CN113733071A - Industrial robot motion control device - Google Patents

Abstract

The invention relates to the technical field of robot motion control, and discloses an industrial robot motion control device which comprises two fixed blocks, wherein a plurality of first lead screws are rotatably connected between the two fixed blocks, a plurality of first slide bars are fixedly arranged between the two fixed blocks and below the first lead screws, the outer side wall of each first lead screw is in threaded connection with a movable block, the outer side wall of each first slide bar is in sliding connection with the corresponding movable block, a mechanical arm is fixedly arranged at the top of each movable block, and a first lead screw, a first rotating block, a second rotating block, a first rotating rod, a first gear, a first jack, a second jack, a motor, a connecting rod, a movable block, a first plug, a second plug, a third plug, a fourth plug, a fifth plug, a first slide block, a chute and a first magnet are arranged on the top of each movable block, so that when the mechanical arm needs to move, the motor is moved to enable the fourth plug to be inserted into the second jack and be inserted into the fifth plug, the motor is started so that the motor drives the connecting rod and the second rotating block to rotate.

Description

Industrial robot motion control device

Technical Field

The invention relates to the technical field of robot motion control, in particular to a motion control device of an industrial robot.

Background

Motion control is a branch of automation that uses devices known as servos, such as hydraulic pumps, linear actuators, or electric motors, to control the position or speed of a machine. The application of motion control in the field of robotics and numerically controlled machines is more complex than in special machines, since the latter motion forms are simpler, commonly known as universal motion control, which is widely used in the packaging, printing, textile and assembly industries.

Most of existing factory robots are mechanical arms, and the mechanical arms need a plurality of motion sources to control when moving, so that the price of the device is increased, and the maintenance cost is increased.

Disclosure of Invention

Technical problem to be solved

In view of the defects of the prior art, the invention provides an industrial robot motion control device, which solves the problems in the background art.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: a motion control device of an industrial robot comprises two fixed blocks, a plurality of first lead screws are rotatably connected between the two fixed blocks, a plurality of first slide bars are fixed between the two fixed blocks and positioned below the first lead screws, a movable block is screwed on the outer side wall of each first lead screw, the outer side wall of each first slide bar is slidably connected with the corresponding movable block, a mechanical arm is fixed at the top of each movable block, a first rotating block and a second rotating block are rotatably connected to the right side of the fixed block on the right side, the right side of each first lead screw penetrates through the fixed block on the right side to be rotatably connected with the corresponding first rotating block, a plurality of support blocks are fixedly connected to the right side of the fixed block on the right side and positioned between the corresponding first rotating block and the corresponding second rotating block, first rotating rods are rotatably connected to the inside of the support blocks, and the first rotating rods, the first rotating blocks and the second rotating blocks are rotatably connected through first gears, the right side of the first gear fixedly connected with the right side of the first rotating block is provided with a first jack, the left end of the first jack penetrates through the first rotating block and is positioned inside the first screw rod, the inner side wall of the first jack is provided with two sliding grooves, the inner parts of the sliding grooves are slidably connected with first sliding blocks, a movable block is fixed between the two first sliding blocks, the right side of the movable block is integrally formed with a first plug, the right side of the movable block is positioned inside the first plug and is integrally formed with a second plug, the left side of the first rotating block is integrally formed with a third plug, the third plug is matched with the first plug, the inner left side of the first jack and the left side of the movable block are both fixed with a first magnet, the right side of the supporting block is fixed with a base, and the top of the base is slidably connected with a sliding plate, the top of slide fixed slip case of board, the inside of slip case is fixed with the motor, the output shaft left end of motor is fixed with the connecting rod, the left end of connecting rod is fixed with the fourth plug, second commentaries on classics piece right side fixed connection the second jack has been seted up on the right side of first gear, the inside right side of second jack is fixed with the fifth plug, the fourth plug all with the second plug with fifth plug looks adaptation.

Preferably, a supporting plate is fixed to the top of the sliding plate, a second gear is rotatably connected to the right side of the supporting plate, the connecting rod penetrates through the second gear and is in sliding connection with the second gear, a third gear is rotatably connected to the inside of the sliding plate, a second rotating rod is rotatably connected to the bottom of the sliding plate, a fourth gear is rotatably connected to the bottom of the second rotating rod, the second gear is in meshing connection with the third gear, the third gear is in transmission connection with the second rotating rod through a fifth gear, a tooth groove is formed in the top of the base, the fourth gear is in meshing connection with the tooth groove, a fixing rod is fixed to the inside of the fourth gear, a clockwork spring is fixed to the outer side wall of the fixing rod, a rotating wheel is fixed to the other end of the clockwork spring, a pulling rope is fixed to the outer side wall of the rotating wheel, and the other end of the pulling rope is fixedly connected to the outer side wall of the second rotating rod, the tooth groove is in meshed connection with the fourth gear.

