Arm structure

Abstract

The utility model discloses an arm structure which comprises a base, a rotating disc is rotatably installed on the upper surface of the base, a second motor is fixedly installed at one end of the rotating disc, an output shaft of the second motor penetrates through the rotating disc, the end of the output shaft is fixedly connected with a first connecting arm, and the first connecting arm is rotatably installed at one end of the rotating disc. A second connecting arm is rotatably mounted at the other end of the first connecting arm, a third motor is fixedly mounted at one end of the second connecting arm, an output shaft of the third motor penetrates through the second connecting arm to be fixedly connected with the first connecting arm, a fourth motor is fixedly mounted at the other end of the second connecting arm, and a mounting plate is fixedly mounted at one end of an output shaft of the fourth motor; a clamping mechanism is slidably mounted at one end of the mounting plate. Through the design of the clamping and grabbing mechanism, the clamping and grabbing force can be adjusted according to the actual weight of materials, and it can be ensured that the materials can be stably grabbed no matter whether the materials are light or heavy.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent robot arm technical field, concretely is an arm structure. BACKGROUND

[0002] The intelligent robot is called intelligent robot because it has quite developed "brain", and the central processing unit plays a role in the brain, and the computer has direct contact with the person operating it, but in the arm structure of the existing intelligent robot, the adjusting range of the arm is small, and the efficiency is low when working

[0003] The patent discloses a kind of bionic arm structure of intelligent robot of state authorization patent announcement No.CN218226671U, including connecting base, rotating table is rotatably connected in the inside of connecting base, adjusting mechanism is equipped in the inside of connecting base, rotating table is connected with adjusting mechanism, rotating table is rotatably connected with screw rod in the inside, the outer side of screw rod is connected with moving plate in screw thread, moving plate is slidably connected with rotating table, the beneficial effects of the utility model are: by joining adjusting mechanism, the output end of No. 1 cylinder is driven No. 1 fixed plate to move by sliding plate, No. 1 fixed plate is driven rotating plate to carry out angle rotation adjustment by adjusting plate and through pivot, to adjust the angle rotation of rotating table, by joining rotating mechanism, the rotation of worm is realized and is driven rotating rod to rotate by worm gear, rotating rod is driven connecting box to carry out angle rotation adjustment by No. 2 fixed plate, improve the stability of adjustment.

[0004] However, the bionic arm structure of the above-mentioned intelligent robot cannot adapt to the pressure clamping force during the process of clamping and grabbing the object, so that when grabbing a lighter object, if the clamping force cannot be automatically reduced, the object surface will be clamped, deformed or even damaged. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing an arm structure to solve the problem of not being able to adapt to the pressure clamping force during the process of clamping and grabbing the object according to the weight of the object in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] An arm structure, comprising: a base, a rotating disc is rotatably installed on the upper surface of the base, a first motor is fixedly installed in the rotating disc, the output shaft of the first motor penetrates through the lower surface of the rotating disc and is fixedly connected with the base, a second motor is fixedly installed on one end of the rotating disc, the output shaft of the second motor penetrates through the rotating disc and is fixedly connected with a first connecting arm, the first connecting arm is rotatably installed on one end of the rotating disc, a second connecting arm is rotatably installed on the other end of the first connecting arm, a third motor is fixedly installed on one end of the second connecting arm, the output shaft of the third motor penetrates through the second connecting arm and is fixedly connected with the first connecting arm, a fourth motor is fixedly installed on the other end of the second connecting arm, the output shaft of the fourth motor is fixedly installed with a mounting plate, a clamping and grabbing mechanism is slidably installed on one end of the mounting plate.

[0008] Preferably, the clamping and grabbing mechanism comprises two groups of clamping plates, one end of each of the two groups of clamping plates is fixedly installed with a sliding block, and the two groups of clamping plates are slidably installed on the outer surface of the slide rail at both ends in a relative manner through the sliding blocks, and the slide rail is fixedly installed on one end of the mounting plate.

[0009] Preferably, the clamping plate is fixedly connected with the piston rod of the electric push rod, and the electric push rod is fixedly installed on one end of the mounting plate, so that the two groups of clamping plates can be pushed to slide on the outer surface of the slide rail towards the center by the two groups of electric push rods.

