Mechanical arm and transfer robot

Abstract

The mechanical arm comprises a base, an arm component and a push rod assembly, the arm component is rotatably connected to the base, the push rod assembly comprises a first push rod, a pull rope and a pulley structure, the pulley structure is connected to the arm component, the pull rope is wound around the pulley structure, one end of the pull rope is connected with the driving end of the first push rod, and the other end of the pull rope is connected with the second push rod. The other end of the pull rope is connected with the base, and the non-driving end of the first push rod is rotationally connected with the base. The first push rod, the pull rope and the pulley structure are matched, the loading capacity and the action execution speed of the arm component can be improved, and the transfer robot comprises the chassis truck, the rotary table arranged on the chassis truck and the mechanical arm.

Description

Technical Field

[0001] This utility model relates to a robotic arm and a handling robot, belonging to the field of photovoltaic technology. Background Technology

[0002] The transport robot is used to grasp and move photovoltaic cleaning robots. The transport robot consists of a chassis and a robotic arm. The robotic arm includes multi-joint arm components, and its position is controlled by push rods. To accommodate the increasing height of the photovoltaic support structure, the arm components need to be longer. Correspondingly, push rods with high load capacity (especially the first load push rod) are required to adapt to the changes in arm component length. However, the first load push rod, with its large load, has a relatively slow extension and retraction speed, making it difficult to coordinate with other joint actuators for motion planning, resulting in slow motion execution speed. Utility Model Content

[0003] The purpose of this invention is to provide a robotic arm and a handling robot that can improve the load capacity and motion execution speed of the robotic arm.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A robotic arm, comprising:

[0006] Base;

[0007] An arm component, rotatably connected to the base; and

[0008] A push rod assembly includes a first push rod, a pull rope, and a pulley structure. The pulley structure is connected to the arm component, and the pull rope is wound around the pulley structure. One end of the pull rope is connected to the driving end of the first push rod, and the other end of the pull rope is connected to the base. The non-driving end of the first push rod is rotatably connected to the base.

[0009] As a further improvement of the present invention, the push rod assembly includes a pull plate, which is perpendicularly connected to the first push rod. The pull rope includes a first pull rope and a second pull rope, which are respectively connected to the two ends of the pull plate and are symmetrical with respect to the first push rod.

[0010] As a further improvement of the present invention, the base includes a base plate, a first side plate and a second side plate, the first side plate and the second side plate are connected to the base plate, the first pull rope is connected to the first side plate and the second pull rope is connected to the second side plate.

[0011] As a further improvement of the present invention, the pulley structure includes a first pulley and a second pulley, the first pulley and the second pulley are disposed on both sides of the arm component, the first pull rope is wound around the first pulley, and the second pull rope is wound around the second pulley.

[0012] As a further improvement of the present invention, the pulley structure includes a wheel axle and a sleeve, the arm component is provided with a mounting hole, the sleeve is disposed in the mounting hole, the wheel axle passes through the sleeve, and the first pulley and the second pulley are rotatably connected to both ends of the wheel axle.

[0013] As a further improvement of this utility model, a pull rope is provided, and the pull rope is directly connected to the first push rod.

[0014] As a further improvement of the present invention, the arm component includes a first arm component and a second arm component. One end of the first arm component is rotatably connected to the base, and one end of the second arm component is rotatably connected to the other end of the first arm component. The pulley structure is connected to the first arm component.

[0015] As a further improvement of the present invention, the robotic arm includes a linkage mechanism and a gripping mechanism. The linkage mechanism is rotatably connected to the other end of the second arm component, and the gripping mechanism is connected to the linkage mechanism.

[0016] As a further improvement of the present invention, the push rod assembly includes a second push rod and a third push rod. The driving end of the second push rod is connected to the second arm component, and the non-driving end of the second push rod is rotatably connected to the first arm component. The driving end of the third push rod is connected to the linkage mechanism, and the non-driving end of the third push rod is rotatably connected to the second arm component.

