Multi-connecting-rod mechanical arm for carrying operation

Abstract

The invention discloses a multi-connecting-rod mechanical arm for carrying operation, and relates to the technical field of carrying manipulators, the multi-connecting-rod mechanical arm comprises a main arm, the movable end of the main arm is provided with a connecting seat, and the connecting seat is provided with a telescopic assembly; through the arrangement of the first steel wire rope, the second motor winds the first steel wire rope to enable the inner arm to slide out of the outer arm, so that the overall length of the last section of mechanical arm formed by the inner arm and the outer arm is increased, the movement range of the mechanical arm can be increased without moving the mechanical arm, and the space occupied by components needed for moving the mechanical arm is saved; through the arrangement of a second steel wire rope, the second steel wire rope generates a traction effect on the far end of the last section of the mechanical arm, so that the last section of the mechanical arm is subjected to upward force, the last section of the mechanical arm cannot incline downwards, and the phenomenon that when the mechanical arm clamps a heavy object, abrasion is increased due to deflection of a bearing at the rotating connecting position is avoided; and the service life of the mechanical arm is effectively prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of handling manipulators, and in particular to a multi-link manipulator arm for handling operations. Background Art

[0002] A cargo handling robot is an industrial robot system designed specifically for handling, loading, unloading, stacking, and transferring cargo. It uses a robotic arm structure and an end effector to accomplish various material handling tasks.

[0003] In order to increase the cargo handling range, the cargo handling robot arm in the existing technology is usually composed of a robot arm and a slide rail at its bottom. When the range of cargo to be handled changes, the robot arm is moved along the slide rail to change the effective handling range of the robot arm. However, in actual use, when the distance between two cargo production lines increases, the robot arm is required to clamp the cargo and then move it through the slide rail to approach the target production line. Not only is the efficiency low, but the slide rail also occupies a large amount of working space, which is inconvenient to use. In addition, when handling heavy cargo, the last section of the robot arm where the clamp is located is subject to increased gravity. At the same time, the last section of the robot arm is only connected to the robot arm rotation. When the last section of the robot arm tends to tilt under the action of gravity, the shaft at the rotation connection of the last section of the robot arm will deflect, resulting in increased friction on the shaft, aggravated wear at the robot arm joint, and faster reduction in the service life of the robot arm.

[0004] In order to solve the above problems, the inventors proposed a multi-link robotic arm for handling operations. Summary of the Invention

[0005] In order to solve the above technical problems, a multi-link robotic arm for handling operations is provided.

[0006] To achieve the above objectives, the present invention can be implemented by adopting the following technical solutions: The present invention provides a multi-link mechanical arm for handling operations, comprising: a main arm, a connecting seat provided on a movable end of the main arm, and a telescopic assembly provided on the connecting seat; The telescopic assembly includes a motor 1 fixedly installed in the connecting base, the bottom of the connecting base is rotatably connected to the rotating base, the output shaft of the motor 1 passes through the connecting base and is fixedly connected to the rotating base, the bottom of the rotating base is fixedly connected to the outer arm, the bottom of the rotating base is fixedly installed with a motor 2, and the inner arm is slidably connected in the outer arm. Two steel ropes 1 are symmetrically fixedly connected to the output shaft of the motor 2, and two pulleys 1 are symmetrically rotatably connected on the inner side wall of the outer arm away from the motor 2. The pulley 1 is located between the outer arm and the inner arm, and the two steel ropes 1 are respectively wound around the pulley 1 on the nearest side. One end of the two steel ropes 1 away from the motor 2 is fixedly connected to the side of the inner arm close to the motor 2, and a clamping claw is fixedly installed on the end of the inner arm away from the connecting base.

[0007] Preferably, a pulley is provided at the connection between the outer arm and the inner arm.

[0008] Preferably, a straightening assembly is provided on the connecting seat, and the straightening assembly includes a motor three fixedly mounted on the connecting seat, and two winding wheels are symmetrically rotatably connected to the connecting seat, and the output shaft of the motor three is connected to the winding wheel closest to the motor three, and the two winding wheels are commonly fixedly connected to a steel wire rope two, and the end of the inner arm away from the outer arm is rotatably connected to the rope pulley two, and a rotating shaft is rotatably connected in the connecting seat, and both ends of the rotating shaft pass through the connecting seat and are coaxially fixedly connected to the two winding wheels.

[0009] Preferably, the second steel wire rope is wound around the second rope pulley.

