Rotary joint of industrial robot

Abstract

The utility model discloses a rotational joint of an industrial robot, which belongs to the technical field of industrial robots and comprises an electric cabinet, a mechanical arm is mounted at the upper end of the electric cabinet, a mechanical clamping arm is mounted at the upper end of the mechanical arm, a dynamic compensation mechanism is mounted on one side, close to the mechanical clamping arm, of the mechanical arm, and a monitoring mechanism is arranged above the mechanical clamping arm. The upper end of the mechanical clamping arm is fixedly provided with a mounting seat, the upper end of the mounting seat is provided with an inertia measurement sensor, the right end of the inertia measurement sensor is fixedly connected with a connecting line, the middle of the counterweight box is fixedly provided with a rotating sleeve, and the middle of the rotating sleeve is provided with a rotating rod. The rotating joint of the industrial robot is additionally provided with the dynamic compensation mechanism and the monitoring mechanism, the state of a workpiece is monitored in real time, the balance weight is dynamically adjusted, inertia force is effectively balanced, vibration and noise are reduced, the service life of the robot joint is prolonged, stability and reliability are improved, and efficient and safe operation of the robot in the complex working environment is ensured.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically a rotary joint of an industrial robot. Background Technology

[0002] An industrial robot is an automated piece of equipment used in the industrial field. It consists of basic parts such as a mechanical body, control system, drive and transmission system, and sensor components. As a device that can automatically perform tasks, an industrial robot relies on its own power and control capabilities to realize its designed functions. It can be commanded by humans or run according to pre-programmed instructions. Advanced industrial robots can also act according to the principles and guidelines established by artificial intelligence technology. They are widely used in many fields such as automobile manufacturing, electronics and electrical engineering, and food industry, which greatly improves production efficiency and reduces production costs. They are an indispensable key component of modern industrial production.

[0003] Based on existing industrial robot technologies, it has been found that in the field of industrial automation, industrial robots often encounter the problem of uneven workpiece weight distribution when performing operations such as gripping and transporting workpieces. For example, when the left end of the workpiece is heavier, this poses a challenge to the robot's gripping stability. During the process of the robot gripping and transporting the workpiece, the robot is likely to vibrate due to the heavier mass of the left end of the workpiece. This vibration not only generates noise in the production environment, affecting workplace comfort, but also causes wear and tear on the robot's mechanical structure, especially the joints. Long-term wear and tear not only reduces the service life of the robot's joints, but in cases of severe vibration, it may even lead to damage to the joint structure, thereby affecting the normal operation of the robot. In severe cases, it may even cause joint breakage, resulting in production line shutdowns and safety risks.

[0004] Based on this, the present invention designs a rotating joint for an industrial robot to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a rotary joint for an industrial robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a rotating joint of an industrial robot, including an electrical control box, a robotic arm mounted on the upper end of the electrical control box, a mechanical gripper mounted on the upper end of the robotic arm, a dynamic compensation mechanism mounted on the side of the robotic arm near the mechanical gripper, a monitoring mechanism disposed above the mechanical gripper, the dynamic compensation mechanism including a counterweight box and a counterweight block, the counterweight box containing the counterweight block, the monitoring mechanism including a mounting base, an inertial measurement sensor and a connecting wire, the mounting base being fixedly mounted on the upper end of the mechanical gripper, the inertial measurement sensor being mounted on the upper end of the mounting base, and the connecting wire being fixedly connected to the right end of the inertial measurement sensor.

[0007] Optionally, the dynamic compensation mechanism further includes a rotating sleeve, which is fixedly installed in the middle of the counterweight box.

[0008] Optionally, a rotating rod is provided in the middle of the rotating sleeve, and support frames are installed at both ends of the rotating rod. The support frames are fixedly installed on the outer wall of the robotic arm.

[0009] Optionally, a bearing ring is provided between the rotating sleeve and the rotating rod, and two bearing rings are installed on the outside of the rotating rod.

[0010] Optionally, an oil injection pipe is fixedly installed at the upper end of the counterweight box, and the oil injection pipe is inserted downward into the interior of the counterweight box.

[0011] Optionally, a hydraulic rod is provided above the counterweight box, a first rotating frame is installed at the lower end of the hydraulic rod, and a second rotating frame is installed at the upper end of the hydraulic rod.

