Obstacle avoidance device for industrial robot and industrial robot

Abstract

The present invention discloses an obstacle avoidance device for an industrial robot and an industrial robot, wherein the obstacle avoidance device for an industrial robot comprises symmetrically arranged driving gears, two driving gear centers are both provided with driving shafts for rotation, the driving shafts are synchronously connected through a conveyor belt, the end of the driving shaft is rotatably connected with a placement assembly, the end of the placement assembly away from the driving shaft is sleeved with a transmission crank, the other end of the transmission crank is rotatably connected with a driven shaft, the outer sleeve of the driven shaft is fixed with a driven gear, the driven gear and the driving gear are meshed for transmission, and the outer sleeves of the two driven shafts are provided with a mechanical arm that synchronously drives with the rotation of the driven shaft. The present invention can flexibly control the mechanical arm as the output end to avoid, and can keep the horizontal unchanged, after stopping the avoidance of the mechanical arm, the position of the mechanical arm can be instantly locked, the placement is stable, and the operation is simple and convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, in particular to an obstacle avoidance device for an industrial robot and the industrial robot. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] In the prior art, when an industrial robot with a robotic arm used for transportation avoids obstacles at the end of its robotic arm, if the output end is tilted, it is easy to affect the objects being transported at the output end. Even if there are no objects, the output end needs to be re-leveled after avoiding the obstacles, which will affect the specific use of the robotic arm. Summary of the invention

[0004] The object of the present invention is to provide an obstacle avoidance device for an industrial robot and an industrial robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An obstacle avoidance device for an industrial robot comprises symmetrically arranged driving gears, wherein a driving shaft for rotation is installed at the center of two driving gears, the driving shafts are synchronously connected through a conveyor belt, a placement assembly is rotatably connected to the outer periphery of the ends of the driving shafts, a transmission crank is sleeved at the end of the placement assembly away from the driving shafts, a driven shaft is rotatably connected to the other end of the transmission crank, a driven gear is sleeved and fixedly arranged on the outer periphery of the driven shaft, the driven gear and the driving gear are meshed for transmission, and a mechanical arm is sleeved on the outer periphery of the two driven shafts for synchronous transmission with the rotation of the driven shafts.

[0007] As a further solution of the present invention: the conveyor belt is transmission-connected with a first driving motor, and the end of the transmission crank away from the active rotating shaft is transmission-connected with a second driving motor.

[0008] As a further solution of the present invention: the robotic arm includes a wheel axle which is sleeved and fixed on the periphery of the driven rotating shaft, and connecting frames are symmetrically sleeved on the peripheries of both ends of the wheel axle. The two ends of the connecting frame are respectively rotatably connected to the ends on the same side of the two wheel axles, and multiple groups of rollers with the same diameter as the wheel axles are rotatably connected between the connecting frames, and a conveyor belt is sleeved on the peripheries of the wheel axle and the rollers.

[0009] As a further solution of the present invention: a pulley is sleeved on the outer periphery of the active rotating shaft, the conveyor belt is transmission-connected between the pulleys on the outer peripheries of the two active rotating shafts, the placement assembly includes a mounting frame rotatably sleeved on the outer periphery of the end of the active rotating shaft away from the active gear, a column gear is fixedly connected to the side of the mounting frame away from the active rotating shaft, and the transmission crank is rotatably sleeved on the outer periphery of the column gear.

[0010] As a further solution of the present invention: the transmission crank comprises a rocker arm, and the first rotating hole and the second rotating hole are respectively provided at both ends of the rocker arm, a connecting handle is fixedly connected to one side of the rocker arm opposite to the second rotating hole, the middle part of the connecting handle is through and connected to the second rotating hole, a driving handle is sleeved on the end of the connecting handle away from the rocker arm, and a plurality of groups of keys are embedded in the second rotating hole close to one side of the connecting handle, and the keys are correspondingly engaged and adapted with the column gear.

[0011] As a further solution of the present invention: the opening edge of the second rotating hole is rotationally connected to the outer periphery of the column gear through a bearing, and the end of the driven rotating shaft extends into the first rotating hole and is rotationally connected through the bearing.

[0012] As a further solution of the present invention: flanges are symmetrically connected on both sides of the key, the flanges and the bottom of the key are slidably embedded in the inner side of the second rotating hole, and the key is fixedly connected to a limiting axis toward the side of the driving handle, and the limiting axis is slidably connected to the end of the driving handle.

