Robot mechanical arm

Abstract

The robot mechanical arm comprises a base, a first driving arm is arranged at the top of the base, a second driving arm is rotationally connected to the first driving arm through a driving shaft, and a variable-pitch adsorption mechanism for performing variable-pitch arrangement on materials is arranged on the second driving arm; the variable-pitch adsorption mechanism comprises a fixing plate fixed to the second driving arm, a vertical plate is fixed to the bottom of the fixing plate, multiple Z-shaped grooves are formed in one side of the vertical plate in a penetrating mode, and a first air cylinder is fixed to one side of the fixing plate. According to the robot mechanical arm, through the arrangement of the variable-pitch adsorption mechanism, after materials are adsorbed through the vacuum suction cups, variable-pitch expansion or contraction is conducted, the materials can be regularly arranged according to needs, the arrangement distance between the materials can be automatically adjusted, in the scene where the materials need to be arranged in batches, the materials can be rapidly and regularly arranged and adjusted in order, and the working efficiency is improved. The automation degree is high, and the material carrying and arranging efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, in particular to a robot mechanical arm. Background Art

[0002] At present, robotic arms have been widely used in many fields such as industrial production, logistics handling, medical surgery, etc. Robotic arms play an irreplaceable role in many fields with their high efficiency, precision, and flexibility. With the continuous development and innovation of technology, their application scope will continue to expand, making greater contributions to the development and progress of human society.

[0003] Existing robotic arms do not have the function of quickly arranging scattered materials in an equidistant and regular manner. In scenarios where materials need to be arranged in batches, the efficiency of transporting and arranging materials is low, and other equipment is needed to rearrange the materials in an orderly manner. In this regard, we propose a robotic arm to solve the above problem. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a robot mechanical arm that solves the problems raised in the background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a robot mechanical arm, comprising a base, a driving arm 1 is arranged on the top of the base, a driving arm 2 is rotatably connected to the driving arm 1 through a driving shaft, and a variable pitch adsorption mechanism for variable pitch arrangement of materials is arranged on the driving arm 2;

[0006] The variable distance adsorption mechanism includes a fixed plate fixed on a driving arm 2, a vertical plate fixed on the bottom of the fixed plate, a plurality of Z-shaped grooves are penetrated on one side of the vertical plate, a cylinder 1 is fixed on one side of the fixed plate, a horizontal bar is fixed on the output end of the cylinder 1, a T-shaped groove is provided inside the horizontal bar, a plurality of cylinders are slidably connected inside the T-shaped groove, a vertical rod is fixed on the bottom of the cylinder, the bottom end of the vertical rod penetrates the T-shaped groove and extends to the outside of the T-shaped groove, the outer surface of the vertical rod is slidably connected to the inner surface of the T-shaped groove, an L-shaped seat is fixed on the bottom end of the vertical rod, a vertical rod is fixed on the bottom of the L-shaped seat, a vacuum suction cup is fixed on the bottom end of the vertical rod, the vacuum suction cup is used to adsorb materials, a horizontal rod is fixed on one side of the L-shaped seat, one end of the horizontal rod penetrates the Z-shaped groove and extends to the outside of the Z-shaped groove, and a circular plate is fixed on one end of the horizontal rod.

[0007] Preferably, an L-shaped plate is fixed to one side of the circular plate, and a horizontal plate is fixed to the bottom of the L-shaped plate.

[0008] Preferably, the transverse plate is provided with a regular arrangement component for driving the scattered materials to be arranged regularly, and the regular arrangement component includes a T-shaped plate fixed on one side of the transverse plate, one side of the T-shaped plate is rotatably connected to a disc, and one side of the L-shaped plate is fixed with a motor, and the motor drives the disc to rotate.

[0009] Preferably, a boss is fixed on one side of the disc, and a swinging tine fork is rotatably connected to one side of the T-shaped plate via a rotating shaft. A slide groove is penetrated through one side of the swinging tine fork, and one end of the boss penetrates the slide groove and extends to the outside of the slide groove.

