Mechanical arm

Abstract

The utility model discloses a mechanical arm, and belongs to the technical field of mechanical arms. Comprising a sliding sleeve, a vertical guide rail arranged in the sliding sleeve in a sliding mode, a bottom rod fixedly arranged at the lower end of the vertical guide rail, a suction cup support hinged to the lower portion of the bottom rod, a plurality of suction cup assemblies arranged below the suction cup support, a first air cylinder driving the bottom rod to move up and down and a second air cylinder arranged on the bottom rod and driving the suction cup support to turn over. The suction cup support comprises two symmetrically-arranged X-direction rods, a plurality of installation rods perpendicular to the X-direction rods are arranged below the X-direction rods at intervals, and suction cup assemblies are arranged on the installation rods and located on the outer sides of the X-direction rods. The suction cup assembly comprises a suction cup and a suction cup connecting pipe concentrically arranged on the suction cup, and the upper end of the suction cup connecting pipe is slidably arranged on the mounting rod through a suction cup mounting frame. The upper end of the sucker connecting pipe is connected with an air pipe which is communicated with an air pump. The mechanical arm has the advantage that the mechanical arm is provided.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and specifically relates to a robotic arm. Background Technology

[0002] Modular architecture, as a new type of building system, primarily involves breaking down a building into several independent spaces during the architectural design process. These independent spaces serve as modules, which are then manufactured in a factory and finally assembled as a whole. Assembly allows for greater flexibility in architectural design. Different assembly methods and configurations can achieve various design effects to meet the needs of different projects. In actual assembly, wooden or steel panels typically need to be transferred to an assembly table. On this table, the panels require real-time adjustment or flipping to facilitate assembly and alignment between components. Manually flipping these panels is time-consuming and labor-intensive, significantly impacting construction efficiency. Therefore, a robotic arm is needed to assist workers in flipping the panels during modular building assembly. Utility Model Content

[0003] The purpose of this invention is to provide a robotic arm.

[0004] This utility model is achieved through the following measures: a robotic arm, characterized in that it includes a sliding sleeve, a vertical guide rail slidably disposed within the sliding sleeve, a base rod fixedly disposed at the lower end of the vertical guide rail, a suction cup bracket hinged below the base rod, a plurality of suction cup assemblies disposed below the suction cup bracket, a first cylinder for driving the base rod to move up and down, and a second cylinder disposed on the base rod for driving the suction cup bracket to flip.

[0005] The suction cup bracket includes two symmetrically arranged X-axis rods. Several mounting rods perpendicular to the X-axis rods are arranged at intervals below the X-axis rods. The suction cup assembly is arranged on each mounting rod and on the outside of the X-axis rod.

[0006] The suction cup assembly includes a suction cup and a suction cup connecting tube concentrically arranged on the suction cup. The upper end of the suction cup connecting tube is slidably arranged on the mounting rod through a suction cup mounting bracket, and the suction cup mounting bracket is fixed by screws.

[0007] The upper end of the suction cup connecting tube is connected to the air pipe, and the air pipe is connected to the air pump.

[0008] In use, the robotic arm is generally mounted on an X-axis sliding frame via a Y-axis sliding frame. The X-axis sliding frame is typically slidably mounted on a gantry truss, which includes two symmetrically arranged long beams. Both ends of the two long beams are fixedly connected by short beams, and several columns are spaced apart at the lower ends of the long beams. A track mounting beam is fixedly installed between the two short beams and inside the long beams, and an X-axis track is fixedly installed below the track mounting beam. The X-axis sliding frame includes a rectangular frame, with pulleys (first type) fixedly installed at the four corners of the rectangular frame to cooperate with the X-axis track. A Y-axis track is symmetrically arranged below the rectangular frame. The Y-axis sliding frame includes two symmetrically arranged X-axis beams, with pulleys (second type) fixedly installed at both ends of the X-axis beams to cooperate with the Y-axis track. The housings of the sliding sleeve and cylinder (first type) are fixed below the two X-axis beams, and the vertical guide rail is located between the two X-axis beams.

