CN112157675A

CN112157675A - Mechanical arm system

Info

Publication number: CN112157675A
Application number: CN202010961063.9A
Authority: CN
Inventors: 陈永胜; 李国辉; 崔嵬
Original assignee: Beijing Ruying Intelligent Technology Co ltd
Current assignee: Beijing Ruying Intelligent Technology Co ltd
Priority date: 2020-09-14
Filing date: 2020-09-14
Publication date: 2021-01-01

Abstract

The invention discloses a mechanical arm system which is used for realizing replacement of a clamping jaw. The mechanical arm system comprises: a distal clamping jaw portion and a mechanical arm portion; a distal jaw portion including a first coupling portion and a jaw; the first combining part is fixedly connected with the clamping jaw; the first combining part comprises at least one first magnetic piece and a first electric appliance interface; the mechanical arm part comprises a second joint part and a mechanical arm; the second combining part is fixedly connected with the mechanical arm; the second combining part comprises at least one second magnetic piece and a second electric appliance interface; when the tail end clamping claw part is combined with the mechanical arm part, the first magnetic part and the second magnetic part are attracted magnetically, and the first electrical appliance interface is connected with the second electrical appliance interface in an inserting mode.

Description

Mechanical arm system

Technical Field

The invention relates to the technical field of electronics and machinery, in particular to a mechanical arm system.

Background

With the development of artificial intelligence technology, the technology of robots and mechanical arms is rapidly developed. The mechanical arm can effectively simulate some actions of human beings so as to replace the human beings to complete some works. In order to make the robot arm capable of simulating human actions, the structure of the clamping jaw at the tail end of the robot arm can be various. This then relates to how the end jaws can be replaced easily and quickly.

Disclosure of Invention

The invention provides a mechanical arm system which is used for realizing replacement of a clamping jaw.

The present invention provides a robot arm system including: a distal clamping jaw portion and a mechanical arm portion;

a distal jaw portion including a first coupling portion and a jaw; the first combining part is fixedly connected with the clamping jaw;

the first combining part comprises at least one first magnetic piece and a first electric appliance interface;

the mechanical arm part comprises a second joint part and a mechanical arm; the second combining part is fixedly connected with the mechanical arm;

the second combining part comprises at least one second magnetic piece and a second electric appliance interface;

when the tail end clamping claw part is combined with the mechanical arm part, the first magnetic part and the second magnetic part are attracted magnetically, and the first electrical appliance interface is connected with the second electrical appliance interface in an inserting mode.

Optionally, the first combining part further comprises a positioning pin hole; the second combining part also comprises a positioning pin shaft;

when the tail end clamping claw part is combined with the mechanical arm part, the positioning pin hole is inserted into the positioning pin shaft.

Optionally, the robot arm system further comprises: a fixed seat;

the fixed seat is of a U-shaped structure; the fixed seat comprises a base and two guide brackets;

the middle area of the first combining part protrudes out of the two side areas; the first magnetic piece and the first electric appliance interface are positioned in the middle area;

the middle area of the second combining part protrudes out of the two side areas; the second magnetic part and the second electric appliance interface are positioned in the middle area;

when the middle area of the first combining part is attached to the middle area of the second combining part, the side area of the first combining part and the side area of the second combining part form a sliding groove; the sliding groove is matched with the guide bracket;

the mechanical arm part can drive the tail end clamping jaw part to move relative to the guide support.

Optionally, the side surface of the guide bracket is wedge-shaped, and the height of the tail end close to the guide bracket is higher than that of the front end; the height of the tail end of the guide support is higher than that of the sliding groove.

Optionally, the side section of the chute is wedge-shaped;

when the mechanical arm part drives the tail end clamping claw part to move, the end with the larger side section height of the sliding chute is preferentially close to the guide support or is finally far away from the guide support.

Optionally, the guide bracket has a guide groove in the extending direction, and the guide bracket further includes a roller located in the guide groove, and the roller is fixed in the guide groove through a roller pin.

Optionally, the substrate includes a stabilizing pin, and the stabilizing pin is a magnetic member.

Optionally, the first combining part further comprises: the first ball is close to the side edge of the first combining part; and/or

The second joint portion further includes: and the second ball is close to the side edge of the second combining part.

