Intelligent fragrance making mechanical arm

Abstract

The utility model belongs to the technical field of mechanical arm, concretely relates to an intelligent incense making mechanical arm, including base, the top of base is connected with mechanical joint, the end of mechanical joint is installed with clamp, the front end of clamp's connecting plate is installed with visual camera, the side wall of two chucking blocks of clamp is connected with sensor, the front end of clamp connecting plate is equipped with recess, the inside rotation of recess is connected with thread rod, the surface screw thread connection of thread rod has thread sleeve. The utility model through the collaborative cooperation between recess, thread rod, thread sleeve, mounting block, locking bolt, wiping cotton, driven bevel gear, servo motor and driving bevel gear, has realized the efficient cleaning of visual camera lens surface dust, has effectively guaranteed the accuracy of mechanical arm positioning, avoids the inaccuracy of visual camera positioning because of dust adhesion, ensures that mechanical arm can continuously, stably, accurately work in the scene such as incense production.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to an intelligent incense-making robotic arm. Background Technology

[0002] As a complex mechanical system characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling, the core function of a robotic arm is to simulate the movement patterns of a human arm, thereby achieving precise operation in three-dimensional space. In the field of incense production, robotic arms also play a crucial role, capable of grasping various materials needed in the incense-making process. Coupled with advanced control systems, robotic arms can achieve intelligent operation, significantly improving production efficiency and accuracy.

[0003] However, in actual use, to ensure the accuracy of the robotic arm in grasping materials, a vision camera is usually installed on its gripper to accurately position the robotic arm. But in incense production, the material storage environment is complex and dusty, making the vision camera mounted on the robotic arm highly susceptible to interference. Once dust adheres to the lens surface of the vision camera, it causes blurred images, resulting in inaccurate positioning, severely affecting the normal use of the robotic arm, and causing numerous inconveniences and potential losses in incense production. Utility Model Content

[0004] The purpose of this invention is to provide an intelligent incense-making robotic arm, aiming to solve the problem in existing technologies where, to ensure the accuracy of material grasping during actual use, a vision camera is typically installed on the gripper for precise positioning of the robotic arm. However, in incense production, the material storage environment is complex and dusty, making the vision camera mounted on the robotic arm highly susceptible to interference. Once dust adheres to the lens surface of the vision camera, it causes blurred imaging, resulting in inaccurate positioning, seriously affecting the normal use of the robotic arm, and causing numerous inconveniences and potential losses in incense production.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an intelligent incense-making robotic arm, comprising a base, a mechanical joint connected to the top of the base, a clamp mounted at the end of the mechanical joint, a vision camera mounted at the front end of the connecting plate of the clamp, sensors connected to the corresponding side walls of the two clamping blocks of the clamp, a groove formed at the front end of the connecting plate of the clamp, a threaded rod rotatably connected inside the groove, a threaded sleeve threadedly connected to the surface of the threaded rod, an mounting block mounted at the front end of the threaded sleeve, a locking bolt threadedly connected to the surface of the mounting block, a wiping cotton connected to the top end of the mounting block via the locking bolt, a driven bevel gear fixedly connected to the surface of the threaded rod, a servo motor mounted at the top end of the connecting plate of the clamp, and a driving bevel gear connected to the output shaft of the servo motor.

[0006] As a preferred embodiment of the intelligent incense-making robotic arm of this utility model, the threaded sleeve is adapted to the size of the groove.

[0007] In a preferred embodiment of the intelligent incense-making robotic arm of this invention, the top of the wiping cotton is at the same height as the lens of the vision camera.

[0008] In a preferred embodiment of the intelligent incense-making robotic arm of this utility model, the tooth spacing of the active bevel gear and the driven bevel gear are meshed together.

[0009] As a preferred embodiment of the intelligent incense-making robotic arm of this utility model, the threaded rod can be linked with the driving bevel gear through the driven bevel gear.

