An adjustable multi-joint precision industrial robot arm

Abstract

This invention discloses an adjustable multi-joint precision industrial robot arm, relating to the field of robot arm technology. It includes a main arm with a first interface and a second interface at both ends. A forearm is rotatably mounted on the second interface. An extension plate is fixedly installed at the end of the main arm with the second interface. An adjustment hole is provided in the extension plate, and a clamping component is slidably disposed within the adjustment hole. A clamping component is fixedly disposed within the second interface. The forearm is fixedly disposed between the clamping component and the clamping component. A motor for driving the forearm is fixedly disposed on the side of the main arm. The clamping component and the clamping component work together to limit the movement of forearms of different models, solving the problem in the prior art where main arms and forearms are usually set up as a set, requiring different robot arms for different machining processes, thus increasing processing costs.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically an adjustable multi-joint precision industrial robotic arm. Background Technology

[0002] An industrial robot arm is a widely used automated device in industrial production. It can simulate the movements of a human arm to perform various complex operations, such as handling, assembly, welding, and painting. An industrial robot arm typically consists of multiple joints and actuators, allowing it to move in multiple degrees of freedom to adapt to different work scenarios and requirements.

[0003] In practical implementation, different forearms are usually assembled on the main arm to achieve different operations such as welding and spraying. In the existing technology, the main arm and forearm are usually set up as a set. For different machining processes, a complete set of different robotic arms is required. For example, Chinese utility model patent with publication number CN210336013U proposes a new type of robot arm connection structure: including a robot main arm and a robot forearm. The robot forearm is located at the top of the robot main arm, and a connecting pin is connected through the connection between the robot main arm and the robot forearm. A servo motor is provided near one side of the connection between the robot main arm and the robot forearm. The outer surface of the robot forearm has a mounting groove, and the inner surface of the mounting groove has multiple fixing holes. A linkage mechanism connects the robot main arm and the robot forearm.

[0004] The aforementioned robotic arm uses connecting pins to achieve a rotatable connection between the upper and lower arms, and a linkage mechanism to increase the stability of the rotation. Both the upper and lower arms need to be matched with the connecting pins, making it inconvenient to replace lower arms of different models. When different machining processes are required, a complete set of equipment needs to be set up, increasing the processing cost. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes an adjustable multi-joint precision industrial robot arm, solving the problems mentioned in the background art, namely, providing an adjustable multi-joint precision industrial robot arm that improves the flexibility of joint adjustment to achieve the installation of different models of forearms.

[0006] To achieve the above objectives, the present invention proposes an adjustable multi-joint precision industrial robot arm, including an upper arm, with a first interface and a second interface respectively opened at both ends of the upper arm. A forearm is rotatably mounted on the second interface. An extension plate is fixedly installed at one end of the upper arm with the second interface. An adjustment hole is opened in the extension plate. A clamping component is slidably arranged in the adjustment hole. A clamping component is fixedly arranged in the second interface. The forearm is fixedly arranged between the clamping component and the clamping component. A motor for driving the forearm is fixedly arranged on the side of the upper arm.

[0007] As a further embodiment of the present invention: the clamping assembly includes a limiting ring, an adapter block, and a support base; the limiting ring is fixedly connected within the second interface, a rotating shaft is fixedly installed at the lower end of the adapter block, the rotating shaft passes through the limiting ring and is rotatably connected to the limiting ring, the output shaft of the motor is fixedly connected to the rotating shaft, and the support base is fixedly connected to the adapter block.

[0008] As a further embodiment of the present invention: a guide ring is provided on the limiting ring, and a plurality of auxiliary support rods are fixedly installed at equal intervals on the lower side of the transition block, and the auxiliary support rods are slidably connected to the guide ring.

[0009] As a further embodiment of the present invention: a pair of adjusting grooves are symmetrically provided on the support base, a telescopic rod is slidably arranged in the adjusting groove, a pressure plate is rotatably installed on the upper end of the telescopic rod, a first limiting groove is provided on the pressure plate, the lower end of the telescopic rod is disposed in the support base, a guide rod is fixedly installed on the lower end of the telescopic rod, an adjusting block is rotatably arranged on the support base, a connecting rod is fixedly connected to the adjusting block, a gear is fixedly installed on the connecting rod, racks are symmetrically arranged on both sides of the gear, and each rack is fixedly connected to one of the guide rods.

[0010] As a further aspect of the present invention: threaded grooves are provided on the middle part of the adjusting block, the connecting rod, the gear, and the corresponding adapter block, and locking bolts are threadedly connected in the threaded grooves.

[0011] As a further aspect of the present invention: both the first interface and the second interface are provided with a first threaded hole, and the limiting ring is provided with a second threaded hole that is consistent with the first threaded hole.

