Bionic mechanical arm for loading and unloading raw materials

Abstract

The invention relates to the technical field of bionic manipulators, in particular to a bionic mechanical arm for loading and unloading raw materials, which comprises a base, a first mounting seat is mounted at the top end of the base, a first motor connecting rod is mounted at the bottom end of a first servo motor, and a first mounting frame is fixed at the bottom end of the first motor connecting rod; a clamping mechanism is fixed to the outer wall of the first mounting frame, and through cooperation of structures such as a second servo motor, a second motor connecting rod and a first bevel gear, the device can start the second servo motor, and the second servo motor can drive the second motor connecting rod to rotate so as to drive the first bevel gear to rotate; a first bevel gear is meshed with a second bevel gear through the shape of the first bevel gear, so that the second bevel gear is driven to rotate through rotation of the first bevel gear, then a two-way screw is driven to rotate, the two-way screw can drive clamping arms to move oppositely through threads when rotating, and then raw materials are clamped, loaded and unloaded; therefore, the purpose of conveniently loading and unloading the raw materials is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of bionic manipulators, and in particular to a bionic manipulator arm for loading and unloading raw materials. Background Art

[0002] Most of the loading and unloading work is done by modern mechanical equipment. However, in the current loading and unloading production, trains and trailers transporting bagged goods are important forms of transporting goods out of ports, and manual lifting of bagged goods is also required for horizontal loading and unloading operations. However, manual handling consumes a lot of physical energy, is time-consuming and labor-intensive, wastes human resources, and has high labor intensity. Bionic robotic arms are needed to load and unload raw materials. With the development of industrial automation and intelligence, the application prospects of bionic robotic arms in the fields of loading and unloading raw materials are becoming more and more broad. This bionic robotic arm not only improves the efficiency and quality of operations, but also reduces labor costs and safety risks, and has important economic and social benefits.

[0003] Although the bionic robotic arm strives for precision in design and manufacturing, there may still be certain precision errors during actual use due to the influence of various factors. Such errors may make it impossible to accurately control the position or force when loading and unloading raw materials, thereby affecting the operating efficiency and the integrity of the raw materials. Although the bionic robotic arm takes into account various factors in its design to improve its adaptability and flexibility, there may still be certain limitations when facing complex and changeable loading and unloading tasks. For example, for some raw materials with irregular shapes or special sizes, the robotic arm may not be able to effectively grasp and place them.

[0004] It is necessary to optimize the transmission of this type of device, improve the structural design of the robotic arm, increase the carrying capacity and torque output of the robotic arm, and adopt a modular design concept to divide the robotic arm into multiple functional modules, so that different modules can be replaced to adapt to different loading and unloading tasks. Summary of the invention

[0005] In order to solve the problems raised in the above background technology, the present invention provides a bionic robot arm for loading and unloading raw materials.

[0006] A bionic mechanical arm for loading and unloading raw materials, comprising a base, a first mounting seat being installed at the top of the base, a first connecting seat being arranged at the top of the first mounting seat, a second connecting seat being installed at the outer wall of the first connecting seat, a first connecting column being fixed at the top of the second connecting seat, a third connecting seat being fixed at the top of the first connecting column, a second mounting seat being fixed at the side wall of the third connecting seat, a second connecting column being fixed at the outer wall of the second mounting seat, a fourth connecting seat being fixed at the outer wall of the second connecting column, a mounting shell being fixed at the outer wall of the fourth connecting seat, a first servo motor being fixed at the inner wall of the mounting shell, a first motor connecting rod being installed at the bottom end of the first servo motor, a first mounting frame being fixed at the bottom end of the first motor connecting rod, and a clamping mechanism being fixed at the outer wall of the first mounting frame; The clamping mechanism includes a second servo motor, a second motor connecting rod and a first bevel gear. The second servo motor is fixed to the side wall of the first mounting frame. The second motor connecting rod is fixed to one end of the second servo motor. The first bevel gear is fixed to the outer wall of the second motor connecting rod. The second bevel gear is arranged on the outer wall of the first bevel gear. A bidirectional screw is fixed to the inner wall of the second bevel gear. The clamping arm is installed on the outer wall of the bidirectional screw.

