Multi-degree-of-freedom intelligent gripper mechanical arm

Abstract

The utility model discloses a multi-degree-of-freedom intelligent gripper mechanical arm, and belongs to the technical field of industrial robots. The multi-degree-of-freedom mechanical arm mainly comprises a multi-degree-of-freedom mechanical arm body, the mechanical arm body is connected with a gripper through a communication locking mechanism, the gripper comprises a circular gripper base, the gripper base is correspondingly connected with a gripper cover of the communication locking mechanism in a matched mode, a guide pipe is vertically arranged in the center of the side, close to the gripper cover, of the gripper base, and the guide pipe is sleeved with a communication base capable of sliding up and down; ejecting blocks are horizontally arranged on the two sides of the communicating base, the gripper base is correspondingly provided with a rotating shaft base below each ejecting block, clamping blocks are arranged in the extending direction of the connecting line of the center of the gripper base and the two rotating shaft bases, and a clamping groove is horizontally formed in the upper portion of the side face, away from the communicating base, of each clamping block. According to the utility model, in the process of mounting the gripper of the mechanical arm, the mechanical structure of the gripper is synchronously, quickly and accurately butted with a power source, and the production efficiency, the safety and the intelligence of related work of the mechanical arm are improved.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot technology, and more specifically, it relates to a multi-degree-of-freedom intelligent gripper robotic arm. Background Technology

[0002] Multi-degree-of-freedom (DOF) robotic arms are an important component of robotics technology. By mimicking the flexibility and versatility of the human arm, they enable multi-degree-of-freedom movement in space. As a further innovation of DDF robotic arms, the multi-degree-of-freedom intelligent gripper robotic arm combines the flexibility of DDF robotic arms with the precision of intelligent grippers. It provides efficient and precise automation solutions for various application scenarios. Through advanced sensor technology, machine vision, intelligent control algorithms, and precise mechanical structures, it uses electricity, gas, or liquid as the power source for the gripper to perform actions, achieving high-precision and high-speed grasping and handling of workpieces.

[0003] Chinese patent CN219325261U discloses an industrial robot with easy component replacement, including a power base. A lower rotating arm is rotatably connected to the top of the power base. An upper rotating arm is movably mounted on the top of the inner cavity of the lower rotating arm. A machine head is movably mounted on the top of the inner cavity of the upper rotating arm. A frame is movably connected to the inner side of the machine head. A robot arm is movably connected to the left side of the inner cavity of the frame. A gripper is mounted on the left side of the robot arm. The robot arm includes a shaft head located in the inner cavity of the frame. A connecting plate is fixedly connected to the left side of the shaft head. A mounting screw hole is opened at the center of the left side surface of the connecting plate. An insertion interface is opened on the outer surface of the connecting plate. A limiting plate is fixedly sleeved on the left side of the outer surface of the connecting plate. An arc-shaped plate is fixedly connected to the outer ring of the left side surface of the limiting plate. A fixing tube is fixedly connected to the inner ring of the arc-shaped plate. A return spring is fixedly connected to the outer side of the inner cavity of the fixing tube.

[0004] While the aforementioned patent solves the problem of facilitating the disassembly of the robotic arm's material-picking components and enabling quick disassembly of these components when handling different types of items, it only addresses the replacement of the mechanical structure of the robotic arm's material-picking components. For the power source, it is still necessary to arrange personnel to make separate connections, which wastes a lot of time and reduces the working efficiency of the robotic arm.

[0005] To address the aforementioned technical problems, this application proposes a solution. Utility Model Content

[0006] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a multi-degree-of-freedom intelligent gripper robotic arm, which can realize the synchronous, rapid and precise docking of the gripper mechanical structure and the power source during the installation of the robotic arm gripper, thereby improving the production efficiency, safety and intelligence of the robotic arm's related work.

