Part taking and placing tool and mechanical arm

Abstract

The part taking and placing tool comprises a base, a mechanical arm assembly is arranged on the base, a clamping assembly is arranged on the mechanical arm assembly, the mechanical arm further comprises a control module and a visual sensor, and the clamping assembly comprises a second telescopic air cylinder, a first telescopic air cylinder, a second telescopic air cylinder and a third telescopic air cylinder. The second telescopic air cylinders are installed at the output end of the fifth servo motor through a connecting frame, the multiple second telescopic air cylinders are oppositely installed, and the second telescopic air cylinders are electrically connected with the control module. A plurality of pneumatic claw discs are arranged, and the pneumatic claw discs are installed on the second telescopic air cylinder; and the number of the clamping jaws is multiple, the clamping jaws are installed in the sliding grooves of the pneumatic jaw disc, and the end portions of the clamping jaws are provided with n-shaped protruding structures. The clamping assembly can take and place another part through fine adjustment of the mechanical arm assembly and rotation of the fifth servo motor, and the production and machining efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a part picking and placing tooling and a robotic arm. Background Technique

[0002] A robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operation flexibility, it has been widely used in industrial assembly, safety explosion protection and other fields. In the production process of motors, the process of assembling the iron core and the rotating shaft of the motor is required. In this process, manual assembly is usually adopted, resulting in a large amount of manpower required for processing. Therefore, a part picking and placing tooling and a robotic arm are proposed to optimize the current production method and improve production efficiency.

[0003] After retrieval, a patent with the Chinese patent application number 202022213273.8 discloses a robotic arm mechanism for part assembly, including a clamping plate, the outside of the clamping plate is movably connected with a folding plate, the outside of the folding plate is movably connected with a bottom shell, the outside of the bottom shell is fixedly connected with a base, and the inside of the base is movably connected with a sealing ring. The robotic arm in the above literature has the following deficiencies: the degree of freedom of the device is limited, and at the same time, the clamping jaw structure of the device has defects, resulting in easy falling off of the clamped object. Content of the Utility Model

[0004] The purpose of the utility model is to solve the deficiencies existing in the prior art, and to propose a part picking and placing tooling and a robotic arm.

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

[0006] A part picking and placing tooling and a robotic arm, including a base, a robotic arm assembly is arranged on the base, a clamping assembly is arranged on the robotic arm assembly, and the robotic arm further includes a control module and a vision sensor. The robotic arm assembly includes:

[0007] A circular seat, the circular seat is installed on the base, and the structure of the circular seat is a circular structure;

[0008] A servo motor 1, the servo motor 1 is installed inside the circular seat, and the servo motor 1 is electrically connected to the control module;

[0009] A support seat, the lower half of the support seat is a cylindrical structure, and the upper part is a square structure. The cylindrical structure of the support seat is connected to the output end of the servo motor 1;

[0010] A slide rail, the slide rail is installed on the support seat, a stator and a slider structure are arranged inside the slide rail, and a sliding groove is arranged on the side of the slide rail.

[0011] As a further solution of the present utility model: The robotic arm assembly further includes:

[0012] A linear motor, which is installed on one side of the slide rail. A convex structure is provided on the side of the linear motor. The convex mechanism is adapted to the sliding groove on the slide rail. The linear motor is electrically connected to the control module;

[0013] A drag chain, which is arranged on one side of the slide rail and is connected to the linear motor;

[0014] A first bracket, which is installed on the side of the linear motor. Installation holes are provided on the first bracket.

[0015] As a further solution of the present utility model: The robotic arm assembly further includes:

[0016] A second servo motor, which is installed at the bottom of the first bracket. The output end of the second servo motor passes through the installation hole on the first bracket. The second servo motor is electrically connected to the control module;

[0017] A first support, which is installed at the output end of the second servo motor. An installation groove is provided on the first support. An installation hole is provided on one side of the first support;

[0018] A third servo motor, which is installed on one side of the first support. The output end of the third servo motor passes through the installation hole on the side of the first support. The third servo motor is electrically connected to the control module.

