A bionic robotic arm and a bionic robotic arm system

Abstract

The present invention discloses a bionic robotic arm and a bionic robotic arm system, belonging to the technical field of robotics. The bionic robotic arm includes: a bionic arm, which includes a mounting base, a first joint, a second joint, and a third joint. The first joint is hinged to one end of the second joint, and the third joint is rotatably connected to the other end of the second joint; an adsorption mechanism, which includes an outer frame body and an adsorption box. The adsorption box is slidably connected inside the outer frame body, and the outer frame body is fixedly connected to the bottom of the first joint. A plurality of suction cups are communicated with the bottom of the adsorption box, and air extraction mechanisms are arranged on both sides of the top of the adsorption box, and testing mechanisms are arranged on both sides of the adsorption box. Through the cooperation of the air extraction mechanism and the testing mechanism, the present invention can adjust the adsorption force of the line of sight on the article under the condition of the article shaking after adsorbing the article, and stop the test until the adsorption force is large enough, so as to ensure the stable handling of the article according to the actual situation, and improve the applicability and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a bionic robotic arm and a bionic robotic arm system. Background Art

[0002] As a new type of production tool for humans, robots show great superiority in reducing labor intensity, increasing productivity, changing production models, and liberating people from dangerous and harsh working environments.

[0003] The patent document with the publication number CN105619403B discloses a bionic robotic arm, which includes a base. A base bracket and a linear motion control member are fixed on the base. The upper end of the base bracket is hinged with a large arm seat, and the large arm seat is connected to the linear motion control member. One end of the large arm seat is connected to one end of a large arm rod, and the other end of the large arm rod is hinged to a small arm rod. A lead screw stepping motor is arranged at the end of the large arm rod far from the small arm rod, and the telescopic rod on the lead screw stepping motor is hinged to one end of the small arm rod. A hand claw fixing member is arranged at the other end of the small arm rod. In the above technical solution, the driving mechanism is exposed on the outside, resulting in an insufficiently compact structure and inflexible movement.

[0004] The patent document with the authorization publication number CN213562658U discloses an adsorption type workpiece transfer robotic arm, which includes a robotic arm main body. A pneumatic control mechanism and a pneumatic suction cup are installed on the robotic arm main body, and a workpiece is adsorbed at the lower end of the pneumatic suction cup. A connecting plate is arranged on one side of the upper end of the robotic arm main body, and an installation plate is connected to the other side of the connecting plate. Fixing strips are arranged on both sides of the lower end of the installation plate, and adjusting tracks are connected to both ends of the fixing strips. However, this design cannot test the adsorption stability when adsorbing an object, and it is difficult to use an appropriate adsorption force according to needs, which will directly affect the stable grasping of the object. Therefore, we propose a bionic robotic arm and a bionic robotic arm system to solve this problem. Summary of the Invention

[0005] The purpose of the present invention is to provide a bionic robotic arm and a bionic robotic arm system to solve the problems raised in the above background art.

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

[0007] A bionic robotic arm includes:

[0008] A bionic arm, the bionic arm includes a mounting seat, a first joint, a second joint and a third joint. The first joint is hinged to one end of the second joint, and the third joint is rotatably connected to the other end of the second joint. The other end of the third joint is fixedly connected to the mounting seat;

[0009] Adsorption mechanism, the adsorption mechanism includes an outer frame body and an adsorption box, the adsorption box is slidably connected within the outer frame body, and the outer frame body is fixedly connected to the bottom of the first joint. A plurality of suction cups are communicated with the bottom of the adsorption box, and air extraction mechanisms are arranged on both sides of the top of the adsorption box, and testing mechanisms are arranged on both sides of the adsorption box;

[0010] The air extraction mechanism includes an air extraction box and a connecting column. The air extraction box is fixedly connected to the top of the adsorption box. A piston plate is slidably and sealingly installed within the air extraction box. A connecting plate is hinged to the top of the piston plate. The connecting plate is rotatably sleeved outside the connecting column. The two ends of the connecting column are respectively fixedly connected to a first sliding frame and a second sliding frame. A second rotating plate is slidably installed within the second sliding frame. A horizontal shaft is fixedly connected to the outside of the second rotating plate. A sliding cylinder is slidably sleeved outside the horizontal shaft. One side of the sliding cylinder is hinged to a linkage rod, and the other end of the linkage rod is hinged to the second sliding frame. An adjusting plate is rotatably sleeved outside the sliding cylinder. A lead screw is rotatably connected to one side of the air extraction box. The adjusting plate is threadedly sleeved outside the lead screw;

[0011] The testing mechanism includes a testing plate, a moving frame, and a driving motor. A square plate is fixedly connected to the top of the testing plate. The moving frame is slidably sleeved outside the square plate. A rack is fixedly connected to the rear side of the top of the moving frame. A driving gear and a sector gear are fixedly connected to the output shaft of the driving motor. The sector gear meshes with the rack. A driven gear is fixedly sleeved outside the lead screw. The driving gear meshes with the driven gear.

