Mechanical arm for industrial robot

Abstract

The mechanical arm for the industrial robot comprises a mechanical arm body, and the right side of the bottom of the mechanical arm body is fixedly connected with a stepping motor. Through the arrangement of the rotating disc, when fastening heads of different shapes need to be replaced, the stepping motor is started to drive the connecting rod to rotate by a corresponding angle, meanwhile, the rotating disc drives the round hole in the surface of the rotating disc to rotate, a square groove in the next round hole is aligned with a square inserting block, and then a first electric telescopic rod can be started to drive the square inserting block to stretch out downwards; the head replacement can be completed by sliding the square inserting block into the square groove, then the first electric telescopic rod is started to drive the square groove and the fastening head at the bottom of the square groove to rotate through the square inserting block, a fastening piece of a product is screwed and fixed, replacement is simple and rapid, debugging is not needed, a large amount of time is saved, and the production efficiency is prevented from being affected; and the use of a user is facilitated, and the practicability of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a robotic arm for industrial robots. Background Technique

[0002] In recent years, with the development of robot technology, robot structures with high speed, high precision, and high load-to-self-weight ratio have received attention in the industrial and aerospace fields. Due to the increase in the flexible effects of joints and linkages during the movement process, the structure deforms, resulting in a reduction in the accuracy of task execution. Therefore, the flexible characteristics of the robotic arm structure must be considered, and the system dynamics characteristics must also be considered to achieve high-precision and effective control of the flexible robotic arm; the robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, and other fields; the robotic arm is a complex system with uncertainties such as parameter perturbations, external disturbances, and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space; generally speaking, an industrial robot consists of three major parts and six subsystems. The three major parts are the mechanical part, the sensing part, and the control part. Among them, the six subsystems can be divided into a mechanical structure system, a drive system, a sensing system, a robot-environment interaction system, a human-machine interaction system, and a control system; looking at the mechanical structure, industrial robots are generally divided into serial robots and parallel robots.

[0003] A robotic arm for industrial robots proposed in the existing Chinese patent 202010765996.0 tightens and fixes the screws of the processed product through a flat head. However, the shapes of the fasteners used for different products are different, and the flat head is not convenient to replace. Moreover, debugging is required during replacement, wasting a lot of time, affecting the processing efficiency, not being convenient for users to use, and reducing the practicability of the robotic arm. Summary of the Utility Model

[0004] To solve the problems raised in the above background technique, the purpose of the present utility model is to provide a robotic arm for industrial robots, which has the advantages of fast replacement and no need for debugging, and solves the problem of a robotic arm for industrial robots proposed in the existing Chinese patent 202010765996.0. This application tightens and fixes the screws of the processed product through a flat head. However, the shapes of the fasteners used for different products are different, and the flat head is not convenient to replace. Moreover, debugging is required during replacement, wasting a lot of time and affecting the processing efficiency.

[0005] To achieve the above object, the present utility model provides the following technical solution: A robotic arm for an industrial robot, including a robotic arm. On the right side of the bottom of the robotic arm, a stepper motor is fixedly connected. The output end of the stepper motor is fixedly connected to a connecting rod. The bottom end of the connecting rod is fixedly connected to a turntable. A plurality of circular holes are formed on the surface of the turntable. The circular holes are arranged in a circular array along the axis of the turntable. Square heads are arranged inside the circular holes. Square grooves are formed on the surfaces of the square heads. The bottom ends of the square heads are all fixedly connected to rotating rods. The rotating rods all extend to the bottom of the turntable. The bottom ends of the rotating rods are all fixedly connected to fastening heads. On the right side of the bottom of the robotic arm, a servo motor is fixedly connected. The servo motor is located on the right side of the stepper motor. The output end of the servo motor is fixedly connected to a first electric telescopic rod. The bottom of the first electric telescopic rod is fixedly connected to a square plug. The cross-sectional area of the square plug is the same as the cross-sectional area of the square groove.

[0006] Preferably, a plurality of first springs are fixedly connected to the bottom of the turntable. The first springs are all located outside the circular holes. The first springs are arranged in a circular array along the axis of the turntable. The number of the first springs is the same as that of the circular holes. The bottom ends of the first springs are all fixedly connected to a bottom plate. The bottom plates are all sleeved on the surfaces of the rotating rods.

[0007] Preferably, bearings are fixedly connected to the tops of the bottom plates. The bearings are all sleeved on the surfaces of the rotating rods and fixedly connected thereto. The rotating rods are rotationally connected to the bottom plates through the bearings.

[0008] Preferably, fixing rods are fixedly connected to both sides of the bottom of the robotic arm. The stepper motor and the servo motor are both located inside the fixing rods. The bottom of the fixing rod is fixedly connected to a limiting ring. A limiting groove is formed on the surface of the inner ring of the limiting ring. The turntable is located inside the limiting groove.

