Manipulator convenient to carry

Abstract

The invention discloses a manipulator convenient to carry, and relates to the technical field of equipment, the manipulator is composed of a manipulator main body, a rotating connecting shaft, a rotating motor, a telescopic cylinder and a connecting base; the rotating connecting shaft is of an inner shaft-outer shaft double-layer structure, a gear groove is meshed with a transmission gear to achieve a separated movement mode that the outer shaft is fixed and the inner shaft rotates, and accurate angle regulation and control are achieved in cooperation with a rotating motor. The telescopic cylinder drives the manipulator main body to vertically lift to form a three-dimensional space precise positioning capability; pointed fixed teeth are arranged in the side opening of the manipulator main body, and a rod is guided by a pointed end to automatically slide into the bottom end between the teeth to form mechanical locking, so that falling during carrying is prevented; the number of the fixed teeth and the width of the manipulator can be adjusted to adapt to airing rod arrays with different specifications of phi 10mm-phi 50mm; the cooperation of the rotating motor and the telescopic air cylinder is achieved, the full-process operation of inserting, lifting, carrying, angle adjusting, placing and resetting is completed, and the carrying efficiency and universality are improved.

Description

Technical Field

[0001] This invention relates to the field of equipment and machinery technology, and specifically to a robotic arm that facilitates handling. Background Technology

[0002] Currently, industrial handling robots often face problems such as insufficient three-dimensional spatial positioning accuracy, easy detachment during handling, and limited compatibility with specific specifications when processing slender rods such as drying racks. Traditional robots mostly adopt single-axis rotation or fixed-angle designs, making it difficult to achieve precise angle control and coordinated vertical lifting of the rods during handling, which can easily lead to deviations during placement. At the same time, the fixing methods between the rods and the robot often rely on friction or simple latches, which are prone to slipping and detachment under movement, vibration, or heavy load scenarios, affecting operational stability and safety.

[0003] To address the aforementioned issues, this invention proposes a robotic arm with a double-layer rotating connecting shaft structure. Through a separate motion mode of the inner and outer shafts, combined with the meshing of gear slots and transmission gears, it achieves precise angle control of the outer shaft's fixation and the inner shaft's rotation. This, coupled with the vertical lifting capability of a telescopic cylinder, forms a precise positioning and coordinated motion capability within three-dimensional space. Furthermore, the robotic arm employs a pointed fixing tooth design, using the pointed tip to guide the drying rod to automatically slide into the bottom of the teeth, forming a mechanical lock, effectively preventing slippage and detachment during handling. Simultaneously, the adjustable width of the robotic arm and the number of fixing teeth allow it to adapt to different specifications of drying rod arrays, improving the equipment's versatility. Summary of the Invention

[0004] The main objective of this invention is to provide a robotic arm that facilitates material handling and can effectively solve the problems in the prior art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: On the one hand, the present invention provides a convenient handling robot, including a robot body, a rotating connecting shaft, a rotating motor, and a telescopic cylinder, characterized in that: a rotating connecting shaft is provided at the upper end of the robot body, a telescopic cylinder is provided at the upper end of the rotating connecting shaft, a rotating motor is provided next to the telescopic cylinder, and a connecting base is provided at the upper end of the telescopic cylinder; The rotating connecting shaft includes an inner shaft, a gear groove, and an outer shaft. The gear groove is provided on the outer side of the upper end face of the inner shaft, and the outer shaft is provided outside the inner shaft. The lower end face of the outer shaft is connected to the robot body, and the upper end face of the outer shaft is connected to a fixed rotating motor. The telescopic arm of the telescopic cylinder is connected in the inner shaft.

[0006] Preferably, the robot arm body has an opening on its side, and a fixing tooth is provided at the lower end of the opening inside the robot arm body.

[0007] Preferably, the front end of the rotating motor meshes with a gear slot via a transmission gear, and the rotation of the rotating motor causes relative movement between the outer shaft and the inner shaft through the movement of the transmission gear and the gear slot.

[0008] Preferably, the rotary motor is connected to an external control system via an electrical wire, and the telescopic cylinder is externally controlled to extend and retract.

[0009] Preferably, a connecting column is provided between the outer shaft and the main body of the robot.

[0010] Preferably, the connecting base is provided with connecting threaded holes at its four corners, and the connecting base is connected to an external movable structure through the connecting threaded holes.