[0012] Preferably, a controller is fixedly installed on the top of the adsorption box. A touch button is fixedly installed on one side of the moving frame. A pressing plate and two connecting springs are fixedly connected to the top of the testing plate. The top ends of the two connecting springs are respectively fixedly connected to side plates. The two side plates are respectively fixedly connected to the front and rear sides of the moving frame. A guiding plate is fixedly connected to the other side of the moving frame. Guiding grooves are opened on both sides of the adsorption box. The two guiding plates are respectively slidably connected within the corresponding guiding grooves. A supporting spring is fixedly connected to the bottom of the guiding plate. The bottom end of the supporting spring is fixedly connected to the bottom inner wall of the corresponding guiding groove. Guide rods are fixedly installed on both sides of the adsorption box. The two guiding plates are respectively slidably sleeved outside the corresponding guide rods. The two driving motors are respectively fixedly installed on both sides of the adsorption box.

[0013] Preferably, a connecting rod is connected to one side of the air extraction box through a pipeline. The adjusting plate is slidably sleeved on the outer side of the connecting rod, and the other end of the connecting rod is fixedly installed with a positioning sleeve. The positioning sleeve is rotatably sleeved on the outer side of the horizontal shaft. A limiting strip is fixedly installed on the top of the horizontal shaft. A limiting groove is formed on the inner wall of the top of the sliding cylinder, and the limiting strip is slidably connected in the limiting groove.

[0014] Preferably, a first rotating plate is slidably connected in the first sliding frame. One side of the first rotating plate is fixedly connected with a driving shaft. The driving shaft is rotatably connected to the side wall of the air extraction box. The other side of the air extraction box is fixedly connected with a rotating motor. The output shaft of the rotating motor is fixedly connected to the other end of the driving shaft. The bottom and one side of the air extraction box are respectively communicated with an air inlet pipe and an air outlet pipe. A first one-way valve and a second one-way valve are fixedly installed in the air inlet pipe. A through hole is formed in the top of the air extraction box, and an electric control valve is arranged in the through hole.

[0015] Preferably, an electric push rod is fixedly installed on the inner wall of the top of the outer frame body, and the output end of the electric push rod is fixedly connected to the top of the adsorption box.

[0016] Preferably, two retaining rings are fixedly installed on the outer side of the sliding cylinder, and the two retaining rings are respectively movably abutted against both sides of the adjusting plate.

[0017] Preferably, two first ear plates are fixedly installed on one side of the mounting seat. The same first rotating shaft is rotatably connected in the two first ear plates. The top end of the third joint is fixedly connected with two second ear plates. The two second ear plates are fixedly sleeved on the outer side of the first rotating shaft. The bottom of the third joint is fixedly installed with an annular guide seat. A plurality of arc-shaped limiting plates are fixedly installed on the top of the second joint. The arc-shaped limiting plates are slidably sleeved on the outer side of the annular guide seat. The bottom end of the second joint is fixedly connected with two third ear plates. The top end of the first joint is fixedly connected with two fourth ear plates. The same second rotating shaft is fixedly installed inside the two fourth ear plates. The two third ear plates are rotatably sleeved on the outer side of the second rotating shaft.

[0018] Preferably, a first motor is fixedly installed on one side of the mounting seat. A first bevel gear is fixedly connected to the output shaft of the first motor. A second bevel gear is fixedly sleeved on the outer side of the first rotating shaft. The first bevel gear meshes with the second bevel gear. A second motor is fixedly connected to the bottom end of the third joint. The output shaft of the second motor is fixedly connected to the top end of the second joint. A third motor is fixedly connected to the bottom end of the second joint. A third bevel gear is fixedly connected to the output shaft of the third motor. A fourth bevel gear is fixedly sleeved on the outer side of the second rotating shaft. The third bevel gear meshes with the fourth bevel gear.

[0019] The present invention also provides a bionic robotic arm system, which includes a fixed base and two sets of the above-mentioned bionic robotic arms. The two sets of bionic robotic arms are respectively installed on both sides of the fixed base, and a support base is fixedly installed at the bottom of the fixed base.

