WO2020006857A1

WO2020006857A1 - High-stability robotic arm for robot

Info

Publication number: WO2020006857A1
Application number: PCT/CN2018/104404
Authority: WO
Inventors: 曾胜兴
Original assignee: 苏州宏奇锐自动化有限公司
Priority date: 2018-07-06
Filing date: 2018-09-06
Publication date: 2020-01-09
Also published as: CN108621138A

Abstract

A high-stability robotic arm for a robot, comprising a shock-absorbing device (1). The top of the shock-absorbing device (1) is connected to a telescopic shaft (2). The top of the telescopic shaft (2) is connected to an automatic balancing block (4). The top of the automatic balancing block (4) is connected to a drive device (5). The top of the drive device (5) is connected to a first rotating arm (10), the first rotating arm (10) is connected to a second rotating arm (11), and the second rotating arm (11) is connected to a rotating arm (13).

Description

High-stability robot manipulator

Technical field

The invention belongs to the technical field of robots, and particularly relates to a high-stability robot manipulator.

Background technique

Manipulator is an automatic operation device that can imitate some movement functions of human hands and arms to grasp and carry objects or operate tools according to fixed procedures. Manipulators are the earliest industrial robots and the earliest modern robots. They can replace humans The heavy labor to realize the mechanization and automation of production, and the ability to operate in hazardous environments to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry, and atomic energy. Nowadays robots are widely used, but traditional The robot has a complicated structure, is inconvenient to operate, and has poor applicability, so it needs to be improved.

Summary of the invention

The object of the present invention is to provide a high-stability robot manipulator to solve the problems raised in the background art described above.

To achieve the above object, the present invention provides the following technical solution: A high-stability robot manipulator includes a shock absorbing device, a driving device, a first rotating arm, and a picking hook. The shock absorbing device includes a mounting base and a mounting plate. Telescopic rod and air cylinder, the telescopic rod is fixedly welded at the center of the end surface of the mounting plate, the top of the telescopic rod is fixedly connected with an automatic balance block, the top of the automatic balance block is fixedly connected with a driving device, and the driving device jacket A spring is placed, and an eccentric adjustment nut is sleeved on the bottom end of the spring. A first rotating arm is connected to the top of the driving device and is fixedly connected by a locking bolt. A first joint is movably connected to the front side of the first rotating arm. A second rotating arm is movably connected to the first joint, a left end of the second rotating arm is movably connected to the first joint, a right end is movably connected to the second joint, and the second joint is movably connected to the left end of the third rotating arm. The right end of the third rotating arm is inlaid with a picking hook.

Preferably, four sets of telescopic rods are fixed and welded on the upper end surface of the mounting base, one end of the telescopic rod is fixedly welded vertically on the upper end surface of the mounting base, and the other end is fixedly welded on the lower end surface of the mounting plate. Four corners of the upper end surface of the base, a cylinder is fixedly installed at the center of the upper end surface of the mounting base, the cylinder base is fixedly welded to the upper end surface of the mounting base, and the top end is fixedly connected to the lower end surface of the mounting plate.

Preferably, two sets of anti-wear rubbers are connected on both sides of the automatic balance block, and the anti-wear rubbers are symmetrically arranged with the longitudinal axis of the automatic balance block.

Preferably, the locking bolt is a cylindrical hollow structure, the inner wall of the locking bolt is provided with a thread groove, the driving device is a cylindrical structure, and the outer side of the top of the driving device is provided with a thread groove installed in cooperation with the locking bolt. The first rotating arm has a cylindrical structure, and a screw groove is installed outside the bottom end of the first rotating arm in cooperation with a locking bolt. The locking bolt is sleeved on the top of the driving device and fixedly installed on the bottom end of the first rotating arm.

Preferably, the driving device is provided with a servo motor, and the servo motor is installed inside the driving device.

