CN115229776A

CN115229776A - Industrial manipulator that multi-angle clamp was got

Info

Publication number: CN115229776A
Application number: CN202210946928.3A
Authority: CN
Inventors: 金艳
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-08-09
Filing date: 2022-08-09
Publication date: 2022-10-25

Abstract

The invention discloses an industrial manipulator clamped at multiple angles, wherein the upper end of a bottle is in threaded connection with a bottle cap, the lower end of the bottle cap is provided with a circle of bottle cap groove, the lower end of a base is provided with a plurality of uniformly distributed wheels, the upper end of one side of the base is fixedly connected with a balancing weight, a rotating mechanism is arranged in the base, the upper end of the rotating mechanism is fixedly connected with rotating columns, gear shafts are fixedly connected among the rotating columns, the outer sides of the gear shafts are rotatably connected with gears, the device is provided with a rotating mechanism, a worker can start a rotating head motor through a remote controller to drive a first belt pulley to rotate, the rotating columns are driven by the first belt pulley to rotate so as to drive a rotating clamping mechanism, a clamping mechanism and a clamping telescopic mechanism to rotate to position the bottle, the bottle can be clamped by taking the rotating columns as the circle centers, the clamping range is greatly increased, the clamping efficiency is prevented from being reduced due to equipment replacement, the replacement cost is reduced, and the industrial manipulator is more suitable for industrial production.

Description

Industrial manipulator that multi-angle clamp was got

Technical Field

The invention relates to the technical field of industrial manipulator equipment, in particular to an industrial manipulator clamped at multiple angles.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.

The manipulator is the earliest appearing industrial robot and the earliest appearing modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like, and plays an essential role in the mechanization and automation production.

However, the general manipulator cannot clamp the bottles by taking the rotating column as the center of a circle, so that the clamping range is greatly reduced, workers need to frequently replace equipment, the clamping efficiency is reduced, the replacement cost is increased, and the manipulator is not suitable for industrial production; the clamping range cannot be controlled to be extended or shortened, the clamping is not suitable for clamping under various conditions, the working procedures are increased, the clamping efficiency is slowed down, the bottles on the ground cannot be clamped, the bottles on the cabinet cannot be clamped, the multi-directional clamping function cannot be realized, and the practicability is reduced; some mechanical arms cannot be suitable for clamping bottles with different specifications, the practicability is reduced, and the bottle caps cannot be clamped from the screwing direction of the bottle caps, so that the bottle caps are separated from the bottles, the bottle caps cannot be clamped better, and the clamping safety is reduced; the clamping device can not be embedded into the bottle cap groove, the firmness of clamping the bottle cap cannot be further increased, and the bottle cap cannot be clamped without damage to prevent the bottle cap from deforming, so that the bottle is damaged, and the cost is increased; and the mechanical arm needs manual operation, so that the automation degree is reduced, the labor force of workers is increased, and the working efficiency is reduced.

Therefore, there is a need for an industrial robot with multi-angle gripping that solves the above problems.

Disclosure of Invention

The invention aims to provide an industrial manipulator for clamping at multiple angles to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the industrial manipulator comprises a base, a bottle cap and a bottle cap groove, wherein the upper end of the bottle is in threaded connection with the bottle cap, the lower end of the bottle cap is provided with a circle of bottle cap groove, the lower end of the base is provided with a plurality of uniformly distributed wheels, the upper end of one side of the base is fixedly connected with a balancing weight, a rotating mechanism is arranged in the base, the upper end of the rotating mechanism is fixedly connected with rotating columns, a gear shaft is fixedly connected between the rotating columns, the outer side of the gear shaft is rotatably connected with a gear, one end of the gear is fixedly connected with a first connecting rod, one end of the first connecting rod, far away from the gear, is provided with a second connecting rod, hinge pins penetrate through the inner parts of the first connecting rod and the second connecting rod, the second connecting rod is hinged with the first connecting rod through the hinge pins, and one end of the gear is meshed with a clamping telescopic mechanism;

