Multifunctional mechanical arm compatibility platform

Abstract

The invention belongs to the technical field of mechanical arm platforms, and particularly relates to a multifunctional mechanical arm compatibility platform which comprises a rack and a lifting table installed on the rack and capable of vertically moving, a mechanical arm connecting base is assembled on the lifting table and comprises a base body fixedly connected to the lifting table, and a plurality of adjusting arms are assembled on the base body; a multi-angle base is assembled on each adjusting arm, a mechanical arm connecting unit is assembled on each multi-angle base, each adjusting arm comprises at least two arm body units, every two adjacent arm body units are connected through a first electric rotating disc, the adjacent arm body units and the base body are connected through a first electric rotating disc, and a plurality of mounting positions are arranged on the arm body units; and the multi-angle base can be assembled on any one of the plurality of mounting positions on any arm body unit. The positions and angles of the mechanical arm connecting units can be adjusted according to screw holes of the mechanical arms, and the mechanical arms of different models are installed in a compatible mode.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arm platforms, and in particular relates to a multifunctional robotic arm compatibility platform. Background Art

[0002] A robotic arm is an important device widely used in various industrial and automation applications. It has the ability to assist in completing various tasks, such as assembly, welding, and handling. A robotic arm is usually composed of a robotic arm body and a connection unit, wherein the connection unit is used to connect the robotic arm to a corresponding mounting platform. The connection unit is usually composed of screw holes, and the connection unit and the mounting platform can be assembled together by screws.

[0003] However, since different models of robotic arms may have different screw hole positions and angles, and existing platforms are usually only applicable to specific models of robotic arms, the compatible robotic arm models are limited. Summary of the Invention

[0004] The purpose of the present invention is to provide a multifunctional robotic arm compatibility platform, which can adjust the position and angle of the robotic arm connection unit according to the screw holes of the robotic arm and can be compatible with the installation of robotic arms of different models.

[0005] The technical solutions adopted by the present invention are as follows:

[0006] A multifunctional robotic arm compatible platform includes a frame and a lifting platform installed on the frame and capable of vertical movement. The lifting platform is equipped with a robotic arm connecting seat, and the robotic arm connecting seat includes a base body fixedly connected to the lifting platform. The base body is equipped with multiple adjustment arms, and the multiple adjustment arms are each equipped with a multi-angle base, and the multi-angle base is equipped with a robotic arm connection unit.

[0007] Furthermore, the adjusting arm includes at least two arm body units, and the two adjacent arm body units and the adjacent arm body units and the base body are connected by a first electric turntable. Multiple mounting positions are provided on the arm body unit, and the multi-angle base can be assembled on any one of the multiple mounting positions on any arm body unit.

[0008] Furthermore, the arm unit is slidably connected to a movable seat, the multi-angle base is detachably mounted on the movable seat, the arm unit is also fixedly connected to a small motor, the output end of the small motor is fixedly connected to a screw, and the screw and the movable seat are threadedly connected.

[0009] Furthermore, a socket is provided inside the movable seat, and a plug rod is fixedly connected to the lower side of the multi-angle base, and the plug rod can be inserted into the inside of the socket. A first electric push rod is fixedly connected to the movable seat, and the output end of the first electric push rod is fixedly connected to a pressure rod head that can be moved to the inside of the socket and against the plug rod.

[0010] Furthermore, the insertion rod is provided with a plurality of vertically arranged locking holes. The number of the locking holes is the same as the number of the arm body units, and the axial center spacing difference between two adjacent locking holes is the same as the axial center spacing difference between two adjacent arm body units. The outer diameter of the locking hole gradually decreases from the end close to the first electric push rod to the end away from the first electric push rod. The outer diameter of the pressure rod head close to the first electric push rod is larger than the inner diameter of the locking hole, and the outer diameter of the pressure rod head away from the first electric push rod is smaller than the inner diameter of the locking hole.

[0011] Furthermore, the multi-angle base includes a second electric turntable fixedly connected to the insertion rod, and two oppositely arranged C-shaped frames are installed on the second electric turntable. The upper ends of the two C-shaped frames are rotatably connected to a rotating rod fixedly connected to the multi-angle base, and the C-shaped frames are also provided with a rotating drive component connected to the rotating rod.

