An end-of-arm assist wheel mechanism

Abstract

The application relates to a clamping mechanism for lifting and carrying robots, in particular to an arm-end auxiliary wheel mechanism. The auxiliary wheel mechanism comprises an auxiliary wheel assembly and a mechanical arm assembly. The auxiliary wheel assembly comprises a mounting bracket and an auxiliary wheel, the auxiliary wheel being mounted below the side of the mounting bracket, and a plurality of connecting rods being connected to the two sides of the mounting bracket. The mechanical arm assembly comprises a mechanical arm and a damping spring module, the damping spring module being connected to the mounting bracket, and the mechanical arm being connected to the auxiliary wheel assembly through the connecting rods. The arm-end auxiliary wheel mechanism has the advantages of good load-bearing capacity, strong damping capacity, long service life, low noise, good contact with the ground, high stability and good clamping capacity.

Description

Technical Field

[0001] This invention relates to a gripping mechanism for lifting and transporting robots, and more particularly to an arm-end auxiliary wheel mechanism. Background Technology

[0002] The importance and widespread application of AGVs in logistics activities are widely recognized. Their performance plays a crucial role in improving the efficiency of logistics activities, and their shock absorption performance, especially that of the drive wheels, is essential for the AGV's ability to adapt to various road surfaces. A good shock absorption system not only provides a comfortable driving experience but also reduces damage to other components on the vehicle. In recent years, with the widespread application of robotic arms in material handling AGVs, these arms, as gripping units, undertake the important task of cargo handling. To increase the stability and flexibility of the robotic arms, many AGVs use casters as auxiliary support devices. The design of casters addresses the multi-directional movement needs of the robotic arms, providing greater flexibility and operating space. However, these rigidly connected casters can cause vibration and noise during operation, affecting the comfort and stability of the equipment. Furthermore, uneven ground can cause impacts and vibrations to the casters, accelerating wear and reducing their lifespan. To address this issue, background technologies are continuously researched and improved to enhance the performance and reliability of AGVs. Various technologies and equipment can be employed to improve shock absorption performance. For example, efficient damping systems, such as pneumatic and hydraulic shock absorbers, can be used to reduce the transmission of road vibrations to the vehicle body. These shock absorbers can adapt to different road conditions by adjusting air or hydraulic pressure, maintaining vehicle stability. Additionally, springs and damping materials are used to absorb and mitigate road impacts, reducing the degree of vibration transmission to the vehicle body and critical components.

[0003] For example, Chinese patent CN214822446U discloses a shock-absorbing device for the drive wheel of an AGV (Automated Guided Vehicle), providing the following technical solution: a steering wheel fixing plate, a guide rail, a slider, a slider upper fixing plate, a shock-absorbing link, a fixing seat, a steering wheel buffer fixing plate, a swivel wheel, a guide rod, a spring limiting plate, and a spring component. This utility model, through its shock-absorbing structure design, allows the drive wheel structure to press firmly against the ground when the AGV encounters potholes, maintaining contact between the swivel wheel and the ground, thus ensuring the swivel wheel continues to provide traction to the AGV. When the AGV encounters a ground protrusion, the swivel wheel transmits the force to the shock-absorbing link through the steering wheel buffer fixing plate. The shock-absorbing link, under the action of the force, pushes the slider upper fixing plate along the guide rail, compressing the spring component. This forces the spring component, thereby reducing the vibration of the AGV body. The shock-absorbing structure effectively allows the AGV to navigate uneven terrain more smoothly and easily. However, the aforementioned shock-absorbing device for the drive wheels of an AGV can only dampen the vibration of the vehicle and cannot effectively bear weight. When under load, it is difficult to reasonably distribute the load and mitigate the impact of ground undulations on the casters, resulting in a short service life for the casters. At the same time, when there is no load, the casters cannot maintain good contact with the ground at all times, resulting in intermittent contact with the ground, generating noise, and significantly reducing the service life of the casters that have been in contact for a longer period of time, thus affecting the entire AGV. Summary of the Invention

[0004] In response to the problems mentioned in the background technology, such as poor load-bearing capacity, difficulty in reasonably distributing load-bearing force and mitigating the impact of ground undulations on the casters, short service life of the casters, difficulty in maintaining good contact with the ground when there is no load, and high noise, this invention proposes an arm-end auxiliary wheel mechanism, which achieves the goals of good load-bearing capacity, strong shock absorption capacity, long service life, low noise, good contact with the ground, high stability, and good clamping ability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an arm-end auxiliary wheel mechanism, characterized in that it comprises: an auxiliary wheel assembly, including a mounting bracket and an auxiliary wheel, the auxiliary wheel being mounted on the lower side of the mounting bracket, and a plurality of connecting rods being connected to both sides of the mounting bracket; and a robotic arm assembly, including a robotic arm and a shock-absorbing spring module, the shock-absorbing spring module being connected to the mounting bracket, and the robotic arm being connected to the auxiliary wheel assembly via the connecting rods.

