Multi-joint industrial robot

Abstract

The invention relates to the technical field of robots, in particular to a multi-joint industrial robot which comprises a sliding block and a rotating mechanism, the rotating mechanism comprises a first rotating plate, a first lead screw, a moving block, a first gear, a gear ring, a fixing shaft and a second rotating plate, the first rotating plate is rotationally connected with the sliding block, and the first lead screw is rotationally connected with the first rotating plate; the moving block is in threaded connection with the first lead screw and arranged on the surface of the first lead screw in a sleeving mode, one end of the fixing shaft is fixedly connected with the moving block, the other end of the fixing shaft is rotationally connected with the second rotating plate, the cross section of the fixing shaft is in a T shape, the second rotating plate is arranged below the moving block, and the gear ring is fixedly connected with the second rotating plate. The first gear is arranged on one side of the gear ring, the gear ring is meshed with the first gear, and through the arrangement of the structure, the problems that in the prior art, the working range and the freedom degree of the second supporting arm are low, and the transportation effect is poor are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a multi-joint industrial robot. Background Art

[0002] Industrial robots are widely used in automated production work, which can greatly reduce the workload of workers and can replace workers in dangerous operations.

[0003] In the prior art, the patent document with the announcement number (CN117754628A) mentions a multi-joint industrial robot, wherein the rotating seat is arranged above the base and is rotatably connected with the base; the first rotating driving component is used to drive the rotating seat to rotate relative to the base around the rotating axis extending up and down; the lifting seat is connected to the rotating seat by sliding up and down; the first linear driving component is used to drive the lifting seat to move up and down relative to the rotating seat; the connecting arm includes a first arm, a second arm and a second rotating driving component, the first arm is connected to the lifting seat by sliding in the first direction, one end of the first arm is connected to one end of the second arm by rotation, and the other end of the second arm is an output terminal, the second rotating driving component is used to drive the second arm to rotate relative to the first arm, and the first direction is perpendicular to the up and down direction; the second linear driving component is used to drive the first arm to move relative to the lifting seat along the first direction. This prior art can operate in a narrow space, can achieve large-stroke operation, and has strong obstacle avoidance ability.

[0004] However, in the above-mentioned prior art, the working range and degree of freedom of the second arm are relatively low, and the transportation effect is relatively poor. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-joint industrial robot, which solves the problems of the prior art that the working range and degree of freedom of the second arm are relatively low and the transportation effect is relatively poor.

[0006] To achieve the above-mentioned objectives, the present invention provides a multi-joint industrial robot, including a sliding block and a rotating mechanism, the rotating mechanism including a first rotating plate, a first screw rod, a moving block, a first gear, a gear ring, a fixed shaft and a second rotating plate, the first rotating plate is rotatably connected to the sliding block and is located above the sliding block, the first screw rod is rotatably connected to the first rotating plate and is located below the first rotating plate, the moving block is threadedly connected to the first screw rod and is sleeved on the surface of the first screw rod, one end of the fixed shaft is fixedly connected to the moving block, and the other end of the fixed shaft is rotatably connected to the second rotating plate, the cross-section of the fixed shaft is T-shaped, the second rotating plate is arranged below the moving block, the gear ring is fixedly connected to the second rotating plate and is located on the outside of the fixed shaft, the first gear is arranged on one side of the gear ring, and the gear ring is meshed with the first gear.

[0007] Among them, the rotating mechanism also includes a second gear and a third gear, a cavity is provided inside the sliding block, the second gear is fixedly connected to the first rotating plate and is located inside the cavity, the third gear is rotationally connected to the sliding block and is located on one side of the second gear, and the second gear is meshed with the third gear.

[0008] Wherein, the rotating mechanism also includes a limiting ring, one end of which is fixedly connected to the sliding block, and the other end of which is rotatably connected to the first rotating plate and located inside the first rotating plate. The cross section of the limiting ring is L-shaped.

[0009] Wherein, the multi-joint industrial robot also includes a sliding rail and a second screw rod, the sliding rail is arranged on the outside of the sliding block, the sliding block is slidably connected to the sliding rail, and the second screw rod is arranged inside the sliding rail, and the second screw rod is threadedly connected to the sliding block.

