Mobile industrial robot capable of adapting to multiple types of work

Abstract

The utility model relates to the technical field of industrial robots, in particular to a movable industrial robot capable of adapting to various types of work, which comprises a connecting component group used for being connected between a robot arm and an end effector, and the connecting component group comprises a sub-mounting component and a mother mounting component. Compared with a screw connection mode in the prior art, during disassembly and dark rotation, through control of a motor part, manual operation is little, the installation speed is high, and the efficiency during replacement of the end effector is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a mobile industrial robot adaptable to multiple types of work. Background Technique

[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 realize various industrial processing and manufacturing functions relying on their own power sources and control capabilities. Industrial robots are widely applied in various industrial fields such as electronics, logistics, and chemical industry.

[0003] At present, due to the high cost of industrial robots, usually one industrial robot needs to work at multiple workstations in industrial production. This multi-station operation mode can effectively improve the utilization rate of equipment and production efficiency, thus maximizing the value of the robot. At different production workstations, it is necessary for the industrial robot to replace the adapted end effector (such as a gripper, a welding head, etc.). However, currently, the connection between the end effector and the robotic arm is usually a screw connection method, and tools are required for both disassembly and installation, which takes a long time to operate and reduces the switching speed of the industrial robot when switching between multiple workstations. Moreover, due to frequent switching of workstations, there is a lack of a protective structure on the robot's moving base, and it is easy to touch objects when switching workstations, resulting in damage to the robot's outer shell. Summary of the Invention

[0004] In order to overcome the above technical problems, the purpose of the utility model is to provide a mobile industrial robot adaptable to multiple types of work to solve the problems of the current industrial robots mentioned in the above background technique.

[0005] To achieve the above object, the present utility model provides the following technical solutions: A mobile industrial robot adaptable to multiple work types, including a mobile industrial robot component group. The mobile industrial robot component group includes a robot arm. A mobile base is installed at the bottom of the robot arm. A connection component group is provided at one end of the robot arm. The connection component group is used to connect between the robot arm and the end effector. The connection component group includes a sub-installation component and a mother installation component. The sub-installation component includes a sub-disk body. A plug is provided on the side of the sub-disk body. The mother installation component includes a mother-disk body. A motor component is provided on the side of the mother-disk body. A driving bevel gear component is provided at one end of the motor component. A vertical transmission shaft is provided on the side of the driving bevel gear component. A threaded rod is provided at one end of the vertical transmission shaft. A side box is provided outside the vertical transmission shaft. An adjusting plate is provided outside the threaded rod. An end plate is provided at one end of the threaded rod. An inner rod member is provided on one side of the adjusting plate. A clamping block is provided at one end of the inner rod member. A spring member is provided outside the inner rod member. A guiding rod is provided inside the adjusting plate; A protection component group is provided outside the mobile base. The protection component group is used for protection.

[0006] Preferably: The plug is connected to the sub-disk body. The side of the sub-disk body away from the plug is connected to the end effector. One side of the mother-disk body contacts the sub-disk body. The motor component is installed on the side of the mother-disk body. The driving bevel gear component is connected to the working end of the motor component. There are two sets of the vertical transmission shafts and the threaded rods, and the two sets of vertical transmission shafts and threaded rods are symmetrically distributed on both sides of the driving bevel gear component. One end of the vertical transmission shaft is meshed with the driving bevel gear component through a bevel gear.

[0007] Preferably: The vertical transmission shaft is connected to the side box through a bearing. The side box is connected to the side of the mother-disk body. One end of the threaded rod is connected to the vertical transmission shaft. The adjusting plate is connected to the threaded rod through a thread. The end plate is installed on the mother-disk body through a bracket. The end plate is connected to one end of the threaded rod through a rotating shaft.

[0008] Preferably: The guiding rod is fixedly connected to the end plate through a through hole. The side of the guiding rod is connected to the mother-disk body through a bracket. The guiding rod is in sliding contact with the adjusting plate through a through hole. One end of the inner rod member is connected to the adjusting plate.

