A steering mechanism for industrial intelligent robots

Abstract

The present invention relates to the technical field of industrial robots, and in particular to a steering mechanism for an industrial intelligent robot, comprising a fixed seat and a fixed plate, a mechanical arm is installed on the top of the fixed plate, a rotating disk is fixedly connected to the bottom of the fixed plate, fixed blocks are fixedly connected to four sides of the inner wall of the fixed seat, a fixed disc is fixedly connected between four fixed blocks, a torque adjustment mechanism is arranged on the fixed disc, a sliding mechanism and a precision control mechanism are respectively arranged between the fixed seat and the rotating disc; the torque adjustment mechanism comprises a main gear arranged above the fixed disc, four main gears are arranged, the diameters of the four main gears are different, and a rotating shaft is fixedly connected to the bottom of the rotating disc; the present invention can be adjusted according to the weight of the goods that the industrial intelligent robot arm needs to grab, thereby improving work efficiency and expanding the scope of application.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a steering mechanism for an industrial intelligent robot. Background Art

[0002] Industrial intelligent robots, or industrial robots, are multi-joint manipulators or multi-degree-of-freedom machine devices for the industrial field. They have the characteristics of automatic control, programmability and multi-function. These robots realize various functions through their own power and control capabilities. They can perform work automatically, accept human commands or operate according to pre-programmed programs. During operation, they need to turn back and forth to grab goods.

[0003] At present, the steering mechanism in the prior art sometimes grabs heavier goods when grabbing goods, and the steering torque required at this time is large. When the steering torque is not enough to rotate the entire mechanical arm, the steering movement operation cannot be completed, and the steering torque cannot be adjusted according to the weight of the goods, thereby reducing the working efficiency and scope of application;

[0004] In addition, long-term steering operations will cause the internal lubricating oil to be consumed too quickly. If you forget to add lubricating oil, the friction will increase, which will increase energy consumption and aggravate the wear of the steering mechanism, thus affecting its use. In addition, excessive rotation may occur during use, and excessive rotation requires reversal to make the robotic arm reach the appropriate position, which will increase the steering path, thereby increasing the time required to move goods, further affecting the robot's production efficiency. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the background technology and to propose a steering mechanism for an industrial intelligent robot.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is: a steering mechanism for an industrial intelligent robot, comprising a fixed seat and a fixed plate, a mechanical arm is installed on the top of the fixed plate, a rotating disk is fixedly connected to the bottom of the fixed plate, fixed blocks are fixedly connected to the four sides of the inner wall of the fixed seat, a fixed disk is fixedly connected between the four fixed blocks, a torque adjustment mechanism is arranged on the fixed disk, and a sliding mechanism and a precision control mechanism are respectively arranged between the fixed seat and the rotating disk;

[0007] The torque adjustment mechanism includes a main gear arranged above the fixed disc, the number of the main gears is four, the diameters of the four main gears are different, the bottom end of the rotating disc is fixedly connected to a rotating shaft, the bottom end of the rotating shaft is fixedly connected to a sub-gear, the sub-gear is meshed with the main gears of different diameters to form different gear ratios, and adjusts the rotation speed and torque of the sub-gear;

[0008] The sliding mechanism includes a limiting ring fixedly connected to the bottom end of the rotating disk, a plurality of second ball grooves are opened at the bottom end of the limiting ring, a second ball is arranged in each of the plurality of second ball grooves, a plurality of first ball grooves are opened on the inner wall and the outer wall of the limiting ring, a first ball is arranged in each of the plurality of first ball grooves, and an annular groove is opened on the top end of the fixed seat, the first ball and the second ball are in contact with the inner wall of the annular groove, and reduce the friction during turning.

[0009] Preferably, the torque adjustment mechanism includes adjustment slide holes penetrating the four sides of the top of the fixed disc, the inner walls of the four adjustment slide holes are slidably connected with adjustment sliders, the tops of the four adjustment sliders are rotatably connected with drive shafts, and the four drive shafts and the main gears are fixedly connected.

