Working arm for industrial robot

Abstract

The utility model provides a working arm for an industrial robot, which belongs to the technical field of mechanical industry and comprises a body, a mounting column is arranged at the output end of the body, a hanging mechanism is arranged at the bottom of the mounting column, and a clamping mechanism is arranged at the bottom of the hanging mechanism. The clamping mechanism comprises a second mounting block, a first force arm, a double-insertion rod and a square pipe, the second mounting block is arranged at the bottom of the hanging mechanism, and the first force arm is movably connected with the second mounting block through a movable shaft. Through the arrangement of the clamping mechanism, when a steel coil and other articles with sunken parts on the two sides are clamped, in the process that the hanging mechanism pulls up the clamping mechanism, the second force arm can clamp the two sides of the clamped article in an inserted mode, and under the condition of the gravity of the clamped article, the larger the gravity is, the larger the deflection angle of the first force arm is, and the larger the deflection angle of the second force arm is. When the clamping arm is rotated, the second force arm encircles the clamped object more tightly, and the clamping arm is combined, so that ideal stable clamping operation can be provided for the clamped object.

Description

Technical Field

[0001] This utility model relates to the field of mechanical industry technology, specifically to a working arm for industrial robots. Background Technology

[0002] The working arm of an industrial robot is a key component that directly performs work tasks. It is often referred to as a robotic arm. Through the coordinated movement of multiple joints, it can achieve multi-degree-of-freedom motion and flexibly reach different positions and postures in three-dimensional space to complete various complex operation tasks, such as assembling parts in different positions on an automobile production line.

[0003] In practical use, when grabbing small but heavy objects, simply clamping them from both sides may pose a risk of dropping them. Furthermore, during the placement process after clamping, commands need to be sent to the clamping parts. Although it is relatively intelligent, it is not conducive to combining the contact action between the clamped item and the placement platform to complete the contact-unloading integrated action. Utility Model Content

[0004] To overcome the above deficiencies, this utility model provides a working arm for industrial robots that overcomes or at least partially solves the above technical problems.

[0005] This utility model is implemented as follows:

[0006] This utility model provides a working arm for an industrial robot, including a body, a mounting post at the output end of the body, a hanging mechanism at the bottom of the mounting post, and a clamping mechanism at the bottom of the hanging mechanism. The clamping mechanism includes:

[0007] The second mounting block is located at the bottom of the suspension mechanism;

[0008] The first lever arm is movably connected to the second mounting block via a movable shaft, and the bottom end of the first lever arm is provided with a second lever arm via a movable shaft;

[0009] A double insert rod, wherein the double insert rod is fixedly mounted on the top of the opposite side of the second lever arm, and a single insert rod is provided at the end of the double insert rod;

[0010] A square tube, located between the two inserts.

[0011] In one embodiment of the present invention, the hanging mechanism includes a first mounting block, a first mounting rod is provided on the body of the first mounting block via a movable shaft, and a slotted plate is provided at the bottom of the first mounting rod via a movable shaft.

[0012] In one embodiment of this utility model, the second mounting block is fixedly disposed at the front and rear parts of the slotted plate.

[0013] In one embodiment of this utility model, the single insertion rod is movably inserted into both ends of the square tube.

[0014] In one embodiment of this utility model, a straight plate is provided on the body of the first lever arm via a movable shaft, and the other end of the straight plate is movably connected to a square tube via a movable shaft.

[0015] In one embodiment of this utility model, a clamping arm is fixedly connected to the bottom of one side of the second lever arm.

[0016] In one embodiment of this utility model, a relay mechanism is provided between the square tube and the second mounting block. The relay mechanism includes an inner mounting block, which is located at the bottom of the second mounting block. A fixing post is located directly below the inner mounting block and at the center line of the top of the square tube. A limiting post is fixedly connected to the top of the fixing post. The top of the limiting post is provided with a smooth protrusion, and an annular groove is formed on the outer ring of the bottom of the smooth protrusion. A chamfered ring is movably fitted on the body of the limiting post.

