CN112238442A - Multi-curvature adjusting type support arm structure of industrial robot and using method thereof - Google Patents
Multi-curvature adjusting type support arm structure of industrial robot and using method thereof Download PDFInfo
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- CN112238442A CN112238442A CN202010886166.3A CN202010886166A CN112238442A CN 112238442 A CN112238442 A CN 112238442A CN 202010886166 A CN202010886166 A CN 202010886166A CN 112238442 A CN112238442 A CN 112238442A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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Abstract
The invention discloses a multi-curvature adjusting type support arm structure of an industrial robot and a using method of the multi-curvature adjusting type support arm structure. According to the multi-curvature adjusting type support arm structure of the industrial robot, firstly, pipelines of all cylinders can be conveniently stored, later-stage maintenance is convenient, secondly, the multi-curvature adjusting type support arm structure has a telescopic function, increases a grabbing range, improves an application range, and in addition, the rotation range of the main arm rod is not limited by the cylinder body of the first cylinder, the angle rotation range of the main arm rod is increased, the grabbing distance range is further improved, and the practicability is higher.
Description
Technical Field
The invention relates to the field of support arm structures, in particular to a multi-curvature adjusting type support arm structure of an industrial robot, and more particularly relates to a multi-curvature adjusting type support arm structure of an industrial robot and a using method thereof.
Background
The industrial robot is an intelligent machine used in industrial production, can simulate manual work through a control system, is usually used on a production line of an enterprise, can reduce manual labor force and increase working efficiency, a support arm structure is a main part of the robot, the support arm structure is usually composed of a main arm rod and a plurality of support arm rods, and the more the number of the support arm rods is, the more flexible the support arm structure is represented;
the traditional multi-curvature adjusting type support arm structure of the industrial robot has certain defects in use, firstly, the robot does not have a pipeline storage function, the work of the support arm of the robot is finished through each cylinder and each motor, the cylinders need to be communicated with an air inlet pipe and an air outlet pipe, and the motors need to be communicated with an external power supply; secondly, the telescopic function is not provided, the length of the tail boom is fixed, the range of grabbing objects can be adjusted only through the angle change of the boom mechanism, and telescopic adjustment cannot be performed, so that the application range is limited, and the use is not facilitated; in addition, do not possess and grab apart from regulatory function, need support through the cylinder because of the activity of main armed pole, and the cylinder mainly comprises through cylinder body and output pole, consequently can lead to the home armed pole's home range to be limited to the fixed range within cylinder output shaft length for whole support arm mechanism grabs apart from the scope fixed, and the practicality is poor.
Disclosure of Invention
The invention mainly aims to provide a multi-curvature adjusting type support arm structure of an industrial robot, which can effectively solve the problem that the prior art does not have a pipeline storage function, the work of a support arm of the robot is completed through cylinders and motors, the cylinders need to be communicated with an air inlet pipe and an air outlet pipe, and the motors need to be communicated with an external power supply, but the existing support arm structure cannot store pipelines, so that the pipelines are knotted and disordered, and later maintenance is not facilitated; secondly, the tail support arm has no telescopic function, the length of the tail support arm is fixed, the range of grabbing objects can be adjusted only through the angle change of the support arm mechanism, and telescopic adjustment cannot be performed, so that the application range is limited, and the use is not facilitated; in addition, do not possess and grab apart from regulatory function, need support through the cylinder because of the activity of main armed pole, and the cylinder mainly comprises through cylinder body and output pole, consequently can lead to the home armed pole's home range to be limited to the fixed range within cylinder output shaft length for whole support arm mechanism grabs apart from the scope fixed, the poor technical problem of practicality.
