Single-arm robot with dithering function
By designing a single-arm robotic arm with a vibration function, the workpiece is separated using a vibration cylinder and a clamping cylinder. Combined with a threaded rod and motor drive, the problem of poor cleaning and drying effects caused by workpieces being stacked together is solved, achieving highly efficient cleaning and drying results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN HEKEDA ULTRASONIC EQUIP CO LTD
- Filing Date
- 2025-09-10
- Publication Date
- 2026-08-04
AI Technical Summary
Existing technologies often result in poor cleaning and drying effects when cleaning and drying small workpieces because the workpieces are stacked together.
Design a single-arm robotic arm with a shaking function. By setting up a shaking cylinder and a clamping cylinder, the mother basket and the daughter basket can shake up and down. The workpiece is lifted and separated by the clamping hook. Combined with a threaded rod and motor drive, the lifting and moving of the mother basket and the daughter basket can be realized.
It significantly improves cleaning and drying effects, effectively separates adhered workpieces, and enhances cleaning and drying efficiency.
Smart Images
Figure CN224588073U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotic arm technology, and in particular to a single-arm robotic arm with a shaking function. Background Technology
[0002] A single-arm robotic arm is an automated device equipped with a single robotic arm. It simulates human arm movements to perform tasks such as grasping, handling, and assembly through preset programs or sensor feedback control. It features a compact structure, high flexibility, and strong programmability, and is widely used in industrial manufacturing, logistics warehousing, and service fields to improve production efficiency and operational accuracy.
[0003] However, when producing products such as electrical metal contacts, due to the small size of the products, existing technologies cause the workpieces to stack together during cleaning, which seriously affects the cleaning and drying effect. Utility Model Content
[0004] The purpose of this application is to provide a single-arm robotic arm with a shaking function, which has the advantages of separating the attached workpieces by setting a shaking cylinder to make the mother basket and daughter basket shake up and down, thereby greatly enhancing the cleaning and drying effect and solving the problems mentioned in the background art.
[0005] The single-arm robotic arm with shaking function provided in this application adopts the following technical solution: it includes a column, a groove is provided on the right side of the column, a slider is slidably connected to the inner wall of the groove, a mounting block is fixedly connected to the right side of the slider, a crossbar is fixedly connected to the right side of the mounting block, a mounting frame is fixedly connected to the bottom surface of the crossbar, shaking cylinders are fixedly connected to the front and back of the mounting frame, a clamping cylinder is fixedly installed at the output end of each shaking cylinder, a clamping hook is fixedly connected to the output end of each clamping cylinder, a mother basket is provided below the mounting frame, each clamping hook is adapted to the mother basket, and two child baskets are placed on the upper surface of the mother basket.
[0006] By adopting the above technical solution, a groove is opened on the right side of the column, and a slider is placed on the inner wall of the groove, forming a sliding connection to limit the slider's movement, allowing it to slide up and down on the inner wall of the groove. An mounting block is installed on the right side of the slider, and a crossbar is fixed to the right side of the mounting block, enabling the slider, mounting block, and crossbar to rise and fall synchronously. A mounting frame is installed on the bottom surface of the crossbar, allowing the crossbar and mounting frame to rise and fall synchronously. Vibration cylinders are installed on the front and back of the mounting frame, forming a fixed connection to install the vibration cylinders. A clamping cylinder is installed at the output end, enabling the shaking cylinder to drive the corresponding clamping cylinder to move up and down. The clamping hook is fixed to the output end of the corresponding clamping cylinder, so that when the clamping cylinder extends or retracts, it can drive the corresponding clamping hook to move, allowing the bent part of the clamping hook to connect with the mother basket. The mother basket is then lifted, and the daughter basket is placed on the upper surface of the mother basket. The daughter basket can hold the workpiece. By setting the shaking cylinder to connect with the clamping cylinder, the mother basket and daughter basket can shake up and down, separating the workpieces that are stuck together, greatly enhancing the cleaning and drying effect.
[0007] Preferably, a first motor is fixedly connected to the upper surface of the column, and a threaded rod is fixedly connected to the output shaft of the first motor.
