CN214025721U

CN214025721U - Rocker for joint type industrial robot and joint type industrial robot

Info

Publication number: CN214025721U
Application number: CN202023107345.7U
Authority: CN
Inventors: 蒋婧; 赵裕峰; 张萌
Original assignee: Liaoning Vocational College of Ecological Engineering
Current assignee: Liaoning Vocational College of Ecological Engineering
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2021-08-24
Anticipated expiration: 2030-12-22

Abstract

The utility model discloses a rocker and articulated industrial robot for articulated industrial robot relates to manipulator technical field. The technical key points are as follows: including the base, the base is kept away from ground one side and is equipped with rotating assembly, rotating assembly keeps away from the bracing piece of the vertical setting of base one side fixedly connected with, the bracing piece is kept away from that rotating assembly one end articulates there is first swivel arm, the cover is established and sliding connection has adjusting part on the bracing piece, be equipped with the connecting rod in addition, the connecting rod both ends respectively with adjusting part, first swivel arm is articulated, connecting rod one end fixedly connected with joint subassembly is kept away from to first swivel arm, first swivel arm one side fixedly connected with second swivel arm is kept away from to joint subassembly, second swivel arm keeps away from joint subassembly one side and can dismantle and be connected with mechanical tongs. The utility model has the advantages of snatch the angle to mechanical tongs and carry out multiple regulation, the manipulator of being convenient for is accurate snatchs the article.

Description

Rocker for joint type industrial robot and joint type industrial robot

Technical Field

The utility model relates to a manipulator technical field specifically is a rocker and joint type industrial robot for joint type industrial robot.

Background

Nowadays, global cooperation and communication in the information-based era are more compact, the productivity level and the scientific technology are continuously improved, and a new intelligent manufacturing production mode is called for; industrial robots are attracting attention in the world manufacturing industry by virtue of their flexible, efficient, and high-precision intelligent operation modes. In the current industrial links of metallurgy, automobile, logistics and the like, the application of heavy-duty industrial robots (or joint industrial robots) is becoming more and more extensive. However, the heavy-duty industrial robot must have better load capacity and motion stability, i.e. better speed and acceleration characteristics and relatively high pose accuracy, so for the body structure of the heavy-duty industrial robot, the requirement for the overall rigidity of the heavy-duty robot is increasingly increased along with the deepening of the application level and the widening of the application range.

The above prior art solution has the following drawbacks: the robot capable of adjusting the mechanical gripper at multiple angles to work is lacked.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art exists, the utility model aims to provide a rocker and articulated industrial robot for articulated industrial robot, it has snatchs the angle to mechanical tongs and carries out multiple regulation, and the manipulator of being convenient for is accurate snatchs the advantage of article.

The above object of the present invention can be achieved by the following technical solutions:

the utility model provides a rocker and articulated industrial robot for articulated industrial robot, includes the base, the base is kept away from ground one side and is equipped with rotating assembly, rotating assembly keeps away from the bracing piece of the vertical setting of base one side fixedly connected with, the bracing piece is kept away from rotating assembly one end articulates there is first swivel arm, the cover is established and sliding connection has adjusting part on the bracing piece, is equipped with the connecting rod in addition, the connecting rod both ends respectively with adjusting part first swivel arm is articulated, first swivel arm is kept away from connecting rod one end fixedly connected with joint subassembly, joint subassembly is kept away from first swivel arm one side fixedly connected with second swivel arm, the second swivel arm is kept away from joint subassembly one side can be dismantled and be connected with mechanical tongs.

By adopting the technical scheme, the device is convenient to fix and grab by arranging the base; the rotary component is arranged to facilitate coarse adjustment of the approximate position of the mechanical gripper, so that the mechanical gripper can be quickly close to an object; the design of the adjusting component is convenient for roughly adjusting the height of the mechanical gripper, so that the mechanical gripper can quickly approach to an object in height; the design of the joint component is convenient for fine adjustment of the position of the mechanical gripper, so that the mechanical gripper can grip the object without damaging the object; the manipulator has the advantages that the grabbing angle of the mechanical gripper can be adjusted in multiple ways, and the manipulator can conveniently and accurately grab objects.

