An arm transmission structure for an assembly line assembly robot

Abstract

The present invention belongs to the field of robot structure technology, and more particularly relates to an arm transmission structure for an assembly line robot. The present invention provides an arm transmission structure for an assembly line robot. By providing a transmission rod on a driving wheel and an annular groove, an arcuate block unit, a radial rod unit, and a connecting bolt unit on a driven block, the transmission structure achieves both stable power transmission and step-by-step adjustment of the initial angle, making it suitable for various assembly line robots.

Description

Technical Field

[0001] The invention belongs to the technical field of robot structures, and in particular relates to an arm transmission structure for an assembly line robot. Background Art

[0002] The actions that assembly line robots must perform primarily fall into two categories: first, the assembly itself, such as packaging, bending, and plugging and unplugging; and second, the handling required before and after these assembly steps. This requires the robot's arm to possess not only relatively precise and complex fingertip movements but also sufficient arm strength.

[0003] On the other hand, the transmission structure is installed between the arm motor and the arm body, thereby achieving arm lifting and lowering operations with sufficient rotational strength.

[0004] It should be noted that batches of products of different sizes will be assembled on this production line. Although the vertical transport height is fixed for the up and down transport action, even when facing various products with large or small outline sizes, please refer to the attached Figure 2 However, the initial clamping height of the robot arm needs to be adjusted.

[0005] Typically, the arm's gripping and grasping points for a product are located roughly midway along the product's vertical height. Therefore, for example, the gripping point for a vertical container is significantly higher than for a horizontal container. This requires the transmission structure to include adjustable initial height capabilities for the robot arm.

[0006] Of course, the height difference during the vertical handling motion itself is determined by the rotation angle of the arm motor, which, when used with, for example, a stepper motor, can be easily and quickly implemented and adjusted. Therefore, the advantage of manually adjustable initial clamping height essentially simplifies the control circuitry of the arm motor. In this case, the control circuit only needs to input a fixed rotation angle parameter, eliminating the need to modify or adjust the initial clamping height. This approach offers significant cost advantages.

[0007] For example, the Chinese utility model patent with authorization announcement number CN213674131U and authorization announcement date 2021.07.13 discloses a robot arm transmission connecting rod mechanism, including a robot body, a bearing seat is fixedly installed on the top side of the robot body, a rotating shaft is fixedly installed on the inner side of the bearing seat, and the robot body is fixedly connected to the rotating shaft through the bearing seat, a rotating wheel is fixedly installed on the outer wall of the rotating shaft, swing arms are provided on both sides of the outer end of the rotating shaft, a connecting rod is fixedly installed on the outer wall of the rotating wheel, a servo motor is fixedly installed on the bottom side of the robot body, and a transmission wheel is fixedly installed on one end of the output shaft of the servo motor.

[0008] The transmission connecting rod mechanism in this invention patent has the following general advantages: it can make the overall device realize more stable and efficient arm transmission, facilitate users to install and disassemble the robot arm, effectively improve the work efficiency of users, and improve the practicality of the overall device.

[0009] However, in actual use, the transmission connecting rod mechanism still has at least the following shortcomings, which are also the technical problems to be solved by the present invention, namely:

[0010] As attached Figure 2 As shown, the method of directly transmitting power in the transmission connecting rod mechanism is friction clamping between the connecting wheel and the swing arm. Although this method has the advantage that the initial relative angle can be adjusted steplessly, the reliability of power transmission is greatly reduced. When the swing arm needs to carry heavier products, slipping accidents are likely to occur there.

[0011] So to sum up, there is an urgent need for a new transmission structure that can achieve a more practical "balance state" between the initial relative angle adjustment function and the power transmission reliability, so as to be used in the arms of various assembly line robots. Summary of the Invention

[0012] The present invention provides an arm transmission structure for an assembly line robot. By arranging a transmission rod on a driving wheel and arranging an annular groove, an arc block unit, a radial rod unit, and a connecting bolt unit on a driven block, the transmission structure can achieve both stable power transmission and step-by-step adjustment of the initial angle, and is suitable for various types of assembly line robots.

