Grabbing mechanical arm with size recognition function

Abstract

The utility model relates to the technical field of grabbing mechanical arms, and particularly discloses a grabbing mechanical arm with a size identification function, which comprises an arm rod 1, a driver 2 is movably connected to the front end of the arm rod 1, a visual sensor 22 is arranged at the rear end of the driver 2, an air cylinder 21 is fixedly connected to the interior of the driver 2, and the visual sensor 22 is arranged at the rear end of the air cylinder 21. A connecting frame 3 is fixedly connected to the lower end of an output shaft of the air cylinder 21, claw rods 31 are movably connected to the lower end of the connecting frame 3, protection assemblies 5 are arranged in the claw rods 31, each protection assembly 5 comprises a first protection rod 51 and a second protection rod 52 which are movably connected to the interior of the corresponding claw rod 31, and the first protection rod 51 and the second protection rod 52 are attached to each other; the ends, close to the center of the driver 2, of the first protection rod 51 and the second protection rod 52 are jointly and movably connected with a base 53, the device can protect the gap between the two adjacent claw rods, and therefore the situation that objects fall off through the space between the two claw rods is avoided, and the working efficiency of the mechanical arm is improved.

Description

Technical Field

[0001] This utility model relates to the field of gripping robotic arm technology, and in particular to a gripping robotic arm with size recognition capability. Background Technology

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, and other fields. With the advancement of technology, the application areas of robotic arms have gradually expanded from manufacturing to medical and health care, military security, and many other fields.

[0003] A robotic arm is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling of a robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm's joint space. With further technological advancements, robotic arms will play a greater role in more fields, bringing more convenience and efficiency to human life and work.

[0004] In existing technical solutions, when a robotic arm grasps spherical objects, the grippers used for grasping small objects are generally narrow, resulting in a large gap between adjacent grippers. This can cause objects to fall between adjacent grippers during the transport and grasping process due to their smooth surfaces, thus affecting the working efficiency of the robotic arm and consequently impacting the grasping operation.

[0005] Therefore, a gripping robotic arm with size recognition capability is proposed. Utility Model Content

[0006] The purpose of this invention is to provide a gripping robotic arm with size recognition capabilities. When gripping spherical objects, the device can protect the gap between two adjacent claw bars, thereby preventing the object from falling between the two claw bars and improving the working efficiency of the robotic arm, thus solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a grasping robotic arm with size recognition, comprising an arm, a driver movably connected to the front end of the arm, a vision sensor provided at the rear end of the driver, a cylinder fixedly connected inside the driver, a connecting frame fixedly connected to the lower end of the output shaft of the cylinder, a claw movably connected to the lower end of the connecting frame, and a connecting rod movably connected between the claw and the driver.

[0008] Each claw bar is equipped with a protective component inside. The protective component includes a first guard bar and a second guard bar that are movably connected inside the claw bar. The first guard bar and the second guard bar are in contact with each other. The ends of the first guard bar and the second guard bar near the center of the driver are movably connected to a base. A second torsion spring is movably connected between the first guard bar, the second guard bar and the base.

[0009] Preferably, there are three claw rods, and each of the multiple first guard rods has a groove at one end away from each other. Each of the multiple second guard rods has a protrusion fixedly connected at one end away from each other. The first guard rods, the second guard rods, and the base are movably connected together by a spring.

[0010] Preferably, the lower end of the claw bar is provided with a sliding assembly, the sliding assembly including a rotating rod at the lower end of the claw bar, a guard plate is movably connected to the outside of the rotating rod, and a roller is movably connected to the inside of the guard plate, the number of the rollers being multiple.

[0011] Preferably, a pad is fixedly connected to one end of each of the plurality of guard plates that are close to each other, and a first torsion spring is movably connected between the claw rod and the rotating rod.

[0012] Preferably, the elastic force of the second torsion spring is greater than the resistance of the claw rod on the first guard rod and the second guard rod, respectively, and the elastic force of the spring is greater than the sum of the elastic forces on the first guard rod, the second guard rod and the base.

[0013] Preferably, the first guard rod and the second guard rod can swing within a range of 0 to 90 degrees, and the groove engages with the protrusion at one end away from each other.

[0014] Preferably, the sum of the elastic forces of the first torsion springs is greater than the weight of the guard plate, and the guard plate can swing within a range of 0 to 30 degrees.

[0015] Preferably, the guard plate is semi-circular, and both the pad and the roller are made of non-slip rubber.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. The gripping robotic arm with size recognition, by installing components such as a first guard bar, a second guard bar, a protrusion, a base, a second torsion spring, and a spring, can protect the gap between two adjacent claw bars when gripping spherical objects, thereby preventing the object from falling between the two claw bars and improving the working efficiency of the robotic arm.

