Mechanical arm with double-layer limiting structure for industrial robot

Abstract

The invention belongs to the technical field of mechanical arms, and particularly relates to a mechanical arm with a double-layer limiting structure for an industrial robot, the mechanical arm comprises a base and a moving seat arranged above the base, the upper side wall of the moving seat is fixedly connected with a PLC, and the upper side of the moving seat is connected with a rotary table through a rotary motor; and a driving cavity is formed in the base, and the inner wall of the driving cavity is rotationally connected with a threaded rod. In the working process of the mechanical arm, after primary limiting of the control degree to the mechanical arm fails, secondary limiting can be automatically carried out on the rotating angle and the moving distance of the mechanical arm, the secondary limiting can be rapidly adjusted according to the use requirement, and the situation that when a limiting switch is used for adjusting the position, the mechanical arm cannot be subjected to secondary limiting is avoided. And a large amount of time needs to be consumed, so that the convenience of adjusting the secondary limit of the mechanical arm by an operator is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical arms, and in particular relates to a mechanical arm with a double-layer limiting structure for an industrial robot. Background Art

[0002] A robotic arm is an automated device that imitates some functions of a human arm, can achieve automatic control, repeated programming, and complete various tasks in three-dimensional space. Due to its unique operational flexibility, it is widely used in industrial assembly, safety and explosion-proof and other fields. For example, a robotic arm with a double-layer limit structure for an industrial robot is proposed in patent announcement number CN212497743U.

[0003] At present, in the actual use of the robot arm, in order to prevent the problem of over-limit, the software program of the control system is usually used to implement the primary limit, and the limit switch is used for the secondary limit. However, in actual application, the limit switch is often fixedly installed at a specific position of the robot arm. When the robot arm needs to move to perform different tasks, the operator often has to spend a lot of time to debug the placement of the limit switch, which undoubtedly seriously affects the working efficiency of the robot arm. In addition, in order to enhance the gripping stability and protect the grasped object, the mechanical claw in the robotic arm usually has multiple rubber strips on its inner wall. However, as the usage time increases, the rubber strips will inevitably wear out. Due to the lack of effective monitoring methods, it is difficult for operators to detect this situation in time, which leads to the gradual reduction of the performance of the mechanical claw.

[0004] Therefore, an industrial robot is proposed to use a mechanical arm with a double-layer limiting structure to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a mechanical arm with a double-layer limiting structure for an industrial robot in view of the above-mentioned problems.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: a mechanical arm with a double-layer limiting structure for an industrial robot, comprising a base and a moving seat arranged above the base, the upper side wall of the moving seat is fixedly connected to a PLC controller, the upper side of the moving seat is connected to a turntable through a rotating motor, a driving cavity is provided inside the base, a threaded rod is rotatably connected to the inner wall of the driving cavity, the rear end of the threaded rod extends out of the driving cavity and is connected to the output end of the driving motor at the rear side of the base, a threaded barrel is threadedly sleeved on the rod wall of the threaded rod, a guide plate is fixedly connected to the upper side wall of the threaded barrel, a guide port matching the guide plate is provided on the upper side wall of the driving cavity, the upper end of the guide plate passes through the guide port and is fixedly connected to the lower side wall of the moving seat, and also includes: A mechanical arm structure is arranged on the upper side wall of the turntable, an end of the mechanical arm structure away from the moving seat is connected to an electric clamp, and a plurality of rubber strips are fixedly connected to the inner wall of the electric clamp; A first limiting structure is arranged on the right side of the threaded cylinder and is used to limit the forward and backward movement distance of the moving seat; A second limiting structure, arranged on the upper side wall of the moving seat, for limiting the rotation angle of the turntable; The detection component is arranged on the side wall of the mechanical arm structure and is used to detect the wear condition of the rubber strip.

