Multi-degree-of-freedom operation arm device of industrial robot

Abstract

The utility model discloses a multi-degree-of-freedom operation arm device of an industrial robot, and particularly relates to the field of operation arms of industrial robots, the multi-degree-of-freedom operation arm device comprises a machine table, a plane moving assembly, a fixing box, an up-down moving assembly, a first fixing plate, a second fixing plate and a base, a groove is dug in the upper end face of the machine table, and the plane moving assembly is installed on the inner side of the groove; a fixing box is arranged at the moving end of the plane moving assembly, an up-down moving assembly is arranged in an inner cavity of the fixing box, a first fixing plate is arranged at the moving end of the up-down moving assembly through bolts, a second fixing plate is arranged on the first fixing plate through bolts, and a base is arranged on the upper end face of the second fixing plate through bolts. The position of the tail end of the robot can be conveniently changed by adjusting the height of the base of the robot and changing the number of degrees of freedom of the robot, the device can adapt to a narrow space, and the operating arm of the device is composed of a set of base, a rotating arm, a plurality of sets of connecting pieces and a plurality of sets of operating arms, so that the device has the multi-angle moving effect.

Description

Technical Field

[0001] The utility model relates to the field of industrial robot manipulators, and more specifically, the utility model relates to a multi-degree-of-freedom manipulator device for industrial robots. Background Art

[0002] The multi-degree-of-freedom manipulator device for industrial robots is an advanced automated mechanical system, which consists of multiple interconnected joints that can be independently controlled, enabling the robot to perform complex movements in three-dimensional space, thereby achieving complex path tracking and spatial positioning. Such a device is usually used in industrial applications such as automated production lines, precision assembly, material handling, and processing operations, which can improve production efficiency, reduce labor costs, and maintain high operating accuracy and repeatability;

[0003] For example, the application number CN201510221997.8 discloses a six-degree-of-freedom planar joint robot. The six-degree-of-freedom planar joint robot adds a three-degree-of-freedom wrist on the basis of a three-degree-of-freedom SCARA robot, enabling it to have three translational degrees of freedom along the X, Y, and Z axes and three rotational degrees of freedom along the X, Y, and Z axes, suitable for realizing complex movements and capable of achieving six-degree-of-freedom movements of the manipulated target; when the above device is in use, the moving distance of the three-degree-of-freedom wrist on the Z axis is limited. When the space where the object is grasped and placed is small, the three-degree-of-freedom wrist in the above device is not conducive to grasping work, and the degrees of freedom of the manipulator in the prior art are usually fixed and cannot flexibly change the degrees of freedom of the industrial robot according to different usage scenarios.

[0004] Therefore, a multi-degree-of-freedom manipulator device for industrial robots is proposed to solve the above problems. Summary of the Utility Model

[0005] In order to overcome the above-mentioned defects of the prior art, the utility model provides a multi-degree-of-freedom manipulator device for industrial robots to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A multi-degree-of-freedom manipulator device for industrial robots, including a machine table, a planar moving component, a fixed box, an up-and-down moving component, a first fixing plate, a second fixing plate, and a base. A groove is dug on the upper end surface of the machine table, and the planar moving component is installed inside the groove. The moving end of the planar moving component is provided with a fixed box, and the up-and-down moving component is arranged inside the fixed box. The moving end of the up-and-down moving component is provided with a first fixing plate through bolts, and the first fixing plate is provided with a second fixing plate through bolts. The upper end surface of the second fixing plate is provided with a base through bolts;

[0007] The upper end surface of the base is fixedly connected with a rotating arm, and a first flange is arranged at the rotating end of the rotating arm. The rotating arm is bolt-limitedly connected with a second flange at one end of a connecting piece through the first flange. The connecting piece is L-shaped, and second flanges are arranged at both ends of the connecting piece. The connecting piece is connected with an operating arm through the second flange, and third flanges are arranged at both ends of the operating arm. The connecting piece includes a housing and a driving mechanism. A driving mechanism is arranged in the inner cavity of the housing, and two groups of driving mechanisms are provided. The driving mechanism includes a first servo motor and a speed reducer. The output end of the first servo motor is provided with the speed reducer, and the output end of the speed reducer is provided with a third fixing plate. A bearing is arranged at the contact surface between the third fixing plate and the housing, and a turntable is arranged on the surface of the third fixing plate away from the speed reducer. A sensor module is arranged in the inner cavity of the housing.