[0008] By adopting the above technical solution, a first motor is fixed on the upper surface of the column, and a threaded rod is installed on the output shaft of the first motor, so that the first motor can drive the threaded rod to rotate.
[0009] Preferably, the outer surface of the threaded rod is rotatably connected to the inner wall of the column, and the outer surface of the threaded rod is threadedly connected to the inner wall of the slider.
[0010] By adopting the above technical solution, the outer surface of the threaded rod is connected to the column in a rotating manner to limit the movement of the threaded rod. The threaded rod is connected to the slider in a threaded manner so that when the threaded rod rotates, the slider can move up and down on the inner wall of the groove through the connection with the threaded rod, thereby facilitating the height adjustment of the mother basket and the daughter basket.
[0011] Preferably, a first fixing plate is fixedly connected to the left side of the column, and a second motor is fixedly installed on the upper surface of the first fixing plate.
[0012] By adopting the above technical solution, a first fixing plate is installed on the left side of the column, and a second motor is installed on the upper surface of the first fixing plate, so that the second motor can be limited to the upper surface of the first fixing plate, thereby realizing the installation of the second motor.
[0013] Preferably, the output shaft of the second motor is fixedly connected to a gear, and a rack meshes with the outer surface of the gear.
[0014] By adopting the above technical solution, the gear is installed on the output shaft of the second motor and fixed to the output shaft of the second motor, so that the second motor can drive the gear to rotate. The rack is placed above the gear and meshes with the gear, so that when the gear rotates, it can move along the direction of the rack, so that the second motor can also move together. By rotating the second motor in both directions, the direction of movement can be controlled.
[0015] Preferably, a fixing frame is fixedly connected to the upper surface of the rack, and a guide rail is fixedly connected to the upper surface of the fixing frame.
[0016] By adopting the above technical solution, a fixing bracket is installed on the upper surface of the rack, and the rack is fixed to the fixing bracket to realize the installation of the rack. A guide rail is installed on the upper surface of the rack to realize the support of the guide rail.
[0017] Preferably, a guide block is slidably connected to the upper surface of the guide rail, and the upper surface of the guide block is fixedly connected to the bottom surface of the first fixed plate.
[0018] By adopting the above technical solution, the guide block is installed on the upper surface of the guide rail and set as a sliding connection, so that the guide rail can limit the guide block. The upper surface of the guide block is fixed to the bottom surface of the first fixed plate, so that when the first fixed plate and the second motor move, the guide block can be driven to slide on the surface of the guide rail. Thus, when the first fixed plate and the second motor move, they can be guided by the connection between the guide block and the guide rail.
[0019] Preferably, an L-shaped plate is fixedly connected to the right side of the fixing frame, and a second fixing plate is fixedly connected to the left side of the column. Two fixing shafts are fixedly connected to the inner wall of the second fixing plate, and a guide wheel is rotatably installed on the outer surface of each fixing shaft.
[0020] By adopting the above technical solution, an L-shaped plate is installed on the right side of the fixing frame, and a second fixing plate is installed on the left side of the column. The fixing shaft is installed on the inner wall of the second fixing plate, and the guide wheels are rotatably set on the surface of the corresponding fixing shaft. The two guide wheels can be adapted to the surface of the L-shaped plate, so that when the column moves, the bottom part of the column can maintain balance through the connection between the guide wheels and the L-shaped plate, further improving the stability of the column when moving.
