CN115091496B - Industrial robot capable of flexibly clamping at multiple angles - Google Patents
Industrial robot capable of flexibly clamping at multiple angles Download PDFInfo
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- CN115091496B CN115091496B CN202210942483.1A CN202210942483A CN115091496B CN 115091496 B CN115091496 B CN 115091496B CN 202210942483 A CN202210942483 A CN 202210942483A CN 115091496 B CN115091496 B CN 115091496B
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- air inlet
- brake
- inlet pipe
- air
- clamping
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
Abstract
The invention belongs to the technical field of industrial robots, and particularly relates to an industrial robot capable of flexibly clamping at multiple angles, which comprises a bottom plate, a base, first to sixth mechanical arms, a mechanical arm connecting joint and a control system, and further comprises: the clamping piece comprises two symmetrically arranged clamping arms and a driving part for driving the two clamping arms to open and close; the bottoms of the movable cavities are positioned on the inner side wall of the clamping arm, and the bottoms of the movable cavities are made of silicic acid gel; the piston is arranged in the movable cavity, the piston and the bottom of the movable cavity form an anti-skidding air bag, an electromagnet is arranged in the piston, and the piston can move towards the bottom of the movable cavity along the movable cavity; compared with the prior art, the clamping device has the advantages that the clamping stability of the industrial robot is improved, the clamping device can adapt to metal workpieces in different shapes, and the clamping effect is flexible.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to an industrial robot capable of flexibly clamping at multiple angles.
Background
An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, can realize various industrial processing and manufacturing functions by depending on the self power energy and control capability, is widely applied to various industrial fields such as electronics, logistics, chemical industry and the like, at present, in consideration of cost and requirements of various enterprises, six-axis industrial robots are mostly used in production, the existing six-axis industrial robot generally consists of three major parts and six subsystems, the three major parts are a mechanical part, a sensing part and a control part, the six subsystems can be divided into a mechanical structure system, a driving system, a sensing system, a robot-environment interaction system, a man-machine interaction system and a control system, the mechanical part of the six-axis industrial robot generally comprises a bottom plate, a base, first to sixth mechanical arms and joints for connecting the six mechanical arms, wherein a driving motor and a speed reducer are arranged in the joints, and a clamping piece is arranged on the sixth mechanical arm; the clamping jaws are provided with adjusting blocks at the first holes, the end parts of the adjusting blocks are provided with round tables, and the mounting plate and the clamping jaws are provided with a pair; the control assembly comprises a control barrel, the control barrel is hollow, one end of the control barrel is connected with the fixing plate and is provided with a second hole which penetrates through the fixing plate along the axial direction, a sliding shaft is arranged in the second hole, a sliding block is arranged on the part, located outside the control barrel, of the sliding shaft, the sliding block is provided with a long groove, and the circular truncated cone is embedded into the long groove; can adjust the centre gripping of centre gripping subassembly and the action of opening, and the regulative mode is pneumatic control, be convenient for adjust the centre gripping dynamics, this patent is adjusted the centre gripping dynamics of holder and is improved, the clamping stability to the work piece has been improved, but when facing smooth metal work piece in surface, but the holder needs very big pressure just can keep frictional force between metal work piece and the holder to reach grippable degree, clamping stability can't be ensured, too big phenomenon that causes the holder to appear the damage easily of while pressure, and six industrial robot appears the condition that the joint displacement transfinites because of angular velocity is too big easily in the course of the work, the joint displacement transfinites easily and causes the impact to the hardware, the damage, industrial robot's life has been reduced, from this it is necessary to make the improvement.
Disclosure of Invention
The invention aims to solve the technical problems, provides an industrial robot capable of flexibly clamping at multiple angles, and achieves the effects of improving the clamping stability and prolonging the service life of the industrial robot.
In view of this, the present invention provides an industrial robot capable of flexibly clamping at multiple angles, including a bottom plate, a base, first to sixth robot arms, a robot arm connecting joint, and a control system, further including: the clamping piece comprises two symmetrically arranged clamping arms and a driving part for driving the two clamping arms to open and close; the bottom of the movable cavity is positioned on the inner side wall of the clamping arm, and the bottom of the movable cavity is made of silicic acid gel; the piston is arranged in the movable cavity, the piston and the bottom of the movable cavity form an anti-skid air bag, an electromagnet is arranged in the piston, and the piston can move to the bottom of the movable cavity along the movable cavity;
the electromagnet can be controlled to be opened and closed through a control system, and the clamping piece is connected with the sixth mechanical arm.
The movable cavities are uniformly distributed on the inner side wall of the clamping arm at intervals.
In the technical scheme, when a workpiece is conveyed to an industrial robot, the control system controls the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm, the fifth mechanical arm, the sixth mechanical arm, the clamping piece and the driving portion to move to the workpiece, the driving portion drives the two clamping arms to open and surround the workpiece, then the two clamping arms contract to clamp the workpiece, meanwhile, the control system starts the electromagnet, the electromagnet and the workpiece attract each other to move towards the workpiece and extrude air in the movable cavity, so that the bottom of the movable cavity is bulged and tightly presses the workpiece, and finally clamping of the workpiece is finished.
In the above technical solution, the method further includes: the overrun displacement assistor is arranged on the bottom plate and used for preventing the joint displacement from overrun, and the overrun displacement assistor comprises an angular velocity stabilizing mechanism and a braking mechanism.
In the technical scheme, the angular speed stabilizing mechanism in the ultralimit displacement assistor can stabilize the angular speed of the industrial robot in the rotating process and prevent the phenomenon that the angular speed is too high and the joint displacement is ultralimit, the braking mechanism in the ultralimit displacement assistor can brake in time when the displacement is ultralimit, and the hardware is prevented from being damaged due to the ultralimit of the joint displacement, and compared with the prior art, the service life of the industrial robot is prolonged.
