Machine arm with automatic balance calibration function

Abstract

The utility model relates to the technical field of machine arms, in particular to a machine arm with an automatic balance calibration function, which comprises a control table seat, a mechanical arm is movably connected above the control table seat, and a sensing mechanism for sensing a balance state is arranged on the outer wall of the mechanical arm. The sensing mechanism comprises a placement shell, the placement shell is fixed to the outer wall of the mechanical arm, glass plates are embedded in the upper portion and the lower portion of the front end of the placement shell, a partition plate is fixed to the lower portion in the placement shell, a balance cavity is formed in the position, above the partition plate, in the placement shell, and contrast liquid is placed in the lower portion in the balance cavity; through the arrangement shell, the partition plate, the glass plate, the balance cavity, the comparison liquid, the laser sensor body and the connecting plate, in cooperation with the connecting ring and the sealing cover, whether the mechanical arm is in the balance state or not can be rapidly judged, and the situation that the precision of a to-be-machined object is affected by inclination caused by errors of naked eyes is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, and in particular to a robotic arm with an automatic balance calibration function. Background Art

[0002] Robots can automatically perform various operations and adapt to various harsh working environments, bringing great benefits to the release of human work burdens and the improvement of production efficiency. Therefore, they are widely used in various fields of production and life. They can either accept human commands, run pre-programmed procedures, or act according to the principles and guidelines formulated by artificial intelligence technology. Their task is to assist or replace human work.

[0003] In the existing technology, the movements of the joints of the robotic arm are all rotations, similar to a human arm. During the working process, after grasping an object through a grasping mechanism, subsequent rotation or lifting operations are performed, or reciprocating processing is carried out on a production line.

[0004] In the existing technical solutions, when the robotic arm grasps and lifts an object, it should maintain a balanced state. Especially when performing some special processings, the accuracy of the balance should be maintained even more. However, errors may occur during the lifting or processing process, thereby affecting the object to be processed. Summary of the Invention

[0005] The purpose of the utility model is to provide a robotic arm with an automatic balance calibration function, which can quickly determine whether the robotic arm is in a balanced state, avoid errors caused by the naked eye resulting in inclination, and affect the accuracy of the object to be processed, so as to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A robotic arm with an automatic balance calibration function, including a console base, above which a robotic arm is movably connected, and an induction mechanism for sensing the balance state is arranged on the outer wall of the robotic arm.

[0007] The induction mechanism includes a placement shell, which is fixed on the outer wall of the robotic arm. Glass plates are embedded above and below the front end of the placement shell. A partition is fixed below the interior of the placement shell, and a balance cavity is arranged above the partition inside the placement shell. A comparison liquid is placed below the interior of the balance cavity, and a connecting plate is fixed on one side of the comparison liquid inside the balance cavity. A laser sensor main body is embedded on one side of the outer wall of the placement shell.

[0008] Preferably, the laser sensor main body penetrates into the interior of the placement shell, and the placement shell is adhesively connected to the connecting plate.

[0009] Preferably, a connecting ring is fixed to the outer wall of the laser sensor body, and a sealing cover is sleeved outside the connecting ring.

[0010] Preferably, an accommodation cavity is provided below the partition board, and a balancing mechanism is arranged inside the accommodation cavity.

[0011] Preferably, the balancing mechanism includes a spring. The spring is embedded on both sides inside the accommodation cavity, and one end of the spring is connected to a push plate. A first pressure sensor is embedded on one side of the springs on both sides inside the accommodation cavity, and a ball is movably connected inside the accommodation cavity.

[0012] Preferably, the balancing mechanism further includes a limiting groove. The limiting groove is opened at the bottom end inside the accommodation cavity, and a second pressure sensor is embedded below the limiting groove.

[0013] Preferably, a rubber plate is connected to the front end of the push plate, and a sliding groove is opened at a position corresponding to the push plate on one side inside the accommodation cavity.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0015] 1. Through the accommodation shell, partition board, glass plate, balancing cavity, comparison liquid, laser sensor body and connecting plate, and in cooperation with the connecting ring and sealing cover, it is possible to quickly determine whether the robotic arm is in a balanced state, avoiding errors caused by the naked eye and resulting in inclination, which affects the precision of the object to be processed.

