Industrial robot with force feedback effect

Abstract

The utility model relates to the technical field of industrial robots, and discloses an industrial robot with a force feedback function, which comprises a base, the top wall of the base is rotatably connected with a mechanical arm, the tail end of the mechanical arm is fixedly connected with a fixing plate, the bottom wall of the fixing plate is provided with a motor, the output end of the motor is fixedly connected with a first rotating shaft, and the first rotating shaft is fixedly connected with a second rotating shaft. The first rotating shaft is rotationally connected to the middle of the top wall of the fixing plate, a connecting plate is fixedly connected to the tail end of the first rotating shaft, second rotating shafts are fixedly connected to the left side and the right side of the top wall of the connecting plate, and connecting blocks are rotationally connected to the outer walls of the two second rotating shafts. According to the material clamping device, the motor drives the first rotating shaft to rotate, the first rotating shaft drives the connecting plate to rotate, the connecting plate drives the connecting blocks on the two second rotating shafts to rotate inwards at the same time, the connecting blocks drive the clamping blocks below the third rotating shafts to slide inwards on the sliding rails at the same time, and the effect of stably clamping materials is achieved by moving the clamping blocks inwards at the same time.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to an industrial robot with force feedback function. Background Technology

[0002] An industrial robot is a multi-jointed manipulator or multi-degree-of-freedom machine device designed for industrial applications. It can automatically perform tasks and relies on its own power and control capabilities to achieve various functions.

[0003] An industrial robot with force feedback is a robot system that can sense and provide real-time feedback on the interaction force with the external environment. It has a wide range of applications and plays an important role in industrial production. For example, it can automatically adjust the gripping force according to the weight and shape of the material, so as to avoid the material falling or being damaged during the handling process, thereby improving the safety and efficiency of handling.

[0004] Existing industrial robots with force feedback sense force information through force sensors, which is then processed by the control system to make decisions based on preset rules and algorithms. The actuators then perform the corresponding actions. However, gripping and handling mainly rely on a few contact points between the grippers and the material to fix the material. During the handling process, when encountering vibration, acceleration, deceleration, or external interference, the material is prone to shaking, rotating, or even falling off due to uneven force. Existing technology improves the mechanical structure of the robot by adding supports and reinforcing ribs to enhance the structure's resistance to torsion and bending. However, the improved mechanical structure, due to the increased weight or moving parts, requires the drive to withstand a greater load, resulting in a decrease in gripping force. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides an industrial robot with force feedback, which aims to improve the problem of reduced clamping force caused by large loads in the prior art.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: an industrial robot with force feedback function, comprising a base, a robotic arm rotatably connected to the top wall of the base, a fixed plate fixedly connected to the end of the robotic arm, a motor disposed on the bottom wall of the fixed plate, a rotating shaft one fixedly connected to the output end of the motor, the rotating shaft one rotatably connected to the middle of the top wall of the fixed plate, a connecting plate fixedly connected to the end of the rotating shaft one, rotating shaft two fixedly connected to the left and right sides of the top wall of the connecting plate, connecting blocks rotatably connected to the outer walls of the two rotating shaft two, rotating shaft three rotatably connected to the outer walls of the two connecting blocks, a clamping block rotatably connected to the lower middle part of the outer wall of the rotating shaft three, a slide rail fixedly connected to the right side of the fixed plate, the clamping block slidingly connected to the slide rail, and an adaptive mechanism disposed on the outer wall of the clamping block, the adaptive mechanism being able to automatically conform to the material surface, increase the contact area, and improve the stability of gripping.

[0007] As a further description of the above technical solution:

[0008] The adaptive mechanism includes a fixed block, which is fixedly connected to an adjacent side of the clamping block. Each of the two fixed blocks has a sliding groove on an adjacent side of its outer wall. A semi-circular block is slidably connected to the inner wall of the sliding groove. A sliding groove is provided on the left and right sides of the outer wall of the semi-circular block. A semi-circular block is slidably connected to the inner wall of the sliding groove. A sliding groove is provided on the left and right sides of the outer wall of the semi-circular block. A semi-circular block is slidably connected to the inner wall of the sliding groove.

[0009] As a further description of the above technical solution:

[0010] A force sensor is fixedly connected to the right side of the outer wall of the clamping block.

