CN210256137U

CN210256137U - Industrial robot with automatic assembly function

Info

Publication number: CN210256137U
Application number: CN201921244994.6U
Authority: CN
Inventors: 陈银波
Original assignee: Guangzhou Jingsheng Intelligent Technology Co ltd
Current assignee: Guangzhou Jingsheng Intelligent Technology Co ltd
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-04-07
Anticipated expiration: 2029-08-02

Abstract

The utility model discloses an industrial robot with automatic assembly function, which comprises a base, a main framework, a big arm and a small arm, the movable joint, electronic hydraulic cylinder, the base is equipped with slide rail and power cord, main frame one end is passed through bolt fixed connection in the base, big arm one end is passed through welded fastening and is connected in main frame one end, the big arm other end passes through welded fastening and is connected in movable joint one side, the forearm includes the wrist, end effector, and forearm pole, forearm pole one end imbeds in wrist one end, wrist one end is passed through screw fixed connection in end effector one end, the forearm pole includes forearm motor and forearm jar, screw fixed connection is passed through in forearm motor in forearm jar one end, welding fastening is passed through in movable joint one end in forearm one end, not only can conveniently remove, and adjustment work angle that can be nimble, simultaneously can also change the use tools automatically.

Description

Industrial robot with automatic assembly function

Technical Field

The utility model relates to an industrial robot technical field specifically says to an industrial robot with automatic equipment function.

Background

Along with the continuous development of industry and the establishment of large-scale factory, required low-priced labour is also more and more, but under the condition of the society continuous progress, labour cost is continuous to promote, so more and more factory begin to use industrial robot to replace the manpower to produce in some fields, make industrial robot not only can reduce the emergence of life accident, reduce labour cost, but also can improve production efficiency, make the factory obtain the maximum profit. However, it has been found through analysis that the existing industrial robot has the following disadvantages; firstly, the movable tool cannot be moved conveniently, the working angle cannot be adjusted flexibly, and the tool cannot be replaced and used automatically.

SUMMERY OF THE UTILITY MODEL

Therefore, in order to solve the above insufficiency, the utility model provides an industrial robot with automatic equipment function herein, not only can conveniently remove, adjustment work angle that moreover can be nimble can also change the use tools automatically simultaneously.

The utility model discloses a realize like this, construct an industrial robot with automatic equipment function, the on-line screen storage device comprises a base, the main frame, the big arm, the forearm, the freely movable joint, electronic hydraulic cylinder, the base is equipped with slide rail and power cord, bolt fixed connection is passed through in the base to main frame one end, weld fixed connection is passed through in main frame one end to big arm one end, the big arm other end passes through weld fixed connection in freely movable joint one side, the forearm includes the wrist, end effector, and forearm pole, forearm pole one end imbeds in wrist one end, screw fixed connection is passed through in end effector one end to wrist one end, the forearm pole includes forearm motor and forearm jar, forearm jar one end is passed through screw fixed connection in forearm motor, forearm one end is through weld fixation in freely movable joint one end.

Further, the main frame comprises a bottom plate, a partition plate, a rotating plate, a motor, a support bearing, a disc, a support column A, a support column B and a support column C, one end of the support column A, one end of the support column B and one end of the support column C are fixedly connected to the bottom plate through screws, the other end of the support column A, the other end of the support column B and the other end of the support column C penetrate through the partition plate through bearings, the support column A, the support column B and the support column C are movably connected to one end of the rotating plate through bearings, one end of the motor is fixedly connected to one end of the rotating plate through screws, the other end of the motor penetrates through the support bearing and is fixedly connected to the disc through bolts, one end of the support bearing is fixedly connected to one end of the rotating plate through screws, one end of the, the bottom plate is fixed, and the rotor plate passes through the bearing and rotates round support column A, support column B and support column C, drives a motor and the support bearing rotation of fixing in rotor plate one end, drives industrial robot and rotates.

Further, the wrist includes the outer concave plate of wrist, insert the tip, wrist axle and wrist support column, the wrist support column imbeds inside the outer concave plate of wrist, insert the tip and insert inside outer concave plate of wrist and wrist support column, insert the tip through bearing swing joint in the outer concave plate of wrist, it is inside to insert the tip embedding wrist support column, the wrist axle passes through screw fixed connection in the wrist support column, insert the tip through the bearing and insert in outer concave plate of wrist and wrist support column, the relative wrist support column of the outer concave plate of wrist is through inserting tip swing joint, the outer concave plate of wrist can rotate in the level direction is nimble.

