Multi-degree-of-freedom industrial mechanical arm

Abstract

The multi-degree-of-freedom industrial mechanical arm comprises a base, the base is rotationally connected with a supporting arm, the supporting arm is rotationally connected with a large arm, the large arm is connected with a small arm through a first ball joint, the small arm is detachably connected with a connecting arm, and the connecting arm is connected with a rotating arm through a second ball joint. The rotating arm is rotationally connected with a clamp, and the clamp is connected with a fixed clamping jaw and a movable clamping jaw which can clamp a workpiece. And the controller is used for controlling the mechanical arm to work. The device is convenient to operate and has multiple degrees of freedom, meanwhile, the mechanical arm is more flexible, the grabbing range of the mechanical arm can be effectively increased, the safety performance is high, and the damage degree of the mechanical arm under the sudden load change condition can be effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom industrial mechanical arm. Background Art

[0002] The robot arm can move any object or tool according to the time-varying requirements of spatial position (position and posture) to complete the operation requirements of a certain industrial production. The industrial robot arm has the advantages of high efficiency, good stability, high repeatability, and the ability to operate in high-risk environments.

[0003] Existing industrial robotic arms generally grasp by cooperating with the robotic arm and the end effector, but the robotic arm has insufficient extension height, limited rotation angle, and is not convenient to use. There are dead corners that are difficult for the robotic arm to reach, which reduces the use range of the robot. In addition, the robotic arm may be damaged in the event of sudden load changes, reducing its service life and prone to safety problems. Utility Model Content

[0004] In order to solve the problems existing in the above-mentioned prior art, a multi-degree-of-freedom industrial robot arm is provided. The device is easy to operate, has multiple degrees of freedom, and the robot arm is more flexible, which can effectively increase the grasping range of the robot arm, and has high safety performance, which can effectively reduce the damage degree of the robot arm under load mutation conditions.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] The utility model proposes a multi-freedom industrial robot arm, comprising a base, the base is rotatably connected to a support arm, the support arm is rotatably connected to a large arm, the large arm is connected to a small arm through a first ball joint, the small arm is detachably connected to a connecting arm, the connecting arm is connected to a rotating arm through a second ball joint; the rotating arm is rotatably connected to a clamp, the clamp is connected to a fixed clamp and a movable clamp for clamping a workpiece; and also includes a controller for controlling the operation of the robot arm.

[0007] Preferably, the base is fixedly connected with a first motor which can drive the support arm to rotate, the first motor is connected to the support arm, and the first motor is connected to the controller.

[0008] Preferably, the support arm is rotatably connected to a lead screw arranged in a vertical direction, the lead screw is cooperated with a nut, the nut is hinged to an auxiliary arm, and the other end of the auxiliary arm is hinged to the large arm.

[0009] Preferably, the support arm is fixedly connected to a second motor capable of driving a lead screw to rotate, the lead screw is connected to the second motor, the second motor is connected to the controller, and the nut is slidably connected to the support arm.

[0010] Preferably, the clamp is rotatably connected to a clamping screw rod, the clamping screw rod is matched with a clamping nut, the clamping nut is slidably connected to the clamp, and the clamping nut is rotatably connected via a rotating shaft and a movable clamping claw.

[0011] Preferably, the clamp is fixedly connected to a fourth motor capable of driving the clamping screw to rotate, and the clamp is also fixedly connected to a third motor capable of driving the movable clamping jaw to rotate around the rotating shaft, and the third motor and the fourth motor are both connected to the controller.

[0012] Preferably, the rotating arm is connected to a third cylinder, the third cylinder is connected to a moving rod, the moving rod is fixedly connected to a slider, the clamp is coaxially fixedly connected to a barrel cam, the barrel cam has a slide groove, the slider is slidably arranged in the slide groove, and the third cylinder is connected to the controller.

[0013] Preferably, the upper arm is connected to a first cylinder, the first cylinder is hinged with a connecting rod, the other end of the connecting rod is hinged with a first joint rod, the first joint rod is fixedly connected to the lower arm, the first joint rod is slidingly connected to the first ball joint, and the first cylinder is connected to the controller.

