Motion control device for industrial robot

Abstract

The utility model relates to the technical field of industrial machines, in particular to an industrial robot motion control device which comprises an installation base, a cylindrical groove is formed in the center of the top face of the installation base, driving assemblies are symmetrically installed in the cylindrical groove, a mechanical arm base is arranged above the installation base, and a mechanical arm is arranged on the mechanical arm base. A rotating shaft rod is fixedly connected to the center of the bottom face of the mechanical arm base, the axis of the rotating shaft rod coincides with the axis of the cylindrical groove, and one end of the rotating shaft rod extends into the cylindrical groove. In the reciprocating lifting process of the hydraulic oil cylinder, the wedging protruding block can be driven to move in the rotating rail, then the mounting base is driven to rotate, the starting position and the ending position of rotation are limited under relative movement of the rotating rail and the wedging protruding block, and the station rotating condition of the mechanical arm base is met; the device can replace a mechanical arm driving structure in a rotary shaft rod linkage driving mode, the manufacturing cost is low, and the using cost of the device is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial machines, in particular to a motion control device for an industrial robot. Background Technique

[0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field. It has a certain degree of automation and can rely on its own power source and control ability to achieve various industrial processing and manufacturing functions. For example, robotic arms are widely used in various industrial fields such as electronics, logistics, and chemical industry.

[0003] The existing robotic arm mainly includes a base and a robotic arm body. The robotic arm body is installed above the base and can rotate within the stroke range under the action of a driving device between the base and the robotic arm body. The overall rotation period of the robotic arm at the processing station is mostly from one fixed position to another fixed position. The driving device for this action is relatively complex, which will increase the use cost of the device.

[0004] Therefore, in view of the above problems, a motion control device for an industrial robot is proposed. Content of the Utility Model

[0005] In order to make up for the deficiencies of the prior art and solve the problem that the robotic arm body is installed above the base and can rotate within the stroke range under the action of a driving device between the base and the robotic arm body, and the overall rotation period of the robotic arm at the processing station is mostly from one fixed position to another fixed position, and the driving device for this action is relatively complex, which will increase the use cost of the device, a motion control device for an industrial robot is proposed.

[0006] The technical solution adopted by the utility model to solve its technical problems is as follows: A motion control device for an industrial robot according to the utility model includes a mounting base. A cylindrical groove is opened at the center of the top surface of the mounting base. Driving components are symmetrically installed inside the cylindrical groove. A robotic arm base is arranged above the mounting base. A rotating shaft rod is fixedly connected to the center of the bottom surface of the robotic arm base. The axis of the rotating shaft rod coincides with the axis of the cylindrical groove. One end of the rotating shaft rod extends into the cylindrical groove. Limiting card slots are symmetrically opened on both sides of the outer wall of the rotating shaft rod. Arc-shaped clamping plates are fitted and installed on both sides of the outer wall of the rotating shaft rod. The two arc-shaped clamping plates are butt-jointed and fixed under the cooperation of bolts. Limiting protrusions are fixedly connected to the adjacent side walls of the two arc-shaped clamping plates. The limiting protrusions on both sides are respectively clamped inside the limiting card slots on both sides. Rotating tracks are opened on the outer walls on both sides of the two arc-shaped clamping plates. The two rotating tracks are respectively linked with the two driving components.

[0007] Preferably, the driving assembly comprises a hydraulic cylinder, the bottom surface of the hydraulic cylinder is fixedly connected to the bottom surface of the inner wall of the cylindrical groove, and a square opening is formed on the outer wall of one end of the piston rod of the hydraulic cylinder.

[0008] Preferably, a clamping base is slidably installed between the inner walls of the square opening, and a fitting protrusion is fixed to the side wall of the clamping base close to the arc clamping block, and the fitting protrusion is fitted inside the rotating track.

[0009] Preferably, a through hole is provided at the center of the top surface of the clamping base.

[0010] Preferably, a threaded hole is provided at the center of the bottom surface of the inner wall of the square opening.

[0011] Preferably, a fixing bolt is installed in a groove at one end of the piston rod of the hydraulic cylinder, and one end of the fixing bolt is threadedly connected to the threaded hole through a through hole.

[0012] Preferably, operation openings are provided on both sides of the mounting base.

