An industrial robot arm

Abstract

The utility model discloses an industrial robot arm, including from below to above in proper order first connecting rod, second connecting rod and third connecting rod, first connecting rod, second connecting rod and third connecting rod all can detachable installation have the U type support frame body of upside down setting, the U type support frame body top is provided with two opposite bearing plate of setting, bearing plate top fixed mounting has visual sensor, in the utility model, through installing visual sensor on first connecting rod, second connecting rod and third connecting rod, visual sensor obtains the three -dimensional information of surrounding environment through binocular vision, structure light etc.

Description

Technical Field

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

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions using their own power and control capabilities. Industrial robots are widely used in various industrial sectors such as electronics, logistics, and chemicals. The industrial robot arm is an important branch of industrial robots. Its characteristic is that it can be programmed to complete various expected tasks. In terms of structure and performance, it combines the advantages of both humans and machines, especially reflecting human intelligence and adaptability. The accuracy of robot arms and their ability to complete tasks in various environments give them broad development prospects in various sectors of the national economy. The robot arm is the most widely used automated mechanical device in the field of robotics, and it is used in industrial manufacturing to grasp and handle required items.

[0003] In actual use, the following problems exist: some operators lack awareness of the dangers of industrial robotic arms, lack necessary safety training, do not understand or comply with operating procedures, and enter the working area of ​​the robotic arm without authorization, resulting in collisions; in some mixed manufacturing environments, personnel and robotic arms need to share workspace, increasing the risk of collisions. At the same time, environmental factors such as noise and light may affect the operator's attention and judgment, causing them to fail to notice the movement of the robotic arm in time. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this utility model provides an industrial robot arm that solves the problems mentioned in the background section.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this utility model is implemented through the following technical solution: an industrial robot arm, comprising a first link, a second link, and a third link that are hinged from bottom to top. Each of the first link, the second link, and the third link is detachably mounted with an inverted U-shaped support frame. The top of the U-shaped support frame is provided with two oppositely arranged bearing plates, and a vision sensor is fixedly mounted on the top of the bearing plate.

[0008] At least two screw holes are provided on one side wall of the U-shaped support frame. Bolts are threaded into the screw holes and can abut against the side walls of the first connecting rod, the second connecting rod and the third connecting rod.

[0009] Preferably, each of the bearing plates has two T-shaped sliders fixedly connected to its bottom, and the top of the U-shaped support frame has four rectangular grooves, with the bottom of each T-shaped slider slidably disposed inside the grooves.

[0010] Preferably, each of the bearing plates has two symmetrically distributed screw holes on its top, and a bolt is threaded into the screw hole. The lower end of the bolt is in contact with the bottom wall of the groove.

[0011] Preferably, the slide groove has an inverted T-shaped structure, and the shape of the slide groove is adapted to the shape of the T-shaped slider.

[0012] Preferably, a handle is fixedly connected to the other side wall of the U-shaped support frame, and the handle has a U-shaped structure.

[0013] Preferably, a first servo motor for driving the rotation of the second link is fixedly installed at the end of the first link, and a second servo motor for driving the rotation of the third link is fixedly installed at the end of the second link.

[0014] (III) Beneficial Effects

[0015] This utility model provides an industrial robot arm, which has the following beneficial effects:

[0016] 1. In this invention, visual sensors are installed on the first, second, and third links. These sensors can acquire three-dimensional information about the surrounding environment using technologies such as binocular vision and structured light. When installed on the links of the robotic arm, they can monitor the distance between the links and nearby objects in real time. The controller presets a danger distance threshold. The visual sensors continuously transmit the monitored distance information to the controller, which compares the actual distance with the preset danger distance. When the distance between an object and a link is detected to be less than the danger distance, the controller determines that there is a risk of collision and immediately sends signals to each servo motor to stop the robotic arm, thereby avoiding a collision. This timely shutdown effectively protects the safety of the operator and reduces damage to the robotic arm and the manipulated objects.

