阅读说明：本技术 一种机械手装置的放料机械手臂 (Emptying mechanical arm of mechanical arm device ) 是由 康凤林 于 2021-09-03 设计创作，主要内容包括：本发明提供了一种机械手装置的放料机械手臂,包括动力座,所述动力座上端左右两侧对称设有减震机构,且动力座的上端中部设有调节腔,所述减震机构连接有机械臂机构,所述机械臂机构包括导向机构和夹取机构,所述导向机构通过电机二与夹取机构连接,所述调节腔内部转动设有角度调节机构,所述角度调节机构连接有导向机构,所述动力座、机械臂机构、夹取机构和角度调节机构中的电器件连接有控制件,解决了问题1、现一般还是采用人工转移或搬运,人工成本高,费时费力,而且不利于生产效率的提高,同时人工搬运存在安全隐患和问题2、上述机械手臂进行运输物品时若物品重量过大机械手臂的运输过程不稳定中的至少一个问题。(The invention provides a discharging mechanical arm of a mechanical arm device, which comprises a power seat, wherein the left side and the right side of the upper end of the power seat are symmetrically provided with damping mechanisms, and the middle part of the upper end of the power seat is provided with an adjusting cavity, the damping mechanism is connected with a mechanical arm mechanism, the mechanical arm mechanism comprises a guide mechanism and a clamping mechanism, the guide mechanism is connected with the clamping mechanism through a second motor, an angle adjusting mechanism is rotatably arranged in the adjusting cavity, the angle adjusting mechanism is connected with a guide mechanism, and electric devices in the power seat, the mechanical arm mechanism, the clamping mechanism and the angle adjusting mechanism are connected with a control piece, so that the problem 1 is solved, manual transfer or carrying is generally adopted, the labor cost is high, time and labor are wasted, and be unfavorable for the improvement of production efficiency, there is potential safety hazard and problem 2 in artifical transport simultaneously, if article weight is too big during the transportation unstable problem of robotic arm's transportation in above-mentioned robotic arm.)

1. The utility model provides a manipulator device's blowing robotic arm which characterized in that: including power seat (1), power seat (1) upper end left and right sides symmetry is equipped with damper (4), and the upper end middle part of power seat (1) is equipped with adjusts chamber (102), damper (4) are connected with mechanical arm mechanism, mechanical arm mechanism includes guiding mechanism and presss from both sides and get mechanism (8), guiding mechanism passes through two (201) of motor and presss from both sides to get mechanism (8) and is connected, it is equipped with angle adjustment mechanism to adjust inside rotation of chamber (102), angle adjustment mechanism is connected with guiding mechanism, the electric part that power seat (1), mechanical arm mechanism, clamp were got in mechanism (8) and the angle adjustment mechanism is connected with the control.

2. The discharging mechanical arm of the manipulator device according to claim 1, wherein: the angle adjusting mechanism comprises a working shell (3), a working cavity II (301) is arranged inside the working shell (3), an opening I (302) is arranged on the left and right sides of the front end of the working shell (3) in a penetrating mode, an opening II (303) is arranged in the middle of the front end of the working shell (3) in a penetrating mode, the opening I (302) is communicated with the working cavity II (301), electric telescopic rods I (304) are symmetrically arranged on the left and right sides of the rear end of the working cavity II (301), an adjusting balance mechanism is fixedly connected with the front ends of the electric telescopic rods I (304), a motor III (305) is fixedly arranged in the middle of the rear end of the working cavity II (301), the motor III (305) is fixedly connected with a fixed shaft I (308), the fixed shaft I (308) penetrates through the opening II (303) and a gear I (306), balance wheels (307) are rotatably arranged on the left and right sides of the front end of the working shell (3), a plurality of tooth blocks (3071) are uniformly distributed at the outer side end of the balance wheel (307) in the circumferential direction, the tooth blocks (3071) of the balance wheel (307) are meshed with the first gear (306), and a second fixed shaft (309) is fixedly connected to the rear end of the working shell (3).

3. The discharging mechanical arm of the manipulator device according to claim 2, wherein: adjust balance mechanism and include runner (6), runner (6) with electric telescopic handle (304) fixed connection, the side circumference equipartition of runner (6) is equipped with a plurality of fixed slots (601), fixed slot (601) inside is equipped with spring (603), spring (603) and sword type pole (602) fixed connection, link up around stabilizer (307) and be equipped with cooperation chamber (3072), cooperation chamber (3072) with intercommunication around opening (302), and cooperation chamber (3072) circumference equipartition are equipped with sword type groove (3073), sword type groove (3073) with sword type pole (602) cooperation, sword type pole (42) are kept away from the one end rotation setting of sword type groove (3073) is in inside fixed slot (601).

4. The discharging mechanical arm of the manipulator device according to claim 2, wherein: the power seat (1) is internally provided with a first working cavity (101), the first working cavity (101) is communicated with the adjusting cavity (102) from top to bottom, a first motor (2) is fixedly arranged inside the first working cavity (101), and the first motor (2) is fixedly connected with a working shell (3) in the angle adjusting mechanism through a motor shaft fixedly connected with the first motor.

5. The discharging mechanical arm of the manipulator device according to claim 2, wherein: damper (4) are including shock attenuation shell (401), shock attenuation shell (401) with guiding mechanism sliding connection, inside cushion chamber (402) that is equipped with of shock attenuation shell (401), the lower extreme of shock attenuation shell (401) link up and is equipped with opening three (403), the inside slip of cushion chamber (402) is equipped with buffer board (404), buffer board (404) and buffer block (406) fixed connection, the cover is equipped with spring two (405) and fixes the setting between buffer board (404) and buffer chamber (402) on buffer block (406), buffer block (406) are passed opening three (403) and connecting plate (407) fixed connection, connecting plate (407) with power seat (1) fixed connection.

6. The discharging mechanical arm of the mechanical arm device according to claim 3, wherein: the guide mechanism comprises a bottom plate (5), the left and right sides of the lower end of the bottom plate (5) provided with a circular groove and the circular groove are symmetrically provided with damping mechanisms (4), the upper end of the bottom plate (5) is provided with a first guide plate (501) in a sliding manner, the front end and the rear end of the first guide plate (501) are symmetrically provided with guide rods (502), one end of the first guide plate (501) is far away from the guide rods (502) and is rotationally connected with a second guide plate (503), the second guide plate (503) penetrates through a fourth opening (5041) on an adjusting block (504) and is connected with an installation block (506), the adjusting blocks (504) are symmetrically arranged on the front side and the rear side of the working shell (3), the lower portion of the adjusting block (504) on the front side is fixedly connected with a first fixed shaft (308), and the lower portion of the adjusting block (504) on the rear side is rotationally connected with a second fixed shaft (309), be connected with between regulating block (504) upper portion around both sides, installation piece (506) are close to bilateral symmetry is equipped with electric telescopic handle two (505) about the one end of deflector two (503), electric telescopic handle two (505) with regulating block (504) fixed connection, the lower extreme of installation piece (506) is equipped with motor (201), motor (201) through rather than fixed connection's motor shaft with press from both sides and get mechanism (8) fixed connection.

