CN116494218B - Multi-joint industrial robot capable of self-adapting operation - Google Patents
Multi-joint industrial robot capable of self-adapting operation Download PDFInfo
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- CN116494218B CN116494218B CN202310788725.0A CN202310788725A CN116494218B CN 116494218 B CN116494218 B CN 116494218B CN 202310788725 A CN202310788725 A CN 202310788725A CN 116494218 B CN116494218 B CN 116494218B
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- support arm
- electric push
- push rod
- servo motor
- rod
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- 238000000034 method Methods 0.000 abstract description 36
- 230000002146 bilateral effect Effects 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
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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
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a multi-joint industrial robot capable of being operated in a self-adaptive mode, which comprises a first servo motor, wherein the output end of the first servo motor is provided with a rotating shaft, the top of the rotating shaft is provided with a connecting plate, the top of the connecting plate is provided with a support column, and the top of the support column is hinged with a first support arm; according to the invention, under the cooperation of the first electric push rod, the second electric push rod, the first support arm, the second support arm and the third support arm, the industrial robot can better adjust the position of the first electric push rod, the second support arm and the third support arm to grasp objects for carrying, and meanwhile, the mechanical arm can be better adjusted to grasp objects in the carrying process, and meanwhile, under the cooperation of the outer sleeve rod, the stable slide rod, the third electric push rod, the support frame and the sliding frame, the arm length of the mechanical arm can be adjusted, so that the movable range of the mechanical arm is adjusted, and when different objects are carried by the mechanical arm, the arm length of the mechanical arm can be adjusted to better carry the objects.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-joint industrial robot capable of self-adaptively operating.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, can realize various industrial processing and manufacturing functions by means of self power energy and control capability, and is widely applied to various industrial fields such as electronics, logistics, chemical industry and the like.
The existing multi-joint industrial robot has the following defects:
in the process of carrying objects by the robot, the mechanical arms for grabbing the objects have certain limitation, if the robot carries heavier objects, the arm lengths of the mechanical arms cannot be longer, if the arm lengths are longer, the situation that the mechanical arms move unstably can be caused in the process of grabbing the objects, or the robots for grabbing the objects are larger, but the larger robots occupy a lot of space easily, and meanwhile, if the robots with shorter arm lengths are used, the range for grabbing the objects is small, and a lot of working environments cannot be used;
meanwhile, in the process of carrying the objects by the robot, as some objects are directly placed, the orientations of the objects are sometimes not opposite in the process of grabbing, but the objects are clamped on the mechanical arm in the process of grabbing the objects by the robot, and the orientations of the objects need to be adjusted again after the objects are transported to the designated positions, so that the working efficiency is reduced.
Disclosure of Invention
The invention aims to provide an adaptive operation multi-joint industrial robot, which solves the problems that in the prior art, the robot arm for grabbing objects has certain limitation in the process of carrying the objects, if the robot arm carries heavier objects, the arm length of the robot arm cannot be longer, if the arm length is longer, the condition that the movement of the robot arm is unstable in the process of grabbing the objects can be caused, or the robot for grabbing the objects is larger, but the larger robot occupies a lot of space easily, and meanwhile, if the robot arm length is shorter, the range for grabbing the objects is small, and a lot of working environments cannot be used; meanwhile, in the process of carrying the objects by the robot, as some objects are directly placed, the orientations of the objects are sometimes not opposite in the process of grabbing, but the objects are clamped on the mechanical arm in the process of grabbing the objects by the robot, and the orientations of the objects need to be adjusted again after the objects are transported to the designated positions, so that the working efficiency is reduced.
In order to achieve the above purpose, the present invention provides the following technical solutions: including a servo motor, a servo motor's output is equipped with the axis of rotation, the top of axis of rotation is equipped with the connecting plate, the top of connecting plate is equipped with the pillar, the top of pillar articulates there is first support arm, one side of pillar is equipped with first electric putter, the output and the first support arm interconnect of first electric putter, the centre of first support arm one side is equipped with the third electric putter, the output of third electric putter is equipped with the second support arm, the bottom of second support arm one side is equipped with the carriage, the one end of first support arm one side is equipped with the support frame, the output and the second support arm of third electric putter link to each other, one side of second support arm is equipped with the second electric putter, the bottom of second support arm articulates there is the third support arm, the output and the third of second electric putter link to each other, the bottom of third support arm is equipped with the rotating frame, the bottom of rotating frame is equipped with snatchs the subassembly.