In the above technical solution, the angular velocity stabilizing mechanism further includes: the synchronous gear ring is arranged on the base and can coaxially rotate along with the base; the installation shell is arranged on the bottom plate, the upper end of the installation shell is in a cylindrical shape with an opening, and a tooth groove is formed in the installation shell; the rotating cylinder is rotatably arranged in the mounting shell, and an inner gear ring and an outer gear ring are respectively arranged on the inner side wall and the outer side wall of the rotating cylinder; the planetary gear train comprises three planetary gears and a central gear; the rotating shaft is provided with a connecting arm; the stabilizing block is arranged on the connecting arm, and a friction sliding block for stabilizing the angular speed is arranged on the stabilizing block;
the synchronous toothed ring can be meshed with the outer toothed ring through the toothed groove to drive the rotating cylinder to rotate, the three planet wheels are rotatably arranged on the bottom surface of the rotating cylinder and meshed with the inner toothed ring, the center wheel is rotatably arranged between the three planet wheels, and the rotating shaft is coaxial with the center wheel and can rotate along with the rotation of the center wheel.
In the technical scheme, when a workpiece is clamped, for example, a first mechanical arm is taken as an example, the first mechanical arm rotates under the driving of a base, a synchronous toothed ring rotates along with the rotation of the base and drives an outer toothed ring meshed with the synchronous toothed ring to rotate, when the angular speed of the first mechanical arm is overlarge in the moving process, a rotating cylinder rotates along with the rotation of the outer toothed ring and drives an inner toothed ring to rotate, the inner toothed ring drives a planetary gear train to rotate, a rotating shaft rotates along with the rotation of a central wheel and drives a connecting arm and a stabilizing block on the connecting arm to rotate, the friction sliding block is close to the inner wall of the rotating cylinder under the influence of centrifugal force in the rotating process, the centrifugal force on the friction sliding block on the stabilizing block is larger when the angular speed is larger, the friction sliding block abuts against the inner wall of the rotating cylinder after the centrifugal force reaches a certain degree, and the friction force between the friction sliding block and the inner wall of the rotating cylinder is larger along with the continuous increase of the centrifugal force, so that the angular speed is limited, the angular speed is stabilized in a safe range, and the phenomenon that the angular speed is prevented from being overlarge in the working process of an industrial robot, and the damage of the industrial robot is prevented, and the service life of the industrial robot is prolonged.
In the above technical solution, the angular velocity stabilizing mechanism further includes: the limiting strip is arranged on the inner side wall of the rotating cylinder, is in a raised annular shape and is coaxial with the rotating cylinder;
and the surface of the stabilizing block is provided with a limiting groove matched with the limiting strip.
In this technical scheme, spacing can play the guide effect when stabilizing the piece and rotating, prevents to stabilize the dead phenomenon of dislocation card that the piece appears, has improved angular velocity stabilizing mean's job stabilization nature.
In the above technical solution, the further braking mechanism further includes: the cover plate is detachably arranged on the opening at the upper end of the mounting shell; the brake box is arranged on the inner surface of the cover plate, the lower end of the brake box is detachably provided with a box cover, and the box cover is in sealing contact with the brake box; the brake rods are arranged on the outer side wall of the brake box and comprise hollow rod-shaped outer rods and inner rods sleeved in the outer rods; the brake block is arranged at the outer end of the inner rod; the gas generating device is detachably arranged on the box cover and is in sealing contact with the box cover and the gas generating device, and a gas outlet of the gas generating device is positioned in the brake box;
the outer rod is fixedly connected with the brake box and in sealing contact with the brake box, the inner portion of the outer rod is communicated with the inner portion of the brake box, the outer rod is in sealing contact with the inner rod, the gas generating device can be started through the control system, and the cover plate is arranged on the installation shell, and the brake box is located in the rotating cylinder.
After the brake rod is unfolded, a buckling restrained brace can be formed between the inner rod and the outer rod.
In the technical scheme, when the displacement of the joint exceeds the limit due to the unstable angular velocity, a control system can send out a displacement over-limit warning, and simultaneously control the gas generating device to be started, the gas generating device is started to generate a large amount of gas instantly, the gas is filled in the brake box instantly, the brake rod is expanded instantly under the action of air pressure, the brake block at the outer end of the inner rod is abutted to the inner wall of the rotating cylinder after the inner rod is expanded so as to brake the rotating cylinder, and then the joint in transmission connection with the rotating cylinder is braked, and meanwhile, the inner rod is stressed to buckle after being in contact with the inner wall of the rotating cylinder, so that buckling restrained brace is formed between the inner rod and the outer rod, the inner rod is prevented from contracting, the brake stability is kept, the cover plate can be detached after the brake box cover is detached, the gas generating device is replaced, and meanwhile, the brake rod is manually reset, the next brake is convenient.
In the above technical solution, the method further comprises: the ventilation opening comprises an air inlet and an air outlet; the air cooling mechanism is arranged at the air inlet;
the air inlet and the air outlet are both arranged on the side wall of the installation shell and penetrate into the installation shell.
The air cooling mechanism further comprises: the shell is fixedly arranged at the air inlet; the Y-shaped air pipe comprises a first air inlet pipe, a second air inlet pipe and an air outlet pipe; the dust filter screen is arranged at the air inlet ends of the first air inlet pipe and the second air inlet pipe; the pressure difference sensor is arranged in the shell and used for sensing the air inlet condition of the first air inlet pipe or the second air inlet pipe; the electric control air door is respectively arranged in the first air inlet pipe and the second air inlet pipe and is used for controlling the opening and closing of the first air inlet pipe and the second air inlet pipe; the fan is arranged in the air outlet pipe;
the air outlet end of the first air inlet pipe and the air outlet end of the second air inlet pipe are connected with the air outlet pipe, the air outlet end of the air outlet pipe is located in the installation shell, the air inlet end of the first air inlet pipe and the air inlet end of the second air inlet pipe are located outside the installation shell, the fan, the differential pressure sensor and the electric control air door are electrically connected with the control system, and the first air inlet pipe and the second air inlet pipe can alternately ventilate.
In the technical scheme, the ventilation mechanism can keep the air in the installation shell to circulate, so that heat generated in the working process of the angular velocity stabilizing mechanism is dissipated, the phenomenon that the interior of the installation shell and the angular velocity stabilizing mechanism are overheated is prevented, meanwhile, when the first air inlet pipe is blocked, the pressure difference sensor senses pressure difference change and sends a signal to the control system, the control system controls the electric control air door in the first air inlet pipe to be closed and simultaneously opens the electric control air door in the second air inlet pipe, so that the second air inlet pipe is used for replacing ventilation operation, and the control system sends out a first air inlet pipe blockage warning to remind a user to clean the first air inlet pipe, and the first air inlet pipe is used as a standby air pipe to be alternately used with the second air inlet pipe again after being cleaned, so that the air in the installation shell is kept to circulate, the angular velocity stabilizing mechanism is stably cooled.
