Multi-arm rotary type carrying mechanical arm

Abstract

The utility model discloses a multi-arm rotary type carrying mechanical arm which comprises a base, a rotating shaft, a rotating shaft and a driving mechanism. The multi-degree-of-freedom mechanical arm is horizontally and rotationally connected to the top of the base through a rotating assembly; the angle adjusting assembly is mounted at the end part of the multi-degree-of-freedom mechanical arm; the mechanical claw is installed on the angle adjusting assembly, the mechanical claw comprises an installation frame, a lifting frame is vertically connected to the installation frame in a sliding mode, a lifting assembly is installed on the installation frame, clamping assemblies and a distance adjusting assembly are arranged on the lifting frame, and the clamping assemblies are symmetrically connected to the lifting frame in a sliding mode; and the multi-degree-of-freedom mechanical arm, the angle adjusting assembly, the rotating assembly, the lifting assembly, the distance adjusting assembly and the clamping assembly are all connected with the control system. The mechanical arm can adapt to various complex working environments and object shapes, and universality and flexibility of a system are improved.

Description

Technical Field

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

[0002] As a crucial infrastructure for electric vehicle energy replenishment, the production process of charging piles is vital to ensuring the reliability and safety of charging facilities. In this production process, robotic arms, as an important component of automated production equipment, play a pivotal role.

[0003] During the assembly of charging stations, various components, such as housings and circuit boards, need to be moved. Robotic arms can precisely grasp and place these components, improving production efficiency. These robotic arms typically employ advanced vision positioning and sensor technology to achieve high-precision positioning and grasping, ensuring accurate placement and assembly of components.

[0004] Existing robotic arms cannot adjust the size of the gripper portion according to the actual volume of the handling device, thus limiting their use. Based on this, the present invention provides a multi-arm rotary robotic arm. Utility Model Content

[0005] The purpose of this invention is to provide a multi-arm rotary handling robot to solve the problems existing in the prior art.

[0006] To achieve the above objectives, this utility model provides the following solution: This utility model provides a multi-arm rotary handling robot arm, comprising:

[0007] A base on which a fixing component is mounted;

[0008] A multi-degree-of-freedom robotic arm, which is horizontally rotatably connected to the top of the base via a rotating assembly;

[0009] An angle adjustment component is mounted on the end of the multi-degree-of-freedom robotic arm;

[0010] A mechanical gripper is mounted on the angle adjustment assembly. The mechanical gripper includes a mounting frame, a lifting frame is vertically slidably connected to the mounting frame, and a lifting assembly is mounted on the mounting frame. The lifting assembly is used to control the lifting of the lifting frame. The lifting frame is provided with a clamping assembly and a spacing adjustment assembly. The clamping assemblies are symmetrically slidably connected to the lifting frame, and the spacing adjustment assembly is used to adjust the distance between the two clamping assemblies.

[0011] The control system includes the multi-degree-of-freedom robotic arm, the angle adjustment component, the rotation component, the lifting component, the spacing adjustment component, and the clamping component, all of which are connected to the control system.

[0012] According to the multi-arm rotary handling robot provided by this utility model, the rotary component includes a rotary motor, a turntable is fixedly connected to the bottom of the multi-degree-of-freedom robot, the turntable is rotatably connected to the top surface of the base, the rotary motor is fixed on the base, the output shaft of the rotary motor is fixedly connected to a drive gear, the outer wall of the turntable is provided with a toothed groove, and the drive gear meshes with the toothed groove.

[0013] According to the multi-arm rotary handling robot provided by this utility model, the angle adjustment component includes an angle adjustment motor, the angle adjustment motor is installed at the end of the multi-degree-of-freedom robot arm, and the mounting bracket is fixedly connected to the angle adjustment motor.

[0014] According to the multi-arm rotary handling robot provided by this utility model, the lifting assembly includes a lifting motor, which is fixedly connected to the lifting frame. The output shaft of the lifting motor is fixedly connected to a lifting gear, and a toothed plate is vertically fixedly connected to the mounting frame. The lifting gear meshes with the toothed plate.

[0015] According to the multi-arm rotary handling robot provided by this utility model, the spacing adjustment component includes a spacing adjustment motor, which is fixedly connected to the lifting frame. The output shaft of the spacing adjustment motor is fixedly connected to a bidirectional screw, which is rotatably connected to the lifting frame. A slider is horizontally slidably connected to the lifting frame. The bidirectional screw passes through the slider and is threadedly connected to the slider. The clamping component is installed on the slider.

