A multi-angle adjustable autonomous grabbing robot arm

Abstract

The utility model relates to mechanical arm technical field discloses a kind of multi-angle adjustable autonomous grabbing mechanical arms, including base, the base top is equipped with multi-shaft arm frame, the front end of the multi-shaft arm frame is connected with bracket, the bracket inside is equipped with vacuum pump body, the vacuum pump body surface is connected with vacuum pipe fitting;The present application scheme can effectively fill the gap between filter mechanism and the inside of suction cup body by setting rubber ring, and realize close fitting by slight deformation, both enhance the clamping force, prevent the dust and foreign matter from entering from gap, ensure that superfine nylon filter screen is only filtering path, support ring effectively separates rubber ring and superfine nylon filter screen, avoid rubber ring deformation extrusion superfine nylon filter screen, while providing support for superfine nylon filter screen, reduce its aging or tear due to long-term stress, the cooperation between limiting assembly and limiting slot can quickly realize the installation and disassembly of filter mechanism, improve convenience.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically a multi-angle adjustable autonomous grasping robotic arm. Background Technology

[0002] In fields such as intelligent manufacturing, logistics warehousing, and automated production, robotic arms are being used more and more widely, and their technological innovation has become key to improving production efficiency and quality. Currently, multi-angle adjustable autonomous gripping robotic arms, with their flexible joint structures and intelligent gripping systems, can accurately perform gripping actions in complex spaces, demonstrating excellent performance in scenarios such as precision assembly and material sorting. When dealing with workpieces that are smooth, irregularly shaped, or easily damaged, combining multi-angle adjustable autonomous gripping robotic arms with adsorption components leverages complementary advantages to achieve flexible and varied gripping postures and handle workpieces of different materials and shapes, meeting diverse industrial needs.

[0003] Existing adsorption robotic arms have relatively simple suction cup structures, which easily attract dust and foreign objects from outside the workpiece into the vacuum pipeline and vacuum pump during the adsorption process. Over time, this can cause blockages and affect the subsequent adsorption and gripping effect. To address this, we propose an autonomous gripping robotic arm that can be adjusted at multiple angles. Utility Model Content

[0004] In view of the above situation and to overcome the defects of the prior art, this utility model provides an autonomous gripping robotic arm that can be adjusted at multiple angles. It effectively solves the problem that the suction cup structure of the existing adsorption robotic arm is relatively simple, and during the adsorption process, it is easy to adsorb dust and foreign objects outside the workpiece into the vacuum pipeline and vacuum pump, which can easily cause blockage over time and affect the subsequent adsorption and gripping effect.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a multi-angle adjustable autonomous grasping robotic arm, comprising a base, a multi-axis arm on the top of the base, a bracket connected to the front end of the multi-axis arm, a vacuum pump body inside the bracket, a vacuum tube connected to the surface of the vacuum pump body, a suction cup body connected to the bottom of the vacuum tube, a plurality of limiting components evenly distributed in a ring on the outer side of the suction cup body, a filtering mechanism inside the suction cup body, the filtering mechanism comprising a rubber ring, the rubber ring being fitted to the bottom inside of the suction cup body, a plurality of limiting grooves evenly opened in a ring on the outer side of the rubber ring, a support ring being matched and engaged inside the rubber ring, and an ultra-fine nylon filter screen being fixed inside the bottom of the support ring.

[0006] Preferably, the number of limiting grooves and limiting components on the surface of the rubber ring are the same, the rubber ring is bonded to the support ring, and the bottom of the rubber ring, the support ring, and the ultra-fine nylon filter screen are on the same horizontal plane and flush with the bottom of the suction cup body.

[0007] Preferably, the limiting component includes a cylindrical frame, which is fixedly fitted inside the suction cup body. A T-shaped limiting rod extends transversely through the inside of the cylindrical frame. A pull ring is fixedly provided at the outer end of the T-shaped limiting rod. A limiting ring plate is fixedly sleeved on the surface of the T-shaped limiting rod. A spring is provided on one side of the limiting ring plate. A slot is opened on the surface of the T-shaped limiting rod. A bending frame is fixedly provided at the top of the cylindrical frame. A spring is provided inside the bending frame. A locking rod is provided at the bottom of the spring. A ring-shaped paddle is fixedly sleeved on the outside of the locking rod.

[0008] Preferably, the end of the T-shaped limiting rod away from the pull ring is a regular hemispherical shape with a smooth and continuous curved surface, and the end of the T-shaped limiting rod away from the pull ring can be matched and engaged inside the limiting groove.

[0009] Preferably, the T-shaped limiting rod forms an elastic structure with the limiting ring plate, spring, and cylindrical frame, and the cylindrical frame and bending frame are integrally formed.

