Mechanical arm for carrying metal parts

Abstract

The invention relates to the related technical field of mechanical arms, in particular to a mechanical arm for carrying metal parts, which comprises a carrying base and a mechanical arm body arranged on the top of the carrying base, a mechanical claw for carrying the metal parts is fixedly mounted on the mechanical arm body, and a fixed cover is fixedly mounted at a middle joint of the top of the mechanical arm body; a swing air sweeping assembly is arranged in the fixing cover and used for cleaning dust attached to the front end of the mechanical arm body and the surface of the mechanical claw, and an L-shaped swing rod arranged in the swing air sweeping assembly drives an arc-shaped cleaning base to vertically swing on the top of the mechanical arm body. Movement tracks of the two groups of nozzles are mutually crossed in space to form a dynamic cross-shaped cleaning area, so that a cleaning medium can cover all complex contours and joint gaps at the front end of the mechanical arm body and a clamping surface of a mechanical claw from a plurality of angles, and dead-corner-free thorough cleaning is realized.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a robotic arm for handling metal parts. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom automated devices designed for industrial applications. They can perform various complex tasks through programming and are characterized by high precision, high efficiency, and high reliability. They are widely used in all aspects of manufacturing. In the field of industrial automation, robotic arms have become core equipment for handling metal parts and are widely used in processes such as loading and unloading, palletizing, and assembly. After handling parts with oil stains and metal shavings, the actuators and joints at the front end of the robotic arm can easily become sources of contamination. If cleaning is not thorough, residual hard particles can scratch the surface of precision workpieces, while oil stains may lead to a decrease in assembly accuracy or sensor malfunction. Currently, cleaning generally relies on external fixed cleaning stations or manual cleaning. The former has the disadvantages of many cleaning dead spots and huge compressed air energy consumption; the latter interrupts the production cycle and the effect is unstable.

[0003] In addition, to meet the lifting stroke requirements, robotic arms often adopt a multi-stage telescopic arm structure. However, when the arm is carrying a heavy metal workpiece and fully extended, the center of gravity of the overall structure shifts significantly upward, resulting in a decrease in rigidity. This leads to low-frequency swaying or even vibration at the end of the arm. This phenomenon not only directly reduces the placement accuracy of the workpiece, affecting production efficiency and product quality, but also accelerates the fatigue wear of transmission components and shortens the service life of the equipment. Existing solutions are mostly passive reinforcement or reduction of operating speed, which are difficult to fundamentally solve the problem of swaying that dynamically intensifies with the increase of extension height while ensuring efficiency. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a robotic arm for handling metal parts.

[0005] To solve the above technical problems, the present invention provides the following technical solution: a robotic arm for handling metal parts, comprising a handling base and a robotic arm body disposed on the top of the handling base, wherein the robotic arm body is fixedly mounted with a mechanical claw for handling metal parts, a fixed cover is fixedly mounted at the middle joint of the top of the robotic arm body, and a swinging air-sweeping assembly is disposed inside the fixed cover. The swinging air-sweeping assembly is used to clean dust adhering to the surface of the front end of the robotic arm body and the mechanical claw. An L-shaped swing rod disposed in the swinging air-sweeping assembly drives an arc-shaped cleaning seat to perform vertical swinging motion at the top of the robotic arm body. The swinging air-sweeping assembly includes a rotary motor, an arc-shaped rotating arm and a swinging cleaning seat. A blower assembly is disposed at the bottom of the fixed cover. The blower assembly is used to perform fixed blowing cleaning of the rear end of the robotic arm body. When the L-shaped swing rod in the swinging air-sweeping assembly swings, it drives the rack plate in the blower assembly to perform reciprocating motion. The blower assembly includes a blower and a fixed cleaning seat. The top of the transport base is equipped with a lifting and opening assembly, which is used to drive the robotic arm to adjust its height. The lifting and opening assembly includes a drive rod, a drive arm, a second arc-shaped cover, a first arc-shaped swing arm, and a second arc-shaped swing arm. The drive rod is equipped with an opening anti-sway assembly, which is used to limit the movement of the robotic arm when it rises. The opening anti-sway assembly includes a drive gear, a drive rack, and a limit roller fixed on the drive rod.

[0006] As a preferred embodiment of the present invention, the swing sweeping assembly further includes an arc-shaped support frame, a rotary motor fixedly mounted on the top of the arc-shaped support frame, a rotary shaft fixedly mounted on the output end of the rotary motor, an arc-shaped rotating arm fixedly mounted on the rotary shaft, an arc-shaped base frame fixedly mounted at the bottom inside the fixed cover, a base rotating rod movably connected to the top of the arc-shaped base frame, an L-shaped swing rod fixedly mounted at the middle of the base rotating rod, an arc-shaped cleaning seat fixedly mounted at the bottom of the L-shaped swing rod, and the L-shaped swing rod moving within the arc-shaped swing groove opened in the fixed cylinder.

[0007] The arc-shaped cleaning seat has a first sliding groove inside, and a first slider is slidably connected in the first sliding groove. An arc-shaped swing block is fixedly installed between the first sliders, and the arc-shaped swing block moves in the arc-shaped cleaning seat. The arc-shaped swing block is fixedly installed with a swing cleaning seat through a connecting rod. A swing nozzle is installed at the bottom of the swing cleaning seat. Several movable nozzles are evenly installed at the bottom of the arc-shaped cleaning seat. An arc-shaped rotating arm is movably connected to the arc-shaped swing block.

