Mechanical arm end clamp with detection function

Abstract

The utility model relates to the technical field of clamps, in particular to a mechanical arm end clamp with a detection function, which comprises an electric telescopic rod mounted on the lower bottom surface of a fixed connecting disc, a fixed connecting block mounted at the telescopic end of the electric telescopic rod, a clamping structure mounted on the fixed connecting block, and a plurality of adjustable detection devices mounted on the fixed connecting block. The adjustable detection device comprises a connecting block installed on the side edge of the fixed connecting block, a rack connected to the connecting block in a sliding mode, a first driving structure installed on the connecting block, a supporting frame clamped on the rack in a sliding mode, a second driving structure installed on the supporting frame and a spherical camera installed on the supporting frame. According to the utility model, the object to be clamped can be comprehensively detected except the bottom through the plurality of adjustable detection devices, and the initial appearance detection is carried out on the workpiece before the workpiece is clamped, so that the manual workload during operation can be reduced.

Description

Technical Field

[0001] The utility model relates to a robotic arm end clamp, and more particularly to a robotic arm end clamp with detection function, belonging to the field of clamp technology. Background Technology

[0002] A robotic arm end effector, also known as an end-effector, is a component mounted on a robotic arm for gripping, handling, and placing items. Its design and function vary widely to adapt to different application scenarios and operational needs. Robotic arm end effectors offer a high degree of automation, effectively improving production efficiency and operational accuracy.

[0003] To further improve the automation level of robotic arm end-effectors, existing technologies include robotic arm end-effectors with detection functions. These end-effectors are equipped with information acquisition modules such as cameras to enable detection capabilities. However, the information acquisition modules of existing robotic arm end-effectors with detection functions are fixed. Because the camera is fixed, it cannot flexibly inspect the workpiece, especially when the workpiece is irregularly shaped. This leads to incomplete detection and prevents preliminary visual inspection before workpiece gripping, unnecessarily increasing the amount of manual work required in subsequent operations. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a robotic arm end gripper with detection function. This device can perform comprehensive detection of the object to be gripped, except for the bottom, through several adjustable detection devices, thereby reducing the amount of manual work during operation.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0006] A robotic arm end gripper with detection function includes a fixed connecting plate, an electric telescopic rod mounted on the bottom surface of the fixed connecting plate, a fixed connecting block mounted on the telescopic end of the electric telescopic rod, a clamping structure mounted on the fixed connecting block, and several adjustable detection devices mounted on the fixed connecting block. Each adjustable detection device includes a connecting block mounted on the side of the fixed connecting block, a rack connected to the connecting block, a first drive structure mounted on the connecting block, a support frame slidably mounted on the rack, a second drive structure mounted on the support frame, and a spherical camera mounted on the support frame.

[0007] Furthermore, the first drive structure includes a limiting groove formed on the connecting block, a lead screw installed through the limiting groove, and a first drive motor installed at one end of the lead screw, wherein the lead screw is connected to the output end of the first drive motor.

[0008] Furthermore, the second drive structure includes a first drive motor rotatably disposed between the support frames, a rotating roller mounted inside the support frames, a second drive motor mounted on one side of the rotating roller, and the first drive motor sleeved on the rotating roller.

[0009] Furthermore, the first drive motor meshes with the rack, and sliders are provided on the inner side of the support frame. Slide grooves adapted to the sliders are provided on both sides of the rack.

[0010] Furthermore, a locking block is installed on the rack, the locking block is connected to the lead screw, the lead screw is rotatably connected to the connecting block, first support legs are respectively installed on both sides of the first drive motor, second support legs are respectively installed on both sides of the second drive motor, and the locking block is adapted to the limiting groove.

[0011] Furthermore, the clamping structure includes a connecting frame sleeved on the outer side of the bottom of the electric telescopic rod, a first hinge buckle evenly distributed on the outer side of the connecting frame, a connecting rod hinged on the first hinge buckle, a second hinge buckle installed at the end of the connecting rod, a clamping claw hinged on the second hinge buckle, and a third hinge buckle hinged on the inwardly bent portion of the clamping claw, the third hinge buckle being installed on the fixed connecting block.

