CN111923078A

CN111923078A - Industrial manipulator

Info

Publication number: CN111923078A
Application number: CN202010636421.9A
Authority: CN
Inventors: 杨宁西; 吴明伟; 谢佳伟
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-04
Filing date: 2020-07-04
Publication date: 2020-11-13

Abstract

The invention relates to the field of industrial machinery, in particular to an industrial manipulator which comprises a spindle seat, wherein a rotation adjusting assembly is arranged on one side of the spindle seat, a clamping assembly is arranged at the bottom of the rotation adjusting assembly, the rotation adjusting assembly comprises an installation box, a third telescopic cylinder is fixedly connected to one side, close to the spindle seat, of the installation box, the output end of the third telescopic cylinder is fixedly connected with a second T-shaped rod, the front portion and the rear portion of the second T-shaped rod are movably connected with pulleys through bearings, and one side, far away from the second T-shaped rod, of each pulley and one side of the spindle seat are located on the same vertical plane. Through setting up arc splint and triangle splint, when the spherical or side of centre gripping is the fragile article on arc limit, avoid the surface of injury fragile article to avoid the scratch, when the fragile article in bottom surface is leveled in the centre gripping, the centre gripping connecting plate is close to the in-process each other, and triangle splint top is become the level by the slope gradually, and this process can be held up the flat article in bottom surface, and is held up by the article bottom, avoids the side to press from both sides to embrace the extrusion injury.

Description

Industrial manipulator

Technical Field

The invention relates to the field of industrial machinery, in particular to an industrial manipulator.

Background

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the advantages of the human and the manipulator machines are combined in structure and performance, the manipulator is the earliest appearing industrial robot and the earliest appearing modern robot, can replace heavy labor of the human to realize mechanization and automation of production, can operate under a harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments, and the existing manipulator has the following problems in the specific use process:

when a manipulator is used for clamping a spherical or arc-edge fragile object, if the existing multi-angle grabbing hook clamp in the side direction is used, the arc edge of the fragile object is scratched or extruded by the grabbing hook, so that the spherical or arc-edge fragile object is inconvenient to cover from the side edge of the spherical or arc-edge object and further protects the outer surface, when the fragile object in the bottom surface is clamped and leveled, if a side edge direct clamping manner is adopted, a large side axial stress is generated on the object to damage the object, when the angle of a clamping part needs to be finely adjusted to clamp the object, components in the manipulator are mutually displaced or axially rotated, a length of the electric wire needs to be reserved to accommodate length change, meanwhile, the scattered electric wire and the components need to be connected to avoid winding, when the electric wire is connected with other components, friction is difficult to avoid between the existing electric wire fixing device and the electric wire, and the electric wire is easy to wear for a long time, there is a greater risk.

Disclosure of Invention

The invention provides an industrial manipulator aiming at the problems in the prior art.

The technical scheme adopted by the invention for solving the technical problems is as follows: an industrial manipulator comprises a spindle seat, a rotary adjusting assembly is arranged on one side of the spindle seat, a clamping assembly is arranged at the bottom of the rotary adjusting assembly, the rotary adjusting assembly comprises an installation box, a third telescopic cylinder is fixedly connected to one side, close to the spindle seat, of the installation box, a second T-shaped rod is fixedly connected to the output end of the third telescopic cylinder, the front portion and the rear portion of the second T-shaped rod are movably connected with pulleys through bearings, one side, far away from the second T-shaped rod, of each pulley and one side, away from the spindle seat, of the corresponding spindle seat are located on the same vertical plane, the rotary adjusting assembly comprises the installation box, a hoisting bearing is fixedly connected to the bottom of the installation box, an installation disc is fixedly connected to the inner ring of the hoisting bearing, first telescopic cylinders are fixedly connected to two sides of the bottom of the installation disc, a sub-shaped frame is fixedly connected to the bottom of each first telescopic cylinder, a hanging, the clamping assembly comprises a main bottom plate, and the bottom of the hanging shaft is fixedly connected with the main bottom plate.

