CN115256356A - Special sampling manipulator of industrial robot - Google Patents

Abstract

The invention discloses a special sampling manipulator for an industrial robot, and belongs to the field of manipulators. A sampling mechanical arm special for an industrial robot comprises a bearing assembly, wherein the bearing assembly comprises two fixing pieces which are symmetrically arranged, side plates are fixed on the left side surface and the right side surface of each fixing piece, the front side surfaces of the side plates are rotatably connected with first connecting rods through bearings, a first driven gear disc is fixed at one end of each first connecting rod, a fan-shaped gear disc is connected to the outer surface of each first driven gear disc in a meshed mode, and a second connecting rod is fixed at the axis of each fan-shaped gear disc; according to the invention, through the arrangement of the fixing part, the side plate, the first connecting rod, the first driven gear disc, the fan-shaped gear disc, the second connecting rod and the bearing plate, the bottom of a product is supported after the manipulator clamps the product, the bottom of the product is prevented from being suspended, and the phenomenon that the product is damaged due to falling of the manipulator due to weakened fixity is prevented.

Description

A special sampling manipulator for industrial robots

technical field

The invention relates to the technical field of manipulators, in particular to a special sampling manipulator for industrial robots.

Background technique

An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically. It is a machine that realizes various functions by its own power and control capabilities. When an industrial robot is used, it usually It is to use manipulators to replace people to complete parts placement and complete product sampling or sample delivery, thereby increasing product production efficiency.

The traditional sampling manipulator is usually composed of a drive unit, a manipulator, a manipulator and other components. The manipulator and manipulator are moved by the drive unit to reach the position corresponding to the product, and the product is gripped by the manipulator. However, this type of sampling manipulator When in use, the product is generally fixed in the middle of the gripper, while the bottom is completely in the air. Therefore, when the manipulator grips, the product often falls, resulting in product damage. For this reason, We propose a special sampling manipulator for industrial robots.

Contents of the invention

The purpose of the present invention is to solve the problem that in the prior art, the product is generally fixed in the middle of the jaws, while the bottom is completely in the air. When the manipulator grips, the product often falls and causes product damage. , and a special sampling manipulator for industrial robots is proposed.

In order to achieve the above object, the present invention adopts the following technical solutions:

A special sampling manipulator for industrial robots, including a supporting assembly, the supporting assembly includes two symmetrically arranged fixing parts, side plates are fixed on the left and right sides of the fixing parts, and the front sides of the side plates pass through The bearing is rotatably connected with a first connecting rod, and one end of the first connecting rod is fixed with a first driven gear plate, and the outer surface of the first driven gear plate is meshed with a sector gear plate, and the sector gear A second connecting rod is fixed at the center of the disk, and one end of the second connecting rod is rotatably connected to the side plate through a bearing, and a supporting plate is fixed on the sector gear disk, and a There is a driving mechanism, and the driving mechanism is used to drive the two supporting plates to flip synchronously and reversely to complete the support of the sample. The bottom of the fixture is equipped with a clamping mechanism, which is used for clamping For the sample, the supporting component is lifted and lowered under the control of the lifting mechanism, and the lifting mechanism is fixed on the bottom end of the first swing arm, and the swing of the first swing arm is controlled by the fourth motor, and the fourth motor is fixed on the second One side of the swing arm, the swing of the second swing arm is controlled by a fifth motor, and the fifth motor is fixed on one side of the third swing arm, and the rotation of the third swing arm is controlled by a sixth motor. Six motors are attached to the bottom of the mount.

Preferably, the drive mechanism includes a first motor fixed on the top of the fixing member, a No. 1 circular gear is fixed on the output shaft end of the first motor, and a No. 2 circular gear is engaged with the outer surface of the No. 1 circular gear. Shaped gear, the shaft center of the No. 2 circular gear is fixed with a rotating rod, and two support blocks are symmetrically fixed on the top of the fixing member, and the rotating rod is rotationally connected with the two supporting blocks through bearings. Both ends of the rod are fixed with a first worm, and the outer surface of the first worm is meshed with a first worm gear, and the meshing directions of the two first worms and the first worm gear are opposite, and the shaft of the first worm gear A third connecting rod is fixed at the center, and one end of the third connecting rod is rotatably connected to the side plate through a bearing. The outer surface of the third connecting rod is fixed with a first driving gear plate, and the first driving gear plate The meshing connection is on the outer surface of the first driven gear plate.