[0008] Preferably, the planar movement assembly includes a second servo motor and a threaded lead screw. The second servo motor is installed in the inner cavity of the machine table, and the output end of the second servo motor is provided with the threaded lead screw. A slide bar is arranged on one side of the threaded lead screw, and threaded holes and slide holes are respectively arranged at the contact surfaces between the threaded lead screw and the slide bar and the fixed box.

[0009] Preferably, the vertical movement assembly includes a third servo motor and a first gear. The third servo motor is installed in the inner cavity of the fixed box, and the output end of the third servo motor is provided with the first gear. The first gear is meshed with a second gear, and a lifting rod is arranged on the upper end surface of the second gear. The outer diameter surface of the lifting rod is threadedly connected with a limit seat, and a limit bolt is arranged on the upper end surface of the limit seat.

[0010] Preferably, the vertical movement assembly is limit-connected with a first fixing plate through a limit bolt. The first fixing plate is limit-connected with a second fixing plate through bolts. The second fixing plate is limit-connected with the base through bolts. The first flange, the second flange and the third flange are limit-connected with each other through bolts. The operating arms are all limit-connected with each other through the connecting piece.

[0011] Preferably, the threaded lead screw forms a threaded connection structure with the fixed box through the threaded hole, and the slide bar forms a sliding structure with the fixed box through the slide hole.

[0012] Preferably, four groups of the second gears and the lifting rods are provided. The first gear and the second gear form a gear meshing structure. A threaded port is arranged at the contact surface between the lifting rod and the limit seat, and the lifting rod and the limit seat form a threaded connection structure.

[0013] The technical effects and advantages of the present utility model:

[0014] Compared with the prior art, this multi-degree-of-freedom manipulator device of an industrial robot can change the position of the robot end easily and adapt to relatively narrow spaces by adjusting the height of the robot base and changing the number of degrees of freedom of the robot. Moreover, the manipulator of this device consists of a set of base and rotating arm, several sets of connecting pieces and several sets of manipulator arms. With the above structure, this device has the effect of multi-angle movement.

[0015] Compared with the prior art, when this multi-degree-of-freedom manipulator device of an industrial robot is in use, the planar movement component drives the industrial robot to move. Specifically, the second servo motor is started, which drives the threaded lead screw to rotate. And there is a threaded hole on the contact surface between the threaded lead screw and the fixed box, so that the fixed box can move along the threaded lead screw. At the same time when the fixed box moves, the threaded lead screw and the slide bar are respectively threadedly connected and slidably connected with the threaded hole and the slide hole, so as to drive the industrial robot to move through the planar movement component.

[0016] Compared with the prior art, when this multi-degree-of-freedom manipulator device of an industrial robot is in use, the up-and-down movement component drives the industrial robot to move up and down. The up-and-down movement component is connected with a first fixing plate through a limit seat, and the first fixing plate is limit-connected with a second fixing plate through bolts, and the second fixing plate is limit-connected with the base through bolts. Among them, the third servo motor is started, which drives the first gear to rotate, and the first gear is meshed with the second gear, and a lifting rod is installed on the upper end surface of the second gear. Since there is a threaded opening on the contact surface between the lifting rod and the limit seat, the limit seat drives the base to move up and down, thereby changing the up-and-down position of the industrial robot.

[0017] Compared with the prior art, when this multi-degree-of-freedom manipulator device of an industrial robot is in use, the industrial robot consists of a set of base and rotating arm, several sets of connecting pieces and several sets of manipulator arms. Among them, the connecting pieces drive the manipulator arms at both ends of the connecting pieces to move through the first servo motor, reducer, third fixing plate and turntable in the internal drive mechanism, and the shape of the industrial robot is monitored in real time through the sensor module. With the above structure, this device has the effect of multi-angle movement, and can timely adjust the height of the robot base and change the number of degrees of freedom of the robot, so that this device is convenient for changing the position of the robot end and can adapt to relatively narrow spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the machine table of the present utility model.

[0019] Figure 2 It is an exploded structural schematic diagram of the first fixing plate of the present utility model.

[0020] Figure 3 This is a schematic three-dimensional structure diagram of the connecting member of the present utility model.

[0021] Figure 4 This is a schematic three-dimensional structure diagram of the operating arm of the present utility model.

[0022] Figure 5 This is a schematic front sectional structure diagram of the connecting member of the present utility model.