[0017] 2. In this utility model, the monitoring effect of the visual sensor (such as distance measurement accuracy and field of view coverage) directly depends on the "accuracy of installation position and angle". The fine adjustment function of the carrier plate can specifically solve the monitoring error caused by "initial installation deviation" or "change in working conditions", ensuring the reliability of dangerous distance judgment. Attached Figure Description

[0018] Figure 1 This is a frontal three-dimensional structural diagram of an industrial robot arm proposed in this utility model;

[0019] Figure 2 This is a rear-view three-dimensional structural diagram of an industrial robot arm proposed in this utility model;

[0020] Figure 3 This is a partial structural diagram of an industrial robot arm proposed in this utility model;

[0021] Figure 4 for Figure 3 Exploded structure diagram.

[0022] In the diagram: 1. First connecting rod; 2. Second connecting rod; 3. Third connecting rod; 4. First servo motor; 5. Second servo motor; 6. Support plate; 61. T-shaped slider; 62. Screw hole one; 7. Vision sensor; 8. Bolt one; 9. Handle; 10. U-shaped support frame; 1001. Slide groove; 1002. Screw hole two; 11. Bolt two; 12. Base. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] Please see Figures 1 to 2 This utility model provides a technical solution: an industrial robot arm, including a first link 1, a second link 2 and a third link 3 that are hinged from bottom to top. Each of the first link 1, the second link 2 and the third link 3 is detachably mounted with an inverted U-shaped support frame 10. The top of the U-shaped support frame 10 is provided with two oppositely arranged bearing plates 6, and a vision sensor 7 is fixedly mounted on the top of the bearing plates 6.

[0025] By installing vision sensors 7 on the first link 1, second link 2, and third link 3, the vision sensors 7 can acquire three-dimensional information of the surrounding environment through technologies such as binocular vision and structured light. When installed on the links of the robotic arm, they can monitor the distance between the links and nearby objects in real time. The controller presets a danger distance threshold. The vision sensors 7 continuously transmit the monitored distance information to the controller, which compares the actual distance with the preset danger distance. When the distance between the detected object and the link is less than the danger distance, the controller determines that there is a risk of collision and immediately sends signals to each servo motor to stop the robotic arm, thereby avoiding a collision. This timely shutdown effectively protects the safety of the operator and reduces damage to the robotic arm and the manipulated objects.

[0026] Reference Figure 3 and Figure 4At least two screw holes 1002 are provided on one side wall of the U-shaped support frame 10. Bolts 11 are inserted into the screw holes 1002. Bolts 11 can abut against the side walls of the first connecting rod 1, the second connecting rod 2 and the third connecting rod 3.

[0027] After the U-shaped support frame 10 is snapped onto each connecting rod, the bolt 11 is rotated inside the screw hole 1002, causing the bolt 11 to come into contact with the side wall of the connecting rod. At the same time, the inner wall of the other side of the U-shaped support frame 10 will form a reverse support with the other side of the connecting rod. Under the combined action of the two, the frame is firmly "clamped" on the connecting rod, achieving a lock without loosening, thus realizing the locking installation of the U-shaped support frame 10.

[0028] Reference Figure 3 and Figure 4 Two T-shaped sliders 61 are fixedly connected to the bottom of the bearing plate 6. The top of the U-shaped support frame 10 has four rectangular grooves 1001. The bottom of the T-shaped sliders 61 is slidably set inside the grooves 1001.

[0029] The monitoring effect of the vision sensor 7 (such as distance measurement accuracy and field of view coverage) directly depends on the accuracy of the installation position and angle. The fine adjustment of the bearing plate 6 at the top of the U-shaped support frame 10 can specifically solve the monitoring error caused by the initial installation deviation or the change of working conditions, ensuring the reliable performance of the dangerous distance judgment.

[0030] Specifically, since the T-shaped slider 61 can make linear displacement inside the slide groove 1001, it ensures that the bearing plate 6 can make linear displacement at the top of the U-shaped support frame 10, thereby achieving the adjustment purpose.

[0031] Reference Figure 3 and Figure 4 The top of the bearing plate 6 is provided with two symmetrically distributed screw holes 62. The screw holes 62 pass through the T-shaped slider 61. The screw holes 62 are threaded with bolts 8. The lower end of the bolts 8 is in contact with the inner bottom wall of the slide groove 1001.

