Industrial robot with modular assembly structure

Abstract

The industrial robot with the modular assembly structure comprises a robot body, a first butt joint pipe and an installation pipe, a first installation plate is arranged on the lower portion of the rear side of the robot body, and the first butt joint pipe is arranged on the lower portion of the first installation plate. Compared with the prior art, the device has the advantages that the first mounting plate, the first butt joint pipe, the rotary connection pipe, the second butt joint pipe and the second mounting plate are arranged, the rotary connection pipe and the second butt joint pipe can be rotationally connected through the first thread and the first inner screw groove, and therefore the first mounting plate, the first butt joint pipe, the rotary connection pipe, the second butt joint pipe and the second mounting plate are fixedly connected; by arranging a suction cup assembly, a mounting pipe and a screwing nut, a mounting rod of the suction cup assembly can be upwards inserted into the mounting pipe, and then the screwing nut is rotated to move upwards, so that the mounting rod is clamped, and maintenance is facilitated; and meanwhile, the replacement efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to an industrial robot with a modular assembly structure. Background Art

[0002] An industrial robot with a modular assembly structure is a robot system composed of multiple independent modules. These modules can be freely combined and reconfigured according to different task requirements, which greatly improves the flexibility and adaptability of the robot. For example, a robot can complete different tasks such as welding, handling or inspection by replacing grippers, sensors or mobile chassis. However, the existing robot structure also has disadvantages. Due to the complex interfaces between modules, replacement and maintenance may be difficult, increasing the workload of assembly and maintenance. To address these defects, the conventional method is to standardize interface design, provide detailed module compatibility guidelines, and establish a complete system integration process. Although this measure can improve module compatibility and assembly accuracy to a certain extent, it may lead to reduced flexibility and cannot effectively solve the inconvenience of disassembly and maintenance. Therefore, it is hoped that a new structure will be proposed to solve the above problems. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model aims to provide an industrial robot with a modular assembly structure.

[0004] The utility model is realized by the following technical scheme: an industrial robot with a modular assembly structure, comprising: a robot body, a butt joint pipe and a mounting pipe, a mounting plate is provided at the lower rear side of the robot body, and a butt joint pipe is provided at the lower side of the mounting plate;

[0005] The bottom of the first butt joint pipe is recessed upward to form a vacuum chamber, a screw pipe is provided in an annular area at the bottom of the vacuum chamber away from the center, a first thread is provided on the outer side of the screw pipe, a second butt joint pipe is provided below the first butt joint pipe, and an inner screw groove is provided on the inner side of the second butt joint pipe;

[0006] A second mounting plate is provided below the second butt-jointed pipe, and four groups of mounting tubes are installed at the four corners of the bottom of the second mounting plate. A group of suction cup assemblies is provided below each group of mounting tubes, and a group of tightening nuts is provided on the outside of each group of mounting tubes. Two threads are provided on the outside of the mounting tube, and two inner thread grooves are provided on the inside of the tightening nut.

[0007] As a preferred embodiment, the mounting plate 1 and the butt joint pipe 1 are an integrated structure, the rotating pipe and the butt joint pipe 1 are an integrated structure, and the top of the mounting plate 1 is connected and fixed to the robot body through four sets of fixing mechanisms 1;

[0008] A vacuum mechanism is provided inside the robot body, the vacuum chamber is connected to the vacuum mechanism through a connecting pipe, the four groups of mounting tubes are connected and fixed to the bottom of the mounting plate 2 through four groups of fixing mechanisms 2, and the mounting plate 1, the butt joint tube 1, the mounting plate 2, the butt joint tube 2, the suction cup assembly and the mounting tube are all provided with several groups of the same specifications.

[0009] As a preferred embodiment, the radius length and height of the screw-on tube match the radius length and depth of the butt-joint tube 2, the specifications of the thread 1 and the inner thread groove 1 match, and a sealing gasket 1 is provided on the outside of the screw-on tube.

[0010] As a preferred embodiment, the second docking tube and the second mounting plate are an integral structure, a through hole is opened at the center of the bottom of the second mounting plate, a vacuum tube is provided under the second mounting plate, the vacuum tube and the four groups of suction cup assemblies are an integral structure, the top of the vacuum tube passes through the through hole and extends into the interior of the second docking tube, and a sealing gasket is provided at the penetration point between the vacuum tube and the docking tube.

