CN212947857U

CN212947857U - Industrial robot

Info

Publication number: CN212947857U
Application number: CN202020736877.8U
Authority: CN
Inventors: 杨金
Original assignee: Wuxi Xinqi Machinery Technology Co ltd
Current assignee: Wuxi Xinqi Machinery Technology Co ltd
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2021-04-13
Anticipated expiration: 2030-05-08

Abstract

The utility model belongs to the technical field of industrial robot, especially, be an industrial robot, including the robot, the robot includes two arms, and equal welded fastening has fixture on two arms, fixture includes quick-witted case, rotate on the top of machine case and the bottom inner wall and install same internal thread sleeve, internal thread sleeve female connection has the screw rod, the bottom extend to the external articulated two hinge bars that have of internal thread sleeve, the bottom welded fastening of machine case has two backup pads, all articulates in two backup pads has the rotor arm, and the one end that two hinge bars were kept away from each other is articulated mutually with the rotor arm that corresponds respectively, and the bottom of two rotor arms all articulates there is the centre gripping arm. The utility model is simple in operation, convenient to use, stability is good in the middle of the process of centre gripping article, is difficult for taking place to drop, and can both play a better protection to the clamping face by centre gripping article and robot in the middle of the process of centre gripping.

Description

Industrial robot

Technical Field

The utility model relates to an industrial robot technical field especially relates to an industrial robot.

Background

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. The robot body and the arm part of the robot body generally adopt a spatial open-chain link mechanism, wherein a kinematic pair (a revolute pair or a moving pair) is often called as a joint, and the number of the joints is usually the degree of freedom of the robot. The robot actuator may be classified into rectangular coordinate type, cylindrical coordinate type, polar coordinate type, joint coordinate type, and the like according to the joint configuration type and the motion coordinate type. For the purpose of personification, the relevant parts of the robot body are often referred to as a base, a waist, an arm, a wrist, a hand (gripper or end effector), a walking part (for a mobile robot), and the like.

However, the gripper of the existing robot is not only easy to fall off when gripping an object, but also easy to wear on the surface after continuously gripping the object, thereby affecting the subsequent use performance of the robot.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art and providing an industrial robot.

In order to achieve the above purpose, the utility model adopts the following technical scheme: an industrial robot comprises a robot body, wherein the robot body comprises two arms, clamping mechanisms are welded and fixed on the two arms respectively, each clamping mechanism comprises a case, the inner walls of the top and the bottom of the case are rotatably provided with the same internal thread sleeve, the internal thread sleeve is connected with a screw rod in a threaded manner, the bottom end of the case extends out of the internal thread sleeve and is hinged with two hinged rods, the bottom of the case is welded and fixed with two supporting plates, the two supporting plates are hinged with rotating arms, the ends, far away from each other, of the two hinged rods are respectively hinged with the corresponding rotating arms, the bottom ends of the two rotating arms are hinged with clamping arms, the internal thread sleeve is fixedly sleeved with a worm wheel, a round hole is formed in the inner wall of the case, far away from the robot body, in one side of the case, a worm is rotatably arranged in, the motor is fixedly welded on the inner wall of one side, away from the round hole, of the case, and one end, away from the round hole, of the worm is fixedly welded with an output shaft of the motor.

Preferably, the inner walls of the top and the bottom of the case are provided with rotating holes, and the inner thread sleeve is rotatably connected with the inner walls of the two rotating holes.

Preferably, a bearing is arranged in the circular hole, an outer ring of the bearing is in interference fit with the inner wall of the circular hole, and an inner ring of the bearing is sleeved on the worm in interference fit.

Preferably, the two clamping arms are stuck and fixed with a buffer pad on the side close to each other.

Preferably, the bottom weld of screw rod is fixed with articulated piece, and the top of two articulated rods all articulates with articulated piece mutually.

Preferably, one side of the rotating arm close to the hinge rod is fixedly welded with a limiting column, and the length of the limiting column is equal to the thickness of the hinge rod.