Specifically, one side of the top of the installation box is movably connected with a main shaft seat through a movable shaft, a rotary cylinder is fixedly connected with the top of the inner wall of the installation box, the output end of the rotary cylinder is fixedly connected with the top of the mounting disc, the bottom of the mounting disc is fixedly connected with a telescopic rod, the first telescopic cylinders are inverted and fixedly connected with the mounting plate and the top of the sub-frame respectively, the output end of a first telescopic cylinder at the left side of the telescopic rod is fixedly connected with the bottom of the mounting plate, the output end of the first telescopic cylinder at the other side of the telescopic rod is fixedly connected with the top of the sub-frame, the telescopic rod penetrates into the sub-frame, the top of the sub-frame is provided with a round hole, and the inner circle of the round hole is fixedly connected with a limiting edge, the outer circle of the telescopic rod is fixedly connected with a limiting tooth meshed with the limiting edge, and a bobbin is arranged on the telescopic rod.

Specifically, the bobbin comprises two second lantern rings fixedly connected with the telescopic rod, a coil spring coil is arranged between the second lantern rings, an inner ring of the coil spring coil is movably connected with the telescopic rod through a coil spring, an electric wire is wound on the coil spring coil, and wire rod buffering rings are fixedly connected to the two sides of the second lantern ring and the two sides of the hanging shaft.

Specifically, wire rod buffering ring includes the main ring, the inner circle of main ring is inlayed and is had the ball, two-thirds of ball volume wraps up in the main ring, the outside parcel of electric wire has the buffering line cover, the outer lane parcel of buffering line cover has the reinforcing wire cover, reinforcing wire cover and ball overlap joint.

Specifically, the bottom of the main bottom plate of the clamping assembly is fixedly connected with a reversing groove, a main connecting plate and a side mounting platen are sequentially lapped on two sides of the reversing groove from inside to outside, the main connecting plate, the side mounting platen and the side groove plate of the reversing groove are connected through bolts in a fastening mode, the bottom of the main connecting plate is movably connected with a movable connecting plate through a movable shaft, the bottom of the movable connecting plate is movably connected with a clamping plate through the movable shaft, a second telescopic cylinder is fixedly connected with the bottom of the side mounting platen, a fixed ejector rod is fixedly connected with the output end of the second telescopic cylinder, a movable ejector rod is movably connected with the bottom of the fixed ejector rod through the movable shaft, and the bottom of the movable ejector rod is movably connected with the back side of the clamping plate through a movable buckle.

Concretely, the groove is led to the preceding groove and the side is led to the side before anterior rear portion and the lateral part of grip block have been seted up respectively, the inslot is led to the side is equipped with the binding clasp, one side fixedly connected with of binding clasp is located the centre gripping connecting plate of grip block side in opposite directions, the side in opposite directions and the bottom of centre gripping connecting plate all through bolt-up respectively fastening connection have arc splint and triangle splint, the preceding inslot joint that leads to has clamping bolt, clamping bolt has two and is located the top and the bottom of binding clasp respectively.

Specifically, the clamping device comprises a first T-shaped rod, wherein pressure springs are fixedly connected to the two sides of the bottom of the first T-shaped rod, a first lantern ring is fixedly connected to the bottom of each pressure spring, and finger rings are fixedly connected to the two sides of the first lantern ring.

The invention has the beneficial effects that:

(1) according to the industrial manipulator, the arc-shaped clamping plate and the triangular clamping plate are arranged, when spherical or fragile articles with arc edges on the side surfaces are clamped, the arc-shaped clamping plate can clamp the arc edges or the spherical articles in all directions, the surfaces of the fragile articles are prevented from being damaged and are prevented from being scratched, when the fragile articles with the flat bottom surfaces are clamped, the clamping connecting plate is firstly kept to incline under the action of the second telescopic cylinder, the bottom edge of the triangular clamping plate is parallel to the table surface below the articles, and the tops of the triangular clamping plates are gradually changed from inclining to horizontal in the process that the clamping connecting plates approach each other, so that the flat articles with the flat bottom surfaces can be held up in the process and are supported by the bottoms of the articles, and the side clamping, clamping and extrusion.

