CN112497191A

CN112497191A - Multifunctional industrial robot manipulator

Info

Publication number: CN112497191A
Application number: CN202011336598.3A
Authority: CN
Inventors: 肖卫刚
Original assignee: Changshu Zhizhuang Laser Equipment Research Institute Co ltd
Current assignee: Changshu Zhizhuang Laser Equipment Research Institute Co ltd
Priority date: 2020-11-25
Filing date: 2020-11-25
Publication date: 2021-03-16
Also published as: WO2022109891A1

Abstract

The invention discloses a multifunctional industrial robot manipulator which comprises a lower splicing plate, a fixed block, a first rotating motor, a second rotating motor and a V-shaped block, wherein the fixed block is welded at the top of the lower splicing plate, a limiting groove is formed in the top of the fixed block, an inserting block is sleeved in the limiting groove, the top of the inserting block is connected with an installing plate, a first rotating motor is installed at one end of the top of the installing plate through an installing seat, a water cooling bar is installed at the other end of the top of the installing plate through a reserved groove, the power output end of the first rotating motor is connected with a manipulator rotating arm, and a rotating groove is welded at one side of the end part of the. The manipulator can be used under the situation of clamping a heavy object or clamping a light object, can be distinguished and switched, is simple to disassemble, has a good stabilizing effect when switched, has a good heat dissipation effect of the rotating motor, and is suitable for wide popularization and use.

Description

Multifunctional industrial robot manipulator

Technical Field

The invention relates to the technical field of robot manipulators, in particular to a multifunctional industrial robot manipulator.

Background

The robot manipulator plays an important role in the fields of mechanical production and processing and the like because of the flexible clamping effect.

Patent number CN201420072666.3 discloses a multi-functional industrial robot gripper, including the slide, two cylinders of bottom difference fixed mounting of slide, the roll steel roll is installed respectively at both ends about the slide, the end of two roll steel rolls is fixed plate respectively, two roll steel rolls are connected with the cylinder through the connecting rod respectively, two fixed plate from the top down respectively fixed mounting hole shape work piece interior clamping piece in proper order, convex work piece outside clamping piece, clamping piece includes clamping end and stiff end in the hole shape work piece, the stiff end is connected with the fixed plate, the clamping end is the free end, through increased clamping piece in the hole shape work piece on industrial robot's original gripper, make industrial robot can snatch cylindrical work piece, also can snatch the round hole shape work piece simultaneously, realize industrial robot gripper's multifunctionalization.

Although this mechanical gripper can snatch cylindrical work piece, also can snatch the round hole shape work piece simultaneously, realizes industrial robot hand claw's multi-functionalization, nevertheless has following shortcoming: 1. the manipulator can be used under the situation of clamping a heavy object or a light object, but the two types of objects are not distinguished and switched in the past, so that the manipulator is difficult to disassemble; 2. the stability effect of the manipulator during switching is not good; 3. the heat dissipation effect of the rotating motor is not good. To this end, we propose a multifunctional industrial robot manipulator.

Disclosure of Invention

The invention aims to provide a multifunctional industrial robot manipulator which can be used under the situation of clamping a heavier object or a lighter object and can be switched in a distinguishing way, the manipulator is simple to disassemble, the stability effect of the manipulator during switching is good, the heat dissipation effect of a rotating motor is good, and the problems in the background art are solved.

In order to achieve the purpose, the invention provides the following technical scheme: a multifunctional industrial robot manipulator comprises a lower splicing plate, a fixing block, a first rotating motor, a second rotating motor and a V-shaped block, wherein the fixing block is welded at the top of the lower splicing plate, a limiting groove is formed in the top of the fixing block, an inserting block is sleeved in the limiting groove, a mounting plate is connected to the top of the inserting block, the first rotating motor is mounted at one end of the top of the mounting plate through a mounting seat, a water cooling bar is mounted at the other end of the top of the mounting plate through a reserved groove, a manipulator rotating arm is connected to the power output end of the first rotating motor, a rotating groove is welded at one side of the end portion of the manipulator rotating arm, a rotary cover is mounted at one end of the top of the rotating groove through a threaded groove, a rotating shaft is sleeved on the inner side of the rotating groove, the manipulator rotating arms are connected through the rotating shaft and the rotating groove, an upper splicing plate is, the bottom of the lower splice plate is provided with a lower rotary groove in a penetrating way near the edge, the bottom of the lower splice plate is provided with a second rotating motor through a fastening screw, the power output end of the second rotating motor is connected with a connecting plate, the bottom of the upper splice plate is provided with an upper rotary groove at a position corresponding to the lower rotary groove, the upper rotary groove is internally sheathed with a fixed ball, the bottom of the fixed ball is connected with a connecting rod through the fixed column, the bottom of the connecting rod is connected with the connecting plate, a V-shaped block is welded at the bottom of the connecting plate, two ends of one side of the bottom of the V-shaped block are both provided with a limiting slot, the other side of the bottom of the V-shaped block is provided with a fixed mounting plate through a bolt, one side of the top end of the limiting slot is provided with a clamping groove, the water cooling head is connected with the water cooling bar through a cooling water conveying pipe, and an electromagnetic pump is arranged at one end, close to the water cooling bar, of the cooling water conveying pipe.

