CN108858164B - Big arm structure of industrial robot - Google Patents
Big arm structure of industrial robot Download PDFInfo
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- CN108858164B CN108858164B CN201810917713.2A CN201810917713A CN108858164B CN 108858164 B CN108858164 B CN 108858164B CN 201810917713 A CN201810917713 A CN 201810917713A CN 108858164 B CN108858164 B CN 108858164B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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Abstract
The invention provides a large arm structure of an industrial robot, which comprises a hydraulic cylinder base, a hydraulic lifting shaft, a rotating wheel base, a limiting feeler lever, a mechanical main arm, a chute, a mechanical front arm, a motor wheel chute, a pulley frame, a pulley, a pneumatic valve, a compressed air joint, a mechanical arm, a cylinder, a movable rotating plate and a rotating plate control rod, wherein the hydraulic lifting shaft is arranged on the hydraulic cylinder base; a hydraulic lifting shaft is integrally arranged at the top of the hydraulic cylinder base, and a runner base is integrally arranged at the top of the hydraulic lifting shaft; the bottom of the runner base is fixedly provided with a base bearing through interference fit, and the middle of the base bearing is fixedly provided with a motor base through interference fit; the rotating wheel top seat is fixed on the top of the motor seat through welding; a servo motor C is fixedly arranged on one side of the top of the mechanical main arm through welding; the invention provides a large arm structure of an industrial robot, which can adjust the height of the whole arm by arranging a hydraulic cylinder seat and a hydraulic lifting shaft.
Description
Technical Field
The invention relates to the technical field of robot structures, in particular to a large arm structure of an industrial robot.
Background
The large arm structure of the industrial robot is often applied to article transportation or material and material handling in a factory, and the large arm structure is composed of various parts such as an air cylinder, a simulation joint and the like and transmission elements through a complex structure, and is operated through a transmission assembly of each part.
Through retrieval, for example, patent No. CN201621191813.4 discloses a robot arm structure, which includes a shoulder, an upper arm, and a lower arm, wherein the arm body is provided with a shoulder, an upper arm, and a lower arm, the shoulder is provided with a fixed pad, a mechanical shoulder joint, and a shoulder connecting shaft, one end of the shoulder is the upper arm, a bearing connecting plate is provided between the upper arm and the shoulder, the upper arm is provided with a gear, an arm inner shaft, a connecting shaft gear, a sleeve shaft, a threaded shaft, an arm side plate, a fixed screw, a bevel gear, and a mechanical joint connecting member; the one end of big arm is equipped with the forearm, is equipped with gear pad, robotic wrist on the forearm, and robotic wrist is used for connecting the hand of robot, writes the wrist and has universal function, can make the nimble operation of robot hand, adopts foraminiferous curb plate on the arm body, and it is more convenient in the aspect of disassembling and installing.
For example, patent No. CN201520345400.6 discloses a robot arm, which relates to the field of robot technology, and the structure of the robot arm includes a base, a plurality of arms and an end effector connected in series in turn, a first joint is provided between the base and one arm adjacent to the base, a second joint is provided between any adjacent arm and the arm in the plurality of arms, a third joint is provided between the end effector and one arm adjacent to the end effector, the base, the plurality of arms and the end effector are provided with power devices, the power device provided on the base is used for driving the plurality of arms and the end effector to rotate along the base, the power device provided on one arm is used for driving the other arms and the end effector on one side of the arm away from the base to rotate along the arm, the power device provided on the arm adjacent to the end effector is used for driving the end effector to rotate along the arm, the power device arranged on the end effector is used for driving the end effector to rotate, and comprises a motor and a speed reducer for reducing the speed of the motor.
Based on the search of the above two patents and the discovery of the devices in the prior art, the above devices, although capable of conventional power supply use, have several problems in the practical use process, including: the height of robot does not set for, does not possess the ability of random height adjustment, and the structure is complicated, uses multiple transmission device to rotate, and inconvenient change or regulation do not possess the ability that the hand snatched.
Disclosure of Invention
Problem (A)
In summary, the present invention provides a large arm structure of an industrial robot, which solves the problem that the large arm structure does not have the capability of height adjustment at will and the capability of hand grasping through structural and functional improvements.
