Industrial mechanical arm with modular joints

Abstract

The industrial mechanical arm comprises a first joint, a second joint and a supporting rod, the first joint and the second joint are arranged at the top and the bottom of the supporting rod respectively, and the first joint and the second joint are both fixedly connected with the supporting rod in a threaded mode. The sides, away from the first supporting rod, of the first joint and the second joint are fixedly provided with bearing seats, rotating shafts are arranged in the bearing seats in a penetrating mode, the two ends of each rotating shaft extend to the outer side of the corresponding bearing seat, and the rotating shafts are transversely and horizontally arranged. The pressure sensor is used for detecting the pressure between the mutually attached faces of the first joint, the second joint and the supporting rod, the lengths of the supporting rods of different lengths can be flexibly adjusted and selected, and by replacing the supporting rods of different materials and lengths, the first joint and the second joint are consistent in structural process during production and manufacturing, and the production efficiency is improved. And the requirement for large-scale production process equipment is reduced, so that the mechanical arm is easier to manufacture on a large scale.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an industrial robotic arm with modular joints. Background Technology

[0002] With the continuous advancement of industrial automation, industrial robotic arms, as core equipment, play a crucial role in many fields such as manufacturing and logistics.

[0003] Currently, the joints and support structures of traditional industrial robotic arms are often designed as an integrated unit. This design method ensures the overall stability of the robotic arm to a certain extent. However, the manufacturing process of traditional industrial robotic arms requires increased design costs and time, and also places extremely high demands on large-scale production equipment. This is because each robotic arm of different sizes needs to be designed and manufactured separately to meet different customer requirements. In addition, traditional industrial robotic arms often need to be redesigned and remanufactured to cope with different working conditions. For example, when customers need to change the material of the support rod to adapt to different working environments, traditional robotic arms are difficult to replace directly and must be redesigned and remanufactured on a large scale.

[0004] The aforementioned existing technical solutions have the following drawbacks: they are not easy to assemble in a modular manner and have poor adaptability. Utility Model Content

[0005] The purpose of this invention is to provide an industrial robotic arm with modular joints to solve the problems existing in the prior art.

[0006] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0007] A modular joint industrial robotic arm includes a first joint, a second joint, and a support rod. The first joint and the second joint are respectively disposed at the top and bottom of the support rod. Both the first joint and the second joint are screwed and fixed to the support rod. Bearing seats are fixedly installed on the side of the first joint and the second joint away from the first support rod. A rotating shaft passes through the bearing seat, and both ends of the rotating shaft extend to the outside of the bearing seat. The rotating shaft is horizontally arranged. Pressure sensors are disposed at both ends of the support rod. The pressure sensors are used to detect the pressure between the surfaces of the first joint, the second joint, and the support rod that are in contact with each other.

[0008] By adopting the above technical solution, the length of support rods of different lengths can be flexibly adjusted and selected. By replacing support rods of different materials and lengths, the structural processes of the first and second joints can be made consistent during manufacturing, reducing the requirements for large-scale production equipment and making it easier to mass-produce robotic arms. Only the axial torque of each first and second joint needs to be designed, so that the first and second joints can be adapted to support rods of different lengths with the minimum specifications. For example, in actual design requirements, two customers need the same torque and precision, but one customer requires the entire joint length to be 600mm and the other requires 620mm. When the difference is not significant, and both first and second joints are in stock, only support rods of different lengths need to be manufactured to meet the requirements, greatly reducing the supply speed and facilitating the large-scale manufacturing and use of robotic arms.

[0009] In a further embodiment, positioning discs are fitted at both ends of the support rod, with the side of the positioning discs that are far apart from each other fitting against the side of the first joint / second joint that is close to each other. The pressure sensor is disposed between the fitting surfaces of the positioning discs and the first joint / second joint, and the positioning discs are integrally formed with the support rod.

[0010] By adopting the above technical solution, when the pressure detector detects that the pressure on the contact surface reaches the set value, it indicates that the positional relationship between the first and second joints and the support rod is correct and meets the accuracy requirements. When the pressure is low, it means that the installation is not in place, and when the pressure is high, it means that the installation is over-installed. In actual use, the pressure sensor can be connected to the control system for real-time reading to ensure the accuracy of the robotic arm.

[0011] In a further embodiment, a ranging sensor is provided on the first joint, and a recognition area corresponding to the ranging sensor is provided on the second joint.

[0012] By adopting the above technical solution, the positional accuracy of the first joint and the second joint can be further guaranteed to be within the required accuracy range.

[0013] In a further embodiment, the cross-sections at both ends of the rotating shaft are both configured as polygonal structures.

[0014] By adopting the above technical solution, when the connector is connected to both ends of the rotating shaft, the cross-section of the polygon acts as a spline groove, preventing the rotating shaft from rotating relative to the parts fitted on it.

[0015] In a further embodiment, the support rod is hollow inside, both ends of the support rod are completely open, and the support rod has multiple reinforcing ribs inside.

[0016] By adopting the above technical solution, the support rod can be made to have internal reinforcing ribs through casting. The hollow internal structure is to reduce the weight of the support rod and facilitate wiring inside, avoiding exposed wire harnesses.

[0017] In a further embodiment, the surface of the support rod is coated with an anti-corrosion protective coating, and attention should be paid to the insulation properties of the anti-corrosion protective coating.

