CN114800446A - Industrial robot with quick assembling and disassembling function of mechanical arm - Google Patents
Industrial robot with quick assembling and disassembling function of mechanical arm Download PDFInfo
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- CN114800446A CN114800446A CN202210378564.3A CN202210378564A CN114800446A CN 114800446 A CN114800446 A CN 114800446A CN 202210378564 A CN202210378564 A CN 202210378564A CN 114800446 A CN114800446 A CN 114800446A
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
An industrial robot with a function of quickly assembling and disassembling a mechanical arm belongs to the technical field of industrial robots and aims to solve the problems that the conventional industrial robot mechanical arm adopts a complicated locking component to connect and fix metal parts of the mechanical arm, and is troublesome to assemble and disassemble; the problem that the existing industrial robot mechanical arm has slipping phenomenon among articles when clamping and carrying; the mounting seat is clamped in the mounting groove on the bottom plate of the protective cylinder, the mounting seat is fixed by the aid of the electromagnet and the positioning piece, the adjusting cylinder is pumped and released by gas, the limiting bulge on the adjusting rotary disc presses and releases the mounting seat, the whole mechanical arm is quickly disassembled and assembled, the clamping assembly is arranged at the top of the mounting seat in a matching mode by the aid of the lifting seat, the pneumatic linear slide rail and the pneumatic slide block, clamping force on an article is reversely detected by the clamping lever of the clamping assembly, so that the clamping force is adjusted to adapt to clamping of different articles, and the article is prevented from slipping when clamped by the clamping assembly; the invention is convenient to use, safe and reliable.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot with a function of quickly assembling and disassembling a mechanical arm.
Background
The industrial robot is a multi-joint manipulator or multi-freedom machine device facing to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capability, can receive human command, can run according to a pre-programmed program, can also act according to the principle and the outline formulated by artificial intelligence technology, can replace a human to do some monotonous, frequent and repeated long-time operation in industrial production, or in dangerous and harsh environments, such as stamping, die casting, heat treatment, welding, painting, plastic product forming, machining and simple assembly, and in the atomic energy industry and other departments, the transportation or the process operation of materials harmful to human bodies is completed, in developed countries, industrial robot automation line complete equipment becomes the mainstream of automation equipment and the future development direction. Industrial robot automatic production lines have been widely used in foreign automobile industries, electronic and electrical appliance industries, engineering machinery and other industries to ensure product quality, improve production efficiency and avoid a large number of industrial accidents.
The existing industrial robot mechanical arm is flexible and wide to use, however, the existing industrial robot mechanical arm is large in size and weight, in order to ensure that metal parts of the mechanical arm are tightly connected, a complex locking component is generally adopted to connect and fix the metal parts, when the mechanical arm has a damage problem, the mechanical arm parts are troublesome to disassemble and assemble, and the labor intensity of workers is increased; moreover, when the existing industrial robot mechanical arm carries out clamping and carrying on articles, the phenomenon of slippage exists between the clamping arm and the articles, and the articles are slipped, dropped and damaged to cause unnecessary economic loss.
Therefore, an industrial robot with a function of quickly assembling and disassembling a mechanical arm is provided.
Disclosure of Invention
The invention aims to provide an industrial robot with a function of quickly assembling and disassembling a mechanical arm, and aims to solve the problems that the existing industrial robot mechanical arm is large in volume and weight, and in order to ensure that metal parts of the mechanical arm are tightly connected, a complex locking component is generally adopted to connect and fix the metal parts, when the mechanical arm is damaged, the mechanical arm parts are troublesome to assemble and disassemble, and the labor intensity of workers is increased; and when the current industrial robot arm carries out centre gripping transport to article, there is the phenomenon of slippage between arm lock and article, and the article slippage falls and decreases the problem that causes unnecessary economic loss.
In order to achieve the purpose, the invention provides the following technical scheme: the industrial robot with the function of quickly assembling and disassembling the mechanical arm comprises a supporting plate and a supporting cylinder fixedly connected to the upper end of the supporting plate, wherein a protective cylinder is movably arranged at the top of the supporting cylinder, the bottom of the protective cylinder is fixedly connected with a bevel gear set, the bevel gear set is connected with the output end of a motor on the outer wall of the supporting cylinder, a mounting groove is formed in the upper end of a bottom plate of the protective cylinder, a mounting seat is movably clamped in the mounting groove, an electromagnet is embedded in the bottom of the mounting seat, positioning pieces are fixedly arranged at the upper ends of the bottom plates of the protective cylinders on two sides of the mounting seat and press fit with the bottom edges of the two sides of the mounting seat, the top end of the mounting seat extends to the position above a port at the top of the protective cylinder, a lifting seat is fixedly connected to the top end of the mounting seat, a pneumatic linear slide rail is movably clamped in a through groove in the pneumatic linear slide rail, and a clamping assembly is fixedly connected to the bottom of the pneumatic slide rail;
the setting element includes fixed connection in the support frame of protective barrel both sides bottom plate upper end and sets up the carousel between the support frame lateral wall through the fixed axle activity, the carousel is close to the spacing arch of fixedly connected with on the outer wall of mount pad one side, the fixed axle of carousel one side runs through the support frame lateral wall and extends to its opposite side, the terminal fixedly connected with telescopic connecting rod of fixed axle, the terminal swing joint in piston rod one end top of telescopic connecting rod, piston rod other end activity cup joints in adjusting the inflator, two sets of piston rod symmetric distribution are in the port at adjusting the inflator both ends, the terminal bottom fixedly connected with auxiliary of piston rod, the winding is provided with reset spring on auxiliary and the piston rod outer wall of adjusting between the inflator port lateral wall, fixedly connected with air duct on the department's lateral wall in the middle part of adjusting the inflator, the air nozzle on the terminal and protective barrel lateral wall of air duct is connected.