[0007] Preferably, the outer wall of the first bevel gear is provided with a plurality of groups of teeth with equal spacing, the outer wall of the second bevel gear is provided with a plurality of groups of teeth with equal spacing, and the first bevel gear and the second bevel gear are meshingly connected.

[0008] Preferably, the bidirectional screw is rotatably connected to the inside of the first mounting frame, and two groups of clamp arms are provided, and the clamp arms are symmetrically distributed about the central axis of the bidirectional screw.

[0009] Preferably, the inner wall of the clamp arm is provided with threads, the outer wall of the bidirectional screw is provided with threads, the bidirectional screw and the clamp arm are arranged to be threadedly connected, and the outer wall of the clamp arm is provided with a bottom support mechanism.

[0010] Preferably, the bottom-protecting mechanism includes a fifth connecting seat, an electric push rod and a sixth connecting seat, the fifth connecting seat is hingedly connected to the side wall of the bidirectional screw, the bottom end of the fifth connecting seat is fixed with an electric push rod, the bottom end of the electric push rod is hingedly connected to the sixth connecting seat, and the side wall of the sixth connecting seat is fixed with a bottom-protecting arm.

[0011] Preferably, the top end of the bottom arm is hingedly connected with a clamping arm, and the outer wall of the bottom arm is provided with a plurality of groups of anti-slip grooves with equal spacing.

[0012] Preferably, a pushing mechanism is fixed to the outer wall of the first mounting frame, and the pushing mechanism includes a second mounting frame, a connecting plate and an air pump. The second mounting frame is fixed to the outer wall of the first mounting frame, and a connecting plate is fixed to the outer wall of the second mounting frame. An air pump is fixed to the top of the connecting plate, and an output end of the air pump is connected to an air pipe, one end of the air pipe is connected to a slide, and a ejecting plate is provided on the inner wall of the slide, and an ejecting column is fixed to the outer wall of the ejecting plate.

[0013] Preferably, two groups of connecting plates are provided at the bottom end of the slide groove, and the slide groove is symmetrically distributed about the central axis of the connecting plates.

[0014] Preferably, the inner wall of the slide groove is close to the outer wall at the top end of the ejector plate, and the slide groove and the ejector plate are slidably connected.

[0015] Preferably, heat dissipation holes are arranged on the left and right sides of the base, and a plurality of groups of heat dissipation holes arranged at equal intervals are arranged on the outer wall of the base.

[0016] Working principle and working process of the present invention: The present invention starts the second servo motor, and the second servo motor can drive the second motor connecting rod to rotate and then drive the first bevel gear to rotate, so that the first bevel gear meshes with the second bevel gear through its own shape, thereby driving the second bevel gear to rotate through the rotation of the first bevel gear, and then driving the bidirectional screw to rotate, so that the bidirectional screw can drive the clamping arm to move in opposite directions through the thread when rotating, so as to clamp and load and unload the raw materials, and the electric push rod can push the sixth connecting seat, so that the angle of the bottom supporting arm can rotate upward, so that the angle of the bottom supporting arm can be located at the bottom end of the raw materials, so as to support the bottom of the raw materials, so that the loading and unloading of the raw materials can be more stable, and by starting the air pump, the air pump can blow air into the slide chute through the air pipe, so that the position of the top material plate is pushed and pulled, and then the raw materials clamped in the device are pushed through the top material column, so that the device can push the raw materials outward.

[0017] The present invention can dissipate heat from the bottom space of the device by opening heat dissipation holes on the outer wall of the base, can drive the first connecting seat to rotate by starting the motor inside the first mounting seat, so that the first connecting seat and the components installed on the first connecting seat rotate, and can drive the second connecting seat and the components installed on the second connecting seat to rotate by starting the motor inside the first connecting seat, can drive the second mounting seat and the components on the second mounting seat to rotate by starting the motor inside the third connecting seat, and can drive the mounting shell and the components on the mounting shell to rotate by starting the motor inside the fourth connecting seat, and can drive the angle of the first mounting frame at the bottom to rotate by starting the first servo motor, and can load and unload raw materials at various angles through the cooperation between multiple groups of motors and the connecting seats, and can drive the second motor connecting rod to rotate by starting the second servo motor, and then drive the first bevel gear to rotate, so that the first bevel gear meshes with the second bevel gear through its own shape, thereby driving the second bevel gear to rotate through the rotation of the first bevel gear, and then driving the bidirectional screw to rotate, so that the bidirectional screw can drive the clamping arm to move in opposite directions through the thread when rotating, and then clamp and load the raw materials.