Preferably, the bottom of the sliding plate is positioned on the right side of the second rotating rod and is rotatably connected with a third rotating rod, the bottom of the sliding plate is positioned on the right side of the third rotating rod and is rotatably connected with a fourth rotating rod, the second rotating rod, the third rotating rod and the fourth rotating rod are in transmission connection through a fifth gear, a sixth gear is fixed at the bottom of the fourth rotating rod, a plurality of fifth rotating rods are rotatably connected inside the base, a seventh gear is fixedly connected on the outer side wall of the fifth rotating rod, the sixth gear is in meshing connection with the seventh gear, a plurality of sixth rotating rods are rotatably connected on the left side of the fifth rotating rod inside the base, a plurality of square blocks are fixedly connected on the right side of the sixth rotating rod inside the base, a sliding hole is formed inside the sixth rotating rod, and a second sliding block is slidably connected inside the sliding hole, the inner part of the square block is screwed with a screw rod, the left end of the screw rod is fixedly connected with the right side of the second sliding block, the outer side wall of the screw rod is fixed with a first round block, the outer side wall of the screw rod is sleeved with a first spring, the outer side wall of the screw rod is positioned on the right side of the first spring and sleeved with a second round block, two ends of the first spring are respectively fixedly connected with the right side of the first round block and the left side of the second round block, two limiting rods are slidably connected with the inner part of the first round block, the right end of each limiting rod is fixedly connected with the left side of the second round block, the outer side wall of the second round block is provided with a plurality of first accommodating holes, a second spring is fixed in each first accommodating hole, the other end of the second spring is fixed with a first clamping block, the right side of the base is rotatably connected with a plurality of eighth gears, and the left sides of the eighth gears are provided with round holes, a first clamping hole is formed in the left side of the eighth gear, which is located on the outer side of the round hole, a plurality of fixed plates are fixed on the top of the base, a second lead screw is rotatably connected between the left and right fixed plates, a moving plate is screwed on the outer side wall of the second lead screw, a second slide bar is slidably connected inside the moving plate, two ends of the second slide bar are fixedly connected with the left and right sides of the left and right fixed plates respectively, a push rod is fixed on the left side of the moving plate, the fifth rotating rod is in transmission connection through a fifth gear, a seventh rotating rod is arranged above the fifth rotating rod, the top of the seventh rotating rod penetrates through the base, second magnets are fixed on the top of the fifth rotating rod and the bottom of the seventh rotating rod, opposite sides of the two second magnets are rotatably connected, two ends of the second lead screw penetrate through the two fixed plates respectively, and a ninth gear is fixed on the right end of the second lead screw, the ninth gear is meshed with the eighth gear, the second screw rod is in transmission connection with the seventh rotating rod through the fifth gear, two second accommodating holes are formed in the outer side wall of the seventh rotating rod, a third spring is fixed inside each second accommodating hole, a second clamping block is fixed at the other end of each third spring, and a second clamping hole is formed in the base corresponding to the second clamping block.

Preferably, a third magnet is fixed to both the left end of the push rod and the right side of the sliding box.

Preferably, a fourth magnet is fixed to the bottom of the tooth slot.

Preferably, the pull rope is a steel wire rope.

Preferably, the motor is a brake motor.

Preferably, the front surface and the right side of the first fixture block at the upper part are inclined from top to bottom, and the rear surface and the right side of the first fixture block at the lower part are inclined from bottom to top.

Preferably, the opposite sides of the two first magnets are of the same magnetic pole.

Preferably, the attraction force of the two second magnets is greater than the repulsion force of the two first magnets.

(III) advantageous effects

The invention provides an industrial robot motion control device, which has the following beneficial effects:

(1) the invention is provided with a first screw rod, a first rotating block, a second rotating block, a first rotating rod, a first gear, a first jack, a second jack, a motor, a connecting rod, a movable block, a first plug, a second plug, a third plug, a fourth plug, a fifth plug, a first slide block, a chute and a first magnet, when the mechanical arm needs to move, the motor is moved to enable the fourth plug to be inserted into the second jack to be inserted into the fifth plug, the motor is started to drive the connecting rod and the second rotating block to rotate, the first rotating rod and the first rotating block are driven to rotate through the first gear transmission, because the first plug on the movable block is inserted into the third plug on the first rotating block, the slide rod on the outer side wall of the movable block is positioned in the chute in the jack, all the first screw rods are driven to rotate, a plurality of mechanical arms and the movable block are driven to rotate simultaneously, if one mechanical arm needs to move, the motor is moved to the position corresponding to the first screw rod back and forth, the motor is moved leftwards to enable the fourth plug to be inserted into the first jack and to be plugged with the second plug, the first plug and the third plug are separated, the motor is started, the movable block rotates to drive the first screw rod to rotate, the first rotating block cannot be driven to rotate, and one mechanical arm moves.