[0012] Furthermore, the rotary drive member includes a second electric push rod fixedly connected to the C-shaped frame, the output end of the second electric push rod is fixedly connected to a rack bar, and the outer side of the rotating rod is fixedly connected to a gear meshing with the rack bar.

[0013] Furthermore, a locking ring is fixedly connected to the outer side of the rotating rod, a linear moving unit is fixedly connected to the C-shaped frame, an arc-shaped pressing strip opposite to the locking ring is installed on the linear moving unit, and the outer side of the locking ring and the side opposite to the arc-shaped pressing strip and the locking ring are provided with anti-slip grooves;

[0014] The linear moving unit includes two connecting rods slidably connected to a C-shaped frame, one end of the two connecting rods facing the arc-shaped pressing strip is fixedly connected to the arc-shaped pressing strip, and the other ends of the two connecting rods are fixedly connected to a top plate. A first electromagnet is fixedly connected to the C-shaped frame, and a second electromagnet is fixedly connected to the top plate. The first electromagnet and the second electromagnet are magnetically attracted to each other when energized.

[0015] Furthermore, the robotic arm connection unit includes an outer ring fixedly connected to the rotating rod, and a plurality of third electric push rods in a ring array are fixedly connected to the circumferential side of the outer ring. The output end of the third electric push rod extends to the interior of the outer ring and is fixedly connected to an arc-shaped pressure nail plate, and the arc-shaped pressure nail plate is also fixedly connected to a guide plate that is slidably connected to the outer ring.

[0016] The technical effects achieved by the present invention are:

[0017] A multifunctional robotic arm compatibility platform of the present invention adjusts the position of the robotic arm connection unit through an adjusting arm, and adjusts the angle of the robotic arm connection unit through a multi-angle base. It can adjust the position and angle of the robotic arm connection unit according to the screw holes of the robotic arm, so that the screw holes of the robotic arm and the robotic arm connection unit are aligned one by one, thereby being able to compatibly install robotic arms of different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a structural schematic diagram of the mechanical arm connecting seat of the present invention;

[0020] Figure 3 It is a structural schematic diagram of the regulating arm of the present invention;

[0021] Figure 4 This invention Figure 3 Schematic diagram of the local structure;

[0022] Figure 5 This is a schematic diagram of the assembly structure of the movable seat and the insertion rod of the present invention;

[0023] Figure 6 It is a structural schematic diagram of the multi-angle base and the robotic arm connection unit of the present invention;

[0024] Figure 7 This invention Figure 6 Enlarged cross-section at point A.

[0025] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0026] 1. Frame; 2. Lifting platform; 3. Robot arm connecting base; 4. Base body; 5. Adjusting arm; 6. Multi-angle base; 7. Robot arm connecting unit; 8. First electric turntable; 9. Arm body unit; 10. Moving base; 11. Small motor; 12. Screw; 13. Socket; 14. Insert rod; 15. Locking hole; 16. First electric push rod; 17. Pressure rod head; 18. Second electric turntable; 19. C-shaped frame; 20. Turn rod; 21. Outer ring; 22. Gear; 23. Second electric push rod; 24. Gear bar; 25. Locking ring; 26. Arc-shaped pressing strip; 27. Top plate; 28. Connecting rod; 29. ​​Return spring; 30. First electromagnet; 31. Second electromagnet; 32. Arc-shaped pressure nail plate; 33. Guide plate; 34. Third electric push rod. DETAILED DESCRIPTION

[0027] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is described in detail below with reference to the following examples. It should be understood that the following text is only used to describe one or more specific embodiments of the present invention and does not strictly limit the scope of protection of the present invention.

[0028] like Figure 1 As shown, a multifunctional robotic arm compatible platform includes a frame 1 and a lifting platform 2 installed on the frame 1 and capable of vertical movement. The movement of the lifting platform 2 can be driven by an electric push rod or a motor-screw combination. A robotic arm connecting seat 3 is installed on the lifting platform 2. When the robotic arm connecting seat 3 and the robotic arm are connected together, the height of the robotic arm can be adjusted by driving the robotic arm. At this time, the platform can not only install the robotic arm, but also adjust the height of the robotic arm according to user needs, and has good functionality.