As a preferred embodiment of the present invention, reinforcing ribs are disposed at connecting corners between the top end of the fixing block and the mounting plate.

As a preferred embodiment of the present invention, the bottom of the lower splice plate near the edge is provided with a plurality of groups of prepared holes in a penetrating manner.

As a preferred embodiment of the present invention, a closing plate is welded to the periphery of the insertion block, and the closing plate and the top end of the fixing block are connected by fastening screws.

As a preferred embodiment of the present invention, the end of the elongated buckle is clamped in the slot.

As a preferred embodiment of the present invention, a heat dissipation fan is fixedly installed on the outer side of the water cooling row through a screw.

In a preferred embodiment of the present invention, one end of the rotary slot is fixedly installed with a sealing plate by a screw.

As a preferred embodiment of the present invention, the quick-release mounting plate and the fixed mounting plate are provided with mounting holes through the bottom near the edges.

Compared with the prior art, the invention has the following beneficial effects:

the invention relates to a multifunctional industrial robot manipulator, wherein a rotating shaft is driven by an external motor, a rotating shaft in a rotating groove is rotated to drive a manipulator rotating arm to rotate, a first rotating motor can drive the manipulator rotating arm to rotate in the other direction when in work, personnel can adjust the direction of the manipulator rotating arm to enable a quick-release mounting disc or a fixed mounting disc to be positioned in the vertical direction, the personnel can open a second rotating motor to drive a connecting plate to rotate when in work, so that the quick-release mounting disc and the fixed mounting disc can be switched, the mechanical gripper can be conveniently mounted by mounting holes close to the edge at the bottom of the quick-release mounting disc and the fixed mounting disc, when the workpiece to be gripped by the mechanical gripper is light, the mechanical gripper can be mounted at the bottom of the quick-release mounting disc, when the workpiece to be gripped by the mechanical gripper is heavy, can install mechanical tong in fixed mounting dish bottom, and then can install mechanical tong to the different situation and distinguish the switching, and when installing mechanical tong in quick detach mounting dish bottom, personnel can be in the draw-in groove to rectangular shape buckle tip application of force for rectangular shape buckle is deviate from in the spacing slot, and then conveniently carries out quick dismantlement to mechanical tong.

According to the multifunctional industrial robot manipulator disclosed by the invention, when the mechanical gripper is switched, after the upper splice plate and the lower splice plate are spliced, the upper rotary groove and the lower rotary groove are correspondingly communicated, and the rotation of the connecting rod and the connecting plate can be guided by the sliding of the fixing ball in the upper rotary groove, so that the rotation of the connecting plate is more stable, and the stable effect of the mechanical gripper during switching is better.

According to the multifunctional industrial robot manipulator, the heat generated when the first rotating motor and the second rotating motor work is conveniently conducted through the water cooling heads, the heat is conveniently absorbed through cooling water in the cooling water conveying pipe, the water with the heat enters the water cooling bar through the action of the electromagnetic pump, the heat at the water inlet cooling bar is conveniently dissipated through the heat dissipation fan, and therefore the heat dissipation effect is greatly improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic view of the overall structure of a manipulator of a multifunctional industrial robot according to the present invention.

Fig. 2 is a schematic diagram of the internal structure of a rotary groove of a manipulator of a multifunctional industrial robot.

Fig. 3 is a schematic diagram of an upper splice plate, a lower splice plate and a fixing ball of a manipulator of a multifunctional industrial robot.

