Mechanical arm for taking parts

Abstract

The mechanical arm comprises a chassis and a right-angle frame, a revolution mechanism capable of integrally changing angles is arranged between the chassis and the right-angle frame, and a transverse sliding table capable of transversely moving and a longitudinal sliding table capable of longitudinally moving are arranged on the two right-angle sides of the right-angle frame correspondingly. A grabbing assembly capable of being suspended at any position is installed in the overlapping area of the transverse sliding table and the longitudinal sliding table, and when the rotating support rotates by 90 degrees to be adjusted, the rotating grabbing hand can be synchronously positioned within the range of the right-angle frame. In other words, the position of the rotating gripper is synchronously adjusted through the transverse sliding table and the longitudinal sliding table in the revolution process, the operation steps and stroke of the mechanical arm are further simplified, meanwhile, the whole frame of the mechanical arm occupies a small space, accurate positioning in a large range can be achieved, and compared with the prior art, the higher resource utilization rate is achieved; and the compatibility between the mechanical arm and the machine tool and comprising the frame of the mechanical arm is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and particularly to a robotic arm for picking up objects. Background Art

[0002] A robotic arm is a mechanical device that can simulate the functions of a human arm. It can move in multiple degrees of freedom to complete various complex operation tasks. Robotic arms are widely used in many fields such as industry, medicine, aerospace, military, and services, and have many advantages: Multiple degrees of freedom: A robotic arm can be designed to have multiple degrees of freedom to simulate the complex movements of a human hand; Flexibility: A robotic arm can be programmed to execute various complex motion trajectories; Precision: Modern robotic arms have a high repeat positioning accuracy and are suitable for precision operations; Programmability: The movement of a robotic arm can be controlled by programming and is easy to adapt to different tasks and environments; Automation: A robotic arm can be integrated into an automated system to reduce manual intervention and improve production efficiency.

[0003] Existing robotic arms are becoming increasingly perfect in terms of work efficiency and intelligence, and various performance parameters are set based on the difference in picking up objects (products), such as picking force, precision, yaw amplitude, etc. However, there are still some compatibility problems with machine tools in the actual operation process of current robotic arms. For example, during the intelligent processing of some special products, after one processing step is completed, it needs to be transferred to the subsequent processing step. Due to limitations such as space and time, most processing steps cannot be stably connected and need to involve the transformation of multiple machine tools or production lines. At this time, the role of the robotic arm is prominent, and it can replace manual labor to quickly and accurately pick up the products completed in the previous step and transfer them to the processing station of the subsequent step. During this period, it will involve a large span and stroke for the robotic arm. Currently, the existing technology can only improve it by increasing the size of the robotic arm frame, which correspondingly brings problems such as increased floor space and poor compatibility with machine tools; In addition, the working principle of robotic arms in the industry is generally a combination of multiple movements. For example, the horizontal movement within a plane quadrant is composed of the horizontal movements in two directions of the X-axis and the Y-axis. Analogously, in a coordinate system, if it is necessary to move from (0,0) to (X,Y), the current movement method of the robotic arm is to first move to (0,Y) or (X,0), and then move to (X,Y), which requires two operations. During the intelligent processing step, one more step often leads to a reduction in work efficiency.

[0004] In view of the above problems, there is an urgent need to innovate and design on the basis of the original robotic arm for picking up objects. Summary of the Invention

[0005] The technical solution of the present invention aims at the technical problem that the existing technical solutions are too single, and provides a solution significantly different from the existing technologies. Specifically, the purpose of the present invention is to provide a robotic arm for picking up parts, so as to solve the compatibility problems with machine tools that still exist in the actual application process of the robotic arm at present. For example, when some special products are processed intelligently, after one processing step is completed, it is necessary to transfer to the subsequent processing step. However, due to restrictions such as space and time, most processing steps cannot be stably connected, and it is necessary to involve the transformation of multiple machine tools or production lines. At this time, the role of the robotic arm is prominent. It can replace manual labor to quickly and accurately pick up the products that have completed processing in the previous step and transfer them to the processing station of the subsequent step. During this period, for the robotic arm, it will involve a large span and stroke. At present, the existing technologies can only improve it by increasing the size of the robotic arm frame, which also correspondingly brings problems such as increased floor space and poor compatibility with machine tools.