The invention also discloses a use method of the industrial robot capable of flexibly clamping at multiple angles, which is characterized by comprising the following steps:
s1, presetting: the control system presets parameters of the industrial robot;
s2, clamping: when the workpiece is conveyed to the industrial robot, the first to the sixth mechanical arms move and move the clamping piece to the workpiece, the driving part drives the two clamping arms to open and surround the workpiece, then the two clamping arms are contracted to clamp the workpiece, meanwhile, the control system starts the electromagnet, the electromagnet and the workpiece are mutually attracted to move towards the workpiece and extrude air in the movable cavity, so that the bottom of the movable cavity is bulged and compresses the workpiece, and finally the workpiece is clamped;
s3, stabilizing joint displacement: when a workpiece is clamped, when the angular speed of the first mechanical arm is too high in the moving process, the synchronous gear ring rotates to drive the outer gear ring to rotate, the rotating cylinder rotates along with the outer gear ring and drives the inner gear ring to rotate, the inner gear ring drives the planetary gear train to rotate, the rotating shaft rotates along with the rotation of the central wheel and drives the connecting arm and the stabilizing block to rotate, the centrifugal force applied to the friction sliding block on the stabilizing block is larger when the angular speed is higher, the friction force between the friction block and the inner wall of the rotating cylinder is larger, so that the increase of the angular speed is limited, and the angular speed is stabilized within a safety range;
s4, overrun displacement braking: when the displacement of the joint cannot be stably exceeded at the angular speed, the control system can send out a displacement exceeding warning and simultaneously control the gas generating device to start, the gas generating device starts and generates a large amount of gas, the gas is instantly filled in the brake box, the brake rod is instantly unfolded under the action of air pressure, the brake block at the outer end of the inner rod after being unfolded is abutted against the inner wall of the rotating cylinder so as to brake the rotating cylinder, and then the joint in transmission connection with the rotating cylinder is braked, and meanwhile, the inner rod is stressed to buckle after being contacted with the inner wall of the rotating cylinder so that a buckling restrained support is formed between the inner rod and the outer rod, so that the inner rod is prevented from contracting and the braking stability is kept;
s5, placing: and after the workpiece is clamped, the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm, the fifth mechanical arm and the sixth mechanical arm move and move the workpiece to a target position to be placed.
Compared with the prior art, the clamping stability is kept without great pressure when the metal workpiece with a smooth surface is faced, the friction force capable of keeping the metal workpiece clamped stably is provided by pressing the bottom of the movable cavity formed by the silicic acid gel to the metal workpiece, the clamping stability of the industrial robot is improved, the clamping effect is flexible, meanwhile, the angular speed stabilizing mechanism in the ultralimit displacement auxiliary device can stabilize the angular speed of the industrial robot in the rotating process, the phenomenon that the joint displacement is ultralimited due to overlarge angular speed is prevented, the braking mechanism in the ultralimit displacement auxiliary device can brake timely when the displacement is ultralimited, the hardware is prevented from being damaged due to ultralimit displacement, and the service life of the industrial robot is prolonged.
The invention has the beneficial effects that:
1. the bottom of the movable cavity formed by the silicic acid gel is pressed tightly with the metal workpiece by extruding, so that friction force capable of keeping the metal workpiece clamped stably is provided, the clamping stability of the industrial robot is improved, the movable cavity can adapt to metal workpieces with different properties, and the clamping effect is flexible;
2. the angular speed in the rotating process of the industrial robot can be stabilized through the angular speed stabilizing mechanism in the ultralimit displacement auxiliary device, the phenomenon that the displacement of the joint is ultralimited due to overlarge angular speed is prevented, the brake can be timely performed when the displacement is ultralimited through the brake mechanism in the ultralimit displacement auxiliary device, the hardware is prevented from being damaged due to the ultralimit displacement of the joint, and the service life of the industrial robot is prolonged;
3. the ventilation mechanism prevents the angular velocity stabilizing mechanism from overheating, improves the working stability of the angular velocity stabilizing mechanism, and enables the first air inlet pipe and the second air inlet pipe to be alternately used to keep air inside the mounting shell to circulate, so that stable heat dissipation can be performed on the angular velocity stabilizing mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention.
FIG. 2 is a schematic view of a clamp arm according to the present invention.
Fig. 3 is a schematic structural diagram of the angular velocity stabilizing mechanism of the present invention.
Fig. 4 is a schematic structural diagram of the braking mechanism of the present invention.
FIG. 5 is a schematic view of the structure of the stabilizer block of the present invention.
Fig. 6 is a schematic structural view of the brake box of the present invention.
Fig. 7 is a schematic view of the air cooling mechanism of the present invention.
The labels in the figures are:
1-bottom plate, 2-base, 3-sixth mechanical arm, 4-mechanical arm connecting joint, 5-clamping piece, 50-clamping arm, 51-driving part, 52-movable cavity, 53-piston, 54-anti-skidding air bag, 6-transfinite displacement auxiliary device, 7-angular velocity stabilizing mechanism, 70-synchronous toothed ring, 71-mounting shell, 710-tooth socket, 72-rotating cylinder, 720-inner toothed ring, 721-outer toothed ring, 73-planet wheel, 74-central wheel, 75-rotating shaft, 76-connecting arm, 77-stabilizing block, 78-friction slider, 79-limiting bar, 8-braking mechanism, 80-cover plate, 81-braking box, 810-box cover, 82-braking rod, 820-outer rod, 821-inner rod, 83-braking block, 84-braking gas generating device, 9-air cooling mechanism, 90-machine shell, 91-Y-shaped air pipe, 910-first air inlet pipe, 911-second air inlet pipe, 912-air outlet pipe, 92-dust filter screen, 93-95-pressure difference sensor, 93-electric control gas generating device, 94-air door, and 94-air door.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In the description of the present application, it is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. For convenience of description, the dimensions of the various features shown in the drawings are not necessarily drawn to scale. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. 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, further discussion thereof is not required in subsequent figures.