[0010] Preferably, the outer surface of the boss is slidably connected to the inner surface of the slide groove, the size of the boss is adapted to the slide groove, two rod seats are fixed on one side of the T-shaped plate, and a gear rod is slidably connected between the inner surfaces of the two rod seats.

[0011] Preferably, the teeth of the gear rod are meshed with the teeth of the swinging tine fork, a plurality of connecting rods are fixed on one side of the gear rod, an arrangement plate is fixed at one end of each of the connecting rods, through grooves are provided on the two rod seats, and the connecting rods pass through the through grooves when moving horizontally.

[0012] Preferably, an alignment pushing unit is provided between the transverse plate and the plurality of arrangement plates, and the alignment pushing unit comprises a transverse groove penetrating through one side of the plurality of arrangement plates, and a slide plate is slidably connected between the interiors of the plurality of transverse grooves.

[0013] Preferably, the size of the slide plate is adapted to that of the transverse groove, a plurality of alignment plates are fixed to one side of the slide plate, and both sides of the plurality of alignment plates are slidably connected to one side of the arrangement plate.

[0014] Preferably, two connecting plates are fixed on one side of the slide plate, a U-shaped plate is fixed between one side of the two connecting plates, and a cylinder 2 is fixed on one side of the cross plate.

[0015] Preferably, the output end of the second cylinder is fixed to one side of the U-shaped plate, a vertical plate is fixed to the top of the slide plate, and a push plate is fixed to the top of the vertical plate.

[0016] Beneficial Effects

[0017] The present invention provides a robot mechanical arm. Compared with the prior art, it has the following beneficial effects:

[0018] (1) Through the setting of the variable distance adsorption mechanism, the vacuum suction cup is used to adsorb the material, and then the variable distance is expanded or contracted, so that the material can be arranged regularly according to the needs, and the arrangement spacing between the materials can be automatically adjusted. In the scene where the materials need to be arranged in batches, the materials can be quickly arranged in an orderly and regular manner, with a high degree of automation and high efficiency in handling and arranging materials.

[0019] (2) By setting up the regular arrangement components and utilizing the left and right reciprocating movement of the arrangement plate, irregularly placed materials can be quickly arranged at equal distances, and scattered materials can be placed in an orderly and regular manner, thereby facilitating the vacuum suction cup to align and absorb the materials, thus preparing for the variable distance arrangement of the materials.

[0020] (3) Through the setting of the alignment pusher unit, after the materials are quickly and evenly arranged using the arrangement plate, cylinder 2 is started. Cylinder 2 drives the alignment plate to contact one side of the material, so that one side of the material is aligned and the material is pushed directly under the vacuum suction cup, which allows the vacuum suction cup to accurately adsorb and prevent the material from falling during the adsorption process. After the material variable distance adjustment is completed, the material can be quickly pushed down by the pusher plate to complete the transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of the external structure of the present invention;

[0022] Figure 2 The local structure of the present invention is three-dimensional Figure 1 ;

[0023] Figure 3 The local structure of the present invention is three-dimensional Figure 2 ;

[0024] Figure 4 It is an exploded diagram of the variable distance adsorption mechanism of the present invention;

[0025] Figure 5 For the present invention Figure 4 A partial enlarged view of the middle A;

[0026] Figure 6 It is a combined state diagram of the regular arrangement components and the alignment pusher unit of the present invention;

[0027] Figure 7 A three-dimensional diagram of the components arranged in a regular pattern according to the present invention;

[0028] Figure 8 It is a stereoscopic diagram of the alignment and pushing unit of the present invention.