Further, the auxiliary member includes fixed connection in the isolation tube of the terminal bottom of piston rod and sets up the division board between the isolation tube lateral wall, division board upper end middle part department runs through and is provided with the spring beam, spring beam lower extreme fixedly connected with magnetism location fluted disc, protection barrel bottom plate upper end corresponds magnetism location fluted disc bottom skewed tooth department and all is provided with the draw-in groove, the isolation tube is linked together with the terminal inside cavity of piston rod, spring beam top fixedly connected with sphere end, the sphere end extends to in the cavity, and fixedly connected with elastic webbing on the cavity corresponds the port inner wall, the terminal fixedly connected with inclined plane magnetic path of elastic webbing, inclined plane magnetic path activity block is in the cavity.
Further, when the tail ends of the limiting protrusions are attached to the upper ends of the edges of the bottoms of the two sides of the mounting seat in a pressing mode, the tail ends of the piston rods are attached to the inner walls of the two sides of the protective cylinder, and the reset spring keeps in a stretching state.
Further, protection section of thick bamboo top both sides activity respectively are provided with the arc cardboard, and the arc cardboard passes through bottom draw-in groove activity block fit on the slide bar outer wall at protection section of thick bamboo both sides top, and the arc breach laminating in the middle part of arc cardboard polymerization back on the outer wall of mount pad cylinder, and arc cardboard top both sides fixedly connected with fixed plate respectively, and the fixed plate at two arc cardboard tops is corresponding respectively, and it is provided with adjusting screw to run through between corresponding fixed plate lateral wall.
Further, trepanning has been seted up respectively at the arc cardboard end lateral wall both ends of mount pad one side, the spacing groove has been seted up on the trepanning top, the constant head tank on the one side inner wall of port is kept away from to the trepanning, the constant head tank is linked together with the spacing groove, and the arc cardboard end lateral wall both ends of mount pad opposite side fixedly connected with guide post respectively, fixedly connected with stopper on the outer wall of one side of guide post, stopper and spacing groove and constant head tank phase-match, arc cardboard top adsorbs and is fixed with the regulation magnetic path.
Further, the centre gripping subassembly includes that fixed connection extends to its outside through the opening on the U type shell bottom plate in the U type shell with the regulation rim plate of activity joint in the U type shell bottom, the lower extreme of regulation rim plate, and has seted up heart-shaped guide way on the both sides outer wall of regulation rim plate, fixedly connected with handle bar on the regulation rim plate outer wall at heart-shaped guide way top, reference column on the movable block U type gallows top lateral wall in the heart-shaped guide way, U type gallows bottom plate upper end fixedly connected with elastomeric element, elastomeric element upper end fixedly connected with arc layer board, the arc layer board is laminated in adjusting the rim plate bottom, and U type gallows bottom swing joint has the movable block, the movable block through connection hanger plate sets up.
Further, there are main adjusting rods movably connected to the outer walls of the U-shaped shells on the two sides of the U-shaped hanger respectively, the tail ends of the main adjusting rods are movably connected to the side wall of the end of the moving pin, the moving pin is movably clamped in the through groove of the positioning seat connected to the top of the hanger plate, the positioning seat is fixedly connected to the U-shaped shells through the L-shaped hanger rods, auxiliary adjusting rods are movably connected to the side wall of the main adjusting rods, the tail ends of the auxiliary adjusting rods are movably connected to the side wall of the U-shaped shells, the tail ends of the moving pin are connected to the limiting clamping seats fixedly connected to the tops of the hanger plates, and clamping arms are fixedly connected to the bottoms of the hanger plates.
Further, when the top end of the U-shaped hanging bracket is located in the groove at the top of the heart-shaped guide groove, the elastic part keeps a compression state, at the moment, the tail end of the moving pin is inserted into the through hole of the limiting clamping seat, and the moving pin is inserted into the limiting clamping seat to be locked and connected with the hanging plate.
Further, the arm lock includes that fixed connection sets up the V type connecting rod between the mount of connecting hanger plate bottom both sides and activity, the terminal fixedly connected with solid fixed splint in V type connecting rod bottom, the relative connection hanger plate bottom fixedly connected with hydraulic boom in V type connecting rod top, the lower extreme activity of hydraulic boom cup joints on the outer wall of the spacing downthehole gag lever post in V type connecting rod top, and fixedly connected with roof pressure pole on the V type connecting rod outer wall of spacing downthehole adjacent department, it is provided with pressure sensor to correspond roof pressure pole department between the mount lateral wall, be provided with the display screen on the mount outer wall, the display screen is connected with the pressure sensor electricity, be provided with supplementary folder between V type connecting rod top lateral wall.
