A large arm structure for a six-degree-of-freedom industrial robot

Abstract

This application relates to the field of industrial robot component technology, and discloses a boom structure for a six-degree-of-freedom industrial robot, including a boom structure body. A flange three is fixedly sleeved on the top of the boom structure body, and a controller is installed at the bottom of the boom structure body. A sensor is welded to the bottom of the controller, and a steering assist structure is installed on the right side of the controller. The steering assist structure includes a flange one, a washer fixedly welded to the right side of flange one, and a rubber ring fixedly connected to the left side of flange one. Through the constraint of the washer, rubber ring, semi-arc plate, and ring ball inside the steering assist structure, flange two and flange one can be driven to rotate, which facilitates the left and right swaying of the boom structure body. Simultaneously, it drives the retaining ring to successfully engage in the limiting hole, increasing the rotational capacity of the boom structure body and reducing the phenomenon of jamming during rotation.

Description

Technical Field

[0001] This invention relates to the field of industrial robot parts technology, specifically to a boom structure for a six-degree-of-freedom industrial robot. Background Technology

[0002] Six-degree-of-freedom (6DOF) industrial robots are typical mechatronic products. They are highly flexible in their movements, have a large working space, can easily bypass obstacles, and have a compact structure with a small footprint. The relatively moving parts on the joints are easy to seal and prevent dust. They are widely used in industries such as machine tool loading and unloading, part picking, arc welding, and painting. When using a six-DOF industrial robot, it is assembled from the robot's upper arm, lower arm, turntable, and slide rails.

[0003] Currently, when workers are installing the robotic arm on a six-degree-of-freedom industrial robot, a jamming phenomenon may occur during rotation. In this case, manual correction and modification are required. However, during the modification process, data errors may occur, making it impossible to correct the problem. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a boom structure for a six-degree-of-freedom industrial robot, which solves the problem of jamming during rotation, the inability to quickly revise and modify the robot, and the potential for data errors by personnel during revisions, making corrections impossible.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: a boom structure for a six-degree-of-freedom industrial robot, comprising a boom structure body, a flange three fixedly sleeved on the top of the boom structure body, a controller installed at the bottom of the boom structure body, a sensor welded to the bottom of the controller, and a steering assist structure installed on the right side of the controller;

[0006] The steering assist structure includes a flange one, a gasket fixedly welded to the right side of the flange one, a rubber ring fixedly connected to the left side of the flange one, a fixing rod one installed on the left side of the rubber ring, a limiting ring one fixedly sleeved on the left side of the rubber ring, the left end of the limiting ring one slidably connected to the outside of a ring ball, a semi-arc plate with opposing left and right and up and down sides welded to the outside of the ring ball, a limiting ring two slidably connected to the left side of the ring ball, a fixing rod two installed on the left side of the limiting ring two, a flange two installed on the left side of the fixing rod two, a retaining ring welded to the left side of the flange two, a spring fixedly connected to the left side of the retaining ring, and a limiting hole engaged on the left side of the retaining ring.

[0007] Preferably, a lower frame is welded between the two main arm structures. The lower frame has left and right opposite heat dissipation holes on its inner side. A heat sink is installed inside the lower frame, and left and right opposite fans are installed on the outer side of the heat sink.

[0008] Preferably, a flange four is fixedly sleeved on the bottom outer side of the boom structure body, a limit ring two is provided at the lower end of the flange four, and a rubber ring is provided on the right side of the limit ring two, with the rubber ring located on the right side of the controller.

[0009] Preferably, the top of the controller is fixedly sleeved to a straight rod, the top of the straight rod is screwed with a lower frame, and a filter screen is attached to the outer side of the lower frame.

[0010] A system for the boom structure of a six-degree-of-freedom industrial robot includes a controller and sensors. The sensors are connected to the controller and, through their operation, can transmit data and human operation information to the controller during boom rotation. The controller is connected to a detection module for detecting the internal rotation of the boom structure. The detection module is connected to a limit module for detecting whether the boom is in a limited position. The limit module is connected to a steering module for limiting the boom's movement while facilitating rotation with the assistance of the steering module. The steering module is connected to a control module for controlling the boom's rotation. The control module is connected to a calculation module for calculating the boom's rotation data after control and feeding it back to the terminal.