(II) technical scheme
The invention provides a large arm structure of an industrial robot, which is used for improving the large arm structure of the industrial robot. The large arm structure of the industrial robot provided by the invention specifically comprises the following components:
the hydraulic lifting mechanism comprises a hydraulic cylinder base, a hydraulic lifting shaft, a rotating wheel base, a limiting contact rod, a base bearing, a motor base, a servo motor A, a toothed motor wheel, a side pulley, a gear track, a rotating wheel top base, a servo controller A, a limiting switch A, a servo motor B, a servo controller B, a mechanical main arm, an inclined groove, a servo motor C, a limiting switch B, a mechanical front arm, a servo motor D, a motor wheel groove, a pulley frame, a pulley, a pneumatic valve, a compressed air joint, a mechanical arm, a cylinder, a movable rotating plate, a rotating plate control rod, a spring, an arc-shaped buckle plate, a stay wire joint and a shaft hole; a hydraulic lifting shaft is integrally arranged at the top of the hydraulic cylinder base, and a runner base is integrally arranged at the top of the hydraulic lifting shaft; the bottom of the runner base is fixedly provided with a base bearing through interference fit, and the middle of the base bearing is fixedly provided with a motor base through interference fit; the rotating wheel top seat is fixed on the top of the motor seat through welding; the top of the rotating wheel top seat is fixedly provided with a servo controller A through a bolt, and the bottom of the servo controller A penetrates through a rotating wheel top seat arrangement circuit to be connected with a servo motor A; a connecting shaft structure is arranged in the middle of the top of the rotating wheel top seat, and a servo motor B is fixedly arranged on one side of the connecting shaft structure through welding; a servo controller B is fixedly arranged on one side of the top of the rotating wheel top seat through a bolt, and the servo controller B is connected with a servo motor B through a setting circuit; the mechanical main arm penetrates through the connecting shaft structure through the servo motor B and is movably arranged at the top of the rotating wheel top seat; and a servo motor C is fixedly arranged on one side of the top of the mechanical main arm through welding.
Preferably, the middle of the motor base is fixedly provided with a servo motor A through welding, and the outer side of the servo motor A is fixedly provided with a toothed motor wheel through key connection; and a gear track is fixedly arranged in the middle of the rotating wheel base through welding and is in meshed connection with the toothed motor wheel.
Preferably, a conical groove is formed in the joint of the rotating wheel base and the rotating wheel top seat, and a plurality of groups of side pulleys are movably arranged in the conical groove of the rotating wheel base through a rotating shaft.
Preferably, one end of the outer side of the rotating wheel top seat is fixedly provided with a limit switch A through welding, and the limit switch A is connected with the servo controller A through a setting circuit; and one end of the outer side of the rotating wheel base is fixedly provided with a limiting contact rod through welding, and the horizontal height of the limiting contact rod is consistent with that of the limiting switch A.
Preferably, one side of the top of the mechanical main arm is provided with a chute, and the servo motor C penetrates through the chute and is fixedly provided with a mechanical front arm through key connection; and a limit switch B is fixedly arranged in the middle of the inclined plane of the chute through a bolt.
Preferably, a round hole is formed in the middle of the mechanical front arm, and a servo motor D is fixedly arranged in the round hole through bolt connection; the top shaft end of the servo motor D is fixedly provided with a motor wheel through key connection, and two groups of motor wheel grooves are formed in the periphery of the motor wheel. The mechanical front arm is provided with two groups of pulley frames in an integrated mode at two ends of the motor wheel, and the two ends of the pulley frames and the two sides of the mechanical front arm are fixedly provided with a plurality of groups of pulleys through welding.
Preferably, a shaft hole is formed in one side of the manipulator; the middle of the bottom end of the front arm of the machine is movably provided with a manipulator through a shaft hole mounting rotating shaft, and two groups of stay wire joints are integrally arranged at two ends of the manipulator; the two groups of stay wire joints are respectively arranged in the motor wheel groove by binding stay wires which pass through the pulleys.
Preferably, one side of the bottom of the mechanical front arm is fixedly provided with a pneumatic valve through a bolt, and one end of the pneumatic valve is provided with a compressed air joint; two ends of the manipulator are fixedly provided with two groups of cylinders through welding, and the two groups of cylinders are communicated with a pneumatic valve through an air pipe.