(2) According to the industrial manipulator, the wire rod buffer ring is arranged, the clamping assembly is rotated by the rotary cylinder within forty-five degrees, so that the mirrored clamping connecting plate integrally rotates by a straight angle, the rotating path of the clamping connecting plate can form a closed loop, the clamping effect of the clamping assembly can rotate by a peripheral angle in the rotating process, the electric wire in the device only needs to deflect by forty-five degrees at most, excessive wire rod pulling is avoided, the electric wire winding is avoided, when the small-amplitude displacement deflection of the electric wire is realized, the electric wire and the ball in the wire rod buffer ring interact with each other, rolling friction instead of sliding friction is generated between the electric wire and the ball, and the friction damage to an electric wire jacket is greatly reduced.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic diagram of an industrial robot according to the present invention;

FIG. 2 is a schematic view of a rotary adjustment assembly of an industrial robot according to the present invention;

FIG. 3 is a schematic view of a clamping assembly of an industrial robot according to the present invention;

FIG. 4 is a schematic view of a clamping plate portion of an industrial robot according to the present invention;

FIG. 5 is a schematic view of a gripper assembly of an industrial robot according to the present invention;

FIG. 6 is a schematic view of a bobbin structure of an industrial robot according to the present invention;

fig. 7 is a schematic view of a wire buffer ring structure of an industrial robot according to the present invention.

In the figure: 1. a main shaft seat; 2. a rotation adjustment assembly; 21. installing a box; 22. hoisting a bearing; 221. mounting a disc; 23. a rotating cylinder; 24. a first telescopic cylinder; 25. a sub-frame; 26. a telescopic rod; 27. a hanging shaft; 3. a clamping assembly; 31. a main floor; 32. a back-off groove; 33. a main connection plate; 34. a movable connecting plate; 35. a clamping plate; 351. a front through groove; 352. a side through groove; 36. a side mounting bedplate; 361. a second telescopic cylinder; 362. fixing the ejector rod; 363. a movable ejector rod; 37. clamping the connecting plate; 38. an arc-shaped splint; 39. a triangular splint; 4. a clamper; 41. clamping the bolt; 42. a first T-bar; 43. a first collar; 5. a ring; 6. a third telescopic cylinder; 61. a second T-shaped bar; 62. a pulley; 7. a bobbin; 71. a second collar; 72. a coil spring coil; 8. a wire buffer ring; 81. a main ring; 82. a ball bearing; 9. an electric wire; 91. reinforcing the wire sleeve; 92. buffer wire sleeve.

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. 1-7, the industrial manipulator of the present invention includes a spindle base 1, a rotation adjusting assembly 2 is disposed on one side of the spindle base 1, a clamping assembly 3 is disposed at the bottom of the rotation adjusting assembly 2, the rotation adjusting assembly 2 includes an installation box 21, a third telescopic cylinder 6 is fixedly connected to one side of the installation box 21 close to the spindle base 1, an output end of the third telescopic cylinder 6 is fixedly connected to a second T-shaped rod 61, front and rear portions of the second T-shaped rod 61 are movably connected to pulleys 62 through bearings, one side of the pulley 62 away from the second T-shaped rod 61 and one side of the spindle base 1 are located on the same vertical plane, the rotation adjusting assembly 2 includes the installation box 21, a hoisting bearing 22 is fixedly connected to the bottom of the installation box 21, a mounting plate 221 is fixedly connected to an inner ring of the hoisting bearing 22, first telescopic cylinders 24 are fixedly connected to both sides of the bottom of the mounting plate 221, the bottom fixedly connected with inferior word frame 25 of first telescopic cylinder 24, the bottom of inferior word frame 25 has hanging axle 27 through activity axle bed swing joint, centre gripping subassembly 3 includes main bottom plate 31, the bottom and the main bottom plate 31 fixed connection of hanging axle 27.

