Industrial mechanical arm for intelligent manufacturing

Abstract

The invention belongs to the technical field of industrial mechanical arms, and particularly relates to an industrial mechanical arm for intelligent manufacturing, which comprises a supporting base, a rotating table is arranged at the top of the supporting base, and a mechanical wrist is mounted on a mechanical small arm. The supporting arm and the large mechanical arm rotate through a joint part, the large mechanical arm and the small mechanical arm rotate through a joint part, and the two joint parts are installed in the supporting arm and the large mechanical arm correspondingly. The joint part comprises two meshing mechanisms which are meshed with each other, a locking mechanism and a driving mechanism, the driving mechanism is used for driving one meshing mechanism to rotate, the locking mechanism is installed on the same side of the two meshing mechanisms, and the locking mechanism can slide to the position between the two meshing mechanisms and is used for locking the two meshing mechanisms; wherein the two meshing mechanisms have magnetism, and the magnetic poles of the opposite sides of the two meshing mechanisms are the same. Loss of the joint parts can be reduced, and then the service life of the mechanical arm is prolonged.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robot arms, and in particular relates to an industrial robot arm for intelligent manufacturing. Background Art

[0002] Industrial robot arms are mechanical and electronic devices that anthropomorphize the functions of human arms, wrists, and hands. They can move any object or tool according to the time-varying requirements of spatial posture (position and posture) to complete the work requirements of a certain industrial production. For example, they can clamp welding tongs or welding guns to spot weld or arc weld the body of a car or motorcycle; carry die-cast or stamped parts or components; perform laser cutting; spray painting; assemble mechanical parts, etc.

[0003] At present, the application of robotic arms is very common in the intelligent manufacturing industry. The rotation of the robotic arms is mostly driven by servo motors or cylinders. The servo motor drive mode is also divided into direct drive and transmission drive. The transmission drive mode mostly uses gear meshing. This method is more compatible with motors than the direct drive mode. However, since the joints of the robotic arms need to rotate and bend repeatedly during operation, it is completely dependent on the meshing between gears. Over a long period of time, the wear of the gears increases, which can easily cause damage to the joints and affect the service life of the robotic arms. Summary of the invention

[0004] The purpose of the present invention is to provide an industrial robot arm for intelligent manufacturing, which can reduce the wear and tear of the joints and thus increase the service life of the robot arm.

[0005] The technical solution adopted by the present invention is as follows:

[0006] An industrial robot arm for intelligent manufacturing, comprising a support base, a rotating platform is arranged on the top of the support base, a support arm is installed on the top of the rotating platform, a mechanical arm is installed on the support arm, a mechanical forearm is installed on the mechanical arm, a mechanical wrist is installed on the mechanical forearm, the support arm and the mechanical arm, and the mechanical arm and the mechanical forearm are rotated by joints, and two joints are installed inside the support arm and the mechanical arm respectively;

[0007] The joint part includes two mutually meshing engagement mechanisms, a locking mechanism and a driving mechanism, wherein the driving mechanism is used to drive one of the meshing mechanisms to rotate, the locking mechanism is installed on the same side of the two meshing mechanisms, and the locking mechanism can slide between the two meshing mechanisms to lock the two meshing mechanisms;

[0008] Wherein, both of the two meshing mechanisms are magnetic, and the magnetic poles on opposite sides of the two meshing mechanisms are the same.

[0009] The driving mechanism is any one of a servo motor and a hydraulic motor.

[0010] The meshing mechanism includes a rotating disk, a plurality of magnetic teeth, two positioning disks and a rotating shaft. The magnetic teeth are mounted on the rotating disk. The two positioning disks are respectively arranged on both sides of the rotating disk to cover the magnetic teeth. A positioning piece matching the magnetic teeth is arranged inside the positioning disk. The rotating shaft is interference fit with the inner edge of the rotating disk. In the process of the rotating shaft being inserted into the interior of the rotating disk, the rotating shaft squeezes the positioning piece so that the positioning piece locks the magnetic teeth.

