A robot
By introducing a lifting drive into the robotic arm to balance gravity, the safety problem when the robotic arm grasps materials with poor compressibility is solved, and safer material transfer is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGZHOU BUS RUYUE CAR SERVICE CO LTD
- Filing Date
- 2025-08-27
- Publication Date
- 2026-07-21
AI Technical Summary
When existing robotic arms grasp materials with poor compressive strength, they are prone to damaging the materials due to their own weight and driving force, posing a production safety risk.
A robotic arm was designed, comprising a frame, a lifting mechanism, and a conveying mechanism. The lifting drive provides an upward force when the material approaches, balancing the gravity of the conveying mechanism with the downward driving force, thereby reducing the pressure on the material.
It effectively prevents materials from being damaged by excessive pressure during the gripping process, thus improving the safety and stability of material transfer.
Smart Images
Figure CN224527256U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of industrial manufacturing technology, and in particular to a robotic arm. Background Technology
[0002] To reduce worker fatigue during material handling, robotic arms are currently used. During operation, the robotic arm moves down to the material, grasps it, and then transfers it to the target location. However, for materials with poor pressure resistance, such as battery packs, the weight of the robotic arm, combined with the driving force propelling it downwards, can cause significant impact when it approaches the material, leading to damage and posing a safety risk. Therefore, there is an urgent need for a robotic arm with enhanced safety features when grasping and transferring materials. Utility Model Content
[0003] The purpose of this utility model is to provide a robotic arm to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.
[0004] The solution to the technical problem of this utility model is:
[0005] A robotic arm includes: a vertical frame; a lifting mechanism including a lifting drive and a horizontal arm, the lifting drive being disposed on the vertical frame and driven to the horizontal arm, the lifting drive being able to drive the horizontal arm to move up and down; and a transfer mechanism including a vertical arm and a material transfer component, the vertical arm being slidably connected to the horizontal arm in a vertical direction, a lifting drive being disposed between the vertical arm and the horizontal arm, the lifting drive being able to provide an upward force to the vertical arm, and the material transfer component being disposed on the vertical arm.
[0006] This technical solution has at least the following beneficial effects: The upright frame is fixed to the ground, base frame, or other fixed structures. When materials need to be transferred, the lifting drive moves the horizontal arm downward, causing the transfer mechanism on the horizontal beam to move downward as well. The material transfer component grabs the material located below. When the material transfer component approaches the material, the top lifting drive operates, providing an upward force to the vertical arm. This can offset part of the vertical arm's own weight with the downward driving force, thereby reducing the pressure on the material when the material transfer component comes into contact with the material. In this way, by using the lifting drive to provide an upward force when the material transfer component approaches the material, the weight of the transfer mechanism itself and the downward driving force can be balanced, effectively preventing excessive downward pressure on the material and thus preventing damage to the material, thereby improving the safety of material transfer.
[0007] As a further improvement to the above technical solution, the vertical arm protrudes upward from the horizontal arm and is connected to a top plate. The lifting drive is located on the top side of the horizontal arm and has a lifting end that can move up and down. The lifting end abuts against the bottom side of the top plate.
[0008] As a further improvement to the above technical solution, the lifting drive is equipped with a micro switch, the trigger end of the micro switch is abutted against the bottom side of the top plate, and the micro switch is electrically connected to the lifting drive.
[0009] As a further improvement to the above technical solution, the material transfer assembly includes a transfer seat, a rotary drive, and a transfer part. The transfer seat is rotatably connected to the bottom of the upright frame. The rotary drive is disposed on the transfer seat and is drively connected to the transfer seat. The rotary drive can drive the transfer seat to rotate around a horizontal axis. The transfer part is disposed on the transfer seat.
[0010] As a further improvement to the above technical solution, the transfer unit includes a bidirectional drive and a clamping plate. The bidirectional drive is disposed on the transfer seat and has two movable ends that can move closer to or further away from each other. The two movable ends are respectively connected to the clamping plate.
