Steering mechanism of industrial robot

Abstract

The invention relates to the technical field of industrial robots, in particular to an industrial robot steering mechanism which comprises a mounting frame and a pushing mechanism, two side plates are mounted in the center of the mounting frame, the pushing mechanism comprises a limiting assembly and a pushing assembly, and the limiting assembly is mounted at the right end of the interior of the mounting frame. The right end of the limiting assembly is provided with the pushing assembly, the limiting assembly comprises a T-shaped sliding rail and a pushing block, the right end of the pushing block is connected with the pushing assembly, the pushing assembly comprises a hydraulic oil cylinder and a power box, the power box controls the hydraulic oil cylinder to work, and the hydraulic oil cylinder pushes the pushing block fixedly arranged at the left end to move. When the device operates, the warning lamp can generate light to remind surrounding workers, then potential safety hazards are reduced, a main rack plate 3 arranged at the left end of a pushing block can drive a steering mechanism at the left end in a meshed mode to complete steering when moving, steering is conducted through a simple structure, the control difficulty is reduced, and the production cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, in particular to a steering mechanism of an industrial robot. Background Art

[0002] With the continuous development of science and technology, robots are more and more widely used in various fields. In the movement process of robots, steering mechanisms play a vital role. Some robot steering mechanisms adopt an articulated structure to achieve steering through the coordinated movement of multiple joints. For example, the announcement number CN110843949A discloses a steering device and a smoothing robot having the same. The steering device includes: a transmission shaft, a lifting flange assembly, a rotating flange assembly and a turntable located at one end of the transmission shaft. The surface of the transmission shaft is provided with a first spiral groove spirally wound on the transmission shaft and a first linear groove parallel to the axis of the transmission shaft. The groove, the lifting flange assembly and the rotating flange assembly are sleeved on the transmission shaft, the lifting flange assembly can move up and down relative to the transmission shaft, the lifting flange assembly includes a first ball matched with the first spiral groove, the rotating flange assembly is rotatably arranged on the transmission shaft, and the rotating flange assembly includes a second ball matched with the first linear groove. The turntable has a landing position and a lifting position. When the lifting flange assembly moves, the transmission shaft drives the turntable to switch between the landing position and the lifting position. When the turntable is in the landing position, the rotating flange assembly can move to make the machine body rotate relative to the turntable. The steering device has a compact structure and can drive the machine body to turn in situ;

[0003] Although the steering mechanism in the prior art meets the needs of use, it can improve the flexibility of the robot during use, but it is difficult to control and has a high cost. The existing device is more troublesome in adjusting the steering angle and requires constant adjustment, which affects efficiency. Since the workload of industrial robots is large and the steering mechanism is relatively large, the operator's vision is affected by the huge robot, which poses certain safety hazards to some workers in blind spots. Summary of the invention

[0004] The purpose of the present invention is to provide a steering mechanism for an industrial robot to solve the problem raised in the above background technology that although the existing device improves the flexibility of the robot, it is difficult to control and has a high cost. The existing device is troublesome to adjust the steering angle and needs to be constantly adjusted, which affects the efficiency. Since the workload of the industrial robot is large and the steering mechanism is relatively large, the operator's vision is affected by the huge robot, which poses a certain safety hazard to some workers in blind spots.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a steering mechanism of an industrial robot, comprising a mounting frame and a pushing mechanism, two sets of side plates are installed at the center of the mounting frame, the pushing mechanism comprises a limit assembly and a pushing assembly, the inner right end of the mounting frame is installed with a limit assembly, the right end of the limit assembly is installed with a pushing assembly, the limit assembly comprises a T-shaped slide rail and a pushing block, the right end of the pushing block is connected to the pushing assembly, the pushing assembly comprises a hydraulic cylinder and a power box, the power box controls the operation of the hydraulic cylinder, the hydraulic cylinder pushes the pushing block fixed at the left end to move, a main rack plate is fixed to the rear side of the left end of the pushing block, a warning mechanism is provided at the front end of the left wall of the pushing block, and the warning mechanism comprises a supply An electrical component and a warning frame, the right end of the power supply component is fixedly arranged on the left end of the push block, the top of the power supply component is connected to the warning frame, the warning frame is installed on the left side of the top of the mounting frame, a steering mechanism is installed on the inner left end of the mounting frame, the steering mechanism includes a limiting ring and a steering component, the limiting ring is installed on the lower left inner part of the mounting frame, a steering component is installed at the center of the limiting ring, a rotating plate is fixedly arranged on the upper side of the steering component, the left end of the main rack plate extends to the inside of the limiting ring to drive the steering component to rotate, a clamping mechanism is installed on the left end of the steering mechanism, the clamping mechanism includes a C-shaped frame and a clamping component, a clamping component is arranged inside the left end of the C-shaped frame, and the right wall of the C-shaped frame is fixedly arranged on the left wall of the rotating plate.

