Vibration shaping structure of industrial robot

Abstract

The utility model discloses an industrial robot vibration shaping structure, which relates to the technical field of industrial robots, and comprises an industrial robot control base, a mechanical arm is arranged at the top of the industrial robot control base, a workpiece clamping mechanism is arranged at the bottom end of the mechanical arm, and the workpiece clamping mechanism comprises two mechanical arm fixing shafts. The two mechanical arm fixing shafts are fixedly installed on the front side and the rear side of the bottom end of the mechanical arm correspondingly, a hydraulic rod is arranged between the opposite faces of the two mechanical arm fixing shafts, the left end of the hydraulic rod is fixedly installed on the mechanical arm, and fixing hanging plates are fixedly installed on the opposite faces of the two mechanical arm fixing shafts correspondingly. According to the mechanical arm, the fixed shaft, the extension shaft, the vibration stopping rubber sleeve and the bearing are matched with one another, so that part of vibration generated during transmission of the mechanical arm can be absorbed by the vibration stopping rubber sleeve, resonance of the clamp is avoided, and high-frequency vibration generated during working is prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a vibration shaping structure of an industrial robot. Background Art

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. They have good versatility and can perform different tasks by replacing the end effector (grip, tool, etc.) of the industrial robot. The existing technology has the following problems:

[0003] Because when existing industrial robots are working, the vibration frequencies of their various moving parts are consistent and reach resonance, which can easily cause resonance and lead to vibration reactions in the working limbs. At the same time, the industrial robot may also cause vibration when it stops during rotation, which will eventually cause the accuracy of the industrial robot to deteriorate and the working process to be unstable. Utility Model Content

[0004] The utility model provides a vibration shaping structure for an industrial robot to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A vibration shaping structure for an industrial robot includes an industrial robot control base, a robotic arm is provided on the top of the industrial robot control base, a workpiece clamping mechanism is provided at the bottom end of the robotic arm, the workpiece clamping mechanism includes two robotic arm fixed shafts, the two robotic arm fixed shafts are respectively fixedly mounted on the front and rear sides of the bottom end of the robotic arm, a hydraulic rod is provided between the opposing surfaces of the two robotic arm fixed shafts, the left end of the hydraulic rod is fixedly mounted on the robotic arm, fixed hanging plates are fixedly mounted on the opposing surfaces of the two robotic arm fixed shafts, a driving chassis is fixedly mounted on the bottom of the two workpiece clamping mechanisms, and a workpiece fixture top box is provided at the bottom of the driving chassis.

[0007] A further improvement of the technical solution of the present invention is that: rubber sleeve mounting grooves are provided at the centers of the opposite surfaces of the two fixed shafts of the robotic arms, a vibration-damping rubber sleeve is fixedly installed on the inner ring of the rubber sleeve mounting groove, a bearing is fixedly installed on the inner ring of the vibration-damping rubber sleeve, and the two fixed hanging plates are provided with a front-to-back through-fixed groove, and the two vibration-damping rubber sleeves are fixedly connected to the inner rings of the two fixing grooves respectively.

[0008] A further improvement of the technical solution of the present invention is that a fixed shaft is fixedly installed on the output end of the hydraulic rod, and extension shafts are fixedly installed on the front and rear sides of the fixed shaft, and the outer walls of the two extension shafts are fixedly connected to the inner rings of the two bearings respectively.

[0009] A further improvement of the technical solution of the present utility model is that: a motor embedding groove is opened at the bottom of the driving chassis, a rotating motor is fixedly installed in the inner cavity of the motor embedding groove, the rotating motor extends to the bottom of the driving chassis, and a connecting hole is opened at the top of the workpiece fixture top box, the rotating motor is located in the inner cavity of the connecting hole and the output shaft is fixedly connected to the bottom of the inner wall of the connecting hole.

[0010] A further improvement of the technical solution of the present utility model is that: the workpiece fixture top box is provided with a swing control cabin, and two mirror-image electric push rods are fixedly installed on the bottom of the inner wall of the swing control cabin, and the output ends of the opposite back surfaces of the two electric push rods are movably installed with telescopic plates, and the other ends of the two telescopic plates are movably installed with connecting plates, and the opposite ends of the two connecting plates are fixedly installed with arc clamps.

