CN212497743U

CN212497743U - Industrial robot is with arm that has double-deck limit structure

Info

Publication number: CN212497743U
Application number: CN202021375532.0U
Authority: CN
Inventors: 周金刚; 董艳燕; 黄静; 方小可; 范军; 范瑜珍
Original assignee: Huanggang Vocational College Of Science And Technology
Current assignee: Huanggang Vocational College Of Science And Technology
Priority date: 2020-07-14
Filing date: 2020-07-14
Publication date: 2021-02-09
Anticipated expiration: 2030-07-14

Abstract

The utility model belongs to the technical field of the arm, specifically disclose an industrial robot is with arm that has double-deck limit structure, including bottom plate and first limiting plate, the inside swing joint of bottom plate has the slider, and the inside threaded connection of slider has the screw rod, the top sliding connection of slider has the spout, and the top fixedly connected with stand of spout, the left side swing joint of stand has the second hydraulic stem, and the top swing joint of stand has the second arm, the below swing joint of second arm has first hydraulic stem, and the left side swing joint of second arm has first arm. This industrial robot is with arm that has double-deck limit structure can carry out double-deck spacing to the device at the in-process that uses, can not appear exceeding limit phenomenon at the in-process that removes to the gripper is difficult to causing droing of article at the in-process to article centre gripping, and the extrusion force of gripper and article can not cause the damage of article simultaneously yet.

Description

Industrial robot is with arm that has double-deck limit structure

Technical Field

The utility model relates to an arm technical field specifically is an industrial robot is with arm that has double-deck limit structure.

Background

The mechanical arm is a complex system with multiple inputs, multiple outputs, high nonlinearity and strong coupling, is widely applied to the fields of industrial assembly, safety, explosion prevention and the like due to unique operation flexibility, is a complex system, has uncertainty in parameter perturbation, external interference, unmodeled dynamics and the like, has uncertainty in a modeling model of the mechanical arm, and needs to plan motion tracks of joint spaces of the mechanical arm for different tasks, so that the tail end pose is formed by cascading.

The existing mechanical arm is insufficient in a limiting structure of the device in the using process, the mechanical arm is easily over-limited in the moving process, the mechanical claw easily drops articles in the article clamping process, meanwhile, the extrusion force of the mechanical claw and the articles easily causes the articles to be damaged, the use requirements of people cannot be well met, and technical innovation is performed on the basis of the existing mechanical arm according to the condition.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an industrial robot is with arm that has double-deck limit structure to provide general arm in solving above-mentioned background, the in-process that uses is not enough to the limit structure of device, and the arm is at the in-process that removes and surpasss spacingly easily, and the gripper causes droing of article easily at the in-process to the article centre gripping, and the extrusion force of gripper and article causes the damage of article easily simultaneously, the user demand problem of satisfying people that can not be fine.

In order to achieve the above object, the utility model provides a following technical scheme: an industrial robot is with arm that has double-deck limit structure, includes bottom plate and first limiting plate, the inside swing joint of bottom plate has the slider, and the inside threaded connection of slider has the screw rod, the top sliding connection of slider has the spout, and the top fixedly connected with stand of spout, the left side swing joint of stand has the second hydraulic stem, and the top swing joint of stand has the second arm, the below swing joint of second arm has first hydraulic stem, and the left side swing joint of second arm has first arm, the left side fixedly connected with second motor of first limiting plate, and first limiting plate is located the below of first arm, the below fixedly connected with pivot of second motor, and the below fixedly connected with worm of pivot, the left side meshing of worm is connected with first gear, and the right side meshing of worm is connected with the second gear, the below swing joint of second gear has the gripper, and the left side fixedly connected with lug of gripper, the top fixedly connected with belt pulley of screw rod, and the below fixedly connected with second limiting plate of screw rod, the below fixedly connected with spring of second limiting plate, and the below of spring is provided with the bearing, the first motor of top fixedly connected with of belt pulley, and the right side swing joint of belt pulley has the belt.

Preferably, the screw rod penetrates through the inner part of the sliding block, and the outer dimension of the sliding block is matched with the inner dimension of the sliding chute.

Preferably, the screw rod penetrates through the inside of the second limiting plate, and the vertical center line of the spring is perpendicular to the lower surface of the second limiting plate.

Preferably, the horizontal line of the sliding groove is parallel to the horizontal line of the bottom plate, and the central axis of the upright post is perpendicular to the upper surface of the sliding groove.

Preferably, the second motor forms a rotating structure through the rotating shaft and the worm, and the central axis of the rotating shaft coincides with the central axis of the worm.