[0009] The suction cup bracket includes two symmetrically arranged X-axis rods. Several mounting rods perpendicular to the X-axis rods are arranged at intervals below the X-axis rods. The suction cup assembly is arranged on each mounting rod and on the outside of the X-axis rod.

[0010] The suction cup assembly includes a suction cup and a suction cup connecting tube concentrically arranged on the suction cup. The upper end of the suction cup connecting tube is slidably arranged on the mounting rod through a suction cup mounting bracket, and the suction cup mounting bracket is fixed by screws.

[0011] The upper end of the suction cup connecting tube is connected to the air pipe. A ball valve is installed on the suction cup connecting tube.

[0012] The two X-axis rods are connected at the middle position by a connecting rod. The connecting rod is located above the X-axis rod and one end extends out of the X-axis rod. A lug is symmetrically arranged above the extended end. The push rod of the cylinder is hinged to the lug.

[0013] A connecting short rod is symmetrically arranged between the inner walls of the two X-direction rods and on both sides of the connecting long rod. A vertical rod is fixedly arranged at both ends of the bottom rod. Ear plates two are symmetrically arranged on the connecting short rod on both sides of the vertical rod. The ear plates two are rotatably arranged on the vertical rod.

[0014] The housing of cylinder one is fixedly mounted on the bottom rod and located on one side of the vertical guide rail;

[0015] The outer side of the housing of cylinder one is provided with protective plates at intervals. The lower end of the protective plate is fixed to the bottom rod and is fixedly connected to the vertical guide rail through several support plates. The upper outer wall of the housing of cylinder two is hinged to the upper part of the protective plate.

[0016] The long beams and short beams are connected by diagonal braces at their joints.

[0017] An extension handle is fixedly installed at either end of the suction cup bracket. In use, a workbench is typically fixedly installed below one end of the gantry truss, and the extension handle is positioned on the side furthest from the workbench.

[0018] The extension handle is a telescopic handle, including two symmetrically arranged inner sleeve rods. The outer ends of the inner sleeve rods are each fitted with an outer sleeve rod. The outer ends of the two outer sleeve rods are connected by a fixing rod. The outer sleeve rods and the inner sleeve rods are connected by a connector.

[0019] The suction cup is a universal swing suction cup.

[0020] The connector is a set screw or a bolt that passes through the inner sleeve and the outer sleeve, which is connected by a thread. The inner sleeve and the outer sleeve are provided with a number of mounting holes that mate with the thread.

[0021] The screws on the inner sleeve rod.

[0022] The inner sleeve rod has a limiting protrusion on its outer end sidewall, and the outer sleeve rod has a strip-shaped opening that allows the limiting protrusion to move.

[0023] Since the two ends of the strip opening are not open, the limiting protrusion can limit the maximum elongation of the inner sleeve rod and the outer sleeve rod.

[0024] How to use:

[0025] The sheet material is transported to one side of the workbench using a transport vehicle. Pulling the extended handle moves the X-axis sliding bracket along the X-axis to above the sheet material. Adjusting the Y-axis sliding bracket according to the sheet material's position ensures the suction cups are directly above it. Sliding the suction cup bracket according to the sheet material's dimensions adjusts the suction cup spacing. Once the suction cup positions are adjusted, the sheet material is held in place by the suction cups. Then, pulling the handle moves the sheet material above the workbench.

[0026] When the angle of the plate needs to be adjusted on the worktable, cylinder two can be activated. The push rod of cylinder two pushes the outer end of the connecting rod downward, causing the suction cup bracket to rotate, thereby adjusting the angle of the suction cup bracket. After the angle is adjusted, cylinder two is activated, and the plate is moved down onto the worktable by cylinder two.

