A manipulator arm structure capable of being gripped and carried

Abstract

The utility model discloses a kind of mechanical hand mechanical arm structures of gripped carrying, it relates to material handling device technical field.It includes pedestal, first mechanical arm, first drive unit, moving joint, second driving part and grabbing mechanism, the first drive unit for driving first mechanical arm rotation is installed on the pedestal, the second driving part for driving moving joint movement is installed on the first mechanical arm, the moving joint is installed on the grabbing mechanism for carrying object grabbing.The utility model has beneficial effect for by first drive unit drive transverse rotation, second driving part control longitudinal movement, third driving piece realizes joint rotation, forms at least three kinematic degrees of freedom, can cover with the large range work area (circular operation range) of pedestal as center, it is applicable to warehouse sorting, machine tool feeding and discharging etc. The scene needing multipoint operation reduces equipment layout restriction.

Description

Technical Field

[0001] This utility model relates to the field of material handling device technology, specifically to a robotic arm structure capable of gripping and handling. Background Technology

[0002] In the fields of automated warehousing and sorting, machine tool loading and unloading, and modern intelligent manufacturing, the application of robotic arms and automated actuators is becoming increasingly widespread. Traditional robotic arms typically employ a multi-joint serial structure, which, while enabling multi-degree-of-freedom motion, suffers from problems such as motion redundancy, complex path planning, and low efficiency during large-scale operations. Especially in production lines with a planar circular layout, traditional robotic arms, due to structural limitations, struggle to efficiently cover the circular working area centered on the base, resulting in insufficient flexibility in equipment layout.

[0003] In existing technologies, traditional robotic arms often require complex multi-axis collaborative control to achieve rotation, lifting, and lateral movement, which increases system cost and programming difficulty. Utility Model Content

[0004] The purpose of this invention is to address the problem of complex structures in existing robotic arms when performing rotation, lifting, and lateral movement, and to provide a robotic arm structure capable of grasping and transporting.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a robotic arm structure for grasping and transporting objects, comprising a base, a first robotic arm, a first drive unit, a movable joint, a second drive component, and a grasping mechanism. The base is equipped with a first drive unit for driving the first robotic arm to rotate, the first robotic arm rotating laterally under the drive of the first drive unit. The first robotic arm is equipped with a second drive component for driving the movable joint to move, the movable joint moving longitudinally under the drive of the second drive component. The movable joint is equipped with a grasping mechanism for grasping and transporting objects.

[0006] Furthermore, the direction of movement of the movable joint is parallel to the rotation axis of the first robotic arm.

[0007] Furthermore, a third driving component is provided, which is used to drive the movable joint to rotate.

[0008] Furthermore, the movable joint is also provided with a mounting block for limiting the displacement distance of the movable joint and for mounting the gripping mechanism.

[0009] Furthermore, the object being transported has a starting position and a target position, and the object being transported is moved from the starting position to the target position by the gripping and transporting robotic arm; the starting position and the target position are distributed at any position within the area of ​​a circle drawn with the first drive unit to the moving joint as the radius.

[0010] After adopting the above technical solution, the beneficial effects of this utility model are as follows: by driving the lateral rotation through the first driving unit, controlling the longitudinal movement through the second driving component, and realizing the joint rotation through the third driving component, at least three degrees of freedom of motion are formed, which can cover a large working area (circular working range) centered on the base. It is suitable for scenarios that require multi-point operation, such as warehousing and sorting and machine tool loading and unloading, and reduces equipment layout restrictions.

[0011] The combined motion mode of rotation, lifting, and turning reduces redundant movements of the robotic arm, shortens the material transfer path, and is especially suitable for automated production lines with a planar circular layout, thereby improving handling efficiency. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the structure of this utility model.

[0014] Explanation of reference numerals in the attached drawings: 1. Base; 2. First robotic arm; 3. First drive unit; 4. Moving joint; 5. Second drive component; 6. Grasping mechanism; 7. Third drive component; 8. Mounting block. Detailed Implementation

[0015] See Figure 1 As shown, the technical solution adopted in this specific embodiment is: a robotic arm structure capable of grasping and transporting, mainly comprising the following components and functions:

[0016] Base 1: The fixed foundation for the entire robotic arm.

[0017] First robotic arm 2: mounted on base 1, it is the main arm of the robotic arm.

[0018] First drive unit 3: mounted on base 1, drives the first robotic arm 2 to rotate laterally (rotational motion in the horizontal plane) around its rotation axis.

[0019] Movable joint 4: mounted on the first robotic arm 2, it can move in the longitudinal direction (perpendicular to the horizontal plane).

[0020] Second drive component 5: mounted on the first robotic arm 2, driving the movable joint 4 to move longitudinally (linear motion).

[0021] Gripping mechanism 6: Installed on the movable joint 4, used to perform the operation of gripping and releasing the transported object.

[0022] The moving direction of the movable joint 4 is parallel to the rotation axis of the first robotic arm 2, and the extension and retraction direction of the movable joint 4 is along the axis of rotation of the first robotic arm 2.