[0018] The beneficial effects of the present invention are as follows: The present invention arranges the coordination of structures such as a second servo motor, a second motor connecting rod, and a first bevel gear, so that the device can start the second servo motor, and the second servo motor can drive the second motor connecting rod to rotate and then drive the first bevel gear to rotate, so that the first bevel gear meshes with the second bevel gear through its own shape, so that the rotation of the first bevel gear drives the second bevel gear to rotate, and then drives the bidirectional screw to rotate, so that the bidirectional screw can drive the clamping arms to move in opposite directions through the thread when rotating, and then clamp and load and unload the raw materials, so as to achieve the purpose of facilitating the loading and unloading of the raw materials.

[0019] The present invention cooperates with other structures such as the fifth connecting seat, the electric push rod, and the sixth connecting seat so that after the device clamps and picks up the item, the electric push rod is started, and the electric push rod can push the sixth connecting seat so that the angle of the bottom arm can rotate upward, so that the angle of the bottom arm can be located at the bottom end of the raw material, thereby supporting the bottom of the raw material, making it more stable when loading and unloading the raw material, thereby achieving the purpose of preventing the device from falling.

[0020] The present invention arranges a second mounting frame, a connecting plate, an air pump and other structures in coordination, so that the device can start the air pump, and the air pump can blow air into the slide chute through the air pipe, so that the position of the ejection plate is pushed and pulled, and the raw materials clamped in the device are pushed through the ejection column, so that the device can push the raw materials outward, thereby achieving the purpose of facilitating the unloading of the raw materials clamped in the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall right side structure of the present invention; Figure 3 It is a schematic diagram of the structure of the clamping assembly of the present invention; Figure 4 It is a schematic diagram of the rear view structure of the clamping assembly of the present invention; Figure 5 It is a schematic diagram of the structure of the clamping mechanism of the present invention; Figure 6 It is a schematic diagram of the clamping state structure of the clamping mechanism of the present invention; Figure 7 It is a structural schematic diagram of the material pushing state of the material pushing mechanism of the present invention; Figure 8 It is a bottom view structural schematic diagram of the material pushing mechanism of the present invention; Fig. 9 It is a right side structural schematic diagram of the push mechanism of the present invention.

[0022] In the figure: 1, base; 2, first mounting seat; 3, first connecting seat; 4, second connecting seat; 5, first connecting column; 6, third connecting seat; 7, second mounting seat; 8, second connecting column; 9, fourth connecting seat; 10, mounting shell; 11, first servo motor; 12, first motor connecting rod; 13, first mounting frame; 14, clamping mechanism; 1401, second servo motor; 1402, second motor connecting rod; 1403, first bevel gear ; 1404, second bevel gear; 1405, bidirectional screw; 1406, clamping arm; 15, bottom-covering mechanism; 1501, fifth connecting seat; 1502, electric push rod; 1503, sixth connecting seat; 1504, bottom-covering arm; 16, pushing mechanism; 1601, second mounting bracket; 1602, connecting plate; 1603, air pump; 1604, air pipe; 1605, slide; 1606, ejecting plate; 1607, ejecting column. DETAILED DESCRIPTION

[0023] See also Figures 1 to 9 Shown is an embodiment of the present invention.

[0024] A bionic mechanical arm for loading and unloading raw materials comprises a base 1, a first mounting seat 2 is mounted on the top of the base 1, heat dissipation holes are arranged on the left and right sides of the base 1, a plurality of groups of heat dissipation holes arranged at equal intervals are arranged on the outer wall of the base 1, a first connecting seat 3 is mounted on the top of the first mounting seat 2, a second connecting seat 4 is mounted on the outer wall of the first connecting seat 3, a first connecting column 5 is fixed to the top of the second connecting seat 4, a third connecting seat 6 is fixed to the top of the first connecting column 5, a second mounting seat 7 is fixed to the side wall of the third connecting seat 6, a second connecting column 8 is fixed to the outer wall of the second mounting seat 7, a fourth connecting seat 9 is fixed to the outer wall of the second connecting column 8, a mounting shell 10 is fixed to the outer wall of the fourth connecting seat 9, a first servo motor 11 is fixed to the inner wall of the mounting shell 10, a first motor connecting rod 12 is mounted on the bottom end of the first servo motor 11, a first mounting frame 13 is fixed to the bottom end of the first motor connecting rod 12, and a clamping mechanism 14 is fixed to the outer wall of the first mounting frame 13.

