Liftable industrial robot arm device

Abstract

The present invention provides a liftable industrial robot arm device, comprising a machine base, a lifting mechanism and a mechanical arm mechanism, wherein the mechanical arm mechanism is connected to the lifting mechanism in a transmission manner; the mechanical arm mechanism comprises a mechanical claw, an arm support, a first servo motor, a first lead screw, a first bearing support, a first lead screw nut, a first connecting piece and a second bearing support; the first lead screw is connected to the output shaft of the first servo motor in a transmission manner; the first lead screw is inserted into the first bearing support; the first lead screw nut is sleeved on the first lead screw and is circumferentially fixedly connected to the first connecting piece, and the first connecting piece is connected to the mechanical claw; the mechanical claw is connected to the arm support; at least one second bearing is arranged in the second bearing support, and the first lead screw is inserted into the second bearing. The liftable industrial robot arm device of the present invention increases the range and carrying capacity of the industrial robot to clamp objects, enhances stability, and improves the appearance structure and material of the mechanical claw, so that it can realize the handling of more types of objects.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a liftable industrial robot arm device. Background Art

[0002] my country has listed industrial robots as a key national scientific research plan in the "Seventh Five-Year Plan". The first national robot research demonstration project was established in Shenyang, and the basic theory and basic components of robots were fully developed. After nearly 20 years of research, production and application, my country's robots have begun to develop rapidly. Industrial robots of different models have been developed and produced. At the same time, a team with a certain level of technology has been created, laying the foundation for the independent development of my country's industrial robots. However, compared with developed countries in Europe and the United States, my country's industrial robots still have a large gap in technology, scale, and application fields. It is necessary to increase investment, use its own advantages, and establish a robot production and operation base integrating technology, industry and trade (i.e. research, development, production and sales) to narrow the gap with developed countries in Europe and the United States in terms of function, precision, speed, application field, commercialization and industrialization.

[0003] The existing machine tool workpiece gripping robot realizes the transportation of the workpiece to be processed through a motor and a control system, and its movement path is basically fixed.

[0004] However, due to the limitations of arm length and the material and size of the mechanical gripper, the range and weight of objects that existing industrial robots can clamp are greatly restricted, and their stability is also poor. Summary of the invention

[0005] In view of the deficiencies in the above-mentioned prior art, the present invention provides a liftable industrial robot arm device, which increases the range and carrying capacity of the industrial robot's clamping objects, enhances its stability, and improves the appearance structure and materials of the robot gripper, so that it can carry more types of objects.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a liftable industrial robot arm device, comprising a machine base, a lifting mechanism and a mechanical arm mechanism, wherein the lifting mechanism is fixed on the machine base, and the mechanical arm mechanism is transmission-connected with the lifting mechanism; the mechanical arm mechanism comprises a mechanical claw, an arm support, and a first servo motor, a first lead screw, a first bearing support, a first lead screw nut, a first connecting piece and a second bearing support installed in the arm support; the first lead screw is transmission-connected with the output shaft of the first servo motor through a first coupling; the first bearing support is fixed in the arm support, and a first bearing support is provided in the first bearing support. There is at least one first bearing, and the first lead screw is inserted into the first bearing; the first lead screw is threaded with a first locking nut, and the first locking nut abuts against one end of the first bearing base adjacent to the first coupling; the first lead screw nut is sleeved on the first lead screw and circumferentially fixedly connected to the first connecting member, and the first connecting member is connected to the mechanical claw; the mechanical claw is connected to the arm bracket; the second bearing base is fixed in the arm bracket, and at least one second bearing is arranged in the second bearing base, and the first lead screw is inserted into the second bearing; the first lead screw nut is located between the first bearing base and the second bearing base.

[0007] Preferably, the first connecting member includes a first substrate and at least two first connecting rods; a first through hole matching the first lead screw nut is formed in the middle of the first substrate, the first substrate is sleeved on the first lead screw nut through the first through hole and is screwed and fixed to the end face of the first lead screw nut; the connecting rod is formed on the side of the first substrate away from the first servo motor and is connected to the mechanical claw.

[0008] Preferably, the mechanical claw includes a second connecting member, a third connecting member and two mechanical claw assemblies; the second connecting member includes a second substrate and a second connecting rod; the first connecting rod is connected to the first surface of the second substrate, and the second connecting rod is formed on the second surface of the second substrate; the two mechanical claw assemblies are oppositely arranged and pivotally connected to the end of the arm support; the third connecting member is V-shaped and is arranged between the two mechanical claw assemblies, the two ends of the third connecting member are respectively pivotally connected to one of the mechanical claw assemblies, and the middle part of the third connecting member is connected to the end of the second connecting rod.