[0010] Wherein, the multi-joint industrial robot further comprises a grasping mechanism, and the grasping mechanism is arranged on one side of the second rotating plate.

[0011] Among them, the grasping mechanism includes a fixed shell, a rotating block and a clamping claw, the fixed shell is arranged at one end of the second rotating plate, the fixed shell is arranged in a C shape, the rotating block is rotatably connected to the fixed shell and is located inside the fixed shell, and the clamping claw is rotatably connected to the rotating block and is located below the rotating shell.

[0012] Wherein, the grabbing mechanism further comprises a connecting ring, one end of which is fixedly connected to the second rotating plate, and the other end of which is rotatably connected to the fixed shell.

[0013] The present invention provides a multi-joint industrial robot, wherein the first rotating plate is rotatably connected to the sliding block and is located above the sliding block, the first screw rod is rotatably connected to the first rotating plate and is located below the first rotating plate, the moving block is threadedly connected to the first screw rod and is sleeved on the surface of the first screw rod, one end of the fixed shaft is fixedly connected to the moving block, the other end of the fixed shaft is rotatably connected to the second rotating plate, the cross section of the fixed shaft is T-shaped, the second rotating plate is arranged below the moving block, the gear ring is fixedly connected to the second rotating plate and is located outside the fixed shaft, the first gear is arranged on one side of the gear ring, the gear ring is meshed with the first gear, the output end of the first motor is fixedly connected to the first screw rod, a second motor is arranged on one side of the moving block, and the output end of the second motor is fixedly connected to the first gear, the first motor drives the first screw rod to rotate, so that the moving block moves accordingly, the second motor drives the first gear to rotate, and under the cooperation of the gear ring, the second rotating plate rotates accordingly, the fixed shaft fixes the second rotating plate below the moving block, improves stability, and at the same time, improves the moving range of the second rotating plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] 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.

[0015] Figure 1 It is a structural schematic diagram of a first embodiment of a multi-joint industrial robot of the present invention.

[0016] Figure 2 It is a top view of a first embodiment of a multi-joint industrial robot of the present invention.

[0017] Figure 3 The present invention Figure 2 AA line section view.

[0018] Figure 4 The present invention Figure 2 BB line cross-sectional view.

[0019] Figure 5 It is a structural schematic diagram of a second embodiment of a multi-joint industrial robot of the present invention.

[0020] Figure 6 It is a front view of a second embodiment of a multi-joint industrial robot of the present invention.

[0021] Figure 7 The present invention Figure 6 CC line section view.

[0022] Figure 8 It is a structural schematic diagram of a third embodiment of a multi-joint industrial robot of the present invention.

[0023] Fig. 9 It is a front view of a third embodiment of a multi-joint industrial robot of the present invention.

[0024] Fig.10 The present invention Fig. 9 DD line cross-sectional view.

[0025] 101-sliding block, 102-first rotating plate, 103-first screw rod, 104-moving block, 105-first gear, 106-tooth ring, 107-fixed shaft, 108-second rotating plate, 109-second gear, 110-third gear, 111-limiting ring, 112-sliding rail, 113-second screw rod, 114-first motor, 115-second motor, 116-third motor, 117-fourth motor, 201-fixed shell, 202-rotating block, 203-connecting ring, 204-clamping claw, 205-fifth motor, 206-sixth flow motor, 207-seventh flow motor, 301-rotating disk, 302-bottom plate, 303-circular ring, 304-fixed ring, 305-eighth motor. DETAILED DESCRIPTION

[0026] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0027] First embodiment: See also Figure 1~Figure 4 ,in, Figure 1 is a schematic structural diagram of a first embodiment of a multi-joint industrial robot of the present invention, Figure 2 is a top view of a first embodiment of a multi-joint industrial robot of the present invention, Figure 3 The present invention Figure 2 AA line section view, Figure 4 The present invention Figure 2 BB line cross-sectional view.

[0028] The present invention provides a multi-joint industrial robot, comprising a sliding block 101, a rotating mechanism, a sliding rail 112 and a second screw 113. The rotating mechanism comprises a first rotating plate 102, a first screw 103, a moving block 104, a first gear 105, a gear ring 106, a fixed shaft 107, a second rotating plate 108, a second gear 109, a third gear 110 and a limit ring 111. The above-mentioned solution solves the problems of the prior art that the working range and degree of freedom of the second arm are low and the transportation effect is poor.

