A robotic arm

Abstract

The present invention discloses a robot manipulator, comprising a base, a driving arm 1 being provided on the top of the base, a driving arm 2 being rotatably connected to the driving arm 1 via a driving shaft, a variable pitch adsorption mechanism being provided on the driving arm 2 for arranging materials at variable pitches; the variable pitch adsorption mechanism comprising a fixed plate fixed to the driving arm 2, a vertical plate being fixed to the bottom of the fixed plate, a plurality of Z-shaped grooves being formed through one side of the vertical plate, and a cylinder 1 being fixed to one side of the fixed plate. The present invention relates to the field of manipulator technology. The robot manipulator, through the provision of the variable pitch adsorption mechanism, utilizes a vacuum suction cup to adsorb materials, and then performs variable pitch expansion or contraction, so that the materials can be arranged regularly as required, and can automatically adjust the arrangement spacing between materials. In scenarios where materials need to be arranged in batches, the materials can be quickly and orderly arranged and adjusted, with a high degree of automation and high efficiency in handling and arranging materials.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and 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 ability to quickly and evenly arrange scattered materials. In scenarios where materials need to be arranged in batches, the efficiency of handling and arranging materials is low, and other equipment is needed to rearrange the materials in an orderly manner. To this end, we proposed 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 manipulator that solves the problems raised in the background art.

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

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

[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 is rotatably connected to one side of the T-plate via a rotating shaft. A slide groove is provided through one side of the swinging tine, and one end of the boss passes through 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 engaged 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, and a through slot is provided on both of the rod seats, and the connecting rod passes through the through slot 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 slide plates are slidably connected between the interiors of the plurality of transverse grooves.

[0013] Preferably, the slide plate is adapted to the size 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, a U-shaped plate is fixed between one side of the two connecting plates, and a second cylinder is fixed on one side of the transverse 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 on the top of the slide, and a push plate is fixed on the top of the vertical plate. Beneficial effects

[0016] The present invention provides a robotic manipulator. Compared with the prior art, it has the following advantages:

[0017] (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.

[0018] (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, preparing for the variable distance arrangement of the materials.

[0019] (3) By aligning the setting of the pushing unit, after the materials are quickly and equidistantly 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. This allows the vacuum suction cup to accurately adsorb the material and prevent the vacuum suction cup from falling during the adsorption process. After the material distance adjustment is completed, the material can be quickly pushed down by the pushing plate to complete the transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional diagram of the external structure of the present invention;

[0021] Figure 2 The local structure of the present invention is three-dimensional Figure 1 ;

[0022] Figure 3 The local structure of the present invention is three-dimensional Figure 2 ;

[0023] Figure 4 It is an exploded view of the variable distance adsorption mechanism of the present invention;

[0024] Figure 5 For the present invention Figure 4 A partial enlarged view of point A in the middle;

[0025] Figure 6 It is a combined state diagram of the regular arrangement components and the alignment pusher unit of the present invention;

[0026] Figure 7 A three-dimensional diagram of the components arranged in a regular pattern according to the present invention;

[0027] Figure 8 It is a three-dimensional diagram of the alignment and pushing unit of the present invention.

[0028] Figure: 1. Base; 2. Driving arm 1; 3. Driving arm 2; 4. Variable pitch suction mechanism; 5. L-shaped plate; 6. Horizontal plate; 7. Regular arrangement of components; 8. Alignment of 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, circular plate; 71, T-shaped plate; 72, disc; 73, motor; 74, boss; 75, rotating shaft; 76, swinging tine fork; 77, slide; 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-shaped plate; 86, cylinder 2; 87, vertical plate; 88, push plate. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0030] The present invention provides three technical solutions, including the following embodiments:

[0031] Example 1: Please refer to Figure 1-Figure 5 , a robot manipulator comprises a base 1, wherein the base 1 is driven to rotate by a rotary motor. This rotating design enables the base 1 to move flexibly in a larger space when handling materials and adapt to different working scenarios. For example, in some narrow working areas, the base 1 can adjust its position through precise rotation to avoid collision with surrounding equipment. 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 through a driving shaft. Both the driving arm 1 2 and the driving arm 2 3 are 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 perform material handling work. The driving arm 1 2 and the driving arm 2 3 have flexible rotation capabilities and can rotate at multiple angles around the driving shaft, which greatly expands the working range of the manipulator 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;

[0032] The variable distance adsorption mechanism 4 includes a fixed plate 41 fixed on the driving arm 23, a vertical plate 42 is fixed to the bottom of the fixed plate 41, a plurality of Z-shaped grooves 43 are opened on one side of the vertical plate 42, and a vertical groove is opened in the center of the vertical plate 42. 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 to the inside of 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 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 on 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.

[0033] 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 scenarios 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.

[0034] 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 regular arrangement of components 7 and the alignment of the pushing unit 8, 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.

[0035] Example 2: Based on Example 1, see Figure 7 As shown, 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 includes a T-shaped plate 71 fixed on one side of the transverse plate 6. One side of the T-shaped plate 71 is rotatably connected to a disc 72. A motor 73 is fixed on 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.

[0036] 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 on one side of the swinging tine 76, and one end of the boss 74 penetrates the slide groove 77 and extends to the outside of the slide groove 77.

[0037] 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 is adapted to the slide groove 77. 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.