The present invention may be further configured in a preferred embodiment as: the joint assembly comprises a first support frame, the first support frame is fixedly connected with the first rotating arm, one side, far away from the first rotating arm, of the first support frame is rotatably connected with a first rotating shaft, the first rotating shaft is horizontally arranged, the first rotating shaft is far away from one side, fixedly connected with a joint auxiliary assembly, of the first support frame, one end of the first rotating shaft is sleeved with a first gear which is fixedly connected with the first rotating shaft, the first gear is meshed with a first rack, the first rack is slidably connected with the first support frame, the sliding direction of the first rack is perpendicular to the axial direction of the first rotating shaft, one end of the first rack is fixedly connected with a first air cylinder, the first air cylinder is fixedly connected with the first support frame, and the axial direction of an output shaft of the first air cylinder is the same as the sliding direction of the first rack.

By adopting the technical scheme, the first rack and the first gear are arranged, so that the first rack can drive the first gear to rotate, the first rotating shaft fixedly connected with the first gear can drive the second supporting frame and the second rotating arm to rotate, and the mechanical rotating hand can finely adjust around the first rotating shaft; the first cylinder is designed to drive the first rack conveniently; the first support frame is designed to fix the first rotating shaft and the first air cylinder conveniently; the design of joint auxiliary assembly is convenient for finely tune the angle of the direction opposite to the joint assembly, and the mechanical gripper can normally grip.

The present invention may be further configured in a preferred embodiment as: the joint auxiliary assembly comprises a second rotating shaft, the second rotating shaft is fixedly connected with the first rotating shaft and is perpendicular to the first rotating shaft, the second rotating shaft is far away from one side of the first support frame and is rotatably connected with a second support frame, the second support frame is fixedly connected with a second rotating arm, one end of the second rotating shaft is sleeved with a second gear which is fixedly connected with the second rotating shaft, the second gear is meshed with a second rack, the second rack is slidably connected with the second support frame, the sliding direction of the second rack is perpendicular to the axial direction of the second rotating shaft, one end of the second rack is fixedly connected with a second air cylinder, the second air cylinder is fixedly connected with the second support frame, and the axial direction of the output end of the second air cylinder is the same as the sliding direction of the second rack.

By adopting the technical scheme, the second rack and the second gear are arranged, so that the second rack can drive the second gear and the second rotating shaft to rotate, and the second rotating arm can perform fine adjustment operation; the second cylinder is designed to facilitate driving of the second rack.

The present invention may be further configured in a preferred embodiment as: the adjusting part comprises a sliding table, the sliding table is connected with the supporting rod in a sliding mode, one side of the sliding table is hinged to the connecting rod, the sliding table is arranged in a hollow mode, a third gear is connected to the sliding table in a rotating mode, the third gear is axially parallel to the horizontal plane, a third rack is meshed with the third gear, the third rack is fixedly connected with the supporting rod, a first worm wheel is fixedly connected with the end face of one side of the third gear, the first worm wheel is connected with the sliding table in a rotating mode, a first worm is horizontally arranged in a meshed mode, the first worm is connected with the sliding table in a rotating mode, one end of the first worm penetrates through the first motor fixedly connected with one side of the sliding table, and the first motor is fixedly connected with the sliding table.

By adopting the technical scheme, the sliding table is arranged, so that the rotating angle of the first rotating arm can be conveniently controlled by sliding the sliding table on the supporting rod, and the first rotating arm can roughly adjust the angle of the mechanical gripper; the third gear and the third rack are designed to facilitate the sliding of the sliding table on the supporting rod; the design of first worm wheel and first worm is convenient for drive first worm wheel and third gear through driving first worm and roll on the third rack, is convenient for adjust the position of slip table and bracing piece, utilizes first worm and the driven one-way characteristic of first worm wheel simultaneously, guarantees that first motor when out of work, and the slip table can not the landing.