[0016] According to the multi-arm rotary handling robot provided by this utility model, the clamping assembly includes side plates, which are symmetrically fixedly connected to both sides of the slider. The upper and lower ends of any side plate are respectively rotatably connected to grippers. An electrically controlled push rod is fixedly connected to the back side of the slider. The output shaft of the electrically controlled push rod is fixedly connected to a push rod. The push rod and the electrically controlled push rod are arranged perpendicularly. Two sets of connecting rods are respectively rotatably connected to the two ends of the push rod. The connecting rods are rotatably connected to the middle position of the grippers.

[0017] According to the multi-arm rotary handling robot provided by this utility model, the fixing component is provided with several sets on the base, the fixing component includes a fixing seat, the fixing seat is fixed to the bottom side of the base, and fixing bolts are installed on the fixing seat.

[0018] The present invention discloses the following technical effects:

[0019] 1) Improve handling efficiency: Through a highly automated control system and precise positioning capabilities, multi-arm rotary handling robots can significantly improve handling efficiency and reduce manual intervention and waiting time.

[0020] 2) Enhanced adaptability: The multi-degree-of-freedom robotic arm, in conjunction with angle adjustment components, lifting components, spacing adjustment components, and clamping components, enables the robotic arm to adapt to various complex working environments and object shapes, improving the system's versatility and flexibility.

[0021] 3) Improved safety: The automated operation of robotic arms reduces the chances of humans directly contacting hazardous objects, thus lowering the risk of workplace injuries. At the same time, precise control systems can also prevent collisions or damage to objects during handling. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described 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.

[0023] Figure 1 This is a schematic diagram of the structure of the multi-arm rotary handling robot of this utility model. Figure I ;

[0024] Figure 2 This is a schematic diagram of the structure of the multi-arm rotary handling robot of this utility model. Figure II .

[0025] The components include: 1. Base; 2. Multi-degree-of-freedom robotic arm; 3. Mounting frame; 4. Lifting frame; 5. Turntable; 6. Angle adjustment motor; 7. Lifting motor; 8. Spacing adjustment motor; 9. Bidirectional screw; 10. Slider; 11. Side plate; 12. Gripper; 13. Push rod; 14. Connecting rod; 15. Fixed seat. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Reference Figure 1-2 This utility model provides a multi-arm rotary handling robot arm, comprising:

[0029] Base 1, on which a fixing component is installed;

[0030] Multi-degree-of-freedom robotic arm 2 is horizontally connected to the top of base 1 via a rotating assembly;

[0031] An angle adjustment component is installed at the end of the multi-degree-of-freedom robotic arm 2;

[0032] The mechanical gripper is mounted on an angle adjustment assembly. The mechanical gripper includes a mounting frame 3, on which a lifting frame 4 is vertically slidably connected. A lifting assembly is mounted on the mounting frame 3. The lifting assembly is used to control the lifting of the lifting frame 4. A clamping assembly and a spacing adjustment assembly are provided on the lifting frame 4. The clamping assembly is symmetrically slidably connected to the lifting frame 4. The spacing adjustment assembly is used to adjust the distance between the two clamping assemblies.

[0033] The control system, multi-degree-of-freedom robotic arm 2, angle adjustment component, rotation component, lifting component, spacing adjustment component, and clamping component are all connected to the control system.

[0034] When this invention is in operation, if an object needs to be moved, the entire robotic arm system is first activated by the control system. The control system, by controlling the rotating component and the multi-degree-of-freedom robotic arm 2, precisely positions the robotic gripper above the object to be moved. The flexibility of the multi-degree-of-freedom robotic arm 2 allows for complex movements in three-dimensional space to adapt to different working environments and object positions. After approaching the object, the angle adjustment component starts working, adjusting the tilt angle of the robotic gripper according to the shape, size, and handling requirements of the object, ensuring that the robotic gripper can contact the object in the most suitable posture. The control system then activates the lifting component, driving the lifting mechanism via a motor or hydraulic device. The frame 4 moves vertically on the mounting frame 3, bringing the gripping components close to the object. Once the gripping components contact the object, the spacing adjustment component starts working, adjusting the distance between the two gripping components according to the width or diameter of the object to ensure that they can grip the object tightly and evenly. After successfully gripping the object, the control system uses the rotating component and the multi-degree-of-freedom robotic arm 2 to transport the object to the target position. After reaching the target position, the lifting component starts again to lower the object to an appropriate height. Then, the spacing adjustment component releases the gripping components and releases the object. After completing the transport task, the robotic gripper returns to the initial position or standby position, ready for the next transport.

[0035] Further optimization of the scheme: the rotating component includes a rotary motor, a turntable 5 is fixedly connected to the bottom of the multi-degree-of-freedom robotic arm 2, the turntable 5 is rotatably connected to the top surface of the base 1, the rotary motor is fixed on the base 1, the output shaft of the rotary motor is fixedly connected to a drive gear, and the outer wall of the turntable 5 is provided with tooth grooves, and the drive gear meshes with the tooth grooves.