Preferably, the grabbing component comprises fourth electric putter, mounting bracket, incomplete gear, second servo motor, articulated rod, splint, spring, adapter sleeve, spliced pole, third servo motor and connection slide bar, the bottom of rotating turret articulates there is the mounting bracket, the one end of mounting bracket is equipped with the second servo motor, the inside bilateral symmetry dead axle rotation of mounting bracket is connected with incomplete gear, the output and the incomplete gear of second servo motor link to each other, the bottom of incomplete gear is equipped with the articulated rod, the bottom of articulated rod is equipped with the spliced pole, the outside of spliced pole is equipped with adapter sleeve, adapter sleeve's inside sliding connection has the spring, the outside of spring is equipped with the connection slide bar, one side of spliced pole is equipped with the splint, the one end of articulated rod is equipped with the third servo motor, the bilateral symmetry of rotating turret articulates there is fourth electric putter, the output and the mounting bracket of fourth electric putter link to each other.
Preferably, a motor bin is arranged on the outer side of the first servo motor, and a supporting plate is arranged at the bottom of the motor bin.
Preferably, the top and the bottom of one side of the first support arm are symmetrically provided with outer sleeve rods, and the inner parts of the outer sleeve rods are connected with stable sliding rods in a sliding manner.
Preferably, the splint is made of an arc-shaped structure, and one side of the splint is provided with anti-skid patterns.
Preferably, the bottom of articulated pole is equipped with the mounting groove, and rotates the post and be located the inside of mounting groove, the one end of articulated pole is equipped with the connecting axle, and rotates the post and be located the outside of connecting axle.
Preferably, the bottom of the mounting frame is provided with a through groove, and the incomplete gear is positioned in the through groove.
Preferably, the two sides of the bottom of the rotating frame are symmetrically provided with hinge frames, and the fourth electric push rod is positioned in the hinge frames.
Preferably, the top of the pillar is provided with a connecting frame, and the first support arm is hinged with the inside of the connecting frame.
Compared with the prior art, the invention provides the multi-joint industrial robot capable of self-adaptively operating, which has the following beneficial effects:
1. according to the invention, the industrial robot can better adjust the position of the first electric push rod, the second electric push rod, the first support arm, the second support arm and the third support arm to grasp objects for carrying, and meanwhile, the mechanical arm of the robot can be adjusted in the carrying process to better adjust the mechanical arm to grasp objects, and meanwhile, the arm length of the mechanical arm can be adjusted through the cooperation of the outer sleeve rod, the stable slide rod, the third electric push rod, the support frame and the sliding frame, so that the moving range of the mechanical arm is adjusted, the arm length of the mechanical arm can be adjusted to better carry objects when the mechanical arm carries different objects, the unstable condition of the mechanical arm when carrying some heavier objects is avoided, and the arm length of the mechanical arm can be improved to better improve the moving range when carrying some lighter objects for carrying.
2. According to the invention, the orientation of the object can be adjusted and clamped by the rotating frame, the fourth electric push rod and the mounting frame in the process of grabbing the object by the robot, so that the object can be conveniently placed, the convenience of object adjustment is improved, the subsequent object can be directly processed, meanwhile, the grabbing force of the robot can be maintained in the process of grabbing the object by the robot by the aid of the clamping plate, the spring, the connecting sleeve, the rotating column, the third servo motor and the connecting slide rod in the matching of the clamping plate, so that damage to the object caused by overlarge clamping force in the process of grabbing the object by the robot is effectively prevented, and the third servo motor can drive the grabbed object to slowly slide downwards when some heavy objects are grabbed, so that damage to the place is prevented.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A in accordance with the present invention;
FIG. 3 is an enlarged view of FIG. 1 at B in accordance with the present invention;
FIG. 4 is a bottom view of the mounting bracket of the present invention;
FIG. 5 is a top view of the first servomotor of the present invention;
fig. 6 is a front view of a fourth electric putter in accordance with the present invention.
In the figure: 1. a first servo motor; 2. a rotating shaft; 3. a connecting plate; 4. a support post; 5. a first electric push rod; 6. a first arm; 7. a second arm; 8. a third arm; 9. a second electric push rod; 10. a stabilizing slide bar; 11. a carriage; 12. a support frame; 13. a third electric push rod; 14. an outer sleeve rod; 15. an incomplete gear; 16. a second servo motor; 17. a mounting frame; 18. a hinge rod; 19. a clamping plate; 20. a spring; 21. a connection sleeve; 22. rotating the column; 23. a third servo motor; 24. connecting a slide bar; 25. a fourth electric push rod; 26. and a rotating frame.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the present invention provides a technical solution: the utility model provides a but self-adaptation operation's multi-joint industrial robot, including first servo motor 1, first servo motor 1's output is equipped with axis of rotation 2, axis of rotation 2's top is equipped with connecting plate 3, connecting plate 3's top is equipped with pillar 4, pillar 4's top articulates there is first support arm 6, one side of pillar 4 is equipped with first electric putter 5, first electric putter 5's output and first support arm 6 interconnect, first support arm 6 one side's centre is equipped with third electric putter 13, third electric putter 13's output is equipped with second support arm 7, second support arm 7 one side's bottom is equipped with carriage 11, first support arm 6 one side's one end is equipped with support frame 12, third electric putter 13's output links to each other with second support arm 7, one side of second support arm 7 is equipped with second electric putter 9, second support arm 7's bottom articulates there is third support arm 8, second electric putter 9's output links to each other with third support arm 8, third support arm 8's bottom is equipped with rotating frame 26, rotating frame 26's bottom is equipped with the subassembly of snatching.
