Stable lifting type clamping transfer mechanical arm

Abstract

The application discloses a stable lifting type clamping transfer mechanical arm and relates to the technical field of transfer mechanical arms.The stable lifting type clamping transfer mechanical arm comprises a ground rail, an industrial mechanical arm is slidably arranged on the upper surface of the ground rail, a lifting hook is arranged below the industrial mechanical arm in the middle, a mechanical clamp jaw is hung on the bottom end of the lifting hook, clamping pieces are fixedly connected to the bottom end of the mechanical clamp jaw and symmetrically arranged about an axis, a balance assembly is arranged below the industrial mechanical arm, and the balance assembly comprises a centering platform, a limiting frame, a counterweight, a traction rope, a first connecting shaft, a second connecting shaft and an abutting plate.

Description

Technical Field

[0001] This invention relates to the field of transfer robotic arm technology, specifically a stable lifting clamping and transfer robotic arm. Background Technology

[0002] The lifting gripping and transfer robotic arm is an automated device that combines vertical lifting function with precise gripping capability. It is widely used in industrial production, logistics warehousing, assembly lines and other fields.

[0003] In existing technologies, the transfer of objects is often achieved by using large industrial robotic arms equipped with suspension systems to clamp the workpiece. However, in actual use, objects suspended by ropes will sway due to external forces during the transfer process. When an object is suspended at a point, the line connecting its center of mass and the fulcrum forms a naturally drooping equilibrium position. Once subjected to a lateral disturbance force F, the system will oscillate periodically around this equilibrium point. Furthermore, the dynamic load coefficient of the rope in the suspension system increases with the oscillation frequency, causing the peak tension borne by the rope to far exceed the static weight.

[0004] In addition, when the object is hoisted by ropes and subjected to external force disturbance, the system will perform damped vibration around the equilibrium position. According to the law of conservation of mechanical energy, part of the initial input kinetic energy is converted into gravitational potential energy, and the other part is retained in the system in the form of kinetic energy. Due to the weak natural damping such as air resistance, the oscillation decays slowly, causing the object to still carry residual velocity when it reaches the target point, which in turn makes it impossible for the object to be accurately hoisted to the target position.

[0005] To address this issue, we propose a stable lifting gripping and transfer robotic arm. Summary of the Invention

[0006] Technical problems to be solved

[0007] In view of this, and in view of the shortcomings of the prior art, the present invention provides a stable lifting clamping and transfer robotic arm to solve the problems mentioned in the background art.

[0008] Technical solution

[0009] To achieve the above objectives, the present invention provides the following technical solution: a stable lifting clamping and transfer robotic arm, including a ground rail, an industrial robotic arm slidably mounted on the upper surface of the ground rail, a lifting hook provided below the industrial robotic arm located in the middle, a mechanical gripper hooked at the bottom end of the lifting hook, clamping components fixedly connected to the two sides of the bottom end of the mechanical gripper in an axially symmetrical manner, and a balancing component provided below the industrial robotic arm.

[0010] The balancing assembly includes a positioning component fixedly mounted on the lower surface of the central industrial robotic arm. A drive motor is fixedly mounted inside the positioning component by bolts. Retracting rollers are symmetrically rotated on both sides of the bottom outer surface of the positioning component. Traction ropes are wound around the outer surface of the retracting rollers. One end of each of the two traction ropes is fixedly connected to a central platform. Counterweights are fixedly connected to both sides of the upper surface of the central platform in an axisymmetric manner with reference to the central axis of the central platform. Pull ropes are fixedly connected to the top of each counterweight. The other end of each of the two traction ropes is fixedly connected to a limit frame. The end of each pull rope away from the counterweight is fixedly connected to a limit block. A tension spring is fixedly connected to the upper surface of the limit block in an axisymmetric manner with reference to the central axis of the limit block.

[0011] Preferably, a winding wheel is fixedly connected to the output shaft end of the drive motor, and a winding line is fixedly installed at the top of the lifting hook. The drive motor winds the winding line through the winding wheel to complete the lifting and lowering of the lifting hook. The limit frame is located below the centering platform, and both the centering platform and the limit frame are located outside the lifting hook.

