Intelligent mechanical arm with adsorption mechanism

Abstract

The utility model relates to the field of intelligent mechanical arms, in particular to an intelligent mechanical arm with an adsorption mechanism, which comprises a main mechanical support, a main body for supporting an intelligent mechanical arm assembly, and a first mechanical arm arranged above the main mechanical support. According to the device, the sensing grabbing base, the clamping claws, the side adsorption discs, the first movable frame, the damping telescopic rods and the main adsorption disc are arranged, when the clamping claws are attached to the two sides of an object, the side adsorption discs drive the torsion springs and the inner telescopic rods to stretch out and draw back towards the clamping claws, in this way, the side adsorption discs can be better attached to the outer portion of the object, adsorption is more compact, and the service life of the object is prolonged. And meanwhile, when a main adsorption disc at the bottom of the induction grabbing base is attached to the upper portion of the object, angle adjustment can be conducted through a first movable frame and a second movable frame according to the fluctuation degree of the current surface of the object, a damping telescopic rod drives the main adsorption disc to stretch out and draw back, and therefore the main adsorption disc can be better attached to the surface of the object.

Description

Technical Field

[0001] The utility model relates to the field of intelligent robotic arms, and particularly relates to an intelligent robotic arm with an adsorption mechanism. Background Technique

[0002] An intelligent robotic arm is a mechanical device that can autonomously perform various tasks by simulating the movement characteristics of a human arm. It usually consists of a series of joints and a control system. These components together endow the robotic arm with powerful movement capabilities and sensing capabilities. The intelligent robotic arm can move flexibly in different environments and conditions, adapting to various complex operation requirements. Through an advanced control system, the robotic arm can accurately complete various tasks, such as assembly, welding, spraying, etc.

[0003] After retrieval, an intelligent multi-degree-of-freedom robotic arm with the publication number CN213352458U specifically discloses an intelligent multi-degree-of-freedom robotic arm. Its structure includes a horizontal driving pile and a horizontal rotating table arranged on the upper side of the horizontal driving pile. A first motor is arranged inside the horizontal driving pile, and the lower side of the horizontal rotating table is connected to the rotating shaft of the first motor. One side of the top of the horizontal rotating table is hinged with a lifting table. One side of the lifting table is rotatably connected with a rotating body. The rotating body, and one side of the rotating body can be tensioned and connected with a mechanical hand grip. And infrared sensors are respectively arranged on the four sides of the outer surface of the rotating body. The other side of the top of the horizontal rotating table is provided with a longitudinal push rod, and the longitudinal push rod is connected to the rear side of the lifting table. A second motor is arranged on the side where the lifting table is connected to the rotating body, and the second motor is shaft-connected to the rotating body.

[0004] During the use of the existing intelligent robotic arms, for some items that need to be grabbed by the intelligent robotic arm, due to insufficient external friction, if the intelligent robotic arm lacks an adsorption mechanism, the situation of dropping during the movement of the grabbing claw and the clamped object to mid-air will occur. And the intelligent robotic arm in the above comparative case also lacks an adsorption mechanism. In this way, after long-term use, if the stable grabbing of the item is achieved by increasing the grabbing force of the intelligent robotic arm, it is easy to cause damage to the outside of the item.

[0005] Therefore, it is very necessary to invent an intelligent robotic arm with an adsorption mechanism to solve the above problems. Summary of the Utility Model

[0006] The purpose of the present utility model is to provide an intelligent robotic arm with an adsorption mechanism. By means of an induction grasping seat, clamping claws, side suction discs, a first movable frame, a damping telescopic rod, and a main suction disc, the intelligent robotic arm is equipped with an adsorption mechanism, which not only increases the friction between the clamping claws and the outside of the object, but also reduces the probability of the grasped object falling during movement to mid-air. This can also ensure the grasping force of the intelligent robotic arm, improve the adsorption capacity, and reduce the damage to the outside of the object caused by the clamping claws, so as to solve the problem that in the prior art, during the use of an intelligent robotic arm, for some objects that need to be grasped by the intelligent robotic arm, due to insufficient external friction, if the intelligent robotic arm lacks an adsorption mechanism, the grasped object will fall during the movement of the grasping claws and the clamped object to mid-air. Moreover, the intelligent robotic arm in the above comparative case also lacks an adsorption mechanism. In the long term, if the stable grasping of the object is achieved by increasing the grasping force of the intelligent robotic arm, it is likely to cause damage to the outside of the object.

