CN114043518A

CN114043518A - Mechanical arm assembly with gripping capability detection function

Info

Publication number: CN114043518A
Application number: CN202111355459.XA
Authority: CN
Inventors: 王国荣
Original assignee: Nantong Maoye Electronic Technology Co ltd
Current assignee: Nantong Maoye Electronic Technology Co ltd
Priority date: 2021-11-16
Filing date: 2021-11-16
Publication date: 2022-02-15
Anticipated expiration: 2041-11-16
Also published as: CN114043518B

Abstract

The invention discloses a mechanical arm assembly with gripping capability detection, which comprises a main body, a supporting plate, a detection block, a protector and a buffer, wherein the supporting plate is installed on the front surface of the main body, the detection block is installed on the front surface of a fixing groove, the protector is installed on the outer wall of the main body, the buffer is installed on the outer wall of the protector, and a damp-proof plate is installed on the inner wall of the main body. The clamping force can be detected by installing the detection blocks, an object is placed between the detection blocks, the electric telescopic rod extends to drive the detection blocks to be close to each other, the object is clamped by the detection blocks, the detection column is extruded by the object during clamping, the detection column drives the first spring to be shortened, the detection column drives the conductive rod to move on the detection resistor, the clamping force between the detection blocks can be converted through the change of current through the change of the detection resistor, and a signal can be transmitted to a related device through the signal transmitter at the top of the partition plate, so that the clamping force is controlled.

Description

Mechanical arm assembly with gripping capability detection function

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm assembly with a gripping capability detection function.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operating flexibility, has obtained extensive application in fields such as industrial assembly, safe explosion-proof, and the transport robot is experienced research and development and application and is examined, and the product is constantly perfect and technological innovation, and is mature reliable, 2, the price ratio of excellence: realizing large-scale batch production, optimizing cost control, having market competitiveness of product price, 3, fast personalized customization: professional technical teams can customize automatic solutions according to different products and technological requirements of users, 4, universality is strong: the universal design of the carrying robot not only meets the automatic production of small-variety large-batch workpieces, but also is suitable for the application requirement of multiple-variety small-batch workpieces, 5, ultralow maintenance cost: the carrying robot product is highly packaged and integrated, has few fault points, does not need professional maintenance and has extremely low maintenance cost.

The defects of the existing mechanical arm are as follows:

1. patent document CN110625606A discloses a robot arm, claim of protection "for transferring workpieces, comprising: a body portion rotatably disposed about a predetermined axis, the body portion having a first operative position and a second operative position; a fixing portion mounted on the main body portion, the fixing portion being for cooperating with the workpiece to fix the workpiece on the main body portion; the limiting part comprises a first limiting piece and a second limiting piece, the first limiting piece is arranged on the main body part, and the second limiting piece and the main body part are arranged at intervals; when the main body part is located at the first working position, the first limiting piece is matched with the second limiting piece so as to limit the main body part at the first working position; or when the main body part is at the second working position, the first limiting piece is matched with the second limiting piece to limit the main body part at the second working position. The mechanical arm solves the problem that the mechanical arm in the prior art is inaccurate in control of the rotation angle of the workpiece, but the device is lack of a clamping force detection structure, the clamping force cannot be known, and the object is easy to damage;

2. patent document CN107877501A discloses a robot arm, the claim of protection "mechanical part and control part; the mechanical part includes: a mechanical forearm structure, a mechanical wrist structure, a mechanical palm structure, and a mechanical finger structure; the mechanical front arm structure is rotationally connected with the mechanical wrist structure, the mechanical palm structure is rotationally connected with the mechanical wrist structure, the mechanical finger structure comprises five finger units which are sequentially arranged on the mechanical palm structure, each finger unit is correspondingly connected with one finger driving unit, and the finger driving units drive the corresponding finger units to stretch and bend through finger linkage pieces; the control section includes: brain wave detection means, sensor detection means, and a controller; the intelligent grabbing is completed by collecting the brain waves of the user, the whole process is more intelligent, simple and convenient, the intelligent grabbing is completed without professionals, the application range is wide, the use is very convenient, but the device is lack of an anti-skid structure and is not firm enough in clamping;

