Miniature mechanical arm structure for precise assembly

Abstract

The miniature mechanical arm structure comprises a fixing seat, a motor and an electric push rod, one end of the fixing seat is provided with a semispherical groove matched with the end face of a screw, the center of the semispherical groove is vertically provided with a shaft hole penetrating through the fixing seat, a shaft rod is arranged in the shaft hole, and the motor is connected with the shaft rod. One end of the shaft rod protrudes to form a cross-shaped protruding part matched with a cross-shaped groove in a screw, the end, facing the semispherical groove, of the shaft hole expands outwards to form an annular groove, an annular magnet is installed in the annular groove, and a plurality of adsorption holes are formed in the inner wall face of the semispherical groove in an arc-shaped structure. The device is simple in structure, a screw with a hemispherical end face can be doubly positioned through the annular magnet and the adsorption hole, the shaft rod can be driven to rotate and slowly ascend and descend through the motor and the electric push rod, and whether a cross-shaped convex part is inserted into a cross-shaped groove of the screw or not can be monitored in combination with the displacement sensor. And the screw can be driven to rotate through the cross-shaped convex part, so that connection and fixation with equipment are completed.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a micro robotic arm structure for precision assembly. Background Technology

[0002] Miniature robotic arms for precision assembly are high-precision, miniaturized automated devices widely used in fields requiring high-precision operation, such as electronics manufacturing, medical devices, and optical device assembly.

[0003] Currently, screws are used in the assembly of precision equipment. However, current micro-robotic arms lack the ability to position screws with hemispherical end faces, making it impossible to accurately control the insertion of the screw into the cross-shaped groove, thus affecting the rapid installation of this type of bolt. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a micro robotic arm structure for precision assembly, which can perform dual positioning of screws with hemispherical end faces through ring magnets and adsorption holes, thereby solving the problems mentioned in the background art.

[0005] This utility model is achieved through the following technical solution: a micro robotic arm structure for precision assembly, including a fixed base, a motor, and an electric push rod. One end of the fixed base is provided with a hemispherical groove that matches the end face of a screw. A shaft hole penetrating the fixed base is provided vertically at the center of the hemispherical groove. A shaft is provided in the shaft hole. One end of the shaft protrudes to form a cross protrusion that matches the cross groove on the screw. The shaft hole expands outward at the end facing the hemispherical groove to form an annular groove. An annular magnet is installed in the annular groove. The inner wall of the hemispherical groove has multiple adsorption holes in an arc-shaped structure. A cylinder is installed at the other end of the fixed base. The electric push rod is installed in the opening at one end of the cylinder. The motor is installed on the piston rod of the electric push rod. The rotating shaft of the motor is fixedly connected to the shaft through a coupling.

[0006] As a preferred technical solution, an initial ring is installed on the motor housing, and a mounting hole is provided on the outer wall of the cylinder opposite the initial ring. A displacement sensor is installed in the mounting hole, and a fixing bracket is installed on the side of the cylinder away from the displacement sensor. A proximity sensor for the position of the positioning screw is installed on the fixing bracket.

[0007] As a preferred technical solution, a sealing ring is installed on the inner wall surface of the adsorption hole opening. The sealing ring is arranged in a trumpet shape. An air suction hole is provided at the end of the adsorption hole away from the sealing ring. A connecting pipe is installed on the outer ring surface of the fixing seat, which is directly opposite the air suction hole. An air suction pipe is installed at the other end of each connecting pipe, and the air suction pipe is connected to a vacuum suction pump.

[0008] As a preferred technical solution, one end of the ring magnet is arranged in an arc shape, and the arc shape matches the degree of arc of the hemispherical groove.

[0009] As a preferred technical solution, the housing of the electric actuator is equipped with a connecting flange for connection to another robotic arm.

[0010] As a preferred technical solution, both the motor and the electric actuator are controlled by a PCL programmable controller.

[0011] As a preferred technical solution, a clearance space is formed between the motor housing and the mounting base.