[0011] As a further description of the above technical solution:

[0012] A fixing frame is fixedly connected to the top wall of the motor, and the fixing frame is fixedly connected to the middle of the bottom wall of the fixing plate.

[0013] As a further description of the above technical solution:

[0014] A controller is fixedly connected to the right side of the outer wall of the base, and buttons are installed at both the front and rear ends of the right side of the outer wall of the controller.

[0015] As a further description of the above technical solution:

[0016] Rubber pads are installed on adjacent sides of the outer walls of the two semicircular blocks.

[0017] As a further description of the above technical solution:

[0018] A rubber sleeve is installed in the middle of the outer wall of the robotic arm.

[0019] As a further description of the above technical solution:

[0020] The base is fixedly connected to a base plate, and mounting holes are provided at the four corners of the top wall of the base plate.

[0021] This utility model has the following beneficial effects:

[0022] 1. In this utility model, the motor drives the first rotating shaft to rotate, the first rotating shaft drives the connecting plate to rotate, the connecting plate drives the connecting blocks on the two second rotating shafts to rotate inward at the same time, and the connecting blocks drive the clamping blocks under the third rotating shaft to slide inward on the slide rail at the same time. By moving the clamping blocks inward at the same time, the effect of stably clamping the material is achieved.

[0023] 2. In this utility model, when the semicircular block three on the fixed block touches the material, the semicircular block three slides in the sliding groove three inside the semicircular block two, the semicircular block two slides in the sliding groove two inside the semicircular block one, and the semicircular block one slides in the sliding groove one inside the fixed block. By rotating the semicircular block three, it can automatically fit the surface of the material, increase the contact area, and improve the stability of gripping. Attached Figure Description

[0024] Figure 1 This is a perspective view of an industrial robot with force feedback function proposed in this utility model;

[0025] Figure 2 This is a top view of an industrial robot with force feedback according to the present invention.

[0026] Figure 3 This is a front view of an industrial robot with force feedback function proposed in this utility model;

[0027] Figure 4 This is an exploded view of a partial structure of an industrial robot with force feedback function proposed in this utility model.

[0028] Figure 5 This is a schematic diagram of an adaptive mechanism for an industrial robot with force feedback proposed in this utility model.

[0029] Legend:

[0030] 1. Base; 2. Adaptive mechanism; 201. Fixing block; 202. Slide 1; 203. Semicircular block 1; 204. Slide 2; 205. Semicircular block 2; 206. Slide 3; 207. Semicircular block 3; 3. Robotic arm; 4. Fixing plate; 5. Motor; 6. Rotating shaft 1; 7. Connecting plate; 8. Rotating shaft 2; 9. Connecting block; 10. Rotating shaft 3; 11. Slide rail; 12. Clamping block; 13. Force sensor; 14. Fixing frame; 15. Controller; 16. Button; 17. Rubber pad; 18. Rubber sleeve; 19. Base plate; 20. Mounting hole. Detailed Implementation

[0031] 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.

[0032] Reference Figure 1 , Figure 3 and Figure 4This utility model provides an embodiment of an industrial robot with force feedback, comprising a base 1, a robotic arm 3 rotatably connected to the top wall of the base 1, the base 1 for rotating the robotic arm 3, a fixed plate 4 fixedly connected to the end of the robotic arm 3, a motor 5 disposed on the bottom wall of the fixed plate 4, a rotating shaft 6 fixedly connected to the output end of the motor 5, the motor 5 driving the rotating shaft 6 to rotate, the rotating shaft 6 being rotatably connected to the middle of the top wall of the fixed plate 4, a connecting plate 7 fixedly connected to the end of the rotating shaft 6, the rotating shaft 6 driving the connecting plate 7 to rotate, rotating shafts 8 fixedly connected to the left and right sides of the top wall of the connecting plate 7, connecting blocks 9 rotatably connected to the outer walls of both rotating shafts 8, the rotating shafts 8 on the connecting plate 7 driving the connecting blocks 9 to rotate, the outer walls of the two connecting blocks 9 rotating. A rotating shaft 10 is connected to the upper part of the outer wall of the rotating shaft 10, and a clamping block 12 is rotatably connected to it. The rotating shaft 10 on the connecting block 9 drives the clamping block 12 to slide. A slide rail 11 is fixedly connected to the right side of the fixing plate 4. The clamping block 12 is slidably connected to the slide rail 11. The slide rail 11 is used to slide the clamping block 12. The clamping block 12 is used to clamp the material. An adaptive mechanism 2 is provided on the outer wall of the clamping block 12. The adaptive mechanism 2 can automatically conform to the surface of the material, increase the contact area, and improve the stability of gripping. A force sensor 13 is fixedly connected to the right side of the outer wall of the clamping block 12. The force sensor 13 can accurately measure the magnitude of the force. A fixing frame 14 is fixedly connected to the top wall of the motor 5. The fixing frame 14 is fixedly connected to the middle of the bottom wall of the fixing plate 4. The fixing frame 14 is used to fix the motor 5.