[0011] A further improvement of the technical solution of the present utility model is that: slots that pass through the swing control cabin are opened on the front and rear sides of the inner wall of the connecting hole, and the two arc clamping blocks are respectively engaged with the two slots, and rubber pads are fixedly installed on the opposite surfaces of the two arc clamping blocks. The opposite surfaces of the two rubber pads maintain the same vertical line with the inner circle of the connecting hole and overlap with the outer wall of the rotating motor.

[0012] Due to the adoption of the above technical solution, the present invention has achieved the following technical advancements compared to the prior art:

[0013] 1. The utility model provides a vibration shaping structure for an industrial robot. Through the mutual cooperation among a fixed shaft, an extension shaft, a vibration-damping rubber sleeve, and a bearing, part of the vibration generated by the robot arm during transmission can be absorbed by the vibration-damping rubber sleeve, thereby avoiding the resonance of the fixture and preventing high-frequency vibration during operation.

[0014] 2. The utility model provides a vibration shaping structure for an industrial robot. Through the mutual cooperation among a rotating motor, a connecting hole, an electric push rod, a telescopic plate, and an arc clamp block, the top box of the workpiece fixture and the fixture below can suppress excess swing when rotating to adjust their position, making the rotation adjustment more stable and avoiding the influence of vibration caused by the swing on the stability of the fixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an overall schematic diagram of the structure of the utility model;

[0016] Figure 2This is a schematic diagram of the workpiece clamping mechanism of the utility model structure;

[0017] Figure 3 This is a schematic cross-sectional view of the fixed axis of the robotic arm structure of the present utility model;

[0018] Figure 4 This is a cross-sectional schematic diagram of the drive chassis structure of the present utility model;

[0019] Figure 5 This is a cross-sectional schematic diagram of the workpiece fixture top box of the utility model structure.

[0020] In the figure: 1. Industrial robot control base; 2. Robotic arm; 3. Workpiece clamping mechanism; 31. Robotic arm fixed axis; 311. Rubber sleeve mounting groove; 32. Hydraulic rod; 321. Fixed axis; 322. Extension axis; 33. Fixed hanging plate; 331. Fixed groove; 332. Vibration-damping rubber sleeve; 333. Bearing; 34. Drive chassis; 341. Motor embedding groove; 342. Rotating motor; 35. Workpiece fixture top box; 351. Connecting hole; 352. Swing control cabin; 3521. Electric push rod; 3522. Telescopic plate; 3523. Connecting plate; 3524. Arc clamp block; 3525. Rubber pad. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0022] like Figure 1 、 Figure 2 As shown, the utility model provides an industrial robot vibration shaping structure, including an industrial robot control base 1, a mechanical arm 2 is provided on the top of the industrial robot control base 1, a workpiece clamping mechanism 3 is provided at the bottom end of the mechanical arm 2, the workpiece clamping mechanism 3 includes two mechanical arm fixed shafts 31, the two mechanical arm fixed shafts 31 are fixedly installed on the front and rear sides of the bottom end of the mechanical arm 2, a hydraulic rod 32 is provided between the opposite surfaces of the two mechanical arm fixed shafts 31, the left end of the hydraulic rod 32 is fixedly installed on the mechanical arm 2, the opposite surfaces of the two mechanical arm fixed shafts 31 are fixedly installed with fixed hanging plates 33, a driving chassis 34 is fixedly installed at the bottom of the two workpiece clamping mechanisms 3, and a workpiece fixture top box 35 is provided at the bottom of the driving chassis 34;

[0023] When in use, the workpiece clamping mechanism 3 can be driven by the robotic arm 2 to grab the workpiece. Under the pull of the hydraulic rod 32, the fixed hanging plate 33 is used to drive the driving chassis 34 and the workpiece clamp top box 35 to swing and adjust, which is convenient for controlling the position change of the workpiece clamp top box 35 and the clamp at its bottom.

[0024] like Figure 3As shown, rubber sleeve mounting grooves 311 are provided at the centers of the opposite surfaces of the two mechanical arm fixed shafts 31, and a vibration-damping rubber sleeve 332 is fixedly installed on the inner ring of the rubber sleeve mounting groove 311, and a bearing 333 is fixedly installed on the inner ring of the vibration-damping rubber sleeve 332. The two fixed hanging plates 33 are both provided with a front-to-back through-fixed groove 331, and the two vibration-damping rubber sleeves 332 are respectively fixedly connected to the inner rings of the two fixing grooves 331. The output end of the hydraulic rod 32 is fixedly installed with a fixed shaft 321, and extension shafts 322 are fixedly installed on the front and rear sides of the fixed shaft 321. The outer walls of the two extension shafts 322 are respectively fixedly connected to the inner rings of the two bearings 333.

