CN112720428A - New-generation industrial robot based on high-end equipment manufacturing industry - Google Patents
New-generation industrial robot based on high-end equipment manufacturing industry Download PDFInfo
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- CN112720428A CN112720428A CN202110071004.9A CN202110071004A CN112720428A CN 112720428 A CN112720428 A CN 112720428A CN 202110071004 A CN202110071004 A CN 202110071004A CN 112720428 A CN112720428 A CN 112720428A
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- mechanical claw
- gripper
- manufacturing industry
- industrial robot
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- 239000007787 solid Substances 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 230000009471 action Effects 0.000 claims abstract description 11
- 238000005299 abrasion Methods 0.000 claims abstract description 8
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 239000012530 fluid Substances 0.000 claims description 29
- 238000001179 sorption measurement Methods 0.000 claims description 24
- 239000000835 fiber Substances 0.000 claims description 23
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- 239000004033 plastic Substances 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 241000252254 Catostomidae Species 0.000 claims description 3
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Images
Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
The invention discloses a new generation industrial robot based on high-end equipment manufacturing industry, belonging to the field of robots, the scheme is that manufactured objects are clamped by a mechanical claw, the mechanical claw rotates along with the rotation of an adjusting bearing, when current is led to piezoelectric ceramics by a conductive wire, the piezoelectric ceramics is electrified and then rapidly expands upwards through the limit of a flexible net, when the mechanical claw is closed, a changeability supporting platform is effectively reduced to be clamped between the mechanical claw and the manufactured objects, under the action of an electric field, the liquid-solid conversion can occur in an anti-slip layer, when the anti-slip layer and the lower end of the mechanical claw are contacted with the clamped objects, the contact area of the clamped objects is improved, the risk that the manufactured objects fall off from the mechanical claw is effectively reduced, one end of an extrusion block is extruded to the extrusion block in a mounting hole through the repeated clamping movement of the mechanical claw, lubricating grease is extruded to the rotation position of the mechanical claw from a conduit through the hollow extrusion bag, and the abrasion of the mechanical claw is reduced.
Description
Technical Field
The invention relates to the field of robots, in particular to a new generation of industrial robot based on high-end equipment manufacturing industry.
Background
Industrial robots are multi-joint manipulators widely used in the industrial field or multi-degree-of-freedom machine devices, have a certain degree of automation, can realize various industrial processing and manufacturing functions by means of self power energy and control capability, and are widely applied to various industrial fields such as electronics, logistics, chemical industry and the like.
The manipulator is one of industrial robots, mainly comprises three major parts, namely an execution mechanism, a driving mechanism and a control system, the hand part is a part for holding a workpiece (or a tool), the hand part has various structural forms such as a clamping type, a holding type, an adsorption type and the like according to the shape, the size, the weight, the material and the operation requirement of the held object, the motion mechanism enables the hand part to complete various rotation (swing), movement or compound motions to realize the specified actions, the position and the posture of the held object are changed, the independent motion modes such as lifting, stretching, rotating and the like of the motion mechanism are called as the degree of freedom of the manipulator, 6 degrees of freedom are needed for holding the object at any position and any direction in space, the more degrees of freedom are key parameters for designing the manipulator, the more the degree of freedom, the greater the flexibility and the wider the universality and the more complex the structure, the general special manipulator has 2-3 degrees of freedom, and the control system accomplishes specific action through the control to the motor of every degree of freedom of manipulator, receives the information of sensor feedback simultaneously, forms stable closed-loop control, and the core of control system usually comprises microcontroller chips such as singlechip or dsp, realizes the required function through programming to it.