[0013] The technical solution adopted by the present invention to solve the above-mentioned problems is: an arm transmission structure for an assembly line robot, including a driving wheel and a driven block, and also including a transmission rod arranged on the driving wheel, an annular groove arranged on the driven block and used to install the transmission rod, an arc block unit arranged in the annular groove and used to adjust the initial rotation angle of the driven block compared to the driving wheel by circumferentially engaging the transmission rod, a radial insertion rod unit arranged on the driven block and used to circumferentially fix the arc block unit, and a connecting bolt unit arranged on the driven block and connected to the driving wheel and used to block the radial insertion rod unit on the radial inner side to prevent retreat.

[0014] A further preferred technical solution is that the arc block unit includes an arc block arranged in the annular groove, two semicircular grooves respectively arranged at both ends of the arc block and used to engage the transmission rod, and several annular baffles arranged on the inner arc surface of the arc block and used to engage the radial insertion rod unit.

[0015] A further preferred technical solution is that the sum of the center angles corresponding to all the arc-shaped blocks is 360°.

[0016] A further preferred technical solution is that the radial insertion rod unit includes a circular groove arranged on the follower block and located at both sides of the follower block respectively with the annular groove, a radial channel arranged on the circular groove and connected to the annular groove, and an insertion rod arranged on the radial channel and inserted between two adjacent annular baffles.

[0017] A further preferred technical solution is that the connecting bolt unit includes a mounting hole provided on the circular groove, and an inner corner bolt provided on the mounting hole, with an annular surface of the head blocking the insertion rod and used to connect the driving wheel.

[0018] A further preferred technical solution is that: the number of the radial channels and the number of the insertion rods are both 2, and the two insertion rods are arranged in a collinear position relationship; the radial insertion rod unit also includes two permanent magnet pieces respectively arranged on the radial inner end faces of the two insertion rods and used to attract each other.

[0019] A further preferred technical solution is that the connecting bolt unit also includes a tip block provided on the end face of the rod of the internal angle bolt and used to push and separate the two permanent magnet sheets, and an outer bevel ring block provided on the rod of the internal angle bolt and connected to the head of the internal angle bolt and used to push and separate the two permanent magnet sheets.

[0020] A further preferred technical solution is that the connecting bolt unit further includes a flared hole provided between the mounting hole and the circular groove and used for mounting the outer bevel ring block.

[0021] A further preferred technical solution is that the radial insertion rod unit further includes a separating elastic sheet provided on the permanent magnet sheet.

[0022] A further preferred technical solution is that the number of the radial channels and the number of the insertion rods are both 4, the two pairs of the insertion rods are arranged in a collinear position relationship, and the distance between the two pairs of the insertion rods in the insertion direction of the internal angle bolts is 4-8 cm. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2 It is a schematic diagram of the grabbing height and the transporting height in the present invention.

[0025] Figure 3 Schematic diagram of the use of the present invention.

[0026] Figure 4 It is a structural schematic diagram of the driving wheel in the present invention.

[0027] Figure 5 Schematic diagram of the position and shape of the transmission rod in the present invention.

[0028] Figure 6 Schematic diagram of the position and shape of the annular groove in the present invention.

[0029] Figure 7 Schematic diagram of the position structure of the arc block unit in the present invention.

[0030] Figure 8 Schematic diagram of the position and shape of the annular baffle in the present invention.

[0031] Figure 9 Schematic diagram of the position structure of the radial insertion rod unit in the present invention.

[0032] Figure 10 Schematic diagram of the staggered arrangement of two pairs of plungers in the present invention.

[0033] Figure 11 Schematic diagram of the position and shape of the outer bevel ring block in the present invention.

[0034] Figure 12 Schematic diagram of the use of the head of the internal angle bolt blocking the insertion rod in the present invention.