the clamping and stretching mechanism comprises a bidirectional rack, one end of the bidirectional rack is meshed with a connecting gear, the outer side of the bidirectional rack is connected with a fixed block in a sliding manner, two ends of the fixed block are fixedly connected with first connecting rods, one end of the bidirectional rack, far away from the gear, is meshed with a driving gear, one end of the driving gear is fixedly connected with a driving motor shaft, one end of the driving motor shaft, far away from the driving gear, is provided with a driving motor, one end of the driving motor is fixedly connected with the first connecting rods, one end of the bidirectional rack, far away from a rotating column, is provided with a third connecting rod, the third connecting rod and the inner part of the bidirectional rack are respectively inserted with a rotating pin, the third connecting rod is hinged with the bidirectional rack through the rotating pin, the outer side of the third connecting rod is connected with a rotating block in a sliding manner, two ends of the rotating block are respectively fixedly connected with symmetrically distributed slider pins, one end, far away from the rotating block, of the slider pin is rotatably connected with the first connecting rod in a rotating manner, one end, far away from the rotating pin, of the third connecting rod is fixedly connected with a lifting lug, one end, far away from the third connecting rod, of the lifting lug is provided with a second lifting lug, the lifting lug is connected with a T-shaped groove, and a T-shaped groove is connected with the lifting lug through-shaped groove;

the device comprises a first connecting rod, a second connecting rod, a turbine shaft, a turbine, a steering motor shaft, a steering motor, a rotating clamp mechanism and a rotating clamp mechanism, wherein the turbine shaft is fixedly connected inside one end, far away from the first connecting rod, of the second connecting rod, the turbine shaft is fixedly connected on the outer side of the turbine shaft, the rectangular block is rotatably connected on the outer side of the turbine shaft, one end of the turbine is meshed with the worm, the steering motor shaft is arranged at the lower end of the worm, the steering motor is arranged at the lower end of the steering motor shaft, the rectangular block is fixedly connected on the outer side of the steering motor, the lower end of the rectangular block is fixedly connected with the T-shaped block, and the rotating clamp mechanism is arranged in the T-shaped block.

Preferably, the rotating mechanism comprises a rotating motor, the lower end of the rotating motor is fixedly connected with the base, a rotating motor shaft is arranged at the lower end of the rotating motor, the outer side of the rotating motor shaft is rotatably connected with the base, the lower end of the rotating motor shaft is fixedly connected with a second belt pulley, the outer side of the second belt pulley is meshed with a belt, one end of the belt, far away from the second belt pulley, is meshed with a first belt pulley, the upper end of the first belt pulley is fixedly connected with a first belt pulley shaft, the outer side of the first belt pulley shaft is rotatably connected with the base, and the upper end of the first belt pulley shaft is fixedly connected with a rotating column.

Preferably, the rotating clamping mechanism is a rotating motor, one end of the rotating motor is fixedly connected with the T-shaped block, a rotating motor shaft is arranged at the lower end of the rotating motor, the lower end of the rotating motor shaft is fixedly connected with a rectangular box, and the clamping mechanism is arranged inside the rectangular box.

Preferably, the clamping mechanism comprises a sliding column, the upper end of the sliding group is fixedly connected with a T-shaped block, the lower end of the sliding column is fixedly connected with a support, the support and the sliding column are slidably connected with a rectangular box, the lower end of the support is fixedly connected with a threaded cylinder, the outer side of the threaded cylinder is rotatably connected with the rectangular box, the threaded cylinder is slidably connected with a sliding limiting disc, one end of the sliding limiting disc is fixedly connected with a threaded column, the threaded column is threadably connected with the threaded cylinder, the lower end of the threaded column is fixedly connected with a sliding rack, the sliding rack is slidably connected with a sliding rack groove, the sliding rack groove is arranged in the rectangular box, the lower end of the sliding rack is fixedly connected with a U-shaped support, the U-shaped support is slidably connected with the rectangular box, the lower end of the rectangular box is fixedly connected with a trapezoidal lug, the inside of the lower end of the U-shaped support is fixedly connected with a sliding pin, the outside of the sliding pin is respectively slidably connected with a first clamping rod and a clamping rod, clamping pin is inserted into the upper end of the first clamping rod and the inside of the clamping trapezoidal lug, the clamping lug, the first clamping rod and the clamping block are connected with one side of the clamping block, and the first clamping block are connected with one side of the lower end of the clamping rod.

Preferably, the hook is matched with the bottle cap groove.

Preferably, the sliding column and the bracket slide half a turn in the rectangular box.

Preferably, the rotary clamping mechanism and the clamping mechanism rotate along the thread direction of the bottle cap screwed on the bottle and clamp the bottle cap.

Preferably, the weight does not cause the device to topple.

Preferably, the turning motor, the driving motor, the wheels, the steering motor and the rotating motor are controlled by a remote controller to start and stop.

Preferably, the end face of the clamping block is provided with a non-slip mat.