Furthermore, the end effector comprises an execution motor, a thread insert plate, an execution shaft, an execution tool and an execution box body, one end of the execution motor is embedded in the execution box body, the other end of the execution motor is fixedly connected with one end of the execution shaft through interference fit, the other end of the execution shaft is embedded in the execution tool, one end of the thread insert plate is fixedly connected with one side of the execution box body through welding, the execution tool comprises a tool port, a tool bearing and a thread insert plate port, the thread insert plate port is arranged on the outer ring of the tool bearing, one end of the tool port is fixedly connected with one side of the tool bearing through a screw, the other end of the thread insert plate is fixedly connected with the outer ring of the tool bearing through a thread, one end of the execution shaft is embedded in the execution tool, one end of the execution motor is fixedly connected with the other end of the, the outer ring is locked by the insertion of the thread insert plate.

Further, the movable joint comprises a joint support box, a joint motor and a joint disc, one end of the joint motor is embedded in the joint support box, the other end of the joint motor is embedded in the joint disc in an interference fit mode, one end of the joint motor is embedded in the joint support box and is fixed, and the other end of the joint motor drives the joint disc to rotate.

The utility model discloses an improve and provide an industrial robot with automatic equipment function here, compare with current industrial robot, have following advantage: not only can conveniently remove, adjustment work angle that moreover can be nimble can also change the use instrument automatically simultaneously, and the concrete embodiment is:

the method has the advantages that: connect external power source through the power cord, the base can be through establishing the slide rail back-and-forth movement, the distance of adjustment industrial robot and work piece.

The method has the advantages that: when the power cord switch-on external power source, the bottom plate is fixed motionless, and the rotor plate passes through the bearing and rotates round support column A, support column B and support column C, drives and fixes a motor and the support bearing rotation in rotor plate one end, and the drive industrial robot rotates, then through the rotation of big arm, forearm, freely movable joint and wrist, adjustment industrial robot operating angle that can be nimble.

The method has the advantages that: the wrist is driven to slowly rotate by the forearm motor and fixedly connected with the end effector, the wrist drives the threaded plugboard in the end effector to slowly rotate after rotating, when the execution tool is fixed, the threaded plugboard can rotate and is fixedly connected with the outer ring of the tool bearing through threads, because the execution motor does not rotate, the execution shaft can not rotate, the inner ring of the tool bearing can not be driven to rotate, the tool is automatically installed, otherwise, when the execution tool is fixed, the wrist drives the threaded plugboard in the end effector to reversely and slowly rotate after rotating, and the threaded plugboard can rotate and is withdrawn from the connection with the outer ring of the tool bearing through threads.

Drawings

Fig. 1 is a schematic structural view of an industrial robot with an automatic assembling function according to the present invention;

fig. 2 is a schematic structural diagram of a main framework of an industrial robot with an automatic assembling function according to the present invention;

fig. 3 is a schematic structural view of a wrist portion of the industrial robot with automatic assembling function according to the present invention;

fig. 4 is a schematic structural view of an end effector of an industrial robot with an automatic assembling function according to the present invention;

fig. 5 is a schematic structural view of a small arm rod of the industrial robot with automatic assembling function of the invention;

fig. 6 is a schematic structural view of a tool port of an industrial robot with an automatic assembling function according to the present invention;

fig. 7 is a schematic view of a movable joint structure of an industrial robot with an automatic assembling function according to the present invention.

Sequence numbers shown in the figures: the device comprises a base 1, a main frame 2, a big arm 3, a small arm 4, a movable joint 5, an electronic hydraulic cylinder 6, a sliding rail 11, a power line 12, a bottom plate 21, a partition plate 22, a rotating plate 23, a first motor 24, a supporting bearing 25, a disc 26, a supporting column A27, a supporting column B28, a supporting column C29, a wrist 41, an end effector 42, a small arm rod 43, a wrist concave plate 411, a plug pin 412, a wrist shaft 413, a wrist supporting column 414, an execution motor 421, a thread insert plate 422, an execution shaft 423, an execution tool 424, an execution box 425, a tool port 4241, a tool bearing 4243, a thread insert plate port 4242, a small arm cylinder 431, a small arm motor 432, a joint supporting box 51, a joint motor 52 and a joint disc 53.

Detailed Description

The present invention will be described in detail below with reference to the attached drawings, and the technical solutions in the embodiments of the present invention will be clearly and completely described. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention; furthermore, the terms "first," "second," "third," "upper, lower, left, right," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Meanwhile, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; the connection can be mechanical connection or electrical connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The utility model provides an industrial robot with automatic assembly function through improving here, as shown in the attached drawing of description, can be implemented as follows; including base 1, main frame 2, big arm 3, forearm 4, freely movable joint 5, electronic hydraulic cylinder 6, base 1 is equipped with slide rail 11 and power cord 12, bolt fixed connection is passed through to 2 one ends of main frame in base 1, 3 one ends of big arm pass through welded fastening and connect in 2 one end of main frame, the 3 other ends of big arm pass through welded fastening and connect in freely movable joint 5 one side, forearm 4 includes wrist 41, end effector 42, and forearm pole 43, forearm pole 43 one end is embedded in 41 one end of wrist, 41 one end of wrist passes through screw fixed connection in end effector 42 one end, forearm pole 43 includes forearm motor 432 and forearm jar 431, forearm jar 431 one end is passed through screw fixed connection in

forearm motor

432, 4 one end of forearm is through welded fastening in freely movable joint 5 one end.