In order to achieve the purpose, the invention adopts the technical scheme that:
a multi-curvature adjusting type support arm structure of an industrial robot comprises a base and a robot gripper, wherein a main shaft seat is fixedly installed at one side position of the upper portion of the base, a main arm rod is movably connected to the inner side of the main shaft seat, a support arm rod is movably connected to one end of the main arm rod, a tail arm rod is movably connected to one end of the support arm rod, a first cylinder shaft seat is arranged at the other side position of the upper portion of the base, a first cylinder is movably connected to the inner side of the first cylinder shaft seat, a second cylinder shaft seat is fixedly installed on the side surface of the main arm rod, a second cylinder is movably connected to the inner side of the second cylinder shaft seat, an extension rod is fixedly connected to the other end of the support arm rod, the extension rod is movably connected with an output rod of the second cylinder through a connecting shaft, a third cylinder is movably connected between the inner side of the support arm rod and the tail arm rod, and a, the pipeline storage mechanism comprises a fixed seat, a pipeline storage ring, a rotating shaft, a movable ring and a torsion spring, wherein a telescopic mechanism is arranged at one end of the tail arm rod, a grabbing distance adjusting mechanism is arranged between the first cylinder shaft seat and the base, and the grabbing distance adjusting mechanism comprises a sliding groove, a sliding block, a second shaft sleeve, a supporting rod and an adjusting motor.
As a further aspect of the present invention, the fixing seat is fixedly installed at the front portion of the main arm, the pipeline receiving ring is fixedly installed at the front portion of the fixing seat, the movable ring is movably connected to one end of the pipeline receiving ring through a rotating shaft, and the torsion spring is fixedly connected between the pipeline receiving ring and the movable ring.
As a further scheme of the invention, the pipeline containing ring and the movable ring form a circle, and a gap is arranged between the pipeline containing ring and the movable ring.
As a further aspect of the present invention, the front portions of the arm support and the tail arm are also provided with pipeline receiving mechanisms, and the pipeline receiving mechanisms at the front portions of the arm support are in a 2 × 3 rectangular array.
As a further scheme of the invention, the telescopic mechanism comprises a through groove, a telescopic rod, a limiting post, a telescopic motor, a connecting piece, a lead screw, a first shaft sleeve and a screw seat, the through groove is formed in the middle position of the front surface of the tail arm rod, the telescopic rod is movably connected to the inner side of the tail arm rod, the limiting post pipe is fixedly connected with the telescopic rod through the traditional through groove, the telescopic motor is fixedly installed at the bottom position of the inner side of the tail arm rod, one end of the lead screw is fixedly connected with an output shaft of the telescopic motor through the connecting piece, the other end of the lead screw is movably connected to the top position of the inner side of the tail arm rod through the first shaft sleeve, the screw seat is integrally connected to the middle position of the telescopic rod, and.
As a further scheme of the invention, the screw seat is in threaded connection with the screw rod, and the number of the limiting columns and the number of the through grooves are two.
As a further scheme of the present invention, the sliding groove is formed at the other side position of the upper surface of the base, the sliding block is fixedly connected to the bottom of the first cylinder shaft seat, the sliding block is slidably connected inside the sliding groove, the adjusting motor is fixedly installed at a position close to the upper portion of the side surface of the base through a support rod, one end of the screw rod is fixedly connected with an output shaft of the adjusting motor, and the other end of the screw rod is movably connected to one end of the sliding groove through a second shaft sleeve.
As a further scheme of the invention, the sliding groove and the sliding block are both in a convex shape, and the sliding block is in threaded connection with the screw rod.
A use method of a multi-curvature adjusting type arm structure of an industrial robot specifically comprises the following steps:
the method comprises the following steps: the first cylinder works, an output rod of the first cylinder drives a main arm rod to rotate through a main shaft seat, the second cylinder works, an output rod of the second cylinder utilizes a connecting shaft to drive a support arm rod to rotate through an extension rod, and an output rod of the third cylinder works to drive a tail arm rod to rotate, so that multi-curve angle adjustment is generated, and the robot gripper is matched to grab goods;
step two: the telescopic motor works, an output shaft of the telescopic motor is matched with the first shaft sleeve through a connecting piece to drive the screw rod to rotate, the screw rod drives the telescopic rod to move through a thread effect between the screw rod and the screw seat, and the telescopic rod directionally moves in the through groove through the limiting column to complete telescopic work;
step three: the adjusting motor works, an output shaft of the adjusting motor is matched with the second shaft sleeve to drive the screw rod to rotate, the screw rod drives the sliding block to move in the sliding groove through the thread effect, the sliding block drives the first cylinder shaft seat to move, the first cylinder shaft seat drives the bottom end of the first cylinder to move, the distance between the first cylinder shaft seat and the main shaft seat is enlarged or reduced, and the main arm rod can follow the rotating support arm to grab a distance;
step four: when using, utilize the pipeline to accomodate the ring inlet wire with the inlet line of gas pipeline and the gas outlet pipeline of first cylinder, second cylinder and third cylinder and accomodate, during the operation, stir the one end of activity ring, make the activity ring rotate through the pivot, enlarge the interval between the ring port is accomodate to activity ring and pipeline, then place the inlet line or the gas outlet pipeline and accomodate the inside of ring at the pipeline, loosen the activity ring, the torsional spring accomodates the ring with the pipeline through elasticity and resets, the completion is to first cylinder, accomodating of each pipeline of second cylinder and third cylinder.
