Industrial robot arm with high flexibility

Abstract

The utility model discloses an industrial robot arm with high flexibility, which relates to the technical field of robots and comprises a fixed table, a rotating unit, a first mechanical arm unit, a second mechanical arm unit and a clamping unit. The rotating unit comprises a first motor, a first gear, a second gear, a rotating disc and first mounting frames, the rotating disc is rotatably connected to the middle of the upper end of the fixed table, the second gear is fixedly connected to the lower end of the rotating disc, and the two first mounting frames are fixedly connected to the upper end of the rotating disc. A first motor is fixedly connected to the lower end of the fixing table, a first gear is fixedly connected to an output shaft of the first motor, and the first gear is connected with the second gear in an engaged mode; the first mechanical arm unit is mounted on the rotating unit; the second mechanical arm unit is mounted on the first mechanical arm unit; according to the industrial robot arm with high flexibility, the surrounding plane can be moved without dead corners, and an object can be clamped through the rotating clamping mechanical arm.

Description

Technical Field

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

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and has the advantages of both human and mechanical machines in terms of structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace heavy labor of people to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety, so it is widely used in machinery manufacturing;

[0003] Among them, the prior art authorization announcement number CN213054894U proposes a highly flexible industrial robot arm, including a base, a first movable mechanical arm is movably connected to the top of the base, a first movable pin is arranged between the base and the first movable mechanical arm, a second movable mechanical arm is movably connected to one end of one side of the first movable mechanical arm, a second movable pin is arranged between the first movable mechanical arm and the second movable mechanical arm, and a third movable pin is rotatably connected inside the second movable mechanical arm;

[0004] The existing technology cannot move around the surrounding plane without blind spots, and cannot grip objects through a rotating gripping robot arm. For this reason, we propose an industrial robot arm with high flexibility. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the existing defects and provide an industrial robot arm with high flexibility, which can move on the surrounding plane without dead angles and can clamp objects through a rotating clamping mechanical arm, thereby effectively solving the problems in the background technology.

[0006] To achieve the above-mentioned object, the utility model provides the following technical solutions: an industrial robot arm with high flexibility, comprising a fixed platform, a rotating unit, a first robot arm unit, a second robot arm unit and a gripping unit;

[0007] Fixed table: four supporting legs are fixedly connected at the four corners of the lower end;

[0008] Rotating unit: comprising motor 1, gear 1, gear 2, rotating disk and mounting frame 1, the middle part of the upper end of the fixed platform is rotatably connected with the rotating disk, the lower end of the rotating disk is fixedly connected with gear 2, the upper end of the rotating disk is fixedly connected with two mounting frames 1, the lower end of the fixed platform is fixedly connected with motor 1, the output shaft of motor 1 is fixedly connected with gear 1, and gear 1 is meshed with gear 2;

[0009] The first robotic arm unit: installed on the rotating unit;

[0010] The second robotic arm unit is installed on the first robotic arm unit;

[0011] Gripping unit: installed on the second robot arm unit.

[0012] The motor drives the gear one to rotate, the gear one is meshed with the gear two to drive the gear two to rotate, the gear two drives the rotating disk to rotate, and thus drives the entire device to rotate.

[0013] Furthermore, the first mechanical arm unit comprises a second motor, a connecting shaft, a connecting block, a fixing plate 1, a telescopic arm and a second fixing plate. The connecting block is fixedly connected to the connecting shaft, and both ends of the connecting shaft are rotatably connected to the connecting block. The upper end of the rotating disk is fixedly connected to a second motor, and the output shaft of the second motor is fixedly connected to the connecting shaft. The upper end of the connecting block is fixedly connected to a first fixing plate, and the upper end of the first fixing plate is fixedly connected to a telescopic arm, and the upper end of the telescopic arm is fixedly connected to a second fixing plate. The connecting block is driven to rotate by the second motor so that the angle of the mechanical arm changes, and the mechanical arm is connected to the first fixing plate and the telescopic arm, and the distance of the device is extended by the telescopic arm, thereby achieving the effect of extending the use range of the mechanical arm.

