Multi-degree of freedom industrial robot arm

Abstract

This invention discloses a multi-degree-of-freedom industrial robotic arm, relating to the field of robotic arm technology. It includes a base, a rotating seat rotatably mounted on the base, a first rotating arm rotatably mounted on the rotating seat, a second rotating arm rotatably mounted at the end of the first rotating arm away from the rotating seat, and a rotating platform rotatably mounted on the second rotating arm away from the first rotating arm. A gripping mechanism is mounted on the rotating platform, and the gripping mechanism includes a mounting base and two sets of clamping arm assemblies. This invention enables the gripping mechanism to move in multiple degrees of freedom to complete the gripping and transfer of goods through the rotational cooperation of the rotating seat, the first rotating arm, the first rotating arm, and the rotating platform. Furthermore, it maintains a constant clamping force during the gripping process to avoid damage to the goods. After gripping the goods, the goods can be lifted, with the protrusion positioned at the bottom of the goods to provide support and limit, preventing slippage during transfer.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a multi-degree-of-freedom industrial robotic arm. Background Technology

[0002] Industrial robotic arms are a product of mechanized and automated production processes. Controlled by PLCs, they automate tasks such as gripping, spot welding, arc welding, assembly, painting, cutting, handling, packaging, and palletizing. They are characterized by their ability to perform repetitive tasks without fatigue, resistance to danger, and powerful gripping capabilities. While existing robotic arms come in various forms, they are currently prone to slippage when gripping boxes, causing the boxes to detach and damaging the products inside. Summary of the Invention

[0003] The purpose of this invention is to provide a multi-degree-of-freedom industrial robotic arm to solve the problems mentioned in the background art.

[0004] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0005] This invention provides a multi-degree-of-freedom industrial robotic arm, comprising a base, a rotating seat rotatably mounted on the base, a first rotating arm rotatably mounted on the rotating seat, a second rotating arm rotatably mounted at the end of the first rotating arm away from the rotating seat, and a rotating platform rotatably mounted on the second rotating arm away from the first rotating arm, wherein a gripping mechanism is mounted on the rotating platform; characterized in that...

[0006] The gripping mechanism includes a mounting base and two sets of gripping arm assemblies. The two sets of gripping arm assemblies are mounted on the mounting base in a way that allows them to move towards or away from each other via a position adjustment component.

[0007] The clamping arm assembly includes a limiting plate, a movable plate, and a constant force adjustment structure. The limiting plate and the movable plate are parallel to each other and vertically arranged. The constant force adjustment structure has two sets, which are respectively arranged on both sides of the limiting plate and the movable plate in the width direction. When not clamping, there is a gap between the limiting plate and the movable plate when the constant force adjustment structure is connected, and the bottom of the limiting plate and the movable plate are flush.

[0008] The constant force adjustment structure includes an upper hinged swing arm and a lower hinged swing arm that are longitudinally distributed. Both the upper hinged swing arm and the lower hinged swing arm include a swing section and a counterweight section. The two ends of the swing section are rotatably connected to a limiting plate and a movable plate, respectively. The swing section extends obliquely upward from one end of the limiting plate to one end of the movable plate. The counterweight section is connected to a counterweight. A protruding strip is fixed on the limiting plate at the bottom of the gap.

[0009] Furthermore, the position adjustment component includes a sliding block, a bidirectional screw with forward and reverse threads, and a stepper motor. The bottom of the mounting base has a sliding groove. The sliding block is fixed to the top of the limiting plate and is slidably adapted to the sliding groove. The bidirectional screw with forward and reverse threads is rotatably assembled in the sliding groove and passes through the sliding block and is threadedly engaged with the two sliding blocks. The stepper motor is fixedly assembled on the mounting base at one end of the bidirectional screw with forward and reverse threads, and the stepper motor is fixedly connected to one end of the bidirectional screw with forward and reverse threads.

[0010] Furthermore, the counterweight includes a hinge bar, the two ends of which are respectively hinged to the counterweight sections of two hinged swing arms via a counterweight rotation shaft. A fixing plate is provided in the middle of the side of the hinge bar away from the limiting plate. A fixing shaft is vertically provided on the top of the fixing plate. Several counterweight discs are sleeved on the fixing shaft. Nuts are also threadedly connected to the fixing shaft.