[0006] The auxiliary wheel assembly provides auxiliary movement, contacts the ground, and bears weight, increasing maneuverability and flexibility during robotic arm operation. Mounted on the lower side of the mounting bracket and connected to both sides by linkages, the auxiliary wheels provide stable support and balance, allowing the robotic arm to move assistedly when needed. This facilitates precise positioning and adjustment by the operator, increasing the stability of the device. The robotic arm assembly utilizes a shock-absorbing spring module to reduce vibration and impact at the end of the robotic arm, improving system stability and accuracy. The shock-absorbing spring module connects to the mounting bracket, and the springs are installed in shock-absorbing grooves to absorb vibration and impact forces from the robotic arm, preventing their transmission, reducing impact on the workpiece, increasing the device's load-bearing capacity and weight reduction capabilities, and extending the service life of the auxiliary wheels. The shock-absorbing springs ensure good ground contact for the auxiliary wheels regardless of whether the robotic arm is under load, preventing noise caused by intermittent contact between the auxiliary wheels and the ground. The linkage connecting the robotic arm assembly and the auxiliary wheel assembly effectively transmits force and motion, achieving coordinated auxiliary movement and shock absorption functions of the robotic arm.

[0007] Preferably, the shock-absorbing spring module includes a shock-absorbing spring and a shock-absorbing spring limiting member, and the mounting bracket is provided with a shock-absorbing groove near the end of the robotic arm assembly, and the shock-absorbing spring is installed in the shock-absorbing groove.

[0008] The damping springs ensure consistent contact between the auxiliary wheels and the ground, even when the robotic arm is unloaded. This helps prevent noise caused by intermittent contact between the auxiliary wheels and the ground. The damping springs absorb and mitigate vibrations and impacts from the ground, as well as the effects of weights held in the arm. When the robotic arm moves or is subjected to weights, the damping springs cushion these vibrations and impacts, reducing the forces transmitted to the auxiliary wheels and other components of the robotic arm. The damping springs provide more stable contact and support, contributing to improved stability and precision of the robotic arm. Continuous contact between the auxiliary wheels and the ground allows for more precise control of the robotic arm's movement, increasing operational accuracy. By reducing vibration and improving stability, the damping springs improve the robotic arm's efficiency, reduce noise and vibration, allow the operator to concentrate better, increase productivity, and reduce potential errors during robotic arm movement.

[0009] Preferably, the mounting bracket is an integral "L" shape, divided into a long section and a short section, with the corners of the long and short sections forming a right angle. The long section is horizontally positioned, with the auxiliary wheel fixed to its lower part by bolts. The short section is vertically positioned, with connecting rods connected to both sides by bolts. The long section has an inclined surface extending towards the short section at its top, and the connecting rod has a through hole in the middle.

[0010] The mounting bracket adopts an integrated "L"-shaped structure, divided into a long section and a short section. The short section is vertically positioned, while the long section is horizontally positioned. This design provides a stable mounting foundation and support, ensuring a secure connection between the auxiliary wheel and the mounting bracket, and ensuring balanced force distribution on the auxiliary wheel when subjected to clamped weights. The auxiliary wheel is bolted to the bottom of the long section, and the connecting rods are bolted to both sides of the short section, increasing the connection stability of the auxiliary wheel structure and strengthening the overall structure. The sloping design extending from the top of the long section to the short section increases the rigidity and stability of the mounting bracket structure, ensuring that the mounting bracket does not deform under prolonged exposure to large clamped weights, thus increasing the service life of the overall structure. The hollow hole in the middle of the connecting rod is used in some cases to connect the corresponding connecting rods on both sides with a pin, increasing the connecting rod's load-bearing capacity, preventing damage due to excessive force, and further extending its service life.