Compared with the prior art, the invention has the following beneficial effects:
through the arrangement of the pipeline containing mechanism, one end of the movable ring is stirred, so that the movable ring rotates through the rotating shaft, the distance between the movable ring and the port of the pipeline containing ring is enlarged, then an air inlet pipeline or an air outlet pipeline is placed inside the pipeline containing ring, the movable ring is loosened, the pipeline containing ring is reset through elasticity by the torsional spring, the pipelines of each cylinder can be conveniently contained, the phenomena of knotting and disorder of the pipelines are avoided, and later-stage maintenance is facilitated;
through the telescopic mechanism, the telescopic motor works, the output shaft of the telescopic motor is matched with the first shaft sleeve through the connecting piece to drive the screw rod to rotate, the screw rod drives the telescopic rod to move through a thread effect between the screw rod and the screw seat, and the telescopic rod directionally moves in the through groove through the limiting column, so that the telescopic mechanism has a telescopic function, the length of the tail boom is adjustable, the grabbing range is increased, the application range is improved, and the use is facilitated;
grab apart from adjustment mechanism through setting up, the work of adjusting motor, its output shaft cooperation secondary shaft cover drives the screw rod and rotates, the screw rod passes through the screw action and drives the slider and remove in the inside of spout, the slider drives first jar axle bed and removes, first jar axle bed drives the bottom removal of first cylinder, enlarge or reduce the interval between first jar axle bed and the spindle drum, make main jib pole follow and rotate the support arm and grab apart from, through enlarging the interval between first jar axle bed and the spindle drum, make the rotation range of main jib pole not restricted by the cylinder body of first cylinder, increase the angle rotation range of main jib pole, further improve and grab apart from the scope, increase application scope, the practicality is higher.
Drawings
FIG. 1 is a schematic diagram of an overall structure of a multi-curvature adjustable arm structure of an industrial robot according to the present invention;
FIG. 2 is a top view of a pipeline storage mechanism of an industrial robot multi-curvature adjustable type arm support structure according to the present invention;
FIG. 3 is a side view of a trailing arm lever of an industrial robot multi-curvature adjustable type mounting arm structure of the present invention;
FIG. 4 is a schematic diagram of the internal structure of a base of a multi-curvature adjustable arm structure of an industrial robot according to the present invention;
fig. 5 is a side view of the base and the first cylinder base of the multi-curvature adjustable arm structure of an industrial robot according to the present invention.