[0013] Beneficial effects of the utility model:

[0014] The camming mechanism is a complex and yet still method of movement is employed to move the drive components of the hydraulic cylinder to a desired position within the cylinder. The camming mechanism is a complex and yet method of movement is employed to move the drive components of the hydraulic cylinder to a desired position within the cylinder. The camming mechanism is a complex and yet method of movement is employed to move the drive components of the hydraulic cylinder to a desired position within the cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0016] Figure 1 It is a three-dimensional diagram of the utility model;

[0017] Figure 2 It is a three-dimensional diagram of the installation base in the utility model;

[0018] Figure 3 It is a three-dimensional diagram of the cooperation between the rotating shaft and the arc surface clamping plate in the utility model;

[0019] Figure 4It is a three-dimensional view of the separation of the rotating shaft rod and the arc-shaped clamping plate in the present utility model;

[0020] Figure 5 It is a three-dimensional view of the driving component in the present utility model;

[0021] Legend:

[0022] 1. Installation base; 11. Cylindrical groove; 2. Driving component; 3. Robotic arm base; 31. Rotating shaft rod; 32. Limit card slot; 4. Arc-shaped clamping plate; 41. Limit convex block; 42. Rotation track; 21. Hydraulic cylinder; 22. Square opening; 23. Clamping base; 24. Fitting convex block; 25. Through hole; 26. Threaded hole; 27. Fixed bolt; 12. Operation opening. Specific implementation manner

[0023] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the protection scope of the present utility model.

[0024] The following gives specific embodiments.

[0025] Please refer to Figure 1 - Figure 5 , the present utility model provides an industrial robot motion control device, including an installation base 1. A cylindrical groove 11 is opened at the center of the top surface of the installation base 1. Driving components 2 are symmetrically installed inside the cylindrical groove 11. A robotic arm base 3 is arranged above the installation base 1. A rotating shaft rod 31 is fixedly connected to the center of the bottom surface of the robotic arm base 3. The axis of the rotating shaft rod 31 coincides with the axis of the cylindrical groove 11. One end of the rotating shaft rod 31 extends into the cylindrical groove 11. Limit card slots 32 are symmetrically opened on both sides of the outer wall of the rotating shaft rod 31. Arc-shaped clamping plates 4 are respectively fitted and installed on both sides of the outer wall of the rotating shaft rod 31. The two arc-shaped clamping plates 4 are butt-jointed and fixed under the cooperation of bolts. Limit convex blocks 41 are fixedly connected to the adjacent side walls of the two arc-shaped clamping plates 4. The two limit convex blocks 41 are respectively clamped inside the two limit card slots 32. Rotation tracks 42 are opened on the outer walls of both sides of the two arc-shaped clamping plates 4. The two rotation tracks 42 are respectively linked with the two driving components 2. The rotating shaft rod 31 installed at the bottom of the robotic arm base 3 extends into the cylindrical groove 11 and is linked with the driving components 2 installed in the cylindrical groove 11 through the arc-shaped clamping plates 4 installed on its outside. The arc-shaped clamping plates 4 are mutually clamped with the limit card slots 32 through the limit convex blocks 41, so that the arc-shaped clamping plates 4, the rotating shaft rod 31 and the robotic arm base 3 can rotate synchronously as a whole, and further the driving components 2 can drive the robotic arm base 3 to rotate as a whole;

[0026] like Figure 3 and Figure 5 As shown, the driving assembly 2 includes a hydraulic cylinder 21, the bottom surface of the hydraulic cylinder 21 is fixedly connected to the bottom surface of the inner wall of the cylindrical groove 11, and a square opening 22 is opened on the outer wall of one end of the piston rod of the hydraulic cylinder 21, and a clamping base 23 is slidably installed between the inner walls of the square opening 22, and the clamping base 23 is fixed with a matching protrusion 24 near the side wall where the arc clamping block is located, and the matching protrusion 24 is fitted and installed inside the rotating track 42, and the clamping base 23 installed at one end of the hydraulic cylinder 21 can fit with the rotating track 42 through the matching protrusion 24, so that the matching protrusion 24 can be driven to move in the rotating track 42 during the reciprocating lifting of the hydraulic cylinder 21, thereby driving the installation base 1 to rotate, and the starting position and the end position of the rotation are defined under the relative movement of the rotating track 42 and the matching protrusion 24, which meets the rotation condition of the robot arm base 3 station;

[0027] like Figure 1 , Figure 3 and Figure 5 As shown, a through hole 25 is provided at the center of the top surface of the clamping base 23, a threaded hole 26 is provided at the center of the bottom surface of the inner wall of the square opening 22, a fixing bolt 27 is installed in the groove at one end of the piston rod of the hydraulic cylinder 21, and one end of the fixing bolt 27 is screwed with the threaded hole 26 through the through hole 25, and operation openings 12 are provided on both sides of the mounting base 1. When the starting position and the end position of the rotation of the robot arm base 3 change, the operation opening 12 is opened to make the piston of the hydraulic cylinder 21 drop to the lower limit. At this time, the fixing bolt 27 can be disassembled to disengage it from the through hole 25 and the threaded hole 26. At this time, the position of the clamping base 23 in the square opening 22 can be changed to disengage the fitting protrusion 24 from the rotating track 42. After that, the hydraulic cylinder 21 can be taken out from the cylindrical groove 11, and the arc surface clamping plate 4 can be replaced according to the needs, and then the above steps can be reversed to restore the mounting base 1 and the robot arm base 3 to each other. The replaceable arc surface clamping plate 4 can increase the adaptability of the device and increase the practicality of the device.