7. The discharging mechanical arm of the manipulator device according to claim 1, wherein: the gripping mechanism (8) comprises:

the clamping device comprises a clamping shell (801), wherein working cavities three (803) are symmetrically arranged on the left side and the right side of the interior of the clamping shell (801), a working cavity four (802) is arranged between the working cavities three (803) on the left side and the right side, round holes (825) are formed in the front end and the rear end of the working cavity three (803) in a penetrating manner, a worm wheel (809) is rotatably arranged in the working cavity three (803), a motor four (823) is fixedly arranged in the working cavity four (802), the motor four (823) is fixedly connected with a fixed shaft three (804), the fixed shaft three (804) is fixedly connected with a belt wheel one (805), the belt wheel one (805) is connected with a belt wheel two (806) through a belt wheel two (806), the belt wheel two (807) is fixedly connected with a worm (808), the left side and the right side of the worm (808) are respectively meshed with turbines (809) on the left side and the right side, and the front end and the rear end of each turbine (809) are symmetrically connected with a thread block (810), a thread block (810) in the working chamber III (803) on the right side is in threaded connection with a threaded rod II (826), and a thread block (810) in the working chamber III (803) on the left side is in threaded connection with a threaded rod I (811);

the two supporting cavities (818) are symmetrically arranged on the front side and the rear side of the working cavity IV (802), one end, far away from the working cavity IV (802), of each supporting cavity (818) is provided with a fifth opening (822), a sliding plate (819) is arranged in each supporting cavity (818) in a sliding mode, each sliding plate (819) is fixedly connected with a second connecting block (820), a third spring (821) is sleeved on each second connecting block (820), the third springs (821) are fixedly arranged between the sliding plates (819) and the supporting cavities (818), the second connecting blocks (820) penetrate through the fifth openings (822) and are fixedly connected with the clamping plates (812), and the first clamping plates (812) are fixedly connected with a first threaded rod (811) penetrating through the circular holes (825);

the middle parts of the two clamping plates II (816) are respectively fixedly connected with a third connecting block (815), the third connecting block (815) is rotatably connected with a second threaded rod (826) penetrating through the round hole (825), guide blocks (814) are symmetrically arranged at the upper end and the lower end of the two clamping plates II (816), a sliding groove (8141) is formed in each guide block (814), a second clamping block (817) is fixedly connected to the right part of the two clamping plates II (816), and a protective pad (824) is arranged on each clamping block II (817);

the clamping device comprises two clamping blocks I (813), wherein the two clamping blocks I (813) are symmetrically arranged on the front side and the rear side of the left end of the clamping shell (801), the two clamping blocks I (813) are respectively fixedly connected with a clamping plate (812), sliding shafts (8121) are symmetrically arranged at the upper end and the lower end of the clamping plate (812), and the sliding shafts (8121) are in sliding connection with a sliding groove (8141).

8. The discharging mechanical arm of the manipulator device according to claim 1, wherein: still including stabilizing elevating system, stabilize elevating system set up with power seat (1) fixed connection, stabilize elevating system and include:

the lifting device comprises a base (7), wherein a lifting groove (701) is formed in the upper end of the base (7), a first cavity (702) is formed in the lower end of the base (7), threaded rods III (708) are symmetrically arranged on the left side and the right side of the first cavity (702), a cylindrical section of each threaded rod III (708) is fixedly connected with a belt wheel III (709), the belt wheel III (709) on the left side and the right side are connected through a belt I (710), and the cylindrical section of each threaded rod III (708) penetrates through the upper end of the first cavity (702) to enter the lifting groove (701) to be rotatably connected with the upper end of the base (7);

the lifting device comprises a fixed seat (703), wherein the fixed seat (703) is fixedly arranged at the lower end of the lifting groove (701), a guide hole (7031) is formed in the middle of the fixed seat (703), a first groove (7032) is formed in the upper end of the fixed seat (703), a mounting cavity (7033) is formed in the left side of the fixed seat (703), a fifth motor (704) is fixedly arranged in the mounting cavity (7033), the fifth motor (704) is fixedly connected with a rotating shaft (705), a second gear (706) penetrates through the lower end of the mounting cavity (7033) to enter the first cavity (702) and is fixedly connected with the inside of the first cavity, the second gear (706) is meshed with a third gear (707), and the third gear (707) is fixedly connected with a cylindrical section of the third threaded rod (708) on the left side;

the lifting device comprises two lifting blocks (711), the two lifting blocks (711) are respectively in threaded connection with threaded sections of a threaded rod III (708) on the left side and the right side, one end of each lifting block (711) is fixedly connected with a traction block (713), one end, far away from the traction block (713), of each lifting block (711) is in contact with a plurality of rollers (712), the rollers (712) are uniformly arranged between the front end and the rear end of the lifting groove (701) at intervals, a first sliding block (714) is arranged on each traction block (713) in a sliding mode, a fourth spring (715) is fixedly arranged between each sliding block (714) and each traction block (713), each sliding block (714) is rotatably connected with a first supporting hinge rod (716), each first supporting hinge rod (716) is rotatably connected with a supporting block (717), and each supporting block (717) is rotatably connected with an arc rod (718);

the lower ends of the two sliding blocks (720) are arranged on the left side and the right side of the lower end of the first groove (7032) in a sliding mode, a spring five (723) is fixedly arranged between the side end of the sliding block two (720) and the side end of the first groove (7032), one end, far away from the spring five (723), of the sliding block two (720) is in contact with a pulley (722), the pulley (722) is symmetrically arranged on the left side and the right side of the upper end of a balance block (721), the lower end of the balance block (721) is fixedly connected with a spring six (727), the spring six (727) is fixedly arranged inside the guide hole (7031), the balance block (721) is in sliding connection with the guide hole (7031), the upper portion of the sliding block two (720) is in rotary connection with a branch hinge rod two (719), and the branch hinge rod two (719) is in rotary connection with the middle of the arc rod (718);

the mounting seat (724), the upper end of mounting seat (724) with power seat (1) fixed connection, the lower extreme left and right sides symmetry of mounting seat (724) is equipped with recess two (726), the left and right sides symmetry of recess two (726) is equipped with spring seven (725), spring seven (725) with supporting shoe (717) fixed connection, the lower extreme middle part of mounting seat (724) is fixed and is equipped with connecting axle (727), connecting axle (727) and the left and right sides arc pole (718) keep away from the one end rotation connection of supporting shoe (717).

Technical Field

The invention relates to the technical field of robots, in particular to a discharging mechanical arm of a mechanical arm device.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, products can be processed through a plurality of processes in the processing process of the products in the engineering industry, the building industry, the chemical industry and the like, the products are processed through the processes from the previous process to the next process, the transfer or the transportation of the products to be molded is often required to be completed, the manual transfer or the transportation is adopted at present, the labor cost is high, the time and the labor are wasted, the improvement of the production efficiency is not facilitated, and meanwhile, the potential safety hazard exists in the manual transportation; and when the mechanical arm transports the articles, the transportation process of the mechanical arm is unstable if the weight of the articles is too large.

Disclosure of Invention

The invention provides a material placing mechanical arm of a mechanical arm device, which is used for solving at least one problem that in the prior art, manual transfer or transportation is adopted, the labor cost is high, time and labor are wasted, the production efficiency is not improved, meanwhile, potential safety hazards and problems 2 exist in manual transportation, and the transportation process of the mechanical arm is unstable if the weight of an article is too large when the article is transported by the mechanical arm.

