A robot arm

Abstract

This invention provides a robotic arm. The robotic arm includes a robotic arm body, with a connecting flange at its end. A suction cup is connected to the connecting flange via an elastic floating module. The suction cup includes an upper plate, a pressure ring, a lower plate, and a sealing lip. The upper end of the upper plate is connected to the elastic floating module, and the upper end of the lower plate is detachably connected to the upper plate via the pressure ring. The lower end of the lower plate is connected to the sealing lip, which is located radially near the outer side of the lower plate. The thickness of the sealing lip is thinner than the thickness of the lower plate. This invention adds a sealing lip to the suction cup, eliminating gaps caused by uneven surfaces of the 3D printed board, ensuring vacuum, achieving effective adsorption, and ensuring the safety and reliability of the 3D printed board during handling.

Description

Technical Field

[0001] This utility model relates to the field of building construction technology, and in particular to a robotic arm. Background Technology

[0002] Currently, 3D printed panels are also being used in the construction industry. After components are 3D printed, they are transported to the site for installation, a process that requires the use of robotic arms for handling and transfer. The end effectors of robotic arms come in various forms, such as grippers, permanent magnet chucks, and vacuum chucks. Because 3D printed panels are often stored in layered stacks, grippers cannot be used for grasping. Furthermore, since 3D printed panels are non-metallic, permanent magnet chucks cannot be used for adsorption. Therefore, vacuum chucks are the only option.

[0003] The 3D printing plates used in construction are made of special materials. The surface smoothness of the printed plates is lower than that of metal materials, resulting in an uneven surface with tiny gaps. When ordinary vacuum suction cups are used for adsorption, they cannot completely adhere to the surface, causing air leakage at the edges. This leads to the vacuum circuit being connected to the outside, causing a sharp drop in the system vacuum level and an adsorption failure rate of over 30%. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm that can be used for adsorbing 3D printed boards.

[0005] The technical solution of this utility model is: a robotic arm, including a robotic arm body, the end of which is provided with a connecting flange, and a suction cup is connected to the connecting flange through an elastic floating module. The suction cup includes an upper plate, a pressure ring, a lower plate, and a sealing lip. The upper end of the upper plate is connected to the elastic floating module, and the upper end of the lower plate is detachably connected to the upper plate through the pressure ring. The lower end of the lower plate is connected to the sealing lip, and the sealing lip is disposed near the outer side of the lower plate in the radial direction. The thickness of the sealing lip is thinner than the thickness of the lower plate.

[0006] In the above solution, a sealing lip is added to the lower end of the suction cup. The sealing lip is relatively thin and can deform on the surface of the 3D printed board, thus better adhering to the surface of the 3D printed board. This eliminates gaps caused by unevenness on the surface of the 3D printed board, ensures vacuum, achieves effective adsorption, and ensures the safety and reliability of the 3D printed board during handling.

[0007] Preferably, the outer edge of the sealing lip has a straight chamfer.

[0008] Preferably, the lower plate is provided with a support mesh.

[0009] Preferably, each grid of the support mesh is rhomboid.

[0010] Preferably, the surface of the suction cup is coated with Teflon.

[0011] Preferably, the elastic floating module includes a plurality of elastic elements evenly distributed therefrom. Each elastic element includes an outer cylinder and an inner rod that are telescopically connected. The outer cylinder is connected to the connecting flange, and the inner rod is connected to the upper plate. A spring is fitted around the outer cylinder and the inner rod, and the spring abuts against the connecting flange and the upper plate.

[0012] Preferably, the elastic floating module includes a telescopic connecting column located at the middle of the connecting flange and the upper plate.