Compared with the prior art, the invention has the beneficial effects that: compared with other inventions, the industrial manipulator for clamping at multiple angles has the advantages that:

1. the device is equipped with rotary mechanism, the workman can open the motor that turns round through the remote controller and drive first belt pulley and rotate, thereby first belt pulley rotates and drives and rotates the post rotation and drive rotatory clamp and get the mechanism, press from both sides the mechanism and press from both sides the location of getting telescopic machanism rotation and going on the bottle, can use the rotation post to carry out the clamp of bottle as the centre of a circle and get the scope, the reduction of avoiding the replacement equipment to lead to pressing from both sides the clamp and getting efficiency, reduce the replacement cost, more be fit for industrial production.

2. The device is equipped with to press from both sides and gets telescopic machanism and turns to the motor, thereby the workman can open through the remote controller that driving motor drives two-way rack and third connecting rod take place to remove and rotate and drive first connecting rod and second connecting rod and stretch out and draw back or unfold, turn to the motor and drive the worm and rotate, thereby the worm rotates and drives the turbine rotation and drive rotatory clamp and get the mechanism and press from both sides and get the mechanism and rotate, can extend or shorten and get the scope of getting, the clamp that can be fit for multiple condition gets, reduce the process, it gets efficiency to increase fast to get, and not only can press from both sides the bottle of getting on the ground and can also press from both sides the bottle of getting on the cupboard, can realize the function that diversified clamp was got, increase the practicality.

3. The device is equipped with the rotatory clamp and gets the mechanism with pressing from both sides, the workman can open the rotating electrical machines through the remote controller and drive U type support limit lapse and rotate, U type support limit lapse rotates and drives first clamping bar and second clamping bar limit and rotates the limit and press from both sides tightly, first clamping bar rotates the limit with second clamping bar limit and drives and press from both sides tight piece and hook and draw close to the centre and rise one end distance thereby can make the hook rotatory and imbed the bottle lid inslot, and then can press from both sides and get the bottle, can be fit for pressing from both sides the clamp of the bottle different with the specification and get, increase the practicality, can also press from both sides from the direction of screwing of bottle lid and press from both sides tightly, prevent bottle lid and bottle separation, and can be better press from both sides tight bottle lid, increase the security of pressing from both sides and getting.

4. The device is equipped with the hook, presss from both sides tight piece and slipmat, can imbed into the bottle lid inslot, can further increase the firm degree of pressing from both sides tight bottle lid, can also not hinder to press from both sides the bottle lid of getting and prevent that the bottle lid warp, destroy the bottle, reduces the expenditure of cost.

5. The turning motor, the driving motor, the wheels, the steering motor and the rotating motor of the device are controlled by the remote controller, so that the automation degree is increased, the labor force of workers is reduced, and the working efficiency is improved.

Drawings

FIG. 1 is a main sectional view of an industrial robot of the present invention for multi-angle gripping;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is an enlarged view of a portion of FIG. 1 at B;

FIG. 4 is an enlarged view of a portion of FIG. 1 at C;

FIG. 5 is an enlarged view of a portion of FIG. 1 at D;

FIG. 6 is an enlarged view of a portion E of FIG. 1;

FIG. 7 is an enlarged view of a portion of FIG. 1 at F;

FIG. 8 is an enlarged view of a portion of FIG. 1 at G;

FIG. 9 is an enlarged view of a portion of FIG. 1 at H;

FIG. 10 is a schematic diagram of the main structure of the first transmission disk and the second transmission disk of the industrial robot for multi-angle gripping according to the present invention.

In the figure: 1. a base; 2. a wheel; 3. a counterweight block; 4. a first pulley; 5. a second pulley; 6. a belt; 7. a head turning motor; 8. a rotor motor shaft; 9. a first pulley shaft; 10. rotating the column; 11. a gear; 12. a gear shaft; 13. a bidirectional rack; 14. a first link; 15. a second link; 16. a hinge pin; 17. a T-shaped groove; 18. a rectangular block; 19. a T-shaped block; 20. a rectangular box; 21. a U-shaped bracket; 22. a third link; 23. a bottle; 24. a bottle cap; 25. a bottle cap slot; 26. a rotation pin; 27. rotating the block; 28. a slider pin; 29. a drive motor; 30. a drive gear; 31. a drive motor shaft; 32. a fixed block; 33. lifting lugs; 34. a rotation pin; 35. a second lifting lug; 36. a slider; 37. a worm; 38. a steering motor; 39. a steering motor shaft; 40. a turbine; 41. a turbine shaft; 42. a rotating electric machine; 43. rotating a motor shaft; 44. a sliding post; 45. a support; 46. a threaded barrel; 47. a threaded post; 48. sliding the limiting disc; 49. pushing the rack; 50. pushing the rack slot; 51. a first clamping bar; 52. a second clamping bar; 53. a clamp pin; 54. a trapezoidal lifting lug; 55. a slide pin; 56. a clamping block; 57. and (4) hooks.

