Industrial robot with easily detachable man-machine display

Abstract

The application relates to the technical field of robots, in particular to an industrial robot with a man-machine display screen convenient to dismount and mount, wherein the display and the frame are detachably mounted via fastening devices; an installation frame for installing the display is arranged on the frame; the installation frame is provided with an annular frame and a through hole surrounded by the annular frame; the annular frame is provided with a fastening block extending into the through hole; the fastening block is provided with a through hole; the display is provided with a main body and a touch screen arranged on the main body; the main body is arranged in the through hole and is pressed on the fastening block; the touch screen is pressed on the annular frame; the main body is provided with a threaded blind hole matched with the fastening block; an external bolt is screwed with the threaded blind hole on the display to install the display on the installation frame; the display and the frame are detachably mounted through the fastening devices, so that the replacement and maintenance process of the display is greatly simplified.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular discloses an industrial robot with a detachable human-machine display. Background Art

[0002] In industrial production, material palletizing has become a crucial step in order to optimize material transportation and save storage space. However, current palletizing methods have significant drawbacks: manual palletizing is not only costly, labor-intensive, and inefficient, but also difficult to ensure palletizing quality; while automated palletizing by stacking cranes is highly efficient, it suffers from poor stability at high speeds and is prone to positional shifting, which affects palletizing quality. Therefore, we urgently need a more efficient solution to improve palletizing efficiency while ensuring palletizing quality. Furthermore, the display control system of existing palletizers has a complex assembly and disassembly structure. Once a malfunction occurs, the assembly and disassembly efficiency is low, which greatly inconveniences maintenance work. Therefore, while seeking efficient palletizing solutions, we also need to consider improving the assembly and disassembly design of the palletizer to improve maintenance efficiency and ease of use. Summary of the Invention

[0003] To achieve the above-mentioned objectives, the present invention provides an industrial robot with a detachable human-machine display, comprising a fixing seat, a frame arranged on the fixing seat, and a manipulator mounted on the frame; the frame includes a control system mounted on the frame, the manipulator is electrically connected to the control system, the control system includes a display, and the display and the frame are detachably mounted via a fastening device; the frame is provided with a mounting frame for mounting the display, the mounting frame has an annular frame and a through-hole surrounded by the annular frame, the annular frame is provided with a fastening block extending into the through-hole, the fastening block is provided with a through-hole, the display has a main body and a touch screen arranged on the main body, the main body is accommodated in the through-hole and pressed on the fastening block, the touch screen is pressed on the annular frame, the main body is provided with a threaded blind hole adapted for mounting with the fastening block, an external bolt passes through the through-hole on the fastening block and is screwed to the threaded blind hole on the display to mount the display to the mounting frame.

[0004] The frame, serving as the support and control system, features a sturdy design that ensures the stability of the industrial robot during operation. The precise control system also ensures the accuracy and reliability of the manipulator's movements. Precise commissioning of the display ensures that the manipulator adheres to pre-set safety procedures during operation, reducing accidents caused by human error. Because the display is removably mounted to the frame via fasteners, it can be easily removed for maintenance, replacement, or upgrades without requiring extensive disassembly of the entire industrial robot, improving maintenance efficiency and reducing costs. The removable display design allows users to flexibly replace displays with different specifications and functions based on their needs. The mounting frame, ring frame, fastening blocks, and threaded blind holes make installation of the display quick and easy. Simply place the display body into the through-holes and screw it into place using bolts through the through-holes in the fastening block and the threaded blind holes in the display. Complex installation steps and tools are unnecessary. This allows for adaptability to diverse working environments and task requirements, enhancing the adaptability and flexibility of the industrial robot. The touch screen is directly pressed on the ring frame, which not only ensures the stability of the installation, but also enables users to operate the touch screen more conveniently, improving the convenience of human-computer interaction and user experience.

[0005] There are multiple fastening blocks, and multiple fastening blocks are arranged around the main body. The annular frame and the fastening blocks are an integrated structure. Since the fastening blocks are integrated with the annular frame, there is no need to install each fastening block separately during installation. You only need to put the display main body into the through-hole, and then complete the connection with all the fastening blocks at one time through bolts, which greatly improves the installation efficiency. The design of the right-angle fastening block enables it to form a more stable support structure when connected to the display and the rack. This structure helps to reduce the shaking of the display under vibration or impact, and ensures its stability during operation. The right-angle fastening block is a fastening element with a right-angle shape, which is usually made of metal material, such as steel or aluminum alloy. The design of the right-angle fastening block enables a large contact area between it and the component, and a tight connection, which effectively prevents the occurrence of slippage.

