Multi-joint industrial robot

Abstract

The invention belongs to the technical field of multi-joint industrial robots, and particularly relates to a multi-joint industrial robot which comprises a mechanical arm, the mechanical arm is fixedly installed on a base, a handle is arranged on one side of the base, the base comprises a base body, the mechanical arm is fixedly installed on the base body, and a movable plate is movably inserted into the base body. The jack is fixedly mounted in a mounting groove formed in the middle of the movable plate, the upper end of the jack is fixedly connected with the seat body, four groups of rollers are rotatably mounted at the lower end of the movable plate, a rectangular groove is formed in one side of the movable plate, and a first opening is formed in one side of the seat body and communicates with the mounting groove through the rectangular groove; the lifting of the seat body is realized through the jack, so that the retraction and release of the four groups of rollers are realized, the short-distance position transfer of the industrial robot by a worker is facilitated, the position transfer efficiency of the industrial robot is improved, the four groups of rollers are retracted into the seat body, and the influence on the stability of the industrial robot is avoided.

Description

Technical Field

[0001] This invention belongs to the field of multi-joint industrial robot technology, specifically a multi-joint industrial robot. Background Technology

[0002] Industrial robots are a type of automated equipment widely used in manufacturing and industrial production. They are also programmable, multi-functional robotic arms that can automatically perform various operations, such as handling, assembly, welding, painting, and inspection. They typically consist of a base, robotic arm, control system, drive system, and sensors.

[0003] In the prior art, the base of the industrial robot is fastened to the worktable with bolts to fix the industrial robot. In order to ensure the stability of the industrial robot, the bottom of the base is generally not equipped with pulleys. However, this means that when the industrial robot is moved over a short distance, it is necessary to rely on hoisting equipment and a trolley to move it. This not only increases the difficulty of moving the industrial robot, but also reduces the efficiency of moving the industrial robot. Therefore, the present invention provides a multi-joint industrial robot. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0005] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention provides a multi-joint industrial robot, including a robotic arm, which is fixedly mounted on a base. A handle is provided on one side of the base. The base includes a seat body. The robotic arm is fixedly mounted on the seat body. A movable plate is movably inserted into the seat body. A jack is fixedly mounted in the mounting groove opened in the middle of the movable plate. The upper end of the jack is fixedly connected to the seat body. Four sets of rollers are rotatably mounted on the lower end of the movable plate. A rectangular groove is opened on one side of the movable plate. A first opening is opened on one side of the seat body. The first opening communicates with the mounting groove through the rectangular groove. The base is raised and lowered using jacks, which in turn allows for the retraction and extension of the four sets of rollers. Extending the four sets of rollers facilitates short-distance relocation of the industrial robot by the operator, improving the efficiency of the robot's relocation. Retracting the four sets of rollers into the base ensures that the stability of the industrial robot is not affected.

[0006] Preferably, each of the four corners of the movable plate is provided with a support frame, the support frame includes a hinge shaft, the lower end of the flip rod is fixedly connected to the hinge shaft, the upper end of the flip rod is fixedly installed with a universal pulley, one end of each of the two sets of receiving plates is fixedly connected to the lower end of the flip rod, a fixing rod is provided between the two sets of receiving plates, the upper end of the fixing rod is fixedly connected to the inner wall of the seat, each of the four corners of the movable plate is provided with a hinge groove, the four sets of hinge shafts are respectively hinged in the four sets of hinge grooves, the receiving plate is provided with a sliding groove, the lower end of the fixing rod is provided with a convex shaft, the end of the convex shaft is located in the sliding groove, each of the four corners of the seat is provided with a second opening, the four sets of second openings are respectively facing the four sets of hinge grooves; The fixed rod drives the convex shaft to press the inner wall of the slide groove, causing the receiving plate, along with the hinge shaft, flipping rod, and universal pulley, to move towards the second opening. This causes the universal pulley to flip out of the second opening until it contacts the ground. Because the four sets of universal pulleys are in contact with the ground, the support area of ​​the ground on the base is increased, thereby increasing the stability of the industrial robot during movement.

