Universal clamp of robot arm

Abstract

The utility model relates to the technical field of flexible clamps, in particular to a universal clamp of a robot arm, which comprises a base, a clamping jaw is fixedly mounted at the bottom of the base, a piezoresistive sensor is mounted on the inner side of the clamping jaw in an embedded manner, and a camera is mounted at the bottom of the base in an embedded manner; the shape memory alloy wires are embedded in the inner cavity of the non-Newtonian fluid to form the clamping jaws, the non-Newtonian fluid has good flexibility, the shape memory alloy wires can deform after being electrified and heated, and the four clamping jaws can draw close to the inside to clamp articles by controlling collision of the shape memory alloy wires. Precise clamping can be achieved through cooperation of the visual recognition technology of the camera and the clamping jaw, the pressure borne by the inner side of the clamping jaw can be monitored in real time through cooperation of the piezoresistive sensor, and therefore the clamping jaw can stably clamp special-shaped or soft objects; the problem that a mechanical telescopic rigid structure clamp is not enough in adaptability to active feedback and workpieces is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to flexible fixture technical field, specifically a kind of universal fixture of robot arm. BACKGROUND

[0002] With the wide application of robot technology in industrial production, more and more collaborative robots appear on the production line, replacing human power to complete some monotonous, repetitive work. These collaborative robots are safe and efficient, and can greatly improve production efficiency.

[0003] At present, the commonly used fixture of robot is mostly electric mechanical telescopic rigid structure, and such rigid structure has the following problems:

[0004] 1. Passive deformation depends on cross shaft and compression spring, although it can avoid mold damage, but lacks active force feedback regulation ability;

[0005] 2. Threaded rod expansion structure is adopted, although it improves clamping efficiency, but lacks flexibility, and is difficult to adapt to curved workpieces;

[0006] 3. Multiple shape clamping is realized by movable clamping piece, but lacks self-adaptive adjustment ability to workpiece material.

[0007] Therefore, a universal fixture of robot arm needs to be proposed. SUMMARY

[0008] In order to make up for the shortcomings of the prior art, the mechanical telescopic rigid structure fixture is not enough for active feedback and workpiece adaptability, and the utility model provides a universal fixture of robot arm.

[0009] The technical scheme adopted by the utility model to solve its technical problems is: a universal fixture of robot arm, comprising a base, a clamping jaw is fixedly installed at the bottom of the base, a piezoresistive sensor is embedded and installed in the inner side of the clamping jaw, a camera is embedded and installed at the bottom of the base, a magnetic attraction connecting mechanism is inserted into the top of the base, a self-locking connecting mechanism is movably installed at the top of the magnetic attraction connecting mechanism, and a robot arm is movably connected to one side of the self-locking connecting mechanism.

[0010] The magnetic attraction connecting mechanism comprises a connecting sleeve, the connecting sleeve is inserted into the top of the base, a first connecting block is embedded and installed at the top of the base, a second connecting block is embedded and installed at the top of the connecting sleeve, magnetic blocks are fixedly connected to the opposite sides of the first connecting block and the second connecting block, a lifting rod is movably installed in the inner cavity of the first connecting block, a fixed rod is fixedly connected in the inner cavity of the second connecting block, the self-locking connecting mechanism comprises a mounting sleeve, the mounting sleeve is fixedly connected to the top of the connecting sleeve, a plug sleeve is movably inserted into the mounting sleeve, the plug sleeve is movably installed at the end of the robot arm, and the mounting sleeve and the plug sleeve are self-locked in cooperation.

[0011] As preferred, the first connecting block bottom is embedded with a fixing sleeve, and the lifting rod is slidingly connected in the inner cavity of the fixing sleeve.

[0012] As preferred, the inner cavity of the fixing sleeve is fixedly connected with a first spring at the bottom, and one end of the first spring is fixedly connected with the bottom of the lifting rod.

[0013] As preferred, a spherical groove is formed in the inner wall of the inserting sleeve, the spherical groove penetrates the inner cavity and the outer wall of the inserting sleeve, and a steel ball is slidingly connected in the spherical groove.

[0014] As preferred, an annular edge groove is formed in the inner wall of the mounting sleeve, and the steel ball is clamped with the annular edge groove.

[0015] As preferred, a clamping block is slidingly connected in the inner cavity of the inserting sleeve, the clamping block is clamped with the steel ball at the bottom, a screw rod is fixedly connected with the top of the clamping block, and the screw rod is threadedly connected with the top of the inserting sleeve.

[0016] As preferred, a limiting groove is formed in the inner cavity of the mounting sleeve close to the bottom of the mounting sleeve, a limiting block is slidingly connected in the limiting groove, a second spring is fixedly connected with the bottom of the limiting groove, and the second spring is fixedly connected with the bottom of the limiting block.

