Arm terminal grabbing structure and arm terminal grabbing system

Abstract

The utility model relates to a mechanical arm, in particular to an arm terminal grabbing structure and an arm terminal grabbing system.The arm terminal grabbing structure comprises a driving mechanism, the driving mechanism comprises a plurality of steering engines, the steering engines are connected in series and stacked, and the swing directions of the steering engines are different; the grabbing mechanism comprises a support, a magnetic attraction part and a clamp, the support is provided with a first end and a second end which are opposite, the first end of the support is connected with one steering engine at one end of the driving mechanism, and the magnetic attraction part and the clamp are fixed to the support; and the orientations of the magnetic attraction part and the clamp are different. By means of the structure, the magnetic attraction parts and the clamps which face different directions can be arranged in the same grabbing mechanism at the same time so as to adapt to various clamping conditions, and the use range is widened.

Description

Technical Field

[0001] The utility model relates to a mechanical arm, in particular to an arm terminal grasping structure and an arm terminal grasping system. Background Art

[0002] The description in this section merely provides background information related to the disclosure of the present utility model and does not constitute prior art.

[0003] With the popularization of automation technology, robotic arms play an important role in many occasions. For example, there are a large number of positions in factory workshops where robots can replace manual labor. After the replacement, work efficiency can be greatly improved and production costs can be reduced to a certain extent.

[0004] Existing robotic arms typically use clamps and other structures as their terminal gripping mechanisms to facilitate the removal and installation of pre-set components. However, in many situations, the gripping range of the arm's terminal gripping mechanism is often limited. When the gripped products vary in shape, gripping can be difficult, limiting the robotic arm's usefulness. Some robotic arms have increased their freedom of movement by adding servos to accommodate a wider range of scenarios, but this significantly increases the cost of the robotic arm.

[0005] Currently, there is no arm terminal grasping structure and arm terminal grasping system that can solve the above problems. Utility Model Content

[0006] The purpose of the utility model is to provide an arm terminal grasping structure and an arm terminal grasping system, which can adapt to various grasping situations and expand the scope of use by simultaneously arranging magnetic suction parts and clamps with different directions in the same grasping mechanism.

[0007] In order to achieve the above-mentioned object, the present invention discloses the following arm terminal grasping structure; the arm terminal grasping structure comprises:

[0008] The driving mechanism includes a plurality of steering gears, wherein the plurality of steering gears are stacked in series, wherein the swinging directions of the plurality of steering gears are different;

[0009] a gripping mechanism, the gripping mechanism comprising a bracket, a magnetic portion, and a clamp, the bracket having a first end and a second end opposite to each other, the first end of the bracket being connected to one of the servos at one end of the drive mechanism, the magnetic portion and the clamp being fixed to the bracket;

[0010] Wherein, the magnetic attraction portion and the clamp are oriented in different directions.

[0011] Furthermore, the magnetic attraction portion includes a universal rod and a strong magnetic electromagnet, and the strong magnetic electromagnet is connected to the bracket through the universal rod so that the strong magnetic electromagnet can change its angle relative to the bracket.

[0012] Furthermore, there are multiple universal rods, which are connected end to end, and the strong magnetic electromagnet is connected to one of the universal rods at the end.

[0013] Furthermore, it also includes a high-definition camera, which is fixed on the bracket.

[0014] Furthermore, there are two high-definition cameras, one of which is arranged toward the magnetic attraction portion, and the other is arranged toward the clamp.

[0015] Furthermore, there are two servos, which are connected end to end, and each servo is connected to a servo fixing seat at a corresponding position.

[0016] Furthermore, one of the servo fixing seats is arranged between the two servos.

[0017] Furthermore, the bracket is configured as a U-shaped frame, an opening of the U-shaped frame is clamped and connected to one of the servos, and a fixing plate matching the clamp is provided in the opening direction of the U-shaped frame.

[0018] It also includes an arm terminal grasping system, which includes two of the arm terminal grasping structures mentioned above. The two arm terminal grasping structures are arranged adjacent to each other, and the two arm terminal grasping structures are used to grasp the same part to be grasped.