[0009] Preferably, rolling grooves are formed on the top wall and the bottom wall of the limiting groove. Ball bearings are rollingly connected inside the rolling grooves. The upper and lower surfaces of the turntable are both rollingly connected to the ball bearings. The ball bearings are arranged in a circular array along the axis of the turntable.

[0010] Preferably, magnetic blocks are fixedly connected to the four sides of the square head. Left vertical plates are fixedly connected to the surface of the turntable. Second electric telescopic rods are fixedly connected to the outer sides of the left vertical plates. Right sliding plates are fixedly connected to the outer ends of the second electric telescopic rods. Second springs are sleeved on the surfaces of the second electric telescopic rods. The two ends of the second springs are respectively fixedly connected to the left vertical plates and the right sliding plates. Strong magnetic blocks are fixedly connected to the outer sides of the right sliding plates. The strong magnetic blocks are all attracted to the magnetic blocks.

[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0012] 1. Through the setting of the turntable in the present utility model, when it is necessary to replace fastening heads of different shapes, the stepping motor is started to drive the connecting rod to rotate by a corresponding angle. At the same time, the turntable drives the circular holes on its surface to rotate, so that the square groove inside the next circular hole is aligned with the square plug. Then, the first electric telescopic rod can be started to drive the square plug to extend downward, and the square plug slides into the inside of the square groove, thus completing the head replacement. Then, by starting the first electric telescopic rod, the square plug can drive the square groove and the fastening head at its bottom to rotate, so as to screw and fix the fastener of the product. The replacement is simple and fast, and no debugging is required, saving a large amount of time, avoiding the influence on production efficiency, facilitating the use of users, and improving the practicability of the robotic arm.

[0013] 2. Through the setting of the first spring and the bottom plate in the present utility model, the rotating rod and the fastening head are limited, avoiding the problem that the square groove is skewed inside the circular hole, resulting in the inability to align the square groove with the square plug. Moreover, when the first electric telescopic rod drives the square plug to extend, under the elastic force of the first spring, a reverse acting force is generated between the square groove and the square plug, making their connection more firm and not easy to fall off, improving the stability of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is the front view schematic diagram of the structure of the present utility model;

[0015] Figure 2 is the bottom view schematic diagram of the structure of the present utility model;

[0016] Figure 3 is the front view sectional schematic diagram of the structure of the present utility model;

[0017] Figure 4 is the front view schematic diagram of the bearing and the strong magnetic block of the structure of the present utility model.

[0018] In the figure: 1. Robotic arm; 2. Stepping motor; 3. Connecting rod; 4. Turntable; 5. Circular hole; 6. Square head; 7. Square groove; 8. Rotating rod; 9. Fastening head; 10. Servo motor; 11. First electric telescopic rod; 12. Square plug; 13. First spring; 14. Bottom plate; 15. Bearing; 16. Fixed rod; 17. Limit ring; 18. Limit groove; 19. Rolling groove; 20. Ball; 21. Magnetic block; 22. Left vertical plate; 23. Second electric telescopic rod; 24. Right sliding plate; 25. Second spring; 26. Strong magnetic block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0020] As Figures 1 to 4 shown, a robotic arm for an industrial robot includes a robotic arm 1. On the right side of the bottom of the robotic arm 1, a stepping motor 2 is fixedly connected. The output end of the stepping motor 2 is fixedly connected to a connecting rod 3. The bottom end of the connecting rod 3 is fixedly connected to a turntable 4. A number of circular holes 5 are formed on the surface of the turntable 4. The circular holes 5 are arranged in a circular array along the axis of the turntable 4. Square heads 6 are arranged inside the circular holes 5. Square grooves 7 are formed on the surfaces of the square heads 6. The bottom ends of the square heads 6 are fixedly connected to rotating rods 8. The rotating rods 8 all extend to the bottom of the turntable 4. The bottom ends of the rotating rods 8 are fixedly connected to fastening heads 9. On the right side of the bottom of the robotic arm 1, a servo motor 10 is fixedly connected. The servo motor 10 is located on the right side of the stepping motor 2. The output end of the servo motor 10 is fixedly connected to a first electric telescopic rod 11. The bottom of the first electric telescopic rod 11 is fixedly connected to a square plug 12. The cross-sectional area of the square plug 12 is the same as the cross-sectional area of the square groove 7. The model of the first electric telescopic rod 11 is XDHA12-1500. This first electric telescopic rod 11 is driven by a DC motor and designed with a screw drive, ensuring that the first electric telescopic rod 11 can only extend and retract without rotating.