In order to solve the technical problem, the invention discloses a discharging mechanical arm of a mechanical arm device, which comprises a power seat, wherein damping mechanisms are symmetrically arranged on the left side and the right side of the upper end of the power seat, an adjusting cavity is arranged in the middle of the upper end of the power seat, the damping mechanisms are connected with a mechanical arm mechanism, the mechanical arm mechanism comprises a guide mechanism and a clamping mechanism, the guide mechanism is connected with the clamping mechanism through a second motor, an angle adjusting mechanism is rotatably arranged in the adjusting cavity and connected with a guide mechanism, and electric devices in the power seat, the mechanical arm mechanism, the clamping mechanism and the angle adjusting mechanism are connected with control pieces.

Preferably, the angle adjusting mechanism comprises a working shell, a second working cavity is arranged inside the working shell, the left side and the right side of the front end of the working shell are provided with a first opening in a run-through manner, the middle part of the front end of the working shell is provided with a second opening in a run-through manner, the first opening is communicated with the second working cavity, the left side and the right side of the rear end of the second working cavity are symmetrically provided with the first electric telescopic rods, the front end of the first electric telescopic rod is fixedly connected with a balance adjusting mechanism, the middle part of the rear end of the second working cavity is fixedly provided with a third motor, the third motor is fixedly connected with the first fixed shaft, the first fixed shaft penetrates through the second opening to be fixedly connected with the first gear, the left side and the right side of the front end of the working shell are rotatably provided with balance wheels, the outer side end of each balance wheel is circumferentially and uniformly provided with a plurality of tooth blocks, the gear block of the balance wheel is meshed with the first gear, and the rear end of the working shell is fixedly connected with a second fixed shaft.

Preferably, a first working cavity is formed in the power base and is communicated with the adjusting cavity up and down, a first motor is fixedly arranged in the first working cavity and is fixedly connected with a working shell in the angle adjusting mechanism through a motor shaft fixedly connected with the first motor.

Preferably, adjust balance mechanism and include the runner, the runner with an electric telescopic handle fixed connection, the side circumference equipartition of runner is equipped with a plurality of fixed slots, the inside spring that is equipped with of fixed slot, spring one and sword type pole fixed connection, link up around the stabilizer and be equipped with the cooperation chamber, the cooperation chamber with intercommunication around the opening one, and cooperation chamber circumference equipartition are equipped with sword type groove, sword type groove with sword type pole cooperation, the sword type pole is kept away from the one end rotation in sword type groove sets up inside the fixed slot.

Preferably, damper includes the shock attenuation shell, the shock attenuation shell with guiding mechanism sliding connection, the inside cushion chamber that is equipped with of shock attenuation shell, the lower extreme of shock attenuation shell link up and is equipped with opening three, the inside slip of cushion chamber is equipped with the buffer board, buffer board and buffer block fixed connection, the cover is equipped with spring two and spring two is fixed to be set up between buffer board and cushion chamber on the buffer block, the buffer block passes opening three and connecting plate fixed connection, the connecting plate with power seat fixed connection.

Preferably, the guide mechanism comprises a bottom plate, the lower end of the bottom plate is provided with a circular groove, the left side and the right side of the circular groove are symmetrically provided with damping mechanisms, the upper end of the bottom plate is provided with a first guide plate in a sliding manner, the front end and the rear end of the first guide plate are symmetrically provided with guide rods, one end of each guide rod, far away from the first guide plate, is rotatably connected with a second guide plate, the second guide plate penetrates through an opening four on an adjusting block and is connected with an installation block, the two adjusting blocks are symmetrically arranged on the front side and the rear side of the working shell, the lower part of the adjusting block on the front side is fixedly connected with the first fixed shaft, the lower part of the adjusting block on the rear side is rotatably connected with the second fixed shaft, the upper parts of the adjusting blocks on the front side and the rear side are connected, the upper parts of the two ends, close to the second guide plate, of the installation block are symmetrically provided with second electric telescopic rods on the upper side and the lower side, and the second electric telescopic rods are fixedly connected with the adjusting blocks, the lower end of the mounting block is provided with a motor, and the motor is fixedly connected with the clamping mechanism through a motor shaft fixedly connected with the motor.

Preferably, the gripping mechanism includes:

clamping a shell, wherein the left side and the right side of the interior of the clamping shell are symmetrically provided with a third working cavity, a fourth working cavity is arranged between the third working cavities on the left side and the right side, the front end and the back end of the third working cavity are provided with round holes in a penetrating manner, the interior of the third working cavity is rotatably provided with a worm wheel, the interior of the fourth working cavity is fixedly provided with a fourth motor, the fourth motor is fixedly connected with a third fixed shaft, the third fixed shaft is fixedly connected with a first belt wheel, the first belt wheel is connected with a second belt wheel through a second belt, the second belt wheel is fixedly connected with a worm, the left side and the right side of the worm are respectively meshed with the worm wheels on the left side and the right side, the front end and the back end of the worm wheel are symmetrically connected with thread blocks, the thread block in the third working cavity on the right side is in threaded connection with a second threaded rod, and the thread block in the third working cavity on the left side is in threaded connection with a first threaded rod;

the two supporting cavities are symmetrically arranged on the front side and the rear side of the working cavity IV, one end, far away from the working cavity IV, of each supporting cavity is provided with a fifth opening in a penetrating mode, a sliding plate is arranged in each supporting cavity in a sliding mode and fixedly connected with a second connecting block, a third spring is sleeved on the second connecting block and fixedly arranged between the sliding plate and the supporting cavity, the second connecting block penetrates through the fifth opening to be fixedly connected with a clamping plate, and the first clamping plate is fixedly connected with a first threaded rod penetrating through the circular hole;

the middle parts of the two clamping plates II are respectively fixedly connected with a third connecting block, the third connecting block is rotatably connected with a second threaded rod penetrating through the round hole, guide blocks are symmetrically arranged at the upper end and the lower end of the second clamping plates II, sliding grooves are formed in the guide blocks, a second clamping block is fixedly connected to the right part of the second clamping plate, and a protective pad is arranged on the second clamping block;

the clamping shell comprises two clamping blocks I, the two clamping blocks I are symmetrically arranged on the front side and the rear side of the left end of the clamping shell, the two clamping blocks I are fixedly connected with a clamping plate respectively, sliding shafts are symmetrically arranged at the upper end and the lower end of the clamping plate, and the sliding shafts are slidably connected with sliding grooves.