[0010] Preferably, the locking rod is T-shaped, and the locking rod forms an elastic structure with the bending frame via spring two. The bottom end of the locking rod can be matched and engaged inside the locking groove. When the bottom end of the locking rod is engaged inside the locking groove, the inner end of the T-shaped limiting rod is just separated from the limiting groove.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. By setting up a rubber ring, the gap between the filter mechanism and the inner side of the suction cup body can be effectively filled. A tight fit is achieved through slight deformation, which not only enhances the locking force but also prevents external dust and foreign objects from entering through the gap, ensuring that the ultra-fine nylon filter is the only filtration path. The support ring effectively separates the rubber ring and the ultra-fine nylon filter, preventing the rubber ring from deforming and squeezing the ultra-fine nylon filter. At the same time, it provides support for the ultra-fine nylon filter, reducing its aging or tearing caused by long-term stress. The cooperation between the limiting component and the limiting groove allows for quick installation and disassembly of the filter mechanism, improving convenience.

[0012] 2. By effectively moving the T-shaped limiting rod outward through the external pulling ring, the inner end of the T-shaped limiting rod is concealed inside the cylinder frame. At the same time, the upward movement of the annular lever causes the locking rod to move upward. When the locking groove moves below the locking rod, the annular lever is released. Under the influence of the spring's second return force, the locking rod pops out and its bottom end effectively engages with the inside of the locking groove, limiting the T-shaped limiting rod and providing space for the installation of the filter mechanism. After several limiting grooves are aligned with several limiting components, the upward movement of the annular lever causes the locking rod to separate from the locking groove. At this time, the T-shaped limiting rod pops out quickly under the influence of the spring's first return force, and the inner end of the T-shaped limiting rod quickly engages with the inside of the limiting groove, achieving rapid limiting of the filter mechanism. Attached Figure Description

[0013] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0014] In the attached diagram: Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective; Figure 3 This is a three-dimensional structural diagram of the filtration mechanism of this utility model; Figure 4 This is a partial cross-sectional structural diagram of the present invention; Figure 5 This utility model Figure 4 A magnified schematic diagram of the structure at point A in the middle.

[0015] In the diagram: 1. Base; 2. Multi-axis boom; 3. Bracket; 4. Vacuum pump body; 5. Vacuum tubing; 6. Suction cup body; 7. Limiting assembly; 701. Cylinder frame; 702. T-shaped limiting rod; 703. Pull ring; 704. Limiting ring plate; 705. Spring 1; 706. Slot; 707. Bending frame; 708. Spring 2; 709. Locking rod; 710. Annular lever; 8. Filtering mechanism; 801. Rubber ring; 802. Limiting groove; 803. Support ring; 804. Ultra-fine nylon filter screen. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. 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 protection scope of the present utility model.

[0017] Please see Figure 1-5An autonomous gripping robotic arm adjustable at multiple angles includes a base 1, a multi-axis arm 2 on top of the base 1, a bracket 3 connected to the front end of the multi-axis arm 2, a vacuum pump body 4 inside the bracket 3, a vacuum tube 5 connected to the surface of the vacuum pump body 4, a suction cup body 6 connected to the bottom of the vacuum tube 5, a plurality of limiting components 7 evenly distributed in a ring on the outer side of the suction cup body 6, and a filter mechanism 8 inside the suction cup body 6. The filter mechanism 8 includes a rubber ring 801, which is attached to the bottom inside of the suction cup body 6. A plurality of limiting grooves 802 are evenly distributed in a ring on the outer side of the rubber ring 801, and a support ring 803 is matched and engaged inside the rubber ring 801. An ultra-fine nylon filter screen 804 is fixed inside the bottom of the support ring 803. The plurality of limiting grooves 802 on the surface of the rubber ring 801 are the same number as the plurality of limiting components 7. The filter mechanism 8 is bonded to the support ring 803. The bottom of the rubber ring 801, the support ring 803, and the ultra-fine nylon filter 804 are on the same horizontal plane and flush with the bottom of the suction cup body 6. By setting the rubber ring 801, the gap between the filter mechanism 8 and the inner side of the suction cup body 6 can be effectively filled. A tight fit is achieved through slight deformation, which not only enhances the locking force, but also prevents external dust and foreign objects from entering from the gap, ensuring that the ultra-fine nylon filter 804 is the only filtration path. The support ring 803 effectively separates the rubber ring 801 and the ultra-fine nylon filter 804, preventing the rubber ring 801 from deforming and squeezing the ultra-fine nylon filter 804. At the same time, it provides support for the ultra-fine nylon filter 804, reducing its aging or tearing caused by long-term stress. The installation and disassembly of the filter mechanism 8 can be quickly realized through the cooperation between the limiting component 7 and the limiting groove 802, improving convenience.

