A multi-purpose robotic arm

Abstract

The present application relates to the technical field of mechanical arm, and specifically relates to a multipurpose mechanical arm, which comprises a mechanical arm body, the front end of the mechanical arm body is provided with an executing mechanism for clamping and polishing objects, the executing mechanism comprises a switching disc, the two sides of the side end face of the switching disc away from the mechanical arm body are provided with clamping jaws for clamping objects, the side of the switching disc away from the mechanical arm body is provided with a polishing disc for polishing objects, the inner middle part of the switching disc is provided with a switching assembly for quickly switching clamping and polishing work, and the executing mechanism further comprises a mounting seat fixedly connected to the front end of the mechanical arm body, and the middle part of the side end face of the mounting seat close to the switching disc is provided with a servo motor. Compared with the prior art, the present application solves the actual demand that the mechanical arm needs to be stopped and the old end executing mechanism needs to be manually disassembled when the mechanical arm executes different processes, so that the overall working efficiency of the mechanical arm is not high.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more particularly to a multi-purpose robotic arm. Background Technology

[0002] A robotic arm is a highly flexible automated device that simulates the movement functions of a human arm. Through a precise control system, it performs complex operations. Robotic arms are widely used in various fields such as industry, medicine, and scientific research, greatly improving production efficiency and operational precision. In manufacturing, robotic arms are mainly used for grinding and clamping objects, thereby facilitating subsequent welding, painting, and other tasks on parts. They can operate stably for extended periods, reducing the risks and fatigue associated with manual operation, and realizing the automation and intelligence of production lines. Their precise control and rapid response capabilities make multi-purpose robotic arms an indispensable piece of equipment in modern industry.

[0003] In the prior art, Chinese patent document CN109607395B discloses a robotic arm, including a robotic arm support base, a telescopic arm, a gripping component, a pitch drive component, a telescopic drive component, and a swing drive component. Because the telescopic arm has at least two sections, and one section of the telescopic arm near the gripping component is slidably fixed inside the connected other section, the robotic arm has a multi-fold travel range. This application allows for adjustment of the robotic arm's height, length, and angle from multiple directions, enabling the robotic arm to perform various complex tasks such as swinging, pitching, and telescopic movements in underground coal mines, adapting to the complex working conditions underground. While the working environment is different, this technology is consistent with traditional methods in that the robotic arm still uses the method of changing the end effector when performing different processes. This usually means that whenever the robotic arm needs to adapt to a new working environment or perform a new task, the operator must stop the machine and manually disassemble the old end effector. This process involves removing screws, clamps and other connecting parts, and then accurately installing the new actuator onto the robotic arm, ensuring that all connecting parts are secure and reliable to prevent loosening or falling off during operation. This replacement method is not only time-consuming, but also reduces the overall working efficiency of the robotic arm, becoming a key factor restricting its performance.

[0004] Furthermore, we disclose a multi-purpose robotic arm to meet the practical needs of existing robotic arms that require manual disassembly of old end effectors when performing different processes, resulting in low overall work efficiency. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a multi-purpose robotic arm to solve the problem that the robotic arm needs to be stopped and the old end effector manually disassembled when performing different processes, resulting in low overall working efficiency of the robotic arm.

[0006] To achieve the above objectives, the present invention provides a multi-purpose robotic arm, including a robotic arm body. The front end of the robotic arm body is provided with an execution mechanism for clamping and polishing objects. The execution mechanism includes a switching disk. On both sides of the end face of the switching disk away from the robotic arm body, grippers for clamping objects are provided. On the side of the switching disk away from the robotic arm body, a polishing disk for polishing objects is provided. The inner center of the switching disk is provided with a switching component for quickly switching between clamping and polishing operations.

[0007] Preferably, the actuator further includes a mounting base fixedly connected to the front end of the robotic arm body. A servo motor is provided in the middle of the side face of the mounting base near the switching disk, and support bases are fixedly connected to the middle of the upper and lower face faces of the mounting base.

[0008] Preferably, a guide rod is fixedly connected to one end face of each of the two support seats. One end of the guide rod passes through the switching disk and is fixedly connected to the limit disk. Through holes are provided on one side and in the middle of the upper guide rod.

