Intelligent electronic grabbing device

Abstract

The utility model discloses an intelligent electronic grabbing device, and particularly relates to the technical field of grabbing devices, the intelligent electronic grabbing device comprises a base, a mechanical arm, a driving piece and a grabbing assembly, the mechanical arm on the base is connected with an assembling cylinder of the grabbing assembly through the driving piece, the driving piece is fixed at one end of the assembling cylinder, and the other end of the assembling cylinder is provided with guide windows evenly distributed around the axis; a guide rod slidably connected with the inner wall of the window is arranged in the assembly cylinder, the guide rod is sleeved with a fixedly connected sliding seat and externally connected with a gripper, one side of the guide rod in the assembly cylinder is connected with a first stay wire and a rotating roller, two ends of the rotating roller rotate in the fixed cylinder and are sleeved with a torsion spring, the other side of the guide rod is connected with a second stay wire and a winding roller, and the winding roller is driven by a servo motor through a driving roller. During grabbing, a servo motor is started, a second pull wire is wound by a winding roller to enable a guide rod to slide inwards, the grabbing hand is closed to grab an object, then the motor is locked, the mechanical arm is matched to enable the grabbing hand to move flexibly, and the grabbing hand is suitable for multiple scenes.

Description

Technical Field

[0001] This utility model relates to the field of gripping device technology, specifically to an intelligent electronic gripping device. Background Technology

[0002] In the manufacturing process of electronic products, it is often necessary to pick up some electronic components, such as capacitors, resistors, and chips, from a stage and transfer them to the corresponding positions on the circuit board for soldering. In the existing technology, the insertion machine includes a gripping device and a translation device. The gripping device is mounted on the translation device, and the translation device drives the gripping device to move to realize the transfer function of electronic products.

[0003] Existing gripping devices have varying gripping effects on electronic products of different shapes, often requiring adjustments to the gripping angle based on the product's appearance. Since the gripping effect depends on the matching of the product's appearance and the gripping angle, such gripping devices have poor versatility for electronic components with significant shape differences. Therefore, we propose an intelligent electronic gripping device to solve the above problems. Utility Model Content

[0004] This utility model aims to solve one of the technical problems existing in the prior art or related technologies.

[0005] To this end, the technical solution adopted in this utility model is:

[0006] An intelligent electronic gripping device includes a base, a robotic arm mounted on the top of the base, a drive unit fixedly connected to the output end of the robotic arm, and a gripping assembly mounted on the output end of the drive unit. The gripping assembly includes an assembly cylinder with multiple guide windows at the end away from the drive unit. Guide rods are embedded in the guide windows, and a gripper is fixedly connected to one end of the guide rod outside the assembly cylinder. A first pull wire is fixedly connected to one side of the guide rod inside the assembly cylinder, and a rotating roller is fixedly connected to the end of the first pull wire away from the guide rod. Multiple mounting grooves are formed on the inner wall of the assembly cylinder, and fixed cylinders are fixedly connected to both sides of the inner wall of the mounting grooves. Torsion springs are sleeved at both ends of the rotating roller. A second pull wire is fixedly connected to the side of the guide rod away from the first pull wire, and a take-up roller is fixedly connected to the end of the second pull wire away from the guide rod. The second pull wire is wound around the surface of the take-up roller, and a servo motor is mounted on the top of the take-up roller.

[0007] Preferably, one end of the assembly cylinder is fixedly connected to the driving component, and the plurality of guide windows are evenly distributed around the axis of the assembly cylinder.

[0008] Preferably, the guide rod is slidably connected to the inner wall of the guide window, and a sliding seat is sleeved on the surface of the guide rod.

[0009] Preferably, the sliding seat is fixedly connected to the guide rod, and the side of the sliding seat near the guide window is slidably connected to the inner wall of the assembly cylinder.

[0010] Preferably, the first pull wire is wound around the surface of the rotating roller, and the plurality of mounting grooves are evenly distributed around the axis of the assembly cylinder.

[0011] Preferably, both ends of the rotating roller are placed inside the fixed cylinder, and both ends of the rotating roller are rotatably connected to the bottom of the inner cavity of the fixed cylinder.

[0012] Preferably, the torsion spring is placed inside the fixed cylinder, one end of the torsion spring is fixedly connected to the inner wall of the fixed cylinder, and the other end of the torsion spring is fixedly connected to the surface of the rotating roller.

[0013] Preferably, the output end of the servo motor is fixedly connected to a drive roller, and the end of the drive roller away from the servo motor is fixedly connected to a take-up roller, and the take-up roller coincides with the axis of the assembly cylinder.

