Suction-adjustable material moving mechanical arm

Abstract

The utility model discloses a material suction adjustable material moving mechanical arm which comprises a mechanical arm body, and the mechanical arm body comprises at least one movable joint, a transmission assembly used for being matched with the movable joint to drive the movable joint to conduct torsion or swing presetting and an operation arm used for being connected with the movable joint. The device is characterized in that a transmission plate is detachably connected to the operation arm, a material disc is connected to the tail end of the transmission plate, a plurality of adsorption plates are evenly distributed on the peripheral wall of the material disc in the circumferential direction, adsorption structures used for adsorbing external materials are arranged on the adsorption plates, and the adjacent adsorption plates are in clearance fit. The material disc is provided with a driving piece used for driving the multiple adsorption plates to move synchronously so as to enable gaps between the adjacent adsorption plates to be enlarged or reduced, and the movement directions of every two adjacent adsorption plates are perpendicular to each other. The material mechanical arm solves the problems that the adsorption strength of a material disc, used for adsorbing materials, of a traditional material mechanical arm is too low, and strong and stable adsorption is difficult to conduct according to the material area.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a material suction adjustable material transfer robotic arm. Background Art

[0002] In the process of industrial production, as an important device for material handling, the material transfer robotic arm is widely used in various fields. Most of the material trays equipped with traditional material robotic arms adopt relatively simple adsorption structures, and the adsorption strength of such structures is often limited. When facing some materials with large areas that are not conducive to adsorption, the materials are likely to fall off, seriously affecting production efficiency and product quality. Moreover, traditional material trays cannot be flexibly adjusted according to the actual area of the materials. When the material area is large, due to insufficient adsorption range, it is difficult to achieve comprehensive and stable adsorption; when the material area is small, the redundant adsorption areas cannot be effectively utilized, resulting in waste of resources and making it difficult to ensure strong adsorption of small-area materials. Content of the Utility Model

[0003] Aiming at the deficiencies of the prior art, the utility model provides a material suction adjustable material transfer robotic arm to solve the problems that the material tray used for adsorbing materials of the traditional material robotic arm has too low adsorption strength and is difficult to perform strong and stable adsorption according to the material area.

[0004] To achieve the above object, the utility model provides a material suction adjustable material transfer robotic arm, including a robotic arm. The robotic arm includes at least one movable joint, a transmission component for cooperating with the movable joint to drive the movable joint to twist or swing by a predetermined amount, and an operating arm for connecting with the movable joint. It is characterized in that: a transmission plate is detachably connected to the operating arm, a material tray is connected to the end of the transmission plate, a plurality of adsorption plates are circumferentially and evenly distributed on the outer peripheral wall of the material tray, an adsorption structure for adsorbing external materials is arranged on the adsorption plates, the adjacent adsorption plates are arranged in clearance fit, a driving member for driving the plurality of adsorption plates to move synchronously so that the clearance between the adjacent adsorption plates expands or shrinks is arranged on the material tray, and the movement directions of two adjacent adsorption plates are perpendicular to each other.

