Multi-angle rotating mechanical arm bending structure for intelligent robot

Abstract

The invention discloses a multi-angle rotating mechanical arm bending structure for an intelligent robot, and belongs to the technical field of intelligent manufacturing equipment.The multi-angle rotating mechanical arm bending structure comprises a mechanical arm body, the inner side of the tail end of the mechanical arm body is rotationally connected with a tail arm through a rotating shaft, and the side end face of the mechanical arm body is connected with a connecting assembly corresponding to the rotating shaft; a first buffering assembly is arranged in a locking box of the connecting assembly, and a locking assembly is arranged between the first buffering assembly and a ratchet wheel of the connecting assembly. When the tail arm is out of control to rotate, overlarge force and torque can be generated and exceed the designed bearing range of all parts of the mechanical arm body, and the rotating shaft can be fractured due to bearing of overlarge shearing force; all transmission parts of the mechanical arm main body may fail due to excessive abrasion or deformation, so that the mechanical arm main body is integrally paralyzed and cannot continue to execute tasks, a series of problems possibly caused by out-of-control rotation of the tail arm are effectively avoided, and safe and stable operation of a mechanical arm main body system is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent manufacturing equipment, and in particular relates to a multi-angle rotating mechanical arm bending structure for an intelligent robot. Background Art

[0002] With the advancement of science and technology and the increasingly urgent need to liberate productivity, the intelligent manufacturing equipment industry has entered a golden period of vigorous development. In this industrial wave, intelligent robots have become the core force of many industrial assembly lines, widely used in workpiece processing, and driving the manufacturing industry towards efficiency and safety. The curved structure of the intelligent robot's mechanical arm is the key to its ability to complete workpiece processing tasks. This ingenious design gives the mechanical arm a high degree of flexibility and freedom, enabling it to simulate the various movements of the human arm and perform a series of complex and delicate processing operations on the workpiece. Whether it is the grinding and assembly of precision parts or the handling and positioning of large workpieces, the intelligent robot's mechanical arm can easily handle it with its curved structure, ensuring the accurate, efficient and smooth processing process.

[0003] The prior art discloses some invention patents in the field of intelligent manufacturing equipment technology, among which the invention patent with publication number CN212578646U discloses a multi-angle rotating robotic arm bending structure for an intelligent robot, including a processing platform, a first motor, a second motor, a toggle rod, a connecting ball and a robotic arm body. The first motor is welded and fixed to the middle part of the lower surface of the processing platform, and the first connecting block is welded and fixed to the output end of the first motor. A support plate is welded and fixed to the edge of the upper surface of the processing platform, and the second motor is welded and fixed to the left surface of the support plate. A connecting groove is provided on the right surface of the connecting ball, and the upper end of the connecting ball is welded and fixed to the robotic arm body, and a support rod is welded and fixed to the inner and outer surfaces of the support plate. The multi-angle rotating intelligent robot uses a curved mechanical arm structure, which is provided with a connecting rod, a toggle rod, a connecting ball, a fixed ring, a rotating block, a second connecting block and a first connecting block. The mechanical arm body can be rotated at multiple angles, thereby improving the processing efficiency of the entire device. However, this technical solution still has some shortcomings during its application. The tail arm of the intelligent robot mechanical arm is thin and close to the cargo, so the wear problem is prominent. If the mechanical arm and the tail arm suddenly fail, the tail arm will rotate rapidly under the triple forces of its own gravity, the adsorption force of the vacuum absorber and the gravity of the cargo, which will not only damage the transmission components but also easily cause the cargo to fall.

[0004] Based on this, the present invention designs a multi-angle rotating intelligent robot mechanical arm bending structure to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem of prominent wear of the tail arm of the intelligent robot manipulator arm due to its thinness and close proximity to the cargo. If a sudden failure occurs between the manipulator arm and the tail arm, the tail arm will rotate rapidly under the triple forces of its own gravity, the adsorption force of the vacuum absorber and the gravity of the cargo, which will not only damage the transmission components but also easily cause the cargo to fall. Therefore, a multi-angle rotating intelligent robot manipulator arm bending structure is proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A multi-angle rotating intelligent robot arm bending structure includes a main body of the main body of the main body of the main body of the tail end of the tail arm is rotatably connected to the inner side of the shaft, the main body of ... A vacuum absorber is provided below the other end of the tail arm, a second buffer assembly is provided between the vacuum absorber and the other end of the tail arm, and a release assembly is provided between the second buffer assembly and the first buffer assembly.