The present invention may be further configured in a preferred embodiment as: the rotating assembly comprises a second worm wheel, the axis of the second worm wheel is perpendicular to the base, one side end face of the second worm wheel is connected with the base in a rotating mode, the other side end face of the second worm wheel is fixedly connected with the supporting rod, the second worm wheel is meshed with a second worm, the second worm is connected with the base in a rotating mode, one end of the second worm penetrates through the second motor fixedly connected with the base on one side, and the second motor is fixedly connected with the base.

By adopting the technical scheme, the second worm wheel and the second worm are designed to facilitate the rotation of the supporting rod, so that the relative position of the mechanical gripper and an object can be roughly adjusted; meanwhile, the unidirectional characteristic of the transmission of the second worm wheel and the second worm can be utilized to ensure that the mechanical gripper cannot drive the device to rotate when being subjected to external force.

The present invention may be further configured in a preferred embodiment as: a plurality of through holes are formed in the corner of one side of the base, and a balancing weight is arranged in the base.

By adopting the technical scheme, the base and the ground are conveniently fixed by the design of the through hole; the design of balancing weight is convenient for increase the stability of device during operation.

To sum up, the utility model discloses a following at least one useful technological effect:

1. the base is arranged, so that the device is fixed conveniently, and the device can be grabbed conveniently; the rotary component is arranged to facilitate coarse adjustment of the approximate position of the mechanical gripper, so that the mechanical gripper can be quickly close to an object; the design of the adjusting component is convenient for roughly adjusting the height of the mechanical gripper, so that the mechanical gripper can quickly approach to an object in height; the design of the joint component is convenient for fine adjustment of the position of the mechanical gripper, so that the mechanical gripper can grip the object without damaging the object; the multi-adjustment manipulator has the advantages that the grabbing angle of the mechanical gripper is adjusted in multiple ways, and the manipulator can conveniently and accurately grab objects;

2. the first rack and the first gear are arranged, so that the first rack can drive the first gear to rotate, and the first rotating shaft fixedly connected with the first gear can drive the second supporting frame and the second rotating arm to rotate, so that the mechanical rotating hand can finely adjust around the first rotating shaft; the first cylinder is designed to drive the first rack conveniently; the first support frame is designed to fix the first rotating shaft and the first air cylinder conveniently; the design of the joint auxiliary assembly is convenient for fine adjustment of the angle in the direction opposite to the direction of the joint assembly, so that the mechanical gripper can normally grip;

3. by arranging the sliding table, the rotating angle of the first rotating arm can be conveniently controlled by sliding the sliding table on the supporting rod, so that the first rotating arm can roughly adjust the angle of the mechanical gripper; the third gear and the third rack are designed to facilitate the sliding of the sliding table on the supporting rod; the design of first worm wheel and first worm is convenient for drive first worm wheel and third gear through driving first worm and roll on the third rack, is convenient for adjust the position of slip table and bracing piece, utilizes first worm and the driven one-way characteristic of first worm wheel simultaneously, guarantees that first motor when out of work, and the slip table can not the landing.

Drawings

FIG. 1 is a schematic view of the overall structure of the device of the present invention;

FIG. 2 is a schematic view of the structure at A in FIG. 1;

fig. 3 is a schematic view of the overall structure of the present invention.