[0006] To achieve the above object, the present invention provides the following technical solution: A robotic arm for picking up parts, comprising a chassis and a right-angle frame. There is a revolution mechanism between the chassis and the right-angle frame that can perform overall angle transformation. And on the two right-angle sides of the right-angle frame, there are respectively a transverse slide table that can move horizontally and a longitudinal slide table that can move vertically. And within the overlapping area of the transverse slide table and the longitudinal slide table, there is a grasping component that can hover at any position.

[0007] Preferably, the revolution mechanism includes a stepper motor, a rotating bracket, a universal wheel and a support column. And the stepper motor is fixedly installed on the upper surface of the chassis. And the output end of the stepper motor is fixedly connected to the rotating bracket. The upper surface of the rotating bracket is fixed with a support column, and the upper end of the support column is fixed to the lower surface of the right-angle frame. And on the lower surfaces of the two right-angle sides of the rotating bracket, universal wheels are symmetrically installed.

[0008] Preferably, the lower end of the universal wheel is horizontally aligned with the chassis.

[0009] Preferably, on the upper surfaces of the two right-angle sides of the right-angle frame, a transverse lead screw and a longitudinal lead screw are respectively installed. And servo motors are installed at the ends of the transverse lead screw and the longitudinal lead screw; The transverse slide table is slidably sleeved on the outer wall of the transverse lead screw, and a screw hole matching the thread on the outer wall of the transverse lead screw is opened at the end of the transverse slide table; The longitudinal slide table is slidably sleeved on the outer wall of the longitudinal lead screw, and a screw hole matching the thread on the outer wall of the longitudinal lead screw is opened at the end of the longitudinal slide table.

[0010] Preferably, a transverse groove and a longitudinal groove are respectively opened through the interiors of the transverse slide table and the longitudinal slide table. And the grasping component is located at the spatial overlapping intersection of the transverse groove and the longitudinal groove.

[0011] Preferably, the grasping assembly includes a telescopic arm and a rotating gripper. The telescopic arm is slidably engaged at the overlapping intersection of the horizontal slot and the vertical slot, and a rotating gripper is installed at the lower end of the telescopic arm.

[0012] Preferably, the outer wall of the telescopic arm is evenly distributed with stoppers, and several stoppers are respectively in sliding contact with the upper surfaces of the horizontal slide and the vertical slide.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: When programming the grasping of the robotic arm, we can accurately pick up points in the way of a plane coordinate system. The positions of the two right-angled sides of the right-angle frame are input and positioned as the X-axis and the Y-axis through the system, and the right-angle inflection point coordinates of the right-angle frame are (0,0). Suppose we need to find (X1,Y1) in the first quadrant. Then we can directly synchronously control the two servo motors. And the shortest route from (0,0) to (X1,Y1) is a straight line. Therefore, through computer calculation, the required driving speeds of the two servo motors are obtained and the horizontal lead screw and the vertical lead screw are driven to rotate synchronously at the required speeds, so that the overlapping area of the horizontal slide and the vertical slide, that is, the grasping assembly, directly reaches the target point (X1,Y1) in a straight line form, rather than first (X1,0) or (0,Y1) and then (X1,Y1), which simplifies the moving route of the traditional robotic arm.

[0014] The above is the precise positioning in the first quadrant corresponding to the inner sides of the two right-angled sides of the right-angle frame. When it comes to position transformation in the second, third, and fourth quadrants, the stepping motor is started. The stepping motor drives the rotating bracket and the upper right-angle frame, rotating gripper and other related structures above to rotate synchronously in units of 90 degrees. When it rotates 90 degrees, the right-angle frame turns to the second quadrant. At this time, the coordinates (X2,Y2) to be positioned can be found in the second quadrant. Similarly, the coordinates (X3,Y3) or (X4,Y4) to be positioned can be found in the third or fourth quadrant. Moreover, during the rotation adjustment of the rotating bracket in units of 90 degrees, the rotating gripper can be positioned synchronously within the range of the right-angle frame, that is, the rotating gripper can also adjust its position synchronously through the horizontal slide and the vertical slide during the revolution process, further simplifying the operation steps and travel of the robotic arm. At the same time, the overall frame of the robotic arm occupies a small space and can achieve precise positioning within a large range. Compared with others, it has a higher resource utilization rate, and effectively improves the compatibility between the robotic arm including its frame and the machine tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the first three-dimensional structure schematic diagram of the present invention; Figure 2 is the second three-dimensional structure schematic diagram of the present invention; Figure 3Schematic three-dimensional structure diagram of the right-angle frame, horizontal lead screw and vertical lead screw of the present invention; Figure 4 Schematic connection structure diagram of the horizontal sliding table and vertical sliding table of the present invention; Figure 5 Schematic structure diagram of the grasping component of the present invention.