In the figure: 1. a base; 2. a main shaft seat; 3. a main arm lever; 4. an arm support lever; 5. a tail arm lever; 6. a first cylinder shaft seat; 7. a first cylinder; 8. a second cylinder shaft seat; 9. a second cylinder; 10. an extension rod; 11. a connecting shaft; 12. a third cylinder; 13. a pipeline storage mechanism; 1301. a fixed seat; 1302. a pipeline receiving ring; 1303. a rotating shaft; 1304. a movable ring; 1305. a torsion spring; 14. a telescoping mechanism; 1401. a through groove; 1402. a telescopic rod; 1403. a limiting column; 1404. a telescopic motor; 1405. a connecting member; 1406. a screw rod; 1407. a first bushing; 1408. a screw seat; 15. a robot gripper; 16. a grip distance adjusting mechanism; 1601. a chute; 1602. a slider; 1603. a second shaft sleeve; 1604. a support bar; 1605. adjusting the motor; 1606. a screw.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-5, a multi-curvature adjustable support arm structure of an industrial robot comprises a base 1 and a robot gripper 15, wherein a spindle seat 2 is fixedly installed at one side position of the upper portion of the base 1, a main arm rod 3 is movably connected to the inner side of the spindle seat 2, a support arm rod 4 is movably connected to one end of the main arm rod 3, a tail arm rod 5 is movably connected to one end of the support arm rod 4, a first cylinder shaft seat 6 is arranged at the other side position of the upper portion of the base 1, a first cylinder 7 is movably connected to the inner side of the first cylinder shaft seat 6, a second cylinder shaft seat 8 is fixedly installed on the side surface of the main arm rod 3, a second cylinder 9 is movably connected to the inner side of the second cylinder shaft seat 8, an extension rod 10 is fixedly connected to the other end of the support arm rod 4, the extension rod 10 is movably connected to an output rod of the second cylinder 9 through a connecting shaft 11, a, a pipeline containing mechanism 13 is arranged at the front part of the main arm rod 3, the pipeline containing mechanism 13 comprises a fixed seat 1301, a pipeline containing ring 1302, a rotating shaft 1303, a movable ring 1304 and a torsion spring 1305, a telescopic mechanism 14 is arranged at one end of the tail arm rod 5, a grabbing distance adjusting mechanism 16 is arranged between the first cylinder shaft seat 6 and the base 1, and the grabbing distance adjusting mechanism 16 comprises a sliding groove 1601, a sliding block 1602, a second shaft sleeve 1603, a supporting rod 1604 and an adjusting motor 1605;
the fixed seat 1301 is fixedly arranged at the front part of the main arm lever 3, the pipeline receiving ring 1302 is fixedly arranged at the front part of the fixed seat 1301, the movable ring 1304 is movably connected to one end of the pipeline receiving ring 1302 through a rotating shaft 1303, and the torsion spring 1305 is fixedly connected between the pipeline receiving ring 1302 and the movable ring 1304; the pipeline containing ring 1302 and the movable ring 1304 form a circle, and a gap is arranged between the pipeline containing ring 1302 and the movable ring 1304, so that the gap can play a role of conveniently containing pipelines; the front parts of the support arm rod 4 and the tail arm rod 5 are also provided with pipeline containing mechanisms 13, and the pipeline containing mechanisms 13 in the front part of the support arm rod 4 are in a 2-by-3 rectangular array; the telescopic mechanism 14 comprises a through groove 1401, a telescopic rod 1402, a limit column 1403, a telescopic motor 1404, a connecting piece 1405, a screw rod 1406, a first shaft sleeve 1407 and a screw seat 1408, the through groove 1401 is arranged at the center of the front surface of the tail arm rod 5, the telescopic rod 1402 is movably connected to the inner side of the tail arm rod 5, the limit column 1403 is fixedly connected with the telescopic rod 1402 through the traditional through groove 1401, the telescopic motor 1404 is fixedly arranged at the bottom of the inner side of the tail arm rod 5, one end of the screw rod 1406 is fixedly connected with an output shaft of the telescopic motor 1404 through the connecting piece 1405, the other end of the screw rod 1406 is movably connected to the top end of the inner side of the tail arm rod 5 through the first shaft sleeve 1407, the screw seat 1408 is integrally connected to the middle position of the telescopic; the screw seat 1408 is in threaded connection with the screw rod 1406, and the number of the limiting columns 1403 and the number of the through grooves 1401 are two; the sliding chute 1601 is arranged at the other side of the upper surface of the base 1, the sliding block 1602 is fixedly connected to the bottom of the first cylinder shaft seat 6, the sliding block 1602 is slidably connected inside the sliding chute 1601, the adjusting motor 1605 is fixedly mounted on the side surface of the base 1 through a support rod 1604 and close to the upper position, one end of the screw rod 1606 is fixedly connected with the output shaft of the adjusting motor 1605, and the other end of the screw rod 1606 is movably connected to one end of the sliding chute 1601 through a second shaft sleeve 1603; the sliding groove 1601 and the sliding block 1602 are both in a convex shape, and the sliding block 1602 is in threaded connection with the screw 1606.