[0014] Furthermore, the first mechanical arm unit also includes a motor 3, a mounting frame 2 and a fixed seat, the upper end of the fixed plate 2 is fixedly connected to two mounting frames 2, the two mounting frames 2 are rotatably connected to the lower end of the fixed seat, the upper end of the fixed plate 2 is fixedly connected to a motor 3, and the output shaft of the motor 3 is fixedly connected to the rotating shaft of the fixed seat. The motor 3 drives the fixed seat to rotate, thereby driving the second mechanical arm to change its angle, and the mounting frame 2 is used to fix and limit the fixed seat, so as to achieve the effect of improving the flexibility and usability of the mechanical arm.

[0015] Furthermore, the second mechanical arm unit includes a mounting tube, a gear ring and a rotating platform, the middle part of the upper end of the fixing seat is fixedly connected with the mounting tube, the upper end of the mounting tube is rotatably connected with the rotating platform, and the inner lower end of the rotating platform is fixedly connected with the gear ring. The mounting tube is used to protect and install the internal device of the mechanical arm, and the gear ring is driven to rotate by the power unit, so as to achieve the function of the rotating clamping device to clamp.

[0016] Furthermore, the second mechanical arm unit further comprises a motor 4, a connecting column and a gear 3, the inner lower end of the mounting cylinder is fixedly connected with a motor 4, the output shaft of the motor 4 is fixedly connected with a gear 3, and the gear 3 is meshed with the gear ring. The motor 4 drives the connecting column to rotate, the connecting column drives the gear 3 to rotate, and the gear 3 is meshed with the gear ring to transmit power to the gear ring, thereby achieving the function of the rotating clamping device to clamp.

[0017] Furthermore, the clamping unit comprises a fixed plate three, a hydraulic press, a fixed block, a connecting piece, an L-shaped clamping arm, a movable clamp and a connecting frame. The middle part of the inner side of the rotating table is fixedly connected with a fixed plate three, the upper end of the fixed plate three is fixedly connected with a hydraulic press, the telescopic end of the hydraulic press passes through the upper end of the rotating table, the upper end of the hydraulic press is fixedly connected with a connecting frame, the two ends of the connecting frame are movably connected with the middle part of the two L-shaped clamping arms, the upper end of each L-shaped clamping arm is movably connected with a movable clamp, two fixed blocks are fixedly connected to both sides of the upper end of the rotating table, one end of each connecting piece is movably connected with the fixed block, and the other end of each connecting piece is movably connected with the lower end of the L-shaped clamping arm. The hydraulic press is fixed by the fixed plate three, and when the hydraulic press is extended and retracted, it drives the connecting frame to move, so that the angle of the end of the L-shaped clamping arm changes through the connecting piece and the fixed block, so that the distance of the upper end of the L-shaped clamping arm changes, and the object is clamped by the movable clamp, thereby achieving the effect of clamping the object.

[0018] Compared with the prior art, the beneficial effects of the utility model are: the highly flexible industrial robot arm has the following advantages:

[0019] 1. This highly flexible industrial robot arm can move around the plane without blind spots. Through the combination of multiple sets of robotic arms and multiple sets of free angles, the use angle and use range of the robotic arms are further improved, so that activities can be carried out around without blind spots.

[0020] 2. This highly flexible industrial robot arm can grip objects through a rotating gripping mechanical arm, and can grip objects in multiple directions and angles through a rotating gripping mechanical device, thereby increasing the chances of successful gripping. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the utility model;

[0022] Figure 2 It is a partial enlarged structural schematic diagram of the utility model;

[0023] Figure 3 It is a schematic diagram of the structure of a partial cross-sectional view of the utility model.

[0024] In the figure: 1 fixed platform, 2 supporting leg, 3 rotating unit, 31 motor 1, 32 gear 1, 33 gear 2, 34 rotating disk, 35 mounting frame 1, 4 first mechanical arm unit, 41 motor 2, 42 connecting shaft, 43 connecting block, 44 fixed plate 1, 45 telescopic arm, 46 motor 3, 47 fixed plate 2, 48 mounting frame 2, 49 fixed seat, 5 second mechanical arm unit, 51 mounting cylinder, 52 motor 4, 53 connecting column, 54 gear 3, 55 gear ring, 56 rotating platform, 6 clamping unit, 61 fixed plate 3, 62 hydraulic press, 63 fixed block, 64 connecting piece, 65 L-type clamping arm, 66 movable clamp, 67 connecting frame. DETAILED DESCRIPTION

[0025] 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.