[0007] Preferably, the first limiting structure includes a horizontal plate fixedly connected to the right side wall of the threaded cylinder, the lower side wall of the horizontal plate is fixedly connected to the first elastic telescopic rod, the lower end of the first elastic telescopic rod is fixedly connected to a conductive block, the conductive block is electrically connected to the driving motor, the lower inner wall of the driving cavity is fixedly connected to a conductive plate, the conductive plate is electrically connected to an external power supply, the right side wall of the base is fixedly connected to a guide rail, the outer side of the guide rail is slidably provided with two guide slide frames, the side walls of the guide slide frames are threaded with positioning bolts, the lower side walls of the two guide slide frames are fixedly connected to a vertical rod, the lower ends of the vertical rods are fixedly connected to a cross rod, the right side wall of the driving cavity is provided with a horizontal opening matching the cross rod, the left end of the cross rod passes through the horizontal opening and is fixedly connected to a first blocking block, and the side walls on the opposite sides of the first blocking block and the conductive block are both inclined structures.

[0008] Preferably, the second limiting structure includes a limiting ring fixedly connected to the upper side wall of the moving seat, the inner wall of the limiting ring is fixedly connected with a conductive ring, the conductive ring is electrically connected to an external power supply, the side wall of the turntable facing the mechanical arm structure is fixedly connected with a second elastic telescopic rod, the end of the second elastic telescopic rod close to the conductive ring is fixedly connected with a conductive block, the conductive block is electrically connected to the rotating motor, the rod wall of the movable end of the second elastic telescopic rod is fixedly connected with a push rod, two fixed cylinders are placed on the outer wall of the limiting ring, and a plurality of fixing pins matching the fixed cylinders are evenly distributed on the outer wall of the limiting ring, a bent rod is fixedly connected to the lower side wall of the fixed cylinder, and the bent rod is an L-shaped structure, the side wall of the limiting ring is provided with a plurality of sockets matching the bent rod, the lower end of the bent rod passes through the socket and is fixedly connected with a second blocking block, and the front and rear sides of the second blocking block are both inclined surfaces.

[0009] Preferably, a positioning hole is provided on the upper side wall of the fixing cylinder, and a positioning pin is inserted into the positioning hole, a pull plate is fixedly connected to the upper end of the positioning pin, a same spring is fixedly connected between the pull plate and the fixing cylinder, and a positioning groove matching the positioning pin is provided on the rod wall of the fixing pin.

[0010] Preferably, the detection component includes a placement plate fixedly connected to the rear side of the mechanical arm structure, the upper side wall of the placement plate is fixedly connected to an electric push rod, the moving end of the electric push rod passes through the placement plate and is fixedly connected to an electric slide rail, the moving end of the electric slide rail is fixedly connected to a connecting rod, the connecting rod is an L-shaped structure, the left and right side rod walls of the connecting rod close to the front end are fixedly connected to a detection box, the rear side wall of the detection box is fixedly connected to a sliding block through a spring, the rear side wall of the sliding block is fixedly connected to a power-on plate, the power-on plate is electrically connected to an external power supply, the inner wall of the detection box is inlaid with a resistor plate, the rear end of the resistor plate is electrically connected to a PLC controller, the side wall of the sliding block is fixedly connected to a fixing rod, the side wall of the detection box is provided with a through hole matching the fixing rod, the end of the fixing rod away from the sliding block passes through the through hole and is fixedly connected to a mounting frame, and a friction seat is connected to the mounting frame by bolts.

[0011] Preferably, the upper side wall of the electric slide rail is fixedly connected to a support frame, a plurality of marking blocks are fixedly connected to the upper side wall of the support frame, both sides of the plurality of marking blocks are fixedly connected to indicator lights, a plurality of metal plates are fixedly connected to the lower inner wall of the support frame, the metal plates are electrically connected to the corresponding indicator lights, the moving end of the electric slide rail is fixedly connected to a moving frame, the upper side wall of the moving frame is fixedly connected to two metal blocks, and both of the two metal blocks are electrically connected to the PLC controller.

[0012] Preferably, an indicator plate is fixedly connected to the upper side wall of the guide slide frame, and a scale plate matching the indicator plate is fixedly connected to the right side wall of the base.

[0013] Preferably, a plurality of supporting wheels are fixedly connected to both left and right sides of the lower side wall of the movable seat, and the lower ends of the supporting wheels are in contact with the base.

[0014] Compared with the existing technology, the advantages of a mechanical arm with a double-layer limit structure for an industrial robot are: 1. By setting the first limit structure and the second limit structure, during the operation of the robot arm, when the primary limit of the robot arm due to the control degree fails, the rotation angle and moving distance of the robot arm can be automatically limited by the secondary limit, and the secondary limit can be quickly adjusted according to the use requirements, avoiding the need to spend a lot of time when adjusting the position using the limit switch, thereby improving the convenience of the operator in adjusting the secondary limit of the robot arm.