[0012] Preferably, the limiting block is slidably connected to the outer surface of the gathering line, the tension spring is sleeved on the outer surface of the gathering line, and the end of the tension spring away from the limiting block is fixedly connected to the bottom outer surface of the positioning member.

[0013] Preferably, it also includes an auxiliary clamping component disposed on the clamping member;

[0014] The auxiliary clamping assembly includes connecting springs symmetrically fixed to the bottom surface of the clamping member, a limiting member fixedly connected to the bottom surface of the clamping member, a connecting plate rotatably connected inside the limiting member, a connecting shaft one rotatably connected between the inner walls of the middle part of the connecting plate, a connecting shaft two rotatably connected between the inner walls of the connecting plate at the end away from the limiting member, torsion springs fixedly sleeved on the outer surfaces of both ends of the connecting shaft one and the connecting shaft two, and abutment plates fixedly connected to the outer surfaces of both the connecting shaft one and the connecting shaft two, respectively, and friction rollers rotatably connected to the side surfaces of the two abutment plates away from the connecting shaft one and the connecting shaft two, respectively.

[0015] Preferably, the end of the connecting spring away from the clamping member is fixedly connected to the surface of the connecting plate, and the angle between the connecting plate and the limiting member is set to an obtuse angle. The torsion springs respectively set on the outer surfaces of the two ends of the connecting shaft one and the connecting shaft two are fixedly connected to the inner surface of the connecting plate at their respective ends.

[0016] Preferably, the two abutment plates respectively disposed on the first connecting shaft and the second connecting shaft are arranged symmetrically with reference to the vertical plane of the inclined direction of the connecting plate, and the two abutment plates respectively disposed on the first connecting shaft and the second connecting shaft are inclined in a direction away from each other.

[0017] Preferably, it also includes a pressing component disposed on the mechanical gripper;

[0018] The pressing assembly includes a flexible telescopic block that is damped and rotatably connected between the two sides of the bottom end of the mechanical gripper. The flexible telescopic block has a screw threadedly connected at equal intervals inside, and a pressing rod is slidably connected through at equal intervals inside. The outer surface of the pressing rod is fitted with a support spring.

[0019] Preferably, a plurality of extrusion screws and extrusion rods are arranged at intervals along the horizontal direction of the flexible telescopic block, and the horizontal height of the bottom surface of the extrusion screw is higher than the horizontal height of the bottom surface of the extrusion rod. The top of the support spring is fixedly connected to the lower surface of the flexible telescopic block. Beneficial effects

[0020] Compared with the prior art, the present invention provides a stable lifting gripping and transfer robotic arm, which has the following advantages:

[0021] By setting up a central platform, limiting frame, counterweight, traction rope, connecting shaft one, connecting shaft two, and abutment plate, the clamped object is ensured to be sufficiently stable during transport. This avoids the situation where existing devices use ropes or other hoisting devices to transport objects, causing the hoisting rope to swing during movement, resulting in loosening of the clamped object, or the hoisting rope itself swinging after the object is transported to the destination, making it difficult to accurately place the object at the destination.

[0022] During the movement of the central platform and limiting block following the gathering line, the bottom of the pendulum-like structure, which uses the gathering line as a pendulum rod and the mechanical gripper as the pendulum object, is always in the state of maximum mass. Concentrating most of the mass at the bottom significantly increases the system's moment of inertia, making the movement smoother and more resistant to external disturbances. It can effectively suppress deviations caused by high-frequency vibrations and sudden impacts. Moreover, the minimum potential energy state when the maximum mass is at the lowest point has natural stability, and automatic centering and calibration can be achieved without complex control. This facilitates the mechanical gripper to quickly center after shaking, thus making it easier for workers to quickly transfer objects to the target position.

[0023] The bottom of the object to be clamped is supported by the connecting plate. After the object is clamped and fixed by the mechanical jaws, the lateral clamping force and the vertical support force form a vector synthesis to jointly offset the object's weight and inertial load, which can effectively avoid material yielding or structural failure caused by single-point force.

