Mechanism for adjusting perpendicularity of tail end of mechanical arm

Abstract

The utility model discloses a mechanism for adjusting the perpendicularity of the tail end of a mechanical arm, which relates to the technical field of mechanical arms and comprises a base, a connecting disc I is arranged on one side of the base, and a connecting disc II is rotatably connected to one side of the connecting disc I. In the utility model, one side of a detection plate is fixedly connected with an extension block; one side of the first contact sensor is fixedly connected with the detection plate, whether position deviation exists in the clamping jaw or not can be judged through contact between the clamping jaw and the first contact sensor, the second bevel gear is driven by the motor to rotate, the first bevel gear drives the clamping jaw to rotate till the detection block on one side of the clamping jaw is in lap joint with the second contact sensor, and position calibration of the clamping jaw is achieved. The second electric push rod drives the limiting piece to move, one end of the limiting piece is connected with the clamping jaw in an inserted mode, the position of the clamping jaw can be limited, the clamping jaw is prevented from deviating in the using process, and therefore the stability of the clamping jaw in the using process can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a verticality adjustment mechanism at the end of a mechanical arm. Background Art

[0002] In automated production lines and robotic applications, the verticality of the end effector directly impacts the accuracy and efficiency of the workpiece. If the end effector cannot maintain verticality, it can lead to assembly errors, reduced machining accuracy, and even damage to the workpiece.

[0003] For example, Chinese patent CN220348416U discloses a multi-directional adjustable automated robotic arm, including a robotic arm body, an automatic gripper provided below the robotic arm body, an azimuth adjustment component for adjusting the setting position of the automatic gripper provided at the end of the robotic arm body, the azimuth adjustment component including a main adjustment shell fixedly provided at the end of the robotic arm body, and a limit shell fixedly provided at the lower end of the main adjustment shell.

[0004] In the above patent, although the problem of insufficient accuracy in automatic gripper adjustment is solved by adjusting the turntable and fine-tuning components, the verticality of the gripper cannot be detected before use. When the gripper has a position offset, it cannot be discovered and adjusted in time, affecting the accuracy of the robot arm operation. Utility Model Content

[0005] The purpose of the utility model is to solve the problem in the prior art that the verticality of the clamping jaws cannot be detected before use, and when the clamping jaws are offset, it cannot be discovered and adjusted in time, which affects the accuracy of the robot arm operation. A verticality adjustment mechanism for the end of the robot arm is proposed.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a vertical adjustment mechanism of the end of a robotic arm, comprising a base, wherein one side of the base is provided with a connecting disk 1, and one side of the connecting disk 1 is rotatably connected to the connecting disk 2, the outer ring surface of the connecting disk 2 is fixedly connected to the inclination sensor, one side of the connecting disk 2 is fixedly connected to the main board, and one side of the main board is provided with an adjustment component, and the adjustment component includes a detection plate, a motor and a contact sensor 2, one side of the detection plate is fixedly connected to the contact sensor 1, one side of the contact sensor 1 is provided with a clamping claw, and a connecting rod is embedded in the clamping claw, one end of the connecting rod is rotatably connected to an extension piece, one side of the extension piece is fixedly connected to a fixing plate, one side of the fixing plate is fixedly connected to the motor, one end of the output shaft of the motor is fixedly connected to a bevel gear 2, one side of the bevel gear 2 is meshed with a bevel gear 1, and one side of the bevel gear 1 passes through the extension piece and is fixedly connected to the connecting rod, and the connecting rod and the clamping claw are rotatably connected with the extension piece.

[0007] Preferably, one side of the clamping jaw is fixedly connected to a detection block, one side of the detection block is overlapped with a second contact sensor, and one side of the second contact sensor is fixedly connected to a connection block.

[0008] Preferably, one side of the connecting block is fixedly connected to an auxiliary rod, an outer ring surface of the auxiliary rod is slidably connected to a cylinder, and one side of the cylinder is fixedly connected to the extension block.