[0007] As a further description of the above technical solution: The locking box is connected to the side end surface of the robotic arm body, and the connecting assembly also includes a connecting sleeve located inside the locking box, the connecting sleeve is sleeved on the end of the rotating shaft, the ratchet is sleeved on the connecting sleeve, and the connecting sleeve is also sleeved on a fixing sleeve, and an adapter seat is connected to the circumferential surface of the fixing sleeve, and a first adapter shaft is rotatably connected to the inner side of the adapter seat, and an adapter spring is sleeved on the end of the first adapter shaft, and the first adapter shaft is elastically connected to a side close to the adapter seat through the adapter spring, and the other end of the first adapter shaft is sleeved with a first ratchet.

[0008] As a further description of the above technical solution: The first buffer assembly includes a first arc-shaped slide groove opened on the inner wall of the locking box, a first arc-shaped slide plate is slidably connected in the first arc-shaped slide groove, the end of the first arc-shaped slide plate is connected to a first arc-shaped spring, the first arc-shaped slide plate is elastically connected to the inner end surface of the first arc-shaped slide groove through the first arc-shaped spring, the inner wall of the locking box is slidably connected to an arc-shaped seat connected to the first arc-shaped slide plate, and the end of the arc-shaped seat is connected to a buffer member.

[0009] As a further description of the above technical solution: The buffer member includes a piston box connected to the inner wall of the locking box, a piston disc is sleeved in the piston box, an end surface of the piston disc is connected to a piston rod, the inner side of the other end of the piston rod is rotatably connected to a transmission rod, the other end of the transmission rod is rotatably connected to a first adapter, and the other end of the first adapter is connected to the end of the arc seat; A docking hole is provided on the piston box, and a pressure relief hole is provided on the outer wall of the locking box corresponding to the docking hole.

[0010] As a further description of the above technical solution: The locking assembly includes a second arc-shaped slide groove provided on the inner arc surface of the arc-shaped seat, a second arc-shaped slide being slidably connected in the second arc-shaped slide groove, an end portion of the second arc-shaped slide being connected to a second arc-shaped spring, the second arc-shaped slide being elastically supported and connected to the inner end surface of the second arc-shaped slide groove through the second arc-shaped spring, a third arc-shaped slide connected to the second arc-shaped slide being slidably connected on the inner arc surface of the arc-shaped seat, an end portion of the third arc-shaped slide being connected to a second ratchet corresponding to the first ratchet, and a first locking member being provided between the third arc-shaped slide and the ratchet.

[0011] As a further description of the above technical solution: The first locking member includes a second adapter shaft rotatably connected to the side end face of the arc-shaped seat, the other end of the second adapter shaft is provided with a locking tooth that engages with the ratchet, the side end face of the locking tooth is provided with a slot, a push shaft is sleeved in the slot, and the other end of the push shaft is rotatably connected to the inner side of the third arc-shaped slide.

[0012] As a further description of the above technical solution: The second buffer assembly includes a combination seat connected to the vacuum absorber, and two first sliding grooves are provided on the combination seat. The first sliding grooves are respectively slidably connected with a first link and a second link. The second link has the same structure as the first link and is cross-arranged. The tops of the first link and the second link are connected to the same top plate, and a buffer box is mounted on the top plate. The bottom of the buffer box is connected to the top of the combination seat, and the top of the buffer box is installed on the other end of the tail arm.

[0013] As a further description of the above technical solution: The first link member includes a first slider slidably connected to the first slide groove, the side end face of the first slider is connected to a support spring, the first slider is elastically supported and connected to the inner end face of the first slide groove through the support spring, the first slider is rotatably connected to the first slider, the other end of the link rod is rotatably connected to the fixed seat, the top of the fixed seat is connected to the bottom of the top plate, and the link rod of the first link member and the link rod of the second link member are staggered.

[0014] As a further description of the above technical solution: The release assembly includes a second slide groove provided on the combination seat, the second slide groove is located between the two first slide grooves, and the two first links and the two second links are slidably connected with a second locking member in the second slide groove. The second locking member includes a directional sleeve connected to the top of the combination seat, and the back of the first slider is provided with a directional groove corresponding to the directional sleeve. A directional shaft is sleeved in the directional sleeve, and the end of the directional shaft is nested in the directional groove. The inner side of the other end of the directional shaft is rotatably connected to a release rod, and the other end of the release rod is rotatably connected to a second adapter shaft. The other end of the second adapter shaft is connected to a second slider slidably connected to the second slide groove, and a release member is provided between the two second locking members.