[0011] As a preferred embodiment, the suction cup assembly consists of a suction cup and a mounting rod, the mounting rod is a hollow structure, and the top of the mounting rod is a truncated cone structure.

[0012] As a preferred embodiment, the diameter length of the mounting rod matches the inner diameter length of the mounting tube, the bottom of the mounting tube is a truncated cone structure, and a plurality of movable grooves are provided at the bottom of the mounting tube. In actual use, the tops of the four groups of mounting rods are inserted upward into the four groups of mounting tubes. Since the tops of the mounting rods are a truncated cone structure, it is convenient to insert the mounting rods into the mounting tubes. After the mounting rods are inserted into the mounting tubes, the bottom of the mounting tubes, which originally had a truncated cone structure, is filled into a cylindrical structure, which is convenient for the tightening nut to rotate downward, and then the four groups of tightening nuts are rotated respectively to make the thread two and the inner thread groove two rotationally connected, so that the tightening nut moves downward along the outside of the mounting tube and shrinks the bottom of the mounting tube inward to clamp the mounting rod, and then clamps the four groups of suction cup assemblies. Since the mounting plate one, the butt tube one, the mounting plate two, the butt tube two, the suction cup assembly and the mounting tube are all provided with a plurality of groups with the same specifications, these components can be replaced modularly to improve the replacement efficiency.

[0013] As a preferred embodiment, the inner diameter length of the tightening nut matches the outer diameter length of the mounting tube, and the specification of the thread 2 matches that of the inner thread groove 2. In actual use, the mounting plate 2 can be rotated first to drive the docking tube 2 to rotate, so that the docking tube 2 and the rotating tube are disconnected, thereby removing the mounting plate 2, the docking tube 2, the four groups of mounting tubes and the four groups of suction cup assemblies, and then the four groups of fixing mechanisms 1 are removed by tools, thereby removing the mounting plate 1 and the docking tube 1, and then the four groups of tightening nuts are rotated respectively to rotate the four groups of rotating nuts to release the tightening state with the outside of the mounting tube, thereby removing the four groups of suction cup assemblies and the vacuum tube, and finally the four groups of fixing mechanisms 2 are removed by tools, thereby removing the four groups of mounting tubes. The final effect is to facilitate modular installation and disassembly, thereby facilitating maintenance and replacement, and improving replacement efficiency.

[0014] After adopting the above technical scheme, the beneficial effect of the utility model is as follows: by setting the mounting plate 1, the butt joint 1, the screw-on tube, the butt joint 2 and the mounting plate 2, the screw-on tube and the butt joint 2 can be rotationally connected through the thread 1 and the inner screw groove 1, so that the mounting plate 1, the butt joint 1, the screw-on tube, the butt joint 2 and the mounting plate 2 are connected and fixed, thereby facilitating the modular replacement of these components, improving the flexibility of replacement, and facilitating maintenance and replacement; by setting the suction cup assembly, the mounting tube and the tightening nut, the mounting rod of the suction cup assembly can be inserted upward into the interior of the mounting tube, and then the tightening nut is rotated to move the tightening nut upward, thereby clamping the mounting rod, and then the suction cup assembly is firmly installed, thereby facilitating modular installation and replacement of the suction cup assembly, facilitating maintenance, and improving replacement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 The utility model is a schematic diagram of an industrial robot with a modular assembly structure.

[0017] Figure 2 The utility model is a schematic diagram of the connection between the first mounting plate and the second mounting plate in an industrial robot with a modular assembly structure.

[0018] Figure 3 The utility model is a structural schematic diagram of a mounting plate 1 and a mounting plate 2 in an industrial robot with a modular assembly structure.

[0019] Figure 4The utility model is a schematic diagram of an installation tube and a suction cup assembly in an industrial robot with a modular assembly structure.

