Multi-angle adjusting mechanical arm of industrial robot

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a multi-angle adjusting mechanical arm of an industrial robot, which comprises an adjustable mechanical arm mechanism, an adjusting mechanism and a control mechanism. The station adjusting mechanism is fixed in the end head of the mechanical arm body and can be used for quickly adjusting a disassembling tool to a specified position and disassembling a workpiece; the position changing mechanism is fixed to the end of the mechanical arm body, the position can be quickly changed, and a working space is provided for the station adjusting mechanism; and the dismounting mechanism is fixed on the transposition mechanism and can be used for manually dismounting other parts when the limiting part is damaged. According to the utility model, through the arrangement of the station adjusting mechanism, when a workpiece is disassembled, the position of the adapter head can be automatically adjusted according to the disassembly requirement, so that the adapter head adapts to a complex production scene, the universality is effectively improved, manual assembly and disassembly by personnel for replacement are not needed during working, and the working efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, concretely is a kind of industrial robot multi-angle adjusting mechanical arm. BACKGROUND

[0002] In modern industrial production, industrial robots play a key role, and its mechanical arm as the core component of task execution directly affects production efficiency and quality. Among them, mechanical claw as the end effector of mechanical arm needs to be frequently replaced to adapt to different work tasks.

[0003] At present, mechanical claw usually adopts motor drive to realize automatic disassembly, and this mode is efficient and convenient under normal circumstances, but there are obvious defects. When motor or gear appears damage, disassembly function will be invalid, and mechanical claw cannot be quickly replaced in emergency, greatly affecting production efficiency. At the same time, this mode has poor versatility, and it is difficult to flexibly respond to complex and diverse production requirements.

[0004] In addition, when disassembling work is carried out, mechanical claw is usually disassembled first, and then screwdriver and other tools are installed, which is complicated and inefficient, and cannot be quickly replaced according to the size of screw to be disassembled, further limiting the application of industrial robot in actual production. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a kind of industrial robot multi-angle adjusting mechanical arm to solve the problems raised in the above background technology.

[0006] To achieve the above purpose, the utility model provides the following technical scheme:

[0007] A kind of industrial robot multi-angle adjusting mechanical arm, comprising:

[0008] Adjustable mechanical arm mechanism, including mechanical arm body, the square hole is opened in the end of the mechanical arm body;

[0009] Station adjusting mechanism, fixed in the inside of the end of mechanical arm body, can quickly adjust disassembly tool to specified position, and disassembly workpiece;

[0010] Position changing mechanism, fixed at the end of mechanical arm body, can quickly change position, provide workspace for station adjusting mechanism;

[0011] Disassembly mechanism, fixed on position changing mechanism, can manually disassemble other components when limiting part is damaged.

[0012] Further, the position changing mechanism comprises:

[0013] The slide rail is provided with two, which are fixed on both sides of the mechanical arm body end head respectively, and the outer wall of the slide rail is fixedly connected with a rack;

[0014] The slide groove is provided with a group, which is opened on the outer wall of one of the slide rails, and the slide groove is slidably connected with a slide frame, the slide frame is fixedly connected with a first motor, the rotating shaft of the first motor is fixedly connected with a spur gear, and the spur gear is in meshing transmission with the rack.

[0015] Preferably, the dismounting mechanism comprises:

[0016] The square shell is slidably connected between the outer walls of the two slide rails, and the outer wall of the square shell is rotatably connected with the rotating shaft of the first motor;

[0017] The second motor is fixed to the inner wall of the square shell, and the rotating shaft of the second motor is fixedly connected with an elastic push rod I;

[0018] The first hexagonal block head is fixed to one end of the elastic push rod I.

[0019] Preferably, the dismounting mechanism comprises:

[0020] The T-shaped hole is provided with two, which are respectively opened on the outer walls of the two sides of the square shell;

[0021] The L-shaped frame is slidably connected in one of the T-shaped holes, and the outer wall of the L-shaped frame is fixedly connected with a ring frame I, and the outer wall of the ring frame I is rotatably connected with the elastic push rod I.

[0022] Preferably, the dismounting mechanism comprises:

[0023] The torsion ring is rotatably connected between the two T-shaped holes, the outer wall of one side of the torsion ring is provided with a hexagonal groove, and the hexagonal groove is in plug-in cooperation with the first hexagonal block head;

[0024] The threaded rod is fixed to the outer wall of one side of the torsion ring;

[0025] The mechanical claw is clamped on one side of the square shell, the support of the mechanical claw is provided with a threaded groove, and the threaded groove is in screwing connection with the threaded rod.