[0005] The advantages of adopting the above technical solution are as follows: First, the drive plate is detachably connected to the operating arm to ensure a firm connection. Then, the material tray is installed at the end of the drive plate, and the installation of the adsorption plate on the outer peripheral wall of the material tray is checked to ensure that it is circumferentially evenly distributed and the clearance fit between adjacent adsorption plates is normal. According to the area of the material to be adsorbed, the driving member is started. If the material area is large, the driving member drives the adsorption plate to move, so that the clearance between adjacent adsorption plates is increased until the adsorption range of the material tray can completely cover the material or occupy a large area of the material. If the material area is small, the driving member reduces the clearance of the adsorption plate to concentrate the adsorption force in the material area. Subsequently, the adsorption structure is started, and the adsorption structure on the adsorption plate starts to work to adsorb the material, which can adsorb the material from multiple directions to ensure the stability and comprehensiveness of adsorption. After the material is adsorbed, through the coordinated work of the movable joints, transmission components and operating arm of the robotic arm, the material tray adsorbed with the material is transported to the designated position. During the transportation process, the adsorption structure continuously maintains the adsorption state to ensure that the material does not fall off. After reaching the designated position, the adsorption structure is turned off, and the material is separated from the adsorption plate to complete the unloading of the material; in the above technology, by circumferentially evenly distributing several adsorption plates on the outer peripheral wall of the material tray and setting an adsorption structure on the adsorption plate, compared with the traditional material tray with a single adsorption surface, the adsorption area and adsorption points are greatly increased. Through the coordinated work of multiple adsorption points, the adsorption strength of the material can be significantly improved, effectively avoiding the problem that the material falls off due to insufficient adsorption force during transportation, providing a strong guarantee for the stability and continuity of industrial production; and the driving member provided on the material tray can drive several adsorption plates to move synchronously, so that the clearance between adjacent adsorption plates is increased or reduced. When facing a large-area material, the driving member can expand the clearance of the adsorption plate to increase the adsorption coverage range. For a small-area material, the clearance is reduced to concentrate the adsorption force, realizing strong and stable adsorption of materials with different areas, greatly improving the adaptability of the material transfer robotic arm to different materials and broadening its application scenarios; the movable joints and transmission components on the robotic arm in the above technology are both technologies existing in the robotic arm in the prior art. Traditional material transfer robotic arms all have corresponding movable joints and transmission components. Since they are prior art, their structures and functions will not be described in detail herein.

[0006] The present utility model is further configured as follows: The radial cross-section of the material tray is equilateral triangle-shaped, and the outer peripheral wall of the material tray is divided into three mating sides with the same area. The number of the several adsorption plates is three, and the three adsorption plates are arranged in one-to-one correspondence with the three mating sides. The three adsorption plates are all arranged to slide along the opening directions of their respective corresponding mating sides, and the sliding directions of adjacent adsorption plates are perpendicular to each other.

[0007] The advantages of adopting the above technical solution are as follows: In the above technology, the radial cross-section of the material tray is arranged as an equilateral triangle, and the three adsorption plates correspond one by one to the three mating edges of the outer peripheral wall of the material tray, so that the adsorption plates can adsorb the material from three different and mutually perpendicular directions. When adsorbing the material, the adsorption forces in different directions cooperate with each other to form a stable adsorption force field. No matter how irregular the shape of the material is, it can ensure the application of a stable adsorption force from multiple angles, greatly improving the adsorption stability of various materials, effectively reducing the risk of the material falling off during handling, and ensuring the smooth progress of the production process; the corresponding setting of the three adsorption plates and the mating edges of the material tray enables the adsorption plates to closely fit the outer peripheral wall of the material tray when not working, reducing unnecessary space occupation. When it is necessary to adsorb the material, the adsorption plates can slide flexibly according to the size of the material, making full use of the outer peripheral space of the material tray while avoiding mutual interference between the adsorption plates, realizing an efficient adsorption function in a limited space, and further optimizing the space utilization efficiency of the equipment; at the same time, the equilateral triangle structure of the material tray has good mechanical stability. During the process of the robotic arm handling the material, the force borne by the material tray can be evenly distributed to the three mating edges and then transmitted to the entire robotic arm structure. Compared with material trays of other shapes, the equilateral triangle structure can better resist the unstable forces generated by factors such as the offset of the material's center of gravity or vibrations during handling, improving the overall stability of the robotic arm during handling, extending the service life of the equipment, and reducing the equipment failure rate. Since the number of adsorption plates is three and they correspond one by one to the mating edges of the material tray, the driving member only needs to be controlled in three specific directions. Compared with complex multi-adsorption plate and multi-direction control, the design of the driving system and the control system is greatly simplified.

[0008] The present utility model is further provided as follows: The material tray is hollow and provided with an operation cavity. Along the respective opening directions of the three mating edges, sliding grooves are respectively opened, and the three sliding grooves are communicated with the operation cavity. The driving member includes a transmission gear rotatably arranged in the operation cavity and a driving motor arranged on the top wall of the material tray. The output end of the driving motor penetrates into the material tray and is coaxially connected with the transmission gear. Along the length direction of the adsorption plate, engaging tooth grooves are evenly distributed on the inner wall of the adsorption plate, and the transmission gear partially penetrates out of the three sliding grooves and meshes with the adjacent engaging tooth grooves.

