Anti-falling manipulator

Abstract

An anti-falling manipulator relates to the technical field of mechanical clamping jaws and comprises a clamping jaw cylinder, a connecting arm, a connecting plate and a baffle. The clamping jaw cylinder is used for clamping a target object, one end is connected with the mechanical arm or other equipment through a connecting arm, and a connecting plate is fixed at the bottom of the connecting arm; a baffle is mounted on one side of the connecting plate in a foldable manner; the folding driving mechanism drives the baffle to turn over around the hinge point through the cooperation of the sliding groove, the sliding block, the lead screw and the motor; when the sliding blocks slide along the sliding grooves, the baffles are driven to be folded or unfolded through the connecting rods, and stable and reliable action is ensured through the limiting columns and the torsion springs. The lifting driving mechanism achieves lifting motion of the connecting plate through a lead screw and a motor, and the displacement driving mechanism achieves movement of the connecting plate in the length direction of the connecting arm through a sliding groove and a motor. Due to the multi-degree-of-freedom design, the manipulator can flexibly adjust the position of the baffle to meet the requirements of different working conditions, and the anti-falling performance and the operation flexibility are improved.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, and in particular to a fall-prevention robotic hand. Background Technology

[0002] As a type of industrial automation equipment, robotic arms play a vital role in modern manufacturing, logistics and handling, food processing, and medical equipment. Their core function is to simulate the movements of a human arm to perform operations such as grasping, handling, and assembling target objects, thereby improving production efficiency, reducing labor costs, and replacing manual labor in complex tasks in hazardous or high-precision environments.

[0003] Although robotic arms are widely used in automation, most existing robotic arms lack dedicated fall protection. In practice, the grippers of robotic arms are typically only responsible for grasping and releasing objects, lacking protective measures against damage caused by accidental slippage during transport or handling. This design limitation leads to the following problems:

[0004] Risk of object slippage: After the gripper grasps an object, if it encounters external interference (such as rapid movement of the robotic arm, uneven surface of the object, or insufficient gripping force of the gripper), the target object may slip unexpectedly, causing damage or even a safety accident.

[0005] Limitations in high-precision scenarios: In fields such as electronic equipment manufacturing and precision instrument assembly, target objects are typically of high value and require extremely high operational precision. Existing robotic gripper designs cannot effectively prevent objects from slipping due to vibration or shaking during transport, thus limiting the application scope of robotic arms in these fields.

[0006] Insufficient adaptability to complex environments: In scenarios such as logistics handling and food processing, robotic arms need to operate in dynamic environments, where target objects may be difficult to grasp stably due to irregular shapes or smooth surfaces. Existing robotic arms lack fall protection, resulting in low reliability in these complex environments.

[0007] Safety Hazards: In high-altitude operations or hazardous environments, falling objects can pose a serious threat to surrounding personnel and equipment. Existing robotic arm designs fail to adequately address this issue, increasing safety risks during operation.

[0008] In summary, while existing robotic arms perform excellently in grasping and handling, the lack of effective drop protection measures limits their application in high-precision, complex, and high-risk scenarios. Therefore, developing a robotic arm with drop protection capabilities is a key direction for improving its performance and applicability. Utility Model Content

[0009] In order to overcome the shortcomings of the prior art, this utility model discloses a fall-prevention robotic arm.

[0010] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0011] A fall-prevention robotic arm, comprising:

[0012] Gripper cylinder, used to grip objects;

[0013] A connecting arm is installed at one end of the gripper cylinder;

[0014] A connecting plate is installed at the bottom of the connecting arm;

[0015] The baffle is foldable and installed on one side of the connecting plate. It is folded before the gripper cylinder picks up the object and unfolded after the gripper cylinder picks up the object.

[0016] Folding drive mechanism, used to drive the baffle to fold or unfold.

[0017] Preferably, the folding drive mechanism includes:

[0018] The first groove is located on the surface of the connecting plate;

[0019] The first slider is slidably connected to the first groove; one end of the baffle is hinged to the first slider.

[0020] The first lead screw is rotatably connected to the first slide groove; the first lead screw passes through the first slider and is threadedly connected to the first slider;

[0021] The first motor is mounted on the connecting plate and is connected to the first lead screw for driving.