[0009] Preferably, one side of the connecting block is fixedly connected to the fixing plate, one side of the fixing plate is fixedly connected to a connecting piece, and one side of the connecting piece is fixedly connected to the second electric push rod.

[0010] Preferably, one end of the electric push rod is fixedly connected to a limiting member, and one side of the limiting member is plugged into the clamping claw.

[0011] Preferably, one end of the clamping jaw is fixedly connected to a guide block, one side of the guide block is clamped with an anti-slip pad, and one side of the anti-slip pad is clamped and connected to the clamping jaw.

[0012] Preferably, the anti-slip pad and the clamping jaw are connected by a limit bolt through a thread.

[0013] Preferably, a protective cover is installed on the top of the base, and a support arm is connected to one side of the protective cover by bolts.

[0014] Preferably, one side of the support arm is fixedly connected to the connecting plate, and a driving structure is installed inside the support arm.

[0015] Preferably, an electric push rod 1 is embedded in the main board, one end of the electric push rod 1 is fixedly connected to the extension block, and one side of the extension block is fixedly connected to the detection board.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are:

[0017] 1. In the present invention, one side of the detection plate is fixedly connected to the extension block, and one side of the contact sensor is fixedly connected to the detection plate. The contact between the clamping jaw and the contact sensor can be used to determine whether the clamping jaw has positional deviation. The motor drives the bevel gear 2 to rotate, so that the bevel gear 1 drives the clamping jaw to rotate until the detection block on one side of the clamping jaw overlaps with the contact sensor 2, thereby realizing the position calibration of the clamping jaw. The inclination sensor can monitor the inclination angle of the connecting plate 2, thereby ensuring the verticality of the clamping jaw during subsequent use and ensuring the accuracy of the robot arm operation.

[0018] 2. In the present invention, the bottom of the fixed plate is fixedly connected to the connecting block, the fixed plate is fixedly connected to the connecting piece, and the connecting piece and the limit piece are connected by a second electric push rod. The second electric push rod drives the limit piece to move so that one end of the limit piece is plugged into the clamping claw, which can limit the position of the clamping claw and avoid the clamping claw from being offset during use, thereby improving the stability of the clamping claw during use. At the same time, the anti-slip pad is easy to disassemble and replace with different sizes and shapes, which can improve the applicability of the entire robotic arm end when used. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention provides a schematic diagram of the three-dimensional structure of a vertical adjustment mechanism for the end of a robotic arm;

[0020] Figure 2 This is a schematic diagram of the second structure of a connecting plate of a vertical adjustment mechanism for the end of a robotic arm proposed in the utility model;

[0021] Figure 3 This utility model provides a schematic diagram of the installation structure of an electric push rod for the vertical adjustment mechanism of the end of a robotic arm;

[0022] Figure 4 This utility model proposes a schematic diagram of the installation of the second structure of the electric push rod of the vertical adjustment mechanism of the end of the mechanical arm;

[0023] Figure 5 This is a schematic diagram of the limit bolt structure of the vertical adjustment mechanism of the end of the robotic arm proposed by the utility model;

[0024] Figure 6 The utility model provides a schematic diagram of the detection block structure of the verticality adjustment mechanism of the end of the robotic arm.

[0025] Legend: 1. Protective cover; 2. Base; 3. Connecting plate 1; 4. Main board; 5. Support arm; 6. Extension block; 7. Connecting plate 2; 8. Electric push rod 1; 9. Detection plate; 10. Motor; 11. Anti-slip pad; 12. Gripper; 13. Bevel gear 1; 14. Bevel gear 2; 15. Contact sensor 1; 16. Cylinder; 17. Connector; 18. Limiter; 19. Extension; 20. Fixing plate; 21. Connecting block; 22. Auxiliary rod; 23. Limit bolt; 24. Electric push rod 2; 25. Contact sensor 2; 26. Connecting rod; 27. Detection block; 28. Inclination sensor. DETAILED DESCRIPTION