[0011] As a further improvement to the above technical solution, the transfer unit includes a plurality of vacuum suction cups connected to the bottom side of the transfer seat.
[0012] As a further improvement to the above technical solution, the rotary drive includes a first motor, a first gear and a second gear. The first motor is connected to the vertical arm and drives the first gear. The second gear is located at a position where the transfer seat is rotatably connected to the vertical arm, and the first gear and the second gear mesh with each other.
[0013] As a further improvement to the above technical solution, the horizontal arm includes a first rod and a second rod that are rotatably connected to each other. The end of the first rod away from the second rod is rotatably connected to the upright frame, and the vertical arm is slidably connected to the second rod in the up-down direction.
[0014] As a further improvement to the above technical solution, an operating arm is provided on the vertical arm.
[0015] As a further improvement to the above technical solution, the lifting drive includes a slide, a second motor, a gear and a rack. The slide is slidably connected to the upright in the vertical direction. The second motor is connected to the slide and drives the gear. The rack is connected to the upright in the vertical direction. The gear and the rack mesh with each other. The cross arm is connected to the slide.
[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of this utility model, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.
[0018] Figure 1 This is a three-dimensional view of the entire utility model.
[0019] Figure 2 yes Figure 1 A magnified view of part A.
[0020] Figure 3 yes Figure 1 A magnified view of part B.
[0021] In the attached diagram: 100-Upright frame, 210-Lifting drive, 220-Horizontal arm, 221-First rod, 222-Second rod, 310-Vertical arm, 311-Top plate, 320-Lifting drive, 330-Micro switch, 340-Transfer seat, 351-First motor, 352-First gear, 353-Second gear, 361-Bidirectional drive, 362-Clamping plate, 363-Vacuum suction cup, 400-Operating arm. Detailed Implementation
[0022] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.
[0023] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying 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.
[0024] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.
[0025] In the description of this application, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0026] In the description of this application, the use of terms such as "one embodiment," "some embodiments," "an example," "some instances," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0027] Reference Figure 1 and Figure 2 A robotic arm includes a frame 100, a lifting mechanism, and a transfer mechanism. The frame 100 includes a lifting drive 210 and a horizontal arm 220. The lifting drive 210 is disposed on the frame 100 and is connected to the horizontal arm 220. The lifting drive 210 can drive the horizontal arm 220 to move up and down. The transfer mechanism includes a vertical arm 310 and a material transfer component. The vertical arm 310 is slidably connected to the horizontal arm 220 in the vertical direction. A lifting drive 320 is disposed between the vertical arm 310 and the horizontal arm 220. The lifting drive 320 can provide an upward force to the vertical arm 310. Naturally, the lifting drive 320 itself has a lifting end that can move up and down. When the lifting end moves upward, it provides an upward force to the vertical arm 310, and when the lifting end moves downward, it resets. The material transfer component is disposed on the vertical arm 310.
[0028] As described above, the upright frame 100 is fixed to the ground, base frame, or other fixed structures. When materials need to be transferred, the lifting drive 210 drives the horizontal arm 220 to move downwards, causing the transfer mechanism on the horizontal beam to move downwards as well. The material transfer component grabs the material located below. When the material transfer component approaches the material, the lifting drive 210 operates, providing an upward force to the vertical arm 310. At this time, part of the weight of the vertical arm 310 itself can be offset by the downward driving force, thereby reducing the pressure on the material when the material transfer component comes into contact with the material. In this way, by using the lifting drive 320 to provide an upward force when the material transfer component approaches the material, the weight of the transfer mechanism itself and the downward driving force can be balanced, effectively preventing excessive downward pressure on the material and causing damage to the material, thus improving the safety of material transfer.