[0022] The connecting rod has one end hinged to one side of the connecting plate and the other end hinged to the corresponding side of the baffle.

[0023] The limiting post, located on the connecting plate, is used to limit the deflection angle of the connecting rod.

[0024] Preferably, a torsion spring for driving the connecting rod to deflect downwards is provided at the position where the connecting rod and the connecting plate are hinged.

[0025] Preferably, it further includes a lifting drive mechanism for driving the connecting plate to rise and fall, the lifting drive mechanism comprising:

[0026] The first connecting beam is installed at the bottom of the connecting arm;

[0027] Two guide rods are installed at both ends of the first connecting beam, respectively;

[0028] The second connecting beam is fastened to the other end of the two guide rods;

[0029] A movable beam is located between the first connecting beam and the second connecting beam, and is slidably connected to the two guide rods; one side of the movable beam is fastened to the connecting plate.

[0030] The second lead screw has two ends that are rotatably connected to the first connecting beam and the second connecting beam, respectively; and the second lead screw passes through the movable beam and is threadedly connected to the movable beam.

[0031] The second motor is mounted on the second connecting beam and is connected to the second lead screw drive.

[0032] Preferably, it further includes a displacement driving mechanism for driving the connecting plate to move along the length direction of the connecting arm, the displacement driving mechanism comprising:

[0033] The second slide is located at the bottom of the connecting arm;

[0034] The second slider is slidably connected to the second slide groove; the first connecting beam is correspondingly and fastened to the second slider.

[0035] The third lead screw is rotatably connected to the second slide groove; the third lead screw passes through the second slider and is threadedly connected to the second slider.

[0036] The third motor is mounted on the connecting arm and is connected to the third lead screw drive.

[0037] Preferably, the end of the connecting arm away from the gripper cylinder is provided with a hollow motor base, and the third motor is installed in the hollow motor base.

[0038] By adopting the technical solution described above, this utility model has the following beneficial effects:

[0039] (1) This utility model has a foldable baffle below the gripper cylinder. The baffle unfolds after the object is gripped and is located at the bottom of the target object to form physical support. This design effectively prevents the target object from being damaged due to accidental slippage and significantly improves the reliability of the robot in high-precision and complex environments.

[0040] (2) The unfolding and folding actions of the baffle in this utility model are completed by the screw-slider mechanism and the linkage mechanism in coordination. The motion trajectory is precisely designed to ensure that the baffle will not touch the object gripped by the gripper cylinder during unfolding, thereby avoiding interference problems during unfolding. When the baffle is folded, it is parallel and close to the connecting plate, and will not extend the effective length of the connecting plate, thus not limiting the range of motion of the gripper cylinder in space. This design significantly improves the flexibility and operating range of the robot, enabling it to adapt to more complex working scenarios. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of this utility model;

[0042] Figure 2 This is a schematic diagram of the baffle in its folded state;

[0043] Figure 3 This is a schematic diagram of the folding drive mechanism;

[0044] Figure 4 This is a schematic diagram of the lifting drive mechanism;

[0045] Figure 5 This is a schematic diagram of the displacement drive mechanism;

[0046] Figure 6 This is a schematic diagram of the usage state of this utility model.

[0047] In the diagram: 1. Gripper cylinder; 2. Connecting arm; 3. Connecting plate; 4. Baffle; 5. Folding drive mechanism; 5-1. First slide groove; 5-2. First slider; 5-3. First lead screw; 5-4. First motor; 5-6. Connecting rod; 5-5. Limiting post; 6. Lifting drive mechanism; 6-1. First connecting beam; 6-2. Guide rod; 6-3. Second connecting beam; 6-4. Movable beam; 6-5. Second lead screw; 6-6. Second motor; 7. Displacement drive mechanism; 7-1. Second slide groove; 7-2. Second slider; 7-3. Third lead screw; 7-4. Third motor; 7-5. Hollow motor base. Detailed Implementation

[0048] 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. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0049] In the description of this utility model, it should be noted that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use. They are only used to facilitate the description of this utility model and to simplify the description, 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.