[0016] In the figure: 1, chassis; 11, stepper motor; 2, rotating bracket; 21, universal wheel; 22, support pillar; 3, right-angle frame; 31, servo motor; 4, horizontal lead screw; 41, horizontal sliding table; 42, horizontal groove; 5, vertical lead screw; 51, vertical sliding table; 52, vertical groove; 6, telescopic arm; 61, stop block; 7, rotating gripper. Specific embodiments

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0018] Please refer to Figures 1-5 , the present invention provides a technical solution: a robotic arm for picking up parts, including a chassis 1 and a right-angle frame 3. A revolution mechanism capable of overall angle transformation is provided between the chassis 1 and the right-angle frame 3. And a horizontal sliding table 41 capable of horizontal movement and a vertical sliding table 51 capable of vertical movement are respectively arranged on the two right-angle sides of the right-angle frame 3. And a grasping component capable of hovering at any position is installed within the overlapping area of the horizontal sliding table 41 and the vertical sliding table 51.

[0019] The revolution mechanism includes a stepper motor 11, a rotating bracket 2, universal wheels 21 and support pillars 22. And the upper surface of the chassis 1 is fixedly installed with a stepper motor 11. And the output end of the stepper motor 11 is fixedly connected to a rotating bracket 2. The upper surface of the rotating bracket 2 is fixed with support pillars 22. And the upper ends of the support pillars 22 are fixed to the lower surface of the right-angle frame 3. And universal wheels 21 are symmetrically installed on the lower surfaces of the two right-angle sides of the rotating bracket 2.

[0020] The lower ends of the universal wheels 21 are horizontally aligned with the chassis 1.

[0021] The upper surfaces of the two right-angle sides of the right-angle frame 3 are respectively installed with a horizontal lead screw 4 and a vertical lead screw 5. And servo motors 31 are installed at the ends of the horizontal lead screw 4 and the vertical lead screw 5; The horizontal sliding table 41 is slidably sleeved on the outer wall of the horizontal lead screw 4. And a screw hole matching the thread on the outer wall of the horizontal lead screw 4 is opened at the end of the horizontal sliding table 41; The longitudinal slide table 51 is slidably sleeved on the outer wall of the longitudinal lead screw 5, and a screw hole matching the thread on the outer wall of the longitudinal lead screw 5 is provided at the end of the longitudinal slide table 51.

[0022] Transverse grooves 42 and longitudinal grooves 52 are respectively and penetratingly formed inside the transverse slide table 41 and the longitudinal slide table 51, and the grasping assembly is located at the overlapping intersection of the spaces of the transverse groove 42 and the longitudinal groove 52.

[0023] The grasping assembly includes a telescopic arm 6 and a rotating gripper 7. The telescopic arm 6 is slidably arranged in a snap-fit manner at the overlapping intersection of the spaces of the transverse groove 42 and the longitudinal groove 52, and the rotating gripper 7 is installed at the lower end of the telescopic arm 6.

[0024] Stopper blocks 61 are uniformly distributed on the outer wall of the telescopic arm 6, and several stopper blocks 61 are respectively in sliding contact with the upper surfaces of the transverse slide table 41 and the longitudinal slide table 51.

[0025] Working principle: When using this robotic arm for picking up parts, first as Figure 1 shown, the grasping assembly is suspended in the overlapping area of the spaces of the transverse slide table 41 and the longitudinal slide table 51, and restricted by the several stopper blocks 61 and the surfaces of the transverse slide table 41 and the longitudinal slide table 51, the rotating gripper 7 at the lower end can perform normal rotating grasping and object turning operations.

[0026] When programming the grasping of this robotic arm, we can adopt the method of a plane coordinate system to accurately pick up points. The positions of the two right-angled sides of the right-angle frame 3 are input and positioned as the X-axis and the Y-axis through the system, and the right-angle inflection point coordinates of the right-angle frame 3 are (0, 0). Assuming that we need to find (X1, Y1) in the first quadrant, then we can directly synchronously control the two servo motors 31. Since the shortest route from (0, 0) to (X1, Y1) is a straight line, after computer calculation, the driving speeds required for the two servo motors 31 are obtained and the transverse lead screw 4 and the longitudinal lead screw 5 are driven to rotate synchronously at the required speeds, so that the overlapping area of the spaces of the transverse slide table 41 and the longitudinal slide table 51, that is, the grasping assembly, directly reaches the target point (X1, Y1) in a straight line form, rather than first (X1, 0) or (0, Y1) and then (X1, Y1), which simplifies the moving route of the traditional robotic arm.