[0011] The rotating disk is provided with annular positioning grooves along its outer circumference, and a positioning block assembled in the positioning groove is provided on one side of the magnetic tooth close to the rotating disk, and the positioning block is provided with two mutually perpendicular and communicating through holes.

[0012] Positioning tubes that match the positioning blocks are installed on opposite sides of the two positioning plates. The two positioning tubes are respectively inserted into the transverse through holes from both sides of the positioning blocks, and one of the positioning tubes is inserted into the other positioning tube. Locking holes are provided on the two positioning tubes, and the locking holes and the longitudinal through holes are located on the same straight line.

[0013] The interior of the rotating disk is provided with positioning holes which are distributed in an annular manner and are located on the same straight line as the longitudinal through holes. The positioning members are inserted into the interior of the positioning holes, and the length of the positioning members is greater than the depth of the positioning holes. The side of the positioning members close to the rotating shaft is set to be wedge-shaped.

[0014] The magnetic teeth are made of a mixture of strong magnets and forged steel materials.

[0015] The cross-sectional shapes of the positioning groove and the positioning block are both dovetail-shaped.

[0016] The cross-sectional shapes of the positioning groove and the positioning block are both convex.

[0017] The locking mechanism includes a brake tooth, a hydraulic cylinder, and a limit shaft. A key slot is provided on the limit shaft. A raised key that slides into the key slot is provided inside the brake tooth. The telescopic shaft of the hydraulic cylinder is installed inside the brake tooth to push the brake tooth to slide on the limit shaft. When the brake tooth moves between the two meshing mechanisms, the two meshing mechanisms are in a locked state.

[0018] The technical effects achieved by the present invention are:

[0019] When assembling the meshing mechanism, the positioning piece is inserted into the positioning hole in advance, and then the magnetic tooth is assembled on the rotating disk, and then the positioning disk is installed, so that the two corresponding positioning tubes are plugged into each other to prevent the magnetic tooth from slipping, and finally the rotating shaft is installed. When the rotating shaft is pressed into the interior of the rotating disk, the lower end of the rotating shaft will squeeze the inclined surface. According to the principle of force decomposition, the positioning piece can be squeezed to a state of being retracted into the positioning hole. In this state, the other end of the positioning piece will be plugged into the longitudinal through hole and the locking hole in turn, so that the positioning disk and the magnetic tooth can be fixed. This fixing structure does not require the use of any screws or other locking structures to achieve a good fixing effect.

[0020] The magnetic poles on the opposite sides of the two corresponding magnetic teeth are the same, so that when one of the meshing mechanisms rotates, the repulsive force between the magnetic teeth can be used to drive the other meshing mechanism to rotate. During this process, the contact pressure between the two magnetic teeth is very small, or even non-existent, and reducing the contact pressure can reduce wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0022] Figure 2 is a partial cross-sectional view of a support arm according to an embodiment of the present invention;

[0023] Figure 3 is an exploded view of the meshing mechanism of an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of the connection between the magnetic teeth and the rotating disk in an embodiment of the present invention;

[0025] Figure 5 is a cross-sectional view of an engagement mechanism according to an embodiment of the present invention;

[0026] Figure 6 yes Figure 5 Enlarged view of point A in the middle.

[0027] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0028] 10. Support base; 20. Rotating table; 30. Support arm; 40. Mechanical arm; 50. Mechanical arm; 60. Mechanical wrist; 70. Joint; 71. Engaging mechanism; 7101. Rotating disk; 7102. Magnetic teeth; 7103. Positioning disk; 7105. Rotating shaft; 7106. Positioning groove; 7107. Positioning block; 7108. Positioning piece; 7109. Through hole; 7110. Positioning tube; 7111. Positioning hole; 72. Locking mechanism; 7201. Braking teeth; 7202. Hydraulic cylinder; 7203. Limiting shaft; 73. Driving mechanism. DETAILED DESCRIPTION

[0029] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0030] like Figure 1 As shown, an industrial robot arm for intelligent manufacturing includes a support base 10, a rotating table 20 is arranged on the top of the support base 10, a support arm 30 is installed on the top of the rotating table 20, a mechanical arm 40 is installed on the support arm 30, a mechanical arm 50 is installed on the mechanical arm 40, and a mechanical wrist 60 is installed on the mechanical arm 50.