[0011] Preferably, the detection module includes a start / stop unit, a transmission unit, a detection unit, a pressure detection unit, and a sensing unit. The start / stop unit is connected to the transmission unit, enabling timely stopping of the robot's arm rotation. The transmission unit facilitates data transmission. The start / stop unit is connected to the detection unit, allowing the detection unit to detect the start / stop of the start / stop unit, reducing data errors during arm operation. The detection unit is connected to the pressure detection unit, enabling pressure data detection during overall arm structure inspection. The transmission unit is connected to the sensing unit, allowing for sensing of rotation during operation.

[0012] Preferably, the control module includes a temperature measurement module, a conduction unit, a heat dissipation unit, a terminal transmission unit, and a data counting unit. The temperature measurement module is connected to the conduction unit and can measure the temperature of the boom structure body when it rotates. At the same time, the conduction unit transmits the heat statistics data. The conduction unit is connected to the heat dissipation unit and can transfer the internal heat out through the heat dissipation unit. The temperature measurement module is connected to the terminal transmission unit and can provide feedback and display of the data transmission. The temperature measurement module is connected to the data counting unit and can count and statistically analyze the internal temperature of the boom structure body when the temperature is measured.

[0013] Preferably, the steering module includes a control unit, a drive unit, a display unit, a digital-to-analog conversion unit, and a revision unit. The control unit is connected to the drive unit and is used to optimize the rotation of the boom structure. The drive unit is connected to the digital-to-analog conversion unit and is used to convert the transmission data when driving the steering assist structure to rotate. The digital-to-analog conversion unit is connected to the display unit and is used to display the data after the data conversion is completed. The display unit is connected to the revision unit and is used to automatically revise the system when the boom structure rotates.

[0014] Preferably, the limiting module includes an anti-jamming unit, a steering unit, a comparison unit, and a transmission control unit. The anti-jamming unit is connected to the steering unit to reduce the jamming phenomenon when the boom structure is rotated. The steering unit is connected to the comparison unit to compare the boom structure during the use of the steering unit, providing data support for the personnel. The comparison unit is connected to the transmission control unit to increase the operator's control over the boom structure when transmitting comparison data.

[0015] Preferably, the calculation module includes an algorithm unit, a control unit 2, a storage unit, and a comparison unit 2. The algorithm unit is connected to the control unit 2 and is used to improve the operator's operational ability through the use of the algorithm unit. The control unit 2 is connected to the storage unit and is used to store the feedback data generated by the operation of the control unit 2, reducing the possibility of data loss. The algorithm unit is connected to the comparison unit 2 and the storage unit and is used to compare the stored historical data with the current data, reducing the possibility of operator errors.

[0016] Working Principle: First, the operator can fix the washer to the robot turntable, and flange one will be locked with external bolts. When the entire boom structure needs to be rotated, the operator can slide and rotate the rubber ring and limit ring one on the ring ball. The semi-arc plate will restrict the rotation of limit ring one and limit ring two, allowing rotation according to the operator's operation. Then, when installing fixing rod two, the operator can rotate the washer and flange two together, allowing it to successfully engage with the limit hole opened in the controller through the drive retaining ring. At the same time, the spring installed on the right side of the limit hole will limit the installation. Subsequently, when the boom structure rotates, the controller located at the bottom of the boom structure will control it through sensors, and then the detection module will... The boom structure is monitored during internal rotation. If jamming is detected, a limit module will adjust it, followed by a steering module to restrict the direction of rotation. The control and calculation modules work together to calculate data generated by the boom structure during operation. The control unit optimizes operator actions, reducing operational risks. The calculation determines whether the boom structure can operate, and the data is then sent back to the detection module for secondary testing. If no problems are found internally, the boom structure will be driven to rotate.