Preferably, still including stabilizing elevating system, stabilize elevating system set up with power seat fixed connection, stabilize elevating system and include:

the lifting device comprises a base, wherein a lifting groove is formed in the upper end of the base, a first cavity is formed in the lower end of the base, threaded rods III are symmetrically arranged on the left side and the right side of the first cavity, cylindrical sections of the threaded rods III are fixedly connected with belt pulleys III, the belt pulleys III on the left side and the right side are connected through a belt I, and the cylindrical sections of the threaded rods III penetrate through the upper end of the first cavity to enter the lifting groove to be rotatably connected with the upper end of the base;

the motor shaft penetrates through the lower end of the installation cavity to enter the first cavity and is fixedly connected with a second gear, the second gear is meshed with a third gear, and the third gear is fixedly connected with a cylindrical section of the third threaded rod on the left side;

the lifting device comprises two lifting blocks, a first lifting block and a second lifting block, wherein the two lifting blocks are respectively in threaded connection with threaded sections of a third threaded rod on the left side and a right side, one end of each lifting block is fixedly connected with a traction block, one end, far away from the traction block, of each lifting block is in contact with a plurality of rollers, the rollers are uniformly distributed and arranged between the front end and the rear end of a lifting groove at intervals, a first sliding block is arranged on each traction block in a sliding mode, a fourth spring is fixedly arranged between the first sliding block and each traction block, the first sliding block is rotatably connected with a first supporting hinge rod, the first supporting hinge rod is rotatably connected with a supporting block, and the supporting block is rotatably connected with an arc rod;

the lower ends of the two sliding blocks II are arranged on the left side and the right side of the lower end of the first groove in a sliding mode, a spring V is fixedly arranged between the side end of the sliding block II and the side end of the first groove, one end, far away from the spring V, of the sliding block II is in contact with pulleys, the pulleys are symmetrically arranged on the left side and the right side of the upper end of a balance block, the lower end of the balance block is fixedly connected with a spring VI, the spring VI is fixedly arranged inside the guide hole, the balance block is in sliding connection with the guide hole, the upper portion of the sliding block II is rotatably connected with a support hinge rod II, and the support hinge rod II is rotatably connected with the middle of the arc rod;

the upper end of the mounting seat is fixedly connected with the power seat, the left side and the right side of the lower end of the mounting seat are symmetrically provided with a second groove, the left side and the right side of the second groove are symmetrically provided with a seventh spring, the seventh spring is fixedly connected with the supporting block, the middle of the lower end of the mounting seat is fixedly provided with a connecting shaft, and the connecting shaft is rotatably connected with one ends of the arc rods on the left side and the right side, which are far away from the supporting block.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic top view of the working housing of the present invention;

FIG. 3 is a schematic view of the connection structure of the rotating wheel and the balance wheel of the present invention;

FIG. 4 is a schematic view of the shock absorbing mechanism of the present invention;

FIG. 5 is a schematic view of a connection structure of the lifting seat and the power seat of the present invention;

FIG. 6 is a schematic view of the lifting seat of the present invention;

FIG. 7 is a first schematic view of the gripping mechanism of the present invention;

FIG. 8 is a schematic top view of the second gripping mechanism of the present invention;

fig. 9 is a front view of the gripping mechanism of the present invention.

In the figure: 1. a power base; 101. a first working cavity; 102. an adjustment chamber; 2. a first motor; 201. a second motor; 3. a working shell; 301. a second working cavity; 302. a first opening; 303. a second opening; 304. a first electric telescopic rod; 305. a third motor; 306. a first gear; 307. a balance wheel; 3071. a tooth block; 3072. a mating cavity; 3073. a cutter-shaped groove; 308. a first fixed shaft; 309. a second fixed shaft; 4. a damping mechanism; 401. a shock-absorbing shell; 402. a buffer chamber; 403. opening three; 404. a buffer plate; 405. a second spring; 406. a buffer block; 407. a connecting plate; 5. a base plate; 501. a first guide plate; 502. a guide bar; 503. a second guide plate; 504. an adjusting block; 5041. opening four; 505. a second electric telescopic rod; 506. mounting blocks; 6. a rotating wheel; 601. fixing grooves; 602. a blade-shaped rod; 7. a base; 701. a lifting groove; 702. a first cavity; 703. a fixed seat; 7031. a guide hole; 7032. a first groove; 7033. a mounting cavity; 704. a fifth motor; 705. a motor shaft; 706. a second gear; 707. a third gear; 708. a third threaded rod; 709. a third belt wheel; 710. a first belt; 711. a lifting block; 712. a roller; 713. a traction block; 714. a first sliding block; 715. a fourth spring; 716. a first supporting hinge rod; 717. a support block; 718. an arc rod; 719. a second supporting hinge rod; 720. a second sliding block; 721. a counterbalance; 722. a pulley; 723. a fifth spring; 724. a mounting seat; 725. a seventh spring; 726. a second groove; 727. a connecting shaft; 8. a gripping mechanism; 801. clamping the shell; 802. a working cavity IV; 803. a working cavity III; 804. fixing a shaft III; 805. a first belt wheel; 806. a second belt; 807. a second belt wheel; 808. a worm; 809. a turbine; 810. a thread block; 811. a first threaded rod; 812. clamping a first plate; 8121. a slide shaft; 813. a first clamping block; 814. a guide block; 8141. a chute; 815. connecting blocks III; 816. a second clamping plate; 817. a second clamping block; 818. a support cavity; 819. a sliding plate; 820. a second connecting block; 821. a third spring; 822. opening five; 823. a fourth motor; 824. a protection pad; 825. a circular hole; 826. and a second threaded rod.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.

The invention provides the following examples

Example 1

The embodiment of the invention provides a discharging mechanical arm of a mechanical arm device, which comprises a power seat 1, wherein damping mechanisms 4 are symmetrically arranged on the left side and the right side of the upper end of the power seat 1, an adjusting cavity 102 is arranged in the middle of the upper end of the power seat 1, the damping mechanisms 4 are connected with a mechanical arm mechanism, the mechanical arm mechanism comprises a guide mechanism and a clamping mechanism 8, the guide mechanism is connected with the clamping mechanism 8 through a second motor 201, an angle adjusting mechanism is rotatably arranged in the adjusting cavity 102 and connected with the guide mechanism, electric devices in the power seat 1, the mechanical arm mechanism, the clamping mechanism 8 and the angle adjusting mechanism are connected with a control piece, the control piece is a single chip microcomputer, and the single chip microcomputer is AT89C52 in model.

The beneficial effects of the above technical scheme are:

when the discharging mechanical arm of the mechanical arm device is used for transporting articles, firstly, a motor in the power base 1 is controlled to enable the angle adjusting mechanism to rotate along a horizontal plane, the angle adjusting mechanism can drive the guide mechanism to rotate along the horizontal plane, so that the clamping mechanism 8 is driven to rotate along the horizontal plane, then the motor in the angle adjusting mechanism drives the guide mechanism to rotate along a vertical plane, the guide mechanism plays a role in guiding the clamping mechanism 8, the clamping mechanism 8 rotates along the vertical plane, the aim of controlling the clamping mechanism 8 to rotate along the horizontal plane and the vertical plane is achieved by arranging the angle adjusting mechanism, meanwhile, an electric telescopic rod is arranged in the guide mechanism, the working range of the clamping mechanism 8 can be increased by connecting the electric telescopic rod with the clamping mechanism 8, and the clamping mechanism 8 can reach any position in space, the second motor 201 further controls the angle of the clamping mechanism 8, improves the angle adjusting precision of the clamping mechanism 8, the electric devices in the power base 1, the mechanical arm mechanism, the clamping mechanism 8 and the angle adjusting mechanism are controlled to work by the singlechip, so that the automatic transfer or transportation of goods is realized, the labor participation is not needed, the labor cost is saved, the production efficiency is improved, the damping mechanism 4 is arranged between the mechanical arm mechanism and the power seat 1, which can improve the stability of the mechanical arm for transporting articles, solves the problems 1 in the background art that manual transfer or transportation is adopted at present, the labor cost is high, time and labor are wasted, and be unfavorable for the improvement of production efficiency, there is potential safety hazard and problem 2 in artifical transport simultaneously, if too big robotic arm's of article weight transportation unstable in at least one technical problem when robotic arm transports article.