[0032] By rotating bolt 8 inside screw hole 62, the bottom end of bolt 8 abuts against the inner bottom wall of slide groove 1001, thereby locking the position of T-shaped slider 61, and thus locking the position of bearing plate 6 and vision sensor 7.

[0033] Reference Figure 3 and Figure 4 The slide groove 1001 has an inverted T-shaped structure, and the shape of the slide groove 1001 is compatible with that of the T-shaped slider 61.

[0034] The inverted T-shaped groove 1001 is adapted to the shape of the T-shaped slider 61. The core purpose of the limiting layer is to achieve "directional constraint" through "physical shape locking", which precisely limits the displacement direction of the T-shaped slider 61 and ensures the stability of the component installation.

[0035] Reference Figure 3 and Figure 4 A handle 9 is fixedly connected to the other side wall of the U-shaped support frame 10. The handle 9 has a U-shaped structure.

[0036] A U-shaped handle 9 is fixed to the side wall of the U-shaped support frame 10. Its "carrying function" is a key design for the needs of "transfer, temporary movement and multi-station allocation" of the frame in industrial scenarios. The structure of the U-shaped handle 9 matches the natural grip of the palm, and the operator can easily hold the handle 9 with one hand to carry and transport the U-shaped support frame 10 and related parts.

[0037] Reference Figure 1 and Figure 2 A first servo motor 4 for driving the rotation of the second link 2 is fixedly installed at the end of the first link 1, and the driving end of the first servo motor 4 is fixedly connected to the hinge shaft; a second servo motor 5 for driving the rotation of the third link 3 is fixedly installed at the end of the second link 2, and similarly, the driving end of the second servo motor 5 is fixedly connected to the hinge shaft.

[0038] That is, the first servo motor 4 can drive the rotation of the second link 2 within a certain range, and the second servo motor 5 can drive the rotation of the third link 3 within a certain range, thus achieving the working purpose of the robot arm (such as handling, welding, and spraying). The bottom of the first link 1 is movably mounted on the base 12, and the third servo motor is set inside the base 12 to drive the rotation of the first link 1, thereby achieving rotational adjustment on the horizontal plane. The above is an existing structure, similar to the utility patent entitled "An Industrial Robot Arm" with authorization announcement number CN221391127U, and is not the direction of improvement in this paper, so it will not be described in detail.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An industrial robot arm, characterized in that: It includes a first link (1), a second link (2) and a third link (3) that are hinged from bottom to top. Each of the first link (1), the second link (2) and the third link (3) can be detachably installed with an inverted U-shaped support frame (10). The top of the U-shaped support frame (10) is provided with two oppositely arranged bearing plates (6). A vision sensor (7) is fixedly installed on the top of the bearing plate (6). At least two screw holes (1002) are provided on one of the side walls of the U-shaped support frame (10). Bolts (11) are threaded into the screw holes (1002). The bolts (11) can abut against the side walls of the first connecting rod (1), the second connecting rod (2) and the third connecting rod (3).

2. The industrial robot arm according to claim 1, characterized in that: The bottom of each of the bearing plates (6) is fixedly connected to two T-shaped sliders (61), and the top of the U-shaped support frame (10) is provided with four rectangular grooves (1001), and the bottom of the T-shaped sliders (61) is slidably disposed inside the grooves (1001).

3. An industrial robot arm according to claim 2, characterized in that: The top of the bearing plate (6) is provided with two symmetrically distributed screw holes (62), and a bolt (8) is inserted into the screw hole (62). The lower end of the bolt (8) is in contact with the bottom wall of the groove (1001).

4. An industrial robot arm according to claim 2, characterized in that: The slide (1001) has an inverted T-shaped structure, and the slide (1001) and the T-shaped slider (61) are adapted to each other.

5. An industrial robot arm according to claim 1, characterized in that: A handle (9) is fixedly connected to the other side wall of the U-shaped support frame (10), and the handle (9) has a U-shaped structure.

6. An industrial robot arm according to claim 1, characterized in that: The first link (1) is fixedly mounted with a first servo motor (4) for driving the second link (2) to rotate, and the second link (2) is fixedly mounted with a second servo motor (5) for driving the third link (3) to rotate.

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