[0036] When the control system receives a handling command, it first starts the rotary motor in the rotating assembly. At this time, the rotary motor is stationary, and the drive gear on its output shaft is either not engaged or about to engage with the toothed groove on the outer wall of the turntable 5. The turntable 5 is rotatably connected to the top surface of the base 1 through some means (such as bearings), ensuring that the turntable 5 can rotate smoothly. As the rotary motor starts, its output shaft begins to rotate, driving the drive gear to rotate as well. Because the drive gear matches the toothed groove design on the outer wall of the turntable 5, the continuous rotation of the rotary motor is transmitted to the turntable 5 through the drive gear, causing the turntable 5 to rotate on the top surface of the base 1 in a predetermined direction and speed. The rotation of the turntable 5 will drive the multi-degree-of-freedom robotic arm 2, which is fixedly connected to it, to rotate as well. The multi-degree-of-freedom robotic arm 2, through its internal joints and drive mechanism, can perform complex spatial movements such as pitch, yaw, and roll while rotating, in order to achieve precise positioning and handling of objects at different positions and angles.

[0037] Further optimization of the scheme: the angle adjustment component includes an angle adjustment motor 6, which is installed at the end of the multi-degree-of-freedom robotic arm 2, and the mounting bracket 3 is fixedly connected to the angle adjustment motor 6.

[0038] The scheme is further optimized. The lifting component includes a lifting motor 7, which is fixedly connected to the lifting frame 4. The output shaft of the lifting motor 7 is fixedly connected to a lifting gear. A toothed plate is vertically fixedly connected to the mounting frame 3, and the lifting gear meshes with the toothed plate.

[0039] The mounting frame 3 and the lifting frame 4 slide vertically together, and the two adopt a plate-slot cooperation method (rail and slide plate cooperation). The lifting frame 4 has a through slot, and the mounting frame 3 has an installation slot. The toothed plate is installed in the installation slot. The lifting gear extends through the through slot and meshes with the toothed plate in the installation slot. The lifting motor 7 drives the lifting gear to rotate, so as to realize the climbing and lifting of the lifting frame 4.

[0040] The scheme is further optimized. The spacing adjustment component includes a spacing adjustment motor 8, which is fixedly connected to the lifting frame 4. The output shaft of the spacing adjustment motor 8 is fixedly connected to a bidirectional screw 9, which is rotatably connected to the lifting frame 4. A slider 10 is horizontally slidably connected to the lifting frame 4. The bidirectional screw 9 passes through the slider 10 and is threadedly connected to the slider 10. The clamping component is installed on the slider 10.

[0041] Further optimization of the scheme: the clamping assembly includes a side plate 11, which is symmetrically fixedly connected to both sides of the slider 10. The upper and lower ends of any side plate 11 are respectively rotatably connected to a gripper 12. An electrically controlled push rod 13 is fixedly connected to the back side of the slider 10. The output shaft of the electrically controlled push rod 13 is fixedly connected to a push rod 13. The push rod 13 and the electrically controlled push rod 13 are vertically arranged. Two sets of connecting rods 14 are respectively rotatably connected to both ends of the push rod 13. The connecting rods 14 are rotatably connected to the middle position of the gripper 12.

[0042] When no spacing adjustment command is received, the spacing adjustment motor 8 is stationary, and the bidirectional screw 9 is also stationary. At this time, the slider 10 remains in a fixed position on the lifting frame 4, and the grippers 12 of the clamping assembly are open, ready to receive the object. When the control system receives a spacing adjustment command, it starts the spacing adjustment motor 8. The output shaft of the spacing adjustment motor 8 begins to rotate, driving the bidirectional screw 9 to rotate as well. Since the bidirectional screw 9 and the slider 10 are threadedly connected, and the slider 10 is horizontally slidably connected on the lifting frame 4, the rotation of the bidirectional screw 9 causes the slider 10 to move to the sides or center on the lifting frame 4. After the clamping assembly is adjusted to the appropriate position, the control system starts the electrically controlled push rod 13. The output shaft of the electrically controlled push rod 13 begins to extend or retract, driving the push rod 13 to move as well. Because the push rod 13 and the electrically controlled push rod 13 are vertically positioned, and both ends of the push rod 13 are rotatably connected to the gripper 12 at the middle position via connecting rods 14, the movement of the push rod 13 causes the gripper 12 to rotate around its upper and lower ends, thus closing or opening the gripper 12. After successfully gripping an object, the multi-arm rotary handling robot will transport the object to the target position according to a predetermined path and speed. Upon reaching the target position, the electrically controlled push rod 13 will restart, causing the gripper 12 to open and release the object. Then, components such as the spacing adjustment motor 8 and the lifting assembly will reset and standby according to a predetermined program, awaiting the next handling command.

