CN112743522A

CN112743522A - Artificial intelligence robot arm extends and snatchs mechanism

Info

Publication number: CN112743522A
Application number: CN202110056793.9A
Authority: CN
Inventors: 杜根远; 许强; 李红亮
Original assignee: Xuchang University
Current assignee: Xuchang University
Priority date: 2021-01-15
Filing date: 2021-01-15
Publication date: 2021-05-04

Abstract

The invention discloses an artificial intelligent robot arm extending and grabbing mechanism which comprises a mechanical arm, a transfer box, a supporting plate, a rotating box, a driving box, a shell, a connecting shaft, a connecting disc and mounting holes, wherein the lower end of the mechanical arm is fixedly connected with the transfer box, the upper end of the mechanical arm is in contact connection with the supporting plate, the upper end of the supporting plate is fixedly connected with the rotating box, the driving box is rotatably connected inside the rotating box, the upper end of the driving box is fixedly connected with the shell, the right end of the transfer box is fixedly connected with the connecting shaft, the right end of the connecting shaft is fixedly connected with the connecting disc, the connecting disc is provided with the mounting holes, the number of the mounting holes is multiple, and the mounting holes are uniformly distributed on the connecting. The invention relates to an artificial intelligent robot arm extending and grabbing mechanism which has the characteristic of capability of extending and stably grabbing a mechanical arm.

Description

Artificial intelligence robot arm extends and snatchs mechanism

Technical Field

The invention belongs to the technical field of artificial intelligent robot arms, and particularly relates to an artificial intelligent robot arm extending and grabbing mechanism.

Background

An intelligent robot is called an intelligent robot because it has a well-developed "brain". Functioning in the brain is a central processor, which is in direct contact with the person operating it. Most importantly, such computers can perform purposely arranged actions. Because of this, it is said that such robots are real robots, and although their appearances may be different, with the development of the times, artificial intelligence robots are also often found in people's lives, and should be at most artificial intelligence robot arms now. However, the current robot arm has some problems: 1. the length of the arm is limited, so that the robot can only move when some far objects are grabbed, and the practicability is poor; 2. and most of robots grab the robot through the motor drive gear rotation control value gripper, lead to article to drop easily when grabbing heavier article like this. Therefore, it is necessary to design an artificial intelligence robot arm extending and grabbing mechanism.

The invention content is as follows:

the invention aims to solve the problems in the prior art by providing an artificial intelligent robot arm extending and grabbing mechanism.

In order to solve the above problems, the present invention provides a technical solution:

the utility model provides an artificial intelligence robot arm extends and snatchs mechanism, includes the arm, transfer box, backup pad, rotation case, drive box, casing, connecting axle, connection pad, mounting hole, the lower extreme fixedly connected with transfer box of arm, the upper end contact of arm is connected with the backup pad, the upper end fixedly connected with of backup pad rotates the case, the inside rotation of rotating the case is connected with the drive box, the upper end fixedly connected with casing of drive box, the right-hand member fixedly connected with connecting axle of transfer box, the right-hand member fixedly connected with connection pad of connecting axle, the mounting hole has been seted up on the connection pad, the quantity of mounting hole is a plurality of, and is a plurality of the mounting hole is in evenly distributed on the connection pad.

As preferred, the fixed cover in inside of arm has connect bearing one, the fixed cover in inside of bearing one has connect the minor axis, the upper end fixedly connected with screw thread section of thick bamboo of minor axis, there is screw rod one inside of screw thread section of thick bamboo through threaded connection, the upper end of screw rod one with backup pad fixed connection, the lower extreme fixedly connected with gag lever post of backup pad, the quantity of gag lever post is two, two the gag lever post is in the lower extreme symmetric distribution of backup pad, the inside fixedly connected with limiting plate of arm, the inboard of limiting plate with the outside sliding connection of gag lever post, the inboard of limiting plate with the outside sliding connection of screw rod one.

Preferably, a speed reducing motor is fixedly connected inside the transfer box, and an output shaft of the speed reducing motor is connected with the short shaft through a bolt.

As preferred, the fixed bearing two that has cup jointed in inside of rotating the case, the fixed axle that has cup jointed in inside of bearing two, the upper end of fixed axle with the lower extreme fixed connection of drive case, the annular has been seted up in the outside of drive case, the inside of rotating the case has the spacing screw through threaded connection, the quantity of spacing screw is two, two the spacing screw is in the outside symmetric distribution of rotating the case, two the outside of spacing screw all with the inboard sliding connection of annular, the lower extreme fixedly connected with bevel gear circle of drive case, the self-locking motor of two symmetric distributions of inside fixedly connected with of rotating the case, every the equal fixedly connected with bevel gear of end of self-locking motor's output shaft, bevel gear one with the bevel gear circle meshing.