[0020] In the figure, 100-robot body, 110-mounting plate 1, 120-butt joint pipe 1, 130-mounting plate 2, 140-butt joint pipe 2, 150-suction cup assembly;

[0021] 160-vacuum tube, 170-installation tube, 180-tightening nut, 190-vacuum chamber, 200-screw-on tube. DETAILED DESCRIPTION

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

[0023] See also Figures 1 to 4 : An industrial robot with a modular assembly structure, comprising: a robot body 100, a butt joint pipe 120 and a mounting pipe 170, a mounting plate 110 is provided below the rear side of the robot body 100, and a butt joint pipe 120 is provided below the mounting plate 110;

[0024] The bottom of the first butt joint pipe 120 is concave upward to form a vacuum chamber 190. A screw pipe 200 is provided in an annular area at the bottom of the vacuum chamber 190 away from the center of the circle. A thread 1 is provided on the outer side of the screw pipe 200. A second butt joint pipe 140 is provided below the first butt joint pipe 120. An inner thread groove 1 is provided on the inner side of the second butt joint pipe 140.

[0025] A second mounting plate 130 is provided below the second butt-jointed pipe 140, and four groups of mounting tubes 170 are installed at the four corners of the bottom of the second mounting plate 130. A group of suction cup assemblies 150 are provided below each group of mounting tubes 170, and a group of tightening nuts 180 are provided on the outside of each group of mounting tubes 170. A second thread is provided on the outside of the mounting tube 170, and an inner thread groove 2 is provided on the inside of the tightening nut 180.

[0026] The mounting plate 110 and the butt joint pipe 120 are an integrated structure, the rotary pipe 200 and the butt joint pipe 120 are an integrated structure, and the top of the mounting plate 110 is connected and fixed to the robot body 100 through four sets of fixing mechanisms 1;

[0027] A vacuum mechanism is provided inside the robot body 100, and the vacuum chamber 190 is connected to the vacuum mechanism through a connecting pipe. Four groups of mounting tubes 170 are connected and fixed to the bottom of the mounting plate 130 through four groups of fixing mechanisms 2. The mounting plate 110, the docking tube 1 120, the mounting plate 2 130, the docking tube 2 140, the suction cup assembly 150 and the mounting tube 170 are all provided with several groups of the same specifications.

[0028] The radius length and height of the screw-on tube 200 match the radius length and depth of the butt-joint tube 140 , the specifications of the thread 1 and the inner thread groove 1 match, and a sealing gasket 1 is provided on the outer side of the screw-on tube 200 .

[0029] The second docking tube 140 and the second mounting plate 130 are an integral structure. A through hole is opened at the center of the bottom of the second mounting plate 130. A vacuum tube 160 is provided under the second mounting plate 130. The vacuum tube 160 and the four sets of suction cup assemblies 150 are an integral structure. The top of the vacuum tube 160 passes through the through hole and extends into the interior of the second docking tube 140. A sealing gasket 2 is provided at the penetration point between the vacuum tube 160 and the docking tube.

[0030] The suction cup assembly 150 is composed of a suction cup and a mounting rod. The mounting rod is a hollow structure, and the top of the mounting rod is a truncated cone structure.

[0031] The diameter length of the mounting rod matches the inner diameter length of the mounting tube 170. The bottom of the mounting tube 170 is a truncated cone structure. A plurality of movable grooves are provided at the bottom of the mounting tube 170. In actual use, the tops of the four groups of mounting rods are inserted upward into the four groups of mounting tubes 170. Since the tops of the mounting rods are truncated cone structures, it is convenient to insert the mounting rods into the mounting tubes 170. After the mounting rods are inserted into the mounting tubes 170, the bottom of the mounting tube 170, which originally has a truncated cone structure, is filled into a cylindrical structure, which is convenient for tightening the nut 180 and screwing it downward. The four sets of tightening nuts 180 are rotated to rotate and connect the thread 2 with the inner thread groove 2, so that the tightening nut 180 moves downward along the outside of the mounting tube 170 and contracts the bottom of the mounting tube 170 inward to clamp the mounting rod, and then clamp the four sets of suction cup assemblies 150. Since the mounting plate 110, the butt joint tube 1 120, the mounting plate 2 130, the butt joint tube 2 140, the suction cup assembly 150 and the mounting tube 170 are all provided with several sets of the same specifications, these components can be replaced modularly to improve the replacement efficiency.