At present, industrial robots cannot effectively combine a clamping type, a holding type and an adsorption type of a manipulator, and cannot rapidly process manufactured objects further, so that the working efficiency is reduced, and therefore a new generation of industrial robots based on high-end equipment manufacturing industry is needed.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide a new generation industrial robot based on high-end equipment manufacturing industry, when mechanical claws are mutually closed, manufactured objects are clamped, the mechanical claws rotate along with the rotation of an adjusting bearing, the angles of the manufactured objects are adjusted through the clamping of the mechanical claws, when current is led to piezoelectric ceramics through conductive wires, the piezoelectric ceramics are quickly expanded upwards through the limit of a flexible net after being electrified, when the mechanical claws are closed, the changeability of a supporting platform is effectively reduced to be clamped between the mechanical claws and the manufactured objects, the transformation from liquid to solid can be generated under the action of an electric field, the electric field intensity is greatly higher than the critical value of electrorheological fluid, the electrorheological fluid is changed into the solid, when an anti-skid layer and the lower ends of the mechanical claws are in contact with clamped objects, the contact area of the clamped objects is improved, the risk that the manufactured objects fall off from the mechanical claws is effectively reduced, the repeated clamping motion of the gripper enables one end of the extrusion block to extrude the extrusion block in the mounting hole, lubricating grease is extruded to the rotating position of the gripper from the conduit through the hollow extrusion bag by extruding the hollow extrusion bag, and the abrasion of the gripper is reduced.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
A new generation of industrial robot based on high-end equipment manufacturing industry comprises a pair of preset slide rails, a pair of fixed sliding tables are connected between the preset slide rails in a sliding mode, the upper ends of the fixed sliding tables are rotatably connected with a robot body, one end, far away from the fixed sliding tables, of the robot body is fixedly connected with an adjusting bearing, one end of the adjusting bearing is fixedly connected with a connecting rod, the lower end of the connecting rod is fixedly connected with a clamping table, a plurality of uniformly distributed mechanical claws are installed at the outer end of the clamping table, a plurality of variable supporting tables are fixedly connected between the mechanical claws, a plurality of uniformly distributed piezoelectric ceramics are arranged in the variable supporting tables, conductive wires are fixedly connected between the piezoelectric ceramics, a flexible net is arranged in the variable supporting tables and is positioned at the lower sides of the piezoelectric ceramics, and a plurality of form changing devices are fixedly connected between the mechanical claws, the utility model discloses a structure of variable-form holding platform, including the form change device, the variable-form holding platform is provided with a plurality of evenly distributed's connecting wire, the inside of grip slipper is equipped with lubricating arrangement, in industrial manufacturing, the manipulator that uses industrial robot carries, carry through the mutual closure of gripper to the preparation thing, the gripper follows the rotation of adjusting bearing and rotates, the angle of preparation thing is adjusted to the centre gripping through the gripper of gripper, when leading to the piezoceramics to go up through with the electric current, the spacing quick upwards inflation through flexible net after the piezoceramics circular telegram, the effectual variable-form holding platform card that reduces when the gripper is closed holds between gripper and preparation thing, make the gripper have the function of holding through the form change device, and improve the degree of lubrication when the gripper rotates through lubricating arrangement, the degree of wear of effectual reduction gripper.
Further, the form change device includes the skid resistant course, the skid resistant course is located the downside that the platform was held in the variability, fixedly connected with supporting network between the inner wall of skid resistant course, the inside packing of skid resistant course has electrorheological fluid, electrorheological fluid is located the outside of supporting network, electrorheological fluid is a suspension under normal condition, can take place the transition of liquid to solid under the effect of electric field, and when electric field strength was higher than the critical value of electrorheological fluid greatly, electrorheological fluid just becomes solid-state, and when the lower extreme and the centre gripping thing of skid resistant course and gripper contacted, improved the area of contact to the centre gripping thing, the effectual risk that makes the thing and drop from the gripper.