[0029] In the figure: 1, base; 2, driving arm 1; 3, driving arm 2; 4, variable distance adsorption mechanism; 5, L-shaped plate; 6, horizontal plate; 7, regularly arranged components; 8, aligned pusher unit; 41, fixed plate; 42, vertical plate; 43, Z-shaped groove; 44, cylinder 1; 45, horizontal bar; 46, T-shaped groove; 47, cylinder; 48, vertical rod; 49, L-shaped seat; 410, vertical rod; 411, vacuum suction cup; 412, horizontal rod ; 413, round plate; 71, T-plate; 72, disc; 73, motor; 74, boss; 75, rotating shaft; 76, swinging tine fork; 77, slide groove; 78, rod seat; 79, gear rod; 710, connecting rod; 711, arrangement plate; 712, through groove; 81, transverse groove; 82, slide plate; 83, alignment plate; 84, connecting plate; 85, U-plate; 86, cylinder two; 87, vertical plate; 88, pushing plate. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The present invention provides three technical solutions, including the following embodiments:

[0032] Example 1: Please refer to Figure 1-Figure 5 , a robot mechanical arm, including a base 1, wherein the base 1 is driven to rotate by a rotating motor, and this rotating design enables the base 1 to move flexibly in a larger space when carrying materials, and adapt to different working scenes. For example, in some narrow working areas, the base 1 can adjust its position by precise rotation to avoid collision with surrounding equipment. A driving arm 1 2 is arranged on the top of the base 1, and a driving arm 2 3 is rotatably connected to the driving arm 1 2 through a driving shaft. The driving arm 1 2 and the driving arm 2 3 are both controlled by an external switch and electrically connected to an external power supply. The driving arm 1 2 and the driving arm 2 3 can rotate around the driving shaft to carry out material handling work. The driving arm 1 2 and the driving arm 2 3 have flexible rotation capabilities, and they can rotate around the driving shaft at multiple angles, which greatly expands the working range of the mechanical arm in three-dimensional space, and can efficiently complete various complex material handling tasks. The driving arm 2 3 is provided with a variable pitch adsorption mechanism 4 for variable pitch arrangement of materials;

[0033] The variable distance adsorption mechanism 4 includes a fixed plate 41 fixed on the driving arm 23, a vertical plate 42 is fixed at the bottom of the fixed plate 41, a Z-shaped groove 43 is formed through one side of the vertical plate 42, and a vertical groove is formed in the center of the vertical plate 42, as shown in the attached manual. Figure 3As shown, a cylinder 44 is fixed to one side of the fixed plate 41. The cylinder 44 is controlled by an external switch and is electrically connected to an external power supply. A horizontal bar 45 is fixed to the output end of the cylinder 44. A T-slot 46 is provided inside the horizontal bar 45. A plurality of cylinders 47 are slidably connected inside the T-slot 46. A vertical rod 48 is fixed to the bottom of the cylinder 47. The bottom end of the vertical rod 48 passes through the T-slot 46 and extends to the outside of the T-slot 46. The outer surface of the vertical rod 48 is slidably connected to the inner surface of the T-slot 46. An L-shaped seat 49 is fixed to the bottom end of the vertical rod 48. A vertical rod 410 is fixed to the bottom of the L-shaped seat 49. A vacuum suction cup 411 is fixed to the bottom end of the vertical rod 410. The vacuum suction cup 411 is a prior art, which is controlled by an external switch and electrically connected to an external power supply. The vacuum suction cup 411 is electrically connected to an external vacuum pump. After the vacuum pump is started, the vacuum suction cup 411 generates suction to firmly adsorb the material to the bottom of the vacuum suction cup 411. The vacuum suction cup 411 is used to adsorb the material. The surface of the vacuum suction cup 411 is made of special rubber material, which has good sealing and adsorption properties and can adapt to materials of different materials and shapes. A cross bar 412 is fixed to one side of the L-shaped seat 49, and one end of the cross bar 412 passes through the Z-shaped groove 43 and extends to the outside of the Z-shaped groove 43. A circular plate 413 is fixed to one end of the cross bar 412.

[0034] By setting up the variable distance adsorption mechanism 4, after the vacuum suction cup 411 is used to adsorb the material, it is then expanded or contracted with a variable distance, so that the material can be arranged regularly according to needs, and the arrangement spacing between materials can be automatically adjusted. In the scenario where materials need to be arranged in batches, the materials can be quickly arranged and adjusted in an orderly and regular manner, with a high degree of automation and high efficiency in handling and arranging materials.

