Turnover mechanism and mechanical arm

Abstract

The utility model belongs to the technical field of grabbing feeding and discharging, and particularly relates to a turnover mechanism and a mechanical arm. The turnover mechanism comprises a first clamping jaw, a second clamping jaw, a connecting piece, a reversing air cylinder and a detection piece. The first clamping jaw and the second clamping jaw are both used for clamping materials. The connecting piece comprises a first connecting part and a second connecting part, one end of the first connecting part and one end of the second connecting part are connected and perpendicular to each other, and the first clamping jaw and the second clamping jaw are rotationally arranged at the free end of the first connecting part and the free end of the second connecting part respectively so as to change the clamping direction of clamped materials. The reversing cylinder is used for driving the connector to rotate; the detection piece is arranged on the peripheral side of the reversing cylinder and used for detecting the angle of rotation of the reversing cylinder every time. The first clamping jaw and the second clamping jaw can rotate, the positions of the first clamping jaw and the second clamping jaw can be changed through the reversing air cylinder, the number of the clamping jaws is increased, the mechanical arm is prevented from moving in a narrow space, the detection piece is used for detecting the rotating angle of the reversing air cylinder, and the operation precision of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of grasping loading and unloading, in particular to a turnover mechanism and a robotic arm. Background Art

[0002] In the prior art, the gripper on the robotic arm for loading and unloading in a narrow space rotates by relying on its own electric shaft. However, since the gripper can only rotate itself to change the clamping direction of the material, during operation, the robotic arm needs to move to a position near the material and then rotate the gripper to pick up the material. Due to the narrow space, it is very inconvenient for the robotic arm to move. And the gripper is rotated manually to align with the material, with insufficient operation accuracy, prone to errors, high operation difficulty, and high requirements for operators. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a turnover mechanism and a robotic arm to solve the problems in the prior art that in a narrow space, it is very inconvenient for the robotic arm to move; the gripper is rotated manually to align with the material, with insufficient operation accuracy, prone to errors, high operation difficulty, and high requirements for operators, improve the operation convenience and operation accuracy of the robotic arm, and reduce the operation difficulty of the robotic arm.

[0004] To achieve the above object, the utility model adopts the following technical solutions:

[0005] The turnover mechanism includes:

[0006] A first gripper, a second gripper, a connecting member, a reversing cylinder, and a detecting member. The first gripper and the second gripper are both used for clamping the material. The connecting member includes a first connecting portion and a second connecting portion. One end of the first connecting portion and the second connecting portion are connected and perpendicular to each other. The first gripper and the second gripper are respectively rotatably arranged at the free ends of the first connecting portion and the second connecting portion to change the clamping direction of the clamped material. The reversing cylinder is used to drive the connecting member to rotate. The detecting member is arranged on the periphery of the reversing cylinder and is used to detect the angle of each rotation of the reversing cylinder.

[0007] As an optional technical solution of the turnover mechanism, the turnover mechanism further includes a fixing block. The fixing block is fixedly connected to the reversing cylinder. The reversing cylinder can drive the fixing block to rotate. The connecting member is arranged on the fixing block.

[0008] As an optional technical solution of the turnover mechanism, there are two connecting members. Two threaded holes are relatively arranged on both sides of the fixing block. Through holes are arranged at the connection positions of the first connecting portion and the second connecting portion of the two connecting members. Screws pass through the through holes and are screwed with the threaded holes to relatively fix the two connecting members on both sides of the fixing block.

[0009] As an alternative technical solution of the flipping mechanism, the fixed block is arranged as a regular quadrangular prism, and the threaded hole is arranged at the geometric center of the side wall of the fixed block.

[0010] As an alternative technical solution of the flipping mechanism, the flipping mechanism further includes two rotating cylinders, and the two rotating cylinders are respectively arranged at the free ends of the two first connecting parts and the free ends of the two second connecting parts to drive the first clamping jaw and the second clamping jaw to rotate respectively, so as to change the clamping direction of the clamped material.