[0014] Preferably, the connecting arm is connected to a second cylinder, the second cylinder is hinged with a connecting rod, the other end of the connecting rod is hinged with a second joint rod, the second joint rod is fixedly connected to the rotating arm, the second joint rod is slidingly connected to the second ball joint, and the second cylinder is connected to the controller.

[0015] Preferably, a bracket for supporting the forearm is provided in the forearm, a splint for clamping the bracket and an electromagnetic suction cup for adsorbing the bracket are connected in the forearm, the forearm is connected with a torque sensor for detecting the load, and the electromagnetic suction cup and the torque sensor are both connected to the controller.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] 1. The utility model increases the height of the device by setting a support arm, and sets an auxiliary arm mechanism, utilizes a lead screw to drive the nut to move, thereby driving the auxiliary arm to move up and down to realize the angle change of the upper arm. The forward rotation of the motor raises the upper arm, and the reverse rotation of the motor lowers the upper arm. The lead screw can stably and accurately realize position control during the movement, thereby ensuring good posture stability and high movement accuracy of the mechanical arm, and improving the extension height and grasping range of the mechanical arm.

[0018] 2. The utility model is provided with a first and a second ball joint. The synchronous telescopic movement of the first and the second cylinder can drive the forearm to move around the upper arm, and the rotating arm to move around the connecting arm, so as to realize the spatial angle change. It can drive the up, down, left and right angle changes of the forearm and the rotating arm in a non-horizontal plane. The rotation angle of the mechanical arm is flexible and changeable, which effectively improves the flexibility of the device and reduces the dead angle of grasping.

[0019] 3. The utility model is provided with a bracket to protect against the flying car phenomenon caused by sudden load changes. When the torque sensor detects an abnormal load, the running speed of the mechanical arm is reduced, and the electromagnetic suction cup is energized to generate magnetic force to adsorb the bracket. At the same time, the splint is loosened, and the bracket is extended to the ground. The mechanical arm remains in a horizontal and straight state, which reduces the occurrence of damage to the mechanical arm and reduced service life due to sudden load changes, and improves the safety and stability of the device.

[0020] 4. The utility model is provided with a clamping screw rod, and the rotation of the clamping screw rod can drive the clamping nut to move, and the clamping nut can drive the movable clamping claw to move. At the same time, the motor can drive the movable clamping claw to rotate around the rotating shaft, so as to realize flexible clamping of the workpiece. The anti-slip pad can play an anti-slip role and improve the stability when clamping the workpiece. Through the transmission mode of the screw rod, the clamping transmission can be made smoother and the clamping accuracy is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 It is an overall stereogram of the utility model;

[0023] Figure 2 This is a three-dimensional diagram of the entire utility model (with the bracket extended);

[0024] Figure 3 yes Figure 1 Schematic diagram of the structure of the middle auxiliary arm;

[0025] Figure 4 yes Figure 1 A schematic diagram of the structure of the first ball joint;

[0026] Figure 5 yes Figure 1 Schematic diagram of the structure of the middle and lower arm;

[0027] Figure 6 yes Figure 1 Schematic diagram of the structure of the middle rotating arm:

[0028] Figure 7 yes Figure 1 Schematic diagram of the structure of the middle fixture.

[0029] Description of reference numerals:

[0030] 1 base; 2 first motor; 3 support arm; 31 second motor; 32 lead screw; 33 nut; 4 auxiliary arm; 5 connecting seat; 6 upper arm; 61 first cylinder; 62 first ball joint; 63 first joint rod; 7 connecting arm; 71 second cylinder; 72 second ball joint; 73 second joint rod; 8 small arm; 81 bracket motor; 82 baffle motor; 83 clamping plate motor; 84 torque sensor; 85 baffle; 86 bracket; 87 support leg; 88 clamping plate; 89 electromagnetic suction cup; 9 rotating arm; 91 third cylinder; 92 moving rod; 93 barrel cam; 94 slider; 10 clamp; 11 conveyor belt; 12 third motor; 13 fourth motor; 14 fixed jaw; 15 movable jaw; 16 anti-slip pad; 17 rotating shaft; 18 clamping nut; 19 clamping screw rod. DETAILED DESCRIPTION