[0017] The utility model discloses the beneficial effect lies in:

[0018] 1, the utility model discloses a jaw formed by the shape memory alloy wire embedded installation in the silica gel inner cavity of non - newtonian fluid, and non - newtonian fluid has good flexibility, and the shape memory alloy wire will produce deformation after being heated, and the collision of the shape memory alloy wire can be controlled to realize that four jaws are close to the inside and clamp the article, and then the problem that the rigidity structure clamp of mechanical telescoping is not enough for active feedback and workpiece adaptability is solved.

[0019] 2, the utility model discloses a flexible piezoresistive sensor array (such as Polymide base material sensor) is embedded on the jaw surface, and the contact pressure distribution is monitored in real time, and a miniature industrial camera camera is integrated on the top simultaneously, and the workpiece profile is judged through image recognition, and the visual identification technology of the camera can be used to realize article positioning with the cooperation of the jaw, and the robot arm can be used to clamp accurately, and the pressure borne on the inside of the jaw can be monitored in real time with the cooperation of the piezoresistive sensor, so that the jaw can stably clamp whether the article is special-shaped or relatively soft, and the active feedback mechanism of the jaw and the adaptability of the workpiece clamping are further improved.

[0020] 3. The utility model discloses a base and connecting sleeve utilize the magnetic force of the magnetic block of magnetic attraction connecting mechanism and carry out quick and convenient dismounting, make the base and the jaw part can conveniently dismount maintenance, and the mounting sleeve is fixed at the top of connecting sleeve, and the mounting sleeve with the bushing can realize convenient dismounting with self -locking connecting mechanism, thereby making the bushing and connecting sleeve can conveniently dismount, and the maintenance of connecting sleeve is facilitated, and the problem that the maintenance is not convenient enough due to the inconvenient dismounting of the clamp of rigid mechanical mechanism is solved. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, below will be to the drawing needed to use in the embodiment or prior art description simple introduction, obviously, the drawing in the following description only some embodiments of the utility model, for the ordinary skilled person in the art comes, under the premise of not paying the creative labor, can also obtain other drawings according to these drawings.

[0022] Figure 1 It is the structure schematic diagram of the utility model from the top view;

[0023] Figure 2 It is the structure schematic diagram of the utility model jaw;

[0024] Figure 3 It is the structure schematic diagram of the utility model side section;

[0025] Figure 4 It is the structure schematic diagram of the utility model Figure 3 A part enlarged structure schematic diagram in the utility model;

[0026] Figure 5 It is the structure schematic diagram of the utility model Figure 3 B part enlarged structure schematic diagram in the utility model.

[0027] In the drawing: 1, base;2, jaw;3, magnetic attraction connecting mechanism;31, connecting sleeve;32, first connecting block;33, second connecting block;34, magnetic block;35, fixed sleeve;36, lifting rod;37, first spring;38, fixed rod;4, self -locking connecting mechanism;401, mounting sleeve;402, annular side slot;403, spherical groove;404, bushing;405, steel ball;406, clamping block;407, screw;408, limit slot;409, limit block;410, second spring;5, piezoresistor sensor;6, camera;7, robot arm. DETAILED DESCRIPTION

[0028] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. Figures 1-5 The present application will be further described in detail,

[0030] The present application discloses a universal clamp of a robot arm. Referring to Figures 1-5 A universal clamp of a robot arm, comprising a base 1, a clamping jaw 2 is fixedly installed at the bottom of the base 1, a piezoresistive sensor 5 is embeddedly installed at the inner side of the clamping jaw 2, a camera 6 is embeddedly installed at the bottom of the base 1, a magnetic attraction connecting mechanism 3 is inserted into the top of the base 1, a self-locking connecting mechanism 4 is movably installed at the top of the magnetic attraction connecting mechanism 3, a robot arm 7 is movably connected at one side of the self-locking connecting mechanism 4, the clamping jaw 2 is formed by embedding a shape memory alloy wire in a non-Newtonian fluid silicone cavity, the non-Newtonian fluid is a non-linear relationship between shear stress and shear strain rate, its viscosity will change with the change of shear rate, which is commonly used in polymer solutions, colloidal solutions, paints, inks in industrial applications, and is the prior art, the shape memory alloy wire restores the preset shape when heated to the critical temperature austenite phase, and the martensite phase is easy to deform after cooling, and the temperature change can be controlled by the circuit to realize the flexible opening and closing of the clamping jaw 2, which is the prior art, the clamping jaw 2 cooperates with the visual identification of the camera 6 to position the article, and the robot arm 7 is used for positioning and grabbing after positioning, so that the article can be accurately clamped, the clamping jaw 2 cooperates with the piezoresistive sensor 5 to realize real-time monitoring of the pressure at the inner side of the clamping jaw 2, the clamping force of the clamping jaw 2 can be adjusted, so that the clamping jaw 2 can conveniently clamp the special-shaped or relatively soft article, the base 1 is inserted into the inner cavity of the connecting sleeve 31 during installation, the magnetic attraction connecting mechanism 3 enables the base 1 and the connecting sleeve 31 to be conveniently disassembled, one end of the self-locking connecting mechanism 4 is fixed on the robot arm 7, and the self-locking connecting mechanism 4 can be conveniently inserted and separated by using the self-locking connecting mechanism 4, thereby further improving the convenience of disassembly and maintenance of the clamping jaw 2.