Further, the lubricating device comprises a hollow extrusion bag which is positioned inside the clamping table, lubricating grease is filled in the clamping table and is positioned on the outer side of the hollow extrusion bag, a conduit is arranged in the mechanical claw and communicated with the interior of the clamping table, guide fibers are arranged in the conduit, the inner wall of the clamping table is provided with a mounting hole in a chiseling way, an extrusion block is arranged in the mounting hole, the lower end of the mechanical claw is fixedly connected with a C-shaped rod, one end of the extrusion block, far away from the mechanical claw, corresponds to the C-shaped rod, when the mechanical claw is used for clamping the manufactured object, the repeated clamping movement of the mechanical claw enables one end of the extrusion block to extrude in the mounting hole, lubricating grease is extruded to the rotating position of the mechanical claw from the interior of the guide pipe through the hollow extrusion bag by extruding the hollow extrusion bag, so that the abrasion of the mechanical claw is reduced.
Further, the fibrous outer end fixedly connected with of direction has a plurality of evenly distributed's of extension fibre, the fibrous one end fixedly connected with of direction that extends the fibre and adsorbing the ball, the outer end of adsorbing the ball is scribbled the oleophilic layer, and during lubricating grease way pipe, through the frictional force of guide fibre increase lubricating grease in the pipe, be difficult for revealing in the pipe, when the gripper is the support form, adsorb lubricating grease in the pipe through adsorbing the ball, reduce lubricating grease's excessive discharge to improve lubricating grease's life cycle.
Further, it is a plurality of the equal fixedly connected with electromagnetism adsorption coil of lower extreme of changeability support platform, the outer end fixedly connected with emulsion layer of electromagnetism adsorption coil improves the area of contact of electromagnetism adsorption coil and manufacturing thing, improves the adsorption effect of gripper.
Furthermore, fixed slip table all adopts the hot forming steel technology with the robot to make, the outer end of fixed slip table and robot all coats and has brushed the hydrophobic layer for fixed slip table and robot have higher intensity, improve the availability factor of fixed slip table and robot, and the difficult adhesion of the dust in workshop is on its surface.
Furthermore, changeability holding platform adopts high temperature resistant rubber of high tenacity to make, changeability holding platform's inner wall is filled with plastic ion for changeability holding platform improves changeability holding platform's tenacity when holding the form, improves changeability holding platform and to the stability of the support of making the thing, is difficult for breaking.
Furthermore, the gripper adopts multistage formula structure, the lower terminal wall fixedly connected with of gripper has a plurality of sucking discs, is convenient for the irregular preparation of centre gripping, improves the adsorption effect of gripper through the sucking disc, reduces the probability that the preparation drops from in the gripper.
A new generation industrial robot based on high-end equipment manufacturing industry, the use method comprises the following steps:
s1, when the mechanical claws are closed, the manufactured object is clamped, the mechanical claws rotate along with the rotation of the adjusting bearing, and the angle of the manufactured object is adjusted through the clamping of the mechanical claws;
s2, when the current is led to the piezoelectric ceramics through the conductive wire, the piezoelectric ceramics quickly expand upwards through the limit of the flexible net after being electrified, and the changeability supporting table is effectively reduced to be clamped between the mechanical claw and a manufactured object when the mechanical claw is closed;
s3, liquid-solid conversion can occur under the action of electric field, when the electric field intensity is greatly higher than the critical value of the electrorheological fluid, the electrorheological fluid becomes solid, when the anti-skid layer and the lower end of the mechanical claw are contacted with the clamped object, the contact area of the clamped object is increased;
s4, repeatedly clamping the mechanical claw to enable one end of the extrusion block to extrude the C-shaped rod in the mounting hole, and lubricating grease is extruded to the rotating position of the mechanical claw from the guide pipe through the hollow extrusion bag by extruding the hollow extrusion bag, so that abrasion of the mechanical claw is reduced.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) when the mechanical claws are mutually closed, manufactured objects are clamped, the mechanical claws rotate along with the rotation of the adjusting bearing, the angle of the manufactured objects is adjusted through the clamping of the mechanical claws, when current is led to the piezoelectric ceramic through the conductive wires, the piezoelectric ceramic is electrified and then rapidly expands upwards through the limit of the flexible net, when the mechanical claws are closed, the changeability supporting table is effectively reduced and clamped between the mechanical claws and the manufactured objects, the liquid-solid conversion can be generated under the action of an electric field, the electrorheological fluid is changed into a solid state when the electric field intensity is greatly higher than the critical value of the electrorheological fluid, when the lower ends of the antiskid layer and the mechanical claws are contacted with the clamped objects, the contact area of the clamped objects is increased, the risk that the manufactured objects fall off from the mechanical claws is effectively reduced, and the repeated clamping movement of the mechanical claws enables one end of the extruding block to extrude the extruding block in the mounting hole, lubricating grease is extruded to the rotating position of the mechanical claw from the interior of the guide pipe through the hollow extrusion bag by extruding the hollow extrusion bag, so that the abrasion of the mechanical claw is reduced.