[0017] In one embodiment of this utility model, double mounting plates are provided on both sides of the bottom of the inner mounting block. A wedge block is movably inserted into the body of the double mounting plate. The end of the wedge block is provided with a pointed tip. A spring is sleeved on the body of the wedge block. One end of the spring is fixedly connected to a limit ring, and the other end of the spring is fixedly connected to the outer plate of the double mounting plate.

[0018] The present invention provides a working arm for an industrial robot, the advantages of which include:

[0019] 1. By setting up a clamping mechanism, when clamping items such as steel coils with indentations on both sides, the second lever arm can insert and clamp the two sides of the clamped object while the hanging mechanism pulls the clamping mechanism upward. Under the weight of the clamped object itself, the greater the weight, the greater the deflection angle of the first lever arm, and the tighter the circumferential force of the second lever arm on the clamped object. Combined with the clamping arm, a more ideal and stable clamping operation can be provided for the clamped object.

[0020] 2. By setting up a relay mechanism, the wedge, which was originally at the bottom of the smooth protrusion, will move downwards when the square tube first contacts the top of the object being clamped. After reaching the lowest point, the wedge will be lifted in the opposite direction. Then, under the action of the chamfer ring, the wedge will be expanded to the same size as the diameter of the smooth protrusion, and then the wedge will completely leave the smooth protrusion. The upper and lower parts of the relay mechanism will then be in contact connection. At this time, the clamping mechanism will clamp. After the object being clamped is transferred, it will be lowered. The square tube will then be lifted up again by the top surface of the object, returning to its original installation state. At this time, the distance between the second lever arms of the clamping mechanism will also become larger than the diameter of the object being clamped. The above process is considered as the object being clamped automatically releasing the clamping state according to its preventive state after contacting the ground. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a structural schematic diagram provided by an embodiment of the present utility model;

[0023] Figure 2 A perspective view provided for an embodiment of this utility model;

[0024] Figure 3 A schematic diagram of the clamping mechanism provided for an embodiment of this utility model;

[0025] Figure 4 A schematic diagram of the relay mechanism structure provided for an embodiment of this utility model.

[0026] In the diagram: 1. Main body; 101. Mounting column; 2. Hanging mechanism; 201. First mounting block; 202. First mounting rod; 203. Slotted plate; 3. Clamping mechanism; 301. Second mounting block; 302. First lever arm; 303. Second lever arm; 3031. Double insert rod; 3032. Single insert rod; 304. Square tube; 305. Clamping arm; 306. Straight plate; 4. Relay mechanism; 401. Inner mounting block; 402. Double mounting plate; 403. Wedge block; 4031. Spring; 4032. Limiting ring; 404. Pointed tip; 405. Fixed column; 406. Limiting column; 407. Rounded protrusion; 408. Chamfered ring. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0028] Example

[0029] Reference Figures 1-4 This technical solution provides a working arm for an industrial robot, comprising a body 1, with a mounting post 101 at the output end of the body 1, a hanging mechanism 2 at the bottom of the mounting post 101, and a clamping mechanism 3 at the bottom of the hanging mechanism 2. The clamping mechanism 3 includes a second mounting block 301, a first lever arm 302, double insert rods 3031, and a square tube 304. The second mounting block 301 is located at the bottom of the hanging mechanism 2. The first lever arm 302 is movably connected to the second mounting block 301 via a movable shaft. A second lever arm 303 is located at the bottom end of the first lever arm 302 via a movable shaft. The double insert rods 3031 are fixedly located on the top opposite side of the second lever arm 303. A single insert rod 3032 is located at the end of the double insert rods 3031. The square tube 304 is located between the double insert rods 3031. In use, when clamping items with concave sides, such as steel coils, the hanging mechanism 2 pulls the clamping mechanism 3 upwards. The bottom end of the first lever arm 302 moves towards the middle, at which point the single insertion rod 3032 enters the square tube 304. The second lever arm 303 can insert and clamp the two sides of the clamped object. After the transfer is completed, when the square tube 304 first contacts the top of the clamped object, the wedge block 403 will move downward until it reaches the lowest end and then lifts in the opposite direction. Then, under the action of the chamfer ring 408, the wedge block 403 will be expanded to the same size as the diameter of the smooth protrusion 407. The wedge block 403 will then completely leave the smooth protrusion 407, and the upper and lower parts of the relay mechanism 4 will be in contact connection. At this time, the clamping mechanism 3 will clamp. After the clamped object is transferred, the object is put down. At this time, the square tube 304 will be lifted up again by the top surface of the object, returning to the original installation state. At this time, the distance between the second lever arms 303 of the clamping mechanism 3 will also become the original state that is larger than the diameter of the clamped object, releasing the clamping state of the object.