[0007] Preferably, the handle includes two sets of guide rails, which are symmetrically fixedly installed on the base. A slider is slidably connected to the guide rails. The lower ends of the two sets of hinge tubes are respectively hinged to the two sets of sliders. The upper end of the hinge tube is provided with a pull tube. The two ends of the grip tube are respectively connected to the two sets of pull tubes. A limit groove is opened on the upper end face of the slider. Two sets of guide holes are symmetrically opened on the base. The guide holes are inserted with a locking rod, which is used to engage with the limit groove. The base is lowered by jacking, and at the same time the upper end of the lever disengages from the limiting groove, releasing the restriction on the handle position. Then, the grip tube is pushed, and the grip tube drives the slider to slide along the guide rail through the pull tube until the slider can no longer move. At this time, most of the handle is located on the base, removing the obstruction of the handle to the operation of the industrial robot and improving the practicality of the device.

[0008] Preferably, the pull-out tube is movably connected to the hinged tube, and a limiting mechanism is provided inside the pull-out tube. The limiting mechanism includes a movable rod, which is inserted into the pull-out tube. A pressure head is fixedly connected to the upper end of the movable rod, a spring is sleeved on the upper end of the movable rod, and a limiting block is movably installed at the lower end of the movable rod. The limiting block is movably inserted into the pull-out tube. A movable groove is opened at the lower end of the movable rod, and the limiting block is located in the movable groove. Two sets of oblique grooves are opened on both sides of the movable groove. Two sets of pins are installed on the limiting block, and the ends of the pins are located in the oblique grooves. Four sets of limiting holes are opened at equal intervals on the hinged tube for inserting the limiting block. Guided by the inclined groove, the pin will drive the limit block to move, causing the limit block to disengage from the current limit hole, thereby releasing the restriction on the position of the pull tube. At this time, the grip tube can be pushed, and the grip tube will drive the two sets of pull tubes to move into the hinge tube until the grip tube reaches the end of the hinge tube. Release the pressure head, and under the action of the spring rebound force, the limit block will be inserted into the other set of limit holes again, thereby realizing the retraction of the handle, so that the entire handle can be located on the seat body, avoiding the handle from obstructing maintenance personnel.

[0009] The beneficial effects of this invention are as follows: 1. The base is raised and lowered using a jack, which allows for the retraction and extension of the four sets of rollers. Extending the four sets of rollers facilitates short-distance relocation of the industrial robot by the operator, improving the efficiency of the robot's relocation. Retracting the four sets of rollers into the base ensures that the stability of the industrial robot is not affected.

[0010] 2. As the piston rod of the jack pushes the base body and the robotic arm upward, the base body will drive the four sets of fixed rods to move upward together. The fixed rods will drive the convex shaft to squeeze the inner wall of the slide groove, causing the receiving plate, along with the hinge shaft, flipping rod, and universal pulley, to move towards the second opening. This causes the universal pulley to flip out from the second opening until it contacts the ground. Because the four sets of universal pulleys are in contact with the ground, the support area of ​​the ground on the base is increased, thereby increasing the stability of the industrial robot during movement.

[0011] 3. After the slider can no longer move along the guide rail, press the two sets of pressure heads. The pressure heads push the movable rod to move along the inner cavity of the pull tube towards the slider, and the pressure heads compress the spring. At the same time, the end of the pin will slide along the inclined groove. Under the guidance of the inclined groove, the pin will drive the limit block to move, so that the limit block disengages from the current limit hole, thereby releasing the restriction on the position of the pull tube. At this time, the grip tube can be pushed. The grip tube drives the two sets of pull tubes to move into the hinge tube until the grip tube reaches the end of the hinge tube. Release the pressure head. Under the action of the spring rebound force, the limit block will be inserted into another set of limit holes again, thereby realizing the retraction of the handle, so that the entire handle can be located on the base, avoiding the handle from obstructing maintenance personnel. Secondly, there are four sets of limit holes on the hinge tube, which allows the operator to adjust the handle length according to different situations, which is beneficial for the operator to move the robot. Attached Figure Description

[0012] The invention will now be further described with reference to the accompanying drawings.

