A multi-branch configuration-variable collaborative operation robot arm system

Abstract

The present invention discloses a multi-branch configuration variable cooperative operation mechanical arm system, which belongs to the field of mechanical arm technology, and comprises: a mounting seat, both sides of which are open; a crossbeam, which is slidably connected in the mounting seat; an adsorption mechanism, which comprises a moving seat, a connecting box and a sealing box; a counterweight beam, which is slidably connected in the mounting seat, and the outer side of the counterweight beam is slidably sleeved with a guide frame, and the bottom of the guide frame is fixedly connected with a counterweight plate; a rotating mechanism, and a linkage mechanism comprises a rotating cylinder and a vertical plate; a linkage mechanism, and the linkage mechanism comprises a linkage plate, a linkage shaft and a cross plate, and the cross plate is fixedly connected to the bottom of the vertical plate. The present invention can adjust the counterweight position while adjusting the handling spacing by arranging the counterweight beam, and can further adjust the counterweight block according to the weight and motion state of the object when carrying the object through the cooperation of the rotating mechanism and the linkage mechanism, thereby ensuring the overall balance and stability of the mechanical arm system.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a multi-branch configuration-variable collaborative operation robotic arm system. Background Art

[0002] A linkage mechanism is arranged between the crankshaft and the transmission shaft of the robot arm. When the transmission shaft rotates, the crankshaft can be driven to rotate through the linkage mechanism, thereby driving the grasping mechanism and the workpiece to rotate to a predetermined position. The overall structure is simple, easy to debug and maintain, and has high handling efficiency.

[0003] The patent document with publication number CN116141295B discloses a multi-branch variable configuration collaborative operation robot arm system; a transport component is connected between the first support frame and the connecting plate; a clamping component is connected to the transport component; when in use, the second guide rail of appropriate length can be automatically replaced according to different usage requirements, which solves the problem of energy waste caused by the existing robot arm using a long-stroke guide rail to transport short-stroke objects. At the same time, an oblique upward pulling force is applied to the leftmost end of the fourth guide rail through a rope and a sliding block.

[0004] Although the above technical solution can automatically replace the second guide rail of appropriate length according to different usage requirements, when a longer guide rail is selected, the force on one side of the guide rail will increase. Even if the rope is used to ensure that the inside of the robot system is not loose, the excessive offset of the center of gravity of the system as a whole will also impose a huge load on the installation of the system base. Especially when carrying heavy objects, the long guide rail makes the force arm of the material falling force larger, which can easily cause the robot system as a whole to tilt to one side. After long-term use, the overall installation of the robot is prone to loosening. Therefore, we propose a multi-branch configuration variable collaborative operation robot system to solve this problem. Summary of the invention

[0005] The object of the present invention is to provide a multi-branch configuration variable collaborative operation robot arm system to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A multi-branch configuration-variable collaborative operation robot arm system, comprising:

[0008] A mounting seat, both sides of which are opened;

[0009] A crossbeam, slidably connected in the mounting seat;

[0010] Adsorption mechanism, the adsorption mechanism comprises a moving seat, a connecting box and a sealing box, the top of the moving seat is fixedly connected with a sliding seat, the sliding seat is slidably sleeved on the outside of the crossbeam, and the four corners of the bottom of the moving seat are fixedly connected with electric push rods, a piston plate is slidably installed in the connecting box, the output end of the electric push rod is fixedly connected to the corresponding piston plate, and the sealing box is fixedly connected to the bottom of the connecting box, and the bottom of the sealing box is connected with a plurality of suction cups, and the top of the piston plate is provided with an adjustable resistor;

[0011] A counterweight beam, wherein the counterweight beam is slidably connected in the mounting seat, and a guide frame is slidably sleeved on the outer side of the counterweight beam, and a counterweight plate is fixedly connected to the bottom of the guide frame;

[0012] A rotating mechanism, the rotating mechanism comprising a rotating drum and a vertical plate, the rotating drum is rotatably connected to the top of the counterweight beam, and two cross bars are fixedly connected to the outside of the rotating drum, a slide plate is slidably sleeved on the outside of the cross bar, and the two slide plates are fixedly connected to the sides close to each other with a pull rope, the bottom ends of the two pull ropes are fixedly connected to the same pull plate, and the vertical plate is rotatably connected to the bottom of the pull plate;

[0013] A linkage mechanism, the linkage mechanism includes a linkage plate, a linkage shaft and a transverse plate, the transverse plate is fixedly connected to the bottom of the vertical plate, and a sliding frame is slidably sleeved on the outer side of the transverse plate, the linkage shaft is rotatably connected to the inside of the counterweight beam, and a first rotating plate and a second rotating plate are fixedly sleeved on the outer side of the linkage shaft, the linkage plate is rotatably connected to the front side of the guide frame and the second rotating plate, and the sliding frame is rotatably connected to the front side of the first rotating plate.