[0010] Preferably, the torque adjustment mechanism also includes a driving motor fixedly connected to the bottom end of the adjusting slider, and the four driving ends of the driving motor and the bottom end of the driving shaft are fixedly connected. It also includes an electric push rod fixedly connected to the adjusting slide hole, and the four telescopic ends of the electric push rod and the adjusting slider are fixedly connected.

[0011] Preferably, the sliding mechanism further comprises a bearing fixedly passing through the top end of the fixing seat, the bearing is fixedly connected to the rotating shaft, and the positions of the first ball groove and the second ball groove correspond to each other.

[0012] Preferably, the precision control mechanism includes a fixed vertical plate fixedly connected to the top end of the fixed seat away from the rotating disk, an electric telescopic rod is fixedly passed through the fixed vertical plate, the telescopic end of the electric telescopic rod is fixedly connected to a connecting plate, and one end of the connecting plate close to the fixed vertical plate is symmetrically fixedly connected to a guide column and passes through the fixed vertical plate.

[0013] Preferably, the outer walls of the two guide columns are respectively fixedly connected with a first limit block and a second limit block on both sides of the corresponding fixed vertical plates, and the first limit block and the second limit block are used to limit the moving distance of the guide column.

[0014] Preferably, a plurality of telescopic sleeves are fixedly connected to one end of the connecting plate close to the rotating disk, a telescopic sleeve rod is provided on the inner wall of each of the telescopic sleeves, and a limit spring is fixedly connected between each of the telescopic sleeves and the telescopic sleeve rod.

[0015] Preferably, a plurality of the telescopic sleeve rods are fixedly connected to one end of the rotating disk close to a positioning column, and a positioning slot matching the shape of the positioning column is provided on the outer wall of the rotating disk. There are two positioning slots, and the angle between them is ninety degrees.

[0016] Preferably, the inner walls of the plurality of telescopic sleeves are symmetrically provided with sliding grooves, the outer walls of the plurality of telescopic sleeve rods are symmetrically fixedly connected with sliding blocks, and the plurality of groups of sliding grooves and sliding blocks are slidably connected.

[0017] Preferably, a distance is set between the limiting ring and the annular groove, a distance is set between the rotating disk and the fixed seat, and the sub-gear is arranged above the fixed disk.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Through the torque adjustment mechanism, different main gears and sub-gears can be meshed and connected together, so different gear ratios can be formed, corresponding to different speeds. When the displayed speed is different, the torque displayed is also different. Therefore, it can be adjusted according to the weight of the goods that the industrial intelligent robot arm needs to grab, to prevent the steering torque from being insufficient due to the excessive weight of the goods, and avoid affecting the steering of the robot arm, thereby improving work efficiency and expanding the scope of application;

[0020] 2. The sliding mechanism is provided so that the first ball and the second ball can contact the inner wall of the annular groove when turning, and when rotating, the first ball and the second ball roll on the inner wall of the first ball groove and the second ball groove respectively, and with the cooperation of the bearing, the friction force during turning can be reduced, thereby reducing energy consumption and reducing the wear of the steering mechanism during the turning process, thereby extending the service life and reducing the generation of noise;

[0021] 3. Through the precision control mechanism, the positioning column can be inserted into the positioning slots at different positions when turning, so that the robot arm can only turn within the specified range when turning, so as to prevent excessive rotation during turning and reduce the movement path, thereby reducing the time required for transporting goods and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is an overall schematic diagram of a steering mechanism for an industrial intelligent robot according to the present invention;

[0023] Figure 2 The present invention is a steering mechanism for an industrial intelligent robot Figure 1 Enlarged view of point A in the middle;

[0024] Figure 3 A bottom view schematic diagram of a steering mechanism for an industrial intelligent robot according to the present invention;