[0007] To achieve the above object, the present utility model provides the following technical solution: An intelligent robotic arm with an adsorption mechanism, including a main mechanical support for supporting the main body of the intelligent robotic arm assembly;

[0008] A first robotic arm is arranged above the main mechanical support for adjusting the position of the clamping claws. One end of the first robotic arm is movably connected to a second robotic arm. A first telescopic cylinder is arranged below the second robotic arm. One end of the second robotic arm is fixedly installed with a grasping rod. The outside of the grasping rod is penetrated by a fixing bolt. One end of the fixing bolt is movably connected to an induction grasping seat;

[0009] A support rod is arranged outside the induction grasping seat for adjusting the position of the clamping claws. A sliding groove is provided on the outside of the support rod. A second telescopic cylinder is arranged above the support rod. One end of the second telescopic cylinder is fixedly installed with a sliding block. The outside of the sliding block is fixedly installed with clamping claws;

[0010] An embedded groove is arranged outside the clamping claws for connecting and installing suction discs. An inner telescopic rod is fixedly installed inside the embedded groove. A torsion spring is arranged on the outside of the inner telescopic rod. One end of the torsion spring is fixedly installed with a side suction disc;

[0011] A first movable frame is arranged at the bottom of the induction grasping seat for adjusting the angular position of the main suction disc. The inside of the first movable frame is movably connected to a second movable frame. A damping telescopic rod is fixedly installed at the bottom of the second movable frame. One end of the damping telescopic rod is fixedly installed with a main suction disc.

[0012] Preferably, a rotating column is fixedly installed at the bottom of the main mechanical support, a rotating disc is fixedly installed at the bottom of the rotating column, an installation base is arranged below the rotating disc, and a positioning bolt penetrates through the upper part of the installation base.

[0013] Preferably, an intelligent drive control hood is fixedly installed above the installation base, a servo motor is arranged inside the intelligent drive control hood, a transmission rod is fixedly installed at the output end of the servo motor, a rotating gear is fixedly installed on the outer part of the transmission rod, and an external gear ring is movably connected to one side of the rotating gear.

[0014] Preferably, the number of the side suction discs is set to be multiple, and the multiple side suction discs are evenly distributed on the clamping claws.

[0015] Preferably, the main suction disc is movably connected to the induction grasping seat, and the first movable frames are evenly distributed on the induction grasping seat.

[0016] Preferably, an air pump is fixedly installed on the outer part of the second robotic arm, a side suction pipe is fixedly installed at one end of the air pump, and the other end of the side suction pipe is fixedly connected to a main suction pipe.

[0017] In the above technical solution, the technical effects and advantages provided by the present utility model are as follows:

[0018] The present utility model is provided with an induction grasping seat, clamping claws, side suction discs, first movable frames, damping telescopic rods and a main suction disc. When the clamping claws are attached to both sides of an object, the side suction discs drive the torsion springs and the inner telescopic rods to extend and contract towards the clamping claws, so that the side suction discs can better fit the outside of the object and the adsorption is more compact. At the same time, when the main suction disc at the bottom of the induction grasping seat fits above the object, the angle is adjusted through the first movable frame and the second movable frame according to the undulation of the current object surface, and the damping telescopic rod drives the main suction disc to extend and contract, so that the main suction disc can better fit the surface of the object. With such a combined use, the intelligent robotic arm is provided with an adsorption mechanism, which not only increases the friction between the clamping claws and the outside of the object, but also reduces the probability of the grasped object falling during the movement to mid-air. In this way, the grasping force of the intelligent robotic arm can be ensured, the adsorption capacity is improved, and the loss caused by the clamping claws to the outside of the object is reduced.