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 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.

Referring to fig. 1-10, the present invention provides a technical solution: the industrial manipulator comprises a base 1, a bottle 23, a bottle cap 24 and a bottle cap groove 25, wherein the upper end of the bottle 23 is in threaded connection with the bottle cap 24, the lower end of the bottle cap 24 is provided with a circle of bottle cap groove 25, the lower end of the base 1 is provided with a plurality of uniformly distributed wheels 2, the upper end of one side of the base 1 is fixedly connected with a balancing weight 3, a rotating mechanism is arranged in the base 1, the upper end of the rotating mechanism is fixedly connected with rotating columns 10, gear shafts 12 are fixedly connected between the rotating columns 10, the outer sides of the gear shafts 12 are rotatably connected with gears 11, one ends of the gears 11 are fixedly connected with first connecting rods 14, one ends of the first connecting rods 14, which are far away from the gears 11, are provided with second connecting rods 15, hinge pins 16 are inserted into the first connecting rods 14 and the second connecting rods 15, the second connecting rods 15 are hinged with the first connecting rods 14 through the hinge pins 16, and one ends of the gears 11 are meshed and connected with a clamping telescopic mechanism;

the clamping and stretching mechanism comprises a bidirectional rack 13, one end of the bidirectional rack 13 is engaged with a gear 11, the outer side of the bidirectional rack 13 is slidably connected with a fixed block 32, two ends of the fixed block 32 are fixedly connected with a first connecting rod 14, one end of the bidirectional rack 13, which is far away from the gear 11, is engaged with a driving gear 30, one end of the driving gear 30 is fixedly connected with a driving motor shaft 31, one end of the driving motor shaft 31, which is far away from the driving gear 30, is provided with a driving motor 29, one end of the driving motor 29 is fixedly connected with the first connecting rod 14, one end of the bidirectional rack 13, which is far away from a rotating column 10, is provided with a third connecting rod 22, rotating pins 26 are respectively inserted into the third connecting rod 22 and the bidirectional rack 13, the third connecting rod 22 is hinged with the bidirectional rack 13 through the rotating pins 26, the outer side of the third connecting rod 22 is slidably connected with a rotating block 27, and two ends of the rotating block 27 are fixedly connected with symmetrically distributed slider pins 28, one end of the sliding block pin 28, which is far away from the rotating block 27, is rotatably connected with the first connecting rod 14, one end of the third connecting rod 22, which is far away from the rotating pin 26, is fixedly connected with a lifting lug 33, one end of the lifting lug 33, which is far away from the third connecting rod 22, is provided with a second lifting lug 35, a rotating pin 34 is inserted into each of the second lifting lug 35 and the lifting lug 33, the second lifting lug 35 is hinged with the lifting lug 33 through the rotating pin 34, one end of the second lifting lug 35, which is far away from the rotating pin 34, is fixedly connected with a sliding block 36, the sliding block 36 and the second lifting lug 35 are slidably connected with a T-shaped groove 17, the T-shaped groove 17 is arranged in the second connecting rod 15, if a worker wants to extend or shorten the clamping range, the driving motor 29 can be started through a remote controller to drive the driving motor shaft 31 to rotate, the driving motor shaft 31 to drive the driving gear 30 to rotate, the driving gear 30 to rotate to drive the bidirectional rack 13 to move, the bidirectional rack 13 to respectively drive the gear 11 to rotate with the third connecting rod 22 to rotate, the gear 11 rotates to drive the first connecting rod 14 to contract or expand, the third connecting rod 22 rotates to drive the lifting lug 33 to rotate, the lifting lug 33 rotates to drive the second lifting lug 35 and the sliding block 36 to slide up and down in the T-shaped sliding groove 17, the second lifting lug 35 and the sliding block 36 slide up and down in the T-shaped sliding groove 17 to drive the second connecting rod 15 to contract and expand, the function of clamping a telescopic mechanism is achieved, the clamping range can be extended or shortened, the clamping range can be suitable for clamping in various situations, the working procedures are reduced, the clamping efficiency is improved, the bottles on the ground can be clamped, the bottles placed on the cabinet can be clamped, the multi-direction clamping function can be achieved, and the practicability is improved;