[0025] Figure 4 The present invention is a steering mechanism for an industrial intelligent robot Figure 3 Enlarged view of middle B;

[0026] Figure 5 This is a schematic diagram of the main gear and auxiliary gear structure of a steering mechanism for an industrial intelligent robot of the present invention;

[0027] Figure 6 This is a schematic diagram of the drive shaft structure of a steering mechanism for an industrial intelligent robot of the present invention;

[0028] Figure 7 It is a cross-sectional cutting schematic diagram of a fixing seat of a steering mechanism for an industrial intelligent robot of the present invention;

[0029] Figure 8 This is a schematic diagram of the disassembly of a limit ring of a steering mechanism for an industrial intelligent robot according to the present invention;

[0030] Fig. 9 The present invention is a cross-sectional view of a telescopic sleeve of a steering mechanism for an industrial intelligent robot.

[0031] In the figure: 1. fixed seat; 2. rotating disk; 3. positioning card slot; 4. mechanical arm; 5. fixed plate; 6. positioning card column; 7. telescopic sleeve; 8. telescopic sleeve rod; 9. connecting plate; 10. first limit block; 11. fixed vertical plate; 12. second limit block; 13. electric telescopic rod; 14. guide column; 15. fixed block; 16. fixed disk; 17. adjusting slider; 18. driving motor; 19. adjusting slide hole; 20. main gear; 21. electric push rod; 22. rotating shaft; 23. sub-gear; 24. driving shaft; 25. bearing; 26. limit ring; 27. annular groove; 28. first ball groove; 29. ​​first ball; 30. second ball; 31. limit spring; 32. second ball groove. DETAILED DESCRIPTION

[0032] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0033] like Figure 1-Figure 9 The steering mechanism for an industrial intelligent robot shown in the figure comprises a fixed seat 1 and a fixed plate 5, a mechanical arm 4 is installed on the top of the fixed plate 5, a rotating disk 2 is fixedly connected to the bottom of the fixed plate 5, fixed blocks 15 are fixedly connected to the four sides of the inner wall of the fixed seat 1, a fixed disc 16 is fixedly connected between the four fixed blocks 15, a torque adjustment mechanism is arranged on the fixed disc 16, a sliding mechanism and a precision control mechanism are respectively arranged between the fixed seat 1 and the rotating disk 2, the torque of the steering can be adjusted by the torque adjustment mechanism, the friction force in the rotation process can be reduced by the sliding mechanism, thereby reducing the redundant energy consumption, and the precision control mechanism can avoid taking multiple paths when steering, thereby improving the production efficiency;

[0034] like Figure 3-Figure 6 As shown, the torque adjustment mechanism includes a main gear 20 arranged above the fixed disc 16, the number of the main gears 20 is set to four, the diameters of the four main gears 20 are different, the bottom end of the rotating disc 2 is fixedly connected to a rotating shaft 22, the bottom end of the rotating shaft 22 is fixedly connected to a sub-gear 23, the sub-gear 23 is meshed with the main gears 20 of different diameters to form different gear ratios, and adjust the rotation speed and torque of the sub-gear 23;

[0035] like Figure 7 , Figure 8 As shown, the sliding mechanism includes a limit ring 26 fixedly connected to the bottom end of the rotating disk 2, a plurality of second ball grooves 32 are provided at the bottom end of the limit ring 26, a second ball 30 is arranged in each of the plurality of second ball grooves 32, a plurality of first ball grooves 28 are provided on the inner and outer walls of the limit ring 26, a first ball 29 is arranged in each of the plurality of first ball grooves 28, and an annular groove 27 is provided at the top end of the fixed seat 1, the first ball 29 and the second ball 30 are in contact with the inner wall of the annular groove 27, and reduce the friction during turning, and the limit ring 26 can also play a supporting role.