[0006] The touch screen includes a display panel, an explosion-proof panel covering the front and rear sides of the display panel, and a main body. Multiple sets of through-holes are provided in the main body and display panel, and the end face of the explosion-proof panel, which faces the display panel, has multiple sets of stopper holes. External bolts penetrate the through-holes in the main body and display panel and screw into the stopper holes in the explosion-proof panel, thereby clamping the display panel. The introduction of the explosion-proof panel significantly improves the explosion-proof performance of the display. In industrial production environments, especially those involving flammable and explosive materials, this design can prevent the display from rupturing due to accidental impact or explosion, which could lead to greater safety accidents. The explosion-proof panel effectively absorbs and disperses impact forces, protecting the internal display panel and main body from damage. External bolts penetrate the through-holes in the main body and display panel and screw into the stopper holes in the explosion-proof panel, ensuring a secure clamping of the main body and explosion-proof panel against the display panel. This clamping structure not only ensures the stability of the display but also provides a tighter connection between the various components, reducing the risk of loosening or falling apart due to vibration or impact.

[0007] The fixed seat is provided with a detachable counterweight block, and the fixed seat is provided with a blind groove for accommodating the counterweight block, and the blind groove is recessed from the bottom surface of the fixed seat. The counterweight block is used to increase the contact area of ​​the fixed seat. The design of the counterweight block helps to reduce the shaking and vibration of the robot caused by uneven force or external factors (such as wind, uneven ground, etc.) during operation. This can not only protect the precision components inside the robot from damage, but also improve the accuracy and stability of the robot's operation. The counterweight block includes a telescopic arm, and the fixed seat is provided with a blind groove. The telescopic arm is telescopically arranged in the blind groove and is detachably connected to the fixed seat via fasteners; the length of the telescopic arm protruding from the fixed seat is greater than the single movement distance of the manipulator and / or the radius of the manipulator's movement path.

[0008] The manipulator includes a lifting rod connected to a frame, a rotating assembly connected to the lifting rod, the rotating assembly including a first rotating group, a second rotating group, a third rotating group, a first arm, and a second arm, the first rotating group including a first rotating shaft and a second rotating shaft, the second rotating group including a third rotating shaft and a fourth rotating shaft, the third rotating group including a fifth rotating shaft, a sixth rotating shaft, and a seventh rotating shaft, the output end of the first rotating shaft is rotatably connected to the lifting rod, the output end of the second rotating shaft is connected to the main body of the first rotating shaft, the main body of the second rotating shaft is rotatably connected to the main body of the first rotating shaft, and the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft. In actual application, the output end of the first rotating shaft is rotatably connected to the lifting rod, the main body of the first rotating shaft can rotate 360 ​​degrees relative to the lifting rod and drive all the rotating shafts and the arm to rotate synchronously; the output end of the second rotating shaft is connected to the main body of the first rotating shaft, the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft, the main body of the second rotating shaft can rotate 360 ​​degrees relative to the main body of the first rotating shaft and drive the remaining rotating shafts and the arm to rotate synchronously.

[0009] The lifting end of the lifting rod raises and lowers to drive the rotating assembly up and down. The lifting rod includes a lifting drive and a lifting cylinder. The lifting cylinder has an inner cavity for accommodating the lifting drive. The lifting function of the lifting rod enables the rotating assembly to move freely in the vertical direction, greatly expanding the robot's operating range. Whether retrieving items from high shelves or operating in low-lying work areas, the robot can easily handle it without changing equipment or adjusting the production line layout. The combination of lifting and rotating functions enables the robot to achieve more complex and flexible motion trajectories. This multi-degree-of-freedom movement capability allows the robot to more accurately locate the target location and perform tasks such as stacking, loading and unloading in a more appropriate posture.

[0010] The main body of the second rotating shaft is fixedly connected to the first arm, and the end of the first arm away from the second rotating shaft is fixedly connected to the main body of the third rotating shaft. The axis of the second rotating shaft and the axis of the third rotating shaft are both perpendicular to the axis of the first arm. The output end of the third rotating shaft is connected to the output end of the fourth rotating shaft. The main body of the third rotating shaft is rotatably connected to the main body of the fourth rotating shaft, and the fourth rotating shaft is coaxially rotatably connected to the main body of the third rotating shaft.

[0011] The main body of the second rotating shaft is fixedly connected to the first arm, and the end of the first arm away from the second rotating shaft is fixedly connected to the main body of the third rotating shaft. This connection method ensures that the second and third rotating shafts can drive the first arm to move together when they rotate, further expanding the range of motion of the manipulator. The output end of the third rotating shaft is connected to the output end of the fourth rotating shaft. The fourth rotating shaft and the main body of the third rotating shaft are coaxially connected. This means that when the third rotating shaft rotates 360 degrees, the fourth rotating shaft also rotates 360 degrees on the same axis, driving the remaining rotating shafts and arms to rotate synchronously.

