CN-224223947-U - Industrial robot arm end shock-absorbing structure

Abstract

The utility model relates to the technical field of industrial robots, in particular to an industrial robot arm end damping structure, which comprises a multi-axis mechanical arm and clamping jaws arranged at the tail end of the multi-axis mechanical arm, wherein the clamping jaws comprise a cover plate, a sleeve, a horn cover and a shaft lever, the cover plate and the horn cover are used for sealing two ends of the sleeve, a positioning hole is formed in the center position of the cover plate, the shaft lever is slidably arranged in the positioning hole, a rubber ring sleeved on the shaft lever is fixedly arranged in the positioning hole, a circular tube is fixedly arranged in the sleeve, a plurality of insertion holes are formed in the end shaft of the circular tube, which is far away from the cover plate, at equal intervals, a locking rod is slidably arranged in the insertion holes, one centripetal end of the locking rod is provided with a rubber block, one centrifugal end of the locking rod is arranged as a hemispherical surface, the hemispherical surface is attached to the inner wall of the horn cover, the mechanical clamping jaws are locked at one end of the shaft lever, which is positioned at the outer side of the sleeve, the clamping jaws transmit force to the shaft lever when being subjected to inertia, and the two ends of the shaft lever eliminate inertia through a buffer structure, so that the influence on the mechanical arm itself is avoided.

Inventors

• Ma Lianyou
• MA JIAHAO

Assignees

• 上海豪越实业有限公司

Dates

Publication Date

20260512

Application Date

20250604

Claims (6)

1. 1. The damping structure for the arm end of the industrial robot is characterized by comprising a multi-axis mechanical arm (1) and clamping jaws (2) arranged at the tail end of the multi-axis mechanical arm (1), wherein each clamping jaw (2) comprises a cover plate (21), a sleeve (22), a horn cover (23) and a shaft rod (24), both ends of each sleeve (22) are completely opened, each cover plate (21) is in threaded connection with one end of the corresponding sleeve (22), each horn cover (23) is used for sealing the other end of the corresponding sleeve (22), a shaft hole is formed in the center of one end, far away from the sleeve (22), of each horn cover (23), a plurality of connecting rods (25) are arranged in the sleeve (22), one ends of the connecting rods (25) are fixedly connected with the corresponding cover plates (21), and the other ends of the connecting rods (25) extend to the outer sides of the corresponding horn covers (23) through the shaft holes and are fixedly connected with the tail ends of the multi-axis mechanical arm (1); The center position of apron (21) is provided with the locating hole, the one end of axostylus axostyle (24) passes the locating hole and extends to the inside of sleeve (22), fixed mounting has the cover to establish the rubber circle on axostylus axostyle (24) in the locating hole, the one end that axostylus axostyle (24) are located the inside of sleeve (22) is provided with the boss, the inside fixed mounting of sleeve (22) has pipe (3), the one end and apron (21) fixed connection of pipe (3), pipe (3) and axostylus axostyle (24) coaxial setting, and the internal diameter of pipe (3) is greater than the diameter of axostylus axostyle (24), one end axle equidistant being provided with of apron (21) is kept away from to pipe (3) is provided with a plurality of jacks, slidable mounting has locking pole (4) in the jack, the one end that locking pole (4) are located the inside centripetal of pipe (3) is provided with the rubber block, the one end that locking pole (4) is located the outside of pipe (3) is provided with the hemisphere, and hemisphere face and the laminating with the inner wall of loudspeaker cover.
2. 2. The industrial robot arm end shock absorption structure according to claim 1, wherein a pressure sensor is arranged at a position where the locking rod (4) is in contact with the inner wall of the horn sleeve.
3. 3. The industrial robot arm end damping structure according to claim 1, wherein a steel wire net rack is arranged in the rubber block.
4. 4. The damping structure for an arm end of an industrial robot according to claim 1, wherein a through hole is formed in the center of the shaft lever (24), a wire harness is arranged in the through hole, and threads are arranged at two ends of the through hole.
5. 5. The damping structure for an arm end of an industrial robot according to claim 1, wherein the thickness of the horn cover (23) is identical to that of the sleeve (22), and the horn cover (23) and the sleeve (22) are integrally formed.
6. 6. The industrial robot arm end shock-absorbing structure of claim 1, wherein a sealing bearing is fixedly arranged in a shaft hole of the horn cover (23), and accommodating holes which are in one-to-one correspondence with the connecting rods (25) are formed in the sealing bearing.

