CN108436895B

CN108436895B - General robot with extension arm

Info

Publication number: CN108436895B
Application number: CN201810279110.4A
Authority: CN
Inventors: 不公告发明人
Original assignee: Nantong Ruiqiang Machinery Manufacturing Co ltd
Current assignee: NANTONG RUIQIANG MACHINERY MANUFACTURING Co.,Ltd.
Priority date: 2016-07-18
Filing date: 2016-07-18
Publication date: 2021-02-19
Anticipated expiration: 2036-07-18
Also published as: CN106113012B; CN108436895A; CN106113012A; CN108481315A

Abstract

The invention discloses a general robot with an extension arm, wherein the robot forearm is provided with the extension arm, and the extension arm comprises a bracket body fixedly connected with the forearm, a first telescopic mechanism arranged on the bracket body, a sliding mechanism fixed on the first telescopic mechanism, a swinging mechanism arranged on the sliding mechanism and a resetting device arranged on the swinging mechanism; the first telescopic mechanism can extend or shorten the total length of the extension arm, the small arm and the extension arm so as to adapt to various working conditions; the swing mechanism can swing in a certain amplitude relative to the swing driving mechanism, namely, the function of bending the small arm is given, so that the swing mechanism is suitable for various working conditions.

Description

General robot with extension arm

Technical Field

The invention relates to the technical field of robots, in particular to a universal robot with a swingable and stretchable extension arm.

Background

The invention patent application with the application number of CN201210566463.5 discloses a light six-axis general robot, wherein an axle seat is fixed on an arm shaft, an axle seat protection box is fixed on the axle seat, and a third axis driving motor, a fourth axis driving motor, a fifth axis driving motor and a sixth axis driving motor are arranged in the axle seat protection box; the forearm rod shell and the forearm extension rod shell are respectively fixed at the front and rear parts of the forearm reducer, the sixth shaft is inserted in the fifth shaft, the fifth shaft is inserted in the fourth shaft, the fourth shaft is inserted in the forearm rod shell, the forearm reducer and the forearm extension rod shell, and the fourth shaft, the fifth shaft and the sixth shaft are respectively fixed with a fourth shaft driven gear, a fifth shaft driven gear and a sixth shaft driven gear. In the light six-axis universal robot in the prior art, the small arm only can drive the execution tail end arranged at the end part of the small arm to rotate, and the requirement of actual operation is difficult to meet.

Disclosure of Invention

The invention provides a general-purpose robot provided with an extension arm capable of swinging and stretching aiming at the technical problems.

In order to achieve the purpose, the general robot provided with the extending arm capable of swinging and extending comprises a base body, a waist rotating part pivoted on the base body, a big arm pivoted on the waist rotating part, and a small arm arranged on the big arm, wherein the waist rotating part rotates around the base body, and the big arm rotates around the waist rotating part;

the small arm is provided with an extension arm, and the extension arm comprises a bracket body fixedly connected with the small arm, a first telescopic mechanism arranged on the bracket body, a sliding mechanism fixed on the first telescopic mechanism, a swinging mechanism arranged on the sliding mechanism and a resetting device arranged on the swinging mechanism;

the first telescopic mechanism comprises a top plate, a supporting plate, a bottom plate and four first guide rods; the first guide rods are fixed on the upper end face of the supporting plate; the top plate is sleeved on the four first guide rods;

the sliding mechanism comprises a pair of supporting seats and a pair of sliding arms; the supporting seat is provided with a sliding groove; the supporting seat is vertically fixed on the upper end surfaces of the first guide rods; the pair of supporting seats are arranged in parallel and oppositely; the sliding arm consists of a square guide rod and a connecting rod; the square guide rod is vertically fixed at the upper end of the connecting rod; the upper end of the sliding arm is inserted in the sliding groove of the supporting seat through a square guide rod, and the lower end of the sliding arm is fixed on the top plate;