(2) The form change device comprises an anti-slip layer, the anti-slip layer is positioned on the lower side of the changeability supporting platform, a supporting net is fixedly connected between the inner walls of the anti-slip layer, electrorheological fluid is filled in the anti-slip layer and positioned on the outer side of the supporting net, the electrorheological fluid is suspension liquid under the common condition, the liquid-solid conversion can occur under the action of an electric field, the electric field intensity is greatly higher than the critical value of the electrorheological fluid, the electrorheological fluid is changed into a solid state, when the lower ends of the anti-slip layer and the mechanical claw are in contact with a clamping object, the contact area of the clamping object is increased, and the risk that the manufactured object falls off from the mechanical claw is effectively reduced.
(3) Lubricating arrangement includes hollow extrusion bag, hollow extrusion bag is located the inside of centre gripping platform, the inside packing of centre gripping platform has lubricating grease, lubricating grease is located the outside of hollow extrusion bag, the internally mounted of gripper has the pipe, the pipe communicates with each other with the inside of centre gripping platform, the internally mounted of pipe has the direction fibre, the mounting hole has been opened and chiseled on the inner wall of centre gripping platform, the inside extrusion piece that is equipped with of mounting hole, the lower extreme fixedly connected with of gripper, the one end and corresponding of gripper are kept away from to the extrusion piece, when centre gripping is carried out the preparation through the gripper, the repeated clamping movement of gripper makes the extrusion piece the one end to the extrusion in the mounting hole, through extruding hollow extrusion bag, extrude the rotational position to the gripper in the pipe lubricating grease through hollow extrusion bag, reduce the wearing and tearing of gripper.
(4) The fibrous extension fibre of a plurality of evenly distributed of guide fiber's outer end fixedly connected with, the fibrous one end fixedly connected with of guide fiber is kept away from to the extension fibre adsorbs the ball, the outer end of adsorbing the ball is scribbled the oleophilic oil layer, during lubricating grease way pipe, through the frictional force of guide fiber increase lubricating grease in the pipe, be difficult for revealing in the pipe, when the gripper is the support form, adsorb lubricating grease in the pipe through adsorbing the ball, reduce lubricating grease's excessive discharge, thereby improve lubricating grease's life cycle.
(5) The equal fixedly connected with electromagnetism adsorption coil of lower extreme of a plurality of changeability support platforms, the outer end fixedly connected with emulsion layer of electromagnetism adsorption coil improves the area of contact of electromagnetism adsorption coil and manufacturing thing, improves the adsorption effect of gripper.
(6) Fixed slip table all adopts the hot forming steel technology to make with the robot, and the outer end of fixed slip table and robot all coats and has brushed the hydrophobic layer for fixed slip table and robot have higher intensity, improve the availability factor of fixed slip table and robot, and the difficult adhesion of dust in workshop is on its surface.
(7) The changeability supporting platform is made of high-toughness high-temperature-resistant rubber, and plastic ions are filled in the inner wall of the changeability supporting platform, so that the changeability supporting platform is enabled to have improved toughness and stability in supporting manufactured objects and is not prone to cracking when being in a supporting shape.