[0036] like Figure 4-Figure 6 As shown, the torque adjustment mechanism includes adjustment sliding holes 19 penetrating four sides of the top of the fixed disc 16, the inner walls of the four adjustment sliding holes 19 are all slidably connected with adjustment sliders 17, the tops of the four adjustment sliders 17 are all rotatably connected with drive shafts 24, and the four drive shafts 24 are fixedly connected to the main gear 20. The adjustment sliding holes 19 can be used to limit the adjustment slider 17, and the adjustment slider 17 can slide freely in the adjustment sliding holes 19, so that the main gear 20 and the sub-gear 23 of different diameters can be meshed and connected.

[0037] like Figure 4 , Figure 6 As shown, the torque adjustment mechanism also includes a drive motor 18 fixedly connected to the bottom end of the adjustment slider 17, and the four drive ends of the drive motors 18 are fixedly connected to the bottom end of the drive shaft 24, and also includes an electric push rod 21 fixedly connected to the adjustment slide hole 19, and the telescopic ends of the four electric push rods 21 are fixedly connected to the adjustment slider 17. The drive motor 18 and the electric push rod 21 are both prior art, and the electric push rod 21 moves the adjustment slider 17, so that the main gear 20 and the sub-gear 23 of different diameters are meshed and connected, so that different gear ratios can be changed, and then the steering torque can be adjusted.

[0038] like Figure 7 , Figure 8 As shown, the sliding mechanism also includes a bearing 25 fixedly passing through the top of the fixed seat 1, the bearing 25 is fixedly connected to the rotating shaft 22, and the positions of the first ball groove 28 and the second ball groove 32 correspond to each other. The bearing 25 can reduce the friction during rotation and reduce the wear on the steering mechanism.

[0039] like Figure 1 , Figure 2 As shown, the precision control mechanism includes a fixed vertical plate 11 fixedly connected to the top of the fixed seat 1 away from the rotating disk 2, an electric telescopic rod 13 is fixedly passed through the fixed vertical plate 11, the telescopic end of the electric telescopic rod 13 is fixedly connected to the connecting plate 9, and one end of the connecting plate 9 close to the fixed vertical plate 11 is symmetrically fixedly connected to the guide column 14 and passes through the fixed vertical plate 11. The connecting plate 9 can be moved with the electric telescopic rod 13, and can be limited and guided by the guide column 14 when moving.

[0040] like Figure 1 , Figure 2 As shown, the outer walls of the two guide columns 14 are respectively fixedly connected with the first limit block 10 and the second limit block 12 on both sides of the fixed vertical plate 11, and the first limit block 10 and the second limit block 12 are used to limit the moving distance of the guide column 14. The moving distance of the connecting plate 9 is controlled by the first limit block 10 and the second limit block 12.

[0041] like Figure 1 , Figure 2 , Fig. 9 As shown, one end of the connecting plate 9 close to the rotating disk 2 is fixedly connected with a plurality of telescopic sleeves 7, the inner walls of the plurality of telescopic sleeves 7 are provided with telescopic sleeve rods 8, and a limit spring 31 is fixedly connected between the plurality of telescopic sleeves 7 and the telescopic sleeve rods 8. The limit spring 31 can push the telescopic sleeve rod 8 to move.

[0042] like Figure 1 As shown, a plurality of telescopic sleeves 8 are fixedly connected to a positioning post 6 at one end close to the rotating disk 2, and a positioning slot 3 matching the shape of the positioning post 6 is provided on the outer wall of the rotating disk 2. The number of the positioning slots 3 is two, and the angle between them is ninety degrees. When the telescopic sleeves 8 move, the positioning post 6 can be inserted into the positioning slot 3, so that the rotating disk 2 can be turned accurately to avoid walking an unnecessary path, and can turn ninety degrees or two hundred and seventy degrees when turning.

[0043] like Fig. 9 As shown, the inner walls of the multiple telescopic sleeves 7 are symmetrically provided with slide grooves, the outer walls of the multiple telescopic sleeve rods 8 are symmetrically fixed with sliders, and the multiple sets of slide grooves and sliders are slidably connected. The telescopic sleeve rod 8 can be limited by the cooperation between the slider and the slide groove so that it can move within a specified distance.

