Industrial robot arm angle adjusting device

Abstract

The utility model discloses an industrial robot arm angle adjusting device, which relates to the technical field of industrial robots and comprises a mounting seat, a coarse adjusting unit and a fine adjusting unit. The mounting seat is a square plate body; the coarse adjustment unit comprises an electric rotating disc, clamping blocks, a connecting insertion block, a first motor, a movable shaft and a main movable arm, the electric rotating disc is fixedly installed at the upper end of the installation base, and the left clamping block and the right clamping block are symmetrically distributed at the upper end of the electric rotating disc; the fine adjustment unit is installed at the joint of every two adjacent movable joints. The robot arm has the multiple adjusting effect on the angle of the robot arm, all the stages of movable arms are matched with one another, the working range of the robot is expanded, the electric clamping jaw can be controlled to grab farther goods, the connecting mode of every two adjacent arm bodies is refined, the arm of the robot moves more flexibly, and the working efficiency of the robot is improved. Goods can be grabbed and moved more conveniently, and the manipulator is suitable for heavy industrial goods.

Description

Technical Field

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

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals; the arm is an important structural component of industrial robots and is a functional component for performing cargo grabbing and moving operations;

[0003] In the prior art, some industrial robots have fewer arms and simpler structures, which limits their movement directions and limits the coverage of their arms. In addition, the connection and movement between the arms are not flexible and reliable enough, making it impossible to move goods flexibly. It is difficult to grab and move heavier goods. Therefore, we propose an industrial robot arm angle adjustment device. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the existing defects and provide an industrial robot arm angle adjustment device, which has multiple adjustment effects on the robot arm angle. The movable arms at various levels cooperate with each other to expand the working range of the robot, so that the electric gripper can be controlled to grab goods farther away, and by refining the connection method of two adjacent arm bodies, the robot arm can be more flexible and more convenient to grab and move goods. It is also suitable for heavier industrial goods and can effectively solve the problems in the background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an industrial robot arm angle adjustment device, comprising a mounting seat, a coarse adjustment unit and a fine adjustment unit;

[0006] Mounting seat: It is a square plate with a fixing bolt installed at each of the four corners;

[0007] Coarse adjustment unit: comprising an electric turntable, a clamping block, a connecting plug-in block, a motor 1, a movable shaft and a main movable arm, the upper end of the mounting seat is fixedly mounted with an electric turntable, the upper end of the electric turntable is symmetrically distributed with two clamping blocks on the left and right, the clamping block is fixedly connected to the upper end of the electric turntable, and a connecting plug-in block is movably connected inside the two clamping blocks through a movable shaft, the oblique upper end of the connecting plug-in block is fixedly connected to the oblique lower end of the main movable arm, the main movable arm is provided with a chip and a processor inside, the outer side of the clamping block is fixedly mounted with a motor 1, and the output shaft of the motor 1 is fixedly connected to the end of the movable shaft through a coupling;

[0008] Fine adjustment unit: installed at the connection between two adjacent movable joints.

[0009] The fixing bolts are used to fix the mounting base to the external frame, so as to install the industrial robot at the designated position on the assembly line. The electric turntable is used to install the clamping block. The connecting plug block is used to fix the main movable arm. The chip and processor inside the main movable arm are used to support the intelligent operation of the industrial robot. The connecting plug block is movably connected to the clamping blocks on both sides through a movable shaft. Driven by motor 1, the main movable arm can move at a certain angle in the vertical direction. The electric turntable can drive the main movable arm to rotate horizontally, so as to coarsely adjust the inclination angle of the robot arm. The fine adjustment unit refines the connection method of the two adjacent arms to make the robot arm more flexible and more convenient to grab and move goods.

[0010] Furthermore, the coarse adjustment unit further comprises a second movable arm, a third movable arm and an electric gripper, the oblique upper end of the main movable arm is movably connected to the second movable arm, the end of the second movable arm is rotatably connected to the third movable arm, the third movable arm is perpendicular to the second movable arm, and an electric gripper is installed on the front side. The second movable arm and the third movable arm are used to expand the range of motion of the robot arm, thereby controlling the electric gripper to grab goods farther away.