Reference numerals: 1. a mechanical gripper; 2. a second rotating arm; 3. a first rotation arm; 4. an adjustment assembly; 41. a sliding table; 42. a first motor; 43. a first worm; 44. a third gear; 45. a first worm gear; 46. a third rack; 5. a connecting rod; 6. a support bar; 7. a rotating assembly; 71. a second worm gear; 72. a second motor; 73. a second worm; 8. a base; 81. a through hole; 82. a balancing weight; 9. a joint assembly; 91. a first cylinder; 92. a first support frame; 93. a first rack; 94. a first gear; 95. a first rotating shaft; 96. a joint assistance component; 961. a second support frame; 962. a second cylinder; 963. a second rack; 964. a second gear; 965. a second axis of rotation.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in figures 1 and 2, a rocker for an articulated industrial robot and an articulated industrial robot disclosed by the present invention comprise a base 8, and are characterized in that a side of the base 8 away from the ground is provided with a rotating component 7, a vertically arranged support rod 6 is fixedly connected to the side of the rotating component 7 away from the base 8, the strength of the support rod 6 is enough to support a first rotating arm 3, one end of the support rod 6 away from the rotating component 7 is hinged with the first rotating arm 3, the support rod 6 is sleeved and slidably connected with an adjusting component 4, and is further provided with a connecting rod 5, two ends of the connecting rod 5 are respectively hinged with the adjusting component 4 and the first rotating arm 3, one end of the first rotating arm 3 away from the connecting rod 5 is fixedly connected with a joint component 9, one side of the joint component 9 away from the first rotating arm 3 is fixedly connected with a second rotating arm 2, one side of the second rotating arm 2 away from the joint component 9 is detachably connected with a mechanical gripper 1, can dismantle the connected mode, can dismantle the connected mode be bolted connection, be convenient for change or maintain mechanical tongs 1 can.

As shown in fig. 2, the joint assembly 9 includes a first support frame 92, the first support frame 92 is disposed in a U shape, the first support frame 92 is fixedly connected to the first rotating arm 3, a first rotating shaft 95 is rotatably connected to a side of the first support frame 92 away from the first rotating arm 3, the first rotating shaft 95 has a strength meeting the structural functional requirement, the first rotating shaft 95 is horizontally disposed, a joint auxiliary assembly 96 is fixedly connected to a side of the first rotating shaft 95 away from the first support frame 92, a first gear 94 is sleeved and fixedly connected to an end of the first rotating shaft 95, the first gear 94 is engaged with a first rack 93, the first gear 94 is engaged with the first rack 93 only when the first rack 93 is fully rotatable, the first rack 93 is slidably connected to the first support frame 92, the first rack 93 does not slip off the first support frame 92 when sliding on the first support frame 92 and can always be engaged with the first gear 94, and a sliding direction of the first rack 93 is perpendicular to an axial direction of the first rotating shaft 95, one end of the first rack 93 is fixedly connected with a first cylinder 91, the first cylinder 91 can drive the first rack 93 to rotate the first rotating shaft 95, the first cylinder 91 is fixedly connected with the first support frame 92, and the axial direction of an output shaft of the first cylinder 91 is the same as the sliding direction of the first rack 93.

As shown in fig. 2, the joint auxiliary assembly 96 includes a second rotating shaft 965, the strength of the second rotating shaft 965 should meet the structural function requirement, the second rotating shaft 965 is fixedly connected to the first rotating shaft 95 and is disposed perpendicular to the first rotating shaft 95, a second supporting frame 961 is rotatably connected to a side of the second rotating shaft 965 away from the first supporting frame 92, the second supporting frame 961 is U-shaped, the second supporting frame 961 is fixedly connected to the second rotating arm 2, one end of the second rotating shaft 965 is sleeved and fixedly connected to a second gear 964, the second gear 964 is engaged with a second rack 963, the second gear 964 is engaged with the second rack 963 to meet the rotational requirement, the second rack 963 is slidably connected to the second supporting frame 961, the second rack 963 does not slip off the second supporting frame 961 when sliding on the second supporting frame 961 and can be engaged with the second gear 964 all the time, the sliding direction of the second rack 963 is perpendicular to the second rotating shaft 965, one end of the second rack 963 is fixedly connected with a second cylinder 962, the second cylinder 962 can drive the second rack 963 to drive the second gear 964 to rotate, the second cylinder 962 is fixedly connected with the second support frame 961, and the axial direction of the output end of the second cylinder 962 is the same as the sliding direction of the second rack 963.