[0010] Preferably, one end of the clamping plate is fixedly installed with a tension sensor, one end of the elastic rod of the tension sensor is fixedly installed with an L-shaped rod, the L-shaped rod is slidably connected with a pressure sensor through the clamping plate and is located in a surrounding ring, the surrounding ring is fixedly installed on one end of the clamping plate, and anti-skid protrusions are arranged on the surface of the pressure sensor.

[0011] Preferably, one end of the pressure sensor is rotatably installed with a roller, the roller rolls in a limiting groove, the limiting groove is formed in one end of the clamping plate and is located in the surrounding ring, and the pressure sensor protrudes from the surrounding ring, so that the pressure sensor can slide out of the surrounding ring in the process of being pulled by the roller.

[0012] Preferably, the signal transmitting end of the pressure sensor and the tension sensor is connected with the signal receiving end of a controller, and the control output end of the controller is electrically connected with the electric control end of the electric push rod, and the models of the pressure sensor, the tension sensor and the controller are D30M, JLBS-MD and S7-1200 respectively.

[0013] Compared with the prior art, the arm structure has the following beneficial effects:

[0014] 1、Through the design of mounting plate, slide rail, electric push rod and clamping mechanism, when the clamping mechanism is controlled to grab the object, the first motor, the second motor, the third motor and the fourth motor can drive the turntable, the first connecting arm, the second connecting arm and the mounting plate to rotate respectively, so that the turntable, the first connecting arm, the second connecting arm and the mounting plate can be controlled to move towards the material to be grabbed, and then two groups of electric push rods can be started to push two groups of clamping plates to slide on the outer surface of the slide rail to the center, so that the two groups of clamping plates can drive two groups of pressure sensors to clamp the two ends of the material, and then the pressure sensors can detect the clamping force of the material until the clamping force reaches the initial setting, and a signal is sent to the controller, so that the controller controls the two groups of electric push rods to stop pushing, and then the second motor or the third motor drives the first connecting arm or the second connecting arm to flip, so that the clamped material can be lifted, and the lifted material can drive the pressure sensor to pull down the L-shaped rod, so that the L-shaped rod can pull the elastic rod to deform, and the resistance strain gauge attached to the surface of the elastic rod can also deform, causing the resistance value to change, and then the resistance change can be converted into an electric signal through a measuring circuit, so that the tension can be measured, and the tension is the weight of the grabbed material, and then the tension sensor can send the detected tension to the controller, so that the controller can control the clamping force of the electric push rod on the material according to the size of the tension, and then the clamping force can be adjusted according to the actual weight of the material, so that the material can be stably grabbed regardless of the weight of the material, and for heavier materials, increasing the clamping force can prevent the materials from falling, and for lighter materials, maintaining appropriate clamping force can avoid excessive extrusion, so that materials of different weights can be properly handled, and in actual production, this automatic clamping force adjustment method can enable the robot to quickly adapt to different grabbing tasks without complex reprogramming or setting, improve the versatility and flexibility of the robot, and better meet diversified production demands.

[0015] 2、Through the design of clamping plate, sliding block, tension sensor, L-shaped rod, pressure sensor and roller, after approaching the material to be grabbed, two groups of electric push rods can be started to push two groups of clamping plates to slide on the outer surface of the slide rail to the center through the sliding block, so that the two groups of clamping plates can drive two groups of pressure sensors to clamp the two ends of the material, and then the pressure sensors can detect the clamping force of the material until the clamping force reaches the initial setting, and a signal is sent to the controller, so that the controller controls the two groups of electric push rods to stop pushing, and then the second motor or the third motor drives the first connecting arm or the second connecting arm to flip, so that the clamped material can be lifted, and the lifted material can drive the pressure sensor to pull down the L-shaped rod, so that the L-shaped rod can pull the elastic rod to deform, and the resistance strain gauge attached to the surface of the elastic rod can also deform, causing the resistance value to change, and then the resistance change can be converted into an electric signal through a measuring circuit, so that the tension can be measured, and the tension is the weight of the grabbed material, and then the tension sensor can send the detected tension to the controller, so that the controller can control the clamping force of the electric push rod on the material according to the size of the tension, and then the clamping force can be adjusted according to the actual weight of the material, so that the material can be stably grabbed regardless of the weight of the material, and for heavier materials, increasing the clamping force can prevent the materials from falling, and for lighter materials, maintaining appropriate clamping force can avoid excessive extrusion, so that materials of different weights can be properly handled, and in actual production, this automatic clamping force adjustment method can enable the robot to quickly adapt to different grabbing tasks without complex reprogramming or setting, improve the versatility and flexibility of the robot, and better meet diversified production demands. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 It is an overall structure schematic view of the arm structure of the utility model.