[0019] As a further solution of the present utility model: The robotic arm assembly further includes a first telescopic cylinder, which is installed in the installation groove on the first support. The first telescopic cylinder is connected to the first support through a rotating shaft, a rolling bearing and a connecting frame. The rotating shaft is connected to the output end of the third servo motor.

[0020] As a further solution of the present utility model: The clamping assembly includes:

[0021] A second rotating seat, which is installed at the output end of the first telescopic cylinder. An installation hole is provided on one side of the second rotating seat, and a fixing groove is provided on the front;

[0022] A fourth servo motor, which is installed on the side of the second rotating seat. The fourth servo motor is electrically connected to the control module;

[0023] A second bracket, which is of an L-shaped structure. The second bracket is installed in the fixing groove of the second rotating seat through a rotating shaft and a rolling bearing. The rotating shaft of the second bracket is connected to the output end of the fourth servo motor.

[0024] As a further solution of the present utility model: The clamping assembly further includes:

[0025] Servo motor five is installed on one side of bracket two. There are holes on bracket two. The output end of servo motor five passes through the holes, and servo motor five is electrically connected to the control module.

[0026] As a further solution of the present utility model: The clamping assembly further includes:

[0027] Two telescopic cylinders, the two telescopic cylinders are installed on the output end of servo motor five through a connecting frame. There are several two telescopic cylinders, which are installed oppositely, and the two telescopic cylinders are electrically connected to the control module;

[0028] Pneumatic chuck plates, there are several pneumatic chuck plates, which are installed on the two telescopic cylinders. There are holes on the pneumatic chuck plates. The output ends of the two telescopic cylinders pass through the holes. There are several sliding grooves on one side of the two telescopic cylinders, and the pneumatic chuck plates are electrically connected to the control module;

[0029] Claw jaws, there are several claw jaws, which are installed in the sliding grooves of the pneumatic chuck plates. The ends of the claw jaws are provided with U-shaped convex structures.

[0030] As a further solution of the present utility model: A part picking and placing tooling, the part picking and placing tooling includes the robotic arm described in any one of the above.

[0031] The beneficial effects of the present utility model are:

[0032] 1. The lifting of the robotic arm can be realized through the linear motor, which is convenient for the movement of the robotic arm. Through the linear motor and servo motor one, the robotic arm can move in a large range, and the turning speed can be increased.

[0033] 2. The fine adjustment of the robotic arm can be realized through servo motor two and servo motor three, and its accuracy can be increased.

[0034] 3. The clamping assembly can be rotated through servo motor four to realize multi-angle rotation, which is convenient for clamping the next part.

[0035] 4. By rotating the clamping assembly through servo motor five, after picking and placing one part, the clamping assembly can be finely adjusted through the robotic arm assembly, and then servo motor five rotates to pick and place another part, increasing the production and processing efficiency. Description of the Drawings

[0036] Figure 1 It is a schematic structural diagram of a part picking and placing tooling and a robotic arm proposed by the present utility model;

[0037] Figure 2 It is a schematic structural diagram of a cross-section of a part of the robotic arm assembly in a part picking and placing tooling and a robotic arm proposed by the present utility model;

[0038] Figure 3 Structural schematic diagram of a component picking and placing tooling and a robotic arm component in a robotic arm proposed by the present utility model;

[0039] Figure 4 Structural schematic diagram of the side of a component picking and placing tooling and a robotic arm component in a robotic arm proposed by the present utility model;

[0040] Figure 5 Structural schematic diagram of a fixing component in a component picking and placing tooling and a robotic arm proposed by the present utility model.