Preferably, the clamping mechanism includes a connecting piece fixed at the bottom of the fixing piece, a second motor is fixed on one side of the connecting piece, a connecting gear plate is fixed on the output shaft end of the second motor, and the connecting gear The outer surface of the disc is engaged with a second driving gear disc, and the outer surface of the second driving gear disc is engaged with a second driven gear disc, and both the second driving gear disc and the second driven gear disc pass through the rotating shaft Rotately connected with the connecting piece, the outer surfaces of the second driving gear plate and the second driven gear plate are fixed with clamps.

Preferably, the lifting mechanism includes a fixed box fixed at one end of the first swing arm, a third motor is fixed on the right side of the fixed box, and a second worm is fixed at the output shaft end of the third motor. The outer surface of the second worm is symmetrically meshed with two second worm gears, the shaft centers of the second worm gears are fixed with screw rods, and the bottom of the fixed box is symmetrically fixed with two installation boxes. The rods are rotatably connected to the corresponding mounting boxes through bearings, the outer surfaces of the screw rods are threaded with lifting blocks, and the two fixing parts are respectively fixed on one side of the corresponding lifting blocks.

Preferably, an installation hole is opened on the installation frame, and the installation hole is used for screwing in.

Preferably, two limit rods are symmetrically fixed in the installation box, limit blocks are fixed on both sides of the lifting block, and the two limit blocks slide on the outer surfaces of the corresponding limit rods.

Preferably, sliding slots are provided on the front sides of the two installation boxes, and the two lifting blocks respectively slide in corresponding sliding slots.

Preferably, the front side of the fixed box is hinged with a sliding door, and a handle is fixed on the sliding door.

Compared with the prior art, the present invention provides a special sampling manipulator for industrial robots, which has the following beneficial effects:

1. The special sampling manipulator for industrial robots, through the setting of the fixing piece, side plate, first connecting rod, first driven gear plate, sector gear plate, second connecting rod and supporting plate, is used for after the manipulator grips , support the bottom of the product, avoid the bottom of the product from being suspended, and prevent the fixation of the manipulator from weakening, resulting in damage to the product when it falls. Through the first motor, the first circular gear, the second circular gear, and the rotating rod , the support block, the first worm, the first worm gear, the third connecting rod, and the first driving gear disc are used to synchronously drive the two support plates to reverse and reverse, to complete the support and reset of the product, and The flipping of the two supporting boards can be controlled by the same power supply without separate start-up, which reduces the number of power supplies and enhances the accuracy of the synchronous flipping of the two supporting boards.

2. The special sampling manipulator for industrial robots is used to simultaneously drive the two supporting components and the clamp through the mutual cooperation between the fixed box, the third motor, the second worm, the second worm wheel, the screw, the installation box, and the lifting block. The take-up mechanism moves downward to complete the lifting of the support assembly and the clamping mechanism, and the vertical orientation of the clamping mechanism can be adjusted to facilitate clamping of the product.

3. The special sampling manipulator for industrial robots is used to grip the product through the mutual cooperation between the connecting piece, the second motor, the connecting gear plate, the second driving gear plate, the second driven gear plate and the fixture. For product sampling and sample delivery, by setting two sets of supporting components and clamping mechanisms, two sets of products can be clamped at the same time, which increases production efficiency.

The parts not involved in the device are the same as the existing technology or can be realized by using the existing technology. The present invention can support the bottom of the product after the manipulator grips it, preventing the manipulator from weakening and causing the product to fall. damage phenomenon, and can synchronously drive the two support plates to flip in reverse to complete the support and reset of the product. At the same time, the flip of the two support plates can be controlled by the same power supply, which does not need to be started separately, reducing the number of power supplies , to enhance the precision of the synchronous flipping of the two support plates.

Description of drawings

Fig. 1 is a schematic diagram of the front view perspective of the structure of a special sampling manipulator for industrial robots proposed by the present invention;

Fig. 2 is a schematic view of the structure of a special sampling manipulator for industrial robots proposed by the present invention;

Fig. 3 is a schematic diagram of the internal structure of a fixed box of a special sampling manipulator for an industrial robot proposed by the present invention;

Fig. 4 is the structural representation of the installation box of a kind of industrial robot special-purpose sampling manipulator that the present invention proposes;

Fig. 5 is a structural schematic diagram of a fixture of a special sampling manipulator for an industrial robot proposed by the present invention;

Fig. 6 is a structural schematic diagram of a driving mechanism of a special sampling manipulator for an industrial robot proposed by the present invention;

Fig. 7 is a structural schematic diagram of a supporting assembly of a special sampling manipulator for an industrial robot proposed by the present invention;

Fig. 8 is a structural schematic diagram of a clamping mechanism of a special sampling manipulator for an industrial robot proposed by the present invention.