(8) The gripper adopts multistage formula structure, and the lower terminal wall fixedly connected with of gripper has a plurality of sucking discs, and the anomalous preparation of centre gripping of being convenient for improves the adsorption effect of gripper through the sucking disc, reduces the probability that the preparation drops from in the gripper.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic top view of the gripper of the present invention;
FIG. 3 is a schematic diagram of an elevational cross-sectional view of the variability pallet of the present invention;
FIG. 4 is an enlarged view of the structure at A in FIG. 3;
FIG. 5 is a schematic top sectional view of the clamping table of the present invention;
FIG. 6 is a schematic front sectional view of a clamping table according to the present invention;
fig. 7 is a schematic front view of the guiding and limiting structure of the present invention.
The reference numbers in the figures illustrate:
the robot comprises a preset sliding rail 1, a fixed sliding table 2, a robot body 3, an adjusting bearing 4, a connecting rod 5, a clamping table 6, a mechanical claw 7, a changeability supporting table 8, an electromagnetic adsorption coil 9, piezoelectric ceramics 10, a conductive wire 1001, a flexible net 11, an anti-skid layer 12, a connecting wire 1201, electrorheological fluid 13, a supporting net 14, lubricating grease 15, guide fibers 16, a hollow extrusion bag 17, an extrusion block 18, a 1801C-shaped rod, extension fibers 19 and an adsorption ball 20.
Detailed Description
The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
referring to fig. 1-3, a new generation industrial robot based on high-end equipment manufacturing industry, includes a pair of preset slide rails 1, a fixed sliding table 2 is slidably connected between the pair of preset slide rails 1, a robot body 3 is rotatably connected to the upper end of the fixed sliding table 2, an adjusting bearing 4 is fixedly connected to one end of the robot body 3 away from the fixed sliding table 2, a connecting rod 5 is fixedly connected to one end of the adjusting bearing 4, a clamping table 6 is fixedly connected to the lower end of the connecting rod 5, a plurality of evenly distributed mechanical claws 7 are installed at the outer end of the clamping table 6, a variable supporting table 8 is fixedly connected between the plurality of mechanical claws 7, a plurality of evenly distributed piezoelectric ceramics 10 are arranged inside the variable supporting table 8, conductive wires 1001 are fixedly connected between the plurality of piezoelectric ceramics 10, a flexible net 11 is arranged inside the variable supporting table 8, the flexible net 11 is located under the piezoelectric ceramics 10, form changing devices are fixedly connected among the mechanical claws 7, a plurality of uniformly distributed connecting wires 1201 are fixedly connected between the form changing devices and the changeability supporting platform 8, and a lubricating device is arranged in the clamping platform 6.
Referring to fig. 4, the form change device includes an anti-slip layer 12, the anti-slip layer 12 is located at the lower side of the variable support platform 8, a support net 14 is fixedly connected between the inner walls of the anti-slip layer 12, an electrorheological fluid 13 is filled in the anti-slip layer 12, the electrorheological fluid 13 is located at the outer side of the support net 14, the electrorheological fluid 13 is a suspension liquid under normal conditions, liquid-solid conversion can occur under the action of an electric field, when the electric field strength is greatly higher than the critical value of the electrorheological fluid 13, the electrorheological fluid 13 becomes solid, when the anti-slip layer 12 and the lower end of the gripper 7 are in contact with a clamped object, the contact area of the clamped object is increased, and the risk that the manufactured object falls off from the gripper 7 is effectively reduced.
