CN113580205A

CN113580205A - Industrial manipulator with article protection mechanism

Info

Publication number: CN113580205A
Application number: CN202111154763.8A
Authority: CN
Inventors: 雷灿; 田锋; 彭正兴
Original assignee: Hunan Liyun Intelligent Technology Co ltd
Current assignee: Hunan Liyun Intelligent Technology Co ltd
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2021-11-02

Abstract

The application provides an industrial manipulator with article protection mechanism, belongs to the manipulator field, including arm and gripper body, the arm top is provided with the actuating mechanism who is used for driving the gripper body to remove, and the gripper body sets up at actuating mechanism's middle part, and the bottom of gripper body is provided with direction slide rail mechanism, and actuating mechanism's bottom is provided with the support protection mechanism. This application supports protection machanism through setting up, make the gripper body get the in-process of work piece at the decline clamp, the bottom of gripper body can promote the fly leaf and remove, make the fly leaf can remove to the inside of lagging, the air in the lagging is through discharging, after the gripper body snatchs the work piece and rises, the work piece is located the fly leaf top back, the fly leaf resets gradually and removes to the below of work piece, when making heavier article drop from the gripper body, the fly leaf can hold in the palm carries the thing piece, make the article can directly not fall subaerial, reduce the probability that the article damaged.

Description

Industrial manipulator with article protection mechanism

Technical Field

The invention relates to the field of mechanical arms, in particular to an industrial mechanical arm with an object protection mechanism.

Background

At present, the work piece is grabbed through tip mobilizable claw through most manipulator, and in order to promote the stability of grabbing, the protection line can all be seted up on the claw to the majority for increase article and the frictional force of colluding between the claw, but when grabbing heavier work piece, when the grabbing power of manipulator was not enough, the work piece still breaks away from colluding the claw easily at manipulator removal in-process, falls subaerial between the article that drops, damages easily, and the barrier propterty of article is poor.

Disclosure of Invention

The invention aims to solve the following problems: when a heavy workpiece is grabbed, when the grabbing force of the manipulator is insufficient, the workpiece is still easy to separate from the hook claw in the moving process of the manipulator, and the fallen objects fall on the ground and are easy to damage, so that the protection performance of the objects is poor.

In order to achieve the above object, the present invention provides the following technical solutions to improve the above problems.

An industrial manipulator with an object protection mechanism, a mechanical arm and a mechanical claw body;

the top end of the mechanical arm is provided with a driving mechanism for driving the mechanical claw body to move, and the mechanical claw body is arranged on the front side of the driving mechanism;

the supporting and protecting mechanism is arranged at the bottom end of the driving mechanism and used for supporting the driving mechanism and matched with the mechanical claw body, the supporting and protecting mechanism comprises a driving part arranged at the bottom end of the driving mechanism and a protecting part arranged on the driving part, the protecting part is used for supporting an object on the mechanical claw body, and the protecting part can be used for supporting the extended driving mechanism after being turned;

the protection part comprises a movable block, a sleeve plate is arranged at the end part of the movable block, a square groove is formed in the end part of the movable block, a square cylinder is arranged inside the square groove, the end part of the square cylinder is fixedly connected with the rear side of the sleeve plate, a connecting rod positioned inside the square cylinder is fixedly connected to the inner side of the square groove, a second spring is arranged outside the connecting rod, a movable plate is connected to one end of the sleeve plate in an inserting mode, an inclined plane is arranged at the top of one end of the movable plate, a plurality of balls are sleeved at the bottom of one end of the movable plate, a piston is fixedly connected to the other end of the movable plate, a third spring is fixedly connected to one side of the piston, and the other end of the third spring is fixedly connected to one side inside the sleeve plate;

and the bottom end of the mechanical claw body is provided with a guide sliding rail mechanism for separately supporting the protection mechanism.

As the preferred technical scheme of this application, actuating mechanism includes first guide rail and the second guide rail of setting in first guide rail one end, the first connecting block of rear side fixedly connected with of first guide rail, the rear side fixedly connected with second connecting block of second guide rail, the middle part of second connecting block is connected with first threaded rod through the bearing, the outside of first threaded rod and the middle part threaded connection of first connecting block, the one end fixedly connected with runner of first threaded rod.

As the preferred technical scheme of this application, the top of runner is seted up flutedly, first rectangular channel has all been seted up to the inside both sides of recess, the inside of recess is provided with the handle, the first spring of the inside top fixedly connected with of first rectangular channel, the other end fixedly connected with slider of first spring, the slider rotates through the one end of pivot with the handle avris to be connected, the draw-in groove that uses with the handle cooperation is seted up on the top of second connecting block.