Specifically, one side of the top of the installation box 21 is movably connected with the spindle base 1 through a movable shaft, a rotary cylinder 23 is fixedly connected to the top of the inner wall of the installation box 21, the output end of the rotary cylinder 23 is fixedly connected with the top of the installation disc 221, a telescopic rod 26 is fixedly connected to the bottom of the installation disc 221, the first telescopic cylinders 24 are inverted in directions and are respectively fixedly connected with the tops of the installation disc 221 and the sub-frame 25, the output end of the first telescopic cylinder 24 on the left side of the telescopic rod 26 is fixedly connected with the bottom of the installation disc 221, the output end of the first telescopic cylinder 24 on the other side of the telescopic rod 26 is fixedly connected with the top of the sub-frame 25, the telescopic rod 26 penetrates into the sub-frame 25, a round hole is formed in the top of the sub-frame 25, a limiting rib is fixedly connected to the inner ring of the round hole, and a limiting tooth meshed with the limiting rib is, the wire reel 7 is arranged on the telescopic rod 26, the wire reel 7 comprises two second collars 71 fixedly connected with the telescopic rod 26, a coil spring coil 72 is arranged between the second collars 71, the inner ring of the coil spring coil 72 is movably connected with the telescopic rod 26 through a coil spring, an electric wire 9 is wound on the coil spring coil 72, wire buffer rings 8 are fixedly connected to two sides of the second collars 71 and the hanging shaft 27, each wire buffer ring 8 comprises a main ring 81, a ball 82 is embedded in the inner ring of the main ring 81, two thirds of the volume of the ball 82 is wrapped in the main ring 81, a buffer wire sleeve 92 is wrapped outside the electric wire 9, a reinforcing wire sleeve 91 is wrapped on the outer ring of the buffer wire sleeve 92, the reinforcing wire sleeve 91 is in lap joint with the ball 82, when the wire deflects in a small-amplitude displacement, the ball 82 in the electric wire 9 and the wire buffer ring 8 interacts with each other, and rolling friction rather than sliding friction occurs between the electric wire 9 and the ball 82, the friction damage of the outer sleeve of the wire 9 is greatly reduced, and the electric leakage danger caused by the damage of the wire rod is avoided.

Specifically, the bottom of the main bottom plate 31 of the clamping assembly 3 is fixedly connected with a reversing groove 32, two sides of the reversing groove 32 are sequentially overlapped with a main connecting plate 33 and a side mounting platen 36 from inside to outside, the main connecting plate 33, the side mounting platen 36 and the side groove plate of the reversing groove 32 are fixedly connected through bolts, the bottom of the main connecting plate 33 is movably connected with a movable connecting plate 34 through a movable shaft, the bottom of the movable connecting plate 34 is movably connected with a clamping plate 35 through a movable shaft, the bottom of the side mounting platen 36 is fixedly connected with a second telescopic cylinder 361, the output end of the second telescopic cylinder 361 is fixedly connected with a fixed ejector rod 362, the bottom of the fixed ejector rod 362 is movably connected with a movable ejector rod 363 through a movable shaft, the bottom of the movable ejector rod 363 is movably connected with the opposite side of the clamping plate 35 through a movable buckle, the front rear part and the side part of the clamping plate 35 are respectively provided with a front through groove 351 and, the clamping device 4 is arranged in the side through groove 352, one side of the clamping device 4 is fixedly connected with a clamping connecting plate 37 positioned on the opposite side of the clamping plate 35, the opposite side and the bottom of the clamping connecting plate 37 are respectively and fixedly connected with an arc-shaped clamping plate 38 and a triangular clamping plate 39 through bolt fastening, when a spherical or fragile object with an arc side on the side surface is clamped, the arc-shaped clamping plate 38 can clamp the arc side or the spherical object in all directions to avoid damaging the surface of the fragile object and avoid scratching, when the fragile object with a flat bottom surface is clamped, the clamping connecting plate 37 is firstly kept inclined under the action of a second telescopic cylinder 361, at the moment, the bottom edge of the triangular clamping plate 39 is parallel to a table surface below the object, the clamping connecting plates 37 approach each other, the top of the triangular clamping plate 39 gradually changes from inclined to horizontal, in the process, the flat object on the bottom surface can be held, and the bottom of the object is, preceding logical inslot 351 the joint has clamping bolt 41, clamping bolt 41 has two and is located the top and the bottom of binding clasp 4 respectively, binding clasp 4 includes first T word pole 42, the equal fixedly connected with pressure spring in both sides of first T word pole 42 bottom, and the first lantern ring 43 of bottom fixedly connected with of pressure spring, the equal fixedly connected with ring 5 in both sides of first lantern ring 43, the application of force of being convenient for.

