Industrial robot with multi-angle mechanical arm

Abstract

The utility model relates to the technical field of robots, and discloses an industrial robot with a multi-angle mechanical arm, which comprises a clamping assembly, a clamping piece, five racks, five gears and five gear rings, the five gears are arranged on one side of the rack and meshed with the rack, and the gear rings are arranged on the outer sides of the gears in a sleeving manner; the limiting assembly is arranged at one end of the rack and comprises a limiting piece, a limiting rod, a limiting plate and a fixing ring, a plurality of limiting grooves are formed in the inner wall of the limiting plate, the limiting rod is movably arranged on the inner walls of the limiting grooves, and the fixing ring is arranged at one end of the limiting rod. The clamping jaw has the beneficial effects that the clamping jaw can be quickly replaced, so that the clamping jaw replacement time is greatly shortened, and after the clamping jaw is quickly replaced, the downtime of a production line is greatly shortened, and the production efficiency is remarkably improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially industrial robot with multi -angle mechanical arm. BACKGROUND

[0002] Industrial robot is a kind of multi-degree-of-freedom operation machine, it can execute various tasks in industrial production environment, is composed of multiple rotary joints and moving joints, its joint type mechanical arm can be moved flexibly, operates from various angles, and the mechanical arm on industrial robot is installed with gripper at one end, is used to hold workpiece, can transport workpiece from one station to another station, when holding workpiece of different models or shapes, different grippers need to be replaced, and the gripper is generally installed with multiple bolts at one end of the mechanical arm, and construction personnel needs more time to disassemble bolt each time replacing gripper, and the efficiency is lower. SUMMARY

[0003] This section is directed to outlining some aspects of embodiments of the present utility model and briefly introducing some preferred embodiments. Some simplifications or omissions can be made in this section as well as in the abstract of the specification and the utility model title to avoid obscuring the purpose of this section, the abstract of the specification and the utility model title, and such simplifications or omissions are not to be construed as limiting the scope of the present utility model.

[0004] In view of the above and / or existing problems in the industrial robot with multi-angle mechanical arm, the present utility model is proposed.

[0005] Therefore, the problem to be solved by the present utility model is that when holding workpiece of different models or shapes, different grippers need to be replaced, and the gripper is generally installed with multiple bolts at one end of the mechanical arm, and construction personnel needs more time to disassemble bolt each time replacing gripper, and the efficiency is lower.

[0006] To solve the above technical problems, the present utility model provides the following technical scheme: an industrial robot with multi-angle mechanical arm, comprising a clamping assembly, comprising a clamping piece, comprising a rack, a gear and a gear ring, the number of gears is five, all are arranged on one side of the rack to engage, the number of racks is five, the gear ring is sleeved on the outside of the gear;

[0007] A limiting component is arranged at one end of the rack and comprises a limiting piece, including a limiting rod, a limiting plate and a fixing ring, a plurality of limiting grooves are formed in the inner wall of the limiting plate, the limiting rod is movably arranged in the inner wall of the limiting groove, and the fixing ring is arranged at one end of the limiting rod.

[0008] As a preferred scheme of the industrial robot with multi-angle mechanical arm, one end of the rack is provided with a sliding plate, the outer side of the sliding plate is sleeved with a supporting ring, five supporting grooves are formed in the inner wall of the supporting ring, and the sliding plate and the rack slide in the inner wall of the supporting groove.

[0009] As a preferred scheme of the industrial robot with multi-angle mechanical arm, a fixing shaft is inserted into the inner wall of the gear, the gear is movably connected with the fixing shaft, a torsional spring is sleeved with the outer side of the fixing shaft, and one end of the torsional spring is fixed to one end of the gear.

[0010] As a preferred scheme of the industrial robot with multi-angle mechanical arm, one end of the rack is provided with a clamping block, a plurality of fixing rods are inserted into the inner wall of the clamping block, and the other end of the fixing rod is fixed to one end of the rack.

[0011] As a preferred scheme of the industrial robot with multi-angle mechanical arm, the outer side of the sliding plate is further sleeved with a positioning ring, five positioning grooves are formed in the inner wall of the positioning ring, and the sliding plate and the rack slide in the inner wall of the positioning groove.

[0012] As a preferred scheme of the industrial robot with multi-angle mechanical arm, the outer side of the limiting rod is sleeved with a supporting block, the bottom of the supporting block is provided with a placing plate, and the placing plate is fixed to one end of the sliding plate.