Further, supplementary folder includes the connecting strip of fixed connection on V type connecting rod top end outer wall, and swing joint has the carriage release lever between the lateral wall of connecting strip, and the terminal activity of carriage release lever is cup jointed in the port at connecting cylinder both ends, links to each other through the spring between the carriage release lever, and the terminal bottom fixedly connected with fixed strip of carriage release lever, the bottom fixed connection of fixed strip is by supplementary auxiliary splint.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides an industrial robot with a function of quickly assembling and disassembling a mechanical arm, wherein an air nozzle and an air guide tube are used for inflating an air adjusting cylinder by using inflation equipment, air pushes piston rods at two ends of the air adjusting cylinder to move outwards from ports, the end of the piston rod moves to abut against the inner wall of a protective cylinder, a telescopic connecting rod is driven to extend and deflect when the piston rod moves, the telescopic connecting rod drives a rotary table to deflect by using a fixed shaft, the rotary table drives a limiting bulge to deflect downwards, the tail end of the limiting bulge is pressed on the bottom edges at two sides of a mounting seat, when the equipment is started, an electromagnet at the bottom of the mounting seat is electrified to adsorb a mounting groove bottom plate and is matched with the pressing of the limiting bulge to fix the mechanical arm, when the equipment is closed, the electromagnet is powered off and loses magnetic force adsorption, an air needle is used for pressing the air nozzle to deflate the air adjusting cylinder, a reset spring drives the piston rod to retract and reset after deflation, the rotary table drives the limiting bulge to deflect upwards to release the pressing of the bottom edges of the mounting seat, directly take off the whole arm of mount pad in the mounting groove with directly changing convenient and fast.
2. The industrial robot with the quick assembling and disassembling function of the mechanical arm, which is provided by the invention, utilizes the handle lever to drive the adjusting wheel disc to rotate in the U-shaped shell sleeve, so that the positioning column on the side wall of the top of the U-shaped hanger frame is separated from the top groove of the heart-shaped guide groove, the U-shaped hanger frame slides downwards along the heart-shaped guide groove under the push of gravity and an elastic part, the positioning column on the side wall of the top of the U-shaped hanger frame slides down the bottom groove of the heart-shaped guide groove to drive the adjusting wheel disc to reset, the U-shaped hanger frame pushes the movable block to move towards the bottom of the connecting hanger plate, the auxiliary adjusting rod drives the main adjusting rod to deflect and move when the U-shaped hanger frame moves downwards, the main adjusting rod deflects and then pulls the movable pin in the through groove of the positioning seat to move towards the U-shaped hanger frame, so that the tail end of the movable pin is pulled out of the inner cavity of the limiting clamping seat at the top of the tail end of the connecting hanger plate, the clamping arm part at the bottom of the connecting hanger plate can be disassembled and replaced, the clamping arm can be installed again through reverse operation, so as to carry out quick assembly disassembly to arm clamping arm part, need not to wholly dismantle convenient to use to the arm.
3. The industrial robot with the function of quickly assembling and disassembling the mechanical arm, which is provided by the invention, the hydraulic suspender retracts to drive the V-shaped connecting rod to deflect, so that the fixed clamping plates at the tail end of the V-shaped connecting rod are close to each other to clamp an article, the V-shaped connecting rod drives the jacking rod to level the pressure sensor between the side walls of the fixed frame to detect the clamping pressure when deflecting, the display screen on the outer wall of the fixed frame is used for displaying, the deflection angle of the V-shaped connecting rod can be adjusted according to the pressure display to clamp the article which is suitable for the corresponding clamping force, the fixed clamping plates are ensured to have sufficient clamping force to clamp the article and prevent the article from being damaged due to overlarge clamping force, the movable rod in the port of the connecting cylinder is pulled to move when deflecting, the spring between the movable rods is stretched to adjust the distance between the auxiliary clamping plates, and the auxiliary clamping plates are simultaneously used for clamping the upper part of the article when the fixed clamping plates are close to the article, further guarantee the temperature of centre gripping article and decide, safe and reliable.
Drawings
Fig. 1 is a schematic view of the overall structure of an industrial robot with a quick assembling and disassembling function of a mechanical arm according to the invention;
FIG. 2 is a schematic view of a positioning member mounting structure of an industrial robot with a quick assembly and disassembly function of a mechanical arm according to the present invention;
FIG. 3 is a schematic structural diagram of a positioning element of an industrial robot with a rapid mechanical arm mounting and dismounting function according to the present invention;
FIG. 4 is a schematic structural diagram of an auxiliary part of an industrial robot with a quick assembly and disassembly function of a mechanical arm according to the invention;
FIG. 5 is a schematic diagram of an arc-shaped clamping plate mounting structure of an industrial robot with a quick assembling and disassembling function of a mechanical arm according to the invention;
FIG. 6 is a schematic structural diagram of an inner sleeve hole of an arc-shaped clamping plate of an industrial robot with a quick assembling and disassembling function of a mechanical arm;
fig. 7 is a schematic structural diagram of a clamping assembly of an industrial robot with a quick assembling and disassembling function of a mechanical arm according to the invention;
fig. 8 is an enlarged schematic structural view of a portion a in fig. 7 of an industrial robot with a robot arm quick-mounting and dismounting function according to the present invention;
FIG. 9 is a schematic diagram of a clamp arm structure of an industrial robot with a quick assembly and disassembly robot arm according to the present invention;
fig. 10 is a schematic structural diagram of an auxiliary clamp of an industrial robot with a robot arm quick-mounting and-dismounting function according to the present invention.