[0041] In the figure: 1 - base, 2 - annular seat, 3 - first servo motor, 4 - support seat, 5 - slide rail, 6 - drag chain, 7 - linear motor, 8 - first bracket, 9 - second servo motor, 10 - first support, 11 - first rotating seat, 12 - third servo motor, 13 - first telescopic cylinder, 14 - fourth servo motor, 15 - second bracket, 16 - fifth servo motor, 17 - second rotating seat, 18 - second telescopic cylinder, 19 - pneumatic chuck, 20 - jaw. Specific embodiments

[0042] The technical solution of the present utility model will be further described in detail below in conjunction with specific embodiments.

[0043] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as limiting the present utility model.

[0044] A component picking and placing tooling and a robotic arm, as Figure 1 , Figure 2 shown, includes a base 1. A robotic arm component is provided on the base 1, and a clamping component is provided on the robotic arm component. The robotic arm further includes a control module and a vision sensor. The robotic arm component includes:

[0045] An annular seat 2, the annular seat 2 is installed on the base 1, and the structure of the annular seat 2 is an annular structure;

[0046] A first servo motor 3, the first servo motor 3 is installed inside the annular seat 2, and the first servo motor 3 is electrically connected to the control module;

[0047] A support seat 4, the lower half of the support seat 4 is a cylindrical structure, and the upper part is a square structure. The cylindrical structure of the support seat 4 is connected to the output end of the first servo motor 3;

[0048] A slide rail 5, the slide rail 5 is installed on the support seat 4. Structures such as a stator and a slider are provided inside the slide rail 5, and a sliding groove is provided on the side of the slide rail 5.

[0049] The robotic arm is driven by the first servo motor 3 to rotate horizontally.

[0050] As Figure 3 、 Figure 4 shown, the robotic arm assembly further includes:

[0051] A linear motor 7, which is installed on one side of the slide rail 5. A convex structure is provided on the side of the linear motor 7, and the convex mechanism is adapted to the sliding groove on the slide rail 5. The linear motor 7 is electrically connected to the control module;

[0052] A drag chain 6, which is arranged on one side of the slide rail 5 and is connected to the linear motor 7;

[0053] A first bracket 8, which is installed on the side of the linear motor 7, and an installation hole is provided on the first bracket 8.

[0054] The lifting of the robotic arm can be realized by the linear motor 7, which is convenient for the movement of the robotic arm. The robotic arm can be moved in a large range by the linear motor 7 and the first servo motor 3, and the turning speed can be increased.

[0055] In order to make the robotic arm more accurate when picking and placing workpieces, as Figure 3 、 Figure 4 shown, the robotic arm assembly further includes:

[0056] A second servo motor 9, which is installed at the bottom of the first bracket 8. The output end of the second servo motor 9 passes through the installation hole on the first bracket 8. The second servo motor 9 is electrically connected to the control module;

[0057] A first support 10, which is installed at the output end of the second servo motor 9. An installation groove is provided on the first support 10, and an installation hole is provided on one side of the first support 10;

[0058] A third servo motor 12, which is installed on one side of the first support 10. The output end of the third servo motor 12 passes through the installation hole on the side of the first support 10. The third servo motor 12 is electrically connected to the control module.

[0059] The fine adjustment of the robotic arm can be realized by the second servo motor 9 and the third servo motor 12, and its accuracy can be increased.

[0060] In order to increase the working range of the robotic arm, as Figure 4 shown, the robotic arm assembly further includes a first telescopic cylinder 13, which is installed in the installation groove on the first support 10. The first telescopic cylinder 13 is connected to the first support 10 through a rotating shaft, a rolling bearing and a connecting frame, and the rotating shaft is connected to the output end of the third servo motor 12.