[0021] Referring to Figures 2 to 4 , a number of first springs 13 are fixedly connected to the bottom of the turntable 4. The first springs 13 are all located outside the circular holes 5. The first springs 13 are arranged in a circular array along the axis of the turntable 4. The number of the first springs 13 is the same as that of the circular holes 5. The bottom ends of the first springs 13 are fixedly connected to a bottom plate 14. The bottom plates 14 are all sleeved on the surfaces of the rotating rods 8.

[0022] As a technical optimization scheme of the present utility model, through the arrangement of the first springs 13 and the bottom plates 14, the rotating rods 8 and the fastening heads 9 are limited, avoiding the problem that the square groove 7 is skewed inside the circular hole 5, resulting in the inability to align the square groove 7 with the square plug 12. Moreover, when the first electric telescopic rod 11 drives the square plug 12 to extend, under the elastic force of the first spring 13, a reverse acting force is generated between the square groove 7 and the square plug 12, making their connection more firm and not easily falling off, improving the stability of the robotic arm.

[0023] Referring to Figure 3 and Figure 4, bearings 15 are fixedly connected to the top of the bottom plate 14. The bearings 15 are sleeved on the surface of the rotating rod 8 and fixedly connected thereto. The rotating rod 8 is rotatably connected to the bottom plate 14 through the bearings 15.

[0024] As a technical optimization scheme of the present utility model, through the arrangement of the bearings 15, fixed support is provided for the rotating rod 8, and when the servo motor 10 drives the rotating rod 8 to rotate, it will not drive the first spring 13 and the bottom plate 14 to rotate, resulting in the distortion of the first spring 13 and thus triggering an operation failure, making its operation more stable.

[0025] Reference Figures 1 to 3 , fixed rods 16 are fixedly connected to both sides of the bottom of the robotic arm 1. The stepping motor 2 and the servo motor 10 are both located inside the fixed rods 16. A limiting ring 17 is fixedly connected to the bottom of the fixed rods 16. A limiting groove 18 is formed on the surface of the inner ring of the limiting ring 17. The turntable 4 is located inside the limiting groove 18.

[0026] As a technical optimization scheme of the present utility model, through the arrangement of the limiting ring 17, limiting support is provided for the turntable 4, enabling the turntable 4 to remain on the same horizontal line when rotating, avoiding the skew of the square groove 7 on the surface of the square head 6, resulting in the problem that the square plug 12 cannot be inserted into the square groove 7, and further avoiding the occurrence of faults.

[0027] Reference Figure 3 , rolling grooves 19 are formed on the top and bottom walls of the limiting groove 18. Ball bearings 20 are rollingly connected inside the rolling grooves 19. The upper and lower surfaces of the turntable 4 are both rollingly connected to the ball bearings 20. The ball bearings 20 are arranged in an annular array along the axis of the turntable 4.

[0028] As a technical optimization scheme of the present utility model, through the arrangement of the ball bearings 20, the friction between the limiting groove 18 and the upper and lower surfaces of the turntable 4 is greatly reduced, enabling the turntable 4 to rotate more smoothly inside the limiting groove 18, making it more labor-saving and accurate for the stepping motor 2 to drive the turntable 4 to a certain angle, thereby reducing the kinetic energy loss of the stepping motor 2.

[0029] Reference Figure 1 , Figure 3 and Figure 4 , magnetic blocks 21 are fixedly connected to the four sides of the square head 6. Left vertical plates 22 are fixedly connected to the surface of the turntable 4. Second electric telescopic rods 23 are fixedly connected to the outside of the left vertical plates 22. Right sliding plates 24 are fixedly connected to the outer ends of the second electric telescopic rods 23. Second springs 25 are sleeved on the surface of the second electric telescopic rods 23. The two ends of the second springs 25 are respectively fixedly connected to the left vertical plates 22 and the right sliding plates 24. Strong magnetic blocks 26 are fixedly connected to the outside of the right sliding plates 24. The strong magnetic blocks 26 are attracted to the magnetic blocks 21.

[0030] As a technical optimization solution of the present utility model, through the setting of the strong magnetic block 26, after the first electric telescopic rod 11 drives the square plug 12 to contract and separate from the square groove 7, then control the second electric telescopic rod 23 to drive the strong magnetic block 26 to extend, and the strong magnetic block 26 will be attracted to the magnetic block 21 on any side around the square head 6, so that the square head 6 is automatically aligned and reset, avoiding the problem that the square plug 12 cannot be inserted due to the deflection of the square groove 7.