[0011] On the other hand, the present invention provides a working process for a robotic arm, characterized by including the following steps: S1: The gap between the drying rods of the persimmon strips is inserted into the missing part of the main body of the robotic arm, and the pointed structure of the fixed teeth makes each drying rod slide into the bottom of the pointed structure. S2: The telescopic cylinder causes the telescopic column to retract, which in turn lifts the main body of the robotic arm and the drying pole of the dried persimmon strips upward; S3: The external moving structure brings the robot arm body to the designated position; S4: Power is supplied to the rotating motor according to the placement instructions. The rotating motor rotates through the meshing of the transmission gear and gear slot, which changes the angle of the robot body. When the angle of the robot body meets the standard, power supply to the rotating motor is stopped. S5: After the main body of the robotic arm moves the drying pole of the dried persimmon strips to the designated position, the telescopic cylinder extends the telescopic column to make the drying pole of the dried persimmon strips lock into the designated position. At this time, the main body of the robotic arm and the drying pole of the dried persimmon strips are not in contact. S6: After the robotic arm completes the above-mentioned movement, it moves out of the placement position and moves to the drying pole of the next batch of dried persimmon strips to be transported, repeating the above process.

[0012] Preferably, the width of the robotic arm body and the number of fixed teeth can be adjusted as needed.

[0013] Preferably, the rotary motor and telescopic cylinder can be equipped with PID control programs and components to achieve automated control.

[0014] Compared with the prior art, the present invention has the following beneficial effects. This invention features a rotating connecting shaft with a double-layered inner and outer shaft structure. The meshing of gear slots and transmission gears enables a separate motion mode where the outer shaft is fixed and the inner shaft rotates. A rotating motor allows for precise angle control, which, combined with the vertical lifting motion of a telescopic cylinder, creates precise positioning capabilities in three-dimensional space, meeting the angle adjustment and precise placement requirements of the drying racks during transport. The fixing teeth of this invention employ a pointed structure design. When inserted into the gaps between the drying racks, the pointed tip guides the rack to automatically slide into the bottom of the teeth and forms a mechanical lock, effectively preventing slippage and detachment during transport. The adjustable number of fixing teeth and the width of the robotic arm allow for adaptation to different sizes of drying rack arrays, improving the equipment's versatility. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall internal structure of the present invention; Figure 2 This is an enlarged schematic diagram of part A of the present invention; Figure 3 This is an enlarged schematic diagram of part B of the present invention; In the diagram: 1. Main body of the robotic arm; 2. Fixed gear; 3. Reinforcing beam; 4. Rotating connecting shaft; 5. Rotating motor; 6. Telescopic cylinder; 7. Connecting base; 8. Connecting column; 9. Transmission gear; 10. Connecting threaded hole; 401. Inner shaft; 402. Gear groove; 403. Outer shaft. Detailed Implementation

[0016] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0017] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] Please see Figure 1-3 The present invention provides a technical solution: The present invention provides a convenient handling robot, comprising a robot body 1, a rotating connecting shaft 4, a rotating motor 5, and a telescopic cylinder 6, characterized in that: the rotating connecting shaft 4 is provided at the upper end of the robot body 1, the telescopic cylinder 6 is provided at the upper end of the rotating connecting shaft 4, the rotating motor 5 is provided next to the telescopic cylinder 6, and the connecting base 7 is provided at the upper end of the telescopic cylinder 6; The rotating connecting shaft 4 includes an inner shaft 401, a gear groove 402, and an outer shaft 403. The gear groove 402 is provided on the outer side of the upper end face of the inner shaft 401, and the outer shaft 403 is provided outside the inner shaft 401. The lower end face of the outer shaft 403 is connected to the robot body 1, and the upper end face of the outer shaft 403 is connected to the fixed rotating motor 5. The telescopic arm of the telescopic cylinder 6 is connected in the inner shaft 401.

[0020] In this embodiment, the robot body 1 has an opening on its side, and a fixing tooth 2 is provided at the lower end of the opening inside the robot body 1.

[0021] In this embodiment, the front end of the rotating motor 5 meshes with the gear groove 402 through the transmission gear 9, and the rotation of the rotating motor 5 causes the outer shaft 403 and the inner shaft 401 to move relative to each other through the movement of the transmission gear 9 and the gear groove 402.

[0022] In this embodiment, the rotating motor 5 is connected to an external control system via a wire, and the telescopic cylinder 6 is externally controlled to extend and retract.

[0023] In this embodiment, a connecting post 8 is provided between the outer shaft 403 and the robot body 1.