[0011] Preferably, the shock-absorbing spring limiting component includes a trapezoidal fixing block and a vertical fixing block. The vertical fixing block and the trapezoidal fixing block are L-shaped with right angles at the corners. The trapezoidal fixing block has several grooves on its inclined surface. The vertical fixing block is fixed to the end of the robotic arm by several screws. The trapezoidal fixing block is fixed to the end of the robotic arm by several screws set in the grooves.

[0012] The shock-absorbing spring limiting component includes a trapezoidal fixing block and a vertical fixing block. The trapezoidal fixing block is fixed to the end of the robotic arm by screws in a groove, and the vertical fixing block is fixed to the vertical fixing block by screws. This fixing method provides a secure connection, ensuring that the position and angle of the shock-absorbing spring limiting component will not shift or deform, and ensuring that the shock-absorbing spring limiting component is firmly fixed to the robotic arm. Because the shock-absorbing spring limiting component is a load-bearing structure, insufficient strength and rigidity can lead to device damage or accidents.

[0013] Preferably, the trapezoidal fixing block extends horizontally to form a limiting block. The limiting block includes an extension section and a ring. The ring has a first hole in the center. The limiting block is located directly above the shock-absorbing spring. The limiting block, the vertical fixing block, and the trapezoidal fixing block are an integral structure.

[0014] The limiting block, vertical fixing block, and trapezoidal fixing block form an integrated structure, providing a more robust connection, increasing the overall rigidity and stability of the mechanism, and reducing installation steps and material usage, thus simplifying manufacturing and assembly complexity. The limiting block includes an extension section and a ring with a first hole in the center. The limiting block is located directly above the damping spring. The ring contacts the damping spring; when the robotic arm is under load, the ring applies pressure to the damping spring and can also hold the mounting bracket in place, preventing the auxiliary wheel from tilting, reducing the stress on the connecting rod, and improving the device's lifespan. When the robotic arm is unloaded, the damping spring applies force to the ring, ensuring good contact between the auxiliary wheel and the ground through the connecting rod, helping to prevent noise caused by intermittent contact between the auxiliary wheel and the ground.

[0015] Preferably, the front side of the robotic arm is provided with several roller grooves, several clamping rollers are installed in the roller grooves, several second holes are provided under the roller grooves, and the end of the robotic arm is provided with a rotating shaft mounting hole.

[0016] The front side of the robotic arm has roller grooves, within which clamping rollers are installed. These are used to clamp heavy objects such as workpieces. This design increases the contact area and friction between the robotic arm and the workpiece, improving the stability and accuracy of the robotic arm during operation and preventing workpiece slippage and displacement. A second hole is located below the roller grooves to facilitate heat dissipation and reduce weight.

[0017] Preferably, the robotic arm has a flange at its head end, a third connecting hole in the center of the flange, several connecting holes distributed around the outer periphery of the third connecting hole, and a push rod shaft between the flange and the clamping roller.

[0018] The robotic arm has a flange at its tip, with a third connection hole in the center and several connection holes distributed around its perimeter. This design allows for secure connection of the robotic arm assembly to other components. A push rod shaft is located between the flange and the clamping rollers, enabling movement and adjustment of the entire device, clamping or unloading heavy objects such as tooling, and ensuring the stability and accuracy of the robotic arm.

[0019] Preferably, a nut is provided at the groove of the roller, and a pivot hole of the same size and position is provided in the middle of each adjacent roller groove. The nut is connected to a pivot, and the pivot is connected to the clamping roller through the pivot hole.

[0020] A nut is provided in the groove of the roller, and the nut is connected to a rotating shaft. This design allows the clamping roller to be fixedly connected to the nut via the rotating shaft, ensuring the stability and reliability of the clamping roller. The presence of the nut allows for easy adjustment of the rotating shaft's position, thereby adjusting the clamping force and position of the roller to adapt to different workpieces and operational requirements. The uniformly sized rotating shaft holes in the center of the roller grooves provide a fixed position for the rotating shaft between the roller grooves, making the rotating shaft more secure, ensuring the stability and even force distribution of the clamping roller, and thus improving the service life of the device.

[0021] Preferably, the robotic arm has a push rod groove on its rear side, and the push rod shaft is located in the push rod groove.

[0022] The robotic arm has a push rod groove on its rear side, with the push rod pivot located within the groove. This design allows for control and adjustment of the device through the movement of the push rod, providing stable auxiliary movement and positioning. The push rod pivot's location within the groove ensures the stability and reliability of the push rod, preventing it from loosening or detaching during operation.