[0017] This invention provides a boom structure for a six-degree-of-freedom industrial robot. It offers the following advantages:

[0018] 1. The present invention enables flange two and flange one to rotate by limiting the internal gasket, rubber ring, semi-arc plate and annular ball of the steering auxiliary structure. Subsequently, it facilitates the left and right swaying of the boom structure body. At the same time, it can drive the retaining ring to successfully engage in the limiting hole, thereby increasing the rotation capability of the boom structure body and reducing the phenomenon of jamming when the boom structure body rotates.

[0019] 2. This invention, through the coordinated structure of the controller, sensor, detection module, limit module, steering module, control module, and calculation module, enables the detection module to perform overall detection of the boom structure body during use, ensuring its safety. Simultaneously, the limit module and steering module enhance the rotation of the boom structure body, which is then controlled by the control module. Finally, the calculation module calculates the operational data to optimize the boom structure body's operational capabilities. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present invention;

[0021] Figure 2 This is a top view of the main body of the boom structure of the present invention;

[0022] Figure 3 This is a side view of the main body of the boom structure of the present invention;

[0023] Figure 4 This is a schematic diagram of the main structure of the upper arm of the present invention.

[0024] Figure 5 This is a bottom view schematic diagram of the main body of the upper arm structure of the present invention;

[0025] Figure 6 This is a schematic diagram of the process structure of the present invention;

[0026] Figure 7 This is a schematic diagram of the detection module structure of the present invention;

[0027] Figure 8 This is a schematic diagram of the control module structure of the present invention;

[0028] Figure 9 This is a schematic diagram of the steering module structure of the present invention;

[0029] Figure 10 This is a schematic diagram of the limiting module structure of the present invention;

[0030] Figure 11 This is a schematic diagram of the measurement module structure of the present invention.

[0031] The components include: 1. Boom structure body; 2. Lower frame; 3. Steering auxiliary structure; 301. Flange 1; 302. Rubber ring; 303. Washer; 304. Fixing rod 1; 305. Limiting ring 1; 306. Ring ball; 307. Flange 2; 308. Limiting hole; 309. Semi-arc plate; 310. Fixing rod 2; 311. Limiting ring 2; 312. Snap ring; 313. Spring; 4. Flange 3; 5. Heat dissipation hole; 6. Fan; 7. Radiator; 8. Controller; 9. Flange 4; 10. Filter screen; 11. Sensor; 12. Straight rod; 13. Detection module; 1301. Start / stop unit; 1302. Transmission unit; 1303. Detection unit; 1304. Pressure. Detection unit; 1305, Sensing unit; 14, Limiting module; 1401, Anti-jamming unit; 1402, Steering unit; 1403, Comparison unit one; 1404, Transmission control unit; 15, Steering module; 1501, Control unit one; 1502, Drive unit; 1503, Display unit; 1504, Digital-to-Analog Conversion unit; 1505, Revision unit; 16, Control module; 1601, Temperature measurement module; 1602, Conduction unit; 1603, Heat dissipation unit; 1604, Terminal transmission unit; 1605, Data processing unit; 17, Calculation module; 1701, Algorithm unit; 1702, Control unit two; 1703, Storage unit; 1704, Comparison unit two. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example:

[0034] Please see the appendix Figure 1 -Appendix Figure 11 This invention provides a boom structure for a six-degree-of-freedom industrial robot, including a boom structure body 1, a flange 3 4 fixedly sleeved on the top of the boom structure body 1, a controller 8 installed at the bottom of the boom structure body 1 to facilitate the optimization of human control capabilities, a sensor 11 welded to the bottom of the controller 8, and a steering assist structure 3 installed on the right side of the controller 8.