[0050] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0051] Example 1:

[0052] Combined with appendix Figures 1-3 6. A fall-prevention robotic arm includes a gripper cylinder 1, a connecting arm 2, a connecting plate 3, and a baffle 4. The gripper cylinder 1 is mainly used to grip the target object. Since the gripper cylinder 1 is an existing mature device, its specific structure and working principle will not be described in detail in this embodiment. Users can directly purchase a suitable model according to their actual needs.

[0053] One end of the gripper cylinder 1 is connected to the actuator of a robotic arm or other equipment via a connecting arm 2. The main function of the connecting arm 2 is to act as a transition component, ensuring that the gripper cylinder 1 can be stably installed on the actuator of the robotic arm or other equipment, and complete the gripping action of the target object under the drive of the robotic arm or other equipment.

[0054] A connecting plate 3 is fixedly installed at the bottom of the connecting arm 2. A baffle 4 is installed on one side of the connecting plate 3 via a foldable connection. The baffle 4 is folded before the gripper cylinder 1 grips the object to avoid interfering with the gripping action of the gripper cylinder 1; after the gripper cylinder 1 completes the gripping, the baffle 4 unfolds and is located at the bottom of the target object, thereby effectively preventing the target object from being damaged due to accidental slippage.

[0055] To achieve the folding and unfolding function of the baffle 4, this embodiment designs a folding drive mechanism 5. The folding drive mechanism 5 can be in the form of a telescopic cylinder (not shown in the figure), with one end hinged to the baffle 4 and the other end hinged to the connecting plate 3. Through the telescopic movement of the cylinder, the baffle 4 can be driven to fold or unfold around its hinge point with the connecting plate 3. However, while this structure is simple, during unfolding, to avoid contact with the object gripped by the gripper cylinder 1, the baffle 4 can only fold downwards. In this case, the folded state of the baffle 4 extends the length of the connecting plate 3, thus significantly limiting the range of motion of the gripper cylinder 1 in space. To avoid the above problems, this embodiment adopts another structure for the folding drive mechanism 5.

[0056] Specifically, the folding drive mechanism 5 includes two first grooves 5-1 formed on the surface of the connecting plate 3. (See attached...) Figure 3As shown, two first slide grooves 5-1 are spaced apart to ensure structural stability. Each first slide groove 5-1 has a first slider 5-2 slidably connected to it and a first lead screw 5-3 rotatably connected to it. The first lead screw 5-3 passes through the first slider 5-2 and is threadedly connected to it. By rotating the first lead screw 5-3, the first slider 5-2 can be driven to slide along the first slide groove 5-1.

[0057] A first motor 5-4 is installed at the bottom of the connecting plate 3. The first motor 5-4 is synchronously driven by two first lead screws 5-3 through a reduction mechanism. When the first motor 5-4 rotates, the two first lead screws 5-3 rotate synchronously, thereby driving the two first sliders 5-2 to slide along the first slide groove 5-1.

[0058] One end of the baffle 4 is hinged to two first sliders 5-2. A connecting rod 5-6 is hinged to one or both sides of the connecting plate 3, and the other end of the connecting rod 5-6 is hinged to the corresponding side of the baffle 4. When the first slider 5-2 slides upward along the first slide groove 5-1, one end of the baffle 4 is lifted. Under the synergistic action of the connecting rod 5-6, the baffle 4 gradually folds until it is parallel and tightly pressed against the connecting plate 3, reaching a fully folded state. Conversely, when the first slider 5-2 slides downward along the first slide groove 5-1, one end of the baffle 4 is pulled down. Under the synergistic action of the connecting rod 5-6, the baffle 4 gradually unfolds until it falls to the bottom of the connecting plate 3 and is perpendicular to the connecting plate 3, reaching a fully unfolded state.

[0059] To limit the deflection angle of link 5-6 and prevent excessive deflection that would prevent baffle 4 from fully extending to a position perpendicular to connecting plate 3, a limiting post 5-5 is installed on the bottom side of connecting plate 3 corresponding to link 5-6. The limiting post 5-5 ensures that the deflection angle of link 5-6 is within a reasonable range through physical limiting.

