CN111805529B

CN111805529B - Swing arm industrial robot

Info

Publication number: CN111805529B
Application number: CN202010703368.XA
Authority: CN
Inventors: 李振胜
Original assignee: Weihai Weiyang Electromechanical Equipment Co ltd
Current assignee: Weihai Weiyang Electromechanical Equipment Co ltd
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2023-03-31
Anticipated expiration: 2040-07-21
Also published as: CN111805529A

Abstract

The invention discloses a swing arm industrial robot which comprises a fixed arm, a hinged arm, a connecting arm and an operating arm, wherein a connecting frame is movably arranged at one end of the hinged arm corresponding to the position of the fixed arm, first driving assemblies are respectively arranged at two ends of the hinged arm corresponding to the connecting frame and the position of the connecting arm, and second driving assemblies are movably arranged at one end of the opposite surface of the fixed arm and the connecting frame and one end of the opposite surface of the connecting arm and the operating arm. When the device detects that the articulated arm or the connecting arm is collided and the first driving motor stops working, the electric push rod drives the connecting rod to move towards one end away from the driving disc, so that the connecting rod drives the second articulated rod to be articulated with the first articulated rod through the movable ring, the first articulated rod is separated from the inner wall of the driving tooth groove, the driving disc cannot drive the articulated arm to carry out emergency stop operation, and the purpose that the articulated arm and the connecting arm are damaged due to emergency stop is avoided.

Description

Swing arm industrial robot

Technical Field

The invention relates to the technical field of industrial robot equipment, in particular to a swing arm industrial robot.

Background

Robots are the common name for automatic control machines, which include all machines (e.g., machine dogs, machine cats, etc.) that simulate human behavior or thought and other creatures. There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and is currently researched and developed in the direction, and the robot generally comprises an actuating mechanism, a driving device, a detection device, a control system, complex machinery and the like. The executing mechanism is a robot body, the arm part of the executing mechanism generally adopts a spatial open-chain link mechanism, a kinematic pair (a revolute pair or a revolute pair) of the spatial open-chain link mechanism is often called as a joint, and the number of the joints is usually the degree of freedom of the robot. According to the difference between the joint configuration form and the motion coordinate form, the robot actuator can be divided into rectangular coordinate type, cylindrical coordinate type, polar coordinate type, joint coordinate type and the like. For the sake of anthropomorphic purposes, the relevant parts of the robot body are often referred to as a base, a waist, an arm, a wrist, a hand (gripper or end effector), a walking part (for a mobile robot), and the like.

But prior art when in-service use, four-axis swing arm industrial robot generally do not have anticollision protect function, and general industrial robot is when detecting the collision, generally through scram driving motor realization stop operation, and scram operation and swing arm and the hard collision of colliding object all can produce great damage to the swing arm.

Disclosure of Invention

The present invention aims to provide a swing arm industrial robot to solve the problems in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: including fixed arm, articulated arm, linking arm and operating arm, the one end activity of the corresponding fixed arm position of articulated arm is provided with the link, the both ends of the corresponding link of articulated arm and linking arm position are equallyd divide and do not are provided with first drive assembly, the one end of fixed arm and link opposite face and the one end of linking arm and operating arm opposite face are all moved about and are provided with second drive assembly, first drive assembly includes first driving motor, first driving motor fixed connection is in the one end of link, and first driving motor's output shaft activity runs through and extend to the inside of link, first driving motor's output shaft fixedly connected with driving-disc, the activity groove has been seted up to the one end of the corresponding driving-disc position of articulated arm, and the inner wall swing joint in activity groove of driving-disc, the one end that first driving motor was kept away from to the driving-disc articulates there is first articulated rod, the hinge groove has been seted up at the middle part of first articulated rod, the inner wall fixedly connected with push rod of hinge groove has articulated groove, and the one end that the first articulated rod kept away from first articulated rod position of articulated arm articulates there is articulated groove has been articulated ring, and the drive rod is linked together with the inside of the drive groove.