[0021] In summary, this application includes at least one of the following beneficial technical effects: This single-arm robotic arm with a shaking function incorporates components such as shaking cylinders, clamping cylinders, and clamping hooks. A mounting frame is installed on the bottom of the horizontal bar, with shaking cylinders mounted on the front and back of the frame. Clamping cylinders and clamping hooks are installed at the output ends of the shaking cylinders. When the mother basket is fitted with the clamping hook, activating the corresponding clamping cylinder moves the clamping hook, lifting the mother basket and subsequently the daughter basket and workpiece. Activating the shaking cylinders on both sides causes the mother and daughter baskets to shake up and down, thus lifting the workpiece that is pressed together. The components are separated, greatly enhancing the cleaning and drying effect. By starting the first motor, the threaded rod rotates. Through the connection between the threaded rod and the slider, the slider and crossbar can be raised and lowered, thereby allowing the mother basket and daughter basket to rise and fall. Starting the second motor drives the gear to rotate. Through the connection between the gear and the rack, the mother basket and daughter basket can move, enabling them to move laterally and vertically. By setting guide rails and guide blocks and installing fixed rotating shafts to limit the guide wheels, the stability of the mother basket and daughter basket during movement is improved through the adaptation of the guide wheels and L-shaped plates. Attached Figure Description
[0022] Figure 1 This is a schematic diagram of the entire application in three dimensions; Figure 2 This is a schematic diagram of the overall front view of this application; Figure 3 This is a structural diagram illustrating the connection relationship between the mounting block and the crossbar in this application. Figure 4 This is a schematic diagram of the connection relationship between the gear and the rack in this application; Figure 5 This is a schematic diagram showing the connection between the vibrating cylinder and the clamping cylinder in this application.
[0023] In the picture: 1. Column; 2. Slide rail; 3. Slider; 4. Mounting block; 5. Crossbar; 6. Mounting frame; 7. Vibrating cylinder; 8. Clamping cylinder; 9. Clamping hook; 10. Mother basket; 11. Daughter basket; 12. First motor; 13. Threaded rod; 14. First fixing plate; 15. Second motor; 16. Gear; 17. Rack; 18. Fixing frame; 19. Guide rail; 20. Guide block; 21. L-shaped plate; 22. Second fixing plate; 23. Fixed shaft; 24. Guide wheel. Detailed Implementation
[0024] The following is in conjunction with the appendix Figure 1 - Appendix Figure 5 This application will be described in further detail below.
[0025] Example 1: Single-arm robotic hand with shaking function, please refer to Figure 2 , Figure 3 and Figure 5 The system includes a column 1, a groove 2 on the right side of the column 1, a slider 3 slidably connected to the inner wall of the groove 2, an mounting block 4 fixedly connected to the right side of the slider 3, a crossbar 5 fixedly connected to the right side of the mounting block 4, and a mounting bracket 6 fixedly connected to the bottom surface of the crossbar 5. By creating the groove 2 on the right side of the column 1 and placing the slider 3 on the inner wall of the groove 2, a sliding connection is established to limit the slider 3, allowing it to slide up and down on the inner wall of the groove 2. The mounting block 4 is installed on the right side of the slider 3, and the crossbar 5 is fixed to the right side of the mounting block 4, enabling the slider 3, the mounting block 4, and the crossbar 5 to rise and fall synchronously. The mounting bracket 6 is installed on the bottom surface of the crossbar 5, allowing the crossbar 5 and the mounting bracket 6 to rise and fall synchronously.
[0026] Please see Figure 2 , Figure 3 and Figure 5 The mounting frame 6 has vibrating cylinders 7 fixedly connected to both its front and back sides. Each vibrating cylinder 7 has a clamping cylinder 8 fixedly installed at its output end, and each clamping cylinder 8 has a clamping hook 9 fixedly connected to its output end. A mother basket 10 is located below the mounting frame 6, and each clamping hook 9 is compatible with the mother basket 10. Two daughter baskets 11 are placed on the upper surface of the mother basket 10. The vibrating cylinders 7 are fixedly connected to the front and back sides of the mounting frame 6, allowing for their installation. By installing clamping cylinders 8 at the output ends of the vibrating cylinders 7, the vibrating cylinders 7 can drive the corresponding... The clamping cylinder 8 moves up and down, fixing the clamping hook 9 to the output end of the corresponding clamping cylinder 8. When the clamping cylinder 8 extends and retracts, it can drive the corresponding clamping hook 9 to move, so that the bent part of the clamping hook 9 can connect with the part of the mother basket 10, lifting the mother basket 10 and placing the daughter basket 11 on the upper surface of the mother basket 10. The daughter basket 11 can hold the workpiece. By setting the shaking cylinder 7 connected to the clamping cylinder 8, the mother basket 10 and the daughter basket 11 can shake up and down, separating the workpieces that are stuck together, greatly enhancing the cleaning and drying effect.