As shown in fig. 1 and 3, the adjusting assembly 4 includes a sliding table 41, the sliding table 41 is slidably connected to the supporting rod 6, the sliding table 41 does not rotate and does not slip off the supporting rod 6 when sliding on the supporting rod 6, one side of the sliding table 41 is hinged to the connecting rod 5, the sliding table 41 is hollow, the sliding table 41 is rotatably connected to a third gear 44, the third gear 44 is axially parallel to the horizontal plane, the third gear 44 is engaged with a third rack 46, the third gear 44 is engaged with the third rack 46 to meet the requirement of rotation, the third rack 46 is fixedly connected to the supporting rod 6, one side end surface of the third gear 44 is fixedly connected to a first worm gear 45, the first worm gear 45 is rotatably connected to the sliding table 41 and is engaged with a first worm 43 horizontally arranged, the first worm 43 is engaged with the first worm gear 45 to meet the characteristic of one-way transmission, the first worm 43 is rotatably connected to the sliding table 41, and one end of the first worm 43 penetrates through one side of the sliding table 41 and is fixedly connected to a first motor 42, the first motor 42 is a servo motor, and the first motor 42 is fixedly connected with the sliding table 41.

As shown in fig. 1 and 3, the rotating assembly 7 includes a second worm wheel 71, an axis of the second worm wheel 71 is perpendicular to the base 8, one side end face of the second worm wheel 71 is rotatably connected with the base 8, the other side end face of the second worm wheel 71 is fixedly connected with the support rod 6, the second worm wheel 71 is engaged with a second worm 73, the engagement between the second worm wheel 71 and the second worm 73 satisfies a one-way transmission characteristic, the second worm 73 is rotatably connected with the base 8, one end of the second worm 73 penetrates through one side of the base 8 and is fixedly connected with a second motor 72, the second motor 72 is a servo motor, and the second motor 72 is fixedly connected with the base 8.

As shown in fig. 1 and 3, a plurality of through holes 81 are formed in the corners of one side of the base 8, the number of the through holes 81 is four, the base is convenient to connect with the ground, a balancing weight 82 is arranged in the base 8, and the balancing weight 82 can ensure normal operation of the device.

The utility model discloses the fixed connection mode of mentioning is the welding.

The implementation principle of the embodiment is as follows: when the device is used, the base 8 is fixed on the ground through the through hole 81, so that the robot can work normally; when the device needs to grab an object, the second motor 72 can be driven, so that the second motor 72 drives the second worm 73, the second worm wheel 71 drives the support rod 6 and the mechanical gripper 1 to rotate, and the position of the mechanical gripper 1 can be close to the object; when the mechanical gripper 1 approaches to an object, the first motor 42 is driven, the first motor 42 drives the first worm 43, the first worm 43 drives the first worm gear 45 to roll the third gear 44 on the third rack 46, and meanwhile, the sliding table 41 slides on the support rod 6, so as to drive the connecting rod 5 to enable the connecting rod 5 to extrude or pull the first rotating arm 3, so that the mechanical gripper 1 approaches to the object in height; when the mechanical gripper 1 approaches to an object, the first cylinder 91 can be driven to drive the first rack 93, so that the first rack 93 drives the first rotating shaft 95 to rotate, and the second rotating arm 2 can be finely adjusted by an angle in the vertical direction; driving the second cylinder 962 causes the second cylinder 962 to drive the second rack 963, and causes the second rack 963 to drive the second gear 964 and the second rotating shaft 965 to rotate, so as to make the second rotating arm 2 perform fine adjustment on horizontal release, so that the mechanical gripper 1 can grasp an object.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. The rocker for the joint type industrial robot comprises a base (8) and is characterized in that a rotating assembly (7) is arranged on one side, away from the ground, of the base (8), the rotating assembly (7) is far away from a supporting rod (6) which is vertically arranged and fixedly connected to one side of the base (8), the supporting rod (6) is far away from one end of the rotating assembly (7), a first rotating arm (3) is hinged to one end of the rotating assembly (7), an adjusting assembly (4) is sleeved on the supporting rod (6) and is in sliding connection with the supporting rod, a connecting rod (5) is additionally arranged, two ends of the connecting rod (5) are respectively hinged to the adjusting assembly (4) and the first rotating arm (3), the first rotating arm (3) is far away from one end of the connecting rod (5), a joint assembly (9) is far away from one side of the first rotating arm (3), a second rotating arm (2) is fixedly connected to one side of the joint assembly (9), one side, far away from the joint component (9), of the second rotating arm (2) is detachably connected with a mechanical gripper (1).