[0014] Preferably, the adjustable resistor includes a resistor bar and two conductive frames, both ends of the resistor bar are fixedly connected with side mounting bars, the side mounting bars are fixedly connected to the top of the piston plate, and the two conductive frames are slidably sleeved on both sides of the resistor bar, a conductive column is fixedly installed on the top of the conductive frame, and a linkage rod is hinged on the top of the conductive frame, the top of the linkage rod is hinged on the top inner wall of the connecting box, and a plurality of connecting springs and dampers are fixedly connected to the top of the piston plate, and the top ends of the dampers and connecting springs are fixedly connected to the top inner wall of the connecting box.

[0015] Preferably, it also includes multiple spare beams, the front and rear sides of the cross beam and the counterweight beam are integrally formed with limit strips, the front and rear inner walls of the mounting seat are provided with bar-shaped limit grooves that are adapted to the limit strips, the cross-sectional dimensions of the spare beam and the cross beam are equal, a first rack is fixedly installed on the bottom of the cross beam, a spare rack is fixedly installed on the spare beam, a second rack is fixedly installed on the top of the counterweight beam, a first motor is fixedly installed on the front side of the mounting seat, a first gear is fixedly connected to the output shaft of the first motor, the first gear is meshed with the first rack and the second rack, a second motor is fixedly installed on the front side of the sliding seat, a second gear is fixedly connected to the output shaft of the second motor, the second gear is meshed with the first rack, and the spare rack is adapted to the first gear and the second gear.

[0016] Preferably, a vacuum pump is fixedly installed on the top of the sealed box, and an air inlet of the vacuum pump is connected to the sealed box.

[0017] Preferably, a power supply, a drive motor and a support rod are fixedly installed on the top of the counterweight beam, a controller is fixedly connected to the top of the support rod, a fan blade and a driving pulley are fixedly connected to the output shaft of the drive motor, a driven pulley is fixedly sleeved on the outer side of the rotating drum, the driving pulley and the driven pulley are driven by the same belt, the negative pole of the power supply is electrically connected to the negative pole of the drive motor, and the two conductive columns are electrically connected to the positive pole of the power supply and the positive pole of the drive motor respectively, and the drive motor is a DC motor.

[0018] Preferably, guide strips and brackets are fixedly installed on the inner walls on both sides of the rotating drum, the pull plate is slidably sleeved on the outer side of the guide strip, and a guide wheel is rotatably installed inside the bracket, the two pull ropes are respectively wrapped around the outer sides of the corresponding guide wheels, and a round shaft is fixedly connected to the top of the vertical plate, the pull plate is rotatably sleeved on the outer side of the round shaft, a retaining ring is fixedly sleeved on the outer side of the round shaft, and the retaining ring is movably abutted against the top of the pull plate, and the two slide plates are fixedly connected to the sides away from each other with return springs, and the end of the cross bar away from the rotating drum is integrally formed with a baffle, and the ends of the two return springs away from each other are respectively fixedly connected to the corresponding baffles.

[0019] Preferably, a vertical groove is provided at the bottom of the counterweight beam, a compression spring and a vertical rod are fixedly connected to the top inner wall of the vertical groove, the horizontal plate is slidably sleeved on the outside of the vertical rod, and the bottom end of the compression spring is fixedly connected to the top of the horizontal plate.

[0020] Preferably, it further comprises a fixing frame, support frames are welded to both sides of the bottom of the fixing frame, a rotating motor is fixedly installed in the fixing frame, and the output shaft of the rotating motor is connected to the bottom of the mounting seat.

[0021] Preferably, the front bottom of the first rotating plate is fixedly connected to a first round rod, the sliding frame is rotatably sleeved on the outside of the first round rod, and the front bottom of the second rotating plate is fixedly connected to a second round rod, and the linkage plate is rotatably sleeved on the outside of the second round rod.