[0020] The beneficial effects of the present invention are as follows:

[0021] 1. In the present invention, for the bionic robotic arm and the bionic robotic arm system, by starting the electric push rod to drive the suction box downward, multiple suction cups are brought into contact with the surface of the article. Then, the controller controls the rotation motor, the electric push rod, and the drive motor to start in sequence. The rotation motor drives the drive shaft to rotate, and drives the first connecting column to perform circular motion through the cooperation of the first rotating plate and the first sliding frame. The connecting column drives the piston plate to reciprocate up and down through the cooperation with the connecting plate. When the piston plate moves downward, the air in the air extraction box is led out from the air outlet pipe. When the piston plate moves upward, the air in the suction box is inhaled into the air extraction box. The cooperation of the first one-way valve and the second one-way valve can prevent the gas from flowing backward, so that the air pressure in the suction box gradually decreases. Then, the electric push rod drives the suction box to move upward a small distance and then reciprocates up and down within a small distance, so as to lift the article upward and separate it from the placement surface and then shake it up and down. Then, the drive motor drives the driving gear and the sector gear to rotate. The sector gear drives the moving frame to move downward through the engagement with the rack. The moving frame drives the test plate to move downward through the connecting spring, so that the test plate abuts against the adsorbed article. Subsequently, the moving frame continues to press down and compresses the connecting spring, so as to increase the pressure applied to the article. When the applied pressure plus the pressure of the article plus the gravity and the inertial force received by the article exceed the adsorption force of the article, the article drops. Thus, the controller controls the rotation motor, the electric push rod, and the drive motor to start in sequence again. The meshing of the sector gear and the rack cooperates with the support spring to control the reciprocating up and down movement of the moving frame, so as to continuously perform adsorption, shaking, and pressure application tests on the article. And while the driving gear is rotating, it drives the lead screw to rotate at a reduced speed through the engagement with the driven gear. The lead screw drives the adjusting plate to move closer to the air extraction box through the threaded transmission with the adjusting plate and under the guidance of the connecting rod, and drives the sliding cylinder to move horizontally while rotating through the cooperation with the retaining ring, and drives the second sliding frame and the connecting column to move away from the horizontal axis through the linkage rod, so that the radius of the circular motion of the connecting column gradually increases, so that the limit amplitude of the up and down movement of the piston plate increases. Thus, when the rotation speed of the rotation motor remains unchanged and within the same time, the air extraction box extracts more air from the compression box, so that the degree of vacuum in the suction box is greater, so that the adsorption force of the suction cup on the article is increased, so that the adsorption force of the suction cup on the article gradually increases during each test process until the adsorption force is large enough to prevent the article from falling during the up and down shaking process. Thus, the pressing plate presses the touch button. After the controller receives the signal of the touch button, it controls the rotation motor, the electric push rod, and the drive motor to turn off. And when the controller sends the control information, there will be a short delay, so that the sector gear can continue to rotate and disengage from the rack. The moving frame resets under the action of the support spring, so that the test plate releases the pressure on the article and ensures the stable adsorption of the article;

[0022] 2. In the present invention, for the bionic robotic arm and the bionic robotic arm system, by starting the first motor to drive the first bevel gear to rotate, and through the meshing with the second bevel gear to drive the first rotating shaft and the third joint to rotate, and by driving the second joint to rotate through the second motor, and the third motor drives the second rotating shaft and the first joint to rotate through the meshing of the third bevel gear and the fourth bevel gear, so as to realize the handling of articles.

[0023] 3. In the present invention, for the bionic robotic arm and the bionic robotic arm system, by opening the electromagnetic control valve, the outside air enters the adsorption box, so that the air pressure is restored, thereby releasing the adsorption of the article.

[0024] 4. In the present invention, for the bionic robotic arm and the bionic robotic arm system, through the cooperation of the air extraction mechanism and the testing mechanism, it is possible to adjust the adsorption force of the line of sight on the article under the condition of the article shaking after the article is adsorbed, and stop the test until the adsorption force is large enough, so as to ensure the stable handling of the article according to the actual situation, and improve the applicability and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic perspective view of the overall structure of a bionic robotic arm system proposed by the present invention;

[0026] Figure 2 It is a schematic perspective view of the bionic arm in a bionic robotic arm proposed by the present invention;

[0027] Figure 3 It is a schematic cross-sectional view of the bionic arm in a bionic robotic arm proposed by the present invention;

[0028] Figure 4 It is a schematic cross-sectional view of the adsorption mechanism in a bionic robotic arm proposed by the present invention;