[0012] As a further embodiment of the present invention: the clamping assembly includes an adjusting shaft, a receiving frame, and a movable plate; the adjusting shaft is slidably disposed in the adjusting hole, an upper limit plate is fixedly connected to the upper end of the adjusting shaft, a lower limit plate is fixedly connected to the lower end of the adjusting shaft, a receiving frame is fixedly installed on the lower limit plate, and a movable plate is rotatably connected below the receiving frame, and a plurality of second limiting grooves are provided on the movable plate.

[0013] As a further embodiment of the present invention: the adjusting shaft and the lower limit plate are threaded together with a threaded rod, and a base plate is fixedly installed at the end of the threaded rod.

[0014] As a further aspect of the present invention, screws are provided in the first limiting groove and the second limiting groove.

[0015] As a further aspect of the present invention: a brake box is fixedly installed on the outside of the motor.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. By setting up a clamping assembly, preliminary positioning of different models of forearms can be achieved. Specifically, the mounting holes on the forearm are fitted onto a pair of pressure plates. Then, the pressure plates are rotated and the telescopic rod is pulled until the lower end face of the pressure plate is in contact with the forearm. Then, the adjusting block is rotated using a tool, which drives the gear to rotate, thereby achieving the opposite movement of a pair of racks, which in turn drives a pair of telescopic rods to move towards each other until they abut against the inner wall of the mounting hole. Then, the locking bolt is screwed in and tightened to limit the gear and keep the telescopic rod pressed against the forearm. This achieves preliminary positioning of the forearm, and the above settings can achieve preliminary positioning of different models of forearms.

[0018] 2. By fixing an extension plate to the end of the boom, a clamping assembly is slidably installed inside the extension plate. The clamping assembly and the clamping assembly work together to further limit the movement of the forearm. This facilitates the synchronous rotation of the adapter block, support base, forearm, and movable plate when the motor rotates, thus clamping the forearm without affecting its operation. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the upper arm structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the forearm mounting structure of the present invention;

[0022] Figure 4 For the present invention Figure 3 Schematic diagram of the structure after removing the clamping components

[0023] Figure 5 This is a schematic diagram of the clamping assembly and pressing assembly of the present invention;

[0024] Figure 6 This is an exploded cross-sectional view of the combined structure of the clamping component and the pressing component of the present invention;

[0025] Figure 7 For the present invention Figure 4 Enlarged view of point A;

[0026] Figure 8 For the present invention Figure 6 Enlarged view of point B.

[0027] In the diagram: 1. Main arm; 2. First interface; 3. Second interface; 4. Adjustment hole; 5. Extension plate; 6. First threaded hole; 7. Forearm; 8. Clamping assembly; 9. Pressing assembly; 10. Brake box; 11. Motor; 12. Mounting hole; 13. Telescopic rod; 14. Pressure plate; 15. First limiting groove; 16. Limiting ring; 17. Adapter block; 18. Second threaded hole; 19. Support base; 20. Adjustment groove; 21. Rotating shaft; 22. Guide ring; 23. Auxiliary support rod; 24. Adjustment block; 25. Connecting rod; 26. Gear; 27. Rack; 28. Guide rod; 29. ​​Locking bolt; 30. Adjustment shaft; 31. Upper limit plate; 32. Lower limit plate; 33. Support frame; 34. Movable plate; 35. Threaded rod; 36. Base plate; 37. Second limiting groove; 38. Screw. Detailed Implementation

[0028] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] like Figure 1-8 As shown, an adjustable multi-joint precision industrial robot arm includes a main arm 1. The main arm 1 has a first interface 2 and a second interface 3 at both ends. The first interface 2 is rotatably mounted on a base, which is generally fixedly installed on a machine tool. A forearm 7 is rotatably mounted on the second interface 3. Both the first interface 2 and the second interface 3 have first threaded holes 6, which are used to accommodate the installation of the main arm 1. An extension plate 5 is fixedly mounted at the end of the main arm 1 with the second interface 3. An adjustment hole 4 is provided in the extension plate 5, and a clamping component 9 is slidably mounted within the adjustment hole 4. A clamping component 8 is fixedly mounted within the second interface 3. The forearm 7 is fixedly mounted between the clamping component 8 and the clamping component 9. A motor 11 is fixedly mounted on the side of the main arm 1. The clamping component 8 and the clamping component 9 are adjustable, allowing for the clamping of forearms 7 of different sizes. The motor 11 drives the rotation of the forearm 7. A brake box 10 is fixedly mounted on the outside of the motor 11 for protection.