[0007] The aforementioned multi-degree-of-freedom intelligent gripper robotic arm includes a multi-degree-of-freedom robotic arm connected to a gripper via a connecting locking mechanism. The gripper includes a circular gripper base, which is correspondingly and matingly connected to a gripper cover of the connecting locking mechanism. A guide tube is vertically arranged at the center of the gripper base near the gripper cover. A connecting seat that can slide up and down is fitted onto the guide tube. Top blocks are horizontally arranged on both sides of the connecting seat. A rotating shaft seat is correspondingly arranged below each of the top blocks on the gripper base, and a locking block is arranged in the extension direction of the line connecting the center of the gripper base to the two rotating shaft seats. Each locking block... The upper part of the side away from the connecting seat is horizontally provided with a slot. A limiting slider is vertically arranged between the upper and lower surfaces of the slot, which slides along the line connecting the center of the gripper seat and the rotating shaft seat. Each rotating shaft seat is rotatably connected with an L-shaped reversing rod, and the two sides of the L-shaped reversing rod are respectively slidably connected to the bottom of the corresponding top block and the limiting slider. A ring-shaped locking disc is horizontally rotatably arranged at the center of the top surface inside the gripper cover. The locking disc is provided with a locking groove that corresponds to the limiting slider. A connecting port is opened through the center of the top of the gripper cover, and the connecting port is correspondingly connected to the connecting pipe located at the center of the top of the connecting seat.

[0008] Preferably, the card block has square holes on both the upper and lower sides of the card slot. Each square hole has a cylindrical sliding post horizontally arranged in the direction of the center of the gripper seat. Each sliding post is slidably connected to a limiting slider through a slider with a sliding hole. A cylindrical locking post is connected between two sliders. The locking post is engaged with a locking groove. A limiting plate with an arc-shaped groove on the side is vertically connected below the slider on the lower side of the card slot. The arc-shaped groove is offset towards the center of the gripper seat. The top block has a horizontal translation groove on the side perpendicular to the line connecting the connecting seat and the card block. A rotating shaft is provided at the intersection of the two L-shaped sides of the reversing rod, which is engaged with the rotating shaft seat. Sliding shaft one and sliding shaft two are respectively provided at the far end away from the intersection of the two L-shaped sides, which are engaged with the arc-shaped groove and the translation groove.

[0009] Preferably, a spring is fitted on the guide tube, and the bottom surface of the spring is fixedly connected to the gripper seat, and the top surface is fixedly connected to the bottom surface of the connecting seat.

[0010] Preferably, the outer side of the guide tube is vertically provided with a guide groove, the bottom center of the connecting seat is provided with a mating hole corresponding to the guide tube, and the inner side wall of the mating hole is vertically provided with a guide block that mates with the guide groove at a position corresponding to the guide groove.

[0011] Preferably, a sealing ring is horizontally provided on the side of the connecting pipe, and a sealing element is installed above the sealing ring and sleeved on the connecting pipe. The sealing element is made of insulating rubber.

[0012] Preferably, the top of the inner wall of the gripper cover is provided with a rotating groove that corresponds to and cooperates with the locking disc. The locking disc rotates in the horizontal plane around the center of the gripper cover in the rotating groove. The top surface inside the gripper cover and the inner side of the inner ring surface of the locking disc are respectively provided with a mating groove and a contoured groove at the position corresponding to the two locking blocks. The shape of the mating groove and the contoured groove corresponds to the top surface shape of the corresponding locking block.

[0013] Preferably, a drive motor is installed on the top surface of the gripper cover, and a gear connected to the drive motor is provided inside the gripper cover at a position corresponding to the drive motor. A rack that meshes with the gear is provided on the inner side of the inner ring of the locking disc.

[0014] Preferably, the top surface of the gripper base is provided with a circular docking groove at its maximum circumference position, and the bottom surface of the gripper cover is provided with a docking ring at the position corresponding to the docking groove, with the docking groove and the docking ring correspondingly engaging.