[0031] like Figure 2 As shown, the support arm 30 and the mechanical arm 40, and the mechanical arm 40 and the mechanical small arm 50 are respectively rotated through the joint part 70, and the two joint parts 70 are respectively installed inside the support arm 30 and the mechanical arm 40;

[0032] Please refer again Figure 2 The joint portion 70 includes two meshing mechanisms 71 meshing with each other, a locking mechanism 72 and a driving mechanism 73, wherein the driving mechanism 73 is used to drive one of the meshing mechanisms 71 to rotate, and the locking mechanism 72 is installed on the same side of the two meshing mechanisms 71, and the locking mechanism 72 can slide between the two meshing mechanisms 71 to lock the two meshing mechanisms 71;

[0033] Among them, both meshing mechanisms 71 are magnetic, and the magnetic poles on the opposite sides of the two meshing mechanisms 71 are the same. The magnetism of the two meshing mechanisms 71 is the same. Therefore, when the driving mechanism 73 drives one of the meshing mechanisms 71 to rotate, the meshing mechanism 71 will use the repulsive force between the magnets to drive the other meshing mechanism 71 to rotate. In this process, the contact pressure between the two meshing mechanisms 71 can be greatly reduced, thereby effectively reducing the loss, so as to achieve the effect of increasing its service life.

[0034] Specifically, the driving mechanism 73 is any one of a servo motor or a hydraulic motor, and the above-mentioned driving components are driving components that can freely adjust the rotation direction and are used to flexibly adjust the angle of the robot arm. Other similar driving components can also be used.

[0035] like Figure 3 , Figure 4As shown, the meshing mechanism 71 includes a rotating disk 7101, a plurality of magnetic teeth 7102, two positioning disks 7103 and a rotating shaft 7105. The magnetic teeth 7102 are assembled on the rotating disk 7101. The two positioning disks 7103 are respectively arranged on both sides of the rotating disk to cover the magnetic teeth 7102. The interior of the positioning disk 7103 is provided with a positioning piece 7108 matching the magnetic teeth 7102. The rotating shaft 7105 is interference-fitted with the inner edge of the rotating disk 7101, and the rotating shaft 7105 is inserted through the rotating disk 7101. During the process of entering the rotating disk 7101, the rotating shaft 7105 squeezes the positioning piece 7108 so that the positioning piece 7108 locks the magnetic tooth 7102. When assembling the meshing mechanism 71, the magnetic tooth 7102 is assembled on 7101, and then the positioning disk 7103 is installed to prevent the magnetic tooth 7102 from slipping. Finally, the rotating shaft 7105 is installed. After the rotating shaft 7105 is installed in place, the positioning piece 7108 will lock the magnetic tooth 7102, thereby enhancing the stability of the magnetic tooth 7102.

[0036] Specifically, Figure 4 As shown, the rotating disk 7101 is provided with annular positioning grooves 7106 along its outer circumference, and a positioning block 7107 assembled in the positioning groove 7106 is provided on the side of the magnetic tooth 7102 close to the rotating disk 7101, and the positioning block 7107 is provided with two mutually perpendicular and interconnected through holes 7109. When the magnetic tooth 7102 is assembled, the positioning block 7107 is slid along the positioning groove 7106 to a state where it is completely attached to the surface of the rotating disk 7101, which has a preliminary positioning effect and reduces the difficulty of subsequent assembly.