[0023] Figure 6 This is a schematic top sectional structure diagram of the planar moving component of the present utility model.

[0024] Figure 7 This is a schematic three-dimensional structure diagram of the third servo motor of the present utility model.

[0025] Figure 8 This is a schematic top view structure diagram of the first gear of the present utility model.

[0026] Figure 9 This is a schematic three-dimensional structure diagram of the limit seat of the present utility model.

[0027] Reference numerals are: 1, machine table; 2, planar moving component; 21, second servo motor; 22, threaded lead screw; 23, slide bar; 3, fixed box; 4, up and down moving component; 41, third servo motor; 42, first gear; 43, second gear; 44, lifting rod; 45, limit seat; 5, first fixing plate; 6, second fixing plate; 7, base; 8, groove; 9, rotating arm; 10, first flange; 11, connecting member; 111, housing; 112, driving mechanism; 113, first servo motor; 114, speed reducer; 115, third fixing plate; 116, turntable; 117, sensor module; 12, second flange; 13, operating arm; 14, third flange. Specific embodiments

[0028] 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 of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0029] Embodiment 1

[0030] As shown in the attached Figures 1 to 3An industrial robot multi-degree-of-freedom manipulator device shown in the figure includes a machine table 1, a planar moving component 2, a fixed box 3, an up-and-down moving component 4, a first fixing plate 5, a second fixing plate 6 and a base 7. A groove 8 is dug on the upper end surface of the machine table 1, and the planar moving component 2 is installed inside the groove 8. A fixed box 3 is arranged at the moving end of the planar moving component 2, and an up-and-down moving component 4 is arranged inside the fixed box 3. The moving end of the up-and-down moving component 4 is provided with a first fixing plate 5 through bolts, and the first fixing plate 5 is provided with a second fixing plate 6 through bolts. The upper end surface of the second fixing plate 6 is provided with a base 7 through bolts;

[0031] A rotating arm 9 is fixedly connected to the upper end surface of the base 7, and a first flange 10 is arranged at the rotating end of the rotating arm 9. The rotating arm 9 is bolt-limitedly connected to a second flange 12 at one end of a connecting member 11 through the first flange 10. The connecting member 11 is L-shaped, and second flanges 12 are arranged at both ends of the connecting member 11. The connecting member 11 is connected to a manipulator 13 through the second flange 12, and third flanges 14 are arranged at both ends of the manipulator 13. The connecting member 11 includes a housing 111 and a driving mechanism 112. The driving mechanism 112 is arranged inside the housing 111, and two groups of driving mechanisms 112 are provided. The driving mechanism 112 includes a first servo motor 113 and a speed reducer 114. The output end of the first servo motor 113 is provided with the speed reducer 114, and the output end of the speed reducer 114 is provided with a third fixing plate 115. A bearing is arranged at the contact surface between the third fixing plate 115 and the housing 111, and a turntable 116 is arranged on the side of the third fixing plate 115 away from the speed reducer 114. A sensor module 117 is arranged inside the housing 111. The sensor module 117 includes a vision sensor, a torque sensor, a collision detection sensor, a tactile sensor, a temperature sensor, a gas sensor, an attitude sensor, a radio frequency identification sensor, a microphone, a microphone sensor and a GPS sensor.

[0032] Among them: The industrial robot is composed of a group of base 7 and rotating arm 9, several groups of connecting members 11 and several groups of manipulators 13. The connecting member 11 drives the manipulators 13 at both ends of the connecting member 11 to move through the first servo motor 113, speed reducer 114, third fixing plate 115 and turntable 116 in the internal driving mechanism 112, and the shape of the industrial robot is monitored in real time through the sensor module 117. With the above structure, this device has the effect of multi-angle movement, and can timely adjust the height of the robot base 7 and change the number of degrees of freedom of the robot, making this device easy to change the position of the robot end, and making this device adaptable to relatively narrow spaces.