Compared with the prior art, the beneficial effects of the utility model are that: when an object needs to be clamped, the motor is controlled to rotate forwards firstly, the motor rotates forwards and drives the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel drives the internal thread sleeve to rotate, the internal thread sleeve continuously contracts the screw into the body of the screw, the screw drives the two rotating arms to approach to each other through the two hinge rods, the two rotating arms drive the two clamping arms to clamp the object, when the clamped object is loosened, the motor is controlled to rotate backwards firstly, the motor rotates forwards and drives the worm to rotate, the worm further drives the worm wheel to rotate, the worm wheel drives the internal thread sleeve to rotate, the internal thread sleeve continuously pushes the screw out of the body of the screw, the screw drives the two rotating arms to keep away from each other through the two hinge rods, and the two rotating arms drive the two clamping arms to loosen the clamped object.

The utility model is simple in operation, convenient to use, stability is good in the middle of the process of centre gripping article, is difficult for taking place to drop, and can both play a better protection to the clamping face by centre gripping article and robot in the middle of the process of centre gripping.

Drawings

FIG. 1 is a front sectional view of the present invention;

FIG. 2 is an enlarged schematic view of portion A of FIG. 1;

FIG. 3 is a schematic view of the connection structure of the worm and the worm wheel of the present invention;

in the figure: 1. a robot body; 2. a chassis; 3. an internally threaded sleeve; 4. a screw; 5. a hinged lever; 6. A support plate; 7. a rotating arm; 8. a clamp arm; 9. a worm gear; 10. a circular hole; 11. a worm; 12. an electric motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: an industrial robot comprises a robot body 1, the robot body 1 comprises two arms, clamping mechanisms are welded and fixed on the two arms and comprise a case 2, the inner walls of the top and the bottom of the case 2 are rotatably provided with the same internal thread sleeve 3, the internal thread of the internal thread sleeve 3 is connected with a screw rod 4, the bottom end of the screw rod 4 extends out of the internal thread sleeve 3 and is hinged with two hinged rods 5, the bottom of the case 2 is welded and fixed with two supporting plates 6, the two supporting plates 6 are hinged with rotating arms 7, the ends of the two hinged rods 5 which are far away from each other are respectively hinged with the corresponding rotating arms 7, the bottom ends of the two rotating arms 7 are hinged with clamping arms 8, a worm wheel 9 is fixedly sleeved on the internal thread sleeve 3, a round hole 10 is arranged on the inner wall of one side of the case 2 which is far away from the robot body 1, the worm 11 is meshed with the worm wheel 9, the inner wall of one side of the case 2, which is far away from the round hole 10, is fixedly welded with the motor 12, and one end of the worm 11, which is far away from the round hole 10, is fixedly welded with an output shaft of the motor 12;

rotating holes are formed in the inner walls of the top and the bottom of the case 2, the internal thread sleeve 3 is rotatably connected with the inner walls of the two rotating holes, a bearing is arranged in the circular hole 10, the outer ring of the bearing is in interference fit with the inner wall of the circular hole 10, the inner ring of the bearing is in interference fit with the worm 11, a cushion pad is fixedly adhered to one side, close to each other, of the two clamping arms 8, a hinge block is fixedly welded to the bottom end of the screw rod 4, the top ends of the two hinge rods 5 are hinged to the hinge block, a limiting column is fixedly welded to one side, close to the hinge rods 5, of the rotating arm 7, the length of the limiting column is equal to the thickness of the hinge rods 5, when an object needs to be clamped, the motor 12 is controlled to rotate forwards, the motor 12 drives the worm 11 to rotate forwards, the worm 11 then drives the worm wheel 9 to rotate, the worm wheel, so that the screw rod 4 drives the two rotating arms 7 to approach each other through the two hinge rods 5, the two rotating arms 7 drive the two clamping arms 8 to clamp the object, when an object to be clamped is loosened, the motor 12 is controlled to rotate reversely, the motor 12 rotates forwards and drives the worm 11 to rotate, the worm 11 drives the worm wheel 9 to rotate, the worm wheel 9 drives the internal thread sleeve 3 to rotate, the internal thread sleeve 3 continuously pushes the screw rod 4 out of the body of the screw rod, thereby the screw rod 4 drives the two rotating arms 7 to be away from each other through the two hinged rods 5, the two rotating arms 7 drive the two clamping arms 8 to loosen the clamped object, the utility model has the advantages of simple operation, convenient use, good stability in the process of clamping the object, and difficult falling, and can play a better protection to the clamped object and the clamping surface of the robot in the clamping process.