[0009] Preferably, the switching disk has sliding grooves on both sides of one end face, the gripper is slidably connected inside the sliding groove, and a clamping spring is fixedly connected to the inner wall of one end face of the sliding groove, with one end of the clamping spring fixedly connected to the gripper.

[0010] Preferably, a winding cylinder is rotatably connected to the inner center of the switching disk, a spline hole is provided in the inner center of the winding cylinder, a baffle is fixedly connected to the middle of the outer wall of the winding cylinder, and pull ropes are wound on both sides of the outer wall of the winding cylinder located on the baffle. One end of each pull rope is fixedly connected to the winding cylinder and the winding direction is opposite. The end of the pull rope away from the winding cylinder is fixedly connected to the gripper.

[0011] Preferably, the switching component includes a spline shaft, a telescopic spring, and a fixing plate. The spline shaft is fixedly connected to the output end of the servo motor, and one end of the spline shaft is slidably engaged with the inside of the spline hole.

[0012] Preferably, the telescopic spring is fixedly connected to the upper end of the outer wall of the switching disk, a pull plate is fixedly connected to the upper end of the telescopic spring, and a plug rod is fixedly connected to the middle of the lower end face of the pull plate. The plug rod is located inside the telescopic spring, and the lower end of the plug rod passes through the guide rod through the through hole and extends into the interior of the switching disk.

[0013] Preferably, the fixing plate is fixedly connected to one side of the outer wall of the servo motor, and a return spring is fixedly connected to the end face of the fixing plate away from the mounting base. The end of the return spring away from the fixing plate is fixedly connected to the switching disk.

[0014] Preferably, a plurality of locking springs are fixedly connected at even intervals on the outer side of the end face of the grinding disc near the switching disc, and a chuck is fixedly connected to the end of the locking spring away from the grinding disc, and the chuck is rotatably connected inside the switching disc.

[0015] Preferably, a retaining sleeve is fixedly connected to the middle of the end face of the grinding disc near the switching disc, and the retaining sleeve has an insertion hole corresponding to the spline shaft inside.

[0016] The beneficial effects of this invention are: This multi-purpose robotic arm integrates both gripping and polishing functions. During use, the actuator can be flexibly adjusted according to different work requirements. When performing gripping tasks, it can stably and accurately clamp objects of various shapes and sizes, ensuring the safety and accuracy of the operation. When it needs to switch to polishing mode, it can quickly change state to perform fine polishing on the objects, achieving a smooth and flawless surface effect. This integrated design makes the robotic arm more efficient in performing tasks, eliminating the need for frequent tool changes and greatly improving work efficiency.

[0017] This multi-purpose robotic arm demonstrates exceptional convenience and efficiency when switching between clamping and grinding processes. Traditional robotic arms often require tedious disassembly of screws, clamps, and other connecting parts when changing tools, which is not only time-consuming and labor-intensive but also increases the complexity and risk of operation. However, this robotic arm cleverly avoids these problems. It has an internal switching component that can switch between clamping and grinding functions in a very short time without disassembling any connecting parts. This seamless switching method not only greatly improves the convenience of operation but also significantly reduces working time, resulting in a significant improvement in the overall working efficiency of the robotic arm. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention 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 for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the switching disk and its connecting components of the present invention; Figure 3 This is a three-dimensional structural diagram of the switching disk and its connecting components of the present invention; Figure 4 This is a three-dimensional structural diagram of the grinding disc and its connecting components of the present invention; Figure 5 This is a three-dimensional structural diagram of the switching disk limiting component of the present invention; Figure 6 This is a schematic diagram of the three-dimensional structure of the spline shaft of the present invention; Figure 7 This is a three-dimensional structural diagram of the winding cylinder and its connecting components of the present invention.