[0023] Preferably, the auxiliary wheel is a swivel wheel.

[0024] The omnidirectional wheels allow for multi-directional movement and rotation, enabling the robotic arm to move freely and flexibly in various directions, including forward, backward, left, right, and rotation. This design enhances the robotic arm's mobility and flexibility, adapting to diverse and complex operating environments and work requirements, reducing operator workload and effort, and improving work efficiency and precision.

[0025] Compared with the prior art, the beneficial effects of the present invention are: 1. Excellent load-bearing capacity and strong shock absorption: This invention, through the cooperation of multi-linkage and shock-absorbing springs, reduces the pressure on the auxiliary wheels, resulting in excellent load-bearing capacity for the entire device. Secondly, one of the main functions of the shock-absorbing springs is to reduce vibrations and impacts from the ground. The springs can absorb and buffer vibrations and impacts generated by uneven ground or device movement, preventing them from being transmitted to other components such as the robotic arm. This helps protect the stability and accuracy of the robotic arm and reduces damage and malfunctions caused by vibration and impact.

[0026] 2. Long service life and low noise: This invention, through the cooperation of shock-absorbing springs and multi-link linkages, not only reduces noise but also extends the service life of the device. When the robotic arm is unloaded, the multi-link linkage and shock-absorbing springs work together to lower the height of the auxiliary wheels, ensuring good contact between the wheels and the ground and preventing noise caused by intermittent contact. Simultaneously, when the robotic arm is loaded, the auxiliary wheels, under the synergistic action of the shock-absorbing springs and multi-link linkages, distribute the load evenly and effectively mitigate the impact of ground undulations on the wheels, further extending the device's service life.

[0027] 3. High stability: Through the combination of shock-absorbing springs and multi-link, this invention can ensure that the auxiliary wheel can maintain good contact with the ground regardless of whether the robotic arm is under load or not, and effectively mitigate the impact of ground undulations on the auxiliary wheel, resulting in excellent stability.

[0028] 4. Excellent clamping ability: This invention uses multiple sets of clamping rollers to clamp workpieces and other heavy objects, which can increase the contact area and friction between the robotic arm and the workpieces and other heavy objects, improve the stability and accuracy of the robotic arm during operation, and prevent the workpiece from sliding and deviating. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a top view of the present invention; Figure 3 This is a schematic diagram of the structure of the push rod groove of the present invention; Figure 4 This is a schematic diagram of the structure of the shock-absorbing spring module of the present invention; Figure 5 This is a partial cross-sectional view of the shock-absorbing spring module of the present invention; Figure 6 This is a schematic diagram of a structure according to an embodiment of the present invention.

[0030] Illustration: Auxiliary wheel assembly 1, mounting bracket 2, inclined plane 2.1, auxiliary wheel 3, robotic arm assembly 4, shock absorber spring module 5, shock absorber spring 5.1, shock absorber spring limiter 5.2, trapezoidal fixing block 5.21, vertical fixing block 5.22, limiter block 5.23, ring 5.231, first hole 5.232, shock absorber groove 5.3, robotic arm 6, connecting rod 7, through hole 7.1, clamping roller 8, nut 8.1, roller groove 8.2, second hole 8.3, flange 9, push rod shaft 10, push rod groove 11. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. The proportions of the components are not drawn to scale, and the proportions and dimensions shown in the drawings should not limit the essential technical solutions of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to merely the specific embodiments described.

[0032] See Figure 1-6As shown, an arm-end auxiliary wheel mechanism is characterized by further comprising: an auxiliary wheel assembly 1, including a mounting bracket 2 and an auxiliary wheel 3, wherein the auxiliary wheel 3 is mounted on the lower side of the mounting bracket 2, and the mounting bracket 2 is provided with a plurality of connecting rods 7 connected to both sides; and a robotic arm assembly 4, including a robotic arm 6 and a shock-absorbing spring module 5, wherein the shock-absorbing spring module 5 is connected to the mounting bracket 2, and the robotic arm 6 is connected to the auxiliary wheel assembly 1 through the connecting rods 7. Under the linkage of multi-link 7, the damping spring 5.1 pressure block presses on the upper end of the damping spring 5.1. When the robotic arm 6 is under load, the auxiliary wheel assembly 1 can reasonably distribute the load-bearing force through the synergistic action of multi-link 7 and damping spring module 5, effectively mitigating the impact of ground undulations on the auxiliary wheel assembly 1 and extending the service life of the auxiliary wheel assembly 1. When the robotic arm 6 is not under load, the auxiliary wheel assembly 1 always maintains good contact with the ground under the synergistic action of damping spring module 5 and multi-link 7, avoiding the noise caused by the intermittent contact between the auxiliary wheel assembly 1 and the ground in the traditional design state, as well as the short service life caused by the long force time of a single auxiliary wheel 3.

