Industrial robot arm

Abstract

The utility model relates to the technical field of robots, in particular to an industrial robot arm which comprises a mechanical arm body, a plurality of circular rails are fixedly arranged on the outer side surface of the mechanical arm body in a sleeved mode, a clamping rail is movably arranged at one end of each circular rail, a moving assembly is movably arranged in each circular rail, and each moving assembly comprises a bottom plate and a V-shaped plate. And the two V-shaped plates are symmetrically and fixedly installed on the surfaces of the two sides of the bottom plate, a second rotating shaft is rotationally connected to the middles of the two V-shaped plates, and first gears are fixedly installed on the surfaces of the two ends of the second rotating shaft. According to the utility model, when the industrial mechanical arm is used, along with the rotation of the mechanical arm, obstacles on the movement track of each section of joint can be automatically detected, so that a person is prevented from being impacted by the mechanical arm in operation when approaching the mechanical arm in an illegal operation manner, the injury of the mechanical arm to the person is reduced, and the potential safety hazard during the operation of the mechanical arm is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an industrial robot arm. Background Art

[0002] With the development of modern industry, the degree of automation in industrial production is getting higher and higher, and robotic arms are widely used in various fields of modern industry. Industrial robotic arms are mechanical and electronic devices with the functions of human arms, wrists and hands. They can move any object or tool according to the requirements of spatial posture, thereby completing the operation requirements of a certain industrial production.

[0003] When existing industrial robotic arms are in use, most of them have working areas planned around them to prevent people from getting close to the robotic arms when they are operating. However, operators often violate regulations and get close to the robotic arms when they are operating, and are hit by the operating robotic arms, which can easily cause safety accidents and have low safety. Utility Model Content

[0004] The purpose of the utility model is to provide an industrial robot arm to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An industrial robot arm comprises a robot body, wherein a plurality of circular rails are fixedly sleeved on the outer surface of the robot body, a clamping rail is movably provided at one end of the circular rail, a moving component is movably provided inside the circular rail, and the moving component comprises a base plate and a V-shaped plate, wherein two V-shaped plates are symmetrically fixedly mounted on the two side surfaces of the base plate, a No. 2 rotating shaft is rotatably connected in the middle of the two V-shaped plates, a No. 1 gear is fixedly mounted on both end surfaces of the No. 2 rotating shaft, a support frame is fixedly mounted on the upper surface of the base plate, and a sensor is fixedly mounted on the upper surface of the support frame.

[0007] Furthermore, gear rings are symmetrically fixedly installed on one side surface of the inner side of the circular rail and the clamping rail, and the first gear is movably meshed with the adjacent gear ring.

[0008] Furthermore, two ends of the two V-shaped plates are symmetrically rotatably connected to a first rotating shaft, two ends of the first rotating shaft are symmetrically rotatably connected to rollers, and a battery box is fixedly installed on the upper surface of the bottom plate.

[0009] Furthermore, a motor is fixedly mounted on the upper surface of the bottom plate, a No. 2 gear is fixedly mounted on the output end of the motor and the outer surface of the No. 2 rotating shaft, and the two No. 2 gears are movably meshed and connected.

[0010] Furthermore, hollow rings are fixedly installed on both side surfaces of the rail, hollow arc rods are movably embedded and installed at both ends of the hollow rings, and the hollow arc rods are slidably connected to the hollow rings.

[0011] Preferably: limit rings are symmetrically fixedly installed at both ends of the two side surfaces of the circular rail, the hollow arc rod passes through adjacent limit rings and is movably connected to the limit rings, a pull rod is fixedly installed on the outer surface of the hollow arc rod, and sliding grooves are symmetrically opened at both ends of the outer surface of the hollow circular ring.

[0012] Preferably, arc springs are symmetrically and movably provided at both ends of the hollow circular ring, and both ends of the arc spring are respectively fixedly connected to the hollow circular ring and the inner surface of one end of the hollow arc rod.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. The motor runs, and the transmission of the two No. 2 gears causes the No. 2 shaft to rotate, driving the No. 1 gear to move along the gear ring to adjust the position of the moving component. When the robot arm body is in use, as the robot arm body rotates, obstacles on the moving trajectory of each joint can be automatically detected to prevent personnel from being hit by the operating robot arm body when approaching the robot arm body in violation of regulations, thereby reducing the damage caused to personnel by the robot arm body and reducing safety hazards during the operation of the robot arm body.