[0037] Specifically, Figure 3 , Figure 4 As shown, positioning tubes 7110 compatible with the positioning blocks 7107 are respectively installed on the opposite sides of the two positioning plates 7103, and the two positioning tubes 7110 are respectively inserted into the inside of the horizontal through hole 7109 from the two sides of the positioning block 7107, and one of the positioning tubes 7110 is inserted into the inside of the other positioning tube 7110. Locking holes are provided on the two positioning tubes 7110, and the locking holes and the longitudinal through holes 7109 are located on the same straight line. The two positioning tubes 7110 are plugged into each other, and the setting of the locking holes helps to use the positioning piece 7108 to fix the two positioning tubes 7110 later, thereby achieving the effect of fixing the positioning plate 7103.

[0038] Specifically, Figure 4 , Figure 5As shown, the interior of the rotating disk 7101 is provided with positioning holes 7111 which are distributed in an annular manner and are located in the same straight line as the longitudinal through hole 7109. The positioning member 7108 is inserted into the interior of the positioning hole 7111, and the length of the positioning member 7108 is greater than the depth of the positioning hole 7111. The side of the positioning member 7108 close to the rotating shaft 7105 is set in a wedge shape. First, the positioning member 7108 is a cylindrical rod-shaped structure, and its end is wedge-shaped, resulting in inclined surfaces on both the upper and lower sides of its end. Therefore, when the rotating shaft 7105 is pressed into the interior of the rotating disk 7101, the lower end of the rotating shaft 7105 will squeeze the inclined surface. According to the principle of force decomposition, the positioning member 7108 can be The positioning piece 7108 is squeezed to a state where it is retracted into the positioning hole 7111. In this state, the other end of the positioning piece 7108 will be inserted into the longitudinal through hole 7109 and the locking hole in turn, so that the positioning plate 7103 and the magnetic tooth 7102 can be fixed. This fixing structure does not require the use of any screws or other locking structures to achieve a good fixing effect. When assembling the magnetic tooth 7102, the positioning piece 7108 is inserted into the positioning hole 7111 in advance, and then the magnetic tooth 7102 and the positioning plate 7103 are assembled in turn. Finally, the rotating shaft 7105 is pressed into the rotating plate 7101, and the assembly is also very convenient.

[0039] Furthermore, the magnetic tooth 7102 is made of a mixture of strong magnets and forged steel materials. First, the strong magnet is a permanent neodymium iron boron magnet, which has extremely strong magnetism and a greater magnetic force between the magnetic poles, which is sufficient to drive the adjustment of the robotic arm. In addition, since the hardness and strength of the neodymium iron boron magnet itself are relatively poor, mixing it with forged steel materials can enhance its resistance, making it completely suitable for subsequent use as a meshing material. It should be noted that the two sides of the magnetic tooth 7102 are the N pole and the S pole, respectively, and when the magnetic teeth 7102 on the two meshing mechanisms 71 are in a meshing state, the magnetic poles on the opposite sides of the two magnetic teeth 7102 are the same, so that when one of the meshing mechanisms 71 rotates, the repulsive force between the magnetic teeth 7102 can be used to drive the other meshing mechanism 71 to rotate. In this process, the contact pressure between the two magnetic teeth 7102 is very small, or even no contact, and reducing the contact pressure can reduce wear.

[0040] Furthermore, the cross-sectional shapes of the positioning groove 7106 and the positioning block 7107 are both dovetail-shaped, and the width of the dovetail-shaped groove opening is smaller than the internal groove width, which can effectively clamp the positioning block 7107 and prevent the positioning block 7107 from detaching from the positioning groove 7106 during assembly.