[0011] Furthermore, the top of the fixing bar is provided with an arc surface, the radius of which is equal to the distance between the two hinge points of the swing segment.

[0012] Furthermore, a contact switch is provided on the limiting plate.

[0013] Furthermore, the movable plate is uniformly provided with strip-shaped grooves, the limiting plate is provided with a first upper rotating shaft and a first lower rotating shaft, the movable plate is provided with a second upper rotating shaft and a second lower rotating shaft, the two ends of the first upper rotating shaft and the second upper rotating shaft are respectively fixedly connected to the swinging sections of the upper hinged swing rods at both ends, and the two ends of the first lower rotating shaft and the second lower rotating shaft are respectively fixedly connected to the swinging sections of the lower hinged swing rods at both ends.

[0014] Furthermore, a friction assembly is also provided within the strip-shaped groove. The friction assembly includes a swing spring that is rotatably distributed and rotatably disposed within the strip-shaped groove via a rotating shaft. A rubber sheet is provided on the upper side of the swing spring, and protrusions are evenly distributed on the rubber sheet. The second upper rotating shaft and the second lower rotating shaft transversely penetrate the strip-shaped groove. A lifting structure is provided on the second upper rotating shaft and the second lower rotating shaft within each strip-shaped groove. The lifting structure includes lifting rods symmetrically disposed on both sides of the swing spring. Connecting pieces are rotatably connected to both ends of the lifting rods, and the connecting pieces are fixedly connected to the corresponding second upper rotating shaft and the second lower rotating shaft. A crossbar is provided between the two lifting rods below each swing spring.

[0015] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects:

[0016] This invention enables the gripping mechanism to move with multiple degrees of freedom to complete the gripping and transfer of goods through the rotational cooperation of the rotating seat, the first rotating arm, the first rotating arm and the rotating table. During the gripping process, a constant clamping force can be maintained to avoid damage to the goods. Secondly, after the goods are clamped, the goods can be lifted so that the convex strip is at the bottom of the goods and its supporting and limiting function prevents the goods from slipping during the transfer process.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0018] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a first-view structural diagram of the gripping mechanism of the present invention;

[0021] Figure 3 This is a schematic diagram of the gripping mechanism of the present invention from a second perspective.

[0022] Figure 4 yes Figure 3 A schematic diagram of the partial structure at point A;

[0023] Figure 5 This is a cross-sectional view of the gripping structure of the present invention;

[0024] Figure 6 yes Figure 5 A schematic diagram of the partial structure at point B.

[0025] In the picture:

[0026] 1-Base; 11-Rotating seat; 12-First rotating arm; 13-Second rotating arm; 14-Rotating table; 2-Gripping mechanism; 21-Mounting seat; 211-Slide groove; 22-Clamping arm assembly; 221-Limiting plate; 2211-First upper rotating shaft; 2212-First lower rotating shaft; 222-Movable plate; 2221-Strip groove; 2222-Second upper rotating shaft; 2223-Second lower rotating shaft; 223-Constant force adjustment structure; 2231-Upper hinged swing arm; 2232-Lower hinged swing arm; 2233-Swing section; 2234-Counterweight section; 3-Position adjustment assembly; 31-Sliding block; 32-Bidirectional screw with positive and negative threads; 33-Stepper motor; 4-Counterweight; 41-Hinge bar; 42-Fixing plate; 43-Counterweight disc; 44-Fixing shaft; 45-Nut; 6-Friction assembly; 61-Swing spring; 62-Rubber sheet; 63-Lifting structure; 631-Lifting rod; 632-Connector; 633-Crossbar; 7-Protruding strip. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] Please see Figures 1-6 This invention provides a multi-degree-of-freedom industrial robotic arm, comprising a base 1, a rotating seat 11 rotatably mounted on the base 1, a first rotating arm 12 rotatably mounted on the rotating seat 11, a second rotating arm 13 rotatably mounted at the end of the first rotating arm 12 away from the rotating seat 11, and a rotating platform 14 rotatably mounted on the second rotating arm 13 away from the first rotating arm 12. A gripping mechanism 2 is mounted on the rotating platform 14. During operation, the base 1 is first installed. After the base 1 is completed, the gripping mechanism 2 can be driven to move in multiple degrees of freedom through the rotational coordination of the rotating seat 11, the first rotating arm 12, and the rotating platform 14 to complete the gripping and transfer of goods. The rotation of the rotating seat 11, the first rotating arm 12, and the rotating platform 14 can be achieved using existing drive structures, such as electric motors or hydraulic telescopic cylinders.