[0009] The advantages of adopting the above technical solution are as follows: In the above technology, a driving motor is arranged on the top wall of the material tray, and its output end is coaxially connected with the transmission gear in the operation cavity. The transmission gear meshes with the mating tooth grooves on the inner wall of the adsorption plate, enabling the driving motor to precisely control the rotation of the transmission gear, and further accurately adjusting the sliding of the adsorption plate along the mating edge chute. When it is necessary to adjust the position of the adsorption plate to adapt to different materials, the driving motor can drive the adsorption plate through the transmission gear to achieve displacement adjustment at the millimeter level or even more precise according to the preset command, ensuring that the adsorption plate can be accurately positioned at the required position, greatly improving the accuracy of the adsorption position, and meeting the high-precision adsorption requirements for various materials. Since the transmission gear partially penetrates through the three chutes and meshes with the adjacent mating tooth grooves, the three adsorption plates can achieve synchronous movement under the drive of the same transmission gear. Whether expanding or reducing the gap between adjacent adsorption plates, the three adsorption plates can maintain a consistent action rhythm, ensuring that when the material tray adsorbs irregularly shaped materials, uniform and stable adsorption forces can be applied from all directions, avoiding problems such as uneven material stress and unstable adsorption caused by asynchronous movement of the adsorption plates, and further improving the stability and reliability of the material adsorption.

[0010] The present utility model is further provided with: Two limiting grooves are respectively opened along the opening directions of the three mating edges. The two limiting grooves on each limiting edge are respectively located on the upper and lower sides of the chute. Limiting strips for inserting and mating with the limiting grooves are arranged at the corresponding positions of the inner wall of the adsorption plate. The two limiting strips on each adsorption plate are slidably arranged in their respective corresponding limiting grooves.

[0011] The advantages of adopting the above technical solution are as follows: In the above technology, two limiting grooves are opened on the mating edge, respectively located on the upper and lower sides of the chute. At the same time, limiting strips are arranged at the corresponding positions on the inner wall of the adsorption plate and inserted into the limiting grooves, forming a stable lateral constraint mechanism. When the adsorption plate slides along the mating edge chute, the limiting strips slide in the limiting grooves, effectively preventing the adsorption plate from laterally deviating during movement, ensuring that the adsorption plate always maintains a linear movement when adjusting the position, and avoiding adsorption position deviation caused by lateral shaking, which plays a key role in improving the accuracy and stability of material adsorption. At the same time, the cooperation between the limiting groove and the limiting strip not only restricts the lateral displacement but also provides additional support and stability in the vertical direction. During the process of the robotic arm transporting materials, various external forces may be encountered, such as vibration, inertial forces during acceleration or deceleration, etc. At this time, the limiting strips and the limiting grooves are closely matched, which can share a part of the vertical force, enhance the stability of the adsorption plate in the vertical direction, and prevent the adsorption plate from bouncing up and down or deviating from the predetermined movement trajectory due to external forces. In the above technology, the size of the limiting groove can be limited according to actual usage requirements and production requirements, that is, whether the two ends of the limiting groove penetrate the mating edge or the size of the limiting strip is limited so that the limiting strip can slide in the limiting groove but cannot escape from the limiting groove.

[0012] The present utility model is further provided that: the radial cross-section of the limiting groove is trapezoidal, and the limiting strip is arranged to be adapted to the shape of the limiting groove.

[0013] The advantages of adopting the above technical solution are as follows: in the above technology, the radial cross-section of the limiting groove is trapezoidal, and the limiting strip is adapted to its shape, so that when the limiting strip slides in the limiting groove, a tight biting effect can be formed. Compared with the limiting fit of conventional shapes such as rectangles, the hypotenuse of the trapezoidal structure increases the contact area and friction force between the limiting strip and the limiting groove. Even when the device is strongly vibrated or impacted by a large external force during operation, it is extremely difficult for the limiting strip to escape from the limiting groove, effectively avoiding serious problems such as the movement out of control of the adsorption plate caused by the falling off of the limiting strip, and further causing the dropping of materials, greatly improving the safety and reliability of the device operation.