[0013] As a further solution of the present invention: a spring is connected between the bottom of the flange and the inner bottom of the second rotating hole, and the spring acts on the tooth pattern on the surface of the key to press tightly on the column gear.

[0014] As a further solution of the present invention: the driving handle includes a handle body, one end of the handle body is rotatably sleeved on the outer periphery of the end of the connecting handle, and the inner edge of its opening is flush with the inner edge of the second rotating hole, the handle body is provided with a connecting flange at one end away from the connecting handle, and the handle body is embedded with a socket at the center of one end of the connecting handle, and the end of the column gear is provided with a protrusion that is embedded and adapted to correspond to the socket.

[0015] As a further solution of the present invention: a plurality of fan-shaped holes are embedded in the periphery of the end surface of the handle body, the fan-shaped holes are arranged corresponding to the positions of the limit shafts, and a traction component that is slidably matched with the limit shaft is slidably provided in the fan-shaped holes.

[0016] As a further solution of the present invention: the traction assembly includes a fan-shaped block, the fan-shaped block is slidably adapted to the fan-shaped hole, and a semicircular arc hole is embedded in the surface of the fan-shaped block.

[0017] As a further solution of the present invention: the semicircular trajectory opening of the arc hole is far away from the center of the handle body, and when the key is clamped on the column gear, the limit shaft is located on the side of the arc hole close to the center of the handle body.

[0018] An industrial robot adopts the above-mentioned obstacle avoidance device for the industrial robot.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: the output end of the first driving motor drives the conveyor belt through the pulley transmission to drive the active shafts on both sides to rotate synchronously, and then the active gear can drive the driven gear to rotate through the synchronous rotation with the active shaft, so that the mechanical arm can form a rotating conveying effect. When encountering a situation where avoidance is required during work, after stopping the rotation of the active gear, the second driving motor is started, so that the driven shaft and the driven gear can be driven to rotate with the axis of the active shaft as the center of the circle through the rotation of the transmission crank, so that the driven gear can be meshed and rotated around the driving gear, and in this process, the surface of the mechanical arm can still remain horizontal, and the avoidance action is completed by changing the height. After the avoidance is completed, the second driving motor is stopped, and the position of the transmission crank can be relatively locked with the placement component. Among them, the second driving motor can be electrically connected to a sensing element such as an infrared sensor and automatically start and stop, so as to cooperate to achieve avoidance. This usage method can flexibly control the robot arm as the output end to avoid, and during the avoidance process, the platform of the robot arm can remain horizontal. After the robot arm stops avoiding, the position of the robot arm can be locked immediately, the placement is stable, and the operation is simple and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 It is a schematic diagram of the structure of the mechanical arm in the present invention.

[0022] Figure 3 It is a schematic diagram of the structure of the transmission crank in the present invention.

[0023] Figure 4 It is a schematic diagram of the structure of the active rotating shaft in the present invention.

[0024] Figure 5 It is a schematic diagram of the connection structure of the rocker arm and the connecting handle in the present invention.

[0025] Figure 6 for Figure 5 Schematic diagram of the enlarged structure of area A in the middle.

[0026] Figure 7 It is a structural schematic diagram of the card key in the present invention.

[0027] Figure 8It is a schematic structural diagram of the driving handle in the present invention.

[0028] Fig. 9 for Figure 8 Schematic diagram of the structure of area B in the middle.

[0029] In the figure: 1-driving gear, 2-driving shaft, 21-pulley, 22-mounting frame, 23-column gear, 3-transmission crank, 31-rocker arm, 32-first rotating hole, 33-connecting handle, 34-driving handle, 3401-handle body, 3402-connecting flange, 3403-jack, 3404-sector hole, 3405-sector block, 3406-arc hole, 35-second rotating hole, 36-key, 3601-flange, 3602-limiting shaft, 4-driven shaft, 5-driven gear, 6-mechanical arm, 61-axle, 62-connecting frame, 63-roller, 64-conveyor belt, 7-transmission belt. DETAILED DESCRIPTION

[0030] See also Figure 1-Figure 3 In an embodiment of the present invention, an obstacle avoidance device for an industrial robot includes symmetrically arranged driving gears 1, two driving gears 1 are centrally mounted with driving shafts 2 for rotation, the driving shafts 2 are synchronously connected through a conveyor belt 7, the ends of the driving shafts 2 are rotatably connected with a placement assembly, the end of the placement assembly away from the driving shaft 2 is sleeved with a transmission crank 3, the other end of the transmission crank 3 is rotatably connected with a driven shaft 4, the outer periphery of the driven shaft 4 is sleeved and fixed with a driven gear 5, the driven gear 5 and the driving gear 1 are meshed for transmission, and the two driven shafts 4 are sleeved with a mechanical arm 6 that synchronously transmits with the rotation of the driven shafts 4.

