A mechanical arm with a double-layer limiting structure for an industrial robot

Abstract

The present invention belongs to the technical field of robotic arms, and more particularly relates to a robotic arm with a double-layer limit structure for an industrial robot, comprising a base and a movable base disposed above the base, wherein the upper side wall of the movable base is fixedly connected to a PLC controller, the upper side of the movable base is connected to a turntable via a rotary motor, a drive cavity is defined within the base, and a threaded rod is rotatably connected to the inner wall of the drive cavity. During operation of the robotic arm, when the control level fails to control the primary limit of the robotic arm, the present invention can automatically perform secondary limit operations on the rotation angle and movement distance of the robotic arm, and can quickly adjust the secondary limit operations according to usage requirements, thereby avoiding the need to spend a significant amount of time adjusting the position using a limit switch, thereby improving the convenience for the operator in adjusting the secondary limit operations of the robotic arm.

Description

Technical Field

[0001] The present 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 mimics some of the 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 fields, etc. For example, patent announcement number CN212497743U proposes a robotic arm with a double-layer limit structure for industrial robots.

[0003] Currently, in the actual use of robotic arms, in order to prevent over-limit problems, the control system software program is usually used to implement primary limit, and the limit switch is used for secondary limit. However, in actual application, the limit switch is often fixedly installed at a specific position of the robotic arm. When the robotic 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 robotic arm.

[0004] In addition, in order to enhance grip stability and protect the grasped object, the mechanical claw inside 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 in turn causes the performance of the mechanical claw to gradually decrease.

[0005] 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

[0006] The object of the present invention is to address the above-mentioned problems and to provide a mechanical arm with a double-layer limiting structure for an industrial robot.

[0007] 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 movable base arranged above the base, the upper side wall of the movable base being fixedly connected to a PLC controller, the upper side of the movable base being connected to a turntable via a rotating motor, a driving cavity being provided inside the base, a threaded rod being rotatably connected to the inner wall of the driving cavity, the rear end of the threaded rod extending out of the driving cavity and being connected to the output end of the driving motor at the rear side of the base, a threaded barrel being threadedly sleeved on the rod wall of the threaded rod, a guide plate being fixedly connected to the upper side wall of the threaded barrel, a guide opening being provided on the upper side wall of the driving cavity that matches the guide plate, the upper end of the guide plate passing through the guide opening and being fixedly connected to the lower side wall of the movable base, and further comprising:

[0008] A mechanical arm structure is provided on the upper side wall of the turntable, wherein an end of the mechanical arm structure away from the movable base is connected to an electric clamping claw, and a plurality of rubber strips are fixedly connected to the inner wall of the electric clamping claw;

[0009] A first limiting structure is provided on the right side of the threaded cylinder and is used to limit the forward and backward movement distance of the movable seat;

[0010] A second limiting structure is provided on the upper side wall of the movable seat and is used to limit the rotation angle of the turntable;

[0011] The detection component is arranged on the side wall of the mechanical arm structure and is used to detect the wear of the rubber strip.

[0012] 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 the conductive block, the conductive block is electrically connected to the driving motor, the lower inner wall of the driving cavity is fixedly connected to the conductive plate, the conductive plate is electrically connected to the external power supply, the right side wall of the base is fixedly connected to the guide slide rail, the outer side of the guide slide rail is slidingly provided with two guide slide frames, the side walls of the guide slide frames are threadedly connected to positioning bolts, the lower side walls of the two guide slide frames are fixedly connected to the vertical rod, the lower ends of the vertical rods are fixedly connected to the cross rod, the right side wall of the driving cavity is provided with a horizontal opening that matches the cross rod, the left end of the cross rod passes through the horizontal opening and is fixedly connected to the first blocking block, and the side walls on the opposite side of the first blocking block and the conductive block are both inclined structures.

[0013] Preferably, the second limiting structure includes a limiting ring fixedly connected to the upper side wall of the movable seat, the inner wall of the limiting ring is fixedly connected to a conductive ring, the conductive ring is electrically connected to an external power supply, the side wall of the turntable facing the robotic arm structure is fixedly connected to a second elastic telescopic rod, the end of the second elastic telescopic rod close to the conductive ring is fixedly connected to 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 to a top rod, two fixed cylinders are placed on the outer wall of the limiting ring, the outer wall of the limiting ring is evenly distributed with a plurality of fixing pins that match the fixed cylinders, the lower side wall of the fixed cylinder is fixedly connected to a bent rod, the bent rod is an L-shaped structure, the side wall of the limiting ring is provided with a plurality of sockets that match the bent rod, the lower end of the bent rod passes through the socket and is fixedly connected to a second blocking block, and the front and rear sides of the second blocking block are both inclined surfaces.