[0029] like Figure 2As shown, the gripping mechanism 2 includes a mounting base 21 and two sets of gripping arm assemblies 22. The two sets of gripping arm assemblies 22 are mounted on the mounting base 21 in a manner that allows them to move towards or away from each other via a position adjustment component 3. In use, the mounting base 21 can be connected to the rotary table 14, and then the position adjustment component 3 is used to drive the gripping arm assemblies 22 to move towards or away from each other to complete the gripping operation.

[0030] The clamping arm assembly 22 includes a limiting plate 221, a movable plate 222, and a constant force adjustment structure 223. The limiting plate 221 and the movable plate 222 are parallel to each other and vertically arranged. There are two sets of constant force adjustment structures 223, which are respectively arranged on both sides of the limiting plate 221 and the movable plate 222 in the width direction. When not clamping, there is a gap between the limiting plate 221 and the movable plate 222 under the connection of the constant force adjustment structures 223, and the bottom of the limiting plate 221 and the movable plate 222 are flush.

[0031] In this specific embodiment, the goods being gripped are cardboard boxes or rectangular goods. When using them, the positions of the two sets of gripping arm assemblies 22 must first be adjusted so that the movable plate 222 is flush with the bottom surface of the cardboard box. Then, the limiting plates 221 of the two sets of gripping arm assemblies 22 move towards each other. When the movable plate 222 contacts the goods, the two limiting plates 221 continue to move. At this time, the constant force adjustment structure 223 between the movable plate 222 and the limiting plates 221 is subjected to force, providing constant resistance. As the two limiting plates 221 continue to move, when the gripping force exceeds the constant resistance provided by the constant force adjustment structure 223, the movable plate 222 moves towards the limiting plate 221 to prevent excessive gripping force from causing deformation of the cardboard box. When the movable plate 222 contacts the limiting plate 221, the two limiting plates 221 stop moving, and the cardboard box can be transferred.

[0032] To achieve constant force clamping and prevent goods from slipping during transfer, thus avoiding economic losses, such as... Figure 3 and Figure 4 As shown, the constant force adjustment structure 223 includes an upper hinged swing arm 2231 and a lower hinged swing arm 2232 distributed longitudinally. Both the upper hinged swing arm 2231 and the lower hinged swing arm 2232 include a swing section 2233 and a counterweight section 2234. The two ends of the swing section 2233 are rotatably connected to the limiting plate 221 and the movable plate 222, respectively. The swing section 2233 extends obliquely upward from one end of the limiting plate 221 to one end of the movable plate 222. The counterweight section 2234 is connected to a counterweight 4. A protrusion 7 is fixed on the limiting plate 221 at the bottom of the gap.

[0033] Before clamping the goods, under the gravity of the counterweight 4, the counterweight sections 2234 of the upper hinged swing rod 2231 and the lower hinged swing rod 2232 are both vertical, and the swing section 2233 is inclined. The distance between the limiting plate 221 and the movable plate 222 is at its maximum. When the two limiting plates 221 move towards each other so that their movable plates 222 contact the carton, the continued movement of the two limiting plates 221 will cause the two movable plates 222 to squeeze the carton (i.e., form a clamp). When the clamping force between the two movable plates 222 and the carton exceeds the gravity of the counterweight 4, the upper hinged swing rod 2231 and the lower hinged swing rod 2232... The hinged rocker arm 2232 will swing, and the movable plate 222 will rotate around the joint between the upper hinged rocker arm 2231 and the lower hinged rocker arm 2232 and the limiting plate 221. That is, the two movable plates 222 will clamp the carton and lift it upward. During this process, the two movable plates 222 maintain a constant clamping force to hold the carton. When the two movable plates 222 come into contact with the corresponding limiting plates 221, the two limiting plates 221 stop moving, and the clamping work is completed. The protrusion at the bottom of the limiting plate 221 will be below the carton to limit it and prevent the carton from slipping.