[0044] like Figure 5 , Figure 7 As shown, a distance is set between the limiting ring 26 and the annular groove 27 , a distance is set between the rotating disk 2 and the fixed seat 1 , and the auxiliary gear 23 is arranged above the fixed disk 16 .

[0045] Working principle: By adjusting the steering torque of the mechanical arm 4 to make it applicable to different ranges, first start the electric push rods 21 in different directions to move the adjustment sliders 17 in different directions, so that the main gears 20 and the sub-gears 23 of different diameters are meshed and connected, then start the drive motors 18 in different directions to rotate the drive shafts 24 in different directions, and the drive shafts 24 rotate the main gears 20 of different diameters. Therefore, when the main gears 20 of different diameters rotate with the sub-gears 23, different gear ratios will be formed, thereby generating different speeds. Therefore, the rotation speed of the sub-gear 23 can be adjusted to generate different steering torques. Therefore, it can be adjusted according to the weight of the goods, thereby improving work efficiency and expanding the scope of application;

[0046] When the secondary gear 23 rotates, it will drive the rotating disk 2 to rotate, thereby driving the fixed plate 5 and the mechanical arm 4 to rotate, and the mechanical arm 4 can grab the goods;

[0047] Furthermore, when turning, the first ball 29 and the second ball 30 contact the inner wall of the annular groove 27 and rotate on the inner wall. At the same time, the first ball 29 and the second ball 30 roll in the first ball groove 28 and the second ball groove 32 respectively, and with the cooperation of the bearing 25, the friction generated during turning can be reduced, thereby reducing the wear on the steering mechanism, thereby extending the service life of the steering mechanism;

[0048] Furthermore, when the rotating disk 2 rotates, it is necessary to start the electric telescopic rod 13 to move the connecting plate 9 to the side close to the fixed vertical plate 11, and make the first limit block 10 contact the fixed vertical plate 11. At this time, the positioning column 6 leaves the positioning slot 3 at this time. When the rotating disk 2 rotates, the electric telescopic rod 13 is started again to push the connecting plate 9 to move away from the fixed vertical plate 11, and make the positioning column 6 contact the outer wall of the rotating disk 2. At this time, a part of the telescopic sleeve 8 is retracted into the telescopic sleeve 7 and squeezes the limit spring 31. When the positioning slot 3 on the other side corresponds to the position of the positioning column 6, the elastic reset action of the limit spring 31 can make the positioning column 6 inserted into the positioning slot 3 on the other side. Therefore, the rotation path of the robot arm 4 can be controlled, the unnecessary movement path can be reduced, the time required for handling and acquisition can be reduced, and the production efficiency can be improved.