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0014] Figure 2 This is a schematic diagram of the combination of the robotic arm and the base in partial cross-section of the present invention.

[0015] Figure 3 This is a cross-sectional schematic diagram of the base of the present invention.

[0016] Figure 4 This is a schematic diagram of the base of the present invention.

[0017] Figure 5 This is a schematic diagram of the base handle assembly of the present invention.

[0018] Figure 6This is a partial cross-sectional schematic diagram of the assembly of the articulated tube, pull-out tube, gripping tube, and limiting mechanism of the present invention.

[0019] Figure 7 This is a schematic diagram of the combination of the movable rod and the limiting block of the present invention.

[0020] In the diagram: 1. Robotic arm; 2. Base; 3. Handle; 201. Seat; 2011. First opening; 2012. Second opening; 2013. Guide hole; 2014. Locking rod; 202. Movable plate; 2021. Mounting slot; 2022. Rectangular slot; 2023. Hinge slot; 203. Jack; 204. Roller; 205. Support frame; 2051. Hinge shaft; 2052. Flip bar; 2053. Universal pulley; 20 54. Receiving plate; 541. Slide groove; 2055. Fixing rod; 551. Convex shaft; 301. Hinge tube; 3011. Limiting hole; 302. Pull-out tube; 303. Grip tube; 304. Limiting mechanism; 305. Slider; 3051. Limiting groove; 306. Guide rail; 3041. Movable rod; 411. Movable groove; 412. Angled groove; 3042. Pressure head; 3043. Spring; 3044. Limiting block; 441. Pin. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments. Example

[0022] like Figure 1 and Figure 2 As shown in the embodiment of the present invention, a multi-joint industrial robot includes a robotic arm 1, which is fixedly mounted on a base 2. A handle 3 is provided on one side of the base 2. The base 2 includes a seat body 201. The robotic arm 1 is fixedly mounted on the seat body 201. A movable plate 202 is movably inserted into the seat body 201. A jack 203 is fixedly mounted in a mounting groove 2021 opened in the middle of the movable plate 202. The upper end of the jack 203 is fixedly connected to the seat body 201. Four sets of rollers 204 are rotatably mounted on the lower end of the movable plate 202. A rectangular groove 2022 is opened on one side of the movable plate 202. A first opening 2011 is opened on one side of the seat body 201. The first opening 2011 communicates with the mounting groove 2021 through the rectangular groove 2022.

[0023] Specifically, the robotic arm 1 has multiple degrees of freedom, including forward, backward, left, right, up, down, and rotational movements. Each degree of freedom corresponds to the movement of one joint. In the initial state, the base 201 is placed on the ground, and the four sets of rollers 204 are in contact with the ground. When a short-distance position transfer of the robot is required, the extended lever of the hand jack 203 is passed through the first opening 2011 and the rectangular slot 2022 until the end of the extended lever is inserted into the input lever of the jack 203. Then, the input lever is pressed back and forth by the extended lever, causing the piston rod of the jack 203 to push the base 201. Together with the robotic arm 1, the robot moves upward, causing the base 201 to detach from the ground. Then, by pushing or pulling the base 2 with the handle 3, the four sets of rollers 204 roll along the ground, thus transferring the position of the industrial robot. Compared with the existing technology, the base 201 is raised and lowered by the jack 203, thereby enabling the retraction and extension of the four sets of rollers 204. When the four sets of rollers 204 are extended, it is convenient for the operator to transfer the industrial robot to a short distance, improving the efficiency of the industrial robot's position transfer. When the four sets of rollers 204 are retracted into the base 201, it is ensured that the stability of the industrial robot is not affected.

[0024] like Figure 3 and Figure 4 As shown, each of the four corners of the movable plate 202 is provided with a support frame 205. The support frame 205 includes a hinge shaft 2051. The lower end of the flip rod 2052 is fixedly connected to the hinge shaft 2051. The upper end of the flip rod 2052 is fixedly installed with a universal pulley 2053. One end of each of the two sets of support plates 2054 is fixedly connected to the lower end of the flip rod 2052. A fixing rod 2055 is provided between the two sets of support plates 2054. The upper end of the fixing rod 2055 is fixedly connected to the base 2. The inner wall of 01 has hinge grooves 2023 at each of the four corners of the movable plate 202. Four sets of hinge shafts 2051 are respectively hinged in the four sets of hinge grooves 2023. The receiving plate 2054 has a sliding groove 541. The lower end of the fixed rod 2055 is provided with a convex shaft 551. The end of the convex shaft 551 is located in the sliding groove 541. The four corners of the seat 201 have second openings 2012. The four sets of second openings 2012 are respectively facing the four sets of hinge grooves 2023.