In the figure: 1, supporting assembly; 101, fixing piece; 102, side plate; 103, first connecting rod; 104, first driven gear disc; 105, sector gear disc; 106, second connecting rod; 107, Supporting plate; 2, driving mechanism; 201, the first motor; 202, No. 1 circular gear; 203, No. 2 circular gear; 204, rotating rod; 205, support block; 206, the first worm; 207, the first A worm wheel; 208, the third connecting rod; 209, the first driving gear plate; 3, the clamping mechanism; 301, the connector; 302, the second motor; 303, the connecting gear plate; 304, the second driving gear plate; 305 , the second driven gear plate; 306, the fixture; 4, the lifting mechanism; 401, the fixed box; 402, the third motor; 403, the second worm; 404, the second worm wheel; 405, the screw mandrel; 406, the installation box; 407. Lifting block; 5. First swing arm; 6. Fourth motor; 7. Second swing arm; 8. Fifth motor; 9. Third swing arm; 10. Sixth motor; 11. Mounting frame; 12 , Mounting hole; 13, limit rod; 14, limit block; 15, chute; 16, sliding door.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them.

In describing the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", " The orientation or positional relationship indicated by "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, so as to Specific orientation configurations and operations, therefore, are not to be construed as limitations on the invention.

Example 1:

Referring to Fig. 1-Fig. 8, a special sampling manipulator for an industrial robot includes a supporting assembly 1, and the supporting assembly 1 includes two symmetrically arranged fixing parts 101, and side plates 102 are fixed on the left and right sides of the fixing parts 101, and the side plates 102 are fixed on the sides. The front sides of the plates 102 are rotatably connected with a first connecting rod 103 through bearings, one end of the first connecting rod 103 is fixed with a first driven gear plate 104, and the outer surface of the first driven gear plate 104 is meshed with a fan-shaped The gear plate 105 and the axis of the sectoral gear plate 105 are fixed with a second connecting rod 106, and one end of the second connecting rod 106 is rotatably connected to the side plate 102 through a bearing, and a support plate 107 is fixed on the sectoral gear plate 105. , a drive mechanism 2 is also installed on the fixture 101, and the drive mechanism 2 is used to drive the two support plates 107 to synchronously and reversely flip to complete the support of the sample. The bottom of the fixture 101 is equipped with a clamping mechanism 3, which The taking mechanism 3 is used to clamp the sample, and the support assembly 1 is lifted and lowered by the control of the lifting mechanism 4. The lifting mechanism 4 is fixed on the bottom end of the first swing arm 5, and the first swing arm 5 is controlled by the fourth motor 6 to swing. The motor 6 is fixed on one side of the second swing arm 7, the second swing arm 7 is controlled to swing by the fifth motor 8, the fifth motor 8 is fixed on one side of the third swing arm 9, and the third swing arm 9 is controlled by the sixth motor 10 controls the rotation, the sixth motor 10 is fixed on the bottom of the mounting frame 11, and the mounting frame 11 is provided with mounting holes 12, and the mounting holes 12 are used for screwing in.