In the utility model, the main frame 2 comprises a bottom plate 21, a partition plate 22, a rotating plate 23, a motor 24, a support bearing 25, a disk 26, a support column A27, a support column B28 and a support column C29, one end of the support column A27, a support column B28 and a support column C29 is fixedly connected to the bottom plate 21 through screws, the other end of the support column A27, a support column B28 and a support column C29 passes through the partition plate 22 through bearings, and the support column A27, a support column B28 and a support column C29 are movably connected to one end of the rotating plate 23 through bearings, one end of the motor 24 is fixedly connected to one end of the rotating plate 23 through screws, the other end of the motor 24 passes through the support bearing 25 and is fixedly connected to the disk 26 through bolts, one end of the support bearing 25 is fixedly connected to one end of the rotating plate 23 through screws, one end of the support column A27, a support column B28 and a support column C, when the power cord 12 is connected with an external power supply, the bottom plate 21 is fixed, the rotating plate 23 rotates around the supporting column A27, the supporting column B28 and the supporting column C29 through bearings, the first motor 24 and the supporting bearing 25 fixed at one end of the rotating plate 23 are driven to rotate, and the industrial robot is driven to rotate.

The wrist 41 includes a wrist outer concave plate 411, a pin 412, a wrist shaft 413 and a wrist support column 414, the wrist support column 414 is embedded inside the wrist outer concave plate 411, the pin 412 is inserted inside the wrist outer concave plate 411 and the wrist support column 414, the pin 412 is movably connected to the wrist outer concave plate 411 through a bearing, the pin 412 is embedded inside the wrist support column 414, the wrist shaft 413 is fixedly connected to the wrist support column 414 through a screw, the pin 412 is inserted into the wrist outer concave plate 411 and the wrist support column 414 through a bearing, the wrist outer concave plate 411 is movably connected with the wrist support column 414 through the pin 412, and the wrist outer concave plate 411 can flexibly rotate in the horizontal direction; the end effector 42 includes an actuating motor 421, a threaded socket 422, an actuating shaft 423, an actuating tool 424 and an actuating box 425, wherein one end of the actuating motor 421 is embedded in the actuating box 425, the other end of the actuating motor 421 is fixedly connected to one end of the actuating shaft 423 by interference fit, the other end of the actuating shaft 423 is embedded in the actuating tool 424, and one end of the threaded socket 422 is fixedly connected to one side of the actuating box 425 by welding.

The execution tool 424 comprises a tool port 4241, a tool bearing 4243 and a thread insert plate opening 4242, the thread insert plate opening 4242 is formed in the outer ring of the tool bearing 4243, one end of the tool port 4241 is fixedly connected to one side of the tool bearing 4243 through a screw, the other end of the thread insert plate 422 is fixedly connected to the outer ring of the tool bearing 4243 through a thread, one end of the execution shaft 423 is embedded into the execution tool 424, one end of the execution motor 421 is fixedly connected to the other end of the execution shaft 423 through interference fit, the execution shaft 421 drives the execution shaft 423 to rotate, the execution shaft 423 drives the inner ring of the tool bearing 4243 in the execution tool 424 to rotate, and the outer ring is locked and fixed due.

The movable joint 5 comprises a joint support box 51, a joint motor 52 and a joint disc 53, one end of the joint motor 52 is embedded in the joint support box 51, the other end of the joint motor 52 is embedded in the joint disc 53 in an interference fit manner, one end of the joint motor 52 is embedded in the joint support box 51 and is fixed, and the other end of the joint motor 52 drives the joint disc 53 to rotate.