[0014] Preferably, a positioning hole is provided on the upper side wall of the fixed cylinder, and a positioning pin is inserted into the positioning hole. The upper end of the positioning pin is fixedly connected to a pull plate, and the same spring is fixedly connected between the pull plate and the fixed cylinder. The rod wall of the fixed pin is provided with a positioning groove that matches the positioning pin.

[0015] 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 rod walls of the connecting rod near the front end are fixedly connected to the 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 fixed 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.

[0016] Preferably, the upper side wall of the electric slide rail is fixedly connected to a support frame, the upper side wall of the support frame is fixedly connected to a plurality of marking blocks, both sides of the plurality of marking blocks are fixedly connected to indicator lights, the lower inner wall of the support frame is fixedly connected to a plurality of metal plates, 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 the two metal blocks are electrically connected to the PLC controller.

[0017] 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.

[0018] Preferably, a plurality of supporting wheels are fixedly connected to the 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.

[0019] Compared with existing technologies, the advantages of an industrial robot with a double-layer limit structure are:

[0020] 1. By setting the first limit structure and the second limit structure, during the operation of the robot arm, when the control degree fails to set the primary limit of the robot arm, the rotation angle and moving distance of the robot arm can be automatically limited. The secondary limit can also 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 to adjust the secondary limit of the robot arm.

[0021] 2. Through the detection component, 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 is reminded to replace the worn rubber strip in time, thereby ensuring the stability of the electric gripper's grip.

[0022] 3. Through the support frame, marking block, indicator light, metal plate, mobile frame and metal block, after detecting the degree of wear of multiple rubber strips inside the electric gripper, the position and number of 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

[0023] Figure 1 This is a schematic structural diagram of a mechanical arm with a double-layer limiting structure for an industrial robot provided by the present invention;

[0024] Figure 2 This 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;

[0025] Figure 3 The present invention provides a mechanical arm with a double-layer limit structure for industrial robots. Figure 2 A magnified schematic diagram of part A;

[0026] Figure 4 This 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;

[0027] Figure 5 This is a schematic diagram of the shape and 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;

[0028] Figure 6 This 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;

[0029] Figure 7 The present invention provides a mechanical arm with a double-layer limit structure for industrial robots. Figure 6 An enlarged schematic diagram of part B;

[0030] Figure 8 This 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;

[0031] Figure 9 This is a structural schematic diagram of a detection component in a mechanical arm with a double-layer limit structure for an industrial robot provided by the present invention;

[0032] Figure 10 This is a schematic diagram of the internal structure of a detection box in a mechanical arm with a double-layer limit structure for an industrial robot provided by the present invention;

[0033] Figure 11The present invention provides a schematic diagram of the surface structure of a supporting frame and a moving frame in a mechanical arm with a double-layer limiting structure for an industrial robot.

[0034] In the figure: 1 base, 2 moving base, 3 PLC controller, 4 turntable, 5 driving chamber, 6 threaded rod, 7 driving motor, 8 rotating motor, 9 threaded cylinder, 10 guide plate, 11 mechanical arm structure, 12 electric gripper, 13 rubber strip, 14 first limiting 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 limiting structure, 231 limiting ring, 232 conductive ring, 24 second elastic 25 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

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described 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.

[0036] like Figures 1-11 As shown, a mechanical arm with a double-layer limit 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 opened inside the base 1, the inner wall of the driving cavity 5 is rotatably connected to a threaded rod 6, 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 on the rear side of the base 1, the rod wall of the threaded rod 6 is threadedly sleeved with a threaded barrel 9, the upper side wall of the threaded barrel 9 is fixedly connected to a guide plate 10, the upper side wall of the driving cavity 5 is opened with a guide port that matches the guide plate 10, 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 further includes:

[0037] A mechanical arm structure 11 is provided on the upper side wall of the turntable 4. An end of the mechanical arm structure 11 away from the movable base 2 is connected to an electric clamping claw 12. A plurality of rubber strips 13 are fixedly connected to the inner wall of the electric clamping claw 12.