[0013] As a preferred scheme of the industrial robot with multi-angle mechanical arm, one end of the fixing ring is provided with a pushing rod, and the outer side of the pushing rod is sleeved with a placing block.

[0014] As a preferred scheme of the industrial robot with multi-angle mechanical arm, a spring is sleeved with the outer side of the pushing rod, one end of the spring is fixed to one end of the fixing ring, the other end of the spring is fixed to one end of the placing block, and one end of the pushing rod is provided with a handle.

[0015] As a preferred scheme of the industrial robot with multi-angle mechanical arm, the outer side of the pushing rod is sleeved with a protective frame.

[0016] As a preferred scheme of the industrial robot with multi-angle mechanical arm, a main body assembly is further included, which comprises a mechanical arm and a base, the base is arranged at the bottom of the mechanical arm, one end of the supporting ring is fixed to one end of the mechanical arm, the other end of the fixing shaft is fixed to one end of the mechanical arm, the other end of the torsional spring is fixed to one end of the mechanical arm, and the other end of the limiting plate is fixed to the surface of the mechanical arm.

[0017] The utility model has the advantages that: the clamping jaw can be quickly replaced, the clamping jaw replacement time is greatly shortened, the production line downtime is greatly shortened after the clamping jaw is quickly replaced, and the production efficiency is significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, obviously, the drawings in the following description are only some embodiments of the utility model, and for the ordinary skilled in the art, other drawings can also be obtained according to these drawings without the creative labor, wherein:

[0019] Figure 1 It is an overall structural diagram of the industrial robot with the multi-angle mechanical arm.

[0020] Figure 2 It is a clamping block structural diagram of the industrial robot with the multi-angle mechanical arm.

[0021] Figure 3 It is a gear structural diagram of the industrial robot with the multi-angle mechanical arm.

[0022] Figure 4 It is a positioning ring structural diagram of the industrial robot with the multi-angle mechanical arm.

[0023] Figure 5 It is a handle structural diagram of the industrial robot with the multi-angle mechanical arm. Figure 4 It is a local enlarged structural diagram of A in the middle.

[0024] Figure 6 It is a handle structural diagram of the industrial robot with the multi-angle mechanical arm.

[0025] In the figure: 200, clamping assembly;201, clamping piece;201a, rack;201b, gear;201c, gear ring;300, limiting assembly;301, limiting piece;301a, limiting rod;301b, limiting plate;301c, fixed ring;301b-1, limiting groove;202a, sliding plate;202b, support ring;202b-1, support groove;202c, fixed shaft;202d, torsional spring;202e, clamping block;202f, fixed rod;202g, positioning ring;202g-1, positioning groove;302a, support block;302b, placing plate;302c, push rod;302d, placing block;302e, spring;302f, handle;302g, protection frame;100, main body assembly;101, mechanical arm;102, base. DETAILED DESCRIPTION

[0026] In order to make the above objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0027] In the following description, a lot of specific details are set forth in order to give a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application, therefore the present application is not limited by the specific embodiments disclosed below.

[0028] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an embodiment that is independent of or mutually exclusive of other embodiments.

[0029] Embodiment 1

[0030] Reference Figures 1-6 For the first embodiment of the present application, the embodiment provides an industrial robot with a multi-angle mechanical arm, which comprises a main body assembly 100, a clamping assembly 200 and a limiting assembly 300, which can quickly replace the clamping jaw in cooperation.

[0031] Specifically, the clamping assembly 200 comprises a clamping piece 201, which comprises a rack 201a, a gear 201b and a gear ring 201c, the number of the gear 201b is five, which are all arranged on one side of the rack 201a to engage, the number of the rack 201a is five, and the gear ring 201c is sleeved outside the gear 201b.

[0032] The gear ring 201c is arranged on the inner wall of the supporting ring 202b to rotate.

[0033] When the clamping jaw needs to be replaced and installed, the rack 201a is moved, the movement of the rack 201a engages with the gear 201b to make the gear 201b rotate, the rotation of the gear 201b engages with the gear ring 201c to make the gear ring 201c rotate, the rotation of the gear ring 201c can drive the remaining four gears 201b to rotate, the rotation of the gear 201b engages with the rack 201a, so that the five racks 201a move at the same time, and the movement of the rack 201a can drive the clamping block 202e to install the clamping jaw.