A use method of a multi-curvature adjusting type arm structure of an industrial robot specifically comprises the following steps:
the method comprises the following steps: the first air cylinder 7 works, an output rod of the first air cylinder drives the main arm rod 3 to rotate through the main shaft seat 2, the second air cylinder 9 works, the output rod of the first air cylinder drives the support arm rod 4 to rotate through the extension rod 10 by utilizing the connecting shaft 11, the third air cylinder 12 works, and the output rod of the third air cylinder drives the tail arm rod 5 to rotate, so that multi-curve angle adjustment is generated, and the robot gripper 15 is matched to grab goods;
step two: the telescopic motor 1404 works, an output shaft of the telescopic motor is matched with the first shaft sleeve 1407 through the connecting piece 1405 to drive the screw rod 1406 to rotate, the screw rod 1406 drives the telescopic rod 1402 to move through a thread effect between the screw rod 1406 and the screw seat 1408, and the telescopic rod 1402 directionally moves in the through groove 1401 through the limiting column 1403 to complete telescopic work;
step three: when the adjusting motor 1605 works, an output shaft of the adjusting motor cooperates with the second shaft sleeve 1603 to drive the screw 1606 to rotate, the screw 1606 drives the slider 1602 to move in the chute 1601 through the screw thread effect, the slider 1602 drives the first cylinder shaft seat 6 to move, the first cylinder shaft seat 6 drives the bottom end of the first cylinder 7 to move, the distance between the first cylinder shaft seat 6 and the spindle seat 2 is enlarged or reduced, and the main arm rod 3 is enabled to follow the rotating support arm grabbing distance;
step four: when the air intake and air outlet pipeline collecting device is used, the air intake pipeline and the air outlet pipeline of the first cylinder 7, the second cylinder 9 and the third cylinder 12 are collected through the inlet wire of the pipeline collecting ring 1302, during operation, one end of the movable ring 1304 is pulled, the movable ring 1304 rotates through the rotating shaft 1303, the distance between the ports of the movable ring 1304 and the pipeline collecting ring 1302 is enlarged, then the air intake pipeline or the air outlet pipeline is placed inside the pipeline collecting ring 1302, the movable ring 1304 is loosened, the torsion spring 1305 resets the pipeline collecting ring 1302 through elasticity, and collection of the pipelines of the first cylinder 7, the second cylinder 9 and the third cylinder 12 is completed.
According to the invention, the pipeline containing mechanism 13 is arranged, one end of the movable ring 1304 is shifted, so that the movable ring 1304 rotates through the rotating shaft 1303, the distance between the movable ring 1304 and the port of the pipeline containing ring 1302 is enlarged, then an air inlet pipeline or an air outlet pipeline is placed inside the pipeline containing ring 1302, the movable ring 1304 is loosened, the torsion spring 1305 resets the pipeline containing ring 1302 through elasticity, the pipelines of all cylinders can be conveniently contained, the phenomena of knotting and disorder of the pipelines are avoided, and the later maintenance is facilitated; through the telescopic mechanism 14, the telescopic motor 1404 works, an output shaft of the telescopic motor is matched with the first shaft sleeve 1407 through the connecting piece 1405 to drive the screw rod 1406 to rotate, the screw rod 1406 drives the telescopic rod 1402 to move through a thread effect between the screw rod 1406 and the screw seat 1408, and the telescopic rod 1402 directionally moves in the through groove 1401 through the limiting column 1403 to complete telescopic work; grab apart from adjustment mechanism 16 through setting up, accommodate motor 1605 work, its output shaft cooperation second shaft cover 1603 drives screw 1606 and rotates, screw 1606 drives slider 1602 in the inside removal of spout 1601 through the screw thread effect, slider 1602 drives first cylinder axle seat 6 and removes, first cylinder axle seat 6 drives the bottom removal of first cylinder 7, enlarge or reduce the interval between first cylinder axle seat 6 and the headstock 2, make main arm pole 3 follow the rotation support arm and grab apart from, through enlarging the interval between first cylinder axle seat 6 and the headstock 2, make the rotation range of main arm pole 3 not restricted by the cylinder body of first cylinder 7, increase the angle rotation range of main arm pole 3, further improve and grab apart from the scope, increase application scope, the practicality is higher.