[0012] The second arm is fixedly connected to the main body of the fourth rotating shaft, and one end of the second arm away from the fourth rotating shaft is fixedly connected to the main body of the fifth rotating shaft. The axis of the fourth rotating shaft and the axis of the fifth rotating shaft are both perpendicular to the axis of the second arm. The output end of the fifth rotating shaft is rotatably connected to the main body of the sixth rotating shaft, and the axis of the fifth rotating shaft is perpendicular to the axis of the sixth rotating shaft. The output end of the sixth rotating shaft is rotatably connected to the main body of the seventh rotating shaft, and the axis of the sixth rotating shaft is perpendicular to the axis of the seventh rotating shaft.

[0013] The second arm is fixedly connected to the main body of the fourth shaft, and the end of the second arm remote from the fourth shaft is fixedly connected to the main body of the fifth shaft. This connection ensures that the fourth and fifth shafts can drive the second arm to move together when they rotate, further expanding the manipulator's range of motion. The output end of the fifth shaft is rotatably connected to the main body of the sixth shaft, with the axis of the fifth shaft perpendicular to the axis of the sixth shaft. This connection enables the manipulator to perform compound movements along perpendicular axes, increasing the complexity and precision of the movement. The output end of the fifth shaft can rotate 360° relative to the sixth shaft, while simultaneously driving the remaining shafts and arms to rotate synchronously. The output end of the sixth shaft is rotatably connected to the main body of the seventh shaft, with the axis of the sixth shaft perpendicular to the axis of the seventh shaft. This design further expands the manipulator's freedom of movement, allowing the sixth shaft to rotate 360° relative to the main body of the seventh shaft while simultaneously driving the remaining shafts and arms to rotate synchronously.

[0014] The manipulator further includes a suction assembly disposed at the output end of the seventh rotating shaft. The suction assembly includes a connecting arm connected to the output end of the seventh rotating shaft, and a suction member connected to the other end of the connecting arm, which is remote from the output end of the seventh rotating shaft. The suction surface of the suction member is provided with a plurality of suction holes that communicate with the suction member. When the suction member contacts a workpiece, negative pressure is generated by an external air source (such as a vacuum pump), causing air in the suction holes to be extracted, thereby forming a certain vacuum between the suction surface and the workpiece. The suction force generated by this vacuum firmly adsorbs the workpiece to the suction surface, thereby achieving suction of the workpiece.

[0015] The first rotating shaft comprises a rotating shaft module and a housing enclosing the rotating shaft module. The rotating shaft module includes a motor, a harmonic reducer, and a transmission assembly connected to the housing. The harmonic reducer shaft is connected to the motor output shaft via the transmission assembly. The harmonic reducer is used to reduce the motor speed and increase the motor torque. The second, third, fourth, fifth, sixth, and seventh rotating shafts have the same structure as the first rotating shaft. A harmonic reducer is a reduction gear that utilizes the principle of flexible gear transmission and offers advantages such as high precision, high reduction ratio, high torque capacity, and zero backlash. It converts the high-speed, low-torque output of the motor into a low-speed, high-torque output, meeting the speed and force requirements of the manipulator under various operating conditions. The transmission assembly, which can be a gear set, bridges the motor output shaft and the harmonic reducer shaft, transmitting the motor's rotational power to the harmonic reducer and ensuring synchronous operation between the two. The transmission assembly may include various transmission methods, such as gears, belts, and chains, depending on design requirements and space constraints.

[0016] The shell comprises a casing, a rotating shaft cover detachably connected with the casing, the rotating shaft cover is connected with one end of the casing, the connecting port of the rotating shaft cover and the casing is an oblique opening, the rotating shaft cover is provided with a mounting groove, the casing is provided with a limiting groove matched with the mounting groove, and an external bolt is screwed into the limiting groove on the casing through the mounting groove on the rotating shaft cover. The casing and the rotating shaft cover are detachably connected, which makes it easy to open the shell when maintenance or replacement of internal components is needed, without the need to disassemble the whole manipulator. This not only improves the maintenance efficiency, but also reduces the maintenance cost. The oblique opening can make the rotating shaft cover easier to align and fix during installation and disassembly, reducing the operation difficulty. The external bolt is screwed into the limiting groove on the casing through the mounting groove on the rotating shaft cover, further enhancing the connection strength and stability between the rotating shaft cover and the casing.

[0017] The first arm and the second arm are telescopic structures, and the control system controls the telescoping of the first arm and the second arm. The suction member is provided with a laser displacement sensor, and the laser displacement sensor adopts a laser triangulation detection method to calculate the distance by emitting a laser beam and receiving the light signal reflected by the surface of the measured object. This method has the characteristics of high precision, non-contact and fast response. The laser displacement sensor is used to measure the distance between the external workpiece and the manipulator, and after obtaining the distance information, the telescoping state and the rotating posture of the manipulator can be adjusted.

[0018] The lifting rod comprises a lifting support and a lifting screw rod arranged on the lifting support, an external transmission block is mounted on the lifting screw rod, a connecting block is arranged on the side of the transmission block, and a lifting motor is tightly mounted on the side end of the connecting block. The connecting block is arranged on the side of the transmission block, and the design of the connecting block should consider the strength and rigidity requirements to withstand various forces and torques generated during lifting, so that the manipulator is more stable during stacking operation.