[0011] Furthermore, the fine adjustment unit comprises a second motor, a turbine and a worm, a T-shaped installation slot is provided inside the oblique upper end of the main movable arm, a second motor is fixedly installed inside the installation slot, a turbine is fixedly connected to the end of the output shaft of the second motor, a worm is arranged above the turbine, both ends of the worm are rotatably connected to the groove walls on both sides through a bearing set, one end of the worm extends outward and is fixedly connected to the inside of the oblique lower end of the second movable arm. The second motor drives the turbine to rotate, thereby driving the worm to rotate, and finally realizing the flexible adjustment of the inclination angle of the second movable arm.

[0012] Furthermore, the fine adjustment unit further comprises a third motor, a planetary gear set and a linkage rod. A circular mounting groove is provided inside the second movable arm, and a third motor and a planetary gear set are installed inside the groove. The planetary gear set comprises a sun gear, three planetary gears and an outermost inner ring gear. The output shaft of the third motor is fixedly connected to the middle of the sun gear, and a linkage rod is vertically fixedly connected to the middle of each planetary gear. The third motor is used to drive the sun gear in the middle of the planetary gear set to rotate, and the sun gear drives the three planetary gears to rotate, and under the action of the inner ring gear, the three planetary gears perform circular motion in the same direction, and the linkage rod is used for the transmission connection between the planetary gears and the linkage frame.

[0013] Furthermore, the fine adjustment unit also includes a linkage frame, a linkage shaft and a pin block. The linkage frame is composed of three rods radiating outward from the center. The other end of the linkage rod is rotatably connected to the three outer ends of the linkage frame. The middle part of the linkage frame is fixedly connected with a vertical and outward linkage shaft. The outer circumferential side of the end of the linkage shaft is fixedly connected with a pin block. The linkage shaft is fixedly connected to one end of the third movable arm. When the planetary gear performs circular motion, it drives the linkage frame to rotate through the linkage rod. The linkage rod drives the third movable arm to rotate through the linkage shaft in the middle, thereby realizing flexible power transmission. The block can prevent the connection between the linkage shaft and the arm body from slipping. Through the planetary gear set and the linkage components, the torque of the motor 3 is increased, so that the industrial robot can move heavier goods.

[0014] Furthermore, it also includes a mounting sleeve and a position sensor. The end of the third movable arm away from the linkage shaft is fixedly connected with the mounting sleeve. The electric gripper is installed inside the mounting sleeve, and a position sensor is installed at the inner palm of the electric gripper. The mounting sleeve is used for installing the electric gripper, and the position sensor is used for detecting the height of the electric gripper and the cargo in the Suojiachi, thereby transmitting the cargo position information to the processor inside the main movable arm, so that the robot can better move the cargo.

[0015] Compared with the prior art, the beneficial effects of the utility model are: the industrial robot arm angle adjustment device has the following advantages:

[0016] 1. It has a reliable coarse adjustment unit. Driven by motor 1, the main movable arm can move at a certain angle in the vertical direction. The electric turntable can drive the main movable arm to rotate horizontally, so as to roughly adjust the tilt angle of the robot arm. Multiple movable arms cooperate with each other to expand the working range of the robot, so that the electric gripper can be controlled to grab goods farther away.

[0017] 2. It has a reliable fine-tuning unit. By refining the connection method of two adjacent arms, the robot's arm can move more flexibly and more conveniently to grab and move goods. The worm gear has self-locking properties and a large transmission ratio. The planetary gear set and linkage components increase the torque of motor 3, so that the industrial robot can move heavier goods.

[0018] 3. The utility model has multiple adjustment effects on the angle of the robot arm. The movable arms at various levels cooperate with each other to expand the working range of the robot, so that the electric gripper can be controlled to grab goods farther away. By refining the connection method of two adjacent arms, the robot arm can move more flexibly, making it more convenient to grab and move goods, and is suitable for heavier industrial goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a schematic diagram of the structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the rear structure of the utility model;

[0021] Figure 3 It is a structural schematic diagram of the connection between the main movable arm and the second movable arm in the utility model;

[0022] Figure 4 It is a structural schematic diagram of the connection between the second movable arm and the third movable arm in the utility model;

[0023] Figure 5 For this utility model Figure 3 A schematic diagram of the enlarged local structure at center A;

[0024] Figure 6 For this utility model Figure 4 Enlarged schematic diagram of the local structure at point B in the middle.