[0009] Preferably: The spring member is connected between the clamping block and the mother-disk body. The clamping block is in sliding contact with the mother-disk body through a sliding groove. The clamping block contacts the plug through a clamping groove. The mother-disk body contacts the plug through a slot. One end of the inner rod member is connected to the clamping block.

[0010] Preferably, the protection component group includes a frame body. A horizontal protection frame assembly is arranged on the side of the frame body. A second rubber buffer pad is arranged on the side of the frame body. The horizontal protection frame assembly includes a protection bar. A first rubber buffer pad is arranged on the side of the protection bar.

[0011] Preferably, there are four groups of the frame bodies, and the four groups of frame bodies are symmetrically distributed on both sides of the mobile base. The frame body is connected to the mobile base. There are two groups of the horizontal protection frame assemblies. The protection bar is connected to the frame body through bolts and nuts. The first rubber buffer pad is connected to the protection bar. The second rubber buffer pad is connected to the side of the mobile base.

[0012] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0013] 1. The mobile industrial robot adaptable to multiple types of work is provided with a connection component group and a protection component group. Currently, the connection between the end effector and the robotic arm is usually in the form of screw connection. Tools are required for both disassembly and installation, which takes a long time to operate and reduces the switching speed of the industrial robot when switching between multiple workstations. In the corresponding designed connection component group, there are multiple sub-installation components. The number of sub-installation components can be adapted according to the number of end effectors used by the robotic arm at different workstations. Each end effector that needs to be connected to the robotic arm is connected to a sub-installation component at the installation position. The sub-disk body is connected to the end effector. When it is necessary to connect the end effector and the robotic arm, by controlling the motor component, the motor component starts and drives the driving bevel gear component to rotate through the working end. The driving bevel gear component drives the vertical transmission shaft and the threaded rod to rotate through the bevel gear. The threaded rod rotates and drives the adjusting plate to displace through the thread, thereby driving the inner rod connected to the adjusting plate to move. The spring component will store energy and contract, and the block will move into the chute of the mother disk body. At this time, the plug on the sub-disk body is inserted into the mother disk body through the slot. As the plug is inserted to the bottom of the slot, the driving of the motor component is stopped. The motor component will not self-lock. At this time, the spring component releases the stored energy and pushes out the block. The block contacts the plug through the card slot, completing the clamping and limiting of the plug, and thus completing the installation connection between the end effector and the robotic arm. When it is necessary to replace the end effector, the motor component is driven to drive the block to release the clamping contact with the plug. The spring component stores energy and contracts, and the end effector to be replaced is removed. The required end effector is installed. During installation, it is also in the way of inserting the plug into the slot in the mother disk body. By stopping the driving of the motor component, the motor component will not self-lock, and the block will limit and lock the plug through the card slot to complete the replacement and installation between the end effector and the robotic arm. The design of this connection component group, compared with the screw connection method in the prior art, has less manual operation and faster installation speed during disassembly and installation through the control of the motor component, improving the efficiency when replacing the end effector;

[0014] 2. The mobile industrial robot adaptable to multiple types of work is provided with a protective component group. When switching work positions, it is easy to touch objects and cause damage to the robot's outer shell. In the correspondingly designed protective component group, the number of horizontal protective frame components can be adjusted according to actual needs. The horizontal protective frame components to be installed are mounted on the frame through bolts and nuts. The protective bar and the rubber buffer pad form a structure for protecting the front and rear sides of the mobile base. External collisions can only contact the horizontal protective frame components, while the side of the mobile base is protected by the rubber buffer pad II. Both the rubber buffer pad II and the rubber buffer pad I can absorb the impact force of the collision, thereby reducing the damage caused by the collision to the shell of the mobile base and improving the safety of the mobile use of this mobile industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0016] Figure 2 is a schematic diagram of the structure of the overall bottom of the present utility model;

[0017] Figure 3 is a schematic diagram of the structure of the side of the connecting component group of the present utility model;

[0018] Figure 4 is a schematic diagram of the structure of the other side of the connecting component group of the present utility model;

[0019] Figure 5 is a schematic diagram of the structure inside the side box of the present utility model;

[0020] Figure 6 is a schematic diagram of the partially sectional structure of the connecting component group of the present utility model;

[0021] Figure 7 is a schematic diagram of the structure of the protective component group and the mobile base part of the present utility model.

