Carrying mechanical arm

Abstract

The utility model discloses a carrying mechanical arm which is characterized in that the carrying mechanical arm comprises a supporting seat, a supporting rod is arranged on the supporting seat, the top of the supporting rod is rotationally connected with a first rotating seat, and a supporting arm is hinged to the first rotating seat; the supporting arm is divided into a cargo boom located on one side of the supporting base and a balance arm located on the other side of the supporting base on the supporting rod, a suction cup is arranged at the end, away from the supporting base, of the cargo boom through a winch, and the balance device comprises a balance water tank arranged on the balance arm; the mechanical arm has the advantages that by arranging the water tank device, when the gravity centers of the two sides are unstable and the weights are not matched, the water tanks automatically adjust the weight, so that a machine body is stable, convenient to adjust, efficient and capable of being dynamically adjusted, and the safety performance of the mechanical arm is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a transporting mechanical arm. Background Art

[0002] During the production process, the company sometimes needs to move some steel plates in a small range. Smaller steel plates can be moved by workers themselves, while larger steel plates need to be lifted by a crane. Therefore, a handling robot arm is often used to move steel plates, but the imbalance of the moment of the robot arm cross arm is almost the most important problem in the technical improvement of the robot arm device. Conventionally, a fixed counterweight is used to meet the stability requirements of the whole machine, that is, a counterweight of a certain weight is installed at the tail end of the cross arm. When it is unloaded, the center of gravity tilts backward (that is, it is biased towards the side of the counterweight), and when it is fully loaded, the center of gravity tilts forward (that is, it is biased towards the side of the hoisted weight). The machine body often bears a large bending moment, which shortens the life of the machine body. It is also easy to cause the robot arm to tilt or even collapse due to excessive weight being carried and the center of gravity shifting too much. These safety hazards endanger property and personal safety. Utility Model Content

[0003] The utility model aims to solve the above technical problems and to provide a transport mechanical arm which can automatically adjust the center of gravity of both sides of the balance arm and has good body stability.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A handling robot arm comprises a support seat, a support rod is arranged on the support seat, a first rotating seat is rotatably connected to the top of the support rod, a support arm is hinged on the first rotating seat, the support arm is divided into a lifting arm located on one side of the support seat and a balancing arm located on the other side of the support seat on the support rod, a suction cup is arranged at one end of the lifting arm away from the support seat via a winch, and also comprises a balancing device, the balancing device comprises a balancing water tank arranged on the balancing arm, the balancing water tank is connected to a water tank at the bottom via a water pipe, and the water pipe is provided with a water pump.

[0006] A further preferred technical solution is that an angle sensor is provided on the first rotating seat, and the controller is connected to the angle sensor and the water pump.

[0007] A further preferred technical solution is that a slide rail is provided on the balancing arm, and the balancing water tank is slidably connected to the slide rail.

[0008] A further preferred technical solution is that a movable water tank fixing frame is provided at the lower end of the balancing water tank.

[0009] A further preferred technical solution is that the suction cup includes a main body, an upper connecting plate is welded to the upper outer surface of the main body, a fixing plate is welded to the upper outer surface of the upper connecting plate, and a fixing seat is welded to the upper outer surface of the fixing plate near the edge, a second chain is penetrated through the interior of the fixing seat, and a lower lifting ring is penetrated through the upper end of the second chain, a connecting head is fixedly connected to the upper outer surface of the lower lifting ring, and a second rotating seat is arranged at the upper end of the connecting head, the upper end of the connecting head is shaped like a three-quarter sphere, and the connecting head and the lower lifting ring are integrally formed components, an upper lifting ring is welded to the upper outer surface of the second rotating seat, and a wear-resistant sleeve is arranged between the connecting head and the second rotating seat.

[0010] A further preferred technical solution is that the number of the second chains is four, and the inclination angles of the second chains to the horizontal plane are all 60°.

[0011] Compared with the prior art, the utility model has the following beneficial effects: the utility model sets a water tank device, when the center of gravity of both sides is unstable and the weight is not matched, the water tank automatically adjusts the weight to make the machine body stable, the adjustment is convenient, efficient and can be dynamically adjusted, and the safety performance of the mechanical arm is enhanced; at the same time, the setting of the slide rail can make the device balance by sliding immediately when it loses balance, and because the length of the balance arm is limited, the weight limit of the lifting arm that can be lifted can also be increased by automatically adjusting the weight through the water tank. In addition, by setting a wear-resistant sleeve between the connecting head and the first rotating seat, the upper end of the connecting head is shaped like a three-quarter sphere. During the use of the suction cup, the connecting head can rotate when the suction cup collides with an external object, so as to avoid the second chain being entangled after the suction cup is rotated by force, thereby affecting the operation of the work, and the wear-resistant sleeve can increase the friction between the connecting head and the first rotating seat, so as to prevent the suction cup from rotating when slightly subjected to external force, so as to avoid the suction cup from rotating continuously and affecting the progress of the grasping work, thereby ensuring the stable operation of the suction cup and improving the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the utility model;