The working principle of the industrial robot with the automatic assembling function is as follows: an external power supply is connected through a power line 12, the base 1 can move back and forth through a sliding rail 12, the bottom plate 21 is fixed, the rotating plate 23 rotates around a supporting column A27, a supporting column B28 and a supporting column C29 through bearings to drive a first motor 24 and a supporting bearing 25 which are fixed at one end of the rotating plate 23 to rotate, the industrial robot is driven to horizontally rotate, the large arm 3 is driven to rotate through the lifting of an electronic hydraulic cylinder 6 and the rotation of the first motor 24, one end of a joint motor 52 is embedded in a joint supporting box 51 and fixed, the other end of the joint motor 52 drives a joint disc 53 to rotate, the small arm is driven to rotate through the rotation of the joint disc 53, when an executing tool 424 is fixed, the large arm 3 rotates to drive a small arm 4 to be close to and contact with the executing tool 424, then the small arm motor 432 slowly rotates to drive a wrist 41 to rotate, a thread insert plate 422 in the end effector 42 is connected with, the execution shaft 423 is embedded into the inner ring of the tool bearing 4243 in the execution tool 423 and keeps the inner ring still, the execution tool 424 is automatically installed, on the contrary, the forearm motor 432 slowly rotates in the reverse direction to drive the wrist 41 to rotate in the reverse direction, the threaded insert plate 422 in the end effector 42 is withdrawn from the execution tool through the reverse rotation and is connected with the outer ring of the tool bearing 4243 of the tool 423, and the execution tool 424 is automatically replaced.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides an industrial robot with automatic equipment function, includes base (1), main frame (2), big arm (3), forearm (4), freely movable joint (5), electronic hydraulic cylinder (6), its characterized in that: the base (1) is provided with a slide rail (11) and a power line (12), one end of the main framework (2) is fixedly connected to the base (1) through a bolt, one end of the big arm (3) is fixedly connected with one end of the main framework (2) by welding, the other end of the big arm (3) is fixedly connected with one side of the movable joint (5) by welding, the forearm (4) comprises a wrist part (41), an end effector (42) and a forearm rod (43), one end of the small arm rod (43) is embedded into one end of the wrist part (41), one end of the wrist part (41) is fixedly connected to one end of the end effector (42) through a screw, the small arm rod (43) comprises a small arm motor (432) and a small arm cylinder (431), one end of the forearm cylinder (431) is fixedly connected to the forearm motor (432) through a screw, and one end of the forearm (4) is fixed to one end of the movable joint (5) through welding.

2. An industrial robot having an automatic assembling function according to claim 1, characterized in that: the main frame (2) comprises a bottom plate (21), a partition plate (22), a rotating plate (23), a first motor (24), a supporting bearing (25), a disc (26), a supporting column A (27), a supporting column B (28) and a supporting column C (29), wherein one end of the supporting column A (27), one end of the supporting column B (28) and one end of the supporting column C (29) are fixedly connected to the bottom plate (21) through screws, the other end of the supporting column A (27), the other end of the supporting column B (28) and the other end of the supporting column C (29) penetrate through the partition plate (22) through bearings, the supporting column A (27), the supporting column B (28) and the supporting column C (29) are movably connected to one end of the rotating plate (23) through bearings, one end of the first motor (24) is fixedly connected to one end of the rotating plate (23) through screws, the other end of the, one end of the supporting bearing (25) is fixedly connected with one end of the rotating plate (23) through a screw.

3. An industrial robot having an automatic assembling function according to claim 1, characterized in that: wrist 41 includes wrist outer concave plate (411), inserted pin (412), wrist axle (413) and wrist support column (414), wrist support column (414) imbed in inside wrist outer concave plate (411), inserted pin (412) are inserted inside wrist outer concave plate (411) and wrist support column (414), inserted pin (412) pass through bearing swing joint in wrist outer concave plate (411), inserted pin (412) imbed inside wrist support column (414), wrist axle (413) pass through screw fixed connection in wrist support column (414).

4. An industrial robot having an automatic assembling function according to claim 1, characterized in that: the end effector (42) comprises an executing motor (421), a thread insert plate (422), an executing shaft (423), an executing tool (424) and an executing box body (425), one end of the execution motor (421) is embedded in the execution box body (425), the other end of the execution motor (421) is fixedly connected with one end of the execution shaft (423) through interference fit, the other end of the execution shaft (423) is embedded in the execution tool (424), one end of the threaded insert plate (422) is fixedly connected to one side of the execution box body (425) through welding, the execution tool (424) comprises a tool port (4241), a tool bearing (4243) and a threaded insert plate port (4242), the threaded insert plate opening (4242) is arranged on the outer ring of the tool bearing (4243), one end of the tool port (4241) is fixedly connected to one side of the tool bearing (4243) through a screw, and the other end of the threaded insert plate (422) is fixedly connected to the outer ring of the tool bearing (4243) through a thread.

5. An industrial robot having an automatic assembling function according to claim 1, characterized in that: the movable joint (5) comprises a joint support box (51), a joint motor (52) and a joint disc (53), one end of the joint motor (52) is embedded in the joint support box (51), and the other end of the joint motor (52) is embedded in the joint disc (53) in an interference fit mode.