[0035] The steering assist structure 3 includes a flange 301. A gasket 303 is fixedly welded to the right side of the flange 301. A rubber ring 302 is fixedly connected to the left side of the flange 301. A fixing rod 304 is installed on the left side of the rubber ring 302. A limit ring 305 is fixedly sleeved on the left side of the rubber ring 302. The left end of the limit ring 305 is slidably connected to the outside of a ring ball 306. A semi-circular plate 309 with opposing left and right and up and down sides is welded to the outside of the ring ball 306. A limit ring 311 is slidably connected to the left side of the ring ball 306. A fixing rod 310 is installed on the left side of the limit ring 311. A flange 307 is installed on the left side of the fixing rod 310. A retaining ring 312 is welded to the left side of the flange 307. A spring 313 is fixedly connected to the left side of the retaining ring 312. The left side of the retaining ring 312 is engaged. With a limiting hole 308, the operator can fix the washer 303 onto the robot turntable, and the flange 1 301 will be locked with external bolts. When it is necessary to rotate the entire main body 1 of the upper arm structure, the operator can slide and rotate the rubber ring 302 and the limiting ring 1 305 on the annular ball 306. The semi-arc plate 309 will restrict the rotation of the limiting ring 1 305 and the limiting ring 2 311, allowing it to rotate according to the operator's operation. When the fixing rod 2 310 is connected and installed, the operator can rotate the washer 303 and the flange 2 307 together, so that it can be successfully engaged with the limiting hole 308 opened inside the controller 8 by the drive retaining ring 312. At the same time, the spring 313 installed on the right side of the limiting hole 308 will limit the installation.

[0036] A lower frame 2 is welded between the two main body structures 1. The lower frame 2 has left and right opposite heat dissipation holes 5 on its inner side. A heat sink 7 is installed inside the lower frame 2. A fan 6 with left and right opposite sides is installed on the outside of the heat sink 7, which can transfer the internal heat out.

[0037] A flange 4 9 is fixedly sleeved on the bottom outer side of the boom structure body 1. A limit ring 2 311 is provided at the lower end of the flange 4 9. A rubber ring 302 is provided on the right side of the limit ring 2 311. The rubber ring 302 is located on the right side of the controller 8.

[0038] The top of the controller 8 is fixedly sleeved to the straight rod 12, and the top of the straight rod 12 is screwed to the lower frame 2. The outer side of the lower frame 2 is fitted with a filter screen 10, which can reduce the entry of external impurities into the interior after heat transfer.

[0039] A system for the boom structure of a six-degree-of-freedom industrial robot includes a controller 8 and a sensor 11. The sensor 11 is connected to the controller 8 and can transmit data and human operation information to the controller 8 when the boom rotates. The controller 8 is connected to a detection module 13 to detect the rotation of the boom structure body 1. The detection module 13 is connected to a limit module 14 to detect whether the boom is in a limited position. The limit module 14 is connected to a steering module 15 to limit the boom's movement and facilitate rotation with the assistance of the steering module 15. The steering module 15 is connected to a control module 16 to control the boom's rotation. The control module 16 is connected to a calculation module 17 to calculate the rotation data of the boom after control and feed it back to the terminal.

[0040] The detection module 13 includes a start / stop unit 1301, a transmission unit 1302, a detection unit 1303, a pressure detection unit 1304, and a sensing unit 1305. The start / stop unit 1301 is connected to the transmission unit 1302. By using the start / stop unit 1301, the robot's arm can be stopped in time when it rotates. At the same time, the transmission unit 1302 facilitates data transmission. The start / stop unit 1301 is connected to the detection unit 1303 so that the detection unit 1303 can detect when the start / stop unit 1301 starts and stops, reducing data errors that may occur during the use of the arm structure. The detection unit 1303 is connected to the pressure detection unit 1304 so that when the entire arm structure 1 is being detected, the pressure data can also be detected by the pressure detection unit 1304. The transmission unit 1302 is connected to the sensing unit 1305 so that the rotation can be sensed when the arm is rotating.

[0041] The control module 16 includes a temperature measurement module 1601, a conduction unit 1602, a heat dissipation unit 1603, a terminal transmission unit 1604, and a data counting unit 1605. The temperature measurement module 1601 is connected to the conduction unit 1602, which can measure the temperature of the boom structure body 1 when it rotates. At the same time, the conduction unit 1602 transmits the heat statistics data. The conduction unit 1602 is connected to the heat dissipation unit 1603, which can transfer the internal heat out through the heat dissipation unit 1603. The temperature measurement module 1601 is connected to the terminal transmission unit 1604, which can provide feedback and display of the data transmission. The temperature measurement module 1601 is connected to the data counting unit 1605, which can count and statistically analyze the internal temperature of the boom structure body 1 when the temperature is measured.