[0014] By adopting the above technical solution, the beneficial effects achieved by the utility model are as follows:

[0015] The intelligent electronic gripping device of this invention consists of a base, a robotic arm, a drive unit, and a gripping assembly. The robotic arm on the base is connected to the assembly cylinder of the gripping assembly via the drive unit. One end of the assembly cylinder is fixed to the drive unit, and the other end has guide windows evenly distributed around its axis. A guide rod is slidably connected to the inner wall of the window inside the assembly cylinder. The guide rod is sleeved onto a fixed sliding seat and externally connected to a gripper. Inside the assembly cylinder, one side of the guide rod is connected to a first pull line and a rotating roller. The two ends of the rotating roller rotate within the fixed cylinder and are sleeved with torsion springs. The other side is connected to a second pull line and a take-up roller, which is driven by a servo motor via the drive roller. Initially, the torsion spring positions the rotating roller, and the gripper opens. During gripping, the servo motor starts, the take-up roller winds up the second pull line, causing the guide rod to slide inward, and the gripper closes to grasp the object. Afterward, the motor locks. When releasing, the motor reverses, the torsion spring causes the rotating roller to rotate in the opposite direction, the first pull line pulls the guide rod outward, and the gripper releases. The evenly distributed multiple grippers can stably grasp objects of different shapes and sizes; the servo motor precisely controls the opening and closing of the grippers, making it suitable for delicate and fragile items; the compact structure and the robotic arm make it flexible and suitable for multiple scenarios; the torsion spring and pull wire design allows the grippers to adapt to the shape of the object, enhancing the gripping stability. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0017] Figure 2 This utility model Figure 1 Enlarged structural diagram at point A in the middle.

[0018] Figure 3 This is a schematic diagram of the internal structure of the assembly cylinder of this utility model.

[0019] Figure 4 This utility model Figure 3 Enlarged structural diagram at point B in the middle.

[0020] Figure 5 This is a top view of the assembly cylinder structure of this utility model.

[0021] In the diagram: 1. Base; 101. Robotic arm; 102. Drive unit; 2. Gripping assembly; 201. Assembly cylinder; 202. Guide window; 203. Guide rod; 204. Gripper; 205. Sliding seat; 206. First pull line; 207. Mounting groove; 208. Fixed cylinder; 209. Rotating roller; 210. Torsion spring; 211. Second pull line; 212. Take-up roller; 213. Drive roller; 214. Servo motor. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Example: Figure 1-Figure 5 As shown, this utility model provides an intelligent electronic gripping device, including a base 1, a robotic arm 101 mounted on the top of the base 1, a drive component 102 fixedly connected to the output end of the robotic arm 101, and a gripping component 2 mounted on the output end of the drive component 102. The gripping component 2 includes an assembly cylinder 201, one end of which is fixedly connected to the drive component 102. The end of the assembly cylinder 201 away from the drive component 102 has multiple guide windows 202, which are evenly distributed around the axis of the assembly cylinder 201. A guide rod 203 is built into the guide window 202 and is slidably connected to the inner wall of the guide window 202. A sliding seat 205 is sleeved on the surface of the guide rod 203 and is fixedly connected to the guide rod 203. The side of the sliding seat 205 near the guide window 202 is slidably connected to the inner wall of the assembly cylinder 201. A gripper 204 is fixedly connected to the end of the guide rod 203 outside the assembly cylinder 201 for fixing materials.

[0024] Furthermore, a first pull wire 206 is fixedly connected to one end of the guide rod 203 inside the assembly cylinder 201. A rotating roller 209 is fixedly connected to the end of the first pull wire 206 away from the guide rod 203. The first pull wire 206 is wound around the surface of the rotating roller 209. Multiple mounting grooves 207 are evenly distributed around the axis of the assembly cylinder 201 on its inner wall. Fixed cylinders 208 are fixedly connected to both sides of the inner wall of the mounting grooves 207. The two ends of the rotating roller 209 are placed inside the fixed cylinders 208, and the two ends of the rotating roller 209 are rotatably connected to the bottom of the inner cavity of the fixed cylinder 208. Torsion springs 210 are sleeved on both ends of the rotating roller 209 and placed inside the fixed cylinders 208. Inside the cylinder 8, one end of the torsion spring 210 is fixedly connected to the inner wall of the fixed cylinder 208, and the other end of the torsion spring 210 is fixedly connected to the surface of the rotating roller 209. The torsion spring 210 is in a natural state or a pre-tightened state, so that the rotating roller 209 maintains a certain initial position. Then, the guide rod 203 is in a relatively outward position through the first pull line 206, and the gripper 204 opens to a large angle. When it is necessary to release the object, the servo motor 214 reverses and releases the second pull line 211. At this time, the elastic force of the torsion spring 210 acts on the rotating roller 209, so that the rotating roller 209 rotates in the opposite direction and releases the first pull line 206. The first pull line 206 pulls the guide rod 203 to move outward, and the gripper 204 opens to release the object.

[0025] Furthermore, a second pull wire 211 is fixedly connected to the side of the guide rod 203 away from the first pull wire 206. A take-up roller 212 is fixedly connected to the end of the second pull wire 211 away from the guide rod 203. The second pull wire 211 is wound around the surface of the take-up roller 212. A servo motor 214 is installed at the top of the take-up roller 212. A drive roller 213 is fixedly connected to the output end of the servo motor 214. The end of the drive roller 213 away from the servo motor 214 is fixedly connected to the take-up roller 212. The take-up roller 212 coincides with the axis of the assembly cylinder 201. When an object needs to be gripped, the servo motor... When the machine 214 is started, the servo motor 214 drives the drive roller 213 to rotate, and the drive roller 213 drives the take-up roller 212 to rotate synchronously. When the take-up roller 212 rotates, it begins to wind up the second pull line 211. The second pull line 211 pulls the guide rod 203 to slide radially inward along the assembly cylinder 201 within the guide window 202. When the guide rod 203 slides inward, it drives the gripper 204 to close inward, thereby realizing the gripping action of the target object. After the object is gripped, the servo motor 214 maintains a certain locked state to ensure that the gripper 204 stably grips the object for handling and other operations.