As the preferred technical scheme of this application, the inside sliding connection of first guide rail has the T-shaped piece, the tip of T-shaped piece and the top fixed connection of gripper body rear side, first rack is all installed to the front side of the inside bottom of first guide rail and second guide rail, the top fixedly connected with backup pad of gripper body one side, the rear side fixed mounting of backup pad has first motor, the output shaft fixedly connected with of first motor uses with first rack cooperation first gear

As the preferred technical scheme of this application, the drive division includes that two settings are at the support of first guide rail bottom, the inside of support is connected with the second threaded rod through the bearing, the bottom of support is installed and is used for driving second threaded rod pivoted second motor, the outside threaded connection of second threaded rod and the one end threaded connection of movable block.

As the preferred technical scheme of this application, the check valve is installed to one side that the fly leaf was kept away from to the lagging, first drum is installed to one side on lagging top, the thread groove has been seted up at the top of first drum, the inside threaded connection of thread groove has the screw thread ring, the top fixedly connected with second drum of screw thread ring.

As the preferred technical scheme of this application, the inside fixed mounting of first drum has first annular frame, the inside fixed mounting of second drum has second annular frame, the top fixedly connected with fourth spring of first annular frame, the top fixedly connected with of fourth spring is used for the ball of shutoff second annular frame.

As the preferred technical scheme of this application, direction slide rail mechanism includes that two sets up the third guide rail in gripper body both sides bottom, the inside front side of third guide rail install with the second rack of first rack looks adaptation, the circular slot has all been seted up to the both sides at third guide rail both ends, the second rectangular channel has been seted up at the middle part of circular slot, the inside interlude of circular slot is connected with the lead screw, the outside of lead screw is provided with the ring that is located the inside of second rectangular channel.

As the preferred technical scheme of this application, the spacing groove has all been seted up at the middle part of lead screw top and bottom, the top of ring inner wall and the stopper that the equal fixedly connected with in bottom and spacing groove cooperation were used, the first jack with lead screw looks adaptation is all seted up to the bottom of gripper body both sides, the second jack with lead screw looks adaptation is all seted up to the opposite side of first guide rail and second guide rail.

As the preferred technical scheme of this application, the T-shaped groove has all been seted up to the front and back side of third guide rail bottom, the T-shaped groove has also been seted up to the bottom of third guide rail front and back side, the bottom of third guide rail is provided with two swash plates, two the equal fixedly connected with in top of swash plate and the T-shaped fixture block that the T-shaped groove cooperation was used.

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

1. by arranging the supporting and protecting mechanism, the bottom end of the mechanical claw body can push the movable plate to move in the process that the mechanical claw body descends to clamp a workpiece, so that the movable plate can move to the inside of the sleeve plate, air in the sleeve plate is discharged through the one-way valve, when the mechanical claw body grabs the workpiece and rises, air enters the interior of the sleeve plate through the second cylinder and the first cylinder, air flow is blocked by the round ball and the fourth spring, therefore, the speed of the movable plate for resetting under the action of the third spring is reduced, the mechanical claw body can not be hindered by the movable plate in the process of driving the workpiece to ascend, after the workpiece is positioned above the movable plate, the movable plate gradually resets and moves to the lower part of the workpiece, when a heavy object falls off from the mechanical claw body, the movable plate can support the object, so that the object cannot directly fall on the ground, and the probability of damage to the object is reduced;

2. by arranging the driving mechanism, people can operate the rotating wheel, the rotating wheel can drive the first threaded rod to rotate when rotating, the distance between the first guide rail and the second guide rail is adjusted, when people need to increase the sliding distance of the T-shaped block, the sliding distance of the T-shaped block can be increased by increasing the distance between the first guide rail and the second guide rail and putting the guide slide rail mechanism between the first guide rail and the second guide rail, and the first threaded rod, the first connecting block and the second connecting block can be used for adjusting the distance between the first guide rail and the second guide rail and also can be used for clamping and fixing the guide slide rail mechanism, so that the functionality is strong;