Fig. 4 is a schematic view of the mounting structure of the quick-release mounting plate and the fixed mounting plate of the manipulator of the multifunctional industrial robot.

In the figure: 1. a fixed block; 2. a limiting groove; 3. inserting a block; 4. mounting a plate; 5. a first rotating electric machine; 6. a second rotating electric machine; 7. water cooling and draining; 8. a heat radiation fan; 9. a water cooling head; 10. an electromagnetic pump; 11. a manipulator rotating arm; 12. rotating the groove; 13. screwing a cover; 14. a V-shaped block; 15. a quick-release mounting plate; 16. cooling the water delivery pipe; 17. fixing the mounting plate; 18. a rotating shaft; 19. an upper splice plate; 20. a lower splice plate; 21. a connecting plate; 22. a connecting rod; 23. an upper rotary groove; 24. a lower rotary trough; 25. fixing the ball; 26. a closing plate; 27. limiting slots; 28. a card slot; 29. the long strip-shaped buckle.

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.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly, e.g., as meaning fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed; the type of the electrical appliance provided by the invention is only used for reference. For those skilled in the art, different types of electrical appliances with the same function can be replaced according to actual use conditions, and for those skilled in the art, the specific meaning of the above terms in the present invention can be understood in specific situations.

Referring to fig. 1-4, the present invention provides a technical solution: a multifunctional industrial robot manipulator comprises a lower splicing plate 20, a fixed block 1, a first rotating motor 5, a second rotating motor 6 and a V-shaped block 14, wherein the fixed block 1 is welded at the top of the lower splicing plate 20, a limiting groove 2 is formed in the top of the fixed block 1, an inserting block 3 is sleeved in the limiting groove 2, a mounting plate 4 is connected to the top of the inserting block 3, the first rotating motor 5 is mounted at one end of the top of the mounting plate 4 through a mounting seat, a water cooling bar 7 is mounted at the other end of the top of the mounting plate 4 through a reserved groove, a manipulator rotating arm 11 is connected to the power output end of the first rotating motor 5, a rotating groove 12 is welded at one side of the end portion of the manipulator rotating arm 11, a rotary cover 13 is mounted at one end of the top of the rotating groove 12 through a threaded groove, a rotating shaft 18 is sleeved on the inner side of the rotating groove, the lower portion of the top end of the manipulator rotating arm 11 is connected with an upper splice plate 19, the bottom of the upper splice plate 19 is fixedly provided with a lower splice plate 20 through a connecting screw, the bottom of the lower splice plate 20 is provided with a lower rotary groove 24 through penetrating near the edge, the bottom of the lower splice plate 20 is provided with a second rotating motor 6 through a fastening screw, the power output end of the second rotating motor 6 is connected with a connecting plate 21, the bottom of the upper splice plate 19 is provided with an upper rotary groove 23 corresponding to the lower rotary groove 24, the upper rotary groove 23 is internally sleeved with a fixed ball 25, the bottom of the fixed ball 25 is connected with a connecting rod 22 through a fixed column, the bottom of the connecting rod 22 is connected with the connecting plate 21, the bottom of the connecting plate 21 is welded with a V-shaped block 14, two ends of one side of the bottom of the V-shaped block, draw-in groove 28 has been seted up to spacing slot 27 top one side, spacing slot 27 endotheca is equipped with rectangular shape buckle 29 and rectangular shape buckle 29 bottom and is connected with quick detach mounting disc 15, the second rotates motor 6 and first rotation motor 5's the end one side that generates heat and all has water-cooling head 9 through the screw mounting, be connected through cooling raceway 16 between water-cooling head 9 and the water-cooling row 7, it is provided with electromagnetic pump 10 to be close to water-cooling row 7 one end on the cooling raceway 16.

And reinforcing ribs are arranged at the connecting corners of the top end of the fixed block 1 and the mounting plate 4.

In this embodiment, as shown in fig. 1, the strength of the joint between the fixing block 1 and the mounting plate 4 can be enhanced by the reinforcing ribs.

The bottom of the lower splice plate 20 is provided with a plurality of groups of preformed holes through the edge.

In this embodiment, as shown in fig. 1, the stability of the lower splice plate 20 when the outer screw penetrates through the outer connecting surface for connection can be effectively improved by the multiple groups of preformed holes.

And a closing plate 26 is welded on the periphery of the inserting block 3, and the closing plate 26 is connected with the top end of the fixing block 1 through a fastening screw.