[0010] Preferably, both ends of the second steel wire rope are respectively wound on two winding wheels.

[0011] Preferably, a limit assembly is provided on the connecting seat, and the limit assembly includes an electric telescopic rod fixedly installed in the connecting seat, a sliding rod fixedly installed in the connecting seat, the electric telescopic rod and the sliding rod are symmetrically arranged on both sides of the rotating shaft, a collar is provided between the electric telescopic rod and the sliding rod, two side ears are provided on both sides of the collar, the telescopic end of the electric telescopic rod is fixedly connected to one side ear of the collar, the side ear of the collar away from the side of the electric telescopic rod is slidably connected to the sliding rod, a plurality of teeth are provided on the collar, and a gear is fixedly connected to the middle part of the rotating shaft.

[0012] Preferably, a plurality of tooth grooves are equidistantly arranged on the inner arc surface of the collar.

[0013] Preferably, a plurality of teeth are equidistantly arranged on the gear, the number of the teeth is the same as the number of the tooth grooves, and the gear is meshed with the tooth grooves.

[0014] As described above, the characteristics and advantages of a multi-link robotic arm for handling operations in the present invention are: By setting up the wire rope 1, the motor 2 reels the wire rope 1 to allow the inner arm to slide out of the outer arm, thereby increasing the overall length of the last section of the robot arm composed of the inner and outer arms. This is to adapt to different cargo handling scenarios where different handling ranges require different robot arm movement ranges. The robot arm's movement range can be increased without adding slide rails to match the robot arm's movement, saving the space occupied by the slide rails and the components required for the robot arm. By setting up the second steel wire rope, the second steel wire rope exerts a pulling effect on the distal end of the last section of the robotic arm, applying an upward force to it, thereby preventing the last section of the robotic arm from tilting downward, thereby avoiding the phenomenon of increased wear caused by deflection of the bearing at the rotating connection when the robotic arm clamps heavy objects, that is, preventing the output shaft of the first motor from deflecting when the clamped goods are rotated, effectively extending the service life of the robotic arm and the first motor; Through the setting of the second rope pulley, when the outer arm and the inner arm need to rotate under the transportation demand, under the condition that the distance between the inner arm and the rotating seat is fixed, the second rope pulley and the second wire rope rotate in coordination, so that the outer arm and the inner arm can rotate according to the transportation demand, while the second wire rope always maintains the pulling effect on the inner arm and the outer arm, so as to maintain the effect of reducing the friction at the rotating connection of the robot arm; Through the setting of gears and tooth grooves, the length of the inner arm extending out of the outer arm can be adjusted to any length, and it can be adjusted according to the needs of the robot arm to transport goods, with higher precision. After the adjustment is completed, the ring clamps the gear through the tooth groove, so that the wire rope 2 always maintains the pulling effect on the outer arm and the inner arm, thereby increasing the applicability of the robot arm for handling operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 This is a bottom-up perspective diagram of the rotating seat structure shown in the present invention; Figure 3 The present invention shows Figure 1 Enlarged view of point A in the middle; Figure 4 It is a schematic perspective view of the cutaway structure of the outer arm and the inner arm shown in the present invention; Figure 5 The present invention shows Figure 1 Enlarged view of point B in the middle; Figure 6 It is a three-dimensional schematic diagram of the winding wheel structure shown in the present invention; Figure 7 It is a side perspective schematic diagram of the winding wheel structure shown in the present invention; Figure 8 This is a schematic sectional perspective view of the internal structure of the connecting base shown in the present invention; Figure 9 It is a three-dimensional schematic diagram of the internal structure of the rotating seat shown in the present invention; Figure 10 It is a three-dimensional schematic diagram of the ring structure shown in the present invention.