[0023] Additional degrees of freedom:

[0024] A third driving component 7 is also provided: it is used to drive the moving joint 4 to rotate, adding a rotational degree of freedom to the gripping mechanism 6 and enhancing the posture adjustment capability.

[0025] Install Block 8 functionality:

[0026] The movable joint 4 is provided with a mounting block 8, which has a dual function: first, it limits the displacement distance of the movable joint 4 to prevent excessive movement; second, it provides an installation interface for the gripping mechanism 6.

[0027] Scope of work:

[0028] This robotic arm is used to move an object from a starting position to a target position. Its effective working area is a circular region. The radius of this region is equal to the distance from the rotation center of the first drive unit 3 to the gripping point of the moving joint 4.

[0029] The starting and target positions can be located anywhere within this circular area. This means that the robotic arm can perform grasping and placement operations at any point within its maximum reach radius.

[0030] The working principle of this utility model:

[0031] 1. Initial positioning stage

[0032] Base 1 positioning: Base 1 is fixed to the working plane (such as the ground or platform), the first drive unit 3 (in this embodiment, the first drive unit 3 is a servo motor) is powered on and ready, and the first robotic arm 2 is in the initial angle position (such as zero position).

[0033] Reset of movable joint 4: The second drive unit 5 (in this embodiment, the second drive unit 5 is a servo motor) retracts the movable joint 4 to the near end of the first robotic arm 2, the mounting block 8 is in the shortest arm extension state, and the gripping mechanism 6 (such as a pneumatic gripper or vacuum suction cup, etc., that can grip the transported object) remains in the open state.

[0034] 2. Target coordinate analysis

[0035] The control system calculates the following based on the coordinates of the starting and target positions of the transported object:

[0036] The rotation angle θ of the first robotic arm 2 is determined by inverse kinematics calculation, so that the extension direction of the moving joint 4 is aligned with the starting position.

[0037] Longitudinal displacement L of movable joint 4: Based on the radial distance between the starting position and the base 1, calculate the linear movement amount that the second drive member 5 needs to push the movable joint 4 to ensure that the gripping mechanism 6 can reach the target point.

[0038] End-of-line rotation compensation (if third drive 7 is enabled): When the object being transported needs to adjust its posture, the third drive 7 (such as a servo motor) drives the mounting block 8 to rotate, so that the gripping mechanism 6 maintains the optimal contact angle with the object being transported.

[0039] 3. Fetching and Execution Phase

[0040] Radial extension: The second drive member 5 pushes the moving joint 4 to move in a direction parallel to the rotation axis of the first robotic arm 2 (vertical direction in this embodiment), driving the mounting block 8 and the gripping mechanism 6 to reach directly above the starting position.

[0041] End-effector operation: The gripping mechanism 6 performs a gripping / adsorption action. After the sensor (such as a pressure sensor) confirms that the gripping is firm, it sends a feedback signal to the control system.

[0042] 4. Transportation route planning

[0043] The first robotic arm 2 rotates: the first drive unit 3 drives the first robotic arm 2 to rotate, causing the object to be grasped to move from the starting position to the target position along an arc trajectory. The movable joint 4 can be adjusted in height synchronously (via the second drive component 5) to avoid obstacles or adapt to height differences.

[0044] Dynamic adjustment (optional): If the third drive component 7 is set, the posture of the grasped object can be finely adjusted in real time during the handling process.

[0045] 5. Placement and Reset

[0046] Precise positioning: The first robotic arm 2 rotates to the angle corresponding to the target position, and the second drive component 5 adjusts the extension of the moving joint 4 to align the transported object with the target position.

[0047] Object release: Gripping mechanism 6 releases, completing placement. The robotic arm returns to its initial position or proceeds to the next transport point along a preset path.

[0048] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A robotic arm structure capable of grasping and transporting, characterized in that: It includes a base (1), a first robotic arm (2), a first drive unit (3), a moving joint (4), a second drive component (5), and a gripping mechanism (6). The base (1) is equipped with a first drive unit (3) for driving the first robotic arm (2) to rotate. The first robotic arm (2) is equipped with a second drive component (5) for driving the moving joint (4) to move. The moving joint (4) is equipped with a gripping mechanism (6) for gripping and transporting objects.

2. The robotic arm structure for grasping and transporting as described in claim 1, characterized in that: The moving direction of the movable joint (4) is parallel to the rotation axis of the first robotic arm (2).

3. The robotic arm structure for grasping and transporting as described in claim 1, characterized in that: A third driving member (7) is also provided, which is used to drive the movable joint (4) to rotate.

4. The robotic arm structure for grasping and transporting as described in claim 1, characterized in that: The movable joint (4) is also provided with a mounting block (8) for limiting the displacement distance of the movable joint (4) and for mounting the gripping mechanism (6).

5. The robotic arm structure for grasping and transporting as described in claim 1, characterized in that: The object being transported has a starting position and a target position. The object being transported is moved from the starting position to the target position by the gripping and transporting robot. The starting position and the target position are located at any position within the area of ​​a circle drawn with the first drive unit (3) to the moving joint (4) as the radius.

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