[0006] Preferably, T-shaped sliders are fixedly arranged on the upper and lower sides of the front and rear ends of the push block, and the four groups of T-shaped sliders are all sleeved in four groups of T-shaped slide rails, and the four groups of T-shaped sliders are fixedly arranged on the inner wall of the mounting frame.

[0007] Preferably, the power box is installed on the right side of the top of the mounting frame, the hydraulic cylinder is installed on the right side of the inner wall of the mounting frame, and the power box is connected to drive the hydraulic cylinder through a connector.

[0008] Preferably, the power supply assembly includes a secondary rack plate and a first gear, the right end of the secondary rack plate is fixedly mounted on the left end of the push block, the front side of the left end of the secondary rack plate engages with the first gear, the first gear is fixedly mounted at the center of the rotating shaft, the bottom end of the rotating shaft passes through the center top of the mounting frame downward and is inserted at the bottom end, a motor is mounted on the top end of the rotating shaft, and a connecting wire is provided on the left end of the motor to connect to the alarm frame.

[0009] Preferably, the warning rack includes a power storage box and a warning light, the power storage box is installed at the left end of the motor, the power storage box is connected to the motor through a connecting line, two groups of warning lights are respectively installed on the outer walls of two groups of side panels, and the two groups of warning lights are connected to the power storage box through a power line.

[0010] Preferably, two rear walls inside the limiting ring are provided with through openings, and the main rack plate can move inside the through openings.

[0011] Preferably, the steering assembly includes a fixed bearing and a limit shaft, the bottom end of the limit shaft is fixed inside the fixed bearing, the fixed bearing is installed in the inner center of the limit ring, the top end of the limit shaft is inserted into the inside of the mounting frame, and the outer wall of the bottom end of the limit shaft is fixed with an external gear, and the rear end of the external gear engages with the main rack plate.

[0012] Preferably, four sets of universal wheels are installed on the bottom side of the right end of the rotating plate, and the bottom ends of the four sets of universal wheels move on the top end of the limiting ring.

[0013] Preferably, two groups of sliding rods are inserted into the left end of the C-shaped frame, and two groups of moving blocks are sleeved at the centers of the two groups of sliding rods.

[0014] Preferably, the clamping assembly includes a servo motor and a threaded rod, the threaded rod is inserted in the left center of the C-shaped frame, the rear end of the threaded rod is connected to the servo motor, two groups of long barrel nuts that move in opposite directions are inserted in the center thread of the threaded rod, and the front ends of the two groups of long barrel nuts are fixed with splints.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. By setting the auxiliary rack plate, the first gear can be engaged and rotated when the pushing mechanism moves, thereby driving the rotating shaft to rotate and drive the motor to generate electricity and transmit it to the warning frame. This design saves some energy consumption during operation. The cable is transmitted to the warning light installed on the outer wall of the side panel through the power storage box for power supply. Through this design, when this device is running, the warning light will generate light to remind the surrounding staff, thereby reducing safety hazards;