[0035] In the figure, the meanings of the marks are as follows:

[0036] Grasping height L1, handling height L2, conveyor belt a, cargo b, arm motor c, arm body d;

[0037] Driving wheel 11, driven block 12, square groove 13, teeth 14;

[0038] Transmission rod 1, annular groove 2, arc block unit 3, radial insertion rod unit 4, connecting bolt unit 5, screw groove 6;

[0039] Arc-shaped block 301, semicircular groove 302, annular baffle 303;

[0040] Circular groove 401, radial hole 402, insert rod 403, permanent magnet piece 404, and elastic piece 405 for separation;

[0041] Mounting hole 501 , internal angle bolt 502 , tip block 503 , external bevel ring block 504 , flared hole 505 . DETAILED DESCRIPTION

[0042] The following description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention.

[0043] As attached Figure 1-12 As shown, an arm transmission structure for an assembly line robot includes a driving wheel 11 and a driven block 12, and also includes a transmission rod 1 arranged on the driving wheel 11, an annular groove 2 arranged on the driven block 12 and used to install the transmission rod 1, an arc block unit 3 arranged in the annular groove 2 and used to adjust the initial rotation angle of the driven block 12 relative to the driving wheel 11 by circumferentially engaging the transmission rod 1, a radial insertion rod unit 4 arranged on the driven block 12 and used to circumferentially fix the arc block unit 3, and a connecting bolt unit 5 arranged on the driven block 12 and connected to the driving wheel 11 and used to block the radial insertion rod unit 4 from the radial inside to prevent it from retreating.

[0044] In this embodiment, the transmission structure combines two functions: stable power transmission and step-by-step adjustment of the initial angle. The former refers to the rotational power generated by the arm motor c, which is transmitted to the arm body d through the driving wheel 11, the transmission rod 1, the arc block unit 3, the radial rod unit 4, and the driven block 12. All the connections during this process are "rigid connections" such as plug-in, snap-fit, and meshing, rather than "elastic connections" such as friction connections. This ensures stable power transmission and high strength, allowing the arm body d to carry heavier loads.

[0045] The latter means that the radial rod unit 4 can be selectively plugged into the arc block unit 3, that is, the relative circumferential angle between the two is adjustable, so that the control circuit of the arm motor c does not need to adjust or correct the initial angle, which can ultimately reduce the maintenance and use costs of the arm motor c.

[0046] Of course, it should be noted that the “gear positions” provided on the arc-shaped block unit 3 are limited after all, that is, the above-mentioned initial angle adjustment effect can only be graded.

[0047] When the assembly line robot is carrying a vertical cargo b that is large in vertical dimensions, the initial height of the driven block 12 relative to the driving wheel 11 can be appropriately increased. Conversely, the driven block 12, together with the arm body d, performs an initial rotation and lowering operation on the driving wheel 11 to accommodate a horizontal cargo b that is small in vertical dimensions. For details, please refer to the attached Figure 2 .

[0048] Furthermore, the connection between the arm motor c and the driving wheel 11 is performed in accordance with conventional methods, primarily comprising: a square slot 13 provided on the driving wheel 11, into which the square end of the motor shaft of the arm motor c is inserted, and teeth 14 provided on the driving wheel 11, into which the motor gear of the arm motor c meshes. The driven block 12 and the arm body d are connected using the most common screw connection method.

[0049] On the other hand, the connection point between the driving wheel 11 and the connecting bolt unit 5 is not a power transmission position, and it is sufficient to fully screw the connection there to ensure that the driving wheel 11 and the driven block 12 will not separate. Among them, one way to screw the driving wheel 11 and the connecting bolt unit 5 is to provide a screw groove 6 on the driving wheel 11.

[0050] At this time, the screw groove 6 is located at the center of the driving wheel 11, and 3-12 transmission rods 1 are arranged in a circle on the relatively outer side. The two are on the same side, and the square groove 13, if provided, is on the other side.

[0051] The arc block unit 3 includes an arc block 301 arranged in the annular groove 2, two semicircular grooves 302 respectively arranged at the two ends of the arc block 301 and used to engage the transmission rod 1, and several annular baffles 303 arranged on the inner arc surface of the arc block 301 and used to engage the radial insertion rod unit 4.