Example 2

On the basis of the embodiment 1, as shown in fig. 2 to 3, the angle adjusting mechanism includes a working shell 3, a working cavity two 301 is disposed inside the working shell 3, an opening one 302 is disposed through the left and right sides of the front end of the working shell 3, an opening two 303 is disposed through the middle of the front end of the working shell 3, the opening one 302 is communicated with the working cavity two 301, electric telescopic rods one 304 are symmetrically disposed on the left and right sides of the rear end of the working cavity two 301, an adjusting balance mechanism is fixedly connected to the front end of the electric telescopic rods one 304, a motor three 305 is fixedly disposed in the middle of the rear end of the working cavity two 301, the motor three 305 is fixedly connected to a fixed shaft one 308, the fixed shaft one 308 penetrates through the opening two 303 to be fixedly connected to a gear one 306, balance wheels 307 are rotatably disposed on the left and right sides of the front end of the working shell 3, a plurality of tooth blocks 3071 are uniformly disposed circumferentially at the outer side end of the balance wheels 307, a gear block 3071 of the balance wheel 307 is meshed with the first gear 306, and a second fixed shaft 309 is fixedly connected to the rear end of the working shell 3;

it includes runner 6 to adjust balance mechanism, runner 6 with a 304 fixed connection of electric telescopic handle, the side circumference equipartition of runner 6 is equipped with a plurality of fixed slots 601, fixed slot 601 inside is equipped with a spring 603, a spring 603 and sword type pole 602 fixed connection, link up around the stabilizer 307 and be equipped with cooperation chamber 3072, cooperation chamber 3072 with intercommunication around an opening 302, and cooperation chamber 3072 circumference equipartition is equipped with sword type groove 3073, sword type groove 3073 with sword type pole 602 cooperation, sword type pole 42 is kept away from the one end rotation of sword type groove 3073 sets up inside fixed slot 601, the left and right sides sword type groove 3073 and sword type pole 602 revolve to opposite.

The beneficial effects of the above technical scheme are:

when the angle adjusting mechanism drives the guiding mechanism to rotate along a vertical plane, the purpose of adjusting the angle of the vertical plane of the clamping mechanism 8 is achieved, the motor III 305 is started, the motor III 305 drives the fixing shaft II 309 to rotate, the fixing shaft II 309 rotates to drive the guiding mechanism and the gear I306 to rotate, the gear I306 drives the balance wheel 307 engaged with the gear I to rotate, after the guiding mechanism rotates to a target position, the motor III 305 stops working, the electric telescopic rod I304 is controlled to work at the moment, the rotating wheel 6 is matched with the balance wheel 307, the balance wheel 307 can only rotate in a single direction through the arrangement of the spring I603, the knife-shaped rod 602 is matched with the knife-shaped groove 3073, the rotating directions of the knife-shaped groove 3073 and the knife-shaped rod 602 on the left side and the right side are opposite, the balance wheel 307 and the gear I306 arranged on the left side and the right side are clamped, the rotation is stopped, and when the clamping mechanism 8 clamps an article, the gear I306 can be supported through the balance wheels 307 arranged on the left side and the right side, the stability of the second fixing shaft 309 is improved, the clamping mechanism 8 is higher in rotating stability of the vertical flat plate, the second fixing shaft 309 is prevented from shaking when the clamping mechanism 8 clamps articles with large weight, the conveying efficiency of the clamping mechanism 8 is affected, and the second fixing shaft 309 can also be matched with the knife-shaped groove 3073 through the knife-shaped rod 602 on one side to guide the rotating direction of the second fixing shaft 309.

Example 3

On the basis of embodiment 2, as shown in fig. 1 and 4, a first working chamber 101 is arranged inside the power base 1, the first working chamber 101 is vertically communicated with the adjusting chamber 102, a first motor 2 is fixedly arranged inside the first working chamber 101, and the first motor 2 is fixedly connected with a working shell 3 in the angle adjusting mechanism through a motor shaft fixedly connected with the first motor.

Damper 4 includes shock attenuation shell 401, shock attenuation shell 401 with guiding mechanism sliding connection, the inside cushion chamber 402 that is equipped with of shock attenuation shell 401, shock attenuation shell 401's lower extreme link up and is equipped with three 403 of opening, the inside slip of cushion chamber 402 is equipped with buffer board 404, buffer board 404 and buffer block 406 fixed connection, the cover is equipped with two 405 and two 405 fixed settings of spring between buffer board 404 and cushion chamber 402 on the buffer block 406, buffer block 406 passes three 403 of opening and connecting plate 407 fixed connection, connecting plate 407 with power seat 1 fixed connection.

The beneficial effects of the above technical scheme are:

the working shell 3 can be driven to rotate along the horizontal plane by controlling the motor I2 to work, so that the guide mechanism rotates along the horizontal plane to achieve the purpose of adjusting the horizontal plane angle of the clamping mechanism 8, the damping mechanism 4 is arranged to play a damping role between the guide mechanism and the power seat 1, when the clamping mechanism 8 connected with the guide mechanism clamps articles with larger weight, the guide mechanism is prevented from shaking, so that the power seat 1 has higher stability when driving the guide mechanism to rotate, the stability of the clamping mechanism 8 in the horizontal plane rotation is improved, the technical problem that the transportation process of a mechanical arm is unstable if the weight of the articles is too large when the mechanical arm transports the articles is solved, the spring II 405 is arranged to achieve the damping effect of the damping mechanism 4, the spring II 405 is sleeved on the buffer block 406, and plays a guiding role on the spring II 405 through the matching of the buffer plate 404 and the buffer cavity 402, the service life of the second spring 405 is prolonged.

Example 4

On the basis of embodiment 2, as shown in fig. 1, the guide mechanism includes a bottom plate 5, the bottom plate 5 is provided with a circular groove, the left and right sides of the circular groove are symmetrically provided with damping mechanisms 4, the upper end of the bottom plate 5 is slidably provided with a first guide plate 501, the front and rear ends of the first guide plate 501 are symmetrically provided with guide rods 502, one end of each guide rod 502, which is far away from the first guide plate 501, is rotatably connected with a second guide plate 503, the second guide plate 503 is connected with a mounting block 506 by penetrating through a fourth 5041 opening on an adjusting block 504, the adjusting blocks 504 are two in number, two adjusting blocks 504 are symmetrically arranged on the front and rear sides of the working shell 3, the lower portion of the adjusting block 504 on the front side is fixedly connected with the first fixing shaft 308, the lower portion of the adjusting block 504 on the rear side is rotatably connected with the second fixing shaft 309, and the upper portions of the adjusting blocks 504 on the front and rear sides are connected with each other, two electric telescopic rods 505 are symmetrically arranged on the upper side and the lower side of one end, close to the second guide plate 503, of the mounting block 506, the second electric telescopic rods 505 are fixedly connected with the adjusting block 504, a motor 201 is arranged at the lower end of the mounting block 506, and the motor 201 is fixedly connected with the clamping mechanism 8 through a motor shaft fixedly connected with the motor 201.