[0008] As a preferred embodiment of the present invention, the blower assembly further includes a first gear and a limiting base plate. The limiting base plate is fixedly installed at both ends of the top of the arc-shaped base frame. A T-shaped groove is provided at the bottom of the limiting base plate. A T-shaped slider is slidably connected in the T-shaped groove. A rack plate is fixedly installed at the bottom of the T-shaped slider. The first gear is fixedly installed at both ends of the base rotating rod. The first gear and the rack plate are movably meshed.

[0009] The blower is fixedly installed at the top of the fixed cover. A piston plate is movably installed inside the blower. A push rod is fixedly installed at the top of the rack plate at the end away from the blower. A piston rod is fixedly installed on the push rod and is installed through the piston plate. Fixed cleaning seats are fixedly installed on both sides of the outside of the fixed cover. Several fixed nozzles are installed at the bottom of the fixed cleaning seats. An air inlet pipe and an air outlet pipe are fixedly installed at the end of the blower away from the push rod. The air outlet pipe is connected to the swing cleaning seat, the arc-shaped cleaning seat and the fixed cleaning seat.

[0010] As a preferred embodiment of the present invention, the transport base is provided with wheels and hydraulic support feet around its perimeter. The lifting and opening assembly further includes a first arc-shaped cover and a third arc-shaped cover. The first arc-shaped cover is fixedly installed at the top of the transport base by bolts. The second arc-shaped cover is movable outside the first arc-shaped cover, and the third arc-shaped cover is movable outside the second arc-shaped cover. A drive rod is movably connected between the second arc-shaped covers. Drive arms are fixedly installed at both ends of the drive rod inside the second arc-shaped covers. A first arc-shaped swing arm is movably connected inside the first arc-shaped cover through a first hinge seat. The top of the first arc-shaped swing arm is movably connected to the drive arm. The top of the inner part of the third arc-shaped cover is movably connected to the second arc-shaped swing arm through a second hinge seat, and the bottom of the second arc-shaped swing arm is movably connected to the drive arm.

[0011] One end of the drive rod is fixedly mounted with a first bevel gear. A servo motor is connected to the second arc-shaped cover near the first bevel gear via a motor mount. The output end of the servo motor is fixedly mounted with a second bevel gear via a rotating shaft. The second bevel gear and the first bevel gear are in movable meshing. The robotic arm body is fixedly mounted between the tops of the third arc-shaped cover. The drive arm, the first arc-shaped swing arm, and the second arc-shaped swing arm all move inside the second arc-shaped cover.

[0012] As a preferred embodiment of the present invention, the opening anti-sway assembly further includes an anti-sway frame fixedly installed between the second arc-shaped covers. A support base plate is fixedly installed at the bottom of the anti-sway frame. A support groove is provided on the top of the support base plate. A support slider is slidably connected in the support groove. A drive rack is fixedly installed on the top of each support slider. Drive gears are fixedly installed at both ends of the drive rod, and the drive gears are movably meshed with the drive rack. An anti-sway base plate is fixedly installed on the top of the transport base. A first support rod is fixedly installed on the side of the drive rack near the anti-sway base plate via a connecting plate.

[0013] The first support rod is externally connected to a second support rod. The second support rod has a movable base fixedly installed at the end away from the connecting plate, and a limiting roller is fixedly installed on the side of the movable base away from the connecting plate. The limiting base plate has a limiting groove that matches the size of the limiting roller, and the limiting roller moves in the limiting groove. A telescopic spring is fixedly installed inside the second support rod, and the telescopic spring is fixedly installed at the top of the first support rod.

[0014] Compared with the prior art, the beneficial effects that this invention can achieve are: 1. In this invention, through the cooperation of the first sliding groove, the arc-shaped cleaning seat, and the first slider in the swing sweeping assembly, the L-shaped swing rod is hinged to the fixed base rotating rod. When the arc-shaped swing block makes a circular motion, the interaction between the first sliding groove and the first slider will transform the circular motion into the arc-shaped cleaning seat reciprocating at a specific angle with its hinge point as the center. The movable nozzle installed below the arc-shaped cleaning seat swings in the vertical plane with it, while the swing nozzle installed below the swing cleaning seat makes a horizontal reciprocating motion. The movement trajectories of the two sets of nozzles intersect each other in space, forming a dynamic "cross" cleaning area, ensuring that the cleaning medium can cover all the complex contours, joint gaps, and gripping surfaces of the robotic arm front end from multiple angles, achieving thorough cleaning without dead angles.

[0015] 2. In this invention, the combination of the swing sweeping component and the blower component decomposes the single rotational input into synchronous reciprocating motion in two planes (vertical and horizontal), greatly improving the cleaning coverage and efficiency. The front end of the robotic arm is usually equipped with joints, cables, and irregularly shaped mechanical claws, which are areas where dust and oil stains easily accumulate. The generated "cross-shaped" dynamic cleaning path can effectively clean the crevices and gaps that are difficult to reach by traditional methods. It can be easily integrated into existing workstations. It can automatically start during the intervals when the robotic arm is performing tasks, achieving "non-discharge" periodic cleaning, which is crucial for maintaining high-precision operation and extending equipment life.

[0016] 3. In this invention, when the L-shaped swing rod in the swing sweeping assembly drives the base rotating rod to reciprocate, the first gear fixed at both ends of the base rotating rod rotates synchronously. The reciprocating rotation of the first gear is precisely converted into the horizontal reciprocating motion of the rack plate by meshing with the rack plate fixed on the limiting base plate. Then, the rack plate transmits this power to the piston rod through a set of push rods, which finally drives the piston plate located inside the blower to reciprocate. By utilizing the kinetic energy of the cleaning mechanism of the robotic arm itself, high-pressure airflow can be continuously generated, realizing the internal circulation and efficient utilization of energy, which has great energy-saving value.