In the present invention, when in use, screws are screwed into the installation holes 12, and the installation frame 11 is fixed on the industrial robot, so that the manipulator is detachable, which is convenient for replacement and maintenance. The six motors 10 can drive the third swing arm 9 to rotate, so that the second swing arm 7, the first swing arm 5, the lifting mechanism 4, the clamping mechanism 3 and the supporting assembly 1 rotate together, so that the clamping mechanism 3 moves horizontally The orientation can be adjusted, through the fifth motor 8, the second swing arm 7 can be driven to rotate, so that the first swing arm 5 and the clamping mechanism 3 can rotate together, so that the vertical orientation of the clamping mechanism 3 can be adjusted. The fourth motor 6 drives the first swing arm 5 and the clamping mechanism 3 to rotate, which can appropriately increase the length of the clamping position of the clamping mechanism 3. At the same time, the lifting mechanism 4 can drive the two supporting components 1 to move downward synchronously, so that the bearing The support assembly 1 and the clamping mechanism 3 move to the position corresponding to the product, so that the orientation of the clamping mechanism 3 can be changed, which facilitates the clamping operation of the clamping mechanism 3, and the sample is clamped by the clamping mechanism 3. After taking it out, the staff can drive the two supporting assemblies 1 to run at the same time by starting the driving mechanism 2. When the driving mechanism 2 is started, it will drive the two first driven gear plates 104 to rotate synchronously and reversely Since the first driven gear plate 104 is meshed with the sector gear plate 105, the two sector gear plates 105 are driven to rotate synchronously and reversely, so that the support plate 107 is turned over together, so that the support plate 107 is turned over to be The clamping mechanism 3 clamps the bottom of the product, supports the product through the supporting plate 107, avoids the bottom of the product from being suspended, and is used to prevent the fixation of the manipulator from weakening, thereby causing the product to fall and be damaged. The setting of the rod 103 and the second connecting rod 106 is used to support the first driven gear plate 104 and the sector gear plate 105, and enhance the stability when the first driven gear plate 104 and the sector gear plate 105 rotate. Mechanism 2 can synchronously drive the two supporting plates 107 to flip in reverse to complete the support and reset of the product, and the flipping of the two supporting plates 107 can be controlled by the same power supply, which does not need to be started separately, reducing the number of power supplies , to enhance the accuracy of the synchronous flipping of the two support plates 107 .

Example 2:

Referring to Fig. 1-Fig. 8, a special sampling manipulator for an industrial robot includes a supporting assembly 1, and the supporting assembly 1 includes two symmetrically arranged fixing parts 101, and side plates 102 are fixed on the left and right sides of the fixing parts 101, and the side plates 102 are fixed on the sides. The front sides of the plates 102 are rotatably connected with a first connecting rod 103 through bearings, one end of the first connecting rod 103 is fixed with a first driven gear plate 104, and the outer surface of the first driven gear plate 104 is meshed with a fan-shaped The gear plate 105 and the axis of the sectoral gear plate 105 are fixed with a second connecting rod 106, and one end of the second connecting rod 106 is rotatably connected to the side plate 102 through a bearing, and a support plate 107 is fixed on the sectoral gear plate 105. , a drive mechanism 2 is also installed on the fixture 101, and the drive mechanism 2 is used to drive the two support plates 107 to synchronously and reversely flip to complete the support of the sample. The bottom of the fixture 101 is equipped with a clamping mechanism 3, which The taking mechanism 3 is used to clamp the sample, and the support assembly 1 is lifted and lowered by the control of the lifting mechanism 4. The lifting mechanism 4 is fixed on the bottom end of the first swing arm 5, and the first swing arm 5 is controlled by the fourth motor 6 to swing. The motor 6 is fixed on one side of the second swing arm 7, the second swing arm 7 is controlled to swing by the fifth motor 8, the fifth motor 8 is fixed on one side of the third swing arm 9, and the third swing arm 9 is controlled by the sixth motor 10 controls the rotation, the sixth motor 10 is fixed on the bottom of the mounting frame 11, the drive mechanism 2 includes a first motor 201 fixed on the top of the fixture 101, and the output shaft end of the first motor 201 is fixed with a No. 1 circular gear 202, No. 1 The outer surface of the circular gear 202 is engaged with the No. 2 circular gear 203, and the axis of the No. 2 circular gear 203 is fixed with a rotating rod 204. The top of the fixing member 101 is symmetrically fixed with two support blocks 205, and the rotating rod 204 The two supporting blocks 205 are rotatably connected by bearings, the two ends of the rotating rod 204 are fixed with a first worm 206, the outer surface of the first worm 206 is meshed with a first worm gear 207, and the two first worms 206 are connected with the first The meshing direction of the worm wheel 207 is opposite, the axis of the first worm wheel 207 is fixed with a third connecting rod 208, one end of the third connecting rod 208 is connected to the side plate 102 through a bearing, and the outer surface of the third connecting rod 208 is fixed with The first driving gear plate 209 is engaged with the outer surface of the first driven gear plate 104 .