the swing mechanism comprises a swing body, a first gear and a second gear; the first motor is fixed on the upper end surface of the left sliding arm; the direction of an output shaft of the first motor is opposite to the direction of the square guide rod of the sliding arm; a first gear is fixed on an output shaft of the first motor; the swinging body comprises a connector, a left swinging seat and a right swinging seat; the left swing seat and the right swing seat are symmetrically fixed on the bottom surface of the connector; the left swing seat and the right swing seat are respectively hinged on the side wall surfaces of the upper parts of the pair of sliding arms through hinge shafts; a second gear is pivoted on a hinge shaft of the left swinging seat; the second gear is meshed with the first gear; a limit groove is formed in one side face, opposite to the left swing seat, of the second gear; the limiting groove is composed of a plurality of round holes with the same diameter, and the adjacent round holes are intersected; the distances between the circle centers of all round holes of the limiting groove and the center of the second gear are the same;

the reset device comprises a cylinder and a torsion spring; a cylinder supporting seat is formed on the right side surface of the left swinging seat; a cylinder horizontally arranged leftwards is fixed on the cylinder supporting seat; a piston rod of the cylinder is fixed with a positioning claw; a pair of positioning pins are formed on the positioning claw; a pair of positioning pins penetrate through the left swinging seat and enter the limiting groove of the second gear; a torsional spring is sleeved on the hinged shaft of the right swinging seat; one end of the torsion spring is fixed on the side wall of the right swing seat, and the other end of the torsion spring is fixed on the side wall of the right sliding arm connecting rod.

Preferably, the first telescoping mechanism further includes a central rotating body, a first threaded rod, a first worm, a third motor, and a pair of rotating support plates; a pair of rotating support plates are vertically fixed on the bottom plate; the first worm is pivoted between the pair of rotary supporting plates; the third motor is fixed on one of the rotary supporting plates; an output shaft of the third motor is fixedly connected with the first worm; the central rotating body comprises a first cylinder and a first worm gear; the middle part of the first cylinder is provided with a threaded hole which penetrates up and down; an outer cylindrical surface at the upper end of the first cylinder is pivoted on the outer cylindrical surface at the upper end and the outer cylindrical surface at the lower end of the support plate through bearings, and a first worm wheel is fixed on the outer cylindrical surface at the upper end and the outer cylindrical surface at the lower end of the first cylinder; the central rotating body is meshed with the first worm through a first worm wheel; the lower end of the first threaded rod is in threaded connection with the threaded hole of the central rotating body, and the upper end of the first threaded rod is in threaded connection with the center of the top plate.

Preferably, the upper ends of the four first guide rods are respectively formed with a circular limiting block, and the diameter of each limiting block is larger than that of each first guide rod; a supporting seat of the sliding mechanism is vertically fixed on the circular limiting blocks of the first guide rods; the pair of supporting seats are arranged in parallel and oppositely.

Preferably, the bracket body comprises a first shell and a second shell; the first shell and the second shell are fixed into a whole through a plurality of connecting columns; the first telescopic mechanism is fixed on the inner wall of the first shell through a supporting plate and a bottom plate; the second shell is sleeved outside the swinging mechanism and the first telescopic mechanism.

Preferably, the center of the oscillating body is provided with a transition hole penetrating vertically, and the diameter of the transition hole is larger than that of the first threaded rod.

The invention has the beneficial effects that: the first telescopic mechanism can extend or shorten the total length of the extension arm, the small arm and the extension arm so as to adapt to various working conditions; the swing mechanism can swing in a certain amplitude relative to the swing driving mechanism, namely, the function of bending the small arm is given, so that the swing mechanism is suitable for various working conditions.

Drawings

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

FIG. 2 is a schematic view of an extension arm according to the present invention;

FIG. 3 is a schematic view of the internal drive mechanism of the present invention;

FIG. 4 is a schematic structural diagram of a first telescoping mechanism of the present invention;

FIG. 5 is a schematic side view of the first telescoping mechanism of the present invention;

FIG. 6 is a schematic cross-sectional view taken along line A-A of FIG. 5 according to the present invention;

FIG. 7 is a schematic cross-sectional view of the sled and swing mechanism of the present invention;

fig. 8 is a schematic structural diagram of the cylinder 626 and the second gear 624 of the resetting device according to the present invention;

in the figure, 10, a base body; 20. a waist rotation member; 30. a large arm; 40. a small arm; 60. an extension arm; 61. a stent body; 611. a first housing; 612. a second housing; 62. a coasting mechanism; 621. a supporting seat; 622. a slide wall; 623. a first gear; 624. a second gear; 6241. a limiting groove; 625. a swinging body; 626. a cylinder; 6261. a cylinder supporting seat; 6262. a positioning claw; 63. a first telescoping mechanism; 631. a support plate; 632. a base plate; 633. a top plate; 634. a central rotating body; 635. a first threaded rod; 636. a first guide bar; 637. a first worm; 638. a third motor; 639. the support plate is rotated.