[0017] To achieve the above objectives, the present invention also adopts the following technical solution:

[0018] A transport robot includes a chassis, a turntable mounted on the chassis, and a robotic arm, wherein the base of the robotic arm is connected to the turntable.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows: The robotic arm provided by this utility model includes a first push rod, a pull rope, and a pulley structure. The pulley structure is connected to the arm component, and the pull rope is wound around the pulley structure. One end of the pull rope is connected to the drive end of the first push rod, and the other end of the pull rope is connected to the base. When the first push rod retracts, the arm component is lifted upward through the pull rope. When the first push rod extends, the arm component is moved downward through the pull rope. That is, through the cooperation of the first push rod, the pull rope, and the pulley structure, the load capacity and motion execution speed of the arm component can be improved. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of the material handling robot of this utility model;

[0021] Figure 2 yes Figure 1 Enlarged view of region A in the middle;

[0022] Figure 3 yes Figure 2 A three-dimensional diagram from another angle;

[0023] Figure 4 yes Figure 1 A three-dimensional sectional view of region A in the middle. Detailed Implementation

[0024] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. If several embodiments exist, features in these embodiments may be combined with each other without conflict. When the description refers to the drawings, unless otherwise stated, the same numbers in different drawings represent the same or similar elements. The descriptions in the following exemplary embodiments do not represent all embodiments consistent with the present invention; rather, they are merely examples of apparatuses, products, and / or methods consistent with some aspects of the present invention as set forth in the claims.

[0025] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of protection of this invention. The singular forms “a,” “the,” or “the” used in the specification and claims of this invention are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0026] It should be understood that the terms "first," "second," and similar words used in the specification and claims of this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish the features. Similarly, the terms "an" or "a" do not indicate a quantity limitation, but rather indicate the presence of at least one. Unless otherwise stated, the terms "before," "after," "upper," "lower," and similar words appearing in this utility model are for ease of explanation only and are not limited to a specific location or spatial orientation. The terms "comprising" or "including" are an open-ended expression, meaning that the element preceding "comprising" or "including" covers the element following "comprising" or "including" and its equivalents, which does not exclude that the element preceding "comprising" or "including" may also include other elements. In this utility model, the word "several" means two or more.

[0027] Please refer to Figures 1 to 4 As shown, this utility model discloses a handling robot, including a chassis 10, a turntable 20 disposed on the chassis 10, and a robotic arm connected to the turntable 20. The robotic arm is used to grasp the photovoltaic cleaning robot and transport it via the chassis 10.

[0028] Please refer to Figure 1 The robotic arm includes a base 1, an arm component 2, a push rod assembly 3, a linkage mechanism 4, and a gripping mechanism 5. The base 1 is connected to a turntable 20. The arm component 2 is rotatably connected to the base 1. The push rod assembly 3 controls the lifting and lowering of the arm component 2. The linkage mechanism 4 is rotatably connected to the end of the arm component 2 furthest from the base 1. The gripping mechanism 5 is connected to the linkage mechanism 4 and is used to grip the photovoltaic cleaning robot.

[0029] refer to Figure 3 The base 1 includes a base plate 11, a first side plate 12, and a second side plate 13. The base plate 11 is connected to the turntable 20, and both the first side plate 12 and the second side plate 13 are perpendicularly connected to the base plate 11. Stabilizing plates 14 are provided on the outer sides of both the first side plate 12 and the second side plate 13. The stabilizing plates 14 are also connected to the base plate 11. By providing stabilizing plates 14, the support strength of the first side plate 12 and the second side plate 13 is improved. Multiple stabilizing plates 14 can be provided as needed to improve the connection strength between the robotic arm and the turntable 20.

[0030] refer to Figure 1 The arm component 2 includes a first arm component 21 and a second arm component 22. One end of the first arm component 21 is rotatably connected to the base 1, one end of the second arm component 22 is rotatably connected to the other end of the first arm component 21, and the linkage mechanism 4 is rotatably connected to the other end of the second arm component 22.

[0031] Please refer to Figure 1 The push rod assembly 3 includes a first push rod 31, a pull rope 32, a pulley structure 33, a second push rod 35, and a third push rod 36. The driving end of the second push rod 35 is connected to the second arm component 22, and the non-driving end of the second push rod 35 is rotatably connected to the first arm component 21. The driving end of the third push rod 36 is connected to the linkage mechanism 4, and the non-driving end of the third push rod 36 is rotatably connected to the second arm component 22.