In the present invention, when it is necessary to drive the supporting assembly 1 to run, the staff turns on the first motor 201, and the first motor 201 drives the No. 1 circular gear 202 to rotate. Since the No. 1 circular gear 202 meshes with the No. 2 circular gear 203 connected, thus driving the No. 2 circular gear 203 and the rotating rod 204 to rotate, through the two support blocks 205, used to support the rotating rod 204, enhancing the stability of the rotating rod 204 when rotating, when the rotating rod 204 is rotating, The two first worms 206 are driven to rotate, and the meshing directions of the two first worms 206 and the two first worm wheels 207 are opposite, thereby driving the two first worm wheels 207 to rotate in reverse, so that the two third connecting rods 208 and The direction that the first driving gear disc 209 rotates is also opposite, because the first driving gear disc 209 is meshed with the first driven gear disc 104, so that the two first driven gear discs 104 also rotate in reverse together, thereby facilitating The two supporting plates 107 are reversely reversed, so that they can be turned under the product synchronously, and the product is supported. Through the setting of the two first worms 206 and the first worm wheel 207, the two supporting plates 107 are Turning can be controlled by the first motor 201 as a power source, which reduces the number of power sources and does not need to be started separately, and enhances the accuracy of the synchronous flipping of the two support plates 107, enhancing the use effect.

Example 3:

Referring to Fig. 1-Fig. 8, a special sampling manipulator for an industrial robot includes a supporting assembly 1, and the supporting assembly 1 includes two symmetrically arranged fixing parts 101, and side plates 102 are fixed on the left and right sides of the fixing parts 101, and the side plates 102 are fixed on the sides. The front sides of the plates 102 are rotatably connected with a first connecting rod 103 through bearings, one end of the first connecting rod 103 is fixed with a first driven gear plate 104, and the outer surface of the first driven gear plate 104 is meshed with a fan-shaped The gear plate 105 and the axis of the sectoral gear plate 105 are fixed with a second connecting rod 106, and one end of the second connecting rod 106 is rotatably connected to the side plate 102 through a bearing, and a support plate 107 is fixed on the sectoral gear plate 105. , a drive mechanism 2 is also installed on the fixture 101, and the drive mechanism 2 is used to drive the two support plates 107 to synchronously and reversely flip to complete the support of the sample. The bottom of the fixture 101 is equipped with a clamping mechanism 3, which The taking mechanism 3 is used to clamp the sample, and the support assembly 1 is lifted and lowered by the control of the lifting mechanism 4. The lifting mechanism 4 is fixed on the bottom end of the first swing arm 5, and the first swing arm 5 is controlled by the fourth motor 6 to swing. The motor 6 is fixed on one side of the second swing arm 7, the second swing arm 7 is controlled to swing by the fifth motor 8, the fifth motor 8 is fixed on one side of the third swing arm 9, and the third swing arm 9 is controlled by the sixth motor 10 controls the rotation, the sixth motor 10 is fixed on the bottom of the mounting frame 11, and the clamping mechanism 3 includes a connecting piece 301 fixed on the bottom of the fixing piece 101, a side of the connecting piece 301 is fixed with a second motor 302, and the second motor 302 The output shaft end is fixed with a connecting gear plate 303, the outer surface of the connecting gear plate 303 is meshed with a second driving gear plate 304, the outer surface of the second driving gear plate 304 is meshed with a second driven gear plate 305, and the second driving gear plate 304 is meshed with a second driven gear plate 305. Both the gear plate 304 and the second driven gear plate 305 are rotatably connected to the connecting member 301 through a rotating shaft, and the outer surfaces of the second driving gear plate 304 and the second driven gear plate 305 are both fixed with a clamp 306 .

In the present invention, when the sample needs to be clamped, the second motor 302 is started, and the second motor 302 drives the connecting gear plate 303 to rotate. Since the connecting gear plate 303 is meshed with the second driving gear plate 304, the second driving gear plate is driven. 304 rotates, and the second driving gear plate 304 is meshed with the second driven gear plate 305, so that the second driven gear plate 305 rotates in the opposite direction to the second driving gear plate 304, and then drives the two clamps 306 Reverse rotation, the gripping and loosening of the sample can be completed by using the clamp 306, which increases the production efficiency.