[0038] The teeth of the gear rod 79 are engaged with the teeth of the swinging tine 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. A through slot 712 is provided on each of the two rod seats 78, and the connecting rod 710 passes through the through slot 712 when moving horizontally.

[0039] 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, preparing for the variable-distance arrangement of the materials.

[0040] 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 . The alignment pusher unit 8 includes a transverse groove 81 extending through one side of the plurality of arrangement plates 711 . Slide plates 82 are slidably connected between the interiors of the plurality of transverse grooves 81 .

[0041] The slide plate 82 is adapted to the size of the transverse groove 81. Multiple alignment plates 83 are fixed on one side of the slide plate 82. The setting of the alignment plate 83 can align one side of the material. The surface of the alignment plate 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 multiple alignment plates 83 are slidably connected to one side of the arrangement plate 711.

[0042] 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.

[0043] The output end of cylinder 2 86 is fixed to one side of the U-shaped plate 85, and a vertical plate 87 is fixed to the top of the slide 82. 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 blanking.

[0044] By aligning the setting of the pushing unit 8, after the materials are quickly and equidistantly arranged 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 accurately adsorb and prevent the vacuum suction cup 411 from falling 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.

[0045] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0046] 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. 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 tine 76 to swing back and forth around the rotating shaft 75, and then the swinging tine 76 drives the gear 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 left and right, and the arranging plate 711 arranges the materials at equal distances during the process of moving back and forth left and right. The cylinder 2 86 is started, and the cylinder 2 86 drives the U-shaped plate 85, the connecting plate 84, the slide plate 82 and the alignment plate 83 to move, and the alignment plate 83 contacts the material and pushes the material to move, so that the material is located directly under the vacuum suction cup 411, and the material is aligned. The cylinder 1 44 is started, and the cylinder 1 44 drives the crossbar 85, the connecting plate 84, the slide plate 82 and the alignment plate 83 to move. The bar 45 moves downward, and the horizontal bar 45 drives the multiple vertical rods 410 and the vacuum suction cups 411 to move downward, so that the horizontal bar 412 slides downward along the inner surface of the Z-shaped groove 43, and the horizontal bar 412 drives the vertical rods 410 to increase the distance to both sides, and the distance between the multiple vacuum suction cups 411 gradually increases, so that the vacuum suction cups 411 move to the top of the material, and then start the vacuum suction cups 411, the vacuum suction cups 411 absorb the material, and then start the base 1 to rotate and transport, After the material is transported to the required position, cylinder 1 44 is started to shrink, and then cylinder 1 44 drives multiple vertical rods 410 and 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 cylinder 2 86 is started again to drive the push plate 88 to move. The push plate 88 pushes the material on the vacuum suction cup 411 down to realize unloading, and also arranges the material in an equidistant and regular manner.

[0047] The above embodiments of the invention are described in detail, but the contents are only preferred embodiments of the invention and should not be considered to limit the scope 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 robotic 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 distance adsorption mechanism (4) for variable distance arrangement of materials is provided on the driving arm 2 (3); The variable distance adsorption mechanism (4) includes a fixed plate (41) fixed on the second driving arm (3), a vertical plate (42) is fixed to the bottom of the fixed plate (41), a plurality of Z-shaped grooves (43) are penetrated through one side of the vertical plate (42), a cylinder (44) is fixed to one side of the fixed plate (41), a horizontal bar (45) is fixed to the output end of the cylinder (44), a T-shaped groove (46) is formed inside the horizontal bar (45), a plurality of cylinders (47) are slidably connected inside the T-shaped groove (46), a vertical rod (48) is fixed to the bottom of the cylinder (47), and the bottom end of the vertical rod (48) penetrates 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); An L-shaped plate (5) is fixed to one side of the circular plate (413), a horizontal plate (6) is fixed to the bottom of the L-shaped plate (5), and a regular arrangement component (7) for driving the scattered materials to be regularly arranged is provided on the horizontal plate (6), and the regular arrangement component (7) includes a T-shaped plate (71) fixed to one side of the horizontal plate (6), and a circular disc (72) is rotatably connected to one side of the T-shaped plate (71), and a motor (73) is fixed to one side of the L-shaped plate (5), and the motor (73) drives the circular disc (72) to rotate, and a boss (74) is fixed to one side of the circular disc (72), and one side of the T-shaped plate (71) is rotatably connected to a swinging tooth fork (76) through a rotating shaft (75), and a sliding groove (77) is provided on one side of the swinging tooth fork (76), and the boss ( One end of the boss (74) passes through the slide groove (77) and extends to the outside of the slide groove (77), the outer surface of the boss (74) is slidably connected to the inner surface of the slide groove (77), the boss (74) is adapted to the size of the slide groove (77), one side of the T-shaped plate (71) is fixed with two rod seats (78), the inner surfaces of the two rod seats (78) are slidably connected with a gear rod (79), the teeth of the gear rod (79) are engaged with the teeth of the swinging tooth fork (76), a plurality of connecting rods (710) are fixed to one side of the gear rod (79), one end of the plurality of connecting rods (710) are fixed with an arrangement plate (711), and a through slot (712) is provided on the two rod seats (78), and the connecting rod (710) passes through the through slot (712) when moving horizontally.

2. A robotic arm according to claim 1, 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).

3. A robotic arm according to claim 2, 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).

4. The robot arm according to claim 2, 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).

5. The robot arm according to claim 4, 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).

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