[0015] Preferably, a positioning sensor is vertically installed through the top surface of the gripper cover, and a positioning post that cooperates with the positioning sensor is vertically arranged on the gripper base at the position corresponding to the positioning sensor.

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

[0017] 1. During the installation of the gripper structure, while completing the mechanical structure docking of the gripper, the power source of the gripper is quickly and accurately docked, saving the time of gripper installation and improving production efficiency;

[0018] 2. By comprehensively utilizing the combination of mechanical structure and sensing technology, while ensuring the stability of structural connections, the number of manual operations is reduced, thereby improving the safety of robotic arm operations and enhancing the intelligence of the robotic arm gripper. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the overall connection structure of the gripper and the connecting locking mechanism of this utility model;

[0021] Figure 3 This is a schematic diagram of the internal structure of the connecting locking mechanism of this utility model;

[0022] Figure 4 This is a schematic diagram of the internal structure of the gripper of this utility model;

[0023] Figure 5 This is a schematic diagram of the locking disc and gripper cooperation structure of this utility model;

[0024] Figure 6 This is a schematic diagram of the limiting slider structure of this utility model;

[0025] Figure 7 This is a schematic diagram of the connecting seat structure of this utility model;

[0026] In the diagram, 1 is the gripper; 11 is the gripper seat; 11-1 is the docking groove; 11-2 is the rotating shaft seat; 12 is the guide tube; 12-1 is the guide groove; 13 is the locking block; 13-1 is the locking groove; 13-2 is the square hole; 13-3 is the sliding column; 14 is the limiting slider; 14-1 is the locking column; 14-2 is the slider; 14-3 is the sliding hole; 14-4 is the limiting plate; 14-5 is the arc-shaped groove; 15 is the reversing rod; 15-1 is the sliding shaft one; 15-2 is the rotating shaft; 15-3 is the sliding shaft two; 16 is the connecting seat; 16-1 is the mating hole; 16-2 is the guide block; 16-3, Top block; 16-4, Translation slot; 16-5, Connecting pipe; 16-6, Sealing ring; 16-7, Seal; 17, Spring; 18, Positioning pin; 19, Gripper; 2, Connecting locking mechanism; 21, Hand cover; 21-1, Connecting port; 21-2, Rotating slot; 21-3, Docking ring; 21-4, Mating slot; 22, Locking disc; 22-1, Rack; 22-2, Locking slot; 22-3, Contouring slot; 23, Gear; 24, Drive motor; 25, Positioning sensor; 26, Connector; 3, Robotic arm; 4, Base. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings:

[0028] The directional terms used in the detailed description paragraphs are only for the convenience of those skilled in the art to understand the technical solutions described in this application based on the visual orientation shown in the accompanying drawings. Unless otherwise expressly specified and limited, the terms "setting," "installing," "connecting," etc., should be interpreted broadly, and those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] like Figure 1 As shown, the multi-degree-of-freedom intelligent gripper robotic arm of this utility model includes a multi-degree-of-freedom robotic arm 3. One end of the robotic arm 3 is fixedly connected to the base 4, and the other end is connected to the gripper 1 through a connecting locking mechanism 2. Figure 2 , Figure 4As shown, the gripper 1 includes a circular gripper base 11, which is correspondingly connected to the gripper cover 21 of the connecting locking mechanism 2. Under normal conditions, the robotic arm 3 is fixedly connected to the connecting locking mechanism 2 via a connector 26 located on the top of the gripper cover 21. A guide tube 12 is vertically arranged at the center of the gripper base 11 near the gripper cover 21. A connecting seat 16 is sleeved on the guide tube 12 and slides up and down the guide tube 12. A connecting tube 16-5 is located at the center of the top of the connecting seat 16. A gripper 19 is connected to the gripper base 11 away from the gripper cover 21. The power source of the gripper 19 is generally electricity, liquid or gas, etc. The power unit and the specific structure of the gripper 19 are installed at the bottom of the gripper base 11, and they are all existing technologies. One end of the power source input pipe of the power mechanism is connected to the power mechanism, and the other end is connected to the connecting pipe 16-5 inside the guide pipe 12 and the connecting seat 16. Appropriate redundancy is left inside the guide pipe 12 and the connecting seat 16. When the connecting seat 16 is at the farthest position from the gripper base 11, the power source input pipe is just in the normal tension state and will not be broken.

