Four-axis flexible adsorption carrying mechanical arm

Abstract

The utility model provides a four-axis flexible adsorption carrying mechanical arm, which relates to the technical field of mechanical arms and comprises a base, four threaded holes I are formed in the top of the base, and a rubber pad is fixedly mounted at the bottom of the base. According to the mechanical arm, the base is fixedly connected with the ground through the screws, meanwhile, the friction force between the base of the mechanical arm and the ground can be increased through the rubber pad, the mechanical arm can operate more stably, the vibration amplitude and the noise level of the mechanical arm can be reduced, and the angle of the mechanical arm can be adjusted through operation of the first servo motor; 360-degree all-dimensional operation can be conducted in the horizontal plane, the flexibility of the mechanical arm is improved, meanwhile, the height of the mechanical arm can be adjusted through operation of a second servo motor, the flexibility of the mechanical arm is further enhanced, the mechanical arm can be adjusted to the optimal position and posture according to different working scenes and task requirements, and the working efficiency and adaptability are improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a four-axis flexible adsorption and handling robotic arm. Background Technology

[0002] The movement of the robotic arm is controlled by a controller, which calculates the voltage and power of the motor based on the input signal, and then drives the robotic arm to perform specific movements. In many fields such as modern industrial production, logistics distribution and warehouse management, the handling and precise positioning of materials are crucial. Traditional manual handling methods are inefficient and cannot guarantee the accuracy and stability of the handling process, which can easily damage the materials.

[0003] While some existing robotic arms have achieved automated handling to a certain extent, their joint flexibility is limited and their adsorption structure is simple. When faced with materials of complex shapes, different materials, and diverse adsorption requirements, they are prone to unstable adsorption, which affects the handling effect. Utility Model Content

[0004] The purpose of this invention is to solve the problem that existing robotic arms have limited flexibility and are prone to unstable adsorption when dealing with materials of complex shapes or different materials, which affects the handling effect. Therefore, a four-axis flexible adsorption and handling robotic arm is proposed.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a four-axis flexible adsorption and handling robotic arm, comprising a base, four threaded holes 1 on the top of the base, a rubber pad fixedly installed on the bottom of the base, four threaded holes 2 on the top of the rubber pad, screws threadedly connected to the inner walls of the four threaded holes 1, and the outer walls of the four screws threadedly connected to the inner walls of the four threaded holes 2, a first servo motor disposed on the inner wall of the base, a support frame fixedly installed on the top of the first servo motor, a controller fixedly installed on one side of the outer wall of the support frame, a hole on the top of the support frame, a lead screw movably inserted into the inner wall of the hole, a second servo motor disposed on the top of the lead screw, and a movable slide connected to the outer wall of the lead screw threadedly.

[0006] Preferably, a connecting plate is fixedly installed on one side of the outer wall of the movable slide, and two sliding grooves are opened on the outer wall of the support frame. A slider is movably embedded in the inner surface of each of the two sliding grooves, and the outer surface of the two sliders is fixedly connected to one side of the outer wall of the connecting plate.

[0007] Preferably, a third servo motor is fixedly installed at the bottom of the connecting plate, a first bearing is provided at the output end of the third servo motor, a first joint arm is fixedly sleeved on the outer wall of the first bearing, a fourth servo motor is fixedly installed at the top of the first joint arm, a second bearing is provided at the output end of the fourth servo motor, and a second joint arm is fixedly sleeved on the outer wall of the second bearing.

[0008] Preferably, a vacuum generator is fixedly installed at the top of the second articulated arm, a fifth servo motor is fixedly installed at the bottom of the second articulated arm, and a support plate is fixedly installed at the output end of the fifth servo motor.

[0009] Preferably, the output end of the vacuum generator is provided with two vacuum suction cups, and the outer walls of the two vacuum suction cups are fixedly connected to the support plate. An infrared sensor is fixedly installed at the bottom of the support plate, and a weight sensor is fixedly installed at the bottom of the support plate.

[0010] Preferably, the bottom of the second joint arm is provided with a second sliding groove, the inner surface of the second sliding groove is movably embedded with a second slider, and the bottom of the second slider is fixedly installed with an electric telescopic rod.

[0011] Preferably, a connecting plate two is fixedly installed at the bottom of the electric telescopic rod, and an infrared sensor two is fixedly installed on one side of the outer wall of the connecting plate two.

[0012] Preferably, a vacuum generator is fixedly installed on the top of the second articulated arm. The output end of the vacuum generator is provided with two vacuum suction cups, and the outer walls of the two vacuum suction cups are fixedly connected to one side of the outer wall of the connecting plate.