3. through the arrangement of the first spring, the sliding block, the handle and the clamping groove, people can conveniently operate the handle to rotate the rotating wheel, when the first threaded rod does not need to rotate, the handle can be lifted firstly to compress the first spring, so that the bottom of the handle is separated from the bottom of the groove, the handle is rotated, the end part of the handle can be inserted into the clamping groove, the handle is loosened, the handle is attached to the bottoms of the groove and the clamping groove under the action of the first spring and cannot be turned over, the rotating wheel cannot rotate due to the limitation of the clamping groove and the handle, so that the first guide rail and the second guide rail cannot move mutually, the adjustment stability is improved, the handle can be used for assisting people to rotate the rotating wheel and can also be used for limiting the rotating wheel to rotate, and the functionality is strong;

4. by arranging the square groove, the square barrel, the connecting rod and the second spring, people can adjust the steering of the sleeve plate after pulling the sleeve plate to enable the square barrel to be separated from the square groove, so that one end of the movable plate with the balls is downward contacted with the ground, and when people increase the distance between the first guide rail and the second guide rail and the mechanical claw body does not need to grab a heavy workpiece, the movable plate can play a supporting role, the load of the joint of the mechanical arm and the first guide rail in the moving process of the mechanical claw body is reduced, so that the supporting and protecting mechanism not only can be used as a supporting component for supporting the workpiece, but also can be used for supporting the first guide rail and the second guide rail, and has strong functionality;

5. by arranging the threaded ring and the threaded groove, the distance between the second cylinder and the first cylinder can be adjusted, so that the compression amount of the fourth spring is adjusted, the acting force of the round ball on the second annular frame is adjusted, the flow rate of air entering the second cylinder and the first cylinder is adjusted, and the reset speed of the movable plate is adjusted;

6. through the arrangement of the third guide rail, people can operate the circular ring to enable the end part of the screw rod to be screwed into the first jack or the second jack, so that the third guide rail can be matched with the inclined plate to separate the two movable plates when being installed on the mechanical claw body, the sliding distance of the T-shaped block can be prolonged when being installed between the first guide rail and the second guide rail, and the functionality is strong;

7. through setting up the swash plate, T shape fixture block and T-slot, make the third guide rail install on the gripper body, and the swash plate is installed when the bottom of third guide rail, the swash plate can be used for separating the fly leaf, make the fly leaf difficult influence gripper body snatch the article, when the third guide rail is installed between first guide rail and second guide rail, the side at the third guide rail is installed to the swash plate, the one end of swash plate can support on the support, and then can be used for supporting the third guide rail, alleviate the pressure that first threaded rod bore, and is functional strong.

Drawings

FIG. 1 is a schematic diagram of an industrial robot having an article support and guard mechanism provided herein;

FIG. 2 is a rear view of a first rail of an industrial robot having an article support guard provided herein;

FIG. 3 is a perspective view of a wheel of an industrial robot with an article support guard according to the present application;

FIG. 4 is an enlarged schematic view of an industrial robot having an article support guard mechanism at point B according to the present application;

FIG. 5 is a schematic cross-sectional view of a rectangular channel of an industrial robot having an article support guard provided herein;

FIG. 6 is a schematic top view of a support plate of an industrial robot having an article support guard provided herein;

FIG. 7 is a cross-sectional structural view of a support of an industrial robot having an article support guard provided herein;

FIG. 8 is a cross-sectional structural view of a nest plate of an industrial robot having an article support guard provided herein;

FIG. 9 is an enlarged view of the industrial robot with the object support guard mechanism at point C provided herein;

FIG. 10 is an enlarged schematic view of an industrial robot having an article support and guard mechanism as provided herein at A;

FIG. 11 is a cross-sectional view of a third rail of an industrial robot having an article support guard provided herein;

fig. 12 is a schematic view of a connection structure between a third rail and a first rail of an industrial robot with an object support guard mechanism according to the present application.

The following are marked in the figure:

1. a mechanical arm; 2. a drive mechanism; 201. a first guide rail; 202. a second guide rail; 203. a first connection block; 204. a second connecting block; 205. a first threaded rod; 206. a rotating wheel; 207. a groove; 208. a first rectangular groove; 209. a first spring; 210. a slider; 211. a handle; 212. a card slot; 213. a first rack; 214. a T-shaped block; 215. a support plate; 216. a first motor; 217. a first gear; 3. a gripper body; 4. a guide slide rail mechanism; 401. a third guide rail; 402. a second rack; 403. a circular groove; 404. a second rectangular groove; 405. a screw rod; 406. a limiting groove; 407. a limiting block; 408. a circular ring; 409. a T-shaped slot; 410. a T-shaped fixture block; 411. a sloping plate; 412. a first jack; 413. a second jack; 5. a support protection mechanism; 501. a support; 502. a second threaded rod; 503. a second motor; 504. a movable block; 505. sheathing; 506. a square groove; 507. a square cylinder; 508. a connecting rod; 509. a second spring; 510. a movable plate; 511. a ball bearing; 512. a third spring; 513. a one-way valve; 514. a first cylinder; 515. a thread groove; 516. a threaded ring; 517. a second cylinder; 518. a first annular frame; 519. a fourth spring; 520. a ball; 521. a second annular frame; 522. a piston.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.

Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments of the present invention and the features and technical solutions thereof may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally arranged when the products of the present invention are used, or orientations or positional relationships that are conventionally understood by those skilled in the art, and such terms are used for convenience of description and simplification of the description, and do not refer to or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 and 12, the present embodiment proposes an industrial robot with an object guard mechanism, including a robot arm 1 and a gripper body 3;

the driving mechanism 2 is arranged at the top end of the mechanical arm 1 and used for driving the mechanical claw body 3 to move, and the mechanical claw body 3 is installed on the front side of the driving mechanism 2;

the supporting and protecting mechanism 5 is arranged at the bottom end of the driving mechanism 2 and used for supporting the driving mechanism 2 and matched with the mechanical claw body 3, the supporting and protecting mechanism 5 comprises a driving part arranged at the bottom end of the driving mechanism 2 and a protecting part arranged on the driving part, the protecting part is used for supporting objects on the mechanical claw body 3, and the protecting part can be used for supporting the extended driving mechanism 2 after being turned;

the protection part comprises a movable block 504, a sleeve plate 505 is arranged at the end part of the movable block 504, a square groove 506 is formed at the end part of the movable block 504, a square cylinder 507 is arranged inside the square groove 506, the end part of the square cylinder 507 is fixedly connected with the rear side of the sleeve plate 505, a connecting rod 508 positioned inside the square cylinder 507 is fixedly connected to the inner side of the square groove 506, a second spring 509 is arranged outside the connecting rod 508, a movable plate 510 is inserted and connected to one end of the sleeve plate 505, an inclined surface is arranged at the top part of one end of the movable plate 510, a plurality of balls 511 are sleeved at the bottom part of one end of the movable plate 510, a piston 522 is fixedly connected to the other end of the movable plate 510, a third spring 512 is fixedly connected to one side of the sleeve plate 522, the other end of the third spring 512 is fixedly connected to one side of the inner part of the sleeve plate 505, a one-way valve 513 is arranged at one side of the sleeve plate 505 far away from the movable plate 510, a first cylinder 514 is arranged at one side of the top end of the sleeve plate 505, a thread groove 515 is formed at the top part of the first cylinder 514, the threaded ring 516 is connected to the internal thread of the threaded groove 515, the top end of the threaded ring 516 is fixedly connected with the second cylinder 517, the square groove 506, the square cylinder 507, the connecting rod 508 and the second spring 509 are arranged, so that a user can pull the sleeve plate 505 to separate the square cylinder 507 from the square groove 506, the steering direction of the sleeve plate 505 can be adjusted, one end of the movable plate 510 with the ball 511 is downward contacted with the ground, after the distance between the first guide rail 201 and the second guide rail 202 is increased, and when the gripper body 3 does not need to grip a heavy workpiece, the movable plate 510 can play a supporting role, the load at the connection part of the gripper body 3 and the first guide rail 201 in the moving process is reduced, so that the support protection mechanism 5 can be used not only as a carrying component for carrying the workpiece, but also can be used for supporting the first guide rail 201 and the second guide rail 202, the functionality is strong, and by arranging the inclined surface on the end of the movable plate 510, in the process of descending the gripper body 3 to clamp a workpiece, the bottom end of the gripper body 3 can push the movable plate 510 to move, so that the movable plate 510 can move into the sleeve plate 505;

and the bottom end of the mechanical claw body 3 is provided with a guide sliding rail mechanism 4 for separately supporting the protection mechanism 5.

As shown in fig. 1, 2, 3, 4, 5 and 6, as a preferred embodiment, in addition to the above-mentioned manner, the driving mechanism 2 further includes a first guide rail 201 and a second guide rail 202 disposed at one end of the first guide rail 201, a first connecting block 203 is fixedly connected to a rear side of the first guide rail 201, a second connecting block 204 is fixedly connected to a rear side of the second guide rail 202, a first threaded rod 205 is connected to a middle portion of the second connecting block 204 through a bearing, an outer portion of the first threaded rod 205 is in threaded connection with a middle portion of the first connecting block 203, and a rotating wheel 206 is fixedly connected to one end of the first threaded rod 205.