Referring to fig. 5-6, the lubricating device includes a hollow extrusion bag 17, the hollow extrusion bag 17 is located inside the clamping table 6, the lubricating grease 15 is filled inside the clamping table 6, the lubricating grease 15 is located outside the hollow extrusion bag 17, a conduit is installed inside the gripper 7, the conduit is communicated with the inside of the clamping table 6, a guide fiber 16 is installed inside the conduit, a mounting hole is drilled on the inner wall of the clamping table 6, an extrusion block 18 is arranged inside the mounting hole, a C-shaped rod 1801 is fixedly connected to the lower end of the gripper 7, one end of the extrusion block 18 far away from the gripper 7 corresponds to 1801, when the gripper 7 clamps the manufactured object, one end of the extrusion block 18 extrudes 1801 in the mounting hole through repeated clamping movement of the gripper 7, the hollow extrusion bag 17 is extruded through 1801, the lubricating grease 15 is extruded from the conduit to the rotation position of the gripper 7 through the hollow extrusion bag 17, reducing the wear of the gripper 7.
Referring to fig. 7, the outer end of the guide fiber 16 is fixedly connected with a plurality of uniformly distributed extension fibers 19, one end of each extension fiber 19, which is far away from the guide fiber 16, is fixedly connected with an adsorption ball 20, the outer end of the adsorption ball 20 is coated with a lipophilic layer, when the lubricating grease 15 passes through the guide tube, the friction force of the lubricating grease 15 in the guide tube is increased through the guide fiber 16, the lubricating grease is not easy to leak from the guide tube, when the gripper 7 is in a supporting shape, the lubricating grease 15 in the guide tube is adsorbed through the adsorption ball 20, the excessive discharge of the lubricating grease 15 is reduced, and therefore, the service cycle of the lubricating grease 15 is prolonged.
Please refer to fig. 12, the lower ends of the plurality of changeability supporting tables 8 are fixedly connected with the electromagnetic adsorption coils 9, the outer ends of the electromagnetic adsorption coils 9 are fixedly connected with the emulsion layers, the contact area between the electromagnetic adsorption coils 9 and the manufactured objects is increased, the adsorption effect of the gripper 7 is improved, the fixed sliding table 2 and the robot body 3 are both manufactured by adopting the thermal forming steel process, the outer ends of the fixed sliding table 2 and the robot body 3 are coated with hydrophobic layers, so that the fixed sliding table 2 and the robot body 3 have higher strength, the service efficiency of the fixed sliding table 2 and the robot body 3 is improved, and dust in a workshop is not easy to adhere to the surfaces of the fixed sliding table 2 and the robot body 3.
Referring to fig. 1-2, the changeability supporting table 8 is made of high-toughness high-temperature-resistant rubber, and plastic ions are filled in the inner wall of the changeability supporting table 8, so that when the changeability supporting table 8 is in a supporting shape, the toughness of the changeability supporting table 8 is improved, the stability of the changeability supporting table 8 for supporting manufactured objects is improved, the mechanical claw 7 which is not easy to break adopts a multi-section structure, a plurality of suckers are fixedly connected to the lower end wall of the mechanical claw 7, irregular manufactured objects can be clamped conveniently, the adsorption effect of the mechanical claw 7 is improved through the suckers, and the probability that the manufactured objects fall off from the mechanical claw 7 is reduced.
A new generation industrial robot based on high-end equipment manufacturing industry, the use method comprises the following steps:
s1, when the mechanical claws 7 are closed, the manufactured object is clamped, the mechanical claws 7 rotate along with the rotation of the adjusting bearing 4, and the angle of the manufactured object is adjusted by the clamping of the mechanical claws 7;
s2, when the current is led to the piezoelectric ceramic 10 through the conductive wire 1001, the piezoelectric ceramic 10 is rapidly expanded upwards through the limit of the flexible net 11 after being electrified, and the changeability of the supporting table 8 is effectively reduced to be clamped between the mechanical claw 7 and a manufactured object when the mechanical claw 7 is closed;
s3, liquid-solid conversion can occur under the action of the electric field, when the electric field intensity is greatly higher than the critical value of the electrorheological fluid 13, the electrorheological fluid 13 becomes solid, when the anti-skid layer 12 and the lower end of the mechanical claw 7 are contacted with a clamped object, the contact area of the clamped object is increased;
s4, repeated clamping movement of the mechanical claw 7 enables one end of the extrusion block 18 to extrude 1801 in the installation hole, the hollow extrusion bag 17 is extruded through 1801, lubricating grease 15 is extruded from the guide pipe to the rotating position of the mechanical claw 7 through the hollow extrusion bag 17, and abrasion of the mechanical claw 7 is reduced.