Description

Industrial robot arm end shock-absorbing structure Technical Field The utility model relates to the technical field of industrial robots, in particular to an arm end damping structure of an industrial robot. Background In the field of industrial automation production, robots are widely used by virtue of the characteristics of high efficiency and precision. The performance of the robotic end effector as the portion that directly contacts the part being grasped plays a critical role in the stability and efficiency of the overall production process. At present, in the robot motion process, the arm drives the end effector to accelerate to snatch heavy parts, when reaching the assigned position and stopping, because the part quality is great, its inertia can make the end effector unable to be static immediately, thereby produce the swing phenomenon, if this kind of swing range is too big, can cause a great deal of adverse effect to the arm itself, and the impact force that the swing produced probably makes each joint of arm bear extra stress, so can accelerate the wearing and tearing of joint part for a long time, reduce the life of arm, increase equipment maintenance cost, the swing still can influence the precision of robot follow-up operation, lead to the part to place the position and appear the deviation, influence the accuracy and the product quality of whole production flow. The prior art scheme has the following defects that the tail end swings due to inertia after the tail end of the robot is stopped when the tail end of the robot grabs a heavy part, so that a damping and buffering structure is needed to reduce the swing amplitude of the tail end of the robot, and the swing is prevented from affecting the mechanical arm. Disclosure of utility model The utility model aims to provide an industrial robot arm end damping structure so as to solve the problems in the prior art. The technical aim of the utility model is realized by the following technical scheme: The utility model provides an industrial robot arm end shock-absorbing structure, includes multiaxis arm and sets up the clamping jaw at multiaxis arm end, the clamping jaw includes apron, sleeve, loudspeaker cover and axostylus axostyle, the both ends of sleeve are all opened completely, the spiro union of apron is fixed in telescopic inside one end, loudspeaker cover is used for sealing telescopic other end, loudspeaker cover has seted up the shaft hole in the one end central point that keeps away from the sleeve, telescopic inside is provided with a plurality of connecting rods, a plurality of the one end and the apron fixed connection of connecting rod, a plurality of the other end of connecting rod passes the shaft hole and extends to the outside of loudspeaker cover and the terminal fixed connection of multiaxis arm; The center position of apron is provided with the locating hole, the one end of axostylus axostyle passes the locating hole and extends to telescopic inside, fixed mounting has the rubber circle of cover on the axostylus axostyle in the locating hole, the axostylus axostyle is located the inside one end of sleeve and is provided with the boss, telescopic inside fixed mounting has the pipe, the one end and the apron fixed connection of pipe, pipe and axostylus axostyle coaxial setting, and the internal diameter of pipe is greater than the diameter of axostylus axostyle, the pipe is kept away from an end axle equidistant a plurality of jacks that are provided with of apron, slidable mounting has the locking pole in the jack, the one end that the locking pole is located the inside centripetal of pipe is provided with the rubber piece, the one end that the locking pole is located the pipe outside is centrifugal sets up to the hemisphere, and hemisphere and the laminating of the inner wall of loudspeaker cover. Through adopting above-mentioned technical scheme, the one end and the sleeve fixed connection of big footpath of loudspeaker cover when setting up, the sleeve is kept away from to the one end of loudspeaker cover path, so when rotatory sleeve, because the position of apron is fixed with the terminal position of arm, so the position of loudspeaker cover can change, when the position of loudspeaker cover changes, the contact position of loudspeaker cover inner wall and locking lever changes, the power of exerting also changes, make the locking lever can be with the one end locking that the axostylus axostyle is located the sleeve inside through this mode, avoid the axostylus axostyle to break away from the sleeve, one end locking mechanical clamping jaw in the axostylus axostyle is located the sleeve outside, the clamping jaw is given the axostylus axostyle with the power transmission when receiving inertia, the both ends of axostylus axostyle all eliminate inertia through buffer structure (rubber circle, rubber piece), avoid the influence to arm itself. In a further embodiment, a pressure sensor is arranged at a position where the