[0030] like Figure 4 , Figure 6 and Figure 7 As shown, a guide groove 12-1 is vertically formed on the outer side of the guide tube 12, and a mating hole 16-1 is vertically formed at the center of its bottom of the connecting seat 16. The shape and size of the inner side of the mating hole 16-1 correspond to the outer side of the guide tube 12. A guide block 16-2 is provided on the inner wall of the mating hole 16-1 at a position corresponding to the guide groove 12-1. The guide block 16-2 is vertically set and mates with the corresponding guide groove 12-1, so that the connecting seat 16 maintains vertical movement on the guide tube 12. A spring 17 is sleeved on the guide tube 12, and the bottom surface of the spring 17 is fixedly connected to the gripper seat 11, and the top surface of the spring 17 is fixedly connected to the bottom surface of the connecting seat 16. The spring 17 is always in a tensile state, so that when the connecting seat 16 is not subjected to other forces, it can be in the position closest to the gripper seat 11.

[0031] A top block 16-3 is horizontally arranged on each side of the connecting seat 16, and a rotating shaft seat 11-2 is correspondingly arranged below each top block 16-3 of the gripper seat 11. A locking block 13 is vertically arranged on the extension direction of the line connecting the center of the gripper seat 11 to the two rotating shaft seats 11-2 respectively. Each top block 16-3 has a horizontally penetrating translation slot 16-4 on the side perpendicular to the line connecting the center of the connecting seat 16 and the locking block 13. Each card block 13 has a slot 13-1 on the upper part of the side away from the connecting seat 16. The slot 13-1 is horizontally opened and runs through the front and rear sides of the card block 13. Square holes 13-2 are opened on the upper and lower surfaces of the slot 13-1. Each square hole 13-2 is provided with a cylindrical sliding post 13-3 inside. Each sliding post 13-3 is horizontally set and faces the horizontal center direction of the gripper seat 11. Each sliding post 13-3 is set at the center of the front and rear sides of the square hole 13-2 along the line connecting the center of the card block 13 and the center of the gripper seat 11.

[0032] Each sliding post 13-3 has a slider 14-2 slidably mounted on a limiting slider 14, and each slider 14-2 has a sliding hole 14-3 that mates with the corresponding sliding post 13-3. The upper and lower sliders 14-2 of the limiting slider 14 are vertically connected by a cylindrical locking post 14-1, so that the limiting slider 14 can be vertically positioned between the slots 13-1 and slide along the line connecting the center of the gripper seat 11 and the rotating shaft seat 11-2. The limiting slider 14 is vertically connected to a limiting plate 14-4 below the slider 14-2 on its lower side, that is, below the slot 13-1. The side of the limiting plate 14-4 has an arc-shaped groove 14-5, and the arc of the groove 14-5 is offset towards the center of the gripper seat 11.