[0025] The above scheme is adopted: by opening heat dissipation holes on the outer wall of the base 1, the bottom space of the device can be dissipated, and by starting the motor inside the first mounting seat 2, the first connecting seat 3 can be driven to rotate, so that the first connecting seat 3 and the components installed on the first connecting seat 3 are rotated, and by starting the motor inside the first connecting seat 3, the second connecting seat 4 and the components installed on the second connecting seat 4 can be driven to rotate, and by starting the motor inside the third connecting seat 6, the second mounting seat 7 and the components on the second mounting seat 7 can be driven to rotate, and by starting the motor inside the fourth connecting seat 9, the mounting shell 10 and the components on the mounting shell 10 can be driven to rotate, and starting the first servo motor 11 can drive the angle of the first mounting frame 13 at the bottom to rotate, and the raw materials can be loaded and unloaded at various angles through the cooperation between multiple groups of motors and connecting seats.

[0026] like Figures 1 to 9 As shown, the clamping mechanism 14 includes a second servo motor 1401, a second motor connecting rod 1402 and a first bevel gear 1403. The second servo motor 1401 is fixed to the side wall of the first mounting frame 13. The second motor connecting rod 1402 is fixed to one end of the second servo motor 1401. The outer wall of the second motor connecting rod 1402 is fixed to the first bevel gear 1403. The outer wall of the first bevel gear 1403 is provided with a second bevel gear 1404. The outer wall of the first bevel gear 1403 is provided with a plurality of groups of equally spaced teeth. The outer wall of the second bevel gear 1404 is provided with a plurality of groups of equally spaced teeth. The first bevel gear 1403 and the second bevel gear 1404 are meshingly connected.

[0027] like Figures 1 to 9 As shown, a bidirectional screw 1405 is fixed to the inner wall of the second bevel gear 1404, a clamping arm 1406 is installed on the outer wall of the bidirectional screw 1405, the bidirectional screw 1405 is rotatably connected to the inside of the first mounting frame 13, two groups of clamping arms 1406 are provided, the clamping arms 1406 are symmetrically distributed about the central axis of the bidirectional screw 1405, the inner wall of the clamping arm 1406 is provided with a thread, the outer wall of the bidirectional screw 1405 is provided with a thread, the bidirectional screw 1405 and the clamping arm 1406 are arranged to be threadedly connected, and the outer wall of the clamping arm 1406 is provided with a bottom protection mechanism 15.

[0028] The above scheme is adopted: by starting the second servo motor 1401, the second servo motor 1401 can drive the second motor connecting rod 1402 to rotate and then drive the first bevel gear 1403 to rotate, so that the first bevel gear 1403 is meshed with the second bevel gear 1404 through its own shape, thereby driving the second bevel gear 1404 to rotate through the rotation of the first bevel gear 1403, and then driving the bidirectional screw 1405 to rotate, so that the bidirectional screw 1405 can drive the clamping arm 1406 to move in opposite directions through the thread when rotating, thereby clamping and loading and unloading the raw material.

[0029] like Figures 1 to 9 As shown, the bottom-covering mechanism 15 includes a fifth connecting seat 1501, an electric push rod 1502 and a sixth connecting seat 1503. The fifth connecting seat 1501 is hingedly connected to the side wall of the bidirectional screw 1405. The electric push rod 1502 is fixed to the bottom end of the fifth connecting seat 1501. The bottom end of the electric push rod 1502 is hingedly connected to the sixth connecting seat 1503. The side wall of the sixth connecting seat 1503 is fixed with a bottom-covering arm 1504. The top end of the bottom-covering arm 1504 is hingedly connected to the clamping arm 1406. The outer wall of the bottom-covering arm 1504 is provided with a plurality of groups of anti-slip grooves with equal spacing.