[0029] According to the present specific embodiment, the first rotating plate 102 is rotatably connected to the sliding block 101 and is located above the sliding block 101; the first screw rod 103 is rotatably connected to the first rotating plate 102 and is located below the first rotating plate 102; the moving block 104 is threadedly connected to the first screw rod 103 and is sleeved on the surface of the first screw rod 103; one end of the fixed shaft 107 is fixedly connected to the moving block 104; the other end of the fixed shaft 107 is rotatably connected to the second rotating plate 108; the cross section of the fixed shaft 107 is T-shaped; the second rotating plate 108 is disposed below the moving block 104; the gear ring 106 is fixedly connected to the second rotating plate 108 and is located on the outside of the fixed shaft 107; the first gear 105 is disposed on the gear ring 106, the gear ring 106 is meshed with the first gear 105, a first motor 114 is provided on one side of the first rotating plate 102, the output end of the first motor 114 is fixedly connected to the first screw rod 103, and a second motor 115 is provided on one side of the moving block 104, the output end of the second motor 115 is fixedly connected to the first gear 105, the first motor 114 drives the first screw rod 103 to rotate, so that the moving block 104 moves accordingly, and the second motor 115 drives the first gear 105 to rotate, and with the cooperation of the gear ring 106, the second rotating plate 108 rotates accordingly, and the fixed shaft 107 fixes the second rotating plate 108 under the moving block 104, which improves stability and, at the same time, increases the moving range of the second rotating plate 108.

[0030] In which, a cavity is provided inside the sliding block 101, the second gear 109 is fixedly connected to the first rotating plate 102 and is located inside the cavity, the third gear 110 is rotationally connected to the sliding block 101 and is located on one side of the second gear 109, the second gear 109 is meshed with the third gear 110, and a third motor 116 is provided below the sliding plate, the output end of the third motor 116 is fixedly connected to the third gear 110, the third motor 116 drives the third gear 110 to rotate, and the third gear 110 drives the second gear 109 to rotate, so that the first rotating plate 102 rotates accordingly.

[0031] Secondly, one end of the limiting ring 111 is fixedly connected to the sliding block 101, and the other end of the limiting ring 111 is rotatably connected to the first rotating plate 102 and is located inside the first rotating plate 102. The cross-section of the limiting ring 111 is L-shaped. The limiting ring 111 limits the position of the first rotating plate 102, thereby improving the stability of the first rotating plate 102.

[0032] Secondly, the sliding rail 112 is arranged on the outside of the sliding block 101, and the sliding block 101 is slidably connected to the sliding rail 112. The second screw rod 113 is arranged inside the sliding rail 112, and the second screw rod 113 is threadedly connected to the sliding block 101. A fourth motor 117 is arranged above the sliding rail 112, and the fourth motor 117 drives the second screw rod 113 to rotate. Under the restriction of the sliding rail 112, the second screw rod 113 drives the sliding block 101 to move, thereby changing the height of the second rotating plate 108 and increasing the moving range of the second rotating plate 108.

[0033] When using the present invention, the first motor 114 drives the first screw rod 103 to rotate, so that the moving block 104 moves accordingly, the second motor 115 drives the first gear 105 to rotate, and with the cooperation of the gear ring 106, the second rotating plate 108 rotates accordingly, the fixed shaft 107 fixes the second rotating plate 108 under the moving block 104, improves stability, and at the same time, increases the moving range of the second rotating plate 108, the third motor 116 drives the third gear 110 to rotate, and the third gear 110 drives the second gear 109 to rotate, so that the first rotating plate 102 rotates accordingly, the fourth motor 117 drives the second screw rod 113 to rotate, and under the restriction of the sliding rail 112, the second screw rod 113 drives the sliding block 101 to move, change the height of the second rotating plate 108, and increase the moving range of the second rotating plate 108. Second embodiment: See also Figure 5~Figure 7 ,in, Figure 5 1 is a schematic structural diagram of a second embodiment of a multi-joint industrial robot according to the present invention. Figure 6 is a front view of a second embodiment of a multi-joint industrial robot of the present invention, Figure 7 The present invention Figure 6 CC line section view.