[0026] Preferably, the work station adjusting mechanism comprises:

[0027] The electric push rod is fixed to the inner wall of the mechanical arm body end head, one end of the electric push rod is fixedly connected with a third motor, and the rotating shaft of the third motor is fixedly connected with a second hexagonal block head.

[0028] Preferably, the work station adjusting mechanism comprises:

[0029] The circular shell is detachably connected with the outer wall of the mechanical arm body, and the outer wall of the circular shell is provided with a circular hole;

[0030] The fourth motor is fixed to the outer wall of one side of the circular shell, and the rotating shaft of the fourth motor is fixedly connected with a cross;

[0031] The second ring frame is provided with four, which are fixed to four ends of the cross respectively, and the outer wall of the second ring frame is fixedly connected with two elastic push rods two at equal angles;

[0032] The third ring frame is fixed between the outer walls of a group of elastic push rods two;

[0033] The adapter head is rotated in the inside of the third ring frame.

[0034] Compared with the prior art, the utility model has the beneficial effects that:

[0035] 1. By setting the transposition mechanism, the sliding design of the slide rail and the slide frame, the mechanical claw is quickly moved out of the working area, the space is left for the station adjusting mechanism, the additional disassembly steps are reduced, and the convenience is effectively improved.

[0036] 2. By setting the station adjusting mechanism, the adapter head position can be automatically adjusted according to the disassembly requirement when the workpiece is disassembled, the complex production scene is adapted, the universality is effectively improved, and the work efficiency is effectively improved without manual installation and disassembly for replacement during work.

[0037] 3. By setting the disassembly mechanism, the existing executor is avoided to rely on automatic disassembly, once the driving part is damaged, the disassembly function is invalid, the quick replacement in an emergency situation is affected, the production efficiency is affected, the disassembly is completed through manual operation, the shutdown risk is significantly reduced, and the production continuity is improved. DETAILED DESCRIPTION

[0038] Figure 1 It is the overall structure schematic diagram of the utility model;

[0039] Figure 2 It is the transposition mechanism structure schematic diagram in the utility model;

[0040] Figure 3 It is the disassembly mechanism unfolding structure schematic diagram in the utility model;

[0041] Figure 4 It is the ring frame one structure schematic diagram in the utility model;

[0042] Figure 5 It is the disassembly mechanism structure schematic diagram in the utility model;

[0043] Figure 6 It is the disassembly mechanism local structure schematic diagram in the utility model.

[0044] In the figure: 100, adjustable mechanical arm mechanism; 110, mechanical arm body; 111, square hole; 200, transposition mechanism; 210, slide rail; 211, rack; 212, sliding groove; 220, sliding carriage; 221, No. 1 motor; 222, straight gear; 300, dismounting mechanism; 310, square shell; 311, No. 2 motor; 312, elastic push rod I; 313, ring stand I; 314, T-shaped hole; 315, L-shaped frame; 316, hexagonal block head I; 320, torsion ring; 321, hexagonal groove; 322, threaded rod; 330, mechanical claw; 331, threaded groove; 400, work station adjusting mechanism; 410, electric push rod; 411, No. 3 motor; 412, hexagonal block head II; 420, circular shell; 421, No. 4 motor; 422, cross frame; 423, ring stand II; 424, elastic push rod II; 425, ring stand III; 427, circular hole; 430, adapter head. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0046] Please refer to Figures 1-6 In the embodiments of the utility model, the industrial robot multi-angle adjustable mechanical arm comprises an adjustable mechanical arm mechanism 100, and the adjustable mechanical arm mechanism 100 comprises a mechanical arm body 110 and the following parts: a square hole 111 is formed at the end of the mechanical arm body 110, a work station adjusting mechanism 400 is fixed to the inside of the end of the mechanical arm body 110, tools can be quickly adjusted and dismounted to a specified position, workpieces can be dismounted, a transposition mechanism 200 is fixed to the end of the mechanical arm body 110, positions can be quickly changed, thereby providing a working space for the work station adjusting mechanism 400, a dismounting mechanism 300 is fixed to the transposition mechanism 200, other components can be manually dismounted when the limiting component is damaged, the transposition mechanism 200 comprises the following parts: two slide rails 210 are fixed at the two sides of the end of the mechanical arm body 110, a rack 211 is fixedly connected to the outer wall of one side of the slide rail 210, a group of sliding grooves 212 are formed on the outer wall of one of the slide rails 210, and a sliding carriage 220 is slidingly connected between the group of sliding grooves 212, the sliding carriage 220 is fixedly connected with a No. 1 motor 221, the rotating shaft of the No. 1 motor 221 is fixedly connected with a straight gear 222, the straight gear 222 is in meshing transmission with the rack 211, through the transposition mechanism 200, the sliding design of the slide rail 210 and the sliding carriage 220, the mechanical claw 330 can be quickly moved out of the working area.