Detailed Description

As shown in fig. 1, a general robot with a swingable and extendable extension arm comprises a base body 10, a waist turning member 20 pivoted on the base body, a large arm 30 pivoted on the waist turning member, and a small arm 40 mounted on the large arm, wherein the waist turning member rotates around the base body, and the large arm rotates around the waist turning member;

as shown in fig. 3, the small arm is provided with an extension arm 60, the extension arm includes a bracket body 61 fixedly connected with the small arm, a first telescopic mechanism 63 installed on the bracket body, a sliding mechanism 62 fixed on the first telescopic mechanism, a swinging mechanism installed on the sliding mechanism 62, and a resetting device installed on the swinging mechanism;

as shown in fig. 3 to 6, the first telescoping mechanism 63 includes a top plate 633, a support plate 631, a bottom plate 632, and four first guide rods 636; the first guide rods 636 are fixed on the upper end surface of the support plate 631; the top plate 633 is sleeved on the four first guide rods 636;

as shown in fig. 3 and 7, the sliding mechanism 62 includes a pair of support seats 621 and a pair of sliding arms 622; a sliding groove is formed on the supporting seat 621; the support base 621 is vertically fixed on the upper end surfaces of the pair of first guide rods 636; a pair of supporting seats 621 are arranged in parallel and opposite to each other; the sliding arm 622 is composed of a square guide rod and a connecting rod; the square guide rod is vertically fixed at the upper end of the connecting rod; the upper end of the sliding arm 622 is inserted in the sliding groove of the supporting seat 621 through a square guide rod, and the lower end is fixed on the top plate 633;

as shown in fig. 3, 7, and 8, the swing mechanism includes a swing body 625, a first gear 623, and a second gear 624; the first motor is fixed on the upper end surface of the left sliding arm 622; the direction of the output shaft of the first motor is opposite to the direction of the square guide rod of the sliding arm 622; a first gear 623 is fixed on an output shaft of the first motor; the swinging body 625 comprises a connector, a left swinging seat and a right swinging seat; the left swing seat and the right swing seat are symmetrically fixed on the bottom surface of the connector; the left swing seat and the right swing seat are respectively hinged on the side wall surfaces of the upper parts of the pair of sliding arms 622 through hinge shafts; a second gear 624 is pivoted on the articulated shaft of the left swinging seat; the second gear 624 meshes with the first gear 623; a limit groove 6421 is formed in one side face, opposite to the left swing seat, of the second gear 624; the limiting groove 6241 is composed of a plurality of round holes with the same diameter, and the adjacent round holes are intersected; the distances between the centers of all round holes of the limiting groove 6241 and the center of the second gear 624 are the same;

as shown in fig. 3, 7 and 8, the resetting device comprises a cylinder 626 and a torsion spring 627; a cylinder supporting seat 6261 is formed on the right side surface of the left swinging seat; a cylinder 626 horizontally arranged leftwards is fixed on the cylinder supporting seat 6261; a positioning claw 6262 is fixed on a piston rod of the cylinder 626; a pair of positioning pins are formed on the positioning claws 6262; a pair of positioning pins pass through the left swing seat and enter a limiting groove 6241 of the second gear 624; a torsional spring 627 is sleeved on a hinged shaft of the right swinging seat; one end of a torsion spring 627 is fixed on the side wall of the right swing seat, and the other end is fixed on the side wall of the right sliding arm 622 connecting rod.

