Coordinate type industrial robot

Abstract

The utility model belongs to the technical field of rectangular coordinate type robot equipment, and particularly relates to a coordinate type industrial robot which comprises a coordinate industrial robot body and a clamping jaw, the clamping jaw is movably installed on the coordinate industrial robot body, and a fixing cylinder is movably and annularly arranged at the joint of the coordinate industrial robot body and the clamping jaw. Buffer rods are movably inserted into inner cavities of the fixing cylinders, the ends of the buffer rods are in threaded connection with buffer conical bases, supporting springs are arranged in the inner cavities of the fixing cylinders, and travel switches are arranged at the ends of the inner cavities of the fixing cylinders; the buffer conical seat is in contact with the surface of an obstacle, the buffer conical seat and the buffer rod are matched to compress the supporting spring, the buffer rod and the buffer conical seat are matched to play a role in buffering impact force, the buffer rod is compressed into the fixing cylinder, the end of the ejector rod abuts against the travel switch, and the travel switch is fixed. And the travel switch cuts off the driving force of the coordinate industrial robot body, so that the clamping jaw can be prevented from colliding with an obstacle, and the protection on the clamping jaw can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of rectangular coordinate type robot equipment, in particular to a coordinate type industrial robot. Background Art

[0002] Coordinate type robot palletizer, the robot arm of this type of palletizer adopts a servo motor driven linear motion mechanism as the main component, generally composed of two or three axes, namely two or three linear motion mechanisms, which can realize linear motion on two or three coordinates. This type of palletizer is flexible and can adapt to materials and cartons of various specifications. The design and processing are relatively simple and very suitable for general users. It can be produced by many manufacturers in China. After patent search, it was found that the publication number is: CN218195165U, which discloses a rectangular coordinate type industrial robot, belonging to the technical field of rectangular coordinate type robot equipment, preventing the magnetic suction cup from losing suction in the case of power failure, causing the second magnetic suction cup to fall, and improving the stability of the device.

[0003] Publication No.: CN218195165U. During the use of a rectangular coordinate industrial robot disclosed, the movement of the gripper is controlled by a program. When an obstacle appears on the workbench, the gripper cannot avoid the obstacle. The gripper will continue to move under the control of the program, causing the gripper and the product to collide with the obstacle, which will cause damage to the gripper and the product. In order to solve the above problems, a coordinate industrial robot is proposed in this application. Utility Model Content

[0004] (I) Purpose of the utility model

[0005] In order to solve the technical problems existing in the background technology, the utility model proposes a coordinate industrial robot, which contacts the surface of the obstacle through the buffer cone seat. The buffer cone seat and the buffer rod can compress the support spring together. The buffer rod and the buffer cone seat can buffer the impact force together. The buffer rod is compressed into the fixed cylinder, and the end of the push rod is against the travel switch. The travel switch will cut off the driving force of the coordinate industrial robot body, which can avoid the collision of the clamping claw with the obstacle and enhance the protection of the clamping claw to solve the problems raised in the background technology.

[0006] (II) Technical solution

[0007] In order to solve the above technical problems, the utility model provides a coordinate industrial robot, comprising a coordinate industrial robot body and a gripper, wherein the gripper is movably mounted on the coordinate industrial robot body;

[0008] The movable ring at the connection between the coordinate industrial robot body and the clamping claw is provided with a fixed cylinder, the inner cavity of the fixed cylinder is movably plugged with a buffer rod, the ends of the buffer rod are threadedly connected with a buffer cone seat, and the inner cavity of the fixed cylinder is provided with a support spring;

[0009] A travel switch is provided at the inner end of the fixed cylinder, and a push rod is provided on the surface of one end of the buffer rod away from the buffer cone seat;

[0010] Guide rails are symmetrically arranged below the coordinate industrial robot body.

[0011] Preferably, a lifting groove is provided at the connection between the surface of the coordinate industrial robot body and the fixed cylinder, and a lifting seat is integrally formed on the fixed cylinder, and the lifting seat is slidably connected to the lifting groove.

[0012] Preferably, threaded holes are provided on the end surfaces of the lifting seats, and locking bolts are threadedly connected to the inner cavities of the threaded holes.

[0013] Preferably, servo motors are installed on the end surfaces of the guide rails, and power output ends of the servo motors penetrate the guide rail cavity wall.

[0014] Preferably, the power output end of the servo motor is connected to a driving screw through a coupling, a moving seat is slidably provided in the inner cavity of the guide rail, and the driving screw is threadedly connected to the moving seat.

[0015] Preferably, support columns are installed on the surface of the movable seat by bolts, and lifting columns are slidably provided in the inner cavity of the support columns, and the top of the lifting column is connected to the bottom of the coordinate industrial robot body.