[0024] In this embodiment, the connecting base 7 is provided with connecting threaded holes 10 at its four corners, and the connecting base 7 is connected to an external movable structure through the connecting threaded holes 10.

[0025] On the other hand, the present invention provides a working process for a robotic arm, characterized by including the following steps: S1: The gap of the main body 1 of the robotic arm is inserted into the gap between the drying rods of the persimmon strips, and the pointed structure of the fixed teeth 2 makes each drying rod slide into the bottom of the pointed structure. S2: The telescopic cylinder 6 causes the telescopic column to retract, which in turn lifts the main body of the robotic arm 1 and the drying pole of the dried persimmon strips upward; S3: The external moving structure brings the robot arm body 1 to the designated position; S4: Power is supplied to the rotating motor 5 according to the placement of the position. The rotating motor 5 rotates through the meshing of the transmission gear 9 and the gear groove 402 to change the angle of the robot body 1. When the angle of the robot body 1 meets the standard, the power supply to the rotating motor 5 is stopped. S5: After the robotic arm body 1 moves the drying rod of the dried persimmon strips to the designated position, the telescopic cylinder 6 extends the telescopic column to make the drying rod of the dried persimmon strips lock into the designated position. At this time, the robotic arm body 1 and the drying rod of the dried persimmon strips are not in contact. S6: After the robotic arm body 1 completes the above movement, it moves out of the placement position and moves to the drying pole of the next batch of dried persimmon strips to be transported, repeating the above process.

[0026] In this embodiment, the width of the robotic arm body 1 and the number of fixed teeth 2 can be adjusted as needed.

[0027] In this embodiment, the rotary motor 5 and the telescopic cylinder 6 can be equipped with PID control programs and components to achieve automated control.

[0028] The specific implementation process of this invention is as follows: The specific operation and usage process and component collaboration logic of this invention are as follows: Robotic Arm Main Body 1: Serving as the carrier for directly gripping the drying racks, its side opening design accommodates the gaps in the drying rack array. The internal fixing teeth 2 employ a pointed structure, utilizing gravity guidance to automatically slide the drying racks into the bottom of the teeth, forming a mechanical lock to prevent slippage during handling. Its adjustable width adapts to different rack sizes.

[0029] Rotary connecting shaft 4: It adopts a double-layer structure of inner shaft 401-outer shaft 403. The inner shaft 401 meshes with the transmission gear 9 of the rotating motor 5 through the upper gear groove 402. The outer shaft 403 is fixedly connected to the robot body 1, forming a "fixed outer shaft - rotating inner shaft" separation motion mode, realizing precise angle control of the robot body 1.

[0030] Rotating motor 5: Drives the inner shaft 401 to rotate through the transmission gear 9, which can be used in conjunction with the PID control system to achieve precise angle control and meet the angle adjustment requirements when placing the drying rack.

[0031] Telescopic cylinder 6: Drives the robot body 1 to rise and fall vertically through the telescopic arm, and works in conjunction with the rotating motor 5 to form a three-dimensional spatial motion capability, realizing a complete action chain of "lifting-carrying-placing".

[0032] Connection base 7: Connects to an external moving structure (such as an AGV trolley) through four corner threaded holes 10, serving as an interface unit between the robot and the external system.

[0033] Collaborative workflow: Insertion and positioning stage (S1): The main body 1 of the robot arm is inserted into the gap of the drying rod through the opening. The tip of the fixing tooth 2 guides the drying rod to slide into the bottom of the tooth to form a mechanical lock, ensuring that the position of the drying rod is fixed before transportation.

[0034] Vertical lifting stage (S2): The telescopic cylinder 6 retracts, driving the robot arm body 1 and the drying rod to rise as a whole. The outer shaft 403 is rigidly connected to the robot arm body 1 through the connecting column 8, ensuring the stability of vertical movement.

[0035] Horizontal transport stage (S3): The external moving structure transports the robotic arm system to the target area through the connecting base 7. During this stage, the rotating motor 5 is locked to keep the angle of the robotic arm body 1 fixed.

[0036] Angle adjustment stage (S4): After reaching the target position, the rotating motor 5 drives the inner shaft 401 to rotate through the transmission gear 9, while the outer shaft 403 remains fixed, thereby achieving precise angle adjustment of the robot body 1 to meet specific placement angle requirements.

[0037] Precision placement stage (S5): The telescopic cylinder 6 extends to lower the robotic arm body 1. After the drying rod is inserted into the target position, the tip of the fixing tooth 2 automatically unlocks, and the robotic arm body 1 is completely separated from the drying rod, ensuring contactless placement.