[0009] Preferably, each of the mechanical claw assemblies includes a plurality of rods and a claw head; the cross-section of the claw head is trapezoidal, the first end of the rod is pivotally connected to the end of the arm support, and the second end of the rod is pivotally connected to the claw head; one of the rods is pivotally connected to the third connecting member; and a plurality of anti-slip grooves are formed on the inner side surface of the claw head.

[0010] Preferably, two first bearings are spaced apart in the first bearing base, and a first sleeve is sleeved on the first lead screw between the two first bearings and between the first locking nut and the first bearing; a first bearing end cover is provided at an end cover of the second bearing base away from the first servo motor.

[0011] Preferably, the lifting mechanism includes a second servo motor, a second lead screw, two second lead screw nuts, two longitudinal brackets and a lifting bracket; the second servo motor is fixed on the machine base, and the two longitudinal brackets are opposite and fixed on the machine base perpendicular to the surface of the machine base; the second lead screw is connected to the output shaft of the second servo motor through a second coupling; the opposite surfaces of the two longitudinal brackets respectively form a guide groove extending along the length direction of the longitudinal bracket; the lifting bracket includes a lifting block and two wing plates, the two sides of the lifting block extend outward to form the wing plates, and the lifting block can be reciprocated along the guide groove direction between the two longitudinal brackets through the wing plates partially inserted in the guide grooves; a second through hole is formed in the middle of the lifting block, the two second lead screw nuts are oppositely arranged and respectively sleeved on the second lead screw, and the second lead screw nut includes an internal thread section and a first end cap, the internal thread section is inserted in the second through hole, and the first end cap is connected to the lifting block; the arm bracket is connected to the lifting block.

[0012] Preferably, the lifting mechanism also includes a first transverse bracket, three second sleeves, a second locking nut, two third bearings and a second bearing end cover; the first transverse bracket is fixedly connected between the two longitudinal brackets; a second through hole is formed in the middle of the first transverse bracket; the second bearing end cover includes a sleeve and a second end cap; the sleeve is inserted into the second through hole and sleeved on the outside of the second screw; the second end cap is connected to the first transverse bracket; the third bearings are arranged at intervals and are respectively connected between the second screw and the second bearing end cover; the second locking nut is screwed to the outside of the second screw and is adjacent to or abuts the bottom of the second bearing end cover; the second sleeve is provided on the outer sleeve of the second screw between the two third bearings, between the second locking nut and the third bearing, and between the third bearing and the second end cap.

[0013] Preferably, the lifting mechanism also includes a second transverse bracket, a third bearing end cover and a fourth bearing; the second transverse bracket is fixedly connected between the tops of the two longitudinal brackets; a third through hole is formed in the middle of the second transverse bracket; the top of the second lead screw extends into the third through hole; the fourth bearing is connected between the second lead screw and the second transverse bracket; the third bearing end cover is covered on the top of the third through hole, and the third bearing end cover is screwed to the second transverse bracket.

[0014] The present invention adopts the above technical solution, so it has the following beneficial effects:

[0015] The cooperation of the lifting mechanism and the mechanical arm mechanism realizes that the present invention has two degrees of freedom, namely, the two main movements of arm lifting and lowering and gripper opening and closing. The range and carrying capacity of the industrial robot's gripping objects are increased, its stability is enhanced, and the appearance structure and materials of the mechanical gripper are improved, so that it can carry more kinds of objects. The maximum range of arm lifting can reach 400mm, and the range of gripping objects is 55mm-110mm. The arm height is 90mm, the arm length is 760mm, and the maximum load-bearing weight can reach 50kg. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front cross-sectional view of a liftable industrial robot arm device according to an embodiment of the present invention;

[0017] Figure 2 A top view of a liftable industrial robot arm device according to an embodiment of the present invention;

[0018] Figure 3 It is a schematic structural diagram of an arm support according to an embodiment of the present invention;

[0019] Figure 4 is a side view of an arm support according to an embodiment of the present invention;

[0020] Figure 5 A schematic structural diagram of a first connecting member of an embodiment of the present invention;

[0021] Figure 6 This is a schematic structural diagram of a claw head according to an embodiment of the present invention;

[0022] Figure 7 1 is a top view of the claw head according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following is based on the attached Figure 1 to Figure 7 , give the preferred embodiments of the present invention, and describe them in detail so that the functions and features of the present invention can be better understood.