[0016] 2. Through the accommodation cavity, spring, push plate, first pressure sensor, ball, limiting groove and second pressure sensor, it is possible to automatically adjust and calibrate the robotic arm, adjust it to a balanced state, and cooperate with the rubber plate and sliding groove to avoid the ball hitting the first pressure sensor and keep the push plate stable at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a view of the overall structure of the present utility model;

[0019] Figure 2 It is a schematic diagram of the internal structure of the balancing cavity of the present utility model;

[0020] Figure 3 It is a schematic diagram of the structure of the connecting ring of the present utility model;

[0021] Figure 4 This is a schematic diagram of the internal sectional structure of the placement cavity of the present utility model.

[0022] Description of the reference numerals in the drawings:

[0023] 1. Console base; 2. Robot arm; 3. Induction mechanism; 301. Placement shell; 302. Partition board; 303. Glass plate; 304. Balance cavity; 305. Comparison liquid; 306. Laser sensor body; 307. Connection plate; 4. Connection ring; 5. Sealing cover; 6. Placement cavity; 7. Balance mechanism; 701. Spring; 702. Pushing plate; 703. First pressure sensor; 704. Ball; 705. Limit groove; 706. Second pressure sensor; 8. Rubber plate; 9. Chute. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0025] The present utility model provides a technical solution:

[0026] Please refer to Figures 1 to 3 , a robot arm with an automatic balance calibration function, including a console base 1, a robot arm 2 is movably connected above the console base 1, and an induction mechanism 3 for sensing the balance state is arranged on the outer wall of the robot arm 2; the induction mechanism 3 includes a placement shell 301, the placement shell 301 is fixed on the outer wall of the robot arm 2, glass plates 303 are embedded above and below the front end of the placement shell 301, a partition board 302 is fixed below the interior of the placement shell 301, a balance cavity 304 is arranged above the partition board 302 inside the placement shell 301, a comparison liquid 305 is arranged below the interior of the balance cavity 304, a connection plate 307 is fixed on one side of the comparison liquid 305 inside the balance cavity 304, a laser sensor body 306 is embedded on one side of the outer wall of the placement shell 301, the laser sensor body 306 penetrates into the interior of the placement shell 301, the placement shell 301 is adhesively connected to the connection plate 307, a connection ring 4 is fixed on the outer wall of the laser sensor body 306, and a sealing cover 5 is sleeved outside the connection ring 4.

[0027] By adopting the above technical solution, first, the console base 1 controls the robotic arm 2 to work normally. The placement shell 301 has balance cavities 304 at various positions of the partition plate 302, and a comparison liquid 305 is filled inside. When in a balanced state, the laser sensor body 306 emits light, and at the reflection point on the connecting plate 307, so as to receive normally. When tilting occurs, the comparison liquid 305 follows the tilt, and the light penetrates, enabling quick determination of whether it is balanced, ensuring the balance accuracy of the robotic arm 2. The sealing cover 5 is threadedly connected to the connecting ring 4 to protect the laser sensor body 306 from being eroded by the comparison liquid 305.

[0028] Specifically, as Figure 4 shown, a placement cavity 6 is provided below the partition plate 302. A balance mechanism 7 is arranged inside the placement cavity 6. The balance mechanism 7 includes a spring 701. The spring 701 is embedded on both sides inside the placement cavity 6. One end of the spring 701 is connected to a push plate 702. A first pressure sensor 703 is embedded on one side of the springs 701 on both sides inside the placement cavity 6. A ball 704 is movably connected inside the placement cavity 6. The balance mechanism 7 further includes a limit groove 705. The limit groove 705 is opened at the bottom end inside the placement cavity 6. A second pressure sensor 706 is embedded below the limit groove 705. The front end of the push plate 702 is connected to a rubber plate 8. A sliding groove 9 is opened at a position corresponding to the push plate 702 on one side inside the placement cavity 6.