[0033] like Figures 1 to 3 In one embodiment shown, the shock-absorbing spring module 5 includes a shock-absorbing spring 5.1 and a shock-absorbing spring limiting member 5.2. The mounting bracket 2 is an integral "L" shape, divided into a long section and a short section, with the corners of the long and short sections forming right angles. The long section is horizontally positioned, with an auxiliary wheel 3 fixed to its bottom by bolts. The short section is vertically positioned, with connecting rods 7 connected to both sides by bolts. The long section has an inclined surface 2.1 extending towards the short section, and the connecting rod 7 has a through hole 7.1 in the middle. The front side of the robotic arm 6 has several roller grooves 8.2, with several clamping rollers 8 installed in the roller grooves 8.2. Several second holes 8.3 are provided below the roller grooves 8.2, and the end of the robotic arm 6 has a shaft mounting hole. Nuts 8.1 are provided at the roller grooves 8.2, and each adjacent roller groove 8.2 has a shaft hole of the same size and position in the middle. The nuts 8.1 are connected to a shaft, and the shaft is connected to the clamping rollers 8 through the shaft hole. The robotic arm 6 has a flange 9 at its head end, with a third connecting hole in the center of the flange 9. Several connecting holes are distributed around the outer periphery of the third connecting hole. A push rod shaft 10 is provided between the flange 9 and the clamping roller 8. A push rod groove 11 is provided on the rear side of the robotic arm 6, and the push rod shaft 10 is located in the push rod groove 11. The auxiliary wheel 3 is a universal wheel.

[0034] The auxiliary wheel assembly 1 plays a crucial role in assisting the movement of the robotic arm 6. It contacts the ground and bears the weight, enhancing the mobility and flexibility of the robotic arm 6. The auxiliary wheel 3 is mounted below the mounting bracket 2, and the auxiliary wheel assembly 1 is connected to the robotic arm assembly 4 on both sides via a connecting rod 7, providing stable support and balance. This allows the robotic arm 6 to move assistedly when needed, facilitating precise positioning and adjustment by the operator, while also increasing the stability of the device. Furthermore, the robotic arm assembly 4 also utilizes a shock-absorbing spring module 5 to reduce vibration and impact on the robotic arm 6, thereby improving the system's stability and accuracy. The shock-absorbing spring module 5 is connected to the mounting bracket 2, and the shock-absorbing spring 5.1 is installed within a shock-absorbing groove 5.3, absorbing the vibration and impact forces of the robotic arm 6 and preventing their transmission, thus reducing the impact on the workpiece. Simultaneously, the installation of the shock-absorbing spring 5.1 provides the auxiliary wheel assembly 1 with both load-bearing and weight-reducing capabilities, further increasing the reliability and service life of the device. The damping springs 5.1 ensure that the auxiliary wheels 3 maintain good contact with the ground even when the robotic arm 6 is unloaded, preventing noise caused by unstable contact. Through damping and cushioning, they effectively reduce vibrations and impacts from uneven ground, as well as the effects of heavy loads at the end of the robotic arm 6. The design of the damping springs 5.1 effectively buffers these forces, reducing the force transmitted to the auxiliary wheels 3 and other robotic arm components 4, thus providing more stable contact and support. This helps improve the stability and precision of the robotic arm 6 and allows the operator to control its movement more accurately. In summary, the auxiliary wheel assembly 1 and the damping spring module 5 achieve a synergistic effect of assisting movement and damping for the robotic arm 6 by effectively transmitting force and motion. They provide crucial mechanical support and stability, improve the working efficiency of the robotic arm 6, reduce noise and vibration, thereby increasing productivity and reducing potential errors during the movement of the robotic arm 6.