[0024] See also Figure 1 and Figure 2, an embodiment of the present invention is a liftable industrial robot arm device, comprising a machine base 1, a lifting mechanism 2 and a mechanical arm mechanism 3, the lifting mechanism 2 is fixed on the machine base 1, and the mechanical arm mechanism 3 is connected to the lifting mechanism 2 in a transmission manner; the mechanical arm mechanism 3 comprises a mechanical claw 301, an arm support 302, and a first servo motor 303, a first lead screw 304, a first bearing base 305, a first lead screw nut 306, a first connecting piece 307 and a second bearing base 308 installed in the arm support 302; the first lead screw 304 is connected to the output shaft of the first servo motor 303 through a first coupling 309; the first bearing base 305 is fixed in the arm support 302, and the first bearing base 30 5 is provided with at least one first bearing, and the first lead screw 304 is passed through the first bearing; the first lead screw 304 is threaded with a first locking nut 310, and the first locking nut 310 abuts against one end of the first bearing base 305 adjacent to the first coupling 309; the first lead screw nut 306 is sleeved on the first lead screw 304 and is circumferentially fixedly connected with the first connecting member 307, and the first connecting member 307 is connected to the mechanical claw 301; the mechanical claw 301 is connected to the arm bracket 302; the second bearing base 308 is fixed in the arm bracket 302, and at least one second bearing is provided in the second bearing base 308, and the first lead screw 304 is passed through the second bearing; the first lead screw nut 306 is located between the first bearing base 305 and the second bearing base 308.

[0025] In this embodiment, the structure of the arm support 302 can be referred to in Figure 3 and Figure 4 .

[0026] See also Figure 1 and Figure 5 The first connecting member 307 includes a first substrate 3071 and at least two first connecting rods 3072; a first through hole 3073 cooperating with the first lead screw nut 306 is formed in the middle of the first substrate 3071, and the first substrate 3071 is sleeved on the first lead screw nut 306 through the first through hole 3073 and is screwed and fixed with the end face of the first lead screw nut 306; the connecting rod is formed on a side of the first substrate 3071 away from the first servo motor 303 and is connected to the mechanical claw 301.

[0027] See also Figure 2The mechanical claw 301 includes a second connecting member 3011, a third connecting member 3012 and two mechanical claw assemblies; the second connecting member 3011 includes a second substrate 30111 and a second connecting rod 30112; the first connecting rod 3072 is connected to the first surface of the second substrate 30111, and the second connecting rod 30112 is formed on the second surface of the second substrate 30111; the two mechanical claw assemblies are oppositely arranged and pivotally connected to the ends of the arm support 302; the third connecting member 3012 is V-shaped and is arranged between the two mechanical claw assemblies, the two ends of the third connecting member 3012 are respectively pivotally connected to a mechanical claw assembly, and the middle part of the third connecting member 3012 is connected to the end of the second connecting rod 30112.

[0028] See also Figure 2 , Figure 6 and 7 Each mechanical claw assembly includes a plurality of rods 3013 and a claw head 3014; the cross-section of the claw head 3014 is trapezoidal, the first end of the rod 3013 is pivotally connected to the end of the arm support 302, and the second end of the rod 3013 is pivotally connected to the claw head 3014; a rod 3013 is pivotally connected to the third connecting member 3012; and a plurality of anti-slip grooves 30141 are formed on the inner side surface of the claw head 3014.

[0029] See also Figure 1 and Figure 2 Two first bearings are arranged in the first bearing base 305 at intervals, and a first sleeve is sleeved on the first lead screw 304 between the two first bearings and between the first locking nut 310 and the first bearing; a first bearing end cover 311 is provided on an end cover of the second bearing base 308 away from the first servo motor 303.

[0030] The lifting mechanism 2 includes a second servo motor 201, a second lead screw 202, two second lead screw nuts 203, two longitudinal brackets 204 and a lifting bracket 205; the second servo motor 201 is fixed on the base 1, and the two longitudinal brackets 204 are opposite and fixed on the base 1 perpendicularly to the surface of the base 1; the second lead screw 202 is connected to the output shaft of the second servo motor 201 through a second coupling 206; the opposite surfaces of the two longitudinal brackets 204 respectively form a guide groove extending along the length direction of the longitudinal bracket 204; the lifting bracket 205 includes a lifting block 2051 and two wing plates, the two sides of the lifting block 2051 extend outward to form wing plates, and the lifting block can be reciprocated along the guide groove direction between the two longitudinal brackets 204 through the wing plates partially inserted in the guide groove; a second through hole is formed in the middle of the lifting block 2051, and two second lead screw nuts 203 are oppositely arranged and respectively sleeved on the second lead screw 202, and the second lead screw nut 203 includes an internal thread section and a first end cap, the internal thread section is inserted in the second through hole, and the first end cap is connected to the lifting block 2051; the arm bracket 302 is connected to the lifting block 2051.