[0052] In this embodiment, the outer arc surface of the arc block 301 fits the outer annular surface of the annular groove 2, and the annular baffle 303 fits the inner annular surface of the annular groove 2, so that the arc block unit 3 can only rotate circumferentially on the annular groove 2 and cannot shift radially.

[0053] On the other hand, the arc block unit 3 rotates circumferentially only when the radial rod unit 4 is ready to be inserted into the annular baffle 303. When the robot arm is in use, the arc block unit 3, the annular groove 2 and the radial rod unit 4 are relatively fixed.

[0054] The sum of the central angles corresponding to all the arc-shaped blocks 301 is 360°.

[0055] In this embodiment, the central angle of each arc-shaped block 301 is 30°, 60°, 90°, or 120°. The advantage of this method of splicing into a circular ring is that multiple arc-shaped blocks 301 of different specifications can be flexibly selected and used in combination, ensuring that there is no cavity position in the arc-shaped block unit 3 where the transmission rod 1 is not inserted, making the circumferential power transmission operation of the arc-shaped block unit 3 more stable.

[0056] If the arc block unit 3 is replaced with a complete circular ring, then in order to accommodate the variable number of 3-12 transmission rods 1, only 12 circular holes can be opened. In this case, if the driving wheel 11 used in conjunction has only 4 transmission rods 1, then the positions of the 8 circular holes will be hollow, which is easy to break during the circumferential power transmission. Therefore, this is the advantage of the arc block 301.

[0057] Among them, 12 arc-shaped blocks 301 with a central angle of 30° are provided, 6 arc-shaped blocks 301 with a central angle of 60° are provided, 4 arc-shaped blocks 301 with a central angle of 90° are provided, and 3 arc-shaped blocks 301 with a central angle of 120° are provided. According to the actual number of the transmission rods 1, the appropriate specifications and quantity of the above arc-shaped blocks 301 are selected to ensure that the arc-shaped blocks 301 can be spliced ​​into a complete circular ring without any cavity positions. The remaining arc-shaped blocks 301 are ready for use.

[0058] Therefore, one of the advantages of this transmission structure is that the driven block 12 can adapt to different types of driving wheels 11 with different numbers of the transmission rods 1.

[0059] The radial insertion rod unit 4 includes a circular groove 401 arranged on the driven block 12 and located at both sides of the annular groove 2, a radial channel 402 arranged on the circular groove 401 and connected to the annular groove 2, and an insertion rod 403 arranged on the radial channel 402 and inserted between two adjacent annular baffles 303.

[0060] In this embodiment, the maximum permissible power transmission strength of the transmission structure mainly depends on the material strength of the driving wheel 11, the driven block 12, the arc block unit 3 and the insertion rod 403. Therefore, the materials of the above four are all high-strength steel.

[0061] The insertion rod 403 relatively further enters the annular groove 2 during normal use, and relatively further enters the circular groove 401 when the insertion rod 403 is selected to be inserted into the annular baffle 303 .

[0062] Therefore, the connecting bolt unit 5 is required to radially block the insertion rod 403 and prevent it from retreating. Accordingly, if the insertion rod 403 needs to release the connection between the two annular baffles 303, the connecting bolt unit 5 must be unscrewed first. Similarly, this also demonstrates the "one-item, two-purpose" effect of the connecting bolt unit 5.

[0063] The connecting bolt unit 5 includes a mounting hole 501 provided on the circular groove 401 , and an internal angle bolt 502 provided on the mounting hole 501 , with an annular surface of the head blocking the insertion rod 403 and used to connect the driving wheel 11 .

[0064] In this embodiment, the rod of the internal angle bolt 502 passes through the mounting hole 501 and is screwed into the screw groove 6 , and it does not matter whether the mounting hole 501 is threaded or not.

[0065] The circular groove 401 and the mounting hole 501 together form a countersunk hole shape. When the internal angle bolt 502 is tightened on the countersunk hole, the annular surface of the head thereof blocks all the insertion rods 403 and does not go over any of the insertion rods 403 .