(2) The motor is started by arranging the fixing plate, the sliding plate, the tooth groove, the second rotating rod, the second gear, the third gear and the fourth gear, the motor drives the connecting rod to rotate, the connecting rod drives the second gear to rotate, the second gear drives the third gear to rotate, the third gear drives the second rotating rod to rotate, the second rotating rod drives the fourth gear to rotate, and therefore the fourth gear rotates in the tooth groove and drives the sliding plate to move, and the motor can move back and forth.

(3) The invention is provided with a third rotating rod, a fourth rotating rod, a fifth rotating rod, a sixth rotating rod, a seventh rotating rod, a sixth gear, a seventh gear, an eighth gear, a ninth gear, a second screw rod, a push rod, a movable plate, a third magnet, a second slide block, a sliding hole, a screw rod, a first round block, a second round block, a first spring, a clamping block, a round hole and a clamping hole, wherein the motor moves to the position of the first screw rod needing to rotate, so that the fourth gear is adsorbed by the left third magnet, then the motor rotates reversely, the second rotating rod rotates reversely to loosen a pull rope on the outer side wall of the bottom part, so that the pull rope is wound by a rotating wheel driven by a spring to rotate, so that the second rotating rod drives the third rotating rod to rotate by the fifth gear, the third rotating rod drives the fourth rotating rod to rotate and the sixth gear to rotate by the fifth gear, and the sixth gear drives the seventh gear and the fifth rotating rod to rotate, the fifth rotating rod drives the seventh rotating rod to rotate through the adsorption of the second magnet, meanwhile, the inclined plane of a second clamping block on the seventh rotating rod is extruded by the second clamping hole and then contracted into the second accommodating hole, the seventh rotating rod drives the second screw rod to rotate through the fifth gear, so that the moving plate and the push rod move, two third magnets adsorb and push the sliding box to move, a fourth plug is inserted into the first jack and is inserted into the second jack and is inserted into the fifth plug, meanwhile, the fifth rotating rod drives the sixth rotating rod to rotate through the fifth gear, the sixth rotating rod drives the second sliding block and the screw rod to rotate, so that the screw rod moves leftwards, the screw rod drives the first round block and the second round block to rotate, when the second round block rotates, the inclined plane of the first clamping block is extruded by the first clamping hole and is contracted into the first accommodating hole, the rotation of the second round block does not drive the eighth gear to rotate, after the fourth plug is plugged with the second plug and the fifth plug, the motor cannot move leftwards, the fifth rotating rod cannot drive the seventh rotating rod to rotate, so that the second screw rod cannot rotate, but the sixth rotating rod also rotates, the screw rod continues to move leftwards, the mechanical arm moves to the left, the second sliding block also slides to the left side of the sliding hole, the second clamping block is inserted into the second clamping hole, then the mechanical arm moves rightwards, the motor is started to rotate in a reversing way, so that the second gear, the third gear, the sixth gear and the seventh gear can rotate in a reversing way, the sixth rotating rod rotates reversely, so that the screw rod and the second round block can move rightwards and the mechanical arm of the isoelectric machine to return to the original position, the first clamping block is clamped into the first clamping hole, the moving plate drives the eighth gear to rotate, the second sliding block can move to the left, the screw rod stops rotating, and the pull rope is completely wound by the second rotating rod, carrying the motor forward.

Drawings

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

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

FIG. 3 is a schematic view of the internal structure of the base of the present invention;

FIG. 4 is an enlarged schematic view of FIG. 2 at A in accordance with the present invention;

FIG. 5 is an enlarged view of the structure of FIG. 2 at B according to the present invention;

FIG. 6 is an enlarged view of the structure of FIG. 3 at C according to the present invention;

FIG. 7 is an enlarged view of FIG. 3 at D according to the present invention;

FIG. 8 is a schematic top view of a seventh rotating shaft according to the present invention;

FIG. 9 is a schematic structural diagram of a movable block according to the present invention;

FIG. 10 is a schematic structural diagram of a first rotating block according to the present invention;

FIG. 11 is a schematic top view of a fourth magnet according to the present invention;

FIG. 12 is a side view of the second round block and the eighth gear of the present invention.