[0020] The diagram is marked as follows: 1. Robotic arm body; 2. Mounting base; 3. Support base; 4. Guide rod; 5. Switching disk; 6. Return spring; 7. Fixing plate; 8. Servo motor; 9. Baffle plate; 10. Grinding disk; 11. Gripper; 12. Winding cylinder; 13. Splined shaft; 14. Pull rope; 15. Clamping spring; 16. Slide groove; 17. Chuck; 18. Locking spring; 19. Clamping sleeve; 20. Through hole; 21. Telescopic spring; 22. Pull plate; 23. Insert rod; 24. Limiting disk; 25. Splined hole. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0022] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] like Figures 1 to 7As shown, a multi-purpose robotic arm includes a robotic arm body 1. The front end of the robotic arm body 1 is equipped with an actuator for gripping and polishing objects. The actuator includes a switching disk 5. On the side of the switching disk 5 away from the robotic arm body 1, grippers 11 for gripping objects are located on both sides. On the side of the switching disk 5 away from the robotic arm body 1, a polishing disk 10 for polishing objects is located. A switching component for quickly switching between gripping and polishing operations is located in the center of the switching disk 5. This multi-purpose robotic arm integrates both gripping and polishing functions in its front-end actuator structure. This actuator not only performs excellent gripping tasks but can also switch to polishing mode when needed, achieving seamless switching. Notably, when the robotic arm needs to switch between gripping and polishing operations, there is no need for cumbersome replacement or adjustment of the actuator. Its internal switching components can easily complete this transformation in a very short time, without the need to disassemble screws, clamps and other connecting parts, which greatly improves the convenience and efficiency of operation. This design not only significantly reduces working time, but also significantly improves the overall working efficiency of the robotic arm.

[0024] Furthermore, such as Figure 1 , Figure 5 As shown, the actuator also includes a mounting base 2 fixedly connected to the front end of the robotic arm body 1. A servo motor 8 is provided in the middle of the side end face of the mounting base 2 near the switching disk 5. Support bases 3 are fixedly connected to the middle of the upper and lower end faces of the mounting base 2. Guide rods 4 are fixedly connected to one side end face of the two support bases 3. One end of the guide rod 4 passes through the switching disk 5 and is fixedly connected to the limiting disk 24. Through holes 20 are provided on one side and in the middle of the upper guide rod 4. The robotic arm uses the servo motor 8 to provide power to realize the clamping and grinding work of the actuator. When it is necessary to switch between clamping and grinding work, the switching work can be realized by pulling the switching disk 5 and inserting the plug 23 into the through holes 20 at different positions on the guide rod 4. The plug 23 can limit the limiting disk 24 and guide the guide rod 4, thereby improving the working stability of the actuator.

[0025] Furthermore, such as Figure 3 , Figure 7As shown, both sides of one end face of the switching disk 5 are provided with sliding grooves 16. A gripper 11 is slidably connected inside the sliding groove 16. A clamping spring 15 is fixedly connected to the inner wall of one end face of the sliding groove 16. One end of the clamping spring 15 is fixedly connected to the gripper 11. A winding cylinder 12 is rotatably connected to the inner center of the switching disk 5. A spline hole 25 is provided in the inner center of the winding cylinder 12. A baffle 9 is fixedly connected to the middle of the outer wall of the winding cylinder 12. Pull ropes 14 are wound on both sides of the outer wall of the winding cylinder 12 near the baffle 9. One end of each pull rope 14 is fixedly connected to the winding cylinder 12 and the winding directions are opposite. The end of the pull rope 14 away from the winding cylinder 12 is fixedly connected to the gripper 11. The actuator performs clamping... During operation, the spline shaft 13 is slidably engaged inside the spline hole 25. When the servo motor 8 drives the spline shaft 13 to rotate, the winding drum 12 will rotate because of its engagement. When the winding drum 12 rotates, the pull ropes 14 on both sides are wound in different directions, which will cause the pull ropes 14 to tighten. The baffle 9 can prevent the pull ropes 14 on both sides from interfering with each other during winding. The other end of the pull rope 14 is connected to the gripper 11, causing the gripper 11 to retract inward to complete the clamping work of the object. When the winding drum 12 rotates in the opposite direction, the pull rope 14 is released, and the gripper 11 moves outward under the action of the clamping spring 15 to complete the release work of the object.