[0027] The above is the precise positioning in the first quadrant corresponding to the inner sides of the two right-angled sides of the right-angled frame 3. When position changes in the second, third, and fourth quadrants are involved, the stepping motor 11 is started. The stepping motor 11 drives the rotating bracket 2 and the upper right-angled frame 3, the rotating gripper 7 and other related structures to rotate synchronously in units of 90 degrees. When it has rotated 90 degrees, the right-angled frame 3 turns to the second quadrant. At this time, the coordinates (X2, Y2) to be positioned can be found in the second quadrant. Similarly, the coordinates (X3, Y3) or (X4, Y4) to be positioned can be found in the third or fourth quadrant. Moreover, during the rotation adjustment of the rotating bracket 2 in units of 90 degrees, the rotating gripper 7 can be positioned synchronously within the range of the right-angled frame 3. That is, during the revolution of the rotating gripper 7, its position is also adjusted synchronously through the transverse slide 41 and the longitudinal slide 51, further streamlining the operation steps and travel of the robotic arm. At the same time, the overall frame of the robotic arm occupies a small space and can achieve precise positioning within a large range. In comparison, it has a higher resource utilization rate and effectively improves the compatibility between the robotic arm, including its frame, and the machine tool.

[0028] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A mechanical arm for picking up items, comprising a chassis (1) and a right-angle frame (3), characterized in that: A revolution mechanism capable of overall angle change is provided between the chassis (1) and the right-angle frame (3), and two right-angle sides of the right-angle frame (3) are respectively provided with a transverse slide (41) capable of transverse movement and a longitudinal slide (51) capable of longitudinal movement, and a grabbing assembly capable of hovering at any position is installed in the overlapping area of ​​the transverse slide (41) and the longitudinal slide (51).

2. A robotic arm for picking up items according to claim 1, characterized in that: The revolution mechanism comprises a stepper motor (11), a rotating bracket (2), a universal wheel (21) and a support (22), wherein the stepper motor (11) is fixedly mounted on the upper surface of the chassis (1), and the output end of the stepper motor (11) is fixedly connected to the rotating bracket (2), the support (22) is fixed on the upper surface of the rotating bracket (2), and the upper end of the support (22) is fixed to the lower surface of the right-angle bracket (3), and the universal wheels (21) are symmetrically mounted on the lower surfaces of two right-angle sides of the rotating bracket (2).

3. A robotic arm for picking up items according to claim 2, characterized in that: The lower end of the universal wheel (21) is horizontally aligned with the chassis (1).

4. The robotic arm for picking up items according to claim 1, characterized in that: A transverse screw rod (4) and a longitudinal screw rod (5) are respectively installed on the upper surfaces of the two right-angled sides of the right-angle frame (3), and a servo motor (31) is installed at the end of each of the transverse screw rod (4) and the longitudinal screw rod (5); The transverse slide (41) is slidably sleeved on the outer wall of the transverse screw rod (4), and a screw hole matching the screw thread of the outer wall of the transverse screw rod (4) is provided at the end of the transverse slide (41); The longitudinal slide (51) is slidably sleeved on the outer wall of the longitudinal screw rod (5), and a screw hole matching the thread of the outer wall of the longitudinal screw rod (5) is provided at the end of the longitudinal slide (51).

5. A robotic arm for picking up items according to claim 4, characterized in that: The interiors of the transverse slide (41) and the longitudinal slide (51) are respectively provided with a transverse groove (42) and a longitudinal groove (52), and the grabbing assembly is located at the spatially overlapping intersection of the transverse groove (42) and the longitudinal groove (52).

6. A robotic arm for picking up items according to claim 5, characterized in that: The grab assembly comprises a telescopic arm (6) and a rotating gripper (7), and the telescopic arm (6) is provided in a snap-fitting and sliding manner at the spatially overlapping intersection of the transverse groove (42) and the longitudinal groove (52), and the rotating gripper (7) is installed at the lower end of the telescopic arm (6).

7. A robotic arm for picking up items according to claim 6, characterized in that: Blocks (61) are evenly distributed on the outer wall of the telescopic arm (6), and a plurality of the block blocks (61) are slidably fitted to the upper surfaces of the transverse slide table (41) and the longitudinal slide table (51), respectively.

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