When the clamping device is used, when an object needs to be clamped, the second telescopic cylinder 361 is arranged, the fixed ejector rod 362 extrudes the movable ejector rod 363 to one side, the clamping plate 35 is pressed to move and approach to the opposite side, when a fragile object with a spherical shape or a side surface with an arc edge needs to be clamped, the triangular clamping plate 39 is detached, the arc clamping plate 38 can carry out all-dimensional clamping and embracing on the fragile object with the arc edge or the spherical shape, when the fragile object with a flat bottom surface is clamped, the arc clamping plate 38 is detached, the clamping connecting plate 37 is firstly kept to be inclined under the action of the second telescopic cylinder 361, the bottom edge of the triangular clamping plate 39 is parallel to the platform surface below the object, the top of the triangular clamping plate 39 gradually changes from being inclined to being horizontal in the process that the flat object with the bottom surface is clamped, when the clamping height needs to be adjusted, the first telescopic cylinder 24 is arranged, the first telescopic cylinder 24 pushes the mounting disc 221 and the sub-character, finally, the horizontal position of the bottom plate is lowered, when the horizontal left and right positions of the clamping assembly 3 need to be finely adjusted, the third telescopic cylinder 6 is arranged, the second T-shaped rod 61 is extended and is extruded with the side surface of an element for installing the spindle seat 1, the integral angle of the rotary adjusting assembly 2 is finely adjusted, meanwhile, under the action of the hanging shaft 27, the main bottom plate 31 and the clamping assembly 3 always keep a natural vertical state, when the clamping connecting plate 37 needs to be disassembled to replace other clamping plates, the index finger and the little finger are respectively inserted into the finger ring 5, the palm pushes the top of the second T-shaped rod 61, the bottom of the first lantern ring 43 is separated from the clamping connecting plate 37 and is taken out from the side through groove 352, the type of the rotary cylinder 23 is SH20D, and the types of the first telescopic cylinder 24, the second telescopic cylinder 361 and the third telescopic cylinder 6 are SCLF-SCLB.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An industrial robot, comprising a spindle stock (1), characterized in that: one side of the spindle seat (1) is provided with a rotary adjusting component (2), the bottom of the rotary adjusting component (2) is provided with a clamping component (3), the rotary adjusting component (2) comprises an installation box (21), one side of the installation box (21) close to the spindle seat (1) is fixedly connected with a third telescopic cylinder (6), the output end of the third telescopic cylinder (6) is fixedly connected with a second T-shaped rod (61), the front part and the rear part of the second T-shaped rod (61) are movably connected with pulleys (62) through bearings, one side of the pulleys (62) far away from the second T-shaped rod (61) and one side of the spindle seat (1) are positioned on the same vertical plane, the rotary adjusting component (2) comprises an installation box (21), the bottom of the installation box (21) is fixedly connected with a hoisting bearing (22), and the inner ring of the hoisting bearing (22) is fixedly connected with an installation disc (221), the clamping device is characterized in that first telescopic cylinders (24) are fixedly connected to two sides of the bottom of the mounting disc (221), a sub-frame (25) is fixedly connected to the bottom of the first telescopic cylinders (24), a hanging shaft (27) is movably connected to the bottom of the sub-frame (25) through a movable shaft seat, the clamping assembly (3) comprises a main bottom plate (31), and the bottom of the hanging shaft (27) is fixedly connected with the main bottom plate (31).