[0032] refer to Figure 1A pulley structure 33 is connected to the first arm component 21. A pull rope 32 is wound around the pulley structure 33. One end of the pull rope 32 is connected to the driving end of the first push rod 31, and the other end is connected to the base 1. The non-driving end of the first push rod 31 is rotatably connected to the base 1. When the first push rod 31 retracts, the pull rope 32 drives the arm component 2 to rise, enabling the photovoltaic cleaning robot to detach from the photovoltaic module. When the first push rod 31 extends, the pull rope 32 drives the arm component 2 to move downward. This utility model uses the pull rope 32 to achieve a flexible connection between the first push rod 31 and the first arm component 21. By controlling the extension and retraction of the first push rod 31, the raising and lowering of the arm component 2 is controlled, thereby realizing the grasping and transportation of the photovoltaic cleaning robot. Through the cooperation of the first push rod 31, the pull rope 32, and the pulley structure 33, the load capacity and action execution speed of the arm component 2 can be improved. Optionally, the first push rod 31 is a cylinder, and the pull rope 32 is a steel wire rope.

[0033] The pull rope 32 is directly or indirectly connected to the first push rod 31. A direct connection means the pull rope 32 is connected to the piston rod of the first push rod 31; an indirect connection means it is connected via the pull plate 34. (Reference) Figure 2 Specifically, the pull plate 34 is vertically connected to the first push rod 31, and the pull plate 34 is connected to the end of the piston rod of the first push rod 31.

[0034] In some embodiments, reference Figure 2 The pull rope 32 includes a first pull rope 321 and a second pull rope 322. One end of the first pull rope 321 and one end of the second pull rope 322 are respectively connected to the two ends of the pull plate 34 and are symmetrical with respect to the first push rod 31. The other end of the first pull rope 321 is connected to the first side plate 12, and the other end of the second pull rope 322 is connected to the second side plate 13.

[0035] In other possible embodiments, one end of the first pull rope 321 and one end of the second pull rope 322 are connected to the piston rod of the first push rod 31; or, a single pull rope 32 is provided and connected to the piston rod of the first push rod 31. (See reference) Figure 2 and Figure 3 The pulley structure 33 includes a first pulley 331 and a second pulley 332, which are disposed on both sides of the first arm component 21. A first pull rope 321 is wound around the first pulley 331, and a second pull rope 322 is wound around the second pulley 332. This arrangement ensures that the first arm component 21 is evenly stressed by applying force to both sides through the first push rod 31, the first pull rope 321, and the second pull rope 322. By using the pulley structure 33, the pulling force on the first push rod 31 is reduced, allowing for the selection of a push rod with a smaller pushing force, increasing the extension and retraction speed of the push rod, and thus improving the operational efficiency of the arm component 2.

[0036] refer to Figure 4The first pulley 331 has a first groove 3311, and the first pull rope 321 is disposed in the first groove 3311 and moves within the first groove 3311, enabling the first pull rope 321 to stably rotate around the first pulley 331. The second pulley 332 has a second groove 3321, and the second pull rope 322 is disposed in the second groove 3321 and moves within the first groove 3311, enabling the second pull rope 322 to stably rotate around the second pulley 332.

[0037] In this embodiment, reference Figure 2 and Figure 3 Along the first direction A1-A1, the width of the pull plate 34 is greater than the width of the first arm component 21. The first pull rope 321 is parallel to the first side 211 of the first arm component 21, and the second pull rope 322 is parallel to the second side 212 of the first arm component 21.

[0038] Please refer to Figure 4 The pulley structure 33 includes an axle 333 and a sleeve 334. The first arm component 21 has a mounting hole 210, which extends laterally through the first arm component 21. The sleeve 334 is disposed in the mounting hole 210, and the axle 333 passes through the sleeve 334. The first pulley 331 and the second pulley 332 are rotatably connected to both ends of the axle 333, making the first pull rope 321 and the second pull rope 322 run more smoothly.