[0031] In this embodiment, preferably, the placement component is used to install the driving gear 1 and the driving shaft 2 on the industrial robot, the conveyor belt 7 is transmission-connected with a first driving motor, and the end of the driving crank 3 away from the driving shaft 2 is transmission-connected with a second driving motor, and the output end of the first driving motor drives the conveyor belt 7 through a pulley transmission to drive the driving shafts 2 on both sides to rotate synchronously, and then the driving gear 1 can drive the driven gear 5 to rotate through the synchronous rotation with the driving shaft 2, so that the mechanical arm 6 can form a rotating conveying effect, when encountering a situation where avoidance is required during work, after stopping the rotation of the driving gear 1, the second driving motor is started, so that the rotation of the driving crank 3 can drive the driven shaft 4 and the driven gear 5 to rotate with the axis of the driving shaft 2 as the center of the circle, so that the driven gear 5 can mesh and rotate around the driving gear 1, and in this process, the surface of the mechanical arm 6 can still remain horizontal, and the avoidance action is completed by changing the height, and after the avoidance is completed, the second driving motor is stopped, and the position of the driving crank 3 can be relatively locked with the placement component. Among them, the second drive motor can be electrically connected to sensing elements such as infrared sensors and automatically start and stop, thereby cooperating to achieve avoidance.

[0032] This usage method can flexibly control the robot arm 6 as the output end to avoid, and during the avoidance process, the platform of the robot arm 6 can remain horizontal. After the robot arm 6 stops avoiding, the position of the robot arm 6 can be instantly locked, the placement is stable, and the operation is simple and convenient.

[0033] Among them, Figure 1-Figure 2 As shown, the robotic arm 6 includes an axle 61 which is sleeved and fixed on the periphery of the driven rotating shaft 4, and connecting frames 62 are symmetrically sleeved on the peripheries of both ends of the axle 61. The two ends of the connecting frame 62 are rotatably connected to the ends on the same side of the two axles 61, and multiple groups of rollers 63 with the same diameter as the axle 61 are rotatably connected between the connecting frames 62. A conveyor belt 64 is sleeved on the peripheries of the axle 61 and the rollers 63. Preferably, the conveyor belt 64 is in a taut state. When the axle 61 rotates, the conveyor belt 64 can be driven to rotate, so that the conveyor belt 64 can be used for guiding the end of the robotic arm of an industrial robot.

[0034] like Figure 3-Figure 5 As shown, a pulley 21 is sleeved on the outer periphery of the driving shaft 2, and the conveyor belt 7 is transmission-connected between the pulleys 21 on the outer peripheries of the two driving shafts 2. The placement assembly includes a mounting frame 22 rotatably sleeved on the outer periphery of the end of the driving shaft 2 away from the driving gear 1, and a column gear 23 is fixedly connected to the side of the mounting frame 22 away from the driving shaft 2, and the transmission crank 3 is rotatably sleeved on the outer periphery of the column gear 23.

[0035] In this embodiment, the conveyor belt 7 drives the pulley 21 through the second driving motor to drive the driving shaft 2 and the driving gear 1 to rotate. The mounting frame 22 can be installed on the industrial robot, and the driving crank 3 can rotate around the column gear 23.

[0036] Furthermore, the transmission crank 3 includes a rocker arm 31, and the two ends of the rocker arm 31 are respectively provided with a first rotating hole 32 and a second rotating hole 35, the opening edge of the second rotating hole 35 is rotatably connected to the periphery of the column gear 23 through a bearing, and the end of the driven shaft 4 extends into the first rotating hole 32 and is rotatably connected through a bearing, and a connecting handle 33 is fixedly connected to one side of the rocker arm 31 opposite to the second rotating hole 35, the middle part of the connecting handle 33 is through and connected to the second rotating hole 35, and a driving handle 34 is sleeved on the end of the connecting handle 33 away from the rocker arm 31, and a plurality of groups of latch keys 36 are embedded in the second rotating hole 35 near the side of the connecting handle 33, and the latch keys 36 are correspondingly engaged and adapted with the column gear 23.