[0014] The present utility model is further provided that: the adsorption plate is hollowed out to form a negative pressure cavity, the adsorption structure includes a vacuum negative pressure generator arranged in the adsorption plate, the output end of the vacuum negative pressure generator is communicated with the negative pressure cavity, and a plurality of adsorption holes are uniformly distributed along the length direction of the adsorption plate on the bottom wall of the adsorption plate, and the plurality of adsorption holes are all communicated with the negative pressure cavity.

[0015] The advantages of adopting the above technical solution are as follows: in the above technology, the inside of the adsorption plate is hollowed out to form a negative pressure cavity, and is communicated with the outside through a vacuum negative pressure generator. At the same time, the bottom wall of the adsorption plate is uniformly distributed with adsorption holes connected to the negative pressure cavity, so that the vacuum negative pressure generator can quickly form a strong negative pressure environment in the negative pressure cavity, and firmly adsorb the material on the adsorption plate through the adsorption holes. During the material transfer process, the stable and strong adsorption force can effectively cope with materials of different weights and materials, ensuring that the materials will not fall off due to insufficient adsorption force during handling; the adsorption holes uniformly distributed along the length direction of the adsorption plate can make the negative pressure in the negative pressure cavity act uniformly on the surface of the material, realizing the comprehensive and uniform adsorption of the material, and avoiding the material from being deformed or damaged due to uneven local adsorption force; the vacuum negative pressure generator in the above technology is an existing technology, so its structure and function will not be described in detail; in the above technology, according to the actual operation requirements and adsorption requirements, holes and cavities identical to the negative pressure cavity and the suction holes can be opened on the bottom wall of the material tray, so that the bottom wall of the material tray can also adsorb the material, further improving the adsorption strength and stability of the material. Description of the Drawings

[0016] Figure 1 It is a three-dimensional view of the present utility model;

[0017] Figure 2 It is a three-dimensional view of the material tray in the present utility model;

[0018] Figure 3 It is a perspective view of the material tray in the present utility model;

[0019] Figure 4 This is a simple schematic diagram of the moving state of the adsorption plate on the material tray in the present utility model. Specific embodiments

[0020] The utility model provides a material suction adjustable material transfer robotic arm, including a robotic arm 1. The robotic arm 1 includes at least one movable joint, a transmission component for cooperating with the movable joint to drive the movable joint to twist or swing by a predetermined amount, and an operating arm 11 connected to the movable joint. It is characterized in that: a transmission plate 12 is detachably connected to the operating arm 11, a material tray 2 is connected to the end of the transmission plate 12, a plurality of adsorption plates 3 are circumferentially and evenly distributed on the outer peripheral wall of the material tray 2, an adsorption structure for adsorbing external materials is arranged on the adsorption plate 3, and the adjacent adsorption plates 3 are arranged with a clearance fit. A driving member is arranged on the material tray 2 for driving a plurality of adsorption plates 3 to move synchronously so that the clearance between adjacent adsorption plates 3 is increased or reduced. The movement directions of two adjacent adsorption plates 3 are perpendicular to each other. The radial cross-section of the material tray 2 is an equilateral triangle, and the outer peripheral wall of the material tray 2 is divided into three matching edges 21 with the same area. The number of the plurality of adsorption plates 3 is three, and the three adsorption plates 3 are arranged in one-to-one correspondence with the three matching edges 21. The three adsorption plates 3 are all arranged to slide along the opening directions of their respective corresponding matching edges 21, and the sliding directions of adjacent adsorption plates 3 are perpendicular to each other. The material tray 2 is hollow and provided with an operating cavity 22. Three chutes 211 are opened along their respective opening directions on the three matching edges 21, and the three chutes 211 are all communicated with the operating cavity 22. The driving member includes a transmission gear 221 rotatably arranged in the operating cavity 22 and a driving motor 222 arranged on the top wall of the material tray 2. The output end of the driving motor 222 penetrates into the material tray 2 and is coaxially connected to the transmission gear 221. Matching tooth grooves 31 are evenly distributed on the inner wall of the adsorption plate 3 along the length direction of the adsorption plate 3. The transmission gear 221 partially penetrates through the three chutes 211 and meshes with the adjacent matching tooth grooves 31. Two limiting grooves 212 are opened along their respective opening directions on the three matching edges 21. The two limiting grooves 212 on each limiting edge are respectively located on the upper and lower sides of the chute 211. Limiting strips 32 for inserting and matching with the limiting grooves 212 are arranged at the corresponding positions of the inner wall of the adsorption plate 3. The two limiting strips 32 on each adsorption plate 3 are all slidably arranged in their respective corresponding limiting grooves 212. The radial cross-section of the limiting groove 212 is trapezoidal, and the limiting strip 32 is arranged in a shape adapted to the limiting groove 212. The adsorption plate 3 is hollow and provided with a negative pressure cavity 33. The adsorption structure includes a vacuum negative pressure generator 34 arranged in the adsorption plate 3. The output end of the vacuum negative pressure generator 34 is communicated with the negative pressure cavity 33. A plurality of adsorption holes 35 are evenly distributed on the bottom wall of the adsorption plate 3 along the length direction of the adsorption plate 3. The plurality of adsorption holes 35 are all communicated with the negative pressure cavity 33.