[0061] To solve the problem of picking and placing parts; as Figure 5 shown, the clamping assembly includes:

[0062] The second rotating seat 17 is installed at the output end of the first telescopic cylinder 13. An installation hole is provided on one side of the second rotating seat 17, and a fixing groove is provided on the front surface;

[0063] The fourth servo motor 14 is installed on the side of the second rotating seat 17, and the fourth servo motor 14 is electrically connected to the control module;

[0064] The second bracket 15 has an L-shaped structure. The second bracket 15 is installed in the fixing groove of the second rotating seat 17 through a rotating shaft and a rolling bearing. The rotating shaft of the second bracket 15 is connected to the output end of the fourth servo motor 14.

[0065] The clamping assembly can be rotated by the fourth servo motor 14 to achieve multi-angle rotation, facilitating the clamping of the next part.

[0066] To enable the clamping assembly to clamp multiple parts at one time, as Figure 5 shown, the clamping assembly further includes:

[0067] The fifth servo motor 16 is installed on one side of the second bracket 15. There is a hole on the second bracket 15. The output end of the fifth servo motor 16 passes through the hole, and the fifth servo motor 16 is electrically connected to the control module.

[0068] By rotating the clamping assembly with the fifth servo motor 16, after the clamping assembly picks and places one part, it can be finely adjusted through the robotic arm assembly. Then the fifth servo motor 16 rotates to enable the clamping assembly to pick and place another part, increasing the production and processing efficiency.

[0069] As Figure 5 shown, the clamping assembly further includes:

[0070] The second telescopic cylinder 18 is installed at the output end of the fifth servo motor 16 through a connecting frame. There are several second telescopic cylinders 18, which are installed oppositely. The second telescopic cylinder 18 is electrically connected to the control module;

[0071] The pneumatic chuck 19 has several, and is installed on the second telescopic cylinder 18. There is a hole on the pneumatic chuck 19. The output end of the second telescopic cylinder 18 passes through the hole. There are several sliding grooves on one side of the second telescopic cylinder 18. The pneumatic chuck 19 is electrically connected to the control module;

[0072] The claw 20 has several, and is installed in the sliding groove of the pneumatic chuck 19. The end of the claw 20 is provided with a U-shaped convex structure.

[0073] When the robotic arm assembly moves the clamping assembly above the workpiece under the guidance of the vision sensor, the control module controls the pneumatic chuck to clamp the rotating shaft. Subsequently, the robotic arm assembly makes fine adjustments. The servo motor four 14 and the servo motor five 16 cooperate to align another pneumatic chuck 19 with the workpiece, and the pneumatic chuck 19 picks up the workpiece. When connecting the rotating shaft to the iron core, the robotic arm aligns the rotating shaft with the center of the iron core. Subsequently, the claw 20 releases the workpiece, and the telescopic cylinder two 18 pushes the rotating shaft into the iron core for preliminary fixation to prevent the rotating shaft from falling off when the iron core moves.

[0074] Working principle: The worker places the iron core on the assembly line and arranges the rotating shaft beside the robotic arm. The control module controls the robotic arm assembly to move the clamping assembly above the rotating shaft, and the rotating shaft is picked up under the cooperation of the robotic arm assembly and the clamping assembly. Subsequently, the robotic arm assembly makes fine adjustments, and the clamping assembly rotates to pick up another adjacent rotating shaft. Then the robotic arm assembly moves, moves the rotating shaft to the iron core on the assembly line, aligns the rotating shaft with the hole in the middle of the iron core, and the robotic arm assembly moves to insert the rotating shaft into the iron core. Subsequently, the clamping assembly releases the rotating shaft, and the telescopic cylinder two 18 pushes the rotating shaft into the iron core to prevent the iron core and the rotating shaft from separating during the transportation to the next processing equipment. Then the robotic arm assembly and the clamping assembly cooperate to put another rotating shaft into the next iron core.