[0018] 2. This gripping robotic arm with size recognition, by installing components such as a claw rod, connecting rod, rotating rod, first torsion spring, guard plate, anti-slip pad and rollers, can protect the object by sliding when the robotic arm places it after gripping it, thereby improving the working efficiency of the robotic arm and further protecting the object. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is an overall structural view of the present invention;

[0021] Figure 2 This is a schematic diagram of a half-section of the driver of this utility model;

[0022] Figure 3 This is a schematic diagram of the sliding component of this utility model;

[0023] Figure 4 This is a schematic diagram of the protective component structure of this utility model.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1. Boom; 2. Actuator; 21. Cylinder; 22. Vision sensor; 3. Connecting frame; 31. Claw arm; 32. Connecting rod; 4. Sliding assembly; 41. Rotating rod; 411. First torsion spring; 42. Guard plate; 43. Pad plate; 44. Roller; 5. Protective assembly; 51. First guard rod; 511. Groove; 52. Second guard rod; 521. Protrusion; 53. Base; 54. Second torsion spring; 55. Spring. Detailed Implementation

[0026] 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.

[0027] Please see Figure 1 , Figure 2 and Figure 4 This utility model provides a technical solution:

[0028] A grasping robotic arm with size recognition includes an arm 1. A driver 2 is movably connected to the front end of the arm 1. A vision sensor 22 is provided at the rear end of the driver 2. A cylinder 21 is fixedly connected inside the driver 2. A connecting frame 3 is fixedly connected to the lower end of the output shaft of the cylinder 21. A claw 31 is movably connected to the lower end of the connecting frame 3. A connecting rod 32 is movably connected between the claw 31 and the driver 2. A protective component 5 is provided inside each claw 31. The protective component 5 includes a first guard rod 51 and a second guard rod 52 movably connected inside the claw 31. The first guard rod 51 and the second guard rod 52 are in contact with each other. A base 53 is movably connected to the ends of the first guard rod 51 and the second guard rod 52 near the center of the driver 2. A second torsion spring 54 is movably connected between the first guard rod 51, the second guard rod 52 and the base 53.

[0029] There are three claw bars 31. Each of the multiple first guard bars 51 has a groove 511 at one end away from each other. Each of the multiple second guard bars 52 has a protrusion 521 fixedly connected at one end away from each other. The first guard bars 51, the second guard bars 52 and the base 53 are movably connected to a spring 55. The elastic force of the second torsion spring 54 is greater than the resistance of the claw bars 31 on the first guard bars 51 and the second guard bars 52. The elastic force of the spring 55 is greater than the sum of the elastic forces on the first guard bars 51, the second guard bars 52 and the base 53. The first guard bars 51 and the second guard bars 52 can swing within a range of 0 to 90 degrees. The groove 511 and the protrusion 521 at one end away from each other engage with each other.

[0030] By adopting the above technical solution, when grasping an object, the visual sensor 22 at the rear end of the driver 2 acquires images to determine the object's position. Then, the system controls the arm 1 to move the driver 2 to the outside of the object. The cylinder 21 is activated via remote system control. The output shaft of the cylinder 21, along with the lower connecting frame 3, rises. As the connecting frame 3 descends, it causes the claw bars 31 to swing around the connection point between the claw bars 31 and the connecting rod 32, causing multiple claw bars 31 to move towards each other. After the base 53 contacts the object, it continuously compresses the external spring 55, moving the base 53 towards the claw bars 31. The first guard rod 51 and the second... When the guard rod 52 extends to the outside of the claw rod 31, the two second torsion springs 54 push the first guard rod 51 and the second guard rod 52 to swing around the connection point between them and the base 53. This causes the first guard rod 51 and the second guard rod 52, which are close to each other, to swing at a right angle toward the ends that are far apart from each other. When the two first guard rods 51 and the second guard rod 52, which are far apart outside the claw rods 31, come close to each other, the groove 511 and the protrusion 521 engage and fix them, thereby protecting the items gripped by the claw rods 31. This achieves the purpose of protecting the gap between two adjacent claw rods 31 through the protective component 5, thereby preventing items from falling between the two claw rods 31 and improving the working efficiency of the robotic arm.

[0031] Specifically, such as Figure 3 As shown, a sliding assembly 4 is provided at the lower end of the claw bar 31. The sliding assembly 4 includes a rotating rod 41 at the lower end of the claw bar 31. A guard plate 42 is movably connected to the outside of the rotating rod 41. Rollers 44 are movably connected inside the guard plate 42. There are multiple rollers 44. A pad 43 is fixedly connected to the adjacent ends of the multiple guard plates 42. A first torsion spring 411 is movably connected between the claw bar 31 and the rotating rod 41. The sum of the elastic forces of the first torsion springs 411 is greater than the weight of the guard plate 42. The guard plate 42 can swing within a range of 0 to 30 degrees. The guard plate 42 is semi-circular. Both the pad 43 and the rollers 44 are made of anti-slip rubber.