In the figure: 1. a support plate; 2. a support cylinder; 3. a protective cylinder; 4. a bevel gear set; 5. mounting grooves; 6. a mounting seat; 7. an electromagnet; 8. a positioning member; 81. a support frame; 82. a fixed shaft; 83. a turntable; 84. a limiting bulge; 85. a telescopic connecting rod; 86. a piston rod; 861. a cavity; 862. an elastic band; 863. an inclined plane magnetic block; 87. adjusting the air cylinder; 88. an auxiliary member; 881. an isolation pipe; 882. a partition plate; 883. a spring lever; 884. a magnetic positioning fluted disc; 885. a spherical end; 89. a return spring; 810. an air duct; 9. a lifting seat; 10. a pneumatic linear slide rail; 11. a pneumatic slider; 12. a clamping assembly; 121. a U-shaped shell sleeve; 122. adjusting the wheel disc; 123. a heart-shaped guide groove; 124. a handle bar; 125. a U-shaped hanging bracket; 126. an elastic member; 127. an arc-shaped supporting plate; 128. a moving block; 129. a main adjustment lever; 1210. a moving pin; 1211. connecting a hanging plate; 1212. positioning seats; 1213. an auxiliary adjusting rod; 1214. a limiting clamping seat; 1215. clamping arms; 12151. a fixed mount; 12152. a V-shaped connecting rod; 12153. fixing the clamping plate; 12154. a hydraulic boom; 12155. a limiting hole; 12156. a top pressure rod; 12157. a pressure sensor; 12158. a display screen; 12159. an auxiliary clamp; 121591, a connecting strip; 121592, travel bar; 121593, connecting cylinder; 121594, fixing strips; 121595, auxiliary splints; 13. an air tap; 14. an arc-shaped clamping plate; 141. trepanning; 142. a limiting groove; 143. positioning a groove; 144. a guide post; 145. a limiting block; 15. a fixing plate; 16. adjusting the screw rod; 17. an adjusting magnetic block.
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.
In order to solve the problems that the existing industrial robot mechanical arm is large in size and weight, and metal parts of the mechanical arm are tightly connected, a complex locking component is generally adopted to connect and fix the metal parts, when the mechanical arm is damaged, the mechanical arm parts are troublesome to disassemble and assemble, and the labor intensity of workers is increased, please refer to fig. 1-3, and the following preferred technical scheme is provided:
an industrial robot with a mechanical arm rapid assembly and disassembly function comprises a support plate 1 and a support cylinder 2 fixedly connected to the upper end of the support plate 1, wherein a protective cylinder 3 is movably arranged at the top of the support cylinder 2, a bevel gear set 4 is fixedly connected to the bottom of the protective cylinder 3, the bevel gear set 4 is connected with the output end of a motor on the outer wall of the support cylinder 2, a mounting groove 5 is formed in the upper end of the bottom plate of the protective cylinder 3, a mounting seat 6 is movably clamped in the mounting groove 5, an electromagnet 7 is embedded and mounted at the bottom of the mounting seat 6, the electromagnet 7 shares a power supply with equipment, a positioning piece 8 is fixedly mounted at the upper end of the bottom plate of the protective cylinder 3 at two sides of the mounting seat 6, the positioning piece 8 is pressed on the bottom edges at two sides of the mounting seat 6, the top end of the mounting seat 6 extends to the upper part of the top end port of the protective cylinder 3, a lifting seat 9 is fixedly connected to the top end of the lifting seat 9, a pneumatic linear slide rail 10 is movably clamped with a pneumatic slide block 11 in a through groove in the pneumatic linear slide rail 10, the bottom of the pneumatic sliding block 11 is fixedly connected with a clamping component 12.
The positioning member 8 comprises a support frame 81 fixedly connected to the upper ends of bottom plates at two sides of the protective cylinder 3 and a rotary table 83 movably arranged between the side walls of the support frame 81 through a fixed shaft 82, the rotary table 83 is fixedly connected with a limiting bulge 84 on the outer wall close to one side of the mounting seat 6, the fixed shaft 82 at one side of the rotary table 83 penetrates through the side wall of the support frame 81 and extends to the other side of the support frame, a telescopic connecting rod 85 is fixedly connected to the tail end of the fixed shaft 82, the tail end of the telescopic connecting rod 85 is movably connected to the top of one end of a piston rod 86, the other end of the piston rod 86 is movably sleeved in the adjusting cylinder 87, two groups of piston rods 86 are symmetrically distributed in ports at two ends of the adjusting cylinder 87, an auxiliary member 88 is fixedly connected to the bottom of the tail end of the piston rod 86, a reset spring 89 is wound on the outer wall of the piston rod 86 between the auxiliary member 88 and the port side wall of the adjusting cylinder 87, an air guide tube 810 is fixedly connected to an air guide tube 810, and the air tap 13 on the side wall of the protective cylinder 3.
Specifically, the air cylinder 87 is inflated by using an inflating device through an air nozzle 13 and an air duct 810, the air pushes piston rods 86 at two ends of the air cylinder 87 to move outwards from ports, the end heads of the piston rods 86 move against the inner wall of the protective cylinder 3, the piston rods 86 drive telescopic connecting rods 85 to extend and deflect when moving, the telescopic connecting rods 85 drive rotating discs 83 to deflect through fixing shafts 82, the rotating discs 83 drive limiting bulges 84 to deflect downwards, the tail ends of the limiting bulges 84 are pressed on the bottom edges of two sides of a mounting seat 6, when the device is started, the bottom plate of an electromagnet 7 at the bottom of the mounting seat 6 is electrified and adsorbs a mounting groove 5 to fix a mechanical arm in a matched mode through pressing of the limiting bulges 84, after the device is closed, the electromagnet 7 is powered off and loses magnetic adsorption, the air nozzle 13 is pressed by using an air needle to deflate the adjusting cylinder 87, after deflation, a return spring 89 drives the piston rods 86 to retract, the rotating discs 83 drive the limiting bulges 84 to deflect upwards to release the pressing on the bottom edges of the mounting seat 6, directly take off the whole arm of mount pad 6 even taking directly from mounting groove 5 and change convenient and fast.