As shown in fig. 1, 2, 3, 4, 5 and 6, as a preferred embodiment, on the basis of the above manner, further, a groove 207 is formed at the top end of the rotating wheel 206, first rectangular grooves 208 are formed at both sides of the inside of the groove 207, a handle 211 is arranged inside the groove 207, a first spring 209 is fixedly connected to the top end of the inside of the first rectangular groove 208, a slider 210 is fixedly connected to the other end of the first spring 209, the slider 210 is rotatably connected to one end of the side of the handle 211 through a rotating shaft, a slot 212 matched with the handle 211 is formed at the top end of the second connecting block 204, by arranging the first spring 209, the slider 210, the handle 211 and the slot 212, a person can conveniently rotate the rotating wheel 206 by operating the handle 211, when the first threaded rod 205 does not need to rotate, the handle 211 can be firstly lifted, the first spring 209 is compressed, and the bottom of the handle 211 is separated from the bottom of the groove 207, the handle 211 is rotated to enable the end of the handle 211 to be inserted into the slot 212, the handle 211 is loosened to enable the handle 211 to be attached to the bottoms of the groove 207 and the slot 212 under the action of the first spring 209 and cannot be turned over, the rotating wheel 206 cannot be rotated through the limitation of the slot 212 and the handle 211, and further the first guide rail 201 and the second guide rail 202 cannot move mutually, so that the adjustment stability is improved, the handle 211 can be used for assisting people to rotate the rotating wheel 206 and can also be used for limiting the rotation of the rotating wheel 206, the functionality is strong, through the arrangement of the driving mechanism 2, people can drive the first threaded rod 205 to rotate when the rotating wheel 206 rotates by operating the rotating wheel 206, the distance between the first guide rail 201 and the second guide rail 202 is adjusted, when people need to increase the sliding distance of the T-shaped block 214, the distance between the first guide rail 201 and the second guide rail 202 can be increased and the guide sliding rail mechanism 4 can be placed between the first guide rail 201 and the second guide rail 202, the sliding distance of the T-shaped block 214 is increased, the first threaded rod 205, the first connecting block 203 and the second connecting block 204 can be used for adjusting the distance between the first guide rail 201 and the second guide rail 202 and clamping and fixing the guide sliding rail mechanism 4, and the functionality is strong;

as shown in fig. 1, 2, 3, 4, 5 and 6, as a preferred embodiment, in addition to the above-mentioned mode, further, a T-shaped block 214 is slidably connected inside the first guide rail 201, an end of the T-shaped block 214 is fixedly connected with a top end of a rear side of the gripper body 3, first racks 213 are mounted on front sides of bottom ends inside the first guide rail 201 and the second guide rail 202, a support plate 215 is fixedly connected to a top of one side of the gripper body 3, a first motor 216 is fixedly mounted on a rear side of the support plate 215, and a first gear 217 used in cooperation with the first racks 213 is fixedly connected to an output shaft of the first motor 216.

As shown in fig. 1, 7, 8 and 9, in addition to the above embodiment, the driving part further includes two brackets 501 disposed at the bottom end of the first guide rail 201, the inside of the bracket 501 is connected with a second threaded rod 502 through a bearing, the bottom end of the bracket 501 is mounted with a second motor 503 for driving the second threaded rod 502 to rotate, the outer thread of the second threaded rod 502 is connected with one end of a movable block 504 through a thread, and the bracket 501, the second threaded rod 502, the second motor 503 and the movable block 504 are disposed, so that a person can adjust the position of the race plate 505 by controlling the rotation of the output shaft of the second motor 503 according to the size of the workpiece, and when the gripper body 3 grips the workpiece, the race plate 505 can be positioned below the workpiece to carry the workpiece.