[0025] The fixed shaft 321 at the output end of the hydraulic rod 32 uses the extended shafts 322 at both ends to realize free rotation in the vibration-damping rubber sleeve 332 on the inner ring of the fixed groove 331 using the bearing 333. At the same time, the vibration-damping rubber sleeve 332 is tightly fitted to the inner wall of the fixed hanger 33. When the hydraulic rod 32 causes the fixed shaft 321 to resonate, the vibration-damping rubber sleeve 332 can be used to prevent vibration, thereby preventing the driving chassis 34 at the bottom of the fixed hanger 33 and the workpiece fixture top box 35 from vibrating.

[0026] like Figure 4 、 Figure 5 As shown, a motor embedding slot 341 is provided at the bottom of the driving chassis 34, and a rotating motor 342 is fixedly installed in the inner cavity of the motor embedding slot 341. The rotating motor 342 extends to the bottom of the driving chassis 34. A connecting hole 351 is provided at the top of the workpiece fixture top box 35. The rotating motor 342 is located in the inner cavity of the connecting hole 351 and the output shaft is fixedly connected to the bottom of the inner wall of the connecting hole 351. The workpiece fixture top box 35 is provided with a swing control cabin 352. Two mirror-image electric push rods 3521 are fixedly installed at the bottom of the inner wall of the swing control cabin 352. The opposite backs of the two electric push rods 3521 are A telescopic plate 3522 is movably mounted on each output end. A connecting plate 3523 is movably mounted on the other end of each of the two telescopic plates 3522. Arc clamping blocks 3524 are fixedly mounted on the opposite ends of the two connecting plates 3523. Slots that penetrate the swing control cabin 352 are formed on both the front and rear sides of the inner wall of the connecting hole 351. The two arc clamping blocks 3524 are respectively engaged with the two slots. Rubber pads 3525 are fixedly mounted on the opposing surfaces of the two arc clamping blocks 3524. The opposing surfaces of the two rubber pads 3525 are aligned perpendicular to the inner circle of the connecting hole 351 and overlap the outer wall of the rotating motor 342.

[0027] When the driving chassis 34 utilizes the rotating motor 342 located at the bottom of the motor embedded groove 341 in the inner cavity of the connecting hole 351 to drive the workpiece fixture top box 35 to rotate and adjust its position, once the rotating motor 342 finishes running, the two electric push rods 3521 in the swing control cabin 352 can be started at the same time to drive the bottom ends of the two telescopic plates 3522 to move in opposite directions, so that the top ends thereof are retracted while cooperating with the connecting plate 3523 to squeeze the arc clamp 3524, so that the two arc clamps 3524 can quickly and simultaneously clamp the rotating motor 342 in the connecting hole 351, and cooperate with the rubber pad 3525 to increase the friction between the outer wall of the rotating motor 342, so that the rotating motor 342 is clamped and fixed at the moment of stopping, effectively avoiding unnecessary swing of the workpiece fixture top box 35, and avoiding the swing of the workpiece fixture top box 35 causing vibration, resulting in a decrease in accuracy.

[0028] The following is a detailed description of the working principle of the industrial robot's vibration shaping structure.

[0029] like Figure 1-5 As shown, when in use, the workpiece clamping mechanism 3 can be driven by the mechanical arm 2 to grasp the workpiece, and the fixed hanging plate 33 is used to drive the driving chassis 34 and the workpiece clamp top box 35 to swing and adjust under the pull of the hydraulic rod 32, and the fixed shaft 321 at the output end of the hydraulic rod 32 is used to realize free rotation in the vibration-proof rubber sleeve 332 of the inner ring of the fixed groove 331 by using the extension shafts 322 at both ends, and at the same time, the vibration-proof rubber sleeve 332 is tightly fitted with the inner wall of the fixed hanging plate 33. When the hydraulic rod 32 causes the fixed shaft 321 to resonate, the vibration-proof rubber sleeve 332 can be used to prevent vibration, thereby preventing the driving chassis 34 and the workpiece clamp top box 35 at the bottom of the fixed hanging plate 33 from vibrating. When the rotary motor 342 in the inner cavity drives the workpiece fixture top box 35 to rotate and adjust its position, once the rotary motor 342 stops running, the two electric push rods 3521 in the swing control cabin 352 can be started simultaneously to drive the bottom ends of the two telescopic plates 3522 to move in opposite directions, so that the top ends thereof retract and cooperate with the connecting plate 3523 to squeeze the arc clamping block 3524, so that the two arc clamping blocks 3524 can quickly and simultaneously clamp the rotary motor 342 in the connecting hole 351, and cooperate with the contact between the rubber pad 3525 and the outer wall of the rotary motor 342 to increase the friction force, so that the rotary motor 342 is clamped and fixed at the moment of stopping, effectively avoiding unnecessary swing of the workpiece fixture top box 35 and avoiding the problem of vibration caused by the swing of the workpiece fixture top box 35, which causes a decrease in accuracy.