[0030] In one embodiment of this invention, the clamping assembly 8 includes a limiting ring 16, an adapter block 17, and a support base 19. The limiting ring 16 has a second threaded hole 18 that matches the first threaded hole 6. A bolt is screwed into the second threaded hole 18 and the first threaded hole 6 to achieve a fixed connection between the limiting ring 16 and the second interface 3. A rotating shaft 21 is fixedly mounted on the lower end of the adapter block 17. The rotating shaft 21 passes through the limiting ring 16 and is rotatably connected to it. The output shaft of the motor 11 is fixedly connected to the rotating shaft 21. A guide ring 22 is provided on the limiting ring 16. Several auxiliary support rods 23 are fixedly installed at equal intervals on the lower side of the adapter block 17. The auxiliary support rods 23 are slidably connected to the guide ring 22. When the starter motor 11 drives the adapter block 17 to rotate, the auxiliary support rods 23 rotate along the guide ring 22 to increase the stability of the rotation. The support base 19 is fixedly connected to the adapter block 17. A pair of adjustment grooves 20 are symmetrically opened on the support base 19. A telescopic rod 13 is slidably arranged in the adjustment groove 20. A pressure plate 14 is rotatably installed on the upper end of the telescopic rod 13. A first limiting groove 15 is opened on the pressure plate 14. The lower end of the telescopic rod 13 is set in the support base 19. A guide rod 28 is fixedly installed at the lower end of the telescopic rod 13. An adjusting block 24 is rotatably mounted on the support base 19. A connecting rod 25 is fixedly connected to the adjusting block 24. A gear 26 is fixedly installed on the connecting rod 25. Racks 27 are symmetrically arranged on both sides of the gear 26. Each rack 27 is fixedly connected to a guide rod 28. Threaded grooves are opened in the middle of the adjusting block 24, the connecting rod 25, and the gear 26, as well as on the corresponding adapter block 17. Locking bolts 29 are threaded into the threaded grooves. Tightening the locking bolts 29 can limit the position of the gear 26, thereby achieving the positioning of a pair of pressurized... The plate 14 is positioned along the direction of the rack 27. The end of the forearm 7 is provided with a mounting hole 12. In use, the locking bolt 29 is unscrewed, and then the mounting hole 12 is fitted onto a pair of pressure plates 14. Then, the pressure plates 14 are rotated and the telescopic rod 13 is pulled until the lower end face of the pressure plate 14 is in contact with the forearm 7. Then, the adjusting block 24 is rotated with a tool to drive the gear 26 to rotate, thereby realizing the opposite movement of a pair of racks 27, thereby driving a pair of telescopic rods 13 to move towards each other until they abut against the inner wall of the mounting hole 12. Then, the locking bolt 29 is screwed in and tightened to achieve the initial positioning of the forearm 7.

[0031] In one embodiment of this invention, the clamping assembly 9 includes an adjusting shaft 30, a receiving frame 33, and a movable plate 34. The adjusting shaft 30 is slidably disposed within the adjusting hole 4. An upper limit plate 31 is fixedly connected to the upper end of the adjusting shaft 30, and a lower limit plate 32 is fixedly connected to the lower end of the adjusting shaft 30. The receiving frame 33 is fixedly installed on the lower limit plate 32, and the movable plate 34 is rotatably connected below the receiving frame 33. Several second limiting grooves 37 are provided on the movable plate 34. Threaded rods 35 are threaded onto the adjusting shaft 30 and the lower limit plate 32. A base plate 36 is fixedly installed at the end of the threaded rod 35. After initial positioning of the forearm 7, the receiving frame 33 is rotated until the movable plate 34 moves to the pressure plate 14. Above, the movable plate 34 is rotated until the second limiting groove 37 corresponds to the first limiting groove 15. Screws 38 are installed in the second limiting groove 37 and the first limiting groove 15 to achieve a fixed connection between the movable plate 34 and the pressure plate 14. Then, the receiving frame 33 is pressed, the base plate 36 is rotated, and the threaded rod 35 is tightened until the base plate 36 abuts against the lower end of the extension plate 5, thereby achieving the limiting of the pressing assembly 9 and the extension plate 5. Finally, the forearm 7 is further pressed and limited. The motor 11 is started, which can drive the adapter block 17, the support seat 19, the forearm 7, and the movable plate 34 to rotate synchronously, thereby facilitating the operation of the forearm 7. In specific implementation, different forearms 7 can be replaced to achieve different processing.