[0027] Example 2: Single-arm robotic hand with shaking function, please refer to [link / reference]. Figure 1 , Figure 2 and Figure 5A first motor 12 is fixedly connected to the upper surface of the column 1. A threaded rod 13 is fixedly connected to the output shaft of the first motor 12. The first motor 12 is fixed to the upper surface of the column 1, and the threaded rod 13 is installed on the output shaft of the first motor 12, so that the first motor 12 can drive the threaded rod 13 to rotate. The outer surface of the threaded rod 13 is rotatably connected to the inner wall of the column 1, and the outer surface of the threaded rod 13 is threadedly connected to the inner wall of the slider 3. The outer surface of the threaded rod 13 is connected to the column 1 as a rotatable connection to limit the movement of the threaded rod 13. The threaded rod 13 is connected to the slider 3 as a threaded connection, so that when the threaded rod 13 rotates, the slider 3 can rise and fall on the inner wall of the slide groove 2 through the connection with the threaded rod 13, thereby facilitating the height adjustment of the mother basket 10 and the daughter basket 11.
[0028] Please see Figure 1 , Figure 2 and Figure 4 A first fixing plate 14 is fixedly connected to the left side of the column 1. A second motor 15 is fixedly installed on the upper surface of the first fixing plate 14. The first fixing plate 14 is installed on the left side of the column 1, and the second motor 15 is installed on the upper surface of the first fixing plate 14, thus limiting the second motor 15 to its position on the upper surface of the first fixing plate 14. A gear 16 is fixedly connected to the output shaft of the second motor 15. A rack 17 meshes with the outer surface of the gear 16. The gear 16 is installed on the output shaft of the second motor 15 and fixed to it, allowing the second motor 15 to drive the gear 16 to rotate. The rack 17 is positioned above the gear 16 and meshes with it, allowing the gear 16 to move along the direction of the rack 17 when it rotates, thus moving the second motor 15 as well. By rotating the second motor 15 in both directions, the rotation can be controlled. In the direction of movement, a fixing frame 18 is fixedly connected to the upper surface of the rack 17, and a guide rail 19 is fixedly connected to the upper surface of the fixing frame 18. The fixing frame 18 is installed on the upper surface of the rack 17, and the rack 17 is fixed to the fixing frame 18 to realize the installation of the rack 17. The guide rail 19 is installed on the upper surface of the rack 17 to realize the support of the guide rail 19. A guide block 20 is slidably connected to the upper surface of the guide rail 19. The upper surface of the guide block 20 is fixedly connected to the bottom surface of the first fixing plate 14. The guide block 20 is installed on the upper surface of the guide rail 19 and set as a sliding connection so that the guide rail 19 can limit the guide block 20. The upper surface of the guide block 20 is fixed to the bottom surface of the first fixing plate 14 so that when the first fixing plate 14 and the second motor 15 move, they can drive the guide block 20 to slide on the surface of the guide rail 19, so that when the first fixing plate 14 and the second motor 15 move, they can be guided by the connection between the guide block 20 and the guide rail 19.
[0029] Please see Figure 4An L-shaped plate 21 is fixedly connected to the right side of the fixing frame 18, and a second fixing plate 22 is fixedly connected to the left side of the column 1. Two fixing shafts 23 are fixedly connected to the inner wall of the second fixing plate 22. Guide wheels 24 are rotatably mounted on the outer surface of each fixing shaft 23. The L-shaped plate 21 is installed on the right side of the fixing frame 18, and the second fixing plate 22 is installed on the left side of the column 1. The fixing shafts 23 are installed on the inner wall of the second fixing plate 22, and the guide wheels 24 are rotatably set on the surface of the corresponding fixing shafts 23. The two guide wheels 24 can be adapted to the surface of the L-shaped plate 21, so that when the column 1 moves, the bottom part of the column 1 can maintain balance through the connection between the guide wheels 24 and the L-shaped plate 21, further improving the stability of the column 1 when it moves.