[0016] Preferably, an electric telescopic rod is installed in the inner cavity of each of the support columns, and the top of the piston rod of the electric telescopic rod is connected to the lifting column.

[0017] The above technical solution of the utility model has the following beneficial technical effects:

[0018] 1. In the utility model, when the clamping jaws encounter an obstacle during movement, they first contact the surface of the obstacle through the buffer cone seat, the buffer cone seat and the buffer rod are matched to compress the support spring, the buffer rod and the buffer cone seat are matched to buffer the impact force, the buffer rod is compressed into the fixed cylinder, the end of the push rod is pressed against the travel switch, the travel switch will cut off the driving force of the coordinate industrial robot body, so as to avoid the collision between the clamping jaws and the obstacle and improve the protection of the clamping jaws.

[0019] 2. In the utility model, the coordinate industrial robot body and the gripper are matched to grasp objects. The bottom of the coordinate industrial robot body is supported by a support column, and the lifting column is lifted by the electric telescopic rod. The lifting column is lifted relative to the support column, and the height of the coordinate industrial robot body can be adjusted. At the same time, the servo motor drives the driving screw, and the driving screw can push the coordinate industrial robot body to move through the moving seat and the support column under the action of the surface thread, which can expand the working range of the coordinate industrial robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a coordinate-type industrial robot of the utility model;

[0021] Figure 2 This is a schematic diagram of a support column driving structure of a coordinate-type industrial robot of the utility model;

[0022] Figure 3 This is a schematic diagram of the fixed cylinder structure of a coordinate-type industrial robot of the utility model;

[0023] Figure 4 The utility model is a schematic diagram of the cross-sectional structure of a fixed cylinder of a coordinate-type industrial robot.

[0024] Reference numerals:

[0025] 1. Coordinate industrial robot body; 2. Gripper; 3. Fixed cylinder; 4. Buffer rod; 5. Buffer cone seat; 6. Support spring; 7. Push rod; 8. Travel switch; 9. Lifting seat; 10. Lifting slot; 11. Guide rail; 12. Servo motor; 13. Driving screw; 14. Moving seat; 15. Support column; 16. Lifting column; 17. Electric telescopic rod. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the utility model. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model.

[0027] like Figure 1-4 As shown, a coordinate industrial robot proposed by the utility model comprises a coordinate industrial robot body 1 and a gripper 2, wherein the gripper 2 is movably mounted on the coordinate industrial robot body 1;

[0028] The movable ring at the connection between the coordinate industrial robot body 1 and the clamping claw 2 is provided with a fixed cylinder 3, the inner cavity of the fixed cylinder 3 is movably plugged with a buffer rod 4, the ends of the buffer rod 4 are threadedly connected with a buffer cone seat 5, and the inner cavity of the fixed cylinder 3 is provided with a support spring 6;

[0029] A travel switch 8 is disposed at the inner end of the fixing tube 3 , and a push rod 7 is disposed on the end surface of the buffer rod 4 away from the buffer cone seat 5 .

[0030] It should be noted that when the clamping jaw 2 encounters an obstacle during movement, it first contacts the surface of the obstacle through the buffer cone seat 5. The buffer cone seat 5 and the buffer rod 4 can be matched to compress the support spring 6. The buffer rod 4 and the buffer cone seat 5 can be matched to buffer the impact force. The buffer rod 4 is compressed into the fixed tube 3, and the end of the push rod 7 is pressed against the travel switch 8. The travel switch 8 will cut off the driving force of the coordinate industrial robot body 1, which can avoid the clamping jaw 2 from colliding with the obstacle and enhance the protection of the clamping jaw 2.

[0031] In this embodiment, if Figure 3 As shown, a lifting groove 10 is provided at the connection between the surface of the coordinate industrial robot body 1 and the fixed cylinder 3, and a lifting seat 9 is integrally formed on the fixed cylinder 3. The lifting seat 9 is slidably connected to the lifting groove 10, and a threaded hole is provided on the end surface of the lifting seat 9, and a locking bolt is threadedly connected to the inner cavity of the threaded hole.

[0032] It should be noted that the lifting seat 9 and the lifting slot 10 can be matched to adjust the height of the fixed tube 3 so as to avoid obstacles of different heights during use. After the height is adjusted, the lifting seat 9 can be locked by a locking bolt.

[0033] In this embodiment, if Figure 2 As shown, guide rails 11 are symmetrically arranged below the coordinate industrial robot body 1, and servo motors 12 are installed on the end surfaces of the guide rails 11. The power output ends of the servo motors 12 penetrate the cavity wall of the guide rails 11. The power output ends of the servo motors 12 are connected to the driving screw 13 through a coupling transmission. A moving seat 14 is slidably arranged in the inner cavity of the guide rail 11, and the driving screw 13 is threadedly connected to the moving seat 14.