In order to ensure the installation stability of the installation seat 6, as shown in fig. 3-6, the following preferred technical solutions are provided:
the auxiliary member 88 comprises an isolation tube 881 fixedly connected to the bottom of the end of the piston rod 86 and a partition plate 882 arranged between the side walls of the isolation tube 881, a spring rod 883 is arranged at the middle of the upper end of the partition plate 882 in a penetrating manner, a magnetic positioning fluted disc 884 is fixedly connected to the lower end of the spring rod 883, clamping grooves are formed in the upper end of the bottom plate of the protective cylinder 3 corresponding to inclined teeth at the bottom of the magnetic positioning fluted disc 884, the isolation tube 881 is communicated with a cavity 861 in the end of the piston rod 86, a spherical end 885 is fixedly connected to the top end of the spring rod 883, the spherical end 885 extends into the cavity 861, an elastic belt 862 is fixedly connected to the inner wall of the corresponding port of the cavity 861, an inclined magnetic block 863 is fixedly connected to the end of the elastic belt 862, and the inclined magnetic block 863 is movably clamped in the cavity 861.
When the terminal pressfitting of spacing arch 84 is attached in 6 both sides bottom border upper ends of mount pad, 3 both sides inner walls of protective barrel of terminal laminating of piston rod 86, and reset spring 89 keeps tensile state, at this moment, inclined plane magnetic path 863 adsorbs 3 inner walls of protective barrel and removes to the adjacent department of cavity 861 port, inclined plane magnetic path 863 extrudees spherical end 885 and promotes magnetism location fluted disc 884 and extend to the isolation tube 881 bottom port outside, magnetism location fluted disc 884 bottom skewed tooth pegs graft in the draw-in groove of 3 bottom plates upper ends of protective barrel, the draw-in groove volume is greater than the volume of magnetism location fluted disc 884 bottom skewed tooth.
Arc-shaped clamping plates 14 are movably arranged on two sides of the top of the protective cylinder 3 respectively, the arc-shaped clamping plates 14 are movably clamped on the outer walls of the sliding rods at the tops of the two sides of the protective cylinder 3 through bottom clamping grooves, the arc-shaped notches in the middle of the arc-shaped clamping plates 14 after polymerization butt joint are attached to the outer walls of the cylinders of the mounting seats 6, fixing plates 15 are fixedly connected to two sides of the top of each arc-shaped clamping plate 14 respectively, the fixing plates 15 at the tops of the two arc-shaped clamping plates 14 are corresponding respectively, and adjusting screws 16 are arranged between the side walls of the corresponding fixing plates 15 in a penetrating mode.
Specifically, after the adjusting cylinder 87 is inflated to push the piston rod 86 to abut against the inner wall of the protective cylinder 3, the inclined magnetic block 863 in the cavity 861 is attracted by the inner wall of the protective cylinder 3 to move to the adjacent position of the port of the cavity 861, the inclined magnetic block 863 is inclined to extrude the spherical end 885 to push the magnetic positioning fluted disc 884 to extend to the outer side of the port at the bottom of the isolating pipe 881, the inclined teeth at the bottom of the magnetic positioning fluted disc 884 are inserted into the clamping grooves at the upper end of the bottom plate of the protective cylinder 3 to longitudinally adsorb and fix the piston rod 86, so as to strengthen the longitudinal fixation of the piston rod 86, and the clamp mounting seat 6 is jointed by the arc-shaped clamping plates 14 in a polymerization manner, so as to strengthen the mounting stability of the mounting seat 6 and the whole mechanical arm, after the piston rod 86 slides the yielding space of the clamping grooves, the elastic belt drives the inclined magnetic block 863 to move away from the inner wall of the protective cylinder 3 to attract, the elastic band 862 drives the inclined magnetic block 863 to reset, the spring rod 883 drives the magnetic positioning fluted disc 884 to be pulled out of the slot to reset, and the piston rod 86 can move transversely.
In order to realize the quick assembly and disassembly of the mechanical arm clamping assembly, as shown in fig. 1, 7 and 8, the following preferred technical solutions are provided:
the clamping assembly 12 comprises a U-shaped shell 121 fixedly connected to the bottom of the pneumatic slider 11 and an adjusting wheel disc 122 movably clamped in the U-shaped shell 121, the lower end of the adjusting wheel disc 122 extends to the outside of the adjusting wheel disc through a through hole in the bottom plate of the U-shaped shell 121, heart-shaped guide grooves 123 are formed in the outer walls of the two sides of the adjusting wheel disc 122, handle rods 124 are fixedly connected to the outer walls of the adjusting wheel disc 122 at the tops of the heart-shaped guide grooves 123, positioning columns are movably clamped on the side walls of the tops of U-shaped hanging brackets 125 in the heart-shaped guide grooves 123, elastic parts 126 are fixedly connected to the upper ends of the bottom plates of the U-shaped hanging brackets 125, arc-shaped supporting plates 127 are fixedly connected to the upper ends of the elastic parts 126, the arc-shaped supporting plates 127 are attached to the bottoms of the adjusting wheel disc 122, movable blocks 128 are movably connected to the bottoms of the U-shaped hanging brackets 125, and the movable blocks 128 are connected with the hanging plates 1211 in a penetrating mode.