[0026] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0028] Example 1: Reference Figure 1 - Figure 6 As shown: A vertical adjustment mechanism for the end of a robotic arm, including a base 2, a connecting plate 3 is provided on one side of the base 2, a connecting plate 2 7 is rotatably connected to one side of the connecting plate 3, an inclination sensor 28 is fixedly connected to the outer ring surface of the connecting plate 2 7, a main board 4 is fixedly connected to one side of the connecting plate 2 7, an adjustment component is provided on one side of the main board 4, the adjustment component includes a detection plate 9, a motor 10 and a contact sensor 2 25, a contact sensor 15 is fixedly connected to one side of the detection plate 9, a clamping claw 12 is provided on one side of the contact sensor 15, a connecting rod 26 is embedded in the clamping claw 12, one end of the connecting rod 26 is rotatably connected to an extension piece 19, and one side of the extension piece 19 is fixedly connected to the fixed plate 2 0, one side of the fixed plate 20 is fixedly connected to the motor 10, one end of the output shaft of the motor 10 is fixedly connected to the bevel gear 2 14, one side of the bevel gear 2 14 is meshed with the bevel gear 13, one side of the bevel gear 13 passes through the extension piece 19 and is fixedly connected to the connecting rod 26, the connecting rod 26 and the clamping jaw 12 are rotatably connected with the extension piece 19, one side of the clamping jaw 12 is fixedly connected to the detection block 27, one side of the detection block 27 is overlapped with the contact sensor 2 25, one side of the contact sensor 2 25 is fixedly connected to the connecting block 21, one side of the connecting block 21 is fixedly connected to the auxiliary rod 22, the outer annular surface of the auxiliary rod 22 is slidably connected to the cylinder 16, and one side of the cylinder 16 is fixedly connected to the extension block 6.

[0029] The tilt sensor 28 can be used to detect the degree of inclination of the connecting plate 2 7. The detection plate 9 can be used to support and reinforce one side of the contact sensor 15. The position detection of the clamping jaw 12 can be achieved through the contact sensor 15, so as to determine whether the clamping jaw 12 has a position offset. The clamping jaw 12 and the connecting rod 26 can rotate synchronously on the side of the extension member 19. The extension member 19 can be used to support the connecting rod 26 when the connecting rod 26 rotates. The fixing plate 20 can be used to support and reinforce one side of the motor 10. The motor 10 can be used as a power source to drive the bevel gear 2 14 to rotate, and then the bevel gear 2 14 is engaged with the bevel gear 1 13. The rotation of bevel gear 13 is realized to adjust the tilt angle of the clamping jaw 12. The detection block 27 is installed on one side of the clamping jaw 12. One side of the contact sensor 25 is fixedly connected to the connecting block 21. The connecting block 21 can be used to support one side of the contact sensor 25. The overlap of the contact sensor 25 and the detection block 27 can assist in judging the adjusted position of the clamping jaw 12, thereby ensuring the verticality of the clamping jaw 12. The connection between the cylinder 16 and the connecting block 21 can be realized through the auxiliary rod 22, and then the distance between the connecting block 21 and the cylinder 16 can be adjusted through the cylinder 16 to assist the clamping jaw 12 in clamping the object.

[0030] Example 2: Figure 4 - Figure 6 As shown, one side of the connecting block 21 is fixedly connected to the fixed plate 20, one side of the fixed plate 20 is fixedly connected to a connecting piece 17, one side of the connecting piece 17 is fixedly connected to an electric push rod 24, one end of the electric push rod 24 is fixedly connected to a limiting piece 18, one side of the limiting piece 18 is plugged into the clamping jaw 12, one end of the clamping jaw 12 is fixedly connected to a guide block, one side of the guide block is engaged with an anti-slip pad 11, one side of the anti-slip pad 11 is engaged with the clamping jaw 12, and a limiting bolt 23 is threadedly connected between the anti-slip pad 11 and the clamping jaw 12, a protective cover 1 is installed on the top of the base 2, one side of the protective cover 1 is connected to a support arm 5 by bolts, one side of the support arm 5 is fixedly connected to the connecting plate 13, a driving structure is installed inside the support arm 5, an electric push rod 8 is embedded in the main board 4, one end of the electric push rod 8 is fixedly connected to the extension block 6, and one side of the extension block 6 is fixedly connected to the detection plate 9.