[0041] like Figure 2As shown, the locking mechanism 72 includes a brake tooth 7201, a hydraulic cylinder 7202, and a limit shaft 7203. A keyway is provided on the limit shaft 7203. A raised key that slides in the keyway is provided inside the brake tooth 7201. The telescopic shaft of the hydraulic cylinder 7202 is installed inside the brake tooth 7201 to push the brake tooth 7201 to slide on the limit shaft 7203. When the brake tooth 7201 moves between the two meshing mechanisms 71, the two meshing mechanisms 71 are in a locked state. During the operation of the robot arm, when the robot arm clamps a heavy object or processes a heavy object, after the joint part 70 is adjusted, the hydraulic oil can be controlled by an external controller. When cylinder 7202 runs, hydraulic cylinder 7202 pushes brake tooth 7201 to slide on limiting shaft 7203, so that it moves between two meshing mechanisms 71 and is stuck in the gap of magnetic tooth 7102, thereby limiting the two meshing mechanisms 71 and enhancing the positioning effect of the robot arm. In addition, in order to protect brake tooth 7201 and magnetic tooth 7102 and reduce the loss between the two when in contact, the surface of brake tooth 7201 is also provided with wear-resistant protective pad, which can be made of rubber material and has small elasticity, so as to separate brake tooth 7201 from magnetic tooth 7102 and avoid direct contact between the two, thus playing a certain protective role.

[0042] In the present invention, when assembling the meshing mechanism 71, the positioning member 7108 is inserted into the positioning hole 7111 in advance, and then the magnetic tooth 7102 is assembled on the rotating disk 7101, and then the positioning disk 7103 is installed, so that the two corresponding positioning tubes 7110 are plugged into each other to prevent the magnetic tooth 7102 from slipping off, and finally the rotating shaft 7105 is installed. When the rotating shaft 7105 is pressed into the interior of the rotating disk 7101, the lower end of the rotating shaft 7105 will squeeze the inclined surface. According to the principle of force decomposition, the positioning member 7108 can be squeezed to a state of being retracted into the positioning hole 7111. In this state, the other end of the positioning member 7108 The ends will be inserted into the longitudinal through hole 7109 and the locking hole in turn, so that the positioning plate 7103 and the magnetic tooth 7102 can be fixed. The fixing structure does not require the use of any screws or other locking structures to achieve a good fixing effect. At the same time, the magnetic poles on the opposite sides of the two corresponding magnetic teeth 7102 are the same, so that when one of the meshing mechanisms 71 rotates, the repulsive force between the magnetic teeth 7102 can be used to drive the other meshing mechanism 71 to rotate. In this process, the contact pressure between the two magnetic teeth 7102 is very small, or even no contact, and reducing the contact pressure can reduce wear.

[0043] Example 2

[0044] This embodiment is a further improvement on the basis of Implementation 1. The difference between this embodiment and Implementation 1 is that:

[0045] The cross-sectional shapes of the positioning groove 7106 and the positioning block 7107 are both convex-shaped. By changing the shape of the positioning groove 7106, it is found that the convex-shaped groove has a better positioning effect on the positioning block 7107.

[0046] Example 3

[0047] This embodiment is a further improvement on the basis of Implementation 1. The difference between this embodiment and Implementation 1 is that:

[0048] A raised key is added to the rotating shaft 7105, and a key slot is set on the inner wall of the rotating disk 7101. When the rotating shaft 7105 is installed, the raised key is stuck in the key slot, which increases the stability of the rotating shaft 7105 and prevents the rotating shaft 7105 and the rotating disk 7101 from rotating relative to each other.

[0049] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. An industrial robot arm for intelligent manufacturing, comprising a support base (10), a rotating platform (20) is arranged on the top of the support base (10), a support arm (30) is installed on the top of the rotating platform (20), a mechanical arm (40) is installed on the support arm (30), a mechanical arm (50) is installed on the mechanical arm (40), and a mechanical wrist (60) is installed on the mechanical arm (50), characterized in that: The support arm (30) and the mechanical arm (40), and the mechanical arm (40) and the mechanical arm (50) are respectively rotated via joints (70), and the two joints (70) are respectively installed inside the support arm (30) and the mechanical arm (40); The joint portion (70) comprises two mutually meshing engagement mechanisms (71), a locking mechanism (72) and a driving mechanism (73), wherein the driving mechanism (73) is used to drive one of the meshing mechanisms (71) to rotate, and the locking mechanism (72) is installed on the same side of the two meshing mechanisms (71), and the locking mechanism (72) can slide between the two meshing mechanisms (71) to lock the two meshing mechanisms (71); Wherein, the two meshing mechanisms (71) are both magnetic, and the magnetic poles on opposite sides of the two meshing mechanisms (71) are the same.