[0035] The front side of the robotic arm 6 has a roller groove 8.2, which houses a clamping roller 8 for gripping workpieces or other heavy objects. This design increases the contact area and friction between the robotic arm 6 and the gripped object, improving the stability and accuracy of the robotic arm 6 during operation and preventing slippage and displacement. A second opening 8.3 is located below the roller groove 8.2 for heat dissipation and weight reduction of the robotic arm 6. The rear side of the robotic arm 6 has a push rod groove 11, which houses a push rod shaft 10. This design uses the movement of the push rod to control and adjust the device, providing stable auxiliary movement and positioning. The push rod shaft 10, located within the push rod groove 11, ensures the stability and reliability of the push rod, preventing loosening or detachment during operation. The front end of the robotic arm 6 has a flange 9 with a central connection hole and multiple connection holes distributed around its perimeter. This design allows for secure connection of the components of the robotic arm 6 and enables the connection of additional parts. Between the flange 9 and the clamping roller 8, a push rod shaft 10 is provided. This push rod shaft 10 allows for the movement and adjustment of the entire device, enabling the clamping or unloading of heavy objects such as tooling, ensuring the stability and accuracy of the robotic arm 6. A nut 8.1 is located in the roller groove 8.2 and is connected to a shaft. This design allows the clamping roller 8 to be connected to the fixed nut 8.1 via the shaft, ensuring the stability and reliability of the clamping roller 8. The presence of the nut 8.1 facilitates the adjustment of the shaft position, thereby adjusting the clamping force and position of the roller to adapt to different workpieces and operational requirements. A shaft hole of the same size is also provided in the middle of the roller groove 8.2 to fix the position of the shaft, making it more secure, thus ensuring the stability and uniform force distribution of the clamping roller 8 and improving the service life of the device. Furthermore, the robotic arm 6 is equipped with casters, providing multi-directional movement and rotation capabilities, allowing the robotic arm 6 to move freely and flexibly in different directions, including forward and backward, left and right, and rotation. This design can improve the mobility and flexibility of the robotic arm 6, adapt to various complex operating environments and work requirements, reduce the difficulty and intensity of operation for operators, and improve work efficiency and accuracy.

[0036] The through hole 7.1 in the middle of the connecting rod 7 facilitates the insertion of connecting devices such as pins under heavy loads to connect the corresponding connecting rods 7 on both sides, thereby dispersing the pressure, improving the load-bearing capacity of the connecting rod 7, preventing the connecting rod 7 from being damaged due to excessive pressure, and also increasing the overall stability.

[0037] like Figure 4In one embodiment shown, the shock-absorbing spring limiting member 5.2 includes a trapezoidal fixing block 5.21 and a vertical fixing block 5.22. The vertical fixing block 5.22 and the trapezoidal fixing block 5.21 are L-shaped with right angles at the corners. The trapezoidal fixing block 5.21 has several grooves on its inclined surface. The vertical fixing block 5.22 is fixed to the end of the robotic arm 6 by several screws, and the trapezoidal fixing block 5.21 is fixed to the end of the robotic arm 6 by several screws set in the grooves. A limiting block 5.23 extends horizontally from the trapezoidal fixing block 5.21. The limiting block 5.23 includes an extension section and a ring 5.231. The ring 5.231 has a first hole 5.232 in the center. The limiting block 5.23 is located directly above the shock-absorbing spring 5.1. The limiting block 5.23, the vertical fixing block 5.22, and the trapezoidal fixing block 5.21 are an integral structure.

[0038] The shock-absorbing spring limiting component 5.2 consists of a trapezoidal fixing block 5.21 and a vertical fixing block 5.22. The trapezoidal fixing block 5.21 is fixed to the groove at the end of the robotic arm 6 by screws, while the vertical fixing block 5.22 is connected above the trapezoidal fixing block 5.21 by screws. This fixing method ensures that the position and angle of the shock-absorbing spring limiting component 5.2 will not shift or deform, guaranteeing that it is firmly fixed to the robotic arm 6. Since the shock-absorbing spring limiting component 5.2 bears the force, insufficient strength and rigidity may lead to damage to the device or an accident. The limiting block 5.23 includes an extension section and a ring 5.231, with a central first hole 5.232 in the ring 5.231 located directly above the shock-absorbing spring 5.1. The circular ring 5.231 contacts the damping spring 5.1. When the robotic arm 6 is under load, the circular ring 5.231 applies pressure to the damping spring 5.1, which helps to hold the mounting bracket 2 in place, preventing the auxiliary wheel 3 from tilting and reducing the stress on the connecting rod 7, thereby improving the service life of the device. When the robotic arm 6 is unloaded, the damping spring 5.1 applies force to the circular ring 5.231, ensuring good contact between the auxiliary wheel 3 and the ground through the connecting rod 7. This helps prevent intermittent contact between the auxiliary wheel 3 and the ground, reducing noise generation. The limiting block 5.23 forms an integrated structure with the vertical fixing block 5.22 and the trapezoidal fixing block 5.21, providing stronger connectivity and increasing the overall rigidity and stability of the mechanism. Furthermore, this integrated structure simplifies the manufacturing and assembly process, reducing installation steps and the amount of materials required. This design ensures the stability and reliability of the damping spring limiting component 5.2. The connection method of the trapezoidal fixing block 5.21 and the vertical fixing block 5.22, the integrated structure, and the functions of the ring 5.231 and the extension section together enhance the stability and shock absorption effect of the robotic arm 6.