[0010] As a preferred embodiment of the intelligent incense-making robotic arm of this utility model, the top of the base is connected to an annular block, and the inner wall of the annular block is interference-fitted with a sealing ring.

[0011] In a preferred embodiment of the intelligent incense-making robotic arm of this utility model, the inner ring of the sealing ring has the same size as the mounting hole on the surface of the base.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] Through the coordinated operation of grooves, threaded rods, threaded sleeves, mounting blocks, locking bolts, wiping cotton, driven bevel gears, servo motors, and driving bevel gears, efficient cleaning of surface dust on the lens of the vision camera is achieved, effectively ensuring the positioning accuracy of the robotic arm. Operators can easily and quickly install and remove the wiping cotton using the locking bolts for timely replacement or cleaning. After the wiping cotton is installed, the servo motor is connected to the power supply and started. Its output shaft drives the driving bevel gear to rotate, which in turn drives the driven bevel gear to rotate synchronously. The driven bevel gear then drives the threaded rod to rotate. As the threaded rod rotates, the threaded sleeve moves smoothly along the threads on the surface of the threaded rod, and the mounting block moves along with it, thereby driving the wiping cotton to reciprocate. This effectively removes surface dust from the lens of the vision camera, preventing inaccurate positioning of the vision camera due to dust adhesion, and ensuring that the robotic arm can operate continuously, stably, and accurately in scenarios such as incense production.

[0014] Through the tight fit between the sealing ring and the annular block, the sealing ring can seal the gap between the fastening bolt and the annular block, and at the same time prevent dust from entering the gap between the fastening bolt and the mounting hole on the base. This can effectively prevent dust and impurities from entering from the gap, and will not cause difficulties in disassembly and assembly due to the intrusion of dust and impurities, thus greatly improving the efficiency and reliability of the installation and maintenance of the robotic arm. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0017] Figure 2 This is a three-dimensional front view structural diagram of the present invention;

[0018] Figure 3 This utility model Figure 2 Schematic diagram of the middle clamp structure;

[0019] Figure 4 This utility model Figure 1 A magnified structural diagram at point B in the diagram.

[0020] In the diagram: 1. Base; 2. Mechanical joint; 3. Fixture; 4. Vision camera; 5. Sensor; 6. Groove; 7. Threaded rod; 8. Threaded sleeve; 9. Mounting block; 10. Locking bolt; 11. Wiping cotton; 12. Driven bevel gear; 13. Servo motor; 14. Driven bevel gear; 15. Annular block; 16. Sealing ring. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figures 1-4 This utility model provides the following technical solution: an intelligent incense-making robotic arm, including a base 1, a mechanical joint 2 connected to the top of the base 1, a clamp 3 installed at the end of the mechanical joint 2, a vision camera 4 installed at the front end of the connecting plate of the clamp 3, sensors 5 connected to the corresponding side walls of the two clamping blocks of the clamp 3, a groove 6 opened at the front end of the connecting plate of the clamp 3, a threaded rod 7 rotatably connected inside the groove 6, a threaded sleeve 8 threadedly connected to the surface of the threaded rod 7, an installation block 9 installed at the front end of the threaded sleeve 8, a locking bolt 10 threadedly connected to the surface of the installation block 9, a wiping cotton 11 connected to the top end of the installation block 9 through the locking bolt 10, a driven bevel gear 12 fixedly connected to the surface of the threaded rod 7, a servo motor 13 installed at the top end of the connecting plate of the clamp 3, and an active bevel gear 14 connected to the output shaft of the servo motor 13.

[0023] In practical use, the robotic arm mainly consists of a base 1, mechanical joints 2, grippers 3, vision cameras 4, and sensors 5. Among them, sensor 5 is a force sensor, specifically model KWR36. This sensor 5 has powerful detection capabilities and can accurately detect the tension, pressure, and torque experienced by an object in three-dimensional space. When the grippers 3 of the robotic arm hold an object, sensor 5 can accurately calculate the actual weight of the object through force feedback generated by the object's gravity (the weight of the end effector itself needs to be deducted during the calculation).