The technical scheme provided by the embodiment of the invention can have the following beneficial effects: this embodiment has realized convenient and fast's change terminal clamping jaw under the condition of no extra source power.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a block diagram of a robotic arm system in an embodiment of the present invention;

FIG. 2 is a schematic end view of a first coupling portion according to an embodiment of the present invention;

FIG. 3 is a schematic end view of a second coupling portion according to an embodiment of the present invention;

FIG. 4 is a structural view of an end jaw portion in an embodiment of the present invention;

FIG. 5 is a block diagram of a robot arm according to an embodiment of the present invention;

FIG. 6 is a block diagram of a robotic arm system in an embodiment of the present invention;

FIG. 7 is a structural view of a fixing base in an embodiment of the present invention;

FIG. 8 is a schematic view of a chute according to an embodiment of the present invention;

FIG. 9 is a block diagram of a robotic arm system in an embodiment of the present invention;

FIG. 10 is a schematic view of a mechanical arm portion engaged with a distal jaw portion in accordance with an embodiment of the present invention;

FIG. 11 is a schematic view of an embodiment of the present invention with the mechanical arm portion separated from the distal jaw portion;

fig. 12 is a schematic end view of the first coupling portion in the embodiment of the present invention.

Fig. 13 is a schematic end view of the second coupling portion in the embodiment of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

In the related art, the structure of the end gripper of the robot arm may be various. Possible solutions are pneumatic and electric. Pneumatic type: negative pressure is generated in the mechanical arm through an air compressor, and the mechanical arm is combined with the tail end clamping jaw; the tail clamping jaw can be released after the ventilation in the mechanical arm, so that the tail clamping jaw can be quickly replaced by the mechanical arm. Electric type: the mechanical arm and the tail end clamping jaw are combined and separated through the execution mechanism by independently supplying power through an external power supply, so that the aim of replacing the tail end clamping jaw is fulfilled. However, the power supply capacity of the power supply at the tail end of the mechanical arm is limited to a certain range, and only the power supply requirement for the use of the tail end clamping jaw can be met, and an air source interface is not reserved. Therefore, the related art techniques need to introduce additional devices such as a gas source, a gas supply pipeline, a power supply line, etc., which need to be externally fixed to the exterior of each joint of the robot arm, and may affect the motion range of the robot arm, the appearance of the robot arm, and the maintenance and cleaning of the robot arm.

For solving the above problem, the formula structure is inhaled to this embodiment adoption magnetism, can make the more convenient combination and the separation of arm and terminal clamping jaw.

Referring to fig. 1 to 3, the robot system in this embodiment includes: a tip grip part 11 and a mechanical arm part 21;

a tip jaw portion 11 including a first engaging portion 111 and a jaw 112; the first combining part 111 is fixedly connected with the clamping jaw 112;

the first coupling portion 111 includes at least one first magnetic member 1111 and a first electrical interface 1112;

the robot arm portion 21 includes a second joint 211 and a robot arm 212; the second joint 211 is fixedly connected with the mechanical arm 212;

the second coupling portion 211 includes at least one second magnetic member 2111 and a second appliance interface 2112;

when the end claw portion 11 is combined with the mechanical arm portion 21, the first magnetic component 1111 and the second magnetic component 2111 are magnetically attracted, and the first electrical interface 1112 is inserted into the second electrical interface 2112.

In the present embodiment, the distal end jaw portion 11 is a frequently replaced jaw portion, and the robot arm portion 21 is a main body portion of the robot arm system. The first coupling portion 111 is fixedly connected to the clamping jaw 112, and may be riveted or screwed, or may be detachably connected. The second coupling portion 211 is fixedly connected to the mechanical arm 212, and may be riveted, screwed, or the like, and may be detachably connected.

When the arm portion 21 approaches the distal end claw portion 11, the first coupling portion 111 and the second coupling portion 211 are magnetically attracted to each other, and the arm portion 21 and the distal end claw portion 11 are brought into contact with each other. By applying a small external force to the distal end jaw portion 11, the mechanical arm portion 21 can be separated from the distal end jaw portion 11. The replacement of the end jaw portion 11 is achieved.

The first magnetic component 1111 and the second magnetic component 2111 may be magnets, and if the first magnetic component 1111 is an S pole and the second magnetic component 2111 is an N pole, the attracting force is better. The first magnetic member 1111 and the second magnetic member 2111 may be magnets, and the other may be magnets, so that the attraction effect may be achieved.

As shown in fig. 4 to 6, each of the first magnetic member 1111 and the second magnetic member 2111 has 4 pieces, and the pieces are discretely disposed around the first coupling portion 111 and the second coupling portion 211 to provide a strong attracting force.

The first and

second appliance interfaces

1112, 2112 include a plurality of contacts for transmitting power and control signals. The first electrical interface 1112 and the second electrical interface 2112 have the same number of contacts and the same position. The number of contacts of the first electrical interface 1112 may be greater to accommodate multiple models of jaws 112. The number of contacts of the second appliance interface 2112 may be greater to accommodate multiple models of robotic arm 212.

In this embodiment, the first and

second coupling portions

111 and 211 may be made of a material such as hard plastic. The clamping jaw 112 may be made of metal material.

One jaw 112 jaw head 1121 pattern is shown in fig. 1, and the jaw head 1121 pattern may be varied.