Preferably, the second driving assembly includes a second driving motor, the second driving motor is embedded inside the fixing arm in a penetrating manner, and an output shaft of the second driving motor is fixedly connected to the bottom of the connecting frame.

Preferably, the top fixedly connected with retainer plate of fixed arm, the holding tank has been seted up at the middle part of retainer plate, the inner wall of holding tank rotates and is connected with the ball, and the ball rotates and connects the bottom at the link.

Preferably, an oil injection groove is formed in the top of the position, corresponding to the ball, of the fixed arm, an oil absorption sponge is fixedly connected to the inner wall of the oil injection groove, and the surface of the oil absorption sponge is rotatably connected with the surface of the ball.

Preferably, a communicating cavity is formed in the fixed arm, an oil filling pipe is fixedly connected to the surface of the fixed arm corresponding to the communicating cavity, and the communicating cavity is communicated with the oil filling groove and the oil filling pipe respectively.

Preferably, the surface of driving-disc fixedly connected with rubber tape, the rubber tape is fixed the embedding in the inside of articulated arm, the quantity of rubber tape is eighteen, and eighteen rubber tapes are annular fixed connection in the surface of driving-disc.

Preferably, one end of the driving disc, which is far away from the first driving motor, is fixedly connected with a supporting rod, a supporting groove is formed in the supporting arm, which corresponds to the supporting rod, the supporting rod penetrates through and extends into the supporting groove, and a supporting ring is fixedly connected to the supporting rod, which corresponds to the supporting groove.

Preferably, one end of the support ring, which is far away from the support rod, is fixedly connected with a lug, and the surface of the lug is movably connected with the inner wall of the support groove.

Preferably, the quantity of first articulated rod is six, and six first articulated rods are the annular and articulate the one end at the driving-disc, the inner wall fixedly connected with dead lever of first driving motor one end is kept away from to the link frame, and the dead lever rotates the middle part of connecting at the articulated arm.

Compared with the prior art, the invention has the beneficial effects that:

1. when the device detects that the articulated arm or the connecting arm is collided and the first driving motor stops working, the electric push rod drives the connecting rod to move towards one end away from the position of the driving disc, so that the connecting rod drives the second articulated rod to be articulated with the first articulated rod through the movable ring, the first articulated rod is separated from the inner wall of the driving tooth groove, and the driving disc cannot drive the articulated arm to carry out emergency stop operation, so that the purpose that the articulated arm and the connecting arm are damaged due to emergency stop is avoided;

2. the lubricating oil is injected into the oil injection pipe, so that the lubricating oil in the oil injection pipe enters the oil injection groove through the communicating cavity and is absorbed by the oil absorption sponge, and when the fixed arm and the connecting frame rotate relatively, the bottom of the connecting frame drives the ball to rotate, so that the ball rotates on the surface of the oil absorption sponge ceaselessly to perform oil coating operation, the surface of the ball performs the oil coating operation all the time in the rotating process, friction generated when the fixed arm and the connecting frame rotate can be reduced, and the power consumption of the device is reduced.

3. The invention also arranges the rubber belt, so that when the first hinge rod is separated from the inside of the driving tooth groove and the first driving motor and the driving disc are in a locking state, the hinge arm can be continuously attached to a collision object under the driving of inertia, and the rubber belt can play a role of stopping the rotation of the hinge arm through the driving disc, so that the collision of the hinge arm and the collision object is changed from rigid collision into soft contact.

Drawings

FIG. 1 is a front view of the whole structure of a swing arm industrial robot of the present invention;

FIG. 2 is a front sectional view of the whole structure of a swing arm industrial robot of the present invention;

FIG. 3 is a partial front sectional view of the whole structure of a swing arm industrial robot of the present invention;

FIG. 4 is a side sectional view of a first drive assembly of a swing arm industrial robot in accordance with the present invention;

fig. 5 is a side sectional view of the articulated arm structure of a swing arm industrial robot of the present invention.

Fig. 6 is a side view of a driving disc structure of a swing arm industrial robot.