[0015] As a further description of the above technical solution: The release member includes a first tooth plate connected to the second sliding block, a gear shaft is rotatably connected between the two first tooth plates corresponding to the second slide groove, a first gear is mounted on the gear shaft and meshed with the two first tooth plates, a second gear is also mounted on the gear shaft, a second gear is meshed with the second tooth plate, a linkage rod is connected to the back side of the second tooth plate, a hydraulic cylinder is installed on the other end of the linkage rod, the bottom of the hydraulic cylinder is connected to the top of the combination seat, a hydraulic port is provided on the hydraulic cylinder, and a hydraulic oil pipe is connected between the hydraulic port and the pressure relief hole.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In the present invention, when the tail arm rotates out of control, excessive force and torque will be generated, which exceeds the design tolerance of the various components of the robot arm main body. The rotating shaft may break due to the excessive shear force, and the various transmission components of the robot arm main body may fail due to excessive wear or deformation, causing the entire robot arm main body to be paralyzed and unable to continue to perform tasks, thereby effectively avoiding a series of problems that may be caused by the uncontrolled rotation of the tail arm and ensuring the safe and stable operation of the robot arm main body system.

[0017] 2. In the present invention, the combined seat slides downward in the buffer box under the combined gravity of the vacuum absorber and the cargo. During the sliding process, the first slider moves in the first slide groove and pulls the support spring to undergo elastic deformation. The buffering force generated by the elastic deformation of the multiple support springs effectively buffers the vacuum absorber and the cargo, thereby preventing the cargo from falling due to gravity or impact force, ensuring the stability and safety of the entire grasping process. When the heavy object grasped by the vacuum absorber by the robotic arm main body falls, the robotic arm main body itself may rebound, thereby increasing the wear of various transmission components of the robotic arm main body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a multi-angle rotating intelligent robot mechanical arm bending structure proposed by the present invention; Figure 2 This is a structural schematic diagram of a multi-angle rotating intelligent robot arm bending structure proposed by the present invention from another perspective; Figure 3 This is a schematic structural diagram of the disassembled connection components in the bending structure of a multi-angle rotating intelligent robot manipulator proposed by the present invention; Figure 4 This invention proposes a multi-angle rotating intelligent robot arm bending structure Figure 3 A schematic diagram of the structure enlarged in the middle; Figure 5 This is a structural schematic diagram of a connection component in a bending structure of a multi-angle rotating intelligent robot manipulator proposed by the present invention from another perspective; Figure 6 This is a structural schematic diagram from another perspective of a multi-angle rotating intelligent robot manipulator bending structure after the connection components are disassembled; Figure 7 This is a schematic structural diagram of a disassembled second buffer component in a bending structure of a multi-angle rotating intelligent robot manipulator proposed by the present invention; Figure 8 This invention proposes a multi-angle rotating intelligent robot arm bending structure Figure 7 The enlarged structural diagram at B in the middle; Figure 9 This is a structural schematic diagram from another perspective of a second buffer component in a bending structure of a multi-angle rotating intelligent robot mechanical arm proposed by the present invention after being disassembled; Figure 10 This invention proposes a multi-angle rotating intelligent robot arm bending structure Figure 9 Schematic diagram of the structure enlarged at point C in the middle.

[0019] Legend: 1. Robotic arm body; 2. Tail arm; 3. Coupling assembly; 301. Locking box; 302. Coupling sleeve; 303. Ratchet; 304. Fixing sleeve; 305. Adapter seat; 306. First adapter shaft; 307. First ratchet; 308. Adapter spring; 4. First buffer assembly; 401. First arc-shaped slide; 402. First arc-shaped slide; 403. First arc-shaped spring; 404. Arc seat; 405. Buffer; 4051, piston box; 4052, docking hole; 4053, piston rod; 4054, transmission rod; 4055, first adapter; 5, pressure relief hole; 6, locking assembly; 601, second arc-shaped slide; 602, second arc-shaped slide; 603, second arc-shaped spring; 604, third arc-shaped slide; 605, second ratchet; 606, push shaft; 607, first locking member; 6071, second adapter shaft; 6072, locking tooth; 6073, notch; 7, vacuum extractor; 8, second buffer assembly; 801, combination seat; 802, first slide; 803, first link; 8031, first slider; 8032, support spring; 8033, link rod; 8034, fixed seat; 804, second link; 805, top plate; 806, buffer box; 9, release assembly; 901, second lock Stop member; 9011, directional sleeve; 9012, directional shaft; 9013, release rod; 9014, second adapter; 902, second slide groove; 903, second slider; 904, release member; 9041, first gear plate; 9042, gear shaft; 9043, first gear; 9044, second gear; 9045, second gear plate; 9046, linkage rod; 9047, hydraulic cylinder; 9048, hydraulic port. DETAILED DESCRIPTION

[0020] 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.