It should be noted that the terms "first," "second," and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
It should be noted that in the description of the present application, the orientation or positional relationship indicated by the terms such as "front, back, up, down, left, right", "lateral, vertical, horizontal" and "top, bottom" and the like are generally based on the orientation or positional relationship shown in the drawings for convenience of description and simplicity of description only, and in the case of not making a reverse description, these orientation terms do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
It should be noted that, in the present application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, method, article, or apparatus comprising the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Example 1:
the embodiment of the application provides an industrial robot of nimble centre gripping of multi-angle, including bottom plate 1, base 2, first to sixth arm 3, arm joint 4 and control system, still include: the clamping piece 5 comprises two clamping arms 50 which are symmetrically arranged and a driving part 51 for driving the two clamping arms 50 to open and close; a plurality of movable cavities 52, wherein the bottoms of the movable cavities 52 are positioned on the inner side wall of the clamping arm 50, and the bottoms of the movable cavities 52 are made of silicic acid gel; the piston 53 is arranged in the movable cavity 52, the piston 53 and the bottom of the movable cavity 52 form an anti-skid air bag 54, an electromagnet is arranged in the piston 53, and the piston 53 can move to the bottom of the movable cavity 52 along the movable cavity 52;
wherein, the electro-magnet accessible control system control is opened and close, and holder 5 is connected with sixth arm 3.
A plurality of movable chambers 52 are evenly spaced on the inner side wall of the holding arm 50.
Moreover, the base 2 is rotatably installed on the base plate 1, the first mechanical arm is connected with the base 2 and can rotate along with the base 2, the first mechanical arm to the sixth mechanical arm 3 are sequentially connected through a mechanical arm connecting joint, a driving motor and a speed reducer are installed in the mechanical arm connecting joint, the speed reducer can be a harmonic speed reducer, the robot further comprises a sensing part, a control part, the base 1, the base 2, the first mechanical arm to the sixth mechanical arm 3 and other mechanical parts in the prior art except the mechanical arm connecting joint, the robot further comprises a mechanical structure system, a driving system, a sensing system, a robot-environment interaction system and a human-computer interaction system, the clamping arm 50 is in a semi-circular or semi-elliptical shape, a plurality of movable cavities 52 are uniformly distributed on the inner side wall of the clamping arm 50 at intervals along the circumferential direction, pistons 53 are slidably installed in the movable cavities 52, the pistons 53 can move along the radial direction of the clamping arm 50 and are close to the bottoms of the movable cavities 52, closed spaces are filled with gas between the bottoms of the pistons 53 and the movable cavities 52, and the clamping arm 50 is made of nonmagnetic materials.
In the embodiment, when a workpiece is conveyed to an industrial robot, the control system controls the first to sixth mechanical arms 3 to move and move the clamping piece 5 to the workpiece, the driving portion 51 drives the two clamping arms 50 to open and surround the workpiece, then the two clamping arms 50 are contracted to clamp the workpiece, meanwhile, the control system starts the electromagnet, the electromagnet and the workpiece attract each other to move towards the workpiece and extrude air in the movable cavity 52, so that the bottom of the movable cavity 52 swells and compresses the workpiece, and finally clamping of the workpiece is completed.
Example 2:
this embodiment provides a but industrial robot of nimble centre gripping of multi-angle, in addition to the technical scheme who includes above-mentioned embodiment, still has following technical characteristic, still includes: overrun displacement assistor 6, overrun displacement assistor 6 sets up and is used for preventing the joint displacement transfinite on bottom plate 1, and overrun displacement assistor 6 includes angular velocity stabilizing mean 7 and arrestment mechanism 8.
Moreover, the overrun displacement assist device 6 may be mounted on the first robot arm, the second robot arm, or other joint joints of the robot arm that is prone to overrun joint displacement due to excessive angular velocity.
In the embodiment, the angular speed stabilizing mechanism 7 in the ultralimit displacement auxiliary device 6 can stabilize the angular speed of the industrial robot in the rotating process and prevent the phenomenon that the joint displacement is ultralimit due to overlarge angular speed, the braking mechanism 8 in the ultralimit displacement auxiliary device can brake in time when the displacement is ultralimit, the damage to hardware due to the ultralimit of the joint displacement is prevented, and compared with the prior art, the service life of the industrial robot is prolonged.
Example 3:
this embodiment provides a but industrial robot of flexible centre gripping of multi-angle, in addition to the technical scheme who includes above-mentioned embodiment, still has following technical characteristics, and angular velocity stabilizing mean 7 still includes: the synchronous gear ring 70 is arranged on the base 2, and the synchronous gear ring 70 can coaxially rotate along with the base 2; the installation shell 71 is arranged on the bottom plate 1, the installation shell 71 is in a cylindrical shape with an open upper end, and a tooth groove 710 is formed in the installation shell 71; the rotating cylinder 72 is rotatably arranged in the mounting shell 71, and an inner gear ring 720 and an outer gear ring 721 are respectively arranged on the inner side wall and the outer side wall of the rotating cylinder 72; a planetary gear train including three planetary gears 73 and a sun gear 74; a rotating shaft 75, wherein a connecting arm 76 is arranged on the rotating shaft 75; a stabilizing block 77, the stabilizing block 77 being provided on the connecting arm 76, the stabilizing block 77 being provided with a friction slider 78 for stabilizing angular velocity;
the synchronous ring gear 70 can be meshed with the outer ring gear 721 through the tooth socket 710 to drive the rotating cylinder 72 to rotate, the three planet wheels 73 are rotatably arranged on the bottom surface of the rotating cylinder 72 and meshed with the inner ring gear 720, the central wheel 74 is rotatably arranged among the three planet wheels 73, and the rotating shaft 75 is coaxial with the central wheel 74 and can rotate along with the rotation of the central wheel 74.
