A smart gripping robotic arm

Abstract

This utility model relates to the field of robotic arm technology, specifically an intelligent grasping robotic arm, including a base and a robotic arm, a grasping part, and a fixing part mounted on the base. The grasping part is used to grasp lenses. One end of the fixing part is connected to the end of the robotic arm, and the other end is detachably connected to the grasping part, used for vacuuming the grasping part. By changing the size of the grasping part, lenses of different sizes can be grasped. The grasping part includes a grasping rod with a grasping air channel inside. The end of the grasping air channel has a sealing part connected to the grasping rod. A vacuum suction cup is fixedly mounted on the outside of the grasping rod, and a suction cup air channel is provided at the bottom of the vacuum suction cup, which communicates with the grasping air channel. This utility model detachably mounts the grasping part to the end of a crossbar by setting a protrusion that can be locked in a through hole, so that different sizes of vacuum suction cups can be replaced, allowing the robotic arm to grasp lenses of different sizes and expanding the application range of the robotic arm.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to an intelligent grasping robotic arm. Background Technology

[0002] Chinese patent application CN202323395118.2 discloses an intelligent gripping robot for injection-molded lenses. This robot adjusts the position of the fixed frame via a moving mechanism and the position of the mounting frame via a sliding mechanism, allowing the vacuum suction cup to be positioned arbitrarily. After moving the vacuum suction cup to the location of a specific injection-molded lens, a lifting mechanism moves the moving frame downwards, bringing the vacuum suction cup into contact with the lens injection-molded part, enabling it to grip the part. The lifting mechanism then moves the moving frame upwards, separating the lens injection-molded part from the injection molding machine. A directional motor rotates the column, and the moving and sliding mechanisms readjust the position of the vacuum suction cup, allowing the lens injection-molded part to be placed in any desired location, effectively improving the unloading efficiency of injection-molded lenses and thus increasing lens production efficiency. However, this robot can only grip lenses of a specific size and cannot use vacuum suction cups of different sizes, limiting its application range. Utility Model Content

[0003] The main objective of this invention is to provide an intelligent gripping robot to solve the problems raised in related technologies.

[0004] To achieve the above objectives, according to one aspect of the present invention, an intelligent grasping robot is provided, including a base and a robotic arm disposed on the base, and further including: a grasping part for grasping a lens;

[0005] The fixing part is connected at one end to the end of the robotic arm and at the other end to the gripping part. It is used to evacuate the gripping part and to grip lenses of different sizes by replacing the gripping parts of different sizes.

[0006] Furthermore, the robotic arm includes a first electric cylinder, which is rotatably mounted on the top of the base.

[0007] Furthermore, a first telescopic rod is fixedly provided on the top of the first electric cylinder, and a second electric cylinder is fixedly provided on the top of the first telescopic rod in a transverse direction.

[0008] Furthermore, a second telescopic rod is fixedly provided at the end of the second electric cylinder, and a connecting block is fixedly provided at the end of the second telescopic rod.

[0009] Furthermore, the fixing part includes a crossbar, the inner end of which is fixedly connected to the connecting block, and the outer end is fixedly provided with a protruding ring. Both the protruding ring and the crossbar are provided with crossbar air passages.

[0010] Furthermore, the crossbar has several horizontal holes on its side, and a spring is installed in each horizontal hole. One end of the spring is fixedly connected to the crossbar, and the other end is fixedly provided with a protrusion.

[0011] Furthermore, the gripping part includes a gripping rod, the gripping rod has a gripping air passage inside, the end of the gripping air passage has a sealing part, the sealing part includes a sealing ring, the inner end of the sealing ring is fixedly connected to the gripping rod, the outer end of the sealing ring is fixedly provided with a sealing outer ring and a sealing inner ring, the sealing inner ring is located inside the sealing outer ring, an annular groove is formed between the sealing outer ring and the sealing inner ring, a vacuum suction cup is fixedly provided on the outside of the gripping rod, the bottom of the vacuum suction cup is provided with a suction cup air passage, the suction cup air passage is connected to the gripping air passage.

[0012] Furthermore, a collar is fixedly provided at one end of the gripping rod, the collar has several through holes, and the inner part of the outer end of the collar has several grooves.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] This invention features a protruding post that can be locked inside a through hole, allowing the gripping part to be detachably mounted on the end of a crossbar. This enables the robotic arm to grip lenses of different sizes by replacing vacuum suction cups of different sizes, thus expanding the range of applications for the robotic arm. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall design of this utility model;

[0016] Figure 2 This is an exploded view of the fixing part of this utility model;

[0017] Figure 3 This is a schematic diagram of the gripping part of this utility model;

[0018] Figure 4 This is a sectional view of the fixing part of this utility model;

[0019] Figure 5 This is a cross-sectional view of the gripping part of this utility model.