Preferably, the bottom of the movable rotating plate is integrally provided with a rotating plate control rod, and the rotating plate control rods are movably arranged on two sides of the manipulator through rotating shafts; inclined planes are arranged on two sides of the outer end of the manipulator, and springs are fixedly arranged in the middle of the inclined planes and one side of the rotating plate control rod through welding; two sets of arc-shaped pinch plates are integrally arranged on two sides of the outer end of the manipulator.
(III) advantageous effects
The invention provides a large arm structure of an industrial robot, which can adjust the height of the whole arm by arranging a hydraulic cylinder seat and a hydraulic lifting shaft.
The invention provides a large arm structure of an industrial robot, which can rotate a rotating wheel top seat by arranging a gear track to be meshed with a toothed motor wheel.
The invention provides a large arm structure of an industrial robot, which can limit the rotating position of a rotating wheel top seat by arranging a limit contact rod and a limit switch A.
The invention provides a large arm structure of an industrial robot, which can close an arc-shaped buckle plate by using a movable rotating plate as a lever to grab articles by using the movable rotating plate.
The invention provides a large arm structure of an industrial robot, which is characterized in that a manipulator is arranged, a rotating shaft is movably arranged in the middle of the bottom end of a front mechanical arm through a shaft hole, and two groups of stay wire joints are integrally arranged at two ends of the manipulator; the two groups of stay wire joints are provided with stay wires through binding, pass through the pulleys and are respectively arranged in the motor wheel grooves, and the swinging of the manipulator can be carried out through the stay wires
Drawings
FIG. 1 is a schematic structural view, partially in section, in front view, in accordance with an embodiment of the present invention;
FIG. 2 is a schematic left side view, partially in section, of an embodiment of the present disclosure;
FIG. 3 is a schematic overall perspective view of an embodiment of the present invention;
FIG. 4 is an enlarged partial structural view of part A in the embodiment of the present invention;
FIG. 5 is an enlarged partial structural view of a portion B in the embodiment of the present invention;
FIG. 6 is an enlarged view of a portion C according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a partial enlarged structure of D in the embodiment of the present invention;
FIG. 8 is a schematic perspective view of a robot according to an embodiment of the present invention;
in fig. 1 and 8, the correspondence between the part names or lines and the reference numbers is:
1-hydraulic cylinder block, 2-hydraulic lifting shaft, 3-rotating wheel base, 301-limit feeler lever, 302-base bearing, 303-motor block, 304-servo motor A, 305-toothed motor wheel, 306-side pulley, 307-gear track, 4-rotating wheel top base, 401-servo controller A, 402-limit switch A, 5-servo motor B, 501-servo controller B, 6-mechanical main arm, 601-chute, 602-servo motor C, 603-limit switch B, 7-mechanical front arm, 701-servo motor D, 702-motor wheel, 70201-motor wheel groove, 703-pulley frame, 704-pulley, 705-pneumatic valve, 706-compressed air joint, 8-mechanical arm, 801-cylinder, 802-movable rotating plate, 80201-rotating plate control rod, 80202-spring, 803-arc buckle plate, 804-stay wire joint and 805-shaft hole.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Please refer to fig. 1 and 8.