When the mechanical claw 7 is mutually closed, the manufactured object is clamped, the mechanical claw 7 rotates along with the rotation of the adjusting bearing 4, the angle of the manufactured object is adjusted through the clamping of the mechanical claw 7, when the current is led to the piezoelectric ceramic 10 through the conductive wire 1001, the piezoelectric ceramic 10 is quickly expanded upwards through the limit of the flexible net 11 after being electrified, the changeability supporting table 8 is effectively reduced to be clamped between the mechanical claw 7 and the manufactured object when the mechanical claw 7 is closed, the liquid-solid conversion can be generated under the action of an electric field, the electric field intensity is greatly higher than the critical value of the electrorheological fluid 13, the electrorheological fluid 13 is changed into a solid state, when the lower ends of the anti-skid layer 12 and the mechanical claw 7 are contacted with the clamped object, the contact area of the clamped object is increased, the risk that the manufactured object falls from the mechanical claw 7 is effectively reduced, the repeated clamping movement of the mechanical claw 7 enables one end of the extrusion block 18 to extrude 1801 in the installation hole, by pressing 1801 the hollow pressing bag 17, the lubricating grease 15 is pressed from the catheter to the rotating position of the mechanical claw 7 through the hollow pressing bag 17, and the abrasion of the mechanical claw 7 is reduced.
The above; but are merely preferred embodiments of the invention; the scope of the invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; the technical scheme and the improved concept of the invention are equally replaced or changed; are intended to be covered by the scope of the present invention.
Claims (9)
1. A new generation of industrial robot based on high-end equipment manufacturing industry, includes a pair of slide rail (1) of predetermineeing, its characterized in that: a pair of it has fixed slip table (2) to predetermine sliding connection between slide rail (1), the upper end of fixed slip table (2) is rotated and is connected with robot body (3), robot body (3) is kept away from the one end fixedly connected with adjusting bearing (4) of fixed slip table (2), the one end fixedly connected with connecting rod (5) of adjusting bearing (4), the lower extreme fixedly connected with grip slipper (6) of connecting rod (5), a plurality of evenly distributed's gripper (7) are installed to the outer end of grip slipper (6), and is a plurality of fixedly connected with variability holds in the palm platform (8) between gripper (7), the inside that the platform (8) was held in the variability is equipped with a plurality of evenly distributed's piezoceramics (10), and is a plurality of equal fixedly connected with electrically conductive silk (1001) between piezoceramics (10), the inside that platform (8) was held in the variability is equipped with flexible net (11), the flexible net (11) is located on the lower side of the piezoelectric ceramic (10), a plurality of form changing devices are fixedly connected among the mechanical claws (7), a plurality of uniformly distributed connecting wires (1201) are fixedly connected between the form changing devices and the variability supporting table (8), and a lubricating device is arranged inside the clamping table (6).
2. A new generation industrial robot based on high end equipment manufacturing industry according to claim 1 characterized by: the form change device comprises an anti-skid layer (12), wherein the anti-skid layer (12) is located on the lower side of the changeability supporting platform (8), a supporting net (14) is fixedly connected between the inner walls of the anti-skid layer (12), electrorheological fluid (13) is filled in the anti-skid layer (12), and the electrorheological fluid (13) is located on the outer side of the supporting net (14).