[0037] In this embodiment, the end of the driving handle 34 away from the connecting handle 33 is used for assembly and connection with the output end of the second driving motor. When the second driving motor is not started, the latch key 36 is in a state of latching and fitting with the column gear 23. At this time, through this cooperation and the self-locking of the output end of the second driving motor, the rotation angle of the rocker arm 31 is limited, and the defect of shaking of the motor output end is overcome, and the placement of the rocker arm 31 is more stable. When the driving handle 34 rotates, the end of the driving handle 34 drives the latch key 36 away from the column gear 23, so that the driving handle 34 can drive the connecting handle 33 and the rocker arm 31 to rotate, and then drive the driven shaft 4 and the mechanical arm 6 to rotate and avoid.

[0038] Among them, Figure 6-Figure 7 As shown, flanges 3601 are symmetrically connected on both sides of the key 36, and the flanges 3601 and the bottom of the key 36 are slidably embedded in the inner side of the second rotating hole 35. The key 36 is fixedly connected to the side of the driving handle 34 and provided with a limit shaft 3602, and the limit shaft 3602 is slidably connected with the end of the driving handle 34. Preferably, a compression spring or a leaf spring is connected between the bottom of the flange 3601 and the bottom of the inner side of the second rotating hole 35. This type of spring can act on the key 36 to approach the center of the second rotating hole 35, and the flange 3601 can prevent the key 36 from being separated from the connection between the second rotating hole 35, and in this way, the tooth pattern on the surface of the key 36 can be pressed against the column gear 23, thereby limiting the relative rotation between the column gear 23 and the connecting handle 33, so that the rocker arm 31 can no longer rotate. Moreover, by rotating the driving handle 34, the engagement between the latch key 36 and the column gear 23 can be unlocked, thereby facilitating the control of driving the rocker arm 31 and then driving the driven shaft 4 and the mechanical arm 6 to rotate to achieve avoidance.

[0039] Further, such as Figure 8-Figure 9 As shown, the driving handle 34 includes a handle body 3401, one end of the handle body 3401 is rotatably sleeved on the outer periphery of the end of the connecting handle 33, and the inner edge of its opening is flush with the inner edge of the second rotating hole 35, and the end of the handle body 3401 away from the connecting handle 33 is provided with a connecting flange 3402 for transmission connection and assembly with the output end of the second driving motor, and the handle body 3401 is embedded with a plug hole 3403 at the center of one end of the connecting handle 33, and the end of the column gear 23 is provided with a protrusion corresponding to the plug hole 3403. Preferably, the plug hole 3403 is a cylindrical hole, and the center of the circle coincides with the center of the end face of the handle body 3401. Such a setting is to improve the stability of the handle body 3401 when rotating.

[0040] Among them, the outer periphery of the end surface of the handle body 3401 is embedded with a plurality of fan-shaped holes 3404 in a circular array with the center of the circle as the origin. The fan-shaped holes 3404 are arranged corresponding to the position of the limit shaft 3602, and a traction component that is slidably matched with the limit shaft 3602 is slidably arranged in the fan-shaped hole 3404. When the second driving motor drives the handle body 3401 to rotate, the limit shaft 3602 can be driven by the traction component and disengage from the clamping of the column gear 23, and then when it continues to rotate, the handle body 3401 can drive the clamping key 36 and the connecting handle 33 to rotate synchronously, and then the rocker arm 31 drives the driven shaft 4 and the mechanical arm 6 to rotate, thereby completing the avoidance action.

[0041] The traction assembly includes a fan-shaped block 3405, which is slidably adapted to the fan-shaped hole 3404. The sliding trajectory of the fan-shaped block 3405 is an arc trajectory with the center of the handle body 3401 as the center. A semicircular arc hole 3406 is embedded on the surface of the fan-shaped block 3405. The semicircular track opening of the arc hole 3406 is arranged away from the center of the handle body 3401. When the clamping key 36 is clamped on the column gear 23, the limiting shaft 3602 is located on the arc hole 3406 close to the handle body 3401. 1, that is, in the middle of the semicircular track of the arc hole 3406, as the handle body 3401 rotates, under the action of the friction between the limit shaft 3602 and the arc hole 3406, the sector block 3405 will first slide to the side of the sector hole 3404, and when the force continues to be applied, the sector block 3405 can no longer slide, and the limit shaft 3602 will slide on the arc hole 3406 and move away from the center of the handle body 3401, so that the key 36 is driven by the limit shaft 3602 and embedded in the second rotating hole 35, thereby breaking away from the limit of the column gear 23. Once the handle body 3401 stops rotating, without the drive of centrifugal force, the sector block 3405 can be driven back to the original position when the limit shaft 3602 returns to the original position, so as to facilitate the next work. This design can not only drive the latch key 36 to release the clamping limit between the handle body 3401 and the column gear 23 when the handle body 3401 is started, thereby facilitating the rotational transmission between the handle body 3401 and the connecting handle 33, but also automatically lock the connecting handle 33 when the transmission is stopped, which is simple and convenient to operate.