[0017] 4. In this invention, the generation of the cleaning airflow in the blower assembly is strictly synchronized with the sweeping motion of the nozzle, so that it appears precisely at the most needed position and time, avoiding energy waste and simplifying maintenance. The fixed nozzles, swing nozzles and movable nozzles distributed on each cleaning seat spray at high speed to form a multi-angle, interwoven cleaning airflow, thereby achieving three-dimensional and all-round cleaning of the robotic arm and robotic claw.

[0018] 5. In this invention, the servo motor drives the second bevel gear to rotate in the anti-sway assembly. The second bevel gear meshes with the first bevel gear, transmitting power to the drive rod. This converts the rotational motion of the servo motor into a stable and continuous rotational motion of the drive rod inside the second arc-shaped cover. When the drive rod rotates, the drive arms at both ends move synchronously. The drive arms, through the first and second arc-shaped swing arms and with the help of the linkage fulcrum formed by the first and second hinge seats, convert the rotational motion into a precise linear pushing action. The rotation of the drive arm is achieved through... The four-bar linkage consisting of the swing arm and the hinge seat first smoothly pushes the second arc-shaped cover out from the inside of the first arc-shaped cover; then, the third arc-shaped cover extends out from the inside of the second arc-shaped cover under its drive. The first, second and third arc-shaped covers extend synchronously in sequence, forming a progressively enlarged sleeve structure, realizing the smooth lifting of the robotic arm. After the multi-layered arc-shaped cover structure is fully extended, it can form a continuous and complete force-bearing surface with extremely high bending and torsional stiffness, which can effectively suppress end-effector jitter and provide a solid operating platform for the robotic arm.

[0019] 6. In this invention, the multi-stage sleeve can be gradually expanded to achieve a huge stroke extension. The lifting ratio (extension height / retraction height) is significantly better than many traditional solutions. The arc-shaped cover itself constitutes a natural physical barrier, which can effectively protect the internal transmission components (such as drive rods and bearings) and cables from damage by external dust, oil stains or accidental collisions. At the same time, this structure is easy to integrate with sealing strips or flexible protective covers to achieve a higher level of protection.

[0020] 7. In this invention, by opening the first support rod in the anti-sway assembly and moving it towards the fixed anti-sway base plate, the first support rod then drives the second support rod and its end movable base to move together, so that the limiting roller installed on the movable base is accurately embedded in the limiting groove on the anti-sway base plate. The higher the robotic arm rises, the longer the stroke of the drive rack, and the greater the supporting force transmitted to the anti-sway base plate through the first and second support rods. At the same time, the telescopic spring built into the support rod is compressed during this process, generating a continuously increasing reverse force. This elastic force is converted into the lateral pressing force of the limiting roller on the side wall of the limiting groove. The higher the arm extends, the deeper the corresponding support mechanism unfolds, the greater the spring compression, the stronger the lateral pressing force, and the higher the overall rigidity. During the rising process, the second arc-shaped cover and even the third arc-shaped cover achieve all-round constraint and limitation through this three-dimensional support network composed of support rods, rollers and grooves, fundamentally suppressing lateral swaying and torsion, and ensuring the ultimate stability of the lifting process. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the robotic arm of the present invention; Figure 3 This is a schematic diagram of the internal structure of the fixing cover of the present invention; Figure 4 This is a schematic diagram of the arc-shaped cleaning seat of the present invention; Figure 5 This is a schematic diagram of the arc-shaped base frame of the present invention; Figure 6 This is a schematic diagram of the structure of the blower of the present invention; Figure 7 This is a schematic diagram of the structure of the transport base of the present invention; Figure 8 This is a schematic diagram of the structure of the second arc-shaped cover of the present invention; Figure 9 This is a schematic diagram of the connection structure of the drive rod of the present invention.

[0022] The components include: 10. Transport base; 11. Robotic arm body; 12. Robotic claw; 13. Walking wheel; 14. Hydraulic support foot; 15. Anti-sway base plate; 16. Limiting roller groove; 20. Fixed cover; 21. Arc-shaped base frame; 22. Base rotating rod; 23. L-shaped swing rod; 24. Arc-shaped cleaning seat; 25. First slide groove; 26. Movable nozzle; 27. Arc-shaped swing groove; 28. Fixed cleaning seat; 29. ​​Fixed nozzle; 30. Arc-shaped support frame; 31. Rotary motor; 32. Rotary shaft; 33. Arc-shaped rotating arm; 34. Arc-shaped swing block; 35. Connecting rod; 36. Swing cleaning seat; 37. Swing nozzle; 38. First slider; 40. Blower; 41. Limiting base plate; 42. T-shaped slide groove; 43. T-shaped slider; 4 4. First gear; 45. Rack plate; 46. Piston plate; 47. Push rod; 48. Piston rod; 49. Inlet pipe; 50. First arc-shaped cover; 51. Second arc-shaped cover; 52. Third arc-shaped cover; 53. First hinge seat; 54. First arc-shaped swing arm; 55. Second hinge seat; 56. Second arc-shaped swing arm; 57. Drive arm; 60. Anti-sway frame; 61. Servo motor; 62. Second bevel gear; 63. First bevel gear; 64. Support base plate; 65. Support slide groove; 66. Support slider; 67. Drive rack; 68. Drive rod; 69. Drive gear; 70. Connecting plate; 71. First support rod; 72. Second support rod; 73. Movable base; 74. Limiting roller; 75. Telescopic spring; 80. Exhaust pipe. Detailed Implementation

[0023] To make the technical means, creative features, and achieved objectives and effects of this invention easier to understand, the invention is further described below with reference to specific embodiments. However, the following embodiments are merely preferred embodiments of this invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are all within the protection scope of this invention. Unless otherwise specified, the experimental methods in the following embodiments are conventional methods, and the materials and reagents used in the following embodiments are commercially available unless otherwise specified.