[0026] Furthermore, such as Figures 1 to 6As shown, the switching assembly includes a splined shaft 13, a telescopic spring 21, and a fixing plate 7. The splined shaft 13 is fixedly connected to the output end of the servo motor 8, and one end of the splined shaft 13 is slidably engaged inside the splined hole 25. The telescopic spring 21 is fixedly connected to the upper end of the outer wall of the switching disk 5. A pull plate 22 is fixedly connected to the upper end of the telescopic spring 21, and a plug rod 23 is fixedly connected to the middle of the lower end face of the pull plate 22. The plug rod 23 is located inside the telescopic spring 21, and the lower end of the plug rod 23 passes through the through hole 20, passes through the guide rod 4, and extends into the interior of the switching disk 5. The fixing plate 7 is fixedly connected to one side of the outer wall of the servo motor 8, and the fixing plate 7 is away from the mounting base. A return spring 6 is fixedly connected to one end face of plate 2. The end of the return spring 6 away from the fixed plate 7 is fixedly connected to the switching plate 5. Multiple locking springs 18 are fixedly connected at even intervals on the outer side of the end face of the grinding plate 10 near the switching plate 5. A chuck 17 is fixedly connected to the end of the locking spring 18 away from the grinding plate 10. The chuck 17 is engaged and rotatably connected inside the switching plate 5. A locking sleeve 19 is fixedly connected to the middle of the end face of the grinding plate 10 near the switching plate 5. The locking sleeve 19 has a hole inside that corresponds to the spline shaft 13. When it is necessary to switch between clamping and grinding operations, first pull the pull plate 2 upwards. 2. This causes the insertion rod 23 to move upwards. The insertion rod 23 moves to the outside of the switching disk 5, canceling its contact with the through hole 20 on one side of the guide rod 4. This pushes the switching disk 5, causing it to move towards one side of the robotic arm body 1. It moves to the through hole 20 in the middle of the guide rod 4, where the insertion rod 23 is inserted, limiting the switching disk 5. The reset spring 6 ensures greater stability of the switching disk 5 during operation. When the switching disk 5 moves backwards, it causes the winding cylinder 12 to move backwards as well. The spline shaft 13 cancels its engagement with the spline hole 25. Under the action of the clamping spring 15, the gripper 11 moves to its maximum distance to both sides. After the switching disk 5 moves backward a certain distance, the spline shaft 13 is inserted into the insertion hole inside the locking sleeve 19 on the grinding disk 10. When the switching disk 5 moves to the corresponding position, the grinding disk 10 will move relative to the clamp 11 through the action of the spline shaft 13 and move to one side of the clamp 11, so that the clamp 11 will not affect the work of the grinding disk 10 during grinding. The locking spring 18 at the rear end of the grinding disk 10 will always generate a counteracting force between the grinding disk 10 and the spline shaft 13, so that the grinding disk 10 will not loosen when the spline shaft 13 drives the grinding disk 10 to grind the object, thus improving the convenience of grinding.

[0027] Working principle: When the actuator is performing clamping work, the spline shaft 13 is slidably engaged inside the spline hole 25. When the servo motor 8 drives the spline shaft 13 to rotate, the winding drum 12 will rotate because of its engaged connection. When the winding drum 12 rotates, the pull ropes 14 on both sides are wound in different directions, which will cause the pull ropes 14 to tighten. The baffle 9 can prevent the pull ropes 14 on both sides from interfering with each other during winding. The other end of the pull rope 14 is connected to the gripper 11, causing the gripper 11 to move inward. The retraction completes the clamping of the object. When the winding drum 12 rotates in the opposite direction, the pull rope 14 is released, and the gripper 11 moves outward under the action of the clamping spring 15, completing the release of the object. When it is necessary to switch between clamping and grinding operations, first pull the pull plate 22 upward to move the insertion rod 23 upward. The insertion rod 23 moves to the outside of the switching disk 5 and cancels contact with the through hole 20 on the guide rod 4. Push the switching disk 5 to move it to one side of the robotic arm body 1. The insertion rod 23 is inserted into the through hole 20 in the guide rod 4, limiting the switching disk 5. The reset spring 6 makes the switching disk 5 more stable when the actuator is working. When the switching disk 5 moves backward, it drives the winding cylinder 12 to move backward as well. The spline shaft 13 loses its engagement with the spline hole 25. Under the action of the clamping spring 15, the clamping jaws 11 move to the maximum distance on both sides. After the switching disk 5 moves backward a certain distance, the spline shaft 13 is inserted into the insertion hole inside the locking sleeve 19 on the grinding disk 10. When the switching disc 5 moves to the corresponding position in the hole, the grinding disc 10 will move relative to the clamp 11 through the action of the spline shaft 13 and move to one side of the clamp 11, so that the clamp 11 will not affect the work of the grinding disc 10 during grinding. The locking spring 18 at the rear end of the grinding disc 10 will always generate a counteracting force between the grinding disc 10 and the spline shaft 13, so that the grinding disc 10 will not loosen when the spline shaft 13 drives the grinding disc 10 to grind the object, thus improving the convenience of grinding.