Furthermore, the synchronizing ring gear 70 is fixedly installed on the outer side wall of the base 2 and the synchronizing ring gear 70 is coaxial with the rotating shaft of the base 2, the synchronizing ring gear 70 can rotate with the rotation of the base 2, the installation shell 71 is fixedly installed on the bottom plate 1 and the installation shell 71 is located on one side of the base 2, the installation shell 71 is cylindrical with an open upper end, the tooth socket is opened on the side wall of the installation shell 71 and is communicated with the inside of the installation shell 71, the synchronizing ring gear 70 can pass through the tooth socket during the rotation with the base 2, the fixing plate is fixedly installed on the bottom surface of the installation shell 71, the rotating cylinder 72 is rotatably installed in the installation shell 71 through the rotary connection with the fixing plate, the rotating cylinder 72 is also cylindrical with an open one end, the inner ring gear 720 and the outer ring gear 721 are both coaxial with the rotating shaft of the rotating cylinder 72, the inner ring gear 720 is located at the bottom of the rotating cylinder 72, the three planet gears 73 are uniformly spaced along the circumferential direction of the bottom surface of the rotating cylinder 72, the outer sides of the three planet wheels 73 are meshed with the inner gear ring 720, the three planet wheels 73 are rotatably mounted on the bottom surface of the rotating cylinder 72, the rotating shafts of the three planet wheels 73 are parallel to the rotating shaft of the rotating cylinder 72, the central wheel 74 is rotatably mounted on the bottom surface of the rotating cylinder 72, the central wheel 74 is coaxial with the rotating shaft of the rotating cylinder 72, the rotating shaft 75 is fixedly connected with the central wheel 74 and can rotate along with the rotation of the central wheel 74, the connecting arms 76 are symmetrically mounted on two sides of the rotating shaft 75 in pairs, the stabilizing block 77 is fixedly mounted at one end, far away from the rotating shaft 75, of the connecting arm 76, the surface, opposite to the inner wall of the rotating cylinder 72, of the stabilizing block 77 is in an arc surface shape matched with the inner wall of the rotating cylinder 72, the stabilizing block 77 is provided with a sliding groove for mounting the friction sliding block 78, the friction block 78 is slidably mounted in the sliding groove, springs are further mounted in the sliding groove, and two ends of the springs are respectively connected with the sliding groove and the friction block 78, the friction slider 78 can be attached to the inner wall of the rotary cylinder 72 by centrifugal force.
In this embodiment, when a workpiece is clamped, taking the first robot arm as an example, the first robot arm is driven by the base 2 to rotate, the synchronous toothed ring 70 rotates along with the rotation of the base 2 and drives the external toothed ring 721 engaged with the synchronous toothed ring to rotate, when the angular velocity of the first robot arm is too high during the movement, the rotating cylinder 72 rotates along with the rotation of the external toothed ring 721 and drives the internal toothed ring 720 to rotate, the internal toothed ring 720 drives the planetary gear 73 to rotate, the rotating shaft 75 rotates along with the rotation of the central gear 74 and drives the connecting arm 76 and the stabilizing block 77 on the connecting arm 76 to rotate, during the rotation of the stabilizing block 77, the friction slider 78 is influenced by the centrifugal force to approach the inner wall of the rotating cylinder 72, at this time, the larger the angular velocity is, the larger the centrifugal force applied to the friction slider 78 on the stabilizing block 77 is, the friction slider 78 abuts against the inner wall of the rotating cylinder 72 after the centrifugal force reaches a certain degree, and as the centrifugal force becomes larger, the friction slider 78 abuts against the inner wall of the rotating cylinder 72, thereby limiting the increase of the angular velocity is limited, stabilizing the angular velocity is stabilized within a safe range, compared with the prior art, the present invention can effectively prevent the robot from being damaged by the robot during the damage of the industrial robot during the use, and the industrial robot, thereby preventing the robot from the occurrence of the robot.
Example 4:
this embodiment provides a but industrial robot of flexible centre gripping of multi-angle, in addition to the technical scheme who includes above-mentioned embodiment, still has following technical characteristics, and angular velocity stabilizing mean 7 still includes: the limiting strip 79 is arranged on the inner side wall of the rotating cylinder 72, the limiting strip 79 is in a convex annular shape, and the limiting strip 79 is coaxial with the rotating cylinder 72;
wherein, the surface of the stabilizing block 77 is provided with a limit groove 770 which is matched with the limit strip 79.
The stopper 79 is fixedly mounted on the inner side wall of the rotary cylinder 72, and a stopper groove is formed in the surface of the stabilizer 77 on the side away from the connecting arm 76 and penetrates the stabilizer 77 in the direction of rotation of the stabilizer 77.
In this embodiment, spacing 79 can play the guide effect when stabilizing block 77 rotates, prevents that the dead phenomenon of dislocation card from appearing in stabilizing block 77, has improved the job stabilization nature of angular velocity stabilizing mean 7.
Example 5:
this embodiment provides a but industrial robot of nimble centre gripping of multi-angle, in addition to the technical scheme who includes above-mentioned embodiment, still has following technical characteristic, and arrestment mechanism 8 still includes: a cover plate 80, wherein the cover plate 80 is detachably arranged on an opening at the upper end of the mounting shell 71; the brake box 81, the brake box 81 is arranged on the inner surface of the cover plate 80, the lower end of the brake box 81 is detachably provided with the box cover 810, and the box cover 810 is in sealing contact with the brake box 80; the brake rods 82, the brake rods 82 are arranged on the outer side wall of the brake box 81, and each brake rod 82 comprises a hollow rod-shaped outer rod 820 and an inner rod 821 sleeved in the outer rod 820; a brake block 83, the brake block 83 being provided at an outer end of the inner rod 821; the gas generating device 84, the gas generating device 84 is detachably arranged on the box cover 810 and is in sealing contact with the gas generating device 84 and the box cover 810, and the gas outlet of the gas generating device 84 is positioned inside the brake box 81;
wherein, outer pole 820 and brake box 81 fixed connection and sealing contact, the inside of outer pole 820 and the inside intercommunication of brake box 81, sealing contact between outer pole 820 and the interior pole 821, gas generator 84 accessible control system starts, and back brake box 81 is located and rotates a section of thick bamboo 72 after apron 80 is installed on installation shell 71.
Moreover, the cover plate 80 is detachably connected with the upper end of the installation shell through a bolt, the brake boxes 81 are fixedly installed on the inner surface of the cover plate 80, the box cover is detachably connected with the brake boxes 81 through a bolt, a sealing gasket is installed between the contact surfaces of the box cover and the brake boxes 81 to achieve sealing contact, the brake rods 82 are evenly distributed on the outer side wall of the brake boxes 81 at intervals along the circumferential direction of the brake boxes 81, the brake boxes 81 can be circular boxes, the axial direction of the brake rods 82 extends along the radial direction of the brake boxes 81, a plurality of installation holes used for installing the outer rods 820 are formed in the side wall of the brake boxes 81, the inner ends of the outer rods 820 are fixedly connected with the installation holes, sealing rings are installed between the inner ends of the outer rods 820 to achieve sealing foundation of the outer rods 820 and the brake boxes 81, the two ends of the outer rods 820 are open ends, the inner end of the inner rod 821 is an open end, the outer end is a closed end, the inner rod 821 can also be a solid rod, a sealing ring is installed between the contact surface of the inner rod 821 and the outer rod 820 to achieve sealing contact between the outer rod 820, and the outer rod 821, and the control system, and an electric control device is further installed on the outer surface of the cover plate 80 to connect the gas generation device 84 with a control system.