[0025] In the figure: 1 mounting base, 2 fixing bolt, 3 coarse adjustment unit, 31 electric turntable, 32 clamping block, 33 connecting plug block, 34 motor 1, 35 movable shaft, 36 main movable arm, 37 second movable arm, 38 third movable arm, 39 electric clamping claw, 4 fine adjustment unit, 41 motor 2, 42 turbine, 43 worm, 44 motor 3, 45 planetary gear set, 46 linkage rod, 47 linkage frame, 48 linkage shaft, 49 pin block, 5 mounting sleeve, 6 position sensor. DETAILED DESCRIPTION

[0026] 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.

[0027] See also Figure 1-Figure 6 ,This embodiment provides a technical solution: an industrial robot arm angle adjustment device, comprising a mounting seat 1, a coarse adjustment unit 3 and a fine adjustment unit 4;

[0028] Mounting seat 1: It is a square plate with a fixing bolt 2 installed at each of the four corners;

[0029] Coarse adjustment unit 3: comprising an electric turntable 31, a clamping block 32, a connecting plug-in block 33, a motor 1 34, a movable shaft 35 and a main movable arm 36. The electric turntable 31 is fixedly mounted on the upper end of the mounting seat 1. Two left and right clamping blocks 32 are symmetrically distributed on the upper end of the electric turntable 31. The clamping blocks 32 are fixedly connected to the upper end of the electric turntable 31, and the connecting plug-in blocks 33 are movably connected inside the two clamping blocks 32 through the movable shaft 35. The oblique upper end of the connecting plug-in block 33 is fixedly connected to the oblique lower end of the main movable arm 36. The main movable arm 36 is provided with a chip and a processor inside. The motor 1 34 is fixedly mounted on the outer side of the clamping block 32. The output shaft of the motor 1 34 is fixedly connected to the end of the movable shaft 35 through a coupling.

[0030] Fine-tuning unit 4: installed at the connection between two adjacent movable joints.

[0031] The fixing bolts 2 are used to fix the mounting base 1 to the external frame, so as to install the industrial robot at a designated position on the assembly line. The electric turntable 31 is used to install the clamping block 32. The connecting block 33 is used to fix the main movable arm 36. The chip and processor inside the main movable arm 36 are used to support the intelligent operation of the industrial robot. The connecting block 33 is movably connected to the clamping blocks 32 on both sides through the movable shaft 35. Driven by the motor 1 34, the main movable arm 36 can move at a certain angle in the vertical direction. The electric turntable 31 can drive the main movable arm 36 to rotate horizontally, so as to roughly adjust the inclination angle of the robot arm. The fine adjustment unit 4 refines the connection method of the two adjacent arms to make the robot's arm more flexible and more convenient to grab and move goods.

[0032] The coarse adjustment unit 3 further comprises a second movable arm 37, a third movable arm 38 and an electric gripper 39. The oblique upper end of the main movable arm 36 is movably connected to the second movable arm 37. The end of the second movable arm 37 is rotatably connected to the third movable arm 38. The third movable arm 38 is perpendicular to the second movable arm 37 and is provided with an electric gripper 39 at the front. The second movable arm 37 and the third movable arm 38 are used to expand the range of motion of the robot arm, thereby controlling the electric gripper 39 to grab goods further away.

[0033] The fine adjustment unit 4 includes a second motor 41, a turbine 42 and a worm 43. A T-shaped mounting groove is provided inside the oblique upper end of the main movable arm 36. The second motor 41 is fixedly mounted inside the mounting groove. The end of the output shaft of the second motor 41 is fixedly connected to the turbine 42. A worm 43 is provided above the turbine 42. Both ends of the worm 43 are rotatably connected to the groove walls on both sides through a bearing set. One end of the worm 43 extends outward and is fixedly connected to the inside of the oblique lower end of the second movable arm 37. The second motor 41 drives the turbine 42 to rotate, thereby driving the worm 43 to rotate, and finally realizing flexible adjustment of the inclination angle of the second movable arm 37.

[0034] The fine adjustment unit 4 further includes a motor 3 44, a planetary gear set 45 and a linkage rod 46. A circular mounting groove is provided inside the second movable arm 37. The motor 3 44 and the planetary gear set 45 are installed inside the groove. The planetary gear set 45 includes a sun gear, three planetary gears and an outermost inner ring gear. The output shaft of the motor 3 44 is fixedly connected to the middle of the sun gear. The middle of each planetary gear is vertically fixedly connected to a linkage rod 46. The motor 3 44 is used to drive the sun gear in the middle of the planetary gear set 45 to rotate. The sun gear drives the three planetary gears to rotate. Under the action of the inner ring gear, the three planetary gears perform circular motion in the same direction. The linkage rod 46 is used for transmission connection between the planetary gears and the linkage frame 47.