[0049] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A steering mechanism for an industrial intelligent robot, comprising a fixed seat (1) and a fixed plate (5), a mechanical arm (4) being mounted on the top of the fixed plate (5), and a rotating disk (2) being fixedly connected to the bottom of the fixed plate (5), characterized in that: The four sides of the inner wall of the fixed seat (1) are fixedly connected with fixed blocks (15), and a fixed disc (16) is fixedly connected between the four fixed blocks (15). The fixed disc (16) is provided with a torque adjustment mechanism, and a sliding mechanism and a precision control mechanism are respectively provided between the fixed seat (1) and the rotating disc (2); The torque adjustment mechanism comprises a main gear (20) arranged above the fixed disc (16), the number of the main gears (20) being four, the diameters of the four main gears (20) being different, the bottom end of the rotating disc (2) being fixedly connected to a rotating shaft (22), the bottom end of the rotating shaft (22) being fixedly connected to a sub-gear (23), the sub-gear (23) being meshed with the main gears (20) of different diameters to form different gear ratios, and adjusting the rotation speed and torque of the sub-gear (23); The sliding mechanism comprises a limit ring (26) fixedly connected to the bottom end of the rotating disk (2), a plurality of second ball grooves (32) are provided at the bottom end of the limit ring (26), a second ball (30) is arranged in each of the plurality of second ball grooves (32), a plurality of first ball grooves (28) are provided on the inner wall and the outer wall of the limit ring (26), a first ball (29) is arranged in each of the plurality of first ball grooves (28), and an annular groove (27) is provided at the top end of the fixed seat (1), the first ball (29) and the second ball (30) are in contact with the inner wall of the annular groove (27) to reduce friction during turning; The precision control mechanism comprises a fixed vertical plate (11) fixedly connected to the top of the fixed seat (1) on a side away from the rotating disk (2), an electric telescopic rod (13) fixedly passing through the fixed vertical plate (11), a connecting plate (9) fixedly connected to the telescopic end of the electric telescopic rod (13), and a guide column (14) symmetrically fixedly connected to one end of the connecting plate (9) close to the fixed vertical plate (11) and passing through the fixed vertical plate (11); A plurality of telescopic sleeves (7) are fixedly connected to one end of the connecting plate (9) close to the rotating disk (2); a telescopic sleeve rod (8) is disposed on the inner wall of each of the plurality of telescopic sleeves (7); and a limit spring (31) is fixedly connected between each of the plurality of telescopic sleeves (7) and the telescopic sleeve rod (8); A plurality of telescopic sleeve rods (8) are fixedly connected to one end of the rotating disk (2) with a positioning post (6); a positioning slot (3) matching the shape of the positioning post (6) is provided on the outer wall of the rotating disk (2); the number of the positioning slots (3) is two, and the angle between them is ninety degrees; The inner walls of the plurality of telescopic sleeves (7) are symmetrically provided with sliding grooves, the outer walls of the plurality of telescopic sleeve rods (8) are symmetrically fixedly connected with sliding blocks, and the plurality of groups of sliding grooves and sliding blocks are slidably connected.

2. The steering mechanism for an industrial intelligent robot according to claim 1, characterized in that: The torque adjustment mechanism comprises adjustment sliding holes (19) penetrating four sides of the top of the fixed disc (16); the inner walls of the four adjustment sliding holes (19) are all slidably connected with adjustment sliders (17); the tops of the four adjustment sliders (17) are all rotatably connected with drive shafts (24); and the four drive shafts (24) and the main gear (20) are all fixedly connected.

3. The steering mechanism for an industrial intelligent robot according to claim 2, characterized in that: The torque adjustment mechanism also includes a drive motor (18) fixedly connected to the bottom end of the adjustment slider (17), the drive ends of the four drive motors (18) and the bottom end of the drive shaft (24) are all fixedly connected, and also includes an electric push rod (21) fixedly connected to the adjustment slide hole (19), the telescopic ends of the four electric push rods (21) and the adjustment slider (17) are all fixedly connected.

4. The steering mechanism for an industrial intelligent robot according to claim 1, characterized in that: The sliding mechanism also includes a bearing (25) fixedly passing through the top of the fixed seat (1); the bearing (25) and the rotating shaft (22) are fixedly connected; and the positions of the first ball groove (28) and the second ball groove (32) correspond to each other.

5. The steering mechanism for an industrial intelligent robot according to claim 1, characterized in that: A first limit block (10) and a second limit block (12) are respectively fixedly connected to the two sides of the outer walls of the two guide columns (14) corresponding to the fixed vertical plate (11), and the first limit block (10) and the second limit block (12) are used to limit the moving distance of the guide column (14).

6. The steering mechanism for an industrial intelligent robot according to claim 1, characterized in that: A distance is provided between the limiting ring (26) and the annular groove (27), a distance is provided between the rotating disk (2) and the fixed seat (1), and the auxiliary gear (23) is provided above the fixed disk (16).

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