[0032] Working principle:

[0033] In use, unscrew the locking bolt 29, then place the mounting hole 12 of the forearm 7 onto the pair of pressure plates 14. Next, rotate the pressure plate 14 and pull the telescopic rod 13 until the lower end face of the pressure plate 14 is flush with the forearm 7. Then, use a tool to rotate the adjusting block 24, driving the gear 26 to rotate, thereby causing the pair of racks 27 to move towards each other, which in turn causes the pair of telescopic rods 13 to move towards each other until they abut against the inner wall of the mounting hole 12. Then, screw in and tighten the locking bolt 29 to achieve initial positioning of the forearm 7. After initial positioning of the forearm 7, rotate the receiving frame 33 until the movable plate 34 moves to the pressure plate 14. Above plate 14, the movable plate 34 is then rotated until the second limiting groove 37 corresponds to the first limiting groove 15. Screws 38 are installed in the second limiting groove 37 and the first limiting groove 15 to achieve a fixed connection between the movable plate 34 and the pressure plate 14. Then, the receiving frame 33 is pressed, the base plate 36 is rotated, and the threaded rod 35 is tightened until the base plate 36 abuts against the lower end of the extension plate 5, thereby achieving the limiting of the pressing assembly 9 and the extension plate 5. Finally, the forearm 7 is further pressed and limited. The motor 11 is started, which can drive the synchronous rotation of the adapter block 17, the support seat 19, the forearm 7, and the movable plate 34.

[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. An adjustable multi-joint precision industrial robot arm, characterized in that, The arm includes a large arm (1), with a first interface (2) and a second interface (3) respectively at both ends. A small arm (7) is rotatably mounted on the second interface (3). An extension plate (5) is fixedly installed at one end of the large arm (1) with the second interface (3). An adjustment hole (4) is opened in the extension plate (5). A pressing component (9) is slidably arranged in the adjustment hole (4). A clamping component (8) is fixedly arranged in the second interface (3). The small arm (7) is fixedly arranged between the clamping component (8) and the pressing component (9). A motor (11) for driving the small arm (7) is fixedly arranged on the side of the large arm (1). The clamping assembly (8) includes a support base (19), on which a pair of adjustment slots (20) are symmetrically provided. A telescopic rod (13) is slidably provided in the adjustment slots (20). A pressure plate (14) is rotatably installed on the upper end of the telescopic rod (13). A first limiting slot (15) is provided on the pressure plate (14). The lower end of the telescopic rod (13) is provided in the support base (19). A guide rod (28) is fixedly installed on the lower end of the telescopic rod (13). An adjustment block (24) is rotatably provided on the support base (19). A connecting rod (25) is fixedly connected to the adjustment block (24). A gear (26) is fixedly installed on the connecting rod (25). Racks (27) are symmetrically provided on both sides of the gear (26). Each rack (27) is fixedly connected to one of the guide rods (28). The clamping assembly (9) includes an adjusting shaft (30), a receiving frame (33), and a movable plate (34); the adjusting shaft (30) is slidably disposed in the adjusting hole (4), an upper limit plate (31) is fixedly connected to the upper end of the adjusting shaft (30), a lower limit plate (32) is fixedly connected to the lower end of the adjusting shaft (30), a receiving frame (33) is fixedly installed on the lower limit plate (32), and a movable plate (34) is rotatably connected below the receiving frame (33), and a plurality of second limiting grooves (37) are provided on the movable plate (34); Screws (38) are provided in the first limiting groove (15) and the second limiting groove (37).

2. The adjustable multi-joint precision industrial robot arm according to claim 1, characterized in that, The clamping assembly (8) includes a limiting ring (16), an adapter block (17), and a support base (19). The limiting ring (16) is fixedly connected in the second interface (3). A rotating shaft (21) is fixedly installed at the lower end of the adapter block (17). The rotating shaft (21) passes through the limiting ring (16) and is rotatably connected to the limiting ring (16). The output shaft of the motor (11) is fixedly connected to the rotating shaft (21). The support base (19) is fixedly connected to the adapter block (17).

3. The adjustable multi-joint precision industrial robot arm according to claim 2, characterized in that, The limiting ring (16) is provided with a guide ring (22), and a number of auxiliary support rods (23) are fixedly installed at equal intervals on the lower side of the adapter block (17). The auxiliary support rods (23) are slidably connected to the guide ring (22).

4. The adjustable multi-joint precision industrial robot arm according to claim 2, characterized in that, The middle part of the adjusting block (24), the connecting rod (25), the gear (26) and the corresponding adapter block (17) are all provided with threaded grooves, and locking bolts (29) are threadedly connected in the threaded grooves.

5. The adjustable multi-joint precision industrial robot arm according to claim 2, characterized in that, The first interface (2) and the second interface (3) are each provided with a first threaded hole (6), and the limiting ring (16) is provided with a second threaded hole (18) that is consistent with the first threaded hole (6).

6. The adjustable multi-joint precision industrial robot arm according to claim 5, characterized in that, The adjusting shaft (30) and the lower limit plate (32) are threaded together with a threaded rod (35), and a base plate (36) is fixedly installed at the end of the threaded rod (35).

7. The adjustable multi-joint precision industrial robot arm according to claim 1, characterized in that, A brake box (10) is fixedly installed on the outside of the motor (11).

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