[0035] The fine adjustment unit 4 further comprises a linkage frame 47, a linkage shaft 48 and a pin block 49. The linkage frame 47 is composed of three rods radiating outward from the center. The other end of the linkage rod 46 is rotatably connected to the three outer ends of the linkage frame 47. A vertical and outward linkage shaft 48 is fixedly connected to the middle of the linkage frame 47. A pin block 49 is fixedly connected to the outer circumferential side of the end of the linkage shaft 48. The linkage shaft 48 is fixedly connected to one end of the third movable arm 38. When the planetary gear performs circular motion, the linkage frame 47 is driven to rotate through the linkage rod 46. The linkage rod 46 drives the third movable arm 38 to rotate through the linkage shaft 48 in the middle, thereby realizing flexible power transmission. The block 49 can prevent the connection between the linkage shaft 48 and the arm body from slipping. Through the planetary gear set 45 and the linkage components, the torque of the motor 3 44 is increased, so that the industrial robot can move heavier goods.

[0036] It also includes a mounting sleeve 5 and a position sensor 6. The end of the third movable arm 38 away from the linkage shaft 48 is fixedly connected with the mounting sleeve 5. The electric clamp 39 is installed inside the mounting sleeve 5, and the position sensor 6 is installed at the inner palm of the electric clamp 39. The mounting sleeve 5 is used for the installation of the electric clamp 39, and the position sensor 6 is used to detect the height of the electric clamp 39 and the cargo in the Suojia Pool, so as to transmit the cargo position information to the processor inside the main movable arm 36, so that the robot can better move the cargo.

[0037] The working principle of an industrial robot arm angle adjustment device provided by the utility model is as follows: the device has multiple adjustment effects on the angle of the robot arm, and the movable arms at various levels cooperate with each other to expand the working range of the robot, so that the electric gripper 39 can be controlled to grab goods farther away, and by refining the connection method of the two adjacent arm bodies, the robot arm can move more flexibly, which is more convenient for grabbing and moving goods, and is suitable for heavier industrial goods: the fixing bolt 2 is used to fix the mounting seat 1 with the external frame, so that the industrial robot is installed at a designated position on the assembly line, the electric turntable 31 is used for the installation of the clamping block 32, the connecting plug block 33 is used to fix the main movable arm 36, the chip and processor inside the main movable arm 36 are used to support the intelligent operation of the industrial robot, the connecting plug block 33 is movably connected to the clamping blocks 32 on both sides through the movable shaft 35, and under the drive of the motor 1 34, the main movable arm 36 can move at a certain angle in the vertical direction, and the electric turntable 31 can drive the main movable arm 36 to rotate horizontally, so as to roughly adjust the inclination angle of the robot arm, and the fine adjustment unit 4 can adjust the inclination angle of the robot arm by connecting the two adjacent arms. The connection mode of the robot body is refined to make the robot arm more flexible and more convenient to grab and move the goods. The second movable arm 37 and the third movable arm 38 are used to expand the range of motion of the robot arm, so as to control the electric gripper 39 to grab the goods farther away; the second motor 41 drives the turbine 42 to rotate, and then drives the worm 43 to rotate, and finally realizes the flexible adjustment of the inclination angle of the second movable arm 37; the third motor 44 is used to drive the sun gear in the middle of the planetary gear set 45 to rotate, and the sun gear drives the three planetary gears to rotate, and the inner ring gear Under the action of the wheel, the three planetary gears perform circular motion in the same direction. The linkage rod 46 is used for the transmission connection between the planetary gears and the linkage frame 47. When the planetary gears perform circular motion, the linkage frame 47 will be driven to rotate through the linkage rod 46. The linkage rod 46 drives the third movable arm 38 to rotate through the linkage shaft 48 in the middle, thereby realizing flexible power transmission. The block 49 can prevent the connection between the linkage shaft 48 and the arm body from slipping. Through the planetary gear set 45 and the linkage components, the torque of the motor 3 44 is increased, so that the industrial robot can move heavier goods. In addition, the installation sleeve 5 is used for the installation of the electric gripper 39, and the position sensor 6 is used to detect the height of the electric gripper 39 and the goods in the Suojia Pool, thereby transmitting the goods position information to the processor inside the main movable arm 36, so that the robot can better move the goods.