[0021] The above-mentioned specification drawings are only schematic in terms of function and structure. The sizes and shapes of structures such as the robotic arm, material tray, adsorption plate, and transmission plate can be adjusted according to actual operation requirements and installation requirements.

[0022] The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and these changes and improvements all fall within the scope of the present utility model claimed. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents.

Claims

1. A material suction adjustable material transfer robot arm, comprising a robot arm, the robot arm comprising at least one movable joint, a transmission component for cooperating with the movable joint to drive the movable joint to twist or swing a predetermined amount, and an operating arm for connecting with the movable joint, characterized in that: A transmission plate is detachably connected to the operating arm, and a material tray is connected to the end of the transmission plate. A plurality of adsorption plates are evenly distributed on the outer peripheral wall of the material tray in a circumferential direction. An adsorption structure for adsorbing external materials is provided on the adsorption plate, and gaps between adjacent adsorption plates are matched. A driving member for driving the plurality of adsorption plates to move synchronously so as to expand or reduce the gaps between adjacent adsorption plates is provided on the material tray, and the movement directions of two adjacent adsorption plates are perpendicular to each other.

2. The adjustable material suction and material transfer robot arm according to claim 1, characterized in that: The radial cross-section of the material tray is an equilateral triangle and the outer peripheral wall of the material tray is divided into three matching edges of the same area. The number of the adsorption plates is three and the three adsorption plates are arranged in a one-to-one correspondence with the three matching edges. The three adsorption plates are all slidably arranged along the opening direction of their corresponding matching edges and the sliding directions of adjacent adsorption plates are perpendicular to each other.

3. The adjustable material suction and material transfer robot arm according to claim 2, characterized in that: An operating cavity is hollowly formed in the material tray, and slide grooves are formed on the three mating edges along their respective opening directions. The three slide grooves are connected to the operating cavity. The driving member includes a transmission gear rotatably arranged in the operating cavity and a driving motor arranged on the top wall of the material tray. The output end of the driving motor penetrates into the material tray and is coaxially connected to the transmission gear. Mating tooth grooves are evenly distributed on the inner wall of the adsorption plate along the length direction of the adsorption plate. Parts of the transmission gear respectively penetrate three slide grooves and mesh with adjacent mating tooth grooves.

4. The adjustable material suction and material transfer robot arm according to claim 2, characterized in that: Two limit grooves are provided on the three mating edges along their respective opening directions. The two limit grooves on each limit edge are respectively located on the upper and lower sides of the slide groove. Limit strips for mating with the limit grooves are provided at the corresponding limit groove positions on the inner wall of the adsorption plate. The two limit strips on each adsorption plate are slidably set in their respective corresponding limit grooves.

5. The adjustable material suction and material transfer robot arm according to claim 4, characterized in that: The radial cross section of the limiting groove is trapezoidal, and the limiting strip is configured to match the shape of the limiting groove.

6. The adjustable material suction and material transfer robot arm according to claim 1, characterized in that: The adsorption plate is hollow and has a negative pressure cavity. The adsorption structure includes a vacuum negative pressure generator arranged in the adsorption plate. The output end of the vacuum negative pressure generator is connected to the negative pressure cavity. A plurality of adsorption holes are evenly distributed on the bottom wall of the adsorption plate along the length direction of the adsorption plate. The plurality of adsorption holes are connected to the negative pressure cavity.

Images