[0017] 2. The power box controls the hydraulic cylinder through the connector to work. This design can accurately control the pushing distance of the hydraulic cylinder. The limit assembly can make the push block move smoothly under the push of the hydraulic cylinder. The main rack plate 3 at the left end of the push block can engage and drive the steering mechanism at the left end to complete the steering when moving. The steering is carried out through a simple structure, which reduces the control difficulty and reduces the production cost;

[0018] 3. By setting up the steering assembly, the installed rotating plate can be driven to turn under the engagement of the main rack plate. This design can make a 180-degree turn, which improves the applicability of the device. The clamping mechanism provided at the front end of the rotating plate can clamp the material and transport it to the specified position. This design can save time and improve efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic front view of the structure of the present invention;

[0021] Figure 2 It is a top view schematic diagram of the main structure of the present invention;

[0022] Figure 3 It is a schematic side view of the structure of the pushing mechanism of the present invention;

[0023] Figure 4 It is a schematic top view of the structure of the warning mechanism of the present invention;

[0024] Figure 5 It is a rear cross-sectional schematic diagram of the internal structure of the limit ring of the present invention;

[0025] Figure 6 It is a front view structural schematic diagram of the steering mechanism of the present invention;

[0026] Figure 7 It is an enlarged schematic diagram of the clamping mechanism structure of the present invention.

[0027] In the figure: 1, mounting frame; 11, side plate; 2, pushing mechanism; 21, limit assembly; 211, T-shaped slide rail; 212, T-shaped slide block; 213, push block; 22, pushing assembly; 221, hydraulic cylinder; 222, connector; 223, power box; 3, main rack plate; 4, warning mechanism; 41, power supply assembly; 411, rotating shaft; 412, motor; 413, connecting line; 414, first gear; 415, auxiliary rack plate; 42, warning frame; 421 , power storage box; 422, power cord; 423, warning light; 5, steering mechanism; 51, limit ring; 511, through-hole; 52, steering assembly; 521, fixed bearing; 522, limit shaft; 523, outer gear; 53, rotating plate; 531, universal wheel; 6, clamping mechanism; 61, C-shaped frame; 611, sliding rod; 612, moving block; 62, clamping assembly; 621, servo motor; 622, threaded rod; 623, long barrel nut; 624, splint. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-Figure 7 An embodiment of the present invention is as follows: a steering mechanism of an industrial robot comprises a mounting frame 1 and a pushing mechanism 2, two sets of side plates 11 are installed at the center of the mounting frame 1, the pushing mechanism 2 comprises a limiting component 21 and a pushing component 22, the limiting component 21 is installed at the right end of the inner side of the mounting frame 1, the pushing component 22 is installed at the right end of the limiting component 21, the limiting component 21 comprises a T-shaped slide rail 211 and a pushing block 213, the right end of the pushing block 213 is connected to the pushing component 22, the pushing component 22 comprises a hydraulic cylinder 221 and a power box 223, the power box 223 controls the hydraulic cylinder 221 to work, the hydraulic cylinder 221 pushes the pushing block 213 fixed at the left end to move, the left end rear side of the pushing block 213 is fixed with a main rack plate 3, the front end of the left wall of the pushing block 213 is provided with a warning mechanism 4, the warning mechanism 4 comprises a supply The power supply component 41 and the warning frame 42, the right end of the power supply component 41 is fixedly arranged on the left end of the push block 213, the top of the power supply component 41 is connected to the warning frame 42, the warning frame 42 is installed on the left side of the top of the mounting frame 1, and the inner left end of the mounting frame 1 is installed with a steering mechanism 5, the steering mechanism 5 includes a limiting ring 51 and a steering component 52, the limiting ring 51 is installed on the lower left inside of the mounting frame 1, the steering component 52 is installed at the center of the limiting ring 51, a rotating plate 53 is fixedly arranged on the upper side of the steering component 52, the left end of the main rack plate 3 extends to the inside of the limiting ring 51 to drive the steering component 52 to rotate, the left end of the steering mechanism 5 is installed with a clamping mechanism 6, the clamping mechanism 6 includes a C-shaped frame 61 and a clamping component 62, the left end of the C-shaped frame 61 is provided with a clamping component 62, and the right wall of the C-shaped frame 61 is fixedly arranged on the left wall of the rotating plate 53.