[0026] Multiple grippers 204 are evenly distributed around the axis of the assembly cylinder 201, enabling stable gripping of objects of different shapes and sizes. For example, for some irregularly shaped parts, multiple grippers 204 can work together from different angles to improve the reliability and adaptability of gripping.

[0027] By precisely controlling the rotation angle and number of revolutions of the take-up roller 212 via the servo motor 214, the opening and closing degree of the gripper 204 can be accurately controlled. This is crucial for gripping precision parts or fragile items that require high gripping force and accuracy, preventing damage to items due to excessive gripping force or slippage due to insufficient gripping force.

[0028] The entire gripping component 2 is integrated within the assembly cylinder 201, resulting in a relatively compact structure and small footprint, facilitating installation and operation within limited spaces. Simultaneously, the cooperation between the robotic arm 101 and the gripping component 2 enables the device to move and position flexibly over a wide range, making it suitable for various work scenarios, such as material handling between different workstations on industrial production lines and cargo sorting in warehousing and logistics.

[0029] Due to the design of the torsion spring 210 and the pull line, the gripper 204 has the ability to adapt to the shape of the object to a certain extent. When gripping an object, if the object surface is uneven, during the closing process, each guide rod 203 can make fine adjustments within a certain range according to the change in the shape of the object, through the action of the first pull line 206 and the torsion spring 210, so that the gripper 204 can better fit the object surface and enhance the stability of the grip.

[0030] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. An intelligent electronic gripping device, characterized in that, The system includes a base (1), on which a robotic arm (101) is mounted. A drive unit (102) is fixedly connected to the output end of the robotic arm (101). A gripping assembly (2) is mounted to the output end of the drive unit (102). The gripping assembly (2) includes an assembly cylinder (201). Multiple guide windows (202) are provided at the end of the assembly cylinder (201) away from the drive unit (102). Guide rods (203) are built into the guide windows (202). A gripper (204) is fixedly connected to one end of the guide rod (203) outside the assembly cylinder (201). A first pull wire (206) is fixedly connected to one side of the guide rod (203) inside the assembly cylinder (201). A rotating roller (209) is fixedly connected to one end of the first pull wire (206) away from the guide rod (203). A plurality of mounting grooves (207) are provided on the inner wall of the assembly cylinder (201). Fixed cylinders (208) are fixedly connected to both sides of the inner wall of the mounting grooves (207). Torsion springs (210) are sleeved at both ends of the rotating roller (209). A second pull wire (211) is fixedly connected to one side of the guide rod (203) away from the first pull wire (206). A take-up roller (212) is fixedly connected to one end of the second pull wire (211) away from the guide rod (203). The second pull wire (211) is wound around the surface of the take-up roller (212). A servo motor (214) is provided on the top of the take-up roller (212).

2. The intelligent electronic gripping device according to claim 1, characterized in that, One end of the assembly cylinder (201) is fixedly connected to the driving component (102), and a plurality of guide windows (202) are evenly distributed around the axis of the assembly cylinder (201).

3. The intelligent electronic gripping device according to claim 1, characterized in that, The guide rod (203) is slidably connected to the inner wall of the guide window (202), and a sliding seat (205) is sleeved on the surface of the guide rod (203).

4. The intelligent electronic gripping device according to claim 3, characterized in that, The sliding seat (205) is fixedly connected to the guide rod (203), and the side of the sliding seat (205) near the guide window (202) is slidably connected to the inner wall of the assembly cylinder (201).

5. The intelligent electronic gripping device according to claim 1, characterized in that, The first pull wire (206) is wound around the surface of the rotating roller (209), and the plurality of mounting grooves (207) are evenly distributed around the axis of the assembly cylinder (201).

6. The intelligent electronic gripping device according to claim 1, characterized in that, The two ends of the rotating roller (209) are placed inside the fixed cylinder (208), and the two ends of the rotating roller (209) are rotatably connected to the bottom of the inner cavity of the fixed cylinder (208).

7. The intelligent electronic gripping device according to claim 1, characterized in that, The torsion spring (210) is placed inside the fixed cylinder (208). One end of the torsion spring (210) is fixedly connected to the inner wall of the fixed cylinder (208), and the other end of the torsion spring (210) is fixedly connected to the surface of the rotating roller (209).

8. The intelligent electronic gripping device according to claim 1, characterized in that, The output end of the servo motor (214) is fixedly connected to a drive roller (213). The end of the drive roller (213) away from the servo motor (214) is fixedly connected to a take-up roller (212). The take-up roller (212) coincides with the axis of the assembly cylinder (201).

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