[0021] Please see the attached Figure 1 -Attached Figure 10 The present invention provides a technical solution: a multi-angle rotating intelligent robot arm bending structure, comprising a robot arm body 1, the inner side of the tail end of the robot arm body 1 is rotatably connected to a tail arm 2 via a rotating shaft, a side end surface of the robot arm body 1 is connected to a connecting assembly 3 corresponding to the rotating shaft, a first buffer assembly 4 is provided in a locking box 301 of the connecting assembly 3, and a locking assembly 6 is provided between the first buffer assembly 4 and the ratchet 303 of the connecting assembly 3; A vacuum absorber 7 is provided below the other end of the tail arm 2 , a second buffer assembly 8 is provided between the vacuum absorber 7 and the other end of the tail arm 2 , and a release assembly 9 is provided between the second buffer assembly 8 and the first buffer assembly 4 .

[0022] Specifically, the locking box 301 is connected to the side end surface of the robot arm body 1, and the connecting assembly 3 also includes a connecting sleeve 302 located inside the locking box 301, the connecting sleeve 302 is sleeved on the end of the rotating shaft, the ratchet 303 is sleeved on the connecting sleeve 302, and the connecting sleeve 302 is also sleeved with a fixed sleeve 304, and the circumferential surface of the fixed sleeve 304 is connected to the adapter seat 305, and the inner side of the adapter seat 305 is rotatably connected to the first adapter shaft 306, and the end of the first adapter shaft 306 is sleeved with a transfer spring 308, and the first adapter shaft 306 is elastically transferred to a side close to the adapter seat 305 through the transfer spring 308, and the other end of the first adapter shaft 306 is sleeved with a first ratchet 307, and the first buffer assembly 4 includes a first The arc-shaped slide 401 is slidably connected to the first arc-shaped slide 402 in the first arc-shaped slide 401, and the end of the first arc-shaped slide 402 is connected to the first arc-shaped spring 403. The first arc-shaped slide 402 is elastically connected to the inner end surface of the first arc-shaped slide 401 through the first arc-shaped spring 403. The inner wall of the locking box 301 is slidably connected to the arc seat 404 connected to the first arc-shaped slide 402, and the end of the arc seat 404 is connected to the buffer 405. The buffer 405 includes a piston box 4051 connected to the inner wall of the locking box 301, and a piston disk is sleeved in the piston box 4051. The end surface of the piston disk is connected to the piston rod 4053. The inner side of the other end of the piston rod 4053 is rotatably connected to the transmission rod 4054. The other end of the transmission rod 4054 One end is rotatably connected to a first adapter 4055, and the other end of the first adapter 4055 is connected to the end of the arc seat 404. When the robot arm body 1 drives the tail arm 2 to rotate through the rotating shaft, the rotating shaft will also drive the ratchet 303 and the fixed sleeve 304 to rotate synchronously through the connecting sleeve 302. When a fault occurs between the robot arm body 1 and the tail arm 2, the tail arm 2 may drive the rotating shaft to rotate rapidly in the clockwise direction under the combined action of its own weight, the vacuum extractor 7 and the cargo. Since the rotation speed of the fixed sleeve 304 is too fast, the first ratchet 307 will perform centrifugal motion through the first adapter shaft 306. The end of the first ratchet 307 drives the first adapter shaft 306 to twist the adapter spring 308 to cause it to undergo elastic deformation. When the first ratchet 307 When connected with the second ratchet 605, the first ratchet 307 pushes the third curved slide 604 through the second ratchet 605, driving the second curved slide 602 to slide in the second curved slot 601 and acting on the second curved spring 603 to cause elastic deformation. In the process of the second curved slide 602 sliding on the inner curved surface of the first curved slide 402, it drives the driving shaft 606 to slide in the notch 6073. Under the push of the driving shaft 606, the locking tooth 6072 rotates through the second adapter shaft 6071 until the locking tooth 6072 engages with the ratchet 303. At this time, the ratchet 303 is in a locked state. Since the ratchet 303 cannot continue to rotate, it can prevent the cargo from passing through the vacuum suction device 7 and driving the tail arm 2 to continue to rotate. A docking hole 4052 is provided on the piston box 4051, and a pressure relief hole 5 is provided on the outer wall of the locking box 301 corresponding to the docking hole 4052. The locking assembly 6 includes a second arc-shaped slide 601 provided on the inner arc surface of the arc seat 404, and a second arc-shaped slide 602 is slidably connected in the second arc-shaped slide 601. The end of the second arc-shaped slide 602 is connected to a second arc spring 603. The second arc-shaped slide 602 is elastically supported and connected to the inner end surface of the second arc-shaped slide 601 through the second arc spring 603. A third arc-shaped slide 604 connected to the second arc-shaped slide 602 is slidably connected on the inner arc surface of the arc seat 404, and the end of the third arc-shaped slide 604 is connected to the second ratchet 605 corresponding to the first ratchet 307. The third arc-shaped slide 604 and the ratchet A first locking member 607 is provided between 303, and the first locking member 607 includes a second adapter shaft 6071 rotatably connected to the side end face of the arc seat 404, and the other end of the second adapter shaft 6071 is sleeved with a locking tooth 6072 that meshes with the ratchet 303, and a side end face of the locking tooth 6072 is provided with a notch 6073, and a push shaft 606 is sleeved in the notch 6073, and the other end of the push shaft 606 is rotatably connected to the inner side of the third arc slide 604, and the second buffer assembly 8 includes a combination seat 801 connected to the vacuum absorber 7, and two first sliding grooves 802 are provided on the combination seat 801, and the first sliding groove 802 is respectively slidably connected to the first link 803 and the second link 804, and the second link 804 is connected to the first The link members 803 have the same structure and are cross-arranged. The tops of the first link member 803 and the second link member 804 are connected to the same top plate 805. A buffer box 806 is mounted on the top plate 805. The bottom of the buffer box 806 is connected to the top of the assembly seat 801. The top of the buffer box 806 is installed on the other end of the tail arm 2. The first link member 803 includes a first slider 8031 ​​slidably connected to the first slide groove 802. The side end surface of the first slider 8031 ​​is connected to a support spring 8032. The first slider 8031 ​​is elastically supported and connected to the inner end surface of the first slide groove 802 through the support spring 8032. A link rod 8033 is rotatably connected to the first slider 8031. The other end of the link rod 8033 is rotatably connected to a fixed seat 8034. The top of the fixed seat 8034 is connected to the bottom of the top plate 805, the link rod 8033 of the first link member 803 and the link rod 8033 of the second link member 804 are arranged in an interlaced manner, the release component 9 includes a second slide groove 902 opened on the combination seat 801, the second slide groove 902 is located between the two first slide grooves 802, and the second slide groove 902 corresponds to the two first links 803 and the two second links 804. The second locking member 901 includes a directional sleeve 9011 connected to the top of the combination seat 801, and the back of the first slider 8031 ​​is provided with a directional groove corresponding to the directional sleeve 9011. The directional shaft 9012 is sleeved in the directional sleeve 9011, and the end of the directional shaft 9012 is nested in the directional groove.The inner side of the other end of the directional shaft 9012 is rotatably connected to a release lever 9013, and the other end of the release lever 9013 is rotatably connected to the second adapter shaft 6071. The other end of the second adapter shaft 6071 is connected to a second slider 903 slidably connected to the second slide groove 902. A release member 904 is provided between the two second locking members 901. The release member 904 includes a first tooth plate 9041 connected to the second slider 903. A gear shaft 9042 is rotatably connected between the two corresponding first tooth plates 9041 in the second slide groove 902. The gear shaft 90 42 is mounted with a first gear 9043 that meshes with two first tooth plates 9041. A second gear 9044 is mounted on the gear shaft 9042. A second tooth plate 9045 meshes with the second gear 9044. A linkage rod 9046 is connected to the back of the second tooth plate 9045. A hydraulic cylinder 9047 is mounted on the other end of the linkage rod 9046. The bottom of the hydraulic cylinder 9047 is connected to the top of the assembly seat 801. The hydraulic cylinder 9047 is provided with a hydraulic port 9048. A hydraulic oil pipe is connected between the hydraulic port 9048 and the pressure relief hole 5.

