A ring-shaped arm with auxiliary anode

Abstract

The utility model relates to the field of mechanical arm technology, specifically a ring-shaped arm with an auxiliary anode. The utility model is a ring-shaped arm with an auxiliary anode, including an arm assembly and a grab assembly, wherein the arm assembly includes a mounting plate, a main motor, a driving rod, a pull rod and a connecting plate; the grab assembly includes a sleeve, a support plate, a connecting rod, a suction cup and a suction cup fixing plate. The utility model increases the position of the grab assembly by adding an arm assembly to adjust the position of the grab assembly. When the position needs to be adjusted, the power supply of the main motor is turned on. The main motor will drive the driving rod to rotate on the basis of the connection of the mounting plate, and then pull the pull rod to move, so that the connecting plate installed at the end of the pull rod is displaced as the pull rod moves, and the position of the grab assembly installed at the bottom is adjusted. The mounting plate is used to dock with the control device for installation, and the grab assembly is used to cooperate in grabbing the target object, which is convenient for adjusting the angle of the suction cup component installed at the lower end to adapt to the objects that need to be grabbed.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a ring-shaped arm with an auxiliary anode. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields. The robotic arm is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade and form the terminal posture.

[0003] For collaborative robots, sometimes they need to complete more complex movements, such as oblique movement and curved movement. The robot arm structure designed as a single-sided support will cause unbalanced force, and the stability and accuracy will also be worse, resulting in average flexibility.

[0004] Therefore, those skilled in the art provide a ring-shaped arm with an auxiliary anode to solve the problems raised in the above background technology. Utility Model Content

[0005] The technical problem to be solved by the utility model is that the force imbalance between the commonly used electric joint components and the joint connecting arms in the prior art leads to poor stability and accuracy of the robotic arm, and leads to the disadvantage of general flexibility. For this reason, we propose a ring arm with an auxiliary anode.

[0006] The technical solution adopted by the utility model to solve the technical problem is: a ring-shaped arm with an auxiliary anode, including an arm assembly and a grab assembly, the arm assembly including a mounting plate, a main motor, a driving rod, a pull rod and a connecting plate, the main motor is connected to the side wall of the mounting plate by bolts, the driving rod is fixedly installed at the main shaft end of the main motor, one end of the pull rod is hinged to the end of the driving rod, and the other end of the pull rod is hinged to the side wall of the connecting plate by a hinge;

[0007] The grabbing assembly includes a sleeve, a support plate, a connecting rod, a suction cup and a suction cup fixing plate. The upper end of the sleeve is rotatably connected to the middle position of the bottom of the connecting plate through a bearing, the support plate is fixedly connected to the bottom of the sleeve, the connecting rod is movably inserted in the middle of the sleeve, and a through hole structure matching the connecting rod is opened in the middle of the support plate. The suction cup fixing plate is fixedly installed at the bottom of the connecting rod, and the suction cups are installed on the side wall of the suction cup fixing plate at equal intervals.

[0008] The effects achieved by the above components are: adding an arm assembly consisting of a mounting plate, a main motor, a driving rod, a pull rod and a connecting plate to adjust the position of the grabbing assembly. When the position needs to be adjusted, the power of the main motor is turned on. The main motor will drive the driving rod to rotate on the basis of the connection of the mounting plate, and then pull the pull rod to move, so that the connecting plate installed at the end of the pull rod is displaced as the pull rod moves, and the position of the grabbing assembly installed at the bottom is adjusted. The mounting plate is used for docking and installation with the control device. The grabbing assembly composed of a sleeve, a support plate, a connecting rod, a suction cup and a suction cup fixing plate is used to cooperate in grabbing the target object. The sleeve is installed in the middle of the connecting plate through a bearing and can rotate in the middle of the connecting plate to facilitate adjustment of the angle of the suction cup component installed at the lower end to adapt to the objects that need to be grabbed. The middle of the sleeve is connected to the suction cup fixing plate through a connecting rod, and the extension length of the connecting rod can be fine-tuned along the sleeve, and then the extension distance of the suction cup fixing plate is fine-tuned, so that the suction cup assembly has a certain buffer space, which can better adsorb on the surface of the object to ensure that the object can be stably grabbed.