[0029] like Figure 1-2 As shown, the robot arm connecting base 3 includes a base body 4 fixedly connected to the lifting platform 2, a plurality of adjustment arms 5 are mounted on the base body 4, and the plurality of adjustment arms 5 are each mounted with a multi-angle base 6, and the multi-angle base 6 is mounted with a robot arm connecting unit 7. The plurality of multi-angle bases 6 are located on the same surface, and the surface on which the plurality of multi-angle bases 6 are located can be named an adjustment surface;

[0030] Among them, such as Figure 2-3 As shown, the function of the adjusting arm 5 is to adjust the position of the multi-angle base 6 on the adjustment surface. Specifically, the adjusting arm 5 includes at least two arm units 9. The two adjacent arm units 9 and the adjacent arm units 9 and the base 4 are connected by a first electric turntable 8, so that the angle of the arm unit 9 on the adjustment surface can be arbitrarily adjusted by the first electric turntable 8. A plurality of mounting positions are provided on the arm unit 9. The multi-angle base 6 can be assembled on any one of the plurality of mounting positions on any one of the arm units 9. At this time, by adjusting the angles of the plurality of arm units 9 and then mounting the multi-angle base 6 on any one of the mounting positions, the multi-angle base 6 can be adjusted in more positions on the adjustment surface.

[0031] Moreover, if Figure 3-4 As shown, a movable seat 10 is slidably connected to the arm unit 9, and the multi-angle base 6 is detachably mounted on the movable seat 10. At the same time, a small motor 11 is also fixedly connected to the arm unit 9, and a screw 12 is fixedly connected to the output end of the small motor 11. The screw 12 and the movable seat 10 are threadedly connected. By starting the small motor 11, the movable seat 10 can be driven to move and the position of the movable seat 10 can be adjusted. The different positions of the movable seat 10 on the arm unit 9 can be installation positions at different positions. At the same time, the small motor 11 and the screw 12 are only a device for driving the movable seat 10 to move linearly, and other linear moving devices can also be used instead, such as an electric push rod.

[0032] like Figure 2 and Figure 4-5 As shown, the connection method of the movable seat 10 and the multi-angle base 6 is disclosed here. The connection method of the multi-angle base 6 and the movable seat 10 can be screw connection, clamping or magnetic connection. Clamping is preferred in this machine solution. Specifically, a socket 13 is opened inside the movable seat 10, and a plug 14 is fixedly connected to the lower side of the multi-angle base 6. The plug 14 can be inserted into the inside of the socket 13. At the same time, in order to lock the plug 14, a first electric push rod 16 is fixedly connected to the movable seat 10. The output end of the first electric push rod 16 is fixedly connected to a pressure rod head 17 that can be moved to the inside of the socket 13 and abut against the plug 14. After the pressure rod head 17 is driven by the first electric push rod 16 to move to the inside of the socket 13 and abut against the plug 14, the plug 14 can be locked to improve stability.

[0033] In order to further improve the stability of the insertion rod 14 after being locked, a plurality of vertically arranged locking holes 15 are provided on the insertion rod 14. The number of locking holes 15 is the same as the number of arm units 9, and the axial center spacing difference between two adjacent locking holes 15 is the same as the axial center spacing difference between two adjacent arm units 9. By selecting different locking holes 15, the height of the multi-angle base 6 after installation can be located on the adjustment surface. The outer diameter of the locking hole 15 gradually decreases from the end close to the first electric push rod 16 to the end away from the first electric push rod 16. The outer diameter of the pressure rod head 17 close to the first electric push rod 16 is larger than the inner diameter of the locking hole 15, and the outer diameter of the pressure rod head 17 away from the first electric push rod 16 is smaller than the inner diameter of the locking hole 15, so that the pressure rod head 17 can extend into the interior of the locking hole 15 and counteract the locking hole 15, completing the locking and reducing the activity gap after the insertion rod 14 is locked.