[0034] Specifically, the limiting assembly 300 is arranged at one end of the rack 201a and includes a limiting piece 301, which includes a limiting rod 301a, a limiting plate 301b and a fixing ring 301c, a plurality of limiting grooves 301b-1 are formed in the inner wall of the limiting plate 301b, the limiting rod 301a is movably arranged in the inner wall of the limiting groove 301b-1, and the fixing ring 301c is arranged at one end of the limiting rod 301a.

[0035] When the clamping jaw needs to be installed, the limiting is first released, the fixing ring 301c is pulled, the fixing ring 301c moves to drive the limiting rod 301a to move, the limiting rod 301a is separated from the limiting groove 301b-1, and thus the limiting is released; the fixing ring 301c is moved again, so that the rack 201a at one end can be moved, and thus the clamping jaw is fixed.

[0036] When the limiting is needed after the fixing is completed, the pulling of the fixing ring 301c is loosened, the limiting rod 301a is re-engaged with the limiting groove 301b-1, and thus the installation of the clamping jaw is completed.

[0037] Embodiment 2

[0038] Referring to Figures 1-6 As a second embodiment of the utility model, the embodiment is based on the previous embodiment.

[0039] Specifically, the rack 201a is provided with a sliding plate 202a at one end, the sliding plate 202a is provided with a supporting ring 202b outside, five supporting grooves 202b-1 are formed in the inner wall of the supporting ring 202b, and the sliding plate 202a and the rack 201a are located in the inner wall of the supporting groove 202b-1 and slide.

[0040] The other end of the supporting ring 202b is fixed to one end of the mechanical arm (101).

[0041] The number of the sliding plates 202a is five, the supporting ring 202b is used for supporting the sliding plate 202a and the rack 201a, the sliding plate 202a is moved to slide in the inner wall of the supporting groove 202b-1, the sliding plate 202a is moved to drive the rack 201a to move in the inner wall of the supporting groove 202b-1, the rack 201a is moved to engage with the gear 201b to drive the gear 201b to rotate, the gear 201b is rotated to engage with the gear ring 201c to drive the gear ring 201c to rotate, the rotation of the gear ring 201c can drive the other four gears 201b to rotate, the rotation of the gear 201b engages with the rack 201a, so that the five racks 201a are simultaneously moved, and the movement of the rack 201a can drive the clamping block 202e to clamp the clamping jaw.

[0042] Specifically, the inner wall of the gear 201b is inserted with a fixed shaft 202c, the gear 201b is movably connected with the fixed shaft 202c, the outer side of the fixed shaft 202c is sleeved with a torsion spring 202d, and one end of the torsion spring 202d is fixed to one end of the gear 201b.

[0043] The fixed shaft 202c is used for supporting the gear 201b. By moving the rack 201a, the rack 201a is engaged with the gear 201b to drive the gear 201b to rotate, the gear 201b rotates to exert pressure on the torsion spring 202d, the gear 201b drives the gear ring 201c to rotate, the gear ring 201c drives the remaining gears 201b to rotate, the gear 201b drives the remaining racks 201a to rotate, and the movement of the rack 201a drives the clamping block 202e to clamp the clamping jaw.

[0044] When the clamping jaw needs to be removed, the rack 201a is moved to drive the gear 201b to reverse, and the elastic force of the torsion spring 202d can drive the gear 201b to return to the original position, the gear 201b drives the remaining gears 201b to return to the original position at the same time, the gear 201b drives the rack 201a to move, and the rack 201a drives the clamping block 202e to separate from the clamping jaw, so that the clamping jaw can be removed.

[0045] Specifically, the one end of the rack 201a is provided with a clamping block 202e, the inner wall of the clamping block 202e is inserted with a plurality of fixed rods 202f, and the other end of the fixed rod 202f is fixed to the one end of the rack 201a.

[0046] The rack 201a is moved to drive the clamping block 202e to move and clamp the clamping jaw, and the fixed rod 202f is used for fixing the clamping block 202e and the rack 201a.

[0047] Specifically, the outer side of the sliding plate 202a is further sleeved with a positioning ring 202g, the inner wall of the positioning ring 202g is provided with five positioning grooves 202g-1, and the sliding plate 202a and the rack 201a slide in the inner wall of the positioning groove 202g-1.

[0048] The other end of the positioning ring 202g is fixed to the one end of the mechanical arm (101).