[0009] Preferably, a magnet is connected to the center of the bottom of the suction cup fixing plate by bolts, the anode of the magnet faces downward, the magnet is located in the middle of the suction cup, and the lower end surface of the magnet is higher than the lower end surface of the suction cup.

[0010] The effect achieved by the above components is: a magnet is installed at the center of the bottom of the suction cup fixing plate to facilitate the adsorption of metal objects and improve the grasping efficiency. The anode and cathode surfaces of the magnet can be switched conveniently. Matching magnet components can also be added to the surface of the metal object to further increase the adsorption and grasping capabilities and prevent the object from falling during the grasping process.

[0011] Preferably, a spring column is connected to one side of the middle of the support plate by bolts, and the lower end of the spring column is in contact with the upper end surface of the suction cup fixing plate.

[0012] The effect achieved by the above components is: a spring column is installed in the middle of the support plate to connect with the suction cup fixing plate. The spring column can provide downward elastic force to the suction cup fixing plate based on the connection of the support plate, maintain the suction cup fixing plate and the connecting rod to extend from the bottom of the sleeve, and facilitate docking with the object. When in contact with the object, the object will feed back a certain reverse thrust to the suction cup fixing plate, which will compress the spring column, reduce the impact of the thrust on the suction cup assembly, ensure the safe operation of the suction cup assembly, and stably absorb the object.

[0013] Preferably, the side wall of the support plate is threadedly connected with a positioning column, and the end of the positioning column is inserted into the middle of the groove of the side wall of the suction cup fixing plate.

[0014] The effect achieved by the above components is: adding a positioning column in the middle of the support plate to cooperate with the suction cup fixing plate. The positioning column can limit the suction cup fixing plate, maintaining that the suction cup fixing plate can only move up and down along the positioning column and cannot rotate, thereby ensuring the stability of the relative position of the suction cup and facilitating the docking of the suction cup component with the object to be grasped.

[0015] Preferably, an auxiliary motor is fixedly installed in the middle position of the mounting plate, the main shaft of the auxiliary motor passes through the side wall of the mounting plate, and the main shaft end of the auxiliary motor is connected to a main shaft rod through a universal joint.

[0016] The effect achieved by the above components is: an auxiliary motor is installed in the middle of the mounting plate, and a main shaft rod is installed at the bottom of the auxiliary motor to cooperate with the connection with the grabbing assembly below, drive the auxiliary motor to rotate, and can drive the grabbing assembly to rotate through the main shaft rod, adjust the angle of the grabbing assembly, and adapt to grabbing operations in different directions.

[0017] Preferably, a sliding member is movably installed in the middle of the main shaft rod, a secondary shaft rod is threadedly connected to the lower end of the sliding member, and the lower end of the secondary shaft rod is connected to the sleeve through a universal joint.

[0018] The effect achieved by the above components is: a secondary shaft rod with a sliding part is installed in the middle of the main shaft rod, and the other end of the secondary shaft rod is connected to the lower end component. The main shaft rod can move along the sliding part to adjust the combined length of the secondary shaft rod and the main shaft rod, change the total length of the annular arm, and adapt to different usage requirements.

[0019] Preferably, a connecting piece is slidably mounted on the side wall of the secondary shaft, and the side wall of the connecting piece is fixedly connected to the end of the main shaft by bolts.

[0020] The effect achieved by the above components is: the connecting piece is installed on the side wall of the secondary shaft rod to connect with the main shaft rod, and the main shaft rod can cooperate with the secondary connecting piece to limit the secondary shaft rod, maintain the secondary shaft rod sliding in the middle of the connecting piece, and prevent the secondary shaft rod from loosening from the middle of the connecting piece.