[0024] Example: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, a robotic arm for handling metal parts includes a handling base 10 and a robotic arm body 11 disposed on top of the handling base 10. A robotic gripper 12 for handling metal parts is fixedly mounted on the robotic arm body 11. A fixed cover 20 is fixedly mounted at the middle joint at the top of the robotic arm body 11. A swing-sweeping assembly is disposed inside the fixed cover 20. The swing-sweeping assembly is used to clean dust adhering to the front end of the robotic arm body 11 and the surface of the robotic gripper 12. An L-shaped swing rod 23 disposed in the swing-sweeping assembly drives an arc-shaped cleaning seat 24 to perform a vertical swinging motion at the top of the robotic arm body 11. The swing-sweeping assembly includes a rotary motor 31, an arc-shaped rotating arm 33, and... The swing cleaning seat 36 and the swing sweeping assembly also include an arc-shaped support frame 30. A rotary motor 31 is fixedly installed on the top of the arc-shaped support frame 30. A rotary shaft 32 is fixedly installed at the output end of the rotary motor 31. An arc-shaped rotating arm 33 is fixedly installed on the rotary shaft 32. An arc-shaped base frame 21 is fixedly installed at the bottom inside the fixed cover 20. A base rotating rod 22 is movably connected to the top of the arc-shaped base frame 21. An L-shaped swing rod 23 is fixedly installed at the middle end of the base rotating rod 22. An arc-shaped cleaning seat 24 is fixedly installed at the bottom end of the L-shaped swing rod 23. The L-shaped swing rod 23 moves in the arc-shaped swing groove 27 opened in the fixed cylinder, and the bottom of the L-shaped swing rod 23 has an arc-shaped structure.

[0025] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The arc-shaped cleaning seat 24 has a first groove 25 inside, and a first slider 38 is slidably connected in the first groove 25. An arc-shaped swing block 34 is fixedly installed between the first sliders 38, and the arc-shaped swing block 34 moves in the arc-shaped cleaning seat 24. The arc-shaped swing block 34 achieves stable and smooth reciprocating motion under the action of the first groove 25 and the first slider 38. The arc-shaped swing block 34 is fixedly installed with a swing cleaning seat 36 through a connecting rod 35. A swing nozzle 37 is installed at the bottom of the swing cleaning seat 36. Several movable nozzles 26 are evenly installed at the bottom of the arc-shaped cleaning seat 24. An arc-shaped rotating arm 33 is movably connected to the arc-shaped swing block 34.

[0026] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6The rotating shaft 32 is driven to rotate by the rotary motor 31 on the arc-shaped base frame 21. The rotary shaft 32 drives the arc-shaped rotating arm 33 to move synchronously. The arc-shaped rotating arm 33 drives the arc-shaped swing block 34 to rotate. During the rotation, the arc-shaped swing block 34, through the sliding limit of the first slide groove 25 and the first slider 38, drives the arc-shaped cleaning seat 24 to swing back and forth under the connection of the L-shaped swing rod 23. The arc-shaped cleaning seat 24 and the L-shaped swing rod 23 will swing back and forth around the base rotating rod 22. During the swing, the arc-shaped cleaning seat 24 will also swing back and forth through the first slider 38. The arc-shaped swing block 34 moves back and forth in the chute 25, and drives the swing cleaning seat 36 to move back and forth through the connecting rod 35. At this time, the movable nozzle 26 under the arc-shaped cleaning seat 24 and the swing nozzle 37 under the swing cleaning seat 36 will sweep and clean the front end of the robotic arm body 11 and the robotic claw 12. The arc-shaped cleaning seat 24 swings vertically, while the arc-shaped swing block 34 drives the swing cleaning seat 36 to reciprocate horizontally. In this way, the movable nozzle 26 and the swing nozzle 37 will form a cross-shaped air outlet cleaning, which will thoroughly clean the joints at the front end of the robotic arm body 11 and the robotic claw 12.

[0027] See Figure 3 , Figure 4 , Figure 5 and Figure 6 The bottom of the fixed cover 20 is provided with a blower assembly, which is used to fix and blow clean the rear end of the robotic arm 11. When the L-shaped swing rod 23 in the swing sweeping assembly swings, it drives the rack plate 45 in the blower assembly to reciprocate. The blower assembly includes a blower 40, a fixed cleaning seat 28, a first gear 44 and a limiting base plate 41. The top two ends of the arc-shaped base frame 21 are fixedly installed with the limiting base plate 41. The bottom of the limiting base plate 41 is provided with a T-shaped slide groove 42. A T-shaped slider 43 is slidably connected in the T-shaped slide groove 42, and the rack plate 45 is fixedly installed at the bottom of the T-shaped slider 43. The two ends of the base rotating rod 22 are fixedly installed with the first gear 44, and the first gear 44 and the rack plate 45 are movably meshed. The first gear 44 and the rack plate 45 move inside the fixed cover 20.