Technical effects and advantages of the present invention: The high-stability robot manipulator has a spring mounted on the outer casing of the driving device. When the weight of the object taken by the picking hook is small, the spring buffers, and when the weight of the object is too large, the spring buffers for the first time. After the impact force is weakened, the lower damping device is transmitted, and the lifting rod retracts for a second time. Finally, the cylinder completely releases the impact force to protect the device from damage. The damping device has a rectangular structure. Grounding area improves stability. Two sets of anti-wear rubber are connected on both sides of the automatic balance block. The anti-wear rubber is symmetrically arranged on the longitudinal axis of the automatic balance block to protect the automatic balance block from abrasion. The locking bolt is placed on the driving device. The top end and the bottom end of the first rotating arm are screwed and installed to increase the structural rigidity. The high-stability robot manipulator has a simple structure, a reasonable design, convenient operation, and strong adaptability, and can be widely used.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic structural diagram of the present invention;

2 is a schematic structural diagram of a shock absorbing device according to the present invention;

FIG. 3 is a schematic structural diagram of a servo motor according to the present invention.

In the picture: 1 shock absorbing device, 2 telescopic shaft, 3 anti-wear glue, 4 automatic balance weights, 5 drive device, 6 eccentric adjustment nut, 7 spring, 8 lock bolt, 9 first joint, 10 first rotary arm, 11 Second rotating arm, 12 second joint, 13 third rotating arm, 14 picking hook, 101 mounting base, 102 mounting plate, 103 telescopic rod, 104 cylinder, 1001 servo motor.

detailed description

In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The present invention provides a high-stability robot manipulator as shown in FIGS. 1-3, which includes a shock absorbing device 1, a driving device 5, a first rotating arm 10, and a picking hook 14. The shock absorbing device 1 includes The mounting base 101, the mounting plate 102, the telescopic rod 103 and the air cylinder 104 are fixedly welded with a telescopic rod 103 at the center of the upper end surface of the mounting plate 102, and an automatic balancing block 4 is fixedly connected to the top end of the telescopic rod 103. A driving device 5 is fixedly connected to the top of the block 4. A spring 7 is placed on the outer side of the driving device 5. An eccentric adjustment nut 6 is sleeved on the bottom end of the spring 7. A first rotating arm 10 is connected to the top of the driving device 5. The locking bolt 8 is fixedly connected. A first joint 9 is movably connected to the front side of the first swivel arm 10, a second swivel arm 11 is movably connected to the first joint 9, and a left end of the second swivel arm 11 is movably connected to The first joint 9 is movably connected to the second joint 12 at the right end, and the second joint 12 is movably connected to the left end of the third swivel arm 13, and the right end of the third swivel arm 13 is inlaid with an extraction hook 14.

Specifically, four sets of telescopic rods 103 are fixedly welded on the upper end surface of the mounting base 101, one end of the telescopic rod 103 is vertically fixedly welded on the upper end surface of the mounting base 101, and the other end is vertically fixedly welded on the lower end surface of the mounting plate 102. The rods 103 are respectively arranged at the four corners of the upper end surface of the mounting base 101. The cylinder 104 is fixedly installed at the center of the upper end surface of the mounting base 101. The cylinder 104 base is fixedly welded to the upper end surface of the mounting base 101, and the top end is fixedly connected to the mounting plate 102. End face.

Specifically, two sets of anti-wear rubbers 3 are connected to both sides of the automatic balance block 4, and the anti-wear rubbers 3 are symmetrically arranged on the longitudinal axis of the automatic balance block 4.

Specifically, the locking bolt 8 is a cylindrical hollow structure, the inner wall of the locking bolt 8 is provided with a thread groove, the driving device 5 is a cylindrical structure, and an outer side of the top of the driving device 5 is provided with a matching installation with the locking bolt 8. A screw groove, the first rotating arm 10 is a cylindrical structure, and a screw groove is installed outside the bottom end of the first rotating arm 10 in cooperation with a locking bolt 8 which is sleeved on the top of the driving device 5 and The bottom end of the first rotating arm 10 is fixedly installed by screws.

Specifically, the driving device 5 is provided with a servo motor 1001, and the servo motor 1001 is installed inside the driving device 5.