[0030] While the present invention has been generally described above, it is readily apparent to those skilled in the art that modifications or improvements may be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An industrial robot vibration shaping structure, comprising an industrial robot control base (1), characterized in that: A robotic arm (2) is provided on the top of the industrial robot control base (1), and a workpiece clamping mechanism (3) is provided at the bottom end of the robotic arm (2). The workpiece clamping mechanism (3) includes two robotic arm fixed shafts (31), and the two robotic arm fixed shafts (31) are fixedly installed on the front and rear sides of the bottom end of the robotic arm (2), respectively. A hydraulic rod (32) is provided between the opposite surfaces of the two robotic arm fixed shafts (31), and the left end of the hydraulic rod (32) is fixedly installed on the robotic arm (2). Fixed hanging plates (33) are fixedly installed on the opposite surfaces of the two robotic arm fixed shafts (31). A driving chassis (34) is fixedly installed at the bottom of the two workpiece clamping mechanisms (3), and a workpiece fixture top box (35) is provided at the bottom of the driving chassis (34).

2. The industrial robot vibration shaping structure according to claim 1, characterized in that: A rubber sleeve mounting groove (311) is provided at the center of the circle of the opposite surfaces of the two mechanical arm fixed shafts (31), a vibration-damping rubber sleeve (332) is fixedly installed on the inner ring of the rubber sleeve mounting groove (311), a bearing (333) is fixedly installed on the inner ring of the vibration-damping rubber sleeve (332), and the two fixed hanging plates (33) are provided with a front-to-back through-fixed groove (331), and the two vibration-damping rubber sleeves (332) are fixedly connected to the inner rings of the two fixing grooves (331) respectively.

3. The industrial robot vibration shaping structure according to claim 2, characterized in that: A fixed shaft (321) is fixedly mounted on the output end of the hydraulic rod (32), and extension shafts (322) are fixedly mounted on both the front and rear sides of the fixed shaft (321), and the outer walls of the two extension shafts (322) are fixedly connected to the inner rings of the two bearings (333) respectively.

4. The industrial robot vibration shaping structure according to claim 1, characterized in that: A motor embedding groove (341) is provided at the bottom of the driving chassis (34), a rotating motor (342) is fixedly installed in the inner cavity of the motor embedding groove (341), and the rotating motor (342) extends to the bottom of the driving chassis (34). A connecting hole (351) is provided at the top of the workpiece clamp top box (35), the rotating motor (342) is located in the inner cavity of the connecting hole (351), and the output shaft is fixedly connected to the bottom of the inner wall of the connecting hole (351).

5. The industrial robot vibration shaping structure according to claim 4, characterized in that: The workpiece fixture top box (35) is provided with a swing control cabin (352), and two mirror-image electric push rods (3521) are fixedly installed at the bottom of the inner wall of the swing control cabin (352), and the output ends of the opposite sides of the two electric push rods (3521) are movably installed with telescopic plates (3522), and the other ends of the two telescopic plates (3522) are movably installed with connecting plates (3523), and the opposite ends of the two connecting plates (3523) are fixedly installed with arc clamping blocks (3524).

6. The industrial robot vibration shaping structure according to claim 5, characterized in that: The inner wall of the connecting hole (351) is provided with a slot penetrating the swing control cabin (352) on both the front and rear sides. The two arc clamping blocks (3524) are respectively engaged with the two slots. The opposite surfaces of the two arc clamping blocks (3524) are fixedly mounted with rubber pads (3525). The opposite surfaces of the two rubber pads (3525) are kept in the same vertical line with the inner circle of the connecting hole (351) and overlap with the outer wall of the rotating motor (342).

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