A control device for the end effector of a robotic arm

Abstract

This utility model discloses a control device for the end effector of a robotic arm, belonging to the field of robotics technology. The control device, located at the end effector of the robotic arm, includes: a camera module, an adapter plate, a servo terminal, and grippers. The upper side of the adapter plate is connected to the robotic arm, and the lower side is connected to the servo terminal. The lower side of the servo terminal is connected to two grippers via a transmission connection. The sidewall of the adapter plate is connected to the camera module. The servo terminal includes: a slider, a housing, and a driving element. The lower side of the housing has a slide rail and contains the driving element. Sliders slide at both ends of the slide rail, with one side of the slider connected to the driving element and the other side connected to the grippers. The grippers have a limiting structure at their ends. This utility model, by determining the workpiece type, allows the servo terminal to adjust the gripper spacing according to the workpiece type, thereby enabling precise gripping of specific workpiece types. This improves versatility and operational efficiency, enabling continuous handling of workpieces of different sizes and specifications.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a control device at the end of a robotic arm. Background Technology

[0002] With the development of science and technology, especially the rapid development of robotics, the application of robotic arms is becoming more and more widespread. Conventional robotic arms are equipped with control devices at the end of the robotic arm to grasp workpieces and reduce labor costs.

[0003] However, conventional robotic arm control devices can only perform gripping operations on workpieces of the same size, which is inconvenient to use, has low versatility, and cannot perform gripping operations on different types of workpieces. Different sizes of robotic arms need to be constantly replaced to pick up different types of workpieces, resulting in low work efficiency and wasting time and effort. Utility Model Content

[0004] To address the problem of inconvenience in handling different types of workpieces in existing technologies, this utility model provides a control device at the end of a robotic arm.

[0005] The present invention adopts the following technical solution.

[0006] This utility model discloses a control device at the end of a robotic arm. The control device is disposed at the end of the robotic arm and includes: a camera module, an adapter board, a servo terminal, and a gripper. Its characteristic is that...

[0007] The upper side of the adapter plate is connected to the robotic arm, and the lower side is connected to the servo terminal. The lower side of the servo terminal is connected to two grippers via a transmission. The side wall of the adapter plate is connected to the camera module.

[0008] The servo terminal includes: a slider, a housing, and a drive element. One side of the housing is connected to an adapter plate, and the other side is provided with a slide rail. Sliders are slidably provided at both ends of the slide rail. One side of the slider is connected to the drive element inside the housing, and the other side is connected to a gripper. The end of the gripper is provided with a limiting structure.

[0009] Preferably, the driving element includes: a threaded pin, a lead screw nut, and a lead screw, with lead screw nuts sleeved on both sides of the lead screw, the lead screw nuts being connected to a slider via the threaded pin, and the slider being connected to a gripper.

[0010] Preferably, the driving element further includes a power component, one side of which is connected to the inner wall of the housing and the output end is connected to a lead screw.

[0011] Preferably, the camera module includes: a camera connecting piece, a light source connecting piece, and a light source component, wherein the lower side of the camera connecting piece is fixedly connected to the light source connecting piece, and the lower side of the light source connecting piece is connected to the light source component.

[0012] Preferably, the camera module further includes: a camera and a camera fixing block, wherein one side of the camera fixing block is connected to the camera and the other side is connected to the camera connecting piece, and the light source connecting piece drives the light source component to be sleeved on the lower part of the camera.

[0013] Preferably, the limiting structure includes a guide angle and a limiting protrusion, wherein the guide angle is disposed at the end of the two grippers on opposite sides and the limiting protrusion is provided on the side near the housing.

[0014] Preferably, a clamping groove is provided between the guide bevel and the limiting protrusion.

[0015] Preferably, the upper side of the adapter plate is connected to the robotic arm via an upper positioning pin, and the lower side is connected to the servo terminal via multiple lower positioning pins.

[0016] Preferably, the upper positioning pin and the lower positioning pin are alternately arranged on the adapter plate.