[0013] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0014] In this invention, the base is connected and fixed to the ground with screws. Meanwhile, the rubber pad increases the friction between the robotic arm base and the ground, making the robotic arm more stable and reducing vibration amplitude and noise levels. Secondly, the first servo motor can adjust the angle of the robotic arm, enabling 360-degree omnidirectional operation in the horizontal plane, improving its flexibility. Simultaneously, the second servo motor can adjust the height of the robotic arm, further enhancing its flexibility. This allows the robotic arm to adjust to the optimal position and posture according to different work scenarios and task requirements, improving work efficiency and adaptability.

[0015] In this invention, the movement of the robotic arm is controlled by the cooperation of the third and fourth servo motors, while the operation of the fifth servo motor can adjust the direction of the first vacuum suction cup so that it can adhere to the material. Then, the operation of the first vacuum generator causes the first vacuum suction cup to adsorb the material. At the same time, the second slider, in conjunction with the second infrared sensor, causes the second vacuum suction cup to adhere to the outer wall of the material. Then, the operation of the second vacuum generator causes the second vacuum suction cup to adsorb the material. The use of two suction cups at the same time ensures stable adsorption of the workpiece and avoids slippage or tilting, providing double protection. Attached Figure Description

[0016] Figure 1 This utility model presents a front view perspective view of the structure of a four-axis flexible adsorption and handling robotic arm;

[0017] Figure 2 This invention provides a three-dimensional exploded view of the main structure of a four-axis flexible adsorption and handling robotic arm.

[0018] Figure 3 This invention provides a front view structural breakdown diagram of a four-axis flexible adsorption and handling robotic arm.

[0019] Figure 4 This invention provides a three-dimensional exploded view of the main structure of a four-axis flexible adsorption and handling robotic arm.

[0020] Figure 5 This invention provides a front view structural breakdown diagram of a four-axis flexible adsorption and handling robotic arm.

[0021] Figure 6 This invention presents a three-dimensional exploded view of the main structure of a four-axis flexible adsorption and handling robotic arm.

[0022] Legend:

[0023] 1. Base; 2. Threaded hole one; 3. Rubber pad; 4. Threaded hole two; 5. Screw; 6. First servo motor; 7. Support frame; 8. Controller; 9. Hole; 10. Lead screw; 11. Second servo motor; 12. Moving slide; 13. Connecting plate one; 14. Slide groove one; 15. Slider one; 16. Third servo motor; 17. First bearing; 18. First articulated arm; 19. Fourth servo motor; 20. Second bearing; 21. Second articulated arm; 22. Vacuum generator one; 23. Fifth servo motor; 24. Support plate; 25. Vacuum suction cup one; 26. Infrared sensor one; 27. Weight sensor; 28. Slide groove two; 29. ​​Slider two; 30. Electric telescopic rod; 31. Connecting plate two; 32. Infrared sensor two; 33. Vacuum generator two; 34. Vacuum suction cup two. Detailed Implementation

[0024] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0026] Example 1, as Figure 1 and Figure 2 As shown, this utility model provides a four-axis flexible adsorption and handling robotic arm, including a base 1. The top of the base 1 has four threaded holes 2. A rubber pad 3 is fixedly installed on the bottom of the base 1. The top of the rubber pad 3 has four threaded holes 4. Screws 5 are threadedly connected to the inner walls of each of the four threaded holes 2, and the outer walls of the four screws 5 are threadedly connected to the inner walls of the four threaded holes 4. A first servo motor 6 is installed on the inner wall of the base 1. A support frame 7 is fixedly installed on the top of the first servo motor 6. One side of the outer wall of the support frame 7... A controller 8 is fixedly installed. A hole 9 is opened on the top of the support frame 7. A lead screw 10 is movably inserted into the inner wall of the hole 9. A second servo motor 11 is installed on the top of the lead screw 10. A movable slide 12 is threadedly connected to the outer wall of the lead screw 10. A connecting plate 13 is fixedly installed on one side of the outer wall of the movable slide 12. Two slide grooves 14 are opened on the outer wall of the support frame 7. A slider 15 is movably embedded in the inner wall of each of the two slide grooves 14. The outer walls of the two sliders 15 are fixedly connected to one side of the outer wall of the connecting plate 13.