[0023] The specific implementation method is as follows: when the mass of the goods grabbed by the vacuum suction device 7 is large, the third curved slide 604 will push the first curved slide 402 through the second curved slide 602 and the second curved spring 603 to slide in the first curved slide 401 through the first curved slide 402, and squeeze the first curved spring 403 to make it elastically deformed. During the sliding process of the first curved guard plate in the locking box 301, it drives the first adapter 4055 to approach the piston rod 4053. During this process, the transmission rod 4054 is pushed by the first adapter 4055, and one end thereof rotates inside the first adapter 4055. The other end rotates inside the end of the piston rod 4053. Under the push of the first transmission rod 4054, the piston rod 4053 pushes the piston plate to slide inside the piston box 4051 toward the docking hole 4052. The hydraulic oil in the piston box 4051 flows into the hydraulic port 9048 through the hydraulic oil pipe. As the hydraulic oil is continuously injected into the hydraulic cylinder 9047 through the hydraulic port 9048, the hydraulic pressure inside the hydraulic cylinder 9047 gradually increases, and the hydraulic cylinder 9047 begins to stretch. The telescopic end of the hydraulic cylinder 9047 pushes the second tooth plate 9045 through the linkage rod 9046. The second tooth plate 90 The gear 9042 drives the first gear 9043 to rotate synchronously. During the rotation of the first gear 9043, the two first tooth plates 9041 are driven to move toward each other. Driven by the first tooth plates 9041, the second slider 903 moves synchronously in the second slide groove 902. The second slider 903 drives the second adapter 9014 to move away from the directional shaft 9012. Under the pull of the second adapter 9014, one end of the directional shaft 9012 rotates inside the second adapter 9014, and the other end of the directional shaft 9012 rotates inside the end of the directional shaft 9012. Rotate and pull the directional shaft 9012 to slide in the directional sleeve 9011 until the end of the directional shaft 9012 is completely removed from the directional groove. At this time, the four first sliders 8031 ​​will no longer be constrained by the four directional shafts 9012. The combination seat 801 slides downward in the buffer box 806 under the joint action of the vacuum absorber 7 and the goods. The first slider 8031 ​​slides in the first slide groove 802 and pulls the support spring 8032 to make it elastically deformed. The buffering force generated by the elastic deformation of multiple support springs 8032 is used to buffer the vacuum absorber 7 and the acquisition, thereby preventing the goods from falling.