The beneficial effects of the above technical scheme are:

when the guide mechanism rotates along a horizontal plane, the circular groove is formed in the lower end of the bottom plate 5, the rotation process of the bottom plate 5 can be kept stable through the cooperation of the circular groove and the damping mechanism 4, when the angle adjusting mechanism drives the guide mechanism to rotate along a vertical plane, the adjusting block 504 is driven to rotate through the first fixing shaft 308, the opening 5041 formed in the adjusting block 504 plays a role in guiding the second guide plate 503, the second guide plate 501 slides on the bottom plate 5, the guide plate 501 is rotatably connected with the guide rod 502, the guide rod 502 is rotatably connected with the second guide plate 503, the second guide plate 503 is slidably connected with the adjusting block 504, a quadrilateral structure formed by the guide plate 501, the guide rod 502, the second guide plate 503 and the adjusting block 504 ensures that the mounting block 506 can reach any position according to the principle of random deformation, the clamping mechanism 8 can reach any position, and through the arrangement of the second electric telescopic rod 505, the mounting block 506 can be pushed to move along the direction of the second electric telescopic rod 505, so that the working range of the clamping mechanism 8 is further enlarged, and the transportation of articles is facilitated.

Example 5

On the basis of embodiment 1, as shown in fig. 5 to 6, the gripping mechanism 8 includes:

a clamping shell 801, wherein the left side and the right side of the interior of the clamping shell 801 are symmetrically provided with a third working cavity 803, a fourth working cavity 802 is arranged between the third working cavity 803 on the left side and the right side, round holes 825 are arranged at the front end and the rear end of the working cavity III 803 in a penetrating way, a worm wheel 809 is rotatably arranged in the working cavity III 803, a motor IV 823 is fixedly arranged in the working cavity IV 802, the motor IV 823 is fixedly connected with the fixed shaft III 804, the third fixed shaft 804 is fixedly connected with a first belt wheel 805, the first belt wheel 805 is connected with a second belt wheel 807 through a second belt 806, the second belt wheel 807 is fixedly connected with a worm 808, the left side and the right side of the worm 808 are respectively meshed with worm wheels 809 at the left side and the right side, the front end and the rear end of the turbine 809 are symmetrically connected with a threaded block 810, the threaded block 810 in the right working chamber III 803 is in threaded connection with a threaded rod II 826, and the threaded block 810 in the left working chamber III 803 is in threaded connection with a threaded rod I811; the thread directions of the thread blocks 810 in the left and right working cavities 803 are opposite.

The two supporting cavities 818 are symmetrically arranged on the front side and the rear side of the working cavity IV 802, one end, far away from the working cavity IV 802, of each supporting cavity 818 is provided with an opening V822 in a penetrating mode, a sliding plate 819 is arranged inside each supporting cavity 818 in a sliding mode, the sliding plate 819 is fixedly connected with a second connecting block 820, a third spring 821 is sleeved on the second connecting block 820 and fixedly arranged between the sliding plate 819 and the supporting cavities 818, the second connecting block 820 penetrates through the opening V822 and is fixedly connected with a clamping plate 812, and the first clamping plate 812 is fixedly connected with a first threaded rod 811 penetrating through the circular hole 825;

the middle parts of the two clamping plates II 816 are respectively fixedly connected with a third connecting block 815, the third connecting block 815 is rotatably connected with a second threaded rod 826 penetrating through the round hole 825, the upper end and the lower end of the two clamping plates 816 are symmetrically provided with guide blocks 814, each guide block 814 is provided with a sliding groove 8141, the right part of the two clamping plates 816 is fixedly connected with a second clamping block 817, and each second clamping block 817 is provided with a protective pad 824;

the two clamping blocks 813 are symmetrically arranged on the front side and the rear side of the left end of the clamping shell 801, the two clamping blocks 813 are fixedly connected with the clamping plate 812 respectively, sliding shafts 8121 are symmetrically arranged at the upper end and the lower end of the clamping plate 812, and the sliding shafts 8121 are in sliding connection with the sliding grooves 8141.

The beneficial effects of the above technical scheme are that:

when the article is transported by the gripping mechanism 8, a proper clamp can be rotated according to the size of the article for gripping, if a larger article is transported, a second gripping block 817 is used for gripping the article, a fourth motor 823 is started, the fourth motor 823 drives a third fixed shaft 804 to rotate, the third fixed shaft 804 drives a first belt wheel 805 to rotate, the first belt wheel 805 drives a second belt wheel 807 to rotate through a second belt 806, the second belt wheel 807 drives a worm 808 to rotate, the worm 808 drives the worms 809 on the left and right sides to rotate, the worms 809 on the left and right sides drive a thread block 810 to rotate, the thread block 810 on the right side rotates to move a second threaded rod 826 connected with the right threaded rod inwards, the thread block 810 on the left side rotates to move a first threaded rod 811 connected with the left threaded rod outwards, as shown in fig. 7, at this time, the second threaded rod 826 drives a second gripping plate 816 to rotate inwards through a third connecting block 815 to enable the second gripping blocks 817 on the front side and the rear side to approach each other, the purpose of clamping articles is achieved, meanwhile, the first threaded rod 811 pushes the first clamping plate 812 to move outwards, the first clamping plate 812 plays a limiting supporting role for the second clamping plate 816, so that the second clamping block 817 can be clamped more stably, the second clamping plate 816 and the first clamping plate 812 are connected through the guide block 826, the sliding effect of the sliding groove 8141 and the sliding shaft 8121 enables the connection of the first clamping plate 812 and the second clamping plate 816 to have a guiding effect, and the protective pad 824 can improve the protection of clamping articles;

if a smaller article is transported, the clamping block I813 is used for clamping the article, the screw block 810 on the right side rotates to enable the screw rod II 826 connected with the screw block II to move outwards, the screw block 810 on the left side rotates to enable the screw rod I811 connected with the screw block II to move inwards, as shown in fig. 8, the screw rod II 826 drives the clamping plate II 816 to rotate outwards through the connecting block III 815, the screw rod I811 drives the clamping plate I812 to move inwards, the clamping blocks I813 on the front side and the rear side are made to approach each other, the purpose of clamping the article is achieved, the spring III 821 is arranged, the stability of the clamping plate I812 is improved under the elastic action of the spring III 821, the clamping stability of the clamping block I813 is improved, the clamping mechanism 8 can be driven to rotate through the motor I2, the clamping mechanism 8 is driven to rotate according to different articles, and the clamping plate and the clamping block which are required to use correspond to the working surface, two groups of clamping plates and clamping blocks are arranged aiming at articles with different sizes, so that the application range of the clamping mechanism 8 is widened.