[0033] Each pivot seat 11-2 is rotatably connected to a reversing rod 15, which is L-shaped. A pivot 15-2 is located at the intersection of the two sides of the L-shape of the reversing rod 15. The pivot 15-2 is rotatably engaged with the corresponding pivot seat 11-2. Sliding shaft 15-1 and sliding shaft 15-3 are respectively located at the far end of the reversing rod 15 away from the intersection of the two sides of the L-shape. Sliding shaft 15-1 and sliding shaft 15-3 are respectively slidably engaged with the arc-shaped groove 14-5 at the bottom of the corresponding limiting slider 14 and the translation groove 16-4 of the corresponding top block 16-3. Furthermore, when the limiting slider 14 is at its closest point to the center of the gripper seat 11, the sliding shaft 15-1 is at the uppermost end of the arc-shaped groove 14-5, and the sliding shaft 15-3 is at the end of the translation groove 16-4 closest to the center of the connecting seat 16. At this time, the connecting seat 16 is located at its closest point to the gripper seat 11. Conversely, when the limiting slider 14 is at its farthest point from the center of the gripper seat 11, the sliding shaft 15-1 is at the lowermost end of the arc-shaped groove 14-5, and the sliding shaft 15-3 is at the end of the translation groove 16-4 farthest from the center of the connecting seat 16. At this time, the connecting seat 16 is located at its farthest point from the gripper seat 11. By setting an L-shaped steering rod 15, the horizontal displacement of the limiting slider 14 is converted into the vertical displacement of the connecting seat 16, thus achieving a change in the direction of displacement.

[0034] like Figure 3 , Figure 5 As shown, a rotating groove 21-2 is horizontally formed at the top of the inner circumference of the gripper cover 21. A circular locking disc 22 is horizontally positioned inside the rotating groove 21-2, and the rotating groove 21-2 and the locking disc 22 are correspondingly engaged, allowing the locking disc 22 to rotate horizontally around the vertical center of the gripper cover 21 within the rotating groove 21-2. The locking disc 22 has two locking grooves 22-2, which are arc-shaped and arranged symmetrically about the center of the locking disc 22. The vertical side of each locking groove 22-2 corresponds to the cylindrical side of the locking post 14-1 of the corresponding limiting slider 14. The arc-shaped grooves of the locking grooves 22-2 are offset away from the center of the gripper cover 21.

[0035] The top surface inside the gripper cover 21 has mating grooves 21-4 at positions corresponding to the two locking blocks 13, and the inner side of the inner ring surface of the locking disc 22 has contoured slots 22-3 at positions corresponding to the two locking blocks 13. The shapes of the mating grooves 21-4 and contoured slots 22-3 correspond to the top surface shapes of their respective locking blocks 13, and the depth of the mating groove 21-4 corresponds to the thickness of the upper side of the locking groove 13-1. In the initial position, the corresponding contoured slots 22-3 and mating grooves 21-4 are aligned.

[0036] like Figure 2 , Figure 3As shown, a drive motor 24 is mounted on the top surface of the gripper cover 21. The drive motor 24 is existing technology. A gear 23 is provided on the inner top surface of the gripper cover 21 at a position corresponding to the drive motor 24, and the center of the gear 23 is connected to the motor shaft of the drive motor 24. A rack 22-1 is provided on the inner side of the inner ring of the locking disc 22. The rack 22-1 is arranged in an arc shape around the center of the gripper cover 21 and meshes with the gear 23. When the drive motor 24 drives the gear 23 to rotate, the gear 23 moves horizontally within the rotation groove 21-2 of the gripper cover 21 through the rotation of the rack 22-1.

[0037] like Figure 3 , Figure 4 As shown, a horizontally positioned sealing ring 16-6 is fitted onto the side of the connecting pipe 16-5 of the connecting seat 16. A sealing element 16-7, preferably made of insulating rubber, is installed above the sealing ring 16-6 and fitted onto the connecting pipe 16-5. A connecting port 21-1 is provided at the center of the top of the gripper cover 21, and the connecting port 21-1 is correspondingly connected to the connecting pipe 16-5. When the connecting port 21-1 is connected to the connecting pipe 16-5, the sealing element 16-7, under the squeezing action of the sealing ring 16-6, tightly fits the pipe wall of the connecting port 21-1. The external power source can enter the power mechanism of the gripper 1 through the mechanical arm 3 via the connecting port 21-1 and the connecting pipe 16-5 of the connecting locking mechanism 2, thereby realizing the motion control of the gripper 19. Furthermore, due to the cooperation of the sealing ring 16-6, the sealing element 16-7 and the connecting pipe 16-5, the sealing of the interface position of the power source is guaranteed, avoiding the danger and pollution caused by leakage when electrical, liquid and gas energy is input.