[0034] Based on the first embodiment, the present invention provides a multi-joint industrial robot, which also includes a grasping mechanism, wherein the grasping mechanism includes a fixed shell 201, a rotating block 202, a connecting ring 203 and a clamp 204. The above-mentioned solution solves the problem of low flexibility of the grasping mechanism and limited effect on the transportation of workpieces.

[0035] According to this specific embodiment, the grabbing mechanism is disposed on one side of the second rotating plate 108 , and the second rotating plate 108 drives the grabbing mechanism to rotate, thereby increasing the working range of the grabbing mechanism.

[0036] The fixed shell 201 is arranged at one end of the second rotating plate 108, and the fixed shell 201 is arranged in a C shape. The rotating block 202 is rotatably connected to the fixed shell 201 and is located inside the fixed shell 201. The clamp 204 is rotatably connected to the rotating block 202 and is located below the rotating shell. A fifth motor 205 is arranged on one side of the second rotating plate 108, and the output end of the fifth motor 205 is fixedly connected to the fixed shell 201. A sixth motor 206 is arranged on one side of the fixed shell 201, and the output end of the sixth motor 206 is fixedly connected to the rotating block 202. A seventh motor 207 is arranged above the rotating block 202, and the output end of the seventh motor 207 is fixedly connected to the clamp 204. The second motor 115 shell drives the fixed shell 201 to rotate, the sixth motor 206 drives the rotating block 202 to rotate, and the seventh motor 207 can drive the clamp 204 to move, thereby improving the degree of freedom of the clamp 204.

[0037] Secondly, one end of the connecting ring 203 is fixedly connected to the second rotating plate 108, and the other end of the connecting ring 203 is rotatably connected to the fixed shell 201. The connecting ring 203 clamps the fixed shell 201 on one side of the second rotating plate 108, thereby improving the stability of the fixed shell 201.

[0038] When using the present invention, the first motor 114 drives the first screw rod 103 to rotate, so that the moving block 104 moves accordingly, the second motor 115 drives the first gear 105 to rotate, and with the cooperation of the gear ring 106, the second rotating plate 108 rotates accordingly, the fixed shaft 107 fixes the second rotating plate 108 under the moving block 104, improves stability, and at the same time, increases the moving range of the second rotating plate 108, the third motor 116 drives the third gear 110 to rotate, and the third gear 110 drives the second gear 109 to rotate, so that the first rotating plate 102 rotates accordingly, the fourth motor 117 drives the second screw rod 113 to rotate, and under the restriction of the sliding rail 112, the second screw rod 113 drives the sliding block 101 to move, changes the height of the second rotating plate 108, and increases the working range and activity of the clamp 204. The multi-joint industrial robot further includes a supporting assembly, and the supporting assembly is disposed below the sliding rail 112 .

[0039] The supporting assembly includes a rotating disk 301, a base plate 302 and a fixed ring 304. The rotating disk 301 is fixedly connected to the sliding rail 112 and is located below the sliding rail 112. The base plate is arranged below the rotating disk 301. One end of the fixed ring 304 is fixedly connected to the base plate 302, and the other end of the fixed ring 304 is rotatably connected to the rotating disk 301 and is covered on the outer side of the rotating disk 301.

[0040] The support assembly further includes a circular ring 303 , which is disposed below the fixed ring 304 . The surfaces of the rotating disk 301 and the fixed ring 304 are provided with grooves, which are adapted to the circular ring 303 .

[0041] Third embodiment: See also Figure 8~Figure 10 ,in, Figure 8 is a schematic structural diagram of a third embodiment of a multi-joint industrial robot of the present invention, Fig. 9 1 is a front view of a third embodiment of a multi-joint industrial robot according to the present invention. Fig.10 The present invention Fig. 9 DD line cross-sectional view.

[0042] The present invention provides a multi-joint industrial robot, which also includes a supporting assembly, wherein the supporting assembly includes a rotating disk 301, a base plate 302, a circular ring 303 and a fixed ring 304. The above-mentioned solution solves the problem that when transporting a workpiece, the sliding rail is subjected to pressure to one side under the influence of the workpiece, resulting in unstable installation.