3. patent document CN111093909A discloses a robot arm, claim "having one or more variable stiffness joints that can be controlled by a first bi-directional actuator and a second bi-directional actuator that can be operated independently. Each bi-directional actuator may be operable in a first configuration to urge the joint in a first direction and in a second configuration to urge the joint in a second direction opposite the first direction. The bi-directional actuators may be operated in a mated mode (high torque mode) in which the bi-directional actuators work in tandem (i.e., are both in the first configuration or the second configuration) to double the available torque output. The bi-directional actuators may also (or alternatively) be operated in a high stiffness mode (antagonistic mode) in which the bi-directional actuators resist each other by operating such that they react against each other (i.e. one bi-directional actuator is in the first configuration and the other bi-directional actuator is in the second configuration). The high torque mode may be used for the initial portion of the motion profile, while the opponent mode may be used for the final portion of the motion profile. The relatively high stiffness in the high stiffness/oppositional mode is caused by the combined effect of the non-linear force-deflection relationship of the first and second elastic members. The elastic members may each comprise an elastic element, tendon or other elastic member that may be stretched (elongated) to increase the tension therein to urge articulation, "but whose device lacks a protective structure such that the mechanical arm cannot be protected from external impacts;

4. patent document CN110536779A discloses a robot arm, claim "in one example, a hand control is located on the robot arm and provides translational and/or rotational control of an actuator, which may for example rotate in unison. In another example, hand controls on the robotic arm are also provided at the end effector, which can control actuators in the robotic arm, for example, in a manner that causes the actuators to rotate together or conversely in unison. In another example, hand controls on a robotic arm located between the actuators control the upstream and downstream actuators in different control strategies. In the master-slave robot example, the actuators in the master robot control the actuators in the slave robot, and the actuators may be set at an angle and arranged to remain in a normal operating position when unpowered. Non-back drive capability is also provided by providing sufficient friction between the stator and rotor in the actuator of the robotic arm. In Scara robots, the fixed part of the base is fixed to the floor and the mobile end is supported by bearing elements ", but the device lacks a protective structure for the cables, the cables inside the robot arm are numerous, and the cables are an important part of the robot arm operation and need to be protected.

Disclosure of Invention

The invention aims to provide a mechanical arm assembly with gripping capability detection, so as to solve the problems of lack of clamping force detection, lack of anti-skidding structure, lack of protective structure and lack of cable protection function in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: the mechanical arm assembly with the gripping capability detection function comprises a main body, a supporting plate, a detection block, a protector and a buffer, wherein the supporting plate is installed on the front surface of the main body, a fixing groove is installed on the front surface of the supporting plate, and the detection block is installed on the front surface of the fixing groove;

the inner wall of the detection block is provided with a partition plate, the top of the partition plate is provided with a signal emitter, the bottom of the partition plate is provided with two groups of detection columns, the ground bottoms of the detection columns extend out of the bottom of the detection block, and the outer walls of the detection columns are provided with first springs in a surrounding manner;

the protector is installed to the outer wall of main part, the buffer is installed to the outer wall of protector, the fixed axle is installed to the inside diapire of main part, dampproofing board is installed to the inner wall of main part.

Preferably, the outer wall of detection post installs the conducting rod, the inside diapire of detecting the piece installs detection resistance, the inner wall of detecting the piece installs the reservoir bag, the bottom of detecting the piece installs the non slipping spur, the outer wall of non slipping spur is equipped with the pore, and pore and reservoir bag pass through the pipe connection.

Preferably, the inner wall of the main body is provided with a fan.

Preferably, electric telescopic handle is installed to the inner wall of fixed slot, and the connecting rod is installed to electric telescopic handle's one end, and the top of connecting rod extends the top of fixed slot, and the top of connecting rod is connected with the bottom of detecting the piece.

Preferably, the compression air bag is installed to the inner wall of protector, and the breathing pipe is all installed to compression air bag's both sides outer wall, and the outer wall of protector is extended to the one end of breathing pipe, and the sealed bag is installed to the inner wall of breathing pipe, and the top of sealed bag extends the top of breathing pipe, and the puncture pole is installed to the inside roof of protector, and the control valve is installed to the outer wall of breathing pipe.

Preferably, the inside diapire of control valve installs a board, and the inside roof of control valve installs No. two boards, and No. three boards are installed to the inside diapire of control valve, and No. three boards are located one side of a board, and ventilative board is installed to the outer wall of No. three boards, and the sealing ball is installed at the top of ventilative board.

Preferably, the buffer board is installed to the inner wall of buffer, and the buffering post is installed at the top of buffer board, and the bottom of buffering post extends the bottom of buffer board, and buffer spring is installed to the bottom of buffering post, and buffer spring's bottom is connected with the top of protector, and the limiting plate is installed to the bottom of buffer board, and the gag lever post is installed to the outer wall of limiting plate, and the fly leaf is installed to the outer wall of buffering post, and the second spring is installed at the top of fly leaf, and the one end of second spring and the outer wall connection of buffering post.

Preferably, the outer wall of the fixed shaft is provided with an arc-shaped protection plate, the bottom of the protection plate is provided with a plurality of rubber columns, and the top of the protection plate is provided with a screw in a penetrating manner.