[0026] See also Figure 1-3 , this embodiment provides a technical solution for an industrial robot arm with high flexibility: an industrial robot arm with high flexibility, comprising a fixed platform 1, a rotating unit 3, a first robot arm unit 4, a second robot arm unit 5 and a gripping unit 6;

[0027] Fixed platform 1: four supporting legs 2 are fixedly connected at the four corners of the lower end;

[0028] Rotating unit 3: comprises motor 1 31, gear 1 32, gear 2 33, rotating disk 34 and mounting frame 1 35. The rotating disk 34 is rotatably connected to the middle part of the upper end of the fixed platform 1, the lower end of the rotating disk 34 is fixedly connected to gear 2 33, the upper end of the rotating disk 34 is fixedly connected to two mounting frames 1 35, the lower end of the fixed platform 1 is fixedly connected to motor 1 31, the output shaft of motor 1 31 is fixedly connected to gear 1 32, gear 1 32 is meshingly connected with gear 2 33; gear 1 32 is driven to rotate by motor 1 31, gear 2 33 is driven to rotate by meshing with gear 1 32 and gear 2 33, the rotating disk 34 is driven to rotate by gear 2 33, thereby driving the whole device to rotate.

[0029] The first mechanical arm unit 4 is installed on the rotating unit 3; the first mechanical arm unit 4 comprises a motor 2 41, a connecting shaft 42, a connecting block 43, a fixing plate 1 44, a telescopic arm 45 and a fixing plate 2 47. The connecting block 43 is fixedly connected to the connecting shaft 42, and both ends of the connecting shaft 42 are rotatably connected to the connecting block 43. The upper end of the rotating disk 34 is fixedly connected to the motor 2 41, and the output shaft of the motor 2 41 is fixedly connected to the connecting shaft 42. The upper end of the connecting block 43 is fixedly connected to the fixing plate 1 44, and the upper end of the fixing plate 1 44 is fixedly connected to the telescopic arm 45, and the upper end of the telescopic arm 45 is fixedly connected to the fixing plate 2 47. The motor 2 41 drives the connecting block 43 to rotate so that the angle of the mechanical arm changes, and the fixing plate 1 44 and the telescopic arm 45 are connected, and the distance of the device is extended by the telescopic arm 45, so as to achieve the effect of extending the use range of the mechanical arm.

[0030] The first mechanical arm unit 4 further includes a motor 3 46, a mounting frame 2 48 and a fixing seat 49. The upper end of the fixing plate 2 47 is fixedly connected to two mounting frames 2 48, and the two mounting frames 2 48 are rotatably connected to the lower end of the fixing seat 49. The upper end of the fixing plate 2 47 is fixedly connected to the motor 3 46, and the output shaft of the motor 3 46 is fixedly connected to the rotating shaft of the fixing seat 49. The motor 3 46 drives the fixing seat 49 to rotate, thereby driving the second mechanical arm to change its angle, and the fixing seat 49 is fixed and limited by the mounting frame 2 48, so as to achieve the effect of improving the flexibility and usability of the mechanical arm.

[0031] The second mechanical arm unit 5 is installed on the first mechanical arm unit 4; the second mechanical arm unit 5 comprises a mounting cylinder 51, a gear ring 55 and a rotating platform 56. The mounting cylinder 51 is fixedly connected to the middle of the upper end of the fixed seat 49, the upper end of the mounting cylinder 51 is rotatably connected to the rotating platform 56, and the gear ring 55 is fixedly connected to the inner lower end of the rotating platform 56. The mounting cylinder 51 is used to protect and install the internal device of the mechanical arm, and the gear ring 55 is driven to rotate by the power unit, so as to achieve the function of the rotating clamping device to clamp.