In order to solve the problem that the height of an industrial robot large arm structure cannot be adjusted in the prior art, the invention provides an industrial robot large arm structure, which is used for improving the industrial robot large arm structure and comprises the following components: the hydraulic lifting mechanism comprises a hydraulic cylinder base 1, a hydraulic lifting shaft 2, a rotating wheel base 3, a limit feeler lever 301, a base bearing 302, a motor base 303, a servo motor A304, a toothed motor wheel 305, a side pulley 306, a gear track 307, a rotating wheel top base 4, a servo controller A401, a limit switch A402, a servo motor B5, a servo controller B501, a mechanical main arm 6, an inclined groove 601, a servo motor C602, a limit switch B603, a mechanical front arm 7, a servo motor D701, a motor wheel 702, a motor wheel groove 70201, a pulley frame 703, a pulley 704, a pneumatic valve 705, a compressed air joint 706, a mechanical arm 8, a cylinder 801, a movable rotating plate 802, a rotating plate control lever 80201, a spring 80202, an arc-shaped buckle plate 803, a pull wire joint 804 and a shaft hole 805; the top of the hydraulic cylinder base 1 is integrally provided with a hydraulic lifting shaft 2, and the top of the hydraulic lifting shaft 2 is integrally provided with a runner base 3; the bottom of the runner base 3 is fixedly provided with a base bearing 302 through interference fit, and the middle of the base bearing 302 is fixedly provided with a motor base 303 through interference fit; the rotating wheel top seat 4 is fixed on the top of the motor seat 303 through welding; the top of the rotating wheel top seat 4 is fixedly provided with a servo controller A401 through a bolt, and the bottom of the servo controller A401 penetrates through a circuit arranged on the rotating wheel top seat 4 and is connected with a servo motor A304; a connecting shaft structure is arranged in the middle of the top of the rotating wheel top seat 4, and a servo motor B5 is fixedly arranged on one side of the connecting shaft structure through welding; a servo controller B501 is fixedly arranged on one side of the top of the rotating wheel top seat 4 through bolts, and the servo controller B501 is connected with a servo motor B5 through a circuit; the mechanical main arm 6 passes through the connecting shaft structure through a servo motor B5 and is movably arranged at the top of the rotating wheel top seat 4; and a servo motor C602 is fixedly arranged on one side of the top of the mechanical main arm 6 through welding.
Wherein, a servo motor A304 is fixedly arranged in the middle of the motor base 303 through welding, and a toothed motor wheel 305 is fixedly arranged outside the servo motor A304 through key connection; the middle of the rotating wheel base 3 is fixedly provided with a gear track 307 through welding, the gear track 307 is meshed with the toothed motor wheel 305, and the rotating wheel top seat 4 can be rotated through the arrangement of the gear track 307 meshed with the toothed motor wheel 305.
Wherein, the conical groove has been seted up with runner footstock 4 junction to runner base 3, and is provided with multiunit avris pulley 306 through the pivot activity in the conical groove of runner base 3, can assist runner footstock 4 to rotate through setting up avris pulley 306.
Wherein, one end of the outer side of the rotating wheel top seat 4 is fixedly provided with a limit switch A402 by welding, and the limit switch A402 is connected with a servo controller A401 by a setting circuit; the limiting contact rod 301 is fixedly arranged at one end of the outer side of the rotating wheel base 3 through welding, the horizontal height of the limiting contact rod 301 is consistent with that of the limiting switch A402, and the rotating position of the rotating wheel footstock 4 can be limited through the limiting contact rod 301 and the limiting switch A402.
Wherein, one side of the top of the mechanical main arm 6 is provided with a chute 601, and the servo motor C602 passes through the chute 601 and is fixedly provided with a mechanical front arm 7 through key connection; a limit switch B603 is fixedly arranged in the middle of the inclined plane of the chute 601 through a bolt, and a position zero point of the mechanical front arm 7 can be set through the limit switch B603.
Wherein, a round hole is arranged in the middle of the mechanical front arm 7, and a servo motor D701 is fixedly connected in the round hole through a bolt; the top shaft end of the servo motor D701 is fixedly provided with a motor wheel 702 through key connection, and two groups of motor wheel grooves 70201 are formed in the periphery of the motor wheel 702. Two sets of pulley frames 703 are integrally arranged at two ends of the mechanical front arm 7 of the motor wheel 702, a plurality of groups of pulleys 704 are fixedly arranged at two ends of the pulley frames 703 and two sides of the mechanical front arm 7 by welding, and the stay wires can be guided by arranging the servo motor D701 and the pulleys 704.
Wherein, one side of the manipulator 8 is provided with a shaft hole 805; the middle of the bottom end of the mechanical front arm 7 is movably provided with a mechanical arm 8 through a rotating shaft which passes through a shaft hole 805, and two groups of stay wire joints 804 are integrally arranged at two ends of the mechanical arm 8; the two groups of stay wire joints 804 are respectively arranged in the motor wheel groove 70201 by binding stay wires which pass through the pulleys 704, and the swinging of the manipulator can be carried out by arranging the stay wires.