Preferably, the lifter is installed at the top of dampproofing board, and the bottom of lifter extends the bottom of dampproofing board, and the cotton that absorbs moisture is installed at the top of lifter, and the outer wall of lifter encircles and installs the third spring, and the current conducting plate is installed to the inner wall of main part, and the heating wire is installed to the outer wall of current conducting plate.

Preferably, the mechanical arm assembly comprises the following working steps:

s1, when clamping force is detected, an object is placed between detection blocks, the electric telescopic rod extends to drive the detection blocks to be close to each other, the object is clamped by the detection blocks, the detection column is extruded by the object during clamping, the detection column drives the first spring to be shortened, the detection column drives the conductive rod to move on the detection resistor, the clamping force between the detection blocks can be converted through the change of current after the current changes, and a signal can be transmitted to a related device through a signal transmitter at the top of the partition plate, so that the clamping force is controlled;

s2, when the object is clamped by the detection block, the anti-skid block is in contact with the surface of the object, the storage bag contains anti-skid powder, and when the object is clamped, the anti-skid powder is filled in the storage bag and flows out from the fine hole along the pipeline, so that the anti-skid powder is contained between the object and the anti-skid block, and the anti-skid capability is increased by arranging a cloth, and the anti-skid effect is realized;

s3, when the device is impacted externally, the buffer plate firstly bears part of impact force, then the buffer column moves downwards under impact, the buffer column drives the buffer spring to extend, the buffer column drives the movable plate to move downwards, the movable plate moves downwards and then passes over the limiting rod, the limiting rod enables the movable plate to rotate and drive the second spring to contract, then the movable plate passes over the limiting rod, when the second spring extends and drives the movable plate to move upwards, the limiting rod can block to enable the second spring to absorb impact force, when the force is large, the puncture rod moves downwards and then punctures the sealing bag, one end of the sealing bag is broken to enable the sealing bag not to block the air suction pipe, the compression air bag sucks air to expand, external air flows through a channel formed by the first plate, the second plate and the third plate along with the hand through the control valve, and the sealing ball is blown up by the air, then, air enters the interior of the compression air bag through the air suction pipe, and the compression air bag expands to perform secondary protection to prevent the device from being damaged;

s4, the one end perk with the protection shield, insert the below of protection shield with the cable, the rubber column is fixed the cable afterwards, prevent that the cable from taking place to slide, place the back with the cable, push down the one end of protection shield, use the screw rod to fix the protection shield, when the inside comparison of main part is more moist, the cotton moisture absorption absorbs moisture, the cotton weight of moisture absorption increases, the cotton pushing down lifter of moisture absorption afterwards, the lifter removes and drives the extension of third spring, the lifter contacts with the current conducting plate, start fan and heating wire, can dry the inside of main part, prevent moisture erosion cable, the realization is to the protect function of cable.

Compared with the prior art, the invention has the beneficial effects that:

1. the clamping force can be detected by installing the detection blocks, when the clamping force is detected, an object is placed between the detection blocks, the electric telescopic rod extends to drive the detection blocks to be close to each other, the object is clamped by the detection blocks, the detection column is extruded by the object during clamping, the detection column drives the first spring to be shortened, the detection column drives the conductive rod to move on the detection resistor, the clamping force between the detection blocks can be converted through the change of current after the current of the detection resistor changes, and a signal can be transmitted to a related device through a signal transmitter at the top of the partition plate, so that the clamping force is controlled;

2. the anti-skid device can be anti-skid during clamping by installing the anti-skid columns, when the detection block clamps an object, the anti-skid block is contacted with the surface of the object, the storage bag contains anti-skid powder, and during clamping, the anti-skid powder is filled in the storage bag and flows out from the fine hole along the pipeline, so that the anti-skid powder is contained between the object and the anti-skid block, the anti-skid capability is improved by arranging one cloth, and the anti-skid effect is realized;

3. the device can be protected by installing the protector and the buffer, when the device is impacted externally, the buffer plate firstly bears partial impact force, then the buffer column is impacted to move downwards, the buffer column drives the buffer spring to extend, the buffer column drives the movable plate to move downwards, the movable plate moves downwards and then passes over the limiting rod, the limiting rod enables the movable plate to rotate and drive the second spring to contract, then the movable plate passes over the limiting rod, when the second spring extends and drives the movable plate to move upwards, the limiting rod can block, so that the second spring absorbs the impact force, when the impact force is large, the puncture rod moves downwards and then punctures the sealing bag, one end of the sealing bag is broken, the sealing bag does not block the air suction pipe, the compressed air bag sucks air to expand, external air passes through the control valve and flows through a plate along with hand, The air blows the sealing ball up through a channel formed by the second plate and the third plate, then the air enters the interior of the compression air bag through the air suction pipe, the compression air bag expands to carry out secondary protection, and the device is prevented from being damaged;