As preferred, the inside fixedly connected with servo motor of drive case, the terminal fixedly connected with bevel gear two of servo motor's output shaft, the fixed bearing three that has cup jointed in inside of drive case, the fixed lead screw two that has cup jointed in inside of bearing three, the fixed uide bushing that has cup jointed in inside of casing, the inside sliding connection of uide bushing has a telescopic cylinder, the fixed thread bushing that has cup jointed in inside of telescopic cylinder, the inboard of thread bushing with threaded connection is passed through in the outside of lead screw two, the articulated seat of upper end fixedly connected with of telescopic cylinder, the outside of articulated seat articulates there is the hinge bar of two symmetric distributions, the articulated shaft of two symmetric distributions of inside fixedly connected with of casing, every the outside of articulated shaft all rotates and is connected with the clamping jaw.

Preferably, a third bevel gear is fixedly connected to the outer side of the second lead screw, and the third bevel gear is meshed with the second bevel gear.

Preferably, the hinge rod is hinged to the clamping jaw, and the clamping block is fixedly connected to the inner side of the clamping jaw.

Preferably, a non-slip mat is bonded on the inner side of the clamping block, and the non-slip mat is made of a rubber material.

The invention has the beneficial effects that: the invention relates to an artificial intelligent robot arm extending and grabbing mechanism which has the characteristic of stably extending and grabbing a mechanical arm, and has the following two beneficial effects compared with the traditional artificial intelligent robot arm extending and grabbing mechanism in specific use:

firstly, by additionally arranging a threaded cylinder, a first lead screw, a limiting rod and other structures in the mechanical arm, when the mechanical arm needs to claw an article with a longer distance, the first lead screw can be driven by the threaded cylinder to extend out a clamping claw, so that a moving device can be prevented from grabbing the mechanical arm, and the practicability of the mechanical arm is improved;

secondly, through adding the structures such as establishing telescopic cylinder, articulated seat and lead screw in that the casing is inside, the lead screw two-pass is through telescopic cylinder drive articulated seat and is removed, and articulated seat drives the clamping claw through the hinge bar in the outside and snatchs, and when snatching the completion back, servo motor stop work fixes its clamping claw through the screw thread self-locking effect between lead screw two and the thread bush to can avoid droing because of article overweight results in.

Description of the drawings:

for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a right side view of FIG. 1 of the present invention;

FIG. 3 is a cross-sectional view of the housing of FIG. 1 of the present invention;

FIG. 4 is an enlarged view of the portion A of FIG. 1 according to the present invention;

FIG. 5 is an enlarged view of the portion B of FIG. 1 according to the present invention;

FIG. 6 is an enlarged view of the structure of the portion C of FIG. 3 according to the present invention;

fig. 7 is an enlarged view of the structure of the portion D in fig. 3 according to the present invention.

In the figure: 1. a mechanical arm; 2. a transfer box; 3. a support plate; 4. a rotating box; 5. a drive box; 6. a housing; 7. a connecting shaft; 8. a connecting disc; 9. mounting holes; 21. a first bearing; 22. a minor axis; 23. a threaded barrel; 24. a first lead screw; 25. a limiting rod; 26. a limiting plate; 27. a reduction motor; 41. a second bearing; 42. a fixed shaft; 43. a ring groove; 44. a screw; 45. a bevel gear ring; 46. a self-locking motor; 47. a first bevel gear; 51. a servo motor; 52. a second bevel gear; 53. a third bearing; 54. a third bevel gear; 55. a guide sleeve; 56. a telescopic cylinder; 57. a threaded sleeve; 58. a second screw rod; 61. a hinged seat; 62. a hinged lever; 63. hinging a shaft; 64. installing a clamping jaw; 65. installing a clamping block; 66. a non-slip mat.

The specific implementation mode is as follows:

as shown in fig. 1 to 7, the following technical solutions are adopted in the present embodiment:

example (b):

the utility model provides an artificial intelligence robot arm extends and snatchs mechanism, includes arm 1, transfer case 2, backup pad 3, rotates case 4, drive box 5, casing 6, connecting axle 7, connection pad 8, mounting hole 9, the lower extreme fixedly connected with transfer case 2 of arm 1, the upper end contact of arm 1 is connected with backup pad 3, the upper end fixedly connected with of backup pad 3 rotates case 4, the inside rotation that rotates case 4 is connected with drive box 5, the upper end fixedly connected with casing 6 of drive box 5, the right-hand member fixedly connected with connecting axle 7 of transfer case 2, the right-hand member fixedly connected with connection pad 8 of connecting axle 7, mounting hole 9 has been seted up on the connection pad 8, the quantity of mounting hole 9 is a plurality ofly, and is a plurality of mounting hole 9 is in evenly distributed on the connection pad 8.