[0019] The beneficial effects of the present application are as follows: the present application comprises a fixing seat, a rack arranged on the fixing seat, and a manipulator mounted on the rack; the rack comprises a control system mounted on the rack, the manipulator is electrically connected with the control system, and the control system drives the manipulator to move in multiple directions to complete the stacking operation. The design of the manipulator connected with multiple shafts makes the manipulator have high flexibility, and the manipulator can realize flexible movement in multiple axes and multiple dimensions through precise transmission mechanism and control system driving. This design makes the manipulator easily cope with various complex stacking layouts, including but not limited to multi-layer, multi-angle, special-shaped stacking, etc. The joints of the manipulator are connected with multiple shafts, which not only improves the flexibility of the manipulator, but also makes the action more smooth and accurate.

[0020] The control system includes a display, which is detachably mounted to the frame via a fastening device. To improve the maintainability and usability of the device, the present invention employs a design in which the display and frame are detachably mounted via a fastening device. This design allows operators to easily remove the display from the frame when repairing or replacing it, without having to disassemble or move the entire device. This also facilitates the replacement of displays of different sizes, resolutions, or functions as needed to accommodate diverse application scenarios and operational requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the frame of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the fastening block of the present invention;

[0024] Figure 4 is an exploded schematic diagram of the display of the present invention;

[0025] Figure 5 It is a structural schematic diagram of the rotating assembly of the present invention;

[0026] Figure 6 It is a structural schematic diagram of the suction component of the present invention;

[0027] Figure 7 It is a structural schematic diagram of the rotating shaft module of the present invention;

[0028] Figure 8 It is a structural schematic diagram of the shell of the present invention.

[0029] Reference numerals include:

[0030] 1. Fixing base; 2. Rack; 3. Manipulator; 5. Control system; 6. Display; 600, Touch screen; 8. Mounting frame; 9. Fastening block; 10. Through hole; 11. Through hole; 12. Limit hole; 13. Explosion-proof panel; 14. Display panel; 15. Main body; 18. Lifting rod; 19. Rotating assembly; 21. First rotating group; 22. Second rotating group; 23. Third rotating group; 24. First arm; 25. Second arm; 26. First rotating shaft; 27 , second rotating shaft; 28, third rotating shaft; 29, fourth rotating shaft; 31, fifth rotating shaft; 32, sixth rotating shaft; 33, seventh rotating shaft; 34, suction component; 35, connecting arm; 36, suction piece; 37, suction surface; 38, suction hole; 39, rotating shaft module; 41, shell; 42, motor; 43, harmonic reducer; 44, transmission component; 45, casing; 46, rotating shaft cover; 47, counterweight block; 49, mounting slot; 51, limit slot; 53, threaded blind hole. DETAILED DESCRIPTION

[0031] In order to facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0032] See also Figures 1 to 8 As shown, an industrial robot with a detachable human-machine display 6 of the present invention comprises a fixing base 1, a frame 2 provided on the fixing base 1, and a manipulator 3 mounted on the frame 2; the frame 2 comprises a control system 5 mounted on the frame 2, the manipulator 3 is electrically connected to the control system 5, the control system 5 comprises a display 6, and the display 6 is detachably mounted on the frame 2 via a fastening device; a mounting frame 8 for mounting the display 6 is provided on the frame 2, and the mounting frame 8 has an annular frame and is surrounded by the annular frame. The annular frame is provided with a fastening block 9 extending into the through hole, and the fastening block 9 is provided with a through hole 10. The display 6 has a main body 15 and a touch screen 600 arranged on the main body 15. The main body 15 is accommodated in the through hole and pressed on the fastening block 9. The touch screen 600 is pressed on the annular frame. The main body 15 is provided with a threaded blind hole 53 adapted to be installed with the fastening block 9. The external bolt passes through the through hole 10 on the fastening block 9 and is screwed to the threaded blind hole 53 on the display 6 to install the display 6 on the mounting frame 8.

[0033] The frame 2 serves as a support and carrier for the control system 5. Its sturdy design ensures the stability of the industrial robot during operation. Furthermore, the precise control of the control system 5 ensures the accuracy and reliability of the manipulator 3's movements. Precise commissioning of the display 6 ensures that the manipulator 3 adheres to pre-set safety procedures during operation, reducing safety incidents caused by human error. Because the display 6 is detachably mounted to the frame 2 via a fastening device, it can be easily removed when maintenance, replacement, or upgrades are required, eliminating the need for extensive disassembly of the entire industrial robot. This improves maintenance efficiency and reduces costs. The detachable display 6 design allows users to flexibly replace displays 6 of varying specifications and functions based on actual needs. The structural design of the mounting frame 8, annular frame, fastening block 9, and threaded blind hole 53 makes installation of the display 6 simple and quick. Simply place the main body 15 of the display 6 into the through-hole and screw it into place with bolts through the through-hole 10 in the fastening block 9 and the threaded blind hole 53 in the display 6. Complex installation steps and tools are unnecessary. This design enhances the adaptability and flexibility of the industrial robot to accommodate diverse working environments and task requirements. The touch screen 600 is directly pressed against the ring frame, ensuring a secure installation and allowing users to more easily operate the touch screen 600, improving the convenience of human-machine interaction and user experience.