[0028] Working principle: The rotating shaft rod 31 installed at the bottom of the robotic arm base 3 extends into the cylindrical groove 11 and is linked with the driving component 2 installed in the cylindrical groove 11 through the arc-shaped clamping plate 4 installed outside it. The arc-shaped clamping plate 4 is engaged with the limit clamping groove 32 through the limit convex block 41, enabling the arc-shaped clamping plate 4, the rotating shaft rod 31, and the robotic arm base 3 as a whole to rotate synchronously. Thus, the driving component 2 can drive the robotic arm base 3 to rotate as a whole. The clamping base 23 installed at one end of the hydraulic cylinder 21 can be engaged with the rotating track 42 through the fitting convex block 24. This allows the fitting convex block 24 to move within the rotating track 42 during the process of reciprocating lifting of the hydraulic cylinder 21, thereby driving the installation base 1 to perform a rotational motion. Moreover, the starting position and the ending position of this rotation are defined by the relative movement of the rotating track 42 and the fitting convex block 24, meeting the rotational conditions of the robotic arm base 3 at the working station. When the starting position and the ending position of the rotation of the robotic arm base 3 change, open the operation opening 12 and lower the piston of the hydraulic cylinder 21 to the lower limit. At this time, the fixing bolt 27 can be disassembled and disengaged from the through hole 25 and the threaded hole 26. Then, the position of the clamping base 23 in the square opening 22 can be changed to disengage the fitting convex block 24 from the rotating track 42. After that, the hydraulic cylinder 21 can be taken out of the cylindrical groove 11. After replacing the arc-shaped clamping plate 4 as required, reverse the above steps to restore the installation base 1 and the robotic arm base 3 to their original states.

[0029] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and all these changes and improvements fall within the scope of the present invention claimed.

Claims

1. An industrial robot motion control device, characterized in that: It includes an installation base (1). A cylindrical groove (11) is opened at the center of the top surface of the installation base (1). A driving component (2) is symmetrically installed inside the cylindrical groove (11). Above the installation base (1), there is a robotic arm base (3). A rotating shaft rod (31) is fixedly connected to the center of the bottom surface of the robotic arm base (3). The axis line of the rotating shaft rod (31) coincides with the axis line of the cylindrical groove (11). One end of the rotating shaft rod (31) extends into the cylindrical groove (11). Limiting card slots (32) are symmetrically opened on both sides of the outer wall of the rotating shaft rod (31). Arc-shaped clamping plates (4) are fitted and installed on both sides of the outer wall of the rotating shaft rod (31). The two arc-shaped clamping plates (4) are butt-jointed and fixed under the cooperation of bolts. Limiting protrusions (41) are fixedly connected to the adjacent side walls of the two arc-shaped clamping plates (4). The two limiting protrusions (41) are respectively clamped inside the two limiting card slots (32). Rotating tracks (42) are opened on the outer walls on both sides of the two arc-shaped clamping plates (4). The two rotating tracks (42) are respectively linked with the two driving components (2).

2. The motion control device of an industrial robot according to claim 1, characterized in that: The driving component (2) includes a hydraulic cylinder (21). The bottom surface of the hydraulic cylinder (21) is fixedly connected to the inner wall bottom surface of the cylindrical groove (11). A square opening (22) is opened on the outer wall of one end of the piston rod of the hydraulic cylinder (21).

3. An industrial robot motion control device according to claim 2, characterized in that: A clamping base (23) is slidably installed between the inner walls of the square opening (22). A fitting protrusion (24) is fixedly connected to the side wall of the clamping base (23) close to the arc-shaped clamping block. The fitting protrusion (24) is fitted and installed inside the rotating track (42).

4. An industrial robot motion control device according to claim 3, characterized in that: A through hole (25) is opened at the center of the top surface of the clamping base (23).

5. An industrial robot motion control device according to claim 4, characterized in that: A threaded hole (26) is opened at the center of the inner wall bottom surface of the square opening (22).

6. An industrial robot motion control device according to claim 5, characterized in that: A fixing bolt (27) is installed in the groove at one end of the piston rod of the hydraulic cylinder (21). One end of the fixing bolt (27) is screwed with the threaded hole (26) through the through hole (25).

7. An industrial robot motion control device according to claim 1, characterized in that: Operation openings (12) are opened on both sides of the installation base (1).

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