[0049] The positioning ring 202g is used for supporting the sliding plate 202a and the rack 201a, and the sliding plate 202a and the rack 201a move in the supporting groove 202b-1 and the positioning groove 202g-1 at the same time, so that the rack 201a moves stably.

[0050] Specific, the limit rod 301a outside is sleeved with a support block 302a, the support block 302a bottom is provided with a placement plate 302b, and the placement plate 302b is fixed to one end of the sliding plate 202a.

[0051] The support block 302a is movably connected with the limit rod 301a, and the support block 302a is used to support the limit rod 301a.

[0052] Embodiment 3

[0053] Referring to Figures 5-6 For the third embodiment of the utility model, the embodiment is based on the first two embodiments.

[0054] Specific, the fixed ring 301c one end is provided with a push rod 302c, and the push rod 302c outside is sleeved with a placement block 302d.

[0055] The placement block 302d is used to support the push rod 302c, and the push rod 302c is movably connected with the placement block 302d.

[0056] Specific, the push rod 302c outside is sleeved with a spring 302e, one end of the spring 302e is fixed to one end of the fixed ring 301c, the other end is fixed to one end of the placement block 302d, and one end of the push rod 302c is provided with a handle 302f.

[0057] By pulling the handle 302f, the handle 302f drives the push rod 302c to move, the push rod 302c drives the fixed ring 301c to move, the fixed ring 301c moves to extrude the spring 302e, the movement of the fixed ring 301c drives the limit rod 301a to separate from the limit groove 301b-1, then the handle 302f is moved, the handle 302f drives the push rod 302c to move, the push rod 302c extrudes the placement block 302d, the placement block 302d extrudes the placement plate 302b, the placement plate 302b extrudes the sliding plate 202a to move, the sliding plate 202a moves to clamp the clamping jaw, when the adjustment is completed and needs to be limited, the handle 302f is loosened, and the spring 302e rebounds to clamp the clamping jaw.

[0058] Specific, the push rod 302c outside is sleeved with a protective frame 302g.

[0059] The protective frame 302g is used to protect the push rod 302c.

[0060] Specifically, it also includes a main body assembly 100, including a mechanical arm 101 and a base 102, the base 102 is arranged at the bottom of the mechanical arm 101, one end of the support ring 202b is fixed to one end of the mechanical arm 101, the other end of the fixed shaft 202c is fixed to one end of the mechanical arm 101, the other end of the torsional spring 202d is fixed to one end of the mechanical arm 101, and the other end of the limiting plate 301b is fixed to the surface of the mechanical arm 101.

[0061] The mechanical arm 101 is composed of a plurality of rotary joints and moving joints, and the joint type mechanical arm can move flexibly and operate from various angles. The base 102 is used to support the mechanical arm 101.

[0062] In use, when different clamping jaws need to be installed on the mechanical arm 101, the limiting of the clamping block 202e needs to be released first. By pulling the handle 302f, the handle 302f drives the push rod 302c to move, the push rod 302c drives the fixed ring 301c to move, the fixed ring 301c moves to extrude the spring 302e, and the movement of the fixed ring 301c drives the limiting rod 301a to separate from the limiting groove 301b-1, thereby releasing the limiting. When the clamping jaws need to be clamped and installed on the mechanical arm 101, the handle 302f is moved, the handle 302f moves to extrude the placement block 302d, the placement block 302d extrudes the placement plate 302b, the placement plate 302b extrudes the sliding plate 202a to move, the sliding plate 202a moves to drive the rack 201a to move in the inner wall of the support groove 202b-1 and the positioning groove 202g-1, the movement of the rack 201a is engaged with the gear 201b to make the gear 201b rotate, the rotation of the gear 201b will exert pressure on the torsional spring 202d, the rotation of the gear 201b will engage with the gear ring 201c to make the gear ring 201c rotate, the rotation of the gear ring 201c can drive the remaining four gears 201b to rotate, the rotation of the remaining gears 201b engages with the remaining racks 201a, thereby making the five racks 201a move simultaneously, the movement of the five racks 201a can drive the five clamping blocks 202e to move, and the movement of the clamping blocks 202e can clamp the clamping jaws. When the adjustment is completed, the clamping block 202e needs to be limited, the handle 302f is loosened, and the force of the spring 302e rebounding can make the limiting rod 301a and the next limiting groove 301b-1 re-engage, thereby completing the installation of the clamping jaws.