[0031] The connecting block 21 can be used to support one side of the fixed plate 20. The connection between the connecting piece 17 and the fixed plate 20 can support the installation and use of the electric push rod 24, so that the electric push rod 24 can be used to drive the limit member 18 to rise and fall, change the use height of the limit member 18, and then control the connection or separation of the limit member 18 and the clamping jaw 12. When the limit member 18 is plugged into the clamping jaw 12, the limiting effect of the clamping jaw 12 can be improved. The guide block is installed on one side of the clamping jaw 12 to guide the installation of the anti-slip pad 11 on one side of the guide block, thereby increasing the contact area between the clamping jaw 12 and the anti-slip pad 11, thereby improving the connection between the clamping jaw 12 and the anti-slip pad 11. The stability of the connection can be achieved by locking the anti-slip pad 11 and the clamping claw 12 through the limit bolt 23, reducing the looseness of the anti-slip pad 11 during use, and the protective cover 1 can be used to shield and protect the top of the base 2. The connection between the connecting disk 1 3 and the base 2 can be achieved through the support arm 5. The driving structure installed inside the support arm 5 can drive the connection disk 2 7 to rotate on one side of the connection disk 1 3, rotating 90° each time, thereby changing the use direction of the main board 4, ensuring that the main board 4 is perpendicular to the support arm 5, and ensuring the verticality of the end of the robotic arm. The electric push rod 1 8 can be used to achieve the connection between the main board 4 and the extension block 6, so that the distance between the main boards 4 on both sides can be adjusted.

[0032] The method of use and working principle of this device are as follows: first, the electric push rod 18 is used to adjust the distance between the main board 4 and the extension block 6, and then the cylinder 16 is used to drive the auxiliary rod 22 and the connecting block 21 to move, so as to move the clamping jaw 12 to the side close to the inner wall of the detection plate 9. Two groups of contact sensors 15 are installed on the inner wall of the detection plate 9, and each group of contact sensors 15 has two. When the clamping jaw 12 contacts the contact sensor 15, the two groups of contact sensors 15 do not send signals to the control terminal at the same time, which means that the clamping jaw 12 is offset and is in a non-vertical state. Then the motor 10 is used to drive the bevel gear 2 14 to rotate, and the meshing of the bevel gear 2 14 and the bevel gear 13 is used to drive the bevel gear 13 to rotate, and the bevel gear 13 drives the connecting rod 26 and the clamping jaw. 12 rotates to adjust the inclination of the clamping jaw 12 until the detection block 27 on one side of the clamping jaw 12 overlaps with the contact sensor 25, and the contact sensor 25 sends a signal to the control terminal. At this time, the clamping jaw 12 completes the position calibration, and then the electric push rod 24 is used to drive the limiter 18 to move down, and the bottom of the limiter 18 is plugged into the clamping jaw 12 to limit the position of the clamping jaw 12. Then, the cylinder 16 is used to adjust the distance between the two clamping jaws 12 to achieve clamping of the object. The inclination of the connecting disk 2 7 can be detected by the inclination sensor 28. When the driving structure inside the support arm 5 drives the connecting disk 2 7 to rotate, the rotation angle can be obtained by the inclination sensor 28 and then transmitted to the external control terminal, so that when the main board 4 is tilted, it can be discovered and corrected in time;

[0033] If the anti-slip pad 11 is severely worn and needs to be replaced, the limiting bolt 23 can be removed and the anti-slip pad 11 can be moved to a side away from the clamping jaw 12 to separate the anti-slip pad 11 from the clamping jaw 12 .