[0024] Mechanical joint 2 is a key component for the movement of the robotic arm. It can flexibly perform various activities and drive the gripper 3 to move accordingly. The gripper 3 accurately grasps various materials required in the incense making process according to the actual needs of incense production.

[0025] The base 1 plays a fixed support role in the entire robotic arm system. It can firmly fix the robotic arm in the designated position, ensuring that the robotic arm remains stable during use, thereby ensuring that various operations can be completed accurately and efficiently.

[0026] The vision camera 4 precisely positions the robotic arm, ensuring that the gripper 3 can accurately grasp various materials needed in the incense-making process.

[0027] Meanwhile, with the help of an advanced control system, the robotic arm can achieve intelligent operation, greatly improving production efficiency and accuracy.

[0028] Preferably, the threaded sleeve 8 is sized to match the groove 6. The tip of the wiping cotton 11 is at the same height as the lens of the vision camera 4. The driving bevel gear 14 and the driven bevel gear 12 are meshed together. The threaded rod 7 can be linked with the driving bevel gear 14 via the driven bevel gear 12 to form a gear linkage.

[0029] In practical use, operators can easily and quickly disassemble and assemble the wiping cotton 11 with the help of the locking bolt 10. This greatly facilitates operators to replace worn wiping cotton 11 in a timely manner or clean dirty wiping cotton 11, ensuring that the wiping cotton 11 is always in good working condition.

[0030] After the wiping cotton 11 is installed, the servo motor 13 is connected to the power supply and started. The output shaft of the servo motor 13 begins to rotate, which in turn drives the active bevel gear 14 to rotate. The active bevel gear 14 meshes with the driven bevel gear 12, which in turn drives the driven bevel gear 12 to rotate synchronously. The rotation of the driven bevel gear 12 is transmitted to the threaded rod 7, causing the threaded rod 7 to also begin to rotate.

[0031] As the threaded rod 7 rotates, the threaded sleeve 8 moves smoothly in a straight line along the thread on the surface of the threaded rod 7. Since the mounting block 9 is fixedly connected to the threaded sleeve 8, the mounting block 9 will also move along with the threaded sleeve 8. The wiping cotton 11 is mounted on the mounting block 9, so the movement of the mounting block 9 will drive the wiping cotton 11 to reciprocate.

[0032] The reciprocating motion of the wiping cotton 11 can effectively clean the surface dust of the lens of the vision camera 4, avoiding problems such as blurred imaging and inaccurate positioning caused by dust adhering to the lens. This series of designs ensures that the robotic arm can continuously, stably and accurately complete various tasks in complex scenarios such as incense production, thereby improving production efficiency and product quality.

[0033] It is worth noting that the threaded sleeve 8 is matched with the groove 6 in size, so that the threaded sleeve 8 restricts the position of the threaded sleeve 8 and prevents it from rotating together with the threaded rod 7.

[0034] Preferably, an annular block 15 is connected to the top of the base 1, and a sealing ring 16 is interference-fitted to the inner wall of the annular block 15. The inner ring of the sealing ring 16 has the same size as the mounting hole opened on the surface of the base 1.

[0035] In practical use, when the base 1 is fixed to the installation position, the sealing ring 16 can seal the gap between the fastening bolt and the annular block 15, and also prevent dust from entering the gap between the fastening bolt and the mounting hole on the base 1. This can effectively prevent dust and impurities from entering from the gap, and will not cause difficulties in disassembly and assembly due to the intrusion of dust and impurities, thus greatly improving the efficiency and reliability of the installation and maintenance of the robotic arm.

[0036] Working principle: First, during the installation of the robotic arm, the base 1 is fixed to the installation position. At this time, the sealing ring 16 plays a key role. It can tightly seal the gap between the fastening bolt and the annular block 15, and effectively prevent dust from entering the gap between the fastening bolt and the mounting hole on the base 1. This sealing design greatly avoids the situation where the robotic arm is difficult to disassemble and assemble due to the intrusion of dust and impurities, significantly improves the efficiency and reliability of the robotic arm installation and maintenance, and lays the foundation for subsequent stable operation.