In the figure: 1. a fixed arm; 2. an articulated arm; 3. a connecting arm; 4. an operating arm; 5. a connecting frame; 6. a first drive assembly; 60. a first drive motor; 61. a drive disc; 62. a movable groove; 63. a first hinge lever; 64. a hinge slot; 65. a second hinge lever; 66. a movable ring; 67. a connecting rod; 68. an electric push rod; 69. a drive gullet; 7. a second drive assembly; 70. a second drive motor; 71. a stationary ring; 72. accommodating grooves; 73. a ball bearing; 74. an oil injection groove; 75. an oil absorbing sponge; 76. a communicating cavity; 77. an oil filling pipe; 8. a rubber belt; 9. a fixing rod; 10. a support bar; 11. a support groove; 12. a support ring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: including fixed arm 1, articulated arm 2, linking arm 3 and operating arm 4, the one end activity that the corresponding fixed arm 1 position of articulated arm 2 was provided with the connection frame 5, the both ends that the corresponding connection frame 5 of articulated arm 2 and the connecting arm 3 position were equallyd divide and are provided with first drive assembly 6, the one end of the opposite face of fixed arm 1 and connection frame 5 and the one end of the opposite face of linking arm 3 and operating arm 4 are all moved about and are provided with second drive assembly 7, first drive assembly 6 includes first driving motor 60, first driving motor 60 fixed mounting is in the one end of connection frame 5, and the output shaft activity of first driving motor 60 runs through and extends to the inside of connection frame 5, driving disc 61 is fixed to the output shaft of first driving motor 60, movable groove 62 has been seted up to the one end that articulated arm 2 corresponds to driving disc 61 position, and the surface of driving disc 61 is connected with the inner wall activity of movable groove 62, driving disc 61 keeps away from the one end that first driving motor 60 articulated to articulate has first articulated groove 63, articulated groove 64 has been seted up in the middle part of first articulated arm 63, the inner wall articulates in articulated groove 64 has second pole 65, the one end that the articulated arm 65 keeps away from articulated rod 63 has movable ring 66, and the movable ring 67 is connected with the inner wall of the corresponding push rod 69 that the movable push rod 69 that the inner wall of the movable ring 66 is installed in the movable push rod 69, the inner wall of the corresponding push rod 67, the inner wall of the corresponding push rod 69 that the fixed arm is connected with the movable ring 66, the inner wall of the movable push rod 69, the movable push rod 67, the inner wall of the movable ring 67, and the inner wall of the movable push rod is connected with the push rod 69 that the movable ring 67, the movable ring 67 is connected with the inner wall of the movable ring 67, the push rod 67.

The second driving assembly 7 comprises a second driving motor 70, the second driving motor 70 is embedded inside the fixing arm 1, and an output shaft of the second driving motor 70 is fixedly installed at the bottom of the connecting frame 5.

Fixed arm 1's top fixed mounting has retainer plate 71, and holding tank 72 has been seted up at retainer plate 71's middle part, and the inner wall of holding tank 72 rotates and is connected with ball 73, and ball 73 rotates the bottom of connecting at linking frame 5.

An oil filling groove 74 is formed in the top of the fixing arm 1 corresponding to the position of the ball 73, an oil absorption sponge 75 is fixedly mounted on the inner wall of the oil filling groove 74, and the surface of the oil absorption sponge 75 is rotatably connected with the surface of the ball 73.

Intercommunication chamber 76 has been seted up to the inside of fixed arm 1, the fixed surface of the corresponding intercommunication chamber 76 position of fixed arm 1 installs oiling pipe 77, the inside of intercommunication chamber 76 is linked together with oiling groove 74 and oiling pipe 77's inside respectively, through the inside injection lubricating oil to oiling pipe 77, can make the inside lubricating oil way intercommunication chamber 76 of oiling pipe 77 get into the inside of oiling groove 74, and absorbed by oil absorption sponge 75, and when fixed arm 1 and link frame 5 rotate relatively, the bottom that can make link frame 5 drives ball 73 and rotates, thereby make ball 73 incessantly rotate the surface of oil absorption sponge 75 and carry out the fat liquoring operation, make ball 73's surface carry out the fat liquoring operation all the time at the pivoted in-process, thereby can reduce the friction that produces when rotating between fixed arm 1 and the link frame 5, thereby the device's consumption has been reduced.