[0022] In the figure: 01, mobile industrial robot component group; 11, robot arm; 12, mobile base; 02, connecting component group; 21, sub-installation component; 211, sub-disc body; 212, plug-in component; 22, mother installation component; 221, mother disc body; 222, motor component; 223, driving bevel gear component; 224, vertical transmission shaft; 225, threaded rod; 226, side box; 227, end plate; 228, adjusting plate; 229, inner rod member; 2210, clamping block; 2211, spring member; 2212, guiding rod; 03, protective component group; 31, frame; 32, horizontal protective frame component; 321, protective bar; 322, rubber buffer pad I; 33, rubber buffer pad II. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] Please refer to Figure 1-7 , an embodiment provided by the present invention: a mobile industrial robot adaptable to multiple work types, including a mobile industrial robot component group 01. The mobile industrial robot component group 01 includes a robot arm 11. A mobile base 12 is installed at the bottom of the robot arm 11. One end of the robot arm 11 is provided with a connection component group 02, and the connection component group 02 is used to connect between the robot arm 11 and the end effector. The connection component group 02 includes a sub-installation component 21 and a mother installation component 22. The sub-installation component 21 includes a sub-disk body 211, and a plug-in 212 is arranged on the side of the sub-disk body 211. The mother installation component 22 includes a mother-disk body 221, and a motor part 222 is arranged on the side of the mother-disk body 221. One end of the motor part 222 is provided with a driving bevel gear part 223, a vertical transmission shaft 224 is arranged on the side of the driving bevel gear part 223, a threaded rod 225 is arranged at one end of the vertical transmission shaft 224, a side box 226 is arranged outside the vertical transmission shaft 224, an adjusting plate 228 is arranged outside the threaded rod 225, an end plate 227 is arranged at one end of the threaded rod 225, an inner rod member 229 is arranged on one side of the adjusting plate 228, a clamping block 2210 is arranged at one end of the inner rod member 229, a spring member 2211 is arranged outside the inner rod member 229, and a guiding rod 2212 is arranged inside the adjusting plate 228; a protection component group 03 is arranged outside the mobile base 12, and the protection component group 03 is used for protection.

[0025] The plug-in 212 is connected to the sub-disk body 211, the side of the sub-disk body 211 away from the plug-in 212 is connected to the end effector, one side of the mother-disk body 221 contacts the sub-disk body 211, the motor part 222 is installed on the side of the mother-disk body 221, the driving bevel gear part 223 is connected to the working end of the motor part 222, there are two groups of vertical transmission shafts 224 and threaded rods 225, and the two groups of vertical transmission shafts 224 and threaded rods 225 are symmetrically distributed on both sides of the driving bevel gear part 223. One end of the vertical transmission shaft 224 is meshed with the driving bevel gear part 223 through a bevel gear.

[0026] The vertical transmission shaft 224 is connected to the side box 226 through a bearing, the side box 226 is connected to the side of the mother-disk body 221, one end of the threaded rod 225 is connected to the vertical transmission shaft 224, the adjusting plate 228 is connected to the threaded rod 225 through a thread, the end plate 227 is installed on the mother-disk body 221 through a bracket, and the end plate 227 is connected to one end of the threaded rod 225 through a rotating shaft.

[0027] The guide rod 2212 is fixedly connected through the through hole and the end plate 227. The side surface of the guide rod 2212 is connected to the mother disc body 221 through the bracket. The guide rod 2212 is in sliding contact with the adjusting plate 228 through the through hole. One end of the inner rod member 229 is connected to the adjusting plate 228.

[0028] The spring member 2211 is connected between the block 2210 and the mother disc body 221. The block 2210 is in sliding contact with the mother disc body 221 through the chute. The block 2210 is in contact with the plug-in member 212 through the card slot. The mother disc body 221 is in contact with the plug-in member 212 through the slot. One end of the inner rod member 229 is connected to the block 2210.