[0017] Preferably, the robotic arm, camera module, and servo terminal are all connected to the controller.

[0018] The beneficial effect of this utility model is that, compared with the prior art,

[0019] This invention uses a camera module to photograph and sample workpieces, which are then uploaded to a controller. The controller analyzes the workpiece photos to determine the workpiece type, enabling the servo terminal to adjust the gripper spacing according to the workpiece type. This allows for precise gripping of specific workpiece types, improving versatility and operational efficiency. It enables continuous handling of workpieces of different sizes and specifications, making it more convenient to use. It also enhances the flexibility and compatibility of the robotic arm, giving the control device of the robotic arm adaptive capabilities. Furthermore, the limiting structure at the end of the gripper limits and fixes the workpiece, preventing it from falling during movement. Attached Figure Description

[0020] Figure 1 This is a structural diagram of the robotic arm of this utility model;

[0021] Figure 2 yes Figure 1 Enlarged view of A in the middle;

[0022] Figure 3 This is a structural diagram of the control device of this utility model;

[0023] Figure 4 This is an exploded view of the control device of this utility model;

[0024] Figure 5 This is an exploded view of the camera module of this utility model;

[0025] Figure 6 This is a structural diagram of the camera module of this utility model;

[0026] Figure 7 This is the first structural diagram of the gripper of this utility model;

[0027] Figure 8 yes Figure 7 Enlarged view of B in the middle;

[0028] Figure 9 This is a second structural diagram of the gripper of this utility model;

[0029] Figure 10 This is the third structural diagram of the gripper of this utility model;

[0030] Figure 11 This is a structural diagram of the servo terminal of this utility model;

[0031] Figure 12 This is a structural diagram of the driving element of this utility model;

[0032] Figure 13 This is an exploded view of the driving element of this utility model;

[0033] In the diagram: 1. Robotic arm; 2. Control device; 3. Camera module; 4. Upper positioning pin; 5. Adapter plate; 6. Lower positioning pin; 7. Servo terminal; 8. Camera; 9. Camera fixing block; 101. Camera connecting piece; 102. Light source connecting piece; 11. Light source component; 12. Gripper; 13. Limiting structure; 131. Guide angle; 132. Limiting protrusion; 133. Clamping groove; 14. Guide angle; 15. Clamping groove; 16. Slide rail; 17. Slider; 18. Housing; 19. Communication interface; 20. Threaded pin; 21. Lead screw nut; 22. Lead screw. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. The embodiments described in this application are merely some embodiments of this utility model, not all embodiments. Based on the spirit of this utility model, other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this utility model.

[0035] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0036] like Figures 1-12 As shown, this utility model discloses a control device at the end of a robotic arm. The control device is installed at the end of the robotic arm 1 and enables the picking and placing of workpieces of different sizes and specifications.

[0037] like Figure 1 As shown, the control device includes: camera module 3, adapter plate 5, servo terminal 7 and gripper 12. The upper side of the adapter plate 5 is connected to the end of the robotic arm 1, and the lower side is connected to the upper wall of the servo terminal 7. The lower side of the servo terminal 7 is connected to the two grippers 12 via a transmission. The side wall of the adapter plate 5 is connected to the camera module 3.

[0038] The robotic arm 1, camera module 3, and servo terminal 7 are all connected to the controller. The controller moves the robotic arm 1 to the workpiece position, takes pictures of the workpiece through the camera module 3 and uploads them to the controller. The controller analyzes the workpiece pictures to determine the workpiece type, and then manipulates the servo terminal 7 to adjust the distance between the grippers 12 to achieve precise gripping for different workpiece types.

[0039] like Figure 3 and Figure 4 As shown, the upper side of the adapter plate 5 is connected to the robotic arm 1 via an upper positioning pin 4, and the lower side is connected to the servo terminal 7 via multiple lower positioning pins 6. The upper positioning pins 4 and lower positioning pins 6 are staggered on the adapter plate 5.