[0030] The implementation principle of this application embodiment is as follows: First, the sub-basket 11 and the workpiece are placed on the mother basket 10. Then, the corresponding clamping cylinder 8 is activated to drive the corresponding clamping hook 9 to move. Through the adaptation of the clamping hook 9 with the mother basket 10, the mother basket 10 is hoisted. Then, the first motor 12 is activated to drive the threaded rod 13 to rotate. Through the connection between the threaded rod 13 and the slider 3, the slider 3 can rise on the inner wall of the slide groove 2, thereby allowing the crossbar 5, the mother basket 10 and the sub-basket 11 to rise. After reaching a certain height, the corresponding shaking cylinder 7 is activated to make the mother basket 10 and the sub-basket 11 shake up and down, separating the workpieces that are stuck together, which greatly enhances the cleaning and drying effect. When the mother basket 10 and the sub-basket 11 need to move, the second motor 15 is activated to drive the gear 16 to rotate. Through the connection between the gear 16 and the rack 17, the gear 16 and the second motor 15 can move. The guide rail 19 is set to be connected to the guide block 20, and the guide wheel 24 is set to be adapted to the L-shaped plate 21, which can improve the stability of the mother basket 10 and the sub-basket 11 when they move.
Claims
1. A single-arm robotic hand with a shaking function, comprising a column (1), characterized in that: The right side of the column (1) is provided with a sliding groove (2), and a slider (3) is slidably connected to the inner wall of the sliding groove (2). A mounting block (4) is fixedly connected to the right side of the slider (3). A crossbar (5) is fixedly connected to the right side of the mounting block (4). A mounting frame (6) is fixedly connected to the bottom surface of the crossbar (5). A shaking cylinder (7) is fixedly connected to both the front and back of the mounting frame (6). A clamping cylinder (8) is fixedly installed at the output end of each shaking cylinder (7). A clamping hook (9) is fixedly connected to the output end of each clamping cylinder (8). A mother basket (10) is provided below the mounting frame (6). Each clamping hook (9) is adapted to the mother basket (10). Two daughter baskets (11) are placed on the upper surface of the mother basket (10).
2. The single-arm robotic hand with shaking function according to claim 1, characterized in that: The upper surface of the column (1) is fixedly connected to a first motor (12), and the output shaft of the first motor (12) is fixedly connected to a threaded rod (13).
3. The single-arm robotic hand with shaking function according to claim 2, characterized in that: The outer surface of the threaded rod (13) is rotatably connected to the inner wall of the column (1), and the outer surface of the threaded rod (13) is threadedly connected to the inner wall of the slider (3).
4. The single-arm robotic hand with shaking function according to claim 1, characterized in that: The left side of the column (1) is fixedly connected to a first fixing plate (14), and the upper surface of the first fixing plate (14) is fixedly installed with a second motor (15).
5. The single-arm robotic hand with shaking function according to claim 4, characterized in that: The output shaft of the second motor (15) is fixedly connected to a gear (16), and a rack (17) meshes with the outer surface of the gear (16).
6. The single-arm robotic hand with shaking function according to claim 5, characterized in that: A fixing frame (18) is fixedly connected to the upper surface of the rack (17), and a guide rail (19) is fixedly connected to the upper surface of the fixing frame (18).
7. The single-arm robotic hand with shaking function according to claim 6, characterized in that: The upper surface of the guide rail (19) is slidably connected to a guide block (20), and the upper surface of the guide block (20) is fixedly connected to the bottom surface of the first fixing plate (14).
8. The single-arm robotic hand with shaking function according to claim 6, characterized in that: An L-shaped plate (21) is fixedly connected to the right side of the fixed frame (18), and a second fixed plate (22) is fixedly connected to the left side of the column (1). Two fixed rotating shafts (23) are fixedly connected to the inner wall of the second fixed plate (22), and a guide wheel (24) is rotatably installed on the outer surface of each fixed rotating shaft (23).