the inner part of one end of the second connecting rod 15, which is far away from the first connecting rod 14, is fixedly connected with a turbine shaft 41, the outer side of the turbine shaft 41 is fixedly connected with a turbine 40, the outer side of the turbine shaft 41 is rotatably connected with a rectangular block 18, one end of the turbine 40 is engaged with a worm 37, the lower end of the worm 37 is provided with a steering motor shaft 39, the lower end of the steering motor shaft 39 is provided with a steering motor 38, the outer side of the steering motor 38 is fixedly connected with the rectangular block 18, the lower end of the rectangular block 18 is fixedly connected with a T-shaped block 19, a rotary clamping mechanism is arranged in the T-shaped block 19, then a worker can start the steering motor 38 through a remote controller to drive the steering motor shaft 39 to rotate, the steering motor shaft 39 rotates to drive the worm 37 to rotate, the worm 37 rotates to drive the turbine 40 to rotate, and the turbine 40 rotates to drive the rotary clamping mechanism and the clamping mechanism to rotate.

The rotating mechanism comprises a rotating motor 7, the lower end of the rotating motor 7 is fixedly connected with a base 1, the lower end of the rotating motor 7 is provided with a rotating motor shaft 8, the outer side of the rotating motor shaft 8 is rotatably connected with the base 1, the lower end of the rotating motor shaft 8 is fixedly connected with a second belt pulley 5, the outer side of the second belt pulley 5 is meshed with a belt 6, one end of the belt 6, far away from the second belt pulley 5, is meshed with a first belt pulley 4, the upper end of the first belt pulley 4 is fixedly connected with a first belt pulley shaft 9, the outer side of the first belt pulley shaft 9 is rotatably connected with the base 1, the upper end of the first belt pulley shaft 9 is fixedly connected with a rotating column 10, and a worker can start the rotating motor 7 through a remote controller to drive the rotating motor shaft 8 to rotate, the head motor shaft 8 rotates and drives second belt pulley 5 and rotate, second belt pulley 5 rotates and drives belt 6 and remove, belt 6 removes and drives second belt pulley 4 and rotates, second belt pulley 4 rotates and drives first belt pulley shaft 9 and rotates, thereby first belt pulley shaft 9 rotates and drives rotation post 10 and rotate and drive rotatory clamp and get the mechanism, press from both sides and get the mechanism and press from both sides the location that telescopic machanism is rotatory to bottle 23, accomplish the rotary mechanism function, can use the rotation post to carry out the clamp of bottle as the centre of a circle and get, the scope is got to very big increase clamp, avoid the replacement equipment to lead to pressing from both sides the reduction of getting efficiency, reduce the replacement cost, more be fit for the industrial production.

The rotary clamping mechanism comprises a rotary motor 42, one end of the rotary motor 42 is fixedly connected with a T-shaped block 19, the lower end of the rotary motor 42 is provided with a rotary motor shaft 43, the lower end of the rotary motor shaft 43 is fixedly connected with a rectangular box 20, the interior of the rectangular box 20 is provided with a clamping mechanism, the clamping mechanism comprises a sliding column 44, the upper end of the sliding group 44 is fixedly connected with the T-shaped block 19, the lower end of the sliding column 44 is fixedly connected with a support 45, the support 45 and the sliding column 44 are slidably connected with the rectangular box 20, the lower end of the support 45 is fixedly connected with a threaded cylinder 46, the outer side of the threaded cylinder 46 is rotatably connected with the rectangular box 20, the threaded cylinder 46 is slidably connected with a sliding limiting disc 48, one end of the sliding limiting disc 48 is fixedly connected with a threaded column 47, the threaded column 47 is in threaded connection with the threaded cylinder 46, the lower end of the threaded column 47 is fixedly connected with a sliding rack 49, the sliding rack 49 is slidably connected with a sliding rack groove 50, the sliding rack groove 50 is arranged in the rectangular box 20, the lower end of the sliding rack 49 is fixedly connected with the U-shaped bracket 21, the U-shaped bracket 21 is slidably connected with the rectangular box 20, the lower end of the rectangular box 20 is fixedly connected with the trapezoidal lifting lug 54, the inside of the lower end of the U-shaped bracket 21 is fixedly connected with the sliding pin 55, the outer side of the sliding pin 55 is respectively slidably connected with the first clamping rod 51 and the first clamping rod 52, the upper ends of the first clamping rod 51 and the first clamping rod 52 and the inside of the trapezoidal lifting lug 54 are respectively inserted with the clamping pin 53, the trapezoidal lifting lug 54, the first clamping rod 51 and the second clamping rod 52 are respectively and hingedly connected through the clamping pin 53, the inner sides of the lower ends of the first clamping rod 51 and the first clamping rod 52 are respectively and fixedly connected with the clamping block 56, the hook 57 is fixedly connected to the lower end side of the clamping block 56 far away from the first clamping rod 51 and the first clamping rod 52, if a worker wants to clamp the bottle cap 24 on the bottle 23, the rotating motor 42 can be opened through a remote controller to drive the rotating motor shaft 43 to rotate, the rotating motor shaft 43 rotates to drive the rectangular box 20 to rotate, the sliding column 44 and the support 45 are respectively and fixedly connected with the T-shaped block 19 and the threaded cylinder 46, so that the rectangular box 20 rotates to drive the sliding rack 49 to rotate, the sliding rack 49 rotates to drive the threaded column 47 to rotate in the threaded cylinder 46, the threaded column 47 rotates to drive the sliding limiting disc 48 to rotate, the threaded column 47 rotates in the threaded cylinder 46 to drive the sliding rack 49 to move downwards, the sliding rack 49 moves downwards to drive the U-shaped support 21 to move downwards, the U-shaped support 21 moves downwards to respectively drive the first clamping rod 51 and the second clamping rod 52 to move towards the middle and move upwards by one end distance, the first clamping rod 51 and the second clamping rod 52 move towards the middle and move upwards by one end distance to drive the clamping block 56 and the hook 57 to move towards the middle and move upwards by one end distance, so that the hook 57 can rotate and be embedded into the bottle cap groove 25, the bottle 23 can be clamped, the functions of a rotating clamping mechanism and a clamping mechanism can be completed, the functions of the rotating clamping mechanism and the bottle can be suitable for clamping bottles with different specifications, the bottle caps can be increased in practicability, the clamping direction of the bottle caps can be prevented from being screwed, the bottle caps from being separated from the bottle caps, and the clamping of the bottle caps can be better, and the clamping safety of the bottle caps can be increased.