[0043] According to this specific embodiment, the support assembly is disposed below the sliding rail 112 , and the support assembly fixes the position of the sliding rail 112 , thereby improving stability.

[0044] Among them, the rotating disk 301 is fixedly connected to the sliding rail 112 and is located below the sliding rail 112, the chassis is arranged below the rotating disk 301, one end of the fixed ring 304 is fixedly connected to the bottom plate 302, the other end of the fixed ring 304 is rotatably connected to the rotating disk 301 and is covered on the outside of the rotating disk 301, and an eighth motor 305 is arranged on the surface of the chassis, and the eighth motor 305 drives the rotating disk 301 to rotate, so that the rotating disk 301 rotates accordingly.

[0045] Secondly, the circular ring 303 is arranged below the fixed ring 304, and grooves are arranged on the surfaces of the rotating disk 301 and the fixed ring 304, and the grooves are adapted to the circular ring 303. The circular ring 303 is supported on the outer sides of the rotating disk 301 and the fixed ring 304, thereby reducing the friction between the fixed ring 304 and the rotating disk 301.

[0046] When the present invention is used, the first motor 114 drives the first screw rod 103 to rotate, so that the moving block 104 moves accordingly, the second motor 115 drives the first gear 105 to rotate, and with the cooperation of the gear ring 106, the second rotating plate 108 rotates accordingly, the fixed shaft 107 fixes the second rotating plate 108 below the moving block 104, improves stability, and at the same time, increases the moving range of the second rotating plate 108, the third motor 116 drives the third gear 110 to rotate, and the third gear 110 drives the second gear 109 to rotate, so that the first rotating plate 102 rotates accordingly, the fourth motor 117 drives the second screw rod 113 to rotate, and under the restriction of the sliding rail 112, the second screw rod 113 drives the sliding block 101 to move, changing the height of the second rotating plate 108, the eighth motor 305 drives the rotating disk 301 to rotate, so that the rotating disk 301 rotates accordingly, and increases the working range and activity of the clamp 204.

[0047] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A multi-joint industrial robot, comprising a sliding block, characterized in that: The cam is an assembly made up of a plurality of gears, each of which is connected to a plurality of gears, and the plurality of gears are connected to each other with a plurality of gears. The plurality of gears are connected to each other with a plurality of gears. The plurality of gears are connected to each other with a plurality of gears. The plurality of gears are connected to each other with a plurality of gears.

2. The multi-joint industrial robot according to claim 1, characterized in that: The rotating mechanism also includes a second gear and a third gear. A cavity is provided inside the sliding block. The second gear is fixedly connected to the first rotating plate and is located inside the cavity. The third gear is rotationally connected to the sliding block and is located on one side of the second gear. The second gear is meshed with the third gear.

3. The multi-joint industrial robot according to claim 2, characterized in that: The rotating mechanism also includes a limiting ring, one end of which is fixedly connected to the sliding block, and the other end of which is rotatably connected to the first rotating plate and located inside the first rotating plate. The cross section of the limiting ring is L-shaped.

4. The multi-joint industrial robot according to claim 3, characterized in that: The multi-joint industrial robot also includes a sliding rail and a second screw rod, wherein the sliding rail is arranged on the outside of the sliding block, the sliding block is slidably connected to the sliding rail, and the second screw rod is arranged inside the sliding rail, and the second screw rod is threadedly connected to the sliding block.

5. The multi-joint industrial robot according to claim 4, characterized in that: The multi-joint industrial robot further comprises a grasping mechanism, and the grasping mechanism is arranged on one side of the second rotating plate.

6. The multi-joint industrial robot according to claim 5, characterized in that: The grabbing mechanism includes a fixed shell, a rotating block and a clamping claw. The fixed shell is arranged at one end of the second rotating plate. The fixed shell is arranged in a C shape. The rotating block is rotatably connected to the fixed shell and is located inside the fixed shell. The clamping claw is rotatably connected to the rotating block and is located below the rotating shell.

7. The multi-joint industrial robot according to claim 5, characterized in that: The grabbing mechanism further comprises a connecting ring, one end of which is fixedly connected to the second rotating plate, and the other end of which is rotatably connected to the fixed shell.

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