[0033] Specifically, the motor 5 drives the rotating shaft 6 to rotate, the rotating shaft 6 drives the connecting plate 7 to rotate, the connecting plate 7 drives the connecting blocks 9 on the two rotating shafts 8 to rotate inward simultaneously, the connecting blocks 9 drive the clamping blocks 12 under the rotating shaft 10 to slide inward simultaneously on the slide rail 11. By moving the clamping blocks 12 inward simultaneously, the material can be stably clamped. The force sensor 13 can detect minute force changes, thereby achieving precise control of fine operations. The fixing frame 14 is used to fix the motor 5 to the bottom of the fixing plate 4.

[0034] Reference Figure 1 and Figure 5The adaptive mechanism 2 includes a fixed block 201, which is fixedly connected to an adjacent side of the clamping block 12. A sliding groove 202 is provided on an adjacent side of the outer wall of the two fixed blocks 201. A semi-circular block 203 is slidably connected to the inner wall of the sliding groove 202. The sliding groove 202 is used to slide the semi-circular block 203. A sliding groove 204 is provided on the left and right sides of the outer wall of the semi-circular block 203. A semi-circular block 205 is slidably connected to the inner wall of the sliding groove 204. The sliding groove 204 is used to slide the semi-circular block 205. A sliding groove 306 is provided on the left and right sides of the outer wall of the semi-circular block 205. A semi-circular block 307 is slidably connected to the inner wall of the sliding groove 306. The sliding groove 306 is used to slide the semi-circular block 307. A rubber pad 17 is installed on an adjacent side of the outer wall of the two semi-circular blocks 307. The rubber pad 17 improves the gripping stability before the semi-circular blocks 307 clamp the material.

[0035] Specifically, when the semicircular block 3 207 on the fixed block 201 touches the material, the semicircular block 3 207 slides in the groove 3 206 inside the semicircular block 2 205, the semicircular block 2 205 slides in the groove 2 204 inside the semicircular block 1 203, and the semicircular block 1 203 slides in the groove 1 202 inside the fixed block 201. By rotating the semicircular block 3 207, it can automatically conform to the surface of the material, increase the contact area, and improve the stability of gripping. The rubber pad 17 is used to improve the stability of gripping and prevent the object from slipping.

[0036] Reference Figure 1 , Figure 2 and Figure 3 A controller 15 is fixedly connected to the right side of the outer wall of the base 1. The controller 15 is used to precisely control the movement of each joint of the robot. Buttons 16 are installed at the front and rear ends of the right side of the outer wall of the controller 15. Buttons 16 are used to operate the controller 15. A rubber sleeve 18 is installed in the middle of the outer wall of the robotic arm 3. The rubber sleeve 18 prevents the joint surface of the robotic arm 3 from being corroded by dust, water vapor and oil. A base plate 19 is fixedly connected to the bottom wall of the base 1. The base plate 19 is used to ensure the stability of the robotic arm 3 when working. Mounting holes 20 are opened at the four corners of the top wall of the base plate 19. The mounting holes 20 are used to fix the base plate 19 to the ground.

[0037] Specifically, the controller 15 is used to precisely control the movement of each joint of the robot and the clamping force, so that the robotic arm 3 can move according to the predetermined trajectory and posture to complete various complex operation tasks. The button 16 allows the robotic arm 3 to switch between manual, automatic and different working modes. The rubber sleeve 18 prevents rust and corrosion due to long-term exposure to harsh environments, thereby extending the service life of the joint components of the robotic arm 3. The base plate 19 is used to ensure the balance and stability of the robotic arm 3 in static and moving states. The mounting hole 20 is used to fix the robotic arm 3 on the base plate 19 to the ground to ensure the installation stability and accuracy of the components.