[0019] The utility model is provided with a main mechanical support, a rotating column, a first robotic arm, a second robotic arm, a support rod, a sliding groove, a second telescopic cylinder and a clamping claw. When using the device to clamp an object, the main mechanical support, the rotating column, the first robotic arm and the second robotic arm meet the requirement of the intelligent robotic arm to grasp objects at different positions and angles, expanding the overall application range of the intelligent robotic arm. Moreover, the clamping claw is driven by the second telescopic cylinder to drive the sliding block to move on the sliding groove for grasping. Such a grasping force is sufficient, enabling the intelligent robotic arm to meet the grasping work of the current object weight and ensuring the stable grasping of the intelligent robotic arm. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0021] Figure 1 Schematic diagram of the overall structure of the utility model;

[0022] Figure 2 Schematic diagram of the installation base structure of the utility model;

[0023] Figure 3 Schematic diagram of the second robotic arm structure of the utility model;

[0024] Figure 4 Schematic diagram of the clamping claw structure of the utility model;

[0025] Figure 5 Schematic diagram of the side suction cup structure of the utility model;

[0026] Figure 6 Schematic diagram of the main suction cup structure of the utility model.

[0027] Explanation of the reference numerals in the drawings:

[0028] 1. Main mechanical support; 2. Rotating column; 3. Rotating disc; 4. Installation base; 5. Positioning bolt; 6. Intelligent drive control hood; 7. Servo motor; 8. Transmission rod; 9. Rotating gear; 10. Outer gear ring; 11. First robotic arm; 12. Second robotic arm; 13. First telescopic cylinder; 14. Grabbing rod; 15. Fixing bolt; 16. Inductive grabbing seat; 17. Support rod; 18. Sliding groove; 19. Second telescopic cylinder; 20. Sliding block; 21. Clamping jaw; 22. Embedded groove; 23. Inner telescopic rod; 24. Torsion spring; 25. Side suction cup; 26. First movable frame; 27. Second movable frame; 28. Damping telescopic rod; 29. Main suction cup; 30. Air pump; 31. Side suction pipe; 32. Main suction pipe. Detailed implementation mode

[0029] In order to enable those skilled in the art to better understand the technical solution of the present utility model, the present utility model will be further introduced in detail below in conjunction with the accompanying drawings.

[0030] The present utility model provides an intelligent robotic arm with an adsorption mechanism as shown in Figure 1-6 Figure 10, including a main mechanical support 1 for supporting the main body of the intelligent robotic arm assembly;

[0031] A first robotic arm 11 is arranged above the main mechanical support 1 for adjusting the position of the clamping jaw. One end of the first robotic arm 11 is movably connected to a second robotic arm 12. A first telescopic cylinder 13 is arranged below the second robotic arm 12. One end of the second robotic arm 12 is fixedly installed with a grabbing rod 14. The outside of the grabbing rod 14 is penetrated by a fixing bolt 15. One end of the fixing bolt 15 is movably connected to an inductive grabbing seat 16;

[0032] A support rod 17 is arranged outside the inductive grabbing seat 16 for adjusting the position of the clamping jaw. A sliding groove 18 is opened on the outside of the support rod 17. A second telescopic cylinder 19 is arranged above the support rod 17. One end of the second telescopic cylinder 19 is fixedly installed with a sliding block 20. The outside of the sliding block 20 is fixedly installed with a clamping jaw 21;

[0033] An embedded groove 22 is arranged outside the clamping jaw 21 for connecting and installing a suction cup. An inner telescopic rod 23 is fixedly installed inside the embedded groove 22. A torsion spring 24 is arranged outside the inner telescopic rod 23. One end of the torsion spring 24 is fixedly installed with a side suction cup 25;

[0034] The first movable frame 26 is arranged at the bottom of the induction grasping seat 16 and is used to adjust the angular position of the main suction cup 29. The second movable frame 27 is movably connected inside the first movable frame 26. A damping telescopic rod 28 is fixedly installed at the bottom of the second movable frame 27. One end of the damping telescopic rod 28 is fixedly installed with the main suction cup 29. When the main suction cup 29 at the bottom of the induction grasping seat 16 is attached above the object, the angular adjustment will be carried out through the first movable frame 26 and the second movable frame 27 according to the undulation of the current object surface, and the damping telescopic rod 28 will drive the main suction cup 29 to expand and contract, so that the main suction cup 29 can better fit the surface of the article.