[0063] When the clamping jaw needs to be taken off, the limiting rod 301a is separated from the limiting groove 301b-1, then the rack 201a is moved, the rack 201a drives the gear 201b to reverse, at this time, the gear 201b can return to the original position through the rebound force of the torsional spring 202d, the gear 201b can drive the remaining gears 201b to return to the original position at the same time through the return of one gear 201b to the original position, the gear 201b drives the rack 201a to move, the rack 201a drives the clamping block 202e to separate from the clamping jaw, so that the clamping jaw can be taken away.

[0064] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limited. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. An industrial robot with a multi-angle robotic arm, characterized in that: include The clamping assembly (200) includes a clamping member (201), which includes a rack (201a), a gear (201b), and a gear ring (201c). There are five gears (201b), all of which are located on one side of the rack (201a) and mesh with it. There are five racks (201a), and the gear ring (201c) is sleeved on the outside of the gears (201b). A limiting component (300) is disposed at one end of the rack (201a) and includes a limiting member (301), including a limiting rod (301a), a limiting plate (301b), and a fixing ring (301c). The inner wall of the limiting plate (301b) is provided with multiple limiting grooves (301b-1). The limiting rod (301a) is disposed and movable within the inner wall of the limiting grooves (301b-1). The fixing ring (301c) is disposed at one end of the limiting rod (301a).

2. The industrial robot with a multi-angle robotic arm as described in claim 1, characterized in that: Each of the racks (201a) has a sliding plate (202a) at one end, and a support ring (202b) is fitted on the outer side of each sliding plate (202a). Each of the support rings (202b) has five support grooves (202b-1) on its inner wall. The sliding plate (202a) and the rack (201a) slide on the inner wall of the support grooves (202b-1).

3. The industrial robot with a multi-angle robotic arm as described in claim 2, characterized in that: Each gear (201b) has a fixed shaft (202c) inserted into its inner wall. The gear (201b) is movably connected to the fixed shaft (202c). Each fixed shaft (202c) has a torsion spring (202d) sleeved on its outer side. One end of the torsion spring (202d) is fixed to one end of the gear (201b).

4. The industrial robot with a multi-angle robotic arm as described in claim 3, characterized in that: A clamping block (202e) is provided at one end of the rack (201a), and multiple fixing rods (202f) are inserted into the inner wall of the clamping block (202e). The other end of the fixing rod (202f) is fixed to one end of the rack (201a).

5. The industrial robot with a multi-angle robotic arm as described in claim 4, characterized in that: The sliding plate (202a) is also fitted with a positioning ring (202g) on ​​the outside. The inner wall of the positioning ring (202g) is provided with five positioning grooves (202g-1). The sliding plate (202a) and the rack (201a) slide on the inner wall of the positioning grooves (202g-1).

6. The industrial robot with a multi-angle robotic arm as described in claim 5, characterized in that: A support block (302a) is sleeved on the outside of the limiting rod (301a), and a placement plate (302b) is provided at the bottom of the support block (302a). The placement plate (302b) is fixed to one end of the sliding plate (202a).

7. The industrial robot with a multi-angle robotic arm as described in claim 6, characterized in that: A push rod (302c) is provided at one end of the fixed ring (301c), and a placement block (302d) is sleeved on the outside of the push rod (302c).

8. The industrial robot with a multi-angle robotic arm as described in claim 7, characterized in that: A spring (302e) is sleeved on the outside of the push rod (302c). One end of the spring (302e) is fixed to one end of the fixing ring (301c), and the other end is fixed to one end of the placement block (302d). A handle (302f) is provided at one end of the push rod (302c).

9. The industrial robot with a multi-angle robotic arm as described in claim 8, characterized in that: The push rod (302c) is fitted with a protective frame (302g) on ​​the outside.

10. The industrial robot with a multi-angle robotic arm as described in claim 9, characterized in that: It also includes a main body component (100), including a robotic arm (101) and a base (102). The base (102) is disposed at the bottom of the robotic arm (101). One end of the support ring (202b) is fixed to one end of the robotic arm (101), the other end of the fixed shaft (202c) is fixed to one end of the robotic arm (101), the other end of the torsion spring (202d) is fixed to one end of the robotic arm (101), and the other end of the limiting plate (301b) is fixed to the surface of the robotic arm (101).

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