[0032] The inner diameter length of the tightening nut 180 matches the outer diameter length of the mounting tube 170, and the specifications of the thread 2 match those of the inner thread groove 2. In actual use, the mounting plate 2 130 can be first rotated to drive the docking tube 2 140 to rotate, so that the docking tube 2 140 and the rotating tube 200 are disconnected, thereby removing the mounting plate 2 130, the docking tube 2 140, the four groups of mounting tubes 170 and the four groups of suction cup assemblies 150, and then the four groups of fixing mechanisms 1 are removed by tools, thereby removing the mounting plate 1 110 and the docking tube 1 120, and then the four groups of tightening nuts 180 are rotated respectively, so that the four groups of rotating nuts are rotated to release the tightening state with the outer side of the mounting tube 170, thereby removing the four groups of suction cup assemblies 150 and the vacuum tube 160, and finally the four groups of fixing mechanisms 2 are removed by tools, thereby removing the four groups of mounting tubes 170. The final effect is to facilitate modular installation and disassembly, thereby facilitating maintenance and replacement, and improving replacement efficiency.

[0033] Example 1: Please refer to Figures 1 to 4 In actual use, firstly, the mounting plate 110 is fixed to the robot body 100 through the four sets of fixing mechanisms 1, the docking tube 120 is adjusted so that its opening faces downward, and then the mounting plate 2 130 is picked up (the mounting plate 2 130 is connected and fixed to the four sets of mounting tubes 170 through the four sets of fixing mechanisms 2), the top of the docking tube 2 140 at the top of the mounting plate 2 130 is aligned with the bottom of the screw-on tube 200 at the bottom of the docking tube 1 120, and the docking tube 2 140 is rotated upward so that the thread 1 is rotationally connected with the inner screw groove 1, thereby installing the docking tube 2 140 and the mounting plate 2 130 under the docking tube 1 120, and the sealing gasket on the outside of the screw-on tube 200 ensures the airtightness inside the vacuum chamber 190, thereby ensuring the normal use of the four sets of suction cup assemblies 150, and then the four sets of suction cup assemblies 150 are picked up. The four sets of suction cup assemblies 150 and the vacuum tube 160 are an integrated structure, and then the mounting of the four sets of suction cup assemblies 150 is respectively The top of the mounting rod is aligned with the bottom of the four groups of mounting tubes 170, and the top of the four groups of mounting rods are inserted upward into the four groups of mounting tubes 170. Since the top of the mounting rod is a truncated cone structure, it is convenient to insert the mounting rod into the mounting tube 170. After the mounting rod is inserted into the mounting tube 170, the bottom of the mounting tube 170, which originally has a truncated cone structure, is filled into a cylindrical structure, which is convenient for the tightening nut 180 to rotate downward, and then the four groups of tightening nuts 180 are rotated respectively to make the thread 2 and the inner thread groove 2 rotationally connected, so that the tightening nut 180 moves downward along the outside of the mounting tube 170 and shrinks the bottom of the mounting tube 170 inward to clamp the mounting rod, and then clamps the four groups of suction cup assemblies 150. Since the mounting plate 1 110, the butt tube 1 120, the mounting plate 2 130, the butt tube 2 140, the suction cup assembly 150 and the mounting tube 170 are all provided with several groups of the same specifications, these components can be replaced modularly to improve the replacement efficiency.