[0066] The number of the radial channels 402 and the number of the insertion rods 403 are both two, and the two insertion rods 403 are arranged in a collinear position relationship; the radial insertion rod unit 4 also includes two permanent magnet pieces 404 respectively arranged on the radial inner end faces of the two insertion rods 403 and used for attracting each other.

[0067] In this embodiment, the permanent magnet sheet 404 and the plug rod 403 are bonded together. The function of the former is: when the transmission structure is assembled, when the plug rod 403 selects and prepares to plug in two of the annular baffles 303, the plug rod 403 is kept in a radially inward retracted state as much as possible, so that the driven block 12 first rotates compared to the arc block unit 3, and then determines the appropriate plug-in position of the plug rod 403, and finally pushes out the plug rod 403 to complete the plug-in and fixing action.

[0068] The connecting bolt unit 5 also includes a tip block 503 provided on the end face of the rod of the internal angle bolt 502 and used to push and separate the two permanent magnet pieces 404, and an outer bevel ring block 504 provided on the rod of the internal angle bolt 502 and connected to the head of the internal angle bolt 502 and used to push and separate the two permanent magnet pieces 404.

[0069] In this embodiment, the tip block 503 and the outer bevel ring block 504 are triggered and used in sequence to separate the two permanent magnet pieces 404 that are attracted together, so that the insertion rod 403 can extend radially outward to insert the required two of the annular baffles 303.

[0070] Finally, when the internal angle bolt 502 is fully tightened, one end of the permanent magnet piece 404 of the insertion rod 403 slightly extends out of the circular groove 401 , and the other end is fully and appropriately stuck between two of the annular baffles 303 .

[0071] Among them, the material of the internal angle bolt 502 can be metal or engineering plastic, and the tip block 503 and the outer bevel ring block 504 are integrally formed with it. The former has a conical shape and the latter has a triangular cross-section, which is used to guide the permanent magnet piece 404 to slide from the rod of the internal angle bolt 502 to its head.

[0072] Of course, the length of the tip block 503 is relatively small and will not affect the screw connection effect between the internal angle bolt 502 and the screw connection groove 6 .

[0073] The connecting bolt unit 5 further includes a flared hole 505 disposed between the mounting hole 501 and the circular groove 401 and used for mounting the outer bevel ring block 504 .

[0074] In this embodiment, the flared hole 505 is used to adapt to the outer bevel ring block 504 to ensure that even if the outer bevel ring block 504 is added to the inner angle bolt 502, it can fully clamp the circular groove 401 and fully tighten itself.

[0075] The radial insertion rod unit 4 further includes a separating elastic sheet 405 provided on the permanent magnet sheet 404 .

[0076] In this embodiment, the material of the separating elastic sheet 405 is ordinary rubber, and its functions are:

[0077] First, the tip block 503 does not need to be sharp enough to push apart the two permanent magnet pieces 404 that are attracted together;

[0078] Second, after the inner angle bolts 502 are withdrawn, the two permanent magnet pieces 404 will not be broken due to rapid attraction and impact.

[0079] The number of the radial holes 402 and the number of the insertion rods 403 are both 4, and the two pairs of the insertion rods 403 are arranged in a collinear position relationship. The distance between the two pairs of the insertion rods 403 in the insertion direction of the internal angle bolts 502 is 4-8 cm.

[0080] In this embodiment, compared with the method of opening a hole on the inner arc surface of the arc-shaped block 301 and then using it to insert the insertion rod 403, the method of providing the annular baffle 303 causes the radial thickness of the arc-shaped block 301 to become smaller, but ensures that the annular support parts are all solid, thereby providing greater annular support strength, which is very necessary.

[0081] On the other hand, after the annular baffle 303 is provided, 2-3 more pairs of the insertion rods 403 can be provided, thereby increasing the maximum permissible power transmission strength of the radial insertion rod unit 4. Accordingly, if the above-mentioned hole-making method is adopted, only oblong holes can be provided, which further reduces the annular support strength of the arc-shaped block 301.