As a preferable scheme of the present embodiment: the grabbing component comprises a fourth electric putter 25, the mounting bracket 17, the incomplete gear 15, the second servo motor 16, articulated rod 18, splint 19, spring 20, adapter sleeve 21, the spliced pole 22, third servo motor 23 and connecting slide bar 24, the bottom of rotating turret 26 articulates there is mounting bracket 17, the one end of mounting bracket 17 is equipped with second servo motor 16, the inside bilateral symmetry dead axle rotation of mounting bracket 17 is connected with incomplete gear 15, the output and the incomplete gear 15 of second servo motor 16 link to each other, the bottom of incomplete gear 15 is equipped with articulated rod 18, the bottom of articulated rod 18 is equipped with spliced pole 22, the outside of spliced pole 22 is equipped with adapter sleeve 21, the inside sliding connection of adapter sleeve 21 has spring 20, the outside of spring 20 is equipped with connecting slide bar 24, one side of spliced pole 22 is equipped with splint 19, the one end of articulated rod 18 is equipped with third servo motor 23, the both sides symmetry of rotating turret 26 articulates there is fourth electric putter 25, the output and the mounting bracket 17 link to each other, the in-process that the robot snatched, can adjust the face of holding the article, thereby make things convenient for putting of follow-up article, improve the nature of article adjustment, can directly hold the people and prevent the condition that the subsequent handling of the robot from happening and damaging the condition because of the subsequent machine is happening, the subsequent handling of the condition of the great damage, the people can take place, simultaneously.
As a preferable scheme of the present embodiment: the outside of first servo motor 1 is equipped with the motor storehouse, and the bottom in motor storehouse is equipped with the backup pad, protects it, guarantees its stability.
As a preferable scheme of the present embodiment: the top and the bottom symmetry of first support arm 6 one side are equipped with outer loop bar 14, and the inside sliding connection of outer loop bar 14 has stable slide bar 10, guarantees the stability of second support arm 7 in the removal in-process.
As a preferable scheme of the present embodiment: the splint 19 is made by arc structure, and one side of splint 19 is equipped with anti-skidding line, improves the stability of centre gripping.
As a preferable scheme of the present embodiment: the bottom of articulated pole 18 is equipped with the mounting groove, and rotates post 22 and be located the inside of mounting groove, and the one end of articulated pole 18 is equipped with the connecting axle, and rotates post 22 and be located the outside of connecting axle, is convenient for install.
As a preferable scheme of the present embodiment: the bottom of the mounting frame 17 is provided with a through groove, and the incomplete gears 15 are positioned in the through groove, so that the two groups of incomplete gears 15 can rotate, and then the object is clamped.
As a preferable scheme of the present embodiment: the hinged frame is symmetrically arranged on two sides of the bottom of the rotating frame 26, and the fourth electric push rod 25 is located in the hinged frame, so that the fourth electric push rod 25 can be installed, and the position of the fourth electric push rod 25 can be adjusted conveniently.
As a preferable scheme of the present embodiment: the top of the support column 4 is provided with a connecting frame, and the first support arm 6 is hinged with the inside of the connecting frame, so that the first support arm 6 can rotate.