4. according to the invention, the cable can be protected by installing the protection plate, one end of the protection plate is tilted, the cable is inserted below the protection plate, then the cable is fixed by the rubber column to prevent the cable from sliding, after the cable is placed, one end of the protection plate is pressed down, the protection plate is fixed by the screw, when the interior of the main body is relatively wet, moisture is absorbed by the moisture-absorbing cotton, the weight of the moisture-absorbing cotton is increased, then the moisture-absorbing cotton downwards extrudes the lifting rod, the lifting rod moves to drive the third spring to extend, the lifting rod is in contact with the current-conducting plate, the fan and the electric heating wire are started, the interior of the main body can be dried, the cable is prevented from being corroded by moisture, and the protection function of the cable is realized.

Drawings

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

FIG. 2 is a schematic view of the construction of the fixing groove portion of the present invention;

FIG. 3 is a partial structural diagram of a detection block according to the present invention;

FIG. 4 is a partial structural view of the cleat of the present invention;

FIG. 5 is a schematic view of a portion of the protector of the present invention;

FIG. 6 is a schematic view of a portion of the control valve of the present invention;

FIG. 7 is a schematic view of the structure of part A of FIG. 5 according to the present invention;

fig. 8 is a schematic structural diagram of a protection plate part of the present invention.

In the figure: 1. a main body; 101. a fan; 2. a support plate; 201. fixing grooves; 202. an electric telescopic rod; 203. a connecting rod; 3. a detection block; 301. a partition plate; 302. a signal transmitter; 303. a detection column; 304. a conductive rod; 305. a first spring; 306. detecting a resistance; 307. anti-skid blocks; 308. a storage bladder; 309. fine pores; 4. a protector; 401. compressing the air bag; 402. an air intake duct; 403. sealing the bag; 404. a puncture rod; 5. a control valve; 501. a first board; 502. a second plate; 503. a third plate; 504. a gas permeable plate; 505. a sealing ball; 6. a buffer; 601. a buffer plate; 602. a buffer column; 603. a buffer spring; 604. a limiting plate; 605. a limiting rod; 606. a movable plate; 607. a second spring; 7. a fixed shaft; 701. a protection plate; 702. a rubber column; 703. a screw; 8. a moisture-proof plate; 801. a lifting rod; 802. a third spring; 803. moisture absorption cotton; 804. a conductive plate; 805. an electric heating wire.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1: referring to fig. 1, an embodiment of the present invention: the utility model provides a mechanical arm assembly with gripping ability detects, includes main part 1, backup pad 2, detects piece 3, protector 4 and buffer 6, backup pad 2 is installed in the front of main part 1, fixed slot 201 is installed in the front of backup pad 2, fixed slot 201's front is installed and is detected piece 3, protector 4 is installed to the outer wall of main part 1, buffer 6 is installed to the outer wall of protector 4, fixed axle 7 is installed to the inside diapire of main part 1, dampproofing board 8 is installed to the inner wall of main part 1.

Example 2: referring to fig. 2, fig. 3 and fig. 4, an embodiment of the present invention: a mechanical arm assembly with gripping ability detection function is disclosed, wherein a separation plate 301 is installed on the inner wall of a detection block 3, a signal transmitter 302 is installed at the top of the separation plate 301, two groups of detection columns 303 are installed at the bottom of the separation plate 301, the bottom of the detection columns 303 extends out of the bottom of the detection block 3, a first spring 305 is installed around the outer wall of the detection columns 303, a conductive rod 304 is installed on the outer wall of the detection columns 303, a detection resistor 306 is installed on the inner bottom wall of the detection block 3, a storage bag 308 is installed on the inner wall of the detection block 3, an anti-slip block 307 is installed at the bottom of the detection block 3, a fine hole 309 is formed in the outer wall of the anti-slip block 307, the fine hole 309 is connected with the storage bag 308 through a pipeline, an electric telescopic rod 202 is installed on the inner wall of a fixing groove 201, a connecting rod 203 is installed at one end of the electric telescopic rod 202, and the top of the connecting rod 203 extends out of the top of the fixing groove 201, the top of the connecting rod 203 is connected with the bottom of the detecting block 3, when the clamping force is detected, an object is placed between the detecting blocks 3, the electric telescopic rod 202 extends to drive the detecting blocks 3 to approach each other, the detecting blocks 3 clamp the object, the detecting column 303 receives the extrusion of the object during clamping, the detecting column 303 drives the first spring 305 to shorten, the detecting column 303 drives the conducting rod 304 to move on the detecting resistor 306, the current passing through the detecting resistor 306 changes, the clamping force between the detecting blocks 3 can be converted through the change of the current, a signal can be transmitted to a related device through the signal transmitter 302 at the top of the partition plate 301, so as to control the clamping force, when the object is clamped by the detecting blocks 3, the anti-skid blocks 307 are in contact with the surface of the object, the anti-skid powder is contained in the storage bag 308, when clamping is carried out from the pores 309 along the pipeline, so that the anti-slip powder is contained between the object and the anti-slip block 307, and the anti-slip capability is increased by adding a piece of cloth, thereby realizing the anti-slip effect.