[0013] Compared with related technologies, the beneficial effects of this utility model are as follows: I. This utility model adds a sealing lip to the lower end of the suction cup. The sealing lip is thin and can deform on the surface of the 3D printed board, so that the suction cup can better adhere to the surface of the 3D printed board, eliminate the gaps caused by the unevenness of the 3D printed board surface, ensure vacuum, achieve effective adsorption, and ensure the safety and reliability of the 3D printed board during the handling process. Second, the present invention provides a straight chamfer on the outer edge of the sealing lip, which can further eliminate micro-gaps on the surface of the 3D printed plate; Third, this utility model sets a support net in the lower plate, which improves the rigidity while the suction cup is pressed down and undergoes elastic deformation, making it easier for the suction cup to recover. IV. The lower plate is detachably installed via a pressure ring, allowing it to be disassembled for cleaning or replacement. Attached Figure Description

[0014] Figure 1 A schematic diagram of the structure of the robotic arm provided by this utility model; Figure 2 This is a schematic diagram of the installation structure connecting the flange, the flexible floating module, and the suction cup. Figure 3 This is a schematic diagram of the structure of the robotic arm that grasps the 3D printed plate provided by this utility model.

[0015] In the attached diagram: 1. Robotic arm body; 11. Connecting flange; 2. Elastic floating module; 21. Elastic element; 211. Outer cylinder; 212. Inner rod; 213. Spring; 22. Connecting column; 3. Suction cup; 31. Upper plate; 32. Pressure ring; 33. Lower plate; 331. Support net; 34. Sealing lip; 4. 3D printed plate. Detailed Implementation

[0016] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present invention can be combined with each other. For ease of description, the terms "upper," "lower," "left," and "right" appearing below only indicate that they correspond to the upper, lower, left, and right directions in the accompanying drawings and do not limit the structure.

[0017] like Figure 1 As shown, this embodiment provides a robotic arm including a robotic arm body 1. The end of the robotic arm body 1 is provided with a connecting flange 11, and a suction cup 3 is connected to the connecting flange 11 via an elastic floating module 2. The suction cup 3 is made of liquid silicone (LSR) through secondary injection molding, with a hardness of Shore A 15-25, elongation at break ≥500%, and compression set ≤8% (180℃×22h). The surface of the suction cup 3 is coated with a 0.02 mm thick Teflon coating, with a dynamic friction coefficient ≤0.15, to prevent the adhesion of residual resin or support material to the printing plate surface. The diameter of the suction cup 3 is selectable from Ø40-80 mm.

[0018] like Figure 2 As shown, the suction cup 3 includes an upper plate 31, a pressure ring 32, a lower plate 33, and a sealing lip 34. The upper end of the upper plate 31 is connected to the elastic floating module 2, and the upper end of the lower plate 33 is detachably connected to the upper plate 31 via the pressure ring 32. The lower end of the lower plate 33 is connected to the sealing lip 34. The sealing lip 34 is located radially near the outer side of the lower plate 33, and its thickness is thinner than that of the lower plate 33. The thickness of the sealing lip 34 is 0.6-0.8 mm, extending 0.5-1 mm beyond the bottom of the lower plate 33. The outer edge of the sealing lip 34 has a 30° chamfer, and the vertical projection length of the chamfer is ≤0.1 mm, facilitating insertion into micro-gaps on the plate.

[0019] The pressure ring 32 can adopt a clamp and buckle structure. The clamp is fitted onto the upper outer surface of the lower plate 33. After the lower plate 33 is fitted onto the upper plate 31, the clamp is then fastened by the buckle to press and connect the lower plate 33 and the upper plate 31 together. The lower plate 33 has a support mesh 331 inside (the support mesh 331 can be set on the inner surface of the lower plate 33 or integrated into the material of the lower plate 33 to form a skeleton). Each grid of the support mesh 331 is diamond-shaped.

[0020] like Figure 1 As shown, the elastic floating module 2 can provide floating in the Z direction. The elastic floating module 2 includes 3-5 elastic elements 21. In this embodiment, the number of elastic elements 21 is four, evenly distributed along the outer periphery of the connecting flange 11. The connecting flange 11 and the suction cup 3 can be circular or angular. The elastic element 21 includes an outer cylinder 211 and an inner rod 212 that are telescopically connected. The outer cylinder 211 is connected to the connecting flange 11, and the inner rod 212 is connected to the upper plate 31. A spring 213 is fitted around the outer cylinder 211 and the inner rod 212, and the spring 213 abuts against the connecting flange 11 and the upper plate 31.