[0015] 2. By sliding the two pull rods, the hollow arc rod is retracted into the hollow circular ring and separated from the limit ring, which makes it easy to disassemble the rail and the moving assembly for maintenance. Conversely, the rail is clamped at one end of the circular rail, and the arc spring pushes the hollow arc rod to extend outward and insert it into the limit ring to close the circular rail, making it easy to move the moving assembly to any position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 It is a schematic diagram of the overall structure of the round rail and the clamping rail in the utility model;

[0018] Figure 3 It is a schematic diagram of the cross-sectional structure of the connection between the circular rail and the moving assembly in the utility model;

[0019] Figure 4 It is a schematic diagram of the overall structure of the mobile component in the utility model;

[0020] Figure 5 It is a schematic diagram of the split structure of the connection between the round rail and the clamping rail in the utility model.

[0021] In the figure: 1. Robot arm body; 2. Circular rail; 201. Rail; 202. Hollow circular ring; 203. Arc spring; 204. Hollow arc rod; 205. Pull rod; 206. Slide groove; 207. Limiting ring; 208. Gear ring; 3. Moving assembly; 301. Bottom plate; 302. V-shaped plate; 303. Shaft No. 1; 304. Roller; 305. Shaft No. 2; 306. Gear No. 1; 307. Battery box; 308. Support frame; 309. Sensor; 4. Motor; 401. Gear No. 2. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] See also Figures 1 to 5 In an embodiment of the utility model, an industrial robot arm includes a robot body 1, a plurality of circular rails 2 are fixedly sleeved on the outer surface of the robot body 1, a clamping rail 201 is movably provided at one end of the circular rail 2, a moving component 3 is movably provided inside the circular rail 2, and the moving component 3 includes a base plate 301 and a V-shaped plate 302, two V-shaped plates 302 are symmetrically fixedly installed on the two side surfaces of the base plate 301, a second rotating shaft 305 is rotatably connected in the middle of the two V-shaped plates 302, a No. 1 gear 306 is fixedly installed on both end surfaces of the No. 2 rotating shaft 305, a support frame 308 is fixedly installed on the upper surface of the base plate 301, and a sensor 309 is fixedly installed on the upper surface of the support frame 308.

[0024] Specifically, the mobile component 3 moves inside the circular track 2 and the clamping rail 201, and adjusts the position of the sensor 309 so that the sensor 309 senses obstacles at different positions. After detecting an obstacle, the robot arm is controlled to stop working, thereby preventing people from being hit by the robot arm.

[0025] Embodiment 1

[0026] like Figure 3 and 4 As shown, in this embodiment, a gear ring 208 is symmetrically fixedly installed on the inner surface of one side of the circular rail 2 and the clamping rail 201, and a No. 1 gear 306 is movably meshed with the adjacent gear ring 208; two V-shaped plates 302 are symmetrically rotatably connected to a No. 1 rotating shaft 303 at both ends, and rollers 304 are symmetrically rotatably connected to both ends of the No. 1 rotating shaft 303, and a battery box 307 is fixedly installed on the upper surface of the bottom plate 301.

[0027] In this embodiment, for the sake of clarity of description, the example is taken in which both ends of the No. 1 rotating shaft 303 are symmetrically connected to the roller 304 for rotation. The roller 304 presses against the inner wall of the circular rail 2, and the No. 1 gear 306 presses against the ring gear 208, thereby fixing the position of the moving component 3 and improving the stability of the moving component 3 when it is not moving.

[0028] like Figure 4 As shown, in this embodiment, the motor 4 is fixedly mounted on the upper surface of the bottom plate 301 , and the second gear 401 is fixedly mounted on the output end of the motor 4 and the outer surface of the second rotating shaft 305 , and the two second gears 401 are movably meshed and connected.

[0029] During specific implementation, the motor 4 runs, and through the transmission of the two No. 2 gears 401, the No. 2 rotating shaft 305 rotates, driving the No. 1 gear 306 to move along the ring gear 208, and adjusting the position of the moving component 3, so that when the robot arm body 1 is in use, as the robot arm body 1 rotates, obstacles on the moving trajectory of each joint can be automatically detected to prevent personnel from being hit by the operating robot arm body 1 when approaching the robot arm body 1 in violation of regulations, thereby reducing the damage caused to personnel by the robot arm body 1 and reducing the safety hazards during the operation of the robot arm body 1.

[0030] Embodiment 2

[0031] On the basis of the first embodiment, in order to solve the problem that the moving assembly 3 in the first embodiment moves inside the circular track 2 and is not easy to disassemble.