[0016] Among them, the reference numerals in the present invention are: 1, main arm; 2, connecting seat; Telescopic assembly: 301, motor 1; 302, rotating seat; 303, outer arm; 304, motor 2; 305, inner arm; 306, wire rope 1; 307, rope pulley 1; 308, clamping claw; Straightening components: 401, motor three; 402, reel; 403, wire rope two; 404, rope pulley two; 405, rotating shaft; Limiting components: 501, electric telescopic rod; 502, sliding rod; 503, collar; 504, tooth groove; 505, gear. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] The embodiments provided by the present invention will be described in detail below: A multi-link robotic arm for handling operations, such as Figure 1 As shown, it comprises: a main arm 1, a connecting seat 2 is provided on the movable end of the main arm 1, and a telescopic component is provided on the connecting seat 2; like Figures 1 to 9 As shown, the telescopic assembly includes a motor 1 301 fixedly installed in the connecting base 2, the bottom of the connecting base 2 is rotatably connected to the rotating base 302, the output shaft of the motor 1 301 passes through the connecting base 2 and is fixedly connected to the rotating base 302, the bottom of the rotating base 302 is fixedly connected to the outer arm 303, the bottom of the rotating base 302 is fixedly installed with a motor 2 304, the outer arm 303 is slidably connected to the inner arm 305, a pulley is provided at the connection between the outer arm 303 and the inner arm 305, and two steel wire ropes 1 306 are symmetrically fixedly connected to the output shaft of the motor 2 304, away from the motor 2 304. Two pulleys 307 are symmetrically connected to the inner wall of the outer arm 303 for rotation. The pulley 307 is located between the outer arm 303 and the inner arm 305. Two steel ropes 306 are respectively wound around the pulley 307 on the nearest side. One end of the two steel ropes 306 away from the motor 2 304 is fixedly connected to the side of the inner arm 305 close to the motor 2 304, that is, one end of each steel rope 306 is fixedly connected to the output shaft of the motor 2 304, and the other end passes around the pulley 1 307 and is fixedly connected to the inner arm 305. A clamping claw 308 is fixedly installed on the end of the inner arm 305 away from the connecting seat 2.

[0019] Further, such as Figures 1 to 3 as well as Figures 5 to 8 and Figure 10As shown, a straightening assembly is provided on the connecting base 2, and the straightening assembly includes a motor three 401 fixedly mounted on the connecting base 2, and two winding wheels 402 are symmetrically connected to the connecting base 2, and the output shaft of the motor three 401 is connected to the winding wheel 402 closest to the motor three 401, and the two winding wheels 402 are commonly fixedly connected to a wire rope two 403, and the two ends of the wire rope two 403 are respectively wound on the two winding wheels 402, that is, the end of the inner arm 305 away from the outer arm 303 is rotatably connected to the rope wheel two 404, and the wire rope two 403 is wound on the rope wheel two 404, and the connecting base 2 is rotatably connected to a rotating shaft 405, and both ends of the rotating shaft 405 pass through the connecting base 2, and the two ends of the rotating shaft 405 pass through the connecting base 2 and are coaxially fixedly connected to the two winding wheels 402.

[0020] Further, such as Figure 6 、 Figure 8 as well as Figure 10 As shown, a limit assembly is provided on the connecting seat 2, which includes an electric telescopic rod 501 fixedly installed in the connecting seat 2, a sliding rod 502 fixedly installed in the connecting seat 2, the electric telescopic rod 501 and the sliding rod 502 are symmetrically arranged on both sides of the rotating shaft 405, a collar 503 is provided between the electric telescopic rod 501 and the sliding rod 502, two side ears are provided on both sides of the collar 503, the telescopic end of the electric telescopic rod 501 is fixedly connected to one side ear of the collar 503, the side ear of the collar 503 away from the side of the electric telescopic rod 501 is slidably connected to the sliding rod 502, a plurality of tooth grooves 504 are provided on the collar 503, and the plurality of tooth grooves 504 are equidistantly arranged on the inner arc surface of the collar 503, a gear 505 is fixedly connected to the middle part of the rotating shaft 405, and the tooth grooves 504 provided on the inner arc surface of the collar 503 are meshed with the gear 505.

[0021] In combination with the above embodiments, the entire working process and working principle of the above embodiments are as follows: The initial state is: Motor 1 301 is not started, the output shaft of motor 2 304 does not reel in wire rope 1 306, the reel 402 reels in wire rope 2 403, wire rope 2 403 is in a straight state, the movable end of the electric telescopic rod 501 is extended, the ring 503 is on the side away from the gear 505, and the tooth groove 504 is not engaged with the gear 505.