Example 3: referring to fig. 5, fig. 6 and fig. 7, an embodiment of the present invention: a mechanical arm assembly with gripping capability detection function is disclosed, wherein a compression air bag 401 is installed on the inner wall of a protector 4, air suction pipes 402 are installed on the outer walls of two sides of the compression air bag 401, one end of each air suction pipe 402 extends out of the outer wall of the protector 4, a sealing bag 403 is installed on the inner wall of each air suction pipe 402, the top of each sealing bag 403 extends out of the top of each air suction pipe 402, a puncture rod 404 is installed on the inner top wall of the protector 4, a control valve 5 is installed on the outer wall of each air suction pipe 402, a first plate 501 is installed on the inner bottom wall of the control valve 5, a second plate 502 is installed on the inner top wall of the control valve 5, a third plate 503 is installed on the inner bottom wall of the control valve 5, the third plate 503 is located on one side of the first plate 501, an air permeable plate 504 is installed on the outer wall of the third plate 503, a sealing ball 505 is installed on the top of the air permeable plate 504, a buffer plate 601 is installed on the inner wall of a buffer 6, and a buffer column 602 is installed on the top of the buffer plate 601, and the bottom of the buffer column 602 extends out of the bottom of the buffer plate 601, the bottom of the buffer column 602 is provided with a buffer spring 603, the bottom of the buffer spring 603 is connected with the top of the protector 4, the bottom of the buffer plate 601 is provided with a limiting plate 604, the outer wall of the limiting plate 604 is provided with a limiting rod 605, the outer wall of the buffer column 602 is provided with a movable plate 606, the top of the movable plate 606 is provided with a second spring 607, and one end of the second spring 607 is connected with the outer wall of the buffer column 602, when the device is impacted externally, the buffer plate 601 firstly bears partial impact force, then the buffer column 602 is impacted to move downwards, the buffer column 602 drives the buffer spring 603 to extend, the buffer column 602 drives the movable plate 606 to move downwards, the movable plate 606 moves downwards, then the movable plate passes over the limiting rod 605, the limiting rod 605 enables the movable plate 606 to rotate to drive the second spring 607 to contract, then the movable plate 606 passes over the limiting rod 605, when the second spring 607 extends to drive the movable plate 606 to move upwards, the limiting rod 605 can block the second spring 607 so that the second spring 607 absorbs the impact force, when the force is large, the protector 4 receives the impact, the puncture rod 404 moves downwards to puncture the sealing bag 403, one end of the sealing bag 403 is broken, the sealing bag 403 is no longer sealed on the air suction pipe 402, the compression air bag 401 sucks air and expands, the external air flows through the control valve 5, the air flows through the channel formed by the first plate 501, the second plate 502 and the third plate 503, the air blows up the sealing ball 505, the air enters the interior of the compression air bag 401 through the air suction pipe 402, the compression air bag 401 expands to perform secondary protection, and the device is prevented from being damaged.

Example 4: referring to fig. 8, an embodiment of the present invention: a mechanical arm assembly with gripping ability detection function is disclosed, an arc-shaped protection plate 701 is installed on the outer wall of a fixing shaft 7, a plurality of rubber columns 702 are installed at the bottom of the protection plate 701, a screw rod 703 is installed at the top of the protection plate 701 in a penetrating mode, a lifting rod 801 is installed at the top of the protection plate 8, the bottom of the lifting rod 801 extends out of the bottom of the protection plate 8, moisture absorption cotton 803 is installed at the top of the lifting rod 801, a third spring 802 is installed on the outer wall of the lifting rod 801 in a surrounding mode, a conductive plate 804 is installed on the inner wall of a main body 1, a heating wire 805 is installed on the outer wall of the conductive plate 804, a fan 101 is installed on the inner wall of the main body 1, one end of the protection plate 701 is tilted up, a cable is inserted below the protection plate 701, then the rubber columns 702 fix the cable to prevent the cable from sliding, one end of the protection plate 701 is pressed down after the cable is placed, the protection plate 701 is fixed by the screw rod 703, when the inside of main part 1 is more moist, moisture absorption cotton 803 absorbs moisture, moisture absorption cotton 803 weight gain, and moisture absorption cotton 803 extrudees lifter 801 downwards afterwards, and lifter 801 removes and drives the extension of third spring 802, and lifter 801 and electrically conductive board 804 contact start fan 101 and heating wire 805, can dry the inside of main part 1, prevent that moisture from corroding the cable, realize the protect function to the cable.