[0035] An L-shaped plate 5 is fixed to one side of the circular plate 413, and a horizontal plate 6 is fixed to the bottom of the L-shaped plate 5. The L-shaped plate 5 and the horizontal plate 6 are used to support the regularly arranged components 7 and the alignment of the pusher unit 8, thereby ensuring the stability and reliability of the entire robotic arm system. The L-shaped plate 5 and the horizontal plate 6 are connected by a high-strength welding process, which can withstand various forces and vibrations generated during the operation of the robotic arm.

[0036] Example 2: Based on Example 1, see Figure 7 As shown, a regular arrangement component 7 for driving scattered materials to be arranged regularly is provided on the transverse plate 6. The regular arrangement component 7 includes a T-shaped plate 71 fixed on one side of the transverse plate 6. A disc 72 is rotatably connected to one side of the T-shaped plate 71. A motor 73 is fixed to one side of the L-shaped plate 5. The motor 73 drives the disc 72 to rotate. The motor 73 is controlled by an external switch and is electrically connected to an external power supply. The output end of the motor 73 is fixed to one side of the disc 72.

[0037] A boss 74 is fixed on one side of the disc 72 , and a swinging tine 76 is rotatably connected to one side of the T-plate 71 via a rotating shaft 75 . A slide groove 77 is penetrated through one side of the swinging tine 76 , and one end of the boss 74 penetrates through the slide groove 77 and extends to the outside of the slide groove 77 .

[0038] The outer surface of the boss 74 is slidably connected to the inner surface of the slide groove 77. The size of the boss 74 and the slide groove 77 are adapted. Two rod seats 78 are fixed on one side of the T-shaped plate 71. A gear rod 79 is slidably connected between the inner surfaces of the two rod seats 78.

[0039] The teeth of the gear rod 79 mesh with the teeth of the swinging tooth fork 76. A plurality of connecting rods 710 are fixed on one side of the gear rod 79. An arrangement plate 711 is fixed at one end of each of the connecting rods 710. The arrangement of the arrangement plate 711 can arrange the materials in a regular and equidistant manner. Through slots 712 are provided on the two rod seats 78, and the connecting rods 710 pass through the through slots 712 when moving horizontally.

[0040] By setting up the regular arrangement component 7 and utilizing the left and right reciprocating movement of the arrangement plate 711, irregularly placed materials can be quickly arranged at equal distances, and scattered materials can be placed in an orderly and regular manner, thereby facilitating the vacuum suction cup 411 to align and absorb the materials, thus preparing for the variable-distance arrangement of the materials.

[0041] Example 3: Based on Example 2, see Figure 6 and Figure 8 As shown, an alignment pusher unit 8 is provided between the transverse plate 6 and the plurality of arrangement plates 711 , and the alignment pusher unit 8 comprises a transverse groove 81 penetrating through one side of the plurality of arrangement plates 711 , and a slide plate 82 is slidably connected between the interiors of the plurality of transverse grooves 81 .

[0042] The size of the slide plate 82 is adapted to that of the transverse groove 81. A plurality of alignment plates 83 are fixed on one side of the slide plate 82. The setting of the alignment plates 83 can align one side of the material. The surface of the alignment plates 83 is made of elastic material, which can effectively buffer the collision force when contacting the material to avoid damage to the material. Both sides of the plurality of alignment plates 83 are slidably connected to one side of the arrangement plate 711.

[0043] Two connecting plates 84 are fixed on one side of the slide plate 82, a U-shaped plate 85 is fixed between one side of the two connecting plates 84, and a cylinder 2 86 is fixed on one side of the cross plate 6. The cylinder 2 86 is controlled by an external switch and is electrically connected to an external power supply.

[0044] The output end of the second cylinder 86 is fixed to one side of the U-shaped plate 85, a vertical plate 87 is fixed to the top of the slide plate 82, and a push plate 88 is fixed to the top of the vertical plate 87. The setting of the push plate 88 can push the material on the vacuum suction cup 411 down to achieve material dropping.