[0024] Furthermore, the two abutment plates, which are symmetrically arranged, are attached to the surface of the object and can adapt to curved surfaces of different shapes, thereby forming a stable support force. This avoids the stress concentration caused by traditional planar support and uses the symmetry feature to offset assembly deviations, thereby quickly completing the clamping and fixing of the bottom surface of the object.

[0025] By setting up flexible telescopic blocks, extrusion rods and extrusion screws, the objects can be attached to the upper surface of the object during the process of mechanical grippers clamping and transferring the object. The objects are clamped by the sides of the mechanical grippers and supported by the bottom of the abutment plate. The objects are subjected to uniform clamping force in three directions. The forces in the three directions form a statically determinate balance system, avoiding structural failure caused by single-point overload.

[0026] The extrusion screw can be adapted to the surface of objects of different shapes, thereby improving the applicability of the device. The flexible telescopic block will extend or retract accordingly when the mechanical gripper deforms and clamps objects of different sizes, further improving the applicability of the device. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall appearance and structure of the present invention;

[0028] Figure 2 For the present invention Figure 1 Another perspective structural diagram;

[0029] Figure 3 This is a schematic diagram of the connection relationship at the traction rope of the present invention;

[0030] Figure 4 For the present invention Figure 3 Enlarged view of the structure at point A in the middle;

[0031] Figure 5 This is a schematic diagram showing the positional relationship at the limiting frame of the present invention;

[0032] Figure 6 For the present invention Figure 5 Enlarged view of the structure at point B in the middle;

[0033] Figure 7 This is a schematic diagram showing the positional relationship of the mechanical grippers in this invention;

[0034] Figure 8 For the present invention Figure 7 Enlarged view of the structure at point C;

[0035] Figure 9 For the present invention Figure 7 Enlarged view of the structure at point D.

[0036] In the diagram: 11. Ground rail; 12. Industrial robotic arm; 13. Lifting hook; 14. Mechanical gripper; 15. Clamping component;

[0037] 21. Positioning component; 22. Drive motor; 23. Take-up roller; 24. Traction rope; 25. Centering platform; 26. Counterweight; 2061. Pull rope; 27. Limit frame; 28. Limit block; 29. ​​Pull spring;

[0038] 31. Connecting spring; 32. Limiting component; 33. Connecting plate; 34. Connecting shaft one; 35. Connecting shaft two; 36. Torsion spring; 37. Abutment plate; 38. Friction roller;

[0039] 41. Flexible telescopic block; 42. Extrusion screw; 43. Extrusion rod; 44. Support spring. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Embodiments of the present invention

[0042] Please see Figures 1 to 5 and Figure 7 A stable lifting clamping and transfer robotic arm includes a ground rail 11, an industrial robotic arm 12 is slidably mounted on the upper surface of the ground rail 11, a lifting hook 13 is provided below the industrial robotic arm 12 located in the middle, a mechanical gripper 14 is hooked at the bottom end of the lifting hook 13, and clamping components 15 are fixedly connected to the two sides of the bottom end of the mechanical gripper 14 in an axially symmetrical manner, and a balancing component is also provided below the industrial robotic arm 12.

[0043] The balancing assembly includes a positioning component 21 fixedly installed on the lower surface of the central industrial robotic arm 12. A drive motor 22 is fixedly installed inside the positioning component 21 by bolts. A take-up roller 23 is symmetrically rotated on both sides of the bottom outer surface of the positioning component 21. A traction rope 24 is wound on the outer surface of the take-up roller 23. One end of the two traction ropes 24 is fixedly connected to a central platform 25. A counterweight 26 is fixedly connected to both sides of the upper surface of the central platform 25 with reference to the central axis of the central platform 25. A pull rope 2061 is fixedly connected to the top of each counterweight 26. A limit frame 27 is fixedly connected to the other end of the two traction ropes 24. A limit block 28 is fixedly connected to the end of the two pull ropes 2061 away from the counterweight 26. A tension spring 29 is fixedly connected to the upper surface of the limit block 28 with reference to the central axis of the limit block 28.