[0013] Figure 2 This is a schematic diagram of the suction cup structure of the utility model;

[0014] In the figure: 1. Support seat; 2. Support rod; 3. Support arm; 4. Lifting arm; 5. Balance arm; 6. Balance water tank; 7. First rotating seat; 8. Water pipe; 9. Water pump; 10. Angle sensor; 11. Controller; 12. Slide rail; 13. Water tank; 14. Main body; 15. Upper connecting plate; 16. Fixed plate; 17. Fixed seat; 18. Second chain; 19. Lower lifting ring; 20. Connector; 21. Second rotating seat; 22. Wear-resistant sleeve; 23. Upper lifting ring; 24. First chain; 25. Winch. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0016] Embodiment 1: Figure 1-2 As shown, a handling robot arm includes a support base 1, a support rod 2 is connected to the support base 1, a first rotating base 7 is rotatably connected to the top of the support rod 2, a support arm 3 is hinged on the first rotating base 7, and the support arm 3 is divided into a lifting arm 4 located on one side of the support base 1 and a balancing arm 5 located on the other side of the support base 1 on the support rod. The end of the lifting arm 4 away from the support base 1 is provided with a suction cup through a first chain 24 on a winch 25. In this embodiment, the suction cup is a magnetic suction cup. In some other embodiments, the suction cup can be replaced with any grasping structure, such as a hook, a mechanical claw, etc., and also includes a balancing device. The balancing device includes a balancing water tank 6 installed on the lifting arm 4, which is specifically fixedly installed at a position close to the support rod 2. The balancing water tank 6 is connected to the water tank 13 at the bottom through a water pipe 8. A water pump 9 is provided in the middle position of the water pipe 8. The water pump 9 is used to pump water in the water tank 13 into the balancing water tank 6.

[0017] A further preferred technical solution is that an angle sensor 10 is provided on the first rotating seat 7. The angle sensor here is a sensor that measures the torque at both ends of the support arm. The pointer of the sensor points to the side with greater weight. The sensor is a prior art and its structure is not limited in the utility model. The controller 11 connects the angle sensor 10 and the water pump 9.

[0018] When in use, in the initial state, that is, when the suction cup does not absorb the steel plate, the angle sensor 10 on the first rotating seat 7 senses a certain initial gravity and transmits it to the controller 11. The controller 11 controls the opening and closing of the water pump 9 according to the value of the angle sensor 10. At the same time, the balancing water tank 6 starts to slide, so that the water pump 9 pumps the water in the water tank 13 into the balancing water tank 6, so as to achieve the initial balance state of the lifting arm 4 and the balancing arm 5;

[0019] When the suction cup sucks up the steel plate, the angle sensor 10 on the first rotating seat 7 senses a certain change in initial gravity, and the sensed working gravity is transmitted to the controller 11. The controller 11 controls the opening and closing of the water pump 9 according to the numerical value of the angle sensor 10, so that the water pump 9 pumps the water in the water tank 13 into the balancing water tank 6. At the same time, the balancing water tank 6 starts to slide, so as to maintain the balance state of the lifting arm 4 and the balancing arm 5. When the balance state is maintained, the angle sensor 10 sends a signal to the controller 11, allowing it to control the water pump 9 to stop pumping water.

[0020] A further preferred technical solution is that the balancing arm 5 is provided with a slide rail 12, and the balancing water tank 6 is slidably connected to the slide rail 12, so as to make a timely response when the balance is out of balance. In addition, in some other embodiments, the balancing water tank 6 can be slidably connected to the slide rail 12 by a driving motor, and the driving motor is electrically connected to the controller 11 to control the left and right movement of the balancing water tank 6. A further preferred technical solution is that the lower ends of the lifting water tank 7 and the balancing water tank 6 have movable water tank fixing frames to prevent the water tank from shaking, and only limit the shaking of the water tank in the horizontal direction, and can slide up and down to eliminate the adverse effect of the water tank on the center of gravity adjustment.