[0037] After installation, the robotic arm is put into operation. It uses gripper 3 to accurately grab various materials needed in the incense making process, and then relies on sensor 5 to accurately weigh these materials. After weighing, the robotic arm accurately transports the materials to the next process, ensuring the smooth operation of the production process.

[0038] When using the robotic arm, the lens of the vision camera 4 needs to be cleaned. The operator connects the servo motor 13 to the power supply and starts it. The output shaft of the servo motor 13 starts to rotate, driving the active bevel gear 14 to rotate. Since the active bevel gear 14 and the driven bevel gear 12 mesh with each other, the active bevel gear 14 then drives the driven bevel gear 12 to rotate synchronously. The rotation of the driven bevel gear 12 is transmitted to the threaded rod 7, causing the threaded rod 7 to start rotating as well.

[0039] As the threaded rod 7 rotates, the threaded sleeve 8 moves smoothly in a straight line along the thread on the surface of the threaded rod 7. Because the mounting block 9 is fixedly connected to the threaded sleeve 8, the mounting block 9 will move together with the threaded sleeve 8. The wiping cotton 11 is mounted on the mounting block 9, so the movement of the mounting block 9 will drive the wiping cotton 11 to reciprocate.

[0040] The reciprocating motion of the wiping cotton 11 can effectively clean the surface dust on the lens of the vision camera 4, preventing dust from adhering to the lens and causing problems such as blurred imaging and inaccurate positioning of the vision camera 4. This ensures that the robotic arm can continuously, stably and accurately complete various tasks in complex scenarios such as incense production, effectively improving production efficiency and product quality.

[0041] Finally, it should be noted that the above are merely preferred embodiments of this utility model and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An intelligent incense-making robotic arm, comprising a base (1), characterized in that: The top of the base (1) is connected to a mechanical joint (2), and a clamp (3) is installed at the end of the mechanical joint (2). A vision camera (4) is installed at the front end of the connecting plate of the clamp (3). Sensors (5) are connected to the corresponding side walls of the two clamping blocks of the clamp (3). A groove (6) is opened at the front end of the connecting plate of the clamp (3). A threaded rod (7) is rotatably connected inside the groove (6). A threaded sleeve (8) is threadedly connected to the surface of the threaded rod (7). The front end of the threaded sleeve (8) is equipped with an installation block (9), and the surface of the installation block (9) is threadedly connected with a locking bolt (10). The top end of the installation block (9) is connected with a wiping cotton (11) through the locking bolt (10). The surface of the threaded rod (7) is fixedly connected with a driven bevel gear (12). The top end of the clamp (3) connecting plate is equipped with a servo motor (13), and the output shaft of the servo motor (13) is connected with a driving bevel gear (14).

2. The intelligent incense-making robotic arm according to claim 1, characterized in that: The threaded sleeve (8) is sized to match the groove (6).

3. The intelligent incense-making robotic arm according to claim 1, characterized in that: The top of the wiping cotton (11) is at the same height as the lens of the vision camera (4).

4. The intelligent incense-making robotic arm according to claim 1, characterized in that: The tooth pitch of the driving bevel gear (14) and the driven bevel gear (12) are meshed together.

5. The intelligent incense-making robotic arm according to claim 1, characterized in that: The threaded rod (7) can be linked with the driving bevel gear (14) through the driven bevel gear (12).

6. The intelligent incense-making robotic arm according to claim 1, characterized in that: The top of the base (1) is connected to an annular block (15), and the inner wall of the annular block (15) is press-fitted with a sealing ring (16).

7. The intelligent incense-making robotic arm according to claim 6, characterized in that: The inner ring of the sealing ring (16) has the same size as the mounting hole on the surface of the base (1).

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