[0034] like Figure 2 As shown, in a specific embodiment of the present invention, the position adjustment component 3 includes a sliding block 31, a bidirectional screw 32 with forward and reverse threads, and a stepper motor 33. The bottom of the mounting base 21 is provided with a sliding groove 211. The sliding block 31 is fixed to the top of the limiting plate 221 and is slidably adapted to the sliding groove 211. The bidirectional screw 32 with forward and reverse threads is rotatably assembled in the sliding groove 211 and passes through the sliding block 31 and is threadedly engaged with the two sliding blocks 31. The stepper motor 33 is fixedly assembled on the mounting base 21 at one end of the bidirectional screw 32 with forward and reverse threads, and the stepper motor 33 is fixedly connected to one end of the bidirectional screw 32 with forward and reverse threads.

[0035] Based on the above design, during use, the stepper motor 33 drives the bidirectional screw 32 with positive and negative threads to rotate, and then the positive and negative threads of the bidirectional screw 32 drive the sliding blocks 31 of the two limit plates 221 to move towards or away from each other, thus completing the clamping and releasing actions of the two sets of clamping arm assemblies 22.

[0036] like Figure 4 As shown, in this specific embodiment, the counterweight 4 includes a hinge bar 41. The two ends of the hinge bar 41 are respectively hinged to the counterweight sections 2234 of the two hinged swing arms through the counterweight rotation shaft. A fixing plate 42 is provided in the middle of the side of the hinge bar 41 away from the limiting plate 221. A fixing shaft 44 is vertically provided on the top of the fixing plate 42. Several counterweight discs 43 are sleeved on the fixing shaft 44. Nuts 45 are also threadedly connected to the fixing shaft 44.

[0037] Based on the above design, the weight of the counterweight 4 can be adjusted by increasing or decreasing the number of counterweight plates 43 according to the weight or material of the goods, thereby completing the adjustment of the clamping force.

[0038] In this specific embodiment, the top of the fixing strip is provided with an arc surface, the radius of which is equal to the distance between the two hinge points of the swing segment 2233.

[0039] In this specific embodiment, a contact switch is provided on the limiting plate 221. During the clamping process, when the movable plate 222 moves toward the limiting plate 221 and contacts the contact switch, it indicates that the clamping of the goods is completed.

[0040] like Figures 4-6 As shown in the specific embodiment of the present invention, the movable plate 222 is uniformly provided with strip-shaped grooves 2221, the limiting plate 221 is provided with a first upper rotating shaft 2211 and a first lower rotating shaft 2212, and the movable plate 222 is provided with a second upper rotating shaft 2222 and a second lower rotating shaft 2223. The two ends of the first upper rotating shaft 2211 and the second upper rotating shaft 2222 are respectively fixedly connected to the swing sections 2233 of the upper hinged swing rods 2231 at both ends, and the two ends of the first lower rotating shaft 2212 and the second lower rotating shaft 2223 are respectively fixedly connected to the swing sections 2233 of the lower hinged swing rods 2232 at both ends. This reduces the overall weight of the movable plate 222 and improves the connection strength between the upper and lower hinged swing rods 2231 and the limiting plate 221 and the movable plate 222.

[0041] like Figure 6 As shown in the specific embodiment of the present invention, a friction assembly 6 is also provided in the strip groove 2221. The friction assembly 6 includes a swing spring 61 that is rotatably distributed and rotatably disposed in the strip groove 2221 via a rotating shaft. A rubber sheet 62 is provided on the upper side of the swing spring 61, and protrusions are uniformly provided on the rubber sheet 62. The second upper rotating shaft 2222 and the second lower rotating shaft 2223 transversely penetrate the strip groove 2221. A lifting structure 63 is provided on the second upper rotating shaft 2222 and the second lower rotating shaft 2223 in each strip groove 2221. The lifting structure 63 includes lifting rods 631 symmetrically disposed on both sides of the swing spring 61. Connecting members 632 are rotatably connected to both ends of the lifting rods 631, and the connecting members 632 are fixedly connected to the corresponding second upper rotating shaft 2222 and the second lower rotating shaft 2223. A crossbar 633 is provided between the two lifting rods 631 below each swing spring 61.