[0027] The beneficial effects of the technical solution provided by this utility model embodiment are: the angle of the board can be adjusted according to the installation requirements of the board; the robotic arm is controlled by a pneumatic suction method, which can enable one person to complete the operation independently; the distance between the handle and the robotic arm is extended to a sufficient safety distance to prevent the board from accidentally falling and causing injury to people. Attached Figure Description

[0028] To more clearly illustrate the technical solution of this utility model, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings listed below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;

[0030] Figure 2 This is a schematic diagram of the extension rod;

[0031] Figure 3 It is a robotic arm with an X-axis sliding frame and a Y-axis sliding frame;

[0032] Figure 4 yes Figure 3 A magnified view of a section at point B in the middle;

[0033] Figure 5 yes Figure 4 Front view of the structure;

[0034] Figure 6 This is a reference diagram showing the usage status of the robotic arm;

[0035] Figure 7 yes Figure 6 A magnified view of a section at point A in the middle;

[0036] Figure 8 Is with Figure 1 Schematic diagrams of structures at different angles.

[0037] The components represented by each number in the attached diagram are listed below: 1. Gantry Truss; 2. X-axis Sliding Frame; 3. Y-axis Sliding Frame; 4. Robotic Arm; 8. Track Mounting Beam; 9. Extension Handle; 11. Y-axis Track; 12. X-axis Track; 101. Long Beam; 102. Short Beam; 103. Column; 104. Diagonal Bracing; 201. Rectangular Frame; 202. Pulley One; 301. X-axis Beam; 302. Pulley Two; 401. Sliding Sleeve; 402. Vertical Guide Rail; 403. Base Rod; 404. Cylinder 1; 405. Cylinder 2; 407. Suction cup; 408. Protective plate; 409. Suction cup bracket; 410. Support plate; 411. Suction cup mounting bracket; 412. Screw; 40901. X-axis rod; 40902. Mounting rod; 40903. Connecting long rod; 40904. Connecting short rod; 40905. Ear plate 2; 901. Inner sleeve rod; 902. Outer sleeve rod; 903. Fixing rod; 90101. Limiting protrusion; 90201. Strip-shaped opening. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. Of course, the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit its scope.

[0039] Example 1:

[0040] See Figures 1-8 A robotic arm 4, characterized in that it includes a sliding sleeve 401, a vertical guide rail 402 slidably disposed within the sliding sleeve 401, a base rod 403 fixedly disposed at the lower end of the vertical guide rail 402, a suction cup bracket 409 hinged below the base rod 403, a plurality of suction cup 407 assemblies disposed below the suction cup bracket 409, a first cylinder 404 for driving the base rod 403 to move up and down, and a second cylinder 405 disposed on the base rod 403 for driving the suction cup bracket 409 to rotate.

[0041] The suction cup bracket 409 includes two symmetrically arranged X-axis rods 40901. Several mounting rods 40902 perpendicular to the X-axis rods 40901 are arranged at intervals below the X-axis rods 40901. Suction cup 407 assemblies are arranged on the mounting rods 40902 and on the outside of the X-axis rods 40901.

[0042] The suction cup 407 assembly includes a suction cup 407 and a suction cup 407 connecting tube concentrically arranged on the suction cup 407. The upper end of the suction cup 407 connecting tube is slidably arranged on the mounting rod 40902 via a suction cup mounting bracket 411. The suction cup mounting bracket 411 is fixed by screws 412.

[0043] The upper end of the suction cup 407 connecting tube is connected to the air tube, and the air tube is connected to the air pump.

[0044] In use, the robotic arm 4 is generally mounted on the X-axis sliding frame 2 via the Y-axis sliding frame 3. The X-axis sliding frame 2 is generally slidably mounted on the gantry truss 1, which includes two symmetrically arranged long beams 101. Both ends of the two long beams 101 are fixedly connected by short beams 102. Several columns 103 are spaced apart at the lower end of the long beams 101. A track mounting beam 8 is fixedly mounted between the two short beams 102 and inside the long beams 101. An X-axis track 12 is fixedly mounted below the track mounting beam 8. The X-axis sliding frame 2 includes a rectangular frame 201. At the four corners of the frame 201, pulleys 202 that cooperate with the X-axis rail 12 are fixedly installed; a Y-axis rail 11 is symmetrically arranged below the rectangular frame 201; the Y-axis sliding frame 3 includes two X-axis beams 301 arranged symmetrically, and pulleys 302 that cooperate with the Y-axis rail 11 are fixedly installed at both ends of the X-axis beams 301. The housings of the sliding sleeve 401 and the cylinder 404 are fixed below the two X-axis beams 301, and the vertical guide rail 402 is located between the two X-axis beams 301.