Further, the mechanical arm assembly comprises the following working steps:

s1, when the clamping force is detected, an object is placed between the detection blocks 3, the electric telescopic rod 202 extends to drive the detection blocks 3 to approach each other, the object is clamped by the detection blocks 3, the detection column 303 receives the extrusion of the object during clamping, the detection column 303 drives the first spring 305 to shorten, the detection column 303 drives the conductive rod 304 to move on the detection resistor 306, the clamping force between the detection blocks 3 can be converted through the change of the current after the current of the detection resistor 306 changes, and a signal can be transmitted to a related device through the signal transmitter 302 at the top of the partition plate 301, so that the clamping force is controlled;

s2, when the object is clamped by the detection block 3, the anti-skid block 307 is in contact with the surface of the object, the storage bag 308 contains anti-skid powder, and when the object is clamped, the anti-skid powder flows out of the storage bag 308 along the pipeline from the fine hole 309, so that the anti-skid powder is contained between the object and the anti-skid block 307, and the anti-skid capability is improved by arranging a cloth, and the anti-skid effect is realized;

s3, when the device is impacted externally, the buffer plate 601 firstly bears partial impact force, then the buffer column 602 is impacted to move downwards, the buffer column 602 drives the buffer spring 603 to extend, the buffer column 602 drives the movable plate 606 to move downwards, the movable plate 606 moves downwards, then the movable plate passes over the limiting rod 605, the limiting rod 605 enables the movable plate 606 to rotate and drive the second spring 607 to contract, then the movable plate 606 passes over the limiting rod 605, when the second spring 607 extends and drives the movable plate 606 to move upwards, the limiting rod 605 can block, so that the second spring 607 absorbs the impact force, when the force is large, the protector 4 receives impact, the puncture rod 404 moves downwards and then punctures the sealing bag 403, one end of the sealing bag is broken, so that the sealing bag does not block the air suction pipe 402 any more, the compressed air bag 401 sucks air to expand, the external air passes through the control valve 403, and flows through the plate 501 with the manual air, The second plate 502 and the third plate 503 form a channel, air blows up the sealing ball 505, then the air enters the interior of the compression airbag 401 through the air suction pipe 402, the compression airbag 401 expands, secondary protection is carried out, and the device is prevented from being damaged;

s4, tilt one end of the protection board 701, insert the cable below the protection board 701, the rubber column 702 fixes the cable afterwards, prevent the cable from sliding, after placing the cable, press down one end of the protection board 701, fix the protection board 701 using the screw 703, when the inside of the main body 1 is more humid, the moisture absorption cotton 803 absorbs moisture, the weight of the moisture absorption cotton 803 is increased, the moisture absorption cotton 803 extrudes the lifting rod 801 downwards, the lifting rod 801 moves to drive the third spring 802 to extend, the lifting rod 801 contacts with the conductive plate 804, start the fan 101 and the heating wire 805, the inside of the main body 1 can be dried, prevent the moisture from eroding the cable, and realize the protection function of the cable.

The working principle is that when clamping force is detected, an object is placed between the detection blocks 3, the electric telescopic rod 202 extends to drive the detection blocks 3 to approach each other, the object is clamped by the detection blocks 3, the detection column 303 receives extrusion of the object during clamping, the detection column 303 drives the first spring 305 to shorten, the detection column 303 drives the conductive rod 304 to move on the detection resistor 306, the clamping force between the detection blocks 3 can be converted through the change of current after the current of the detection resistor 306 changes, and a signal can be transmitted to a related device through the signal transmitter 302 at the top of the partition plate 301, so that the clamping force is controlled;

when the object is clamped by the detection block 3, the anti-skid block 307 is in contact with the surface of the object, the storage bag 308 contains anti-skid powder, and when the object is clamped, the anti-skid powder flows out of the storage bag 308 along the pipeline from the fine hole 309, so that the anti-skid powder is contained between the object and the anti-skid block 307, and the anti-skid capability is improved by arranging a piece of cloth, and the anti-skid effect is realized;