[0034] It should be noted that the servo motor 12 drives the driving screw 13, and the driving screw 13 can push the coordinate industrial robot body 1 to move through the moving seat 14 and the support column 15 under the action of the surface thread, which can expand the working range of the coordinate industrial robot body 1

[0035] In this embodiment, if Figure 2 As shown, support columns 15 are installed on the surface of the movable seat 14 by bolts, and a lifting column 16 is slidably provided in the inner cavity of the support column 15. The top of the lifting column 16 is connected to the bottom of the coordinate industrial robot body 1, and an electric telescopic rod 17 is installed in the inner cavity of the support column 15. The top of the piston rod of the electric telescopic rod 17 is connected to the lifting column 16.

[0036] It should be noted that the coordinate industrial robot body 1 and the gripper 2 can be used to grab objects. The bottom of the coordinate industrial robot body 1 is supported by a support column 15, and the lifting column 16 is pushed up by the electric telescopic rod 17. The lifting column 16 is lifted relative to the support column 15, and the height of the coordinate industrial robot body 1 can be adjusted.

[0037] The working principle and use process of the utility model are as follows: the coordinate industrial robot body 1 and the clamping claw 2 can be matched to grab objects, the bottom of the coordinate industrial robot body 1 is supported by the support column 15, and the lifting column 16 is lifted by the electric telescopic rod 17. The lifting column 16 is lifted relative to the support column 15, and the height of the coordinate industrial robot body 1 can be adjusted. At the same time, the servo motor 12 drives the driving screw 13, and the driving screw 13 can push the coordinate industrial robot body 1 to move through the moving seat 14 and the support column 15 under the action of the surface thread, which can expand the working range of the coordinate industrial robot body 1. When the clamping claw 2 encounters an obstacle during the movement, it first contacts the obstacle surface through the buffer cone seat 5, and the buffer cone seat 5 and the buffer rod 4 can be matched to compress the support spring 6. The buffer rod 4 and the buffer cone seat 5 can play a buffering role on the impact force. The buffer rod 4 is compressed into the fixed cylinder 3, and the end of the push rod 7 is pressed on the travel switch 8. The travel switch 8 will cut off the driving force of the coordinate industrial robot body 1, which can avoid the collision between the clamping claw 2 and the obstacle, and can improve the protection of the clamping claw 2.

[0038] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation on the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the claims attached to the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the attached claims or the equivalent forms of such scope and boundaries.

Claims

1. A coordinate industrial robot, comprising a coordinate industrial robot body (1) and a gripper (2), characterized in that: The clamping claw (2) is movably mounted on the coordinate industrial robot body (1); A fixed cylinder (3) is provided in a movable ring at the connection between the coordinate industrial robot body (1) and the clamping claw (2); a buffer rod (4) is movably inserted into the inner cavity of the fixed cylinder (3); a buffer cone seat (5) is threadedly connected to the end of the buffer rod (4); and a support spring (6) is provided in the inner cavity of the fixed cylinder (3); A travel switch (8) is provided at the inner end of the fixed cylinder (3), and a push rod (7) is provided on the end surface of the buffer rod (4) away from the buffer cone seat (5); Guide rails (11) are symmetrically arranged below the coordinate industrial robot body (1).

2. A coordinate industrial robot according to claim 1, characterized in that: A lifting groove (10) is provided at the connection point between the surface of the coordinate industrial robot body (1) and the fixed cylinder (3), and a lifting seat (9) is integrally formed on the fixed cylinder (3), and the lifting seat (9) is slidably connected to the lifting groove (10).

3. A coordinate industrial robot according to claim 2, characterized in that: The end surfaces of the lifting seat (9) are provided with threaded holes, and the inner cavities of the threaded holes are threadedly connected with locking bolts.

4. A coordinate industrial robot according to claim 1, characterized in that: A servo motor (12) is installed on the end surface of the guide rail (11), and the power output end of the servo motor (12) passes through the cavity wall of the guide rail (11).

5. A coordinate industrial robot according to claim 4, characterized in that: The power output end of the servo motor (12) is connected to a driving screw (13) through a coupling transmission, and a moving seat (14) is slidably provided in the inner cavity of the guide rail (11), and the driving screw (13) is threadedly connected to the moving seat (14).

6. A coordinate industrial robot according to claim 5, characterized in that: The surface of the movable seat (14) is mounted with a support column (15) by means of bolts, and a lifting column (16) is slidably arranged in the inner cavity of the support column (15), and the top of the lifting column (16) is connected to the bottom of the coordinate industrial robot body (1).

7. A coordinate industrial robot according to claim 6, characterized in that: The inner cavity of each support column (15) is provided with an electric telescopic rod (17), and the top of the piston rod of the electric telescopic rod (17) is connected to the lifting column (16).

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