Example 4:

Referring to Fig. 1-Fig. 8, a special sampling manipulator for an industrial robot includes a supporting assembly 1, and the supporting assembly 1 includes two symmetrically arranged fixing parts 101, and side plates 102 are fixed on the left and right sides of the fixing parts 101, and the side plates 102 are fixed on the sides. The front sides of the plates 102 are rotatably connected with a first connecting rod 103 through bearings, one end of the first connecting rod 103 is fixed with a first driven gear plate 104, and the outer surface of the first driven gear plate 104 is meshed with a fan-shaped The gear plate 105 and the axis of the sectoral gear plate 105 are fixed with a second connecting rod 106, and one end of the second connecting rod 106 is rotatably connected to the side plate 102 through a bearing, and a support plate 107 is fixed on the sectoral gear plate 105. , a drive mechanism 2 is also installed on the fixture 101, and the drive mechanism 2 is used to drive the two support plates 107 to synchronously and reversely flip to complete the support of the sample. The bottom of the fixture 101 is equipped with a clamping mechanism 3, which The taking mechanism 3 is used to clamp the sample, and the support assembly 1 is lifted and lowered by the control of the lifting mechanism 4. The lifting mechanism 4 is fixed on the bottom end of the first swing arm 5, and the first swing arm 5 is controlled by the fourth motor 6 to swing. The motor 6 is fixed on one side of the second swing arm 7, the second swing arm 7 is controlled to swing by the fifth motor 8, the fifth motor 8 is fixed on one side of the third swing arm 9, and the third swing arm 9 is controlled by the sixth motor 10 controls the rotation, the sixth motor 10 is fixed on the bottom of the mounting frame 11, the lifting mechanism 4 includes a fixed box 401 fixed on one end of the first swing arm 5, the right side of the fixed box 401 is fixed with a third motor 402, the third motor The output shaft end of 402 is fixed with a second worm 403, and the outer surface of the second worm 403 is symmetrically meshed with two second worm gears 404, and the shaft center of the second worm gear 404 is fixed with a screw 405, and the bottom of the fixed box 401 There are two mounting boxes 406 fixed symmetrically, and the two screw rods 405 are respectively rotatably connected to the corresponding mounting boxes 406 through bearings. The outer surfaces of the screw rods 405 are screwed with lifting blocks 407, and the two fixing parts 101 are respectively fixed on the corresponding mounting boxes 406. Corresponding to one side of the lifting block 407, two limit rods 13 are symmetrically fixed in the installation box 406, and limit blocks 14 are fixed on both sides of the lift block 407, and the two limit blocks 14 slide on the corresponding limit rods 13 respectively. The outer surfaces of the two installation boxes 406 are provided with chute 15 on the front side, and the two lifting blocks 407 are respectively slid in the corresponding chute 15, and the front side of the fixed box 401 is hinged with a sliding door 16 through a hinge. A handle is fixed on the door 16 .

In the present invention, when the two supporting components 1 and the clamping mechanism 3 need to be lifted, the staff starts the third motor 402, and the third motor 402 drives the second worm 403 to rotate, because the second worm 403 and the two second worms 403 The two worm gears 404 are meshed and connected, thereby driving the two second worm gears 404 and the screw mandrel 405 to rotate. Through the setting of the second worm screw 403 and the two second worm gears 404, the rotation of the two screw mandrels 405 can be controlled by the third motor 402. Driven by a power supply, the start-up time is reduced, the accuracy of the synchronous rotation of the screw rod 405 is increased, and the phenomenon that one side is higher and the other is lower in the two gripping mechanisms 3 when gripping is avoided, making gripping more convenient. When the rod 405 rotates, it cooperates with the stop block 14 to slide on the outer surface of the stop bar 13 to limit the position, thereby driving the lifting block 407 to move up or down, and the setting of the stop bar 13 and the stop block 14 makes the lifting The lifting of the block 407 is more stable. Through the setting of the chute 15, the lifting block 407 can slide in the chute 15 to facilitate the lifting of the lifting block 407. When the lifting block 407 moves upward or downward, it will drive the supporting assembly 1 and the clamping mechanism 3 move up or down together, so that the clamping mechanism 3 can move to the position corresponding to the product, which is convenient for the clamping mechanism 3 to clamp. When the components inside the fixed box 401 are damaged, the working The personnel can carry out maintenance by opening the sliding door 16, which is more convenient and quick.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (8)