[0060] Furthermore, a torsion spring (not shown in the figure) is provided at the hinge position between the connecting rod 5-6 and the connecting plate 3. During the unfolding of the baffle 4, the torsion spring provides a downward deflection driving force to the connecting rod 5-6, thereby ensuring that the baffle 4 unfolds smoothly during its downward movement and avoiding unfolding failure due to jamming or other mechanical malfunctions. This design effectively improves the reliability and stability of the robot in actual operation.

[0061] Example 2:

[0062] Combined with appendix Figure 1 and attached Figure 4 A fall-prevention robotic arm, improved upon Embodiment 1, adds a lifting drive mechanism 6 for driving the connecting plate 3 to move up and down. The specific structure of the lifting drive mechanism 6 is as follows:

[0063] The lifting drive mechanism 6 includes a first connecting beam 6-1 installed at the bottom of the connecting arm 2. Guide rods 6-2 are installed at both ends of the first connecting beam 6-1, and the other ends of the two guide rods 6-2 are fixed to a second connecting beam 6-3 by a fastening connection. The combination of the first connecting beam 6-1, the second connecting beam 6-3, and the two guide rods 6-2 forms a stable frame structure, ensuring the overall mechanical stability.

[0064] A movable beam 6-4 is provided between the first connecting beam 6-1 and the second connecting beam 6-3. This movable beam 6-4 is slidably connected to the two guide rods 6-2, thereby realizing linear movement along the direction of the guide rods 6-2. One side of the movable beam 6-4 is fixed to the connecting plate 3 by a fastening connection. Therefore, the lifting and lowering movement of the movable beam 6-4 can directly drive the connecting plate 3 to move up and down along the direction of the guide rods 6-2.

[0065] Furthermore, a second lead screw 6-5 is provided between the first connecting beam 6-1 and the second connecting beam 6-3. Both ends of the second lead screw 6-5 are rotatably connected to the first connecting beam 6-1 and the second connecting beam 6-3 respectively, ensuring smooth transmission of the lead screw's rotational movement. The second lead screw 6-5 passes through the movable beam 6-4 and forms a threaded connection with it. A second motor 6-6 is installed on the second connecting beam 6-3, and this motor is driven by the second lead screw 6-5. By controlling the forward and reverse rotation of the second motor 6-6, the rotation of the second lead screw 6-5 can be achieved, thereby driving the movable beam 6-4 and its connected connecting plate 3 to move up and down. This design allows the height of the baffle 4 to be flexibly adjusted according to actual needs to adapt to different working scenarios.

[0066] Example 3:

[0067] Combined with appendix Figure 1 Appendix Figure 4 and attached Figure 5 A fall-prevention robotic arm, further improved upon Embodiment 1 or Embodiment 2, adds a displacement drive mechanism 7 for driving the connecting plate 3 to move along the length of the connecting arm 2. The specific structure of the displacement drive mechanism 7 is as follows:

[0068] The displacement drive mechanism 7 includes a second slide groove 7-1 located at the bottom of the connecting arm 2. (See attached image) Figure 5As shown, the second slide groove 7-1 employs two spaced-apart structures to enhance sliding stability. A second slider 7-2 is slidably connected within the second slide groove 7-1, while a third lead screw 7-3 is rotatably connected. The third lead screw 7-3 passes through the second slider 7-2 and forms a threaded connection with it. The first connecting beam 6-1 is fixed to the bottom of the second slider 7-2 by a fastening installation. A third motor 7-4 is also mounted on the connecting arm 2, which drives the rotation of the third lead screw 7-3. By controlling the forward and reverse rotation of the third motor 7-4, the rotational movement of the third lead screw 7-3 can be achieved, thereby driving the second slider 7-2 to move along the length of the connecting arm 2. This design allows the connecting plate 3 to move away from or towards the gripper cylinder 1 along the length of the connecting arm 2.