[0039] In other embodiments, multiple sets of pulley structures and pull ropes can be provided, with the pulley structures all located on the arm component 2, and the pull ropes still wound around the corresponding pulley structures.

[0040] Furthermore, a pulley structure and a pull rope can also be provided between the second arm component 22 and the second push rod 35 to enhance the flexible drive of the second push rod 35 on the second arm component 22. Accordingly, the pulley structure is provided on the second arm component 22, and the pull rope is wound around the pulley structure and connects the second push rod 35 and the second arm component 22. Other specific configurations can refer to the above embodiments.

[0041] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. The understanding of the present utility model should be based on those skilled in the art. Although the present utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still make modifications or equivalent substitutions to the present utility model. All technical solutions and improvements that do not depart from the spirit and scope of the present utility model should be covered within the scope of the claims of the present utility model.

Claims

1. A robotic arm, characterized in that, include: Base (1); An arm component (2) is rotatably connected to the base (1); as well as A push rod assembly (3) includes a first push rod (31), a pull rope (32), and a pulley structure (33). The pulley structure (33) is connected to the arm component (2). The pull rope (32) is wound around the pulley structure (33). One end of the pull rope (32) is connected to the driving end of the first push rod (31), and the other end of the pull rope (32) is connected to the base (1). The non-driving end of the first push rod (31) is rotatably connected to the base (1).

2. The robotic arm as described in claim 1, characterized in that, The push rod assembly (3) includes a pull plate (34) which is perpendicularly connected to the first push rod (31). The pull rope (32) includes a first pull rope (321) and a second pull rope (322). The first pull rope (321) and the second pull rope (322) are respectively connected to the two ends of the pull plate (34) and are symmetrical with respect to the first push rod (31).

3. The robotic arm as described in claim 2, characterized in that, The base (1) includes a base plate (11), a first side plate (12) and a second side plate (13). The first side plate (12) and the second side plate (13) are connected to the base plate (11). The first pull rope (321) is connected to the first side plate (12) and the second pull rope (322) is connected to the second side plate (13).

4. The robotic arm as described in claim 2, characterized in that, The pulley structure (33) includes a first pulley (331) and a second pulley (332). The first pulley (331) and the second pulley (332) are disposed on both sides of the arm component (2). The first pull rope (321) is wound around the first pulley (331), and the second pull rope (322) is wound around the second pulley (332).

5. The robotic arm as described in claim 4, characterized in that, The pulley structure (33) includes a wheel axle (333) and a sleeve (334). The arm component (2) is provided with a mounting hole (210). The sleeve (334) is disposed in the mounting hole (210). The wheel axle (333) passes through the sleeve (334). The first pulley (331) and the second pulley (332) are rotatably connected to both ends of the wheel axle (333).

6. The robotic arm as described in claim 1, characterized in that, One pull rope (32) is provided, and the pull rope (32) is directly connected to the first push rod (31).

7. The robotic arm as described in claim 1, characterized in that, The arm component (2) includes a first arm component (21) and a second arm component (22). One end of the first arm component (21) is rotatably connected to the base (1), and one end of the second arm component (22) is rotatably connected to the other end of the first arm component (21). The pulley structure (33) is connected to the first arm component (21).

8. The robotic arm as described in claim 7, characterized in that, The robotic arm includes a linkage mechanism (4) and a gripping mechanism (5). The linkage mechanism (4) is rotatably connected to the other end of the second arm component (22), and the gripping mechanism (5) is connected to the linkage mechanism (4).

9. The robotic arm as described in claim 8, characterized in that, The push rod assembly (3) includes a second push rod (35) and a third push rod (36). The driving end of the second push rod (35) is connected to the second arm component (22), and the non-driving end of the second push rod (35) is rotatably connected to the first arm component (21). The driving end of the third push rod (36) is connected to the linkage mechanism (4), and the non-driving end of the third push rod (36) is rotatably connected to the second arm component (22).

10. A transport robot, characterized in that, It includes a chassis vehicle (10), a turntable (20) disposed on the chassis vehicle (10), and a robotic arm as described in any one of claims 1 to 9, wherein the base (1) of the robotic arm is connected to the turntable (20).

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