[0029] Figure 5 It is a schematic partial perspective view of the air extraction mechanism proposed by the present invention;

[0030] Figure 6 It is Figure 4 a partial enlarged view of part A in

[0031] Figure 7 It is Figure 4 a partial structural view in

[0032] Figure 8 It is a schematic perspective view of the adsorption box proposed by the present invention;

[0033] Figure 9 It is a schematic perspective view of the adsorption mechanism proposed by the present invention;

[0034] Figure 10Schematic three-dimensional structure diagram of the air extraction mechanism and the testing mechanism proposed by the present invention;

[0035] Figure 11 Schematic partial three-dimensional structure diagram of the testing mechanism proposed by the present invention.

[0036] In the figure: 100, outer frame; 101, first joint; 102, second joint; 103, third joint; 104, mounting seat; 105, fixed seat; 106, support seat; 107, first ear plate; 108, second ear plate; 109, third ear plate; 110, fourth ear plate; 111, first motor; 112, second motor; 113, third motor; 114, first rotating shaft; 115, second rotating shaft; 116, first bevel gear; 117, second bevel gear; 118, third bevel gear; 119, fourth bevel gear; 120, annular guide seat; 121, arc-shaped limiting plate; 1, adsorption box; 1001, suction cup; 2, controller; 3, support spring; 4, test plate; 5, driving motor; 6, air extraction box; 7, piston plate; 8, connecting plate; 9, rotating motor; 10, driving shaft; 11, first sliding frame; 12, first rotating plate; 13, second rotating plate; 14, second sliding frame; 15, linkage rod; 16, sliding cylinder; 17, positioning sleeve; 18, cross shaft; 19, adjusting plate; 20, lead screw; 21, driven gear; 22, driving gear; 23, sector gear; 24, rack; 25, moving frame; 26, square plate; 27, pressing plate; 28, touch button; 29, connecting spring; 30, side plate; 31, guide plate; 32, electric push rod; 33, air outlet pipe; 34, second one-way valve; 35, air inlet pipe; 36, connecting column; 37, first one-way valve; 38, electric control valve. Specific embodiments

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0038] Refer to Figure 2 - Figure 11 , a bionic robotic arm, comprising:

[0039] A bionic arm, the bionic arm includes a mounting seat 104, a first joint 101, a second joint 102 and a third joint 103. The first joint 101 is hinged to one end of the second joint 102, the third joint 103 is rotatably connected to the other end of the second joint 102, and the other end of the third joint 103 is fixedly connected to the mounting seat 104;

[0040] Adsorption mechanism, the adsorption mechanism includes an outer frame 100 and an adsorption box 1. The adsorption box 1 is slidably connected inside the outer frame 100, and the outer frame 100 is fixedly connected to the bottom of the first joint 101. A plurality of suction cups 1001 are communicated with the bottom of the adsorption box 1, and air extraction mechanisms are arranged on both sides of the top of the adsorption box 1, and testing mechanisms are arranged on both sides of the adsorption box 1;

[0041] The air extraction mechanism includes an air extraction box 6 and a connecting column 36. The air extraction box 6 is fixedly connected to the top of the adsorption box 1, and a piston plate 7 is slidably and sealingly installed inside the air extraction box 6. A connecting plate 8 is hinged to the top of the piston plate 7. The connecting plate 8 is rotatably sleeved outside the connecting column 36. Both ends of the connecting column 36 are respectively fixedly connected with a first sliding frame 11 and a second sliding frame 14. A second rotating plate 13 is slidably installed inside the second sliding frame 14. A cross shaft 18 is fixedly connected to the outside of the second rotating plate 13. A sliding cylinder 16 is slidably sleeved outside the cross shaft 18. One side of the sliding cylinder 16 is hinged with a linkage rod 15. The other end of the linkage rod 15 is hinged to the second sliding frame 14. An adjusting plate 19 is rotatably sleeved outside the sliding cylinder 16. One side of the air extraction box 6 is rotatably connected with a lead screw 20. The adjusting plate 19 is threadedly sleeved outside the lead screw 20;

[0042] The testing mechanism includes a testing plate 4, a moving frame 25 and a driving motor 5. A square plate 26 is fixedly connected to the top of the testing plate 4. The moving frame 25 is slidably sleeved outside the square plate 26. A rack 24 is fixedly connected to the rear side of the top of the moving frame 25. A driving gear 22 and a sector gear 23 are fixedly connected to the output shaft of the driving motor 5. The sector gear 23 meshes with the rack 24. A driven gear 21 is fixedly sleeved outside the lead screw 20. The driving gear 22 meshes with the driven gear 21.