[0045] The suction cup bracket 409 includes two symmetrically arranged X-axis rods 40901. Several mounting rods 40902 perpendicular to the X-axis rods 40901 are arranged at intervals below the X-axis rods 40901. Suction cup 407 assemblies are arranged on the mounting rods 40902 and on the outside of the X-axis rods 40901.

[0046] The suction cup 407 assembly includes a suction cup 407 and a suction cup 407 connecting tube concentrically arranged on the suction cup 407. The upper end of the suction cup 407 connecting tube is slidably arranged on the mounting rod 40902 via a suction cup mounting bracket 411. The suction cup mounting bracket 411 is fixed by screws 412.

[0047] The upper end of the suction cup 407 connecting tube is connected to the air tube. A ball valve is installed on the suction cup 407 connecting tube.

[0048] The middle position of the two X-axis rods 40901 is connected by a connecting rod 40903. The connecting rod 40903 is located above the X-axis rod 40901 and one end extends out of the X-axis rod 40901. A lug is symmetrically arranged above the extended end. The push rod of the cylinder 404 is hinged to the lug.

[0049] A connecting short rod 40904 is symmetrically arranged between the inner walls of the two X-axis rods 40901 and on both sides of the connecting long rod 40903. A vertical rod is fixedly arranged at both ends below the bottom rod 403. A second ear plate 40905 is symmetrically arranged on the connecting short rod 40904 on both sides of the vertical rod. The second ear plate 40905 is rotatably arranged on the vertical rod.

[0050] The housing of cylinder 404 is fixedly mounted on the base rod 403 and located on one side of the vertical guide rail 402;

[0051] The outer side of the housing of cylinder 404 is provided with protective plates 408 at intervals. The lower end of the protective plates 408 is fixed to the bottom rod 403 and is fixedly connected to the vertical guide rail 402 through several support plates 410. The upper outer wall of the housing of cylinder 405 is hinged to the upper part of the protective plates 408.

[0052] The long beam 101 and the short beam 102 are connected by diagonal bracing 104.

[0053] An extension handle 9 is fixedly installed at either end of the suction cup bracket 409. In use, a workbench 5 is generally fixedly installed below one end of the gantry truss 1, and the extension handle 9 is located on the side away from the workbench 5.

[0054] The extension handle 9 is a telescopic handle, including two symmetrically arranged inner sleeve rods 901. The outer ends of the inner sleeve rods 901 are each sleeved with an outer sleeve rod 902. The outer ends of the two outer sleeve rods 902 are connected by a fixing rod 903. The outer sleeve rods 902 and the inner sleeve rods 901 are connected by a connector.

[0055] The suction cup 407 adopts a universal swing suction cup 407.

[0056] The connecting parts are set screws or bolts that pass through the inner sleeve rod 901 and the outer sleeve rod 902 and are connected by threads. The inner sleeve rod 901 and the outer sleeve rod 902 are provided with a number of mounting holes that mate with the threads.

[0057] Screw 412 on inner sleeve rod 901.

[0058] The inner sleeve rod 901 has a limiting protrusion 90101 on the outer end side wall, and the outer sleeve rod 902 has a strip opening 90201 that allows the limiting protrusion 90101 to move.

[0059] Since the two ends of the slot 90201 are not open, the limiting protrusion 90101 can limit the maximum elongation of the inner sleeve rod 901 and the outer sleeve rod 902.

[0060] Both the X-axis track 12 and the Y-axis track 11 use C-shaped tracks.