[0038] A circular docking groove 11-1 is provided at the maximum circumference position on the top surface of the gripper base 11, and a docking ring 21-3 is provided on the bottom surface of the gripper cover 21. The position and shape of the docking ring 21-3 correspond to the position and shape of the docking groove 11-1, so that when the gripper cover 21 and the gripper base 11 are docked, the gripper cover 21 and the gripper base 11 can be sealed and connected to prevent dust and other contaminants from entering the interior of the connecting locking mechanism 2 and affecting the operation of the robotic arm 3 and the gripper 1.

[0039] A positioning sensor 25 is vertically installed through the top surface of the gripper cover 21. A positioning post 18 is vertically installed on the gripper base 11 at the position corresponding to the positioning sensor 25. The positioning sensor 25 is an existing technology such as a vision sensor. Through the measurement and sensing positioning between the positioning sensor 25 and the positioning post 18, the gripper cover 21 and the gripper base 11 can be quickly and accurately docked in both horizontal and vertical directions, which facilitates the further accurate and rapid locking connection between the connecting locking mechanism 2 and the gripper 1.

[0040] In actual use, when the gripper 1 needs to be installed, the gripper 1 is placed at a fixed placement point, and the gripper seat 11 is located above the gripper 19. At this time, the connecting seat 16 is located at the position closest to the gripper seat 11 under the tension of the spring 17. The sliding shaft 2 15-3 is located at the position closest to the center of the connecting seat 16 in the translation slot 16-4. The sliding shaft 1 15-1 is at the uppermost end of the arc-shaped slot 14-5. The limiting slider 14 is located at the position closest to the center of the gripper seat 16. Through the autonomous movement of the multi-free robotic arm 3, the connecting locking mechanism 2 is moved to the position of the gripper 1. Through rapid positioning and adjustment by the positioning sensor 25 and the positioning post 18, the gripper cover 21 of the connecting locking mechanism 2 and the gripper seat 11 of the gripper 1 are vertically aligned. Then, the connecting locking mechanism 2 approaches the gripper 1, causing the top surface of the locking block 13 to align with the corresponding mating groove 21-4 and fully enter the interior of the mating groove 21-4. That is, the bottom of the upper side of the locking groove 13-1 is flush with the top surface inside the gripper cover 21. Due to the constraint of the mating groove 21-4, the locking block 13 will not rotate around the vertical center of the gripper cover 21, ensuring the relative position of the gripper 1 and the connecting locking mechanism 2 in the horizontal direction. Simultaneously, the docking ring 21-3 engages with the docking groove 11-1, ensuring the sealing of the connection between the gripper cover 21 and the gripper seat 16, and further ensuring the fixation of the relative position of the gripper 1 and the connecting locking mechanism 2 in the horizontal direction.