1, as shown in fig. 1-6, in the process of grabbing an object by a robot, first starting a first electric push rod 5 and a second electric push rod 9, in the process of starting the first electric push rod 5 and the second electric push rod 9, driving a first support arm 6, a second support arm 7 and a third support arm 8 to overturn, further adjusting a mechanical arm of the robot, adjusting to the most suitable grabbing position, in the process of subsequent placement, continuing to adjust the robot through the first electric push rod 5 and the second electric push rod 9, if the arm length of the robot is required to be adjusted, starting a third electric push rod 13, at the moment, the third electric push rod 13 pushes the second support arm 7 to move, so that the arm length of the second support arm 7 is adjusted in the moving process, and the support frame 12 is contracted in the adjusting process, then stabilizing the slide rod 10 to slide along an outer sleeve rod 14, thereby ensuring the stability and the connection strength of the robot, avoiding the occurrence of bending of the support arm, then starting a first servo motor 1 again after the complete adjustment of the robot, and driving a support post 4 to move to rotate to the bottom of the robot, and driving the support post 4 to rotate in the moving process of the robot;
in embodiment 2, as shown in fig. 1-6, after the robot moves to the bottom of the object, the first electric push rod 5 and the second electric push rod 9 are started again, to drive the third support arm 8 to move downwards, when the third support arm 8 moves to the designated position, the second servo motor 16 is started, the second servo motor 16 drives the incomplete gear 15 to rotate, then the incomplete gear 15 drives the other incomplete gear 15 to rotate, further drives two groups of hinging rods 18 to approach each other, the clamping plate 19 gradually moves towards the object in the process of approaching the two groups of hinging rods 18, so that the clamping plate 19 clamps the object, the clamping plate 19 drives the connecting slide rod 24 to move along the connecting sleeve 21 in the process of clamping, so that the connecting slide rod 24 slides along the connecting sleeve 21, the clamping force is controlled in the process of clamping, so as to avoid damage to the object, if a certain adjustment is required to the object face, the fourth electric push rod 25 is started at first, then the fourth electric push rod 25 pushes the mounting frame 17 to turn over, then the fourth electric push rod 25 moves along with the object 17 to turn over, the object in a certain face, the third electric push rod is controlled by the third electric push rod 25 to rotate, then the clamping rod 22 is controlled to rotate slowly, and then the clamping plate 19 rotates to rotate the third electric push rod 22 is controlled to rotate, so as to clamp the object 20 slowly, and the clamping sleeve is rotated when the third electric push rod is driven to rotate, and the third electric rod 19 rotates, so that the clamping rod is driven to rotate, and the object is slowly rotates, and the clamping rod is driven to rotate, the situation that the damage is caused or the place where the device is placed is damaged is avoided.
Working principle: in the process of grabbing objects by the robot, a first electric push rod 5 and a second electric push rod 9 are started firstly, in the process of starting the first electric push rod 5 and the second electric push rod 9, a first support arm 6, a second support arm 7 and a third support arm 8 are driven to overturn, and then the mechanical arm of the robot is adjusted to the most proper grabbing position, in the subsequent placing process, the first electric push rod 5 and the second electric push rod 9 are used for continuously adjusting the robot again, if the arm length of the robot is required to be adjusted, a third electric push rod 13 is started for a long time, at the moment, the third electric push rod 13 pushes the second support arm 7 to move, so that the arm length of the robot is adjusted by the second support arm 7 in the moving process, in the adjusting process, a support frame 12 is contracted, then a stable slide rod 10 slides along an outer sleeve rod 14, the stability and the connection strength of the robot are guaranteed, the occurrence of bending of the support arm is avoided, then a first servo motor 1 is started again after the complete adjustment of the robot, and the first servo motor 1 drives a support post 4 to move, and the support post 4 drives the robot to rotate to the bottom of the robot in the moving process;
after the robot moves to the bottom of the object, the first electric push rod 5 and the second electric push rod 9 are started again to drive the third support arm 8 to move downwards, when the third support arm 8 moves to the appointed position, the second servo motor 16 is started, the second servo motor 16 drives the incomplete gear 15 to rotate, then the incomplete gear 15 drives the other incomplete gear 15 to rotate, further the two groups of hinging rods 18 are driven to approach each other, the clamping plate 19 gradually moves towards the object in the process of approaching the two groups of hinging rods 18, so that the clamping plate 19 clamps the object, the connecting slide rod 24 is driven to move in the clamping process, the connecting slide rod 24 slides along the connecting sleeve 21, the clamping force is controlled in the clamping process, and the object is prevented from being damaged due to overlarge clamping force, if the object is to be adjusted to a certain extent, the fourth electric push rod 25 is started first, at this time, the fourth electric push rod 25 pushes the mounting frame 17 to turn over, then the fourth electric push rod 25 moves along with the turning over of the mounting frame 17 to a certain extent, after the object is adjusted to a certain extent, the hinge rod 18 is controlled to separate so as to clamp the object, if the clamped object is a heavy object, the third servo motor 23 is started, then the third servo motor 23 drives the rotating column 22 to rotate, then the rotating column 22 drives the connecting sleeve 21, the spring 20 and the clamping plate 19 to rotate, and the clamped object is driven to slowly move in the rotating process of the clamping plate 19, so that the clamped heavy object slowly moves downwards, and the situation that the clamped object is damaged or damaged to the placed position is avoided.