Wherein, the fixed cover in inside of arm 1 has connect bearing 21, the fixed minor axis 22 that has cup jointed in inside of bearing 21, the upper end fixedly connected with screw thread section of thick bamboo 23 of minor axis 22, there is a lead screw 24 inside of screw thread section of thick bamboo 23 through threaded connection, the upper end of lead screw 24 with 3 fixed connection of backup pad, the lower extreme fixedly connected with gag lever post 25 of backup pad 3, the quantity of gag lever post 25 is two, two the gag lever post 25 is in the lower extreme symmetric distribution of backup pad 3, the inside fixedly connected with limiting plate 26 of arm 1, the inboard of limiting plate 26 with the outside sliding connection of gag lever post 25, the inboard of limiting plate 26 with the outside sliding connection of lead screw 24, gag lever post 25 can carry on spacingly to the rotation of lead screw 24.

The inside fixedly connected with gear motor 27 of adaptor box 2, the output shaft of gear motor 27 with stub 22 passes through bolted connection, gear motor 27's model is 51K60GU-CF, belongs to prior art.

Wherein, the inside of rotating case 4 is fixed to be cup jointed with bearing two 41, the inside fixed cover of bearing two 41 has connect fixed axle 42, the upper end of fixed axle 42 with the lower extreme fixed connection of drive case 5, annular 43 has been seted up in the outside of drive case 5, the inside of rotating case 4 has stop screw 44 through threaded connection, the quantity of stop screw 44 is two, two stop screw 44 is in the outside symmetric distribution of rotating case 4, two the outside of stop screw 44 all with the inboard sliding connection of annular 43, the lower extreme fixedly connected with bevel gear circle 45 of drive case 5, the inside fixedly connected with two symmetric distribution of self-locking motor 46 of rotating case 4, every the equal fixedly connected with bevel gear 47 of the end of self-locking motor 46's output shaft, bevel gear 47 with bevel gear circle 45 meshes, the limit screw 44 is matched with the annular groove 43, so that the shearing force borne by the second bearing 41 can be reduced.

Wherein, the inside of the driving box 5 is fixedly connected with a servo motor 51, the tail end of the output shaft of the servo motor 51 is fixedly connected with a bevel gear II 52, the inside of the driving box 5 is fixedly sleeved with a bearing III 53, the inside of the bearing III 53 is fixedly sleeved with a lead screw II 58, the inside of the shell 6 is fixedly sleeved with a guide sleeve 55, the inside of the guide sleeve 55 is slidably connected with a telescopic cylinder 56, the inside of the telescopic cylinder 56 is fixedly sleeved with a threaded sleeve 57, the inner side of the threaded sleeve 57 is connected with the outer side of the lead screw II 58 through threads, the upper end of the telescopic cylinder 56 is fixedly connected with a hinge base 61, the outer side of the hinge base 61 is hinged with two hinge rods 62 which are symmetrically distributed, the inside of the shell 6 is fixedly connected with two hinge shafts 63 which are symmetrically distributed, and the outer side of each hinge shaft 63 is rotatably connected, through the self-locking of the threads between the second lead screw 58 and the threaded sleeve 57, the articles can be prevented from falling off after clamping.

The outer side of the second screw 58 is fixedly connected with a third bevel gear 54, the third bevel gear 54 is meshed with the second bevel gear 52, and the servo motor 51 can drive the third bevel gear 54 to rotate through the second bevel gear 52.

The hinged rod 62 is hinged to the clamping jaw 64, a clamping block 65 is fixedly connected to the inner side of the clamping jaw 64, and the clamping block 65 can increase the contact area with an object, so that clamping is firmer.

The anti-slip pad 66 is adhered to the inner side of the clamping block 65, the anti-slip pad 66 is made of rubber materials, and the anti-slip pad 66 can increase the friction force between the clamping block 65 and an object.

The using state of the invention is as follows: when the mechanical arm is used, the speed reducing motor 27 drives the thread cylinder 23 to rotate through the short shaft 22, the thread cylinder 23 ejects the support plate 3 and the shell 6 through the first lead screw 24, so that the mechanical arm 1 can extend, the speed reducing motor 27 stops rotating after contacting an article, then the servo motor 51 is started, the servo motor 51 drives the second bevel gear 52 to rotate, the second bevel gear 52 drives the second lead screw 58 to rotate through the third bevel gear 54, the second lead screw 58 drives the telescopic cylinder 56 to move through the thread sleeve 57, the telescopic cylinder 56 drives the hinge rod 62 to move in the moving process, the hinge rod 62 drives the clamping jaw 64 through the hinge shaft 63 to clamp the article, after clamping, the speed reducing motor 27 withdraws the article through the thread cylinder 23, during recycling, the first bevel gear 47 can be driven to rotate through the self-locking motor 46, and the first bevel gear 47 drives the drive box 5 to rotate through the bevel gear ring 45, the driving case 5 can turn the article while rotating.