The outer walls of the U-shaped shell 121 on both sides of the U-shaped hanger 125 are movably connected with a main adjusting rod 129 respectively, the tail end of the main adjusting rod 129 is movably connected to the side wall of the end head of the moving pin 1210, the moving pin 1210 is movably clamped in a through groove of a positioning seat 1212 at the top of the connecting hanger plate 1211, the positioning seat 1212 is fixedly connected with the U-shaped shell 121 through an L-shaped hanger rod, the side wall of the main adjusting rod 129 is movably connected with an auxiliary adjusting rod 1213, the tail end of the auxiliary adjusting rod 1213 is movably connected to the side wall of the U-shaped shell 121, the top of the connecting hanger plate 1211 opposite to the tail end of the moving pin 1210 is fixedly connected with a limiting clamping seat 1214, and the bottom of the connecting hanger plate 1211 is fixedly connected with a clamping arm 1215.
When the top end of the U-shaped hanger 125 is located in the groove at the top of the heart-shaped guide groove 123, the elastic member 126 is kept in a compressed state, and at this time, the end of the moving pin 1210 is inserted into the opening of the limit clamp seat 1214, and the moving pin 1210 is inserted into the limit clamp seat 1214 to lock the connection hanger 1211.
Specifically, the adjusting wheel disc 122 is driven by the handle rod 124 to rotate in the U-shaped casing 121, so that the positioning post on the top side wall of the U-shaped hanger 125 is separated from the top groove of the heart-shaped guiding groove 123, the U-shaped hanger 125 slides downwards along the heart-shaped guiding groove 123 under the push of gravity and the elastic component 126, the adjusting wheel disc 122 is driven to reset when the positioning post on the top side wall of the U-shaped hanger 125 slides down the bottom groove of the heart-shaped guiding groove 123, the U-shaped hanger 125 pushes the moving block 128 to move towards the bottom of the connecting hanging plate 1211, the main adjusting rod 129 is driven by the auxiliary adjusting rod 1213 to perform deflection movement when the U-shaped hanger 125 moves downwards, the main adjusting rod 129 pulls the moving pin 1210 in the through groove of the positioning seat 1212 to move towards the U-shaped hanger 125 after deflection, so that the end of the moving pin 1210 is pulled out of the inner cavity of the limit cassette 1214 at the top of the end of the connecting hanging plate 1211, and the clamping arm part 1215 can be removed and replaced, the reverse operation is again performed to quickly disassemble and assemble arm clamp arm 1215 portion of the robot without disassembling the robot arm as a whole.
When carrying out the centre gripping transport in order to solve current industrial robot arm to article, there is the phenomenon of slippage between arm lock 1215 and article, and the article slippage drops and falls the problem that decreases and cause unnecessary economic loss, provides following preferred technical scheme:
the clamping arm 1215 comprises a fixing frame 12151 fixedly connected to two sides of the bottom of the connecting suspension plate 1211 and a V-shaped connecting rod 12152 movably arranged between side walls of the fixing frame 12151, the tail end of the bottom of the V-shaped connecting rod 12152 is fixedly connected with a fixing clamping plate 12153, the bottom of the connecting suspension plate 1211 opposite to the top of the V-shaped connecting rod 12152 is fixedly connected with a hydraulic suspension rod 12154, the lower end of the hydraulic suspension rod 12154 is movably sleeved on the outer wall of a limiting rod in a limiting hole 12155 at the top of the V-shaped connecting rod 12152, a jacking rod 12156 is fixedly connected to the outer wall of the V-shaped connecting rod 12152 adjacent to the limiting hole 12155, a pressure sensor 12157 is arranged between side walls of the fixing frame 12151 corresponding to the jacking rod 12156, a display screen 12158 is arranged on the outer wall of the fixing frame 12151, the display screen 12158 is electrically connected with the pressure sensor 12157, and an auxiliary clamping member 12159 is arranged between side walls of the top of the V-shaped connecting rod 12152.
The auxiliary clamp 12159 includes a connecting bar 121591 fixedly connected to the outer wall of the top end of the V-shaped connecting rod 12152, a moving rod 121592 is movably connected between the side walls of the connecting bar 121591, the tail end of the moving rod 121592 is movably sleeved in the ports at the two ends of the connecting cylinder 121593, the moving rod 121592 is connected through a spring, a fixing bar 121594 is fixedly connected to the bottom of the tail end of the moving rod 121592, and the bottom of the fixing bar 121594 is fixedly connected to an auxiliary clamp 121595.
Specifically, the hydraulic suspender 12154 retracts to drive the V-shaped connecting rod 12152 to deflect, so that the fixed clamping plates 12153 at the tail ends of the V-shaped connecting rods 12152 are close to each other to clamp an article, the V-shaped connecting rods 12152 deflect to drive the jacking rods 12156 to constantly press the pressure sensors 12157 between the side walls of the fixed frames 12151 to detect clamping pressure, the clamping pressure is displayed by using the display screens 12158 on the outer walls of the fixed frames 12151, the deflection angle of the V-shaped connecting rods 12152 can be adjusted according to the pressure display to clamp the article adapting to the corresponding clamping force, the article is ensured to be clamped and prevented from slipping off by sufficient clamping force of the fixed clamping plates 12153, the article is prevented from being damaged due to overlarge clamping force, the moving rods 121592 in the ports of the connecting cylinders 121593 are pulled to move when the V-shaped connecting rods 12152 deflect, the spacing of the auxiliary clamping plates 121595 is adjusted by the springs between the stretching moving rods 121592, and the auxiliary clamping plates 121595 are used for secondary clamping the upper portion of the article when the fixed clamping plates 12153 are close to each other, further guarantee the temperature of centre gripping article and decide, safe and reliable.