[0035] As Figure 1 , Figure 2 and Figure 3 shown, a rotating column 2 is fixedly installed at the bottom of the main mechanical support 1. A rotating disk 3 is fixedly installed at the bottom of the rotating column 2. An installation base 4 is arranged below the rotating disk 3. A positioning bolt 5 penetrates through the upper part of the installation base 4. The installation base 4 and the positioning bolt 5 facilitate the installation of the intelligent robotic arm at different construction positions, expanding the installation range of the device. An intelligent drive control hood 6 is fixedly installed above the installation base 4. A servo motor 7 is arranged inside the intelligent drive control hood 6. A transmission rod 8 is fixedly installed at the output end of the servo motor 7. A rotating gear 9 is fixedly installed on the outside of the transmission rod 8. A ring gear 10 is movably connected to one side of the rotating gear 9. The servo motor 7 drives the rotating gear 9 to rotate, so that the rotating gear 9 meshes with the ring gear 10, driving the rotating column 2 to rotate on the rotating disk 3, thereby completing the angular adjustment of the intelligent robotic arm.

[0036] As Figure 1 , Figure 4 , Figure 5 and Figure 6 shown, the number of side suction cups 25 is set to be multiple. The multiple side suction cups 25 are evenly distributed on the clamping claws 21. The side suction cups 25 drive the torsion springs 24 and the inner telescopic rods 23 to expand and contract towards the clamping claws 21, so that the side suction cups 25 can better fit the outside of the article and the adsorption is more compact. The main suction cup 29 is movably connected to the induction grasping seat 16. The first movable frames 26 are evenly distributed on the induction grasping seat 16. The angular adjustment is carried out through the first movable frame 26 and the second movable frame 27, and the damping telescopic rod 28 drives the main suction cup 29 to expand and contract, so that the main suction cup 29 can better fit the surface of the article. An air pump 30 is fixedly installed outside the second robotic arm 12. One end of the air pump 30 is fixedly installed with a side suction pipe 31. The other end of the side suction pipe 31 is fixedly connected to a main suction pipe 32. The air pump 30 evacuates the main suction cup 29 through the side suction pipe 31 and the main suction pipe 32, enabling the main suction cup 29 to have a certain adsorption capacity.

[0037] Working principle of this utility model: First, select the position of the item to be clamped currently. The intelligent robotic arm can be conveniently installed at different construction positions through the mounting base 4 and positioning bolts 5, expanding the installation range of the device. Then, connect to the external power supply. The external operator opens the switch of the internal servo motor 7 through the intelligent drive control hood 6, allowing the servo motor 7 to drive the rotating gear 9 to rotate, so that the rotating gear 9 meshes with the external gear ring 10, driving the rotating column 2 to rotate on the rotating disk 3, thus completing the angle adjustment of the intelligent robotic arm and rotating the first robotic arm 11 and the second robotic arm 12 above the item. At this time, after the induction grasping seat 16 senses the item below, then the first telescopic cylinder 13 drives the first robotic arm 11 and the second robotic arm 12 to descend. Subsequently, according to the size of the current item, open the switch of the second telescopic cylinder 19, allowing the second telescopic cylinder 19 to drive the sliding block 20 to move on the sliding groove 18 to control the size of the current four clamping claws 21, enabling the clamping claws 21 to be sleeved outside the item. After such preparation work is completed, the clamping claws 21 can be telescoped to start the clamping work on the item. When the clamping claws 21 are attached to both sides of the item, the side suction disks 25 drive the torsion springs 24 and the inner telescopic rods 23 to expand and contract towards the clamping claws 21, so that the side suction disks 25 can better adhere to the outside of the item and the adsorption is more compact. Then, when the main suction disk 29 at the bottom of the induction grasping seat 16 adheres above the object, it will adjust the angle through the first movable frame 26 and the second movable frame 27 according to the undulation of the current object surface, and the damping telescopic rod 28 drives the main suction disk 29 to expand and contract, so that the main suction disk 29 can better adhere to the surface of the item. Then, open the switch of the air pump 30. The air pump 30 evacuates the main suction disk 29 through the side suction pipe 31 and the main suction pipe 32, enabling the main suction disk 29 to have sufficient adsorption capacity. In this way, the item is firmly adsorbed and grasped, and the item can be grasped and moved to the designated position according to the operation of moving the intelligent robotic arm before. This enables the intelligent robotic arm to have an adsorption mechanism, not only increasing the friction between the clamping claws 21 and the outside of the object, but also reducing the probability of the grasped object falling when moved to mid-air. Finally, after completing all the installation and use work of the intelligent robotic arm according to the above operations, close the switch of the servo motor 7, close the switch of the first telescopic cylinder 13, close the switch of the second telescopic cylinder 19, close the switch of the air pump 30, and cut off the external power supply if not used for a long time. Just like this, the use process of the intelligent robotic arm with an adsorption mechanism is completed.