[0031] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0032] Embodiment 1

[0033] like Figure 1-Figure 7 As shown, this embodiment proposes a multi-degree-of-freedom industrial robot arm, including a base 1, a conveyor belt 11 for conveying workpieces is arranged on one side of the base 1, the base 1 is rotatably connected to a support arm 3, the base 1 is fixedly connected to a first motor 2 that can drive the support arm 3 to rotate, the first motor 2 is connected to the support arm 3, and also includes a controller for controlling the operation of the robot arm, the first motor 2 is connected to the controller, and the height of the device is increased by setting the support arm 3, so as to facilitate clamping of the workpiece.

[0034] The top of the support arm 3 is fixedly connected to a connecting seat 5, and the connecting seat 5 is rotatably connected to a large arm 6. The large arm 6 is connected to a small arm 8 through a first ball joint 62, and the small arm 8 is detachably connected to a connecting arm 7, and the connecting arm 7 is connected to a rotating arm 9 through a second ball joint 72; the rotating arm 9 is rotatably connected to a clamp 10, and the clamp 10 is connected to a fixed clamp 14 and a movable clamp 15 that can clamp a workpiece. The connecting arm 7 can be detachably connected to the small arm 8 through bolts, and the small arm 8 can be disassembled according to actual needs. When the small arm 8 is not provided, the large arm 6 is directly connected to the connecting arm 7 through the first ball joint 62.

[0035] The support arm 3 is rotatably connected to a lead screw 32 arranged in the vertical direction, and the lead screw 32 is matched with a nut 33. The nut 33 is hinged to an auxiliary arm 4, and the other end of the auxiliary arm 4 is hinged to the main arm 6. When the nut 33 reciprocates in the vertical direction, the main arm 6 can be driven to rotate around the support arm 3 through the auxiliary arm 4.

[0036] The support arm 3 is fixedly connected with a second motor 31 which can drive the lead screw 32 to rotate. The lead screw 32 is connected to the second motor 31 , the second motor 31 is connected to the controller, and the nut 33 is slidably connected to the support arm 3 , so that the nut 33 can only move in the vertical direction.

[0037] By setting up the auxiliary arm 4 mechanism, the screw 32 is used to drive the nut 33 to move, thereby driving the auxiliary arm 4 to move up and down to achieve the angle change of the upper arm 6. The second motor 31 rotates forward to raise the upper arm 6, and the second motor 31 rotates reversely to lower the upper arm 6. The screw 32 can stably and accurately realize position control during the movement, thereby ensuring the good posture stability and high movement accuracy of the robot arm, and improving the extension height and grasping range of the robot arm.

[0038] The clamp 10 is rotatably connected to a clamping screw rod 19, and the clamping screw rod 19 is cooperated with a clamping nut 18. The clamping nut 18 and the clamp 10 are slidably connected, and the clamping nut 18 is rotatably connected to the movable clamping jaw 15 through a rotating shaft 17. The clamping nut 18 and the rotating shaft 17 are rotatably connected, and the rotating shaft 17 and the movable clamping jaw 15 are fixedly connected, and the movable clamping jaw 15 can rotate around the rotating shaft 17.

[0039] The clamp 10 is fixedly connected to a fourth motor 13 that can drive the clamping screw 19 to rotate. The fourth motor 13 is connected to the clamping screw 19. The clamp 10 is also fixedly connected to a third motor 12 that can drive the movable clamping jaw 15 to rotate around a rotating shaft 17. The third motor 12 is connected to the rotating shaft 17. The third motor 12 can drive the rotating shaft 17 to rotate. Both the third motor 12 and the fourth motor 13 are connected to a controller.