[0029] The protection component group 03 includes a frame body 31. A horizontal protection frame assembly 32 is arranged on the side surface of the frame body 31. A second rubber buffer pad 33 is arranged on the side surface of the frame body 31. The horizontal protection frame assembly 32 includes a protection bar 321. A first rubber buffer pad 322 is arranged on the side surface of the protection bar 321.

[0030] There are four groups of the frame bodies 31, and the four groups of the frame bodies 31 are symmetrically distributed on both sides of the moving base 12. The frame body 31 is connected to the moving base 12. There are two groups of the horizontal protection frame assemblies 32. The protection bar 321 is connected to the frame body 31 through bolts and nuts. The first rubber buffer pad 322 is connected to the protection bar 321. The second rubber buffer pad 33 is connected to the side surface of the moving base 12.

[0031] Working principle: Currently, the connection between the end effector and the robotic arm is usually a screw connection method, and tools are required for both disassembly and installation. The operation takes a long time, reducing the switching speed of the industrial robot when switching between multiple workstations. In the corresponding designed connection component group 02, there are multiple sub-installation components 21. The number of sub-installation components 21 can be adapted according to the number of end effectors used by the robotic arm 11 at different workstations. Each end effector that needs to be connected to the robotic arm 11 is connected to a sub-installation component 21 at the installation position. The sub-disc body 211 is connected to the end effector. When it is necessary to connect the end effector and the robotic arm 11, by controlling the motor component 222, the motor component 222 starts and drives the driving bevel gear 223 to rotate through the working end. The driving bevel gear 223 drives the vertical transmission shaft 224 and the threaded rod 225 to rotate through the bevel gear. The threaded rod 225 rotates and drives the adjusting plate 228 to displace through the thread, thereby driving the inner rod member 229 connected to the adjusting plate 228 to move. The spring member 2211 will store energy and contract, and the locking block 2210 will move into the chute of the mother disc body 221. At this time, the plug 212 on the sub-disc body 211 is inserted into the mother disc body 221 through the slot. As the plug 212 is inserted to the bottom of the slot, the driving of the motor component 222 is stopped. The motor component 222 does not have self-locking. At this time, the spring member 2211 releases the stored energy and pushes out the locking block 2210. The locking block 2210 contacts the plug 212 through the card slot, completing the clamping and limiting of the plug 212, and thus completing the installation connection between the end effector and the robotic arm 11. When it is necessary to replace the end effector, the motor component 222 is driven to drive the locking block 2210 to release the clamping contact with the plug 212. The spring member 2211 stores energy and contracts, and the end effector to be replaced is removed. The required end effector is installed. During installation, it is also the way of inserting the plug 212 into the slot in the mother disc body 221. By stopping the driving of the motor component 222, the motor component 222 does not have self-locking, and the locking block 2210 limits and locks the plug 212 through the card slot to complete the replacement installation between the end effector and the robotic arm 11. The design of this connection component group 02, compared with the screw connection method in the prior art, has less manual operation and faster installation speed during disassembly and installation through the control of the motor component 222, improving the efficiency when replacing the end effector.When switching workstations, it is easy to touch objects and cause damage to the robot's outer shell. In the corresponding protective component group 03, the number of the horizontal protective frame components 32 can be adjusted according to actual needs. The horizontal protective frame components 32 to be installed are mounted on the frame body 31 through bolts and nuts. The protective bar 321 and the first rubber buffer pad 322 form a structure for protecting the front and rear sides of the moving base 12. External collisions can only contact the horizontal protective frame components 32, while the side of the moving base 12 is protected by the second rubber buffer pad 33. Both the second rubber buffer pad 33 and the first rubber buffer pad 322 can absorb the impact force of the collision, thereby reducing the damage caused by the collision to the shell of the moving base 12 and improving the safety of the mobile industrial robot during movement.

[0032] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-described exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present utility model. Any reference signs in the claims should not be construed as limiting the claimed rights.