when the device is impacted externally, the buffer plate 601 firstly bears partial impact force, then the buffer column 602 is impacted to move downwards, the buffer column 602 drives the buffer spring 603 to extend, the buffer column 602 drives the movable plate 606 to move downwards, the movable plate 606 moves downwards and then passes over the limiting rod 605, the limiting rod 605 enables the movable plate 606 to rotate and drive the second spring 607 to contract, then the movable plate 606 passes over the limiting rod 605, when the second spring 607 extends and drives the movable plate 606 to move upwards, the limiting rod 605 can block, so that the second spring 607 absorbs the impact force, when the force is large, the protector 4 receives impact, the puncture rod 404 moves downwards and then punctures the sealing bag, one end of the sealing bag 403 is broken, so that the sealing bag 403 can not block the air suction pipe 402 any more, the compression air bag 401 sucks air to expand, external air passes through the control valve 5, and flows through the first plate 501, the second spring 607 and the second spring 607 to contract, The second plate 502 and the third plate 503 form a channel, air blows up the sealing ball 505, then the air enters the interior of the compression airbag 401 through the air suction pipe 402, the compression airbag 401 expands, secondary protection is carried out, and the device is prevented from being damaged;

at last with the one end perk of protection shield 701, insert the below of protection shield 701 with the cable, rubber column 702 fixes the cable afterwards, prevent that the cable from taking place to slide, after placing the cable, press down the one end of protection shield 701, use screw rod 703 to fix protection shield 701, when the inside of main part 1 is more moist, moisture absorption cotton 803 absorbs moisture, moisture absorption cotton 803 weight gain, moisture absorption cotton 803 extrudees lifter 801 downwards afterwards, lifter 801 removes and drives third spring 802 extension, lifter 801 and current-conducting plate 804 contact, start fan 101 and heating wire 805, can dry the inside of main part 1, prevent that moisture from corroding the cable, realize the protect function to the cable.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a robotic arm assembly with gripping ability detects, includes main part (1), backup pad (2), detects piece (3), protector (4) and buffer (6), its characterized in that: the front surface of the main body (1) is provided with a supporting plate (2), the front surface of the supporting plate (2) is provided with a fixing groove (201), and the front surface of the fixing groove (201) is provided with a detection block (3);

a partition plate (301) is installed on the inner wall of the detection block (3), a signal emitter (302) is installed at the top of the partition plate (301), two groups of detection columns (303) are installed at the bottom of the partition plate (301), the bottom of each detection column (303) extends out of the bottom of the detection block (3), and a first spring (305) is installed on the outer wall of each detection column (303) in a surrounding mode;

protector (4) are installed to the outer wall of main part (1), buffer (6) are installed to the outer wall of protector (4), fixed axle (7) are installed to the inside diapire of main part (1), dampproofing board (8) are installed to the inner wall of main part (1).

2. The robotic arm assembly with gripping capability detection as claimed in claim 1, wherein: the outer wall of detecting post (303) is installed conducting rod (304), the inside diapire of detecting piece (3) is installed and is detected resistance (306), the inner wall of detecting piece (3) is installed and is stored bag (308), the bottom of detecting piece (3) is installed non slipping spur (307), the outer wall of non slipping spur (307) is equipped with pore (309), and pore (309) and store bag (308) pass through the pipe connection.

3. The robotic arm assembly with gripping capability detection as claimed in claim 1, wherein: a fan (101) is installed on the inner wall of the main body (1).

4. The robotic arm assembly with gripping capability detection as claimed in claim 1, wherein: electric telescopic handle (202) are installed to the inner wall of fixed slot (201), and connecting rod (203) are installed to the one end of electric telescopic handle (202), and the top of connecting rod (203) extends the top of fixed slot (201), and the top of connecting rod (203) is connected with the bottom that detects piece (3).

5. The robotic arm assembly with gripping capability detection as claimed in claim 1, wherein: compression air bag (401) are installed to the inner wall of protector (4), breathing pipe (402) are all installed to the both sides outer wall of compression air bag (401), and the outer wall of protector (4) is extended to the one end of breathing pipe (402), sealed bag (403) are installed to the inner wall of breathing pipe (402), and the top of sealed bag (403) extends the top of breathing pipe (402), puncture rod (404) are installed to the inside roof of protector (4), control valve (5) are installed to the outer wall of breathing pipe (402).

6. The robotic arm assembly with gripping capability detection as claimed in claim 5, wherein: a plate (501) is installed to the inside diapire of control valve (5), and No. two plate (502) are installed to the inside roof of control valve (5), and No. three plate (503) are installed to the inside diapire of control valve (5), and No. three plate (503) are located one side of a plate (501), and ventilative board (504) are installed to the outer wall of No. three plate (503), and ball sealer (505) are installed at the top of ventilative board (504).