[0025] Specifically, during the upward movement of the piston rod of the aforementioned jack 203 pushing the seat 201 together with the robotic arm 1, the seat 201 will drive the four sets of fixed rods 2055 to move upward together. The fixed rods 2055 drive the convex shaft 551 to press the inner wall of the slide groove 541, causing the receiving plate 2054 together with the hinge shaft 2051, the flipping rod 2052, and the universal pulley 2053 to move towards the second opening 2012, causing the universal pulley 2053 to flip out from the second opening 2012 until the universal pulley 2053 contacts the ground. Since the four sets of universal pulleys 2053 are in contact with the ground, the support area of ​​the ground on the base 2 is increased, thereby increasing the stability of the industrial robot during the movement process. Example

[0026] like Figures 5 to 7 As shown in the comparative embodiment one, another embodiment of the present invention is as follows: the handle 3 includes two sets of guide rails 306, which are symmetrically fixedly installed on the base 201. The sliders 305 are slidably connected to the guide rails 306. The lower ends of the two sets of hinge tubes 301 are respectively hinged to the two sets of sliders 305. The upper end of the hinge tubes 301 is provided with a pull tube 302. The two ends of the grip tube 303 are respectively connected to the two sets of pull tubes 302. The upper end surface of the slider 305 is provided with a limiting groove 3051. The base 201 is symmetrically provided with two sets of guide holes 2013. The guide holes 2013 are inserted into the locking rods 2014, which are used to lock the limiting grooves 3051.

[0027] Specifically, handle 3 facilitates the handling of industrial robots by workers. However, the presence of handle 3 also hinders the operation of industrial robots, reducing the practicality of the device. Therefore, when the piston rod of jack 203 pushes the base 201 and the robotic arm 1 upward, the entire handle 3 will move upward along with the base 201 until the universal pulley 2053 contacts the ground. At this time, the upper end of the locking rod 2014 inserts into the limiting groove 3051 on the slider 305, thereby limiting the position of the entire handle 3. Then, by pushing or pulling the grip tube 3... 03. It can move the entire industrial robot. After the movement of the industrial robot is finished, the base 201 is lowered by the jack 203. At the same time, the upper end of the lever 2014 is disengaged from the limiting groove 3051, releasing the restriction on the position of the handle 3. Then, the grip tube 303 is pushed. The grip tube 303 drives the slider 305 to slide along the guide rail 306 through the pull tube 302 until the slider 305 can no longer move. At this time, most of the handle 3 is located on the base 201, removing the obstruction of the handle 3 to the operation of the industrial robot and improving the practicality of the device.

[0028] Furthermore, the pull-out tube 302 is movably inserted into the hinge tube 301. A limiting mechanism 304 is provided inside the pull-out tube 302. The limiting mechanism 304 includes a movable rod 3041, which is inserted into the pull-out tube 302. A pressure head 3042 is fixedly connected to the upper end of the movable rod 3041. A spring 3043 is sleeved on the upper end of the movable rod 3041. A limiting block 3044 is movably installed at the lower end of the movable rod 3041. 4. A movable pull-out tube 302 is connected to the movable rod 3041. A movable groove 411 is provided at the lower end of the movable rod 3041. A limiting block 3044 is located in the movable groove 411. Two sets of inclined grooves 412 are provided on both sides of the movable groove 411. Two sets of pins 441 are installed on the limiting block 3044. The ends of the pins 441 are located in the inclined grooves 412. Four sets of limiting holes 3011 are provided at equal intervals on the hinge tube 301. The limiting holes 3011 are used to insert the limiting block 3044.