In the embodiment, when the displacement of the joint cannot be stably exceeded at an angular velocity, a control system sends out a displacement exceeding alarm, and simultaneously controls the gas generating device 84 to be started, the gas generating device 84 is started to instantly generate a large amount of gas, the gas instantly fills the inside of the brake box 81, the brake rod 82 is instantly expanded under the action of air pressure, the inner rod 821 is expanded, the brake block 83 at the outer end of the inner rod 821 is abutted to the inner wall of the rotating cylinder so as to brake the rotating cylinder, then the joint in transmission connection with the rotating cylinder is braked, and simultaneously the inner rod 821 is contacted with the inner wall of the rotating cylinder and then stressed to buckle, so that a buckling constraint support is formed between the inner rod 821 and the outer rod 820, the inner rod 821 is prevented from contracting, the brake is kept stable, after the brake mechanism is used once, the cover plate 80 can be detached, then the box cover of the brake box 81 is detached, the gas generating device 84 is replaced, and meanwhile, the inner rod 82 is manually reset, the next brake is convenient to brake, compared with the prior art, the robot can brake in time when the displacement of the joint is exceeded, the displacement is prevented from damaging hardware of the robot, and the service life of the brake rod is prolonged.
Example 6:
the present embodiment provides an industrial robot capable of flexibly clamping at multiple angles, which includes the technical solutions of the above embodiments, and has the following technical features that after the brake rod 82 is deployed, a buckling restrained brace can be formed between the inner rod 821 and the outer rod 820.
After the brake lever 82 is expanded, the outer end of the inner lever 821 is brought into contact with the inner wall of the rotary cylinder 72 and is forced to be flexed, so that a flexure restraining support is formed between the inner lever 821 and the outer lever 820.
In this embodiment, the inner rod 821 and the outer rod 820 directly form the buckling restrained brace, so that the inner rod 821 can be prevented from retracting after being unfolded, and the braking stability can be ensured.
Example 7:
this embodiment provides a but industrial robot of nimble centre gripping of multi-angle, in addition to the technical scheme who includes above-mentioned embodiment, still has following technical characteristic, still includes: the ventilation opening 10 is formed, and the ventilation opening 10 comprises an air inlet and an air outlet; the air cooling mechanism 9, the air cooling mechanism 9 is set up in the air intake;
the air inlet and the air outlet are both arranged on the side wall of the mounting shell 71 and penetrate into the mounting shell 71.
The air-cooling mechanism 9 further includes: the casing 90 is fixedly arranged at the air inlet; the Y-shaped air pipe 91 and the Y-shaped air pipe 91 comprise a first air inlet pipe 910, a second air inlet pipe 911 and an air outlet pipe 912; the dust filter screen 92, the dust filter screen 92 is arranged at the air inlet ends of the first air inlet pipe 910 and the second air inlet pipe 911; the differential pressure sensor 93, the differential pressure sensor 93 is arranged in the casing 90 and is used for sensing the air inlet condition of the first air inlet pipe 910 or the second air inlet pipe 911; the electric control air door 94 is respectively arranged in the first air inlet pipe 910 and the second air inlet pipe 911, and is used for controlling the opening and closing of the first air inlet pipe 910 and the second air inlet pipe 911; the fan 95, the fan 95 is set up in the air-out pipe 912;
the air outlet ends of the first air inlet pipe 910 and the second air inlet pipe 911 are connected with the air outlet pipe 912, the air outlet end of the air outlet pipe 912 is located in the installation shell 71, the air inlet ends of the first air inlet pipe 910 and the second air inlet pipe 911 are located outside the installation shell 71, the fan 95, the differential pressure sensor 93 and the electric control air door 94 are all electrically connected with the control system, and the first air inlet pipe 910 and the second air inlet pipe 911 can alternately ventilate.
Moreover, two air inlet pipe mounting holes and one air outlet pipe 912 mounting hole are respectively formed in the side walls of two sides of the enclosure 90, the air inlet ends of the first air inlet pipe 910 and the second air inlet pipe 911 penetrate through the air inlet pipe mounting holes and are arranged outside the enclosure 90, the air outlet pipe 912 penetrates through the air outlet pipe 912 mounting holes and is arranged outside the enclosure 90, the fan 95 is serially arranged in the air outlet pipe 912 and can be controlled by the control system, two pressure difference sensors 93 respectively correspond to the first air inlet pipe 910 and the second air inlet pipe 911, the pressure difference sensors 93 can sense the internal and external pressure difference of the first air inlet pipe 910 or the second air inlet pipe 911 so as to detect the blocking condition of the first air inlet pipe 910 and the second air inlet pipe 911 and feed back signals to the control system.
In this embodiment, the air cooling mechanism 9 can keep the air flowing inside the installation shell, so as to dissipate the heat generated during the operation of the angular velocity stabilizing mechanism, thereby preventing the overheating phenomenon inside the installation shell and the angular velocity stabilizing mechanism, meanwhile, when the first air inlet pipe 910 is blocked, the pressure difference sensor 93 senses the pressure difference change and sends a signal to the control system, the control system controls the electric control air door 94 in the first air inlet pipe 910 to close and simultaneously opens the electric control air door 94 in the second air inlet pipe 911, so that the second air inlet pipe 911 replaces the ventilation operation, and the control system sends a warning of the blockage of the first air inlet pipe 910, so as to remind the user to clean the first air inlet pipe 910, and after the cleaning of the first air inlet pipe 910 is completed, the first air inlet pipe serves as a standby air pipe to be alternately used with the second air inlet pipe again, thereby keeping the air flowing inside the installation shell, and performing stable heat dissipation on the angular velocity stabilizing mechanism.