[0061] How to use:

[0062] The sheet material 6 is transported to one side of the workbench 5 using the transport vehicle 7. The extension handle 9 is pulled to move the X-axis sliding bracket 2 along the X-axis above the sheet material 6. The Y-axis sliding bracket 3 is adjusted according to the position of the sheet material 6 so that the suction cup 407 is directly above the sheet material 6. The suction cup bracket 409 is slid according to the size of the sheet material 6 to adjust the spacing of the suction cups 407. After the position of the suction cups 407 is adjusted, the sheet material 6 is held in place by the suction cups 407. Then, the handle is pulled to move the sheet material 6 above the workbench 5.

[0063] When it is necessary to adjust the angle of the plate 6 on the workbench 5, cylinder 2 405 can be activated. The push rod of cylinder 2 405 pushes the outer end of the connecting rod 40903 to move down, thereby driving the suction cup bracket 409 to rotate, thus realizing the adjustment of the angle of the suction cup bracket 409. After the angle is adjusted, cylinder 2 405 is activated, and the plate 6 is moved down onto the workbench 5 by cylinder 2 405.

[0064] Example 2:

[0065] Based on Embodiment 1, the specific dimensions of this utility model need to be set according to the stacking height of the various shaped plates 6. Among them, the lifting cylinder 404 is SC100-1000, the universal swing suction cup 407 is ZP3E-TF80BMNJB50, and the cylinder 405 is SC80-500.

[0066] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A robotic arm, characterized in that, It includes a sliding sleeve, a vertical guide rail slidably disposed within the sliding sleeve, a base rod fixedly disposed at the lower end of the vertical guide rail, a suction cup bracket hinged below the base rod, several suction cup assemblies disposed below the suction cup bracket, a cylinder one for driving the base rod to move up and down, and a cylinder two disposed on the base rod for driving the suction cup bracket to flip. The suction cup bracket includes two symmetrically arranged X-axis rods. Several mounting rods perpendicular to the X-axis rods are arranged at intervals below the X-axis rods. The suction cup assembly is arranged on each mounting rod and on the outside of the X-axis rod. The suction cup assembly includes a suction cup and a suction cup connecting tube concentrically arranged on the suction cup. The upper end of the suction cup connecting tube is slidably arranged on the mounting rod through a suction cup mounting bracket, and the suction cup mounting bracket is fixed by screws. The upper end of the suction cup connecting tube is connected to the air pipe, and the air pipe is connected to the air pump.

2. The robotic arm according to claim 1, characterized in that, The two X-axis rods are connected at the middle position by a connecting rod. The connecting rod is located above the X-axis rod and one end extends out of the X-axis rod. A lug is symmetrically arranged above the extended end. The push rod of the cylinder is hinged to the lug. A connecting short rod is symmetrically arranged between the inner walls of the two X-direction rods and on both sides of the connecting long rod. A vertical rod is fixedly arranged at both ends of the bottom rod. Ear plates two are symmetrically arranged on the connecting short rod on both sides of the vertical rod. The ear plates two are rotatably arranged on the vertical rod.

3. The robotic arm according to claim 2, characterized in that, The housing of cylinder one is fixedly mounted on the bottom rod and located on one side of the vertical guide rail; The outer side of the housing of cylinder one is provided with protective plates at intervals. The lower end of the protective plate is fixed to the bottom rod and is fixedly connected to the vertical guide rail through several support plates. The upper outer wall of the housing of cylinder two is hinged to the upper part of the protective plate.

4. The robotic arm according to claim 3, characterized in that, An extension handle is fixedly installed at either end of the suction cup bracket.

5. The robotic arm according to claim 4, characterized in that, The extension handle is a telescopic handle, including two symmetrically arranged inner sleeve rods. The outer ends of the inner sleeve rods are each fitted with an outer sleeve rod. The outer ends of the two outer sleeve rods are connected by a fixing rod. The outer sleeve rods and the inner sleeve rods are connected by a connector.

6. The robotic arm according to claim 1, characterized in that, The suction cup is a universal swing suction cup.

7. The robotic arm according to claim 5, characterized in that, The inner sleeve rod has a limiting protrusion on its outer end sidewall, and the outer sleeve rod has a strip-shaped opening that allows the limiting protrusion to move.

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