[0022] The working status is: Pulling robotic arm: The starting motor 301 drives the winding wheel 402 to reel in the wire rope 2 403, so that the wire rope 2 403 is in a taut state. When a pulling force is applied to the end of the inner arm 305 away from the outer arm 303, the end of the inner arm 305 away from the outer arm 303 remains in a horizontal state under the action of the pulling force and does not tilt downward. At the same time, the outer arm 303 is synchronously maintained in a horizontal state under the action of the inner arm 305, so that the connection between the connecting seat 2 and the rotating seat 302 will not have a tendency to tilt. By applying a pulling force to the inner arm 305 of the last section of the robot arm, compared with the handling robot arm in the prior art, the problem that the rotating connection of the last section of the robot arm is prone to slight tilt when it is loaded is solved, and the output shaft of the motor 1 301 is prevented from deflecting, thereby avoiding the situation where the friction force increases when the output shaft of the motor 1 301 is deflected, resulting in accelerated consumption of the rotating shaft life, thereby extending the service life of the robot arm.

[0023] Extending the robotic arm: When the robotic arm needs to be extended, the motor 2 304 is started, so that the output shaft of the motor 2 304 reels the end of the wire rope 1 306 close to the motor 2 304, so that the wire rope 1 306 is wound around the pulley 1 307, pulling the end of the inner arm 305 close to the motor 2 304 to slide toward the pulley 1 307, thereby driving the inner arm 305 to slide outward from the outer arm 303. During this process, the inner arm 305 pulls the wire rope 2 403, so that the reel 402 is subjected to tension and continuously rotates to release the reel 402 until the inner arm 305 extends out of the outer arm 303. The outer arm 303 and the inner arm 305 are of sufficient length so that the extended length of the outer arm 303 and the inner arm 305 meets the carrying requirements. At this time, the telescopic end of the electric telescopic rod 501 is retracted, so that the tooth groove 504 of the ring 503 is engaged with the gear 505, so that the gear 505 is stuck by the tooth groove 504 in the ring 503, so that the rotating shaft 405 and the winding wheel 402 cannot rotate, providing an additional fixing effect for the winding wheel 402, so that the wire rope 403 remains taut after the length adjustment of the outer arm 303 and the inner arm 305 is completed, so as to maintain the leveling effect on the inner arm 305.

[0024] Rotating robotic arm: When the direction of the clamp 308 needs to be changed during cargo handling, the rotating base 302, the outer arm 303 and the inner arm 305 need to be rotated to drive the clamp 308 to rotate. At this time, the motor 1 301 on the connecting base 2 drives the rotating base 302 to rotate, so that the rotating base 302 drives the outer arm 303 to rotate, thereby driving the inner arm 305 and the clamp 308 to rotate.

[0025] When the rotating seat 302 rotates to drive the outer arm 303 and the inner arm 305 to rotate, the rope pulley 2 404 on the inner arm 305 can rotate. Under the rotation limit action of the rope pulley 2 404, the rope pulley 2 404 is able to move correspondingly on the wire rope 2 403. Even if the two ends of the wire rope 2 403 are wound on the winding wheel 402, the inner wall 305 also has a certain rotation space due to the setting of the rope pulley 2 404. The wire rope 2 403 slides along with the inner arm 305, keeping the wire rope 2 403 always taut when the inner arm 305 rotates, so that the wire rope 2 403 maintains a pulling effect on the inner arm 305 and the outer arm 303 during the rotation of the inner arm 305. It should be noted that the rotation angle of the outer arm 303 and the inner arm 305 is relatively limited, and this limit is that when the wire rope 2 403 slides relative to the rope pulley 2 404, the wire rope 2 403 will not fall off the winding wheel 402.

[0026] Shorten the robotic arm: When the cargo handling distance becomes shorter and the length of the outer arm 303 and the inner arm 305 needs to be shortened, the electric telescopic rod 501 extends the movable end, driving the ring 503 to slide away from the gear 505, so that the tooth groove 504 is away from the outer wall of the gear 505, and then the motor 2 304 starts to release the wire rope 1 306, so that the wire rope 1 306 no longer pulls the end of the inner arm 305 close to the motor 2 304, so that the inner arm 305 can slide back into the outer arm 303. In this process, the motor 3 401 starts to drive the two winding wheels 402 to rotate, and reel the wire rope 2 403, so that the wire rope 2 403 pulls the inner arm 305 in cooperation with the rope wheel 2 404, causing it to slide into the outer arm 303. At this time, the last section of the mechanical arm composed of the outer arm 303 and the inner arm 305 will be shortened. Wire rope 2 403 is continuously wound by reel 402 until wire rope 1 306 is straightened again, exerting a pulling effect on the end of inner arm 305 near motor 2 304. At this point, inner arm 305 retracts to its shortest distance, and motor 3 401 is turned off, stopping the reel 402 from retracting. The movable end of electric telescopic rod 501 then retracts, causing collar 503 to reengage gear 505, preventing rotation of shaft 405. This shortens the robotic arm to accommodate varying cargo handling needs, while maintaining the pulling effect of wire rope 2 403 on inner and outer arms 305 and 303 during the shortening process.