The hook 57 is matched with the bottle cap groove 25, the rotary clamping mechanism and the clamping mechanism rotate along the thread direction of the bottle 23 screwed by the bottle cap 24 and clamp the bottle cap 24, the sliding column 44 and the support 45 slide half a turn in the rectangular box 20 and can be embedded into the bottle cap groove 25, the firmness of clamping the bottle cap 24 can be further increased, the bottle cap 24 can be clamped without damage, the bottle cap 24 is prevented from being deformed, the bottle 23 is damaged, and the cost is lowered.

The weight 3 does not cause the device to topple over.

The starting and stopping of the rotary motor 7, the driving motor 29, the wheels 2, the steering motor 38 and the rotating motor 42 are controlled by a remote controller, so that the automation degree can be increased, the labor force of workers can be reduced, and the working efficiency can be increased.

The end surfaces of the gripping blocks 56 are provided with non-slip pads to prevent slippage off of the bottle cap 24 and damage to the bottle cap 24.

The working principle of the invention is as follows:

a worker can control the wheels 2 to move the device to an operation site through a remote controller, the worker can start the turning motor 7 through the remote controller to drive the turning motor shaft 8 to rotate, the turning motor shaft 8 rotates to drive the second belt pulley 5 to rotate, the second belt pulley 5 rotates to drive the belt 6 to move, the belt 6 moves to drive the second belt pulley 4 to rotate, the second belt pulley 4 rotates to drive the first belt pulley shaft 9 to rotate, the first belt pulley shaft 9 rotates to drive the rotating column 10 to rotate so as to drive the rotating clamping mechanism, the clamping mechanism and the clamping telescopic mechanism to rotate to position the bottle 23, the rotating mechanism function is completed, if the worker wants to extend or shorten the clamping range, the driving motor 29 can be started through the remote controller to drive the driving motor shaft 31 to rotate, the driving motor shaft 31 rotates to drive the driving gear 30 to rotate, and the driving gear 30 rotates to drive the bidirectional rack 13 to move, the bidirectional rack 13 moves to respectively drive the gear 11 to rotate and the third connecting rod 22 to rotate, the gear 11 rotates to drive the first connecting rod 14 to contract or expand, the third connecting rod 22 rotates to drive the lifting lug 33 to rotate, the lifting lug 33 rotates to drive the second lifting lug 35 and the sliding block 36 to slide up and down in the T-shaped sliding groove 17, the second lifting lug 35 and the sliding block 36 slide up and down in the T-shaped sliding groove 17 to drive the second connecting rod 15 to contract and expand, the function of clamping and expanding mechanisms is completed, then a worker can turn on the steering motor 38 through a remote controller to drive the steering motor shaft 39 to rotate, the steering motor shaft 39 rotates to drive the worm 37 to rotate, the worm 37 rotates to drive the turbine 40 to rotate, the turbine 40 rotates to drive the rotary clamping mechanism and the clamping mechanism to rotate, if the worker wants to clamp the bottle cap 24 on the bottle 23, the rotary motor 42 can be turned through the remote controller to drive the rotary motor shaft 43 to rotate, the rotating motor shaft 43 rotates to drive the rectangular box 20 to rotate, the sliding column 44 and the support 45 are respectively and fixedly connected with the T-shaped block 19 and the threaded cylinder 46, so that the rectangular box 20 rotates to drive the sliding rack 49 to rotate, the sliding rack 49 rotates to drive the threaded column 47 to rotate in the threaded cylinder 46, the threaded column 47 rotates to drive the sliding limiting disc 48 to rotate, the threaded column 47 rotates in the threaded cylinder 46 to drive the sliding rack 49 to move downwards, the sliding rack 49 moves downwards to drive the U-shaped support 21 to move downwards, the U-shaped support 21 moves downwards to respectively drive the first clamping rod 51 and the second clamping rod 52 to move towards the middle and lift one end distance, the first clamping rod 51 and the second clamping rod 52 move towards the middle and lift one end distance to drive the clamping block 56 and the hook 57 to move towards the middle and lift one end distance so that the hook 57 rotates and is embedded into the bottle cap groove 25, the bottle 23 can be clamped, the functions of the rotary clamping mechanism and the clamping mechanism are completed, and the functions of the multi-angle industrial manipulator are completed.