[0031] The two longitudinal brackets 204 are mainly used to fix the lifting mechanism 2, limit the horizontal freedom of the mechanical arm mechanism 3, and provide the mechanical arm mechanism 3 with up and down freedom, so that it can move freely up and down.

[0032] The lifting bracket 205 is mainly used to fix the second screw nut 203 and the robot arm mechanism 3.

[0033] The lifting mechanism 2 also includes a first transverse bracket 207, three second sleeves, a second locking nut 208, two third bearings 209 and a second bearing end cover 210; the first transverse bracket 207 is fixedly connected between the two longitudinal brackets 204; a second through hole is formed in the middle of the first transverse bracket 207; the second bearing end cover 210 includes a sleeve and a second end cap; the sleeve is inserted into the second through hole and sleeved on the outside of the second lead screw 202; the second end cap is connected to the first transverse bracket 207; the third bearings 209 are arranged at intervals and are respectively connected between the second lead screw 202 and the second bearing end cover 210; the second locking nut 208 is screwed on the outside of the second lead screw 202 and is adjacent to or abuts the bottom of the second bearing end cover 210; a second sleeve is provided on the outer sleeve of the second lead screw 202 between the two third bearings 209, between the second locking nut 208 and the third bearing 209, and between the third bearing 209 and the second end cap.

[0034] The lifting mechanism 2 also includes a second transverse bracket 211, a third bearing end cover 212 and a fourth bearing 213; the second transverse bracket 211 is fixedly connected between the tops of the two longitudinal brackets 204; a third through hole is formed in the middle of the second transverse bracket 211; the top of the second lead screw 202 extends into the third through hole; the fourth bearing 213 is connected between the second lead screw 202 and the second transverse bracket 211; the third bearing end cover 212 is covered at the top of the third through hole, and the third bearing end cover 212 is screwed to the second transverse bracket 211.

[0035] The embodiment of the present invention is a lifting industrial robot arm device, which adopts a common screw nut transmission method, fixes the second screw 202 on the machine base to rotate, and drives the second screw nut 203 to move up and down through the rotation of the second screw 202, and also needs to install an anti-rotation mechanism to prevent the second screw nut 203 from rotating during the movement and causing it to loosen. The opening and closing movement of the mechanical claw 301 is also carried out by the above method.

[0036] In this embodiment, the control system uses Siemens S7-200 series PLC as the core controller of the control system, and a program is written to control the movement direction of the robot arm and the opening and closing of the mechanical claw 301.

[0037] The operation process of a liftable industrial robot arm device according to an embodiment of the present invention can be as follows:

[0038] If the arm up key is pressed, the second servo motor 201 rotates forward, the mechanical arm mechanism 3 rises, and when it reaches the upper limit switch, the second servo motor 201 stops, and the mechanical arm mechanism 3 stops; if the arm down key is pressed, the second servo motor 201 turns to reverse, and the mechanical arm mechanism 3 starts to descend, but when the mechanical arm mechanism 3 reaches the lower limit switch, the second servo motor 201 stops running, and the mechanical arm mechanism 3 also stops; if the end key is pressed during the process of the mechanical arm mechanism 3 rising and falling, the second servo motor 201 stops immediately, that is, the mechanical arm mechanism 3 is stationary. When the mechanical arm mechanism 3 is stationary, pressing the clamping key or release key of the mechanical arm mechanism 3 realizes the control of the mechanical claw 301.

