CN220373309U - Forearm locking type robot anti-falling tool - Google Patents
Forearm locking type robot anti-falling tool Download PDFInfo
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- CN220373309U CN220373309U CN202322055858.5U CN202322055858U CN220373309U CN 220373309 U CN220373309 U CN 220373309U CN 202322055858 U CN202322055858 U CN 202322055858U CN 220373309 U CN220373309 U CN 220373309U
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- forearm
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- bottom plate
- falling
- waist
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- 210000000245 forearm Anatomy 0.000 title claims abstract description 44
- 210000000707 wrist Anatomy 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 230000002265 prevention Effects 0.000 claims 4
- 239000003638 chemical reducing agent Substances 0.000 abstract description 8
- 239000012636 effector Substances 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000003111 delayed effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Abstract
The utility model belongs to the technical field of robots, and particularly relates to a small arm locking type robot anti-falling tool which is used for locking the transportation pose of a six-degree-of-freedom vertical multi-joint type industrial robot, wherein the six-degree-of-freedom vertical multi-joint type industrial robot comprises a base, a waist seat, a large arm, a rear small arm, a front small arm, a wrist and a tail end flange which are connected in sequence in a rotating manner, and the small arm locking type robot anti-falling tool comprises an anti-falling tool body; the anti-falling tool body comprises a bottom plate and a turning plate arranged on one side of the bottom plate, wherein the bottom plate is connected with a waist seat, and the turning plate is connected with a front forearm, so that a cantilever of the six-degree-of-freedom vertical multi-joint industrial robot is in a closed-loop structure. The utility model can make the robot body carry the end effector for transportation, plays the role of preventing the robot from falling, effectively protects the transmission parts such as the triaxial motor, the speed reducer and the like, and prolongs the service life of the robot.
Description
Technical Field
The utility model belongs to the technical field of robots, and particularly relates to a small arm locking type robot anti-falling tool.
Background
Under the transportation working condition of the six-degree-of-freedom vertical multi-joint type industrial robot, due to the vibration and the acceleration of transportation, the cantilever structure of the robot can generate impact torque for a motor and a speed reducer of the six-degree-of-freedom vertical multi-joint type industrial robot, the impact torque is transmitted to the motor to exceed the braking torque of a motor brake, a motor shaft is enabled to jog, the subsequent motor is powered on, and the detection position of a motor code disc is abnormal, so that an alarm can be caused. In the existing transportation process of robots, the conventional multi-model industrial robots with six degrees of freedom and multiple joints are required to carry end effectors for transportation. Therefore, an anti-falling tool capable of effectively prolonging service life of a speed reducer is urgently needed.
Disclosure of Invention
Aiming at the problems, the utility model aims to provide the anti-falling tool for the forearm locking type robot, so as to solve the problem that the service lives of a motor and a speed reducer are short because the cantilever structure of the robot generates impact torque to the motor and the speed reducer of the six-degree-of-freedom vertical multi-joint type industrial robot.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
the utility model provides a small arm locking type robot anti-falling tool which is used for locking the transportation pose of a six-degree-of-freedom vertical multi-joint type industrial robot, wherein the six-degree-of-freedom vertical multi-joint type industrial robot comprises a base, a waist seat, a large arm, a rear small arm, a front small arm, a wrist and a tail end flange which are sequentially connected in a rotating mode, and the small arm locking type robot anti-falling tool comprises an anti-falling tool body; the anti-falling tool body comprises a bottom plate and a turning plate arranged on one side of the bottom plate, wherein the bottom plate is connected with a waist seat, and the turning plate is connected with a front forearm, so that a cantilever of the six-degree-of-freedom vertical multi-joint industrial robot is in a closed-loop structure.
In one possible implementation manner, the bottom plate and the turning plate are of an integrated structure formed by bending a sheet metal, and the bottom plate and the turning plate are mutually perpendicular.
In one possible implementation manner, a waist hole is formed in the bottom plate along a direction parallel to the turning plate, and the waist hole is connected with the waist seat through a connecting component.
In one possible implementation manner, the connection assembly comprises a lifting ring screw, a lifting ring spring pad and a lifting ring flat pad, wherein the lifting ring screw sequentially penetrates through the lifting ring spring pad, the lifting ring flat pad and the waist hole on the turning plate and then is in threaded connection with the waist seat.