[0034] Among them, such as Figure 2 and Figure 5-6 As shown, the function of the multi-angle base 6 is to drive the robot arm connection unit 7 to rotate in multiple directions and adjust the angle of the robot arm connection unit 7. Specifically, the multi-angle base 6 includes a second electric turntable 18 fixedly connected to the insertion rod 14, and two relatively arranged C-shaped frames 19 are installed on the second electric turntable 18. When the second electric turntable 18 drives the C-shaped frames 19 to rotate, the horizontal angle of the multi-angle base 6 can be adjusted. The upper ends of the two C-shaped frames 19 are rotatably connected to the rotating rod 20 fixedly connected to the multi-angle base 6. The C-shaped frame 19 is also provided with a rotating drive member connected to the rotating rod 20, which is used to drive the rotating rod 20 to rotate, thereby adjusting the vertical angle of the multi-angle base 6.

[0035] Here, the rotating drive member can be a rotating motor. In order to improve the stability of rotation in this technical solution, another structure is selected, which is that the rotating drive member includes a second electric push rod 23 fixedly connected to the C-shaped frame 19, and the output end of the second electric push rod 23 is fixedly connected to a rack bar 24, and the outer side of the rotating rod 20 is fixedly connected to a meshing gear 22 that is meshed with the rack bar 24. At this time, by starting the second electric push rod 23, the rack bar 24 can be driven to move. When the rack bar 24 moves, it will drive the rotating rod 20 to rotate through the meshing gear 22, thereby adjusting the angle of the multi-angle base 6.

[0036] At the same time, if Figure 6-7 As shown, in order to reinforce the multi-angle base 6 after the adjustment is completed, a locking ring 25 is fixedly connected to the outer side of the rotating rod 20, and a linear moving unit is fixedly connected to the C-shaped frame 19. An arc-shaped pressing strip 26 opposite to the locking ring 25 is installed on the linear moving unit. The outer side of the locking ring 25 and the side surfaces opposite to the arc-shaped pressing strip 26 and the locking ring 25 are provided with anti-slip grooves. When the arc-shaped pressing strip 26 and the locking ring 25 are against each other, the stability of the multi-angle base 6 can be greatly improved.

[0037] Here, the linear moving unit can be an electric push rod or a magnetic moving part. In this technical solution, a magnetic moving part is preferably used. Specifically, the linear moving unit includes two connecting rods 28 slidably connected to the C-shaped frame 19, and one end of the two connecting rods 28 facing the arc-shaped pressing strip 26 is fixedly connected to the arc-shaped pressing strip 26, and the other end of the two connecting rods 28 is fixedly connected to the top plate 27. A first electromagnet 30 is fixedly connected to the C-shaped frame 19, and a second electromagnet 31 is fixedly connected to the top plate 27. When the first electromagnet 30 and the second electromagnet 31 are energized, they magnetically attract each other. At this time, when it is necessary to lock the rotating rod 20, the first electromagnet 30 and the second electromagnet 31 are energized, and the magnetic force between the first electromagnet 30 and the second electromagnet 31 drives the top plate 27 to move toward the direction close to the rotating rod 20. When the top plate 27 moves, it will drive the arc-shaped pressing strip 26 to move toward the locking ring 25 through the connecting rod 28, so that the locking ring 25 and the arc-shaped pressing strip 26 continue to be tightly against each other.

[0038] At the same time, a return spring 29 is sleeved on the outside of the connecting rod 28 and located between the C-shaped frame 19 and the top plate 27, which is used to drive the arc-shaped pressing strip 26 to reset through the thrust of the return spring 29.

[0039] Among them, such as Figure 2 and Figure 5 As shown, the function of the robot arm connection unit 7 is to connect the robot arm. The robot arm connection unit 7 is provided with a mounting hole with an adjustable inner diameter. By adjusting the inner diameter of the mounting hole, different models of robot arms can be adapted.