[0020] Figure label:

[0021] 1. Base; 2. First electric cylinder; 3. First telescopic rod; 4. Second electric cylinder; 5. Second telescopic rod; 6. Connecting block; 7. Fixing part; 8. Gripping part; 71. Crossbar; 72. Cross hole; 73. Crossbar air passage; 74. Protruding ring; 75. Spring; 76. Protruding post; 77. Neck ring; 78. Ring; 81. Gripping rod; 82. Collar; 83. Gripping air passage; 84. Sealing part; 85. Through hole; 86. Groove; 87. Vacuum suction cup; 88. Suction cup air passage; 841. Sealing post ring; 842. Sealing outer ring; 843. Sealing inner ring; 844. Ring groove. Detailed Implementation

[0022] To further illustrate the technical means and effects adopted by this utility model in order to achieve the intended utility model purpose, the following detailed description of the specific implementation methods, structure, features and effects of this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.

[0023] This embodiment provides an intelligent grasping robotic arm, such as Figure 1 As shown, it includes a base 1 and a robotic arm mounted on the base 1, and also includes a gripping part 8, which is used to grip a lens;

[0024] The fixing part 7 is connected to the end of the robotic arm at one end and is detachably connected to the gripping part 8 at the other end. It is used to vacuum the gripping part 8. By replacing the gripping part 8 with different sizes, different sized lenses can be gripped.

[0025] The robotic arm includes a first electric cylinder 2, which is rotatably mounted on top of a base 1. A motor for driving the first electric cylinder 2 to rotate is located inside the base 1.

[0026] The top of the first electric cylinder 2 is fixedly provided with a first telescopic rod 3, and the top of the first telescopic rod 3 is fixedly provided with a second electric cylinder 4 along the horizontal direction.

[0027] The second electric cylinder 4 is fixedly provided with a second telescopic rod 5 at one end, and a connecting block 6 is fixedly provided at the other end of the second telescopic rod 5. A vacuum generator is provided inside the connecting block 6 to evacuate the crossbar air passage 73, and the vacuum generator can also fill the crossbar air passage 73 with air.

[0028] like Figure 2 As shown, the fixing part 7 includes a crossbar 71, the inner end of which is fixedly connected to the connecting block 6, and the outer end is fixedly provided with a protruding ring 74. Both the protruding ring 74 and the crossbar 71 are provided with crossbar air passages 73.

[0029] like Figure 4As shown, a neck ring 77 is fixedly provided at the outer end of the convex ring 74, and a ring 78 is fixedly provided at the outer end of the neck ring 77. The neck ring 77 has a triangular cross-section, and the end near the ring 78 is smaller than the end near the convex ring 74. The ring 78 is made of highly elastic rubber, and the size of the ring groove 844 is slightly smaller than the size of the ring 78. After the ring 78 enters the ring groove 844, it can fill it and prevent air leakage.

[0030] The crossbar 71 has several horizontal holes 72 on its side, and a spring 75 is installed inside each horizontal hole 72. One end of the spring 75 is fixedly connected to the crossbar 71, and the other end is fixedly provided with a protrusion 76. The outer end of the protrusion 76 is arc-shaped and can slide along the groove 86. When the collar 82 is fitted onto the crossbar 71, the groove 86 contacts the protrusion 76 first. The collar 82 at the groove 86 squeezes the protrusion 76, causing the spring 75 to contract and press the protrusion 76 into the horizontal hole 72, preventing the protrusion 76 from protruding out of the horizontal hole 72 and obstructing the collar 82 from fitting onto the crossbar 71. When the spring 75 is in its natural state, the arc-shaped end of the protrusion 76 protrudes out of the horizontal hole 72, and the diameter of the protrusion 76 is slightly smaller than the through hole 85, allowing the protrusion 76 to extend into the through hole 85 and fix the gripping part 8 onto the fixing part 7. When the ring 78 is inserted into and pressed against the ring groove 844, the protrusion 76 is inserted into the through hole 85 to prevent air leakage at the connection between the crossbar air passage 73 and the gripping air passage 83.

[0031] like Figure 3 As shown, the gripping part 8 includes a gripping rod 81, the gripping rod 81 has a gripping air passage 83 inside, and the end of the gripping air passage 83 has a sealing part 84, such as Figure 5 As shown, the sealing part 84 includes a sealing ring 841. The inner end of the sealing ring 841 is fixedly connected to the gripping rod 81. The outer end of the sealing ring 841 is fixedly provided with a sealing outer ring 842 and a sealing inner ring 843. The sealing inner ring 843 is located inside the sealing outer ring 842. An annular groove 844 is formed between the sealing outer ring 842 and the sealing inner ring 843. A vacuum suction cup 87 is fixedly provided on the outer side of the gripping rod 81. The bottom of the vacuum suction cup 87 is provided with a suction cup air channel 88, which is connected to the gripping air channel 83.

[0032] A pressure sensor is fixedly installed at the bottom of the vacuum suction cup 87. When the pressure between the vacuum suction cup 87 and the lens reaches the design value, the vacuum generator will stop drawing a vacuum to prevent the pressure generated by the vacuum suction cup 87 from being too high, which could cause the lens to deform or even be damaged, thus achieving an intelligent gripping effect.