[0018] The limiting component 7 includes a cylindrical frame 701, which is fixedly fitted inside the suction cup body 6. A T-shaped limiting rod 702 extends transversely through the inside of the cylindrical frame 701. A pull ring 703 is fixedly provided at the outer end of the T-shaped limiting rod 702. The end of the T-shaped limiting rod 702 away from the pull ring 703 is a regular hemispherical shape with a smooth and continuous curved surface. The end of the T-shaped limiting rod 702 away from the pull ring 703 can be matched and engaged inside the limiting groove 802. A limiting ring plate 704 is fixedly sleeved on the surface of the T-shaped limiting rod 702. A spring is provided on one side of the limiting ring plate 704. A T-shaped limiting rod 702 has a slot 706 on its surface. A bending frame 707 is fixed to the top of the cylinder frame 701. Further, the T-shaped limiting rod 702 forms an elastic structure with the cylinder frame 701 through a limiting ring plate 704 and a first spring 705. The cylinder frame 701 and the bending frame 707 are integrally formed. A second spring 708 is provided inside the bending frame 707, and a locking rod 709 is provided at the bottom of the second spring 708. Further still, the locking rod 709 is T-shaped, and the locking rod 709 forms an elastic structure with the bending frame 707 through the second spring 708. The bottom end of the lever 709 can be matched and engaged inside the slot 706. When the bottom end of the lever 709 is engaged inside the slot 706, the inner end of the T-shaped limiting lever 702 is just separated from the limiting groove 802. An annular lever 710 is fixedly sleeved on the outside of the lever 709. By pulling the outer ring 703, the T-shaped limiting lever 702 is effectively moved outward, so that the inner end of the T-shaped limiting lever 702 is hidden inside the cylinder frame 701. At the same time, the annular lever 710 is moved upward, causing the lever 709 to move upward. When the slot 706 moves below the lever 709, the annular lever 710 is released, and the lever is spring-loaded. The spring 708's rebound force causes the locking rod 709 to pop out and its bottom end to effectively engage with the inside of the slot 706, limiting the T-shaped limiting rod 702 and providing space for the installation of the filter mechanism 8. After several limiting slots 802 are aligned with several limiting components 7, the upward-moving annular lever 710 separates the locking rod 709 from the slot 706. At this time, the T-shaped limiting rod 702 is quickly popped out by the spring 705's rebound force, and the inner end of the T-shaped limiting rod 702 quickly engages with the inside of the limiting slot 802, achieving rapid limiting of the filter mechanism 8.

Claims

1. A multi-angle adjustable autonomous grasping robotic arm, characterized in that: The device includes a base (1), a multi-axis arm (2) on the top of the base (1), a bracket (3) connected to the front end of the multi-axis arm (2), a vacuum pump body (4) inside the bracket (3), a vacuum tube (5) connected to the surface of the vacuum pump body (4), a suction cup body (6) connected to the bottom of the vacuum tube (5), a number of limiting components (7) evenly distributed in a ring on the outer side of the suction cup body (6), a filter mechanism (8) inside the suction cup body (6), a rubber ring (801) attached to the bottom inside of the suction cup body (6), a number of limiting grooves (802) evenly opened in a ring on the outer side of the rubber ring (801), a support ring (803) matched and engaged inside the rubber ring (801), and an ultra-fine nylon filter screen (804) fixed inside the bottom of the support ring (803).

2. The autonomous grasping robotic arm with multi-angle adjustment according to claim 1, characterized in that: The number of limiting grooves (802) on the surface of the rubber ring (801) is the same as the number of limiting components (7). The rubber ring (801) is bonded to the support ring (803). The bottoms of the rubber ring (801), the support ring (803), and the ultra-fine nylon filter (804) are on the same horizontal plane and are flush with the bottom of the suction cup body (6).

3. The autonomous grasping robotic arm with multi-angle adjustment according to claim 1, characterized in that: The limiting component (7) includes a cylindrical frame (701), which is fixedly fitted inside the suction cup body (6). A T-shaped limiting rod (702) is transversely inserted inside the cylindrical frame (701). A pull ring (703) is fixedly provided at the outer end of the T-shaped limiting rod (702). A limiting ring plate (704) is fixedly sleeved on the surface of the T-shaped limiting rod (702). A spring (705) is provided on one side of the limiting ring plate (704). A slot (706) is opened on the surface of the T-shaped limiting rod (702). A bending frame (707) is fixedly provided at the top of the cylindrical frame (701). A spring (708) is provided inside the bending frame (707). A locking rod (709) is provided at the bottom of the spring (708). A ring-shaped paddle (710) is fixedly sleeved on the outside of the locking rod (709).

4. The multi-angle adjustable autonomous grasping robotic arm according to claim 3, characterized in that: The end of the T-shaped limiting rod (702) away from the pull ring (703) is a regular hemispherical shape with a smooth and continuous curved surface. The end of the T-shaped limiting rod (702) away from the pull ring (703) can be matched and engaged inside the limiting groove (802).

5. The autonomous grasping robotic arm with multi-angle adjustment according to claim 3, characterized in that: The T-shaped limiting rod (702) forms an elastic structure with the limiting ring plate (704), spring 1 (705) and the tube frame (701), and the tube frame (701) is integrally formed with the bending frame (707).

6. The multi-angle adjustable autonomous grasping robotic arm according to claim 3, characterized in that: The lever (709) is T-shaped. The lever (709) forms an elastic structure with the bending frame (707) through the second spring (708). The bottom end of the lever (709) can be matched and engaged inside the slot (706). When the bottom end of the lever (709) is engaged inside the slot (706), the inner end of the T-shaped limiting rod (702) is just separated from the limiting groove (802).

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