Wherein, one side of the bottom of the mechanical front arm 7 is fixedly provided with a pneumatic valve 705 through a bolt, and one end of the pneumatic valve 705 is provided with a compressed air joint 706; two ends of the manipulator 8 are fixedly provided with two groups of cylinders 801 through welding, the two groups of cylinders 801 are communicated with a pneumatic valve 705 through air pipes, and propulsion power can be provided through the arrangement of the cylinders 801.
Wherein, the bottom of the movable rotating plate 802 is integrally provided with a rotating plate control rod 80201, and the rotating plate control rod 80201 is movably arranged on two sides of the manipulator 8 through a rotating shaft; inclined planes are arranged on two sides of the outer end of the manipulator 8, a spring 80202 is fixedly arranged in the middle of each inclined plane and one side of the rotating plate control rod 80201 through welding, and two groups of arc-shaped buckling plates 803 are integrally arranged on two sides of the outer end of the manipulator 8; through the arrangement of the movable rotating plate 802, the movable rotating plate 802 can be used as a lever to close the arc-shaped buckle plate 803, so that articles can be grabbed.
The specific use mode and function of the embodiment are as follows: in the invention, a hydraulic lifting shaft 2 is integrally arranged at the top of a hydraulic cylinder base 1, a runner base 3 is integrally arranged at the top of the hydraulic lifting shaft 2, a base bearing 302 is fixedly arranged at the bottom of the base 3 through interference fit, a motor base 303 is fixedly arranged in the middle of the base bearing 302 through interference fit, a runner top base 4 is fixedly arranged at the top of the motor base 303 through welding, a servo controller A401 is fixedly arranged at the top of the runner top base 4 through bolts, the bottom of the servo controller A401 penetrates through the runner top base 4 to be connected with a servo motor A304 through a circuit, a connecting shaft structure is arranged in the middle of the top of the runner top base 4, a servo motor B5 is fixedly arranged at one side of the connecting shaft structure through welding, a servo controller B501 is fixedly arranged at one side of the top of the runner top base 4 through bolts, the servo controller B501 is connected with a servo motor B5 through a circuit, a main mechanical arm 6 penetrates through a servo motor B5 to be movably arranged at the top of the runner top base 4, a servo motor C602 is fixedly arranged on one side of the top of the mechanical main arm 6 through welding; a servo motor A304 is fixedly arranged in the middle of a motor base 303 through welding, a toothed motor wheel 305 is fixedly arranged outside the servo motor A304 through key connection, a gear track 307 is fixedly arranged in the middle of a runner base 3 through welding, the gear track 307 is connected with the toothed motor wheel 305 in a meshing manner, a tapered groove is formed at the joint of the runner base 3 and a runner top base 4, a plurality of groups of side pulleys 306 are movably arranged in the tapered groove of the runner base 3 through a rotating shaft, a limit switch A402 is fixedly arranged at one end of the outer side of the runner top base 4 through welding, the limit switch A402 is connected with a servo controller A401 through a circuit, a limit contact rod 301 is fixedly arranged at one end of the outer side of the runner base 3 through welding, the horizontal height of the limit contact rod 301 is consistent with that of the limit switch A402, a chute 601 is formed at one side of the top of a main mechanical arm 6, a mechanical front arm 7 is fixedly arranged by the servo motor C602 through the chute 601 through key connection, a limit switch B603 is fixedly arranged in the middle of the inclined surface of the inclined groove 601 through a bolt, a round hole is formed in the middle of a mechanical front arm 7, a servo motor D701 is fixedly arranged in the round hole through a bolt connection, a motor wheel 702 is fixedly arranged at the top shaft end of the servo motor D701 through a key connection, and two groups of motor wheel grooves 70201 are formed in the periphery of the motor wheel 702. Two groups of pulley frames 703 are integrally arranged at two ends of a motor wheel 702 of a mechanical front arm 7, a plurality of groups of pulleys 704 are fixedly arranged at two ends of the pulley frames 703 and two sides of the mechanical front arm 7 by welding, a shaft hole 805 is arranged at one side of a manipulator 8, the manipulator 8 is movably arranged at the middle of the bottom end of the mechanical front arm 7 by penetrating the shaft hole 805, two groups of wire pulling joints 804 are integrally arranged at two ends of the manipulator 8, wires are arranged at the two groups of wire pulling joints 804 by binding and penetrate through the pulleys 