Preferably, the gripper is symmetrically distributed on the left side and the right side of the worm, and the lugs are equidistantly distributed on the inner wall of the gripper.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the utility model discloses a slider, screw rod, spout, second limiting plate and pivot, the cooperation between slider and the spout can make whole arm realize to the ascending removal in front and back direction to can not produce the clearance in the in-process of removing, remove comparatively steadily, the position of slider can be restricted to the second limiting plate simultaneously, prevents the slider landing, and the impact force between slider and the second limiting plate can be cushioned to the spring;

2. the utility model ensures the same levelness between the bottom plate and the chute through the upright post, the second motor, the rotating shaft and the worm, can not cause errors due to deviation when in use, and can not cause the rocking of the worm in the rotating process of the second motor and the loss of energy transfer due to the coaxiality between the rotating shaft and the worm;

3. the utility model discloses a gripper and lug, lug can increase the frictional force between gripper and the article, make the gripper can not cause dropping of article at the in-process of centre gripping to can cushion the rigid extrusion between gripper and the article, can not cause the damage of article, the cost is lower, excellent in use effect, the user demand who satisfies people that can be fine.

Drawings

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

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

fig. 3 is an enlarged schematic view of a portion a in fig. 1 according to the present invention.

In the figure: 1. a base plate; 2. a slider; 3. a screw; 4. a chute; 5. a column; 6. a second hydraulic rod; 7. a second mechanical arm; 8. a first hydraulic lever; 9. a first robot arm; 10. a first limit plate; 11. a second motor; 12. a rotating shaft; 13. a worm; 14. a first gear; 15. a second gear; 16. a gripper; 17. a bump; 18. a belt pulley; 19. a second limiting plate; 20. a spring; 21. a bearing; 22. a first motor; 23. a belt.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: a mechanical arm with a double-layer limiting structure for an industrial robot comprises a bottom plate 1 and a first limiting plate 10, wherein a sliding block 2 is movably connected inside the bottom plate 1, a screw rod 3 is connected with the inner thread of the sliding block 2, the screw rod 3 penetrates through the inside of the sliding block 2, the outer size of the sliding block 2 is matched with the inner size of a sliding chute 4, the sliding block 2 and the sliding chute 4 are matched to enable the whole mechanical arm to move in the front-back direction, no gap is generated in the moving process, the movement is stable, the screw rod 3 penetrates through the inside of a second limiting plate 19, the vertical central line of a spring 20 is perpendicular to the lower surface of the second limiting plate 19, meanwhile, the second limiting plate 19 can limit the position of the sliding block 2 to prevent the sliding block 2 from falling, and the spring 20 can buffer the impact force between the sliding block 2 and the second limiting plate,

a sliding groove 4 is connected above the sliding block 2 in a sliding manner, an upright post 5 is fixedly connected above the sliding groove 4, the horizontal line of the sliding groove 4 is parallel to the horizontal line of the bottom plate 1, the central axis of the upright post 5 is vertical to the upper surface of the sliding groove 4, the same levelness is ensured between the bottom plate 1 and the sliding groove 4, no error is caused by deviation when in use, a second hydraulic rod 6 is movably connected on the left side of the upright post 5, a second mechanical arm 7 is movably connected on the upper side of the upright post 5, a first hydraulic rod 8 is movably connected on the lower side of the second mechanical arm 7, a first mechanical arm 9 is movably connected on the left side of the second mechanical arm 7, a second motor 11 is fixedly connected on the left side of the first limiting plate 10, the first limiting plate 10 is positioned below the first mechanical arm 9, a rotating structure is formed between the second motor 11 and the worm 13 through a rotating shaft 12, and the central axis of the, meanwhile, the coaxiality between the rotating shaft 12 and the worm 13 does not cause the shaking of the worm 13 and the loss of energy transmission in the rotating process of the second motor 11;

a rotating shaft 12 is fixedly connected below the second motor 11, a worm 13 is fixedly connected below the rotating shaft 12, a first gear 14 is engaged and connected to the left side of the worm 13, a second gear 15 is engaged and connected to the right side of the worm 13, a gripper 16 is movably connected below the second gear 15, a projection 17 is fixedly connected to the left side of the gripper 16, the gripper 16 is symmetrically distributed on the left side and the right side of the worm 13, the projection 17 is equidistantly distributed on the inner wall of the gripper 16, the projection 17 can increase the friction force between the gripper 16 and an object, so that the gripper 16 cannot cause the object to fall off in the clamping process, and can buffer the rigid extrusion between the gripper 16 and the object, the object cannot be damaged, the cost is low, the use effect is good, the use requirements of people can be well met, a belt pulley 18 is fixedly connected above the screw rod 3, and the below fixedly connected with second limiting plate 19 of screw rod 3, the below fixedly connected with spring 20 of second limiting plate 19, and the below of spring 20 is provided with bearing 21, the top fixedly connected with first motor 22 of belt pulley 18, and the right side swing joint of belt pulley 18 has belt 23.