As shown in fig. 4 to 6, the first telescoping mechanism 63 further includes a central rotating body 634, a first threaded rod 635, a first worm 637, a third motor 638, and a pair of rotating support plates 639; a pair of rotating support plates 639 are vertically fixed on the base plate 632; the first worm 637 is pivoted between a pair of rotating support plates 639; the third motor 638 is fixed to one of the rotation support plates 639; an output shaft of the third motor 638 is fixedly coupled to the first worm 637; the central rotating body 634 includes a first cylinder and a first worm wheel; the middle part of the first cylinder is provided with a threaded hole which penetrates up and down; the outer cylindrical surface of the upper end of the first cylinder is pivoted on the outer cylindrical surface of the upper end and the outer cylindrical surface of the lower end of the support plate 631 through bearings, and a first worm wheel is fixed on the outer cylindrical surface of the upper end and the outer cylindrical surface of the lower end of the first cylinder; the central rotary body 634 is engaged with the first worm 637 via a first worm wheel; the first threaded rod 635 is screwed at its lower end into a threaded hole of the central rotator 634 and at its upper end into the center of the top plate 633.

As shown in fig. 3 and 4, circular limiting blocks are formed at the upper ends of the four first guide rods 636, and the diameters of the limiting blocks are larger than the diameters of the first guide rods 636; a support seat 621 of the sliding mechanism 62 is vertically fixed on the circular limiting blocks of the pair of first guide rods 636; the pair of supporting bases 621 are disposed opposite to each other in parallel.

As shown in fig. 1 and 2, the bracket body 61 includes a first shell 611 and a second shell 612; the first shell 611 and the second shell 612 are fixed into a whole through a plurality of connecting columns; the first telescopic mechanism 63 is fixed on the inner wall of the first housing 611 through a support plate 631 and a bottom plate 632; the second housing 612 is sleeved outside the swing mechanism and the first telescopic mechanism.

As shown in fig. 3 and 7, a transition hole is formed in the center of the oscillating body 625 to penetrate vertically, and the diameter of the transition hole is larger than that of the first threaded rod 635.

The specific operation is as follows: first telescoping mechanism 63: the third motor 638 is started, the third motor 638 drives the first worm 637 to rotate, the first worm 637 drives the central rotating body 634 to rotate through the first worm wheel, the central rotating body 634 drives the first threaded rod 635 to rotate, the top plate 633 is limited by the four first guide rods 636, and can only move upwards under the driving of the first threaded rod 635, if necessary, the top plate 633 only needs to rotate reversely by the third motor 638 when moving downwards; the slide mechanism 62: the sliding wall 622 moves up and down along with the top plate 633, and due to the sliding groove on the supporting seat 621, the sliding wall 622 moves up and down along the sliding groove under the driving of the top plate 633; a swinging mechanism: the swinging body 625 needs to swing a certain angle, firstly, the cylinder 626 is started, the cylinder 626 drives the positioning claw 6262 to move leftwards, so that a pair of positioning pins of the positioning claw 6262 are inserted into the limiting groove 6241 of the second gear 624, and at the moment, the positioning claw 6262 fixes the second gear 624 and the swinging body 625 into a whole; then, the first motor is started, the first motor drives the second gear 624 to rotate through the first gear 623, and the second gear 624 drives the swinging body to rotate around the hinge shaft;

resetting the device: firstly, the cylinder 626 is started, the cylinder 626 drives the positioning pawl 6262 to move rightwards, a pair of positioning pins of the positioning pawl 6262 are separated from the limiting groove 6241 of the second gear 624, and the second gear 624 is separated from the swinging body 625 at the moment; and then reset by the torsion spring 627 on the right swing seat of the swing body 625.

The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description herein, since various changes and modifications can be made in the details of the embodiment and the application range according to the spirit of the present invention.

Claims

1. A general robot with an extension arm comprises a base body (10), a waist rotating part (20) pivoted on the base body, a big arm (30) pivoted on the waist rotating part, and a small arm (40) arranged on the big arm, wherein the waist rotating part rotates around the base body, and the big arm rotates around the waist rotating part; the method is characterized in that:

the small arm is provided with an extension arm (60), and the extension arm comprises a bracket body (61) fixedly connected with the small arm, a first telescopic mechanism (63) arranged on the bracket body, a sliding mechanism (62) fixed on the first telescopic mechanism, a swinging mechanism arranged on the sliding mechanism (62) and a resetting device arranged on the swinging mechanism;

the first telescopic mechanism (63) comprises a top plate (633), a supporting plate (631), a bottom plate (632) and four first guide rods (636); the first guide rods (636) are fixed on the upper end surface of the support plate (631); the top plate (633) is sleeved on the four first guide rods (636);