[0021] The beneficial effects of the utility model are:

[0022] In the utility model, multiple main motor components run synchronously, which can maintain better stability and ensure the accuracy of the moving angle. At the same time, the sleeve is installed in the middle of the connecting plate through a bearing and can rotate in the middle of the connecting plate to facilitate the adjustment of the angle of the suction cup component installed at the lower end to adapt to the items that need to be grasped. The middle of the sleeve is connected to the suction cup fixing plate through a connecting rod. The extended length of the connecting rod can be fine-tuned along the sleeve, and then the extended distance of the suction cup fixing plate can be fine-tuned, so that the suction cup assembly has a certain buffer space, which can better adsorb on the surface of the object, ensuring that the object can be stably grasped, and an auxiliary motor is installed in the middle of the mounting plate, and an auxiliary motor is installed at the bottom of the auxiliary motor. The main shaft rod is used to cooperate with the connection with the grabbing assembly below to drive the auxiliary motor to rotate. The grabbing assembly can be driven to rotate through the main shaft rod to adjust the angle of the grabbing assembly to adapt to grabbing operations in different directions. A secondary shaft rod with a sliding part is installed in the middle of the main shaft rod, and the other end of the secondary shaft rod is connected to the lower end component. The main shaft rod can move along the sliding part to adjust the combined length of the secondary shaft rod and the main shaft rod, and change the total length of the annular arm to adapt to different usage requirements. A connecting piece is installed on the side wall of the secondary shaft rod to connect with the main shaft rod. The main shaft rod can cooperate with the secondary connecting piece to limit the secondary shaft rod, maintain the secondary shaft rod sliding in the middle of the connecting piece, and prevent the secondary shaft rod from loosening from the middle of the connecting piece. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is one of the three-dimensional structural schematic diagrams of the utility model;

[0024] Figure 2 This is the second schematic diagram of the three-dimensional structure of the utility model;

[0025] Figure 3 This is the third schematic diagram of the three-dimensional structure of the utility model;

[0026] Figure 4 It is a side structural schematic diagram of the utility model;

[0027] Figure 5 This is a schematic diagram of the structure of the utility model when viewed from above;

[0028] Figure 6 It is a schematic diagram of the top structure of the utility model.

[0029] Legend: 100, arm assembly; 101, mounting plate; 102, main motor; 103, drive rod; 104, pull rod; 105, connecting plate; 106, auxiliary motor; 107, main shaft rod; 108, sliding member; 109, secondary shaft rod; 110, connecting member; 200, grabbing assembly; 201, sleeve; 202, support plate; 203, connecting rod; 204, suction cup; 205, suction cup fixing plate; 206, magnet; 207, spring column; 208, positioning column. DETAILED DESCRIPTION

[0030] The present invention will now be further described in detail in conjunction with the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0031] Reference Figure 1-6 As shown, the utility model provides a technical solution: a ring-shaped arm with an auxiliary anode, including an arm assembly 100 and a grab assembly 200, the arm assembly 100 includes a mounting plate 101, a main motor 102, a driving rod 103, a pull rod 104 and a connecting plate 105, the main motor 102 is connected to the side wall of the mounting plate 101 by bolts, the driving rod 103 is fixedly installed at the main shaft end of the main motor 102, one end of the pull rod 104 is hinged to the end of the driving rod 103, and the other end of the pull rod 104 is hinged to the side wall of the connecting plate 105 by a hinge;