[0033] Embodiment 2

[0034] Based on Embodiment 1, the solution in Embodiment 1 is further refined and introduced in combination with the following specific working modes, as Figures 1 to 9 shown, and the details are described below:

[0035] As a preferred embodiment, the planar moving component 2 includes a second servo motor 21 and a threaded lead screw 22. The second servo motor 21 is installed in the inner cavity of the machine table 1, and the output end of the second servo motor 21 is provided with the threaded lead screw 22. A slide bar 23 is arranged on one side of the threaded lead screw 22, and threaded holes and slide holes are respectively arranged on the contact surfaces of the threaded lead screw 22 and the slide bar 23 with the fixed box 3. The industrial robot is driven to move by the planar moving component 2. Among them, when the second servo motor 21 is started, the second servo motor 21 drives the threaded lead screw 22 to rotate, and a threaded hole is arranged on the contact surface of the threaded lead screw 22 with the fixed box 3, so that the fixed box 3 moves along the threaded lead screw 22. At the same time when the fixed box 3 moves, the threaded lead screw 22 and the slide bar 23 are respectively in threaded connection and sliding connection with the threaded hole and the slide hole, so as to drive the industrial robot to move by the planar moving component 2.

[0036] As a preferred embodiment, the up-and-down moving component 4 includes a third servo motor 41 and a first gear 42. The third servo motor 41 is installed in the inner cavity of the fixed box 3, and the output end of the third servo motor 41 is provided with the first gear 42. The first gear 42 is meshed with a second gear 43, and a lifting rod 44 is arranged on the upper end surface of the second gear 43. The outer diameter surface of the lifting rod 44 is in threaded connection with a limit seat 45, and a limit bolt is arranged on the upper end surface of the limit seat 45. The industrial robot is driven to move up and down by the up-and-down moving component 4. Among them, the up-and-down moving component 4 is connected with a first fixing plate 5 through the limit seat 45, and the first fixing plate 5 is limitedly connected with a second fixing plate 6 by bolts, and the second fixing plate 6 is limitedly connected with a base 7 by bolts. Among them, when the third servo motor 41 is started, the third servo motor 41 drives the first gear 42 to rotate, and the first gear 42 is meshed with the second gear 43, and the lifting rod 44 is installed on the upper end surface of the second gear 43. Since a threaded port is arranged on the contact surface of the lifting rod 44 with the limit seat 45, the limit seat 45 drives the base 7 to move up and down, changing the up-and-down position of the industrial robot.

[0037] As a preferred embodiment, the up-and-down moving component 4 is limitedly connected with the first fixing plate 5 through a limit bolt, the first fixing plate 5 is limitedly connected with the second fixing plate 6 by bolts, the second fixing plate 6 is limitedly connected with the base 7 by bolts, the first flange 10, the second flange 12 and the third flange 14 are limitedly connected by bolts, and the operating arms 13 are all limitedly connected by connecting pieces 11.

[0038] As a preferred embodiment, the threaded lead screw 22 forms a threaded connection structure with the fixed box 3 through a threaded hole, and the sliding rod 23 forms a sliding structure with the fixed box 3 through a sliding hole.

[0039] As a preferred embodiment, four sets of the second gears 43 and the lifting rods 44 are provided. The first gear 42 and the second gear 43 form a gear meshing structure. A threaded port is provided on the contact surface between the lifting rod 44 and the limit seat 45, and the lifting rod 44 and the limit seat 45 form a threaded connection structure.

[0040] The working process of the present utility model is as follows: The industrial robot consists of a set of base 7, a rotating arm 9, several sets of connecting members 11 and several sets of operating arms 13. The connecting member 11 drives the operating arms 13 at both ends of the connecting member 11 to move through the first servo motor 113, the speed reducer 114, the third fixing plate 115 and the turntable 116 in the internal drive mechanism 112, and the shape of the industrial robot is monitored in real time through the sensor module 117. The plane moving component 2 drives the industrial robot to move. Among them, the second servo motor 21 is started, and the second servo motor 21 drives the threaded lead screw 22 to rotate. A threaded hole is provided on the contact surface between the threaded lead screw 22 and the fixed box 3, so that the fixed box 3 moves along the threaded lead screw 22. When the fixed box 3 moves, the threaded lead screw 22 and the sliding rod 23 are respectively in threaded connection and sliding connection with the threaded hole and the sliding hole, so as to drive the industrial robot to move through the plane moving component 2. The up and down moving component 4 is connected with a first fixing plate 5 through a limit seat 45, and the first fixing plate 5 is limitedly connected with a second fixing plate 6 through bolts, and the second fixing plate 6 is limitedly connected with the base 7 through bolts. Among them, the third servo motor 41 is started, and the third servo motor 41 drives the first gear 42 to rotate, and the first gear 42 is meshed with the second gear 43, and a lifting rod 44 is installed on the upper end surface of the second gear 43. Since a threaded port is provided on the contact surface between the lifting rod 44 and the limit seat 45, the limit seat 45 drives the base 7 to move up and down, thereby changing the up and down position of the industrial robot.