[0043] In this embodiment, a controller 2 is fixedly installed on the top of the adsorption box 1. A touch button 28 is fixedly installed on one side of the moving frame 25. A pressing plate 27 and two connecting springs 29 are fixedly connected to the top of the testing plate 4. The top ends of the two connecting springs 29 are respectively fixedly connected with side plates 30. The two side plates 30 are respectively fixedly connected to the front and rear sides of the moving frame 25. A guiding plate 31 is fixedly connected to the other side of the moving frame 25. Guiding grooves are formed on both sides of the adsorption box 1. The two guiding plates 31 are respectively slidably connected in the corresponding guiding grooves. A supporting spring 3 is fixedly connected to the bottom of the guiding plate 31. The bottom end of the supporting spring 3 is fixedly connected to the bottom inner wall of the corresponding guiding groove. Guide rods are fixedly installed on both sides of the adsorption box 1. The two guiding plates 31 are respectively slidably sleeved outside the corresponding guide rods. The two driving motors 5 are respectively fixedly installed on both sides of the adsorption box 1.

[0044] In this embodiment, a connecting rod is connected to a pipeline on one side of the air extraction box 6. The adjusting plate 19 is slidably sleeved on the outer side of the connecting rod, and the other end of the connecting rod is fixedly installed with a positioning sleeve 17. The positioning sleeve 17 is rotatably sleeved on the outer side of the cross shaft 18. A limiting strip is fixedly installed on the top of the cross shaft 18, and a limiting groove is formed on the inner wall of the top of the sliding cylinder 16. The limiting strip is slidably connected in the limiting groove.

[0045] In this embodiment, a first rotating plate 12 is slidably connected in the first sliding frame 11. One side of the first rotating plate 12 is fixedly connected to a driving shaft 10. The driving shaft 10 is rotatably connected to the side wall of the air extraction box 6. The other side of the air extraction box 6 is fixedly connected to a rotating motor 9. The output shaft of the rotating motor 9 is fixedly connected to the other end of the driving shaft 10, so as to conveniently drive the driving shaft 10 to rotate, and the driving can control the rotation of the driving shaft 10. The driving shaft 10 and the cross shaft 18 are on the same axis. Therefore, when the driving shaft 10 drives the connecting column 36 to perform circular motion, the cross shaft 18 will be driven to rotate synchronously. An air inlet pipe 35 and an air outlet pipe 33 are respectively communicated with the bottom and one side of the air extraction box 6. A first one-way valve 37 and a second one-way valve 34 are fixedly installed in the air inlet pipe 35. A through hole is formed in the top of the air extraction box 6, and an electric control valve 38 is arranged in the through hole, so as to conveniently control the introduction of external air into the air extraction box 6, so as to conveniently release the adsorption of the article. It should be noted that the conduction direction of the first one-way valve 37 is from bottom to top, and the conduction direction of the second one-way valve 34 is from the inside of the air extraction box 6 to the outside, so that the control can only flow in the order of the adsorption box 1, the air extraction box 6, and the outside, preventing backflow, so as to gradually realize the vacuum pumping of the adsorption box 1.

[0046] In this embodiment, an electric push rod 32 is fixedly installed on the inner wall of the top of the outer frame body 100. The output end of the electric push rod 32 is fixedly connected to the top of the adsorption box 1, so as to conveniently control the up and down movement of the adsorption box 1.

[0047] In this embodiment, two retaining rings are fixedly installed on the outer side of the sliding cylinder 16. The two retaining rings are respectively movably abutted against both sides of the adjusting plate 19, so that the sliding cylinder 16 can move horizontally synchronously with the adjusting plate 19.

[0048] In this embodiment, two first ear plates 107 are fixedly installed on one side of the mounting base 104. The same first rotating shaft 114 is rotatably connected within the two first ear plates 107. The top end of the third joint 103 is fixedly connected with two second ear plates 108. The two second ear plates 108 are fixedly sleeved on the outer side of the first rotating shaft 114. And a ring-shaped guide seat 120 is fixedly installed at the bottom of the third joint 103. A plurality of arc-shaped limiting plates 121 are fixedly installed at the top of the second joint 102. The arc-shaped limiting plates 121 are slidably sleeved on the outer side of the ring-shaped guide seat 120. The bottom end of the second joint 102 is fixedly connected with two third ear plates 109. The top end of the first joint 101 is fixedly connected with two fourth ear plates 110. The same second rotating shaft 115 is fixedly installed inside the two fourth ear plates 110. The two third ear plates 109 are rotatably sleeved on the outer side of the second rotating shaft 115.