[0024] Working principle, when using: In the operation process of the robot arm, when the robot arm body 1 drives the tail arm 2 to rotate with the help of the rotating shaft, the rotating shaft will synchronously drive the ratchet 303 and the fixed sleeve 304 to rotate together through the connecting sleeve 302. If a sudden fault occurs between the robot arm body 1 and the tail arm 2, the tail arm 2 will drive the rotating shaft to rotate rapidly in the clockwise direction under the combined influence of its own gravity, the adsorption force of the vacuum absorber 7 and the gravity of the carried goods. At this time, due to the rapid increase in the speed of the fixed sleeve 304, the first ratchet 307 will rotate under the action of centrifugal force. Under the action of centrifugal motion with the first transfer shaft 306 as the center, the end of the first ratchet 307 will twist the transfer spring 308, forcing the transfer spring 308 to undergo elastic deformation. As the first ratchet 307 continues to move, when it is successfully connected with the second ratchet 605, the first ratchet 307 will push the third arc-shaped slide 604 through the second ratchet 605. After the third arc-shaped slide 604 is pushed, it will drive the second arc-shaped slide 602 to slide in the second arc-shaped slide 601. This sliding process will squeeze the second arc-shaped slide 602. The spring 603 causes it to deform elastically. At the same time, when the second curved slide 602 slides on the inner curved surface of the first curved slide 402, it drives the driving shaft 606 to slide in the slot 6073. Under the pushing action of the driving shaft 606, the locking tooth 6072 rotates through the second adapter shaft 6071 until the locking tooth 6072 is tightly engaged with the ratchet 303. Once the locking tooth 6072 is engaged with the ratchet 303, the ratchet 303 enters a locked state and cannot continue to rotate. Due to the locking of the ratchet 303, the cargo The object will not be able to drive the tail arm 2 to continue rotating through the vacuum absorber 7. When the tail arm 2 rotates out of control, excessive force and torque will be generated, which will exceed the design tolerance of the various components of the robot arm main body 1. The shaft may break due to the excessive shear force, and the various transmission components of the robot arm main body 1 may fail due to excessive wear or deformation, resulting in the entire robot arm main body 1 being paralyzed and unable to continue to perform tasks, thereby effectively avoiding a series of problems that may be caused by the uncontrolled rotation of the tail arm 2 and ensuring the safe and stable operation of the robot arm main body 1 system; When the vacuum extractor 7 grabs a large mass of goods, it triggers a series of precise mechanical linkage and buffering mechanisms to ensure the stability and safety of the goods. The specific process is as follows: When the vacuum suction device 7 grabs the goods and the mass of the goods is large, the third arc slide 604 will become the starting point of this linkage process. It uses the conduction effect of the second arc slide 602 and the second arc spring 603 to apply thrust to the first arc slide 402, so that the first arc slide 402 slides in the first arc slide 401. This sliding action will squeeze the first arc spring 403, forcing it to undergo elastic deformation, providing elastic potential energy reserve for subsequent buffering and linkage. At the same time, the first arc guard plate slides in the locking box 301, driving the first adapter 4055 toward the piston rod 4053. In this process, the transmission rod 4054 plays a key transmission role, and one end of the transmission rod is in the first adapter. The head 4055 rotates flexibly inside, and the other end rotates inside the end of the piston rod 4053, cleverly converting the displacement of the first adapter 4055 into a driving force on the piston rod 4053. Under the push of the transmission rod 4054, the piston rod 4053 drives the piston plate to slide on the inside of the piston box 4051 toward the docking hole 4052. At this time, the hydraulic oil in the piston box 4051 flows into the hydraulic port 9048 through the hydraulic oil pipe. As the hydraulic oil is continuously injected, the hydraulic pressure in the hydraulic cylinder 9047 gradually increases. When the hydraulic pressure reaches a certain level, the hydraulic cylinder 9047 begins to extend, and its telescopic end pushes the second gear plate 9045 through the linkage rod 9046. The second gear plate 9045 drives the gear to rotate around the gear. The shaft 9042 rotates, and since the gear shaft 9042 is synchronously connected to the first gear 9043, the first gear 9043 also rotates accordingly. The rotation of the first gear 9043 drives the two first tooth plates 9041 to move toward each other, thereby driving the second slider 903 to move synchronously in the second slide groove 902. The second slider 903 pulls the second adapter 9014 to move in the direction away from the directional shaft 9012. Under the pull of the second adapter 9014, one end of the directional shaft 9012 rotates inside the second adapter 9014, and the other end rotates inside the end of the directional shaft 9012 and slides along the directional sleeve 9011 until the end of the directional shaft 9012 is completely removed from the directional groove. At this point, the four first sliders 8 031 is no longer restricted by the four directional axes 9012. Under the combined gravity of the vacuum absorber 7 and the cargo, the combination seat 801 slides downward in the buffer box 806. During the sliding process, the first slider 8031 ​​slides in the first slide groove 802 and pulls the support spring 8032 to undergo elastic deformation. The buffering force generated by the elastic deformation of multiple support springs 8032 effectively buffers the vacuum absorber 7 and the cargo, thereby preventing the cargo from falling due to gravity or impact force, ensuring the stability and safety of the entire grasping process, and when the heavy object grasped by the vacuum absorber 7 by the robot body 1 falls, the robot body 1 itself may rebound, thereby increasing the wear of various transmission components of the robot body 1.