[0038] The first limiting structure 14 is arranged on the right side of the threaded cylinder 9. The first limiting structure 14 includes 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 the first elastic telescopic rod 142. The lower end of the first elastic telescopic rod 142 is fixedly connected to the 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 the conductive plate 16. The conductive plate 16 is electrically connected to the external power supply. The right side wall of the base 1 is fixedly connected to the guide rail 17. The guide rail Two guide slide frames 18 are provided for sliding on the outside of 17, and the side walls of the guide slide frames 18 are threadedly connected with positioning bolts 19. 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. The right side wall of the driving cavity 5 is provided with a horizontal opening that matches the cross rod 21. The left end of the cross rod 21 passes through the horizontal opening and is fixedly connected with a first blocking block 22. 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 movement distance of the movable seat 2;

[0039] 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 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 robotic arm structure 11 is fixedly connected to a second elastic telescopic rod 24. The 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 second elastic telescopic rod 24 moves The rod wall at the end is fixedly connected with a push rod 26, and two fixing cylinders 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 cylinders 27. The lower side wall of the fixing cylinder 27 is fixedly connected with a bent rod 29. 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.

[0040] 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 to an electric push rod 332. The moving end of the electric push rod 332 passes through the placement plate 331 and is fixedly connected to an electric slide rail 34. The moving end of the electric slide rail 34 is fixedly connected to a connecting rod 35. The connecting rod 35 is an L-shaped structure. The left and right side walls of the connecting rod 35 near the front end are fixedly connected to a detection box 36. The rear side wall of the detection box 36 is fixedly connected to a sliding block 37 through a spring. The rear side wall of the sliding block 37 is fixedly connected to a power-on plate 38. The power-on plate 38 It is electrically connected to an external power supply, and 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 that matches 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. A friction seat 42 is connected to the mounting frame 41 by bolts. When the rubber strip 13 inside the electric clamp 12 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 13 in time, thereby ensuring the stability of the electric clamp 12 clamping.

[0041] 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. The same spring is fixedly connected between the pull plate 32 and the fixing cylinder 27. A positioning groove that matches the positioning pin 31 is provided on the rod wall of the fixing pin 28, which can fix the fixing cylinder 27.

[0042] 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 on 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 movable end of the electric slide rail 34 is fixedly connected to a movable frame 47, and two metal blocks 48 are fixedly connected to the upper side wall of the movable frame 47. Both metal blocks 48 are electrically connected to the PLC controller 3. After detecting the degree of wear of the multiple rubber strips 13 inside the electric clamp 12, the position and quantity of the worn rubber strips 13 can be accurately displayed, which is convenient for the operator to replace the worn rubber strips 13 later.

[0043] An indicator plate 49 is fixedly connected to the upper side wall of the guide slide frame 18, and a scale plate 50 that matches the indicator plate 49 is fixedly connected to the right side wall of the base 1. 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.

[0044] A plurality of support wheels 51 are fixedly connected to the left and right sides of the lower side wall of the movable base 2 , and the lower ends of the support wheels 51 are in contact with the base 1 , thereby improving the supporting strength of the movable base 2 .

[0045] The operating principle of the present invention is now explained as follows: when using the robotic arm structure 11, after using the software program to implement primary limiting of the robotic 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 robotic arm structure 11. First, according to the use requirements, the moving distance of the movable seat 2 is limited. Through the cooperation of the indicator plate 49 and the scale plate 50, the guide slide frame 18 on the front and rear sides is slid. 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 robotic arm structure 11 due to a malfunction, the drive motor 7 will drive the threaded rod 6 to rotate continuously. Through threaded cooperation, the threaded cylinder 9 will drive the movable seat 2, turntable 4 and robotic arm structure 11 and other components through the guide plate 10. When moving in one direction, the threaded cylinder 9 drives the moving seat 2 to move, and at the same time, drives 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, thereby separating the conductive block 15 and the conductive plate 16 immediately. 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 immediately disconnected, causing the drive motor 7 to lose power and stop working. Similarly, the components such as the moving seat 2, the turntable 4 and the robotic arm structure 11 will also stop moving immediately, thereby achieving the purpose of protection.

[0046] Similarly, when it is necessary to limit the rotation angle of the turntable 4 and the robotic 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 robotic arm structure 11 is controlled within the ninety-degree working range, the angle between the two fixing cylinders 27 is ninety degrees. When the software program fails to limit the primary position of the robotic arm due to a malfunction, the rotating motor 8 will drive the turntable 4 to rotate continuously. During the rotation process, the turntable 4 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 movable 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, causing the rotating motor 8 to stop working immediately, thereby causing the turntable 4 and the robot arm structure 11 to stop rotating, playing a protective role, and avoiding the need for a lot of time to adjust the position when the traditional robot arm structure 11 uses a limit switch, thereby improving the convenience of the operator to adjust the secondary limit of the robot arm;