[0015] 2. Through the detection component set up, when the rubber strip inside the electric gripper at the end of the robotic arm is worn due to long-term use, this situation can be detected as soon as possible, and the operator can be reminded to replace the worn rubber strip in time, thereby ensuring the stability of the electric gripper's clamping.

[0016] 3. Through the support frame, marking block, indicator light, metal plate, mobile frame and metal block, after detecting the wear degree of multiple rubber strips inside the electric gripper, the position and quantity of the worn rubber strips can be accurately displayed, which is convenient for the operator to replace the worn rubber strips later. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a mechanical arm with a double-layer limiting structure for an industrial robot provided by the present invention; Figure 2 It is a schematic diagram of a first limiting structure in a mechanical arm with a double-layer limiting structure for an industrial robot provided by the present invention; Figure 3 The present invention provides a mechanical arm with a double-layer limiting structure for an industrial robot. Figure 2 A magnified schematic diagram of part A; Figure 4 It is a schematic diagram of the positional relationship between an indicator plate and a scale plate in a mechanical arm with a double-layer limiting structure for an industrial robot provided by the present invention; Figure 5 It is a schematic diagram of the shape structure of a conductive block and a first blocking plate in a mechanical arm with a double-layer limiting structure for an industrial robot provided by the present invention; Figure 6 It is a schematic diagram of a second limiting structure in a mechanical arm with a double-layer limiting structure for an industrial robot provided by the present invention; Figure 7 The present invention provides a mechanical arm with a double-layer limiting structure for an industrial robot. Figure 6 A magnified schematic diagram of part B; Figure 8 It is a top view of a manipulator and a second blocking block in a mechanical arm with a double-layer limiting structure for an industrial robot provided by the present invention; Fig. 9 It is a structural schematic diagram of a detection component in a mechanical arm with a double-layer limiting structure for an industrial robot provided by the present invention; Fig.10 It is a schematic diagram of the internal structure of a detection box in a mechanical arm with a double-layer limiting structure for an industrial robot provided by the present invention; Fig.11 The present invention is a schematic diagram of the surface structure of a support frame and a moving frame in a mechanical arm with a double-layer limiting structure for an industrial robot provided by the present invention.