[0029] Specifically, a portion of the aforementioned handle 3 is not located on the base 201. This portion obstructs the maintenance personnel from repairing the robot. After the slider 305 can no longer move along the guide rail 306, the two sets of pressure heads 3042 are pressed. The pressure heads 3042 push the movable rod 3041 to move along the inner cavity of the pull tube 302 towards the slider 305, and the pressure heads 3042 compress the spring 3043. At the same time, the end of the pin 441 slides along the inclined groove 412. Guided by the inclined groove 412, the pin 441 drives the limiting block 3044 to move, causing the limiting block 3044 to disengage from the current limiting hole 3011, thereby releasing the obstruction to the pull tube 302. With the position limited, the grip tube 303 can be pushed, which drives the two sets of pull tubes 302 to move into the hinge tube 301 until the grip tube 303 reaches the end of the hinge tube 301. Then, the pressure head 3042 is released, and under the rebound force of the spring 3043, the limiting block 3044 is inserted into another set of limiting holes 3011, thereby retracting the handle 3 so that the entire handle 3 can be located on the base 201, avoiding obstruction of maintenance personnel by the handle 3. In addition, the hinge tube 301 is provided with four sets of limiting holes 3011, which allows the staff to adjust the length of the handle 3 according to different situations, which is beneficial for the staff to move the robot.

[0030] Working principle: The extended force-saving lever, which is professionally matched with the hand jack 203, passes through the first opening 2011 and the rectangular slot 2022 until the end of the extended force-saving lever is inserted into the input lever of the jack 203. Then, by pressing the input lever back and forth with the extended force-saving lever, the piston rod of the jack 203 pushes the seat 201 and the robotic arm 1 upward, so that the seat 201 is separated from the ground. Then, by pushing or pulling the base 2 with the handle 3, the four sets of rollers 204 roll along the ground to realize the transfer of the industrial robot's position. As the piston rod of the jack 203 pushes the seat 201 and the mechanical arm 1 upward, the seat 201 will drive the four sets of fixed rods 2055 to move upward together. The fixed rods 2055 drive the convex shaft 551 to squeeze the inner wall of the slide groove 541, so that the receiving plate 2054, together with the hinge shaft 2051, the flipping rod 2052, and the universal pulley 2053, move towards the second opening 2012, so that the universal pulley 2053 flips out from the second opening 2012 until the universal pulley 2053 contacts the ground. Since the four sets of universal pulleys 2053 are in contact with the ground, the support area of ​​the ground on the base 2 is increased. When the piston rod of the jack 203 pushes the seat 201 and the robotic arm 1 upwards, the entire handle 3 moves upwards along with the seat 201 until the universal pulley 2053 contacts the ground. At this point, the upper end of the locking rod 2014 inserts into the limiting groove 3051 on the slider 305, thus limiting the position of the entire handle 3. Then, by pushing or pulling the grip tube 303, the entire industrial robot can be moved. After the movement of the industrial robot is finished, the seat 201 is lowered by the jack 203, and at the same time, the upper end of the locking rod 2014 disengages from the limiting groove 3051, releasing the limitation on the position of the handle 3. Then, the grip tube 303 is pushed, and the grip tube 303 drives the slider 305 to slide along the guide rail 306 through the pull tube 302 until the slider 305 can no longer move. Then, the two sets of pressure heads 3042 are pressed. Push the movable rod 3041 to move along the inner cavity of the pull tube 302 toward the slider 305, and the pressure head 3042 compresses the spring 3043. At the same time, the end of the pin 441 will slide along the inclined groove 412. Under the guidance of the inclined groove 412, the pin 441 will drive the limiting block 3044 to move, so that the limiting block 3044 disengages from the current limiting hole 3011, thereby releasing the position restriction of the pull tube 302. At this time, the grip tube 303 can be pushed. The grip tube 303 drives the two sets of pull tubes 302 to move toward the inside of the hinge tube 301 until the grip tube 303 reaches the end of the hinge tube 301. Release the pressure head 3042. Under the rebound force of the spring 3043, the limiting block 3044 is inserted into the other set of limiting holes 3011 again, thereby realizing the retraction of the handle 3, so that the entire handle 3 can be fully located on the seat 201.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-joint industrial robot, comprising a robotic arm (1), characterized in that: The robotic arm (1) is fixedly mounted on the base (2), and a handle (3) is provided on one side of the base (2). The base (2) includes: The robotic arm (1) is fixedly mounted on the base (201). A movable plate (202) is movably inserted into the base (201); Jack (203), the jack (203) is fixedly installed in the mounting groove (2021) opened in the middle of the movable plate (202), and the upper end of the jack (203) is fixedly connected to the base (201). The lower end of the movable plate (202) is rotatably equipped with four sets of rollers (204); A rectangular groove (2022) is provided on one side of the movable plate (202), and a first opening (2011) is provided on one side of the base (201). The first opening (2011) is connected to the mounting groove (2021) through the rectangular groove (2022).