[0047] 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 Figure 9The middle dotted line part) moves the friction seats 42 on both sides to the coaxial route of the rubber strip 13, and then the PLC controller 3 controls the electric slide 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, and then the PLC controller 3 controls the electric clamp 12 to work, and the rubber strips 13 on both sides of the rear side of the electric clamp 12 will contact the friction seats 42 on both sides respectively, and generate a certain extrusion force. 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, and the friction seat 42 will drive the sliding block 37 to slide relatively in the detection box 36 through the fixed rod 40, and the sliding block 37 will drive the power plate 38 to move backward together, and the power plate 38 will contact the resistor plate 39 during the backward movement. The power 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 plate 38 and the resistor plate 39 are in contact, an electrical signal will be sent to the PLC controller 3, and When the energized 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 become shorter. Under the condition that the external voltage remains unchanged, the strength of the electric 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 energized 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. After 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 severely worn. Since the end of the electric slide rail 34 will drive the movable frame 47 and the metal block 48 to move synchronously during the operation, 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 severely 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 severely worn and needs to be replaced in time.

[0048] 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 principles of the present invention should be included in the scope of protection 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 movable base (2) arranged above the base (1), the upper side wall of the movable base (2) being fixedly connected to a PLC controller (3), the upper side of the movable 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), the rear end of the threaded rod (6) extending out of the driving cavity (5) and being connected to the output end of the 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), the upper side wall of the threaded barrel (9) being fixedly connected to a guide plate (10), the upper side wall of the driving cavity (5) being provided with a guide opening which matches the guide plate (10), the upper end of the guide plate (10) passing through the guide opening and being fixedly connected to the lower side wall of the movable base (2), characterized in that: Also includes: A mechanical arm structure (11) is arranged on the upper side wall of the turntable (4), and an end of the mechanical arm structure (11) away from the movable seat (2) is connected to an electric clamp (12), and the inner wall of the electric clamp (12) is fixedly connected to a plurality of rubber strips (13); A first limiting structure (14) is provided on the right side of the threaded barrel (9) and is used to limit the forward and backward movement distance of the movable seat (2); A second limiting structure (23) is provided on the upper side wall of the movable seat (2) and is 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 first limiting structure (14) includes 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 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 (17) The outer side of the driving chamber (5) is provided with two guide slide frames (18), the side walls of the guide slide frames (18) are threadedly connected with positioning bolts (19), the lower side walls of the two guide slide frames (18) are fixedly connected with vertical rods (20), the lower ends of the vertical rods (20) are fixedly connected with cross rods (21), the right side wall of the driving chamber (5) is provided with a horizontal opening that matches the cross rod (21), the left end of the cross rod (21) passes through the horizontal opening and is fixedly connected with a first blocking block (22), the side walls of the first blocking block (22) and the conductive block (15) on the opposite side are both inclined structures, 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) The electric push rod (332) is fixedly connected, the movable end of the electric push rod (332) passes through the placement plate (331) and is fixedly connected to the electric slide rail (34), the movable end of the electric slide rail (34) is fixedly connected to the connecting rod (35), the connecting rod (35) is an L-shaped structure, the left and right rod walls of the connecting rod (35) near the front end are fixedly connected to the detection box (36), the rear side wall of the detection box (36) is fixedly connected to the sliding block (37) through a spring, the rear side wall of the sliding block (37) is fixedly connected to the power plate (38), the power plate (38) is electrically connected to the 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) and the PL The C controller (3) is electrically connected, 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 that matches 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), a friction seat (42) is connected to the mounting frame (41) by bolts, 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 plate (46) is electrically connected to the corresponding indicator light (45), the movable end of the electric slide rail (34) is fixedly connected to a movable frame (47), the upper side wall of the movable frame (47) is fixedly connected to two metal blocks (48), and both of the two metal blocks (48) are electrically connected to the PLC controller (3).

2. 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) includes 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), and the movable end of the second elastic telescopic rod (24) is fixedly connected to the conductive block (25). The wall is fixedly connected with a push rod (26), the outer wall of the limiting ring (231) is provided with two fixing cylinders (27), the outer wall of the limiting ring (231) is evenly distributed with a plurality of fixing pins (28) that match the fixing cylinders (27), the lower side wall of the fixing cylinder (27) is fixedly connected with a bent rod (29), 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 sockets and is fixedly connected with a second blocking block (30), and the front and rear sides of the second blocking block (30) are both inclined surfaces.

3. The mechanical arm with a double-layer limiting structure for an industrial robot according to claim 2, characterized in that: 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). 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).

4. The mechanical arm with a double-layer limiting structure for an industrial robot according to claim 1, 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).

5. 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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