[0012] Optionally, the first rotating frame is fixedly installed on the outer wall of the counterweight box, and the second rotating frame is fixedly installed on the outer wall of the robotic arm.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. In this utility model, a dynamic compensation mechanism is provided. The counterweight and hydraulic rod inside the dynamic compensation mechanism work together to adjust the position of the counterweight box in real time, thereby dynamically balancing the inertial force during rotation. When the weight distribution of the workpiece is uneven, the position of the counterweight can be adjusted to effectively increase the weight of the front or rear end area of ​​the robot arm, reducing vibration. This not only reduces noise in the production environment and improves workplace comfort, but also greatly reduces wear on the mechanical structure, especially the joints, thereby extending the service life of the robot joints and avoiding the risk of joint damage and production line downtime.

[0015] 2. In this utility model, a monitoring mechanism is provided. The inertial measurement sensor in the monitoring mechanism can quickly and accurately provide feedback on the workpiece clamping status of the mechanical gripper arm and know the information of the unbalanced end of the workpiece in real time. This real-time feedback of information is crucial for the accurate adjustment of the dynamic compensation mechanism. Through the real-time monitoring of the monitoring mechanism, the dynamic compensation mechanism can perform counterweight compensation operation in a timely manner to ensure that the robot remains stable and reliable when performing the operation of clamping and transporting workpieces, thereby further improving the overall work efficiency and safety. Attached Figure Description

[0016] Figure 1 This is a three-dimensional front view structural diagram of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of this utility model from a frontal view.

[0018] Figure 3 This is a three-dimensional top view of the structure of this utility model;

[0019] Figure 4 This is a three-dimensional sectional view of the structure of this utility model. Figure 1 ;

[0020] Figure 5 This is a three-dimensional, bottom-view structural diagram of the present invention;

[0021] Figure 6 This is a top view of the structure of this utility model;

[0022] Figure 7 This is a schematic diagram of the three-dimensional rear view structure of this utility model;

[0023] Figure 8 This is a three-dimensional sectional view of the structure of this utility model. Figure 2 .

[0024] In the diagram: 1. Electrical control box; 2. Robotic arm; 3. Mechanical gripper arm; 4. Dynamic compensation mechanism; 401. Counterweight box; 402. Counterweight block; 403. Rotating sleeve; 404. Support frame; 405. Rotating rod; 406. Bearing ring; 407. Oil injection pipe; 408. Hydraulic rod; 409. First rotating frame; 410. Second rotating frame; 5. Monitoring mechanism; 501. Mounting base; 502. Inertial measurement sensor; 503. Connecting wire. Detailed Implementation

[0025] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

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

[0028] Please see Figures 1-8In this embodiment of the present invention, a rotating joint of an industrial robot includes an electrical control box 1. A robotic arm 2 is mounted on the upper end of the electrical control box 1, and a mechanical gripper arm 3 is mounted on the upper end of the robotic arm 2. A dynamic compensation mechanism 4 is mounted on the side of the robotic arm 2 near the mechanical gripper arm 3. A monitoring mechanism 5 is provided above the mechanical gripper arm 3. The dynamic compensation mechanism 4 includes a counterweight box 401 and a counterweight block 402. The counterweight block 402 is disposed inside the counterweight box 401. The dynamic compensation mechanism 4 also includes a rotating sleeve 403. The rotating sleeve 403 is fixedly mounted in the middle of the counterweight box 401. A rotating rod 405 is disposed in the middle of the rotating sleeve 403. Support frames 404 are mounted at both ends of the rotating rod 405. The support frames 404 are fixedly mounted on the outer wall of the robotic arm 2. A bearing ring 406 is disposed between the rotating sleeve 403 and the rotating rod 405. Two bearing rings 406 are installed on the outside of the rotating rod 405. An oil injection pipe 407 is fixedly installed on the upper end of the counterweight box 401. The oil injection pipe 407 is inserted downward into the interior of the counterweight box 401. A hydraulic rod 408 is set above the counterweight box 401. A first rotating frame 409 is installed on the lower end of the hydraulic rod 408. A second rotating frame 410 is installed on the upper end of the hydraulic rod 408. The first rotating frame 409 is fixedly installed on the outer wall of the counterweight box 401. The second rotating frame 410 is fixedly installed on the outer wall of the robotic arm 2. The monitoring mechanism 5 includes a mounting base 501, an inertial measurement sensor 502, and a connecting line 503. The mounting base 501 is fixedly installed on the upper end of the mechanical clamping arm 3. An inertial measurement sensor 502 is installed on the upper end of the mounting base 501. A connecting line 503 is fixedly connected to the right end of the inertial measurement sensor 502.