[0032] The second mechanical arm unit 5 further includes a motor 452, a connecting column 53 and a gear 354. The motor 452 is fixedly connected to the lower inner end of the mounting cylinder 51. The output shaft of the motor 452 is fixedly connected to the gear 354. The gear 354 is meshed with the gear ring 55. The motor 452 drives the connecting column 53 to rotate, and the connecting column 53 drives the gear 354 to rotate. The gear 354 is meshed with the gear ring 55 to transmit power to the gear ring 55, thereby achieving the function of the rotating clamping device to clamp.

[0033] The clamping unit 6 is installed on the second mechanical arm unit 5. The clamping unit 6 includes a fixed plate three 61, a hydraulic press 62, a fixed block 63, a connecting piece 64, an L-shaped clamping arm 65, a movable clamp 66 and a connecting frame 67. The fixed plate three 61 is fixedly connected to the inner middle part of the rotating table 56, and the upper end of the fixed plate three 61 is fixedly connected to the hydraulic press 62. The telescopic end of the hydraulic press 62 passes through the upper end of the rotating table 56, and the upper end of the hydraulic press 62 is fixedly connected to the connecting frame 67. The two ends of the connecting frame 67 are movably connected to the middle part of the two L-shaped clamping arms 65, and the upper end of each L-shaped clamping arm 65 is movably connected to the movable clamp 66. Two fixed blocks 63 are fixedly connected to both sides of the upper end of the rotating table 56, one end of each connecting piece 64 is movably connected to the fixed block 63, and the other end of each connecting piece 64 is movably connected to the lower end of the L-shaped clamping arm 65. The hydraulic press 62 is fixed by the fixing plate 3 61. When the hydraulic press 62 is extended or retracted, it drives the connecting frame 67 to move, so that the angle of the end of the L-shaped clamping arm 65 changes through the connecting piece 64 and the fixing block 63, so that the distance of the upper end of the L-shaped clamping arm 65 changes, and the object is clamped by the movable clamp 66, thereby achieving the purpose of clamping the object.

[0034] The working principle of a highly flexible industrial robot arm provided by the utility model is as follows: the gear 1 32 is driven to rotate by the motor 1 31, the gear 1 32 is meshed with the gear 2 33 to drive the gear 2 33 to rotate, and the rotating disk 34 is driven to rotate by the gear 2 33, thereby driving the entire device to rotate. The connecting block 43 is driven to rotate by the motor 2 41 so that the angle of the robot arm changes, and the fixed plate 1 44 and the telescopic arm 45 are connected, and the distance of the device is extended by the telescopic arm 45, thereby achieving the effect of extending the use range of the robot arm. The fixed seat 49 is driven to rotate by the motor 3 46 to drive the second robot arm to change its angle, and the fixed seat 49 is fixed and limited by the mounting frame 2 48, thereby achieving the effect of improving the flexibility and use range of the robot arm. The internal device of the robot arm is protected and installed by the mounting cylinder 51, and the gear ring 55 is driven to rotate by the power unit, thereby achieving the effect of the rotating clamping device to clamp. The motor four 52 drives the connecting column 53 to rotate, and the connecting column 53 drives the gear three 54 to rotate, and the gear three 54 is meshed with the gear ring 55 to transmit power to the gear ring 55, so as to achieve the function of the rotating clamping device to clamp, and the hydraulic press 62 is fixed by the fixing plate three 61, and when the hydraulic press 62 is extended and retracted, it drives the connecting frame 67 to move, so that the angle of the end of the L-shaped clamping arm 65 changes through the connecting piece 64 and the fixing block 63, so that the distance of the upper end of the L-shaped clamping arm 65 changes, and the object is clamped by the movable clamp 66, so as to achieve the function of clamping the object.

[0035] It is worth noting that the input ends of motor 1 31, motor 2 41, motor 3, 46 and motor 4 52 disclosed in the above embodiments are electrically connected to the output end of the external power supply through an external PLC controller, and motor 1 31, motor 2 41, motor 3, 46 and motor 4 52 all adopt servo motors, and the external PLC controller controls the operation of motor 1 31, motor 2 41, motor 3, 46 and motor 4 52 using methods commonly used in the prior art.