[0047] The work station adjusting mechanism 400 comprises the following parts: the electric push rod 410 is fixed in the inner wall of the end of the mechanical arm body 110, one end of which is fixedly connected with the third motor 411, the rotating shaft of the third motor 411 is fixedly connected with the hexagonal block head two 412, the circular shell 420 is detachably connected with the outer wall of the mechanical arm body 110, the outer wall of which is provided with a circular hole 427, the fourth motor 421 is fixed on the outer wall of one side of the circular shell 420, the rotating shaft of which is fixedly connected with the cross 422, the ring frame two 423 is provided with four, which are fixed at the four ends of the cross 422, and the outer wall is fixedly connected with two elastic push rods two 424 at equal angles, the ring frame three 425 is fixed between the outer walls of a group of elastic push rods two 424, the adapter head 430 rotates in the inner part of the ring frame three 425, by arranging the work station adjusting mechanism 400, when the workpiece is disassembled, the position of the adapter head 430 can be automatically adjusted according to the disassembly requirement.

[0048] The dismounting mechanism 300 comprises the following parts: the square shell 310 slides between the outer walls of the two slide rails 210, the outer wall is rotatably connected with the rotating shaft of the first motor 221, the second motor 311 is fixed in the inner wall of the square shell 310, the rotating shaft of which is fixedly connected with the elastic push rod one 312, the hexagonal block head one 316 is fixed at one end of the elastic push rod one 312, the T-shaped hole 314 is provided with two, which are respectively arranged on the outer walls of the two sides of the square shell 310, the L-shaped frame 315 slides in one of the T-shaped holes 314, the outer wall of which is fixedly connected with the ring frame one 313, the ring frame one 313 is rotatably connected with the outer wall of the elastic push rod one 312, the torsion ring 320 rotates between the two T-shaped holes 314, one side of which is provided with a hexagonal groove 321, the hexagonal groove 321 is inserted and matched with the hexagonal block head one 316, the threaded rod 322 is fixed on one side of the outer wall of the torsion ring 320, the mechanical claw 330 is connected at one side of the square shell 310, the support of which is provided with a threaded groove 331, the threaded groove 331 is screw-connected with the threaded rod 322, by arranging the dismounting mechanism 300, the existing executor is avoided to rely on automatic dismounting, once the driving part is damaged, the dismounting function is invalid, and it cannot be quickly replaced in emergency.

[0049] Specifically, when the workpiece needs to be disassembled, the first motor 221 drives the spur gear 222 to rotate and engage with the rack 211, drives the carriage 220 to slide along the track of the sliding groove 212, drives the mechanical claw 330 to quickly move away from the port of the mechanical arm body 110 along the track of the sliding groove 212, exposes the square hole 111, without the need for personnel operation and disassembly of the mechanical arm 330, the work space can be provided for the work station adjusting mechanism 400, according to the size and shape of the screw, the fourth motor 421 drives the cross 422 to rotate, drives the corresponding adapter head 430 to move to the circular hole 427, the electric push rod 410 drives the third motor 411 to move to the circular hole 427 direction to the hexagonal block head two 412 and the corresponding adapter head 430 one end is inserted, and is affected by the electric push rod 410, drives the adapter head 430 to continue to extend to the specified position outside the square hole 111, the third motor 411 drives the hexagonal block head two 412 to rotate, drives the adapter head 430 to rotate, and is disassembled, when the mechanical claw 330 needs to be disassembled, the personnel press the mechanical claw 330, the second motor 311 drives the elastic push rod one 312 to rotate, drives the threaded rod 322 to rotate and the threaded groove 331 to separate, when the second motor 311 and other components are damaged, the personnel drives the L-shaped frame 315 to slide to the side of the T-shaped hole 314, drives the ring frame one 313 to slide in the torsion ring 320, makes the hexagonal block head one 316 and the hexagonal groove 321 separate, releases the limiting of the threaded rod 322, the personnel twists the torsion ring 320 drives the threaded rod 322 and the threaded groove 331 to rotate and separate.

[0050] Embodiment one

[0051] As Figure 2 shown, in this embodiment, the transposition mechanism 200 includes the following parts: the slide rail 210 is provided with two, which are respectively fixed at the two sides of the end of the mechanical arm body 110, and the outer wall of one side is fixedly connected with the rack 211, the sliding groove 212 is provided with a group, which is opened on the outer wall of one of the slide rails 210, and the carriage 220 is slidingly inserted between the group of sliding grooves 212, the carriage 220 is fixedly connected with the first motor 221, the rotating shaft of the first motor 221 is fixedly connected with the spur gear 222, and the spur gear 222 is in meshing transmission with the rack 211.