[0041] Finally: The above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. An industrial robot multi-degree-of-freedom manipulator device, comprising a machine table (1), a planar moving component (2), a fixed box (3), an up-and-down moving component (4), a first fixing plate (5), a second fixing plate (6) and a base (7), characterized in that: A groove (8) is dug on the upper end surface of the machine table (1), and the planar moving component (2) is installed inside the groove (8). A fixed box (3) is arranged at the moving end of the planar moving component (2), and an up-and-down moving component (4) is arranged inside the fixed box (3). The moving end of the up-and-down moving component (4) is provided with a first fixing plate (5) through bolts, and the first fixing plate (5) is provided with a second fixing plate (6) through bolts. A base (7) is arranged on the upper end surface of the second fixing plate (6) through bolts. A rotating arm (9) is fixedly connected to the upper end surface of the base (7), and a first flange (10) is arranged at the rotating end of the rotating arm (9). The rotating arm (9) is bolt-limitedly connected to a second flange (12) at one end of a connecting piece (11) through the first flange (10). The connecting piece (11) is L-shaped, and second flanges (12) are arranged at both ends of the connecting piece (11). The connecting piece (11) is connected to an operating arm (13) through the second flange (12), and third flanges (14) are arranged at both ends of the operating arm (13). The connecting piece (11) includes a housing (111) and a driving mechanism (112). A driving mechanism (112) is arranged inside the housing (111), and two groups of driving mechanisms (112) are provided. The driving mechanism (112) includes a first servo motor (113) and a speed reducer (114). The output end of the first servo motor (113) is provided with the speed reducer (114), and the output end of the speed reducer (114) is provided with a third fixing plate (115). A bearing is arranged at the contact surface between the third fixing plate (115) and the housing (111), and a turntable (116) is arranged on the side of the third fixing plate (115) away from the speed reducer (114). A sensor module (117) is arranged inside the housing (111).

2. The multi-degree-of-freedom operating arm device of an industrial robot according to claim 1, wherein: The planar moving component (2) includes a second servo motor (21) and a threaded screw rod (22). The second servo motor (21) is installed inside the machine table (1), and the output end of the second servo motor (21) is provided with the threaded screw rod (22). A slide bar (23) is arranged on one side of the threaded screw rod (22), and threaded holes and slide holes are respectively arranged at the contact surfaces between the threaded screw rod (22) and the slide bar (23) and the fixed box (3).

3. The multi-degree-of-freedom manipulator device of an industrial robot according to claim 1, characterized in that: The up-and-down moving component (4) includes a third servo motor (41) and a first gear (42). The third servo motor (41) is installed inside the fixed box (3), and the output end of the third servo motor (41) is provided with the first gear (42). The first gear (42) is meshed and connected with a second gear (43), and a lifting rod (44) is arranged on the upper end surface of the second gear (43). A limiting seat (45) is threadedly connected to the outer diameter surface of the lifting rod (44), and a limiting bolt is arranged on the upper end surface of the limiting seat (45).

4. The multi-degree-of-freedom operating arm device of an industrial robot according to claim 2, wherein: The up-and-down moving component (4) is limit-connected to the first fixed plate (5) through a limit bolt. The first fixed plate (5) is limit-connected to the second fixed plate (6) through a bolt. The second fixed plate (6) is limit-connected to the base (7) through a bolt. The first flange (10), the second flange (12), and the third flange (14) are limit-connected to each other through bolts. The operating arms (13) are limit-connected to each other through connectors (11).

5. The multi-degree-of-freedom manipulator device of an industrial robot according to claim 2, wherein: The threaded lead screw (22) forms a threaded connection structure with the fixed box (3) through a threaded hole. The sliding rod (23) forms a sliding structure with the fixed box (3) through a sliding hole.

6. The multi-degree-of-freedom operating arm device of an industrial robot according to claim 3, characterized in that: Four groups of the second gears (43) and the lifting rods (44) are provided. The first gear (42) and the second gears (43) form a gear meshing structure. A threaded port is provided on the contact surface of the lifting rod (44) and the limit seat (45), and the lifting rod (44) and the limit seat (45) form a threaded connection structure.

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