[0017] Fig. 2 The structural diagram of the mounting plate and the slide rail of the utility model is shown in the figure.

[0018] Fig. 3 The structural diagram of the clamping and grabbing mechanism of the utility model is shown in the figure.

[0019] In the figure: 1, base; 101, turntable; 102, first motor; 103, first connecting arm; 104, second motor; 105, third motor; 106, second connecting arm; 107, fourth motor; 108, mounting plate; 109, slide rail; 110, electric push rod; 2, clamping and grabbing mechanism; 201, clamping plate; 202, sliding block; 203, tension sensor; 204, L-shaped rod; 205, surrounding ring; 206, limiting groove; 207, pressure sensor; 208, roller. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0021] Please refer to Figs. 1-3 The embodiment provides the following technical scheme:

[0022] As Figs. 1-2 shown, an arm structure comprises a base 1, a turntable 101 is rotatably installed on the upper surface of the base 1, a first motor 102 is fixedly installed in the turntable 101, the output shaft of the first motor 102 penetrates through the lower surface of the turntable 101 and is fixedly connected with the base 1, a second motor 104 is fixedly installed at one end of the turntable 101, the output shaft of the second motor 104 penetrates through the turntable 101 and the end is fixedly connected with a first connecting arm 103, the first connecting arm 103 is rotatably installed at one end of the turntable 101, the other end of the first connecting arm 103 is rotatably installed with a second connecting arm 106, one end of the second connecting arm 106 is fixedly installed with a third motor 105, the output shaft of the third motor 105 penetrates through the second connecting arm 106 and is fixedly connected with the first connecting arm 103, the other end of the second connecting arm 106 is fixedly installed with a fourth motor 107, one end of the output shaft of the fourth motor 107 is fixedly installed with a mounting plate 108, and one end of the mounting plate 108 is slidably installed with a clamping and grabbing mechanism 2.

[0023] Through the design of the mounting plate 108, the slide rail 109, the electric push rod 110 and the clamping and grabbing mechanism 2, when the clamping and grabbing mechanism 2 is controlled to grab the object, the first motor 102, the second motor 104, the third motor 105 and the fourth motor 107 can drive the rotating disc 101, the first connecting arm 103, the second connecting arm 106 and the mounting plate 108 to rotate respectively, so that the rotating disc 101, the first connecting arm 103, the second connecting arm 106 and the mounting plate 108 can be controlled to move towards the material to be grabbed in four-axis linkage. Then, the two groups of electric push rods 110 can be started to push the two groups of clamping and grabbing mechanisms 2 to clamp the two ends of the material by the initial set clamping force, so as to realize the clamping and grabbing of the material. The material can provide weight data for the clamping and grabbing mechanism 2 through the falling force, so that the clamping and grabbing mechanism 2 can automatically control the electric push rod 110 to push the clamping and grabbing force of the two groups of clamping and grabbing mechanisms 2 on the material through the weight of the material through the controller, so as to automatically adjust the clamping force according to the weight of the material, so as to ensure that the appropriate force is applied during the grabbing process, so as to protect the object from being damaged and ensure the product quality.

[0024] As shown in Fig. 3 the clamping and grabbing mechanism 2 includes two groups of clamping plates 201, one end of each of the two groups of clamping plates 201 is fixedly installed with a sliding block 202, so that the two groups of clamping plates 201 are slidably installed at both ends of the outer surface of the slide rail 109 through the sliding block 202, and the slide rail 109 is fixedly installed at one end of the mounting plate 108.