[0040] The fixed jaw 14 is fixedly connected to the clamp 10, and anti-skid pads 16 are arranged on the inner sides of the fixed jaw 14 and the movable jaw 15. The rotation of the clamping screw 19 can drive the clamping nut 18 to move, and the clamping nut 18 can drive the movable jaw 15 to move. At the same time, the third motor 12 can drive the movable jaw 15 to rotate around the rotating shaft 17, so as to realize flexible clamping of the workpiece. The anti-skid pad 16 can play an anti-skid role and improve the stability when clamping the workpiece. The transmission mode of the screw can make the clamping transmission more stable and improve the clamping accuracy.

[0041] The rotating arm 9 is connected to a third cylinder 91, and the third cylinder 91 is connected to a moving rod 92. The moving rod 92 can only slide back and forth in the horizontal direction. The moving rod 92 is fixedly connected to a slider 94. The clamp 10 is coaxially fixedly connected to a barrel cam 93. The barrel cam 93 and the rotating arm 9 are rotatably connected. The barrel cam 93 is provided with a slide groove, and the slide groove 94 is slidably set in the slide groove. The third cylinder 91 is connected to the controller. When the slider 94 moves in the horizontal direction, it can drive the barrel cam 93 to rotate, thereby driving the clamp 10 to rotate.

[0042] The upper arm 6 is connected to the first cylinder 61, the first cylinder 61 is hinged with a connecting rod, the other end of the connecting rod is hinged with a first joint rod 63, the first joint rod 63 and the lower arm 8 are fixedly connected, the first joint rod 63 and the first ball joint 62 are slidably connected, the first cylinder 61 is connected to the controller, and the connecting rod is set to prevent jamming.

[0043] The first ball joint 62 includes a first ball sleeve and a first sphere. The first ball sleeve is fixedly connected to the upper arm 6. The first sphere and the first ball sleeve are movably connected. The first sphere can move arbitrarily in the first ball sleeve. When the first cylinder 61 drives the connecting rod to move, the forearm 8 can be driven to move through the first joint rod 63. At this time, the forearm 8 moves around the upper arm 6.

[0044] The connecting arm 7 is connected to the second cylinder 71, the second cylinder 71 is hinged with a connecting rod, the other end of the connecting rod is hinged with a second joint rod 73, the second joint rod 73 and the rotating arm 9 are fixedly connected, the second joint rod 73 and the second ball joint 72 are slidably connected, the second cylinder 71 is connected to the controller, and the setting of the connecting rod can prevent jamming.

[0045] The second ball joint 72 includes a second ball sleeve and a second sphere. The second ball sleeve and the connecting arm 7 are fixedly connected. The second sphere and the second ball sleeve are movably connected. The second sphere can move arbitrarily in the second ball sleeve. When the second cylinder 71 drives the connecting rod to move, the rotating arm 9 can be driven to move through the second joint rod 73. At this time, the rotating arm 9 moves around the connecting arm 7.

[0046] Embodiment 2

[0047] Reference Figure 1-Figure 7 , other structures are the same as those in the first embodiment, except that, in this embodiment, the protection problem when a sudden load change occurs is taken into consideration.

[0048] A bracket 86 for supporting the forearm 8 is provided in the forearm 8, a clamp 88 for clamping the bracket 86 and an electromagnetic suction cup 89 for adsorbing the bracket 86 are connected in the forearm 8, a torque sensor 84 for detecting the load is connected to the forearm 8, and both the electromagnetic suction cup 89 and the torque sensor 84 are connected to the controller.

[0049] The forearm 8 is rotatably connected to a baffle 85 that can hold the bracket 86, and the forearm 8 is fixedly connected to a baffle motor 82 that can drive the baffle 85 to rotate. The baffle motor 82 can drive the baffle 85 to rotate, so that the baffle 85 opens. At this time, when the clamp 88 no longer clamps the bracket 86, the bracket 86 can fall freely to the ground to achieve protection. The baffle motor 82 is connected to the controller.