[0011] As an alternative technical solution of the flipping mechanism, the rotation axis of the rotating cylinder is perpendicular to the fixed block.

[0012] As an alternative technical solution of the flipping mechanism, a buffer member is arranged on the periphery of the fixed block, and the fixed block can abut against the buffer member after each rotation.

[0013] As an alternative technical solution of the flipping mechanism, the detection member is arranged as an angle sensor.

[0014] As an alternative technical solution of the flipping mechanism, the flipping mechanism further includes a flange, and the reversing cylinder is fixedly connected to the flange.

[0015] The robotic arm includes the flipping mechanism according to any one of the above solutions.

[0016] Advantages of the present utility model:

[0017] The present utility model provides a flipping mechanism, which includes a first clamping jaw, a second clamping jaw, a connecting member, a reversing cylinder and a detection member. The first clamping jaw and the second clamping jaw are both used for clamping materials; the connecting member includes a first connecting part and a second connecting part. One end of the first connecting part and the second connecting part are connected and perpendicular to each other. The first clamping jaw and the second clamping jaw are respectively rotatably arranged at the free ends of the first connecting part and the second connecting part to change the clamping direction of the clamped material; the reversing cylinder is used to drive the connecting member to rotate; the detection member is arranged on the periphery of the reversing cylinder and is used to detect the angle of each rotation of the reversing cylinder. The first clamping jaw and the second clamping jaw can rotate by themselves and the positions of the first clamping jaw and the second clamping jaw can be changed by using the reversing cylinder, which increases the number of clamping jaws, avoids the movement of the robotic arm in a narrow space, improves the operation convenience of the robotic arm, and reduces the operation difficulty of the robotic arm; the rotation angle of the reversing cylinder is detected by using the detection member, which improves the operation accuracy of the robotic arm. Description of the Drawings

[0018] To more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for description in the embodiments of the present utility model. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the content of the embodiments of the present utility model and these drawings.

[0019] Figure 1 is an axonometric view of the flipping mechanism provided by the embodiment of the present utility model;

[0020] Figure 2 is a top view of the flipping mechanism provided by the embodiment of the present utility model.

[0021] In the figure:

[0022] 10. First clamping jaw; 20. Second clamping jaw; 30. Connecting piece; 40. Reversing cylinder; 50. Fixed block; 60. Flange. Detailed implementation manners

[0023] Before explaining any embodiment of the present application in detail, it should be understood that the present application is not limited to the structural details and component arrangements described in the following description or shown in the above drawings.

[0024] In the present application, the terms "include", "comprise", "have" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element.

[0025] In the present application, the term "and / or" is an associative relationship describing associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the present application, the character " / " generally represents an "and / or" relationship between the associated objects before and after.

[0026] In this application, the terms "connected", "combined", "coupled", and "mounted" can be direct connections, combinations, couplings, or mountings, or indirect connections, combinations, couplings, or mountings. Among them, for example, a direct connection means that two parts or components are connected together without an intermediate member, and an indirect connection means that two parts or components are respectively connected to at least one intermediate member, and these two parts or components are connected through the intermediate member. In addition, "connected" and "coupled" are not limited to physical or mechanical connections or couplings, and may include electrical connections or couplings.

[0027] In this application, those of ordinary skill in the art will understand that relative terms used in combination with a quantity or condition (such as "about", "approximately", "substantially", etc.) are intended to include the recited value and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances due to manufacturing, assembly, use, etc. associated with a particular value. Such terms should also be considered to disclose a range defined by the absolute values of two endpoints. The relative term may refer to a plus or minus of a certain percentage (such as 1%, 5%, 10% or more) of the indicated value. A numerical value without a relative term should also be disclosed as a particular value with a tolerance. In addition, when expressing a relative angular positional relationship (such as substantially parallel, substantially perpendicular), "substantially" may refer to a plus or minus a certain number of degrees (such as 1 degree, 5 degrees, 10 degrees or more) based on the indicated angle.