[0025] Among them, the clamping plate 201 is fixedly connected with the piston rod of the electric push rod 110, and the electric push rod 110 is fixedly installed at one end of the mounting plate 108, so that the two groups of clamping plates 201 can be pushed to slide to the center of the outer surface of the slide rail 109 by the two groups of electric push rods 110, one end of the clamping plate 201 is fixedly installed with a tension sensor 203, one end of the elastic rod of the tension sensor 203 is fixedly installed with an L-shaped rod 204, the L-shaped rod 204 slides through the clamping plate 201 and is fixedly connected with the pressure sensor 207 and located in the surrounding ring 205, the surrounding ring 205 is fixedly installed at one end of the clamping plate 201, and the surface of the pressure sensor 207 is provided with anti-skid convex teeth.

[0026] Among them, one end of the pressure sensor 207 is rotatably installed with a roller 208, the roller 208 rolls in the limiting groove 206, the limiting groove 206 is opened at one end of the clamping plate 201 and located in the surrounding ring 205, the pressure sensor 207 protrudes from the surrounding ring 205, so that the pressure sensor 207 can slide out of the surrounding ring 205 during the process of pulling the tension sensor 203 through the roller 208, the signal transmitting end of the pressure sensor 207 and the tension sensor 203 is connected with the signal receiving end of the controller, and the control output end of the controller is electrically connected with the electric control end of the electric push rod 110, the model of the pressure sensor 207, the tension sensor 203 and the controller is D30M, JLBS-MD and S7-1200 respectively.

[0027] Through the design of the clamping plates 201, the sliders 202, the tension sensors 203, the L-shaped rods 204, the pressure sensors 207, and the rollers 208, after approaching the material to be grabbed, the two sets of electric push rods 110 can be started to push the two sets of clamping plates 201 to slide synchronously to the center on the outer surface of the slide rail 109 through the initial set clamping force, and then the two sets of clamping plates 201 can drive the two sets of pressure sensors 207 to clamp at both ends of the material, and then the pressure sensors 207 can detect the clamping force of the material, and after the clamping force reaches the initial setting, a signal will be sent to the controller, so that the controller controls the two sets of electric push rods 110 to stop pushing, and then the second motor 104 or the third motor 105 drives the first connecting arm 103 or the second connecting arm 106 to flip, and then the clamped material can be lifted, and the grabbed material can drive the pressure sensor 207 to pull down the L-shaped rod 204 through the falling force, and then the L-shaped rod 204 can pull the elastic rod to produce elastic deformation, and the resistance strain gauge pasted on the surface will also be deformed, causing the resistance value to change, and then the resistance change can be converted into an electrical signal through the measurement circuit, so as to realize the measurement of the tension, and the tension is the weight of the grabbed material, and then the tension sensor 203 can send the detected tension to the controller, and the controller can control the clamping force of the electric push rod 110 on the material according to the size of the tension, and then the clamping force can be adjusted according to the actual weight of the material, so that whether the material is light or heavy, it can be stably grabbed, and for heavier materials, increasing the clamping force can prevent it from slipping, and for lighter materials, maintaining appropriate clamping force can avoid excessive extrusion, so that materials of different weights can be properly handled. In actual production, this automatic adjustment of clamping force enables the robot to quickly adapt to different grabbing tasks without the need for complex reprogramming or setting, improving the versatility and flexibility of the robot and better meeting the diversified production needs.

[0028] According to the technical scheme, the working steps of the scheme are summarized and combed: when the object is grabbed, the first motor 102, the second motor 104, the third motor 105 and the fourth motor 107 can drive the turntable 101, the first connecting arm 103, the second connecting arm 106 and the mounting plate 108 to rotate, so that the turntable 101, the first connecting arm 103, the second connecting arm 106 and the mounting plate 108 can be controlled by four-axis linkage to make the clamping plates 201 close to the material to be grabbed, then the two groups of electric push rods 110 can push the two groups of clamping plates 201 to slide synchronously to the center on the outer surface of the slide rail 109 through the initial set clamping force, so that the two groups of clamping plates 201 can drive the two groups of pressure sensors 207 to clamp the two ends of the material, and then the pressure sensor 207 can detect the clamping force of the material, and when the clamping force reaches the initial setting, a signal is sent to the controller, so that the controller controls the two groups of electric push rods 110 to stop pushing, then the second motor 104 or the third motor 105 drives the first connecting arm 103 or the second connecting arm 106 to overturn, so that the clamped material can be lifted, and the lifted material can drive the pressure sensor 207 to pull down the L-shaped rod 204 through the falling force, so that the L-shaped rod 204 can pull the elastic rod to produce elastic deformation, and the resistance strain gauges attached to the surface of the elastic rod will also deform, causing the resistance value to change, and then the resistance change can be converted into an electric signal through the measurement circuit, so that the measurement of the pulling force is realized, and the pulling force is the weight of the grabbed material, so that the pulling force sensor 203 can send the detected pulling force to the controller, and the controller can control the clamping force of the electric push rod 110 on the material according to the size of the pulling force, so that the robot can quickly adapt to different grabbing tasks without complex reprogramming or setting, improving the versatility and flexibility of the robot, and better meeting the diversified production needs.