[0034] The number of fastening blocks 9 is multiple, and the multiple fastening blocks 9 are arranged around the main body part 15. The annular frame and the fastening blocks 9 are of an integrated structure. Since the fastening blocks 9 are integrated with the annular frame, it is not necessary to separately install each fastening block 9 during installation. Instead, the display 6 main body part 15 is simply placed into the perforation, and then the connection with all the fastening blocks 9 is completed at one time through the bolts, greatly improving the installation efficiency. The design of the right-angle fastening block 9 enables it to form a more stable support structure when connected with the display 6 and the rack 2. This structure helps to reduce the shaking of the display 6 under vibration or impact, ensuring its stability during operation. The right-angle fastening block 9 is a fastening element with a right-angle shape, usually made of metal materials such as steel or aluminum alloy. The design of the right-angle fastening block 9 enables it to have a large contact area with the components, tightly connected, effectively preventing the occurrence of slippage.

[0035] The touch screen 600 includes a display panel 14, an explosion-proof panel 13 covering the front and back sides of the display panel 14, and a main body part 15. The main body part 15 and the display panel 14 are each provided with multiple groups of through holes 11, and the side end surface of the explosion-proof panel 13 close to the display panel 14 is provided with multiple groups of limiting holes 12. External bolts pass through the through holes 11 on the main body part 15 and the display panel 14 and are screwed with the limiting holes 12 on the explosion-proof panel 13, and the main body part 15 and the explosion-proof panel 13 clamp the display panel 14. The introduction of the explosion-proof panel 13 significantly improves the explosion-proof performance of the display 6. In industrial production environments, especially in situations involving flammable and explosive substances, this design can prevent the display 6 from breaking due to accidental impact or explosion, thereby causing greater safety accidents. The explosion-proof panel 13 can effectively absorb and disperse impact force, protecting the internal display panel 14 and main body part 15 from damage. By passing through the through holes 11 on the main body part 15 and the display panel 14 and screwing with the limiting holes 12 on the explosion-proof panel 13, the main body part 15 and the explosion-proof panel 13 achieve stable clamping of the display panel 14. This clamping structure not only ensures the stability of the display 6, but also makes the connection between the components more tight, reducing the risk of loosening and falling due to vibration or impact.

[0036] The fixed seat 1 is provided with a detachable counterweight 47. The fixed seat 1 is provided with a blind groove for accommodating the counterweight 47. The blind groove is recessed from the bottom surface of the fixed seat 1. The counterweight 47 is used to increase the contact area of ​​the fixed seat 1. The design of the counterweight 47 helps to reduce the shaking and vibration of the robot caused by uneven force or external factors (such as wind, uneven ground, etc.) during operation. This not only protects the precision components inside the robot from damage, but also improves the accuracy and stability of the robot's operation. The counterweight 47 includes a telescopic arm. The fixed seat 1 is provided with a blind groove. The telescopic arm is telescopically arranged in the blind groove and is detachably connected to the fixed seat 1 via fasteners. The length of the telescopic arm protruding from the fixed seat 1 is greater than the single movement distance of the manipulator 3 or / and the radius of the movement path of the manipulator 3.

[0037] The manipulator 3 includes a lifting rod 18 connected to the frame 2, and a rotating assembly 19 connected to the lifting rod 18. The rotating assembly 19 includes a first rotating group 21, a second rotating group 22, a third rotating group 23, a first arm 24 and a second arm 25. The first rotating group 21 includes a first rotating shaft 26 and a second rotating shaft 27. The second rotating group 22 includes a third rotating shaft 28 and a fourth rotating shaft 29. The third rotating group 23 includes a fifth rotating shaft 31, a sixth rotating shaft 32 and a seventh rotating shaft 33. The output end of the first rotating shaft 26 is rotationally connected to the lifting rod 18, the output end of the second rotating shaft 27 is connected to the main body of the first rotating shaft 26, the main body of the second rotating shaft 27 is rotationally connected to the main body of the first rotating shaft 26, and the axis of the second rotating shaft 27 is perpendicular to the axis of the first rotating shaft 26. In actual application, the output end of the first rotating shaft 26 is rotatably connected to the lifting rod 18, and the main body of the first rotating shaft 26 can rotate 360° relative to the lifting rod 18 and drive all the rotating shafts and the machine arm to rotate synchronously; the output end of the second rotating shaft 27 is connected to the main body of the first rotating shaft 26, and the axis of the second rotating shaft 27 is perpendicular to the axis of the first rotating shaft 26. The main body of the second rotating shaft 27 can rotate 360° relative to the main body of the first rotating shaft 26 and drive the remaining rotating shafts and the machine arm to rotate synchronously.