[0028] See Figure 3 , Figure 4 , Figure 5 and Figure 6The blower 40 is fixedly installed at the top of the fixed cover 20. A piston plate 46 is movably installed inside the blower 40. A push rod 47 is fixedly installed at the top of the rack plate 45 at the end furthest from the blower 40. A piston rod 48 is fixedly installed on the push rod 47, and the piston rod 48 passes through the piston plate 46. Fixed cleaning seats 28 are fixedly installed on both sides of the outside of the fixed cover 20, and several fixed nozzles 29 are installed at the bottom of the fixed cleaning seats 28. The blower 40 is located at the top of the fixed cover 20 at the end furthest from the push rod 40. One end of the rod 47 is fixedly equipped with an air inlet pipe 49 and an air outlet pipe 80, and the air outlet pipe 80 is connected to the swing cleaning seat 36, the arc-shaped cleaning seat 24 and the fixed cleaning seat 28. The blower 40 is a hollow cylindrical structure. One-way valves are installed on both the air inlet pipe 49 and the air outlet pipe 80. The one-way valve on the air inlet pipe 49 ensures that the blower 40 is filled with gas in one direction, and the one-way valve on the air outlet pipe 80 allows the compressed air inside the blower 40 to be discharged in one direction, thereby achieving a cleaning blowing effect.

[0029] See Figure 3 , Figure 4 , Figure 5 and Figure 6 When the L-shaped swing rod 23 drives the base rotating rod 22 to reciprocate, the base rotating rod 22 drives the first gears 44 at both ends to reciprocate. During the reciprocating rotation, the first gears 44 mesh and drive the rack plate 45 on the limiting base plate 41 to reciprocate. The rack plate 45 will drive the piston rod 48 to reciprocate through the push rod 47. The piston rod 48 will drive the piston plate 46 inside the blower 40 to move. When the piston plate 46 moves away from the air outlet pipe 80, the blower 40... A negative pressure is generated inside the blower 40, and gas is filled through the air inlet pipe 49. When the piston plate 46 moves close to the air inlet pipe 49, a positive pressure is generated inside the blower 40, and the air inside the blower 40 is compressed. The compressed air is discharged through the air outlet pipe 80 to the swing cleaning seat 36, the arc-shaped cleaning seat 24 and the fixed cleaning seat 28. The compressed air is then discharged through the fixed nozzle 29, the swing nozzle 37 and the movable nozzle 26, thus achieving all-round cleaning of the entire robotic arm body 11 and the robotic claw 12.

[0030] See Figure 1 , Figure 2 , Figure 7 , Figure 8 and Figure 9The top of the transport base 10 is equipped with a lifting and opening assembly, which is used to adjust the height of the robotic arm 11. The lifting and opening assembly includes a drive rod 68, a drive arm 57, a second arc-shaped cover 51, a first arc-shaped swing arm 54, and a second arc-shaped swing arm 56. The transport base 10 is equipped with wheels 13 and hydraulic support feet 14 around its perimeter. The wheels 13 enable movement, while the hydraulic support feet 14 provide stable support for the robotic arm 11 during transfer and transport. The lifting and opening assembly also includes a first arc-shaped cover 50 and a third arc-shaped cover 52. The first arc-shaped cover 50 is fixedly installed on the transport base 10 with bolts. At the top, the second arc-shaped cover 51 is movable outside the first arc-shaped cover 50, while the third arc-shaped cover 52 is movable outside the second arc-shaped cover 51. A drive rod 68 is movably connected between the second arc-shaped covers 51. Drive arms 57 are fixedly installed at both ends of the drive rod 68 inside the second arc-shaped cover 51. The first arc-shaped swing arm 54 is movably connected inside the first arc-shaped cover 50 through the first hinge seat 53. The top of the first arc-shaped swing arm 54 is movably connected to the drive arm 57. The inner top of the third arc-shaped cover 52 is movably connected to the second arc-shaped swing arm 56 through the second hinge seat 55, and the bottom of the second arc-shaped swing arm 56 is movably connected to the drive arm 57.

[0031] See Figure 1 , Figure 2 , Figure 7 , Figure 8 and Figure 9 One end of the drive rod 68 is fixedly mounted with a first bevel gear 63. A servo motor 61 is connected to the second arc-shaped cover 51 near the first bevel gear 63 via a motor mount. The output end of the servo motor 61 is fixedly mounted with a second bevel gear 62 via a rotating shaft. The second bevel gear 62 and the first bevel gear 63 are in movable meshing. The robotic arm body 11 is fixedly mounted between the tops of the third arc-shaped cover 52. The drive arm 57, the first arc-shaped swing arm 54, and the second arc-shaped swing arm 56 all move inside the second arc-shaped cover 51.

[0032] See Figure 1 , Figure 2 , Figure 7 , Figure 8 and Figure 9The servo motor 61 drives the second bevel gear 62 to rotate via a rotating shaft. The second bevel gear 62 meshes with the first bevel gear 63, driving the drive rod 68 to rotate stably. When the drive rod 68 rotates stably between the second arc-shaped covers 51, it drives the drive arms 57 at both ends to rotate. When the drive arms 57 rotate, they push the second arc-shaped cover 51 open from the outside of the first arc-shaped cover 50 through the first arc-shaped swing arm 54, the second arc-shaped swing arm 56, the first hinge seat 53, and the second hinge seat 55. The arc-shaped cover 52 will push open from the outside of the second arc-shaped cover 51, so that the first arc-shaped cover 50, the second arc-shaped cover 51 and the third arc-shaped cover 52 will extend and open synchronously. Similarly, when the drive arm 57 reverses, the first arc-shaped cover 50, the second arc-shaped cover 51 and the third arc-shaped cover 52 will also return to their original positions and retract in sequence, thereby driving the robotic arm body 11 to perform a stable and smooth lifting and lowering movement. During the entire lifting and lowering movement, the first arc-shaped cover 50, the second arc-shaped cover 51 and the third arc-shaped cover 52 will extend and retract in sequence, resulting in stable lifting and lowering with good effect.