In the figure: 1. a mechanical arm; 2. a first rotating block; 3. a support plate; 4. a connecting rod; 5. a second gear; 6. A third gear; 7. a support block; 8. a first rotating lever; 9. a first gear; 10. a moving block; 11. a first lead screw; 12. a first slide bar; 13. a fixed block; 14. a tooth socket; 15. a fourth magnet; 16. a base; 17. a slide plate; 18. a slide box; 19. a seventh rotating rod; 20. fifth 70 rounds; 21. a second slide bar; 22. A fixing plate; 23. moving the plate; 24. a second lead screw; 25. a push rod; 26. a third magnet; 27. a rotating wheel; 28. a motor; 29. a second rotating rod; 30. a third rotating rod; 31. a fourth rotating rod; 32. a first plug; 33. a movable block; 34. fixing the rod; 35. a first magnet; 36. a first jack; 37. a chute; 38. A first slider; 39. a third plug; 40. a second plug; 41. pulling a rope; 42. a clockwork spring; 43. A sixth rotating rod; 44. a first clamping block; 45. a second magnet; 46. a sixth gear; 47. a seventh gear; 48. a fifth rotating rod; 49. a second round block; 50. an eighth gear; 51. a screw; 52. a first receiving hole; 53. a fourth gear; 54. a second spring; 55. a first spring; 56. a first round block; 57. a limiting rod; 58. a slide hole; 59. a second slider; 60. a square block; 61. a ninth gear; 62. a first card hole; 63. a circular hole; 64. a second rotating block; 65. a second jack; 66. a second fixture block; 67. a third spring; 68. a second receiving hole; 69. a second card hole; 70. a fifth plug; 71. and a fourth plug.

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.

As shown in fig. 1 to 12, the present invention provides a technical solution: a motion control device of an industrial robot comprises two fixed blocks 13, a plurality of first lead screws 11 are rotatably connected between the two fixed blocks 13, a plurality of first slide bars 12 are fixed between the two fixed blocks 13 and positioned below the first lead screws 11, a movable block 10 is screwed on the outer side wall of each first lead screw 11, the outer side wall of each first slide bar 12 is slidably connected with the corresponding movable block 10, a mechanical arm 1 is fixed at the top of each movable block 10, a first rotating block 2 and a second rotating block 64 are rotatably connected to the right side of each right fixed block 13, the right side of each first lead screw 11 penetrates through the corresponding right fixed block 13 to be rotatably connected with the corresponding first rotating block 2, a plurality of support blocks 7 are fixedly connected to the right side of each right fixed block 13 and positioned between the corresponding first rotating block 2 and the corresponding second rotating block 64, a first rotating rod 8 is rotatably connected to the inside of each support block 7, and the first rotating block 2 and the corresponding second rotating block 64 are rotatably connected through a first gear 9, a first jack 36 is arranged on the right side of a first gear 9 fixedly connected with the right side of a first rotating block 2, the left end of the first jack 36 penetrates through the first rotating block 2 and is positioned inside a first screw rod 11, the inner side wall of the first jack 36 is provided with two sliding grooves 37, first sliding blocks 38 are slidably connected with the inner parts of the sliding grooves 37, a movable block 33 is fixed between the two first sliding blocks 38, a first plug 32 is integrally formed on the right side of the movable block 33, a second plug 40 is integrally formed on the right side of the movable block 33 and is positioned inside the first plug 32, the left side of the first rotating block 2 is integrally formed with a third plug 39 on the left side of the first rotating block 2, the third plug 39 is matched with the first plug 32, first magnets 35 are fixed on the inner left side of the first jack 36 and the left side of the movable block 33, a base 16 is fixed on the right side of a supporting block 7, a sliding plate 17 is slidably connected with the top of the base 16, a sliding box 18 is fixed on the top of the sliding plate 17, the inside of slip case 18 is fixed with motor 28, and the output shaft left end of motor 28 is fixed with connecting rod 4, and the left end of connecting rod 4 is fixed with fourth plug 71, and second jack 65 has been seted up on the right side of second commentaries on classics piece 64 right side fixed connection's first gear 9, and the inside right side of second jack 65 is fixed with fifth plug 70, and fourth plug 71 all with second plug 40 and fifth plug 70 looks adaptation.