[0027] The overall effect of Embodiment 1 is as follows: First, by simultaneously rotating screw 5 into threaded hole 2 and threaded hole 4, the base 1 is connected and fixed to the ground. At the same time, the rubber pad 3 is located between the ground and the base, which can increase the friction between the robotic arm base and the ground, thereby improving the stability of the robotic arm during operation. Second, the operation of the first servo motor 6 can adjust the angle of the robotic arm, which can easily approach the parts on the workbench from different angles. Whether the object is located on the left, right or rear side, it can be easily adsorbed and transported, which improves the flexibility of the robotic arm. At the same time, the operation of the second servo motor 11 can drive the lead screw 10 to rotate, so that the moving slide 12 moves linearly on the lead screw 10, thereby adjusting the height of the robotic arm, which can cover a larger range of workspace and adapt to workpieces of different heights and positions. With the controller 8, very precise position control and motion control can be achieved. At the same time, when the connecting plate 13 moves, the slider 15 and the slide groove 14 cooperate to make the movement of the robotic arm more stable.

[0028] Example 2, as Figure 1 , Figures 3-6 As shown, a third servo motor 16 is fixedly installed at the bottom of the connecting plate 13. A first bearing 17 is installed at the output end of the third servo motor 16. A first articulated arm 18 is fixedly sleeved on the outer wall of the first bearing 17. A fourth servo motor 19 is fixedly installed at the top of the first articulated arm 18. A second bearing 20 is installed at the output end of the fourth servo motor 19. A second articulated arm 21 is fixedly sleeved on the outer wall of the second bearing 20. A vacuum generator 22 is fixedly installed at the top of the second articulated arm 21. A fifth servo motor 23 is fixedly installed at the bottom of the second articulated arm 21. A support plate 24 is fixedly installed at the output end of the fifth servo motor 23. Two vacuum suction cups 25 are installed at the output end of the vacuum generator 22. The outer walls are all fixedly connected to the support plate 24. An infrared sensor 26 is fixedly installed at the bottom of the support plate 24. A weight sensor 27 is fixedly installed at the bottom of the support plate 24. A sliding groove 28 is opened at the bottom of the second joint arm 21. A slider 29 is movably embedded in the inner wall of the sliding groove 28. An electric telescopic rod 30 is fixedly installed at the bottom of the slider 29. A connecting plate 31 is fixedly installed at the bottom of the electric telescopic rod 30. An infrared sensor 32 is fixedly installed on one side of the outer wall of the connecting plate 31. A vacuum generator 33 is fixedly installed at the top of the second joint arm 21. Two vacuum suction cups 34 are provided at the output end of the vacuum generator 33. The outer walls of the two vacuum suction cups 34 are fixedly connected to one side of the outer wall of the connecting plate 31.

[0029] The overall effect of Embodiment 2 is as follows: when the device is in normal use, the movement of the robotic arm can be adjusted by the coordinated operation of the third servo motor 16 and the fourth servo motor 19, making the robotic arm's movement more flexible. Secondly, the fifth servo motor 23 rotates the vacuum suction cup 25 to a state where it can fully contact the material. Then, the vacuum generator 22 operates to make the vacuum suction cup 25 adsorb the material. At the same time, the weight sensor 27 can monitor the weight of the material in real time and notify the staff in time when overload occurs. Meanwhile, the slider 29 cooperates with the infrared sensor 32 to make the vacuum suction cup 34 contact the outer wall of the material. Then, the vacuum generator 33 operates to make the vacuum suction cup 34 adsorb one side of the material. The vacuum suction cup 25 can provide additional support force to prevent the workpiece from slipping due to gravity. At the same time, the vacuum suction cup 34 can ensure the stability of the workpiece in the horizontal direction and avoid shaking or displacement during transportation.

[0030] Among them, the first servo motor 6, controller 8, second servo motor 11, third servo motor 16, fourth servo motor 19, vacuum generator 22, fifth servo motor 23, infrared sensor 26, weight sensor 27, electric telescopic rod 30, infrared sensor 32 and vacuum generator 33 are all existing technologies, and their components and operating principles are all publicly available technologies, which will not be explained in detail here.