In this embodiment, as shown in fig. 1, the closing plate 26 is fastened to the fixing block 1, so that the fixing effect of the insertion block 3 and the fixing block 1 can be effectively improved.

Wherein, the end of the strip-shaped buckle 29 is clamped in the clamping groove 28.

In this embodiment, as shown in fig. 4, a person can apply force to the end of the elongated buckle 29, so that the elongated buckle 29 is disengaged from the limiting slot 27.

And a heat radiation fan 8 is fixedly arranged on the outer side of the water cooling row 7 through a screw.

In the embodiment, as shown in fig. 1, the heat discharged from the water cooling bank 7 is quickly dissipated by using the heat dissipation fan 8.

Wherein, a closed plugging plate is fixedly arranged at one end of the rotary groove 12 through a screw.

In this embodiment, as shown in fig. 2, the position of the rotating shaft 18 in the rotating groove 12 can be limited by the sealing blocking plate.

The quick-release mounting disc 15 and the fixed mounting disc 17 are provided with mounting holes in the bottom near the edge in a penetrating manner.

In this embodiment, as shown in fig. 1 and 4, a light mechanical gripper and a heavy mechanical gripper can be mounted at the bottom of the quick release mounting plate 15 and the fixed mounting plate 17 through the mounting holes, respectively.