[0044] The drive motor 22 has a winding wheel fixedly connected to its output shaft end, and a winding line is fixedly installed on the top of the lifting hook 13. The drive motor 22 winds the winding line through the winding wheel to complete the lifting and lowering of the lifting hook 13. The limiting frame 27 is located below the centering platform 25. Both the centering platform 25 and the limiting frame 27 are located outside the lifting hook 13.

[0045] The limiting block 28 is slidably connected to the outer surface of the gathering line, the tension spring 29 is sleeved on the outer surface of the gathering line, and the end of the tension spring 29 away from the limiting block 28 is fixedly connected to the bottom outer surface of the positioning member 21.

[0046] Both ends of the traction rope 24 extend outside the winding roller 23. When the traction rope 24 is pulled by an external force to rotate the winding roller 23, if one of the objects connected to the two ends of the traction rope 24 is in an upward state, then the other will be in a downward state.

[0047] Among them, the central platform 25 is used to balance the swing amplitude of the entire swing structure when the cable is used as a swing arm, so as to avoid large swings during the hoisting of objects and affect the accurate placement of objects after transfer;

[0048] Among them, the central platform 25 and the limiting frame 27 divide the length of the gathering line into three parts, reducing the length of the individual gathering line as a swing arm, and further suppressing the large swing caused by external forces during the transfer of the object.

[0049] Further embodiments

[0050] Please see Figures 7 to 9 The stable lifting gripping and transfer robotic arm also includes an auxiliary gripping component mounted on the gripping member 15;

[0051] The auxiliary clamping assembly includes connecting springs 31 symmetrically fixedly connected to the bottom surface of the clamping member 15, a limiting member 32 fixedly connected to the bottom surface of the clamping member 15, a connecting plate 33 internally connected to the limiting member 32 with damping, a connecting shaft 34 internally connected to the inner wall of the middle part of the connecting plate 33 with damping, a connecting shaft 35 internally connected to the inner wall of the connecting plate 33 away from the limiting member 32 with damping, torsion springs 36 fixedly sleeved on the outer surfaces of both ends of the connecting shaft 34 and the connecting shaft 35, and abutment plates 37 fixedly connected to the outer surfaces of both the connecting shaft 34 and the connecting shaft 35, respectively. Friction rollers 38 are rotatably connected to the surface of the two abutment plates 37 on the side away from the connecting shaft 34 and the connecting shaft 35, respectively.

[0052] Among them, the end of the connecting spring 31 away from the clamping member 15 is fixedly connected to the surface of the connecting plate 33, and the angle between the connecting plate 33 and the limiting member 32 is set to an obtuse angle. The torsion springs 36 respectively set on the outer surfaces of the two ends of the connecting shaft 1 34 and the connecting shaft 2 35 are fixedly connected to the inner surface of the connecting plate 33 at their respective ends away from each other.

[0053] The two abutting plates 37 respectively set on the connecting shaft 34 and the connecting shaft 35 are symmetrically arranged with reference to the vertical plane of the inclined direction of the connecting plate 33, and the two abutting plates 37 respectively set on the connecting shaft 34 and the connecting shaft 35 are inclined in a direction away from each other.

[0054] The connecting plate 33 can only rotate 20 to 30 degrees on the surface of the limiting member 32.

[0055] Among them, the two axisymmetrically arranged abutment plates 37 are used to adapt to the clamping of different curved surfaces and apply a stable supporting force from the bottom of the object. The friction roller 38 facilitates the rapid sliding of the abutment plates 37 before the friction roller 38 applies the supporting force to the bottom of the object.

[0056] Further embodiments

[0057] Please see Figure 5 and Figure 6 The stable lifting gripping and transfer robotic arm also includes a pressing component mounted on the mechanical gripper 14;

[0058] The pressing assembly includes a flexible telescopic block 41 that is damped and rotatably connected between the two sides of the bottom end of the mechanical gripper 14. The flexible telescopic block 41 is threaded with a pressing screw 42 at equal intervals inside. The flexible telescopic block 41 is slidably connected with a pressing rod 43 at equal intervals inside. The outer surface of the pressing rod 43 is fitted with a support spring 44.