[0036] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made 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. A highly flexible industrial robot arm, characterized by: It comprises a fixed platform (1), a rotating unit (3), a first mechanical arm unit (4), a second mechanical arm unit (5) and a gripping unit (6); Fixed platform (1): four supporting legs (2) are fixedly connected at the four corners of the lower end; The rotating unit (3) comprises a motor 1 (31), a gear 1 (32), a gear 2 (33), a rotating disk (34) and a mounting frame 1 (35); the rotating disk (34) is rotatably connected to the middle of the upper end of the fixed platform (1); the gear 2 (33) is fixedly connected to the lower end of the rotating disk (34); the upper end of the rotating disk (34) is fixedly connected to two mounting frames 1 (35); the lower end of the fixed platform (1) is fixedly connected to the motor 1 (31); the output shaft of the motor 1 (31) is fixedly connected to the gear 1 (32); the gear 1 (32) is meshedly connected to the gear 2 (33); A first mechanical arm unit (4) is installed on the rotating unit (3); A second mechanical arm unit (5) is installed on the first mechanical arm unit (4); The gripping unit (6) is installed on the second mechanical arm unit (5).

2. The highly flexible industrial robot arm according to claim 1, characterized in that: The first robot arm unit (4) comprises a second motor (41), a connecting shaft (42), a connecting block (43), a fixing plate one (44), a telescopic arm (45) and a second fixing plate (47). The connecting block (43) is fixedly connected to the connecting shaft (42), and both ends of the connecting shaft (42) are rotatably connected to the connecting block (43). The upper end of the rotating disk (34) is fixedly connected to the second motor (41), and the output shaft of the second motor (41) is fixedly connected to the connecting shaft (42). The upper end of the connecting block (43) is fixedly connected to the first fixing plate (44), and the upper end of the fixing plate one (44) is fixedly connected to the telescopic arm (45), and the upper end of the telescopic arm (45) is fixedly connected to the second fixing plate (47).

3. The highly flexible industrial robot arm according to claim 2, characterized in that: The first robotic arm unit (4) also includes a motor three (46), a mounting frame two (48) and a fixed seat (49); the upper end of the fixed plate two (47) is fixedly connected to two mounting frames two (48); the two mounting frames two (48) are rotatably connected to the lower end of the fixed seat (49); the upper end of the fixed plate two (47) is fixedly connected to the motor three (46); the output shaft of the motor three (46) is fixedly connected to the rotating shaft of the fixed seat (49).

4. The highly flexible industrial robot arm according to claim 3, characterized in that: The second robot arm unit (5) comprises a mounting cylinder (51), a gear ring (55) and a rotating table (56); the mounting cylinder (51) is fixedly connected to the middle part of the upper end of the fixed seat (49); the upper end of the mounting cylinder (51) is rotatably connected to the rotating table (56); and the gear ring (55) is fixedly connected to the inner lower end of the rotating table (56).

5. The highly flexible industrial robot arm according to claim 4, characterized in that: The second robotic arm unit (5) further comprises a motor four (52), a connecting column (53) and a gear three (54); the inner lower end of the mounting cylinder (51) is fixedly connected to the motor four (52); the output shaft of the motor four (52) is fixedly connected to the gear three (54); and the gear three (54) is meshingly connected to the gear ring (55).

6. The highly flexible industrial robot arm according to claim 4, characterized in that: The clamping unit (6) comprises a fixed plate three (61), a hydraulic press (62), a fixed block (63), a connecting piece (64), an L-shaped clamping arm (65), a movable clamp (66) and a connecting frame (67). The fixed plate three (61) is fixedly connected to the middle part of the inner side of the rotating table (56). The upper end of the fixed plate three (61) is fixedly connected to the hydraulic press (62). The telescopic end of the hydraulic press (62) passes through the upper end of the rotating table (56). The hydraulic press (62) The upper end of the rotating platform (56) is fixedly connected to a connecting frame (67), the two ends of the connecting frame (67) are movably connected to the middle parts of the two L-shaped clamping arms (65), the upper end of each L-shaped clamping arm (65) is movably connected to a movable clamp (66), the upper ends of the rotating platform (56) are fixedly connected to two fixed blocks (63) on both sides, one end of each connecting piece (64) is movably connected to the fixed block (63), and the other end of each connecting piece (64) is movably connected to the lower end of the L-shaped clamping arm (65).

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