[0018] In the figure: 1 base, 2 moving seat, 3 PLC controller, 4 turntable, 5 driving cavity, 6 threaded rod, 7 driving motor, 8 rotating motor, 9 threaded cylinder, 10 guide plate, 11 mechanical arm structure, 12 electric clamp, 13 rubber strip, 14 first limit structure, 141 horizontal plate, 142 first elastic telescopic rod, 15 conductive block, 16 conductive plate, 17 guide rail, 18 guide slide frame, 19 positioning bolt, 20 vertical rod, 21 horizontal rod, 22 first blocking block, 23 second limit structure, 231 limit ring, 232 conductive ring, 24 second elastic telescopic rod, 25 conduction block, 26 push rod, 27 fixed cylinder, 28 fixed pin, 29 bent rod, 30 second blocking block, 31 positioning pin, 32 pull plate, 33 detection assembly, 331 placement plate, 332 electric push rod, 34 electric slide rail, 35 connecting rod, 36 detection box, 37 sliding block, 38 power plate, 39 resistance plate, 40 fixed rod, 41 installation frame, 42 friction seat, 43 support frame, 44 marking block, 45 indicator light, 46 metal plate, 47 moving frame, 48 metal block, 49 indicator plate, 50 scale plate, 51 support wheel. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] like Figure 1-Figure 11 As shown, a mechanical arm with a double-layer limiting structure for an industrial robot includes a base 1 and a moving base 2 arranged above the base 1, the upper side wall of the moving base 2 is fixedly connected to a PLC controller 3, the upper side of the moving base 2 is connected to a turntable 4 through a rotating motor 8, a driving cavity 5 is provided inside the base 1, a threaded rod 6 is rotatably connected to the inner wall of the driving cavity 5, the rear end of the threaded rod 6 extends out of the driving cavity 5 and is connected to the output end of the driving motor 7 at the rear side of the base 1, a threaded barrel 9 is threadedly sleeved on the rod wall of the threaded rod 6, a guide plate 10 is fixedly connected to the upper side wall of the threaded barrel 9, a guide port matching the guide plate 10 is provided on the upper side wall of the driving cavity 5, the upper end of the guide plate 10 passes through the guide port and is fixedly connected to the lower side wall of the moving base 2, and also includes: A mechanical arm structure 11 is arranged on the upper side wall of the turntable 4. An end of the mechanical arm structure 11 away from the moving seat 2 is connected to an electric clamp 12. A plurality of rubber strips 13 are fixedly connected to the inner wall of the electric clamp 12. The first limiting structure 14 is arranged on the right side of the threaded tube 9. The first limiting structure 14 includes a horizontal plate 141 fixedly connected to the right side wall of the threaded tube 9. The lower side wall of the horizontal plate 141 is fixedly connected to the first elastic telescopic rod 142. The lower end of the first elastic telescopic rod 142 is fixedly connected to a conductive block 15. The conductive block 15 is electrically connected to the drive motor 7. The lower inner wall of the drive cavity 5 is fixedly connected to a conductive plate 16. The conductive plate 16 is electrically connected to an external power supply. The right side wall of the base 1 is fixedly connected to a guide rail 17. The guide rail Two guide slide frames 18 are provided for sliding outside 17, and the side walls of the guide slide frames 18 are threadedly connected with positioning bolts 19, and the lower side walls of the two guide slide frames 18 are fixedly connected with vertical rods 20, and the lower ends of the vertical rods 20 are fixedly connected with cross bars 21, and the right side wall of the driving cavity 5 is provided with a horizontal opening that matches the cross bar 21, and the left end of the cross bar 21 passes through the horizontal opening and is fixedly connected with a first blocking block 22, and the side walls of the first blocking block 22 and the conductive block 15 on the opposite side are both inclined structures, which are used to limit the forward and backward moving distance of the moving seat 2; The second limiting structure 23 is arranged on the upper side wall of the moving seat 2. The second limiting structure 23 includes a limiting ring 231 fixedly connected to the upper side wall of the moving seat 2. The inner wall of the limiting ring 231 is fixedly connected with a conductive ring 232. The conductive ring 232 is electrically connected to an external power supply. The side wall of the turntable 4 facing the mechanical arm structure 11 is fixedly connected with a second elastic telescopic rod 24. The end of the second elastic telescopic rod 24 close to the conductive ring 232 is fixedly connected with a conductive block 25. The conductive block 25 is electrically connected to the rotating motor 8. The second elastic telescopic rod 24 moves The rod wall at the end is fixedly connected with a push rod 26, and two fixing tubes 27 are placed on the outer wall of the limiting ring 231. The outer wall of the limiting ring 231 is evenly distributed with a plurality of fixing pins 28 that match the fixing tubes 27. The lower side wall of the fixing tube 27 is fixedly connected with a bent rod 29, and the bent rod 29 is an L-shaped structure. The side wall of the limiting ring 231 is provided with a plurality of sockets that match the bent rod 29. The lower end of the bent rod 29 passes through the socket and is fixedly connected with a second blocking block 30. The front and rear sides of the second blocking block 30 are both inclined surfaces, which are used to limit the rotation angle of the turntable 4. The detection component 33 is arranged on the side wall of the mechanical arm structure 11 and is used to detect the wear of the rubber strip 13. The detection component 33 includes a placement plate 331 fixedly connected to the rear side of the mechanical arm structure 11. The upper side wall of the placement plate 331 is fixedly connected with an electric push rod 332. The moving end of the electric push rod 332 passes through the placement plate 331 and is fixedly connected with an electric slide rail 34. The moving end of the electric slide rail 34 is fixedly connected with a connecting rod 35. The connecting rod 35 is an L-shaped structure. The left and right side rod walls of the connecting rod 35 near the front end are fixedly connected with a detection box 36. The rear side wall of the detection box 36 is fixedly connected with a sliding block 37 through a spring. The rear side wall of the sliding block 37 is fixedly connected with a power-on plate 38. The power-on plate 38 It is electrically connected to an external power supply, the inner wall of the detection box 36 is inlaid with a resistor plate 39, the rear end of the resistor plate 39 is electrically connected to the PLC controller 3, the side wall of the sliding block 37 is fixedly connected to a fixing rod 40, the side wall of the detection box 36 is provided with a through hole matching the fixing rod 40, the end of the fixing rod 40 away from the sliding block 37 passes through the through hole, and is fixedly connected to a mounting frame 41, and a friction seat 42 is bolted inside the mounting frame 41. When the rubber strip 13 inside the electric clamp 12 at the end of the robot arm is worn due to long-term use, this situation can be detected as soon as possible, and the operator can be reminded to replace the worn rubber strip 13 in time, thereby ensuring the stability of the clamping of the electric clamp 12.