[0042] The steering module 15 includes a control unit 1501, a drive unit 1502, a display unit 1503, a digital-to-analog conversion unit 1504, and a revision unit 1505. The control unit 1501 is connected to the drive unit 1502 and is used to optimize the rotation of the boom structure body 1. The drive unit 1502 is connected to the digital-to-analog conversion unit 1504 and is used to convert the transmission data when the steering assist structure 3 rotates. The digital-to-analog conversion unit 1504 is connected to the display unit 1503 and is used to display the data after the data conversion is completed. The display unit 1503 is connected to the revision unit 1505 and is used to automatically revise the boom structure body 1 when it rotates.

[0043] The limit module 14 includes an anti-jamming unit 1401, a steering unit 1402, a comparison unit 1403, and a transmission control unit 1404. The anti-jamming unit 1401 is connected to the steering unit 1402 to reduce the jamming phenomenon of the boom structure 1 when rotating. The steering unit 1402 is connected to the comparison unit 1403 to compare the boom structure 1 when it is in use, providing data support for the personnel. The comparison unit 1403 is connected to the transmission control unit 1404 to increase the operator's control over the boom structure 1 when transmitting comparison data.

[0044] The calculation module 17 includes an algorithm unit 1701, a control unit 1702, a storage unit 1703, and a comparison unit 1704. The algorithm unit 1701 is connected to the control unit 1702 and is used to improve the operator's operational ability through the use of the algorithm unit 1701. The control unit 1702 is connected to the storage unit 1703 and is used to store the feedback data generated by the operation of the control unit 1702 to reduce the occurrence of data loss. The algorithm unit 1701 is connected to the comparison unit 1704 and the storage unit 1703 and is used to compare the stored historical data with the current data to reduce the occurrence of operator errors.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A large arm structure for a six-degree-of-freedom industrial robot, comprising a large arm structure body (1), characterized in that, The top of the boom structure body (1) is fixedly fitted with flange three (4), the bottom of the boom structure body (1) is equipped with a controller (8), the bottom of the controller (8) is welded with a sensor (11), and the right side of the controller (8) is equipped with a steering assist structure (3). The steering assist structure (3) includes a flange (301), a gasket (303) is fixedly welded to the right side of the flange (301), a rubber ring (302) is fixedly connected to the left side of the flange (301), a fixing rod (304) is installed on the left side of the rubber ring (302), a limiting ring (305) is fixedly sleeved on the left side of the rubber ring (302), and the left end of the limiting ring (305) is slidably connected to the outside of an annular ball (306). The outside of the annular ball (306) is welded A semi-circular plate (309) with opposite sides is connected. A limit ring two (311) is slidably connected to the left side of the annular ball (306). A fixing rod two (310) is installed on the left side of the limit ring two (311). A flange two (307) is installed on the left side of the fixing rod two (310). A retaining ring (312) is welded to the left side of the flange two (307). A spring (313) is fixedly connected to the left side of the retaining ring (312). A limit hole (308) is engaged with the left side of the retaining ring (312). A lower frame (2) is welded between the two upper arm structure bodies (1). The lower frame (2) has left and right opposite heat dissipation holes (5) on its inner side. A radiator (7) is installed inside the lower frame (2). A fan (6) is installed on the outside of the radiator (7). The bottom outer side of the main body (1) of the boom structure is fixedly fitted with a flange four (9), and the lower end of the flange four (9) is provided with a limit ring two (311). A rubber ring (302) is provided on the right side of the limit ring two (311), and the rubber ring (302) is located on the right side of the controller (8). The top of the controller (8) is fixedly sleeved with the straight rod (12), and the top of the straight rod (12) is screwed with a lower frame (2), and a filter screen (10) is attached to the outside of the lower frame (2).

2. A system for the boom structure of a six-degree-of-freedom industrial robot, according to claim 1, comprising a controller (8) and a sensor (11), characterized in that, The sensor (11) is connected to the controller (8). When the boom rotates, the sensor (11) can transmit data and personnel operation data to the controller (8). The controller (8) is connected to the detection module (13) to detect the rotation of the boom structure body (1). The detection module (13) is connected to the limit module (14) to detect whether the boom is in a limited position. The limit module (14) is connected to the steering module (15) to limit the boom and facilitate rotation with the help of the steering module (15). The steering module (15) is connected to the control module (16) to control the boom rotation. The control module (16) is connected to the calculation module (17) to calculate the rotation data after controlling the boom and feed it back to the terminal.

