 and a walking wheel 18;

[0029] A telescopic assembly 5 is slidably mounted outside the cross rail 3, an output end at the bottom of the telescopic assembly 5 is connected to an arc-shaped connecting rod 6, an end of the connecting rod 6 away from the telescopic assembly 5 is connected to a rotating assembly 7, and an output end of the rotating assembly 7 is connected to a clamping rod 9;

[0030] The telescopic assembly 5 includes an electric push rod and a connecting part. The electric push rod is started to drive the clamping rod 9 to move in the vertical direction through the connecting part. The rotating assembly 7 includes a motor and a connecting part. The motor is started to drive the clamping rod 9 to rotate axially with the motor output shaft as the axis through the connecting part.

[0031] A sliding block 4 is installed on the outside of the cross rail 3 for sliding movement. The bottom of each sliding block 4 is connected to the top of the telescopic assembly 5. The sliding block 4 drives the clamping rod 9 to move in the horizontal direction. The inner end of the cross rail 3 is connected to a support block 12. A connecting block 15 fixedly connected to the support block 12 is also provided on the side of the mounting seat 16 close to the cross rail 3. A motor 17 driven and connected to the running wheel 18 is embedded and installed on the upper middle part of the mounting seat 16. A rail groove 14 with a "convex"-shaped cross section is provided on the outer side of the annular rail seat 13. The running wheel 18 and the connecting block 15 are matched with the rail groove 14 together. The rotation of the running wheel 18 drives the cross rail 3 to rotate around the central axis of the rotating seat 2; because the running wheel 18 is in an arc shape, when the running wheel 18 moves in the rail groove 14, it can drive the cross rail 3 to rotate around the central axis of the rotating seat 2.

[0032] Reference Figure 1 - Figure 8 As shown, when applied to the transportation and turnover of articles, the packaging rack 1 is installed with the control terminal of the intelligent robot, and a plurality of clamping rods 9 are moved above the articles to be grasped. According to the shapes of the articles, the angles between the cross rails 3 are first changed. The specific operation process is as follows: the motor 17 is started to drive the running wheel 18 to rotate, and the running wheel 18 moves in the rail groove 14 and drives the cross rail 3 to swing, and finally drives the clamping rod 9 to complete the position change to achieve the purpose of initially adapting to the facade of the articles to be grasped;

[0033] The output end of the rotating assembly 7 is fixedly connected with a lower probe rod 8, the bottom of which is connected to a clamping rod 9. The lower probe rod 8 is a structure inclined downward at 45°, and probes downward at a fixed angle, which is convenient for clamping most items.

[0034] The clamping rod 9 is an arc-shaped hollow structure and is made of metal material. The airbag rod 10 is arranged at the lower end of the inner concave surface of the clamping rod 9 and protrudes to the outside. The upper end of the inner concave surface of the airbag rod 10 is provided with a plurality of anti-slip parts 11.

[0035] Continue to change the spacing distance of the clamping rods 9. The specific operation process is as follows: the spacing distance between the clamping rods 9 is changed by horizontally moving the sliding block 4 on the cross rail 3. When the telescopic component 5 moves downward and the clamping rod 9 is covered outside the object to be grasped, continue to start the sliding block 4. The sliding block 4 moves radially along the rotating seat 2 to complete further adaptation with the outer facade of the object to be grasped, until the anti-skid portion 11 on the clamping rod 9 contacts the object to be grasped and stops. If the outer facade is affected by the irregular object to be grasped, start the rotating component 7 before the clamping rod 9 contacts the object. The rotating component 7 drives the clamping rod 9 to rotate. Similarly, the anti-skid portion 11 on the clamping rod 9 contacts the object to be grasped and then stops. Finally, fill the airbag rod 10 with gas to achieve a tight clamping of the object.

[0036] In summary, the entire clamping process is initially adjusted in a way that adapts to the object to be grasped, and the secondary adaptation adjustment and the final clamping process are completed in combination with the specific shape of the outer facade of the object to be grasped, so that adaptive adjustments can be made according to the irregularities of the outer facade and changes in the center of gravity during the transportation or turnover of the object, so as to achieve stable clamping of the object to be grasped, and ultimately meet the continuous transportation or turnover operation process requirements of the object to be grasped.

[0037] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An artificial intelligence robot arm, comprising a rotating seat (2) arranged at the bottom of a packaging frame (1), characterized in that: The output end of the rotating seat (2) is provided with a clamping rod (9), and a plurality of airbag rods (10) connected to the pneumatic output element are installed in the clamping rod (9); a plurality of transverse rails (3) are arranged outside the rotating seat (2), and a ring rail seat (13) is sleeved in the middle of the outer ring surface of the rotating seat (2), and a driving component connected to the transverse rail (3) is arranged in the ring rail seat (13), and the driving component includes a mounting seat (16) and a running wheel (18); A telescopic assembly (5) is slidably mounted outside the cross rail (3); an output end at the bottom of the telescopic assembly (5) is connected to an arc-shaped connecting rod (6); an end of the connecting rod (6) away from the telescopic assembly (5) is connected to a rotating assembly (7); and an output end of the rotating assembly (7) is connected to a clamping rod (9).

2. An artificial intelligence robot hand according to claim 1, characterized in that: The telescopic assembly (5) comprises an electric push rod and a connecting part. When the electric push rod is started, the clamping rod (9) is driven to move in the vertical direction through the connecting part. The rotating assembly (7) comprises a motor and a connecting part. When the motor is started, the clamping rod (9) is driven to rotate axially with the motor output shaft as the axis through the connecting part.

3. The artificial intelligence robot hand according to claim 1, characterized in that: A sliding block (4) is slidably mounted outside the cross rail (3), the bottom of each sliding block (4) is connected to the top of the telescopic assembly (5), and the sliding block (4) drives the clamping rod (9) to move in the horizontal direction.

4. The artificial intelligence robot hand according to claim 3, characterized in that: The inner end of the transverse rail (3) is connected to a support block (12); a connecting block (15) fixedly connected to the support block (12) is also provided on a side of the mounting seat (16) close to the transverse rail (3); a motor (17) drivingly connected to a travel wheel (18) is embedded and installed in the upper middle part of the mounting seat (16); a rail groove (14) with a "convex" cross-section is provided on the outer side of the annular rail seat (13); the travel wheel (18) and the connecting block (15) are matched with the rail groove (14); the travel wheel (18) rotates to drive the transverse rail (3) to rotate around the central axis of the rotating seat (2).

5. The artificial intelligence robot hand according to claim 2, characterized in that: The output end of the rotating assembly (7) is fixedly connected to a lower probe rod (8), the bottom of the lower probe rod (8) is connected to a clamping rod (9), and the lower probe rod (8) is a structure inclined downward at 45 degrees.

6. The artificial intelligence robot hand according to claim 5, characterized in that: The clamping rod (9) is an arc-shaped hollow structure and is made of metal material. The airbag rod (10) is arranged at the lower end of the inner concave surface of the clamping rod (9) and protrudes to the outside. The upper end of the inner concave surface of the airbag rod (10) is provided with a plurality of anti-slip parts (11).

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