[0021] A positioning hole is provided on the upper side wall of the fixing cylinder 27, and a positioning pin 31 is inserted into the positioning hole. A pull plate 32 is fixedly connected to the upper end of the positioning pin 31, and a same spring is fixedly connected between the pull plate 32 and the fixing cylinder 27. A positioning groove matching the positioning pin 31 is provided on the rod wall of the fixing pin 28, so that the fixing cylinder 27 can be fixed.

[0022] The upper side wall of the electric slide rail 34 is fixedly connected to a support frame 43, and a plurality of marking blocks 44 are fixedly connected to the upper side wall of the support frame 43. Indicator lights 45 are fixedly connected to both sides of the plurality of marking blocks 44. A plurality of metal plates 46 are fixedly connected to the lower inner wall of the support frame 43, and the metal plates 46 are electrically connected to the corresponding indicator lights 45. The moving end of the electric slide rail 34 is fixedly connected to a moving frame 47, and two metal blocks 48 are fixedly connected to the upper side wall of the moving frame 47, and the two metal blocks 48 are electrically connected to the PLC controller 3. After detecting the degree of wear of the plurality of rubber strips 13 inside the electric clamp 12, the position and quantity of the worn rubber strips 13 can be accurately displayed, so that the operator can replace the worn rubber strips 13 later conveniently.

[0023] The upper side wall of the guide slide frame 18 is fixedly connected with an indicator plate 49, and the right side wall of the base 1 is fixedly connected with a scale plate 50 that matches the indicator plate 49. According to the mutual cooperation between the indicator plate 49 and the scale plate 50, the operator can adjust the moving distance of the movable seat 2 in detail.

[0024] A plurality of supporting wheels 51 are fixedly connected to the left and right sides of the lower side wall of the moving base 2 , and the lower ends of the supporting wheels 51 are in contact with the base 1 , thereby improving the supporting strength of the moving base 2 .