[0030] As a further feature of the present invention, T-shaped sliders 212 are fixedly arranged on the upper and lower sides of the front and rear ends of the push block 213, and the four groups of T-shaped sliders 212 are all sleeved in the four groups of T-shaped slide rails 211, and the four groups of T-shaped sliders 212 are fixedly arranged on the inner wall of the mounting frame 1. This design is beneficial for the push block to move smoothly in the mounting frame.

[0031] Furthermore, the power box 223 is installed on the right side of the top of the mounting frame 1, and the hydraulic cylinder 221 is installed on the right side of the inner wall of the mounting frame 1. The power box 223 is connected to drive the hydraulic cylinder 221 through the connector 222. This design is beneficial for controlling the movement of the hydraulic cylinder to a specified distance, thereby facilitating the steering angle of the subsequent steering mechanism. The operation is simple and the cost is low.

[0032] As a further step of the present invention, the power supply component 41 includes a secondary rack plate 415 and a first gear 414. The right end of the secondary rack plate 415 is fixedly mounted on the left end of the push block 213. The front side of the left end of the secondary rack plate 415 engages with the first gear 414. The first gear 414 is fixedly mounted at the center of the rotating shaft 411. The bottom end of the rotating shaft 411 extends downward from the top center of the mounting frame 1 and is inserted at the bottom end. A motor 412 is installed at the top of the rotating shaft 411. A connecting line 413 is provided at the left end of the motor 412 to connect to the alarm frame 42. This design is beneficial for the pushing mechanism to drive the power supply component to operate and provide electrical energy to the alarm frame during operation.

[0033] Furthermore, the warning frame 42 includes a power storage box 421 and a warning light 423. The power storage box 421 is installed at the left end of the motor 412. The power storage box 421 is connected to the motor 412 via a connecting line 413. Two groups of warning lights 423 are respectively installed on the outer walls of the two groups of side panels 11. The two groups of warning lights 423 are connected to the power storage box 421 via a power line 422. This design is beneficial for transmitting the power provided by the power supply component to the warning lights on both sides of the mounting frame to light up, thereby providing a warning effect.

[0034] As a further feature of the present invention, through openings 511 are provided on the two rear walls inside the limiting ring 51, and the main rack plate 3 can be moved inside the through openings 511. The steering assembly 52 includes a fixed bearing 521 and a limiting shaft 522. The bottom end of the limiting shaft 522 is fixedly arranged inside the fixed bearing 521, and the fixed bearing 521 is installed in the center of the limiting ring 51. The top end of the limiting shaft 522 is inserted into the mounting frame 1. An outer gear 523 is fixedly arranged on the outer wall of the bottom end of the limiting shaft 522, and the rear end of the outer gear 523 engages with the main rack plate 3. Four sets of universal wheels 531 are installed on the bottom side of the right end of the rotating plate 53, and the bottom ends of the four sets of universal wheels 531 move at the top of the limiting ring 51. This design is beneficial for the rotating plate and the clamping mechanism to perform a 180-degree turn, thereby improving the applicability of the device.

[0035] Furthermore, two groups of sliding rods 611 are inserted into the upper and lower ends of the left end of the C-shaped frame 61, and two groups of moving blocks 612 are sleeved in the centers of the two groups of sliding rods 611. The clamping assembly 62 includes a servo motor 621 and a threaded rod 622. The threaded rod 622 is inserted in the left center of the C-shaped frame 61, and the rear end of the threaded rod 622 is connected to the servo motor 621. Two groups of long barrel nuts 623 that move in opposite directions are inserted into the center thread of the threaded rod 622, and a clamping plate 624 is fixed to the front ends of the two groups of long barrel nuts 623. This design is beneficial for clamping and conveying materials to a specified position. This design can save time and improve efficiency.