[0025] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A multi-angle rotating intelligent robot arm bending structure, comprising a main body of the robot arm (1), wherein the inner side of the tail end of the main body of the robot arm (1) is rotatably connected to a tail arm (2) via a rotating shaft, characterized in that: A coupling assembly (3) is connected to the corresponding rotating shaft on the side end surface of the robot arm body (1); a first buffer assembly (4) is provided in the locking box (301) of the coupling assembly (3); a locking assembly (6) is provided between the first buffer assembly (4) and the ratchet (303) of the coupling assembly (3); a vacuum suction device (7) is provided below the other end of the tail arm (2); a second buffer assembly (8) is provided between the vacuum suction device (7) and the other end of the tail arm (2); and a release assembly (9) is provided between the second buffer assembly (8) and the first buffer assembly (4).

2. The multi-angle rotating intelligent robot arm bending structure according to claim 1, characterized in that: The locking box (301) is connected to the side end surface of the robot arm body (1), and the connecting assembly (3) also includes a connecting sleeve (302) located inside the locking box (301), the connecting sleeve (302) is mounted on the end of the rotating shaft, the ratchet (303) is mounted on the connecting sleeve (302), and the connecting sleeve (302) is also mounted with a fixing sleeve (304), the circumferential surface of the fixing sleeve (304) is connected to a transfer seat (305), the inner side of the transfer seat (305) is rotatably connected to a first transfer shaft (306), the end of the first transfer shaft (306) is sleeved with a transfer spring (308), the first transfer shaft (306) is elastically connected to a side close to the transfer seat (305) through the transfer spring (308), and the other end of the first transfer shaft (306) is sleeved with a first ratchet (307).

3. The multi-angle rotating intelligent robot arm bending structure according to claim 1, characterized in that: The first buffer assembly (4) includes a first arc-shaped slot (401) provided on the inner wall of the locking box (301), a first arc-shaped slide plate (402) being slidably connected in the first arc-shaped slot (401), a first arc-shaped spring (403) being connected to the end of the first arc-shaped slide plate (402), the first arc-shaped slide plate (402) being elastically connected to the inner end face of the first arc-shaped slot (401) via the first arc-shaped spring (403), an arc-shaped seat (404) connected to the first arc-shaped slide plate (402) being slidably connected to the inner wall of the locking box (301), and a buffer member (405) being connected to the end of the arc-shaped seat (404).

4. The multi-angle rotating intelligent robot arm bending structure according to claim 3, characterized in that: The buffer member (405) includes a piston box (4051) connected to the inner wall of the locking box (301), a piston disc is sleeved in the piston box (4051), the end surface of the piston disc is connected to a piston rod (4053), the inner side of the other end of the piston rod (4053) is rotatably connected to a transmission rod (4054), the other end of the transmission rod (4054) is rotatably connected to a first adapter (4055), and the other end of the first adapter (4055) is connected to the end of the arc seat (404); a docking hole (4052) is provided on the piston box (4051), and a pressure relief hole (5) is provided on the outer wall of the locking box (301) corresponding to the docking hole (4052).