[0038] It is worth noting that the chip and processor in the main movable arm 36 disclosed in the above embodiment are electrically connected to the output end of the external power supply through the control switch group, and the processor controls the operation of the electric turntable 31, motor 1 34, electric clamp 39, motor 2 41 and motor 3 44 using methods commonly used in the prior art, and motor 1 34, motor 2 41 and motor 3 44 all use high-precision servo motors.

[0039] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An industrial robot arm angle adjustment device, characterized in that: It comprises a mounting seat (1), a coarse adjustment unit (3) and a fine adjustment unit (4); The mounting seat (1) is a square plate with a fixing bolt (2) installed at each of the four corners; The coarse adjustment unit (3) comprises an electric turntable (31), a clamping block (32), a connecting plug-in block (33), a motor (34), a movable shaft (35) and a main movable arm (36). The upper end of the mounting seat (1) is fixedly mounted with the electric turntable (31). The upper end of the electric turntable (31) is symmetrically distributed with two left and right clamping blocks (32). The clamping blocks (32) are fixedly connected to the upper end of the electric turntable (31). The connecting plug-in blocks (33) are movably connected inside the two clamping blocks (32) through the movable shaft (35). The oblique upper end of the connecting plug-in block (33) is fixedly connected to the oblique lower end of the main movable arm (36). The main movable arm (36) is provided with a chip and a processor inside. The outer side of the clamping block (32) is fixedly mounted with the motor (34). The output shaft of the motor (34) is fixedly connected to the end of the movable shaft (35) through a coupling. Fine adjustment unit (4): installed at the connection between two adjacent arms.

2. The industrial robot arm angle adjustment device according to claim 1, characterized in that: The coarse adjustment unit (3) further comprises a second movable arm (37), a third movable arm (38) and an electric clamp (39); the oblique upper end of the main movable arm (36) is movably connected to the second movable arm (37); the end of the second movable arm (37) is rotatably connected to the third movable arm (38); the third movable arm (38) is perpendicular to the second movable arm (37) and an electric clamp (39) is installed on the front side.

3. The industrial robot arm angle adjustment device according to claim 2, characterized in that: The fine adjustment unit (4) comprises a second motor (41), a turbine (42) and a worm (43); a T-shaped mounting groove is provided inside the oblique upper end of the main movable arm (36); the second motor (41) is fixedly mounted inside the mounting groove; the end of the output shaft of the second motor (41) is fixedly connected to the turbine (42); a worm (43) is provided above the turbine (42); the two ends of the worm (43) are rotatably connected to the groove walls on both sides through a bearing set; one end of the worm (43) extends outward and is fixedly connected to the inside of the oblique lower end of the second movable arm (37).

4. The industrial robot arm angle adjustment device according to claim 2, characterized in that: The fine adjustment unit (4) also includes a motor three (44), a planetary gear set (45) and a linkage rod (46). A circular mounting groove is provided inside the second movable arm (37), and the motor three (44) and the planetary gear set (45) are installed inside the groove. The planetary gear set (45) includes a sun gear, three planetary gears and an outermost inner ring gear. The output shaft of the motor three (44) is fixedly connected to the middle of the sun gear, and a linkage rod (46) is vertically fixedly connected to the middle of each planetary gear.

5. The industrial robot arm angle adjustment device according to claim 4, characterized in that: The fine adjustment unit (4) further comprises a linkage frame (47), a linkage shaft (48) and a pin block (49); the linkage frame (47) comprises three rods radiating outward from the center; the other end of the linkage rod (46) is rotatably connected to the three outer ends of the linkage frame (47); a vertical and outward linkage shaft (48) is fixedly connected to the middle of the linkage frame (47); a pin block (49) is fixedly connected to the outer side of the circumference of the end of the linkage shaft (48); and the linkage shaft (48) is fixedly connected to one end of the third movable arm (38).

6. The industrial robot arm angle adjustment device according to claim 2, characterized in that: It also includes a mounting sleeve (5) and a position sensor (6); one end of the third movable arm (38) away from the linkage shaft (48) is fixedly connected to the mounting sleeve (5); the electric clamp (39) is installed inside the mounting sleeve (5), and the position sensor (6) is installed at the inner palm of the electric clamp (39).

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