2. An industrial robot as claimed in claim 1, wherein: the utility model discloses a high-efficient telescopic mounting structure of a high-speed electric car, including install bin (21), the top of install bin (21) one side is through loose axle and spindle drum (1) swing joint, the high fixed connection in top of install bin (21) inner wall has revolving cylinder (23), the output of revolving cylinder (23) and the top fixed connection of mounting disc (221), the bottom fixed connection of mounting disc (221) has telescopic link (26), first telescopic cylinder (24) direction is invertd each other and respectively with the top fixed connection of mounting disc (221) and inferior word frame (25), the left first telescopic cylinder (24) output of telescopic link (26) and the bottom fixed connection of mounting disc (221), the first telescopic cylinder (24) output of telescopic link (26) opposite side and the top fixed connection of inferior word frame (25), telescopic link (26) run through to in inferior word frame (25), the round hole has been seted up at the top of inferior word frame (25), and the inner ring of the round hole is fixedly connected with a limiting edge, the outer ring of the telescopic rod (26) is fixedly connected with a limiting tooth meshed with the limiting edge, and the telescopic rod (26) is provided with a bobbin (7).

3. An industrial robot as claimed in claim 2, wherein: the wire reel (7) comprises two second sleeve rings (71) fixedly connected with the telescopic rod (26), a coil spring coil (72) is arranged between the second sleeve rings (71), an inner ring of the coil spring coil (72) is movably connected with the telescopic rod (26) through a coil spring, an electric wire (9) is wound on the coil spring coil (72), and wire material buffer rings (8) are fixedly connected to the two sides of the second sleeve rings (71) and the two sides of the hanging shaft (27).

4. An industrial robot as claimed in claim 3, wherein: wire rod cushion ring (8) are including main ring (81), the inner circle of main ring (81) is inlayed and is had ball (82), two-thirds of ball (82) volume is wrapped up in main ring (81), the outside parcel of electric wire (9) has buffering line cover (92), the outer lane parcel of buffering line cover (92) has reinforcing line cover (91), reinforcing line cover (91) and ball (82) overlap joint.

5. An industrial robot as claimed in claim 1, wherein: the bottom of a main bottom plate (31) of the clamping component (3) is fixedly connected with a back-off groove (32), the two sides of the inverted buckle groove (32) are sequentially overlapped with a main connecting plate (33) and a side mounting bedplate (36) from inside to outside, the main connecting plate (33), the side mounting bedplate (36) and the side groove plate of the inverted groove (32) are fastened and connected through bolts, the bottom of the main connecting plate (33) is movably connected with a movable connecting plate (34) through a movable shaft, the bottom of the movable connecting plate (34) is movably connected with a clamping plate (35) through a movable shaft, the bottom of the side mounting bedplate (36) is fixedly connected with a second telescopic cylinder (361), the output end of the second telescopic cylinder (361) is fixedly connected with a fixed ejector rod (362), the bottom of the fixed ejector rod (362) is movably connected with a movable ejector rod (363) through a movable shaft, the bottom of the movable ejector rod (363) is movably connected with the back side of the clamping plate (35) through a movable buckle.

6. An industrial robot as claimed in claim 5, wherein: the clamping device is characterized in that a front through groove (351) and a side through groove (352) are formed in the front rear portion and the side portion of the clamping plate (35) respectively, a clamping device (4) is arranged in the side through groove (352), one side of the clamping device (4) is fixedly connected with a clamping connecting plate (37) located on the opposite side of the clamping plate (35), the opposite side and the bottom of the clamping connecting plate (37) are respectively fixedly connected with an arc-shaped clamping plate (38) and a triangular clamping plate (39) through bolt fastening, a clamping bolt (41) is connected in the front through groove (351) in a clamping mode, and the clamping bolt (41) is provided with two parts and is located at the top and the bottom of the clamping device (.

7. An industrial robot as claimed in claim 6, wherein: the clamp (4) comprises a first T-shaped rod (42), pressure springs are fixedly connected to two sides of the bottom of the first T-shaped rod (42), a first lantern ring (43) is fixedly connected to the bottom of each pressure spring, and finger rings (5) are fixedly connected to two sides of the first lantern ring (43).