the sliding mechanism (62) comprises a pair of supporting seats (621) and a pair of sliding arms (622); a sliding groove is arranged on the supporting seat (621); the supporting seat (621) is vertically fixed on the upper end surfaces of the first guide rods (636); a pair of supporting seats (621) are arranged in parallel and opposite to each other; the sliding arm (622) consists of a square guide rod and a connecting rod; the square guide rod is vertically fixed at the upper end of the connecting rod; the upper end of the sliding arm (622) is inserted in the sliding groove of the supporting seat (621) through a square guide rod, and the lower end is fixed on the top plate (633);

the swing mechanism comprises a swing body (625), a first gear (623) and a second gear (624); the first motor is fixed on the upper end surface of the left sliding arm (622); the direction of the output shaft of the first motor is opposite to the direction of the square guide rod of the sliding arm (622); a first gear (623) is fixed on an output shaft of the first motor; the swinging body (625) comprises a connector, a left swinging seat and a right swinging seat; the left swing seat and the right swing seat are symmetrically fixed on the bottom surface of the connector; the left swinging seat and the right swinging seat are respectively hinged on the side wall surfaces of the upper parts of the pair of sliding arms (622) through hinge shafts; a second gear (624) is pivoted on a hinge shaft of the left swinging seat; the second gear (624) is meshed with the first gear (623); a limit groove (6241) is arranged on one side surface of the second gear (624) opposite to the left swinging seat; the limiting groove (6241) is composed of a plurality of round holes with the same diameter, and the adjacent round holes are intersected; the distances between the centers of all round holes of the limiting groove (6241) and the center of the second gear (624) are the same;

the resetting device comprises a cylinder (626) and a torsion spring (627); a cylinder supporting seat (6261) is formed on the right side surface of the left swinging seat; an air cylinder (626) horizontally arranged leftwards is fixed on the air cylinder supporting seat (6261); a positioning claw (6262) is fixed on a piston rod of the cylinder (626); a pair of positioning pins are formed on the positioning claw (6262); a pair of positioning pins penetrate through the left swinging seat and enter a limiting groove (6241) of the second gear (624); a torsional spring (627) is sleeved on a hinged shaft of the right swinging seat; one end of a torsion spring (627) is fixed on the side wall of the right swing seat, and the other end of the torsion spring is fixed on the side wall of the right sliding arm (622) connecting rod;

the first telescoping mechanism (63) further comprises a central rotating body (634), a first threaded rod (635), a first worm (637), a third motor (638) and a pair of rotating support plates (639); a pair of rotating support plates (639) is vertically fixed on the bottom plate (632); the first worm (637) is pivoted between a pair of rotating support plates (639); the third motor (638) is fixed on one of the rotary supporting plates (639); an output shaft of the third motor (638) is fixedly connected with the first worm (637); the central rotating body (634) comprises a first cylinder and a first worm gear; the middle part of the first cylinder is provided with a threaded hole which penetrates up and down; the outer cylindrical surface of the upper end of the first cylinder is pivoted on the outer cylindrical surface of the upper end and the outer cylindrical surface of the lower end of the support plate (631) through bearings, and a first worm wheel is fixed on the outer cylindrical surface of the upper end and the outer cylindrical surface of the lower end of the first cylinder; the central rotating body (634) is meshed with the first worm (637) through a first worm wheel; the lower end of the first threaded rod (635) is in threaded connection with a threaded hole of the central rotating body (634), and the upper end of the first threaded rod is in threaded connection with the center of the top plate (633);

round limiting blocks are formed at the upper ends of the four first guide rods (636), and the diameters of the limiting blocks are larger than those of the first guide rods (636); a supporting seat (621) of the sliding mechanism (62) is vertically fixed on a circular limiting block of a pair of first guide rods (636); a pair of supporting seats (621) are arranged in parallel and opposite to each other;

the bracket body (61) comprises a first shell (611) and a second shell (612); the first shell (611) and the second shell (612) are fixed into a whole through a plurality of connecting columns; the first telescopic mechanism (63) is fixed on the inner wall of the first shell (611) through a support plate (631) and a bottom plate (632); the second shell (612) is sleeved outside the swinging mechanism and the first telescopic mechanism;

the center of the swinging body (625) is provided with a transition hole which penetrates through the swinging body up and down, and the diameter of the transition hole is larger than that of the first threaded rod (635).