[0030] Reference Figures 1-4 Based on the same concept as Embodiment 1 above, this embodiment also proposes that the hanging mechanism 2 includes a first mounting block 201, a first mounting rod 202 is provided on the body 1 of the first mounting block 201 via a movable shaft, and a slotted plate 203 is provided at the bottom of the first mounting rod 202 via a movable shaft.

[0031] ReferenceFigures 1-4 Based on the same concept as in Embodiment 1 above, this embodiment also proposes that a second mounting block 301 be fixedly disposed on the front and rear parts of the slotted plate 203.

[0032] Reference Figures 1-4 Based on the same concept as in Embodiment 1 above, this embodiment also proposes that the single insert rod 3032 be movably inserted into both ends of the square tube 304.

[0033] Reference Figures 1-4 Based on the same concept as Embodiment 1 above, this embodiment also proposes that a straight plate 306 is provided on the body 1 of the first lever arm 302 via a movable shaft. The other end of the straight plate 306 is movably connected to the square tube 304 via a movable shaft. By setting up a relay mechanism 4, the wedge block 403, which was originally at the bottom of the smooth protrusion 407, will move downwards when the square tube 304 first contacts the top of the clamped object. After reaching the lowest point, it will be lifted in the opposite direction. Then, the wedge block 403 will be expanded under the action of the chamfered ring 408 to be in contact with the smooth protrusion 407. After the diameter is the same size, the wedge 403 will completely leave the smooth protrusion 407, and the upper and lower parts of the relay mechanism 4 will be in contact connection. At this time, the clamping mechanism 3 will clamp. After the object to be clamped is transferred, the object is put down. At this time, the square tube 304 will be lifted up again by the top surface of the object and return to the original installation state. At this time, the distance between the second lever arms 303 of the clamping mechanism 3 will also become the original state that is larger than the diameter of the object to be clamped. The above process is regarded as the object to be clamped contacting the ground and automatically releasing the clamping state according to its prevention state.

[0034] Reference Figures 1-4 Based on the same concept as Embodiment 1 above, this embodiment also proposes that a clamping arm 305 is fixedly connected to the bottom of one side of the second lever arm 303. By setting the clamping mechanism 3, when clamping items such as steel coils with concave sides, the second lever arm 303 can insert and clamp the two sides of the clamped object during the process of the hanging mechanism 2 pulling the clamping mechanism 3 upward. Under the weight of the clamped object itself, the greater the weight, the greater the deflection angle of the first lever arm 302, and the tighter the circumferential force of the second lever arm 303 on the clamped object. Combined with the clamping arm 305, a more ideal and stable clamping operation can be provided for the clamped object.

[0035] Reference Figures 1-4Based on the same concept as in Embodiment 1 above, this embodiment also proposes to provide a relay mechanism 4 between the square tube 304 and the second mounting block 301. The relay mechanism 4 includes an inner mounting block 401, which is located at the bottom of the second mounting block 301. A fixing post 405 is located directly below the inner mounting block 401. The fixing post 405 is located at the center line of the top of the square tube 304. A limiting post 406 is fixedly connected to the top of the fixing post 405. A smooth protrusion 407 is provided at the top of the limiting post 406. An annular groove is opened on the outer ring of the bottom of the smooth protrusion 407. A chamfered ring 408 is movably sleeved on the column body of the limiting post 406.

[0036] Reference Figures 1-4 Based on the same concept as in Embodiment 1 above, this embodiment also proposes that the bottom sides of the inner mounting block 401 are provided with double mounting plates 402, and a wedge block 403 is movably inserted into the body 1 of the double mounting plate 402. The end of the wedge block 403 is provided with a pointed tip 404, and a spring 4031 is sleeved on the body 1 of the wedge block 403. One end of the spring 4031 is fixedly connected to a limit ring 4032, and the other end of the spring 4031 is fixedly connected to the outer plate of the double mounting plate 402.