[0050] The forearm 8 is connected to a bracket motor 81, which can drive the bracket 86 to extend. The bracket 86 can be connected to a mechanism that converts rotational motion into linear motion. Through this mechanism, the rotational force of the bracket motor 81 is converted into linear motion for the extension of the bracket 86, and the extension length of the bracket 86 depends on the height of the forearm 8 at this time. The higher the height of the forearm 8, the longer the controller controls the bracket motor 81 to work, so that the bracket 86 can be extended to a sufficient length, thereby facilitating the support of the forearm 8.

[0051] In addition, the bracket motor 81 can also be replaced with a spring. In this case, when the bracket 86 is located in the forearm 8, the spring is in a compressed state, so that the bracket 86 is stored. When the bracket 8 is rotated outward to support the forearm 8, the bracket 86 can be driven to extend under the action of the spring. After the bracket 86 contacts the ground, the forearm 8 is supported.

[0052] In order to facilitate the movement of the bracket 86, the upper end of the bracket 86 can rotate with the forearm 8. When the bracket 86 rotates to a vertical state, the electromagnetic suction cup 89 can adsorb the upper end of the bracket 86. When the bracket 86 rotates to a vertical state, the electromagnetic suction cup 89 cooperates with the upper end of the bracket 86, thereby facilitating the overall stability of the bracket 86.

[0053] The lower end of the bracket 86 is also rotatably connected to a plurality of legs 87, and the bracket 86 is slidably connected to a slider, the slider is hinged to a connecting rod, and the other end of the connecting rod is hinged to the legs 87. When the bracket 86 descends, the plurality of legs 87 are spread open to support the bracket 86. By means of multi-point support, the supporting effect of the bracket 86 on the forearm 8 is improved.

[0054] The small arm 8 is also connected to a clamping plate motor 83 that can drive the clamping plate 88 to move. The clamping plate motor 83 is connected to a controller. The clamping plate motor 83 can control the movement of the clamping plate 88, thereby clamping the bracket 86.

[0055] The bracket 86 can protect against the flying car phenomenon caused by sudden load changes. When the torque sensor 84 detects an abnormal load, the running speed of the robot arm is reduced, and the electromagnetic suction cup 89 is energized to generate magnetic force to attract the bracket 86. At the same time, the splint 88 is loosened, and the bracket 86 is extended straight to the ground. The robot arm remains in a horizontal and straight state, which reduces the occurrence of damage to the robot arm and reduced service life due to sudden load changes, and improves the safety and stability of the device.

[0056] Embodiment 3

[0057] Reference Figure 1-Figure 7 , other structures are the same as those in the first embodiment, except that the rotation problem of the ball joint is taken into consideration in this embodiment.

[0058] Three first cylinders 61 can be provided, and the three first cylinders 61 are all fixedly connected to the upper arm 6. The first cylinder 61 includes three first piston rods, and the three first piston rods are respectively hinged to the first joint ball 62. The first joint ball 62 is fixedly connected to the first joint rod 63, and the first joint rod 63 is fixedly connected to the forearm 8.

[0059] Three second cylinders 71 can be provided, and the three second cylinders 71 are all fixedly connected to the connecting arm 7. The second cylinder 71 includes three second piston rods, and the three second piston rods are respectively hinged to the second joint ball 72. The second joint ball 72 is fixedly connected to the second joint rod 73, and the second joint rod 73 is fixedly connected to the rotating arm 9.

[0060] The first cylinder 61 and the second cylinder 71 are both connected to a controller, which can control the three first piston rods and the second piston rods to move to different lengths. When the lengths are different, the first joint ball 62 and the second joint ball 72 can be driven to move, thereby realizing the rotation of the small arm 8 and the rotating arm 9. In this way, the rotation of the small arm 8 and the rotating arm 9 can be made more flexible and more accurate.