2. The multi-joint industrial robot according to claim 1, characterized in that: The movable plate (202) is provided with support frames (205) at each of its four corners, and the support frames (205) include hinge shafts (2051). A flip rod (2052) is fixedly connected to the hinge shaft (2051) at its lower end. The upper end of the flip bar (2052) is fixedly equipped with a universal pulley (2053); Two sets of receiving plates (2054), one end of each set of receiving plates (2054) is fixedly connected to the lower end of the flip rod (2052); A fixing rod (2055) is provided between the two sets of receiving plates (2054), and the upper end of the fixing rod (2055) is fixedly connected to the inner wall of the seat (201).

3. A multi-joint industrial robot according to claim 2, characterized in that: The movable plate (202) has hinge slots (2023) at all four corners, and the four sets of hinge shafts (2051) are respectively hinged in the four sets of hinge slots (2023).

4. A multi-joint industrial robot according to claim 3, characterized in that: The receiving plate (2054) has a groove (541) and the lower end of the fixing rod (2055) is provided with a convex shaft (551), the end of the convex shaft (551) is located in the groove (541).

5. A multi-joint industrial robot according to claim 4, characterized in that: The base (201) has a second opening (2012) at each of its four corners, and the four sets of second openings (2012) are respectively aligned with the four sets of hinge slots (2023).

6. A multi-joint industrial robot according to claim 5, characterized in that: The handle (3) includes: Two sets of guide rails (306) are symmetrically fixedly installed on the base (201); The slider (305) is slidably connected to the guide rail (306); Two sets of hinge tubes (301), the lower ends of the two sets of hinge tubes (301) are respectively hinged to the two sets of sliders (305); The upper end of the hinge tube (301) is provided with a pull tube (302); The grip tube (303) is connected to two sets of pull tubes (302) at both ends.

7. A multi-joint industrial robot according to claim 6, characterized in that: The upper end face of the slider (305) is provided with a limiting groove (3051), and two sets of guide holes (2013) are symmetrically provided on the seat (201). The guide holes (2013) are connected to the locking rod (2014), and the locking rod (2014) is used to lock the limiting groove (3051).

8. A multi-joint industrial robot according to claim 7, characterized in that: The pull-out tube (302) is movably inserted into the hinge tube (301), and a limit mechanism (304) is provided inside the pull-out tube (302). The limit mechanism (304) includes: Movable rod (3041), which is inserted into the pull tube (302); The pressure head (3042) is fixedly connected to the upper end of the movable rod (3041); A spring (3043) is sleeved on the upper end of the movable rod (3041); A limiting block (3044) is movably installed at the lower end of the movable rod (3041), and the limiting block (3044) is movably inserted into the pull tube (302).

9. A multi-joint industrial robot according to claim 8, characterized in that: The movable rod (3041) has a movable groove (411) at its lower end. The limiting block (3044) is located in the movable groove (411). Two sets of inclined grooves (412) are provided on both sides of the movable groove (411). Two sets of pins (441) are installed on the limiting block (3044). The ends of the pins (441) are located in the inclined grooves (412).

10. A multi-joint industrial robot according to claim 9, characterized in that: The hinge tube (301) has four sets of limiting holes (3011) at equal intervals, and the limiting holes (3011) are used to insert the limiting block (3044).

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