As shown in fig. 1, 7, 8 and 9, as a preferred embodiment, in addition to the above-mentioned manner, a first ring frame 518 is fixedly installed inside the first cylinder 514, a second ring frame 521 is fixedly installed inside the second cylinder 517, a fourth spring 519 is fixedly connected to a top end of the first ring frame 518, a round ball 520 for blocking the second ring frame 521 is fixedly connected to a top end of the fourth spring 519, by providing the support and protection mechanism 5, during the process of descending and clamping the workpiece by the gripper body 3, the bottom end of the gripper body 3 can push the movable plate 510 to move, so that the movable plate 510 can move to the inside of the sleeve plate 505, the air in the sleeve plate 505 is exhausted through the one-way valve 513, when the gripper body 3 grabs the workpiece and ascends, the air enters the inside of the sleeve plate 505 through the second cylinder 517 and the first cylinder 514, the air flow is blocked by the round ball 520 and the fourth spring 519, therefore, the speed of the movable plate 510 returning under the action of the third spring 512 is reduced, so that the workpiece driven by the gripper body 3 is not hindered by the movable plate 510 during the process of ascending, and after the workpiece is located above the movable plate 510, the movable plate 510 gradually returns and moves to the lower part of the workpiece, so that when a heavy object falls off from the gripper body 3, the movable plate 510 can support the object, so that the object cannot directly fall on the ground, and the probability of damage to the object is reduced.

As shown in fig. 1, 10 and 11, as a preferred embodiment, on the basis of the above manner, further, the guide rail mechanism 4 includes two third guide rails 401 disposed at the bottoms of the two sides of the gripper body 3, a second rack 402 adapted to the first rack 213 is mounted at the front side inside the third guide rails 401, circular grooves 403 are formed on both sides of the two ends of the third guide rails 401, a second rectangular groove 404 is formed in the middle of the circular groove 403, a screw rod 405 is inserted and connected inside the circular groove 403, and a circular ring 408 located inside the second rectangular groove 404 is disposed outside the screw rod 405;

as shown in fig. 1, 10 and 11, as a preferred embodiment, on the basis of the above manner, further, the middle portions of the top end and the bottom end of the screw rod 405 are respectively provided with a limiting groove 406, the top end and the bottom end of the inner wall of the circular ring 408 are respectively and fixedly connected with a limiting block 407 used in cooperation with the limiting groove 406, the bottoms of the two sides of the gripper body 3 are respectively provided with a first insertion hole 412 adapted to the screw rod 405, the opposite sides of the first guide rail 201 and the second guide rail 202 are respectively provided with a second insertion hole 413 adapted to the screw rod 405, by providing the third guide rail 401, one can operate the circular ring 408 to enable the end portion of the screw rod 405 to be screwed into the first insertion hole 412 or the second insertion hole 413, so that when the third guide rail 401 is installed on the gripper body 3, the two movable plates 510 can be separated in cooperation with the inclined plate 411, when installed between the first guide rail 201 and the second guide rail 202, the sliding distance of the T-shaped block 214 can be extended, the functionality is strong.

As shown in fig. 1, 10 and 11, as a preferred embodiment, based on the above-mentioned manner, further, T-shaped grooves 409 are respectively formed at the front and rear sides of the bottom end of the third guide rail 401, T-shaped grooves 409 are also formed at the bottom of the front and rear sides of the third guide rail 401, two sloping plates 411 are arranged at the bottom of the third guide rail 401, T-shaped blocks 410 used in cooperation with the T-shaped grooves 409 are fixedly connected to the top ends of the two sloping plates 411, the T-shaped blocks 410 and the T-shaped grooves 409 are arranged, so that the third guide rail 401 is mounted on the gripper body 3, and when the sloping plates 411 are mounted at the bottom of the third guide rail 401, the sloping plates 411 can be used for partitioning the movable plate 510, so that the movable plate 510 does not affect gripping of the gripper body 3, when the third guide rail 401 is mounted between the first guide rail 201 and the second guide rail 202, the sloping plates 411 are mounted at the sides of the third guide rail 401, and one end of the sloping plates 411 can abut against the bracket 501, and further, the third guide rail 401 can be supported, the pressure borne by the first threaded rod 205 can be reduced, and the functionality is strong.

Specifically, this industrial robot with article safeguard mechanism is at during operation/use:

step one, adjustment: controlling the supporting and protecting mechanism 5 and adjusting the distance between the supporting and protecting mechanism 5 and the mechanical claw body 3; controlling the two second motors 503 to work, wherein the two second motors 503 drive the two second threaded rods 502 to rotate, the two second threaded rods 502 drive the two movable blocks 504 and the two sleeve plates 505 to move up and down, adjusting the distance between the movable plate 510 and the mechanical claw body 3, and after the adjustment is finished, controlling the second motors 503 to stop working;