[0052] In this embodiment, during operation, when the workpiece needs to be disassembled, the No. 1 motor 221 drives the spur gear 222 to rotate and mesh with the rack 211, causing the slide 220 to slide along the track of the slide groove 212. This causes the mechanical claw 330 to quickly move away from the port of the robotic arm body 110 along the track of the slide groove 212, exposing the square hole 111. Without the need for personnel to operate and disassemble the mechanical claw 330, it can provide working space for the workstation adjustment mechanism 400. Through the sliding design of the switching mechanism 200, the slide rail 210 and the slide 220, the mechanical claw 330 can be quickly moved out of the working area, freeing up space for the workstation adjustment mechanism 400, reducing additional disassembly steps and effectively improving convenience.

[0053] like Figures 5-6 As shown, in this embodiment, the workstation adjustment mechanism 400 includes the following parts: an electric push rod 410 is fixed to the inner wall of the end of the robotic arm body 110, and a No. 3 motor 411 is fixedly connected to one end of the push rod. The shaft of the No. 3 motor 411 is fixedly connected to a hexagonal block head 412. A circular shell 420 is detachably connected to the outer wall of the robotic arm body 110, and a circular hole 427 is opened on its outer wall. A No. 4 motor 421 is fixed to one side of the outer wall of the circular shell 420, and a cross 422 is fixedly connected to its shaft. Four ring frames 423 are provided, which are fixed to the four ends of the cross 422 respectively, and two elastic push rods 424 are fixedly connected to its outer wall at equal angles. A ring frame 425 is fixed between the outer walls of a set of elastic push rods 424, and an adapter head 430 rotates inside the ring frame 425.

[0054] In practice, each ring frame 3 425 is equipped with a different ring frame 3 425. According to the size and shape of the screw, motor 421 drives the cross 422 to rotate, which drives the corresponding adapter head 430 to move to the round hole 427. The electric push rod 410 drives motor 411 to move towards the round hole 427 until the hexagonal block head 2 412 is inserted into one end of the corresponding adapter head 430. Under the influence of the electric push rod 410, the adapter head 430 continues to extend outward from the upper hole 111 to the designated position. Motor 411 drives hexagonal block head 2 412 to rotate, which drives the adapter head 430 to rotate for disassembly. With the setting of the workstation adjustment mechanism 400, the position of the adapter head 430 can be automatically adjusted according to the disassembly requirements when disassembling the workpiece, which can adapt to complex production scenarios and effectively improve versatility. Moreover, no manual installation and disassembly is required during operation, which effectively improves work efficiency.

[0055] Example 2

[0056] like Figures 3-4As shown, in the embodiment, the dismounting mechanism 300 comprises the following parts: the square shell 310 slides between the outer walls of the two slide rails 210, the outer wall is rotationally connected with the rotating shaft of the first motor 221, the second motor 311 is fixed to the inner wall of the square shell 310, the rotating shaft is fixedly connected with the elastic push rod one 312, the hexagonal block head one 316 is fixed to one end of the elastic push rod one 312, the T-shaped hole 314 is provided with two, which are respectively arranged on the outer walls of the two sides of the square shell 310, the L-shaped frame 315 slides in one of the T-shaped holes 314, the outer wall is fixedly connected with the ring frame one 313, the ring frame one 313 is rotationally connected with the outer wall of the elastic push rod one 312, the torsion ring 320 rotates between the two T-shaped holes 314, the side wall is provided with a hexagonal groove 321, the hexagonal groove 321 is inserted and matched with the hexagonal block head one 316, the threaded rod 322 is fixed to the side wall of the torsion ring 320, and the mechanical claw 330 is connected to one side of the square shell 310, the support is provided with a threaded groove 331, and the threaded groove 331 is rotationally connected with the threaded rod 322.

[0057] In specific implementation, when the mechanical claw 330 needs to be dismounted, the personnel press the mechanical claw 330, the second motor 311 drives the elastic push rod one 312 to rotate, drives the threaded rod 322 to rotate and is rotationally separated from the threaded groove 331, when the second motor 311 and other components are damaged, the personnel drives the L-shaped frame 315 to slide to one side of the T-shaped hole 314, drives the ring frame one 313 to slide in the torsion ring 320, separates the hexagonal block head one 316 from the hexagonal groove 321, releases the limitation of the threaded rod 322, the personnel twists the torsion ring 320 to drive the threaded rod 322 to be rotationally connected with the threaded groove 331, and is separated, through the dismounting mechanism 300, the existing executor is avoided to rely on automatic dismounting, once the driving component is damaged, the dismounting function is invalid, in an emergency, the component cannot be quickly replaced, the production efficiency is affected, the dismounting is completed through manual operation, the shutdown risk is significantly reduced, and the production continuity is improved.