[0031] Working Principle: First, during normal use, the base 1 is placed on a flat surface. The rubber pad 3 is positioned between the flat surface and the base 1, increasing friction between the base 1 and the ground, thus improving stability during operation. Next, screws 5 are passed through both threaded holes 2 and 4 to connect and fix the base 1 to the ground, preventing slippage or tipping during operation and ensuring stable task completion. The first servo motor 6 rotates the support frame 7, adjusting the arm's angle and allowing for rapid direction switching, significantly improving efficiency. The controller 8 controls the second servo motor 11, rotating the lead screw 10, which in turn moves the sliding block 12 linearly along the lead screw 10, adjusting the arm's height. Simultaneously, the third servo motor 16 and the fourth servo motor 19 work together... The operation can adjust the direction of the first joint arm 18 and the second joint arm 21 to change according to the position of the material. After the robotic arm is positioned above the material, the second servo motor 11 and the infrared sensor 26 work together to make the vacuum suction cup 25 contact the material. At the same time, the fifth servo motor 23 can rotate the vacuum suction cup 25 to a state where it can fully contact the material when the material is irregular. Then, the vacuum generator 22 runs so that the vacuum suction cup 25 can adsorb the material. The weight sensor 27 can detect the weight of the adsorbed material in real time and issue a warning to the operator when it is too heavy. At the same time, the infrared sensor 32 and the slider 29 work together to move the vacuum suction cup 34 to the other side of the material. Then, the vacuum generator 33 runs so that the vacuum suction cup 34 can adsorb the material at the same time, providing double protection for the handling process. The vacuum suction cup 34 can provide additional support to prevent the workpiece from slipping due to gravity.

[0032] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A four-axis flexible adsorption and handling robotic arm, characterized in that: The base (1) includes a base with four threaded holes (2) on its top. A rubber pad (3) is fixedly installed on the bottom of the base (1). Four threaded holes (4) are opened on the top of the rubber pad (3). Screws (5) are threadedly connected to the inner walls of the four threaded holes (2). The outer walls of the four screws (5) are threadedly connected to the inner walls of the four threaded holes (4). A first servo motor (6) is installed on the inner wall of the base (1). A support frame (7) is fixedly installed on the top of the first servo motor (6). A controller (8) is fixedly installed on one side of the outer wall of the support frame (7). A hole (9) is opened on the top of the support frame (7). A lead screw (10) is movably inserted into the inner wall of the hole (9). A second servo motor (11) is installed on the top of the lead screw (10). A movable slide (12) is threadedly connected to the outer wall of the lead screw (10).

2. The four-axis flexible adsorption and handling robotic arm according to claim 1, characterized in that: A connecting plate (13) is fixedly installed on one side of the outer wall of the movable slide (12). Two sliding grooves (14) are opened on the outer wall of the support frame (7). Slider (15) is movably embedded in the inner wall of the two sliding grooves (14), and the outer walls of the two sliders (15) are fixedly connected to one side of the outer wall of the connecting plate (13).

3. The four-axis flexible adsorption and handling robotic arm according to claim 2, characterized in that: A third servo motor (16) is fixedly installed at the bottom of the connecting plate (13). A first bearing (17) is provided at the output end of the third servo motor (16). A first joint arm (18) is fixedly sleeved on the outer wall of the first bearing (17). A fourth servo motor (19) is fixedly installed at the top of the first joint arm (18). A second bearing (20) is provided at the output end of the fourth servo motor (19). A second joint arm (21) is fixedly sleeved on the outer wall of the second bearing (20).

4. The four-axis flexible adsorption and handling robotic arm according to claim 3, characterized in that: A vacuum generator (22) is fixedly installed on the top of the second articulated arm (21), and a fifth servo motor (23) is fixedly installed on the bottom of the second articulated arm (21). A support plate (24) is fixedly installed on the output end of the fifth servo motor (23).

5. A four-axis flexible adsorption and handling robotic arm according to claim 4, characterized in that: The output end of the vacuum generator (22) is provided with two vacuum suction cups (25), and the outer walls of the two vacuum suction cups (25) are fixedly connected to the support plate (24). An infrared sensor (26) is fixedly installed at the bottom of the support plate (24), and a weight sensor (27) is fixedly installed at the bottom of the support plate (24).

6. A four-axis flexible adsorption and handling robotic arm according to claim 5, characterized in that: The bottom of the second joint arm (21) is provided with a sliding groove (28), and a slider (29) is movably embedded in the inner wall of the sliding groove (28). An electric telescopic rod (30) is fixedly installed at the bottom of the slider (29).

7. A four-axis flexible adsorption and handling robotic arm according to claim 6, characterized in that: A connecting plate 2 (31) is fixedly installed at the bottom of the electric telescopic rod (30), and an infrared sensor 2 (32) is fixedly installed on one side of the outer wall of the connecting plate 2 (31).

8. A four-axis flexible adsorption and handling robotic arm according to claim 6, characterized in that: The top of the second joint arm (21) is fixedly installed with a vacuum generator two (33). The output end of the vacuum generator two (33) is provided with two vacuum suction cups two (34), and the outer walls of the two vacuum suction cups two (34) are fixedly connected to one side of the outer wall of the connecting plate two (31).

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