[0039] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A liftable industrial robot arm device, characterized in that: The invention comprises a machine base, a lifting mechanism and a mechanical arm mechanism, wherein the lifting mechanism is fixed on the machine base, and the mechanical arm mechanism is connected to the lifting mechanism in a transmission manner; the mechanical arm mechanism comprises a mechanical claw, an arm bracket, and a first servo motor, a first lead screw, a first bearing base, a first lead screw nut, a first connecting piece and a second bearing base installed in the arm bracket; the first lead screw is connected to the output shaft of the first servo motor through a first coupling; the first bearing base is fixed in the arm bracket, and at least one first bearing is arranged in the first bearing base, and the first lead screw nut The rod is inserted into the first bearing; the first screw is threaded with a first locking nut, and the first locking nut abuts against one end of the first bearing base adjacent to the first coupling; the first screw nut is sleeved on the first screw and circumferentially fixedly connected to the first connecting member, and the first connecting member is connected to the mechanical claw; the mechanical claw is connected to the arm bracket; the second bearing base is fixed in the arm bracket, and at least one second bearing is arranged in the second bearing base, and the first screw is inserted in the second bearing; the first screw nut is located between the first bearing base and the second bearing base; The first connecting member includes a first substrate and at least two first connecting rods; a first through hole matching with the first lead screw nut is formed in the middle of the first substrate, the first substrate is sleeved on the first lead screw nut through the first through hole and is screwed and fixed to the end face of the first lead screw nut; the connecting rod is formed on a side of the first substrate away from the first servo motor and connected to the mechanical claw; The mechanical claw comprises a second connecting member, a third connecting member and two mechanical claw assemblies; the second connecting member comprises a second substrate and a second connecting rod; the first connecting rod is connected to the first surface of the second substrate, and the second connecting rod is formed on the second surface of the second substrate; the two mechanical claw assemblies are arranged opposite to each other and are pivotally connected to the ends of the arm bracket; the third connecting member is V-shaped and is arranged between the two mechanical claw assemblies, the two ends of the third connecting member are respectively pivotally connected to one of the mechanical claw assemblies, and the middle part of the third connecting member is connected to the end of the second connecting rod; Each of the mechanical claw assemblies includes a plurality of rods and a claw head; the first end of the rod is pivotally connected to the end of the arm support, and the second end of the rod is pivotally connected to the claw head; one of the rods is pivotally connected to the third connecting member; and a plurality of anti-slip grooves are formed on the inner side surface of the claw head.

2. The liftable industrial robot arm device according to claim 1, characterized in that: Two first bearings are spaced apart in the first bearing base, and a first sleeve is sleeved on the first lead screw between the two first bearings and between the first locking nut and the first bearing; a first bearing end cover is provided at an end cover of the second bearing base away from the first servo motor.

3. The liftable industrial robot arm device according to any one of claims 1 to 2, characterized in that: The lifting mechanism includes a second servo motor, a second lead screw, two second lead screw nuts, two longitudinal brackets and a lifting bracket; the second servo motor is fixed on the machine base, and the two longitudinal brackets are opposite and fixed on the machine base perpendicular to the surface of the machine base; the second lead screw is connected to the output shaft of the second servo motor through a second coupling; the opposite surfaces of the two longitudinal brackets respectively form a guide groove extending along the length direction of the longitudinal bracket; the lifting bracket includes a lifting block and two wing plates, the two sides of the lifting block extend outward to form the wing plates, and the lifting block can be reciprocated along the guide groove direction between the two longitudinal brackets through the wing plates partially inserted in the guide groove; a second through hole is formed in the middle of the lifting block, the two second lead screw nuts are oppositely arranged and respectively sleeved on the second lead screw, and the second lead screw nut includes an internal thread section and a first end cap, the internal thread section is inserted in the second through hole, and the first end cap is connected to the lifting block; the arm bracket is connected to the lifting block.

4. The liftable industrial robot arm device according to claim 3, characterized in that: The lifting mechanism also includes a first transverse bracket, three second sleeves, a second locking nut, two third bearings and a second bearing end cover; the first transverse bracket is fixedly connected between the two longitudinal brackets; a second through hole is formed in the middle of the first transverse bracket; the second bearing end cover includes a sleeve and a second end cap; the sleeve is inserted into the second through hole and sleeved on the outside of the second lead screw; the second end cap is connected to the first transverse bracket; the third bearings are arranged at intervals and are respectively connected between the second lead screw and the second bearing end cover; the second locking nut is screwed on the outside of the second lead screw and is adjacent to or abuts the bottom of the second bearing end cover; the second lead screw outer sleeve is provided with the second sleeve between the two third bearings, between the second locking nut and the third bearing, and between the third bearing and the second end cap.

5. The liftable industrial robot arm device according to claim 4, characterized in that: The lifting mechanism also includes a second transverse bracket, a third bearing end cover and a fourth bearing; the second transverse bracket is fixedly connected between the tops of the two longitudinal brackets; a third through hole is formed in the middle of the second transverse bracket; the top of the second lead screw extends into the third through hole; the fourth bearing is connected between the second lead screw and the second transverse bracket; the third bearing end cover is covered on the top of the third through hole, and the third bearing end cover is screwed to the second transverse bracket.

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