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an industrial robot that multi-angle clamp was got, includes base (1), bottle (23), bottle lid (24) and bottle lid groove (25), the upper end threaded connection bottle lid (24) of bottle (23), the lower extreme of bottle lid (24) is equipped with round bottle lid groove (25), its characterized in that: the lower end of the base (1) is provided with a plurality of uniformly distributed wheels (2), the upper end of one side of the base (1) is fixedly connected with a balancing weight (3), a rotating mechanism is arranged in the base (1), the upper end of the rotating mechanism is fixedly connected with rotating columns (10), gear shafts (12) are fixedly connected among the rotating columns (10), the outer sides of the gear shafts (12) are rotatably connected with gears (11), one ends of the gears (11) are fixedly connected with first connecting rods (14), one ends of the first connecting rods (14) far away from the gears (11) are provided with second connecting rods (15), hinge pins (16) penetrate through the interiors of the first connecting rods (14) and the second connecting rods (15), the second connecting rods (15) are hinged with the first connecting rods (14) through the hinge pins (16), and one ends of the gears (11) are meshed and connected with a clamping telescopic mechanism;

the clamping and stretching mechanism comprises a bidirectional rack (13), one end of the bidirectional rack (13) is meshed with a connecting gear (11), the outer side of the bidirectional rack (13) is connected with a fixed block (32) in a sliding manner, two ends of the fixed block (32) are fixedly connected with first connecting rods (14), one end of the bidirectional rack (13), far away from the gear (11), is meshed with a driving gear (30), one end of the driving gear (30), far away from the driving gear (30), is fixedly connected with a driving motor shaft (31), one end of the driving motor shaft (31), far away from the driving gear (30), is fixedly connected with the first connecting rods (14), one end of the bidirectional rack (13), far away from a rotating column (10), is provided with third connecting rods (22), rotary pins (26) penetrate through the insides of the third connecting rods (22) and the bidirectional rack (13), the third connecting rods (22) are hinged with the bidirectional rack (13) through the rotary pins (26), the outer side of the third connecting rods (22) is connected with rotary blocks (27), two ends of the rotary blocks (27) are fixedly connected with sliding blocks (28), one end of the rotary blocks (28) is symmetrically distributed, one end of the rotary blocks (22) is far away from the rotary pins (33), and one end of the rotary blocks (28) is connected with the rotary pins (26), one end of the rotary blocks (22), and one end of the rotary blocks (33), one rotary blocks (33) is connected with the rotary blocks (27) ) A second lifting lug (35) is arranged at one end, far away from the third connecting rod (22), of the lifting lug (33), a rotating pin (34) penetrates through the second lifting lug (35) and the lifting lug (33), the second lifting lug (35) is hinged to the lifting lug (33) through the rotating pin (34), a sliding block (36) is fixedly connected to one end, far away from the rotating pin (34), of the second lifting lug (35), the sliding block (36) and the second lifting lug (35) are connected with a T-shaped groove (17) in a sliding mode, and the T-shaped groove (17) is formed in the second connecting rod (15);

the internal fixed connection turbine shaft (41) of one end of keeping away from first connecting rod (14) of second connecting rod (15), outside fixed connection turbine (40) of turbine shaft (41), the outside of turbine shaft (41) is rotated and is connected rectangular block (18), worm (37) are connected in the one end meshing of turbine (40), the lower extreme of worm (37) is equipped with and turns to motor shaft (39), the lower extreme that turns to motor shaft (39) is equipped with and turns to motor (38), the outside fixed connection rectangular block (18) that turns to motor (38), the lower extreme fixed connection T type block (19) of rectangular block (18), it presss from both sides the mechanism to be equipped with the rotation in T type block (19).