[0029] By adopting the above technical solution, when the robotic arm 2 is in a tilted state, the ball 704 rolls along the placement cavity 6, thus touching the push plate 702 and compressing the spring 701 to touch the first pressure sensor 703, enabling determination of which horizontal direction is tilted, allowing the console base 1 to automatically adjust the robotic arm 2 until the ball 704 enters the limit groove 705 and touches the second pressure sensor 706. The rubber plate 8 and the spring 701 prevent the ball 704 from being impacted excessively and damaging the first pressure sensor 703. The sliding groove 9 improves the stability of the sliding process of the push plate 702.

[0030] Working principle: The robotic arm 2 is controlled and adjusted through the PLC control terminal or single-chip microcomputer of the console base 1. When the robotic arm 2 is lifted, the comparison liquid 305 in the balance chamber 304 separated by the partition 302 inside the placement shell 301 shakes. When in the balanced state, the comparison liquid 305 is in the balanced state, and the laser of the laser sensor body 306 projects back from the black connecting plate 307. By detecting whether the light passes through the comparison liquid 305, it can quickly determine whether it is in the balanced state. The comparison liquid 305 is the same as the liquid of the liquid level gauge. The glass plate 303 facilitates viewing the internal situation. The connecting ring 4 to which the laser sensor body 306 is fixed is connected to the sealing cover 5 by threads to prevent the internal comparison liquid 305 from causing immersion corrosion. At the same time, when the robotic arm 2 is lifted, the balls 704 inside the placement cavity 6 roll, thus pushing against the push plate 702 to press the spring 701 and touch the first pressure sensor 703, so as to determine which horizontal direction is tilted to facilitate the console base 1 to control the adjustment of the robotic arm 2. When in the balanced state, the balls 704 are limited by the limit groove 705 and touch the second pressure sensor 706, thus preventing the console base 1 from adjusting the robotic arm 2 again. The spring 701 has a small elasticity to prevent the balls 704 from not being able to exert force. The rubber plate 8 is used to prevent damage to the first pressure sensor 703 caused by excessive impact. The push plate 702 is limited and slid through the chute 9 to prevent deviation.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm with an automatic balance calibration function, including a console base (1), characterized in that: A robotic arm (2) is movably connected above the console base (1), and an induction mechanism (3) for sensing the balance state is arranged on the outer wall of the robotic arm (2); The induction mechanism (3) includes a placement shell (301). The placement shell (301) is fixed on the outer wall of the robotic arm (2). Glass plates (303) are embedded above and below the front end of the placement shell (301). A partition plate (302) is fixed below the interior of the placement shell (301). A balance cavity (304) is arranged above the partition plate (302) inside the placement shell (301). A comparison liquid (305) is placed below the interior of the balance cavity (304). A connecting plate (307) is fixed on one side of the comparison liquid (305) inside the balance cavity (304). A laser sensor body (306) is embedded on one side of the outer wall of the placement shell (301).

2. The robotic arm with an automatic balance calibration function according to claim 1, characterized in that: The laser sensor body (306) penetrates into the interior of the placement shell (301), and the placement shell (301) is adhesively connected to the connecting plate (307).

3. The robotic arm with an automatic balance calibration function according to claim 1, wherein: A connecting ring (4) is fixed on the outer wall of the laser sensor body (306), and a sealing cover (5) is sleeved outside the connecting ring (4).

4. A robotic arm with an automatic balance calibration function according to claim 1, characterized in that: A placement cavity (6) is arranged below the partition plate (302), and a balance mechanism (7) is arranged inside the placement cavity (6).

5. The robotic arm with an automatic balance calibration function according to claim 4, characterized in that: The balance mechanism (7) includes springs (701). The springs (701) are embedded on both sides inside the placement cavity (6). One end of each spring (701) is connected to a push plate (702). First pressure sensors (703) are embedded on one side of the springs (701) on both sides inside the placement cavity (6). Ball bearings (704) are movably connected inside the placement cavity (6).

6. The robotic arm with an automatic balance calibration function according to claim 5, wherein: The balance mechanism (7) further includes limit grooves (705). The limit grooves (705) are opened at the bottom end inside the placement cavity (6), and second pressure sensors (706) are embedded below the interior of the limit grooves (705).

7. The robotic arm with an automatic balance calibration function according to claim 5, characterized in that: The front end of the push plate (702) is connected to a rubber plate (8), and a sliding groove (9) is opened at a position corresponding to the push plate (702) on one side inside the placement cavity (6).

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