[0030] The above scheme is adopted: by starting the electric push rod 1502, the device can, after clamping and picking up the item, push the sixth connecting seat 1503 so that the angle of the bottom arm 1504 can rotate upward, so that the angle of the bottom arm 1504 can be located at the bottom end of the raw material, thereby supporting the bottom of the raw material, making it more stable when loading and unloading the raw material.

[0031] like Figures 1 to 9 As shown, a material pushing mechanism 16 is fixed to the outer wall of the first mounting frame 13, and the material pushing mechanism 16 includes a second mounting frame 1601, a connecting plate 1602 and an air pump 1603. The second mounting frame 1601 is fixed to the outer wall of the first mounting frame 13, and a connecting plate 1602 is fixed to the outer wall of the second mounting frame 1601. The top of the connecting plate 1602 is fixed to the air pump 1603, and the output end of the air pump 1603 is connected to the air delivery pipe 1604. The air delivery pipe 1604 is connected to the air delivery pipe 1604. One end of 604 is connected to a slide groove 1605, the inner wall of the slide groove 1605 is provided with a ejection plate 1606, the outer wall of the ejection plate 1606 is fixed with an ejection column 1607, and two groups of connecting plates 1602 are opened at the bottom end of the slide groove 1605. The slide groove 1605 is symmetrically distributed about the central axis of the connecting plate 1602, the inner wall of the slide groove 1605 is close to the outer wall of the top of the ejection plate 1606, and the slide groove 1605 and the ejection plate 1606 are slidably connected.

[0032] The above scheme is adopted: by starting the air pump 1603, the air pump 1603 can blow air into the slide 1605 through the air pipe 1604, so that the position of the top plate 1606 is pushed and pulled, and then the raw materials clamped in the device are pushed through the top column 1607, so that the device can push the raw materials outward.

[0033] The working principle and working process of this embodiment: By opening heat dissipation holes on the outer wall of the base 1, the bottom space of the device can be cooled. By starting the motor inside the first mounting seat 2, the first connecting seat 3 can be driven to rotate, so that the first connecting seat 3 and the components installed on the first connecting seat 3 can be rotated, and by starting the motor inside the first connecting seat 3, the second connecting seat 4 and the components installed on the second connecting seat 4 can be driven to rotate. By starting the motor inside the third connecting seat 6, the second mounting seat 7 and the components on the second mounting seat 7 can be driven to rotate, and by starting the motor inside the fourth connecting seat 9, the mounting shell 10 and the components on the mounting shell 10 can be driven to rotate. Starting the first servo motor 11 can drive The angle of the first mounting bracket 13 at the bottom is rotated, and the raw materials can be loaded and unloaded at various angles through the cooperation between multiple groups of motors and the connecting seats. By starting the second servo motor 1401, the second servo motor 1401 can drive the second motor connecting rod 1402 to rotate and then drive the first bevel gear 1403 to rotate, so that the first bevel gear 1403 is meshed with the second bevel gear 1404 through its own shape, so that the rotation of the first bevel gear 1403 drives the second bevel gear 1404 to rotate, and then drives the bidirectional screw 1405 to rotate, so that the bidirectional screw 1405 can drive the clamping arm 1406 to move in opposite directions through the thread when rotating, so as to clamp and load and unload the raw materials.

Claims

1. A bionic robot arm for loading and unloading raw materials, comprising a base (1), characterized in that: The top of the base (1) is provided with a first mounting seat (2), the top of the first mounting seat (2) is provided with a first connecting seat (3), the outer wall of the first connecting seat (3) is provided with a second connecting seat (4), the top of the second connecting seat (4) is fixed with a first connecting column (5), the top of the first connecting column (5) is fixed with a third connecting seat (6), the side wall of the third connecting seat (6) is fixed with a second mounting seat (7), the outer wall of the second mounting seat (7) is fixed with a second connecting column (8), the outer wall of the second connecting column (8) is fixed with a fourth connecting seat (9), the outer wall of the fourth connecting seat (9) is fixed with a mounting shell (10), the inner wall of the mounting shell (10) is fixed with a first servo motor (11), the bottom end of the first servo motor (11) is provided with a first motor connecting rod (12), the bottom end of the first motor connecting rod (12) is fixed with a first mounting frame (13), and the outer wall of the first mounting frame (13) is fixed with a clamping mechanism (14); The clamping mechanism (14) comprises a second servo motor (1401), a second motor connecting rod (1402) and a first bevel gear (1403); the second servo motor (1401) is fixed to the side wall of the first mounting frame (13); the second motor connecting rod (1402) is fixed to one end of the second servo motor (1401); the first bevel gear (1403) is fixed to the outer wall of the second motor connecting rod (1402); the second bevel gear (1404) is arranged on the outer wall of the first bevel gear (1403); a bidirectional screw (1405) is fixed to the inner wall of the second bevel gear (1404); and a clamping arm (1406) is installed on the outer wall of the bidirectional screw (1405).