The working principle is as follows: when an object needs to be clamped, the motor 12 is controlled to rotate forwards, the motor 12 rotates forwards and drives the worm 11 to rotate, the worm 11 drives the worm wheel 9 to rotate, the worm wheel 9 drives the internal thread sleeve 3 to rotate, the internal thread sleeve 3 retracts the screw 4 into the body continuously, so that the screw 4 drives the two rotating arms 7 to approach each other through the two hinge rods 5, the two rotating arms 7 drive the two clamping arms 8 to clamp the object, when the clamped object is loosened, the motor 12 is controlled to rotate backwards, the motor 12 rotates forwards and drives the worm 11 to rotate, the worm 11 drives the worm wheel 9 to rotate, the worm wheel 9 drives the internal thread sleeve 3 to rotate, the internal thread sleeve 3 pushes out the screw 4 from the body continuously, so that the screw 4 drives the two rotating arms 7 to move away from each other through the two hinge rods 5, the two rotating arms 7 drive the two clamping arms 8 to loosen the clamped object, the utility model is simple in operation, convenient to use, stability is good in the middle of the process of centre gripping article, is difficult for taking place to drop, and can both play a better protection to the clamping face by centre gripping article and robot in the middle of the process of centre gripping.

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

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An industrial robot comprising a robot body (1), characterized in that: the robot comprises a robot body (1) and is characterized in that the robot body (1) comprises two arms, clamping mechanisms are fixedly mounted on the two arms respectively, each clamping mechanism comprises a case (2), the top and the inner bottom walls of the case (2) are rotatably mounted with a same internal thread sleeve (3), a screw (4) is connected with the internal thread of the internal thread sleeve (3), the bottom end of the screw (4) extends out of the internal thread sleeve (3) and is hinged with two hinged rods (5), two supporting plates (6) are fixedly mounted at the bottom of the case (2), rotating arms (7) are hinged on the two supporting plates (6), one ends of the two hinged rods (5) which are far away from each other are respectively hinged with the corresponding rotating arms (7), clamping arms (8) are hinged at the bottoms of the two rotating arms (7), worm wheels (9) are fixedly mounted on the internal thread sleeve (3), and round holes (10) are formed in the inner wall of one side, far away from, worm (11) are installed to round hole (10) internal rotation, worm (11) and worm wheel (9) mesh mutually, fixed mounting has motor (12) on the one side inner wall of round hole (10) is kept away from in quick-witted case (2), the one end that round hole (10) were kept away from in worm (11) and the output shaft fixed connection of motor (12).

2. An industrial robot according to claim 1, characterized in that: the top and the bottom inner walls of the case (2) are provided with rotating holes, and the inner thread sleeve (3) is rotatably connected with the inner walls of the two rotating holes.

3. An industrial robot according to claim 1, characterized in that: the bearing is arranged in the round hole (10), the outer ring of the bearing is fixedly connected with the inner wall of the round hole (10), and the inner ring of the bearing is fixedly sleeved on the worm (11).

4. An industrial robot according to claim 1, characterized in that: the two clamping arms (8) are fixedly provided with cushions at the sides close to each other.

5. An industrial robot according to claim 1, characterized in that: the bottom fixed mounting of screw rod (4) has articulated piece, and the top of two articulated rods (5) all articulates with articulated piece mutually.

6. An industrial robot according to claim 1, characterized in that: one side fixed mounting that rotor arm (7) are close to hinge rod (5) has spacing post, the length of spacing post and the thickness of hinge rod (5) equal.