step two, clamping a workpiece: the driving mechanism 2 is controlled to work, the position of the mechanical claw body 3 is adjusted, after the adjustment is finished, the mechanical claw body 3 is controlled to work, the mechanical claw body 3 moves downwards to clamp a workpiece, in the downward moving process of the mechanical claw body 3, the mechanical claw body 3 and the guide slide rail mechanism 4 push the support protection mechanism 5 to move, after the clamping is finished, the mechanical claw body 3 moves upwards, and the support protection mechanism 5 resets; the first motor 216 is controlled to operate, the first motor 216 controls the gripper body 3 to operate after the gripper body 3 moves inside the first guide rail 201 and the second guide rail 202 through the first gear 217 and the first rack 213, and during the downward movement of the bottom end of the gripper body 3, the bottom of the gripper body 3 and the inclined plate 411 push the two movable plates 510 to move towards the insides of the two sleeve plates 505, air in the sleeve plates 505 is exhausted through the one-way valve 513, when the gripper body 3 grips a workpiece and moves upwards, and air enters the inside of the sleeve plates 505 through the second cylinder 517 and the first cylinder 514, air flow is hindered by the round balls 520 and the fourth spring 519, so that the speed of the movable plate 510 returning under the action of the third spring 512 is reduced, and after the workpiece moves to the position above the movable plate 510, the movable plate 510 returns to be located below the workpiece;

step three, prolonging the moving distance: operating the guide slide rail mechanism 4 to separate the guide slide rail mechanism 4 from the mechanical claw body 3, operating the driving mechanism 2, adjusting the distance between the driving mechanism 2, installing the guide slide rail mechanism 4 on the driving mechanism 2, operating the support protection mechanism 5, adjusting the steering direction of the support protection mechanism 5, and enabling the bottom of the support protection mechanism 5 to be in contact with the ground; rotating a ring 408 on a third guide rail 401, under the restriction of a limiting groove 406 and a limiting block 407, rotating a screw rod 405 along with the rotation of the ring 408, screwing the screw rod 405 out of the inside of a first insertion hole 412, separating the third guide rail 401 from the gripper body 3, drawing a T-shaped fixture block 410 on a sloping plate 411 out of a T-shaped groove 409 on the bottom of the third guide rail 401, inserting the T-shaped fixture block 410 on the sloping plate 411 into the T-shaped groove 409 on the side edge of the third guide rail 401, lifting a handle 211 upwards, compressing a first spring 209, turning the handle 211 when the bottom of the handle 211 is separated from a clamping groove 212 and the bottom of a groove 207, rotating the rotating wheel 206 by rotating the handle 211, adjusting the distance between the first guide rail 201 and the second guide rail 202 along with the rotation of a first threaded rod 205, placing two spliced third guide rails 401 between the first guide rail 201 and the second guide rail 202 after the adjustment is finished, rotating the two third guide rails 401 to be close to four rings 408 of the first guide rail 201 and the second guide rail 202, the four screw rods 405 are respectively screwed into four second insertion holes 413 on the first guide rail 201 and the second guide rail 202, the handle 211 is reversed to enable the first guide rail 201 and the second guide rail 202 to approach each other, opposite sides of the two third guide rails 401 are attached together, the handle 211 is lifted to compress the first spring 209 to enable the bottom of the handle 211 to be separated from the bottom of the groove 207, the handle 211 is turned over to enable the end portion of the handle 211 to be inserted into the clamping groove 212, the handle 211 is released to enable the handle 211 to be attached to the bottoms of the groove 207 and the clamping groove 212 under the action of the first spring 209 and cannot be turned over, at the moment, one end of the T-shaped groove 409 is attached to one side of the mechanical claw body 3, the sleeve plate 505 is pulled to enable the square barrel 507 to be separated from the inside of the square groove 506, the turning direction of the sleeve plate 505 can be adjusted, the end, provided with the ball 511, of the movable plate 510 is downward contacted with the ground, the sleeve plate 505 is released, under the action of the second spring 509, the square tube 507 is inserted into the square groove 506 and is not rotated.

The above embodiments are only used for illustrating the invention and not for limiting the technical solutions described in the invention, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above embodiments, and therefore, any modification or equivalent replacement of the present invention is made; all such modifications and variations are intended to be included herein within the scope of this disclosure and the appended claims.