[0029] The lifting drive 320 is located on the horizontal arm 220 next to the vertical arm 310, so as to facilitate the application of an upward force to the vertical arm 310. In this embodiment, the vertical arm 310 protrudes upward from the horizontal arm 220 and is connected to the top plate 311. The lifting drive 320 is located on the top side of the horizontal arm 220 and has a lifting end that can move up and down. The lifting end abuts against the bottom side of the top plate 311. The horizontal arm 220 provides an installation surface for the lifting drive 320. The lifting drive 320 is set on the top side of the horizontal arm 220. At this time, the vertical arm 310 is slidably connected to one side of the horizontal arm 220 in the vertical direction. Its top end protrudes upward from the horizontal arm 220 and is connected to the top plate 311. The top plate 311 contacts the lifting end of the lifting drive 320. When the material transfer component approaches the material, the lifting drive 320 lifts the top plate 311 upward, thereby balancing the weight of the entire transfer mechanism and the downward driving force.
[0030] In practical applications, in order to ensure that the lifting drive 320 can be activated in a timely manner when the material transfer component moves down close to the material, in this embodiment, the lifting drive 320 is equipped with a micro switch 330. The trigger end of the micro switch 330 abuts against the bottom side of the top plate 311. The micro switch 330 is electrically connected to the lifting drive 320. Naturally, the micro switch 330, the lifting drive 320, and the lifting drive 210 are all connected to the controller. After the controller receives the electrical signal that the micro switch 330 is turned on, it feeds back to control the lifting drive 320. When the lifting drive 210 moves the material transfer component down to approach the material via the cross arm 220, the lifting drive 210 stops working. At this time, the entire transfer mechanism moves down relative to the cross arm 220 due to its own inertia and the inertia during the downward movement. When the top plate 311 moves down, it triggers the micro switch 330, which makes the lifting drive 320 work in time. Its lifting end lifts the top plate 311 upward, thereby balancing the entire transfer mechanism itself and the downward driving force in time, which helps to ensure the stability of the overall operation.
[0031] To improve the flexibility of the material transfer assembly during material transfer, the assembly can also rotate horizontally to adjust the angle. Specifically, the material transfer assembly includes a transfer base 340, a rotary drive, and a transfer part. The transfer base 340 is rotatably connected to the bottom of the stand 100. The rotary drive is disposed on the transfer base 340 and is drively connected to the transfer base 340. The rotary drive can drive the transfer base 340 to rotate around a horizontal axis. The transfer part is disposed on the transfer base 340. When it is necessary to grasp material, the transfer part is in a downward position. After the transfer part grasps and clamps the material, the lifting drive 210 can drive the horizontal arm 220 to move upward, thereby lifting the material upward. When it is necessary to change the placement state of the material, the rotary drive can drive the transfer base 340 to rotate around a horizontal axis, thereby changing the orientation of the material and lifting it to the target position, improving the flexibility of use. In addition, when gripping materials, if the materials are placed at an angle or the gripping position is irregular, the rotary drive can be used to rotate the transfer seat 340, thereby improving the versatility of the transfer unit in gripping and moving different materials.
[0032] The transfer unit is used to grip and fix materials. It has various structural forms. In Embodiment 1, the transfer unit includes a bidirectional drive 361 and a clamping plate 362. The bidirectional drive 361 is disposed on the transfer seat 340. The bidirectional drive 361 has two movable ends that can move closer or further apart. The two movable ends are respectively connected to the clamping plate 362. In practical applications, the bidirectional drive 361 can be a bidirectional movable cylinder or hydraulic cylinder, or it can be electrically formed to create two mutually movable ends. For example, a drive motor is provided on the transfer seat 340, and the drive motor drives a screw. The screw has two threaded segments with different thread directions. The two threaded segments are respectively connected to two slides. The two slides are slidably connected to the transfer seat 340. When the drive motor rotates, it drives the screw to rotate. Because the two transfer seats 340 and the threaded segments with different thread directions on the screw cooperate with each other, the two slides can move in directions that move closer or further apart. At this time, the two slides are the two movable ends. When the transfer unit approaches the material, the bidirectional drive 361 drives the two clamping plates 362 to move away from each other, forming a space between the two clamping plates 362 for the material to be placed. Then, the bidirectional drive 361 drives the two clamping plates 362 to move closer together to clamp the material, thus achieving the gripping and transfer of the material. When it is necessary to put the material down, the bidirectional drive 361 drives the two clamping plates 362 to move away from each other, so that the material can be put down.