Finally, it should be noted that the above description is only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and that the simple modification and equivalent substitution of the technical solution of the present invention can be made by those skilled in the art without departing from the spirit and scope of the technical solution of the present invention.
Claims (6)
1. But self-adaptation operation's multi-joint industrial robot, including first servo motor (1), its characterized in that: the automatic gripping device is characterized in that a rotating shaft (2) is arranged at the output end of the first servo motor (1), a connecting plate (3) is arranged at the top of the rotating shaft (2), a supporting column (4) is arranged at the top of the connecting plate (3), a first support arm (6) is hinged to the top of the supporting column (4), a first electric push rod (5) is arranged on one side of the supporting column (4), the output end of the first electric push rod (5) is connected with the first support arm (6), a third electric push rod (13) is arranged in the middle of one side of the first support arm (6), a second support arm (7) is arranged at the output end of the third electric push rod (13), a sliding frame (11) is arranged at the bottom of one side of the second support arm (7), a supporting frame (12) is arranged at one side of the first support arm (6), a second electric push rod (9) is arranged on one side of the second support arm (7), a third support arm (8) is hinged to the bottom of the second support arm (7), a third support arm (26) is arranged at the bottom of the second support arm (7), and a grabbing component (26) is arranged at the bottom of the third support arm (26); the grabbing component consists of a fourth electric push rod (25), a mounting frame (17), an incomplete gear (15), a second servo motor (16), a hinging rod (18), a clamping plate (19), a spring (20), a connecting sleeve (21), a rotating column (22), a third servo motor (23) and a connecting slide rod (24), wherein the bottom of the rotating frame (26) is hinged with the mounting frame (17), one end of the mounting frame (17) is provided with the second servo motor (16), two symmetrical fixed shafts inside the mounting frame (17) are rotationally connected with the incomplete gear (15), the output end of the second servo motor (16) is connected with the incomplete gear (15), the bottom of the incomplete gear (15) is provided with the hinging rod (18), the bottom of the hinging rod (18) is provided with the rotating column (22), the outer side of the rotating column (22) is provided with the connecting sleeve (21), the inner sliding of the connecting sleeve (21) is connected with the spring (20), the outer side of the spring (20) is provided with the connecting slide rod (24), one side of the rotating column (22) is provided with the clamping plate (19), the output end of the second servo motor (16) is connected with the incomplete gear (15), the output end of the second servo motor (18) is connected with the second servo motor (18), the output end of the fourth electric push rod (25) is connected with the mounting frame (17); the top and the bottom of one side of the first support arm (6) are symmetrically provided with an outer sleeve rod (14), and the inside of the outer sleeve rod (14) is connected with a stable slide rod (10) in a sliding manner; the top of pillar (4) is equipped with the link, and first support arm (6) hinge in the inside of link.
2. The adaptively operable multi-joint industrial robot of claim 1, wherein: the outside of first servo motor (1) is equipped with the motor storehouse, and the bottom in motor storehouse is equipped with the backup pad.
3. The adaptively operable multi-joint industrial robot of claim 1, wherein: the clamping plate (19) is made of an arc-shaped structure, and anti-skidding patterns are arranged on one side of the clamping plate (19).
4. The adaptively operable multi-joint industrial robot of claim 1, wherein: the bottom of articulated pole (18) is equipped with the mounting groove, and rotates post (22) and be located the inside of mounting groove, the one end of articulated pole (18) is equipped with the connecting axle, and rotates post (22) and be located the outside of connecting axle.
5. The adaptively operable multi-joint industrial robot of claim 1, wherein: the bottom of mounting bracket (17) is equipped with logical groove, incomplete gear (15) are located the inside in logical groove.
6. The adaptively operable multi-joint industrial robot of claim 1, wherein: the two sides of the bottom of the rotating frame (26) are symmetrically provided with hinge frames, and the fourth electric push rod (25) is positioned in the hinge frames.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310788725.0A CN116494218B (en) | 2023-06-30 | 2023-06-30 | Multi-joint industrial robot capable of self-adapting operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310788725.0A CN116494218B (en) | 2023-06-30 | 2023-06-30 | Multi-joint industrial robot capable of self-adapting operation |
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| CN116494218A CN116494218A (en) | 2023-07-28 |
| CN116494218B true CN116494218B (en) | 2023-09-15 |
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| CN204136066U (en) * | 2014-07-25 | 2015-02-04 | 成都蒲江珂贤科技有限公司 | Simple manipulator |
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