Swing arm articulated robot

Abstract

The utility model relates to a kind of swing arm joint manipulator, including support plate, the limit piece that drives mechanical arm moves to pre-move position, the moving device that drives mechanical arm moves, the fixing piece that restricts mechanical arm on the moving device;The limit piece is set on the support plate;The moving device is set on the support plate and the acting end of the moving device is respectively with the limit piece and mechanical arm pre-machining position corresponds;The fixing piece is set in the acting end of the moving device;The fixing piece is fixed in the acting end of the moving device and drives mechanical arm to move.Solve the low efficiency of artificial taking material, poor precision, mechanical device limiting, moving and other defects exist.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, and more particularly to a swing-arm joint robotic hand. Background Technology

[0002] Current technologies for material handling in robotic arm processing have several shortcomings. Traditional manual material handling is labor-intensive, inefficient, and its accuracy is difficult to guarantee due to factors such as operator skill level and physical condition. Deviations in the robotic arm's placement can lead to errors in subsequent processing steps, affecting the dimensional accuracy and surface quality of the robotic arm, and even causing scrap, increasing production costs. Furthermore, the close contact between operators and processing equipment during manual material handling poses safety hazards. With the application of automation technology, some production lines have adopted simple mechanical material handling devices, but these devices still have significant defects in structural design and functional implementation: unreliable limiting: the limiting structure for the robotic arm is simple, mostly consisting of fixed baffles or slides, making it difficult to adapt to the limiting requirements of workpieces of different specifications. When the robotic arm is transported to the material handling position, it is prone to tilting, deviation, or even falling, causing the material handling device to fail to grasp accurately and affecting the smoothness of process transitions. Insufficient Movement Precision: The devices driving the robotic arm often use simple pneumatic or hydraulic cylinders for direct drive, lacking stable guiding and positioning mechanisms. This leads to wobbling during movement, preventing the robotic arm from accurately reaching the pre-processing position and affecting processing accuracy. Furthermore, some movement devices have limited angle adjustment capabilities, making it difficult to adapt to the different processing steps' requirements for the robotic arm's posture. Unstable Fixing: The robotic arm's fixing structure is poorly designed. The clamping force is either too large, easily damaging the robotic arm, or too small, causing it to loosen and fall off during movement. Especially with diverse robotic arm specifications, the fixing structure lacks versatility, requiring frequent replacement of adaptable parts, making operation cumbersome. Poor Coordination: The various components of the material handling device (limiting, moving, fixing, etc.) lack effective coordination and linkage, relying heavily on manual intervention for debugging, resulting in low automation. The lack of real-time detection of the material handling position makes it difficult to ensure the accuracy and reliability of the material handling action, easily leading to material handling failures. Utility Model Content

[0003] This application provides a swing-arm joint manipulator, which solves the problems of low efficiency and poor accuracy of manual material handling in the prior art, as well as the limitations and movement of mechanical devices.

[0004] The technical solutions adopted in the embodiments of this application are as follows.

[0005] A swing-arm joint robot includes a support plate, a limiting member for moving the robot arm to a pre-moving position, a moving device for moving the robot arm, and a fixing member for restricting the robot arm to be positioned on the moving device; the limiting member is disposed on the support plate; the moving device is disposed on the support plate and the working end of the moving device corresponds to the limiting member and the pre-processing position of the robot arm respectively; the fixing member is disposed on the working end of the moving device; the fixing member fixes the workpiece to the working end of the moving device and drives the workpiece to move.

[0006] As a further improvement to the above technical solution: The limiting member includes a first plate, a second plate disposed on the support plate, a third plate disposed on the support plate, and a baffle to prevent the workpiece from falling; the first plate is inclined at an angle; the second plate is disposed on the other side of the first plate; the third plate is disposed below the first plate and the second plate; the workpiece can fall onto the third plate through the channel between the first plate and the second plate; the baffle is hinged to the third plate.

[0007] The moving device includes a connecting rod, a first pushing member disposed on the end face of the connecting rod, a clamping member for clamping the robotic arm, a second pushing member that drives the connecting rod to tilt at an angle, a rotating rod passing through the support plate, and a hinge rod connecting the second pushing member and the rotating rod; one end of the rotating rod corresponds to the connecting rod, and the other end of the rotating rod corresponds to the hinge rod; the end of the hinge rod away from the rotating rod is hinged to the working end of the second pushing member; the second pushing member is disposed on the support plate; the connecting rod is detachably connected to the rotating rod; and the clamping member is disposed at the working end of the first pushing member.

[0008] A connecting plate is provided on the support plate; two sets of sensors are respectively provided on the connecting plate; the sensors correspond to the actuating end of the first pushing member; the sensors detect the position of the clamping member.

[0009] A top rod is provided on the support plate; the top rod prevents the connecting rod from moving out of position.