[0022] The beneficial effects of the present invention are:

[0023] 1. In the present invention, the multi-branch configuration variable cooperative operation manipulator system is characterized in that the first motor is started to drive the first gear to rotate, and the first gear drives the crossbeam and the counterweight beam to move horizontally in the opposite direction by meshing with the first rack and the second rack, so that the length of the crossbeam extending from the mounting seat can be adjusted to facilitate the handling requirements of different spacings, and the spacing between the sliding seat and the guide frame and the mounting frame can be ensured to remain unchanged, that is, the spacing between the sealing box and the counterweight plate and the mounting seat remains unchanged, so that the weight on the left and right sides of the mounting seat can be made substantially equal, thereby preventing the manipulator system from tilting;

[0024] 2. In the present invention, the multi-branch variable configuration cooperative operation robot arm system is driven by starting the electric push rod to lift the piston plate, and the piston plate drives the connection box and the sealing box to move up and down through the connecting spring, so that the suction cup abuts against the top of the object to be transported, and then the vacuum pump is started to generate negative pressure in the sealing box, so that the object is adsorbed and fixed by the suction cup, and then the electric push rod is started to drive the piston plate and the sealing box to move upward to transport the object upward, and then the second motor is started to drive the second gear to rotate, and the second gear drives the guide frame to move horizontally through the meshing with the first rack, and the guide frame drives the sealing box to move horizontally, so that the object is moved horizontally and transported, and the mounting seat is driven to rotate by starting the rotating motor, so that the object is transported in a circular motion;

[0025] 3. In the present invention, a multi-branch variable configuration cooperative operation robot arm system is described, which starts a driving motor to drive the fan blades to rotate so as to dissipate heat to the controller, and at the same time drives the active pulley to rotate, and the active pulley drives the driven pulley and the rotating drum to rotate through the belt, and the rotating drum drives the two slides to perform circular motion, so that they move to the side away from the rotating drum due to centrifugal force, thereby compressing the reset spring, and the slide will pull the pull plate upward through the pull rope, and the pull plate moves upward with the horizontal plate brought by the vertical plate, and the horizontal plate drives the first rotating plate to rotate clockwise through the cooperation with the slide frame and the first round rod, and the first rotating plate drives the second rotating plate to rotate clockwise through the linkage shaft, and the second rotating plate drives the counterweight plate to move to the left through the cooperation of the second round rod and the linkage plate. When carrying, due to the gravity of the object, the connecting box is relative to the piston plate The two conductive frames are driven closer to each other through the two linkage rods, so that the length of the resistor bar connected to the power supply and the drive motor becomes shorter, thereby reducing the resistance in the circuit and increasing the current, thereby increasing the output speed of the drive motor. After the speed of the drum increases, the centrifugal force received by the slide increases, thereby increasing the distance between the slide and the drum, so that the pull plate continues to move upward and drives the counterweight plate to continue to move to the left, so that the distance between the overall center of gravity of the counterweight beam and the counterweight plate and the mounting seat increases. When the gravity of the object is greater or the object is accelerated upward and decelerated downward, the downward movement amplitude of the connection box relative to the piston plate increases, so that the distance between the overall center of gravity of the counterweight beam and the counterweight plate and the mounting seat is further increased, so that the weight of the object being transported can be better balanced to ensure balance.

[0026] 4. In the present invention, the multi-branch variable configuration collaborative operation robot arm system can adjust the counterweight position while adjusting the handling distance by setting a counterweight beam, and can further adjust the counterweight block according to the weight and movement state of the objects when transporting objects through the cooperation of the set rotating mechanism and the linkage mechanism, thereby ensuring the overall balance and stability of the robot arm system. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a multi-branch configuration-variable collaborative operation robotic arm system proposed by the present invention;

[0028] Figure 2 A schematic diagram of the three-dimensional structure of a multi-branch variable configuration collaborative operation robot arm system proposed by the present invention from another perspective;

[0029] Figure 3 A schematic cross-sectional view of a multi-branch variable configuration collaborative operation robot arm system proposed by the present invention;

[0030] Figure 4 for Figure 3 Schematic diagram of the local structure in;

[0031] Figure 5 for Figure 3 Another partial structural schematic diagram in FIG.