[0033] In Embodiment 2, the transfer unit includes multiple vacuum suction cups 363 connected to the bottom side of the transfer seat 340. Naturally, during operation, the multiple vacuum suction cups 363 are connected to a negative pressure source via pipes. The negative pressure source causes the multiple vacuum suction cups 363 to generate negative pressure suction, thereby gripping and positioning the material. In this embodiment, when the transfer unit approaches the material, the multiple vacuum suction cups 363 abut against the material surface, achieving material gripping and transfer through negative pressure adsorption. When it is necessary to put the material down, the negative pressure source releases the negative pressure on the multiple vacuum suction cups 363, allowing the material to be placed down.
[0034] In the above embodiments, the transfer seat 340 may only be provided with a bidirectional drive 361 and a clamping plate 362, or only with multiple vacuum suction cups 363, or it may be provided with both a bidirectional drive 361 and a clamping plate 362 and multiple vacuum suction cups 363. In this case, the multiple vacuum suction cups 363 are located between the two clamping plates 362, and the multiple vacuum suction cups 363 and the two clamping plates 362 are staggered in the vertical direction, so that the two clamping plates 362 will not interfere with the multiple vacuum suction cups 363 when they move. When it is necessary to use the clamping plate 362 to grasp the material, the material is moved relatively between the two clamping plates 362, and then the two clamping plates 362 grasp the material. When it is necessary to use the vacuum suction cups 363, the two clamping plates 362 are in the open state, and the material can be moved relatively to the multiple vacuum suction cups 363, and the multiple vacuum suction cups 363 adsorb and grasp the material.
[0035] The rotary drive primarily rotates the transfer unit to change the orientation of the gripper. It can have various structural forms, such as cylinders or motors. In this embodiment, for example... Figure 3 As shown, the rotary drive includes a first motor 351, a first gear 352, and a second gear 353. The first motor 351 is connected to the vertical arm 310 and drives the first gear 352. The second gear 353 is positioned at the location where the transfer seat 340 is rotatably connected to the vertical arm 310. The first gear 352 and the second gear 353 mesh with each other. When it is necessary to change the gripping orientation of the transfer unit, the first motor 351 operates, driving the first gear 352 to rotate. Since the first gear 352 and the second gear 353 mesh, power can be transmitted to the transfer seat 340 through the second gear 353, allowing for flexible adjustment of the rotation angle of the transfer seat 340 and improving its usability. In practical applications, the output torque driving the transfer seat 340 to rotate can be changed by altering the transmission ratio between the first gear 352 and the second gear 353.
[0036] To facilitate control of the transfer unit approaching the material, the horizontal arm 220 can be configured as a two-bar linkage, allowing for flexible adjustment of the transfer mechanism's position. Specifically, the horizontal arm 220 includes a first rod 221 and a second rod 222 rotatably connected to each other. The end of the first rod 221 away from the second rod 222 is rotatably connected to the upright frame 100, and the vertical arm 310 is slidably connected to the second rod 222 in the vertical direction. The first rod 221 and the second rod 222 form a two-bar linkage. When it is necessary to move the material transfer component to a position above the material, the first rod 221 and the second rod 222 can be rotated relative to each other, causing the material transfer component to rotate, move away from, or move closer to the upright frame 100, thus facing directly above the material. At this time, the lifting drive 210 drives the material transfer component closer to the material for gripping and positioning.
[0037] When adjusting the position of the material transfer component via the horizontal arm 220, an operating arm 400 is provided on the vertical arm 310 in this embodiment for convenient control. The worker can apply force to the operating arm 400 and control the movement and adjustment of the entire horizontal arm 220, thereby facilitating the adjustment of the material transfer component.