Further, a supporting plate 3 is fixed on the top of the sliding plate 17, a second gear 5 is rotatably connected to the right side of the supporting plate 3, a connecting rod 4 penetrates through the second gear 5 and is in sliding connection, a third gear 6 is rotatably connected to the inside of the sliding plate 17, a second rotating rod 29 is rotatably connected to the bottom of the sliding plate 17, a fourth gear 53 is rotatably connected to the bottom of the second rotating rod 29, the second gear 5 is in meshing connection with the third gear 6, the third gear 6 is in transmission connection with the second rotating rod 29 through a fifth gear 20, a tooth space 14 is formed in the top of the base 16, the fourth gear 53 is in meshing connection with the tooth space 14, a fixing rod 34 is fixed inside the fourth gear 53, a clockwork spring 42 is fixed on the outer side wall of the fixing rod 34, a rotating wheel 27 is fixed on the other end of the clockwork spring 42, a pulling rope 41 is fixed on the outer side wall of the rotating wheel 27, and the other end of the pulling rope 41 is fixedly connected with the outer side wall of the second rotating rod 29, the teeth slots 14 are engaged with the fourth gear 53 so that the motor 28 can move forward and backward.

Further, the bottom of the sliding plate 17 is positioned on the right side of the second rotating rod 29 and is rotatably connected with a third rotating rod 30, the bottom of the sliding plate 17 is positioned on the right side of the third rotating rod 30 and is rotatably connected with a fourth rotating rod 31, the second rotating rod 29, the third rotating rod 30 and the fourth rotating rod 31 are in transmission connection through a fifth gear 20, a sixth gear 46 is fixed on the bottom of the fourth rotating rod 31, a plurality of fifth rotating rods 48 are rotatably connected inside the base 16, a seventh gear 47 is fixedly connected on the outer side wall of the fifth rotating rod 48, the sixth gear 46 is meshed with the seventh gear 47, a plurality of sixth rotating rods 43 are rotatably connected on the left side of the fifth rotating rod 48 inside the base 16, a plurality of square blocks 60 are fixedly connected on the right side of the sixth rotating rod 43 inside the base 16, a sliding hole 58 is formed inside the sixth rotating rod 43, a second sliding block 59 is slidably connected inside the sliding hole 58, a screw 51 is screwed inside the square block 60, the left end of the screw 51 is fixedly connected with the right side of the second sliding block 59, the outer side wall of the screw 51 is fixed with a first round block 56, the outer side wall of the screw 51 is sleeved with a first spring 55, the outer side wall of the screw 51, which is positioned on the right side of the first spring 55, is sleeved with a second round block 49, two ends of the first spring 55 are respectively fixedly connected with the right side of the first round block 56 and the left side of the second round block 49, two limiting rods 57 are slidably connected inside the first round block 56, the right end of the limiting rods 57 is fixedly connected with the left side of the second round block 49, the outer side wall of the second round block 49 is provided with a plurality of first accommodating holes 52, a second spring 54 is fixed inside the first accommodating hole 52, the other end of the second spring 54 is fixed with a first clamping block 44, the right side of the base 16 is rotatably connected with a plurality of eighth gears 50, the left side of the eighth gears 50 is provided with a round hole 63, the left side of the eighth gears 50 is positioned on the outer side of the round hole 63 and is provided with a first clamping hole 62, the top of the base 16 is fixed with a plurality of fixed plates 22, a plurality of left and right fixed plates 22 are connected with a second screw rod 24 in a rotating manner, the outer side wall of the second screw rod 24 is connected with a moving plate 23 in a screw manner, the inside of the moving plate 23 is connected with a second slide rod 21 in a sliding manner, two ends of the second slide rod 21 are respectively connected with the right and left sides of the left and right fixed plates 22 in a fixed manner, the left side of the moving plate 23 is fixed with a push rod 25, a fifth rotating rod 48 is connected with the left side of the moving plate 23 in a driving manner through a fifth gear 20, a seventh rotating rod 19 is arranged above the fifth rotating rod 48, the top of the seventh rotating rod 19 penetrates through the base 16, the top of the fifth rotating rod 48 and the bottom of the seventh rotating rod 19 are both fixed with second magnets 45, opposite sides of the two second magnets 45 are connected in a rotating manner, two ends of the second screw rod 24 respectively penetrate through the two fixed plates 22, the right end of the second screw rod 24 is fixed with a ninth gear 61, the ninth gear 61 is meshed with the eighth gear 50, the second screw rod 24 is connected with the seventh rotating rod 19 in a driving manner through a fifth gear 20, two second accommodating holes 68 are formed in the outer side wall of the seventh rotating rod 19, a third spring 67 is fixed inside the second accommodating hole 68, a second clamping block 66 is fixed at the other end of the third spring 67, and a second clamping hole 69 is formed in the base 16 corresponding to the second clamping block 66, so that the motor 28 can move leftwards.