[0039] like Figure 5 In one embodiment shown, the mounting bracket 2 is provided with a shock-absorbing groove 5.3 near the end of the robotic arm assembly 4, and a shock-absorbing spring 5.1 is installed in the shock-absorbing groove 5.3.

[0040] When the robotic arm 6 is unloaded, the auxiliary wheel 3, under the synergistic action of the shock-absorbing spring 5.1 and the multi-link 7, increases the vertical distance between the auxiliary wheel 3 and the bottom of the robotic arm 6, ensuring that the auxiliary wheel 3 maintains good contact with the ground at all times. This avoids the noise caused by the intermittent contact between the auxiliary wheel 3 and the ground in traditional designs. When the robotic arm 6 is loaded, the auxiliary wheel 3, under the synergistic action of the shock-absorbing spring 5.1 and the multi-link 7, allows the mounting bracket 2 to distribute the pressure reasonably to the auxiliary wheel 3, ensuring that the auxiliary wheel 3 receives a reasonable load-bearing capacity. This effectively mitigates the impact of ground undulations on the caster wheels and increases the service life of the auxiliary wheel 3. At the same time, the shock-absorbing groove 5.3 maintains a certain gap between the robotic arm assembly 4 and the auxiliary wheel assembly 1. The limiting block 5.23 can abut against the mounting bracket 2 when the robotic arm 6 is loaded, preventing the link 7 from being damaged by excessive lateral tilting force and also preventing the device from tilting.

[0041] like Figure 6 In one embodiment shown, two devices of the present invention are combined into a single unit to form a clamping robotic arm 6. An integral rotating shaft is provided at the flange 9, allowing the device to rotate around the flange 9. Through components such as push rods, the push rod rotating shaft 10 is driven to rotate, controlling the robotic arm 6 to drive the auxiliary wheels 3 to rotate around the flange 9. The push rods and other components are all installed within the push rod grooves 11. When rotated to a certain angle, the clamping rollers 8 on both sides can clamp the tooling or other items to be clamped, controlling the entire device to move to the target area. Then, the push rod rotating shaft 10 is controlled to rotate in the opposite direction to unload the clamped object, completing the handling task.

[0042] In summary, the device of this invention possesses excellent load-bearing capacity and shock absorption. The combination of the multi-link 7 and the shock-absorbing spring 5.1 reduces the pressure on the auxiliary wheel 3, thereby ensuring the entire device has excellent load-bearing capacity. Furthermore, the shock-absorbing spring 5.1 mitigates vibrations and impacts from the ground. It absorbs and reduces vibrations and impacts generated by uneven ground or device movement, preventing them from being transmitted to the robotic arm 6 and other components. This helps protect the stability and accuracy of the robotic arm 6, reducing the risk of damage and malfunction due to vibration and impact. The device of this invention has a long service life and low noise. Through the synergistic action of the shock-absorbing spring 5.1 and the multi-link 7, when the robotic arm 6 is unloaded, the combination of the multi-link 7 and the shock-absorbing spring 5.1 lowers the height of the auxiliary wheel 3, ensuring good contact between the auxiliary wheel 3 and the ground, avoiding noise caused by intermittent contact. Simultaneously, when the robotic arm 6 is under load, the shock-absorbing spring 5.1 and the multi-link 7 work together to distribute the load reasonably on the auxiliary wheel 3 and effectively mitigate the impact of ground undulations on the auxiliary wheel 3, extending the service life of the device. The device of this invention exhibits high stability. Through the cooperation of the shock-absorbing spring 5.1 and the multi-link 7, it ensures that the auxiliary wheel 3 maintains good contact with the ground regardless of whether the robotic arm 6 is under load, effectively mitigating the impact of ground undulations on the auxiliary wheel 3, thus giving the device excellent stability. The device of this invention also possesses strong clamping capabilities, employing multiple sets of clamping rollers 8 to hold workpieces or other heavy objects. This increases the contact area and friction between the robotic arm 6 and the workpiece, thereby improving the stability and accuracy of the robotic arm 6 during operation and preventing workpiece slippage and displacement.