Claims

1. The utility model provides an artificial intelligence robot arm extends and snatchs mechanism, includes arm (1), transfer box (2), backup pad (3), rotates case (4), drive box (5), casing (6), connecting axle (7), connection pad (8), mounting hole (9), its characterized in that: the lower extreme fixedly connected with keysets (2) of arm (1), the upper end contact of arm (1) is connected with backup pad (3), the upper end fixedly connected with of backup pad (3) rotates case (4), the inside of rotating case (4) is rotated and is connected with drive case (5), the upper end fixedly connected with casing (6) of drive case (5), the right-hand member fixedly connected with connecting axle (7) of keysets (2), the right-hand member fixedly connected with connection pad (8) of connecting axle (7), mounting hole (9) have been seted up on connection pad (8), the quantity of mounting hole (9) is a plurality of, and is a plurality of mounting hole (9) are in evenly distributed on connection pad (8).

2. The artificial intelligence robot arm of claim 1 extends and grabs mechanism, its characterized in that: a first bearing (21) is fixedly sleeved in the mechanical arm (1), a short shaft (22) is fixedly sleeved in the first bearing (21), the upper end of the short shaft (22) is fixedly connected with a threaded cylinder (23), the interior of the threaded cylinder (23) is connected with a first screw rod (24) through threads, the upper end of the first lead screw (24) is fixedly connected with the supporting plate (3), the lower end of the supporting plate (3) is fixedly connected with a limiting rod (25), the number of the limiting rods (25) is two, the two limiting rods (25) are symmetrically distributed at the lower end of the supporting plate (3), a limiting plate (26) is fixedly connected inside the mechanical arm (1), the inner side of the limiting plate (26) is connected with the outer side of the limiting rod (25) in a sliding manner, the inner side of the limiting plate (26) is in sliding connection with the outer side of the first lead screw (24).

3. The artificial intelligence robot arm of claim 2 extends and grabs mechanism, its characterized in that: the interior fixedly connected with gear motor (27) of adaptor box (2), the output shaft of gear motor (27) with minor axis (22) pass through bolted connection.

4. The artificial intelligence robot arm of claim 1 extends and grabs mechanism, its characterized in that: the fixed bearing two (41) that has cup jointed of inside of rotating case (4), fixed axle (42) has been cup jointed to the fixed inside of bearing two (41), the upper end of fixed axle (42) with the lower extreme fixed connection of drive case (5), annular (43) have been seted up in the outside of drive case (5), the inside of rotating case (4) has stop screw (44) through threaded connection, the quantity of stop screw (44) is two, two stop screw (44) are in the outside symmetric distribution of rotating case (4), two the outside of stop screw (44) all with the inboard sliding connection of annular (43), the lower extreme fixedly connected with bevel gear circle (45) of drive case (5), the inside fixedly connected with two symmetric distribution's of rotating case (4) self-locking motor (46), every the terminal all fixedly connected with bevel gear (47) of the output shaft of self-locking motor (46), the bevel gear I (47) is meshed with the bevel gear ring (45).

5. The artificial intelligence robot arm of claim 1 extends and grabs mechanism, its characterized in that: the inner part of the driving box (5) is fixedly connected with a servo motor (51), the tail end of an output shaft of the servo motor (51) is fixedly connected with a bevel gear II (52), the inner part of the driving box (5) is fixedly sleeved with a bearing III (53), the inner part of the bearing III (53) is fixedly sleeved with a lead screw II (58), the inner part of the shell (6) is fixedly sleeved with a guide sleeve (55), the inner part of the guide sleeve (55) is slidably connected with a telescopic cylinder (56), the inner part of the telescopic cylinder (56) is fixedly sleeved with a threaded sleeve (57), the inner side of the threaded sleeve (57) is in threaded connection with the outer side of the lead screw II (58), the upper end of the telescopic cylinder (56) is fixedly connected with a hinged seat (61), the outer side of the hinged seat (61) is hinged with two symmetrically distributed hinged rods (62), the inner part of the shell (6) is fixedly connected with two symmetrically distributed hinged shafts (63, the outer side of each hinge shaft (63) is rotatably connected with a clamping jaw (64).

6. The artificial intelligence robot arm of claim 5 extends and grabs mechanism, characterized by: a bevel gear III (54) is fixedly connected to the outer side of the screw rod II (58), and the bevel gear III (54) is meshed with the bevel gear II (52).

7. The artificial intelligence robot arm of claim 5 extends and grabs mechanism, characterized by: the hinged rod (62) is hinged to the clamping jaw (64), and a clamping block (65) is fixedly connected to the inner side of the clamping jaw (64).

8. The artificial intelligence robot arm of claim 7 extends and grabs mechanism, characterized by: and the inner side of the clamping block (65) is bonded with a non-slip pad (66), and the non-slip pad (66) is made of rubber materials.