[0038] The lifting end of the lifting rod 18 is raised and lowered to drive the rotating assembly 19 to rise and fall. The lifting rod 18 includes a lifting drive member and a lifting cylinder. The lifting cylinder has an inner cavity for accommodating the lifting drive member. The lifting function of the lifting rod 18 enables the rotating assembly 19 to move freely in the vertical direction, thereby greatly expanding the operating range of the manipulator 3. Whether it is picking up items from a high shelf or operating in a low-lying work area, the manipulator 3 can easily cope with it without changing equipment or adjusting the production line layout. Combining the lifting and rotating functions, the manipulator 3 can achieve a more complex and flexible motion trajectory. This multi-degree-of-freedom movement capability enables the manipulator 3 to more accurately locate the target position and perform tasks in a more appropriate posture, such as stacking, loading and unloading, etc.

[0039] The main body of the second rotating shaft 27 is fixedly connected to the first arm 24, and the end of the first arm 24 away from the second rotating shaft 27 is fixedly connected to the main body of the third rotating shaft 28. The axis of the second rotating shaft 27 and the axis of the third rotating shaft 28 are both perpendicular to the axis of the first arm 24. The output end of the third rotating shaft 28 is connected to the output end of the fourth rotating shaft 29. The main body of the third rotating shaft 28 is rotatably connected to the main body of the fourth rotating shaft 29, and the fourth rotating shaft 29 is coaxially rotatably connected to the main body of the third rotating shaft 28.

[0040] The main body of the second rotating shaft 27 is fixedly connected to the first arm 24, and the end of the first arm 24 away from the second rotating shaft 27 is fixedly connected to the main body of the third rotating shaft 28. This connection method ensures that the second rotating shaft 27 and the third rotating shaft 28 can drive the first arm 24 to move together when they rotate. The configuration of the first arm 24 further expands the range of motion of the manipulator 3. The output end of the third rotating shaft 28 is connected to the output end of the fourth rotating shaft 29. The fourth rotating shaft 29 and the main body of the third rotating shaft 28 are coaxially connected. This means that when the third rotating shaft 28 rotates 360°, the fourth rotating shaft 29 also rotates 360° along the same axis, while driving the remaining rotating shafts and arms to rotate synchronously.

[0041] The second arm 25 is fixedly connected to the main body of the fourth rotating shaft 29, and the end of the second arm 25 away from the fourth rotating shaft 29 is fixedly connected to the main body of the fifth rotating shaft 31. The axis of the fourth rotating shaft 29 and the axis of the fifth rotating shaft 31 are both perpendicular to the axis of the second arm 25. The output end of the fifth rotating shaft 31 is rotatably connected to the main body of the sixth rotating shaft 32, the axis of the fifth rotating shaft 31 is perpendicular to the axis of the sixth rotating shaft 32, the output end of the sixth rotating shaft 32 is rotatably connected to the main body of the seventh rotating shaft 33, and the axis of the sixth rotating shaft 32 is perpendicular to the axis of the seventh rotating shaft 33.

[0042] The second arm 25 is fixedly connected to the main body of the fourth rotating shaft 29, and the end of the second arm 25 away from the fourth rotating shaft 29 is fixedly connected to the main body of the fifth rotating shaft 31. This connection method ensures that the fourth rotating shaft 29 and the fifth rotating shaft 31 can drive the second arm 25 to move together when they rotate. The provision of the second arm 25 further expands the range of motion of the manipulator 3. The output end of the fifth rotating shaft 31 is rotationally connected to the main body of the sixth rotating shaft 32. The axis of the fifth rotating shaft 31 is perpendicular to the axis of the sixth rotating shaft 32. This connection method enables the manipulator 3 to perform compound motions on a vertical axis, increasing the complexity and precision of the motion. The output end of the fifth rotating shaft 31 can rotate 360° relative to the sixth rotating shaft 32, while driving the remaining rotating shafts and arms to rotate synchronously. The output end of the sixth rotating shaft 32 is rotatably connected to the main body of the seventh rotating shaft 33, and the axis of the sixth rotating shaft 32 is perpendicular to the axis of the seventh rotating shaft 33. This design further expands the freedom of movement of the manipulator 3. The sixth rotating shaft 32 can rotate 360° relative to the main body of the seventh rotating shaft 33 while driving the remaining rotating shafts and the arm to rotate synchronously.