[0010] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. By employing a limiting component that forms a guiding channel through the inclined first and second plates, combined with the support of the third plate and the anti-fall design of the baffle, workpieces of different specifications can be automatically guided to accurately fall into the pre-moving position, solving the problems of poor adaptability and easy tilting of the robotic arm caused by traditional fixed baffles. The hinged structure of the baffle can adaptively open and close according to the workpiece size, ensuring the positional accuracy before material handling and avoiding deviations caused by manual placement, providing a stable reference for subsequent gripping. 2. The moving device drives the clamping component to move linearly via the first pushing component. Combined with the linkage of the second pushing component, rotating rod, and hinge rod, the tilt angle of the connecting rod can be flexibly adjusted, allowing the robotic arm to adapt to the posture requirements of different processing procedures (such as horizontal transfer, tilted loading, etc.). Compared to the single trajectory of traditional cylinder direct drive, the multi-angle adjustment capability significantly improves transfer flexibility and reduces processing errors caused by angle deviations. The detachable design of the connecting rod also facilitates the replacement of adaptable parts according to the robotic arm specifications, further expanding its applicability. 3. The clamping component, driven by the first pusher, tightly secures the robotic arm, preventing damage caused by insufficient clamping force or excessive compression, as is common in traditional material handling devices. Sensors monitor the clamping component's position in real time, ensuring precise material handling. The push rod limits the linkage's movement range, preventing collisions caused by overtravel. This dual protection significantly reduces the probability of material handling failure, reduces close contact between operators and equipment, and improves operational safety. 4. Closed-loop collaboration between limiting components, moving devices, and sensors: After the robotic arm automatically enters its position through the limiting channel, the sensor triggers the gripper to move, and the moving device moves along a preset trajectory, requiring no manual intervention throughout the process. This highly automated linkage mechanism solves the problems of poor coordination between components and reliance on manual debugging in traditional devices, significantly improving material handling efficiency, and is especially suitable for continuous production scenarios involving batch robotic arm processing. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the swing arm joint manipulator in this utility model.

[0012] Figure 2 This is a schematic diagram of the swing arm joint manipulator in this utility model.

[0013] Figure 3 for Figure 1 A sectional view of A in the middle.

[0014] In the diagram: 1. Support plate; 2. Limiting component; 21. First plate; 22. Second plate; 23. Third plate; 24. Baffle; 3. Moving device; 31. Connecting rod; 32. First pushing component; 33. Clamping component; 34. Second pushing component; 35. Rotating rod; 36. Hinge rod; 4. Fixing component; 5. Connecting plate; 51. Sensor; 6. Top rod. Detailed Implementation

[0015] This application provides a swing-arm joint manipulator, which solves the problems of low efficiency and poor accuracy of manual material handling in the prior art, as well as the limitations and movement of mechanical devices.

[0016] The technical solution in this application embodiment is to solve the above problems, and the overall idea is as follows: To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0017] like Figure 1 As shown, the swing arm joint robot of this embodiment includes a support plate 1, a limiting member 2 that moves the robot arm to a pre-moving position, a moving device 3 that moves the robot arm, and a fixing member 4 that restricts the robot arm from being located on the moving device 3; the limiting member 2 is disposed on the support plate 1; the moving device 3 is disposed on the support plate 1 and the working end of the moving device 3 corresponds to the limiting member 2 and the pre-processing position of the robot arm respectively; the fixing member 4 is disposed on the working end of the moving device 3; the fixing member 4 fixes the workpiece to the working end of the moving device 3 and moves the workpiece.

[0018] The limiting member 2 includes a first plate 21, a second plate 22 disposed on the support plate 1, a third plate 23 disposed on the support plate 1, and a baffle 24 to prevent the workpiece from falling; the first plate 21 is inclined at an angle; the second plate 22 is disposed on the other side of the first plate 21; the third plate 23 is disposed below the first plate 21 and the second plate 22; the workpiece can fall onto the third plate 23 through the channel between the first plate 21 and the second plate 22; the baffle 24 is hinged to the third plate 23.

[0019] The moving device 3 includes a connecting rod 31, a first pushing member 32 disposed on the end face of the connecting rod 31, a clamping member 33 for clamping the robotic arm, a second pushing member 34 that drives the connecting rod 31 to tilt at an angle, a rotating rod 35 passing through the support plate 1, and a hinge rod 36 connecting the second pushing member 34 and the rotating rod 35; one end of the rotating rod 35 corresponds to the connecting rod 31, and the other end of the rotating rod 35 corresponds to the hinge rod 36; the end of the hinge rod 36 away from the rotating rod 35 is hinged to the working end of the second pushing member 34; the second pushing member 34 is disposed on the support plate 1; the connecting rod 31 is detachably connected to the rotating rod 35; and the clamping member 33 is disposed on the working end of the first pushing member 32.