[0040] like Figure 5 and Figure 6 As shown, the camera module 3 includes: a camera 8, a camera fixing block 9, a camera connecting piece 101, a light source connecting piece 102, and a light source component 11. The lower side of the camera connecting piece 101 is fixedly connected to the light source connecting piece 102, and the lower side of the light source connecting piece 102 is connected to the light source component 11. One side of the camera fixing block 9 is connected to the upper part of the camera 8, and the other side is connected to the upper part of the camera connecting piece 101, so that the light source connecting piece 102 drives the light source component 11 to be fitted onto the lower part of the camera 8. The light source component 11 illuminates the workpiece, which facilitates the camera 8 to take pictures and samples of the workpiece, avoiding unclear pictures due to light and the inability to accurately identify the type of workpiece.

[0041] like Figures 9-13As shown, the servo terminal 7 includes: a slider 17, a housing 18, a communication interface 19, and a driving element. One side of the housing 18 is connected to the adapter plate 5 via an upper positioning pin 4, and the other side is provided with a slide rail 16. Slider 17 is slidably mounted on both sides of the slide rail 16. One side of the slider 17 is connected to the driving element inside the housing 18, and the other side is connected to the gripper 12. The distance between the two grippers 12 is controlled by the driving element, thereby achieving precise gripping for different workpiece types. At the same time, a communication interface 19 is provided on the side wall of the housing 18 for connecting with other devices.

[0042] like Figure 12 and Figure 13 As shown, the driving element includes: a threaded pin 20, a lead screw nut 21, a lead screw 22, and a power component. The lead screw 22 is a bidirectional threaded lead screw, with lead screw nuts 21 sleeved on both sides of the lead screw 22. The two lead screw nuts 21 are connected to one side of the slider 17 respectively through the threaded pin 20, and the other side of the slider 17 is connected to the gripper 12. One end of the lead screw 22 is connected to the power component, which is set on the inner wall of the housing 18. The power component drives the lead screw 22 to rotate forward or backward, driving the lead screw nuts 21 to move the two sliders 17 along the slide rail 16, so that the two grippers 12 move closer or further apart. This allows the spacing between the grippers 12 to be adjusted according to different workpiece types, enabling the grippers 12 to accurately grasp the workpiece, improving versatility and work efficiency.

[0043] like Figure 7 and Figure 8 As shown, a limiting structure 13 is provided on the opposite side of the gripper 12 away from the housing 18. The limiting structure 13 includes: a guide angle 131, a limiting protrusion 132, and a clamping groove 133. The guide angle 131 is located at the end of the two grippers 12 away from the housing 18 on the opposite side. The limiting protrusion 132 is provided on the side of the guide angle 131 close to the housing 18. A clamping groove 133 is provided between the guide angle 131 and the limiting protrusion 132. The guide angle 131 allows the workpiece to slide into the clamping groove 133 better and thus limit and fix it, preventing the workpiece from falling during movement and improving the movement stability.

[0044] The controller analyzes the workpiece photo and determines the workpiece type. This can be achieved by recognizing key features of the workpiece, QR codes, barcodes, or text information. The controller analyzes and compares the workpiece photo and internal photo information to determine the workpiece type. Then, the controller controls the operation of the servo terminal 7 according to the workpiece type, so that the servo terminal 7 adjusts the distance between the grippers 12 according to the workpiece type to achieve precise gripping of the workpiece.

[0045] The working principle of this utility model is as follows: The controller controls the robotic arm 1 to move above the workpiece, the light source 11 illuminates the workpiece, the camera 8 takes pictures of the workpiece and uploads them to the controller, the controller analyzes and determines the type of workpiece, and the controller activates the drive element in the servo terminal 7 according to the identified workpiece type, so that the slider 17 drives the gripper 12 to move closer or further away. The drive element precisely controls the distance between the two grippers 12, thereby achieving precise gripping for different types of workpieces.

[0046] Preferably, but not limitingly, the controller can be equipped with host computer software to work with the PLC to control the camera, servo drive terminal, and robotic arm.