[0049] In this embodiment, a first motor 111 is fixedly installed on one side of the mounting base 104. A first bevel gear 116 is fixedly connected to the output shaft of the first motor 111. A second bevel gear 117 is fixedly sleeved on the outer side of the first rotating shaft 114. The first bevel gear 116 meshes with the second bevel gear 117. The bottom end of the third joint 103 is fixedly connected with a second motor 112. The output shaft of the second motor 112 is fixedly connected to the top end of the second joint 102. The bottom end of the second joint 102 is fixedly connected with a third motor 113. A third bevel gear 118 is fixedly connected to the output shaft of the third motor 113. A fourth bevel gear 119 is fixedly sleeved on the outer side of the second rotating shaft 115. The third bevel gear 118 meshes with the fourth bevel gear 119.

[0050] It should be noted that the controller 2 is electrically connected to the touch button 28, the rotating motor 9, the electric push rod 32 and the driving motor 5. The controller 2 can control the rotating motor 9, the electric push rod 32 and the driving motor 5 to start in sequence, and the time intervals of starting are equal. After the touch button 28 is pressed, it will control the rotating motor 9, the electric push rod 32 and the driving motor 5 to turn off.

[0051] Refer to Figure 1 , this embodiment further provides a bionic robotic arm system, including a fixed base 105 and two groups of the above-mentioned bionic robotic arms. The two groups of bionic robotic arms are respectively installed on both sides of the fixed base 105. And a support base 106 is fixedly installed at the bottom of the fixed base 105, so as to realize the support of the bionic robotic arm and facilitate the cooperative operation.

[0052] In this embodiment, during use, the electric push rod 32 is activated to drive the adsorption box 1 downward, causing the plurality of suction cups 1001 to abut against the surface of the article. Then, the controller 2 controls the sequential activation of the rotary motor 9, the electric push rod 32, and the drive motor 5. The rotary motor 9 drives the drive shaft 10 to rotate, and through the cooperation of the first rotating plate 12 and the first sliding frame 11, drives the first connecting column 36 to perform circular motion. The connecting column 36 drives the piston plate 7 to reciprocate up and down through its cooperation with the connecting plate 8. When the piston plate 7 moves downward, the air in the air extraction box 6 is discharged from the air outlet pipe 33. When the piston plate 7 moves upward, the air in the adsorption box 1 is sucked into the air extraction box 6. The cooperation of the first one-way valve 37 and the second one-way valve 34 can prevent the gas from flowing backward, thereby gradually reducing the air pressure in the adsorption box 1. Then, the electric push rod 32 drives the adsorption box 1 to move upward a short distance and then reciprocate up and down within a short distance, thereby lifting the article upward from the placement surface and jolting it up and down. Then, the drive motor 5 drives the driving gear 22 and the sector gear 23 to rotate. The sector gear 23 drives the moving frame 25 to move downward through its engagement with the rack 24. The moving frame 25 drives the test plate 4 to move downward through the connecting spring 29, causing the test plate 4 to abut against the adsorbed article. Subsequently, the moving frame 25 continues to press down and compresses the connecting spring 29, thereby increasing the pressure applied to the article. When the applied pressure plus the pressure of the article plus the gravity and inertial force of the article exceed the adsorption force of the article, the article drops. Thus, the controller 2 controls the sequential activation of the rotary motor 9, the electric push rod 32, and the drive motor 5 again. The meshing cooperation of the sector gear 23 and the rack 24 and the support spring 3 control the reciprocating up and down movement of the moving frame 25, thereby continuously performing adsorption, jolting, and pressure application tests on the article. And while the driving gear 22 is rotating, it drives the lead screw 20 to rotate at a reduced speed through its engagement with the driven gear 21. The lead screw 20 drives the adjusting plate 19 to move closer to the air extraction box 6 through screw drive with the adjusting plate 19 and under the guidance of the connecting rod, and drives the sliding cylinder 16 to move horizontally following the adjusting plate 19 while rotating through its cooperation with the retaining ring, and drives the second sliding frame 14 and the connecting column 36 away from the cross shaft 18 through the linkage rod 15, so that the radius of the circular motion of the connecting column 36 gradually increases, thereby increasing the limit amplitude of the up and down movement of the piston plate 7. Thus, with the rotational speed of the rotary motor 9 remaining unchanged and within the same time, the air extraction box 6 extracts more air from the compression box, thereby increasing the degree of vacuum in the adsorption box 1, increasing the adsorption force of the suction cups 1001 on the article, and gradually increasing the adsorption force of the suction cups 1001 on the article during each test process until the adsorption force is large enough to prevent the article from falling during the up and down jolting process. Thus, the pressing plate 27 presses the touch button 28. After the controller 2 receives the signal of the touch button 28, it controls the rotary motor 9, the electric push rod 32, and the drive motor 5 to turn off, and the controller 2 will have a short delay when sending control information.The sector gear 23 can continue to rotate and disengage from the rack 24, and the moving frame 25 is reset under the action of the support spring 3, so that the test plate 4 releases the pressure on the article, ensuring stable adsorption of the article;