[0025] The operating principle of the present invention is now explained as follows: when using the mechanical arm structure 11, after using the software program to implement primary limiting of the mechanical arm structure 11, it is also necessary to use the first limiting structure 14 and the second limiting structure 23 to implement secondary limiting of the mechanical arm structure 11. First, according to the use requirements, the moving distance of the movable seat 2 is limited, and the guide slide frame 18 on the front and rear sides is slid through the mutual cooperation of the indicator plate 49 and the scale plate 50. The guide slide frame 18 will drive the cross bar 21 and the first blocking block 22 to move to a certain distance on the surface of the conductive plate 16 through the vertical rod 20, and then the guide slide frame 18 and the guide slide rail 17 are relatively fixed by the positioning bolt 19. When the software program fails to limit the primary position of the mechanical arm structure 11 due to a malfunction, the driving motor 7 will drive the threaded rod 6 to rotate continuously. Through the threaded cooperation, the threaded cylinder 9 will drive the moving seat 2, turntable 4 and mechanical arm structure 11 and other components through the guide plate 10. When the threaded cylinder 9 moves in one direction, while driving the moving seat 2 to move, it will drive the first elastic telescopic rod 142 and the conductive block 15 to move on the surface of the conductive plate 16 through the cross plate 141. When the conductive block 15 exceeds the set safety range during movement, the conductive block 15 will contact the first blocking block 22 on one side. Through the mutual cooperation of the inclined surfaces between the conductive block 15 and the first blocking block 22, the conductive block 15 will overcome the elastic force of the upper first elastic telescopic rod 142 and move upward, so that the conductive block 15 and the conductive plate 16 are immediately separated. Since the conductive plate 16 is electrically connected to the external power supply, and the conductive block 15 is electrically connected to the drive motor 7, when the conductive plate 16 and the conductive block 15 are separated, the circuit of the drive motor 7 will be disconnected immediately, so that the drive motor 7 loses power and stops working. Similarly, the components such as the moving seat 2, the turntable 4 and the mechanical arm structure 11 will also stop moving immediately, thereby achieving the purpose of protection. Similarly, when it is necessary to limit the rotation angle of the turntable 4 and the mechanical arm structure 11, the two fixing cylinders 27 are respectively mounted on the outside of the two fixing pins 28 on the outside of the limiting ring 231 according to the use requirements, and the fixing cylinder 27 and the fixing pin 28 are fixed by the mutual cooperation of the positioning pin 31 and the positioning groove on the surface of the fixing pin 28. When the rotation angle of the turntable 4 and the mechanical arm structure 11 is controlled within the working range of ninety degrees, the distance between the angles of the two fixing cylinders 27 is ninety degrees. When the primary limit of the mechanical arm fails due to a fault in the software program, the rotating motor 8 will drive the turntable 4 to rotate continuously. During the rotation of the turntable 4, it will drive the conduction block 25 to rotate together through the second elastic telescopic rod 24. When the turntable 4 drives the conduction block 25 to rotate through the second elastic telescopic rod 24, the angle After exceeding the set angle, the top rod 26 of the rod wall of the second elastic telescopic rod 24 will contact the second blocking block 30. Through the cooperation of the inclined surface of the second blocking block 30, the top rod 26 will drive the moving end of the second elastic telescopic rod 24 and the conductive block 25 to move away from the conductive ring 232. The conductive ring 232 is electrically connected to the external power supply, and the conductive block 25 is electrically connected to the rotating motor 8. When the conductive ring 232 and the conductive block 25 are separated, the circuit of the rotating motor 8 will be disconnected, so that the rotating motor 8 will stop working immediately, so that the turntable 4 and the mechanical arm structure 11 will also stop rotating, which plays a protective role and avoids the need to spend a lot of time when the traditional mechanical arm structure 11 uses a limit switch to adjust the position, thereby improving the convenience of the operator to adjust the secondary limit of the mechanical arm; Before the robot arm starts working, it is necessary to use the detection component 33 to detect the wear degree of the rubber strip 13 on the surface of the electric clamp 12. The PLC controller 3 first controls the electric push rod 332 to work, and the electric push rod 332 drives the electric slide rail 34, the connecting rod 35 and the friction seat 42 to move downward to the specified position (refer to Fig. 9The PLC controller 3 then controls the electric slide rail 34 to drive the friction seats 42 on both sides to move forward to the set position, so that the friction seats 42 on both sides are in the middle position of the rear side of the electric clamp 12. The PLC controller 3 then controls the electric clamp 12 to work, and the rubber strips 13 on both sides of the rear of the electric clamp 12 will contact the friction seats 42 on both sides respectively, and a certain extrusion force will be generated. When the pressure sensor on the inner wall of the electric clamp 12 detects that the extrusion force between the rubber strip 13 and the friction seat 42 reaches the set threshold value (50N), the pressure sensor will control the electric clamp 12 through the PLC controller 3. Stop working, then the PLC controller 3 controls the electric slide 34 to continue working, the moving end of the electric slide 34 drives the detection box 36 to move through the connecting rod 35, and at this time the friction seat 42 and the rubber strip 13 stop moving due to the existence of friction, the friction seat 42 will drive the sliding block 37 to slide relatively in the detection box 36 through the fixed rod 40, the sliding block 37 will drive the power-on plate 38 to move backward together, the power-on plate 38 will contact the resistor plate 39 during the backward movement, the power-on plate 38 is electrically connected to the external power supply, and the rear end of the resistor plate 39 is electrically connected to the PLC controller 3, when the power-on plate 38 is in contact with the resistor plate 39, an electrical signal will be transmitted to the PLC controller 3, and When the power-carrying plate 38 slides backward on the surface of the resistor plate 39, the length of the resistor plate 39 connected to the circuit of the PLC controller 3 will be shortened. When the external voltage remains unchanged, the strength of the electrical signal transmitted to the PLC controller 3 will increase. When the rubber strip 13 becomes smoother due to wear, the friction between the rubber strip 13 and the friction seat 42 will decrease. After the smaller friction force drives the sliding block 37 and the power-carrying plate 38 to move backward a short distance, the elastic force generated by the compression of the spring between the sliding block 37 and the detection box 36 will exceed the friction force, thereby causing the friction seat 42 and the rubber strip 13 to slide relative to each other, and the current signal transmitted to the circuit of the PLC controller 3 will not increase. When the PLC controller 3 detects that the current signal transmitted by the resistor plate 39 is no longer increasing, it will analyze the current current signal. When the analysis shows that the current current signal is less than the preset current signal 2A, it means that the rubber strip 13 is seriously worn. During the operation of the electric slide rail 34, the end of the electric slide rail 34 will drive the movable frame 47 and the metal block 48 to move synchronously. The metal block 48 will continuously contact multiple metal plates 46 during the movement. When the PLC controller 3 detects that the rubber strip 13 is seriously worn, it will control the corresponding indicator light 45 to be always on through the corresponding metal block 48 and metal plate 46, indicating that the rubber strip 13 at this position is seriously worn and needs to be replaced in time.