The working principle is as follows: the invention relates to a multifunctional industrial robot manipulator, which comprises a fixed block 1, a limiting groove 2, an inserting block 3, a mounting plate 4, a first rotating motor 5, a second rotating motor 6, a water cooling row 7, a cooling fan 8, a water cooling head 9, an electromagnetic pump 10, a manipulator rotating arm 11, a rotating groove 12, a rotary cover 13, a V-shaped block 14, a quick-release mounting disc 15, a cooling water pipe 16, a fixed mounting disc 17, a rotating shaft 18, an upper splicing plate 19, a lower splicing plate 20, a connecting plate 21, a connecting rod 22, an upper rotating groove 23, a lower rotating groove 24, a fixed ball 25, a sealing plate 26, a limiting slot 27, a clamping groove 28 and a strip-shaped buckle 29, wherein the components are all universal standard components or components known by technical manuals or conventional experimental methods, and the structure and principle of the components can be known by technical manuals or known by conventional experimental methods, the power element, the electric devices, the adaptive monitoring computer and the power supply are connected through leads, the specific connecting means refers to the following working principle that the electric connection is completed among the electric devices in sequence, the detailed connecting means is a known technology in the field, the following main description of the working principle and the process is provided, no description is provided for the electric control, when in work, the rotating shaft 18 is driven by an external motor, the rotating shaft 18 rotates in the rotating groove 12 to drive the manipulator rotating arm 11 to rotate, when in work, the first rotating motor 5 can drive the manipulator rotating arm 11 to rotate in the other direction, personnel can adjust the direction of the manipulator rotating arm 11, so that the quick-release mounting disc 15 or the fixed mounting disc 17 is positioned in the vertical direction, the personnel can open the second rotating motor 6, and when in work, the connecting plate 21 is driven to rotate, therefore, the quick-release mounting disc 15 and the fixed mounting disc 17 can be switched, the mechanical clamping hand can be conveniently mounted by using the mounting holes at the bottom parts close to the edges of the quick-release mounting disc 15 and the fixed mounting disc 17, when the workpiece needing to be clamped by the mechanical clamping hand is light, the mechanical clamping hand can be mounted at the bottom part of the quick-release mounting disc 15, when the workpiece needing to be clamped by the mechanical clamping hand is heavy, the mechanical clamping hand can be mounted at the bottom part of the fixed mounting disc 17, the mechanical clamping hand can be mounted under different conditions for distinguishing and switching, when the mechanical clamping hand is mounted at the bottom part of the quick-release mounting disc 15, a person can apply force to the end part of the strip-shaped buckle 29 in the clamping groove 28 to enable the strip-shaped buckle 29 to be separated from the limiting slot 27, so as to conveniently and quickly dismount the mechanical clamping hand, after the upper splice plate 19 and the lower splice plate, go up the turn trough 23 and correspond the link up with lower turn trough 24, utilize the slip of fixed ball 25 in last turn trough 23, can play the guide effect to the rotation of connecting rod 22 and connecting plate 21, make the rotation of connecting plate 21 more steady, and then make the steady effect of machinery tong when switching better, utilize water-cooling head 9 to conveniently carry out the heat conduction to the heat that first rotation motor 5 and the production of second rotation motor 6 during operation, utilize cooling water convenience in the cooling raceway 16 to absorb the heat, make to have in the thermal water gets into water-cooling row 7 with the effect of electromagnetic pump 10, utilize radiator fan 8 to conveniently advance the heat of water-cooling row 7 department and give off, thereby rotate motor 5 and second rotation motor 6 to dispel the heat, the radiating effect has been promoted greatly.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a multi-functional industrial robot manipulator, includes splice plate (20), fixed block (1), first rotating electrical machines (5), second rotating electrical machines (6) and V-arrangement piece (14) down, its characterized in that: the welding of splice plate (20) top has fixed block (1) down, spacing groove (2) and spacing groove (2) endotheca are seted up at fixed block (1) top and insert (3) are established to spacing groove (2), insert (3) top is connected with mounting panel (4), first rotation motor (5) is installed through the mount pad to mounting panel (4) top one end, water-cooling row (7) are installed through the reservation groove to mounting panel (4) top other end, the power take off end of first rotation motor (5) is connected with manipulator rotor arm (11), the welding of manipulator rotor arm (11) tip one side has rotor groove (12), spiral cover (13) is installed through the thread groove to rotor groove (12) top one end, the inboard cover of rotor groove (12) is equipped with pivot (18), connect through pivot (18) and rotor groove (12) between manipulator rotor arm (11), the manipulator is characterized in that the lower part of the top end of the manipulator rotating arm (11) is connected with an upper splicing plate (19), the bottom of the upper splicing plate (19) is fixedly provided with a lower splicing plate (20) through a connecting screw, the bottom of the lower splicing plate (20) is provided with a lower rotating groove (24) through a position close to the edge, the bottom of the lower splicing plate (20) is provided with a second rotating motor (6) through a fastening screw, the power output end of the second rotating motor (6) is connected with a connecting plate (21), the bottom of the upper splicing plate (19) is provided with an upper rotating groove (23) at a position corresponding to the lower rotating groove (24), the upper rotating groove (23) is internally sleeved with a fixed ball (25), the bottom of the fixed ball (25) is connected with a connecting rod (22) through a fixed column, the bottom of the connecting rod (22) is connected with the connecting plate (21), a V-shaped block (14) is welded at the, v-arrangement piece (14) bottom opposite side has installed fixed mounting dish (17) through the bolt, draw-in groove (28) have been seted up to spacing slot (27) top one side, spacing slot (27) endotheca is equipped with rectangular shape buckle (29) and rectangular shape buckle (29) bottom and is connected with quick detach mounting disc (15), the second rotates motor (6) and first rotation motor (5) generate heat end one side and all installs water-cooling head (9) through the screw, be connected through cooling raceway (16) between water-cooling head (9) and the water-cooling row (7), it is provided with electromagnetic pump (10) to be close to water-cooling row (7) one end on cooling raceway (16).

2. A multifunctional industrial robot manipulator according to claim 1, characterized in that: the corner is connected with mounting panel (4) on fixed block (1) top and is provided with the strengthening rib.

3. A multifunctional industrial robot manipulator according to claim 1, characterized in that: the bottom of the lower splicing plate (20) is close to the edge and is provided with reserved holes in a penetrating mode, and the number of the reserved holes is specifically set to be multiple groups.

4. A multifunctional industrial robot manipulator according to claim 1, characterized in that: the plug-in block (3) periphery welding has closing plate (26), connect through fastening screw between closing plate (26) and fixed block (1) top.

5. A multifunctional industrial robot manipulator according to claim 1, characterized in that: the end part of the strip-shaped buckle (29) is clamped in the clamping groove (28).

6. A multifunctional industrial robot manipulator according to claim 1, characterized in that: and a heat radiation fan (8) is fixedly arranged on the outer side of the water cooling bar (7) through a screw.

7. A multifunctional industrial robot manipulator according to claim 1, characterized in that: and one end of the rotary groove (12) is fixedly provided with a closed plugging plate through a screw.

8. A multifunctional industrial robot manipulator according to claim 1, characterized in that: the quick-release mounting disc (15) and the fixed mounting disc (17) are provided with mounting holes in the bottom portion close to the edge portion in a penetrating mode.