[0031] The working principle and usage process of the present utility model: When in use, the user starts the first electric telescopic rod 11 to drive the square plug 12 to insert into the inside of the square groove 7, and continuously presses down the square head 6 and the rotating rod 8. When the first electric telescopic rod 11 drives the square plug 12 to extend, under the elastic force of the first spring 13, a reverse acting force is generated between the square groove 7 and the square plug 12, making their connection more firm and not easy to fall off. The fastening head of the fastening head 9 will contact the product fastener, and then start the servo motor 10 to drive the first electric telescopic rod 11 and the fastening head 9 to rotate and tighten it. When it is necessary to replace the fastening head with a different shape, control the first electric telescopic rod 11 to drive the square plug 12 to contract and separate from the square groove 7, the first spring 13 drives the rotating rod 8 and the fastening head 9 to reset, and control the second electric telescopic rod 23 to drive the strong magnetic block 26 to extend, and the strong magnetic block 26 will be attracted to the magnetic block 21 on any side around the square head 6, so that the square head 6 is automatically aligned and reset, facilitating the next replacement and use. Then, start the stepping motor 2 to drive the connecting rod 3 to rotate a corresponding angle, and at the same time, the turntable 4 drives the circular hole 5 on its surface to rotate, so that the square groove 7 inside the required circular hole 5 is aligned with the square plug 12. Then, start the first electric telescopic rod 11 to drive the square plug 12 to extend downward, so that the square plug 12 slides into the inside of the square groove 7, and the head replacement can be completed.

[0032] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0033] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for industrial robots, comprising a robotic arm (1), characterized in that: On the right side of the bottom of the robotic arm (1), a stepper motor (2) is fixedly connected. The output end of the stepper motor (2) is fixedly connected with a connecting rod (3). The bottom end of the connecting rod (3) is fixedly connected with a turntable (4). A number of circular holes (5) are formed on the surface of the turntable (4). The circular holes (5) are arranged in a circular array along the axis of the turntable (4). Inside each of the circular holes (5), a square head (6) is provided. Square grooves (7) are formed on the surface of the square head (6). The bottom ends of the square heads (6) are all fixedly connected with rotating rods (8). The rotating rods (8) all extend to the bottom of the turntable (4). The bottom ends of the rotating rods (8) are all fixedly connected with fastening heads (9). On the right side of the bottom of the robotic arm (1), a servo motor (10) is fixedly connected. The servo motor (10) is located on the right side of the stepper motor (2). The output end of the servo motor (10) is fixedly connected with a first electric telescopic rod (11). The bottom of the first electric telescopic rod (11) is fixedly connected with a square plug (12). The cross-sectional area of the square plug (12) is the same as that of the square groove (7).

2. The robotic arm for industrial robots according to claim 1, characterized in that: A number of first springs (13) are fixedly connected to the bottom of the turntable (4). The first springs (13) are all located outside the circular holes (5). The first springs (13) are arranged in a circular array along the axis of the turntable (4). The number of the first springs (13) is the same as that of the circular holes (5). The bottom ends of the first springs (13) are all fixedly connected with a bottom plate (14). The bottom plates (14) are all sleeved on the surface of the rotating rods (8).

3. The robotic arm for industrial robots according to claim 2, wherein: Bearings (15) are fixedly connected to the tops of the bottom plates (14). The bearings (15) are all sleeved on the surface of the rotating rods (8) and fixedly connected thereto. The rotating rods (8) are rotationally connected to the bottom plates (14) through the bearings (15).

4. The robotic arm for industrial robots according to claim 1, characterized in that: Fixed rods (16) are fixedly connected to both sides of the bottom of the robotic arm (1). The stepper motor (2) and the servo motor (10) are both located inside the fixed rods (16). The bottom of the fixed rod (16) is fixedly connected with a limit ring (17). A limit groove (18) is formed on the inner surface of the inner ring of the limit ring (17). The turntable (4) is located inside the limit groove (18).

5. The robotic arm for industrial robots according to claim 4, characterized in that: Rolling grooves (19) are formed on the top wall and the bottom wall of the limit groove (18). Inside each of the rolling grooves (19), a ball (20) is in rolling connection. The upper and lower surfaces of the turntable (4) are both in rolling connection with the balls (20). The balls (20) are arranged in a circular array along the axis of the turntable (4).

6. The robotic arm for an industrial robot according to claim 1, wherein: Magnetic blocks (21) are fixedly connected to the periphery of the square head (6). Left vertical plates (22) are fixedly connected to the surface of the turntable (4). Second electric telescopic rods (23) are fixedly connected to the outer sides of the left vertical plates (22). Right sliding plates (24) are fixedly connected to the outer ends of the second electric telescopic rods (23). Second springs (25) are sleeved on the surfaces of the second electric telescopic rods (23). The two ends of the second springs (25) are respectively fixedly connected to the left vertical plates (22) and the right sliding plates (24). Strong magnetic blocks (26) are fixedly connected to the outer sides of the right sliding plates (24). The strong magnetic blocks (26) are attracted to the magnetic blocks (21).

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