Further, a third magnet 26 is fixed to both the left end of the plunger 25 and the right side of the slide case 18, so that the plunger 25 moves together with the slide case 18 when moving rightward.

Further, a fourth magnet 15 is fixed to the bottom of the tooth groove 14, so that the fourth gear 53 is attracted.

Further, the pulling rope 41 is a steel wire rope, so that the steel wire rope cannot be easily broken.

Further, the motor 28 is a brake motor, so that the output shaft of the motor 28 can be directly braked to prevent free rotation.

Further, the front surface and the right side of the upper first latch 44 are both inclined from top to bottom, and the rear surface and the right side of the lower first latch 44 are both inclined from bottom to top, so that when the second round block 49 moves into the round hole 63, the first latch 44 is not blocked by the eighth gear 50, and when the second round block 49 moves leftwards, the first latch hole 62 is not blocked when the second round block 49 rotates.

Further, the opposite sides of the two first magnets 35 are of the same magnetic polarity, so that the movable block 33 can be pushed to the right side, and the first plug 32 and the third plug 39 are inserted.

Further, the attraction force of the two second magnets 45 is greater than the repulsion force of the two first magnets 35, so that the fifth rotating rod 48 drives the seventh rotating rod 19 to rotate, and the fourth plug 71 pushes the movable block 33 to move.

In conclusion, the working process of the invention is as follows: when the device is used, firstly, the motor 28 is started, the motor 28 rotates with the connecting rod 4, the connecting rod 4 rotates with the second gear 5, the second gear 5 rotates with the third gear 6, the third gear 6 rotates with the second rotating rod 29, the second rotating rod 29 rotates to shrink the pull rope 41, the pull rope 41 is wound up, the second rotating rod 29 drives the fourth gear 53 to rotate in the tooth groove 14, the motor 28 moves back and forth on the base 16, a plurality of mechanical arms 1 are required to move simultaneously, the motor 28 moves to the corresponding position of the second jack 65, if only one mechanical arm 1 needs to move, the motor 28 moves to the corresponding position of the first jack 36, the fourth gear 53 is attracted by the fourth magnet 15, then the motor 28 rotates reversely, the second rotating rod 29 rotates reversely to loosen the pull rope 41 on the outer side wall of the bottom, and the pull rope 41 is wound up by the rotating wheel 27 driven by the spring 42, thus, the second rotating rod 29 drives the third rotating rod 30 to rotate through the fifth gear 20, the third rotating rod 30 drives the fourth rotating rod 31 to rotate and the sixth gear 46 to rotate through the fifth gear 20, the sixth gear 46 drives the seventh gear 47 and the fifth rotating rod 48 to rotate, the fifth rotating rod 48 drives the seventh rotating rod 19 to rotate through the second magnet 45, the inclined surface of the second latch 66 on the seventh rotating rod 19 is pressed by the second latch hole 69 and then retracted into the second receiving hole 68, the seventh rotating rod 19 drives the second lead screw 24 to rotate through the fifth gear 20, so that the moving plate 23 and the push rod 25 move, the two third magnets 26 drive the sliding box 18 to move, the fourth plug 71 is inserted into the first jack 36 to be inserted into the second plug 40 or the second jack 65 is inserted into the fifth plug 70, and the fifth rotating rod 48 drives the sixth rotating rod 43 to rotate through the fifth gear 20, the sixth rotating rod 43 drives the second sliding block 59 and the screw rod 51 to rotate, so that the screw rod 51 moves leftwards, the screw rod 51 drives the first round block 56 and the second round block 49 to rotate, when the second round block 49 rotates, the inclined surface of the first latch 44 is pressed by the first latch hole 62 to be retracted into the first accommodating hole 52, the rotation of the second round block 49 in the direction does not drive the eighth gear 50 to rotate, after the fourth plug 71 is plugged with the second plug 40 or the fifth plug 70, the fifth rotating rod 48 continues to rotate, the seventh rotating rod 19 cannot rotate, but the sixth rotating rod 43 also rotates, so that the screw rod 51 continues to move leftwards, when the mechanical arm 1 moves leftwards, the second sliding block 59 also slides to the left side of the sliding hole 58, the second latch 66 is plugged into the second latch hole 69, and when the mechanical arm 1 moves rightwards, the motor 28 is started to reverse rotation, in this way, the second gear 5, the third gear 6, the sixth gear 46 and the seventh gear 47 all rotate in opposite directions, so that the sixth rotating rod 43 rotates in opposite directions, so that the screw 51 and the second round block 49 move rightwards, the mechanical arm 1 returns to the original position, the first latch 44 is latched into the first latch hole 62 to drive the eighth gear 50 to rotate, the moving plate 23 returns to the original position, the second slider 59 moves to the left, the screw 51 stops rotating, and the second rotating rod 29 finishes winding the pulling rope 41 and drives the motor 28 to move forwards.