[0036] Working principle: During operation, when it is necessary to turn the material, firstly, the power box 223 is powered on to start the hydraulic cylinder 221 through the connector 222 at the bottom to push the push block 213 to the left, and the push block 213 moves smoothly in the T-shaped slide rail 211 through the T-shaped slide block 212. When the push block 213 moves to the left, it can push the main rack plate 3 to move to the left. When the main rack plate 3 moves to the inside of the limit ring 51, it can engage with the outer gear 523 fixed at the center of the limit shaft 522 to rotate, and the outer gear 523 The rotation can drive the limit shaft 522 to rotate, and the rotation of the limit shaft 522 can drive the fixed rotating plate 53 to rotate. When the rotating plate 53 rotates, the four sets of universal wheels 531 installed on the bottom side move on the top of the limit ring 51. When the rotating plate 53 moves to the material, the servo motor 621 can be powered on to drive the threaded rod 622 to rotate in the C-shaped frame 61. The rotation of the threaded rod 622 can drive the two sets of long barrel nuts 623 with opposite movements inserted in the central thread to move inward synchronously. The front ends of the two sets of long barrel nuts 623 are fixed The clamping plate 624 can clamp the material, and the moving block 612 fixed at the upper and lower ends can move in the sliding rod 611 when the long barrel nut 623 moves; when the steering mechanism 5 turns, the auxiliary rack plate 415 on the front side of the left end of the push block 213 moves to the left synchronously, and when the auxiliary rack plate 415 moves to the left, it can mesh with the first gear 414 to rotate, and the rotation of the first gear 414 can drive the rotating shaft 411 to rotate, and the rotation of the rotating shaft 411 can drive the top motor 412 to rotate to generate electricity, which is transmitted to the left side through the connecting line. The power storage box 421 at the end charges and illuminates the warning light 423 installed on the outer wall of the side panel 11 through the power cords 422 on both sides. When the material is clamped, the hydraulic cylinder 221 can be operated by the power box 422 to drive the push block 213 to move to the right, and the main rack plate 3 can move in the opposite direction to engage the steering mechanism and drive the clamping mechanism 6 in the opposite direction to rotate to the specified position. The two sets of long barrel nuts 623 and the clamping plate 624 can be separated by the servo motor 621 to unload the material, and the warning mechanism can work at the same time.

[0037] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A steering mechanism for an industrial robot, comprising a mounting frame (1) and a pushing mechanism (2), wherein two sets of side plates (11) are mounted at the center of the mounting frame (1), and characterized in that: The pushing mechanism (2) comprises a limiting component (21) and a pushing component (22); the limiting component (21) is installed at the right end of the interior of the mounting frame (1); the pushing component (22) is installed at the right end of the limiting component (21); the limiting component (21) comprises a T-shaped slide rail (211) and a pushing block (213); the right end of the pushing block (213) is connected to the pushing component (22); the pushing component (22) comprises a hydraulic cylinder (221) and a power supply A power box (223) is provided, the power box (223) controls the hydraulic cylinder (221) to work, the hydraulic cylinder (221) pushes a push block (213) fixed at the left end to move, a main rack plate (3) is fixed at the rear side of the left end of the push block (213), a warning mechanism (4) is provided at the front end of the left wall of the push block (213), the warning mechanism (4) comprises a power supply component (41) and a warning frame (42), the right end of the power supply component (41) is fixed on the push block ( 213), the top end of the power supply assembly (41) is connected to the warning frame (42), the warning frame (42) is installed on the left side of the top end of the mounting frame (1), a steering mechanism (5) is installed on the left end inside the mounting frame (1), the steering mechanism (5) comprises a limit ring (51) and a steering assembly (52), the limit ring (51) is installed on the lower left inside the mounting frame (1), the center of the limit ring (51) is installed with the steering assembly (52), the steering mechanism (55) is installed on the left side of the mounting frame (1), and the steering assembly (52) is installed on the center of the limit ring (51). A rotating plate (53) is fixedly arranged on the upper side of the steering assembly (52); the left end of the main rack plate (3) extends to the inside of the limiting ring (51) to drive the steering assembly (52) to rotate; a clamping mechanism (6) is installed at the left end of the steering mechanism (5); the clamping mechanism (6) comprises a C-shaped frame (61) and a clamping assembly (62); the clamping assembly (62) is arranged inside the left end of the C-shaped frame (61); and the right wall of the C-shaped frame (61) is fixedly arranged on the left wall of the rotating plate (53).