[0019] By means of the above technical solution, the beneficial effects of the present invention are as follows:

[0020] The arm terminal grasping structure of the present invention can be realized by simultaneously setting a magnetic part and a clamp in the same grasping mechanism, and the magnetic part and the clamp are set in different directions, so that when the clamp meets the basic grasping requirements, the magnetic part can also cooperate to achieve a wider range and a wider angle of grasping, and it occupies less space. Compared with the existing technical solution that meets the grasping capacity by adding a servo, the cost is significantly reduced. At the same time, when picking up large items, the two magnetic parts of the arm terminal grasping structure of the present invention can cooperate with each other, and both hands can cooperate to grasp, reducing the situation of hard connection. Objects that cannot generate magnetic attraction and small objects can be grasped by the clamp, which has a wide range of applications.

[0021] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0023] Figure 1 This is a front view of an arm terminal grasping structure provided in an embodiment of this specification;

[0024] Figure 2 This is a top view of an arm terminal grasping structure provided in an embodiment of this specification;

[0025] Figure 3 This is a front view of another installation method of an arm terminal grasping structure provided in an embodiment of this specification;

[0026] Figure 4 This is a top view of another installation method of an arm terminal grasping structure provided in an embodiment of this specification;

[0027] In the figure: 1. Driving mechanism; 11. Servo; 12. Servo fixing seat; 2. Grasping mechanism; 21. Bracket; 22. Magnetic suction part; 221. Universal rod; 222. Strong magnetic electromagnet; 23. Clamp; 3. High-definition camera. DETAILED DESCRIPTION

[0028] To help those skilled in the art better understand the technical solutions in this specification, the following will provide a clear and complete description of the technical solutions in the embodiments of this specification, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. All other embodiments derived by those skilled in the art based on the embodiments in this specification without creative effort shall fall within the scope of protection of this specification.

[0029] The following is an explanation of the implementation of the present invention through specific specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual dimensions. It is stated in advance. The following implementation methods will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0030] It should be understood that although terms such as "first," "second," and "third" may be used herein to describe various components or signals, these components or signals should not be limited by these terms. These terms are primarily used to distinguish one component from another, or one signal from another. In addition, the term "or" as used herein may include any one or more combinations of the associated listed items, as appropriate.

[0031] See Figure 1-2 , is an arm terminal grasping structure of this embodiment; wherein the arm terminal grasping structure includes:

[0032] The driving mechanism 1 includes a plurality of servos 11, which are stacked in series, and wherein the swing directions of the servos 11 are different.

[0033] The gripping mechanism 2 includes a bracket 21, a magnetic portion 22, and a clamp 23. The bracket 21 has a first end and a second end opposite to each other. The first end of the bracket 21 is connected to one of the servos 11 at one end of the drive mechanism 1. The magnetic portion 22 and the clamp 23 are fixed to the bracket 21.

[0034] The magnetic attraction portion 22 and the clamp 23 have different directions.

[0035] For the above structure, during installation, the operator first prepares a plurality of servos 11 with preset angles, and sets the plurality of servos 11 in series, wherein one end of one of the servos 11 is connected to the main robotic arm or the fixed base, and the other end is connected to the other servos 11; wherein another servo 11 is connected to the bracket 21 of the gripping mechanism 2 at one end, and the other end is connected to the other servos 11. One end of the bracket 21 is mounted on the end of one of the servos 11, so that the plurality of servos 11 arranged in series can jointly control the position and angle of the bracket 21. In addition, in this embodiment, the magnetic portion 22 and the clamp 23 of the gripping mechanism 2 are both mounted on the bracket 21, and the magnetic portion 22 and the clamp 23 avoid each other. Preferably, in this embodiment, the ends of the magnetic portion 22 and the clamp 23 are oriented at an angle of 90 degrees, which can better cover most usage scenarios and is easy to install.