[0012] The beneficial effects of this utility model are: the utility model has a simple structure, the hemispherical groove on the fixing base can fit onto the hemispherical end face of the screw, and the screw with the hemispherical end face can be doubly positioned by the ring magnet and the adsorption hole, while the motor and electric push rod can drive the shaft to rotate and slowly lift and lower, and the displacement sensor can monitor whether the cross protrusion is inserted into the cross groove of the screw, and the cross protrusion can drive the screw to rotate, so as to complete the connection and fixation with the equipment. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a bottom view of the present invention;

[0016] Figure 3 This is a schematic diagram of the structure of this utility model after removing the cylinder;

[0017] Figure 4 This is a schematic diagram of the structure of the fixing base of this utility model.

[0018] The components are as follows: 1. Fixed base; 2. Cylinder body; 3. Electric push rod; 4. Connecting flange; 5. Displacement sensor; 6. Suction pipe; 7. Proximity sensor; 8. Hemispherical groove; 9. Ring magnet; 10. Adsorption hole; 11. Shaft; 12. Cross protrusion; 13. Motor; 14. Initial ring; 15. Shaft hole. Detailed Implementation

[0019] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0020] All features disclosed in this specification, or all steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps.

[0021] Any feature disclosed in this specification (including any appended claims, abstract, and drawings) may be replaced by other equivalent or similar features for a similar purpose, unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is merely one example of a series of equivalent or similar features.

[0022] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a micro robotic arm structure for precision assembly according to this utility model includes a fixed base 1, a motor 13, and an electric push rod 3. One end of the fixed base 1 is provided with a hemispherical groove 8 that matches the end face of a screw. A shaft hole 15 is vertically provided at the center of the hemispherical groove 8, penetrating the fixed base 1. A shaft rod 11 is provided in the shaft hole 15. One end of the shaft rod 11 protrudes to form a cross protrusion 12 that matches the cross groove on the screw. The shaft hole 15 expands outward toward the end of the hemispherical groove 8 to form an annular groove. An annular magnet 9 is installed in the annular groove. The inner wall of the hemispherical groove 8 is provided with multiple adsorption holes 10 in an arc-shaped structure. A cylinder 2 is installed at the other end of the fixed base 1. The electric push rod 3 is installed in the opening at one end of the cylinder 2. The motor 13 is installed on the piston rod of the electric push rod 3. The rotating shaft of the motor 13 is fixedly connected to the shaft rod 11 through a coupling.

[0023] In this embodiment, an initial ring 14 is installed on the outer casing of the motor 13, and an installation hole is provided on the outer wall surface of the cylinder 2 opposite to the initial ring 14. A displacement sensor 5 is installed in the installation hole, and a fixing bracket is installed on the side of the cylinder 2 away from the displacement sensor 5. A proximity sensor 7 for the positioning screw position is installed on the fixing bracket.

[0024] In this embodiment, a sealing ring is installed on the inner wall surface of the adsorption hole 10 opening. The sealing ring is arranged in a trumpet shape. An air suction hole is provided at the end of the adsorption hole 10 away from the sealing ring. A connecting pipe is installed on the outer ring surface of the fixing base 1, which is directly opposite the air suction hole. An air suction pipe 6 is installed at the other end of the connecting pipe, and the air suction pipe 6 is connected to a vacuum suction pump. The sealing ring increases the sealing performance after contacting the screw end face, thereby better adsorbing the screw.

[0025] In this embodiment, one end of the ring magnet 9 is provided with an arc-shaped structure, and the arc-shaped structure matches the arc degree of the hemispherical groove 8, so that the inner wall surface of the hemispherical groove is in a flat state, avoiding unevenness that would affect the fit with the screw end face.

[0026] In this embodiment, the housing of the electric push rod 3 is equipped with a connecting flange 4 for connection with another robotic arm.

[0027] In this embodiment, both the motor 13 and the electric push rod 3 are controlled by the PCL programmable controller, which can control the start and stop of the motor and the electric push rod.

[0028] In this embodiment, a clearance space is formed between the housing of the motor 13 and the fixed base 1, so that after the piston rod of the electric push rod moves, the motor can smoothly descend and drive the shaft to move.