Optionally, referring to fig. 4-6, the first coupling portion 111 further includes a dowel hole 1113; the second coupling portion 211 further includes a positioning pin 2113.

When the distal-end claw portion 11 is engaged with the mechanical arm portion 21, the positioning pin hole 1113 is inserted into the positioning pin 2113.

In this embodiment, the positioning pin hole 1113 is matched with the positioning pin 2113, so that the first combining portion 111 and the second combining portion 211 can be aligned and positioned better, and a reinforcing effect is achieved.

In this embodiment, the positioning pin hole 1113 and the positioning pin 2113 are 2 pairs, which can be aligned and positioned better.

Optionally, referring to fig. 7, the robot arm system further includes: a fixed seat 31;

the fixed seat 31 is of a U-shaped structure; the fixed seat 31 includes a base 311 and two guide brackets 312;

the middle region 1114 of the first bonding portion 111 protrudes from the two side regions 1115; the first magnetic member 1111 and the first electrical interface 1112 are located in the intermediate region 1114; see fig. 4;

the middle region 2114 of the second joining portion 211 protrudes from both side regions 2115; the second magnetic part 2111 and the second electrical interface 2112 are located in the middle region 2114; see fig. 5;

when the middle region 1114 of the first combining part 111 is attached to the middle region 2114 of the second combining part 211, the side region 1115 of the first combining part 111 and the side region 2115 of the second combining part 211 form a sliding groove 41; the chute 41 cooperates with the guide bracket 312; see fig. 8;

the mechanical arm portion 21 can move the distal-end jaw portion 11 relative to the guide holder 312.

In this embodiment, the outer side of the base 311 of the fixing base 31 is fixedly mounted on an external object, such as a wall. Referring to fig. 10, the distal clamping jaw portion 11 rests on the anchor block 31 when not in use, supported on the side areas 1115 by the guide brackets 312. When the end claw portion 11 needs to be used, the mechanical arm portion 21 moves below the fixed base 31, the second coupling portion 211 faces upward, and the mechanical arm portion aligns with the first coupling portion 111 and moves toward the first coupling portion 111. When the end claw portion 11 is moved to the position of the fixed seat 31, the upward movement is stopped, and then the end claw portion 11 is moved to the outside of the fixed seat 31, and the suction force is generated with the end claw portion 11, so that the end claw portion 11 is moved along the guide holder 312. After the distal-end jaw portion 11 is moved out of the guide holder 312, the mechanical arm portion 21 is completely engaged with the distal-end jaw portion 11, and the mechanical arm portion 21 is engaged with the distal-end jaw portion 11.

Referring to fig. 11, when it is necessary to release the terminal claw portion 11, the mechanical arm portion 21 drives the terminal claw portion 11 to move toward the fixed seat 31, the terminal claw portion 11 faces upward, the slide groove 41 is aligned with the guide holder 312, and moves toward the base 311 along the guide holder 312. When moved to the position of the base 311, the horizontal movement is stopped, and moved downward, being separated from the end claw portion 11.

In this embodiment, the combination and separation of the mechanical arm portion 21 and the terminal clamping jaw portion 11 can be automated in the whole process, the terminal clamping jaw portion 11 can be automatically replaced, the operation is convenient and fast, no human participation is required in the whole process, and no additional power source is required.

Alternatively, as shown in fig. 9, the sides of the guide bracket 312 are wedge-shaped, with a height h1 near the end of the guide bracket 312 being higher than the front end h 2; the height h1 of the end of the guide bracket 312 is higher than the height h3 of the slide groove 41.

In this embodiment, the height h1 of the tail end of the guide holder 312 is higher than the front end h2, so that the mechanical arm 21 and the tail end claw 11 are gradually separated in the process that the mechanical arm 21 drives the tail end claw 11 to slide into the guide holder 312, which also helps to smoothly slide in. And the mechanical arm part 21 can be gradually attached to the tail end clamping claw part 11 in the process that the mechanical arm part 21 drives the tail end clamping claw part 11 to slide out of the guide support 312, and smooth sliding out is also facilitated.

The height h1 of the end of the guiding support 312 is higher than the height h3 of the sliding slot 41, so that the mechanical arm 21 can be completely separated from the end claw part 11 when the mechanical arm 21 drives the end claw part 11 to completely slide into the guiding support 312.

Alternatively, as shown in fig. 9, the chute 41 has a wedge-shaped side cross-section.

When the mechanical arm part 21 drives the tail-end clamping claw part 11 to move, the end with the larger side section height of the sliding chute 41 is preferentially close to the guide support 312 or is finally far away from the guide support 312.