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 (10)

1. An industrial robot motion control device, includes two fixed blocks (13), its characterized in that: a plurality of first lead screws (11) are rotatably connected between the two fixing blocks (13), a plurality of first sliding rods (12) are fixedly arranged between the two fixing blocks (13) and positioned below the first lead screws (11), a moving block (10) is screwed on the outer side wall of the first lead screws (11), the outer side wall of the first sliding rod (12) is slidably connected with the moving block (10), a mechanical arm (1) is fixed at the top of the moving block (10), a first rotating block (2) and a second rotating block (64) are rotatably connected to the right side of the right fixing block (13), the right side of the first lead screw (11) penetrates through the right fixing block (13) to be rotatably connected with the first rotating block (2), and a plurality of supporting blocks (7) are fixedly connected between the first rotating block (2) and the second rotating block (64) and positioned on the right side of the fixing block (13), the inner part of the supporting block (7) is rotatably connected with a first rotating rod (8), the first rotating block (2) and the second rotating block (64) are rotatably connected through a first gear (9), the right side of the first gear (9) fixedly connected with the right side of the first rotating block (2) is provided with a first jack (36), the left end of the first jack (36) penetrates through the first rotating block (2) to be positioned inside the first screw rod (11), the inner side wall of the first jack (36) is provided with two sliding grooves (37), the inner part of each sliding groove (37) is slidably connected with a first sliding block (38), a movable block (33) is fixed between the two first sliding blocks (38), the right side of each movable block (33) is integrally formed with a first plug (32), the right side of each movable block (33) is positioned on the inner side of the first plug (32) and is integrally formed with a second plug (40), a third plug (39) is integrally formed on the left side of the first rotating block (2), the third plug (39) is matched with the first plug (32), a first magnet (35) is fixed on the left side of the inside of the first jack (36) and the left side of the movable block (33), a base (16) is fixed on the right side of the supporting block (7), a sliding plate (17) is connected to the top of the base (16) in a sliding manner, a sliding box (18) is fixed on the top of the sliding plate (17), a motor (28) is fixed inside the sliding box (18), a connecting rod (4) is fixed on the left end of an output shaft of the motor (28), a fourth plug (71) is fixed on the left end of the connecting rod (4), a second jack (65) is formed on the right side of the first gear (9) fixedly connected to the right side of the second rotating block (64), a fifth plug (70) is fixed on the right side of the inside of the second jack (65), and the fourth plugs (71) are matched with the second plug (40) and the fifth plug (70).

2. An industrial robot motion control apparatus according to claim 1, characterized in that: the top of slide (17) is fixed with backup pad (3), the right side of backup pad (3) is rotated and is connected with second gear (5), connecting rod (4) run through second gear (5) and sliding connection, the inside of slide (17) is rotated and is connected with third gear (6), the bottom of slide (17) is rotated and is connected with second bull stick (29), the bottom of second bull stick (29) is rotated and is connected with fourth gear (53), second gear (5) with third gear (6) meshing connection, third gear (6) with second bull stick (29) are through fifth gear (20) transmission connection, tooth's socket (14) have been seted up at the top of base (16), fourth gear (53) with tooth's socket (14) meshing connection, the inside of fourth gear (53) is fixed with dead lever (34), the outer side wall of the fixing rod (34) is fixed with a clockwork spring (42), the other end of the clockwork spring (42) is fixed with a rotating wheel (27), the outer side wall of the rotating wheel (27) is fixed with a pull rope (41), the other end of the pull rope (41) is fixedly connected with the outer side wall of the second rotating rod (29), and the tooth grooves (14) and the fourth gear (53) are meshed and connected.