In one possible implementation manner, a waist seat mounting surface is arranged at the top of the waist seat, and the waist seat mounting surface is parallel to the ground; the waist seat mounting surface is provided with a waist seat mounting threaded hole for being connected with the lifting ring screw; the bottom plate is attached to the waist seat mounting surface, and the axis of the waist hole is perpendicular to the rotation axis between the waist seat and the big arm.
In one possible implementation manner, a front forearm mounting surface is arranged at the front end of the front forearm, and in a transportation pose locking state of the six-degree-of-freedom vertical multi-joint industrial robot, the front forearm mounting surface is parallel to a rotation axis between the base and the waist seat; the turning plate is attached to the front forearm mounting surface and is connected with the front forearm mounting surface through a locking screw.
In one possible implementation manner, the upper end of the turning plate is provided with a light hole, the front forearm installation surface is provided with at least two front forearm installation threaded holes along the height direction, and the locking screw penetrates through the light hole and then is connected with one front forearm installation threaded hole.
In one possible implementation, the inside of the corner between the base plate and the flap is provided with a fillet.
The utility model has the advantages and beneficial effects that: the small arm locking type robot anti-falling tool provided by the utility model can enable the robot body to carry the end effector for transportation, plays a role in preventing the robot from falling, effectively protects transmission parts such as one-to-four shaft motors and speed reducers, and prolongs the service life of the robot; meanwhile, the use of the lifting ring screw on the waist seat is not delayed, the robot body does not need to be additionally provided with a screw hole, the operation is simple, and the teaching precision required by the transportation posture is low.
Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model. The objectives and other advantages of the utility model may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the utility model is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:
FIG. 1 is a schematic structural view of a small arm locking type robot anti-falling tool;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is an enlarged view of a portion of FIG. 1 at B;
fig. 4 is a schematic structural diagram of the anti-falling tool body in the utility model.
In the figure: the vertical multi-joint type industrial robot with 1-six degrees of freedom comprises a 101-base, a 102-waist seat, 1021-waist seat mounting surfaces, 103-large arms, 104-rear small arms, 105-front small arms, 1051-front small arm mounting surfaces, 1052-front small arm mounting threaded holes, 106-wrists, 107-end flanges, a 2-anti-falling tool body, 201-bottom plates, 202-inner corners, 203-turning plates, 204-light holes, 205-waist holes, 3-lifting ring screws, 4-lifting ring spring pads, 5-lifting ring flat pads and 6-locking screws.
Detailed Description
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present utility model only, and are not intended to limit the present utility model.
As shown in fig. 1-4, the utility model provides a small arm locking type robot anti-falling tool, which is used for locking the transportation pose of a six-degree-of-freedom vertical multi-joint type industrial robot 1, wherein the six-degree-of-freedom vertical multi-joint type industrial robot 1 comprises a base 101, a waist seat 102, a large arm 103, a rear small arm 104, a front small arm 105, a wrist 106 and a tail end flange 107 which are connected in turn; the forearm locking type robot anti-falling tool comprises an anti-falling tool body 2; the anti-falling tool body 2 comprises a bottom plate 201 and a turning plate 203 arranged on one side of the bottom plate 201, wherein the bottom plate 201 is connected with the waist seat 102, the turning plate 203 is connected with the front small arm 105, a cantilever of the six-degree-of-freedom vertical multi-joint industrial robot 1 is of a closed loop structure, the anti-falling function of the robot is achieved, the robot body can be transported by carrying an end effector, a triaxial motor, a speed reducer and other transmission parts are effectively protected, and the service life of the robot is prolonged.
As shown in fig. 1, in the embodiment of the present utility model, the lower end of the base 101 is used to fix the six-degree-of-freedom vertical multi-joint type industrial robot 1. The rotation axis between the chassis 101 and the lumbar support 102 is an axis perpendicular to the mounting plane of the chassis 101, and parallel to the up-down direction of the paper in fig. 1. The rotation axis between the lumbar 102 and the large arm 103 is two axes, the two axes are orthogonal to the one axis space, and in fig. 1, are perpendicular to the paper surface. The rotation axis between the large arm 103 and the rear small arm 104 is triaxial, and the triaxial axis is spatially parallel to the biaxial axis, which is perpendicular to the paper surface in fig. 1. The rotation axis between the rear arm 104 and the front arm 105 is four axes, and the four axes are orthogonal to the three axes, and are parallel to the left-right direction of the paper surface in fig. 1. The rotation axis between the forearm 105 and the wrist 106 is five axes, which are orthogonal to the four axes, and are perpendicular to the paper surface in fig. 1. The axis of rotation between the wrist 106 and the end flange 107 is six axes, which are orthogonal to the axis of five axes, and parallel to the left-right direction of the paper surface in fig. 1.