[0033] A collar 82 is fixedly provided at one end of the gripping rod 81. The collar 82 has several through holes 85 and several grooves 86 inside the outer end of the collar 82. The number of grooves 86 is the same as the number of protrusions 76. The grooves 86 and the corresponding through holes 85 are located on the same straight line, and each through hole 85 corresponds to a corresponding protrusion 76, so that all protrusions 76 can be engaged in the through holes 85.

[0034] The vacuum suction cup 87 is made of rubber, and when a vacuum is created on its surface, it can deform to adsorb the lens.

[0035] The motor drives the first electric cylinder 2 to rotate, which can adjust the horizontal position of the vacuum suction cup 87; the first electric cylinder 2 drives the first telescopic rod 3 to change its length, which can adjust the height of the vacuum suction cup 87; the second electric cylinder 4 drives the second telescopic rod 5 to change its length, which can adjust the extension distance of the vacuum suction cup 87, thereby moving it to the lens to be gripped.

[0036] The vacuum generator evacuates the vacuum suction cup 87 from the crossbar air channel 73, the gripping air channel 83 and the suction cup air channel 88, creating a negative pressure on the surface of the vacuum suction cup 87, which adsorbs the lens onto the vacuum suction cup 87. After the robotic arm moves the lens to the next process, the vacuum generator blows a micro-airflow into the crossbar air channel 73, causing the lens to fall off the vacuum suction cup 87.

[0037] When the vacuum suction cup 87 needs to be replaced, press all the protrusions 76 inward and pull the gripping rod 81 outward. The protrusions 76 will disengage from the through hole 85, and the old gripping part 8 can be removed. Align the groove 86 of the new gripping part 8 with the protrusions 76, press the gripping rod 81 inward until the protrusions 76 reach the through hole 85 and protrude from the through hole 85, and lock the gripping part 8 onto the fixing part 7 to complete the replacement of the gripping part 8.

[0038] By setting a protrusion 76 that can be locked in the through hole 85, the gripping part 8 is detachably installed at the end of the crossbar 71 to replace the vacuum suction cup 87 of different sizes, so that the robot can grip lenses of different sizes and expand the application range of the robot.

[0039] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. An intelligent grasping robot, comprising a base (1) and a robotic arm disposed on the base (1), characterized in that, Also includes: A gripping part (8) is used to grip a lens; The fixing part (7) is connected to the end of the robotic arm at one end and detachably connected to the gripping part (8) at the other end. It is used to vacuum the gripping part (8). By replacing the gripping part (8) with different sizes, different sizes of lenses can be gripped.

2. The intelligent grasping manipulator according to claim 1, wherein, The robotic arm includes a first electric cylinder (2), which is rotatably mounted on the top of the base (1).

3. The intelligent grasping manipulator according to claim 2, wherein, The first electric cylinder (2) is fixedly provided with a first telescopic rod (3) at the top, and the first telescopic rod (3) is fixedly provided with a second electric cylinder (4) in the horizontal direction at the top.

4. The intelligent grasping manipulator according to claim 3, wherein, The second electric cylinder (4) is fixedly provided with a second telescopic rod (5) at its end, and a connecting block (6) is fixedly provided at its end.

5. The intelligent grasping manipulator according to claim 4, wherein, The fixing part (7) includes a crossbar (71), the inner end of which is fixedly connected to the connecting block (6), and the outer end is fixedly provided with a protruding ring (74). Both the protruding ring (74) and the crossbar (71) are provided with crossbar air passages (73).

6. The intelligent grasping manipulator according to claim 5, wherein, The crossbar (71) has several horizontal holes (72) on its side. A spring (75) is provided in the horizontal hole (72). One end of the spring (75) is fixedly connected to the crossbar (71), and the other end is fixedly provided with a protrusion (76).

7. The intelligent grasping manipulator of claim 1, wherein The gripping part (8) includes a gripping rod (81), which has a gripping air passage (83) inside. The end of the gripping air passage (83) is provided with a sealing part (84). The sealing part (84) includes a sealing ring (841). The inner end of the sealing ring (841) is fixedly connected to the gripping rod (81). The outer end of the sealing ring (841) is fixedly provided with a sealing outer ring (842) and a sealing inner ring (843). The sealing inner ring (843) is located inside the sealing outer ring (842). An annular groove (844) is formed between the sealing outer ring (842) and the sealing inner ring (843). A vacuum suction cup (87) is fixedly provided on the outside of the gripping rod (81). The bottom of the vacuum suction cup (87) is provided with a suction cup air passage (88), which is connected to the gripping air passage (83).

8. The intelligent grasping manipulator according to claim 7, wherein, One end of the gripping rod (81) is fixedly provided with a collar (82), the collar (82) is provided with several through holes (85), and the outer end of the collar (82) is provided with several grooves (86).

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