[0082] Finally, the two to three groups of rods 403 need to be evenly spaced in the circumferential direction and staggered in the insertion direction of the internal angle bolts 502 to ensure that all the rods 403 can be inserted into the required circumferential baffle 303. The 4-8 cm distance is the spacing of the staggered arrangement.

[0083] While the embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited to the aforementioned embodiments. Various modifications are possible within the scope of knowledge possessed by a person skilled in the art without departing from the spirit of the present invention. These modifications are non-inventive and are protected by patent law as long as they fall within the scope of the claims of the present invention.

Claims

1. An arm transmission structure for an assembly line assembly robot, comprising a driving wheel (11) and a driven block (12), characterized in that: The invention also includes a transmission rod (1) arranged on the driving wheel (11), an annular groove (2) arranged on the driven block (12) and used for mounting the transmission rod (1), an arc block unit (3) arranged in the annular groove (2) and used for adjusting the initial rotation angle of the driven block (12) relative to the driving wheel (11) by annularly engaging the transmission rod (1), a radial insertion rod unit (4) arranged on the driven block (12) and used for annularly fixing the arc block unit (3), and a connecting bolt unit (5) arranged on the driven block (12) and connected to the driving wheel (11) and used for blocking the radial insertion rod unit (4) from the radial inside to prevent it from retreating. The arc block unit (3) comprises an arc block (301) arranged in the annular groove (2), two semicircular grooves (302) respectively arranged at both ends of the arc block (301) and used to engage the transmission rod (1), and a plurality of annular baffles (303) arranged on the inner arc surface of the arc block (301) and used to engage the radial insertion rod unit (4). The sum of the central angles of all the arc-shaped blocks (301) is 360°. The radial insertion rod unit (4) comprises a circular groove (401) provided on the driven block (12) and located at both sides of the driven block (12) and the annular groove (2), a radial channel (402) provided on the circular groove (401) and connected to the annular groove (2), and an insertion rod (403) provided on the radial channel (402) and inserted between two adjacent annular baffles (303).

2. The arm transmission structure for an assembly line assembly robot according to claim 1, characterized in that: The connecting bolt unit (5) comprises a mounting hole (501) provided on the circular groove (401), and an inner angle bolt (502) provided on the mounting hole (501), the annular surface of the head blocking the insertion rod (403) and used for connecting the driving wheel (11).

3. The arm transmission structure for an assembly line assembly robot according to claim 2, characterized in that: The number of the radial holes (402) and the number of the insertion rods (403) are both two, and the two insertion rods (403) are arranged in a collinear position relationship; the radial insertion rod unit (4) further comprises two permanent magnet pieces (404) respectively arranged on the radial inner end faces of the two insertion rods (403) and used for attracting each other.

4. The arm transmission structure for an assembly line assembly robot according to claim 3, characterized in that: The connecting bolt unit (5) further comprises a tip block (503) provided on the end face of the rod of the inner angle bolt (502) and used for pushing and separating the two permanent magnet pieces (404), and an outer bevel ring block (504) provided on the rod of the inner angle bolt (502) and connected to the head of the inner angle bolt (502) and used for pushing and separating the two permanent magnet pieces (404).

5. The arm transmission structure for an assembly line assembly robot according to claim 4, characterized in that: The connecting bolt unit (5) further comprises a flared hole (505) provided between the mounting hole (501) and the circular groove (401) and used for mounting the outer bevel ring block (504).

6. The arm transmission structure for an assembly line assembly robot according to claim 3, characterized in that: The radial insertion rod unit (4) further comprises a separating elastic sheet (405) arranged on the permanent magnet sheet (404).

7. The arm transmission structure for an assembly line assembly robot according to claim 2, characterized in that: The number of the radial channels (402) and the number of the insertion rods (403) are both four, and the two pairs of the insertion rods (403) are arranged in a collinear position relationship. The distance between the two pairs of the insertion rods (403) in the insertion direction of the internal angle bolts (502) is 4-8 cm.

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