As shown in fig. 4, in the embodiment of the present utility model, the bottom plate 201 and the flap 203 are formed by bending a sheet metal into an integral structure, and the bottom plate 201 and the flap 203 are perpendicular to each other. Further, inside the corner between the bottom plate 201 and the flap 203 is provided with a fillet 202.
In the embodiment of the present utility model, a waist hole 205 is formed on the bottom plate 201 along a direction parallel to the turning plate 203, and the waist hole 205 is connected with the waist seat 102 through a connection assembly.
As shown in fig. 2, in the embodiment of the present utility model, the connection assembly includes a lifting screw 3, a lifting ring spring pad 4 and a lifting ring flat pad 5, wherein the lifting screw 3 sequentially passes through the lifting ring spring pad 4, the lifting ring flat pad 5 and a waist hole 205 on the turning plate 203 and is in threaded connection with the waist seat 102.
Further, the top of the lumbar seat 102 is provided with a lumbar seat mounting surface 1021, and the lumbar seat mounting surface 1021 is parallel to the ground, i.e. orthogonal to an axis; the waist seat mounting surface 1021 is provided with a waist seat mounting threaded hole for connecting with the lifting ring screw 3; the bottom plate 201 is attached to the lumbar mount surface 1021, and the axis of the lumbar hole 205 is perpendicular to the rotation axis between the lumbar 102 and the large arm 103.
As shown in fig. 3, in the embodiment of the present utility model, the front end of the front forearm 105 is provided with a front forearm mounting surface 1051, that is, the front forearm mounting surface 1051 is near the five axis. In the transport pose locked state of the six-degree-of-freedom vertical multi-joint type industrial robot 1, the front forearm mounting face 1051 is parallel to the rotation axis between the base 101 and the waist seat 102, i.e., parallel to the one axis and orthogonal to the two axes; the back surface of the flap 203 is attached to the front forearm attachment surface 1051, and is connected to the front forearm attachment surface 1051 by the locking screw 6.
Further, the upper end of the flap 203 is provided with a light hole 204, and the front forearm mounting surface 1051 is provided with at least two front forearm mounting screw holes 1052 in the height direction, and the locking screw 6 passes through the light hole 204 and is connected with one front forearm mounting screw hole 1052.
In this embodiment, the six-degree-of-freedom vertical multi-joint type industrial robot 1 is a hollow walking robot, and the rear arm 104, the front arm 105, the wrist 106 and the end flange 107 are all hollow structures, which are commonly used for arc welding applications, and hollow for walking welding wires and the like. Specifically, the forearm mounting screw 1052 is a fixing hole of the inner wiring bracket.
The utility model provides a small arm locking type robot anti-falling tool, which comprises the following steps:
the upper end back surface of the flap 203 is attached to the forearm attachment surface 1051.
The locking screw 6 is screwed into the forearm mounting screw hole 1052 through the light hole 204 in the flap 203, and the bottom plate 201 can swing around the axis of the locking screw 6 before the pre-tightening force is not reached by the locking screw 6.
The two-axis and three-axis joints rotate to drive the adjusting bottom plate 201 to swing, so that the back surface of the bottom plate 201 is attached to the waist seat mounting surface 1021. At this point, the length direction of the waist hole 205 compensates for the single action two-axis and three-axis articulation operation errors.
The eye screw 3 passes through the eye spring pad 4, the eye flat pad 5 and the waist hole 205 on the bottom plate 201 in sequence and then is connected with the waist seat installation threaded hole.
The locking screw 6 is screwed to a pre-tightening force.
The two-axis, three-axis and four-axis of the six-freedom-degree vertical multi-joint type industrial robot 1 are locked in pose.
In this embodiment, the length of the waist hole 205 on the bottom plate 201 effectively compensates for the positioning error of the two-axis and three-axis motions of the locking six-degree-of-freedom vertical multi-joint type industrial robot 1. The specific principle is as follows: according to the mechanics, the big arm 103 is a first swing rod, the rear small arm 104 and the front small arm 105 are a second swing rod, the anti-falling tool body 2 is a third swing rod, and the bottom plate 201 is parallel to the ground. The horizontal position of the anti-falling tool body 2 is not unique for two shafts and three shafts. That is, the two-axis angle and the three-axis angle have a plurality of values, and the end flange 107 has a plurality of positions horizontally in the case that the bonding height position of the lumbar support mounting surface 1021 and the bottom plate 201 is not changed, so that the lumbar hole 205 is used to facilitate adjustment of the horizontal position of the end flange 107.