[0012] Furthermore, a first rotating rod is installed inside the first hinge buckle, and the connecting rod is sleeved on the first rotating rod. A second rotating rod is installed inside the third hinge buckle, and the inwardly bent portion of the clamping claw is sleeved on the second rotating rod. A third rotating rod is installed inside the second hinge buckle, and the clamping claw is sleeved on the third rotating rod.

[0013] Furthermore, the gripping claw is equipped with an anti-slip pad, and the gripping claw and the adjustable detection device are arranged alternately.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] This application utilizes the cooperation of several adjustable detection devices, including connecting blocks, racks, first drive structures, support frames, second drive structures, and spherical cameras, to perform comprehensive inspection of the workpiece except for its bottom. This allows for preliminary visual inspection of the workpiece before it is clamped, helping to reduce the amount of manual work during operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the clamping structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the adjustable detection device of this utility model;

[0019] Figure 4 This is a left-side sectional view of the overall structure of this utility model.

[0020] In the diagram, 1. Fixed connecting plate; 2. Electric telescopic rod; 3. Fixed connecting block; 4. Clamping structure; 5. Adjustable detection device; 6. Connecting block; 7. Rack; 8. First drive structure; 9. Support frame; 10. Gear; 11. Second drive structure; 13. Spherical camera; 14. Limiting groove; 15. Lead screw; 16. First drive motor; 17. Inserting block; 18. Rotating roller; 19. Second drive motor; 20. Slider; 21. Slide groove; 22. First support leg; 23. Second support leg; 24. Connecting frame; 25. First hinge buckle; 26. Connecting rod; 27. Second hinge buckle; 28. Clamping claw; 29. ​​Third hinge buckle; 30. First rotating rod; 31. Second rotating rod; 32. Anti-slip pad; 33. Third rotating rod. Detailed Implementation

[0021] The technical solution of this utility model will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1-4 As shown, the robotic arm end clamp with detection function provided in this embodiment includes a fixed connecting plate 1, an electric telescopic rod 2 is installed on the bottom surface of the fixed connecting plate 1, a fixed connecting block 3 is installed on the telescopic end of the electric telescopic rod 2, a clamping structure 4 is installed on the fixed connecting block 3, and several adjustable detection devices 5 are installed on the fixed connecting block 3.

[0023] The adjustable detection device 5 includes a connecting block 6 installed on the side of the fixed connecting block 3, a rack 7 slidably connected to the connecting block 6, a first drive structure 8 installed on the connecting block 6, a support frame 9 that is snapped and slidably attached to the rack 7, a second drive structure 11 installed on the support frame 9, and a spherical camera 13 installed on the support frame 9. The fixed connecting plate 1 is used to fix the electric telescopic rod 2 to the robotic arm. The electric telescopic rod 2 uses its own extension and retraction to provide power for the operation of the clamping structure 4. The fixed connecting block 3 is used to connect the clamping structure 4 and the adjustable detection device 5 to the electric telescopic rod 2. The clamping structure 4 is used to clamp and fix the parts so that the detection device can detect the workpiece. The adjustable detection device 5 is used to perform a comprehensive inspection of the object to be clamped, except for the bottom, so as to perform a preliminary appearance inspection before the workpiece is clamped. The connecting block 6 is used for the sliding connection of the rack 7. The rack 7 can support the support frame 9. The first drive structure 8 can provide driving force for the sliding of the rack 7. The second drive structure 11 is used to provide driving force for the rotation of the gear 10. The support frame 9 is used to support the spherical camera 13. The spherical camera 13 is used to detect the workpiece.

[0024] Furthermore, such as Figure 3 and Figure 4 As shown, the first drive structure 8 includes a limiting groove 14 formed on the connecting block 6, a lead screw 15 installed through the limiting groove 14, and a first drive motor 16 installed at one end of the lead screw 15. The lead screw 15 is connected to the output end of the first drive motor 16. The limiting groove 14 and the locking block 17 are used to lock the rack 7 and the connecting block 6 together. The lead screw 15 is used to rotate under the drive of the first drive motor 16, so that the locking block 17 moves on the lead screw 15. The first drive motor 16 is used to provide driving force for the rotation of the lead screw 15.