2. The rocker arm for an articulated industrial robot and the articulated industrial robot according to claim 1, wherein the joint assembly (9) comprises a first support frame (92), the first support frame (92) is fixedly connected with the first rotating arm (3), a first rotating shaft (95) is rotatably connected to the side of the first support frame (92) away from the first rotating arm (3), the first rotating shaft (95) is horizontally arranged, a joint auxiliary assembly (96) is fixedly connected to the side of the first rotating shaft (95) away from the first support frame (92), a first gear (94) is sleeved on one end of the first rotating shaft (95) and is fixedly connected with the first rotating shaft (95), a first rack (93) is engaged with the first gear (94), the first rack (93) is slidably connected with the first support frame (92), and the sliding direction of the first rack (93) is perpendicular to the axial direction of the first rotating shaft (95), one end of the first rack (93) is fixedly connected with a first air cylinder (91), the first air cylinder (91) is fixedly connected with the first support frame (92), and the axial direction of an output shaft of the first air cylinder (91) is the same as the sliding direction of the first rack (93).

3. The rocker arm for an articulated industrial robot and the articulated industrial robot according to claim 2, wherein the joint assist assembly (96) comprises a second rotating shaft (965), the second rotating shaft (965) is fixedly connected with the first rotating shaft (95) and is arranged vertically, a second support frame (961) is rotatably connected to the second rotating shaft (965) at the side far away from the first support frame (92), the second support frame (961) is fixedly connected with the second rotating arm (2), a second gear (964) is sleeved and fixedly connected with one end of the second rotating shaft (965), a second rack (963) is engaged with the second gear (964), the second rack (963) is slidably connected with the second support frame (961), and the sliding direction of the second rack (963) is axially vertical to the second rotating shaft (965), one end of the second rack (963) is fixedly connected with a second air cylinder (962), the second air cylinder (962) is fixedly connected with the second supporting frame (961), and the axial direction of the output end of the second air cylinder (962) is the same as the sliding direction of the second rack (963).

4. The rocker arm for the joint type industrial robot and the joint type industrial robot as claimed in claim 1, characterized in that the adjusting assembly (4) comprises a sliding table (41), the sliding table (41) is connected with the supporting rod (6) in a sliding manner, one side of the sliding table (41) is hinged with the connecting rod (5), the sliding table (41) is arranged in a hollow manner, a third gear (44) is connected in the sliding table (41) in a rotating manner, the axial direction of the third gear (44) is parallel to the horizontal plane, a third rack (46) is meshed with the third gear (44), the third rack (46) is fixedly connected with the supporting rod (6), a first worm gear (45) is fixedly connected with one side end face of the third gear (44), the first worm gear (45) is connected with the sliding table (41) in a rotating manner and is meshed with a first horizontally arranged worm (43), first worm (43) with slip table (41) rotate to be connected just first worm (43) one end runs through slip table (41) one side fixedly connected with first motor (42), first motor (42) with slip table (41) fixed connection.

5. The rocker for an articulated industrial robot and the articulated industrial robot as claimed in claim 1, characterized in that the rotating assembly (7) comprises a second worm wheel (71), the axis of the second worm wheel (71) is perpendicular to the base (8), one side end face of the second worm wheel (71) is rotatably connected with the base (8), the other side end face of the second worm wheel (71) is fixedly connected with the supporting rod (6), the second worm wheel (71) is engaged with a second worm (73), the second worm (73) is rotatably connected with the base (8), one end of the second worm (73) penetrates through one side of the base (8) and is fixedly connected with a second motor (72), and the second motor (72) is fixedly connected with the base (8).

6. Rocker arm for an articulated industrial robot, according to claim 1, characterised in that the base (8) is provided with through holes (81) at one side corner, and that a counter weight (82) is provided in the base (8).