The small arm locking type robot anti-falling tool provided by the utility model can enable the robot body to carry the end effector for transportation, plays a role in preventing the robot from falling, effectively protects transmission parts such as one-to-four shaft motors and speed reducers, and prolongs the service life of the robot; meanwhile, the use of the lifting ring screw on the waist seat is not delayed, the robot body does not need to be additionally provided with a screw hole, the operation is simple, and the teaching precision required by the transportation posture is low.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present utility model without departing from the spirit or scope of the utility model. Thus, it is intended that the present utility model also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. The utility model provides a forearm locking type robot anti-falling tool which is used for locking the transportation pose of a six-degree-of-freedom vertical multi-joint type industrial robot (1), and the six-degree-of-freedom vertical multi-joint type industrial robot (1) comprises a base (101), a waist seat (102), a big arm (103), a rear forearm (104), a front forearm (105), a wrist (106) and a tail end flange (107) which are connected in sequence in a rotating way, and is characterized in that the forearm locking type robot anti-falling tool comprises an anti-falling tool body (2); the anti-falling tool body (2) comprises a bottom plate (201) and a turning plate (203) arranged on one side of the bottom plate (201), wherein the bottom plate (201) is connected with a waist seat (102), and the turning plate (203) is connected with a front forearm (105), so that a cantilever of the six-freedom-degree vertical multi-joint type industrial robot (1) is in a closed loop structure.
2. The arm locking type robot anti-falling tool according to claim 1, wherein the bottom plate (201) and the turning plate (203) are of an integrated structure formed by bending a sheet metal, and the bottom plate (201) and the turning plate (203) are mutually perpendicular.
3. The forearm locking type robot falling prevention tool as claimed in claim 2, wherein a waist hole (205) is formed in the bottom plate (201) along a direction parallel to the turning plate (203), and the waist hole (205) is connected with the waist seat (102) through a connecting assembly.
4. The arm locking type robot anti-falling tool according to claim 3, wherein the connecting assembly comprises a lifting ring screw (3), a lifting ring spring pad (4) and a lifting ring flat pad (5), and the lifting ring screw (3) sequentially penetrates through the lifting ring spring pad (4), the lifting ring flat pad (5) and a waist hole (205) on the turning plate (203) and then is in threaded connection with the waist seat (102).
5. The forearm locking type robot falling prevention tool as recited in claim 4, wherein a waist seat mounting surface (1021) is arranged at the top of the waist seat (102), and the waist seat mounting surface (1021) is parallel to the ground; a waist seat mounting threaded hole used for being connected with the eye screw (3) is formed in the waist seat mounting surface (1021); the bottom plate (201) is attached to the waist seat mounting surface (1021), and the axis of the waist hole (205) is perpendicular to the rotation axis between the waist seat (102) and the large arm (103).
6. The forearm locking type robot anti-falling tool according to claim 2, wherein a forearm mounting surface (1051) is arranged at the front end of the forearm (105), and in a transportation pose locking state of the six-degree-of-freedom vertical multi-joint type industrial robot (1), the forearm mounting surface (1051) is parallel to a rotation axis between the base (101) and the waist seat (102); the turning plate (203) is attached to the forearm mounting surface (1051) and is connected with the forearm mounting surface (1051) through a locking screw (6).
7. The forearm locking type robot falling prevention tool as claimed in claim 6, wherein the upper end of the turning plate (203) is provided with a light hole (204), the front forearm installation surface (1051) is provided with at least two front forearm installation threaded holes (1052) along the height direction, and the locking screw (6) penetrates through the light hole (204) and then is connected with one front forearm installation threaded hole (1052).
8. The small arm locking type robot falling prevention tool according to claim 2, wherein a fillet (202) is arranged on the inner side of a corner between the bottom plate (201) and the turning plate (203).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322055858.5U CN220373309U (en) | 2023-07-31 | 2023-07-31 | Forearm locking type robot anti-falling tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322055858.5U CN220373309U (en) | 2023-07-31 | 2023-07-31 | Forearm locking type robot anti-falling tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220373309U true CN220373309U (en) | 2024-01-23 |
Family
ID=89562213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322055858.5U Active CN220373309U (en) | 2023-07-31 | 2023-07-31 | Forearm locking type robot anti-falling tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220373309U (en) |
-
2023
- 2023-07-31 CN CN202322055858.5U patent/CN220373309U/en active Active
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