[0047] Preferably, but not limitingly, the camera 8 may be a large-field-of-view, high-resolution industrial camera or a 3D camera.

[0048] The beneficial effect of this utility model is that, compared with the prior art,

[0049] This invention uses a camera module to photograph and sample workpieces, which are then uploaded to a controller. The controller analyzes the workpiece photos to determine the workpiece type, enabling the servo terminal to adjust the gripper spacing according to the workpiece type. This allows for precise gripping of specific workpiece types, improving versatility and operational efficiency. It enables continuous handling of workpieces of different sizes and specifications, making it more convenient to use. It also enhances the flexibility and compatibility of the robotic arm, giving the control device of the robotic arm adaptive capabilities. Furthermore, the limiting structure at the end of the gripper limits and fixes the workpiece, preventing it from falling during movement.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of this utility model. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this utility model should be covered within the protection scope of the claims of this utility model.

Claims

1. A control device for the end effector of a robotic arm, the control device being disposed at the end effector of a robotic arm (1), comprising: The camera module (3), adapter board (5), servo terminal (7), and gripper (12) are characterized in that, The upper side of the adapter plate (5) is connected to the robotic arm (1), and the lower side is connected to the servo terminal (7). The lower side of the servo terminal (7) is connected to the two grippers (12) via a transmission. The side wall of the adapter plate (5) is connected to the camera module (3). The servo terminal (7) includes a slider (17), a housing (18) and a driving element. One side of the housing (18) is connected to the adapter plate (5), and the other side is provided with a slide rail (16). The slider (17) is slidably provided at both ends of the slide rail (16). One side of the slider (17) is connected to the driving element inside the housing (18), and the other side is connected to the gripper (12). The end of the gripper (12) is provided with a limiting structure (13).

2. The control device for the end effector of a robotic arm according to claim 1, characterized in that: The driving element includes: a threaded pin (20), a lead screw nut (21) and a lead screw (22). The lead screw (22) is fitted with lead screw nuts (21) on both sides. The lead screw nuts (21) are connected to the slider (17) through the threaded pin (20). The slider (17) is connected to the gripper (12).

3. The control device for the end effector of a robotic arm according to claim 2, characterized in that: The drive element further includes a power component, one side of which is connected to the inner wall of the housing (18) and the output end is connected to the lead screw (22).

4. The control device for the end effector of a robotic arm according to claim 1, characterized in that: The camera module (3) includes: a camera connecting piece (101), a light source connecting piece (102), and a light source component (11). The lower side of the camera connecting piece (101) is fixedly connected to the light source connecting piece (102), and the lower side of the light source connecting piece (102) is connected to the light source component (11).

5. The control device for the end effector of a robotic arm according to claim 4, characterized in that: The camera module (3) also includes a camera (8) and a camera fixing block (9). One side of the camera fixing block (9) is connected to the camera (8), and the other side is connected to the camera connecting piece (101). The light source connecting piece (102) drives the light source component (11) to be sleeved on the lower part of the camera (8).

6. The control device for the end effector of a robotic arm according to claim 1, characterized in that: The limiting structure (13) includes a guide angle (131) and a limiting protrusion (132). The guide angle (131) is located at the end of the two grippers (12) on opposite sides and the limiting protrusion (132) is located on the side near the housing (18).

7. The control device for the end effector of a robotic arm according to claim 6, characterized in that: A clamping groove (133) is provided between the guide angle (131) and the limiting protrusion (132).

8. The control device for the end effector of a robotic arm according to claim 1, characterized in that: The upper side of the adapter plate (5) is connected to the robotic arm (1) via an upper positioning pin (4), and the lower side is connected to the servo terminal (7) via multiple lower positioning pins (6).

9. A control device for the end effector of a robotic arm according to claim 8, characterized in that: The upper positioning pin (4) and the lower positioning pin (6) are staggered on the adapter plate (5).

10. A control device for the end effector of a robotic arm according to claim 1, characterized in that: The robotic arm (1), camera module (3), and servo terminal (7) are all connected to the controller.

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