[0021] A further preferred technical solution is that the suction cup includes a main body 14, an upper connecting plate 15 is welded to the upper outer surface of the main body 14, a fixing plate 16 is welded to the upper outer surface of the upper connecting plate 15, and a fixing seat 17 is welded to the upper outer surface of the fixing plate 16 near the edge, a second chain 18 is penetrated inside the fixing seat 17, and a lower hanging ring 19 is penetrated at the upper end of the second chain 18, a connecting head 20 is fixedly connected to the upper outer surface of the lower hanging ring 19, and a second rotating seat 21 is arranged at the upper end of the connecting head 20, the upper end of the connecting head 20 is shaped in a three-quarter spherical shape, and the connecting head 20 and the lower hanging ring 19 are integrally formed components, and the connecting head 20 of this shape can not only rotate freely in the second rotating seat 21, but also improve the connection head The connection stability between 20 and the second rotating seat 21 can prevent the connecting head 20 from falling off the second rotating seat 21. An upper lifting ring 23 is welded on the outer surface of the upper end of the second rotating seat. The upper lifting ring 23 is connected to the first chain 24. A wear-resistant sleeve 22 is arranged between the connecting head 20 and the second rotating seat 21. During the use of the suction cup, the connecting head 20 can rotate when the suction cup collides with foreign objects, so as to prevent the second chain 18 from being entangled after the suction cup is rotated by force, thereby affecting the operation of the work. The wear-resistant sleeve 22 can increase the friction between the connecting head 20 and the second rotating seat 21, thereby preventing the suction cup from rotating when slightly subjected to external force, thereby preventing the suction cup from continuously rotating and affecting the grasping work, thereby ensuring the stable operation of the suction cup and improving work efficiency. A further preferred technical solution is that the number of second chains 18 is four, and the inclination angles thereof to the horizontal plane are all 60°. The four second chains 18 can improve the stability of the main body 14 and prevent the second chains 18 from being broken due to excessive tension. The uniform inclination angles are to ensure uniform force.

[0022] The utility model provides a water tank device, when the center of gravity of both sides is unstable and the weight is not matched, the water tank automatically adjusts the weight to make the machine body stable, the adjustment is convenient, efficient and can be dynamically adjusted, and the safety performance of the mechanical arm is enhanced; at the same time, the setting of the slide rail can make the device balance by sliding immediately when it loses balance, and since the length of the balance arm is limited, the weight limit of the lifting object of the lifting arm can also be increased by automatically adjusting the weight through the water tank; in addition, by providing a wear-resistant sleeve between the connecting head and the first rotating seat, the upper end of the connecting head is in the shape of three-quarters of a sphere, and during the use of the suction cup, the connecting head can rotate when the suction cup collides with an external object, so as to avoid the second chain being entangled after the suction cup is rotated by force, thereby affecting the operation of the work, and the wear-resistant sleeve can increase the friction between the connecting head and the first rotating seat, so as to prevent the suction cup from rotating when slightly subjected to external force, so as to avoid the suction cup from rotating continuously and affecting the progress of the grasping work, thereby ensuring the stable operation of the suction cup and improving the work efficiency.

[0023] The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes within the technical scope disclosed by the present invention according to the technical solution and inventive concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A handling robot arm, characterized in that: It includes a support seat, a support rod is arranged on the support seat, a first rotating seat is rotatably connected to the top of the support rod, a support arm is hinged on the first rotating seat, the support arm is divided into a lifting arm located on one side of the support seat and a balancing arm located on the other side of the support seat on the support rod, a suction cup is arranged at one end of the lifting arm away from the support seat through a winch, and also includes a balancing device, the balancing device includes a balancing water tank arranged on the balancing arm, the balancing water tank is connected to the water tank at the bottom through a water pipe, and the water pipe is provided with a water pump.

2. A handling robot arm as claimed in claim 1, characterized in that: An angle sensor is arranged on the first rotating seat, and a controller is connected with the angle sensor and the water pump.

3. A handling robot arm as claimed in claim 1, characterized in that: The balancing arm is provided with a slide rail, and the balancing water tank is slidably connected to the slide rail.

4. A handling robot arm as claimed in claim 1, characterized in that: A movable water tank fixing frame is arranged at the lower end of the balancing water tank.

5. A handling robot arm as claimed in claim 1, characterized in that: The suction cup includes a main body, an upper connecting plate is welded to the upper outer surface of the main body, a fixing plate is welded to the upper outer surface of the upper connecting plate, and a fixing seat is welded to the upper outer surface of the fixing plate near the edge, a second chain is penetrated through the interior of the fixing seat, and a lower lifting ring is penetrated through the upper end of the second chain, a connecting head is fixedly connected to the upper outer surface of the lower lifting ring, and a second rotating seat is arranged at the upper end of the connecting head, the upper end of the connecting head is shaped like a three-quarter sphere, and the connecting head and the lower lifting ring are integrally formed components, an upper lifting ring is welded to the upper outer surface of the second rotating seat, and a wear-resistant sleeve is arranged between the connecting head and the second rotating seat.

6. A handling robot arm as claimed in claim 5, characterized in that: The number of the second chains is four, and the inclination angles of the second chains to the horizontal plane are all 60°.

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