[0045] By aligning the setting of the pushing unit 8, after the materials are quickly and equidistantly arranged by using the arrangement plate 711, the cylinder 2 86 is started, and the cylinder 2 86 drives the alignment plate 83 to contact one side of the material, so that one side of the material is aligned, and at the same time, the material is pushed to the bottom of the vacuum suction cup 411, so that the vacuum suction cup 411 can be accurately adsorbed to prevent the vacuum suction cup 411 from falling off during the adsorption process. After the material distance adjustment is completed, the material can be quickly pushed down by the pushing plate 88 to complete the transportation.

[0046] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0047] During operation, the driving arm 1 2 and the driving arm 2 3 are started to keep the driving arm 2 3 horizontal, so that the arrangement plate 711 is driven to the table surface, and the material is placed between two adjacent arrangement plates 711, and the motor 73 is started to drive the disc 72 to rotate, and then the disc 72 drives the boss 74 to rotate in a circle, and then the boss 74 slides in the chute 75, and then the boss 74 drives the swinging tooth fork 76 to swing back and forth around the rotating shaft 75, and then the swinging tooth fork 76 drives the tooth rod 79 to move back and forth left and right. The gear rod 79 drives the connecting rod 710 and the arranging plate 711 to move back and forth, and the arranging plate 711 arranges the materials at equal distances during the process of moving back and forth, and the cylinder 86 is started, so that the cylinder 86 drives the U-shaped plate 85, the connecting plate 84, the sliding plate 82 and the alignment plate 83 to move, and the alignment plate 83 contacts the materials and pushes the materials to move, so that the materials are located directly under the vacuum suction cup 411, and the materials are aligned, and the cylinder 44 is started, and the cylinder 44 drives the crossbar 85 to move. The bar 45 moves downward, and then the horizontal bar 45 drives the plurality of vertical rods 410 and the vacuum suction cups 411 to move downward, and then the horizontal bar 412 slides downward along the inner surface of the Z-shaped groove 43, and then the horizontal bar 412 drives the vertical rods 410 to increase the distance and expand to both sides, and the distance between the plurality of vacuum suction cups 411 gradually increases, so that the vacuum suction cups 411 move to the top of the material, and then the vacuum suction cups 411 are started, and the vacuum suction cups 411 absorb the material, and then the base 1 is started to rotate and transport, After the material is transported to the required position, the cylinder 44 is started to shrink, and then the cylinder 44 drives the multiple vertical rods 410 and the vacuum suction cups 411 to shrink and change the distance. The distance between the vacuum suction cups 411 gradually becomes smaller. After adjusting to the appropriate spacing, the suction force of the vacuum suction cups 411 is weakened, and the cylinder 2 86 is started again, so that the cylinder 2 86 drives the push plate 88 to move, and the push plate 88 pushes the material on the vacuum suction cup 411 down to realize unloading, and at the same time, the material is also arranged in an equidistant and regular manner.

[0048] The embodiments of the invention are described in detail above, but the contents are only preferred embodiments of the invention and cannot be considered to limit the scope of implementation of the invention. All equivalent changes and improvements made within the scope of the invention should still fall within the scope of the invention.