[0038] Working principle: Start the motor 5 at the bottom of the fixed plate 4. The motor 5 drives the rotating shaft 6 to rotate. The rotating shaft 6 drives the connecting plate 7 to rotate. The rotation of the connecting plate 7 drives the connecting blocks 9 on the two rotating shafts 8 to rotate inward at the same time. The rotation of the connecting blocks 9 drives the clamping blocks 12 under the rotating shaft 10 to slide inward on the slide rail 11 at the same time. By moving the clamping blocks 12 inward at the same time, the material can be stably clamped.

[0039] When the semicircular block 3 207 on the fixed block 201 touches the material, the semicircular block 3 207 slides in the groove 3 206 inside the semicircular block 2 205, the semicircular block 2 205 slides in the groove 2 204 inside the semicircular block 1 203, and the semicircular block 1 203 slides in the groove 1 202 inside the fixed block 201. By rotating the semicircular block 3 207, it can automatically conform to the surface of the material, increase the contact area, and improve the stability of gripping.

[0040] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An industrial robot with force feedback action, comprising a base (1), characterised in that: A robotic arm (3) is rotatably connected to the top wall of the base (1). A fixed plate (4) is fixedly connected to the end of the robotic arm (3). A motor (5) is provided on the bottom wall of the fixed plate (4). A rotating shaft (6) is fixedly connected to the output end of the motor (5). The rotating shaft (6) is rotatably connected to the middle of the top wall of the fixed plate (4). A connecting plate (7) is fixedly connected to the end of the rotating shaft (6). Rotating shafts (8) are fixedly connected to the left and right sides of the top wall of the connecting plate (7). The two rotating shafts (8) are... The outer walls of the two connecting blocks (9) are rotatably connected to each other. The outer walls of the two connecting blocks (9) are rotatably connected to the three rotating shafts (10). The lower middle part of the outer wall of the three rotating shafts (10) is rotatably connected to the clamping block (12). The right side of the fixing plate (4) is fixedly connected to the slide rail (11). The clamping block (12) is slidably connected to the slide rail (11). The outer wall of the clamping block (12) is provided with an adaptive mechanism (2). The adaptive mechanism (2) can automatically conform to the surface of the material, increase the contact area, and improve the stability of gripping.

2. The industrial robot with force feedback action according to claim 1, characterized in that: The adaptive mechanism (2) includes a fixed block (201), which is fixedly connected to an adjacent side of the clamping block (12). The outer walls of the two fixed blocks (201) are provided with a sliding groove (202) on an adjacent side. The inner wall of the sliding groove (202) is slidably connected to a semi-circular block (203). The outer walls of the semi-circular block (203) are provided with a sliding groove (204) on both the left and right sides. The inner wall of the sliding groove (204) is slidably connected to a semi-circular block (205). The outer walls of the semi-circular block (205) are provided with a sliding groove (206) on both the left and right sides. The inner wall of the sliding groove (206) is slidably connected to a semi-circular block (207).

3. The industrial robot with force feedback according to claim 1, characterized in that: A force sensor (13) is fixedly connected to the right side of the outer wall of the clamp (12).

4. The industrial robot with force feedback action according to claim 1, characterized in that: The top wall of the motor (5) is fixedly connected to a fixing frame (14), which is fixedly connected to the middle of the bottom wall of the fixing plate (4).

5. The industrial robot with force feedback action according to claim 1, characterized in that: A controller (15) is fixedly connected to the right side of the outer wall of the base (1), and buttons (16) are installed at both the front and rear ends of the right side of the outer wall of the controller (15).

6. An industrial robot with force feedback function according to claim 2, characterized in that: Rubber pads (17) are installed on adjacent sides of the outer walls of the two semicircular blocks (207).

7. The industrial robot with force feedback according to claim 1, characterized in that: A rubber sleeve (18) is installed in the middle of the outer wall of the robotic arm (3).

8. The industrial robot with force feedback action according to claim 1, characterized in that: The base (1) has a base plate (19) fixedly connected to its bottom wall, and mounting holes (20) are provided at the four corners of the top wall of the base plate (19).

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