[0041] Subsequently, the drive motor 24 is activated, and through the engagement of gear 23 and rack 22-1, the locking disc 22 rotates around the center of the gripper cover 21. The locking pin 14-1 of the limiting slider 14 enters the corresponding locking groove 22-2. The locking disc 22 engages with the slot 13-1 of the locking block 13 at the position of the locking groove 22-2, and as the arc surface of the locking groove 22-2 moves, the locking pin 14-1 causes the limiting slider 14 to slide relative to the locking block 13 away from the center of the gripper seat 16. The arc-shaped slot 14-5 drives the sliding shaft 15-1 to slide downwards, causing the steering rod 15 to rotate around the rotating shaft seat 11-2, which in turn drives the sliding shaft 15-3 to move away from the center of the connecting seat 16 within the translation slot 16-4. With the lever action of the L-shaped side of the steering rod 15, the top block 16-3 is pried and the connecting seat 16 is driven to move upwards along the guide tube 12. At the same time, the center of the connecting tube 16-5 is aligned with the center of the connecting port 21-1 and rises into the interior of the connecting port 21-1. Until the locking pin 14-1 moves to the farthest point from the center of the gripper seat 11 under the guidance of the locking groove 22-2, the top surface of the locking disc 22 at the position of the locking groove 22-2 is completely in contact with the upper side of the slot 13-1, and with the cooperation of the mechanical limit of the locking 14-1, the locking disc 22 locks the locking block 13. At the same time, the connecting seat 16 rises to the highest position from the gripper seat 11, and the connecting pipe 16-5 is completely connected and sealed with the connecting port 21-1. The drive motor 24 stops and locks, thus completing the connection and locking between the connecting locking mechanism 2 and the gripper 1, and realizing the connection process of the power source pipeline. At this time, the power source such as electricity, liquid, and gas can be input from the robotic arm 3 through the connecting port 21-1 and the connecting pipe 16-5 into the power mechanism of the gripper 1 to realize the motion control of the gripper 19.

[0042] When it is necessary to remove the gripper 1, simply reverse the above procedure to unlock and disconnect the gripper 1 from the connecting locking mechanism 1.

[0043] Compared with the prior art, this utility model has the advantages of achieving synchronous, rapid and precise docking of the mechanical structure and power source of the gripper 1 during the installation process, saving the installation time of the robotic arm gripper and improving production efficiency; at the same time, by comprehensively utilizing the cooperation between the mechanical structure and sensing technology, while ensuring the structural connection stability of the robotic arm 3, it reduces the links of direct manual operation, improves the safety of the multi-degree-of-freedom robotic arm and enhances the intelligence of the robotic arm gripper.

[0044] Finally, although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-degree-of-freedom intelligent gripper robotic arm, comprising a multi-degree-of-freedom robotic arm (3), characterized in that: The robotic arm (3) is connected to the gripper (1) via a connecting locking mechanism (2). The gripper (1) includes a circular gripper seat (11). The gripper seat (11) is correspondingly connected to the gripper cover (21) of the connecting locking mechanism (2). A guide tube (12) is vertically arranged at the center of the gripper seat (11) near the gripper cover (21). A connecting seat (16) that can slide up and down is sleeved on the guide tube (12). Top blocks (16-3) are horizontally arranged on both sides of the connecting seat (16). A rotating shaft seat (11-2) is correspondingly arranged below each of the top blocks (16-3) on the gripper seat (11). A locking block (13) is arranged in the extension direction of the line connecting the center of the gripper seat (11) to the two rotating shaft seats (11-2). Each locking block (13) is horizontally opened on the upper part of the side away from the connecting seat (16). There is a slot (13-1), and a limiting slider (14) is vertically arranged between the upper and lower surfaces of the slot (13-1) along the line connecting the center of the gripper seat (11) and the rotating shaft seat (11-2). Each rotating shaft seat (11-2) is rotatably connected to an L-shaped reversing rod (15), and the two sides of the L-shaped reversing rod (15) are slidably connected to the bottom of the corresponding top block (16-3) and the limiting slider (14). A ring-shaped locking disc (22) is horizontally rotatably arranged at the center of the top surface inside the gripper cover (21). A locking groove (22-2) corresponding to the limiting slider (14) is opened on the locking disc (22). A connecting port (21-1) is opened through the center of the top of the gripper cover (21). The connecting port (21-1) is correspondingly connected to the connecting pipe (16-5) arranged at the center of the top of the connecting seat (16).