[0029] In summary: the clamping force can be adjusted according to the actual weight of the material, so that the material can be stably grabbed regardless of whether it is light or heavy, and for heavy materials, increasing the clamping force can prevent it from slipping, and for light materials, maintaining appropriate clamping force can avoid excessive extrusion, so that materials of different weights can be properly handled.

[0030] The parts not involved in the utility model are the same as or can be realized by the prior art. Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. An arm structure, characterized in that, include: A base (1) has a turntable (101) rotatably mounted on its upper surface. A first motor (102) is fixedly mounted inside the turntable (101). The output shaft of the first motor (102) passes through the lower surface of the turntable (101) and is fixedly connected to the base (1). A second motor (104) is fixedly mounted at one end of the turntable (101). The output shaft of the second motor (104) passes through the turntable (101) and its end is fixedly connected to a first connecting arm (103). The first connecting arm (103) is rotatably mounted at one end of the turntable (101). The other end of the first connecting arm (103) is rotatably mounted with a second connecting arm (106). A third motor (105) is fixedly mounted on one end of the second connecting arm (106). The output shaft of the third motor (105) passes through the second connecting arm (106) and is fixedly connected to the first connecting arm (103). A fourth motor (107) is fixedly mounted on the other end of the second connecting arm (106). A mounting plate (108) is fixedly mounted on one end of the output shaft of the fourth motor (107). A clamping mechanism (2) is slidably mounted on one end of the mounting plate (108).

2. The arm structure according to claim 1, characterized in that: The clamping mechanism (2) includes two sets of clamping plates (201). Each set of clamping plates (201) has a slider (202) fixedly installed at one end. The two sets of clamping plates (201) are slidably installed at both ends of the outer surface of the slide rail (109) through the slider (202). The slide rail (109) is fixedly installed at one end of the mounting plate (108).

3. The arm structure according to claim 2, characterized in that: The clamping plate (201) is fixedly connected to the piston rod of the electric push rod (110). The electric push rod (110) is fixedly installed at one end of the mounting plate (108). The two sets of clamping plates (201) can be pushed by the two sets of electric push rods (110) and slide against the outer surface of the slide rail (109) facing the center.

4. The arm structure according to claim 3, characterized in that: A tension sensor (203) is fixedly installed at one end of the clamping plate (201). An L-shaped rod (204) is fixedly installed at one end of the elastic rod of the tension sensor (203). The L-shaped rod (204) slides through the clamping plate (201) and is fixedly connected to the pressure sensor (207) and located inside the retaining ring (205). The retaining ring (205) is fixedly installed at one end of the clamping plate (201). Anti-slip serrations are provided on the surface of the pressure sensor (207).

5. The arm structure according to claim 4, characterized in that: One end of the pressure sensor (207) is rotatably mounted with a roller (208), which rolls in a limiting groove (206). The limiting groove (206) is opened at one end of the clamping plate (201) and located in the retaining ring (205). The pressure sensor (207) protrudes from the retaining ring (205), so that the pressure sensor (207) can slide out of the retaining ring (205) during the process of the pressure sensor (207) being pulled by the roller (208) to the tension sensor (203).

6. The arm structure according to claim 5, characterized in that: The signal transmitting ends of the pressure sensor (207) and the tension sensor (203) are both connected to the signal receiving end of the controller, while the control output end of the controller is electrically connected to the electric control end of the electric push rod (110).

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