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. Industrial robot with arm is installed and removed function fast, including backup pad (1) and fixed connection in a supporting cylinder (2) of backup pad (1) upper end, supporting cylinder (2) top activity is provided with a protective cylinder (3), and protective cylinder (3) bottom fixedly connected with bevel gear group (4), and bevel gear group (4) are connected its characterized in that with the motor output end on supporting cylinder (2) outer wall: the upper end of the bottom plate of the protective barrel (3) is provided with a mounting groove (5), a mounting seat (6) is movably clamped in the mounting groove (5), an electromagnet (7) is embedded in the bottom of the mounting seat (6), positioning pieces (8) are fixedly mounted at the upper ends of the bottom plates of the protective barrels (3) on the two sides of the mounting seat (6), the positioning pieces (8) press the edges of the bottoms on the two sides of the mounting seat (6), the top end of the mounting seat (6) extends to the position above the top port of the protective barrel (3), the top of the mounting seat (6) is fixedly connected with a lifting seat (9), the top end of the lifting seat (9) is fixedly connected with a pneumatic linear slide rail (10), a pneumatic slide block (11) is movably clamped in a through groove in the pneumatic linear slide rail (10), and the bottom of the pneumatic slide block (11) is fixedly connected with a clamping component (12);
the positioning piece (8) comprises a support frame (81) fixedly connected to the upper ends of bottom plates on two sides of the protective cylinder (3) and a rotary table (83) movably arranged between the side walls of the support frame (81) through a fixed shaft (82), a limit bulge (84) is fixedly connected to the outer wall of one side of the rotary table (83) close to the mounting seat (6), the fixed shaft (82) on one side of the rotary table (83) penetrates through the side wall of the support frame (81) and extends to the other side of the support frame, a telescopic connecting rod (85) is fixedly connected to the tail end of the fixed shaft (82), the tail end of the telescopic connecting rod (85) is movably connected to the top of one end of a piston rod (86), the other end of the piston rod (86) is movably sleeved in the adjusting air cylinder (87), two groups of piston rods (86) are symmetrically distributed in ports at two ends of the adjusting air cylinder (87), an auxiliary piece (88) is fixedly connected to the bottom of the tail end of the piston rod (86), a reset spring (89) is wound on the outer wall of the piston rod (86) between the side wall of the port of the auxiliary piece (88) and the adjusting air cylinder (87), the side wall of the middle part of the adjusting air cylinder (87) is fixedly connected with an air duct (810), and the tail end of the air duct (810) is connected with an air nozzle (13) on the side wall of the protective cylinder (3).
2. An industrial robot having a robot arm quick-attach/detach function according to claim 1, characterized in that: the auxiliary part (88) comprises an isolation pipe (881) fixedly connected to the bottom of the tail end of the piston rod (86) and a partition plate (882) arranged between the side walls of the isolation pipe (881), a spring rod (883) penetrates through the middle of the upper end of the partition plate (882), a magnetic positioning fluted disc (884) is fixedly connected to the lower end of the spring rod (883), clamping grooves are respectively arranged at the upper end of the bottom plate of the protective barrel (3) corresponding to inclined teeth at the bottom of the magnetic positioning fluted disc (884), the isolation pipe (881) is communicated with a cavity (861) inside the tail end of the piston rod (86), a spherical end (885) is fixedly connected to the top end of the spring rod (883), and the spherical end (885) extends into the cavity (861), an elastic belt (862) is fixedly connected to the inner wall of the port corresponding to the cavity (861), an inclined magnetic block (863) is fixedly connected to the tail end of the elastic belt (862), and the inclined magnetic block (863) is movably clamped in the cavity (861).
3. An industrial robot having a robot arm quick-attach/detach function according to claim 2, characterized in that: when spacing arch (84) end pressfitting is attached in mount pad (6) both sides bottom border upper end, piston rod (86) end laminating protective barrel (3) both sides inner wall, and reset spring (89) keep tensile state, at this moment, inclined plane magnetic path (863) adsorb protective barrel (3) inner wall and remove to cavity (861) port adjacent department, inclined plane magnetic path (863) extrusion sphere end (885) promote magnetism location fluted disc (884) and extend to the isolation tube (881) bottom port outside, magnetism location fluted disc (884) bottom skewed tooth is pegged graft in the draw-in groove of protective barrel (3) bottom plate upper end, the draw-in groove volume is greater than the volume of magnetism location fluted disc (884) bottom skewed tooth.
4. An industrial robot having a robot arm quick-attach/detach function according to claim 3, characterized in that: arc cardboard (14) are movably provided with respectively to a protection section of thick bamboo (3) top both sides, arc cardboard (14) pass through bottom draw-in groove activity block fit on the slide bar outer wall at a protection section of thick bamboo (3) both sides top, the arc breach laminating of arc cardboard (14) polymerization back its middle part is on the outer wall of mount pad (6) cylinder, and arc cardboard (14) top both sides fixedly connected with fixed plate (15) respectively, fixed plate (15) at two arc cardboard (14) tops are corresponding respectively, it is provided with adjusting screw (16) to run through between corresponding fixed plate (15) lateral wall.
5. An industrial robot having a robot arm quick-attach/detach function according to claim 4, wherein: trepanning (141) have been seted up respectively at the arc cardboard (14) end lateral wall both ends of mount pad (6) one side, spacing groove (142) have been seted up on trepanning (141) top, constant head tank (143) on the one side inner wall of port is kept away from in trepanning (141), constant head tank (143) are linked together with spacing groove (142), and arc cardboard (14) end lateral wall both ends of mount pad (6) opposite side fixedly connected with guide post (144) respectively, fixedly connected with stopper (145) on the one side outer wall of guide post (144), stopper (145) and spacing groove (142) and constant head tank (143) phase-match, arc cardboard (14) top adsorbs to be fixed with adjusting magnet (17).