[0032] The grabbing assembly 200 includes a sleeve 201, a support plate 202, a connecting rod 203, a suction cup 204 and a suction cup fixing plate 205. The upper end of the sleeve 201 is rotatably connected to the middle position of the bottom of the connecting plate 105 through a bearing, the support plate 202 is fixedly connected to the bottom of the sleeve 201, the connecting rod 203 is movably inserted in the middle of the sleeve 201, and a through-hole structure matching the connecting rod 203 is opened in the middle of the support plate 202. The suction cup fixing plate 205 is fixedly installed at the bottom of the connecting rod 203, and the suction cups 204 are installed on the side wall of the suction cup fixing plate 205 at equal intervals. The arm assembly 100 composed of the mounting plate 101, the main motor 102, the driving rod 103, the pull rod 104 and the connecting plate 105 is added to adjust the position of the grabbing assembly 200. When the position needs to be adjusted, the power of the main motor 102 is turned on. The main motor 102 will drive the driving rod 103 to rotate on the basis of the connection with the mounting plate 101, and then pull the pull rod 104 to move. The connecting plate 105 installed at the end of the pull rod 104 is displaced as the pull rod 104 moves, thereby adjusting the position of the grabbing assembly 200 installed at the bottom. The mounting plate 101 is used for docking and installation with the control device. The grabbing assembly 200 composed of the sleeve 201, the support plate 202, the connecting rod 203, the suction cup 204 and the suction cup fixing plate 205 is used to cooperate in grabbing the target object. The sleeve 201 is installed in the middle of the connecting plate 105 through a bearing and can rotate in the middle of the connecting plate 105 to facilitate adjustment of the angle of the suction cup 204 component installed at the lower end to adapt to the objects to be grabbed. The middle of the sleeve 201 is connected to the suction cup fixing plate 205 through the connecting rod 203. The extension length of the connecting rod 203 can be fine-tuned along the sleeve 201, and then the extension distance of the suction cup fixing plate 205 can be fine-tuned, so that the suction cup 204 assembly has a certain buffer space, can be better adsorbed on the surface of the object, and ensure that the object can be stably grabbed.

[0033] Reference Figure 1-6As shown, in this implementation scheme: a magnet 206 is connected to the bottom center of the suction cup fixing plate 205 by bolts, the anode of the magnet 206 faces downward, the magnet 206 is located in the middle of the suction cup 204, and the lower end surface of the magnet 206 is higher than the lower end surface of the suction cup 204. The magnet 206 is installed at the bottom center of the suction cup fixing plate 205, which is convenient for adsorbing metal objects and improving the grasping efficiency. The anode and cathode surfaces of the magnet 206 are convenient to switch, and matching magnet 206 components can also be added to the surface of the metal object to further increase the adsorption and grasping capabilities and prevent the object from falling during the grasping process.

[0034] Reference Figure 1-6 As shown, in the present embodiment: a spring column 207 is connected to one side of the middle of the support plate 202 by bolts, the lower end of the spring column 207 contacts the upper end surface of the suction cup fixing plate 205, and the spring column 207 is installed in the middle of the support plate 205 to connect with the suction cup fixing plate 205. The spring column 207 can provide a downward elastic force to the suction cup fixing plate 205 on the basis of the connection of the support plate 205, so as to maintain the suction cup fixing plate 205 to cooperate with the connecting rod 203 and extend from the bottom of the sleeve 201, so as to facilitate the connection with the object, and when contacting with the object, the object will feed back a certain reverse thrust to the suction cup fixing plate 205, and at this time, the spring column 207 will be compressed to reduce the influence of the thrust on the suction cup 204 assembly, thereby ensuring the safe operation of the suction cup 204 assembly and the stable absorption of objects.

[0035] Reference Figure 1-6 As shown, in the present embodiment: the side wall of the support plate 202 is threadedly connected with a positioning column 208, the end of the positioning column 208 is inserted in the middle of the groove on the side wall of the suction cup fixing plate 205, and the positioning column 208 is added in the middle of the support plate 202 to cooperate with the suction cup fixing plate 205. The positioning column 208 can limit the suction cup fixing plate 205, and maintain that the suction cup fixing plate 205 can only move up and down along the positioning column 208 and cannot rotate, thereby ensuring the stability of the relative position of the suction cup 204 and facilitating the docking of the suction cup 204 component with the object to be grasped.