[0029] In use, the movement of the robotic arm is controlled by another robotic arm, which moves to the top of the screw tray. A proximity sensor can detect whether it is close to the screw on the screw tray. After it is in contact with the screw, the device moves downward until the hemispherical groove on the fixing base fits onto the hemispherical end face of the screw. The screw is magnetically positioned by a ring magnet, and the suction force generated by the vacuum pump can make the hemispherical end face of the screw adhere to the suction hole. This double fixation ensures the stability during subsequent movement and prevents the screw from falling off.

[0030] After the above is completed, start the motor and electric push rod. The motor drives the shaft and cross-shaped protrusion to rotate, while the electric push rod drives the shaft and cross-shaped protrusion to slowly rise and fall. Since the motor is equipped with an initial ring, if the stroke from the contact screw surface to the full insertion of the cross slot is 2mm, when the displacement sensor detects that the actual displacement is greater than or equal to the preset threshold, it is determined that the cross-shaped protrusion has been inserted into place, and the motor (rotation) and electric push rod (lifting) are stopped immediately. During detection, the displacement sensor is zeroed and the initial position (this position is the position relative to the initial ring) is recorded. The sensor continuously feeds back displacement data. Once the motor successfully descends to the set distance, it indicates that the cross-shaped protrusion has been inserted into place, and the PCL programmable controller controls the motor and electric push rod to stop.

[0031] After the above is completed, another robotic arm can move the device until it is aligned with the screw hole on the equipment. At this time, the proximity sensor can detect it again and start the motor. The mechanical rotation of the motor can disengage the screw from the limit of the ring magnet and the suction hole, so that the screw can be smoothly turned into the screw hole to complete the fixation of the equipment.

[0032] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions conceived without inventive effort should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope defined in the claims.

Claims

1. A micro robotic arm structure for precision assembly, characterized in that: The device includes a fixed base (1), a motor (13), and an electric push rod (3). One end of the fixed base (1) is provided with a hemispherical groove (8) that matches the end face of the screw. A shaft hole (15) that penetrates the fixed base (1) is provided vertically at the center of the hemispherical groove (8). A shaft (11) is provided in the shaft hole (15). One end of the shaft (11) protrudes to form a cross protrusion (12) that matches the cross groove on the screw. The shaft hole (15) expands outward toward the end of the hemispherical groove (8) to form an annular groove. An annular magnet (9) is installed in the annular groove. Multiple adsorption holes (10) are provided in an arc-shaped structure on the inner wall of the hemispherical groove (8). A cylinder (2) is installed at the other end of the fixed base (1). The electric push rod (3) is installed in the opening at one end of the cylinder (2). The motor (13) is installed on the piston rod of the electric push rod (3). The rotating shaft of the motor (13) is fixedly connected to the shaft (11) through a coupling.

2. The micro robotic arm structure for precision assembly according to claim 1, characterized in that: An initial ring (14) is installed on the outer casing of the motor (13). An installation hole is provided on the outer wall of the cylinder (2) opposite to the initial ring (14). A displacement sensor (5) is installed in the installation hole. A fixing bracket is installed on the side of the cylinder (2) away from the displacement sensor (5). A proximity sensor (7) for the position of the positioning screw is installed on the fixing bracket.

3. The micro robotic arm structure for precision assembly according to claim 1, characterized in that: A sealing ring is installed on the inner wall of the adsorption hole (10). The sealing ring is set in a trumpet shape. An air suction hole is provided at the end of the adsorption hole (10) away from the sealing ring. A connecting pipe is installed on the outer ring of the fixing seat (1) opposite the air suction hole. An air suction pipe (6) is installed at the other end of the connecting pipe. The air suction pipe (6) is connected to a vacuum suction pump.

4. The micro robotic arm structure for precision assembly according to claim 1, characterized in that: One end of the ring magnet (9) is arranged in an arc shape, and the arc shape matches the arc of the hemispherical groove (8).

5. The micro robotic arm structure for precision assembly according to claim 1, characterized in that: The housing of the electric actuator (3) is equipped with a connecting flange (4) for connection with another robotic arm.

6. The micro robotic arm structure for precision assembly according to claim 1, characterized in that: Both the motor (13) and the electric push rod (3) are controlled by the PCL programmable controller.

7. The micro robotic arm structure for precision assembly according to claim 1, characterized in that: A clearance space is formed between the motor housing and the mounting base (1).

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