[0059] Among them, the extrusion screws 42 and extrusion rods 43 are arranged in a plurality of intervals along the horizontal direction of the flexible telescopic block 41, and the horizontal height of the bottom surface of the extrusion screw 42 is higher than the horizontal height of the bottom surface of the extrusion rod 43. The top of the support spring 44 is fixedly connected to the lower surface of the flexible telescopic block 41.

[0060] The flexible telescopic block 41 is configured as a telescopic structure, which makes it easy to adapt to the upper surface of objects of different sizes when the mechanical gripper 14 clamps objects of different sizes, thereby applying a stable top clamping force.

[0061] The overall working process and principle of the above embodiments are as follows:

[0062] The operator controls the industrial robotic arm 12 to move on the ground rail 11 via the controller, thereby moving the lifting hook 13 and mechanical gripper 14 to the object to be clamped and transferred. Then, by starting the drive motor 22, the lifting hook 13 and mechanical gripper 14 are moved vertically, so that the mechanical gripper 14 and clamping member 15 move closer to the object to be clamped and transferred, thus completing the clamping and fixing of the object to be clamped and transferred.

[0063] It should be noted that the reciprocating movement of the industrial robotic arm 12 on the ground rail 11, the vertical displacement of the lifting hook 13 and the mechanical gripper 14, and the clamping and fixing of the mechanical gripper 14 on the object to be clamped and transferred are all existing technologies, so they will not be described in detail here.

[0064] During the above process, as the height of the lifting hook 13 in the vertical direction decreases, the length of the positioning member 21 extending from the hauling line between the lifting hook 13 and the drive motor 22 will also increase synchronously. At this time, the limiting block 28 fixedly connected to the outer surface of the hauling line will move vertically downward together with the lifting hook 13. During the movement of the limiting block 28, the tension spring 29 located between the limiting block 28 and the positioning member 21 will be stretched synchronously.

[0065] Meanwhile, since the pull rope 2061 is fixedly connected to the bottom end of the limit block 28, and the bottom end of the pull rope 2061 is fixedly connected to the counterweight block 26 and the centering platform 25, and the length of the pull rope 2061 is constant, the counterweight block 26 and the centering platform 25 will move vertically downward in sync with the lifting hook 13.

[0066] It should be noted that during the above process, when the centering platform 25 moves vertically downward, since the two ends of the traction rope 24 are fixedly connected to the centering platform 25 and the limiting frame 27 respectively, and the traction rope 24 is wound around the outer surface of the take-up roller 23, as the centering platform 25 descends, it will pull the traction rope 24 to rotate on the take-up roller 23, thereby driving the limiting frame 27, which is fixedly connected to the other end of the traction rope 24, to rise vertically.

[0067] It should be noted that the traction rope 24 is wound around the surface of the take-up roller 23, and both ends of the traction rope 24 extend outside the take-up roller 23. When the traction rope 24 is pulled by an external force to rotate the take-up roller 23, if one of the objects connected to the two ends of the traction rope 24 is in an upward state, then the other will be in a downward state.

[0068] Therefore, as the lifting hook 13 descends and the length of the take-up line increases, the centering platform 25 will gradually move downwards, and the limiting frame 27 will gradually move upwards. Since the centering platform 25 is equipped with a counterweight 26, the sum of the weights of the centering platform 25 and the counterweight 26 is greater than the weight of the limiting frame 27. As the above movement continues, the presence of the counterweight 26 and the centering platform 25 is used to stabilize the bottom of the lifting hook 13 and the mechanical gripper 14, increasing the mass at the bottom of the pendulum-like motion of the mechanical gripper 14 with the top of the take-up line as the fulcrum. The mass block concentrated at the bottom is equivalent to increasing the rotational inertia of the system, making the movement process smoother and more resistant to interference, similar to the pendulum effect. This large inertia design can effectively suppress the transmission of high-frequency vibrations to the drive end, reduce the risk of mechanical resonance, and thus reduce the swing amplitude of the lifting hook 13 and the mechanical gripper 14 during the movement.