[0075] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A robotic arm, comprising a base (1), characterized in that, A robotic arm assembly is provided on the base (1), and a clamping assembly is provided on the robotic arm assembly. The robotic arm further includes a control module and a vision sensor. The robotic arm assembly includes: A circular base (2), which is installed on the base (1), and the structure of the circular base (2) is a circular structure; A first servo motor (3), which is installed inside the circular base (2), and the first servo motor (3) is electrically connected to the control module; A support base (4), the lower half of which is a cylindrical structure and the upper part is a square structure, and the cylindrical structure of the support base (4) is connected to the output end of the first servo motor (3); A slide rail (5), which is installed on the support base (4). A stator and a slider structure are provided inside the slide rail (5), and a sliding groove is provided on the side of the slide rail (5).

2. The robotic arm according to claim 1, wherein The robotic arm assembly further includes: A linear motor (7), which is installed on one side of the slide rail (5). A convex structure is provided on the side of the linear motor (7), and the convex mechanism is adapted to the sliding groove on the slide rail (5). The linear motor (7) is electrically connected to the control module; A drag chain (6), which is provided on one side of the slide rail (5), and the drag chain (6) is connected to the linear motor (7); A first bracket (8), which is installed on the side of the linear motor (7), and an installation hole is provided on the first bracket (8).

3. The robotic arm according to claim 2, characterized in that, The robotic arm assembly further includes: A second servo motor (9), which is installed at the bottom of the first bracket (8). The output end of the second servo motor (9) passes through the installation hole on the first bracket (8), and the second servo motor (9) is electrically connected to the control module; A first support (10), which is installed at the output end of the second servo motor (9). An installation groove is provided on the first support (10), and an installation hole is provided on one side of the first support (10); A third servo motor (12), which is installed on one side of the first support (10). The output end of the third servo motor (12) passes through the installation hole on the side of the first support (10), and the third servo motor (12) is electrically connected to the control module.

4. The robotic arm according to claim 3, wherein, The robotic arm assembly further includes a first telescopic cylinder (13), which is installed in the installation groove on the first support (10). The first telescopic cylinder (13) is connected to the first support (10) through a rotating shaft, a rolling bearing and a connecting frame, and the rotating shaft is connected to the output end of the third servo motor (12).

5. The robotic arm according to claim 4, characterized in that, The clamping assembly includes: A second rotating seat (17), which is installed at the output end of the first telescopic cylinder (13). An installation hole is provided on one side of the second rotating seat (17), and a fixing groove is provided on the front; A fourth servo motor (14), which is installed on the side of the second rotating seat (17), and the fourth servo motor (14) is electrically connected to the control module; A second bracket (15), which is an L-shaped structure. The second bracket (15) is installed in the fixing groove of the second rotating seat (17) through a rotating shaft and a rolling bearing, and the rotating shaft of the second bracket (15) is connected to the output end of the fourth servo motor (14).

6. The robotic arm according to claim 5, characterized in that, The clamping assembly further includes: A fifth servo motor (16), which is installed on one side of the second bracket (15). There is a hole in the second bracket (15), and the output end of the fifth servo motor (16) passes through the hole. The fifth servo motor (16) is electrically connected to the control module.

7. The robotic arm according to claim 6, characterized in that, The clamping assembly further includes: A second telescopic cylinder (18), which is installed on the output end of the fifth servo motor (16) through a connecting frame. There are several second telescopic cylinders (18), which are installed oppositely. The second telescopic cylinder (18) is electrically connected to the control module; A pneumatic chuck (19), there are several pneumatic chucks (19), which are installed on the second telescopic cylinder (18). There is a hole in the pneumatic chuck (19), and the output end of the second telescopic cylinder (18) passes through the hole. There are several sliding grooves on one side of the second telescopic cylinder (18). The pneumatic chuck (19) is electrically connected to the control module; A claw (20), there are several claws (20), which are installed in the sliding grooves of the pneumatic chuck (19). The end of the claw (20) is provided with a U-shaped convex structure.

8. A part picking and placing tooling, characterized in that, The part picking and placing tooling includes the robotic arm according to any one of claims 1-7.

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