[0033] See Figure 1 , Figure 2 , Figure 7 , Figure 8 and Figure 9 An anti-sway assembly is provided on the drive rod 68. The anti-sway assembly is used to limit the movement of the robotic arm 11 when it rises. The anti-sway assembly includes a drive gear 69, a drive rack 67, a limiting roller 74, and an anti-sway frame 60 fixedly installed between the second arc-shaped cover 51. The anti-sway frame 60 has a square structure. A support base plate 64 is fixedly installed at the bottom of the anti-sway frame 60. A support groove 65 is opened at the top of the support base plate 64. A support slider 66 is slidably connected in the support groove 65. A drive rack 67 is fixedly installed at the top of each support slider 66. Drive gears 69 are fixedly installed at both ends of the drive rod 68, and the drive gears 69 and drive rack 67 are movably meshed. An anti-sway base plate 15 is fixedly installed at the top of the transport base 10. A first support rod 71 is fixedly installed on the side of the drive rack 67 near the anti-sway base plate 15 through a connecting plate 70.

[0034] See Figure 1 , Figure 2 , Figure 7 , Figure 8 and Figure 9The first support rod 71 is externally connected to the second support rod 72. The second support rod 72 has a movable base 73 fixedly installed at the end away from the connecting plate 70, and the movable base 73 has a limiting roller 74 fixedly installed on the side away from the connecting plate 70. The limiting base plate 41 has a limiting groove 16 that matches the size of the limiting roller 74, and the limiting roller 74 moves in the limiting groove 16. The second support rod 72 has a telescopic spring 75 fixedly installed inside, and the telescopic spring 75 is fixedly installed at the top of the first support rod 71.

[0035] See Figure 1 , Figure 2 , Figure 7 , Figure 8 and Figure 9 As the drive rod 68 rotates back and forth, it drives the drive gears 69 at both ends to rotate synchronously. The drive gears 69 mesh with the drive rack 67, which, under the action of the support base plate 64, the support groove 65, and the support slider 66, achieves stable and smooth horizontal reciprocating motion. When the robotic arm 11 rises, the anti-sway frame 60 between the second arc-shaped covers 51 rises synchronously. At the same time, the drive gear 69 meshes with the drive rack 67, causing the first support rod 71 on the connecting plate 70 to move closer to the anti-sway base plate 15. The first support rod 71 moves synchronously with the movable base 73 on the second support rod 72. The limiting roller 74 on the movable base 73 will enter the limiting roller groove 16. The higher the robotic arm 11 rises, the longer the stroke of the drive rack 67. The greater the supporting force transmitted from the second support rod to the anti-sway base plate 15, the greater the compressive force of the telescopic springs 75 inside the first support rod 71 and the second support rod 72. At the same time, the springs 75 inside the first support rod 71 and the second support rod 72 will also be compressed. The greater the spring compression, the stronger the lateral clamping force and the higher the overall rigidity. During the ascent, the second arc-shaped cover 51 will also be supported and limited by the first support rod 71 and the second support rod 72 in conjunction with the limiting roller 74 and the limiting groove 16. This can effectively prevent the second arc-shaped cover 51 and the third arc-shaped cover 52 from swaying during the unfolding and ascent. At the same time, it can stably and effectively ensure that the higher the second arc-shaped cover 51 rises, the greater the lateral clamping force of the limiting roller 74 on the anti-sway base plate 15, making the fit between the limiting roller 74 and the limiting groove 16 more stable and improving the stability of the ascent.

[0036] Working principle: The robotic arm 11 is moved quickly and stably fixed by the traveling wheels 13 and hydraulic support feet 14 under the base 10. The robotic claw 12 at the front end of the robotic arm 11 transfers and moves metal parts. After a period of transfer and moving, the rotary motor 31 on the arc-shaped base frame 21 drives the rotary shaft 32 to rotate. The rotary shaft 32 drives the arc-shaped rotary arm 33 to move synchronously. The arc-shaped rotary arm 33 drives the arc-shaped swing block 34 to rotate. During the rotation, the arc-shaped swing block 34 is limited by the sliding groove 25 and the first slider 38, which causes the arc-shaped cleaning seat 24 to swing back and forth under the connection of the L-shaped swing rod 23. The arc-shaped cleaning seat 24 and the L-shaped swing rod 23 will swing back and forth around the base rotating rod 22. At the center, the arc-shaped cleaning seat 24 swings back and forth. During the swinging process, the arc-shaped swing block 34 also moves back and forth in the first slide groove 25 via the first slider 38. The arc-shaped swing block 34 drives the swing cleaning seat 36 to move back and forth via the connecting rod 35. At this time, the movable nozzle 26 under the arc-shaped cleaning seat 24 and the swing nozzle 37 under the swing cleaning seat 36 will perform air sweeping cleaning on the front end of the robotic arm body 11 and the robotic claw 12. The arc-shaped cleaning seat 24 swings vertically, while the arc-shaped swing block 34 drives the swing cleaning seat 36 to perform horizontal reciprocating motion. In this way, the movable nozzle 26 and the swing nozzle 37 will form a cross-shaped air outlet cleaning, which will thoroughly clean the joints at the front end of the robotic arm body 11 and the robotic claw 12.