Example 6

On the basis of embodiment 1, as shown in fig. 7 to 9, the power seat further includes a stable lifting mechanism, the stable lifting mechanism is fixedly connected to the power seat 1, and the stable lifting mechanism includes:

a lifting groove 701 is formed in the upper end of the base 7, a first cavity 702 is formed in the lower end of the base 7, three threaded rods 708 are symmetrically arranged on the left side and the right side of the first cavity 702, three belt wheels 709 are fixedly connected to cylindrical sections of the three threaded rods 708, the three belt wheels 709 on the left side and the right side are connected through a first belt 710, and the cylindrical sections of the three threaded rods 708 penetrate through the upper end of the first cavity 702 and enter the lifting groove 701 to be rotatably connected with the upper end of the base 7;

the fixing seat 703 is fixedly arranged at the lower end of the lifting groove 701, a guide hole 7031 is formed in the middle of the fixing seat 703, a first groove 7032 is formed in the upper end of the fixing seat 703, an installation cavity 7033 is formed in the left side of the fixing seat 703, a fifth motor 704 is fixedly arranged in the installation cavity 7033, the fifth motor 704 is fixedly connected with a rotating shaft 705, a second gear 706 is fixedly connected with the motor shaft 705, penetrates through the lower end of the installation cavity 7033 and enters the first cavity 702, the second gear 706 is meshed with a third gear 707, and the third gear 707 is fixedly connected with a cylindrical section of the third threaded rod 708 on the left side;

the lifting device comprises two lifting blocks 711, the two lifting blocks 711 are respectively in threaded connection with threaded sections of a left threaded rod III 708 and a right threaded rod III 708, one end of each lifting block 711 is fixedly connected with a traction block 713, one end, far away from the traction block 713, of each lifting block 711 is in contact with a plurality of rollers 712, the rollers 712 are uniformly arranged between the front end and the rear end of the lifting groove 701 at intervals, a first sliding block 714 is arranged on each traction block 713 in a sliding mode, a fourth spring 715 is fixedly arranged between each sliding block 714 and each traction block 713, each sliding block 714 is rotatably connected with a first hinge support rod 716, each first hinge support rod 716 is rotatably connected with a support block 717, and each support block 717 is rotatably connected with an arc rod 718;

the lower ends of the two sliding blocks 720 are arranged on the left side and the right side of the lower end of the first groove 7032 in a sliding mode, a spring five 723 is fixedly arranged between the side end of the two sliding blocks 720 and the side end of the first groove 7032, one end, far away from the spring five 723, of the two sliding blocks 720 is in contact with a pulley 722, the pulley 722 is symmetrically arranged on the left side and the right side of the upper end of a balance block 721, the lower end of the balance block 721 is fixedly connected with a spring six 727, the spring six 727 is fixedly arranged inside the guide hole 7031, the balance block 721 is in sliding connection with the guide hole 7031, the upper portion of the two sliding blocks 720 is in rotary connection with a second hinge rod 719, and the second hinge rod 719 is in rotary connection with the middle of the arc rod 718;

the upper end of the mounting seat 724 is fixedly connected with the power seat 1, the left side and the right side of the lower end of the mounting seat 724 are symmetrically provided with a second groove 726, the left side and the right side of the second groove 726 are symmetrically provided with a seventh spring 725, the seventh spring 725 is fixedly connected with the supporting block 717, the middle of the lower end of the mounting seat 724 is fixedly provided with a connecting shaft 727, and the connecting shaft 727 is rotatably connected with one end, far away from the supporting block 717, of the arc rod 718 on the left side and the right side.

The beneficial effects of the above technical scheme are:

by arranging the lifting seat, the height of the power seat 1 can be adjusted, the working height of the clamping mechanism 8 is adjusted, the working range of the clamping mechanism 8 is enlarged, when the power seat 1 is adjusted, the motor five 704 is started, the gear two 706 is driven to rotate through the rotating shaft 705, the gear two 706 drives the gear three 707 meshed with the gear two to rotate, the threaded rod three 708 on the left side is driven to rotate, the threaded rod three 708 on the right side is driven to rotate through the connection of the belt one 710 and the belt wheel three 709, the threaded rod three 708 on the left side and the right side are driven to rotate, the lifting block 711 is driven to lift, the lifting block 711 drives the traction block 713 to rotate, the traction block 713 drives the slide block one 714 to move up and down, the slide block one 714 drives the supporting block 717 to move through the supporting rod one 716, the slide block one 714 has a buffering effect through the arrangement of the spring four 715, and the left-right shaking of the supporting block 717 has a buffering effect, meanwhile, under the buffering action of the first sliding block 714, the first hinge rod 716 can be ensured to drive the supporting block 717 to move so as to have a stable effect, the upper end of the supporting block 717 is connected with the mounting seat 725 through the spring seventh 725, so that the up-and-down shaking of the mounting seat 725 has a buffering effect, when the mounting seat 725 shakes left and right, the first supporting block 717 on the left and right sides is driven to move up and down, the supporting block 717 moving downwards firstly pushes the first sliding block 714 to move, the fourth spring 715 is compressed, then the arc rod 718 is driven to rotate downwards, the second supporting rod 719 is pushed to push the second sliding block 720 to move outwards, the fifth spring 723 is compressed, under the combined action of the fifth spring 723 and the fourth spring 715, the supporting block 717 moving upwards pushes the first sliding block 714 to move, the fourth spring 715 is stretched, then the arc rod 718 is driven to rotate upwards, the second supporting rod 71 is pushed to pull the second sliding block 720 to move inwards, the second sliding block 720 is in contact with the pulley 722, pushes the balance block 721 to slide downwards along the guide hole 7031, so that the spring six 727 is compressed, the upward moving supporting block 717 has a buffering effect under the combined action of the spring six 727 and the spring four 715, the left-right shaking of the mounting seat 725 is enabled to have a buffering effect through the combined action of the spring six 727, the spring five 723 and the spring four 715, and the power seat 1 mounted on the mounting seat 725 has a stabilizing effect during working, so that the working stability of the mechanical arm is improved.

Example 7

On the basis of embodiment 4, the method further comprises the following steps:

an angle sensor: the angle sensor is arranged on the first fixed shaft 308 and used for detecting the rotating angle of the first fixed shaft 308;

a distance sensor: the distance sensor is arranged on the first connecting block 507 and used for detecting the distance between the first connecting block 507 and the mounting block 506;

a force sensor: the force sensor is arranged on the clamping mechanism 8 and used for detecting the gravity of the clamping mechanism 8 for clamping the articles;

the first alarm is arranged on the power seat 1;

the second alarm is arranged on the power seat 1;

the controller is electrically connected with the angle sensor, the distance sensor, the force sensor, the first alarm and the second alarm;

the controller controls the first alarm and the second alarm to work based on the angle sensor, the distance sensor and the force sensor, and the method comprises the following steps:

step 1, when clamping an article, when a motor III 305 drives a first fixed shaft 308 to work, the first fixed shaft 308 drives an adjusting block 504 to rotate and drives a driving mechanism 8 to rotate along a vertical plane, at the moment, a controller calculates a deformation coefficient of the first fixed shaft 308 according to a rotation angle of the first fixed shaft 308 detected by an angle sensor, a distance between a first connecting block 507 and a mounting block 506 detected by a distance sensor, gravity of the clamping mechanism 8 for clamping the article detected by a force sensor and a formula (1), and if the calculated deformation coefficient of the first fixed shaft 308 is larger than a preset deformation coefficient, the controller controls a first alarm to give an alarm to remind a user to stop operating a mechanical arm to clamp the article, so that the first fixed shaft 308 is prevented from being damaged;