In this embodiment, the height of the side section of the sliding groove 41 is h3 at one end and h4 at the other end, and h3 is greater than h 4. h4 may be close to 0. When the mechanical arm 21 brings the distal-end claw portion 11 close to the guide holder 312, the end having the height h3 is preferentially brought into contact with the guide holder 312, which corresponds to the guide holder 312 sliding into the slide groove 41 from the end having the height h 3. Such a structure facilitates both sliding of the guide holder 312 into the slide groove 41 and gradual separation and attachment of the mechanical arm portion 21 from and to the distal-end jaw portion 11.

Alternatively, as shown in fig. 7, the guide bracket 312 has a guide groove 3121 in the extending direction, and the guide bracket 312 further includes a roller 3122 located in the guide groove 3121, and the roller 3122 is fixed in the guide groove 3121 by a roller pin 3123.

In this embodiment, the mechanical arm 21 drives the terminal clamping claw portion 11 to slide into or out of the guide bracket 312 more smoothly through the roller 3122.

Optionally, referring to fig. 7, the base 311 includes a stabilizer pin 3111, and the stabilizer pin 3111 is a magnetic member.

In this embodiment, the stabilizing pin 3111 may be a magnet, and a magnetic member with weak magnetism is selected. The stabilizing pin 3111 is cylindrical and is vertically inserted into the base 311 and is close to one side of the guide bracket 312. The upper end of the base 311 is higher than the guide holder 312, and when the mechanical arm 21 brings the end claw 11 to slide completely into the guide holder 312, the side edge of the base 311 contacts with the side surface of the first coupling portion 111 of the end claw 11. The first magnetic member 1111 of the first coupling portion 111 generates an attractive force with the stabilizing pin 3111, so that the stabilizing pin 3111 has a function of stabilizing the end grip portion 11. The stabilizing pin 3111 may be provided in plural, and may preferably stabilize the end claw portion 11.

In this embodiment, the periphery of the first combining portion 111 adopts a circular structure, and one side of the substrate 311 close to the guide bracket 312 can also be arc-shaped, so that when the first combining portion 111 contacts with the substrate 311, the first combining portion can be completely attached, and the stabilizing effect is better.

Optionally, as shown in fig. 12, the first coupling portion 111 further includes: a first ball 1116, which is adjacent to a side of the first coupling portion 111.

In this embodiment, the first ball 1116 is added at a position of the first combining portion 111 close to the edge, so that when the first combining portion 111 is separated from the second combining portion 211, a joint of the first combining portion 111 and the second combining portion 211 is close to an external sharp object, and friction can be reduced under the action of the first ball 1116, so that the external sharp object can be more conveniently inserted into the joint of the first combining portion 111 and the second combining portion 211, and the first combining portion 111 and the second combining portion 211 can be conveniently separated. The first rolling ball 1116 may be plural.

When the first coupling portion 111 has the side areas 1115, the first balls 1116 are located in the side areas 1115.

And/or, optionally, as shown in fig. 13, the second combining portion 211 further includes: and a second ball 2116 adjacent to a side of the second coupling portion 211.

In the embodiment, the second ball 2116 is added at the position of the second combining portion 211 close to the edge, so that when the first combining portion 111 is separated from the second combining portion 211, the combining position of the first combining portion 111 and the second combining portion 211 is close to a certain external sharp object, friction can be reduced under the action of the second ball 2116, the external sharp object can be more conveniently inserted into the combining position of the first combining portion 111 and the second combining portion 211, and the first combining portion 111 and the second combining portion 211 can be conveniently separated. There may be a plurality of second rolling balls 2116.

When the side region 2115 exists in the second joint portion 211, the second rolling ball 2116 is located in the side region 2115.

The above embodiments can be freely combined according to actual needs.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A robotic arm system, comprising: a distal clamping jaw portion and a mechanical arm portion;

2. The robotic arm system as set forth in claim 1 wherein the first joint further comprises a registration pin hole; the second combining part also comprises a positioning pin shaft;

3. The robotic arm system as set forth in claim 1 further comprising: a fixed seat;

4. The robot arm system of claim 3, wherein the guide bracket has wedge-shaped sides and a height closer to a distal end of the guide bracket is higher than a height closer to a front end of the guide bracket; the height of the tail end of the guide support is higher than that of the sliding groove.

5. The robot arm system of claim 4, wherein the chute is wedge-shaped in side cross-section;

6. The robot arm system of claim 3, wherein the guide bracket has a guide groove in the extending direction, the guide bracket further comprising a roller disposed in the guide groove, the roller being fixed in the guide groove by a roller pin.

7. The robot arm system of claim 3, wherein the base includes a stabilization pin, the stabilization pin being a magnetic member.

8. The robotic arm system as set forth in claim 1 wherein said first joint further comprises: the first ball is close to the side edge of the first combining part; and/or