[0069] In addition, the rising of the limiting frame 27 will continue. When the limiting frame 27 moves to the top of the centering platform 25 under the action of the traction rope 24, the vertical sequence from top to bottom is the limiting frame 27, the centering platform 25 and the lifting hook 13. The limiting frame 27 and the centering platform 25 divide the extended cable into three parts, and the bottom of the cable is heavier. Due to the large counterweight at the bottom of the cable, the tension formed by its natural drooping will continue to pull the entire system, keeping each section of the line taut. This self-tension characteristic can achieve active alignment of the lines without additional power, avoiding offset errors caused by slack. When external disturbances cause local shaking, the inertia of the bottom weight will quickly absorb energy and restore balance, reducing the amplitude of oscillation.

[0070] At the same time, the uppermost limiting frame 27 also restricts the range of motion of the gathering line. When the gathering line is affected by external force during the transfer of objects, it causes the lifting hook 13 and mechanical gripper 14 to oscillate. The limiting frame 27 can reduce the swing range of the swing arm, thereby further limiting the swing amplitude of the lifting hook 13 and mechanical gripper 14.

[0071] As the mechanical gripper 14 gradually approaches the object to be gripped and transferred, the operator controls the mechanical gripper 14 to extend through the controller, so that the distance between the two clamping parts 15 at the bottom of the mechanical gripper 14 is greater than the size of the object to be gripped and transferred. Then, through the cooperation of the mechanical gripper 14 and the clamping parts 15, the object to be gripped and transferred is clamped and fixed.

[0072] During the above process, as the clamping member 15 approaches the object to be clamped and transferred, the connecting plate 33 at the bottom of the clamping member 15 first contacts the surface of the object. As the clamping member 15 gradually approaches the object's surface, the connecting plate 33 is simultaneously subjected to bidirectional pressure from both the clamping member 15 and the surface of the object. This causes the connecting plate 33 to rotate around its connection point with the limiting member 32, rotating in a direction away from the surface of the object. (See attached diagram). Figure 9 Therefore, the rotation of the connecting plate 33 will synchronously stretch the connecting spring 31 located between the connecting plate 33 and the clamping member 15;

[0073] It should be noted that the two abutment plates 37 respectively set on the connecting shaft 34 and the connecting shaft 35 are symmetrically arranged with reference to the vertical plane of the inclined direction of the connecting plate 33. The two abutment plates 37 respectively set on the connecting shaft 34 and the connecting shaft 35 are inclined in a direction away from each other. Therefore, when the clamping member 15 clamps the object, the abutment plates 37 and the friction rollers 38 located on the connecting shaft 34 and the connecting shaft 35 will come into contact with the surface of the object. Affected by the pressure of the surface of the object, the abutment plates 37 connected to the connecting shaft 34 and the connecting shaft 35 will deflect in a direction away from each other, thereby increasing the clamping force of the clamping member 15 on the surface of the object to be clamped.

[0074] Furthermore, when the object is clamped by the mechanical gripper 14 and the clamping member 15, due to the obtuse angle connection between the limiting member 32 and the connecting plate 33, the bottom end of the connecting plate 33, the connecting shaft 35 fixedly connected to the bottom end, and the abutment plate 37 will be located at the bottom of the object to be clamped, thereby supporting the bottom of the object and further preventing the object from loosening or falling off due to changes in the clamping force during the transfer process.

[0075] Furthermore, due to the symmetrical arrangement of connecting shaft 1 34, connecting shaft 2 35, abutment plate 37 and friction roller 38, clamping support can be formed on both sides of the object, thereby more stably completing the clamping and transfer of the object;

[0076] By setting up the central platform 25, the limiting frame 27, the counterweight 26, the traction rope 24, the connecting shaft 1 34, the connecting shaft 2 35 and the abutment plate 37, the clamped object is ensured to be stable enough during the transfer. This avoids the situation where the hoisting rope swings during the movement of the existing device when transferring the object through the hoisting device, which leads to the loosening of the clamping of the object and the difficulty in accurately placing the object at the destination after the object is transferred to the destination due to the swing of the hoisting rope itself.