2. The multi-degree-of-freedom intelligent gripper robotic arm according to claim 1, characterized in that: The card block (13) has square holes (13-2) on both the upper and lower sides of the slot (13-1). Each square hole (13-2) has a cylindrical sliding post (13-3) horizontally arranged in the direction of the center of the gripper seat (11). Each sliding post (13-3) is slidably connected to the limiting slider (14) through a slider (14-2) with a sliding hole (14-3). A cylindrical locking post (14-1) is connected between two sliders (14-2). The locking post (14-1) is correspondingly engaged with the locking groove (22-2). The side part is vertically connected below the slider (14-2) on the lower side of the slot (13-1). A limiting plate (14-4) with an arc-shaped slot (14-5) is provided, and the arc-shaped slot (14-5) is an arc-shaped slot offset towards the center of the gripper seat (11). The top block (16-3) has a horizontal translation slot (16-4) on the side perpendicular to the line connecting the connecting seat (16) and the card block (13). The reversing rod (15) has a rotating shaft (15-2) corresponding to the rotating shaft seat (11-2) at the intersection of the two L-shaped sides. The far end away from the intersection of the two L-shaped sides is provided with a sliding shaft one (15-1) and a sliding shaft two (15-3) corresponding to the arc-shaped slot (14-5) and the translation slot (16-4).

3. The multi-degree-of-freedom intelligent gripper robotic arm according to claim 2, characterized in that: A spring (17) is fitted on the guide tube (12), and the bottom surface of the spring (17) is fixedly connected to the gripper seat (11), and the top surface is fixedly connected to the bottom surface of the connecting seat (16).

4. The multi-degree-of-freedom intelligent gripper robotic arm according to claim 3, characterized in that: The guide tube (12) has a vertically formed guide groove (12-1) on its outer side. The bottom center of the connecting seat (16) has a mating hole (16-1) that corresponds to and matches the guide tube (12). The inner side wall of the mating hole (16-1) has a vertically formed guide block (16-2) that matches the guide groove (12-1) at a position corresponding to the guide groove (12-1).

5. The multi-degree-of-freedom intelligent gripper robotic arm according to claim 4, characterized in that: A sealing ring (16-6) is horizontally arranged on the side of the connecting pipe (16-5), and a sealing element (16-7) is installed above the sealing ring (16-6) and sleeved on the connecting pipe (16-5). The sealing element (16-7) is made of insulating rubber.

6. The multi-degree-of-freedom intelligent gripper robotic arm according to claim 5, characterized in that: The top of the inner wall of the gripper cover (21) is provided with a rotating groove (21-2) that corresponds to and cooperates with the locking disc (22). The locking disc (22) rotates in the horizontal plane around the center of the gripper cover (21) in the rotating groove (21-2). The top surface inside the gripper cover (21) and the inner side of the inner ring surface of the locking disc (22) are respectively provided with a matching groove (21-4) and a contoured groove (22-3) at the positions corresponding to the two locking blocks (13). The shapes of the matching groove (21-4) and the contoured groove (22-3) correspond to the top surface shape of the corresponding locking block (13).

7. The multi-degree-of-freedom intelligent gripper robotic arm according to claim 6, characterized in that: The top surface of the gripper cover (21) is equipped with a drive motor (24). Inside the gripper cover (21), a gear (23) connected to the drive motor (24) is provided at a position corresponding to the drive motor (24). The lock disc (22) has a rack (22-1) that meshes with the gear (23) on its inner ring inner side.

8. The multi-degree-of-freedom intelligent gripper robotic arm according to claim 7, characterized in that: The top surface of the gripper base (11) is provided with a circular docking groove (11-1) at its maximum circumference position, and the bottom surface of the gripper cover (21) is provided with a docking ring (21-3) at the position corresponding to the docking groove (11-1). The docking groove (11-1) and the docking ring (21-3) are correspondingly engaged.

9. The multi-degree-of-freedom intelligent gripper robotic arm according to any one of claims 1-8, characterized in that: A positioning sensor (25) is vertically installed through the top surface of the gripper cover (21), and a positioning post (18) that cooperates with the positioning sensor (25) is vertically set on the gripper base (11) at the position corresponding to the positioning sensor (25).

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