Example 8:
the embodiment provides a use method of the industrial robot capable of flexibly clamping at multiple angles, which comprises the following technical characteristics besides the technical scheme of the embodiment, and comprises the following steps:
s1, presetting: the control system presets parameters of the industrial robot;
s2, clamping: when a workpiece is conveyed to the industrial robot, the first to sixth mechanical arms 3 move and move the clamping piece 5 to the workpiece, the driving part 51 drives the two clamping arms 50 to open and surround the workpiece, then the two clamping arms 50 are contracted to clamp the workpiece, meanwhile, the control system starts the electromagnet, the electromagnet and the workpiece attract each other to move towards the workpiece and extrude air in the movable cavity 52, so that the bottom of the movable cavity 52 is expanded and presses the workpiece, and finally, the workpiece is clamped;
s3, stabilizing joint displacement: when the angular velocity of the first mechanical arm is too large in the moving process while clamping the workpiece, the synchronous gear ring 70 rotates to drive the external gear ring 721 to rotate, the rotating cylinder 72 rotates along with the rotation of the external gear ring 721 and drives the internal gear ring 720 to rotate, the internal gear ring 720 drives the planetary gear train to rotate, the rotating shaft 75 rotates along with the rotation of the central wheel 74 and drives the connecting arm 76 and the stabilizing block 77 to rotate, the centrifugal force applied to the friction slide block 78 on the stabilizing block is larger when the angular velocity is larger, the friction force between the friction slide block 78 and the inner wall of the rotating cylinder 72 is larger, so that the increase of the angular velocity is limited, and the angular velocity is stabilized in a safe range;
s4, overrun displacement braking: when the angular velocity cannot stably generate the joint displacement overrun, the control system can send out the displacement overrun warning, and simultaneously controls the gas generation device 84 to start, the gas generation device 84 starts and generates a large amount of gas, the gas is filled in the brake box 81 instantly, the brake rod 82 expands instantly under the action of air pressure, the brake block 83 at the outer end of the inner rod 821 is abutted to the inner wall of the rotating cylinder 72 after expansion, so that the rotating cylinder 72 is braked, the joint in transmission connection with the rotating cylinder 72 is braked, and meanwhile, the inner rod 821 is stressed to bend after being contacted with the inner wall of the rotating cylinder 72, so that the bending constraint support is formed between the inner rod 821 and the outer rod 820, the inner rod 821 is prevented from shrinking, and the braking stability is kept;
s5, placing: after the workpiece is clamped, the first to sixth mechanical arms 3 move and move the workpiece to a target position for placing.
In the embodiment, compared with the prior art, when a metal workpiece with a smooth surface is faced, the clamping stability is kept without extremely high pressure, the bottom of the movable cavity 52 formed by silicic acid gel is squeezed to be tightly pressed with the metal workpiece, so that friction force capable of keeping the metal workpiece clamped stably is provided, the clamping stability of the industrial robot is improved, the industrial robot can adapt to metal workpieces with different properties, the clamping effect is flexible, meanwhile, the angular velocity stabilizing mechanism 7 in the ultralimit displacement auxiliary device 6 can stabilize the angular velocity of the industrial robot in the rotating process, the phenomenon that the joint displacement is ultralimit due to overlarge angular velocity is prevented, the braking mechanism 8 in the ultralimit displacement auxiliary device 6 can brake in time when the displacement is ultralimit, the hardware is prevented from being damaged due to ultralimit displacement, and the service life of the industrial robot is prolonged.
While the embodiments of the present application have been described in connection with the drawings, the embodiments and features of the embodiments of the present application can be combined with each other without conflict, and the present application is not limited to the above-mentioned embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many forms without departing from the spirit and scope of the present application and the claims.
Claims (3)
1. The utility model provides an industrial robot of nimble centre gripping of multi-angle, includes bottom plate (1), base (2), first to sixth arm (3), arm joint (4) and control system, its characterized in that still includes:
the clamping piece (5) comprises two symmetrically arranged clamping arms (50) and a driving part (51) for driving the two clamping arms (50) to open and close;
a plurality of movable cavities (52), wherein the bottoms of the movable cavities (52) are positioned on the inner side wall of the clamping arm (50), and the bottoms of the movable cavities (52) are made of silicic acid gel;
the piston (53) is arranged in the movable cavity (52), the piston (53) and the bottom of the movable cavity (52) form an anti-skidding air bag (54), an electromagnet is arranged in the piston (53), and the piston (53) can move towards the bottom of the movable cavity (52) along the movable cavity (52);
the electromagnet can be controlled to be opened and closed through a control system, and the clamping piece (5) is connected with the sixth mechanical arm (3);
a plurality of movable cavities (52) are uniformly distributed on the inner side wall of the clamping arm (50) at intervals;
further comprising: the over-limit displacement assistor (6) is arranged on the bottom plate (1) and used for preventing the joint displacement from being over-limited, and the over-limit displacement assistor (6) comprises an angular speed stabilizing mechanism (7) and a braking mechanism (8);
the angular velocity stabilizing mechanism (7) further includes: the synchronous gear ring (70) is arranged on the base (2), and the synchronous gear ring (70) can coaxially rotate along with the base (2);
the mounting shell (71), the mounting shell (71) is arranged on the bottom plate (1), the mounting shell (71) is in a cylindrical shape with an open upper end, and a tooth groove (710) is formed in the mounting shell (71);
the rotary cylinder (72) is rotatably arranged in the mounting shell (71), and an inner gear ring (720) and an outer gear ring (721) are respectively arranged on the inner side wall and the outer side wall of the rotary cylinder (72);
a planetary gear train comprising three planetary gears (73) and a central gear (74);
the rotating shaft (75), the connecting arm (76) is arranged on the rotating shaft (75);
a stabilizing block (77), wherein the stabilizing block (77) is arranged on the connecting arm (76), and a friction sliding block (78) for stabilizing the angular speed is arranged on the stabilizing block (77);
the synchronous gear ring (70) can be meshed with an outer gear ring (721) through a gear groove (710) to drive the rotating cylinder (72) to rotate, the three planet wheels (73) are rotatably arranged on the bottom surface of the rotating cylinder (72) and meshed with the inner gear ring (720), the central wheel (74) is rotatably arranged among the three planet wheels (73), and the rotating shaft (75) is coaxial with the central wheel (74) and can rotate along with the rotation of the central wheel (74);
the limiting strip (79) is arranged on the inner side wall of the rotating cylinder (72), the limiting strip (79) is in a protruding annular shape, and the limiting strip (79) is coaxial with the rotating cylinder (72);
wherein, the surface of the stabilizing block (77) is provided with a limit groove (770) which is matched with the limit strip (79);
the brake mechanism (8) further comprises: the cover plate (80), the said cover plate (80) is mounted on opening of the upper end of the mounting shell (71) removably;
the brake box (81), the brake box (81) is arranged on the inner surface of the cover plate (80), the box cover (810) is detachably mounted at the lower end of the brake box (81), and the box cover (810) is in sealing contact with the brake box (81);
the brake device comprises a plurality of brake rods (82), the brake rods (82) are arranged on the outer side wall of a brake box (81), and each brake rod (82) comprises a hollow rod-shaped outer rod (820) and an inner rod (821) sleeved in the outer rod (820);
a brake block (83), wherein the brake block (83) is arranged at the outer end of the inner rod (821);
the gas generating device (84), the gas generating device (84) is detachably arranged on the box cover (810), the gas generating device (84) is in sealing contact with the box cover (810), and the gas outlet of the gas generating device (84) is positioned inside the brake box (81);
the outer rod (820) is fixedly connected with the brake box (81) and is in sealing contact with the brake box, the inner portion of the outer rod (820) is communicated with the inner portion of the brake box (81), the outer rod (820) is in sealing contact with the inner rod (821), the gas generating device (84) can be started through a control system, and the cover plate (80) is installed on the installation shell (71) and the rear brake box (81) is located in the rotating cylinder (72);
after the brake rod (82) is unfolded, a buckling restrained brace can be formed between the inner rod (821) and the outer rod (820).