[0061] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A multi-degree-of-freedom industrial robot arm, comprising a base (1), It is characterized in that The base (1) is rotatably connected to a support arm (3), the support arm (3) is rotatably connected to a large arm (6), the large arm (6) is connected to a small arm (8) via a first ball joint (62), the small arm (8) is detachably connected to a connecting arm (7), the connecting arm (7) is connected to a rotating arm (9) via a second ball joint (72); the rotating arm (9) is rotatably connected to a clamp (10), the clamp (10) is connected to a fixed clamp (14) and a movable clamp (15) for clamping a workpiece; and a controller for controlling the operation of the mechanical arm is also included.

2. A multi-degree-of-freedom industrial robot arm according to claim 1, It is characterized in that The base (1) is fixedly connected to a first motor (2) capable of driving the support arm (3) to rotate; the first motor (2) is connected to the support arm (3); and the first motor (2) is connected to the controller.

3. The multi-degree-of-freedom industrial robot arm according to claim 1, It is characterized in that The support arm (3) is rotatably connected to a lead screw (32) arranged in a vertical direction, the lead screw (32) is matched with a nut (33), the nut (33) is hinged to an auxiliary arm (4), and the other end of the auxiliary arm (4) is hinged to the large arm (6).

4. A multi-degree-of-freedom industrial robot arm according to claim 3, It is characterized in that The support arm (3) is fixedly connected to a second motor (31) capable of driving a lead screw (32) to rotate; the lead screw (32) is connected to the second motor (31); the second motor (31) is connected to the controller; and the nut (33) is slidably connected to the support arm (3).

5. The multi-degree-of-freedom industrial robot arm according to claim 1, It is characterized in that The clamp (10) is rotatably connected to a clamping screw rod (19), and the clamping screw rod (19) is matched with a clamping nut (18). The clamping nut (18) and the clamp (10) are slidably connected, and the clamping nut (18) is rotatably connected via a rotating shaft (17) and a movable clamping claw (15).

6. A multi-degree-of-freedom industrial robot arm according to claim 5, It is characterized in that The clamp (10) is fixedly connected to a fourth motor (13) capable of driving a clamping screw (19) to rotate. The clamp (10) is also fixedly connected to a third motor (12) capable of driving a movable clamping jaw (15) to rotate around a rotating shaft (17). Both the third motor (12) and the fourth motor (13) are connected to the controller.

7. The multi-degree-of-freedom industrial robot arm according to claim 1, It is characterized in that The rotating arm (9) is connected to a third cylinder (91), the third cylinder (91) is connected to a moving rod (92), the moving rod (92) is fixedly connected to a slider (94), the clamp (10) is coaxially fixedly connected to a barrel cam (93), the barrel cam (93) is provided with a slide groove, the slider (94) is slidably arranged in the slide groove, and the third cylinder (91) is connected to the controller.

8. The multi-degree-of-freedom industrial robot arm according to claim 1, It is characterized in that The upper arm (6) is connected to a first cylinder (61), the first cylinder (61) is hinged to a connecting rod, the other end of the connecting rod is hinged to a first joint rod (63), the first joint rod (63) and the lower arm (8) are fixedly connected, the first joint rod (63) and the first ball joint (62) are slidably connected, and the first cylinder (61) is connected to the controller.

9. The multi-degree-of-freedom industrial robot arm according to claim 1, It is characterized in that The connecting arm (7) is connected to a second cylinder (71), the second cylinder (71) is hinged to a connecting rod, the other end of the connecting rod is hinged to a second joint rod (73), the second joint rod (73) and the rotating arm (9) are fixedly connected, the second joint rod (73) and the second ball joint (72) are slidably connected, and the second cylinder (71) is connected to the controller.

10. The multi-degree-of-freedom industrial robot arm according to claim 1, It is characterized in that The forearm (8) is provided with a bracket (86) capable of supporting the forearm (8), the forearm (8) is connected with a clamping plate (88) capable of clamping the bracket (86) and an electromagnetic suction cup (89) capable of adsorbing the bracket (86), the forearm (8) is connected with a torque sensor (84) capable of detecting a load, and the electromagnetic suction cup (89) and the torque sensor (84) are both connected to the controller.

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