[0037] When the L-shaped swing rod 23 drives the base rotating rod 22 to reciprocate, the base rotating rod 22 drives the first gears 44 at both ends to reciprocate. During the reciprocating rotation, the first gears 44 mesh and drive the rack plate 45 on the limiting base plate 41 to reciprocate. The rack plate 45 drives the piston rod 48 to reciprocate via the push rod 47. The piston rod 48 drives the piston plate 46 inside the blower 40 to move. When the piston plate 46 moves away from the air outlet pipe 80, a negative pressure is generated inside the blower 40, and the blower 40 is filled with gas through the air inlet pipe 49. When the piston plate 46 moves closer to the air inlet pipe 49, a positive pressure is generated inside the blower 40, and the air inside the blower 40 is compressed. The compressed air is released through the air outlet. The air is discharged from pipe 80 to the swing cleaning seat 36, the arc-shaped cleaning seat 24, and the fixed cleaning seat 28. The compressed air is then discharged through the fixed nozzle 29, the swing nozzle 37, and the movable nozzle 26, achieving all-round cleaning of the entire robotic arm body 11 and robotic claw 12. This improves the stability of the robotic arm body 11 and robotic claw 12, and prevents debris from scratching the joints of the robotic arm body 11, which could lead to thread blockage, sensor malfunction, decreased fitting accuracy, or poor welding quality. It also effectively prevents dust from clogging the air passage and cylinder, which could cause slow movement or decreased clamping force. Dust accumulation on the clamping surface can change the friction coefficient between the clamp and the part, which may cause the part to slip or fall, or require more force to hold it firmly, thus increasing the risk of part deformation.

[0038] During the process of the robotic arm 11 gripping and transferring metal parts, the servo motor 61 drives the second bevel gear 62 to rotate via the rotating shaft. The second bevel gear 62 meshes with the first bevel gear 63, driving the drive rod 68 to rotate stably. When the drive rod 68 rotates stably between the second arc-shaped cover 51, it drives the drive arms 57 at both ends to rotate. When the drive arms 57 rotate, they move the second arc-shaped cover 51 from the outside of the first arc-shaped cover 50 via the first arc-shaped swing arm 54, the second arc-shaped swing arm 56, the first hinge seat 53, and the second hinge seat 55. The first arc-shaped cover 50 is pushed open from the side, while the third arc-shaped cover 52 is pushed open from the outside of the second arc-shaped cover 51, so that the first arc-shaped cover 50, the second arc-shaped cover 51 and the third arc-shaped cover 52 extend and open synchronously. Similarly, when the drive arm 57 reverses, the first arc-shaped cover 50, the second arc-shaped cover 51 and the third arc-shaped cover 52 will also reset and retract in sequence, thereby driving the robotic arm body 11 to perform a stable and smooth lifting and lowering movement. During the entire lifting and lowering movement, the first arc-shaped cover 50, the second arc-shaped cover 51 and the third arc-shaped cover 52 are sequentially connected to extend and retract, resulting in stable lifting and lowering with good effect.

[0039] As the drive rod 68 rotates back and forth, it drives the drive gears 69 at both ends to rotate synchronously. The drive gears 69 mesh with the drive rack 67, which, under the action of the support base plate 64, the support groove 65, and the support slider 66, achieves stable and smooth horizontal reciprocating motion. When the robotic arm 11 rises, the anti-sway frame 60 between the second arc-shaped covers 51 rises synchronously. At the same time, the drive gear 69 meshes with the drive rack 67, causing the first support rod 71 on the connecting plate 70 to move closer to the anti-sway base plate 15. The first support rod 71 moves synchronously with the movable base 73 on the second support rod 72. The limiting roller 74 on the movable base 73 will enter the limiting groove 16. The higher the robotic arm 11 rises, the more the drive rack... 67. With the first support rod 71 and the second support rod 72, the support for the anti-sway base plate 15 is increased. At the same time, the telescopic springs 75 inside the first support rod 71 and the second support rod 72 are also compressed. During the ascent, the second arc-shaped cover 51 is also supported and limited by the first support rod 71 and the second support rod 72 in conjunction with the limiting roller 74 and the limiting groove 16. This can effectively prevent the second arc-shaped cover 51 and the third arc-shaped cover 52 from swaying during the unfolding and ascent. At the same time, it can stably and effectively ensure that the higher the second arc-shaped cover 51 rises, the greater the lateral pressing force of the limiting roller 74 on the anti-sway base plate 15, making the fit between the limiting roller 74 and the limiting groove 16 more stable and improving the stability performance during the ascent.

[0040] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A mechanical arm for handling metal parts, comprising a handling base and a mechanical arm body arranged on the top of the handling base, and a mechanical gripper for handling the metal parts is fixedly installed on the mechanical arm body, characterized in that, The top middle joint of the mechanical arm body is fixedly provided with a fixed cover, the inside of the fixed cover is provided with a swing sweeping assembly, the swing sweeping assembly is used for cleaning the surface of the mechanical arm body front end and the mechanical claw adhered with dust, the L-shaped swing rod provided in the swing sweeping assembly drives the arc-shaped cleaning seat to perform vertical swing movement on the top of the mechanical arm body, the swing sweeping assembly comprises a rotary motor, an arc-shaped rotary arm and a swing cleaning seat, the bottom of the fixed cover is provided with a blowing blowing assembly, the blowing blowing assembly is used for fixedly blowing and cleaning the rear end of the mechanical arm body, the L-shaped swing rod in the swing sweeping assembly drives the rack plate in the blowing blowing assembly to perform reciprocating movement when swinging, the blowing blowing assembly comprises a blowing cylinder and a fixed cleaning seat; The top of the carrying base is provided with a lifting opening and closing assembly, the lifting opening and closing assembly is used for driving the mechanical arm body to adjust the height, the lifting opening and closing assembly comprises a driving rod, a driving arm, a second arc-shaped cover, a first arc-shaped swing arm and a second arc-shaped swing arm, the driving rod is provided with a spread anti-shaking assembly, the spread anti-shaking assembly is used for limiting the mechanical arm body when the mechanical arm body rises, the spread anti-shaking assembly comprises a driving gear, a driving rack and a limiting roller fixedly provided on the driving rod.