[0031] The magnetic attraction connecting mechanism 3 comprises a connecting sleeve 31 which is inserted on the top of the base 1, the top of the base 1 is embedded with a first connecting block 32, the inner cavity of the connecting sleeve 31 is embedded with a second connecting block 33, the opposite sides of the first connecting block 32 and the second connecting block 33 are fixedly connected with magnetic blocks 34, the inner cavity of the first connecting block 32 is movably connected with a lifting rod 36, the inner cavity of the second connecting block 33 is fixedly connected with a fixed rod 38, the self-locking connecting mechanism 4 comprises a mounting sleeve 401 which is fixedly connected on the top of the connecting sleeve 31, the mounting sleeve 401 is movably inserted with a plug sleeve 404, the plug sleeve 404 is movably mounted on the end of the robot arm 7, the mounting sleeve 401 and the plug sleeve 404 are self-locked, the signal communication of the control circuit is realized through the fixed rod 38 in the inner cavity of the first connecting block 32 and the lifting rod 36 in the second connecting block 33, the first spring 37 in the fixed sleeve 35 stably abuts against the lifting rod 36 and the fixed rod 38, so that the control signal circuit can be stably connected, the magnetic force of the magnetic block 34 can conveniently disassemble the first connecting block 32 and the second connecting block, so that the base 1 and the connecting sleeve 31 can be conveniently disassembled, the plug sleeve 404 and the robot arm 7 are stably connected, the plug sleeve 404 can be stably locked in the mounting sleeve 401, the plug sleeve 404 and the mounting sleeve 401 can also be conveniently disassembled, so that the connecting sleeve 31 can be conveniently disassembled and maintained.

[0032] With reference to Figure 3 and Figure 4 , the bottom of the first connecting block 32 is embedded with a fixed sleeve 35, the lifting rod 36 is slidingly connected in the inner cavity of the fixed sleeve 35, the inner cavity of the fixed sleeve 35 is fixedly connected with a first spring 37, one end of the first spring 37 is fixedly connected on the bottom of the lifting rod 36, the first spring 37 in the fixed sleeve 35 stably abuts against the lifting rod 36 and the fixed rod 38, so that the circuit signal in the connecting sleeve 31 and the base 1 is conveniently connected.

[0033] With reference to Figure 1 , Figure 2 , Figure 3 and Figure 5The inner wall of the inserting sleeve 404 is provided with a spherical groove 403 penetrating through the inner cavity and the outer wall of the inserting sleeve 404, a steel ball 405 is slidably connected in the spherical groove 403, the inner wall of the mounting sleeve 401 is provided with an annular edge groove 402, the steel ball 405 is clamped and positioned with the annular edge groove 402, a clamping block 406 is slidably connected in the inner cavity of the inserting sleeve 404, the bottom of the clamping block 406 is clamped and positioned with the steel ball 405, the top of the clamping block 406 is fixedly connected with a screw rod 407, the screw rod 407 is threadedly connected at the top of the inserting sleeve 404, a limiting groove 408 is formed in the inner cavity of the mounting sleeve 401 close to the bottom of the mounting sleeve 401, a limiting block 409 is slidably connected in the limiting groove 408, a second spring 410 is fixedly connected at the bottom of the limiting block 409, during installation, the inserting sleeve 404 is inserted into the inner part of the mounting sleeve 401 and abuts against the limiting block 409, the limiting block 409 moves downward in the limiting groove 408 and compresses the second spring 410, the limiting block 409 stably abuts against the inserting sleeve 404, rotating the screw rod 407 drives the clamping block 406 to push the steel ball 405, the steel ball 405 is clamped in the annular edge groove 402 in the inner cavity of the mounting sleeve 401, so that the inserting sleeve 404 is stably inserted in the inner cavity of the mounting sleeve 401, reversely rotating the screw rod 407, the clamping block 406 releases the clamping and positioning of the steel ball 405, so that the inserting sleeve 404 can be removed from the inner cavity of the mounting sleeve 401.