1. The utility model provides a special sampling manipulator of industrial robot, includes bearing subassembly (1), its characterized in that, bearing subassembly (1) includes two mounting (101) that the symmetry set up, the left and right sides face of mounting (101) all is fixed with curb plate (102), the leading flank of curb plate (102) all is connected with head rod (103) through the bearing rotation, the one end of head rod (103) all is fixed with first driven gear dish (104), the surface of first driven gear dish (104) all meshes and is connected with fan-shaped gear dish (105), the axle center department of fan-shaped gear dish (105) all is fixed with second connecting rod (106), the one end of second connecting rod (106) all is connected with curb plate (102) through the bearing rotation, all be fixed with bearing board (107) on fan-shaped gear dish (105), still install actuating mechanism (2) on mounting (101), actuating mechanism (2) are used for driving two bearing board (107) synchronous and reverse upset, accomplish the bearing to the sample, the bottom of mounting (101) is installed and is got mechanism (3), the clamp and is used for getting the sample (3), the swing arm (5) is fixed by first swing control mechanism (5), the lift control mechanism (5), a side at second swing arm (7) is fixed in fourth motor (6), second swing arm (7) is by fifth motor (8) control swing, a side at third swing arm (9) is fixed in fifth motor (8), third swing arm (9) are rotatory by sixth motor (10) control, the bottom at mounting bracket (11) is fixed in sixth motor (10).

2. The sampling manipulator special for the industrial robot as claimed in claim 1, wherein the driving mechanism (2) comprises a first motor (201) fixed on the top of the fixed member (101), the output shaft end of the first motor (201) is fixed with a first circular gear (202), the outer surface of the first circular gear (202) is engaged and connected with a second circular gear (203), the axis of the second circular gear (203) is fixed with a rotating rod (204), the top of the fixed member (101) is symmetrically fixed with two supporting blocks (205), the rotating rod (204) is rotationally connected with the two supporting blocks (205) through bearings, the two ends of the rotating rod (204) are fixed with first worms (206), the outer surface of the first worm (206) is engaged and connected with a first worm gear (207), the engaging directions of the two first worms (206) and the first worm gear (207) are opposite, the axis of the first worm gear (207) is fixed with a third connecting rod (208), one end of the third worm (208) is rotationally connected with the side plate (102) through a bearing, the outer surface of the first worm wheel (209) is fixed with a first driving gear disk (209), and a first driving gear disk (104) is fixed with a first driving gear disk (209).

3. The sampling manipulator special for the industrial robot is characterized in that the clamping mechanism (3) comprises a connecting piece (301) fixed at the bottom of a fixing piece (101), a second motor (302) is fixed on one side surface of the connecting piece (301), a connecting gear disc (303) is fixed at the output shaft end of the second motor (302), a second driving gear disc (304) is connected to the outer surface of the connecting gear disc (303) in a meshed mode, a second driven gear disc (305) is connected to the outer surface of the second driving gear disc (304) in a meshed mode, the second driving gear disc (304) and the second driven gear disc (305) are rotatably connected with the connecting piece (301) through rotating shafts, and clamps (306) are fixed on the outer surfaces of the second driving gear disc (304) and the second driven gear disc (305).

4. The sampling manipulator special for the industrial robot is characterized in that the lifting mechanism (4) comprises a fixed box (401) fixed at one end of a first swing arm (5), a third motor (402) is fixed on the right side of the fixed box (401), a second worm (403) is fixed on an output shaft end of the third motor (402), two second worm wheels (404) are symmetrically engaged and connected on the outer surface of the second worm (403), a lead screw (405) is fixed on the axial center of each second worm wheel (404), two mounting boxes (406) are symmetrically fixed on the bottom of the fixed box (401), the two lead screws (405) are respectively and rotatably connected with the corresponding mounting boxes (406) through bearings, a lifting block (407) is screwed on the outer surface of each lead screw (405), and two fixing pieces (101) are respectively fixed on one side of the corresponding lifting block (407).

5. The sampling manipulator special for industrial robots as claimed in claim 1 is characterized in that the mounting frame (11) is provided with mounting holes (12), and the mounting holes (12) are used for screwing in.

6. The sampling manipulator special for the industrial robot is characterized in that two limiting rods (13) are symmetrically fixed in the mounting box (406), limiting blocks (14) are fixed on two side surfaces of the lifting block (407), and the two limiting blocks (14) respectively slide on the outer surfaces of the corresponding limiting rods (13).

7. The sampling manipulator special for industrial robots as claimed in claim 4, wherein the front side surfaces of the two mounting boxes (406) are provided with sliding grooves (15), and the two lifting blocks (407) respectively slide in the corresponding sliding grooves (15).

8. A sampling manipulator special for an industrial robot according to claim 4 characterized in that the front side of the fixed box (401) is hinged with a sliding door (16) through a hinge, and a handle is fixed on the sliding door (16).

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