2. The industrial robot capable of multi-angle flexible clamping as claimed in claim 1, further comprising:
a vent (10), the vent (10) comprising an air inlet and an air outlet;
the air cooling mechanism (9), the said air cooling mechanism (9) is set up in the air intake;
the air inlet and the air outlet are both arranged on the side wall of the mounting shell (71) and penetrate into the mounting shell (71);
the air cooling mechanism (9) further comprises: the shell (90), the said shell (90) is fixed and set up in the air intake;
the Y-shaped air pipe (91), wherein the Y-shaped air pipe (91) comprises a first air inlet pipe (910), a second air inlet pipe (911) and an air outlet pipe (912);
the dust filter screen (92), the dust filter screen (92) is arranged at the air inlet ends of the first air inlet pipe (910) and the second air inlet pipe (911);
the pressure difference sensor (93), the pressure difference sensor (93) is arranged in the casing (90) and is used for sensing the air inlet condition of the first air inlet pipe (910) or the second air inlet pipe (911);
the electric control air door (94), the electric control air door (94) is respectively arranged in the first air inlet pipe (910) and the second air inlet pipe (911) and is used for controlling the opening and closing of the first air inlet pipe (910) and the second air inlet pipe (911);
the fan (95), the said fan (95) is set up in the air outlet pipe (912);
the air outlet ends of the first air inlet pipe (910) and the second air inlet pipe (911) are connected with an air outlet pipe (912), the air outlet end of the air outlet pipe (912) is located in the installation shell (71), the air inlet ends of the first air inlet pipe (910) and the second air inlet pipe (911) are located outside the installation shell (71), the fan (95), the differential pressure sensor (93) and the electric control air door (94) are electrically connected with the control system, and the first air inlet pipe (910) and the second air inlet pipe (911) can ventilate alternatively.
3. Use method of an industrial robot suitable for multi-angle flexible gripping according to claim 2, characterized by the following steps:
s1, presetting: the control system presets parameters of the industrial robot;
s2, clamping: when the workpiece is conveyed to the industrial robot, the first to the sixth mechanical arms (3) move and move the clamping piece (5) to the workpiece, the driving part (51) drives the two clamping arms (50) to open and surround the workpiece, then the two clamping arms (50) are contracted to clamp the workpiece, meanwhile, the control system starts the electromagnet, the electromagnet and the workpiece are mutually attracted to move towards the workpiece and extrude air in the movable cavity (52), so that the bottom of the movable cavity (52) is bulged and compresses the workpiece, and finally the workpiece is clamped;
s3, stabilizing joint displacement: when a workpiece is clamped, when the angular speed of the first mechanical arm is overlarge in the moving process, the synchronous gear ring (70) rotates to drive the outer gear ring (721) to rotate, the rotating cylinder (72) rotates along with the rotation of the outer gear ring (721) and drives the inner gear ring (720) to rotate, the inner gear ring (720) drives the planetary gear train to rotate, the rotating shaft (75) rotates along with the rotation of the central wheel (74) and drives the connecting arm (76) and the stabilizing block (77) to rotate, the larger the angular speed is, the larger the centrifugal force borne by the friction slide block (78) on the stabilizing block is, the larger the friction force between the friction slide block (78) and the inner wall of the rotating cylinder (72) is, so that the increase of the angular speed is limited, and the angular speed is stabilized in a safety range;
s4, overrun displacement braking: when the angular velocity cannot stably generate the joint displacement overrun, the control system can send out the displacement overrun warning, meanwhile, the gas generation device (84) is controlled to be started, the gas generation device (84) is started to generate a large amount of gas, the gas is filled in the brake box (81) instantly, the brake rod (82) is expanded instantly under the action of air pressure, the brake block (83) at the outer end of the inner rod (821) is abutted to the inner wall of the rotating cylinder (72) after the inner rod (821) is expanded to brake the rotating cylinder (72), then the joint in transmission connection with the rotating cylinder (72) is braked, and meanwhile, the inner rod (821) is stressed to be bent after being contacted with the inner wall of the rotating cylinder (72), so that the inner rod (821) and the outer rod (820) form a bending constraint support, the inner rod (821) is prevented from being contracted, and the braking stability is kept;
s5, placing: after the workpiece is clamped, the first mechanical arm to the sixth mechanical arm (3) move and move the workpiece to a target position for placement.
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| CN202210942483.1A CN115091496B (en) | 2022-08-08 | 2022-08-08 | Industrial robot capable of flexibly clamping at multiple angles |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115610761B (en) * | 2022-11-10 | 2023-06-06 | 秦皇岛力拓科技有限公司 | Full-automatic packaging equipment with cooperation arm |
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