[0034] Working principle: during installation, the self-locking connecting mechanism 4 is used for stable connection, the end of the inserting sleeve 404 is fixedly connected with the robot arm 7, the mounting sleeve 401 is sleeved on the outer wall of the inserting sleeve 404 by taking the connecting sleeve 31, the clamping block 406 abuts against the limiting block 409, the limiting block 409 moves downward in the limiting groove 408 and compresses the second spring 410, the clamping block 406 abuts against the steel ball 405 in the spherical groove 403 and is clamped and positioned in the annular edge groove 402 in the inner cavity of the mounting sleeve 401, the screw rod 407 locks the clamping block 406, so that the connecting sleeve 31 can be stably and conveniently installed, the base 1 is inserted into the inner cavity of the connecting sleeve 31 by using the magnetic attraction connecting mechanism 3, the magnetic blocks 34 at both ends of the first connecting block 32 and the second connecting block 33 are tightly attached together under the action of magnetic force, so that the base 1 and the connecting sleeve 31 can be stably connected together, the lifting rod 36 in the fixed sleeve 35 stably abuts against the fixed rod 38 under the action of the first spring 37, so that the circuit signal in the base 1 and the circuit signal in the connecting sleeve 31 can be stably communicated, during use, the clamping jaw 2 cooperates with the visual identification of the camera 6 to accurately position, the clamping jaw 2 cooperates with the piezoresistive sensor 5 to monitor the clamping jaw 2 force on the inner side of the clamping jaw 2 in real time, so that the clamping jaw 2 can stably clamp the article.

[0035] The basic principle, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application.

Claims

1. A universal gripper for a robot arm, characterized by: The utility model relates to a kind of robot arm magnetic suction connection mechanism, including base (1), the clamping jaw (2) of fixed mounting is installed in the bottom of base (1), pressure resistance sensor (5) is embeddedly installed in the inside of clamping jaw (2), camera (6) is embeddedly installed in the bottom of base (1), magnetic suction connection mechanism (3) is inserted in the top of base (1), self-locking connection mechanism (4) is movably installed in the top of magnetic suction connection mechanism (3), robot arm (7) is movably connected in the side of self-locking connection mechanism (4); The magnetic suction connection mechanism (3) includes a connecting sleeve (31) that is inserted into the top of the base (1), a first connecting block (32) that is embeddedly installed on the top of the base (1), a second connecting block (33) that is embeddedly installed on the top of the inner cavity of the connecting sleeve (31), magnetic blocks (34) that are fixedly connected to the opposite sides of the first and second connecting blocks (32) and (33), a lifting rod (36) that is movably installed in the inner cavity of the first connecting block (32), and a fixed rod (38) that is fixedly connected to the inner cavity of the second connecting block (33). The self-locking connection mechanism (4) includes a mounting sleeve (401) that is fixedly connected to the top of the connecting sleeve (31), an insertion sleeve (404) that is movably inserted into the mounting sleeve (401), and the insertion sleeve (404) is movably installed on the end of the robot arm (7). The mounting sleeve (401) and the insertion sleeve (404) are self-locked.

2. A universal gripper for a robot arm as claimed in claim 1, wherein: The first connecting block (32) is embeddedly installed with a fixed sleeve (35) at the bottom, and the lifting rod (36) is slidingly connected in the inner cavity of the fixed sleeve (35).

3. A universal gripper for a robot arm according to claim 2, wherein: The first spring (37) is fixedly connected to the bottom of the lifting rod (36) at one end.

4. A universal gripper for a robot arm as claimed in claim 1, wherein: The inner wall of the insertion sleeve (404) is provided with a spherical groove (403) that penetrates the inner cavity and the outer wall of the insertion sleeve (404), and the steel ball (405) is slidingly connected in the spherical groove (403).

5. A universal gripper for a robot arm according to claim 4, characterized in that: The inner wall of the mounting sleeve (401) is provided with an annular edge groove (402), and the steel ball (405) is clamped with the annular edge groove (402).

6. A universal gripper for a robot arm according to claim 5, wherein: The inner cavity of the insertion sleeve (404) is slidingly connected with a clamping block (406), the bottom of the clamping block (406) is clamped with the steel ball (405), the top of the clamping block (406) is fixedly connected with a screw rod (407), and the screw rod (407) is threadedly connected to the top of the insertion sleeve (404).

7. A universal gripper for a robot arm as claimed in claim 1, wherein: The inner cavity of the mounting sleeve (401) is provided with a limiting groove (408) near the bottom of the mounting sleeve (401), the limiting groove (408) is slidingly connected with a limiting block (409), the bottom of the limiting groove (408) is fixedly connected with a second spring (410), and the second spring (410) is fixedly connected to the bottom of the limiting block (409).

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