[0034] Example 2: Please refer to Figures 1 to 4When the robot body 100 is working, the vacuum mechanism inside the robot body 100 works to evacuate the air inside the vacuum chamber 190 through the connecting pipe, and then evacuate the air inside the four sets of suction cups through the vacuum pipe 160, so as to achieve the effect of grasping (the robot body 100 is a prior art, and its model can be selected according to needs, and will not be repeated). When it is necessary to maintain the mounting plate 110, the butt joint pipe 120, the mounting plate 2 130, the butt joint pipe 2 140, the suction cup assembly 150 and the mounting pipe 170, the mounting plate 2 130 can be rotated first to drive the butt joint pipe 2 140 to rotate, so that the butt joint pipe 2 140 and the rotating pipe 170 can be rotated. 200 is disconnected, thereby removing the mounting plate 2 130, the docking tube 2 140, the four mounting tubes 170 and the four suction cup assemblies 150, and then the four fixing mechanisms 1 are removed by tools, thereby removing the mounting plate 110 and the docking tube 1 120, and then the four tightening nuts 180 are rotated respectively to rotate the four rotating nuts to release the tightening state with the outer side of the mounting tube 170, thereby removing the four suction cup assemblies 150 and the vacuum tube 160, and finally the four fixing mechanisms 2 are removed by tools, thereby removing the four mounting tubes 170. The final effect is to facilitate modular installation and disassembly, thereby facilitating maintenance and replacement, and improving replacement efficiency.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An industrial robot with a modular assembly structure, comprising: A robot body (100), a butt joint pipe (120) and a mounting pipe (170), characterized in that: a mounting plate (110) is provided below the rear side of the robot body (100), and a butt joint pipe (120) is provided below the mounting plate (110); The bottom of the first butt joint pipe (120) is recessed upward to form a vacuum chamber (190); a screw-on pipe (200) is provided in an annular region at the bottom of the vacuum chamber (190) away from the center of the circle; a first thread is provided on the outside of the screw-on pipe (200); a second butt joint pipe (140) is provided below the first butt joint pipe (120); an inner thread groove (1) is provided on the inside of the second butt joint pipe (140); A second mounting plate (130) is provided below the second butt-jointed pipe (140), and four groups of mounting pipes (170) are installed at the four corners of the bottom of the second mounting plate (130). A group of suction cup assemblies (150) is provided below each group of mounting pipes (170), and a group of tightening nuts (180) is provided on the outside of each group of mounting pipes (170). The outer side of the mounting pipe (170) is provided with two threads, and the inner side of the tightening nut (180) is provided with two internal thread grooves.

2. An industrial robot with a modular assembly structure as claimed in claim 1, characterized in that: The mounting plate 1 (110) and the butt joint pipe 1 (120) are an integral structure, the rotary pipe (200) and the butt joint pipe 1 (120) are an integral structure, and the top of the mounting plate 1 (110) is connected and fixed to the robot body (100) via four sets of fixing mechanisms 1; A vacuum mechanism is provided inside the robot body (100); the vacuum chamber (190) is connected to the vacuum mechanism via a connecting pipe; the four groups of mounting tubes (170) are connected and fixed to the bottom of the second mounting plate (130) via four groups of fixing mechanisms; the first mounting plate (110), the first butt joint tube (120), the second mounting plate (130), the second butt joint tube (140), the suction cup assembly (150) and the mounting tube (170) are all provided with a plurality of groups of the same specifications.

3. An industrial robot with a modular assembly structure as claimed in claim 2, characterized in that: The radius length and height of the screw-on tube (200) match the radius length and depth of the butt-joint tube 2 (140), the specifications of the thread 1 and the inner thread groove 1 match, and a sealing gasket 1 is provided on the outside of the screw-on tube (200).

4. An industrial robot with a modular assembly structure as claimed in claim 3, characterized in that: The second butt joint pipe (140) and the second mounting plate (130) are an integral structure. A through hole is provided at the center of the bottom of the second mounting plate (130). A vacuum tube (160) is provided below the second mounting plate (130). The vacuum tube (160) and the four groups of suction cup assemblies (150) are an integral structure. The top of the vacuum tube (160) passes through the through hole and extends into the interior of the second butt joint pipe (140). A sealing gasket is provided at the penetration point between the vacuum tube (160) and the butt joint pipe.

5. The industrial robot with a modular assembly structure according to claim 1, characterized in that: The suction cup assembly (150) consists of a suction cup and a mounting rod, the mounting rod is a hollow structure, and the top of the mounting rod is a truncated cone structure.

6. An industrial robot with a modular assembly structure as claimed in claim 5, characterized in that: The diameter length of the mounting rod matches the inner diameter length of the mounting tube (170); the bottom of the mounting tube (170) is a truncated cone-shaped structure; and a plurality of groups of movable grooves are provided at the bottom of the mounting tube (170).

7. An industrial robot with a modular assembly structure as claimed in claim 1, characterized in that: The inner diameter length of the tightening nut (180) matches the outer diameter length of the mounting tube (170), and the specifications of the second thread and the second inner thread groove match.

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