[0038] The lifting drive 210 is mainly used to drive the horizontal arm 220 to move up and down. It has various structural forms, such as electric lead screws, cylinders, or hydraulic cylinders. In this embodiment, the lifting drive 210 includes a slide, a second motor, a gear, and a rack. The slide is slidably connected to the upright 100 in the vertical direction. The second motor is connected to the slide and drives the gear. The rack is connected to the upright 100 in the vertical direction, and the gear and rack mesh with each other. The horizontal arm 220 is connected to the slide. When it is necessary to drive the horizontal arm 220 to move up and down, the second motor rotates, driving the gear to rotate. Because the rack and gear mesh with each other, and the slide is slidably connected to the upright 100, the slide can be driven to slide up or down as the control gear rotates forward or backward. This allows for precise and efficient movement of the horizontal arm 220, while reducing the space occupied by the lifting drive 210, resulting in a more compact overall structure.
[0039] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.
Claims
1. A robotic arm, characterized in that: include: Frame (100); The lifting mechanism includes a lifting drive (210) and a cross arm (220). The lifting drive (210) is disposed on the upright frame (100). The lifting drive (210) is connected to the cross arm (220) and can drive the cross arm (220) to move up and down. The transfer mechanism includes a vertical arm (310) and a material transfer assembly. The vertical arm (310) is slidably connected to the horizontal arm (220) in the vertical direction. A lifting drive (320) is provided between the vertical arm (310) and the horizontal arm (220). The lifting drive (320) can provide an upward force to the vertical arm (310). The material transfer assembly is disposed on the vertical arm (310).
2. The robotic arm according to claim 1, characterized in that: The vertical arm (310) protrudes upward from the horizontal arm (220) and is connected to the top plate (311). The lifting drive (320) is located on the top side of the horizontal arm (220). The lifting drive (320) has a lifting end that can move up and down, and the lifting end abuts against the bottom side of the top plate (311).
3. A robotic arm according to claim 2, characterized in that: The lifting drive (320) is equipped with a micro switch (330), the trigger end of the micro switch (330) abuts against the bottom side of the top plate (311), and the micro switch (330) is electrically connected to the lifting drive (320).
4. A robotic arm according to claim 1, characterized in that: The material transfer assembly includes a transfer seat (340), a rotary drive, and a transfer part. The transfer seat (340) is rotatably connected to the bottom of the stand (100). The rotary drive is disposed on the transfer seat (340) and is connected to the transfer seat (340) in a transmission manner. The rotary drive can drive the transfer seat (340) to rotate around a horizontal axis. The transfer part is disposed on the transfer seat (340).
5. A robotic arm according to claim 4, characterized in that: The transfer unit includes a bidirectional drive (361) and a clamping plate (362). The bidirectional drive (361) is disposed on the transfer seat (340). The bidirectional drive (361) has two movable ends that can move closer to or further away from each other, and the two movable ends are respectively connected to the clamping plate (362).
6. A robotic arm according to claim 4, characterized in that: The transfer unit includes a plurality of vacuum suction cups (363) connected to the bottom side of the transfer seat (340).
7. A robotic arm according to claim 4, characterized in that: The rotation drive includes a first motor (351), a first gear (352), and a second gear (353). The first motor (351) is connected to the vertical arm (310), and the first motor (351) drives the first gear (352). The second gear (353) is located at the position where the transfer seat (340) is rotatably connected to the vertical arm (310). The first gear (352) and the second gear (353) mesh with each other.
8. A robotic arm according to claim 1, characterized in that: The horizontal arm (220) includes a first rod (221) and a second rod (222) that are rotatably connected to each other. The end of the first rod (221) away from the second rod (222) is rotatably connected to the upright frame (100), and the vertical arm (310) is slidably connected to the second rod (222) in the vertical direction.
9. A robotic arm according to claim 1, characterized in that: An operating arm (400) is provided on the vertical arm (310).
10. A robotic arm according to claim 1, characterized in that: The lifting drive (210) includes a slide, a second motor, a gear and a rack. The slide is slidably connected to the upright (100) in the vertical direction. The second motor is connected to the slide and drives the gear. The rack is connected to the upright (100) in the vertical direction. The gear and the rack mesh with each other. The cross arm (220) is connected to the slide.