[0053] By starting the first motor 111 to drive the first bevel gear 116 to rotate, and driving the first rotating shaft 114 and the third joint 103 to rotate through the engagement with the second bevel gear 117, and driving the second joint 102 to rotate by the second motor 112, and the third motor 113 drives the second rotating shaft 115 and the first joint 101 to rotate through the engagement of the third bevel gear 118 and the fourth bevel gear 119, so as to realize the handling of the article;

[0054] After the handling is completed, by opening the electromagnetic control valve 38, the outside air enters the adsorption box 1, so that the air pressure is restored, thereby releasing the adsorption of the article.

[0055] The above has introduced in detail a bionic robotic arm and a bionic robotic arm system provided by the present invention. Specific embodiments are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A bionic robotic arm, characterized in that: include: A bionic arm, the bionic arm comprising a mounting seat (104), a first joint (101), a second joint (102) and a third joint (103), the first joint (101) being hinged to one end of the second joint (102), the third joint (103) being rotatably connected to the other end of the second joint (102), and the other end of the third joint (103) being fixedly connected to the mounting seat (104); An adsorption mechanism, the adsorption mechanism comprising an outer frame (100) and an adsorption box (1), the adsorption box (1) being slidably connected inside the outer frame (100), and the outer frame (100) being fixedly connected to the bottom of the first joint (101), the bottom of the adsorption box (1) being connected to a plurality of suction cups (1001), and both sides of the top of the adsorption box (1) being provided with an exhaust mechanism, and both sides of the adsorption box (1) being provided with a testing mechanism; The vacuum mechanism comprises a vacuum box (6) and a connecting column (36), the vacuum box (6) being fixedly connected to the top of the adsorption box (1), and a piston plate (7) being slidably and sealably installed in the vacuum box (6), a connecting plate (8) being hingedly connected to the top of the piston plate (7), the connecting plate (8) being rotatably sleeved on the outside of the connecting column (36), and the two ends of the connecting column (36) being fixedly connected to a first sliding frame (11) and a second sliding frame (14), respectively, and a piston plate (7) being slidably installed in the second sliding frame (14). A second rotating plate (13), the outer side of the second rotating plate (13) is fixedly connected to a transverse axis (18), the outer side of the transverse axis (18) is slidably sleeved with a slide cylinder (16), one side of the slide cylinder (16) is hinged with a linkage rod (15), the other end of the linkage rod (15) is hinged to the second slide frame (14), the outer side of the slide cylinder (16) is rotatably sleeved with an adjustment plate (19), one side of the vacuum box (6) is rotatably connected to a screw rod (20), and the adjustment plate (19) is threadedly sleeved on the outer side of the screw rod (20); The test mechanism comprises a test plate (4), a moving frame (25) and a drive motor (5); the top of the test plate (4) is fixedly connected to a square plate (26); the moving frame (25) is slidably sleeved on the outside of the square plate (26); a rack (24) is fixedly connected to the rear side of the top of the moving frame (25); a driving gear (22) and a sector gear (23) are fixedly connected to the output shaft of the drive motor (5); the sector gear (23) is meshed with the rack (24); a driven gear (21) is fixedly sleeved on the outside of the lead screw (20); the driving gear (22) is meshed with the driven gear (21); a controller (2) is fixedly installed on the top of the adsorption box (1); the moving frame (25) is fixedly sleeved on the outside of the square plate (26); a rack (24) is fixedly connected to the top of the moving frame (25); a driving gear (22) is meshed with the driven gear (21); a driving gear (22) is fixedly sleeved on the outside of the lead screw (20); a driving gear (21) is meshed with the driven gear (21); a controller (2) is fixedly installed on the top of the adsorption box (1); ) is fixedly installed with a touch button (28) on one side, the top of the test plate (4) is fixedly connected with a pressing plate (27) and two connecting springs (29), the tops of the two connecting springs (29) are fixedly connected with side plates (30), the two side plates (30) are respectively fixedly connected to the front and rear sides of the moving frame (25), the other side of the moving frame (25) is fixedly connected with a guide plate (31), both sides of the adsorption box (1) are provided with guide grooves, the two guide plates (31) are respectively slidably connected in the corresponding guide grooves, and the bottom of the guide plate (31) is fixedly connected with a support spring (3), the bottom end of the support spring (3) is fixedly connected to the bottom inner wall of the corresponding guide groove, and the Guide rods are fixedly installed on both sides of the adsorption box (1), the two guide plates (31) are respectively slidably sleeved on the outer sides of the corresponding guide rods, the two drive motors (5) are respectively fixedly installed on both sides of the adsorption box (1), a pipe on one side of the vacuum box (6) is connected to a connecting rod, the adjustment plate (19) is slidably sleeved on the outer side of the connecting rod, and a positioning sleeve (17) is fixedly installed on the other end of the connecting rod, the positioning sleeve (17) is rotatably sleeved on the outer side of the horizontal axis (18), a limit strip is fixedly installed on the top of the horizontal axis (18), a limit groove is provided on the top inner wall of the slide cylinder (16), the limit strip is slidably connected in the limit groove, and a first slide frame (11) is slidably connected in A first rotating plate (12), one side of the first rotating plate (12) is fixedly connected to a driving shaft (10), the driving shaft (10) is rotatably connected to the side wall of the air extraction box (6), and the other side of the air extraction box (6) is fixedly connected to a rotating motor (9), the output shaft of the rotating motor (9) is fixedly connected to the other end of the driving shaft (10), the bottom and one side of the air extraction box (6) are respectively connected to an air inlet pipe (35) and an air outlet pipe (33), a first non-return valve (37) and a second non-return valve (34) are fixedly installed in the air inlet pipe (35), a through hole is opened at the top of the air extraction box (6), an electric control valve (38) is arranged in the through hole, and an electric push rod (32) is fixedly installed on the inner wall of the top of the outer frame (100),The output end of the electric push rod (32) is fixedly connected to the top of the adsorption box (1).