6. An industrial robot having a robot arm quick-attach/detach function according to claim 5, wherein: the clamping assembly (12) comprises a U-shaped shell (121) fixedly connected to the bottom of the pneumatic slider (11) and an adjusting wheel disc (122) movably clamped in the U-shaped shell (121), the lower end of the adjusting wheel disc (122) extends to the outside of the adjusting wheel disc through a through hole in the bottom plate of the U-shaped shell (121), heart-shaped guide grooves (123) are formed in the outer walls of the two sides of the adjusting wheel disc (122), a handle rod (124) is fixedly connected to the outer wall of the adjusting wheel disc (122) at the top of the heart-shaped guide grooves (123), positioning columns movably clamped on the side walls of the top of the U-shaped hanging frame (125) in the heart-shaped guide grooves (123), an elastic part (126) is fixedly connected to the upper end of the bottom plate of the U-shaped hanging frame (125), an arc-shaped supporting plate (127) is fixedly connected to the upper end of the elastic part (126), the arc-shaped supporting plate (127) is jointed to the bottom of the adjusting wheel disc (122), and a moving block (128) is movably connected to the bottom of the U-shaped hanging frame (125), the moving block (128) is arranged through the connecting hanger plate (1211).
7. An industrial robot having a robot arm quick-attach/detach function according to claim 6, wherein: the outer walls of U-shaped shells (121) on two sides of a U-shaped hanging bracket (125) are respectively movably connected with a main adjusting rod (129), the tail ends of the main adjusting rods (129) are movably connected onto the side wall of the end head of a moving pin (1210), the moving pin (1210) is movably clamped in a through groove of a positioning seat (1212) connected with the top of a hanging plate (1211), the positioning seat (1212) is fixedly connected with the U-shaped shells (121) through an L-shaped hanging rod, the side wall of the main adjusting rod (129) is movably connected with an auxiliary adjusting rod (1213), the tail ends of the auxiliary adjusting rods (1213) are movably connected onto the side wall of the U-shaped shells (121), the top of the connecting hanging plate (1211) opposite to the tail end of the moving pin (1210) is fixedly connected with a limiting clamping seat (1214), and the bottom of the connecting hanging plate (1211) is fixedly connected with clamping arms (1215).
8. An industrial robot having a robot arm quick-attach/detach function according to claim 7, wherein: when the top end of the U-shaped hanger (125) is positioned in the groove at the top of the heart-shaped guide groove (123), the elastic component (126) keeps a compressed state, at the moment, the tail end of the movable pin (1210) is inserted into the opening of the limit clamping seat (1214), and the movable pin (1210) is inserted into the limit clamping seat (1214) to be locked and connected with the hanger plate (1211).
9. An industrial robot having a robot arm quick-attach/detach function according to claim 8, wherein: the clamping arm (1215) comprises a fixed frame (12151) fixedly connected with two sides of the bottom of the connecting hanger plate (1211) and a V-shaped connecting rod (12152) movably arranged between the side walls of the fixed frame (12151), the tail end of the bottom of the V-shaped connecting rod (12152) is fixedly connected with a fixed clamping plate (12153), the bottom of the connecting hanger plate (1211) opposite to the top of the V-shaped connecting rod (12152) is fixedly connected with a hydraulic suspender (12154), the lower end of the hydraulic suspender (12154) is movably sleeved on the outer wall of a limiting rod in a limiting hole (12155) at the top of the V-shaped connecting rod (12152), and the outer wall of the V-shaped connecting rod (12152) at the adjacent position of the limiting hole (12155) is fixedly connected with a top pressure rod (12156), a pressure sensor (12157) is arranged between the side walls of the fixing frame (12151) corresponding to the top pressure rod (12156), a display screen (12158) is arranged on the outer wall of the fixing frame (12151), the display screen (12158) is electrically connected with the pressure sensor (12157), and an auxiliary clamping piece (12159) is arranged between the side walls of the top of the V-shaped connecting rod (12152).
10. An industrial robot having a robot arm quick-attach/detach function according to claim 8, wherein: supplementary folder (12159) are including connecting strip (121591) on fixed connection V type connecting rod (12152) top end outer wall, swing joint has carriage release lever (121592) between the lateral wall of connecting strip (121591), the terminal activity of carriage release lever (121592) is cup jointed in the port at connecting cylinder (121593) both ends, link to each other through the spring between carriage release lever (121592), and carriage release lever (121592) terminal bottom fixedly connected with fixed strip (121594), the bottom fixed connection of fixed strip (121594) is by supplementary auxiliary splint (121595).
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| CN202210378564.3A CN114800446B (en) | 2022-04-12 | 2022-04-12 | Industrial robot with mechanical arm quick assembly and disassembly functions |
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| CN114800446B (en) | 2023-08-01 |
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Effective date of registration: 20231129 Address after: Room 44, No. 586 Zhenxin East Road, Zhangpu Town, Kunshan City, Suzhou City, Jiangsu Province, 215000 Patentee after: Tiaokai Robotics (Suzhou) Co.,Ltd. Address before: 215000 Room 102, building 1, No. 1, Xinhua Village Road East, Huayang village, Wangting Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: Suzhou xunya Automation Control Technology Co.,Ltd. |
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