[0025] Furthermore, such as Figure 3 and Figure 4 As shown, the second drive structure 11 includes a second drive motor 19 mounted rotatably between the support frames 9, a rotating roller 18 mounted inside the support frame 9, a second drive motor 19 mounted on one side of the rotating roller 18, and a gear 10 sleeved on the rotating roller 18; the rotating roller 18 is used to mount the gear 10 in the support frame 9, and the second drive motor 19 is used to provide driving force for the rotation of the gear 10.

[0026] Furthermore, such as Figure 3 and Figure 4 As shown, gear 10 meshes with rack 7, and sliders 20 are provided on the inner side of support frame 9. Slide grooves 21 adapted to sliders 20 are provided on both sides of rack 7. Gear 10 and rack 7 cooperate to enable support frame 9 to move up and down. Slides 20 and slide grooves 21 are adapted to limit sliding of support frame 9.

[0027] Furthermore, such as Figure 3 and Figure 4 As shown, a locking block 17 is installed on the rack 7, and the locking block 17 is screwed onto the lead screw 15. The lead screw 15 is rotatably connected to the connecting block 6. First support legs 22 are installed on both sides of the first drive motor 16, and second support legs 23 are installed on both sides of the second drive motor 19. The locking block 17 is adapted to the limiting groove 14. The locking block 17 is used to connect the gear 10 to the lead screw 15. The first support legs 22 are used to fix the first drive motor 16 and facilitate the replacement or maintenance of the first drive motor 16. The second support legs 23 are used to fix the second drive motor 19 and facilitate the replacement or maintenance of the second drive motor 19.

[0028] Furthermore, as shown in the figure, Figure 2 and Figure 4 As shown, the clamping structure 4 includes a connecting frame 24 sleeved on the outer side of the bottom of the electric telescopic rod 2, first hinge buckles 25 evenly distributed on the outer side of the connecting frame 24, a connecting rod 26 hinged to the first hinge buckle 25, a second hinge buckle 27 installed at the end of the connecting rod 26, a clamping claw 28 hinged to the second hinge buckle 27, and a third hinge buckle 29 hinged to the inwardly bent part of the clamping claw 28. The third hinge buckle 29 is installed on the fixed connecting block 3. The connecting frame 24 is used to fix the first hinge buckle 25 to the electric telescopic rod 2. The movable telescopic rod 2 is located on the outer side away from the telescopic end. The first hinge buckle 25 is used to hinge the connecting rod 26 to the connecting frame 24. The connecting rod 26 is used to drive the clamping claw 28 to perform clamping operations. The second hinge buckle 27 is used to hinge the clamping claw 28 to the connecting rod 26. The clamping claw 28 is used to clamp the workpiece. The third hinge buckle 29 is used to hinge the inward bending part of the clamping claw 28 to the fixed connecting block 3. When the fixed connecting block 3 moves with the telescopic end of the electric telescopic rod 2, the bending part is gripped by the fixed connecting block 3.

[0029] Furthermore, such as Figure 2 As shown, a first rotating rod 30 is installed inside the first hinge buckle 25, and a connecting rod 26 is sleeved on the first rotating rod 30. A second rotating rod 31 is installed inside the third hinge buckle 29, and the inwardly bent part of the clamping claw 28 is sleeved on the second rotating rod 31. A third rotating rod 33 is installed inside the second hinge buckle 27, and the clamping claw 28 is sleeved on the third rotating rod 33. The first rotating rod 30 is used to rotate the connecting rod 26 to drive the clamping claw 28 to clamp. The second rotating rod 31 causes the clamping claw 28 to rotate and connect on the third hinge buckle 29. The third rotating rod 33 is used to rotate the clamping claw 28 on the connecting rod 26.

[0030] Furthermore, such as Figure 1 and Figure 2As shown, anti-slip pads 32 are installed on the clamping jaws 28, and the clamping jaws 28 and the adjustable detection device 5 are arranged alternately. The anti-slip pads 32 can make the clamping jaws 28 more stable when clamping the workpiece. The alternate arrangement of the clamping jaws 28 and the adjustable detection device 5 makes it easier for the spherical camera 13 to detect the workpiece from four sides, making the detection results more comprehensive and the clamping more stable.