[0026] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mechanical arm with a double-layer limiting structure for an industrial robot, comprising a base (1) and a moving base (2) arranged above the base (1), the upper side wall of the moving base (2) being fixedly connected to a PLC controller (3), the upper side of the moving base (2) being connected to a turntable (4) via a rotating motor (8), a driving cavity (5) being provided inside the base (1), a threaded rod (6) being rotatably connected to the inner wall of the driving cavity (5), a rear end of the threaded rod (6) extending out of the driving cavity (5) and being connected to an output end of a driving motor (7) at the rear side of the base (1), a threaded barrel (9) being threadedly sleeved on the rod wall of the threaded rod (6), a guide plate (10) being fixedly connected to the upper side wall of the threaded barrel (9), a guide opening matching the guide plate (10) being provided on the upper side wall of the driving cavity (5), the upper end of the guide plate (10) passing through the guide opening and being fixedly connected to the lower side wall of the moving base (2), characterized in that: Also includes: A mechanical arm structure (11) is arranged on the upper side wall of the turntable (4); an end of the mechanical arm structure (11) away from the movable seat (2) is connected to an electric clamp (12); and a plurality of rubber strips (13) are fixedly connected to the inner wall of the electric clamp (12); A first limiting structure (14) is arranged on the right side of the threaded cylinder (9) and is used to limit the forward and backward movement distance of the moving seat (2); A second limiting structure (23), arranged on the upper side wall of the movable seat (2), and used for limiting the rotation angle of the turntable (4); A detection component (33) is arranged on the side wall of the mechanical arm structure (11) and is used to detect the wear condition of the rubber strip (13).

2. The mechanical arm with a double-layer limiting structure for an industrial robot according to claim 1, characterized in that: The first limiting structure (14) comprises a horizontal plate (141) fixedly connected to the right side wall of the threaded cylinder (9); the lower side wall of the horizontal plate (141) is fixedly connected to a first elastic telescopic rod (142); the lower end of the first elastic telescopic rod (142) is fixedly connected to a conductive block (15); the conductive block (15) is electrically connected to a drive motor (7); the lower inner wall of the drive cavity (5) is fixedly connected to a conductive plate (16); the conductive plate (16) is electrically connected to an external power supply; the right side wall of the base (1) is fixedly connected to a guide rail (17); the guide rail Two guide slide frames (18) are provided for sliding outside (17), and the side walls of the guide slide frames (18) are threadedly connected with positioning bolts (19), and the lower side walls of the two guide slide frames (18) are fixedly connected with vertical rods (20), and the lower ends of the vertical rods (20) are fixedly connected with cross rods (21), and the right side wall of the driving cavity (5) is provided with a horizontal opening that matches the cross rod (21), and the left end of the cross rod (21) passes through the horizontal opening and is fixedly connected with a first blocking block (22), and the side walls of the first blocking block (22) and the conductive block (15) on the opposite side are both inclined structures.