[0038] Only some exemplary embodiments of the present utility model have been described by way of illustration. Without doubt, for those of ordinary skill in the art, the described embodiments can be modified in various different ways without departing from the spirit and scope of the present utility model. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present utility model.

Claims

1. An intelligent robotic arm with an adsorption mechanism, characterized in that: include A main mechanical support (1), used to support the main body of the intelligent mechanical arm assembly; A first mechanical arm (11) is arranged above the main mechanical support (1) and is used to adjust the position of the gripper, and one end of the first mechanical arm (11) is movably connected to the second mechanical arm (12), a first telescopic cylinder (13) is arranged below the second mechanical arm (12), a grabbing rod (14) is fixedly installed at one end of the second mechanical arm (12), a fixing bolt (15) penetrates the outside of the grabbing rod (14), and one end of the fixing bolt (15) is movably connected to an induction grabbing seat (16); A support rod (17) is arranged outside the induction grab seat (16) and is used to adjust the position of the clamping claw. A sliding groove (18) is provided on the outside of the support rod (17). A second telescopic cylinder (19) is arranged above the support rod (17). A sliding block (20) is fixedly mounted on one end of the second telescopic cylinder (19). A clamping claw (21) is fixedly mounted on the outside of the sliding block (20). An inner groove (22) is arranged outside the clamping claw (21) and is used for connecting and installing a suction cup, and an inner telescopic rod (23) is fixedly installed inside the inner groove (22), a torsion spring (24) is arranged outside the inner telescopic rod (23), and a side suction cup (25) is fixedly installed at one end of the torsion spring (24); The first movable frame (26) is arranged at the bottom of the induction grabbing seat (16) and is used to adjust the angular position of the main suction plate (29). The first movable frame (26) is movably connected to the inside of the second movable frame (27). A damping telescopic rod (28) is fixedly mounted on the bottom of the second movable frame (27), and the main suction plate (29) is fixedly mounted on one end of the damping telescopic rod (28).

2. The intelligent robotic arm with an adsorption mechanism according to claim 1, characterized in that: A rotating column (2) is fixedly mounted on the bottom of the main mechanical support (1), a rotating disk (3) is fixedly mounted on the bottom of the rotating column (2), a mounting base (4) is arranged below the rotating disk (3), and a positioning bolt (5) penetrates the top of the mounting base (4).

3. The intelligent robotic arm with an adsorption mechanism according to claim 2, characterized in that: An intelligent drive control machine cover (6) is fixedly mounted above the mounting base (4), a servo motor (7) is arranged inside the intelligent drive control machine cover (6), a transmission rod (8) is fixedly mounted on the output end of the servo motor (7), a rotating gear (9) is fixedly mounted on the outside of the transmission rod (8), and an outer gear ring (10) is movably connected to one side of the rotating gear (9).

4. The intelligent robotic arm with an adsorption mechanism according to claim 1, characterized in that: The number of the side suction discs (25) is set to be multiple, and the multiple side suction discs (25) are distributed at equal intervals on the clamping claw (21).

5. The intelligent robotic arm with an adsorption mechanism according to claim 1, characterized in that: The main adsorption plate (29) is movably connected to the induction grabbing seat (16), and the first movable frames (26) are distributed at equal intervals on the induction grabbing seat (16).

6. The intelligent robotic arm with an adsorption mechanism according to claim 1, characterized in that: An air pump (30) is fixedly mounted on the outside of the second mechanical arm (12); a side air extraction pipe (31) is fixedly mounted on one end of the air pump (30); and the other end of the side air extraction pipe (31) is fixedly connected to a main air extraction pipe (32).

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