3. The system for the boom structure of a six-degree-of-freedom industrial robot according to claim 2, characterized in that, The detection module (13) includes a start / stop unit (1301), a transmission unit (1302), a detection unit (1303), a pressure detection unit (1304), and a sensing unit (1305). The start / stop unit (1301) is connected to the transmission unit (1302). By using the start / stop unit (1301), the robot's arm can be stopped in time when it rotates. At the same time, the transmission unit (1302) facilitates data transmission. The start / stop unit (1301) is connected to the detection unit (1303). The detection unit (1303) can detect when the start-stop unit (1301) starts and stops, reducing the occurrence of data errors when the boom structure is in use. The detection unit (1303) is connected to the pressure detection unit (1304) and can detect the pressure data of the boom structure body (1) as a whole when it is detected. The transmission unit (1302) is connected to the sensing unit (1305) and can sense the rotation when it is rotating.

4. The system for a large arm structure of a six degrees of freedom industrial robot according to claim 2, characterized in that, The control module (16) includes a temperature measuring module (1601), a conduction unit (1602), a heat dissipation unit (1603), a terminal transmission unit (1604), and a data counting unit (1605). The temperature measuring module (1601) is connected to the conduction unit (1602). The temperature measuring module (1601) can measure the temperature of the boom structure body (1) when it rotates. At the same time, the heat statistics data is transmitted through the conduction unit (1602). The conduction unit (1602) is connected to the heat dissipation unit (1603) and is used to transfer the internal heat out through the heat dissipation unit (1603). The temperature measuring module (1601) is connected to the terminal transmission unit (1604) and is used to provide feedback and display of the data transmission. The temperature measuring module (1601) is connected to the data counting unit (1605) and is used to count and statistically analyze the internal temperature of the boom structure body (1) when the temperature is measured.

5. The system for a large arm structure of a six degrees of freedom industrial robot according to claim 2, characterized in that, The steering module (15) includes a control unit (1501), a drive unit (1502), a display unit (1503), a digital-to-analog conversion unit (1504), and a revision unit (1505). The control unit (1501) is connected to the drive unit (1502) and is used to optimize the rotation of the boom structure body (1). The drive unit (1502) is connected to the digital-to-analog conversion unit (1504) and is used to convert the transmission data when the steering auxiliary structure (3) rotates. The digital-to-analog conversion unit (1504) is connected to the display unit (1503) and is used to display the data after the data conversion is completed. The display unit (1503) is connected to the revision unit (1505) and is used to automatically revise when the boom structure body (1) rotates.

6. The system for a large arm structure of a six degrees of freedom industrial robot according to claim 2, characterized in that, The limiting module (14) includes an anti-jamming unit (1401), a steering unit (1402), a comparison unit (1403), and a transmission control unit (1404). The anti-jamming unit (1401) is connected to the steering unit (1402) to reduce the jamming phenomenon of the boom structure body (1) when rotating. The steering unit (1402) is connected to the comparison unit (1403) to compare it under the use of the steering unit (1402) and provide data support for its personnel. The comparison unit (1403) is connected to the transmission control unit (1404) to increase the control ability of the staff to control the boom structure body (1) when transmitting comparison data.

7. The system for a large arm structure of a six degrees of freedom industrial robot according to claim 2, characterized in that, The calculation module (17) includes an algorithm unit (1701), a control unit (1702), a storage unit (1703), and a comparison unit (1704). The algorithm unit (1701) is connected to the control unit (1702) and is used to improve the operator's ability through the use of the algorithm unit (1701). The control unit (1702) is connected to the storage unit (1703) and is used to store the feedback data generated by the operation of the control unit (1702) to reduce the occurrence of data loss. The algorithm unit (1701) is connected to the comparison unit (1704) and the storage unit (1703) and is used to compare the stored historical data with the current data to reduce the occurrence of operator errors.

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