[0036] Reference Figure 1-6 As shown, in the present embodiment: an auxiliary motor 106 is fixedly installed in the middle position of the mounting plate 101, the main shaft of the auxiliary motor 106 passes through the side wall of the mounting plate 101, and the main shaft end of the auxiliary motor 106 is connected to a main shaft rod 107 through a universal joint, the auxiliary motor 106 is installed in the middle of the mounting plate 101, and the main shaft rod 107 is installed at the bottom of the auxiliary motor 106, which is used to cooperate with the connection with the grasping assembly 200 below to drive the auxiliary motor 106 to rotate, and can drive the grasping assembly 200 to rotate through the main shaft rod 107, adjust the angle of the grasping assembly 200, and adapt to grasping operations in different directions.

[0037] Reference Figure 1-6As shown, in this embodiment: a sliding member 108 is movably installed in the middle of the main shaft rod 107, and a secondary shaft rod 109 is threadedly connected to the lower end of the sliding member 108. The lower end of the secondary shaft rod 109 is connected to the sleeve 201 through a universal joint. The secondary shaft rod 109 with the sliding member 108 is installed in the middle of the main shaft rod 107, and the other end of the secondary shaft rod 109 is connected to the lower end part. The main shaft rod 107 can move along the sliding member 108, adjust the combined length of the secondary shaft rod 109 and the main shaft rod 107, and change the total length of the annular arm to meet different usage requirements.

[0038] Reference Figure 4 As shown, in this embodiment: a connecting piece 110 is slidably installed on the side wall of the secondary shaft rod 109, and the side wall of the connecting piece 110 is fixedly connected to the end of the main shaft rod 107 by bolts. The connecting piece 110 is installed on the side wall of the secondary shaft rod 109 to dock with the main shaft rod 107. The main shaft rod 107 can cooperate with the secondary connecting piece 110 to limit the secondary shaft rod 109, maintain the secondary shaft rod 109 sliding in the middle of the connecting piece 110, and prevent the secondary shaft rod 109 from loosening from the middle of the connecting piece 110.

[0039] Working principle: adding an arm assembly 100 consisting of a mounting plate 101, a main motor 102, a driving rod 103, a pull rod 104 and a connecting plate 105 is used to adjust the position of the grab assembly 200. When the position needs to be adjusted, the power of the main motor 102 is turned on, and the main motor 102 will drive the driving rod 103 to rotate on the basis of the connection of the mounting plate 101, and then pull the pull rod 104 to move, so that the connecting plate 105 installed at the end of the pull rod 104 moves with the movement of the pull rod 104, and the position of the grab assembly 200 installed at the bottom is adjusted. The mounting plate 101 is used The grabbing assembly 200 composed of a sleeve 201, a support plate 202, a connecting rod 203, a suction cup 204 and a suction cup fixing plate 205 is used to grab the target object. The sleeve 201 is installed in the middle of the connecting plate 105 through a bearing and can rotate in the middle of the connecting plate 105 to facilitate the adjustment of the angle of the suction cup 204 installed at the lower end to adapt to the objects to be grabbed. The sleeve 201 is connected to the suction cup fixing plate 205 through a connecting rod 203 in the middle. The extension length of the connecting rod 203 can be fine-tuned along the sleeve 201, thereby adjusting the suction cup. The extension distance of the fixing plate 205 is fine-tuned so that the suction cup 204 assembly has a certain buffer space, which can better adsorb on the surface of the object and ensure that the object can be stably grasped. The auxiliary motor 106 is installed in the middle of the mounting plate 101, and the main shaft rod 107 is installed at the bottom of the auxiliary motor 106 to cooperate with the grasping assembly 200 below to drive the auxiliary motor 106 to rotate. The grasping assembly 200 can be driven to rotate through the main shaft rod 107 to adjust the angle of the grasping assembly 200 to adapt to grasping operations in different directions. A sliding member with a sliding member is installed in the middle of the main shaft rod 107. The secondary shaft rod 109 of the movable part 108, the other end of the secondary shaft rod 109 is connected to the lower end part, the main shaft rod 107 can move along the sliding part 108, adjust the combined length of the secondary shaft rod 109 and the main shaft rod 107, change the total length of the annular arm to adapt to different usage requirements, install the connecting part 110 on the side wall of the secondary shaft rod 109 to connect with the main shaft rod 107, the main shaft rod 107 can cooperate with the secondary connecting part 110 to limit the secondary shaft rod 109, maintain the secondary shaft rod 109 sliding in the middle of the connecting part 110, and prevent the secondary shaft rod 109 from loosening from the middle of the connecting part 110.