wherein delta is the deformation coefficient of the first fixed shaft 308, M is the total mass of the mechanism connected with the upper part of the adjusting block 504, F is the detection value of the force sensor, g is the gravity acceleration, and the value is 9.8M/s²Cos is cosine, arctan is arctangent, L₁The distance L from the joint of the electric telescopic rod II 505 on the lower side and the adjusting block 504 to the fixed shaft I308₂A second electric telescopic rod 505 at the upper side and adjustmentThe distance from the joint of the block 504 to the first fixed shaft 308, D is the detection value of the distance sensor, T is the length of the first fixed shaft 308, r is the diameter of the first fixed shaft 308, W is the shear elastic modulus of the first fixed shaft 308, and alpha is the detection value of the angle sensor;

step 2, after clamping the article, when the motor III 305 stops working, the fixed shaft I308 stops rotating, the fixed shaft I308 is enabled to be stably static through the meshing of the gear I306 and the balance wheel 307, the motor I2 works to drive the clamping mechanism 8 to rotate along the horizontal plane, at the moment, the rotating angle of the fixed shaft I308 detected by the controller angle sensor, the distance between the connecting block I507 and the mounting block 506 detected by the distance sensor, the gravity of the clamping mechanism 8 for clamping the article detected by the force sensor and the formula (2) calculate the meshing risk of the gear I306 and the balance wheel 307, and if the calculated meshing risk of the gear I306 and the balance wheel 307 is larger than the preset risk, the controller controls the alarm II to give an alarm to remind a user to stop transporting the article by the mechanical arm;

wherein tau is the risk of meshing between the first gear 306 and the balance wheel 307, E is the theoretical single-pair tooth stiffness of the first gear 306 and the balance wheel 307, B₂Elastic modulus of Gear one 306, B₁Is the modulus of elasticity of the balance wheel 307, B is the modulus of elasticity of the steel, K is the number of teeth of gear one 306, tan is the tangent, arccos is the inverse cosine, H₁Is the base diameter of gear one 306, H₂Is the diameter of the addendum circle of the gear I306, beta is the meshing angle of the gear I306 and the balance wheel 307, J is the number of the teeth blocks 3071 on the balance wheel 307, H₃Is the base diameter of the balance wheel 307, H₄S is an addendum circle diameter of the balance wheel 307, and is a meshing use coefficient of the gear one 306 and the balance wheel 307.

In the formula (1), the first and second groups,is the product of the shear elastic modulus of the first fixed axis 308 and the moment of inertia of the circular section，For the torsion moment of the mechanism connected to the upper portion of the adjusting block 504 to the first fixing shaft 308, the formula (1) calculates that the deformation coefficient of the first fixing shaft 308 is the torsion deformation angle of the first fixing shaft 308, that is, the deformation of the first fixing shaft 308, and if the formula (1) calculates that the torsion deformation angle of the first fixing shaft 308 is greater than the preset torsion deformation angle, it represents that the deformation of the first fixing shaft 308 is greater than the preset deformation, and the first fixing shaft 308 may deform or even be damaged;

in the formula (2), the first and second groups, for the meshing stiffness of the first gear 306 and the balance wheel 307, in order to adjust the torsion moment of the mechanism connected with the upper part of the block 504 to the first fixed shaft 308, the first gear 306 is fixedly connected with the first fixed shaft 308, the first gear 306 and the balance wheel 307 are meshed when the balance wheel 307 is still,therefore, when acting force between the first gear 306 and the balance wheel 307, the first gear 306 enables the first fixed shaft 308 to stop rotating, moment applied to the first gear 306 is torsional moment applied to the first fixed shaft 308, the engagement risk degree of the first gear 306 and the balance wheel 307 is calculated by formula (2) and is a ratio of the acting force between the first gear 306 and the balance wheel 307 to the engagement rigidity of the first gear 306 and the balance wheel 307, if the engagement risk degree of the first gear 306 and the balance wheel 307 calculated by formula (2) is larger than a preset risk degree, which means that the deformation amount of the first gear 306 and the balance wheel 307 is larger than a preset deformation amount, the first gear 306 and the balance wheel 307 can deform or even damage, and the first gear 306 and the balance wheel 307 can be disengaged and even damaged, so that the first gear 306 and the balance wheel 307 can be disengagedDisengaging; ultimately affecting the operation and service life of the robotic arm.

The beneficial effects of the above technical scheme are:

firstly, arranging an angle sensor on the first fixed shaft 308, and detecting the rotation angle of the first fixed shaft 308; arranging a distance sensor on the first connecting block 507, and detecting the distance between the first connecting block 507 and the mounting block 506; a force sensor is arranged on the clamping mechanism 8, and the gravity of the clamping mechanism 8 for clamping the article is detected; when an article is clamped, when the motor III 305 drives the first fixing shaft 308 to work, the first fixing shaft 308 drives the adjusting block 504 to rotate, the driving mechanism 8 is driven to rotate along a vertical plane, at the moment, the controller calculates the deformation coefficient of the first fixing shaft 308 according to the rotation angle of the first fixing shaft 308 detected by the angle sensor, the distance between the first connecting block 507 and the mounting block 506 detected by the distance sensor, the gravity for clamping the article by the clamping mechanism 8 detected by the force sensor and a formula (1), if the calculated deformation coefficient of the first fixing shaft 308 is larger than a preset deformation coefficient, the controller controls the alarm I to give an alarm, at the moment, the acting force and the torsional force applied to the first fixing shaft 308 are too large, the first fixing shaft 308 is easily deformed, a user is reminded of stopping operating the mechanical arm to clamp the article, and the first fixing shaft 308 is prevented from being damaged; after clamping the article, when the motor three 305 stops working, the fixed shaft one 308 stops rotating, the fixed shaft one 308 is enabled to be stably static through the meshing of the gear one 306 and the balance wheel 307, the motor one 2 works to drive the clamping mechanism 8 to rotate along the horizontal plane, at this time, the rotating angle of the fixed shaft one 308 detected by the controller angle sensor, the distance between the connecting block one 507 and the mounting block 506 detected by the distance sensor, the gravity for clamping the article by the clamping mechanism 8 detected by the force sensor and the formula (2) calculate the meshing risk degree of the gear one 306 and the balance wheel 307 (S is considered in the formula (2), S is the meshing use coefficient of the gear one 306 and the balance wheel 307, the meshing use coefficient is a coefficient influenced by an external additional load when the gear one 306 and the balance wheel 307 are meshed and is 0.8-1), if the calculated meshing risk degree of the gear one 306 and the balance wheel 307 is larger than the preset risk degree, the controller controls the alarm II to give an alarm to remind a user of stopping the mechanical arm to transport articles, the first gear 306 and the balance wheel 307 are prevented from being damaged, the first gear 306 and the balance wheel 307 can be replaced to be suitable for the working environment, and the service life of the emptying mechanical arm is prolonged.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.