Claims

1. A robot arm, comprising a base (1), characterized in that: A driving arm 1 (2) is provided on the top of the base (1), and a driving arm 2 (3) is rotatably connected to the driving arm 1 (2) via a driving shaft, and a variable-pitch adsorption mechanism (4) for variable-pitch arrangement of materials is provided on the driving arm 2 (3); The variable distance adsorption mechanism (4) comprises a fixed plate (41) fixed on the second driving arm (3), a vertical plate (42) fixed at the bottom of the fixed plate (41), a plurality of Z-shaped grooves (43) extending through one side of the vertical plate (42), a cylinder (44) fixed at one side of the fixed plate (41), a horizontal bar (45) fixed at the output end of the cylinder (44), a T-shaped groove (46) extending inside the horizontal bar (45), a plurality of cylinders (47) slidably connected inside the T-shaped groove (46), a vertical rod (48) fixed at the bottom of the cylinder (47), the bottom end of the vertical rod (48) extending through the T-shaped groove (46), and a plurality of cylinders (47) slidably connected inside the T-shaped groove (46). ) and extends to the outside of the T-shaped groove (46); the outer surface of the vertical rod (48) is slidably connected to the inner surface of the T-shaped groove (46); the bottom end of the vertical rod (48) is fixed with an L-shaped seat (49); the bottom of the L-shaped seat (49) is fixed with a vertical rod (410); the bottom end of the vertical rod (410) is fixed with a vacuum suction cup (411); the vacuum suction cup (411) is used to absorb materials; a cross bar (412) is fixed on one side of the L-shaped seat (49); one end of the cross bar (412) passes through the Z-shaped groove (43) and extends to the outside of the Z-shaped groove (43); and one end of the cross bar (412) is fixed with a circular plate (413).

2. A robot arm according to claim 1, characterized in that: An L-shaped plate (5) is fixed to one side of the circular plate (413), and a horizontal plate (6) is fixed to the bottom of the L-shaped plate (5).

3. A robot arm according to claim 2, characterized in that: The transverse plate (6) is provided with a regular arrangement component (7) for driving the scattered materials to be arranged regularly. The regular arrangement component (7) comprises a T-shaped plate (71) fixed to one side of the transverse plate (6). One side of the T-shaped plate (71) is rotatably connected to a disc (72). One side of the L-shaped plate (5) is fixed with a motor (73), and the motor (73) drives the disc (72) to rotate.

4. A robot arm according to claim 3, characterized in that: A convex column (74) is fixed on one side of the disc (72); a swinging tooth fork (76) is rotatably connected to one side of the T-shaped plate (71) via a rotating shaft (75); a sliding groove (77) is penetrated through one side of the swinging tooth fork (76); one end of the convex column (74) penetrates through the sliding groove (77) and extends to the outside of the sliding groove (77).

5. A robot arm according to claim 4, characterized in that: The outer surface of the boss (74) is slidably connected to the inner surface of the slide groove (77); the size of the boss (74) and the slide groove (77) are matched; two rod seats (78) are fixed on one side of the T-shaped plate (71); a gear rod (79) is slidably connected between the inner surfaces of the two rod seats (78).

6. A robot arm according to claim 5, characterized in that: The teeth of the toothed rod (79) mesh with the teeth of the swinging tooth fork (76); a plurality of connecting rods (710) are fixed on one side of the toothed rod (79); an arrangement plate (711) is fixed at one end of each of the connecting rods (710); and through grooves (712) are provided on the two rod seats (78); and the connecting rods (710) pass through the through grooves (712) when moving horizontally.

7. A robot arm according to claim 2, characterized in that: An alignment pusher unit (8) is provided between the transverse plate (6) and the plurality of arrangement plates (711), and the alignment pusher unit (8) comprises a transverse groove (81) extending through one side of the plurality of arrangement plates (711), and a slide plate (82) is slidably connected between the interiors of the plurality of transverse grooves (81).

8. A robot arm according to claim 7, characterized in that: The slide plate (82) is adapted to the size of the transverse groove (81), and a plurality of alignment plates (83) are fixed to one side of the slide plate (82), and both sides of the plurality of alignment plates (83) are slidably connected to one side of the arrangement plate (711).

9. A robot arm according to claim 7, characterized in that: Two connecting plates (84) are fixed on one side of the slide plate (82), a U-shaped plate (85) is fixed between one side of the two connecting plates (84), and a second cylinder (86) is fixed on one side of the transverse plate (6).

10. A robot arm according to claim 9, characterized in that: The output end of the second cylinder (86) is fixed to one side of the U-shaped plate (85), a vertical plate (87) is fixed to the top of the slide plate (82), and a push plate (88) is fixed to the top of the vertical plate (87).

Images