Claims

1. An industrial robot with an object protection mechanism, comprising:

the mechanical arm and the mechanical claw body;

the protection part comprises a movable block, a sleeve plate is arranged at the end part of the movable block, a square groove is formed in the end part of the movable block, a square cylinder is arranged in the square groove, the end part of the square cylinder is fixedly connected with the rear side of the sleeve plate, a connecting rod positioned in the square cylinder is fixedly connected to the inner side of the square groove, a second spring is arranged outside the connecting rod, a movable plate is connected to one end of the sleeve plate in an inserting mode, an inclined plane is arranged at the top of one end of the movable plate, a plurality of balls are sleeved at the bottom of one end of the movable plate, a piston is fixedly connected to the other end of the movable plate, a third spring is fixedly connected to one side of the piston, the other end of the third spring is fixedly connected to one side of the inner part of the sleeve plate, a one-way valve is installed on one side of the sleeve plate, which is far away from the movable plate, a first cylinder is installed on one side of the top end of the sleeve plate, and a threaded groove is formed in the top of the first cylinder, a threaded ring is connected to the inner thread of the threaded groove, and a second cylinder is fixedly connected to the top end of the threaded ring;

2. The industrial manipulator with the object protection mechanism is characterized in that the driving mechanism comprises a first guide rail and a second guide rail arranged at one end of the first guide rail, a first connecting block is fixedly connected to the rear side of the first guide rail, a second connecting block is fixedly connected to the rear side of the second guide rail, a first threaded rod is connected to the middle of the second connecting block through a bearing, the outer portion of the first threaded rod is in threaded connection with the middle of the first connecting block, and a rotating wheel is fixedly connected to one end of the first threaded rod.

3. The industrial manipulator with the object protection mechanism according to claim 2, wherein a groove is formed in the top end of the rotating wheel, first rectangular grooves are formed in two sides of the inside of the groove, a handle is arranged inside the groove, a first spring is fixedly connected to the top end of the inside of the first rectangular groove, a sliding block is fixedly connected to the other end of the first spring, the sliding block is rotatably connected with one end of the side of the handle through a rotating shaft, and a clamping groove matched with the handle is formed in the top end of the second connecting block.

4. The industrial manipulator with the object protection mechanism according to claim 3, wherein a T-shaped block is slidably connected inside the first guide rail, the end of the T-shaped block is fixedly connected with the top end of the rear side of the gripper body, first racks are respectively installed on the front sides of the bottom ends inside the first guide rail and the second guide rail, a support plate is fixedly connected to the top of one side of the gripper body, a first motor is fixedly installed on the rear side of the support plate, and a first gear matched with the first racks is fixedly connected to an output shaft of the first motor.

5. The industrial manipulator with the object protection mechanism is characterized in that the driving part comprises two supports arranged at the bottom end of the first guide rail, a second threaded rod is connected to the inside of each support through a bearing, a second motor for driving the second threaded rod to rotate is installed at the bottom end of each support, and the outer thread of each second threaded rod is connected with one end of the movable block in a threaded mode.

6. The industrial robot with the object protection mechanism according to claim 5, wherein a first annular frame is fixedly installed inside the first cylinder, a second annular frame is fixedly installed inside the second cylinder, a fourth spring is fixedly connected to the top end of the first annular frame, and a round ball for plugging the second annular frame is fixedly connected to the top end of the fourth spring.

7. The industrial manipulator with the object protection mechanism according to claim 6, wherein the guide rail mechanism comprises two third guide rails arranged at the bottoms of the two sides of the gripper body, a second rack matched with the first rack is installed on the front side inside the third guide rails, circular grooves are formed in the two sides of the two ends of the third guide rails, a second rectangular groove is formed in the middle of each circular groove, a lead screw is connected to the inside of each circular groove in an inserting mode, and a circular ring located inside the second rectangular groove is arranged outside each lead screw.

8. The industrial manipulator with the object protection mechanism according to claim 7, wherein the middle parts of the top end and the bottom end of the screw rod are respectively provided with a limiting groove, the top end and the bottom end of the inner wall of the circular ring are respectively and fixedly connected with a limiting block matched with the limiting grooves, the bottoms of two sides of the gripper body are respectively provided with a first jack matched with the screw rod, and the opposite sides of the first guide rail and the second guide rail are respectively provided with a second jack matched with the screw rod.

9. The industrial manipulator with the object protection mechanism according to claim 8, wherein the front and rear sides of the bottom end of the third guide rail are both provided with T-shaped grooves, the bottom of the front and rear sides of the third guide rail is also provided with T-shaped grooves, the bottom of the third guide rail is provided with two inclined plates, and the top ends of the two inclined plates are both fixedly connected with T-shaped clamping blocks matched with the T-shaped grooves for use.