[0037] Specifically, the working process or principle of this type of working arm for industrial robots is as follows: When clamping objects with indentations on both sides, such as steel coils, the hanging mechanism 2 pulls the clamping mechanism 3 upwards. During this process, the bottom end of the first lever arm 302 moves towards the center, at which point the single insertion rod 3032 enters the square tube 304. The second lever arm 303 then inserts itself to clamp the object from both sides. After the transfer is complete, when the square tube 304 first contacts the top of the clamped object, the wedge block 403 moves downwards until it reaches the lowest point, after which it reverses and lifts up. Then, under the action of the chamfer ring 408, the wedge 403 will be expanded to the same size as the diameter of the smooth protrusion 407. The wedge 403 will then completely separate from the smooth protrusion 407, and the upper and lower parts of the relay mechanism 4 will be in contact connection. At this time, the clamping mechanism 3 will clamp. After the object to be clamped is transferred, the object is put down. At this time, the square tube 304 will be lifted up again by the top surface of the object, returning to its original installation state. At this time, the distance between the second lever arms 303 of the clamping mechanism 3 will also become the original state that is larger than the diameter of the object to be clamped, releasing the clamping state of the object.

Claims

1. A working arm for an industrial robot, comprising a body (1), characterized in that, The output end of the main body (1) is provided with a mounting post (101), the bottom of the mounting post (101) is provided with a hanging mechanism (2), the bottom of the hanging mechanism (2) is provided with a clamping mechanism (3), and the clamping mechanism (3) includes: The second mounting block (301) is located at the bottom of the hanging mechanism (2); A first lever arm (302) is movably connected to a second mounting block (301) via a movable shaft, and a second lever arm (303) is provided at the bottom end of the first lever arm (302) via a movable shaft; A double insert rod (3031) is fixedly mounted on the top of the opposite side of the second lever arm (303), and a single insert rod (3032) is provided at the end of the double insert rod (3031). A square tube (304) is located between the two inserts (3031).

2. The working arm for an industrial robot according to claim 1, characterized in that, The hanging mechanism (2) includes a first mounting block (201), and a first mounting rod (202) is provided on the body (1) of the first mounting block (201) via a movable shaft. The bottom of the first mounting rod (202) is provided with a slotted plate (203) via a movable shaft.

3. A working arm for an industrial robot according to claim 2, characterized in that, The second mounting block (301) is fixedly mounted on the front and rear parts of the slotted plate (203).

4. A working arm for an industrial robot according to claim 3, characterized in that, The single insert (3032) is movably inserted into both ends of the square tube (304).

5. A working arm for an industrial robot according to claim 4, characterized in that, The first lever arm (302) has a straight plate (306) on its body (1) via a movable shaft, and the other end of the straight plate (306) is movably connected to the square tube (304) via a movable shaft.

6. A working arm for an industrial robot according to claim 5, characterized in that, A clamping arm (305) is fixedly connected to the bottom of one side of the second lever arm (303).

7. A working arm for an industrial robot according to claim 6, characterized in that, A relay mechanism (4) is provided between the square tube (304) and the second mounting block (301). The relay mechanism (4) includes an inner mounting block (401), which is located at the bottom of the second mounting block (301). A fixing post (405) is located directly below the inner mounting block (401). The fixing post (405) is located at the center line of the top of the square tube (304). A limiting post (406) is fixedly connected to the top of the fixing post (405). A smooth protrusion (407) is provided at the top of the limiting post (406). An annular groove is opened on the outer ring of the bottom of the smooth protrusion (407). A chamfered ring (408) is movably sleeved on the column body of the limiting post (406).

8. A working arm for an industrial robot according to claim 7, characterized in that, The inner mounting block (401) has double mounting plates (402) on both sides of its bottom. A wedge (403) is movably inserted into the body (1) of the double mounting plate (402). The end of the wedge (403) is provided with a pointed tip (404). A spring (4031) is sleeved on the body (1) of the wedge (403). One end of the spring (4031) is fixedly connected to a limit ring (4032), and the other end of the spring (4031) is fixedly connected to the outer plate of the double mounting plate (402).

Images