3. The mechanical arm with a double-layer limiting structure for an industrial robot according to claim 1, characterized in that: The second limiting structure (23) comprises a limiting ring (231) fixedly connected to the upper side wall of the movable seat (2); the inner wall of the limiting ring (231) is fixedly connected to a conductive ring (232); the conductive ring (232) is electrically connected to an external power supply; the side wall of the turntable (4) facing the mechanical arm structure (11) is fixedly connected to a second elastic telescopic rod (24); one end of the second elastic telescopic rod (24) close to the conductive ring (232) is fixedly connected to a conductive block (25); the conductive block (25) is electrically connected to the rotating motor (8); the movable end of the second elastic telescopic rod (24) is fixedly connected to the conductive block (25); the conductive block (25) is electrically connected to the rotating motor (8); The wall is fixedly connected with a push rod (26); two fixing cylinders (27) are placed on the outer wall of the limiting ring (231); a plurality of fixing pins (28) matching the fixing cylinders (27) are evenly distributed on the outer wall of the limiting ring (231); a bent rod (29) is fixedly connected to the lower side wall of the fixing cylinder (27); the bent rod (29) is of an L-shaped structure; a plurality of sockets matching the bent rod (29) are formed on the side wall of the limiting ring (231); the lower end of the bent rod (29) passes through the sockets and is fixedly connected with a second blocking block (30); the front and rear sides of the second blocking block (30) are both inclined surfaces.

4. The mechanical arm with a double-layer limiting structure for an industrial robot according to claim 3, characterized in that: The upper side wall of the fixing cylinder (27) is provided with a positioning hole, and a positioning pin (31) is inserted into the positioning hole. The upper end of the positioning pin (31) is fixedly connected to a pull plate (32). The pull plate (32) and the fixing cylinder (27) are fixedly connected to the same spring. The rod wall of the fixing pin (28) is provided with a positioning groove that matches the positioning pin (31).

5. The mechanical arm with a double-layer limiting structure for an industrial robot according to claim 1, characterized in that: The detection assembly (33) comprises a placement plate (331) fixedly connected to the rear side of the mechanical arm structure (11); an electric push rod (332) is fixedly connected to the upper side wall of the placement plate (331); a movable end of the electric push rod (332) passes through the placement plate (331) and is fixedly connected to an electric slide rail (34); a connecting rod (35) is fixedly connected to the movable end of the electric slide rail (34); the connecting rod (35) is an L-shaped structure; both left and right side walls of the connecting rod (35) close to the front end are fixedly connected to a detection box (36); a rear side wall of the detection box (36) is fixedly connected to a sliding block (37) via a spring; The rear side wall of the sliding block (37) is fixedly connected to a power-on plate (38), and the power-on plate (38) is electrically connected to an external power source. The inner wall of the detection box (36) is inlaid with a resistor plate (39), and the rear end of the resistor plate (39) is electrically connected to the PLC controller (3). The side wall of the sliding block (37) is fixedly connected to a fixing rod (40), and the side wall of the detection box (36) is provided with a through hole that matches the fixing rod (40). One end of the fixing rod (40) away from the sliding block (37) passes through the through hole and is fixedly connected to a mounting frame (41), and a friction seat (42) is connected to the mounting frame (41) by bolts.

6. The mechanical arm with a double-layer limiting structure for an industrial robot according to claim 5, characterized in that: The upper side wall of the electric slide rail (34) is fixedly connected to a support frame (43), the upper side wall of the support frame (43) is fixedly connected to a plurality of marking blocks (44), both sides of the plurality of marking blocks (44) are fixedly connected to indicator lights (45), the lower inner wall of the support frame (43) is fixedly connected to a plurality of metal plates (46), the metal plates (46) and the corresponding indicator lights (45) are electrically connected, the moving end of the electric slide rail (34) is fixedly connected to a moving frame (47), the upper side wall of the moving frame (47) is fixedly connected to two metal blocks (48), and the two metal blocks (48) are both electrically connected to the PLC controller (3).

7. The mechanical arm with a double-layer limiting structure for an industrial robot according to claim 2, characterized in that: An indicator plate (49) is fixedly connected to the upper side wall of the guide slide frame (18), and a scale plate (50) matching the indicator plate (49) is fixedly connected to the right side wall of the base (1).

8. The mechanical arm with a double-layer limiting structure for an industrial robot according to claim 1, characterized in that: A plurality of support wheels (51) are fixedly connected to the left and right sides of the lower side wall of the movable seat (2), and the lower ends of the support wheels (51) are in contact with the base (1).

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