[0034] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes for application in other fields. However, any simple modification, equivalent change and modification of the above embodiment made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A vertical adjustment mechanism for the end of a robotic arm, comprising a base (2), a connecting disk (3) provided on one side of the base (2), a connecting disk (7) rotatably connected to one side of the connecting disk (3), and characterized in that: The outer ring surface of the second connecting plate (7) is fixedly connected to a tilt sensor (28), one side of the second connecting plate (7) is fixedly connected to a main board (4), one side of the main board (4) is provided with an adjustment component, the adjustment component includes a detection plate (9), a motor (10) and a second contact sensor (25), one side of the detection plate (9) is fixedly connected to a first contact sensor (15), one side of the first contact sensor (15) is provided with a clamping claw (12), a connecting rod (26) is embedded in the inside of the clamping claw (12), and the connecting rod (26) One end is rotatably connected to an extension piece (19), one side of the extension piece (19) is fixedly connected to a fixing plate (20), one side of the fixing plate (20) is fixedly connected to the motor (10), one end of the output shaft of the motor (10) is fixedly connected to a second bevel gear (14), one side of the second bevel gear (14) is meshed with a first bevel gear (13), one side of the first bevel gear (13) passes through the extension piece (19) and is fixedly connected to a connecting rod (26), and the connecting rod (26) and the clamping claw (12) are rotatably connected to the extension piece (19).

2. The vertical adjustment mechanism of the end of the robotic arm according to claim 1, characterized in that: One side of the clamping jaw (12) is fixedly connected to a detection block (27), one side of the detection block (27) is overlapped with a second contact sensor (25), and one side of the second contact sensor (25) is fixedly connected to a connection block (21).

3. The vertical adjustment mechanism of the end of the robotic arm according to claim 2, characterized in that: One side of the connecting block (21) is fixedly connected to an auxiliary rod (22), the outer ring surface of the auxiliary rod (22) is slidably connected to a cylinder (16), and one side of the cylinder (16) is fixedly connected to the extension block (6).

4. The vertical adjustment mechanism of the end of the robotic arm according to claim 3, characterized in that: One side of the connecting block (21) is fixedly connected to the fixed plate (20), one side of the fixed plate (20) is fixedly connected to a connecting piece (17), and one side of the connecting piece (17) is fixedly connected to an electric push rod 2 (24).

5. The vertical adjustment mechanism of the end of the robotic arm according to claim 4, characterized in that: One end of the second electric push rod (24) is fixedly connected to a limiting member (18), and one side of the limiting member (18) is plugged into the clamping claw (12).

6. The vertical adjustment mechanism of the end of the robotic arm according to claim 5, characterized in that: One end of the clamping jaw (12) is fixedly connected to a guide block, one side of the guide block is clamped with an anti-slip pad (11), and one side of the anti-slip pad (11) is clamped and connected to the clamping jaw (12).

7. The vertical adjustment mechanism of the end of the robotic arm according to claim 6, characterized in that: The anti-slip pad (11) and the clamping jaw (12) are connected via a limit bolt (23) through a threaded connection.

8. The vertical adjustment mechanism of the end of the robotic arm according to claim 1, characterized in that: A protective cover (1) is installed on the top of the base (2), and a support arm (5) is connected to one side of the protective cover (1) via bolts.

9. The vertical adjustment mechanism of the end of the robotic arm according to claim 8, characterized in that: One side of the support arm (5) is fixedly connected to the connecting plate (3), and a driving structure is installed inside the support arm (5).

10. The vertical adjustment mechanism of the end of the robotic arm according to claim 1, characterized in that: An electric push rod (8) is embedded in the main board (4), one end of the electric push rod (8) is fixedly connected to the extension block (6), and one side of the extension block (6) is fixedly connected to the detection board (9).

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