[0077] During the movement of the centering platform 25 and the limiting block 28 following the gathering line, the bottom of the pendulum-like structure, which uses the gathering line as a pendulum rod and the mechanical gripper 14 as the pendulum object, is always in the state of maximum mass. The concentration of most of the mass at the bottom significantly increases the system's moment of inertia, which makes the movement process smoother and stronger in resisting external disturbances. It can effectively suppress deviations caused by high-frequency vibrations and sudden impacts. Moreover, the minimum potential energy state when the maximum mass is at the lowest point has natural stability. Automatic centering and calibration can be achieved without complex control, which makes it easy for the mechanical gripper 14 to quickly center after shaking, thus making it easy for workers to quickly transfer objects to the target position.

[0078] The bottom of the object to be clamped is supported by the connecting plate 33. After the object is clamped and fixed by the mechanical gripper 14, the lateral clamping force and the vertical support force form a vector synthesis to jointly offset the object's gravity and inertial load, which can effectively avoid material yielding or structural failure caused by single-point force.

[0079] Furthermore, the two abutment plates 37, which are symmetrically arranged, are attached to the surface of the object and can adapt to curved surfaces of different shapes, thereby forming a stable support force. This avoids the stress concentration phenomenon caused by traditional planar support and uses the symmetry feature to offset assembly deviations, thereby quickly completing the clamping and fixing of the bottom surface of the object.

[0080] After the mechanical gripper 14 and the clamping member 15 have fixed the two sides of the object, the bottom end of the pressing rod 43, which is slidably connected to the inside of the flexible telescopic block 41 by the support spring 44, will contact the upper surface of the object, thereby applying a certain pressure to the bottom end of the pressing rod 43, so that the pressing rod 43 moves vertically upward inside the flexible telescopic block 41. During the movement of the pressing rod 43, the support spring 44 set between the pressing rod 43 and the flexible telescopic block 41 will be compressed.

[0081] Furthermore, since the extrusion screws 42 are arranged in a plurality along the horizontal direction of the flexible telescopic block 41 and are spaced apart from each other, and the horizontal height of the bottom surface of the extrusion screw 42 is higher than the horizontal height of the bottom surface of the extrusion rod 43, the bottom end of the extrusion rod 43 will first contact the upper surface of the object, and then the position of different extrusion screws 42 can be adjusted by rotating the extrusion screw 42.

[0082] When clamping objects with relatively flat upper surfaces, the equidistantly spaced extrusion rods 43 and support springs 44 can apply equal extrusion force to the object surface, further ensuring the stability of the object during clamping and conveying. When the mechanical gripper 14 clamps a curved surface with an arc or other irregular shape at the top, the extrusion screws 42 at different positions can be rotated so that the bottom of the extrusion screws 42 at different positions abuts against the top of the object to be clamped, thereby firmly clamping this type of object.

[0083] By setting up the flexible telescopic block 41, the extrusion rod 43 and the extrusion screw 42, the object can be attached to the upper surface of the object during the process of clamping and transferring the object by the mechanical gripper 14. The object is clamped by the side of the mechanical gripper 14 and supported by the bottom of the abutment plate 37. The objects are subjected to uniform clamping force in three directions. The forces in the three directions constitute a statically determinate balance system, avoiding structural failure caused by single-point overload.

[0084] The extrusion screw 42 can be adapted to the surface of objects of different shapes, thereby improving the applicability of the device. The flexible telescopic block 41 will extend or retract accordingly when the mechanical gripper 14 deforms to clamp objects of different sizes, further improving the applicability of the device.