The rubber belt 8 is fixedly installed on the surface of the driving disc 61, the rubber belt 8 is fixedly embedded in the hinged arm 2, the number of the rubber belts 8 is eighteen, and the eighteen rubber belts 8 are annularly and fixedly installed on the surface of the driving disc 61, by arranging the rubber belts 8, when the first hinged rod 63 is separated from the inside of the driving tooth groove 69 and the first driving motor 60 and the driving disc 61 are in a locking state, at the moment, the hinged arm 2 can be continuously attached to a collision object under the driving of inertia, at the moment, the rubber belts 8 can play a role of blocking the rotation of the hinged arm 2 through the driving disc 61, so that the collision of the hinged arm 2 and the collision object is changed into soft contact from hard collision, and compared with the damage caused by hard collision of the hinged arm 2 and sudden stop of the hinged arm 2, the protection effect of the soft contact on the hinged arm 2 is better.

The end of the driving disc 61 far away from the first driving motor 60 is fixedly provided with a supporting rod 10, a supporting groove 11 is formed inside the hinged arm 2 corresponding to the position of the supporting rod 10, the supporting rod 10 penetrates and extends into the supporting groove 11, and a supporting ring 12 is fixedly arranged inside the supporting rod 10 corresponding to the position of the supporting groove 11.

The end of the support ring 12 far away from the support rod 10 is fixedly provided with a convex block, and the surface of the convex block is movably connected with the inner wall of the support groove 11.

The number of the first hinge bars 63 is six, and the six first hinge bars 63 are annularly hinged at one end of the driving plate 61, the inner wall of one end of the connecting frame 5 far away from the first driving motor 60 is fixedly provided with a fixing rod 9, and the fixing rod 9 is rotatably connected at the middle part of the hinge arm 2.

The working principle is as follows: when the device is used, the connecting rod 67 is driven by the electric push rod 68 to move towards one end of the driving disc 61, and the connecting rod 67 drives the movable ring 66 to move towards one end of the driving disc 61, so that the movable ring 66 drives the second hinge rod 65 to hinge with the first hinge rod 63, and one end of the first hinge rod 63, which is far away from the driving disc 61, moves to the inner wall of the driving tooth socket 69, at this time, the driving disc 61 completes the transmission operation by matching the first hinge rod 63 with the driving tooth socket 69, so that when the first driving motor 60 drives the driving disc 61 to rotate, the driving disc 61 drives the hinge arm 2 to rotate by matching the first hinge rod 63 with the driving tooth socket 69, the operation of moving the hinge arm 2 is completed, and when the device detects that the hinge arm 2 or the connecting arm 3 is collided and the first driving motor 60 stops working, the electric push rod 68 drives the connecting rod 67 to move towards one end far away from the driving disc 61, so that the connecting rod 67 drives the second hinge rod 65 to hinge arm 63 to hinge the first hinge arm 63 by the movable ring 66, and the connecting arm 63 to be separated from the inner wall of the driving disc 69, at this time, the abrupt stop operation of the driving disc 61, and avoiding the damage to the connecting arm 2 and the connecting arm 3 caused by the abrupt stop.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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. A swing arm industrial robot, its characterized in that: the automatic positioning device comprises a fixed arm (1), an articulated arm (2), a connecting arm (3) and an operating arm (4), wherein a connecting frame (5) is movably arranged at one end, corresponding to the position of the fixed arm (1), of the articulated arm (2), two ends, corresponding to the positions of the connecting frame (5) and the connecting arm (3), of the articulated arm (2) are respectively provided with a first driving assembly (6), one end, opposite to the connecting frame (5), of the fixed arm (1) and one end, opposite to the connecting frame (3) and the operating arm (4), of the connecting arm are respectively and movably provided with a second driving assembly (7), the first driving assembly (6) comprises a first driving motor (60), the first driving motor (60) is fixedly connected to one end of the connecting frame (5), an output shaft of the first driving motor (60) movably penetrates through and extends into the connecting frame (5), an output shaft of the first driving motor (60) is fixedly connected with a driving disc (61), one end, corresponding to the driving disc (61), of the articulated arm (2), corresponding to the driving disc (61), is provided with a movable groove (62), the surface of the driving disc (61) is movably connected with the inner wall of the movable groove (62), the driving disc (61), one end of the driving disc (61) is hinged to the middle of the driving disc (61), one end of the driving disc (63), the driving disc (63) is hinged bar (63), the first driving disc (60), and the first driving disc is hinged bar is hinged to be far away from the first driving disc (63), the inner wall of articulated groove (64) articulates there is second articulated rod (65), the one end that first articulated rod (63) position was kept away from in second articulated rod (65) articulates there is activity circle (66), the inner wall fixedly connected with connecting rod (67) of activity circle (66), one end fixedly connected with electric putter (68) of driving-disc (61) position are kept away from in connecting rod (67), and electric putter (68) fixed connection is at the inner wall of activity groove (62), drive tooth's socket (69) have been seted up to the inside of the corresponding first articulated rod (63) position of articulated arm (2), and the inner wall of drive tooth's socket (69) is linked together with the inside of activity groove (62).