[0038] Reset cycle phase (S6): The robot body 1 exits the placement position, returns to the starting point through the moving structure, and repeats the above process to achieve batch handling.

[0039] Collaborative control logic: The rotary motor 5 and the telescopic cylinder 6 achieve collaboration through a PID control system: During vertical movement, the telescopic cylinder 6 adjusts its height, and the rotary motor 5 pre-adjusts its angle based on the position information; the telescopic cylinder 6 adjusts its lifting speed based on the angle information, forming a closed-loop control. The adjustable characteristics of the number of fixed teeth 2 and the width of the robot body 1 enable rapid model changeover through modular design, adapting to drying rack arrays of various diameters.

[0040] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for convenient handling, comprising a robotic arm body (1), a rotating connecting shaft (4), a rotating motor (5), and a telescopic cylinder (6), characterized in that: The upper end of the main body (1) of the robotic arm is provided with a rotating connecting shaft (4), the upper end of the rotating connecting shaft (4) is provided with a telescopic cylinder (6), the side of the telescopic cylinder (6) is provided with a rotating motor (5), and the upper end of the telescopic cylinder (6) is provided with a connecting base (7). The rotating connecting shaft (4) includes an inner shaft (401), a gear groove (402) and an outer shaft (403). The gear groove (402) is provided on the outer side of the upper end face of the inner shaft (401). The outer shaft (403) is provided outside the inner shaft (401). The lower end face of the outer shaft (403) is connected to the robot body (1). The upper end face of the outer shaft (403) is connected to the fixed rotating motor (5). The telescopic arm of the telescopic cylinder (6) is connected in the inner shaft (401).

2. The robotic arm for convenient handling according to claim 1, characterized in that: The robot body (1) has an opening on its side, and a fixing tooth (2) is provided at the lower end of the opening inside the robot body (1).

3. The robotic arm for convenient handling according to claim 1, characterized in that; The front end of the rotating motor (5) meshes with the gear groove (402) through the transmission gear (9). The rotation of the rotating motor (5) causes the outer shaft (403) and the inner shaft (401) to move relative to each other through the movement of the transmission gear (9) and the gear groove (402).

4. The robotic arm for convenient handling according to claim 1, characterized in that: The rotating motor (5) is connected to an external control system via a wire, and the telescopic cylinder (6) is externally controlled to extend and retract.

5. A robotic arm for convenient handling according to claim 1, characterized in that: A connecting column (8) is provided between the outer shaft (403) and the robot body (1).

6. The robotic arm for convenient handling according to claim 1, characterized in that: The connecting base (7) has connecting threaded holes (10) at its four corners, and the connecting base (7) is connected to an external movable structure through the connecting threaded holes (10).

7. The working process of the robotic arm according to any one of claims 1-6, characterized in that: Specifically, the following steps are included: S1: The gap between the drying rods of the persimmon strips is inserted into the gap of the main body (1) of the robot arm, and the pointed structure of the fixed teeth (2) makes each drying rod slide into the bottom of the pointed structure. S2: The telescopic cylinder (6) causes the telescopic column to retract, which in turn lifts the main body of the robot (1) and the drying rod of the persimmon strips upward; S3: The external moving structure brings the robot body (1) to the designated position; S4: Power is supplied to the rotating motor (5) according to the placement of the position. The rotating motor (5) rotates through the meshing of the transmission gear (9) and the gear groove (402) to change the angle of the robot body (1). When the angle of the robot body (1) meets the standard, power is supplied to the rotating motor (5) again. S5: After the main body (1) of the robot arm moves to the designated position with the drying rod of the dried persimmon strips, the telescopic cylinder (6) extends the telescopic column to make the drying rod of the dried persimmon strips lock into the designated position. At this time, the main body (1) of the robot arm and the drying rod of the dried persimmon strips are not in contact. S6: After the robotic arm body (1) completes the above movement, it moves out of the placement position and moves to the drying pole of the next batch of dried persimmon strips to be transported, repeating the above process.

8. The working process of the robotic arm according to claim 7, characterized in that: The width of the main body (1) of the robotic arm and the number of fixed teeth (2) can be adjusted as needed.

9. The working process of the robotic arm according to claim 7, characterized in that: The rotating motor (5) and the telescopic cylinder (6) can be equipped with PID control programs and components to achieve automated control.

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