[0020] A connecting plate 5 is provided on the support plate 1; two sets of sensors 51 are respectively provided on the connecting plate 5; the sensor 51 corresponds to the working end of the first pusher 32; the sensor 51 detects the position of the clamping member 33.

[0021] A top rod 6 is provided on the support plate 1; the top rod 6 prevents the connecting rod 31 from moving out of position.

[0022] Because of the use of limiting component 2, a guide channel is formed by the inclined first plate 21 and second plate 22. Combined with the receiving function of the third plate 23 and the anti-drop design of the baffle 24, workpieces of different specifications can be automatically guided to accurately fall into the pre-moving position, solving the problems of poor adaptability and easy tilting of the robotic arm caused by traditional fixed baffle 24. The hinge structure of baffle 24 can adaptively open and close according to the size of the robotic arm, ensuring positional accuracy before material handling and avoiding deviations caused by manual placement, providing a stable reference for subsequent gripping. The moving device 3 drives the clamping component 33 to move linearly through the first pushing component 32. Combined with the linkage of the second pushing component 34, rotating rod 35, and hinge rod 36, the tilt angle of the connecting rod 31 can be flexibly adjusted, allowing the robotic arm to adapt to the posture requirements of different processing procedures (such as horizontal transfer, tilted loading, etc.). Compared with the single trajectory of traditional cylinder direct drive, the multi-angle adjustment capability significantly improves the flexibility of transfer and reduces processing errors caused by angle deviations. The detachable design of the connecting rod 31 also facilitates the replacement of adaptable components according to the specifications of the robotic arm, further expanding the scope of application. The clamping component 33, driven by the first pusher 32, tightly secures the robotic arm, preventing damage caused by insufficient clamping force or excessive compression in traditional material handling devices. The sensor 51 monitors the position of the clamping component 33 in real time, ensuring precise material handling. The push rod 6 limits the movement range of the connecting rod 31, preventing collisions caused by overtravel. This dual protection significantly reduces the probability of material handling failure, replacing manual handling and reducing close contact between operators and equipment, thus improving operational safety. The limiting component 2, the moving device 3, and the sensor 51 form a closed-loop coordination: after the robotic arm automatically enters its position through the limiting channel, the sensor 51 triggers the clamping component 33 to move, and the moving device 3 moves along a preset trajectory, requiring no manual intervention throughout the process.

[0023] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0024] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A swing-arm joint manipulator, characterized in that, The system includes a support plate (1), a limiting member (2) for moving the robotic arm to a pre-moving position, a moving device (3) for moving the robotic arm, and a fixing member (4) for restricting the robotic arm from being positioned on the moving device (3). The limiting member (2) is disposed on the support plate (1). The moving device (3) is disposed on the support plate (1), and the working end of the moving device (3) corresponds to the limiting member (2) and the pre-processing position of the robotic arm, respectively. The fixing member (4) is disposed on the working end of the moving device (3). The fixing member (4) fixes the workpiece to the working end of the moving device (3) and moves the workpiece. The limiting member (2) includes a first plate (21), a second plate (22) disposed on the support plate (1), a third plate (23) disposed on the support plate (1), and a baffle (24) to prevent the workpiece from falling; the first plate (21) is inclined at an angle; the second plate (22) is disposed on the other side of the first plate (21); the third plate (23) is disposed below the first plate (21) and the second plate (22); the workpiece can fall onto the third plate (23) through the channel between the first plate (21) and the second plate (22); the baffle (24) is hinged to the third plate (23); The moving device (3) includes a connecting rod (31), a first pusher (32) disposed on the end face of the connecting rod (31), a clamping member (33) for clamping the robotic arm, a second pusher (34) that drives the connecting rod (31) to tilt at an angle, a rotating rod (35) passing through the support plate (1), and a hinge rod (36) connecting the second pusher (34) and the rotating rod (35); one end of the rotating rod (35) corresponds to the connecting rod (31), and the other end of the rotating rod (35) corresponds to the hinge rod (36); the end of the hinge rod (36) away from the rotating rod (35) is hinged to the working end of the second pusher (34); the second pusher (34) is disposed on the support plate (1); the connecting rod (31) is detachably connected to the rotating rod (35); and the clamping member (33) is disposed on the working end of the first pusher (32).

2. The swing-arm joint manipulator as described in claim 1, characterized in that, A connecting plate (5) is provided on the support plate (1); two sets of sensors (51) are respectively provided on the connecting plate (5); the sensor (51) corresponds to the working end of the first pusher (32); the sensor (51) detects the position of the clamping member (33).

3. The swing-arm joint manipulator as described in claim 2, characterized in that, A top rod (6) is provided on the support plate (1); the top rod (6) prevents the connecting rod (31) from moving out of position.

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