2. A bionic robotic arm for loading and unloading raw materials according to claim 1, characterized in that: The outer wall of the first bevel gear (1403) is provided with a plurality of groups of teeth with equal spacing, and the outer wall of the second bevel gear (1404) is provided with a plurality of groups of teeth with equal spacing, and the first bevel gear (1403) and the second bevel gear (1404) are meshingly connected.

3. The bionic robot arm for loading and unloading raw materials according to claim 1, characterized in that: The bidirectional screw (1405) is rotatably connected to the inside of the first mounting frame (13), and two groups of clamping arms (1406) are provided. The clamping arms (1406) are symmetrically distributed about the central axis of the bidirectional screw (1405).

4. The bionic robot arm for loading and unloading raw materials according to claim 1, characterized in that: The inner wall of the clamp arm (1406) is provided with threads, the outer wall of the bidirectional screw (1405) is provided with threads, the bidirectional screw (1405) and the clamp arm (1406) are arranged to be threadedly connected, and the outer wall of the clamp arm (1406) is provided with a bottom support mechanism (15).

5. The bionic robot arm for loading and unloading raw materials according to claim 4, characterized in that: The bottom-covering mechanism (15) comprises a fifth connecting seat (1501), an electric push rod (1502) and a sixth connecting seat (1503); the fifth connecting seat (1501) is hingedly connected to the side wall of the bidirectional screw (1405); the electric push rod (1502) is fixed to the bottom end of the fifth connecting seat (1501); the bottom end of the electric push rod (1502) is hingedly connected to the sixth connecting seat (1503); and the side wall of the sixth connecting seat (1503) is fixed to a bottom-covering arm (1504).

6. The bionic robot arm for loading and unloading raw materials according to claim 5, characterized in that: The top end of the bottom arm (1504) is hingedly connected to a clamping arm (1406), and the outer wall of the bottom arm (1504) is provided with a plurality of groups of anti-slip grooves at equal intervals.

7. The bionic robot arm for loading and unloading raw materials according to claim 1, characterized in that: A material pushing mechanism (16) is fixed to the outer wall of the first mounting frame (13), and the material pushing mechanism (16) comprises a second mounting frame (1601), a connecting plate (1602) and an air pump (1603). The second mounting frame (1601) is fixed to the outer wall of the first mounting frame (13), the connecting plate (1602) is fixed to the outer wall of the second mounting frame (1601), the air pump (1603) is fixed to the top of the connecting plate (1602), the output end of the air pump (1603) is connected to an air delivery pipe (1604), one end of the air delivery pipe (1604) is connected to a chute (1605), the inner wall of the chute (1605) is provided with a material pushing plate (1606), and the outer wall of the material pushing plate (1606) is fixed with a material pushing column (1607).

8. The bionic robot arm for loading and unloading raw materials according to claim 7, characterized in that: Two groups of connecting plates (1602) are provided at the bottom end of the slide groove (1605), and the slide groove (1605) is symmetrically distributed about the central axis of the connecting plates (1602).

9. The bionic robot arm for loading and unloading raw materials according to claim 7, characterized in that: The inner wall of the slide groove (1605) is close to the outer wall at the top of the ejection plate (1606), and the slide groove (1605) and the ejection plate (1606) are slidably connected.

10. The bionic robot arm for loading and unloading raw materials according to claim 1, characterized in that: The left and right sides of the base (1) are provided with heat dissipation holes, and the outer wall of the base (1) is provided with a plurality of groups of heat dissipation holes arranged at equal intervals.

Images