3. A new generation industrial robot based on high end equipment manufacturing industry according to claim 1 characterized by: lubricating arrangement includes hollow extrusion bag (17), hollow extrusion bag (17) are located the inside of centre gripping platform (6), the inside packing of centre gripping platform (6) has lubricating grease (15), lubricating grease (15) are located the outside of hollow extrusion bag (17), the internally mounted of gripper (7) has the pipe, the pipe communicates with each other with the inside of centre gripping platform (6), the internally mounted of pipe has guide fiber (16), the inner wall of centre gripping platform (6) is opened and is dug the mounting hole, the inside extrusion piece (18) that is equipped with of mounting hole, the lower extreme fixedly connected with C shape pole (1801) of gripper (7), the one end that gripper (7) were kept away from in extrusion piece (18) is corresponding with C shape pole (1801).
4. A new generation industrial robot based on high end equipment manufacturing industry according to claim 3 characterized by: the outer end fixedly connected with of guide fiber (16) a plurality of evenly distributed extend fibre (19), the one end fixedly connected with that guide fiber (16) was kept away from in extension fibre (19) adsorbs ball (20), the outer end of adsorbing ball (20) is scribbled the lipophilic layer.
5. A new generation industrial robot based on high end equipment manufacturing industry according to claim 1 characterized by: the lower end of the changeability supporting table (8) is fixedly connected with an electromagnetic adsorption coil (9), and the outer end of the electromagnetic adsorption coil (9) is fixedly connected with a latex layer.
6. A new generation industrial robot based on high end equipment manufacturing industry according to claim 1 characterized by: fixed slip table (2) all adopt the hot forming steel technology with robot body (3) to make, the outer end of fixed slip table (2) and robot body (3) all is scribbled the hydrophobic layer for fixed slip table (2) and robot body (3) have higher intensity.
7. A new generation industrial robot based on high end equipment manufacturing industry according to claim 1 characterized by: the changeability supporting table (8) is made of high-toughness high-temperature-resistant rubber, and plastic ions are filled in the inner wall of the changeability supporting table (8).
8. A new generation industrial robot based on high end equipment manufacturing industry according to claim 1 characterized by: the gripper (7) adopts a multi-section structure, and the lower end wall of the gripper (7) is fixedly connected with a plurality of suckers.
9. A new generation industrial robot based on high end device manufacturing industry according to any of the claims 1-8, characterized by: the using method comprises the following steps:
s1, when the mechanical claws (7) are mutually closed, the manufactured object is clamped, the mechanical claws (7) rotate along with the rotation of the adjusting bearing (4), and the angle of the manufactured object is adjusted through the clamping of the mechanical claws (7);
s2, when the current is led to the piezoelectric ceramic (10) through the conductive wire (1001), the piezoelectric ceramic (10) is rapidly expanded upwards through the limit of the flexible net (11) after being electrified, and the changeability of the supporting table (8) is effectively reduced to be clamped between the mechanical claw (7) and a manufactured object when the mechanical claw (7) is closed;
s3, liquid-solid conversion can occur under the action of the electric field, when the electric field intensity is greatly higher than the critical value of the electrorheological fluid (13), the electrorheological fluid (13) becomes solid, when the lower ends of the antiskid layer (12) and the mechanical claw (7) are contacted with a clamped object, the contact area of the clamped object is increased;
s4, one end of the extrusion block (18) is extruded to the C-shaped rod (1801) in the mounting hole through repeated clamping movement of the mechanical claw (7), the hollow extrusion bag (17) is extruded through the C-shaped rod (1801), and lubricating grease (15) is extruded to the rotating position of the mechanical claw (7) from the inside of the guide pipe through the hollow extrusion bag (17), so that abrasion of the mechanical claw (7) is reduced.
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| CN202110071004.9A CN112720428A (en) | 2021-01-19 | 2021-01-19 | New-generation industrial robot based on high-end equipment manufacturing industry |
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| CN202110071004.9A CN112720428A (en) | 2021-01-19 | 2021-01-19 | New-generation industrial robot based on high-end equipment manufacturing industry |
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Cited By (1)
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