[0036] Through the above structure, when in use, the operator only needs to fix the driving mechanism 1 at a preset position, and connect the multiple servos 11 of the driving mechanism 1, and the magnetic suction part 22 and the clamp 23 in the grasping mechanism 2 to the external control mechanism. Then the operator drives the control mechanism to issue commands to the multiple servos 11 of the driving mechanism 1, and makes the driving mechanism 1 drive the grasping mechanism 2 to rotate and move to the rough direction of the part to be grasped. Then, the control mechanism commands the clamp 23 in the grasping mechanism 2 to open, and makes the driving mechanism 1 further drive the clamp 23 close to the part to be grasped, and then commands the clamp 23 to bite and clamp the part to be grasped. Finally, the control mechanism commands the driving mechanism 1 to drive the grasping mechanism 2 to rotate and move to the area to be placed, and loosens the clamp 23, so that the part to be grasped is detached from the clamp 23, completing the grasping operation of the part to be grasped.

[0037] It is worth noting that in this embodiment, the clamp 23 is mainly used to clamp parts that are small and easy to clamp. In some cases, when it is necessary to grasp larger parts with magnetism, the magnetic part 22 with a different direction that avoids the clamp 23 in the grasping mechanism 2 can be used to magnetically attract the parts to be grasped. The specific process is the same as above, with the difference that the external control mechanism is used to command the clamp 23 to open or close for clamping the parts to be grasped, and the magnetic force of the magnetic part 22 is controlled by electric current, so that the magnetic part 22 has magnetic force or the magnetic force disappears, so that the magnetic part 22 can adsorb the parts to be grasped.

[0038] During the above-mentioned use process, the integrated design of the clamp 23 and the magnetic attraction portion 22 of this embodiment allows the same set of robotic arms to not only clamp small-volume parts with the clamp 23, but also absorb large-volume, magnetic parts through the magnetic attraction portion 22. Specifically, the magnetic attraction portion 22 includes a universal rod 221 and a strong magnetic electromagnet 222. The strong magnetic electromagnet 222 is connected to the bracket 21 via the universal rod 221, allowing the strong magnetic electromagnet 222 to change its angle relative to the bracket 21. Therefore, when grasping larger parts, multiple arm terminal grasping structures of this embodiment can be arranged relative to each other to magnetically attract the parts at different angles, ensuring stable grasping of the parts. In particular, due to the presence of the universal rod 221, when multiple arm terminal grasping structures grasp the parts, the universal rod 221 adjusts the angle of the strong magnetic electromagnet 222, eliminating the friction or stress that may be caused by the absorption angle problem, making the magnetic attraction more stable.

[0039] like Figure 3 As shown, in another embodiment, there are multiple universal rods 221, and the multiple universal rods 221 are connected end to end, and the strong magnetic electromagnet 222 is connected to one of the universal rods 221 at the end. In the process of grasping large-volume parts, the strong magnetic electromagnet 222 directly contacts the body of the part. The multiple universal rods 221 extend the active length of the strong magnetic electromagnet 222 and make the active angle of the strong magnetic electromagnet 222 larger, so that the grasping range of the magnetic suction part 22 is expanded, and indirectly reduce the rigid force exerted on the strong magnetic electromagnet 222, thereby improving the service life of the arm terminal grasping structure.

[0040] Furthermore, if Figure 1 and Figure 3 As shown, the gripping mechanism 2 also includes a high-definition camera 3, which is fixed to the bracket. Specifically, there are two high-definition cameras 3, one of which is positioned toward the magnetic portion 22, and the other is positioned toward the clamp 23. In some cases, such as when operating in a confined space or a sealed assembly line, where the operator cannot directly access the gripping structure at the terminal end of the arm, the gripping mechanism 2 can be monitored by the high-definition camera 3, which is connected to the signal of an external monitoring device, to achieve better control of the gripping mechanism 2 or to avoid structural damage caused by malfunction of the gripping mechanism 2.