[0043] The manipulator 3 further includes a suction assembly 34 disposed at the output end of the seventh rotating shaft 33. The suction assembly 34 includes a connecting arm 35 connected to the output end of the seventh rotating shaft 33, and a suction member 36 connected to the other end of the connecting arm 35 away from the output end of the seventh rotating shaft 33. The suction surface 37 of the suction member 36 is provided with a plurality of suction holes 38 communicating with the suction member 36. When the suction member 36 comes into contact with a workpiece, negative pressure is generated by an external air source (such as a vacuum pump), causing air in the suction holes 38 to be extracted, thereby forming a certain degree of vacuum between the suction surface 37 and the workpiece. The suction force generated by this vacuum firmly adsorbs the workpiece to the suction surface 37, thereby achieving suction of the workpiece.

[0044] The first rotating shaft 26 comprises a rotating shaft module 39 and a housing 41 enclosing the rotating shaft module 39. The rotating shaft module 39 comprises a motor 42 connected to the housing 41, a harmonic reducer 43, and a transmission assembly 44. The rotating shaft of the harmonic reducer 43 is connected to the output shaft of the motor 42 via the transmission assembly 44. The harmonic reducer 43 is used to reduce the speed and increase the torque of the motor 42. The second rotating shaft 27, the third rotating shaft 28, the fourth rotating shaft 29, the fifth rotating shaft 31, the sixth rotating shaft 32, and the seventh rotating shaft 33 have the same structure as the first rotating shaft 26. The harmonic reducer 43 is a reduction gear device that utilizes the principle of flexible gear transmission and has the advantages of high precision, high reduction ratio, large torque capacity, and zero backlash. It can convert the high-speed, low-torque output of the motor 42 into a low-speed, high-torque output, meeting the speed and force requirements of the manipulator 3 under different operating conditions. Transmission assembly 44, which can be a gear set, connects the output shaft of motor 42 and the rotating shaft of harmonic reducer 43. It is responsible for transmitting the rotational power of motor 42 to harmonic reducer 43 and ensuring synchronous operation between the two. Transmission assembly 44 may include various transmission methods such as gears, belts, and chains, depending on design requirements and space constraints.

[0045] The housing 41 includes a casing 45 and a rotating shaft cover 46 that is detachably connected to the casing 45. The rotating shaft cover 46 is connected to one end of the casing 45. The connection between the rotating shaft cover 46 and the casing 45 is an oblique opening. The rotating shaft cover 46 is provided with a mounting slot 49. The casing 45 is provided with a limiting slot 51 that matches the mounting slot 49. An external bolt passes through the mounting slot 49 on the rotating shaft cover 46 and is screwed to the limiting slot 51 on the casing 45. The casing 45 and the rotating shaft cover 46 are detachably connected. This design makes it easy to open the housing 41 when maintenance or replacement of internal components is required without disassembling the entire manipulator 3. This not only improves maintenance efficiency but also reduces maintenance costs. The oblique opening makes it easier to align and fix the rotating shaft cover 46 during installation and removal, reducing the difficulty of operation. The external bolts pass through the mounting slots 49 on the rotating shaft cover 46 and are screwed into the limiting slots 51 on the housing 45 , further enhancing the connection strength and stability between the rotating shaft cover 46 and the housing 45 .

[0046] The rest of this embodiment is the same as that of the first embodiment. The features not explained in this embodiment are all based on the explanations of the first embodiment and will not be described in detail here.

[0047] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. An industrial robot with a detachable human-machine display screen, comprising a fixed seat (1), a frame (2) arranged on the fixed seat (1), and a manipulator (3) mounted on the frame (2); characterized in that: The frame (2) includes a control system (5) mounted on the frame (2), the manipulator (3) is electrically connected to the control system (5), the control system (5) includes a display (6), and the display (6) and the frame (2) are detachably mounted via a fastening device; a mounting frame (8) for mounting the display (6) is provided on the frame (2), the mounting frame (8) has an annular frame and a through hole surrounded by the annular frame, the annular frame is provided with a fastening block (9) extending into the through hole, and the fastening block (9) is provided with a through hole ( 10), the display (6) has a main body (15) and a touch screen (600) arranged on the main body (15), the main body (15) is accommodated in the through hole and pressed on the fastening block (9), the touch screen (600) is pressed on the annular frame, the main body (15) is provided with a threaded blind hole (53) adapted to be installed with the fastening block (9), and an external bolt passes through the through hole (10) on the fastening block (9) and is screwed to the threaded blind hole (53) on the display (6) to install the display (6) on the mounting frame (8); The number of the fastening blocks (9) is multiple, and the multiple fastening blocks (9) are arranged around the main body (15), and the annular frame and the fastening blocks (9) are an integrated structure; The touch screen (600) includes a display panel (14) and an explosion-proof panel (13) covering the front and rear sides of the display panel (14). A plurality of through holes (11) are provided on the main body (15) and the display panel (14). A plurality of limiting holes (12) are provided on the end face of the explosion-proof panel (13) on one side close to the display panel (14). External bolts penetrate the through holes (11) on the main body (15) and the display panel (14) and are screwed to the limiting holes (12) on the explosion-proof panel (13). The main body (15) and the explosion-proof panel (13) clamp the display panel (14).