[0042] An industrial robot, preferably, adopts the above-mentioned obstacle avoidance device for industrial robots, cooperates with sensors and various driving structures, and can use the mechanical arm 6 as a conveying structure to complete the conveying task.

Claims

1. An obstacle avoidance device for an industrial robot, comprising symmetrically arranged driving gears, wherein the centers of the two driving gears are both provided with driving shafts for rotation, the driving shafts are synchronously connected by a conveyor belt, and the ends of the driving shafts are rotatably connected with a placement assembly, characterized in that: The end of the placement component away from the driving shaft is sleeved with a driving crank, the other end of the driving crank is rotatably connected with a driven shaft, the outer periphery of the driven shaft is sleeved and fixed with a driven gear, the driven gear and the driving gear are meshed for transmission, and the outer peripheries of the two driven shafts are sleeved with a mechanical arm that synchronously transmits the rotation of the driven shafts; The mechanical arm comprises a wheel axle sleeved and fixed on the periphery of the driven rotating shaft, and connecting frames are symmetrically sleeved on the periphery of both ends of the wheel axle, and the two ends of the connecting frame are respectively rotatably connected to the ends on the same side of the two wheel axles, and multiple groups of rollers with the same diameter as the wheel axles are rotatably connected between the connecting frames, and a conveyor belt is sleeved on the periphery of the wheel axle and the rollers; The outer periphery of the driving shaft is sleeved with a pulley, and the conveyor belt is drivingly connected between the pulleys on the outer peripheries of the two driving shafts. The placement assembly includes a mounting frame rotatably sleeved on the outer periphery of the end of the driving shaft away from the driving gear, and a column gear is fixedly connected to the side of the mounting frame away from the driving shaft, and the transmission crank is rotatably sleeved on the outer periphery of the column gear; The transmission crank comprises a rocker arm, wherein the first rotation hole and the second rotation hole are respectively provided at both ends of the rocker arm, a connecting handle is fixedly connected to a portion of one side of the rocker arm opposite to the second rotation hole, the middle of the connecting handle is passed through and communicated with the second rotation hole, a driving handle is sleeved on one end of the connecting handle away from the rocker arm, and a plurality of groups of latch keys are embedded in the second rotation hole near one side of the connecting handle, and the latch keys are correspondingly latched and adapted to the column gear; The two sides of the clamping key are symmetrically connected with flanges, the flanges and the bottom of the clamping key are slidably embedded in the inner side of the second rotating hole, and the clamping key is fixedly connected to a side of the driving handle with a limit shaft, and the limit shaft is slidably matched with the end of the driving handle; A spring is connected between the bottom of the flange and the bottom of the inner side of the second rotating hole, and the spring acts on the tooth pattern on the surface of the key to press tightly on the column gear; The driving handle includes a handle body, one end of which is rotatably sleeved on the outer periphery of the end of the connecting handle, and the inner edge of its opening is flush with the inner edge of the second rotating hole. The handle body is provided with a connecting flange at the end away from the connecting handle, and a socket is embedded in the center of the end of the connecting handle of the handle body, and the end of the column gear is provided with a protrusion that is embedded and adapted to correspond to the socket.

2. An obstacle avoidance device for an industrial robot according to claim 1, characterized in that: The conveyor belt is transmission-connected with a first driving motor, and one end of a transmission crank away from the active rotating shaft is transmission-connected with a second driving motor.

3. The obstacle avoidance device for an industrial robot according to claim 1, characterized in that: The opening edge of the second rotating hole is rotationally connected to the outer periphery of the column gear through a bearing, and the end of the driven rotating shaft extends into the first rotating hole and is rotationally connected through a bearing.

4. An industrial robot, characterized in that: It comprises the obstacle avoidance device for an industrial robot as described in any one of claims 1 to 3.

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