7. The robotic arm assembly with gripping capability detection as claimed in claim 1, wherein: buffer board (601) are installed to the inner wall of buffer (6), buffer column (602) are installed at the top of buffer board (601), and the bottom of buffer column (602) extends the bottom of buffer board (601), buffer spring (603) are installed to the bottom of buffer column (602), and the bottom of buffer spring (603) is connected with the top of protector (4), restriction board (604) are installed to the bottom of buffer board (601), gag lever post (605) are installed to the outer wall of restriction board (604), fly leaf (606) are installed to the outer wall of buffer column (602), second spring (607) are installed at the top of fly leaf (606), and the one end of second spring (607) and the outer wall connection of buffer column (602).

8. The robotic arm assembly with gripping capability detection as claimed in claim 1, wherein: the outer wall of the fixed shaft (7) is provided with an arc-shaped protection plate (701), the bottom of the protection plate (701) is provided with a plurality of rubber columns (702), and the top of the protection plate (701) is provided with a screw (703) in a penetrating mode.

9. The robotic arm assembly with gripping capability detection as claimed in claim 1, wherein: lifter (801) are installed to the top of dampproofing board (8), and the bottom of lifter (801) extends the bottom of dampproofing board (8), and cotton (803) that absorb moisture are installed at the top of lifter (801), and the outer wall of lifter (801) encircles and installs third spring (802), and electrically conductive plate (804) are installed to the inner wall of main part (1), and heating wire (805) are installed to the outer wall of electrically conductive plate (804).

10. The mechanical arm assembly with gripping ability detection according to any one of claims 1-9, characterized in that the mechanical arm assembly is operated as follows:

s1, when the clamping force is detected, an object is placed between detection blocks (3), the electric telescopic rod 202 extends to drive the detection blocks (3) to be close to each other, the detection blocks (3) clamp the object, the detection column (303) receives the extrusion of the object during clamping, the detection column (303) drives the first spring (305) to be shortened, the detection column (303) drives the conductive rod (304) to move on the detection resistor (306), the clamping force between the detection blocks (3) can be converted through the change of the current after the current of the detection resistor (306) changes, and a signal can be transmitted to a related device through a signal transmitter (302) at the top of the partition plate (301) so as to control the clamping force;

s2, when the object is clamped by the detection block (3), the anti-skid block (307) is in contact with the surface of the object, the storage bag (308) contains anti-skid powder, and when the object is clamped, the anti-skid powder is filled in the storage bag (308) and flows out from the fine hole (309) along the pipeline, so that the anti-skid powder is contained between the object and the anti-skid block (307), and the anti-skid capability is increased by arranging one cloth, and the anti-skid effect is realized;

s3, when the device is impacted externally, the buffer plate (601) firstly bears partial impact force, then the buffer column (602) is impacted to move downwards, the buffer column (602) drives the buffer spring (603) to extend, the buffer column (602) drives the movable plate (606) to move downwards, the movable plate (606) moves downwards and then crosses the limiting rod (605), the limiting rod (605) enables the movable plate (606) to rotate to drive the second spring (607) to contract, then the movable plate (606) crosses the limiting rod (605), when the second spring (607) extends to drive the movable plate (606) to move upwards, the limiting rod (605) can block, the second spring (607) absorbs impact force, when the force is large, the puncture rod (404) moves downwards and then punctures the sealing bag (403) when the protector (4) receives impact, one end of the sealing bag (403) is cracked, and the sealing bag (403) does not block the air suction pipe (402), the compression air bag (401) is inflated by air suction, external air flows through a control valve (5) along with air through a channel formed by a first plate (501), a second plate (502) and a third plate (503), the air blows up the sealing ball (505), then the air enters the interior of the compression air bag (401) through the air suction pipe (402), and the compression air bag (401) is inflated to perform secondary protection to prevent the device from being damaged;

s4, one end of the protection plate (701) is tilted, the cable is inserted below the protection plate (701), then the rubber column (702) fixes the cable, the cable is prevented from sliding, after the cable is placed, one end of the protection plate (701) is pressed down, the protection plate (701) is fixed by using the screw (703), when the inside of the main body (1) is wet, moisture absorption cotton (803) absorbs moisture, the weight of the moisture absorption cotton (803) is increased, then the moisture absorption cotton (803) downwards extrudes the lifting rod (801), the lifting rod (801) moves to drive the third spring (802) to extend, the lifting rod (801) is in contact with the conductive plate (804), the fan (101) and the heating wire (805) are started, the inside of the main body (1) can be dried, the cable is prevented from being corroded by moisture, and the protection function of the cable is achieved.