[0032] Figure 6 for Figure 5 Schematic diagram of the local structure in;

[0033] Figure 7 for Figure 5 A partial enlarged view of part A;

[0034] Figure 8 This is a schematic diagram of the three-dimensional structure of the adsorption mechanism proposed by the present invention;

[0035] Fig. 9 It is a schematic diagram of a partial three-dimensional structure of the adsorption mechanism proposed by the present invention;

[0036] Fig.10 A schematic diagram of the three-dimensional structure of the adjustable resistor proposed by the present invention;

[0037] Fig.11 It is a three-dimensional structural schematic diagram of the linkage mechanism proposed by the present invention;

[0038] Fig.12 It is a three-dimensional structural schematic diagram of the rotating mechanism proposed by the present invention;

[0039] Fig.13 It is a cross-sectional structural schematic diagram of the adsorption mechanism proposed by the present invention;

[0040] Fig.14 This is a circuit diagram of the power supply, drive motor and conductive column proposed in the present invention.

[0041] In the figure: 1, mounting seat; 2, crossbeam; 201, first rack; 202, spare beam; 203, spare rack; 3, counterweight beam; 301, second rack; 4, sliding seat; 5, moving seat; 6, sealing box; 601, suction cup; 602, vacuum pump; 603, connecting box; 604, electric push rod; 605, piston plate; 606, damper; 7, guide frame; 701, counterweight plate; 8, rotating drum; 801, crossbar; 802, return spring; 803, slide plate; 804, pull rope; 805, guide wheel; 806, pull plate; 807, round shaft; 808, vertical plate; 809, guide strip; 9, The first motor; 10. The second motor; 11. The first gear; 12. The second gear; 13. The controller; 14. The fixed frame; 15. The support frame; 16. The power supply; 17. The driving motor; 18. The fan blades; 19. The horizontal plate; 20. The driving pulley; 21. The driven pulley; 22. The first round rod; 23. The sliding frame; 24. The first rotating plate; 25. The compression spring; 26. The vertical rod; 27. The linkage shaft; 28. The second rotating plate; 29. ​​The second round rod; 30. The linkage plate; 31. The side mounting strip; 32. The resistance strip; 33. The conductive frame; 34. The conductive column; 35. The linkage rod; 36. The connecting spring; 37. The rotating motor. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0043] Reference Figure 1 - Fig.14 , a multi-branch configuration-variable collaborative operation robot arm system, comprising:

[0044] A mounting seat 1, both sides of the mounting seat 1 are provided with openings;

[0045] The crossbeam 2 is slidably connected in the mounting seat 1;

[0046] Adsorption mechanism, the adsorption mechanism includes a moving seat 5, a connecting box 603 and a sealing box 6, the top of the moving seat 5 is fixedly connected with a sliding seat 4, the sliding seat 4 is slidably sleeved on the outside of the crossbeam 2, and the four corners of the bottom of the moving seat 5 are fixedly connected with electric push rods 604, a piston plate 605 is slidably installed in the connecting box 603, the output end of the electric push rod 604 is fixedly connected to the corresponding piston plate 605, and the sealing box 6 is fixedly connected to the bottom of the connecting box 603, and the bottom of the sealing box 6 is connected with a plurality of suction cups 601, and an adjustable resistor is arranged on the top of the piston plate 605;

[0047] A counterweight beam 3, the counterweight beam 3 is slidably connected in the mounting seat 1, and a guide frame 7 is slidably sleeved on the outer side of the counterweight beam 3, and a counterweight plate 701 is fixedly connected to the bottom of the guide frame 7;

[0048] The rotating mechanism includes a rotating drum 8 and a vertical plate 808. The rotating drum 8 is rotatably connected to the top of the counterweight beam 3, and two cross bars 801 are fixedly connected to the outer side of the rotating drum 8. A slide plate 803 is slidably sleeved on the outer side of the cross bar 801. The two slide plates 803 are fixedly connected to the sides close to each other with a pull rope 804. The bottom ends of the two pull ropes 804 are fixedly connected to the same pull plate 806. The vertical plate 808 is rotatably connected to the bottom of the pull plate 806.

[0049] The linkage mechanism includes a linkage plate 30, a linkage shaft 27 and a transverse plate 19. The transverse plate 19 is fixedly connected to the bottom of the vertical plate 808, and the outer side of the transverse plate 19 is slidably sleeved with a slide frame 23. The linkage shaft 27 is rotatably connected to the inside of the counterweight beam 3, and the outer side of the linkage shaft 27 is fixedly sleeved with a first rotating plate 24 and a second rotating plate 28. The linkage plate 30 is rotatably connected to the front side of the guide frame 7 and the second rotating plate 28, and the slide frame 23 is rotatably connected to the front side of the first rotating plate 24.