704 and are respectively arranged in a motor wheel groove 70201, a pneumatic valve 705 is fixedly arranged at one side of the bottom of the mechanical front arm 7 by a bolt, a compressed air joint 706 is arranged at one end of the pneumatic valve 705, two groups of cylinders 801 are fixedly arranged at two ends of the manipulator 8 by welding, the two groups of cylinders 801 are respectively communicated with the pneumatic valve 705 by arranging air pipes, and a rotating plate control rod 80201 is arranged at the bottom of the movable rotating plate 802, the rotating plate control rod 80201 is movably arranged on two sides of the manipulator 8 through a rotating shaft, inclined planes are arranged on two sides of the outer end of the manipulator 8, a spring 80202 is fixedly arranged in the middle of each inclined plane and one side of the rotating plate control rod 80201 through welding, and two groups of arc-shaped buckling plates 803 are integrally arranged on two sides of the outer end of the manipulator 8; starting the hydraulic cylinder base 1 to lift the hydraulic lifting shaft 2 to a required height; the servo motor A304 is started through the servo controller A401, and the rotating wheel top seat 4 can be rotated by arranging the gear track 307 to be meshed with the toothed motor wheel 305; the side pulley 306 is arranged to assist the rotating wheel top seat 4 to rotate; the rotation position of the rotating wheel top seat 4 can be limited by arranging the limit contact rod 301 and the limit switch A402, so that line distortion caused by excessive rotation is avoided; the servo motor B5 is started through the servo controller B501, so that the mechanical main arm 6 moves to a proper position; setting the limit switch B603 as the position zero point of the mechanical front arm 7; starting a servo motor D701, guiding a pull wire through a pulley 704, and driving a motor wheel 702 to receive and release the pull wire to drive a manipulator to regulate and swing by the servo motor D701; the pneumatic valve 705 is communicated with compressed air through the compressed air connector 706, the air cylinder 801 is started through the compressed air, the movable rotating plate 802 is used as a lever to close the arc-shaped buckle plate 803, the object is grabbed, and the object is delivered through the rotation of the rotating wheel footstock 4.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (9)
1. The utility model provides a big arm structure of industrial robot for improve big arm structure of industrial robot, its characterized in that includes: a hydraulic cylinder base (1), a hydraulic lifting shaft (2), a runner base (3), a limit feeler lever (301), a base bearing (302), a motor base (303), a servo motor A (304), a toothed motor wheel (305), an edge pulley (306), a gear track (307), a runner top base (4), a servo controller A (401), a limit switch A (402), a servo motor B (5), a servo controller B (501), a mechanical main arm (6), a chute (601), a servo motor C (602), a limit switch B (603), a mechanical front arm (7), a servo motor D (701), a motor wheel (702), a motor wheel groove (70201), a pulley frame (703), a pulley (704), a pneumatic valve (705), a compressed air joint (706), a mechanical arm (8), a cylinder (801), a movable rotating plate (802), a rotating plate control lever (80201) and a spring (80202), an arc-shaped buckle plate (803), a stay wire joint (804) and an axle hole (805); the hydraulic lifting shaft (2) is integrally arranged at the top of the hydraulic cylinder base (1), and the runner base (3) is integrally arranged at the top of the hydraulic lifting shaft (2); the bottom of the runner base (3) is fixedly provided with a base bearing (302) through interference fit, and the middle of the base bearing (302) is fixedly provided with a motor base (303) through interference fit; the rotating wheel top seat (4) is fixed to the top of the motor seat (303) through welding; the top of the rotating wheel top seat (4) is fixedly provided with a servo controller A (401) through a bolt, and the bottom of the servo controller A (401) penetrates through a circuit arranged on the rotating wheel top seat (4) to be connected with a servo motor A (304); a connecting shaft structure is arranged in the middle of the top of the rotating wheel top seat (4), and a servo motor B (5) is fixedly arranged on one side of the connecting shaft structure through welding; one side of the top of the rotating wheel top seat (4) is fixedly provided with a servo controller B (501) through a bolt, and the servo controller B (501) is connected with a servo motor B (5) through a setting circuit; the mechanical main arm (6) penetrates through the connecting shaft structure through a servo motor B (5) and is movably arranged at the top of the rotating wheel top seat (4); and a servo motor C (602) is fixedly arranged on one side of the top of the mechanical main arm (6) through welding.