2. The steering mechanism of an industrial robot according to claim 1, characterized in that: T-shaped sliders (212) are fixedly arranged on the upper and lower sides of the front and rear ends of the pushing block (213); four groups of the T-shaped sliders (212) are sleeved in four groups of T-shaped slide rails (211); and the four groups of the T-shaped sliders (212) are fixedly arranged on the inner wall of the mounting frame (1).

3. The steering mechanism of an industrial robot according to claim 1, characterized in that: The power supply box (223) is installed on the right side of the top end of the mounting frame (1), the hydraulic cylinder (221) is installed on the right side of the inner wall of the mounting frame (1), and the power supply box (223) is connected to drive the hydraulic cylinder (221) via a connector (222).

4. The steering mechanism of an industrial robot according to claim 1, characterized in that: The power supply assembly (41) comprises a secondary rack plate (415) and a first gear (414); the right end of the secondary rack plate (415) is fixedly arranged at the left end of the push block (213); the front side of the left end of the secondary rack plate (415) is meshed with the first gear (414); the first gear (414) is fixedly arranged at the center of the rotating shaft (411); the bottom end of the rotating shaft (411) passes through the top of the center of the mounting frame (1) and is inserted at the bottom end; a motor (412) is installed at the top end of the rotating shaft (411); and a connecting line (413) is provided at the left end of the motor (412) to connect to the alarm frame (42).

5. The steering mechanism of an industrial robot according to claim 1, characterized in that: The warning frame (42) comprises a power storage box (421) and a warning light (423). The power storage box (421) is installed at the left end of the motor (412). The power storage box (421) is connected to the motor (412) via a connecting line (413). Two groups of the warning lights (423) are respectively installed on the outer walls of two groups of side panels (11). The two groups of the warning lights (423) are connected to the power storage box (421) via a power line (422).

6. The steering mechanism of an industrial robot according to claim 1, characterized in that: The two rear walls inside the limiting ring (51) are provided with through openings (511), and the main rack plate (3) can move inside the through openings (511).

7. The steering mechanism of an industrial robot according to claim 1, characterized in that: The steering assembly (52) comprises a fixed bearing (521) and a limiting shaft (522), the bottom end of the limiting shaft (522) is fixedly arranged inside the fixed bearing (521), the fixed bearing (521) is installed at the center inside the limiting ring (51), the top end of the limiting shaft (522) is inserted into the inside of the mounting frame (1), and the outer wall of the bottom end of the limiting shaft (522) is fixedly provided with an outer gear (523), and the rear end of the outer gear (523) is meshed with the main rack plate (3).

8. The steering mechanism of an industrial robot according to claim 1, characterized in that: Four sets of universal wheels (531) are installed on the bottom side of the right end of the rotating plate (53), and the bottom ends of the four sets of universal wheels (531) move on the top end of the limiting ring (51).

9. The steering mechanism of an industrial robot according to claim 1, characterized in that: Two groups of sliding rods (611) are inserted into the upper and lower ends of the left end of the C-shaped frame (61), and two groups of moving blocks (612) are sleeved at the centers of the two groups of sliding rods (611).

10. The steering mechanism of an industrial robot according to claim 1, characterized in that: The clamping assembly (62) comprises a servo motor (621) and a threaded rod (622), wherein the threaded rod (622) is inserted in the center of the left side of the C-shaped frame (61), the rear end of the threaded rod (622) is connected to the servo motor (621), the central thread of the threaded rod (622) is inserted with two groups of long barrel nuts (623) that move in opposite directions, and the front ends of the two groups of long barrel nuts (623) are fixed with clamping plates (624).

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