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides an industrial robot adjusts formula support arm structure of many curvatures which characterized in that: comprises a base (1) and a robot gripper (15), a main shaft seat (2) is fixedly installed at one side position of the upper portion of the base (1), a main arm rod (3) is movably connected to the inner side of the main shaft seat (2), a supporting arm rod (4) is movably connected to one end of the main arm rod (3), a tail arm rod (5) is movably connected to one end of the supporting arm rod (4), a first cylinder shaft seat (6) is arranged at the other side position of the upper portion of the base (1), a first cylinder (7) is movably connected to the inner side of the first cylinder shaft seat (6), a second cylinder shaft seat (8) is fixedly installed on the side surface of the main arm rod (3), a second cylinder (9) is movably connected to the inner side of the second cylinder shaft seat (8), an extension rod (10) is fixedly connected to the other end of the supporting arm rod (4), and the extension rod (10) is movably connected with an output rod of the second cylinder (9) through a connecting shaft (11, swing joint has third cylinder (12) between inboard and the tail armed lever (5) of armsupporting rod (4), the front portion of main armed lever (3) is equipped with pipeline receiving mechanism (13), pipeline receiving mechanism (13) are including fixing base (1301), pipeline receiving ring (1302), pivot (1303), loose ring (1304) and torsional spring (1305), the one end of tail armed lever (5) is equipped with telescopic machanism (14), it grabs apart from adjustment mechanism (16) to be equipped with between first cylinder axle bed (6) and base (1), it is including spout (1601), slider (1602), second axle sleeve (1603), bracing piece (1604) and accommodate motor (1605) to grab apart from adjustment mechanism (16).
2. The multi-curvature adjustable arm structure of an industrial robot according to claim 1, wherein: the fixed seat (1301) is fixedly installed at the front portion of the main arm rod (3), the pipeline containing ring (1302) is fixedly installed at the front portion of the fixed seat (1301), the movable ring (1304) is movably connected to one end of the pipeline containing ring (1302) through a rotating shaft (1303), and the torsion spring (1305) is fixedly connected between the pipeline containing ring (1302) and the movable ring (1304).
3. The multi-curvature adjustable arm structure of an industrial robot according to claim 2, wherein: the pipeline containing ring (1302) and the movable ring (1304) form a circle, and a gap is arranged between the pipeline containing ring (1302) and the movable ring (1304).
4. The multi-curvature adjustable arm structure of an industrial robot according to claim 1, wherein: pipeline storage mechanisms (13) are also arranged at the front parts of the support arm rod (4) and the tail arm rod (5), and the pipeline storage mechanisms (13) at the front part of the support arm rod (4) are in a 2-to-3 rectangular array.
5. The multi-curvature adjustable arm structure of an industrial robot according to claim 1, wherein: the telescopic mechanism (14) comprises a through groove (1401), a telescopic rod (1402), a limiting column (1403), a telescopic motor (1404), a connecting piece (1405), a screw rod (1406), a first shaft sleeve (1407) and a screw seat (1408), wherein the through groove (1401) is arranged at the central position of the front surface of the tail arm rod (5), the telescopic rod (1402) is movably connected to the inner side of the tail arm rod (5), the limiting column (1403) is fixedly connected with the telescopic rod (1402) through the traditional through groove (1401), the telescopic motor (1404) is fixedly arranged at the bottom position of the inner side of the tail arm rod (5), one end of the screw rod (1406) is fixedly connected with an output shaft of the telescopic motor (1404) through the connecting piece (1405), the other end of the screw rod (1406) is movably connected to the top position of the inner side of the tail arm rod (5) through the first shaft sleeve (1407), and the screw seat (1408) is integrally connected to the middle position of the telescopic rod, the robot hand grab (15) is movably connected to the top end of the telescopic rod (1402).
6. The multi-curvature adjustable arm structure of an industrial robot according to claim 5, wherein: the screw seat (1408) is in threaded connection with the screw rod (1406), and the number of the limiting columns (1403) and the number of the through grooves (1401) are two.
7. The multi-curvature adjustable arm structure of an industrial robot according to claim 1, wherein: the upper surface opposite side position at base (1) is seted up in spout (1601), slider (1602) fixed connection is in the bottom of first cylinder axle seat (6), and slider (1602) sliding connection is in the inside of spout (1601), adjusting motor (1605) are close to upper portion position through bracing piece (1604) fixed mounting in the side of base (1), the one end of screw rod (1606) and the output shaft fixed connection of adjusting motor (1605), the other end of screw rod (1606) passes through the one end of second shaft cover (1603) swing joint at spout (1601).