[0069] It is important to note that before the gripper cylinder 1 grasps the target object, the connecting plate 3 can be driven away from the gripper cylinder 1 by controlling the third motor 7-4, providing sufficient space for the gripper cylinder 1 to move. After grasping the target object, the connecting plate 3 is first lowered to a suitable position by controlling the second motor 6-6, and then the baffle 4 is unfolded by controlling the first motor 5-4. Finally, the connecting plate 3 is pushed closer to the target object by the third motor 7-4, causing the baffle 4 to move below the target object, thus achieving the anti-fall function. This multi-degree-of-freedom design effectively improves the flexibility and adaptability of the robot, meeting the needs of use in complex working conditions.

[0070] The parts of this utility model not described in detail are prior art. It is obvious to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that this utility model can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and are intended to include all changes that fall within the meaning and scope of equivalents within this utility model.

Claims

1. A fall-prevention robotic arm, characterized in that, include: Gripper cylinder (1), used to grip objects; Connecting arm (2) is installed at one end of gripper cylinder (1); A connecting plate (3) is installed at the bottom of the connecting arm (2); The baffle (4) can be folded and installed on one side of the connecting plate (3). It is in a folded state before the gripper cylinder (1) grips the object, and in an unfolded state after the gripper cylinder (1) grips the object. Folding drive mechanism (5) is used to drive the baffle (4) to fold or unfold; The folding drive mechanism (5) includes: The first groove (5-1) is provided on the surface of the connecting plate (3); The first slider (5-2) is slidably connected to the first slide groove (5-1); one end of the baffle (4) is hinged to the first slider (5-2); The first lead screw (5-3) is rotatably connected to the first slide groove (5-1); the first lead screw (5-3) passes through the first slider (5-2) and is threadedly connected to the first slider (5-2); The first motor (5-4) is mounted on the connecting plate (3) and is connected to the first lead screw (5-3) for driving. The connecting rod (5-6) has one end hinged to one side of the connecting plate (3) and the other end hinged to the corresponding side of the baffle (4); The limiting post (5-5) is located on the connecting plate (3) and is used to limit the deflection angle of the connecting rod (5-6).

2. The anti-fall robotic arm as described in claim 1, characterized in that: The connecting rod (5-6) is provided with a torsion spring at the position where it is hinged to the connecting plate (3) for driving the connecting rod (5-6) to deflect downward.

3. The anti-fall robotic arm as described in claim 1 or 2, characterized in that, It also includes a lifting drive mechanism (6) for driving the connecting plate (3) to rise and fall, the lifting drive mechanism (6) comprising: The first connecting beam (6-1) is installed at the bottom of the connecting arm (2); Two guide rods (6-2) are respectively installed at both ends of the first connecting beam (6-1); The second connecting beam (6-3) is fastened to the other end of the two guide rods (6-2); The movable beam (6-4) is located between the first connecting beam (6-1) and the second connecting beam (6-3), and is slidably connected to the two guide rods (6-2); one side of the movable beam (6-4) is fastened to the connecting plate (3); The second lead screw (6-5) has its two ends rotatably connected to the first connecting beam (6-1) and the second connecting beam (6-3) respectively; and the second lead screw (6-5) passes through the movable beam (6-4) and is threadedly connected to the movable beam (6-4); The second motor (6-6) is mounted on the second connecting beam (6-3) and is driven by the second lead screw (6-5).

4. The anti-fall robotic arm as described in claim 3, characterized in that, It also includes a displacement drive mechanism (7) for driving the connecting plate (3) to move along the length direction of the connecting arm (2), the displacement drive mechanism (7) comprising: The second slide (7-1) is located at the bottom of the connecting arm (2); The second slider (7-2) is slidably connected to the second slide groove (7-1); the first connecting beam (6-1) is correspondingly and fastened to the second slider (7-2); The third lead screw (7-3) is rotatably connected to the second slide groove (7-1); the third lead screw (7-3) passes through the second slider (7-2) and is threadedly connected to the second slider (7-2); The third motor (7-4) is mounted on the connecting arm (2) and is driven by the third lead screw (7-3).

5. The anti-fall robotic arm as described in claim 4, characterized in that: The connecting arm (2) is provided with a hollow motor base (7-5) at one end away from the gripper cylinder (1), and the third motor (7-4) is installed in the hollow motor base (7-5).

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