[0032] By adopting the above technical solution, after starting cylinder 21, the output shaft of cylinder 21 rises together with the lower connecting frame 3. As the connecting frame 3 descends, it causes the claw rod 31 to swing around the connection point between the claw rod 31 and the connecting rod 32, causing multiple claw rods 31 to move towards one end closer to each other. After the guard plate 42 at the lower end of the claw rod 31 contacts the object, it compresses the first torsion spring 411 around the rotating rod 41, causing the guard plate 42 to fit against the outside of the object. Furthermore, due to the material properties of the pad 43, the pad 43 can withstand external forces. It can generate a large deformation, thereby increasing the friction with the contact surface and playing an anti-slip role, so that the claw 31 can fix the grasped object. When the object grasped by the claw 31 is placed by the arm 1 descending, after the object first contacts the placement surface, the placement surface is pushed to push the object, so that the object contacts the roller 44, thereby protecting the object. In order to achieve the goal of protecting the object by sliding the sliding component 4 when the robot arm grasps the object and places it, the robot arm can improve its working efficiency and further protect the object.

[0033] Working principle: The system controls the arm 1 to move the driver 2 to the outside of the object. The system remotely controls the start cylinder 21. The output shaft of the cylinder 21 raises the lower connecting frame 3 together. As the connecting frame 3 descends, it causes the claw 31 to swing around the connection point between the claw 31 and the connecting rod 32, causing multiple claws 31 to move towards each other. After the base 53 contacts the object, it continuously compresses the external spring 55 and moves towards the claw 31. When the first guard rod 51 and the second guard rod 52 penetrate to the outside of the claw 31, the two second torsion springs 54 push... The first guard rod 51 and the second guard rod 52 swing around their connection points with the base 53, causing the first guard rod 51 and the second guard rod 52, which are close to each other, to swing at right angles toward the ends that are far apart from each other. When the two first guard rods 51 and the second guard rod 52, which are far apart on the outside of the different claw rods 31, come close to each other, the groove 511 and the protrusion 521 engage and fix them, thereby protecting the items gripped by the claw rods 31. This achieves the purpose of protecting the gap between the two adjacent claw rods 31 through the protective component 5, thereby preventing items from falling between the two claw rods 31 and improving the working efficiency of the robotic arm.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A grasping robotic arm with size recognition capability, comprising an arm (1), characterized in that: The front end of the arm (1) is movably connected to a driver (2), and the rear end of the driver (2) is provided with a vision sensor (22). The inside of the driver (2) is fixedly connected to a cylinder (21), and the lower end of the output shaft of the cylinder (21) is fixedly connected to a connecting frame (3). The lower end of the connecting frame (3) is movably connected to a claw rod (31), and a connecting rod (32) is movably connected between the claw rod (31) and the driver (2). The claw rod (31) is equipped with a protective component (5) inside. The protective component (5) includes a first guard rod (51) and a second guard rod (52) movably connected inside the claw rod (31). The first guard rod (51) and the second guard rod (52) are in contact with each other. The ends of the first guard rod (51) and the second guard rod (52) near the center of the driver (2) are movably connected to a base (53). A second torsion spring (54) is movably connected between the first guard rod (51), the second guard rod (52) and the base (53).

2. The grasping robotic arm with size recognition according to claim 1, characterized in that: The number of claw rods (31) is three. Each of the multiple first guard rods (51) has a groove (511) at one end away from each other. Each of the multiple second guard rods (52) has a protrusion (521) fixedly connected at one end away from each other. The first guard rods (51), the second guard rods (52) and the base (53) are movably connected to a spring (55).

3. The grasping robotic arm with size recognition according to claim 1, characterized in that: The lower end of the claw bar (31) is provided with a sliding component (4), the sliding component (4) includes a rotating rod (41) at the lower end of the claw bar (31), a guard plate (42) is movably connected to the outside of the rotating rod (41), and a roller (44) is movably connected inside the guard plate (42), and there are multiple rollers (44).

4. A grasping robotic arm with size recognition according to claim 3, characterized in that: Each of the multiple guard plates (42) has a pad (43) fixedly connected to one end of each other, and a first torsion spring (411) is movably connected between the claw rod (31) and the rotating rod (41).

5. A grasping robotic arm with size recognition according to claim 2, characterized in that: The elastic force of the second torsion spring (54) is greater than the resistance of the claw rod (31) on the first guard rod (51) and the second guard rod (52), respectively, and the elastic force of the spring (55) is greater than the sum of the elastic forces on the first guard rod (51), the second guard rod (52) and the base (53).

6. A grasping robotic arm with size recognition according to claim 5, characterized in that: The first guard rod (51) and the second guard rod (52) can swing within a range of 0 to 90 degrees, and the groove (511) engages with the protrusion (521) at one end away from each other.

7. A grasping robotic arm with size recognition according to claim 4, characterized in that: The sum of the elastic forces of the first torsion spring (411) is greater than the weight of the guard plate (42), and the guard plate (42) can swing within a range of 0 to 30 degrees.

8. A grasping robotic arm with size recognition according to claim 4, characterized in that: The guard plate (42) is semi-circular, and the pad (43) and roller (44) are both made of non-slip rubber.

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