[0032] like Figure 2 and 5 As shown, in this embodiment, hollow circular rings 202 are fixedly installed on the surfaces of both sides of the rail 201, and hollow arc rods 204 are movably embedded and installed at both ends of the hollow circular ring 202, and the hollow arc rods 204 are slidingly connected to the hollow circular ring 202; limiting rings 207 are symmetrically fixedly installed at both ends of the surfaces of both sides of the circular rail 2, the hollow arc rods 204 penetrate the adjacent limiting rings 207 and are movably connected to the limiting rings 207, and pull rods 205 are fixedly installed on the outer surface of the hollow arc rods 204, and sliding grooves 206 are symmetrically opened at both ends of the outer surface of the hollow circular ring 202; arc springs 203 are symmetrically and movably provided at both ends of the interior of the hollow circular ring 202, and the two ends of the arc spring 203 are respectively fixedly connected to the inner surface of the hollow circular ring 202 and one end of the hollow arc rod 204.

[0033] During the specific implementation, by sliding the two pull rods 205, the hollow arc rod 204 is retracted into the hollow circular ring 202 to separate it from the limiting ring 207, so as to facilitate the disassembly of the rail 201 and the disassembly of the moving component 3 for inspection and maintenance. Conversely, the rail 201 is clamped at one end of the circular rail 2, and the arc spring 203 pushes the hollow arc rod 204 to extend outward and insert it into the limiting ring 207, so that the circular rail 2 is closed, which facilitates the moving component 3 to move to any position.

[0034] In the present invention, in order to facilitate the operator to control the present invention, a PLC controller can be set up, and the sensor 309 and the motor 4 are electrically connected to the PLC controller to automatically adjust the position of the moving component 3. The PLC controller is a prior art and will not be described in detail here.

[0035] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0036] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An industrial robot arm, comprising a robot arm body (1), It is characterized in that A plurality of circular rails (2) are fixedly sleeved on the outer surface of the robot arm body (1), a clamping rail (201) is movably provided at one end of the circular rail (2), a moving assembly (3) is movably provided inside the circular rail (2), and the moving assembly (3) comprises a base plate (301) and a V-shaped plate (302), two V-shaped plates (302) are symmetrically fixedly installed on the two side surfaces of the base plate (301), a second rotating shaft (305) is rotatably connected between the two V-shaped plates (302), a first gear (306) is fixedly installed on both end surfaces of the second rotating shaft (305), a support frame (308) is fixedly installed on the upper surface of the base plate (301), and a sensor (309) is fixedly installed on the upper surface of the support frame (308).

2. An industrial robot arm according to claim 1, It is characterized in that Gear rings (208) are symmetrically fixedly mounted on one side surface of the inner side of the circular rail (2) and the clamping rail (201), and the first gear (306) is movably meshed with the adjacent gear ring (208).

3. An industrial robot arm according to claim 1, It is characterized in that The two V-shaped plates (302) are symmetrically rotatably connected to a first rotating shaft (303) at both ends, and rollers (304) are symmetrically rotatably connected to both ends of the first rotating shaft (303). A battery box (307) is fixedly mounted on the upper surface of the bottom plate (301).

4. An industrial robot arm according to claim 1, It is characterized in that A motor (4) is fixedly mounted on the upper surface of the bottom plate (301), and a second gear (401) is fixedly mounted on the output end of the motor (4) and the outer surface of the second rotating shaft (305), and the two second gears (401) are movably meshed and connected.

5. The industrial robot arm according to claim 1, It is characterized in that Hollow circular rings (202) are fixedly mounted on both side surfaces of the clamping rail (201), and hollow arc-shaped rods (204) are movably embedded and mounted on both ends of the hollow circular ring (202), and the hollow arc-shaped rods (204) are slidably connected to the hollow circular ring (202).

6. An industrial robot arm according to claim 5, It is characterized in that The circular rail (2) has limit rings (207) symmetrically fixedly installed at both ends of the two side surfaces, the hollow arc rod (204) passes through adjacent limit rings (207) and is movably connected to the limit rings (207), a pull rod (205) is fixedly installed on the outer surface of the hollow arc rod (204), and sliding grooves (206) are symmetrically provided at both ends of the outer surface of the hollow circular ring (202).

7. An industrial robot arm according to claim 5, It is characterized in that Arc springs (203) are symmetrically and movably provided at both ends of the hollow circular ring (202), and the two ends of the arc spring (203) are respectively fixedly connected to the inner surface of the hollow circular ring (202) and one end of the hollow arc rod (204).

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