5. The multi-angle rotating intelligent robot arm bending structure according to claim 1, characterized in that: The locking assembly (6) includes a second arc-shaped slot (601) provided on the inner arc surface of the arc seat (404), a second arc-shaped slide plate (602) being slidably connected in the second arc-shaped slot (601), a second arc-shaped spring (603) being connected at the end of the second arc-shaped slide plate (602), the second arc-shaped slide plate (602) being elastically supported and connected to the inner end surface of the second arc-shaped slot (601) via the second arc-shaped spring (603), a third arc-shaped slide plate (604) connected to the second arc-shaped slide plate (602) being slidably connected on the inner arc surface of the arc seat (404), a second ratchet tooth (605) being connected at the end of the third arc-shaped slide plate (604) corresponding to the first ratchet tooth (307), and a first locking member (607) being provided between the third arc-shaped slide plate (604) and the ratchet (303).

6. The multi-angle rotating intelligent robot arm bending structure according to claim 5, characterized in that: The first locking member (607) includes a second adapter shaft (6071) rotatably connected to the side end face of the arc seat (404); the other end of the second adapter shaft (6071) is provided with a locking tooth (6072) that meshes with the ratchet (303); a notch (6073) is provided on the side end face of the locking tooth (6072); a driving shaft (606) is sleeved in the notch (6073); the other end of the driving shaft (606) is rotatably connected to the inner side of the third arc slide (604).

7. The multi-angle rotating intelligent robot arm bending structure according to claim 1, characterized in that: The second buffer assembly (8) includes a combination seat (801) connected to the vacuum suction device (7), and two first slide grooves (802) are provided on the combination seat (801), and a first link member (803) and a second link member (804) are respectively slidably connected in the first slide grooves (802), and the second link member (804) has the same structure as the first link member (803) and is cross-arranged, and the tops of the first link member (803) and the second link member (804) are connected to the same top plate (805), and a buffer box (806) is mounted on the top plate (805), and the bottom of the buffer box (806) is connected to the top of the combination seat (801), and the top of the buffer box (806) is installed on the other end of the tail arm (2).

8. The multi-angle rotating intelligent robot arm bending structure according to claim 7, characterized in that: The first link member (803) includes a first slider (8031) slidably connected to the first slide groove (802), the side end surface of the first slider (8031) is connected to a support spring (8032), the first slider (8031) is elastically supported and connected to the inner end surface of the first slide groove (802) through the support spring (8032), the first slider (8031) is rotatably connected to a link rod (8033), the other end of the link rod (8033) is rotatably connected to a fixed seat (8034), the top of the fixed seat (8034) is connected to the bottom of the top plate (805), and the link rod (8033) of the first link member (803) and the link rod (8033) of the second link member (804) are arranged in an alternating manner.

9. The multi-angle rotating intelligent robot arm bending structure according to claim 8, characterized in that: The release assembly (9) includes a second slide groove (902) provided on the combination seat (801), the second slide groove (902) is located between the two first slide grooves (802), the second slide groove (902) corresponds to the two first link members (803) and the two second link members (804) are slidably connected to a second locking member (901), the second locking member (901) includes a directional sleeve (9011) connected to the top of the combination seat (801), and the back of the first slider (8031) corresponds to the directional sleeve (9011) and is provided with a directional locking member (9011). The directional sleeve (9011) is sleeved with a directional shaft (9012), the end of the directional shaft (9012) is nested in the directional slot, the inner side of the other end of the directional shaft (9012) is rotatably connected to a release rod (9013), the other end of the release rod (9013) is rotatably connected to a second transfer shaft (6071), the other end of the second transfer shaft (6071) is connected to a second slider (903) slidably connected to the second sliding slot (902), and a release member (904) is provided between the two second locking members (901).

10. The multi-angle rotating intelligent robot arm bending structure according to claim 9, characterized in that: The release member (904) includes a first tooth plate (9041) connected to the second slider (903); a gear shaft (9042) is rotatably connected between the two first tooth plates (9041) in the second slide groove (902); a first gear (9043) is mounted on the gear shaft (9042) and meshed with the two first tooth plates (9041); a second gear (9044) is also mounted on the gear shaft (9042); a second tooth plate (9045) is meshed with the second gear (9044); a linkage rod (9046) is connected to the back of the second tooth plate (9045); a hydraulic cylinder (9047) is installed at the other end of the linkage rod (9046); the bottom of the hydraulic cylinder (9047) is connected to the top of the combination seat (801); a hydraulic port (9048) is provided on the hydraulic cylinder (9047); a hydraulic oil pipe is connected between the hydraulic port (9048) and the pressure relief hole (5).

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