2. The industrial robot arm for intelligent manufacturing according to claim 1, characterized in that: The driving mechanism (73) is any one of a servo motor and a hydraulic motor.

3. The industrial robot arm for intelligent manufacturing according to claim 1, characterized in that: The meshing mechanism (71) comprises a rotating disk (7101), a plurality of magnetic teeth (7102), two positioning disks (7103) and a rotating shaft (7105); the magnetic teeth (7102) are mounted on the rotating disk (7101); the two positioning disks (7103) are respectively arranged on both sides of the rotating disk for covering the magnetic teeth (7102); a positioning piece (7108) matching the magnetic teeth (712) is arranged inside the positioning disk (7103); the rotating shaft (7105) is interference-fitted with the inner edge of the rotating disk (7101); and when the rotating shaft (7105) is inserted into the rotating disk (7101), the rotating shaft (7105) presses the positioning piece (7101) so that the positioning piece (7108) locks the magnetic teeth (7102).

4. The industrial robot arm for intelligent manufacturing according to claim 3, characterized in that: The rotating disk (7101) is provided with annularly distributed positioning grooves (7106) along its outer circumference, and a positioning block (7107) assembled inside the positioning groove (7106) is provided on the side of the magnetic tooth (7102) close to the rotating disk (7101), and the positioning block (7107) is provided with two mutually perpendicular and interconnected through holes (7109).

5. The industrial robot arm for intelligent manufacturing according to claim 4, characterized in that: Positioning tubes (7110) adapted to the positioning blocks (7107) are respectively installed on opposite sides of the two positioning plates (7103), and the two positioning tubes (7110) are respectively inserted into the interior of the transverse through hole (7109) from both sides of the positioning block (7107), and one of the positioning tubes (7110) is inserted into the interior of the other positioning tube (7110), and locking holes are provided on the two positioning tubes (7110), and the locking holes and the longitudinal through hole (7109) are located on the same straight line.

6. The industrial robot arm for intelligent manufacturing according to claim 5, characterized in that: The interior of the rotating disk (7101) is provided with positioning holes (7111) which are distributed in an annular manner and are located on the same straight line as the longitudinal through hole (7109); the positioning member (7105) is inserted into the interior of the positioning hole (7111), and the length of the positioning member (7111) is greater than the depth of the positioning hole (7111); and the side of the positioning member (711) close to the rotating shaft (7105) is set to be wedge-shaped.

7. The industrial robot arm for intelligent manufacturing according to claim 1, characterized in that: The magnetic teeth (7102) are made of a mixture of strong magnets and forged steel materials.

8. The industrial robot arm for intelligent manufacturing according to claim 3, characterized in that: The cross-sectional shapes of the positioning groove (7106) and the positioning block (7107) are both dovetail-shaped.

9. The industrial robot arm for intelligent manufacturing according to claim 3, characterized in that: The cross-sectional shapes of the positioning groove (7106) and the positioning block (7107) are both convex.

10. The industrial robot arm for intelligent manufacturing according to claim 3, characterized in that: The locking mechanism (72) comprises a braking tooth (7201), a hydraulic cylinder (7202), and a limiting shaft (7203); a keyway is provided on the limiting shaft (7203); a raised key is provided inside the braking tooth (7201) and is slidably fitted inside the keyway; a telescopic shaft of the hydraulic cylinder (7202) is installed inside the braking tooth (7201) to push the braking tooth (7201) to slide on the limiting shaft (7203); and when the braking tooth (7201) moves between the two meshing mechanisms (71), the two meshing mechanisms (71) are in a locked state.

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