[0040] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it 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 it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood by specific circumstances;

[0041] The above description only describes the specific implementation methods of the utility model. Various examples do not limit the essential content of the utility model. Ordinary technicians in the relevant technical field can modify or deform the specific implementation methods described above after reading the description without departing from the essence and scope of the utility model.

Claims

1. A ring-shaped arm with an auxiliary anode, comprising an arm assembly (100) and a gripping assembly (200), characterized in that: The arm assembly (100) comprises a mounting plate (101), a main motor (102), a driving rod (103), a pull rod (104) and a connecting plate (105); the main motor (102) is connected to the side wall of the mounting plate (101) by bolts; the driving rod (103) is fixedly mounted on the main shaft end of the main motor (102); one end of the pull rod (104) is hinged to the end of the driving rod (103); and the other end of the pull rod (104) is hinged to the side wall of the connecting plate (105) by a hinge; The grabbing assembly (200) comprises a sleeve (201), a support plate (202), a connecting rod (203), a suction cup (204) and a suction cup fixing plate (205); the upper end of the sleeve (201) is rotatably connected to the middle position of the bottom of the connecting plate (105) through a bearing; the support plate (202) is fixedly connected to the bottom of the sleeve (201); the connecting rod (203) is movably inserted in the middle of the sleeve (201); a through hole structure matching the connecting rod (203) is provided in the middle of the support plate (202); the suction cup fixing plate (205) is fixedly installed at the bottom of the connecting rod (203); and the suction cups (204) are installed at equal intervals on the side wall of the suction cup fixing plate (205).

2. A ring-shaped arm with auxiliary anode according to claim 1, characterized in that: A magnet (206) is connected to the center of the bottom of the suction cup fixing plate (205) by bolts, the anode of the magnet (206) faces downward, the magnet (206) is located in the middle of the suction cup (204), and the lower end surface of the magnet (206) is higher than the lower end surface of the suction cup (204).

3. The annular arm with auxiliary anode according to claim 1, characterized in that: A spring column (207) is connected to one side of the middle of the support plate (202) via bolts, and the lower end of the spring column (207) is in contact with the upper end surface of the suction cup fixing plate (205).

4. The annular arm with auxiliary anode according to claim 1, characterized in that: The side wall of the support plate (202) is threadedly connected with a positioning column (208), and the end of the positioning column (208) is inserted into the middle of the groove on the side wall of the suction cup fixing plate (205).

5. The annular arm with auxiliary anode according to claim 1, characterized in that: An auxiliary motor (106) is fixedly mounted in the middle of the mounting plate (101); a main shaft of the auxiliary motor (106) passes through a side wall of the mounting plate (101); and a main shaft end of the auxiliary motor (106) is connected to a main shaft rod (107) via a universal joint.

6. The annular arm with auxiliary anode according to claim 5, characterized in that: A sliding member (108) is movably installed in the middle of the main shaft rod (107), and a secondary shaft rod (109) is threadedly connected to the lower end of the sliding member (108), and the lower end of the secondary shaft rod (109) is connected to the sleeve (201) through a universal joint.

7. The annular arm with auxiliary anode according to claim 6, characterized in that: A connecting piece (110) is slidably mounted on the side wall of the secondary shaft (109), and the side wall of the connecting piece (110) is fixedly connected to the end of the main shaft (107) by bolts.

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