2. The industrial robot as claimed in claim 1, wherein the industrial robot comprises: the rotary mechanism comprises a rotary motor (7), the lower end of the rotary motor (7) is fixedly connected with a base (1), the lower end of the rotary motor (7) is provided with a rotary motor shaft (8), the outer side of the rotary motor shaft (8) is rotatably connected with the base (1), the lower end of the rotary motor shaft (8) is fixedly connected with a second belt pulley (5), the outer side of the second belt pulley (5) is meshed with a connecting belt (6), one end, far away from the second belt pulley (5), of the belt (6) is meshed with a first belt pulley (4), the upper end of the first belt pulley (4) is fixedly connected with a first belt pulley shaft (9), the outer side of the first belt pulley shaft (9) is rotatably connected with the base (1), and the upper end of the first belt pulley shaft (9) is fixedly connected with a rotary column (10).

3. The industrial robot for multi-angle gripping as claimed in claim 1, wherein: the rotary clamping mechanism is characterized by comprising a rotary clamping mechanism rotating motor (42), one end of the rotating motor (42) is fixedly connected with a T-shaped block (19), a rotating motor shaft (43) is arranged at the lower end of the rotating motor (42), a rectangular box (20) is fixedly connected with the lower end of the rotating motor shaft (43), and a clamping mechanism is arranged inside the rectangular box (20).

4. The industrial robot for multi-angle gripping as claimed in claim 1, wherein: the clamping mechanism comprises a sliding column (44), the upper end of the sliding group (44) is fixedly connected with a T-shaped block (19), the lower end of the sliding column (44) is fixedly connected with a support (45), the support (45) and the sliding column (44) are slidably connected with a rectangular box (20), the lower end of the support (45) is fixedly connected with a threaded cylinder (46), the outer side of the threaded cylinder (46) is rotatably connected with the rectangular box (20), the threaded cylinder (46) is slidably connected with a sliding limiting disc (48), one end of the sliding limiting disc (48) is fixedly connected with a threaded cylinder (47), the threaded cylinder (47) is threadedly connected with the threaded cylinder (46), the lower end of the threaded cylinder (47) is fixedly connected with a sliding rack (49), the sliding rack (49) is slidably connected with a sliding rack groove (50), the sliding rack groove (50) is arranged in the rectangular box (20), the lower end of the sliding rack (49) is fixedly connected with a U-shaped support (21), the rectangular support (21) is slidably connected with a trapezoidal lifting lug (20), and the lower end of the sliding lug (54) is fixedly connected with a first sliding pin (55) and a first sliding pin (55), clamping pins (53) are inserted into the upper ends of the first clamping rod (51) and the first clamping rod (52) and the inner part of the trapezoidal lifting lug (54), the first clamping rod (51) and the second clamping rod (52) are hinged through the clamping pins (53), clamping blocks (56) are fixedly connected to the inner sides of the lower ends of the first clamping rod (51) and the first clamping rod (52), and hooks (57) are fixedly connected to one sides of the lower ends of the clamping blocks (56) far away from the first clamping rod (51) and the first clamping rod (52).

5. The industrial robot for multi-angle gripping as claimed in claim 1 or 4, wherein: the hook (57) is matched with the bottle cap groove (25).

6. The industrial robot for multi-angle gripping as claimed in claim 4, wherein: the sliding column (44) and the bracket (45) slide for half a circle in the rectangular box (20).

7. The industrial robot for multi-angle gripping as claimed in claim 3 or 4, wherein: the rotary clamping mechanism and the clamping mechanism rotate along the thread direction of the bottle cap (24) for screwing the bottle (23) and clamp the bottle cap (24).

8. The industrial robot for multi-angle gripping as claimed in claim 1, wherein: the balancing weight (3) can not cause the device to topple.

9. The industrial robot for multi-angle gripping as claimed in any one of claims 1 to 4, wherein: the starting and stopping of the rotary motor (7), the driving motor (29), the wheels (2), the steering motor (38) and the rotating motor (42) are controlled by a remote controller.

10. The industrial robot for multi-angle gripping as claimed in claim 4, wherein: the end surface of the clamping block (56) is provided with a non-slip mat.