[0058] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0059] Furthermore, it should be understood that although the specification is described in terms of embodiments, not every embodiment includes every feature described. The specification can include implicit combinations of explicitly mentioned features and / or explicit combinations of implicitely mentioned features. Each embodiment depends on the explicit combinations of features and / or the implicit combinations of features made specifically within that embodiment, and each such embodiment can be combined with every other such embodiment to create further embodiments.

Claims

1. An industrial robot multi-angle adjustment robot arm, characterized in that, The utility model relates to a kind of adjustable mechanical arm mechanism (100), including mechanical arm body (110), and the end of mechanical arm body (110) is provided with square hole (111); Station adjusting mechanism (400) is fixed in the end of mechanical arm body (110) inside, can quickly adjust dismounting tool to specified position, and dismounting workpiece; Position changing mechanism (200) is fixed at the end of mechanical arm body (110), can quickly change position, and provide workspace for station adjusting mechanism (400); Dismounting mechanism (300) is fixed on position changing mechanism (200), when limiting component is damaged, other components can be manually disassembled. Position changing mechanism (200) includes:

2. The multi-angle adjustment robotic arm of claim 1, wherein, Slide rail (210) is provided with two, is fixed with the end of mechanical arm body (110) two sides respectively, and the outer wall of one side of slide rail (210) is fixedly connected with rack (211); Slide groove (212) is provided with a group, and is opened on the outer wall of one of slide rail (210), and a group of slide grooves (212) are slidably connected between the inner portions of slide groove (212), and the slide bracket (220) is fixedly connected with No. Dismounting mechanism (300) includes:

3. The multi-angle adjustment robotic arm of claim 2, wherein, Square shell (310) is slidably connected between the outer wall of two slide rails (210), and the outer wall of square shell (310) is rotatably connected with the rotating shaft of No. Second motor (311) is fixed to the inner wall of square shell (310), and the rotating shaft of second motor (311) is fixedly connected with elastic push rod one (312); Hexagonal block head one (316) is fixed to one end of elastic push rod one (312). Dismounting mechanism (300) includes:

4. The multi-angle adjustment robotic arm of claim 3, wherein, T-shaped hole (314) is provided with two, and is opened on the outer wall of two sides of square shell (310) respectively; L-shaped frame (315) is slidably connected in one of T-shaped holes (314), and the outer wall of L-shaped frame (315) is fixedly connected with ring frame one (313), and ring frame one (313) is rotatably connected with the outer wall of elastic push rod one (312). Dismounting mechanism (300) includes:

5. The multi-angle adjustment robotic arm of claim 4, wherein, Torsion ring (320) is rotatably connected between the inner portions of two T-shaped holes (314), and the outer wall of one side of torsion ring (320) is provided with hexagonal groove (321), and the inner portion of hexagonal groove (321) is inserted and matched with hexagonal block head one (316); Threaded rod (322) is fixed to the outer wall of one side of torsion ring (320); Mechanical claw (330) is clamped to one side of square shell (310), and the support of mechanical claw (330) is provided with threaded groove (331), and threaded groove (331) is screw-connected with threaded rod (322). Station adjusting mechanism (400) includes:

6. The multi-angle adjustment robotic arm of claim 5, wherein, Electric push rod (410) is fixed with the inner wall of the end of mechanical arm body (110), and one end of electric push rod (410) is fixedly connected with No. Station adjusting mechanism (400) includes:

7. The multi-angle adjustment robotic arm of claim 6, wherein, ​ A round shell (420) is detachably connected with the outer wall of the mechanical arm body (110), and a round hole (427) is formed in the outer wall of the round shell (420); A No. 4 motor (421) is fixed to the outer wall of one side of the round shell (420), and a cross (422) is fixedly connected with the rotating shaft of the No. 4 motor (421); Two ring frames two (423) are arranged and fixed to the four ends of the cross (422), respectively; and two elastic push rods two (424) are fixedly connected with the outer wall of the ring frame two (423) at equal angles; A ring frame three (425) is fixed between the outer walls of one group of elastic push rods two (424); An adapter head (430) is rotatably arranged inside the ring frame three (425).

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