[0050] In this embodiment, the adjustable resistor includes a resistor bar 32 and two conductive frames 33, both ends of the resistor bar 32 are fixedly connected with side mounting bars 31, the side mounting bars 31 are fixedly connected to the top of the piston plate 605, and the two conductive frames 33 are slidably sleeved on both sides of the resistor bar 32, the top of the conductive frame 33 is fixedly installed with a conductive column 34, and the top of the conductive frame 33 is hinged with a linkage rod 35, the top of the linkage rod 35 is hinged to the top inner wall of the connecting box 603, the top of the piston plate 605 is fixedly connected with a plurality of connecting springs 36 and a damper 606, the tops of the dampers 606 and the connecting springs 36 are fixedly connected to the top inner wall of the connecting box 603, and the conductive frames 33 and the conductive columns 34 are both made of conductive materials to facilitate conduction, and the side mounting bars 31 and the linkage rods 35 are both made of insulating materials to prevent leakage.

[0051] In this embodiment, a plurality of spare beams 202 are also included. The front and rear sides of the cross beam 2 and the counterweight beam 3 are integrally formed with limit strips. The inner walls of the front and rear sides of the mounting seat 1 are provided with bar-shaped limit grooves adapted to the limit strips. The cross-sectional dimensions of the spare beam 202 and the cross beam 2 are equal. A first rack 201 is fixedly installed at the bottom of the cross beam 2, a spare rack 203 is fixedly installed on the spare beam 202, a second rack 301 is fixedly installed on the top of the counterweight beam 3, a first motor 9 is fixedly installed on the front side of the mounting seat 1, and the output of the first motor 9 A first gear 11 is fixedly connected to the output shaft, and the first gear 11 is meshed with the first rack 201 and the second rack 301, so as to facilitate the horizontal movement of the cross beam 2 and the counterweight beam 3 in opposite directions and at equal distances. A second motor 10 is fixedly installed on the front side of the sliding seat 4, and a second gear 12 is fixedly connected to the output shaft of the second motor 10, and the second gear 12 is meshed with the first rack 201, so as to facilitate the horizontal movement of the sliding seat 4, and the spare rack 203 is adapted to the first gear 11 and the second gear 12.

[0052] In this embodiment, a vacuum pump 602 is fixedly installed on the top of the sealed box 6, and the air inlet of the vacuum pump 602 is connected to the sealed box 6, so as to facilitate the extraction of air in the sealed box 6 to generate negative pressure and achieve adsorption of objects.

[0053] In this embodiment, a power supply 16, a drive motor 17 and a support rod are fixedly installed on the top of the counterweight beam 3, and a controller 13 is fixedly connected to the top of the support rod. A fan blade 18 and a driving pulley 20 are fixedly connected to the output shaft of the drive motor 17. A driven pulley 21 is fixedly sleeved on the outer side of the rotating drum 8. The same belt is installed on the driving pulley 20 and the driven pulley 21 for transmission. The negative pole of the power supply 16 is electrically connected to the negative pole of the drive motor 17, and the two conductive columns 34 are electrically connected to the positive pole of the power supply 16 and the positive pole of the drive motor 17 respectively. The drive motor 17 adopts a DC motor, so that when the resistance of the two adjustable resistors connected to the circuit decreases, the current in the circuit increases, and the rotor speed of the drive motor 17 can increase accordingly.

[0054] In this embodiment, guide strips 809 and brackets are fixedly installed on the inner walls of both sides of the rotating drum 8, and the pull plate 806 is slidably sleeved on the outer side of the guide strips 809 to guide the pull plate 806, and a guide wheel 805 is rotatably installed inside the bracket, and two pull ropes 804 are respectively wound around the outer sides of the corresponding guide wheels 805, and a round shaft 807 is fixedly connected to the top of the vertical plate 808, and the pull plate 806 is rotatably sleeved on the outer side of the round shaft 807, thereby realizing a stable rotation connection between the vertical plate 808 and the pull plate 806, and the round shaft A retaining ring is fixedly sleeved on the outer side of 807, and the retaining ring movably abuts against the top of the pull plate 806, thereby limiting the circular shaft 807, so that the pull plate 806 and the vertical plate 808 can ensure synchronous up and down movement while performing relative rotation, and the two slides 803 are fixedly connected to the sides away from each other with reset springs 802, and the end of the cross bar 801 away from the rotating drum 8 is integrally formed with a retaining plate, and the ends of the two reset springs 802 away from each other are respectively fixedly connected to the corresponding retaining plates, thereby resetting the slide 803.