[0042] Based on the above design, during the clamping process, the movable plate 222 continuously moves toward the limiting plate 221, and the second upper rotating shaft 2222 and the second lower rotating shaft 2223 will move accordingly. The movement of the second upper rotating shaft 2222 and the second lower rotating shaft 2223 can cause the two lifting rods 631 to swing upward through the connecting piece 632, and then push the swing spring 61 to swing upward through the crossbar 633. Since the goods are in close contact with the movable plate 222 at this time, the swing spring 61 can deform to make the rubber sheet 62 stick tightly to the surface of the goods, increasing the friction and further preventing the goods from slipping off.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom industrial robotic arm, comprising a base, a rotating seat rotatably mounted on the base, a first rotating arm rotatably mounted on the rotating seat, a second rotating arm rotatably mounted at the end of the first rotating arm away from the rotating seat, and a rotating platform rotatably mounted on the second rotating arm away from the first rotating arm, wherein a gripping mechanism is mounted on the rotating platform; characterized in that, The gripping mechanism includes a mounting base and two sets of gripping arm assemblies. The two sets of gripping arm assemblies are mounted on the mounting base in a way that allows them to move towards or away from each other via a position adjustment component. The clamping arm assembly includes a limiting plate, a movable plate, and a constant force adjustment structure. The limiting plate and the movable plate are parallel to each other and vertically arranged. The constant force adjustment structure has two sets, which are respectively arranged on both sides of the limiting plate and the movable plate in the width direction. When not clamping, there is a gap between the limiting plate and the movable plate when the constant force adjustment structure is connected, and the bottom of the limiting plate and the movable plate are flush. The constant force adjustment structure includes an upper hinged swing arm and a lower hinged swing arm that are longitudinally distributed. Both the upper hinged swing arm and the lower hinged swing arm include a swing section and a counterweight section. The two ends of the swing section are rotatably connected to a limiting plate and a movable plate, respectively. The swing section extends obliquely upward from one end of the limiting plate to one end of the movable plate. The counterweight section is connected to a counterweight. A protruding strip is fixed on the limiting plate at the bottom of the gap.

2. The multi-degree-of-freedom industrial robotic arm according to claim 1, characterized in that, The position adjustment assembly includes a sliding block, a bidirectional screw with forward and reverse threads, and a stepper motor. The bottom of the mounting base has a sliding groove. The sliding block is fixed to the top of the limiting plate and slides within the sliding groove. The bidirectional screw with forward and reverse threads is rotatably mounted within the sliding groove and passes through the sliding block, threadedly engaging with both sliding blocks. The stepper motor is fixedly mounted on the mounting base at one end of the bidirectional screw with forward and reverse threads, and is fixedly connected to one end of the bidirectional screw with forward and reverse threads.

3. The multi-degree-of-freedom industrial robotic arm according to claim 1, characterized in that, The counterweight includes a hinge bar, the two ends of which are respectively hinged to the counterweight sections of two hinged swing arms via a counterweight rotation shaft. A fixing plate is provided in the middle of the side of the hinge bar away from the limiting plate. A fixing shaft is vertically provided on the top of the fixing plate. Several counterweight discs are sleeved on the fixing shaft. Nuts are also threadedly connected to the fixing shaft.

4. The multi-degree-of-freedom industrial robotic arm according to claim 1, characterized in that, A contact switch is provided on the limiting plate.

5. The multi-degree-of-freedom industrial robotic arm according to claim 1, characterized in that, The movable plate is uniformly provided with strip-shaped grooves, the limiting plate is provided with a first upper rotating shaft and a first lower rotating shaft, the movable plate is provided with a second upper rotating shaft and a second lower rotating shaft, the two ends of the first upper rotating shaft and the second upper rotating shaft are respectively fixedly connected to the swinging sections of the upper hinged swing rods at both ends, and the two ends of the first lower rotating shaft and the second lower rotating shaft are respectively fixedly connected to the swinging sections of the lower hinged swing rods at both ends.

6. The multi-degree-of-freedom industrial robotic arm according to claim 5, characterized in that, The groove is also provided with a friction assembly, which includes a swing spring that is rotatably distributed and rotatably disposed in the groove via a rotating shaft. A rubber sheet is provided on the upper side of the swing spring, and the rubber sheet is uniformly provided with protrusions. The second upper rotating shaft and the second lower rotating shaft pass through the strip-shaped groove laterally. Each upper rotating shaft and the second lower rotating shaft in the strip-shaped groove are provided with a lifting structure. The lifting structure includes lifting rods symmetrically arranged on both sides of the swing spring. The two ends of the lifting rods are respectively rotatably connected to connecting parts, and the connecting parts are fixedly connected to the corresponding upper rotating shaft and the second lower rotating shaft. A crossbar is provided between the two lifting rods below each swing spring.

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