2. The large arm structure of industrial robot as claimed in claim 1, characterized in that the motor base (303) is fixedly provided with a servo motor A (304) in the middle by welding, and the outside of the servo motor A (304) is fixedly provided with a toothed motor wheel (305) by key connection; the middle of the rotating wheel base (3) is fixedly provided with a gear track (307) through welding, and the gear track (307) is meshed with the toothed motor wheel (305).
3. The large arm structure of industrial robot as claimed in claim 1, wherein the joint of the wheel base (3) and the wheel top base (4) is formed with a tapered groove, and the tapered groove of the wheel base (3) is movably provided with a plurality of sets of side pulleys (306) through a rotating shaft.
4. The large arm structure of industrial robot according to claim 1, characterized in that one end of the outer side of the runner top seat (4) is fixedly provided with a limit switch A (402) by welding, and the limit switch A (402) is connected with a servo controller A (401) by a setting circuit; and one end of the outer side of the rotating wheel base (3) is fixedly provided with a limit contact rod (301) through welding, and the horizontal height of the limit contact rod (301) is consistent with that of a limit switch A (402).
5. The industrial robot big arm structure according to claim 1, characterized in that a chute (601) is opened on one side of the top of the main mechanical arm (6), and a mechanical forearm (7) is fixedly arranged on a servo motor C (602) through the chute (601) by key connection; and a limit switch B (603) is fixedly arranged in the middle of the inclined plane of the chute (601) through a bolt.
6. The large arm structure of the industrial robot as claimed in claim 1, wherein a round hole is opened in the middle of the mechanical forearm (7), and a servo motor D (701) is fixedly arranged in the round hole through bolt connection; the top shaft end of the servo motor D (701) is fixedly provided with a motor wheel (702) through key connection, and two groups of motor wheel grooves (70201) are formed in the periphery of the motor wheel (702); two groups of pulley frames (703) are integrally arranged at the two ends of the motor wheel (702) of the mechanical front arm (7), and a plurality of groups of pulleys (704) are fixedly arranged at the two ends of the pulley frames (703) and the two sides of the mechanical front arm (7) through welding.
7. The large arm structure of industrial robot according to claim 1, characterized in that a shaft hole (805) is opened at one side of the manipulator (8); the middle of the bottom end of the mechanical front arm (7) is movably provided with a mechanical arm (8) through a rotating shaft which passes through a shaft hole (805), and two groups of stay wire joints (804) are integrally arranged at two ends of the mechanical arm (8); the two groups of stay wire joints (804) are respectively arranged in the motor wheel groove (70201) by binding stay wires which pass through the pulleys (704).
8. The industrial robot big arm structure according to claim 1, characterized in that a pneumatic valve (705) is fixedly arranged on one side of the bottom of the mechanical front arm (7) through a bolt, and a compressed air joint (706) is arranged at one end of the pneumatic valve (705); two ends of the manipulator (8) are fixedly provided with two groups of cylinders (801) through welding, and the two groups of cylinders (801) are communicated with a pneumatic valve (705) through air pipes.
9. The large arm structure of industrial robot according to claim 1, characterized in that the bottom of the movable rotating plate (802) is integrally provided with a rotating plate control rod (80201), and the rotating plate control rod (80201) is movably arranged on two sides of the manipulator (8) through a rotating shaft; inclined planes are arranged on two sides of the outer end of the manipulator (8), and a spring (80202) is fixedly arranged in the middle of each inclined plane and one side of the rotating plate control rod (80201) through welding; two groups of arc-shaped pinch plates (803) are integrally arranged on two sides of the outer end of the manipulator (8).
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| CN109571542B (en) * | 2018-12-10 | 2019-09-24 | 葛启震 | A kind of various dimensions robot movable joint |
| CN110450178B (en) * | 2019-06-27 | 2020-12-08 | 上海正菏智能设备制造股份有限公司 | Multi freedom industrial robot's manipulator |
| CN115922669A (en) * | 2022-10-31 | 2023-04-07 | 达闼机器人股份有限公司 | Prevent spacing detection device of wire winding and lifting and drop rotating mechanism |
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