3. An industrial robot motion control apparatus according to claim 1, characterized in that: the bottom of the sliding plate (17) is positioned on the right side of the second rotating rod (29) and is rotatably connected with a third rotating rod (30), the bottom of the sliding plate (17) is positioned on the right side of the third rotating rod (30) and is rotatably connected with a fourth rotating rod (31), the second rotating rod (29), the third rotating rod (30) and the fourth rotating rod (31) are in transmission connection through a fifth gear (20), a sixth gear (46) is fixed at the bottom of the fourth rotating rod (31), a plurality of fifth rotating rods (48) are rotatably connected inside the base (16), a seventh gear (47) is fixedly connected on the outer side wall of each fifth rotating rod (48), the sixth gear (46) is in meshing connection with the seventh gear (47), and a plurality of sixth rotating rods (43) are rotatably connected inside the base (16) on the left side of the fifth rotating rod (48), the inner part of the base (16) is positioned on the right side of the sixth rotating rod (43) and is fixedly connected with a plurality of square blocks (60), a sliding hole (58) is formed in the sixth rotating rod (43), a second sliding block (59) is connected to the inner part of the sliding hole (58) in a sliding manner, a screw rod (51) is screwed in the square blocks (60), the left end of the screw rod (51) is fixedly connected with the right side of the second sliding block (59), a first round block (56) is fixed on the outer side wall of the screw rod (51), a first spring (55) is sleeved on the outer side wall of the screw rod (51), a second round block (49) is sleeved on the outer side wall of the screw rod (51) which is positioned on the right side of the first spring (55), two ends of the first spring (55) are fixedly connected with the right side of the first round block (56) and the left side of the second round block (49) respectively, and two limiting rods (57) are connected to the inner part of the first round block (56) in a sliding manner, the right end of the limiting rod (57) is fixedly connected with the left side of the second round block (49), a plurality of first accommodating holes (52) are formed in the outer side wall of the second round block (49), a second spring (54) is fixed inside each first accommodating hole (52), a first clamping block (44) is fixed at the other end of each second spring (54), a plurality of eighth gears (50) are rotatably connected to the right side of the base (16), a round hole (63) is formed in the left side of each eighth gear (50), a first clamping hole (62) is formed in the outer side of each round hole (63) in the left side of each eighth gear (50), a plurality of fixing plates (22) are fixed at the top of the base (16), a second screw rod (24) is rotatably connected between the left fixing plate and the right fixing plate (22), and a moving plate (23) is screwed on the outer side wall of the second screw rod (24), the inner part of the moving plate (23) is connected with a second sliding rod (21) in a sliding manner, two ends of the second sliding rod (21) are fixedly connected with the right side and the left side of a left fixing plate (22) and a right side of a right fixing plate (22) respectively, a push rod (25) is fixed on the left side of the moving plate (23), a fifth rotating rod (48) is in transmission connection through a fifth gear (20), a seventh rotating rod (19) is arranged above the fifth rotating rod (48), the top of the seventh rotating rod (19) penetrates through the base (16), the top of the fifth rotating rod (48) and the bottom of the seventh rotating rod (19) are both fixed with second magnets (45), two opposite sides of the second magnets (45) are in rotating connection, two ends of the second lead screw (24) penetrate through the two fixing plates (22) respectively, a ninth gear (61) is fixed at the right end of the second lead screw (24), and the ninth gear (61) is in meshed connection with the eighth gear (50), the second screw rod (24) is in transmission connection with the seventh rotating rod (19) through the fifth gear (20), two second accommodating holes (68) are formed in the outer side wall of the seventh rotating rod (19), a third spring (67) is fixed inside each second accommodating hole (68), a second clamping block (66) is fixed at the other end of each third spring (67), and a second clamping hole (69) is formed in the position, corresponding to the second clamping block (66), inside the base (16).

4. An industrial robot motion control apparatus according to claim 3, characterized in that: and a third magnet (26) is fixed at the left end of the push rod (25) and the right side of the sliding box (18).

5. An industrial robot motion control apparatus according to claim 1, characterized in that: and a fourth magnet (15) is fixed at the bottom of the tooth groove (14).

6. An industrial robot motion control apparatus according to claim 1, characterized in that: the pull rope (41) is a steel wire rope.

7. An industrial robot motion control apparatus according to claim 1, characterized in that: the motor (28) is a brake motor.

8. An industrial robot motion control apparatus according to claim 3, characterized in that: the front surface and the right side of the first clamping block (44) above incline from top to bottom, and the rear surface and the right side of the first clamping block (44) below incline from bottom to top.

9. An industrial robot motion control apparatus according to claim 1, characterized in that: the opposite sides of the two first magnets (35) are the same magnetic pole.

10. An industrial robot motion control apparatus according to claim 3, characterized in that: the attraction force of the two second magnets (45) is larger than the repulsion force of the two first magnets (35).

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