[0028] In this application, those of ordinary skill in the art will understand that the functions performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the functions performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0029] In this application, the directional terms such as "upper", "lower", "left", "right", "front", "rear", etc. are described based on the orientation and positional relationship shown in the drawings, and should not be construed as a limitation on the embodiments of this application. In addition, in the context, it should also be understood that when it is mentioned that one element is connected "above" or "below" another element, it can not only be directly connected "above" or "below" another element, but also be indirectly connected "above" or "below" another element through an intermediate element. It should also be understood that the directional terms such as the upper side, lower side, left side, right side, front side, rear side, etc. not only represent the positive direction, but can also be understood as the side direction. For example, the lower side may include directly below, lower left, lower right, lower front, and lower rear, etc.

[0030] In the prior art, the gripper on the robotic arm for loading and unloading in a narrow space rotates by relying on its own electric shaft. However, since the gripper can only rotate itself to change the clamping direction of the material, during operation, the robotic arm needs to move to a position near the material and then rotate the gripper to pick up the material. Due to the narrow space, it is very inconvenient for the robotic arm to move. Moreover, the gripper is rotated manually to align with the material, resulting in insufficient operation accuracy, prone to errors, high operation difficulty, and high requirements for operators.

[0031] To solve the above problems, this embodiment provides a robotic arm including a flipping mechanism. The flipping mechanism refers to Figure 1 and Figure 2 , and includes a first gripper 10, a second gripper 20, a connecting member 30, a reversing cylinder 40, and a detecting member. Both the first gripper 10 and the second gripper 20 are used for clamping materials. The connecting member 30 includes a first connecting portion and a second connecting portion. One end of the first connecting portion and the second connecting portion are connected and perpendicular to each other. The first gripper 10 and the second gripper 20 are respectively rotatably arranged at the free ends of the first connecting portion and the second connecting portion to change the clamping direction of the clamped material. The reversing cylinder 40 is used to drive the connecting member 30 to rotate. The detecting member is arranged on the periphery of the reversing cylinder 40 and is used to detect the angle of each rotation of the reversing cylinder 40. The first gripper 10 and the second gripper 20 can rotate by themselves and the position of the first gripper 10 and the second gripper 20 can be changed by using the reversing cylinder 40, increasing the number of grippers, avoiding the movement of the robotic arm in a narrow space, improving the operation convenience of the robotic arm, and reducing the operation difficulty of the robotic arm. Using the detecting member to detect the rotation angle of the reversing cylinder 40 improves the operation accuracy of the robotic arm. Specifically, the detecting member is set as an angle sensor. In other embodiments, the detecting member can also be set as a photoelectric sensor or a proximity sensor, etc.

[0032] Furthermore, the flipping mechanism further includes a fixing block 50. The fixing block 50 is fixedly connected to the reversing cylinder 40. The reversing cylinder 40 can drive the fixing block 50 to rotate, and the connecting member 30 is arranged on the fixing block 50. Specifically, there are two connecting members 30. Two threaded holes are relatively arranged on both sides of the fixing block 50. Through holes are arranged at the connection positions of the first connecting portion and the second connecting portion of the two connecting members 30. Screws pass through the through holes and are screwed with the threaded holes to relatively fix the two connecting members 30 on both sides of the fixing block 50. In other embodiments, a through hole can be penetrated through the fixing block 50, threaded holes are arranged at the connection positions of the first connecting portion and the second connecting portion of the two connecting members 30, and screws are used to pass through the threaded holes, the through hole, and the threaded holes to fix the connecting member 30 on the fixing block 50; or the connecting member 30 and the fixing block 50 are fixed by gluing, welding, or riveting, which will not be listed one by one here.

[0033] Further, the fixing block 50 is arranged as a regular quadrangular prism, and the threaded hole is arranged at the geometric center of the side wall of the fixing block 50. When the regular quadrangular prism rotates, it will not cause a distance difference between the first clamping jaw 10 or the second clamping jaw 20 and the rotation axis during movement, avoiding the first clamping jaw 10 or the second clamping jaw 20 from colliding with other objects, facilitating the observation of the distance between the first clamping jaw 10 or the second clamping jaw 20 and the material, and facilitating operation. In other embodiments, the fixing block 50 can also be arranged as a cube or a sphere.