2. A swing arm industrial robot according to claim 1, characterized in that: the second driving assembly (7) comprises a second driving motor (70), the second driving motor (70) penetrates through the fixing arm (1) and is embedded in the fixing arm, and an output shaft of the second driving motor (70) is fixedly connected to the bottom of the connecting frame (5).

3. A swing arm industrial robot according to claim 1, characterized in that: the top fixedly connected with retainer plate (71) of fixed arm (1), holding tank (72) have been seted up at the middle part of retainer plate (71), the inner wall of holding tank (72) rotates and is connected with ball (73), and ball (73) rotate and connect the bottom at link (5).

4. A swing arm industrial robot according to claim 3, characterized in that: an oil filling groove (74) is formed in the top of the position, corresponding to the ball (73), of the fixing arm (1), an oil absorption sponge (75) is fixedly connected to the inner wall of the oil filling groove (74), and the surface of the oil absorption sponge (75) is rotatably connected with the surface of the ball (73).

5. A swing arm industrial robot according to claim 4 characterized in that: the inside of fixed arm (1) has been seted up and has been linked together chamber (76), the fixed surface that corresponds chamber (76) position of fixed arm (1) is connected with oiling pipe (77), the inside of linking together chamber (76) is linked together with the inside of oiling groove (74) and oiling pipe (77) respectively.

6. A swing arm industrial robot according to claim 1, characterized in that: the surface fixed connection of driving-disc (61) has rubber tape (8), the fixed embedding of rubber tape (8) is in the inside of articulated arm (2), the quantity of rubber tape (8) is eighteen, and eighteen rubber tape (8) are annular fixed connection on the surface of driving-disc (61).

7. A swing arm industrial robot according to claim 1, characterized in that: one end fixedly connected with bracing piece (10) of first driving motor (60) position is kept away from in driving-disc (61), articulated arm (2) corresponding inside in bracing piece (10) position has seted up support groove (11), bracing piece (10) run through and extend to the inside in support groove (11), the inside fixedly connected with lock ring (12) of bracing piece (10) corresponding support groove (11) position.

8. A swing arm industrial robot according to claim 7, characterized in that: one end of the support ring (12) far away from the support rod (10) is fixedly connected with a convex block, and the surface of the convex block is movably connected with the inner wall of the support groove (11).

9. A swing arm industrial robot according to claim 1, characterized in that: the quantity of first hinge bar (63) is six, and six first hinge bar (63) are the annular and articulate the one end in driving-disc (61), inner wall fixedly connected with dead lever (9) of first driving motor (60) one end are kept away from in link (5), and dead lever (9) rotate to be connected in the middle part of articulated arm (2).