[0031] like Figures 1-4 As shown, the principle of the robotic arm end clamp with detection function provided in this embodiment is as follows: When using the device, the first drive motor 16 should be started first to drive the lead screw 15 to rotate, which will drive the rack 7 to slide left and right. Then, the second drive motor 19 should be started to drive the gear 10 to rotate. The gear 10 and the meshing rack 7 will drive the spherical camera 13 to move up and down. After moving to the appropriate position, the camera part of the circular camera 13 should be turned to the appropriate angle to detect the workpiece.

[0032] After the device completes the inspection of the workpiece, the electric telescopic rod 2 is activated to drive the fixed connecting block 3 to move up and down. The clamping claw 28 is driven by the fixed connecting block 3 to grab the workpiece up and down. The qualified workpiece is placed into the qualified area through the clamping device 4, and the unqualified workpiece is placed into the unqualified area.

[0033] The foregoing description illustrates and describes preferred embodiments of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein. Any modifications and variations made by those skilled in the art without departing from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A mechanical arm end head clamp with a tape detection function, comprising a fixed connecting disc (1), characterized in that: An electric telescopic rod (2) is installed on the bottom surface of the fixed connecting plate (1). A fixed connecting block (3) is installed on the telescopic end of the electric telescopic rod (2). A clamping structure (4) is installed on the fixed connecting block (3). Several adjustable detection devices (5) are installed on the fixed connecting block (3). The adjustable detection device (5) includes a connecting block (6) installed on the side of the fixed connecting block (3), a rack (7) connected to the connecting block (6), a first drive structure (8) installed on the connecting block (6), a support frame (9) that is snapped and slidably installed on the rack (7), a second drive structure (11) installed on the support frame (9), and a spherical camera (13) installed on the support frame (9).

2. The robot end effector gripper with tape detection of claim 1, wherein: The first drive structure (8) includes a limiting groove (14) opened on the connecting block (6), a lead screw (15) installed through the limiting groove (14), and a first drive motor (16) installed at one end of the lead screw (15). The lead screw (15) is connected to the output end of the first drive motor (16).

3. The robot end effector gripper with tape detection of claim 2, wherein: The second drive structure (11) includes a gear (10) rotatably disposed between the support frames (9), a rotating roller (18) installed inside the support frame (9), a second drive motor (19) installed on one side of the rotating roller (18), and a gear (10) sleeved on the rotating roller (18).

4. The robot end-of-arm tooling with belt detection functionality of claim 3, wherein: The first drive motor (16) meshes with the rack (7), and the inner side of the support frame (9) is provided with sliders (20). The rack (7) has grooves (21) on both sides that are adapted to the sliders (20).

5. The robot end-of-arm tooling with belt detection according to claim 3, wherein: A locking block (17) is connected to the rack (7), the locking block (17) is connected to the lead screw (15), the lead screw (15) is rotatably connected to the connecting block (6), and the locking block (17) is adapted to the limiting groove (14).

6. The robot end-of-arm tooling with tape detection of claim 3, wherein: The first drive motor (16) has a first support leg (22) installed on both sides, and the second drive motor (19) has a second support leg (23) installed on both sides.

7. The robot end-of-arm tooling with tape detection of claim 1, wherein: The clamping structure (4) includes a connecting frame (24) sleeved on the outer side of the bottom of the electric telescopic rod (2), a first hinge buckle (25) evenly distributed on the outer side of the connecting frame (24), a connecting rod (26) hinged on the first hinge buckle (25), a second hinge buckle (27) installed at the end of the connecting rod (26), a clamping claw (28) hinged on the second hinge buckle (27), and a third hinge buckle (29) hinged on the inward bending part of the clamping claw (28). The third hinge buckle (29) is installed on the fixed connecting block (3).

8. The robotic arm end-effector with detection function according to claim 7, characterized in that: A first rotating rod (30) is installed on the inner side of the first hinge buckle (25), and the connecting rod (26) is sleeved on the first rotating rod (30). A second rotating rod (31) is installed on the inner side of the third hinge buckle (29), and the clamping claw (28) is sleeved on the second rotating rod (31) at its inward bend. A third rotating rod (33) is installed on the inner side of the second hinge buckle (27), and the clamping claw (28) is sleeved on the third rotating rod (33).

9. The robot end-of-arm tooling with tape detection functionality of claim 8, wherein: The gripper (28) is equipped with an anti-slip pad (32), and the gripper (28) and the adjustable detection device (5) are arranged alternately.

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