[0055] In this embodiment, a vertical groove is opened at the bottom of the counterweight beam 3, and a compression spring 25 and a vertical rod 26 are fixedly connected to the top inner wall of the vertical groove. The horizontal plate 19 is slidably sleeved on the outer side of the vertical rod 26, and the bottom end of the compression spring 25 is fixedly connected to the top of the horizontal plate 19, thereby resetting the horizontal plate 19.

[0056] In this embodiment, a fixing frame 14 is further included. Support frames 15 are welded to both sides of the bottom of the fixing frame 14 . A rotating motor 37 is fixedly installed in the fixing frame 14 . The output shaft of the rotating motor 37 is connected to the bottom of the mounting seat 1 .

[0057] In this embodiment, the front bottom of the first rotating plate 24 is fixedly connected to the first round rod 22, the sliding frame 23 is rotatably sleeved on the outer side of the first round rod 22, and the front bottom of the second rotating plate 28 is fixedly connected to the second round rod 29, and the linkage plate 30 is rotatably sleeved on the outer side of the second round rod 29, so that the linkage plate 30 and the second rotating plate 28 are stably rotationally connected.

[0058] In this embodiment, when in use, the first motor 9 is started to drive the first gear 11 to rotate, and the first gear 11 drives the cross beam 2 and the counterweight beam 3 to move horizontally in the opposite direction by meshing with the first rack 201 and the second rack 301, so that the length of the cross beam 2 extending out of the mounting seat 1 can be adjusted to facilitate the transportation requirements of different spacings, and the spacing between the sliding seat 4 and the guide frame 7 and the mounting frame can be ensured to remain unchanged, that is, the spacing between the sealing box 6 and the counterweight plate 701 and the mounting seat 1 remains unchanged, so that the weight on the left and right sides of the mounting seat 1 can be made substantially equal, thereby preventing the robot arm system from tilting;

[0059] The piston plate 605 is driven to move up and down by starting the electric push rod 604, and the piston plate 605 drives the connection box 603 and the sealing box 6 to move up and down through the connection spring 36, so that the suction cup 601 is in contact with the top of the object to be transported, and then the vacuum pump 602 is started to generate negative pressure in the sealing box 6, so that the object is adsorbed and fixed by the suction cup 601, and then the electric push rod 604 is started to drive the piston plate 605 and the sealing box 6 to move upward, and the object is transported upward, and then the second motor 10 is started to drive the second gear 12 to rotate, and the second gear 12 drives the sliding seat 4 to move horizontally by meshing with the first rack 201, and the sliding seat 4 drives the sealing box 6 to move horizontally, so that the object is moved horizontally and transported, and the mounting seat 1 is driven to rotate by starting the rotating motor 37, so that the object is transported in a circular motion;

[0060] By energizing the power supply 16, the driving motor 17 drives the fan blades 18 to rotate, thereby dissipating the heat of the controller 13, and at the same time drives the active pulley 20 to rotate. The active pulley 20 drives the driven pulley 21 and the rotating drum 8 to rotate through the belt, and the rotating drum 8 drives the two slides 803 to perform a circular motion, so that due to the centrifugal force, it moves to the side away from the rotating drum 8, thereby compressing the reset spring 802, and the slide 803 will pull the pull plate 806 upward through the pull rope 804, and the pull plate 806 will move upward with the cross plate 19 through the vertical plate 808. The cross plate 19 drives the first rotating plate 24 to rotate clockwise through the cooperation with the slide frame 23 and the first round rod 22. The first rotating plate 24 drives the second rotating plate 28 to rotate clockwise through the linkage shaft 27. The second rotating plate 28 drives the counterweight plate 701 to move to the left through the cooperation of the second round rod 29 and the linkage plate 30. When transporting, due to the gravity of the objects, the connecting box 603 moves downward relative to the piston plate 605 Movement, while realizing compression of the connecting spring 36, and driving the two conductive frames 33 to approach each other through the two linkage rods 35, so that the length of the resistor bar 32 connected to the power supply 16 and the drive motor 17 becomes shorter, thereby making the resistance in the circuit smaller and the current larger, thereby increasing the output speed of the drive motor 17, and after the speed of the rotating drum 8 increases, the centrifugal force received by the slide plate 803 increases, thereby increasing the distance from the rotating drum 8, so that the pull plate 806 continues to move upward, and drives the counterweight plate 701 to continue to move to the left, so that the distance between the overall center of gravity of the counterweight beam 3 and the counterweight plate 701 and the mounting seat 1 increases, and when the gravity of the object is greater or it is accelerated upward and decelerated downward, the downward movement amplitude of the connecting box 603 relative to the piston plate 605 increases, so that the distance between the overall center of gravity of the counterweight beam 3 and the counterweight plate 701 and the mounting seat 1 is further increased, so that the weight of the carried objects can be better balanced to ensure the overall balance of the robotic arm system;