2. The industrial robot with a detachable display screen according to claim 1, characterized in that: The fixing seat (1) is provided with a detachable counterweight (47), and the fixing seat (1) is provided with a blind groove for accommodating the counterweight (47), and the blind groove is concavely formed from the bottom surface of the fixing seat (1).

3. The industrial robot with a detachable display screen according to claim 1, characterized in that: The manipulator (3) includes a lifting rod (18) connected to the frame (2), and a rotating assembly (19) connected to the lifting rod (18). The rotating assembly (19) includes a first rotating group (21), a second rotating group (22), a third rotating group (23), a first arm (24) and a second arm (25). The first rotating group (21) includes a first rotating shaft (26) and a second rotating shaft (27). The second rotating group (22) includes a third rotating shaft (28) and a fourth rotating shaft (29). The third rotating group (23) includes a fifth rotating shaft (31), a sixth rotating shaft (32) and a seventh rotating shaft (33). The output end of the first rotating shaft (26) is rotationally connected to the lifting rod (18), the output end of the second rotating shaft (27) is connected to the main body of the first rotating shaft (26), the main body of the second rotating shaft (27) is rotationally connected to the main body of the first rotating shaft (26), and the axis of the second rotating shaft (27) is perpendicular to the axis of the first rotating shaft (26).

4. The industrial robot with a detachable display screen according to claim 3, characterized in that: The main body of the second rotating shaft (27) is fixedly connected to the first arm (24), and one end of the first arm (24) away from the second rotating shaft (27) is fixedly connected to the main body of the third rotating shaft (28). The axis of the second rotating shaft (27) and the axis of the third rotating shaft (28) are both perpendicular to the axis of the first arm (24). The output end of the third rotating shaft (28) is connected to the output end of the fourth rotating shaft (29). The main body of the third rotating shaft (28) is rotatably connected to the main body of the fourth rotating shaft (29), and the fourth rotating shaft (29) is coaxially rotatably connected to the main body of the third rotating shaft (28).

5. The industrial robot with a detachable human-machine display according to claim 4, characterized in that: The second machine arm (25) is fixedly connected to the main body of the fourth rotating shaft (29), and one end of the second machine arm (25) away from the fourth rotating shaft (29) is fixedly connected to the main body of the fifth rotating shaft (31). The axis of the fourth rotating shaft (29) and the axis of the fifth rotating shaft (31) are both perpendicular to the axis of the second machine arm (25). The output end of the fifth rotating shaft (31) is rotatably connected to the main body of the sixth rotating shaft (32). The axis of the fifth rotating shaft (31) is perpendicular to the axis of the sixth rotating shaft (32). The output end of the sixth rotating shaft (32) is rotatably connected to the main body of the seventh rotating shaft (33). The axis of the sixth rotating shaft (32) is perpendicular to the axis of the seventh rotating shaft (33).

6. The industrial robot with a detachable display screen according to claim 5, characterized in that: The manipulator (3) further comprises a suction assembly (34) arranged at the output end of the seventh rotating shaft (33), the suction assembly (34) comprising a connecting arm (35) connected to the output end of the seventh rotating shaft (33), the other end of the connecting arm (35) away from the output end of the seventh rotating shaft (33) being connected to a suction member (36), and a suction surface (37) of the suction member (36) being provided with a plurality of suction holes (38) communicating with the suction member (36).

7. The industrial robot with a detachable display screen according to claim 6, characterized in that: The first rotating shaft (26) includes a rotating shaft module (39) and a housing (41) arranged outside the rotating shaft module (39). The rotating shaft module (39) includes a motor (42) connected to the housing (41), a harmonic reducer (43) and a transmission assembly (44). The rotating shaft of the harmonic reducer (43) is connected to the output shaft of the motor (42) via the transmission assembly (44). The harmonic reducer (43) is used to reduce the speed of the motor (42) and increase the torque of the motor (42). The structures of the second rotating shaft (27), the third rotating shaft (28), the fourth rotating shaft (29), the fifth rotating shaft (31), the sixth rotating shaft (32) and the seventh rotating shaft (33) are the same as the structure of the first rotating shaft (26).

8. The industrial robot with a detachable display screen according to claim 7, characterized in that: The housing (41) includes a casing (45), a rotating shaft cover (46) detachably connected to the casing (45), the rotating shaft cover (46) being connected to one end of the casing (45), and a connecting port between the rotating shaft cover (46) and the casing (45) being an oblique opening, the rotating shaft cover (46) being provided with a mounting groove (49), the casing (45) being provided with a limiting groove (51) adapted to the mounting groove (49), and an external bolt passing through a limiting hole (12) on the rotating shaft cover (46) being screwed to the limiting groove (51) on the casing (45).

Images