[0040] like Figure 2 and Figure 5 As shown, the structure of the robot arm connection unit 7 is disclosed in detail herein, specifically, the robot arm connection unit 7 includes an outer ring 21 fixedly connected to the rotating rod 20, and a plurality of third electric push rods 34 in a ring array are fixedly connected to the circumference of the outer ring 21, and the output end of the third electric push rod 34 extends to the interior of the outer ring 21 and is fixedly connected to an arc pressure nail plate 32. The space between the plurality of arc pressure nail plates 32 is the mounting hole, and the inner diameter of the mounting hole can be adjusted by moving the arc pressure nail plate 32 by the third electric push rod 34. At the same time, the arc pressure nail plate 32 is also fixedly connected to a guide plate 33 slidably connected to the outer ring 21, and the arc pressure nail plate 32 can be reinforced by setting the guide plate 33.

[0041] At the same time, the plurality of arc-shaped pressure nail plates 32 can also be used to connect the pin rods of the robot arm.

[0042] Moreover, the present invention adopts widely accepted standardized communication protocols, such as the ROS robot operating system, to ensure compatibility, and utilizes machine learning algorithms and sensing technology to automatically identify the type and parameters of the connected robotic arm, reducing manual intervention.

[0043] The working principle of the present invention is as follows: first, the positions of the screw holes of the robotic arm are measured, and then a plurality of first electric turntables 8 are sequentially started according to the positions of the screw holes of the robotic arm, the arm body unit 9 is rotated by the first electric turntable 8, and then the movable base 10 is driven to move by starting the small motor 11, and the position of the movable base 10 is adjusted so that the movable base 10 and the screw holes are opposite to each other, and the insertion rod 14 on the lower side of the multi-angle base 6 can be inserted into the insertion hole 13 provided inside the movable base 10, and then the pressure rod head 17 is driven by the first electric push rod 16 to move to the inside of the insertion hole 13 and abut against the insertion rod 14 to lock the insertion rod 14, so that the screw holes of the robotic arm connection unit 7 and the robotic arm are opposite to each other one by one;

[0044] Then, the second electric turntable 18 is activated to drive the C-shaped frame 19 to rotate, thereby adjusting the horizontal angle of the multi-angle base 6. Then, the rotary drive member is activated to drive the rotating rod 20 to rotate, thereby adjusting the vertical angle of the multi-angle base 6. This can adjust the angle of the robot arm connection unit 7 so that the mounting hole of the robot arm connection unit 7 and the screw hole of the robot arm are aligned.

[0045] After the mounting holes of the robotic arm connection unit 7 and the screw holes of the robotic arm are aligned, the screws installed inside the screw holes of the robotic arm are installed inside the mounting holes of the robotic arm connection unit 7, and then the arc-shaped pressure nail plate 32 is driven to move by the third electric push rod 34 until multiple arc-shaped pressure nail plates 32 are all against the screws, and the assembly of the robotic arm and the robotic arm connection unit 7 is completed. After the assembly is completed, the height of the robotic arm can be adjusted by moving the lifting platform 2.

[0046] In summary, this technical solution adjusts the position of the robotic arm connection unit 7 through the adjusting arm 5, and adjusts the angle of the robotic arm connection unit 7 through the multi-angle base 6. It can adjust the position and angle of the robotic arm connection unit 7 according to the screw holes of the robotic arm, so that the screw holes of the robotic arm and the robotic arm connection unit 7 are opposite to each other one by one, so that different models of robotic arms can be installed compatibly.

[0047] The foregoing is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained herein shall, unless otherwise specified or limited, be implemented in accordance with conventional means in the art.

Claims

1. A multifunctional robotic arm compatibility platform, characterized by: The invention comprises a frame (1) and a lifting platform (2) mounted on the frame (1) and capable of vertical movement, wherein the lifting platform (2) is equipped with a mechanical arm connecting seat (3), wherein the mechanical arm connecting seat (3) comprises a seat body (4) fixedly connected to the lifting platform (2), wherein the seat body (4) is equipped with a plurality of adjusting arms (5), wherein the plurality of adjusting arms (5) are each equipped with a multi-angle base (6), and wherein the multi-angle base (6) is equipped with a mechanical arm connecting unit (7).

2. A multifunctional robotic arm compatible platform according to claim 1, characterized in that: The adjusting arm (5) comprises at least two arm body units (9), two adjacent arm body units (9) and adjacent arm body units (9) and the base body (4) are connected via a first electric turntable (8), a plurality of mounting positions are arranged on the arm body unit (9), and the multi-angle base (6) can be assembled on any one of the plurality of mounting positions on any arm body unit (9).