[0061] Furthermore, the first motor 9 can be started to drive the crossbeam 2 to move, thereby facilitating the removal of the crossbeam 2 and replacing it with other spare beams 202 to meet different usage requirements.

[0062] The above is a detailed introduction to a multi-branch configuration variable collaborative operation robot arm system provided by the present invention. Specific embodiments are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A multi-branch configuration-variable collaborative operation robot arm system, characterized in that: include: A mounting seat (1), wherein both sides of the mounting seat (1) are provided with openings; A crossbeam (2) slidably connected to the mounting seat (1); An adsorption mechanism, the adsorption mechanism comprising a movable seat (5), a connection box (603) and a sealing box (6), the top of the movable seat (5) is fixedly connected to a sliding seat (4), the sliding seat (4) is slidably sleeved on the outer side of the crossbeam (2), and the four corners of the bottom of the movable seat (5) are fixedly connected to electric push rods (604), a piston plate (605) is slidably installed in the connection box (603), the output end of the electric push rod (604) is fixedly connected to the corresponding piston plate (605), and the sealing box (6) is fixedly connected to the bottom of the connection box (603), and the bottom of the sealing box (6) is connected to a plurality of suction cups (601), and the top of the piston plate (605) is provided with an adjustable resistor; A counterweight beam (3), the counterweight beam (3) being slidably connected in the mounting seat (1), and a guide frame (7) being slidably sleeved on the outer side of the counterweight beam (3), and a counterweight plate (701) being fixedly connected to the bottom of the guide frame (7); A rotating mechanism, the rotating mechanism comprising a rotating drum (8) and a vertical plate (808), the rotating drum (8) being rotatably connected to the top of the counterweight beam (3), and the outer side of the rotating drum (8) being fixedly connected to two cross bars (801), the outer side of the cross bars (801) being slidably sleeved with a slide plate (803), the two slide plates (803) being fixedly connected to a pull rope (804) on the sides close to each other, the bottom ends of the two pull ropes (804) being fixedly connected to the same pull plate (806), and the vertical plate (808) being rotatably connected to the bottom of the pull plate (806); A linkage mechanism, the linkage mechanism comprising a linkage plate (30), a linkage shaft (27) and a transverse plate (19), the transverse plate (19) being fixedly connected to the bottom of the vertical plate (808), and a sliding frame (23) being slidably sleeved on the outer side of the transverse plate (19), the linkage shaft (27) being rotationally connected to the inside of the counterweight beam (3), and a first rotating plate (24) and a second rotating plate (28) being fixedly sleeved on the outer side of the linkage shaft (27), and the linkage plate (30) being rotationally connected to the guide frame (7) and the second rotating plate (28). On the front side, the sliding frame (23) is rotatably connected to the front side of the first rotating plate (24), the inner walls of both sides of the rotating cylinder (8) are fixedly installed with guide strips (809) and brackets, the pull plate (806) is slidably sleeved on the outer side of the guide strip (809), and a guide wheel (805) is rotatably installed inside the bracket, the two pull ropes (804) are respectively wound around the outer sides of the corresponding guide wheels (805), and the top of the vertical plate (808) is fixedly connected with a round shaft (807), and the pull plate (806) is rotatably sleeved on The outer side of the circular shaft (807) is fixedly sleeved with a retaining ring, and the retaining ring is movably abutted against the top of the pulling plate (806). The two sliding plates (803) are fixedly connected to the sides away from each other with a return spring (802). The end of the cross bar (801) away from the rotating drum (8) is integrally formed with a retaining plate, and the ends of the two return springs (802) away from each other are respectively fixedly connected to the corresponding retaining plates. The bottom of the counterweight beam (3) is provided with a vertical groove, and the top inner wall of the vertical groove is fixedly connected to A compression spring (25) and a vertical rod (26) are provided, the horizontal plate (19) is slidably sleeved on the outer side of the vertical rod (26), and the bottom end of the compression spring (25) is fixedly connected to the top of the horizontal plate (19), the front bottom of the first rotating plate (24) is fixedly connected to a first round rod (22), the sliding frame (23) is rotatably sleeved on the outer side of the first round rod (22), and the front bottom of the second rotating plate (28) is fixedly connected to a second round rod (29), and the linkage plate (30) is rotatably sleeved on the outer side of the second round rod (29).