[0027] The drawings of this solution are drawn for the convenience of expressing the structure, and are not equivalent to the actual size of the actual objects, nor do they represent the actual power of the actual objects, especially motor 1 301, motor 2 304 and motor 3 401. The size of the motors in the drawings should not be used to judge that the power of the motors is too small to achieve the technical effects described in this solution.

[0028] The above descriptions are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-link robotic arm for handling operations, characterized in that: include: A main arm (1), a connecting seat (2) is provided on the movable end of the main arm (1), and a telescopic component is provided on the connecting seat (2); The telescopic assembly includes a motor 1 (301) fixedly mounted in a connecting seat (2), the bottom of the connecting seat (2) is rotatably connected to a rotating seat (302), the output shaft of the motor 1 (301) passes through the connecting seat (2) and is fixedly connected to the rotating seat (302), the bottom of the rotating seat (302) is fixedly connected to an outer arm (303), the bottom of the rotating seat (302) is fixedly mounted with a motor 2 (304), the outer arm (303) is slidably connected to an inner arm (305), and the output shaft of the motor 2 (304) is symmetrically fixedly connected to two steel wire ropes 1 ( 306), two pulleys (307) are symmetrically connected to the inner wall of the outer arm (303) away from the motor 2 304, and the pulley (307) is located between the outer arm (303) and the inner arm (305). Two steel wire ropes (306) are respectively wound around the pulley (307) on the nearest side. One end of the two steel wire ropes (306) away from the motor 2 (304) is fixedly connected to the side of the inner arm (305) close to the motor 2 (304), and one end of the inner arm (305) away from the connecting seat (2) is fixedly installed with a clamping claw (308).

2. A multi-link robotic arm for handling operations according to claim 1, characterized in that: A pulley is provided at the connection between the outer arm (303) and the inner arm (305).

3. The multi-link robotic arm for handling operations according to claim 1, characterized in that: A straightening assembly is provided on the connecting seat (2), and the straightening assembly includes a motor three (401) fixedly mounted on the connecting seat (2); two reel wheels (402) are symmetrically rotatably connected to the connecting seat (2); the output shaft of the motor three (401) is connected to the reel wheel (402) closest to the motor three (401); the two reel wheels (402) are fixedly connected to a wire rope two (403); one end of the inner arm (305) away from the outer arm (303) is rotatably connected to the rope wheel two (404); a rotating shaft (405) is rotatably connected inside the connecting seat (2); and both ends of the rotating shaft (405) pass through the connecting seat (2) and are coaxially fixedly connected to the two reel wheels (402).

4. The multi-link robotic arm for handling operations according to claim 3, characterized in that: The second steel wire rope (403) is wound on the second rope wheel (404).

5. A multi-link robotic arm for handling operations according to claim 4, characterized in that both ends of the second steel wire rope (403) are respectively wound around two winding wheels (402).

6. The multi-link robotic arm for handling operations according to claim 5, characterized in that: A limit assembly is provided on the connecting seat (2), the limit assembly includes an electric telescopic rod (501) fixedly installed in the connecting seat (2), a slide rod (502) fixedly installed in the connecting seat (2), the electric telescopic rod (501) and the slide rod (502) are symmetrically arranged on both sides of the rotating shaft (405), a collar (503) is provided between the electric telescopic rod (501) and the slide rod (502), two side ears are provided on both sides of the collar (503), the telescopic end of the electric telescopic rod (501) is fixedly connected to one side ear of the collar (503), the side ear of the collar (503) away from the electric telescopic rod (501) is slidably connected to the slide rod (502), a plurality of tooth grooves (504) are provided on the collar (503), and a gear (505) is fixedly connected to the middle of the rotating shaft (405).

7. The multi-link robotic arm for handling operations according to claim 6, characterized in that: A plurality of tooth grooves (504) are equidistantly arranged on the inner arc surface of the collar (503).

8. The multi-link robotic arm for handling operations according to claim 7, characterized in that: A plurality of teeth are equidistantly arranged on the gear (505), and the number of the teeth is the same as that of the tooth groove (504), and the gear (505) is meshed with the tooth groove (504).

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