The working principle is as follows: when the mechanical arm with the double-layer limiting structure for the industrial robot is used, the whole device is moved to a use area, the relative level between the bottom plate 1 and the ground is ensured, when the device is used, a first motor 22 (type: Y2-180M1-2) is started, the first motor 22 drives the belt pulley 18 to rotate, the belt pulley 18 drives the screw rod 3 to rotate, the belt pulley 18 drives the belt 23 to rotate, the belt 23 drives the screw rod 3 on the other side to rotate, the screw rod 3 drives the sliding block 2 to slide in the sliding groove 4 in the rotating process, so that the movement in the front-back direction can be changed, in order to limit the sliding process of the sliding block 2 to exceed the limit, a second limiting plate 19 is arranged below the screw rod 3, the second limiting plate 19 can limit the sliding block 2 to slide in a set stroke, and the spring 20 can buffer the impact force between the sliding block 2 and the second limiting plate 19, the upright post 5 is driven to move in the sliding process of the sliding block 2 in the sliding groove 4, the upright post 5 drives the second mechanical arm 7 to move, the second mechanical arm 7 drives the first mechanical arm 9 to move, a user can respectively adjust a first hydraulic rod 8 (model: NX6600-16) and a second hydraulic rod 6 (model: NX6600-16) to adjust the angle of the mechanical arm, the second motor 11 (model: Y2-180M1-2) is started in the process of clamping an article, the first limiting plates 10 arranged on the left side and the right side of the second motor 11 can limit the left and the right movement of the second motor 11, the second motor 11 drives the rotating shaft 12 to rotate, the rotating shaft 12 drives the worm 13 to rotate, the worm 13 respectively drives the first gear 14 and the second gear 15 to rotate in the rotating process, so that the gripper 16 can be driven to clamp the article, and the convex block 17 on the inner wall of the gripper 16 can buffer the extrusion force between the article and the gripper 16, on the other hand, the friction force between the robot arm and the article can be increased, and the robot arm cannot easily slide off, so that the industrial robot adopts the working principle of the mechanical arm with the double-layer limiting structure.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an industrial robot is with arm that has double-deck limit structure, includes bottom plate (1) and first limiting plate (10), its characterized in that: the inner part of the bottom plate (1) is movably connected with a sliding block (2), the inner part of the sliding block (2) is in threaded connection with a screw rod (3), the sliding block (2) is slidably connected with a sliding groove (4), the sliding groove (4) is fixedly connected with a stand column (5), the stand column (5) is movably connected with a second hydraulic rod (6), the stand column (5) is movably connected with a second mechanical arm (7), the lower part of the second mechanical arm (7) is movably connected with a first hydraulic rod (8), the left part of the second mechanical arm (7) is movably connected with a first mechanical arm (9), the left part of the first limiting plate (10) is fixedly connected with a second motor (11), the first limiting plate (10) is positioned below the first mechanical arm (9), the lower part of the second motor (11) is fixedly connected with a rotating shaft (12), and the lower part of the rotating shaft (12) is fixedly connected with a worm (13), the left side meshing of worm (13) is connected with first gear (14), and the right side meshing of worm (13) is connected with second gear (15), the below swing joint of second gear (15) has gripper (16), and the left side fixedly connected with lug (17) of gripper (16), the top fixedly connected with belt pulley (18) of screw rod (3), and the below fixedly connected with second limiting plate (19) of screw rod (3), the below fixedly connected with spring (20) of second limiting plate (19), and the below of spring (20) is provided with bearing (21), the first motor (22) of top fixedly connected with of belt pulley (18), and the right side swing joint of belt pulley (18) has belt (23).

2. The mechanical arm with the double-layer limiting structure for the industrial robot as claimed in claim 1, wherein: the screw rod (3) penetrates through the inside of the sliding block (2), and the external size of the sliding block (2) is matched with the internal size of the sliding groove (4).

3. The mechanical arm with the double-layer limiting structure for the industrial robot as claimed in claim 1, wherein: the screw rod (3) penetrates through the inside of the second limiting plate (19), and the vertical center line of the spring (20) is perpendicular to the lower surface of the second limiting plate (19).

4. The mechanical arm with the double-layer limiting structure for the industrial robot as claimed in claim 1, wherein: the horizontal lines of the sliding grooves (4) are parallel to the horizontal lines of the bottom plate (1), and the central axis of the upright post (5) is perpendicular to the upper surface of the sliding grooves (4).

5. The mechanical arm with the double-layer limiting structure for the industrial robot as claimed in claim 1, wherein: the second motor (11) forms a rotating structure through the rotating shaft (12) and the worm (13), and the central axis of the rotating shaft (12) coincides with the central axis of the worm (13).

6. The mechanical arm with the double-layer limiting structure for the industrial robot as claimed in claim 1, wherein: the gripper (16) is symmetrically distributed on the left side and the right side of the worm (13), and the lugs (17) are equidistantly distributed on the inner wall of the gripper (16).