2. A multi-branch configuration-variable collaborative operation robot arm system according to claim 1, characterized in that: The adjustable resistor comprises a resistor bar (32) and two conductive frames (33), both ends of the resistor bar (32) are fixedly connected to side mounting bars (31), the side mounting bars (31) are fixedly connected to the top of the piston plate (605), and the two conductive frames (33) are slidably sleeved on both sides of the resistor bar (32), the top of the conductive frame (33) is fixedly installed with a conductive column (34), and the top of the conductive frame (33) is hinged with a linkage rod (35), the top end of which is hinged on the top inner wall of the connection box (603), and the top of the piston plate (605) is fixedly connected to a plurality of connection springs (36) and a damper (606), and the top ends of the damper (606) and the connection spring (36) are fixedly connected to the top inner wall of the connection box (603).

3. A multi-branch configuration-variable collaborative operation robot arm system according to claim 1, characterized in that: The invention also comprises a plurality of spare beams (202), the front and rear sides of the cross beam (2) and the counterweight beam (3) are integrally formed with limit strips, the front and rear inner walls of the mounting seat (1) are provided with bar-shaped limit grooves adapted to the limit strips, the cross-sectional dimensions of the spare beam (202) and the cross beam (2) are equal, a first rack (201) is fixedly mounted on the bottom of the cross beam (2), a spare rack (203) is fixedly mounted on the spare beam (202), a second rack (301) is fixedly mounted on the top of the counterweight beam (3), and the mounting seat (1) is provided with a plurality of spare beams (202), the front and rear inner walls of the cross beam (2) and the counterweight beam (3) are integrally formed with limit strips, the cross-sectional dimensions of the spare beam (202) and the cross beam (2) are equal, a first rack (201) is fixedly mounted on the bottom of the cross beam (2), a spare rack (203) is fixedly mounted on the spare beam (202), a second rack (301) is fixedly mounted on the top of the counterweight beam (3), and the mounting seat (1) is provided with a plurality of spare beams (202), and a plurality of spare racks (203) are fixedly mounted on the top of the counterweight beam (3). A first motor (9) is fixedly mounted on the front side of the sliding seat (4); a first gear (11) is fixedly connected to the output shaft of the first motor (9); the first gear (11) is meshed with the first rack (201) and the second rack (301); a second motor (10) is fixedly mounted on the front side of the sliding seat (4); a second gear (12) is fixedly connected to the output shaft of the second motor (10); the second gear (12) is meshed with the first rack (201); and the spare rack (203) is adapted to the first gear (11) and the second gear (12).

4. A multi-branch configuration-variable collaborative operation robot arm system according to claim 1, characterized in that: A vacuum pump (602) is fixedly mounted on the top of the sealing box (6), and an air inlet of the vacuum pump (602) is in communication with the sealing box (6).

5. The multi-branch configuration-variable collaborative operation robot arm system according to claim 2, characterized in that: A power source (16), a drive motor (17) and a support rod are fixedly installed on the top of the counterweight beam (3); a controller (13) is fixedly connected to the top of the support rod; a fan blade (18) and a driving pulley (20) are fixedly connected to the output shaft of the drive motor (17); a driven pulley (21) is fixedly sleeved on the outer side of the rotating drum (8); the driving pulley (20) and the driven pulley (21) are driven by the same belt; the negative pole of the power source (16) is electrically connected to the negative pole of the drive motor (17); and the two conductive columns (34) are electrically connected to the positive pole of the power source (16) and the positive pole of the drive motor (17) respectively; and the drive motor (17) is a DC motor.

6. The multi-branch configuration-variable collaborative operation robot arm system according to claim 1, characterized in that: It also comprises a fixed frame (14), support frames (15) are welded on both sides of the bottom of the fixed frame (14), a rotating motor (37) is fixedly installed in the fixed frame (14), and the output shaft of the rotating motor (37) is connected to the bottom of the mounting seat (1).

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