[0029] See Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 8 Initially, before activation, the inertial measurement sensor 502 and hydraulic rod 408 need to be powered on and connected to the control terminal. When the mechanical gripper 3 clamps the workpiece, the inertial measurement sensor 502 can provide data on acceleration, angular velocity and attitude. When the robot moves, the center of gravity of the workpiece can be determined by analyzing these data and the information is transmitted to the electrical control box 1 and the control terminal. Assuming that the rear end area of ​​the workpiece is heavier, the process of activating the dynamic compensation mechanism 4 is as follows: the hydraulic rod 408 pulls the counterweight box 401 from bottom to top, causing the rear end of the counterweight box 401 to tilt upward. At this time, the counterweight block 402 inside the counterweight box 401 moves forward and is located at the front end inside the counterweight box 401, adding weight to the front end area of ​​the mechanical arm 2. This can dynamically balance the inertial force during rotation and reduce vibration, thereby effectively improving the stability and reliability of the robot during use.

[0030] Among them, the monitoring mechanism 5 uses an inertial measurement sensor 502 to provide feedback on the workpiece being held by the mechanical gripper arm 3. It can quickly provide feedback on the state of the workpiece and know the information of the unbalanced end of the workpiece. Then, the information is transmitted to the dynamic compensation mechanism 4 to perform counterweight compensation operation. The dynamic compensation mechanism 4 can dynamically balance the inertial force during the rotation process and reduce vibration, thereby effectively improving the stability and reliability of the robot during use.

[0031] The working principle of this utility model is as follows: When the mechanical gripper arm 3 clamps the workpiece, the inertial measurement sensor 502 in the monitoring mechanism 5 monitors the state of the workpiece in real time, including data such as acceleration, angular velocity and attitude. When uneven weight distribution of the workpiece is detected, the monitoring mechanism 5 will transmit this information to the electrical control box 1 and the control terminal. At this time, the dynamic compensation mechanism 4 starts to work. The hydraulic rod 408 pulls the counterweight box 401 from bottom to top, causing the rear end of the counterweight box 401 to tilt upwards. The internal counterweight block 402 moves forward to the front end of the counterweight box 401, thereby increasing the weight of the front end area of ​​the robotic arm 2. In this way, the dynamic compensation mechanism 4 can balance the inertial force during the rotation process, effectively reduce the vibration caused by uneven weight distribution of the workpiece, and improve the stability and reliability of the robot during use.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rotating joint of an industrial robot, comprising an electrical control box (1), wherein a robotic arm (2) is mounted on the upper end of the electrical control box (1), and a mechanical gripper (3) is mounted on the upper end of the robotic arm (2), characterized in that: A dynamic compensation mechanism (4) is installed on the side of the robotic arm (2) near the robotic gripper (3). A monitoring mechanism (5) is provided above the robotic gripper (3). The dynamic compensation mechanism (4) includes a counterweight box (401) and a counterweight block (402). The counterweight block (402) is provided inside the counterweight box (401). The monitoring mechanism (5) includes a mounting base (501), an inertial measurement sensor (502), and a connecting line (503). The mounting base (501) is fixedly installed on the upper end of the robotic gripper (3). The inertial measurement sensor (502) is installed on the upper end of the mounting base (501). The connecting line (503) is fixedly connected to the right end of the inertial measurement sensor (502).

2. The rotary joint of an industrial robot according to claim 1, characterized in that: The dynamic compensation mechanism (4) also includes a rotating sleeve (403), and the rotating sleeve (403) is fixedly installed in the middle of the counterweight box (401).

3. The rotary joint of an industrial robot according to claim 2, characterized in that: A rotating rod (405) is provided in the middle of the rotating sleeve (403), and a support frame (404) is installed at both the front and rear ends of the rotating rod (405). The support frame (404) is fixedly installed on the outer wall of the robotic arm (2).

4. The rotary joint of an industrial robot according to claim 2, characterized in that: A bearing ring (406) is provided between the rotating sleeve (403) and the rotating rod (405), and two bearing rings (406) are installed on the outside of the rotating rod (405).

5. The rotary joint of an industrial robot according to claim 1, characterized in that: An oil injection pipe (407) is fixedly installed at the upper end of the counterweight box (401), and the oil injection pipe (407) is inserted downward into the interior of the counterweight box (401).

6. The rotary joint of an industrial robot according to claim 1, characterized in that: A hydraulic rod (408) is provided above the counterweight box (401), a first rotating frame (409) is installed at the lower end of the hydraulic rod (408), and a second rotating frame (410) is installed at the upper end of the hydraulic rod (408).

7. The rotary joint of an industrial robot according to claim 6, characterized in that: The first rotating frame (409) is fixedly installed on the outer wall of the counterweight box (401), and the second rotating frame (410) is fixedly installed on the outer wall of the robotic arm (2).

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