[0041] Furthermore, in this embodiment, there are two servos 11, which are connected end to end. Each servo 11 is connected to a corresponding servo mounting base 12, and one of the servo mounting bases 12 is located between the two servos 11. Specifically, each servo 11 is connected to a corresponding servo mounting base 12, and the servo mounting base 12 is used to provide physical support for the connected servo 11, or to assist in the wiring and connection of the servo 11, thereby preventing the electrical wires of the servos 11 from being interfered with by wires during the relative movement of the two servos 11.

[0042] Furthermore, if Figure 2 As shown, the bracket 21 is configured as a U-shaped frame, the opening of the U-shaped frame is clamped and connected to one of the servos 11, and the opening direction of the U-shaped frame has a fixing plate that matches the clamp. Specifically, in this embodiment, as Figure 1 As shown, the magnetic attraction portion 22, the clamp 23 and the high-definition camera 3 in the grabbing mechanism 2 are fixed on a fixing plate extending from one side of the U-shaped frame in a manner of avoiding each other.

[0043] In another embodiment, Figure 3 and Figure 4 As shown, one side of the U-shaped frame does not include a fixed plate structure. Therefore, the magnetic part 22, the clamp 23 and the high-definition camera 3 in the grasping mechanism 2 are directly fixed on the outer edge of the U-shaped frame, so that the arm terminal grasping structure in this embodiment has a shorter arm length, which is suitable for use in a variety of narrow scenes.

[0044] The contents disclosed above are only preferred feasible embodiments of the present invention and do not limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made using the contents of the description and drawings of the present invention are included in the scope of the patent application of the present invention.

[0045] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0046] Although the present application has been described through embodiments, those skilled in the art will appreciate that there are many modifications and variations to the present application without departing from the spirit of the present application. It is intended that the appended embodiments include these modifications and variations without departing from the present application.

Claims

1. An arm terminal grasping structure; characterized in that, The arm terminal grasping structure includes: The driving mechanism includes a plurality of steering gears, wherein the plurality of steering gears are stacked in series, wherein the swinging directions of the plurality of steering gears are different; a gripping mechanism, the gripping mechanism comprising a bracket, a magnetic portion, and a clamp, the bracket having a first end and a second end opposite to each other, the first end of the bracket being connected to one of the servos at one end of the drive mechanism, the magnetic portion and the clamp being fixed to the bracket; Wherein, the magnetic attraction portion and the clamp are oriented in different directions.

2. The arm terminal grasping structure according to claim 1, characterized in that: The magnetic attraction portion includes a universal rod and a strong magnetic electromagnet. The strong magnetic electromagnet is connected to the bracket through the universal rod so that the strong magnetic electromagnet can change its angle relative to the bracket.

3. The arm terminal grasping structure according to claim 2, characterized in that: There are multiple universal rods, which are connected end to end, and the strong magnetic electromagnet is connected to one of the universal rods at the end.

4. The arm terminal grasping structure according to claim 1, characterized in that: It also includes a high-definition camera, which is fixed on the bracket.

5. The arm terminal grasping structure according to claim 4, characterized in that: There are two high-definition cameras, one of which is arranged toward the magnetic attraction portion, and the other is arranged toward the clamp.

6. The arm terminal grasping structure according to claim 1, characterized in that: There are two servos, which are connected end to end, and each servo is connected to a servo fixing seat at a corresponding position.

7. The arm terminal grasping structure according to claim 6, characterized in that: One of the servo fixing seats is arranged between the two servos.

8. The arm terminal grasping structure according to claim 7, characterized in that: The bracket is configured as a U-shaped frame, an opening of the U-shaped frame is clamped and connected to one of the steering gears, and a fixing plate matching the clamp is provided in the opening direction of the U-shaped frame.

9. An arm terminal grasping system, characterized in that: The arm terminal grasping system comprises two arm terminal grasping structures as described in any one of claims 1 to 8, the two arm terminal grasping structures are arranged adjacent to each other, and the two arm terminal grasping structures are used to grasp the same part to be grasped.

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