[0043] The movement of slider 10 causes side plate 11 and clamping components to move together, thereby changing the distance between the two clamping components. This process can be precisely adjusted according to the width or diameter of the object, ensuring that the clamping components can grip the object tightly and evenly. The flexibility of the spacing adjustment component and the clamping components allows the multi-arm rotary handling robot to adapt to objects of different shapes, sizes, and weights, improving the system's versatility and adaptability.

[0044] The solution is further optimized by setting several sets of fixing components on the base 1. The fixing components include fixing seats 15, which are fixed to the bottom side of the base 1 and are equipped with fixing bolts.

[0045] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0046] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A multi-arm rotary handling robot, characterized by, Include: Base (1), a fixed component is installed on the base (1); Multi-degree-of-freedom robot arm (2), the multi-degree-of-freedom robot arm (2) is connected to the top of the base (1) by rotating the component; Angle adjusting assembly, the angle adjusting assembly is installed at the end of the multi-degree-of-freedom robot arm (2); Mechanical claw, the mechanical claw is installed on the angle adjusting assembly, the mechanical claw includes a mounting frame (3), a lifting frame (4) is vertically and slidingly connected to the mounting frame (3), a lifting assembly is installed on the mounting frame (3), the lifting assembly is used for controlling the lifting of the lifting frame (4), a spacing adjusting assembly and a clamping assembly are provided on the lifting frame (4), the clamping assembly is symmetrically and slidingly connected to the lifting frame (4), the spacing adjusting assembly is used for adjusting the distance between the two clamping assemblies; Control system, the multi-degree-of-freedom robot arm (2), the angle adjusting assembly, the rotating component, the lifting assembly, the spacing adjusting assembly, the clamping assembly are connected with the control system.

2. The multi-arm rotary handling robot arm according to claim 1, characterized in that: The rotating component includes a rotating motor, the bottom of the multi-degree-of-freedom robot arm (2) is fixedly connected with a rotating disc (5), the rotating disc (5) is rotatably connected to the top surface of the base (1), the rotating motor is fixed on the base (1), the output shaft of the rotating motor is fixedly connected with a driving gear, the outer wall of the rotating disc (5) is provided with a gear slot, and the driving gear is engaged with the gear slot.

3. The multi-arm rotary handling robot arm according to claim 1, characterized in that: The angle adjusting assembly includes an angle adjusting motor (6), the angle adjusting motor (6) is installed at the end of the multi-degree-of-freedom robot arm (2), and the mounting frame (3) is fixedly connected to the angle adjusting motor (6).

4. The multi-arm rotary handling robot arm according to claim 1, characterized in that: The lifting assembly includes a lifting motor (7), the lifting motor (7) is fixedly connected to the lifting frame (4), the output shaft of the lifting motor (7) is fixedly connected with a lifting gear, and the mounting frame (3) is vertically and fixedly connected with a toothed plate, the lifting gear is engaged with the toothed plate.

5. The multi-arm rotary handling robot arm according to claim 1, characterized in that: The spacing adjusting assembly includes a spacing adjusting motor (8), the spacing adjusting motor (8) is fixedly connected to the lifting frame (4), the output shaft of the spacing adjusting motor (8) is fixedly connected with a bidirectional screw rod (9), the bidirectional screw rod (9) is rotatably connected to the lifting frame (4), the lifting frame (4) is horizontally and slidingly connected with a sliding block (10), the bidirectional screw rod (9) penetrates through the sliding block (10) and is threadedly connected with the sliding block (10), and the clamping assembly is installed on the sliding block (10).

6. The multi-arm rotary handling robot arm according to claim 5, characterized in that: The clamping assembly comprises side plates (11) symmetrically fixedly connected on both sides of the sliding block (10), the upper and lower ends of any side plate (11) are respectively rotationally connected with a clamping jaw (12), the back side of the sliding block (10) is fixedly connected with an electric control push rod (13), the output shaft of the electric control push rod (13) is fixedly connected with a push rod (13), the push rod (13) is vertically arranged between the electric control push rod (13), and the two ends of the push rod (13) are respectively rotationally connected with two groups of connecting rods (14), and the connecting rods (14) are rotationally connected with the middle positions of the clamping jaws (12).

7. The multi-arm rotary handling robot arm according to claim 1, characterized in that: The fixing assembly is arranged in groups on the base (1), and the fixing assembly comprises a fixing seat (15) fixed to the bottom of the side of the base (1), and a fixing bolt is mounted on the fixing seat (15).

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