2. The robot arm for handling metal parts according to claim 1, wherein The swing sweeping assembly further comprises an arc-shaped support frame, the rotary motor is fixedly installed on the top of the arc-shaped support frame, the output end of the rotary motor is fixedly provided with a rotary shaft, the arc-shaped rotary arm is fixedly installed on the rotary shaft, the inside bottom of the fixed cover is fixedly provided with an arc-shaped base frame, the top of the arc-shaped base frame is movably connected with a base rotating rod, the L-shaped swing rod is fixedly installed at the middle end of the base rotating rod, the arc-shaped cleaning seat is fixedly installed at the bottom end of the L-shaped swing rod, and the L-shaped swing rod moves in the arc-shaped swing groove formed in the fixed cylinder.

3. The robot arm for handling metal parts according to claim 2, wherein The inside of the arc-shaped cleaning seat is provided with a first sliding groove, the first sliding groove is movably connected with a first sliding block, the first sliding block is fixedly installed between the arc-shaped swing blocks, the arc-shaped swing blocks move in the arc-shaped cleaning seat, the arc-shaped swing blocks are fixedly provided with the swing cleaning seat through connecting rods, the swing cleaning seat is provided with a swing nozzle at the bottom, the bottom of the arc-shaped cleaning seat is uniformly provided with a plurality of movable nozzles, and the arc-shaped rotary arm is movably connected with the arc-shaped swing blocks.

4. The robot arm for handling metal parts according to claim 2, wherein The blowing blowing assembly further comprises a first gear and a limiting bottom plate, the limiting bottom plate is fixedly installed at the top of the arc-shaped base frame, the bottom of the limiting bottom plate is provided with a T-shaped sliding groove, the T-shaped sliding groove is movably connected with a T-shaped sliding block, and the rack plate is fixedly installed at the bottom of the T-shaped sliding block, the two ends of the base rotating rod are fixedly provided with the first gears, and the first gears are movably engaged with the rack plate.

5. The robot arm for handling metal parts according to claim 4, wherein The blowing cylinder is fixedly installed at the top of the fixed cover, the inside of the blowing cylinder is movably provided with a piston plate, the one end of the rack plate is fixedly provided with a pushing rod at the top, the pushing rod is fixedly provided with a piston rod, the piston rod penetrates through and is installed on the piston plate, the outside of the fixed cover is fixedly provided with the fixed cleaning seat, the bottom of the fixed cleaning seat is provided with a plurality of fixed nozzles, the one end of the blowing cylinder is fixedly provided with an air inlet pipe and an air outlet pipe, and the air outlet pipe is connected to the swing cleaning seat, the arc-shaped cleaning seat and the fixed cleaning seat.

6. The robot arm for handling metal parts according to claim 1, wherein The walking wheels and hydraulic supporting feet are arranged around the carrying base, the lifting opening and closing assembly further comprises a first arc-shaped cover and a third arc-shaped cover, the first arc-shaped cover is fixedly installed at the top of the carrying base, the second arc-shaped cover is movably arranged outside the first arc-shaped cover, and the third arc-shaped cover is movably arranged outside the second arc-shaped cover, the driving rods are movably connected between the second arc-shaped covers, driving arms are fixedly installed at the two ends of the driving rods in the second arc-shaped covers, the first arc-shaped swing arms are movably connected to the inside of the first arc-shaped cover through first hinge seats, the top of the first arc-shaped swing arms is movably connected to the driving arms, the second arc-shaped swing arms are movably connected to the inner top of the third arc-shaped cover through second hinge seats, and the bottom of the second arc-shaped swing arms is movably connected to the driving arms.

7. The robot arm for handling metal parts according to claim 6, wherein One end of the driving rod is fixedly installed with a first bevel gear, a servo motor is connected to the second arc-shaped cover close to the first bevel gear through a motor seat, a second bevel gear is fixedly installed at the output end of the servo motor through a rotating shaft, the second bevel gear is movably engaged with the first bevel gear, the mechanical arm body is fixedly installed between the top of the third arc-shaped cover, and the driving arms, the first arc-shaped swing arms and the second arc-shaped swing arms are movably arranged in the inside of the second arc-shaped cover.

8. The robot arm for handling metal parts according to claim 1, wherein The anti-shaking assembly further comprises an anti-shaking frame fixedly installed between the second arc-shaped covers, a supporting bottom plate is fixedly installed at the inner bottom of the anti-shaking frame, a supporting sliding groove is formed in the top of the supporting bottom plate, supporting sliding blocks are slidably connected in the supporting sliding groove, driving racks are fixedly installed at the top of the supporting sliding blocks, driving gears are fixedly installed at the two ends of the driving rods, and the driving gears are movably engaged with the driving racks, an anti-shaking bottom plate is fixedly installed at the top of the carrying base, and first supporting rods are fixedly installed on one side of the anti-shaking bottom plate close to the driving racks through a connecting plate.

9. The robot arm for handling metal parts according to claim 8, wherein The second supporting rods are movably connected to the outside of the first supporting rods, movable bases are fixedly installed at the ends of the second supporting rods away from the connecting plate, limit rollers are fixedly installed on one side of the movable bases away from the connecting plate, limit rollers are movably arranged in the limit rollers, telescopic springs are fixedly installed in the second supporting rods, and the telescopic springs are fixedly installed at the top of the first supporting rods.

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