[0021] To ensure the rigidity of the suction cup 3 connection, the elastic floating module 2 further includes a connecting post 22, which is installed in the middle of the connecting flange 11 and the lower plate 33. The connecting post 22 is a telescopic rod that can adaptively extend and retract with the elastic element 21. The connecting post 22 can be a cylinder or have the same structure as the elastic element 21.

[0022] like Figure 3 As shown, during operation, the robotic arm 1 lowers the suction cup 3 to the surface of the target 3D printing plate 4. The sealing lip 34 first contacts and undergoes elastic deformation, wedging itself into the gap in the plate to form the first seal. The suction cup 3 then continues to press down 1-2mm, compressing the elastic floating module 2. The silicone lower plate 33 presses the sealing lip 34 tightly against the 3D printing plate, sealing the vacuum chamber inside the suction cup 3. The vacuum solenoid valve is then activated, and the vacuum pump evacuates the vacuum chamber to above -65kPa, lifting the robotic arm 1 and using the suction cup 3 to move the 3D printing plate 4. The suction principle of the vacuum suction cup is based on existing structures; its detailed working principle and the connections of the aforementioned components will not be elaborated here.

[0023] In addition, a vacuum sensor can be added to monitor the vacuum level in the vacuum chamber in real time. If the vacuum level does not reach the set threshold of -60kPa within 0.5s, it is determined that the seal has failed, and the controller immediately issues a retry or alarm signal to prevent transporting the equipment while it is faulty. In this case, the machine needs to be stopped and the lower plate 33 and sealing lip 34 replaced.

[0024] The thinner sealing lip of this invention can complete dynamic edge sealing within 0.2 seconds, increasing the adsorption success rate in layered stacking scenarios from 70% to ≥99.5%.

[0025] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A robotic arm, comprising a robotic arm body (1), wherein the end of the robotic arm body (1) is provided with a connecting flange (11), characterized in that, A suction cup (3) is connected to the connecting flange (11) via an elastic floating module (2). The suction cup (3) includes an upper plate (31), a pressure ring (32), a lower plate (33), and a sealing lip (34). The upper end of the upper plate (31) is connected to the elastic floating module (2). The upper end of the lower plate (33) is detachably connected to the upper plate (31) via the pressure ring (32). The lower end of the lower plate (33) is connected to the sealing lip (34). The sealing lip (34) is located on the outer side of the lower plate (33) in the radial direction. The thickness of the sealing lip (34) is thinner than the thickness of the lower plate (33).

2. The robotic arm according to claim 1, characterized in that, The outer edge of the sealing lip (34) is provided with a straight chamfer.

3. The robotic arm according to claim 1, characterized in that, The lower plate (33) is equipped with a support net (331).

4. The robotic arm according to claim 3, characterized in that, Each grid of the support net (331) is a rhombus.

5. The robotic arm according to claim 1, characterized in that, The surface of the suction cup (3) is coated with Teflon.

6. The robotic arm according to claim 1, characterized in that, The elastic floating module (2) includes a plurality of elastic elements (21) evenly distributed. Each elastic element (21) includes an outer cylinder (211) and an inner rod (212) that are telescopically connected. The outer cylinder (211) is connected to the connecting flange (11), and the inner rod (212) is connected to the upper plate (31). A spring (213) is fitted on the outside of the outer cylinder (211) and the inner rod (212). The spring (213) abuts against the connecting flange (11) and the upper plate (31).

7. The robotic arm according to claim 1, characterized in that, The elastic floating module (2) includes a telescopic connecting column (22) located at the middle of the connecting flange (11) and the upper plate (31).

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