Specifically, the high-stability robot manipulator, the telescopic rods 103 are respectively arranged at the four corners of the upper end surface of the mounting base 101, which increases the stability of the shock absorbing device 1, and the cylinder 104 base is fixedly welded to the upper end surface of the mounting base 101. The shock device 1 performs secondary protection and can be effectively resolved when the impact force is too large. The top of the telescopic rod 103 is fixedly connected with an automatic balance block 4. When the weight of one side of the pick hook 14 is too large, the automatic balance block 4 can be adjusted by the eccentric adjustment nut 6. Return the device to a balanced state. Two sets of anti-wear rubbers 3 are connected on both sides of the automatic balance block 4. The anti-wear rubbers 3 are symmetrically arranged on the longitudinal axis of the automatic balance block 4. The anti-wear rubbers 3 can protect the automatic balance block 4 from being damaged. The first rotation arm 10 is connected to the top of the driving device 5 and is fixedly connected by a locking bolt 8. The first rotation arm 10 is movably connected to the first joint 9 at the front side, and the second rotation arm 11 is movably connected to the first joint 9. The left end of the second rotating arm 11 is movably connected to the first joint 9, the right end is movably connected to the second joint 12, the second joint 12 is movably connected to the left end of the third rotating arm 13, and the right end of the third rotating arm 13 is inlaid with a picking hook 14 Through the first rotating arm 10, the second rotating arm 11, and the third rotating arm 13, the highly stable robot manipulator can be rotated and adjusted at will, and the object is not limited to the traditional local area for taking objects. Robot manipulator has simple structure, reasonable design, convenient operation and strong adaptability, and can be widely used.

Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, it will remain to those skilled in the art. Modifications to the technical solutions described in the foregoing embodiments, or equivalent replacement of some of the technical features may be made. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall be included in Within the scope of the present invention.

Claims

A high-stability robot manipulator includes a shock absorbing device (1), a driving device (5), a first rotating arm (10), and a picking hook (14), which is characterized in that: the shock absorbing device (1) ) Includes a mounting base (101), a mounting plate (102), a telescopic rod (103), and an air cylinder (104). A telescopic rod (103) is fixedly welded at the center of the upper end surface of the mounting plate (102), and the telescopic rod (103) An automatic balancing weight (4) is fixedly connected to the top, and a driving device (5) is fixedly connected to the top of the automatic balancing weight (4). A spring (7) is disposed on the outer sleeve of the driving device (5). (7) An eccentric adjustment nut (6) is sleeved on the bottom end, a first rotating arm (10) is connected to the top of the driving device (5), and the first rotating arm (10) is fixedly connected through a locking bolt (8). A first joint (9) is movably connected to the front side, a second rotary arm (11) is movably connected to the first joint (9), and a left end of the second rotary arm (11) is movably connected to the first joint ( 9), the right end is movably connected to the second joint (12), and the second joint (12) is movably connected to the left end of the third rotating arm (13), and the right end of the third rotating arm (13) is inlaid with a picking object Hook (14).
The high-stability robot manipulator according to claim 1, characterized in that: four sets of telescopic rods (103) are fixedly welded on the upper end surface of the mounting base (101), and one end of the telescopic rod (103) is vertical It is fixedly welded on the upper end surface of the mounting base (101), and the other end is vertically and fixedly welded on the lower end surface of the mounting plate (102). The telescopic rods (103) are respectively arranged at the four corners of the upper end surface of the mounting base (101). 101) A cylinder (104) is fixedly installed at the center of the upper end surface, the base of the cylinder (104) is fixedly welded to the upper end surface of the mounting base (101), and the top end is fixedly connected to the lower end surface of the mounting plate (102).
The high-stability robot manipulator according to claim 1, characterized in that: two sets of anti-wear rubbers (3) are connected to both sides of the automatic balance block (4), and the anti-wear rubbers (3) Set symmetrically with the longitudinal axis of the automatic balance weight (4).
The high-stability robot manipulator according to claim 1, wherein the locking bolt (8) is a cylindrical hollow structure, an inner wall of the locking bolt (8) is provided with a thread groove, and the driving device (5) is a cylindrical structure, a thread groove is installed on the outer side of the top of the driving device (5) to cooperate with the locking bolt (8), the first rotating arm (10) is a cylindrical structure, and the first rotation A thread groove is installed on the outer side of the bottom end of the arm (10) to cooperate with the locking bolt (8). The locking bolt (8) is sleeved on the top of the driving device (5) and fixedly installed on the bottom of the first rotating arm (10). .
The high-stability robot manipulator according to claim 1, wherein the driving device (5) is provided with a servo motor (1001), and the servo motor (1001) is mounted on the driving device (5) internal.