8. The multi-curvature adjustable arm structure of an industrial robot according to claim 7, wherein: the shape of spout (1601) and slider (1602) is the type of dogbone, slider (1602) and screw rod (1606) threaded connection.
9. A method of using the multi-curvature adjustable arm structure of an industrial robot of claim 1, the method comprising the steps of:
the method comprises the following steps: the first air cylinder (7) works, an output rod of the first air cylinder drives a main arm rod (3) to rotate through a main shaft seat (2), the second air cylinder (9) works, the output rod of the second air cylinder drives a supporting arm rod (4) to rotate through an extension rod (10) by utilizing a connecting shaft (11), the third air cylinder (12) works, and the output rod of the third air cylinder drives a tail arm rod (5) to rotate, so that multi-bend angle adjustment is generated, and a robot gripper (15) is matched to grab goods;
step two: the telescopic motor (1404) works, an output shaft of the telescopic motor (1404) is matched with the first shaft sleeve (1407) through the connecting piece (1405) to drive the screw rod (1406) to rotate, the screw rod (1406) drives the telescopic rod (1402) to move through a thread effect between the screw rod (1406) and the screw seat (1408), and the telescopic rod (1402) directionally moves in the through groove (1401) through the limiting column (1403) to complete telescopic work;
step three: the adjusting motor (1605) works, an output shaft of the adjusting motor is matched with the second shaft sleeve (1603) to drive the screw rod (1606) to rotate, the screw rod (1606) drives the sliding block (1602) to move in the sliding groove (1601) through the thread effect, the sliding block (1602) drives the first cylinder shaft seat (6) to move, the first cylinder shaft seat (6) drives the bottom end of the first air cylinder (7) to move, the distance between the first cylinder shaft seat (6) and the spindle seat (2) is enlarged or reduced, and the main arm rod (3) is enabled to follow the rotary support arm to grab distance;
step four: when the air intake and air outlet pipeline collecting device is used, the air intake pipeline and the air outlet pipeline of the first cylinder (7), the second cylinder (9) and the third cylinder (12) are collected through the inlet wire of the pipeline collecting ring (1302), during operation, one end of the movable ring (1304) is pulled, the movable ring (1304) rotates through the rotating shaft (1303), the distance between the ports of the movable ring (1304) and the pipeline collecting ring (1302) is enlarged, then the air intake pipeline or the air outlet pipeline is placed inside the pipeline collecting ring (1302), the movable ring (1304) is loosened, the torsion spring (1305) resets the pipeline collecting ring (1302) through elasticity, and collection of the pipelines of the first cylinder (7), the second cylinder (9) and the third cylinder (12) is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010886166.3A CN112238442A (en) | 2020-08-28 | 2020-08-28 | Multi-curvature adjusting type support arm structure of industrial robot and using method thereof |
Applications Claiming Priority (1)
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| US20030010741A1 (en) * | 2000-02-01 | 2003-01-16 | Teijo Seppala | Loader |
| CN204677020U (en) * | 2015-04-24 | 2015-09-30 | 翁文彬 | A kind of band wirerope horseshoe lock |
| CN105817379A (en) * | 2016-05-31 | 2016-08-03 | 邹城市北华机电设备有限公司 | Sprayer bracket |
| CN109352640A (en) * | 2018-11-09 | 2019-02-19 | 蒲培忠 | A kind of telescopic bionic machine human arm |
| CN110722544A (en) * | 2019-11-13 | 2020-01-24 | 泉州台商投资区连进信息技术有限公司 | Automatic snatch manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030010741A1 (en) * | 2000-02-01 | 2003-01-16 | Teijo Seppala | Loader |
| CN204677020U (en) * | 2015-04-24 | 2015-09-30 | 翁文彬 | A kind of band wirerope horseshoe lock |
| CN105817379A (en) * | 2016-05-31 | 2016-08-03 | 邹城市北华机电设备有限公司 | Sprayer bracket |
| CN109352640A (en) * | 2018-11-09 | 2019-02-19 | 蒲培忠 | A kind of telescopic bionic machine human arm |
| CN110722544A (en) * | 2019-11-13 | 2020-01-24 | 泉州台商投资区连进信息技术有限公司 | Automatic snatch manipulator |
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