[0085] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0086] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A stable lifting clamping and transferring robotic arm, comprising a ground rail (11), an industrial robotic arm (12) slidably mounted on the upper surface of the ground rail (11), a lifting hook (13) provided below the industrial robotic arm (12) located in the middle, a mechanical gripper (14) hooked at the bottom end of the lifting hook (13), and clamping components (15) fixedly connected to the two sides of the bottom end of the mechanical gripper (14) in an axially symmetrical manner, characterized in that: It also includes a balancing assembly located below the industrial robotic arm (12); The balancing assembly includes a positioning component (21) fixedly mounted on the lower surface of the central industrial robotic arm (12). A drive motor (22) is fixedly mounted inside the positioning component (21) by bolts. A take-up roller (23) is symmetrically rotated on both sides of the bottom outer surface of the positioning component (21). A traction rope (24) is wound around the outer surface of the take-up roller (23). One end of the two traction ropes (24) is fixedly connected to a central platform (25). On both sides of the upper surface of the central platform (25), counterweights (26) are fixedly connected symmetrically with reference to the central axis of the central platform (25). Pull ropes (2061) are fixedly connected to the top of each counterweight (26). The other end of the two traction ropes (24) is fixedly connected to a limit frame (27). The two pull ropes (2061) are far away from the counterweights (26). One end is fixedly connected to a limiting block (28), and a tension spring (29) is fixedly connected to the upper surface of the limiting block (28) with reference to the central axis of the limiting block (28). A gathering wheel is fixedly connected to the output shaft of the drive motor (22), and a gathering line is fixedly installed at the top of the lifting hook (13). The drive motor (22) winds the gathering line through the gathering wheel to complete the lifting of the lifting hook (13). The limiting frame (27) is located below the central platform (25). The central platform (25) and the limiting frame (27) are both set outside the lifting hook (13). The limiting block (28) is slidably connected to the outer surface of the gathering line, and the tension spring (29) is sleeved on the outer surface of the gathering line. The end of the tension spring (29) away from the limiting block (28) is fixedly connected to the bottom outer surface of the positioning part (21).

2. The stable lifting gripping and transferring robotic arm according to claim 1, characterized in that: It also includes an auxiliary clamping component disposed on the clamping member (15); The auxiliary clamping assembly includes a connecting spring (31) symmetrically fixedly connected to the bottom surface of the clamping member (15), a limiting member (32) fixedly connected to the bottom surface of the clamping member (15), a connecting plate (33) internally damped and rotatably connected to the limiting member (32), a connecting shaft one (34) damped and rotatably connected between the inner walls of the middle part of the connecting plate (33), a connecting shaft two (35) damped and rotatably connected between the inner walls of the connecting plate (33) away from the limiting member (32), torsion springs (36) fixedly sleeved on the outer surfaces of both ends of the connecting shaft one (34) and the connecting shaft two (35), and abutment plates (37) fixedly connected to the outer surfaces of the connecting shaft one (34) and the connecting shaft two (35), respectively. Friction rollers (38) are rotatably connected to the side surfaces of the two abutment plates (37) away from the connecting shaft one (34) and the connecting shaft two (35).

3. The stable lifting gripping and transferring robotic arm according to claim 2, characterized in that: The end of the connecting spring (31) away from the clamping member (15) is fixedly connected to the surface of the connecting plate (33). The angle between the connecting plate (33) and the limiting member (32) is set at an obtuse angle. The torsion springs (36) respectively set on the outer surfaces of the connecting shaft one (34) and the connecting shaft two (35) are fixedly connected to the inner surface of the connecting plate (33) at the ends away from each other.

4. The stable lifting gripping and transferring robotic arm according to claim 2, characterized in that: The two abutment plates (37) respectively set on the connecting shaft one (34) and the connecting shaft two (35) are symmetrically arranged with reference to the vertical plane of the inclined direction of the connecting plate (33), and the two abutment plates (37) respectively set on the connecting shaft one (34) and the connecting shaft two (35) are inclined in a direction away from each other.

5. The stable lifting gripping and transferring robotic arm according to claim 1, characterized in that: It also includes a pressing component disposed on the mechanical gripper (14); The pressing assembly includes a flexible telescopic block (41) that is damped and rotatably connected between the two sides of the bottom end of the mechanical gripper (14). The flexible telescopic block (41) is equidistantly threaded with a pressing screw (42). The flexible telescopic block (41) is equidistantly slidably connected with a pressing rod (43). The outer surface of the pressing rod (43) is sleeved with a support spring (44).

6. The stable lifting gripping and transferring robotic arm according to claim 5, characterized in that: Multiple extrusion screws (42) and extrusion rods (43) are arranged at intervals along the horizontal direction of the flexible telescopic block (41), and the horizontal height of the bottom surface of the extrusion screw (42) is higher than the horizontal height of the bottom surface of the extrusion rod (43). The top of the support spring (44) is fixedly connected to the lower surface of the flexible telescopic block (41).

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