[0034] Further, the flipping mechanism further includes two rotating cylinders, and the two rotating cylinders are respectively arranged at the free ends of the two first connecting portions and the free ends of the two second connecting portions to drive the first clamping jaw 10 and the second clamping jaw 20 to rotate respectively, so as to change the clamping direction of the clamped material. Specifically, the rotation axis of the rotating cylinder is perpendicular to the fixing block 50 to control that the first clamping jaw 10 or the second clamping jaw 20 can only rotate 90° clockwise or counterclockwise each time it rotates, avoiding mistakes in clamping the material.

[0035] Further, a buffer member is arranged on the circumferential side of the fixing block 50, and the fixing block 50 can be in contact with the buffer member after each rotation. Specifically, the buffer member is arranged as a rubber rod or a rubber strip, which neither affects the rotation of the fixing block 50 nor can buffer the force of the rotation of the fixing block 50, increasing the service life of the reversing cylinder 40.

[0036] Further, the flipping mechanism further includes a flange 60, and the reversing cylinder 40 is fixedly connected to the flange 60. The flange 60 can be detachably connected to the robotic arm, facilitating the installation and disassembly of the flipping mechanism.

[0037] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. The turning mechanism is characterized in that: include: A first clamping jaw (10) and a second clamping jaw (20), wherein the first clamping jaw (10) and the second clamping jaw (20) are both used for clamping materials; A connecting member (30), the connecting member (30) comprising a first connecting portion and a second connecting portion, one end of the first connecting portion and the second connecting portion being connected and perpendicular to each other, the first clamping jaw (10) and the second clamping jaw (20) being rotatably disposed at the free ends of the first connecting portion and the second connecting portion respectively to change the clamping direction of the material; a reversing cylinder (40), the reversing cylinder (40) being used to drive the connecting member (30) to rotate; A detection member is arranged on the peripheral side of the reversing cylinder (40) and is used to detect the angle of each rotation of the reversing cylinder (40).

2. The turning mechanism according to claim 1, characterized in that: The turning mechanism further comprises a fixed block (50), wherein the fixed block (50) is fixedly connected to the reversing cylinder (40), and the reversing cylinder (40) can drive the fixed block (50) to rotate, and the connecting member (30) is arranged on the fixed block (50).

3. The turning mechanism according to claim 2, characterized in that: Two connecting members (30) are provided, and two threaded holes are provided on opposite sides of the fixing block (50). Through holes are provided at the connection points between the first connecting parts and the second connecting parts of the two connecting members (30), and screws pass through the through holes and are screwed to the threaded holes, so as to relatively fix the two connecting members (30) on the two sides of the fixing block (50).

4. The turning mechanism according to claim 3, characterized in that: The fixing block (50) is configured as a regular quadrangular prism, and the threaded hole is disposed at the geometric center of the side wall of the fixing block (50).

5. The turning mechanism according to claim 4, characterized in that: The flipping mechanism also includes two rotating cylinders, which are respectively arranged at the free ends of the two first connecting parts and the free ends of the two second connecting parts to respectively drive the first clamping jaw (10) and the second clamping jaw (20) to rotate, thereby changing the clamping direction of the material.

6. The turning mechanism according to claim 5, characterized in that: The rotation axis of the rotary cylinder is perpendicular to the fixed block (50).

7. The turning mechanism according to claim 2, characterized in that: A buffer is provided on the peripheral side of the fixed block (50), and the fixed block (50) can abut against the buffer each time it rotates.

8. The turning mechanism according to any one of claims 1 to 7, characterized in that: The detection member is configured as an angle sensor.

9. The turning mechanism according to any one of claims 1 to 7, characterized in that: The turnover mechanism further comprises a flange (60), and the reversing cylinder (40) is fixedly connected to the flange (60).

10. A robotic arm, characterized in that: It comprises a turning mechanism as described in any one of claims 1 to 9.

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