Claims

1. A mobile industrial robot adaptable to multiple types of work, comprising a mobile industrial robot component group (01). The mobile industrial robot component group (01) includes a robot arm (11). A mobile base (12) is installed at the bottom of the robot arm (11). It is characterized in that: One end of the robot arm (11) is provided with a connection component group (02). The connection component group (02) is used to connect between the robot arm (11) and the end effector. The connection component group (02) includes a sub-installation component (21) and a mother installation component (22). The sub-installation component (21) includes a sub-disc body (211). A plug-in part (212) is arranged on the side of the sub-disc body (211). The mother installation component (22) includes a mother disc body (221). A motor part (222) is arranged on the side of the mother disc body (221). One end of the motor part (222) is provided with a driving bevel gear part (223). A vertical transmission shaft (224) is arranged on the side of the driving bevel gear part (223). One end of the vertical transmission shaft (224) is provided with a threaded rod (225). A side box (226) is arranged outside the vertical transmission shaft (224). An adjusting plate (228) is arranged outside the threaded rod (225). One end of the threaded rod (225) is provided with an end plate (227). One side of the adjusting plate (228) is provided with an inner rod member (229). One end of the inner rod member (229) is provided with a clamping block (2210). A spring member (2211) is arranged outside the inner rod member (229). A guiding rod (2212) is arranged inside the adjusting plate (228); A protective component group (03) is arranged outside the mobile base (12). The protective component group (03) is used for protection.

2. The mobile industrial robot adaptable to multiple types of work according to claim 1, wherein: The plug-in part (212) is connected to the sub-disc body (211). The side of the sub-disc body (211) away from the plug-in part (212) is connected to the end effector. One side of the mother disc body (221) contacts the sub-disc body (211). The motor part (222) is installed on the side of the mother disc body (221). The driving bevel gear part (223) is connected to the working end of the motor part (222). There are two groups of the vertical transmission shafts (224) and the threaded rods (225), and the two groups of vertical transmission shafts (224) and threaded rods (225) are symmetrically distributed on both sides of the driving bevel gear part (223). One end of the vertical transmission shaft (224) is meshed with the driving bevel gear part (223) through bevel gears.

3. The mobile industrial robot adaptable to multiple types of work according to claim 1, wherein: The vertical transmission shaft (224) is connected to the side box (226) through a bearing. The side box (226) is connected to the side of the mother disc body (221). One end of the threaded rod (225) is connected to the vertical transmission shaft (224). The adjusting plate (228) is connected to the threaded rod (225) through a thread. The end plate (227) is installed on the mother disc body (221) through a bracket. The end plate (227) is connected to one end of the threaded rod (225) through a rotating shaft.

4. A mobile industrial robot adaptable to multiple work types according to claim 1, characterized in that: The guiding rod (2212) is fixedly connected through a through hole and an end plate (227). The side surface of the guiding rod (2212) is connected to the mother disc body (221) through a bracket. The guiding rod (2212) is in sliding contact with an adjusting plate (228) through a through hole. One end of the inner rod member (229) is connected to the adjusting plate (228).

5. A mobile industrial robot adaptable to multiple types of work, as claimed in claim 1, wherein: The spring member (2211) is connected between the clamping block (2210) and the mother disc body (221). The clamping block (2210) is in sliding contact with the mother disc body (221) through a sliding groove. The clamping block (2210) is in contact with the plug-in member (212) through a clamping groove. The mother disc body (221) is in contact with the plug-in member (212) through a slot. One end of the inner rod member (229) is connected to the clamping block (2210).

6. The mobile industrial robot adaptable to multiple types of work according to claim 1, wherein: The protection component group (03) includes a frame body (31). A horizontal protection frame assembly (32) is arranged on the side surface of the frame body (31). A second rubber buffer pad (33) is arranged on the side surface of the frame body (31). The horizontal protection frame assembly (32) includes a protection bar (321). A first rubber buffer pad (322) is arranged on the side surface of the protection bar (321).

7. The mobile industrial robot adaptable to multiple types of work according to claim 6, characterized in that: There are four groups of the frame bodies (31), and the four groups of frame bodies (31) are symmetrically distributed on both sides of the moving base (12). The frame body (31) is connected to the moving base (12). There are two groups of the horizontal protection frame assemblies (32). The protection bar (321) is connected to the frame body (31) through bolts and nuts. The first rubber buffer pad (322) is connected to the protection bar (321). The second rubber buffer pad (33) is connected to the side surface of the moving base (12).

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