3. A multifunctional robot arm compatible platform according to claim 2, characterized in that: The arm unit (9) is slidably connected to a movable seat (10), the multi-angle base (6) is detachably mounted on the movable seat (10), the arm unit (9) is also fixedly connected to a small motor (11), the output end of the small motor (11) is fixedly connected to a screw rod (12), and the screw rod (12) and the movable seat (10) are threadedly connected.

4. The multifunctional robot arm compatible platform according to claim 3, characterized in that: The movable seat (10) is provided with a plug hole (13) inside, the lower side of the multi-angle base (6) is fixedly connected with an insertion rod (14), the insertion rod (14) can be inserted into the inside of the plug hole (13), the movable seat (10) is fixedly connected with a first electric push rod (16), and the output end of the first electric push rod (16) is fixedly connected with a pressure rod head (17) which can be moved to the inside of the plug hole (13) and abut against the insertion rod (14).

5. The multifunctional robot arm compatible platform according to claim 4, characterized in that: The insertion rod (14) is provided with a plurality of locking holes (15) arranged vertically, the number of the locking holes (15) is the same as the number of the arm body units (9), and the axial center spacing difference between two adjacent locking holes (15) is the same as the axial center spacing difference between two adjacent arm body units (9), the outer diameter of the locking hole (15) gradually decreases from an end close to the first electric push rod (16) to an end away from the first electric push rod (16), the outer diameter of the end of the pressure rod head (17) close to the first electric push rod (16) is larger than the inner diameter of the locking hole (15), and the outer diameter of the end of the pressure rod head (17) away from the first electric push rod (16) is smaller than the inner diameter of the locking hole (15).

6. The multifunctional robot arm compatible platform according to claim 4, characterized in that: The multi-angle base (6) comprises a second electric turntable (18) fixedly connected to the insertion rod (14), and two C-shaped frames (19) arranged opposite to each other are installed on the second electric turntable (18). The upper ends of the two C-shaped frames (19) are rotatably connected to a rotating rod (20) fixedly connected to the multi-angle base (6), and the C-shaped frames (19) are also provided with a rotating driving member connected to the rotating rod (20).

7. The multifunctional robot arm compatible platform according to claim 6, characterized in that: The rotary drive member comprises a second electric push rod (23) fixedly connected to the C-shaped frame (19), the output end of the second electric push rod (23) being fixedly connected to a gear rack (24), and the outer side of the rotating rod (20) being fixedly connected to a gear wheel (22) meshing with the gear rack (24).

8. The multifunctional robot arm compatible platform according to claim 6, characterized in that: The outer side of the rotating rod (20) is fixedly connected with a locking ring (25), the C-shaped frame (19) is fixedly connected with a linear moving unit, the linear moving unit is installed with an arc-shaped pressing strip (26) opposite to the locking ring (25), and the outer side of the locking ring (25) and the side surfaces opposite to the arc-shaped pressing strip (26) and the locking ring (25) are provided with anti-slip grooves; The linear moving unit comprises two connecting rods (28) slidably connected to a C-shaped frame (19); one end of the two connecting rods (28) facing the arc-shaped pressing strip (26) is fixedly connected to the arc-shaped pressing strip (26); the other ends of the two connecting rods (28) are fixedly connected to a top plate (27); a first electromagnet (30) is fixedly connected to the C-shaped frame (19); a second electromagnet (31) is fixedly connected to the top plate (27); and the first electromagnet (30) and the second electromagnet (31) are magnetically attracted to each other when power is supplied.

9. The multifunctional robot arm compatible platform according to claim 6, characterized in that: The mechanical arm connection unit (7) comprises an outer ring (21) fixedly connected to a rotating rod (20); a plurality of third electric push rods (34) in a ring array are fixedly connected to the circumferential side of the outer ring (21); output ends of the third electric push rods (34) extend to the interior of the outer ring (21) and are fixedly connected to an arc-shaped pressure nail plate (32); and a guide plate (33) slidably connected to the outer ring (21) is also fixedly connected to the arc-shaped pressure nail plate (32).

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