[0043] This invention is not limited to the above-described embodiments. Any changes made to its shape or material composition, or any structural design using the methods provided by this invention, are considered variations of this invention and should be considered within the scope of protection of this invention.

Claims

1. An arm-end auxiliary wheel mechanism, characterized in that, include: The auxiliary wheel assembly includes a mounting bracket and an auxiliary wheel. The auxiliary wheel is mounted on the lower side of the mounting bracket, and several connecting rods are connected to both sides of the mounting bracket. The robotic arm assembly includes a robotic arm and a shock-absorbing spring module. The shock-absorbing spring module is connected to a mounting bracket, and the robotic arm is connected to an auxiliary wheel assembly via a connecting rod. The shock-absorbing spring module includes a shock-absorbing spring and a shock-absorbing spring limiting component. The mounting bracket has a shock-absorbing groove near the end of the robotic arm assembly. The shock-absorbing spring is installed in the shock-absorbing groove, and the connecting rod is located on both sides of the shock-absorbing spring. The shock-absorbing spring limiting component includes a trapezoidal fixing block and a vertical fixing block, which are L-shaped and fixed to the end of the robotic arm. The trapezoidal fixing block extends horizontally to form a limiting block, which is located directly above the damping spring. The limiting block, the vertical fixing block, and the trapezoidal fixing block are an integral structure. The limiting block includes a ring located within the damping groove.

2. The arm-end auxiliary wheel mechanism according to claim 1, characterized in that, The mounting bracket (2) is an integral "L" shape, divided into a long section and a short section. The corners of the long section and the short section are at right angles. The long section is set horizontally, and the auxiliary wheel (3) is fixed below by bolts. The short section is set vertically, and the connecting rod (7) is connected to both sides by bolts. There is an inclined surface (2.1) extending from the top of the long section to the short section. The connecting rod (7) has a through hole (7.1) in the middle.

3. The arm-end auxiliary wheel mechanism according to claim 2, characterized in that, The vertical fixing block (5.22) and the trapezoidal fixing block (5.21) are at right angles. The trapezoidal fixing block (5.21) has several grooves on its inclined surface. The vertical fixing block (5.22) is fixed to the end of the robotic arm (6) by several screws. The trapezoidal fixing block (5.21) is fixed to the end of the robotic arm (6) by several screws set in the grooves.

4. The arm-end auxiliary wheel mechanism according to claim 3, characterized in that, The limiting block (5.23) also includes an extension section, and the ring (5.231) has a first hole (5.232) in the center.

5. The arm-end auxiliary wheel mechanism according to claim 1, characterized in that, The front side of the robotic arm (6) is provided with several roller grooves (8.2), several clamping rollers (8) are installed in the roller grooves (8.2), several second holes (8.3) are provided under the roller grooves (8.2), and the end of the robotic arm (6) is provided with a rotating shaft mounting hole.

6. The arm-end auxiliary wheel mechanism according to claim 5, characterized in that, The robotic arm (6) has a flange (9) at its head end. The flange (9) has a third connecting hole in the center. Several connecting holes are distributed around the third connecting hole. A push rod shaft (10) is provided between the flange (9) and the clamping roller (8).

7. The arm-end auxiliary wheel mechanism according to claim 5, characterized in that, A nut (8.1) is provided at the roller groove (8.2). Each adjacent roller groove (8.2) has a rotating shaft hole of the same size and position. The nut (8.1) is connected to a rotating shaft, and the rotating shaft is connected to the clamping roller (8) through the rotating shaft hole.

8. The arm-end auxiliary wheel mechanism according to claim 6, characterized in that, The robotic arm (6) has a push rod groove (11) on its rear side, and the push rod shaft (10) is located in the push rod groove (11).

9. The arm-end auxiliary wheel mechanism according to claim 1, characterized in that, The auxiliary wheel (3) is a swivel wheel.

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