[0028] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.

[0029] This invention is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A multi-purpose robotic arm, comprising a robotic arm body (1), characterized in that: The front end of the robotic arm body (1) is provided with an execution mechanism for clamping and polishing objects. The execution mechanism includes a switching disk (5). On the side of the switching disk (5) away from the robotic arm body (1), there are grippers (11) for clamping objects. On the side of the switching disk (5) away from the robotic arm body (1), there is a polishing disk (10) for polishing objects. The inner center of the switching disk (5) is provided with a switching component for quickly switching between clamping and polishing operations. The execution mechanism also includes a mounting base (2) fixedly connected to the front end of the robotic arm body (1). (2) A servo motor (8) is provided in the middle of one end face near the switching disk (5). Support seats (3) are fixedly connected to the middle of the upper and lower end faces of the mounting base (2). Guide rods (4) are fixedly connected to one end face of each of the two support seats (3). One end of the guide rod (4) passes through the switching disk (5) and is fixedly connected to a limit plate (24). A winding cylinder (12) is engaged and rotatably connected to the middle of the inner part of the switching disk (5). A spline hole (25) is opened in the middle of the inner part of the winding cylinder (12). A baffle (9) is fixedly connected to the middle of the outer wall of the winding cylinder (12). The outer wall of the winding cylinder (12) is located on both sides of the baffle (9). Both sides are wound with pull ropes (14), one end of each pull rope (14) is fixedly connected to the winding cylinder (12) and the winding direction is opposite. The end of the pull rope (14) away from the winding cylinder (12) is fixedly connected to the gripper (11). The switching assembly includes a spline shaft (13), a telescopic spring (21) and a fixing plate (7). The spline shaft (13) is fixedly connected to the output end of the servo motor (8). One end of the spline shaft (13) is slidably engaged with the inside of the spline hole (25). The telescopic spring (21) is fixedly connected to the upper end of the outer wall of the switching disk (5). The upper end of the telescopic spring (21) is fixedly connected to a pull rope. Plate (22), the lower end face of the pull plate (22) is fixedly connected to the middle of the insert rod (23), the insert rod (23) is located inside the telescopic spring (21), and the guide rod (4) at the upper end is provided with through holes (20) on one side and in the middle. The lower end of the insert rod (23) passes through the guide rod (4) through the through hole (20) and extends into the interior of the switching disk (5). The fixing plate (7) is fixedly connected to one side of the outer wall of the servo motor (8). The side face of the fixing plate (7) away from the mounting base (2) is fixedly connected to the return spring (6). The end of the return spring (6) away from the fixing plate (7) is fixedly connected to the switching disk (5).A plurality of locking springs (18) are fixedly connected at even intervals on the outer side of the end face of the grinding disc (10) near the switching disc (5). A chuck (17) is fixedly connected to the end of the locking spring (18) away from the grinding disc (10). The chuck (17) is engaged and rotatably connected inside the switching disc (5). A locking sleeve (19) is fixedly connected to the middle of the end face of the grinding disc (10) near the switching disc (5). The locking sleeve (19) has an insertion hole corresponding to the spline shaft (13) inside. The switching disc (5) Move along the guide rod (4) and selectively insert the insertion rod (23) into the through hole (20) located on one side or in the middle of the upper guide rod (4) to limit the position. When the spline shaft (13) slides and engages with the spline hole (25), the servo motor (8) drives the winding drum (12) to rotate via the spline shaft (13); when the switching disk (5) moves to one side of the robot arm body (1) to disengage the spline shaft (13) from the spline hole (25), the spline shaft (13) is inserted into the insertion hole of the engaging sleeve (19) to drive the grinding disk (10) to rotate.

2. The multi-purpose robotic arm according to claim 1, characterized in that: The switching disk (5) has a sliding groove (16) on both sides of one end face. The gripper (11) is slidably connected inside the sliding groove (16). A clamping spring (15) is fixedly connected to the inner wall of one end face of the sliding groove (16). One end of the clamping spring (15) is fixedly connected to the gripper (11).

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