2. The bionic robotic arm according to claim 1, characterized in that: Two retaining rings are fixedly mounted on the outer side of the slide cylinder (16), and the two retaining rings are movably abutted against two sides of the adjustment plate (19) respectively.

3. The bionic mechanical arm according to claim 2, characterized in that: Two first ear plates (107) are fixedly mounted on one side of the mounting seat (104), and the two first ear plates (107) are rotatably connected to the same first rotating shaft (114). The top of the third joint (103) is fixedly connected to two second ear plates (108), and the two second ear plates (108) are fixedly sleeved on the outside of the first rotating shaft (114). The bottom of the third joint (103) is fixedly mounted with an annular guide seat (120), and the top of the second joint (102) is fixedly mounted with a A plurality of arc-shaped limit plates (121), wherein the arc-shaped limit plates (121) are slidably sleeved on the outer side of the annular guide seat (120), the bottom end of the second joint (102) is fixedly connected to two third ear plates (109), the top end of the first joint (101) is fixedly connected to two fourth ear plates (110), the inside of the two fourth ear plates (110) is fixedly installed with the same second rotating shaft (115), and the two third ear plates (109) are rotatably sleeved on the outer side of the second rotating shaft (115).

4. The bionic mechanical arm according to claim 3, characterized in that: A first motor (111) is fixedly mounted on one side of the mounting seat (104); a first bevel gear (116) is fixedly connected to an output shaft of the first motor (111); a second bevel gear (117) is fixedly sleeved on the outer side of the first rotating shaft (114); the first bevel gear (116) meshes with the second bevel gear (117); a second motor (112) is fixedly connected to the bottom end of the third joint (103); an output shaft of the second motor (112) is fixedly connected to the top of the second joint (102); a third motor (113) is fixedly connected to the bottom end of the second joint (102); a third bevel gear (118) is fixedly connected to the output shaft of the third motor (113); a fourth bevel gear (119) is fixedly sleeved on the outer side of the second rotating shaft (115); the third bevel gear (118) meshes with the fourth bevel gear (119).

5. A bionic robotic arm system, comprising a fixing seat (105) and two groups of bionic robotic arms according to any one of claims 1 to 4, wherein the two groups of bionic robotic arms are respectively installed on both sides of the fixing seat (105), and a supporting seat (106) is fixedly installed at the bottom of the fixing seat (105).

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