[0018] In summary, this utility model has the following beneficial effects:

[0019] 1. By setting different support rod lengths, the length of the support rods can be flexibly adjusted and selected. By replacing support rods of different materials and lengths, the structural processes of the first and second joints can be made consistent during manufacturing, reducing the requirements for large-scale production equipment and making it easier to mass-produce the robotic arm. Only the axial torque of each first and second joint needs to be designed, allowing the first and second joints to be adapted to different lengths of support rods with minimal specifications. For example, in actual design requirements, two customers need the same torque and precision, but one customer requires a joint length of 600mm and the other 620mm. With only minor differences, and both first and second joints in stock, only support rods of different lengths need to be manufactured to meet the requirements, greatly reducing supply speed and facilitating the large-scale manufacturing and use of the robotic arm. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a structural diagram illustrating the connection between the support rod and the first and second joints of this utility model.

[0022] In the diagram, 1 is the first joint; 2 is the second joint; 3 is the support rod; 4 is the bearing housing; 5 is the rotating shaft; 6 is the pressure sensor; and 7 is the positioning plate. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings.

[0024] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to the attached figures. Figure 1In this specification, the terms "bottom surface" and "top surface," "inner" and "outer" refer to the direction toward or away from the geometry of a specific component. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly and specifically defined by the direction of the center.

[0025] Example 1:

[0026] like Figures 1-2 As shown, an industrial robotic arm with modular joints includes a first joint 1, a second joint 2, and a support rod 3. The first joint 1 and the second joint 2 are respectively located at the top and bottom of the support rod 3. Both the first joint 1 and the second joint 2 are screwed and fixed to the support rod 3. Bearing seats 4 are fixedly installed on the side of the first joint 1 and the second joint 2 away from the first support rod 3. A rotating shaft 5 passes through the bearing seat 4, and both ends of the rotating shaft 5 extend to the outside of the bearing seat 4. The rotating shaft 5 is horizontally arranged. Pressure sensors 6 are installed at both ends of the support rod 3. The pressure sensors 6 are used to detect the pressure between the surfaces of the first joint 1, the second joint 2, and the support rod 3. The pressure; both ends of the support rod 3 are fitted with positioning discs 7, the side of the positioning discs 7 that is far apart from each other is in contact with the side of the first joint 1 / second joint 2 that is close to each other, the pressure sensor 6 is set between the contact surfaces of the positioning discs 7 and the first joint 1 / second joint 2, the positioning discs 7 and the support rod 3 are integrally formed; a distance sensor is set on the first joint 1, and a recognition area corresponding to the distance sensor is set on the second joint 2; the cross sections of both ends of the rotating shaft 5 are set as polygonal structures; the support rod 3 is hollow inside, both ends of the support rod 3 are completely open, and multiple reinforcing ribs are set inside the support rod 3; the surface of the support rod 3 is sprayed with an anti-corrosion protective coating.

[0027] Specific implementation process: By setting different support rod lengths, the length of the support rods can be flexibly adjusted and selected. By replacing support rods of different materials and lengths, the structural processes of the first and second joints are made consistent during manufacturing, reducing the requirements for large-scale production equipment and making it easier to mass-produce the robotic arm. Only the axial torque of each first and second joint needs to be designed, allowing the first and second joints to be adapted to support rods of different lengths at a minimum specification. For example, in actual design requirements, two customers need the same torque and precision, but one customer requires a joint length of 600mm and the other 620mm. With only minor differences, and both first and second joints in stock, only support rods of different lengths need to be manufactured to meet the requirements, greatly reducing supply speed and facilitating the large-scale manufacturing and use of the robotic arm.

[0028] In the embodiments disclosed in this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can mean a fixed connection, a detachable connection, or an integral connection; "linking" can mean a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this utility model according to the specific circumstances.

[0029] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. An industrial robotic arm with modular joints, characterized in that: The device includes a first joint (1), a second joint (2), and a support rod (3). The first joint (1) and the second joint (2) are respectively located at the top and bottom of the support rod (3). The first joint (1) and the second joint (2) are both screwed and fixed to the support rod (3). Bearing seats (4) are fixedly installed on the side of the first joint (1) and the second joint (2) away from the first support rod (3). A rotating shaft (5) is inserted inside the bearing seat (4). Both ends of the rotating shaft (5) extend to the outside of the bearing seat (4). The rotating shaft (5) is horizontally arranged. Pressure sensors (6) are provided at both ends of the support rod (3). The pressure sensors (6) are used to detect the pressure between the surfaces of the first joint (1), the second joint (2), and the support rod (3) that are in contact with each other.

2. The modular joint industrial robotic arm according to claim 1, characterized in that: Positioning discs (7) are fitted at both ends of the support rod (3). The side of the positioning discs (7) that is far apart from each other is in contact with the side of the first joint (1) / second joint (2) that is close to each other. The pressure sensor (6) is set between the positioning discs (7) and the contact surfaces of the first joint (1) / second joint (2). The positioning discs (7) and the support rod (3) are integrally formed.

3. The modular joint industrial robotic arm according to claim 1, characterized in that: The first joint (1) is provided with a ranging sensor, and the second joint (2) is provided with a recognition area corresponding to the ranging sensor.

4. The modular joint industrial robotic arm according to claim 1, characterized in that: Both ends of the rotating shaft (5) are set as polygonal structures.

5. An industrial robotic arm with modular joints according to claim 1, characterized in that: The support rod (3) is hollow inside, and both ends of the support rod (3) are completely open. The support rod (3) has multiple reinforcing ribs inside.

6. The modular joint industrial robotic arm according to claim 1, characterized in that: The surface of the support rod (3) is coated with an anti-corrosion protective coating.

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