CN116890352A - Intelligent robot takes - Google Patents
Intelligent robot takes Download PDFInfo
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- CN116890352A CN116890352A CN202311164323.XA CN202311164323A CN116890352A CN 116890352 A CN116890352 A CN 116890352A CN 202311164323 A CN202311164323 A CN 202311164323A CN 116890352 A CN116890352 A CN 116890352A
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- rod
- limiting
- bearing
- outer frame
- telescopic rod
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- 230000000670 limiting effect Effects 0.000 claims abstract description 64
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
Abstract
The invention relates to the technical field of robots, in particular to a taking intelligent robot, which comprises a mechanical arm, wherein the mechanical arm comprises a bearing bracket which is arranged on a machine body through a universal joint, and the bearing bracket is provided with: the monitoring end and the control end are electrically connected, and the monitoring end and the control end are fixedly arranged on the bearing bracket; the driving motor is fixedly arranged on the bearing bracket, the driving motor is controlled to be opened and closed by the control end, and the mounting piece is sleeved in the bearing bracket in a rotating way through the output end of the driving motor; the hydraulic cylinder and the arm outer frame. The invention utilizes the bearing bracket to set a monitoring end and a control end which are electrically connected with a driving motor and a hydraulic cylinder; and meanwhile, the bearing tray in the opening and closing frame is limited by utilizing the limiting rod movably arranged on the arm outer frame, so that the horizontally opened bearing tray can support the cross-shaped workpiece from the lower part, and the cross-shaped workpiece is prevented from sliding vertically.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a taking intelligent robot.
Background
The continuous development of mechanical technology enables machines to assist or replace human work to a greater extent, and more machines are currently applied to more fields in production and life. In order to meet the human needs to a higher degree, it is generally often configured in a robot form in which a robot arm is a terminal part that automatically performs work.
In the prior art, as a carrying robot disclosed in the publication number CN204450580U, the triangular tip is helpful for the holding part to more stably take things, but the triangular tip structure lacks a targeted grasping effect on a cross-shaped large article, and the carrying robot still has the defects in the structural technology:
firstly, a picking part with a specific shape is set in a manipulator to improve the grabbing stability, but the picking part is only fixed in one direction, and particularly the picking part is very easy to slip and drop in the direction which is not clamped;
secondly, the clamping that realizes is single-point type, and the contact degree with taking the thing is limited, very easily because the structure damage that the thing was taken to the excessive pressure that will guarantee the centre gripping stability causes, not only lacks maneuverability, also can't guarantee the security of taking the in-process.
Disclosure of Invention
The invention aims to solve the problem that a cross-shaped workpiece is difficult to stably take in the prior art, and provides a taking intelligent robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides an intelligent robot takes, includes the robotic arm, the robotic arm includes the bearing support of installing on the machine body through the universal joint, and is provided with on the bearing support:
the monitoring end and the control end are electrically connected, and the monitoring end and the control end are fixedly arranged on the bearing bracket;
the driving motor is fixedly arranged on the bearing bracket, the driving motor is controlled to be opened and closed by the control end, and the mounting piece is sleeved in the bearing bracket in a rotating way through the output end of the driving motor;
the hydraulic cylinder and the arm outer frame are movably arranged in the bearing bracket through the mounting piece, and the hydraulic cylinder is controlled to be opened and closed by the control end;
the limiting part is used for clamping and fixing the cross-shaped workpiece, the limiting part is controlled to be opened and closed by the driving motor and the hydraulic cylinder and is arranged through the outer frame of the arm, and the limiting part clamps and limits the cross-shaped workpiece from four directions;
the bearing part is used for bearing and supporting the cross-shaped workpiece, the bearing part is in transmission connection with the limiting part, and the bearing part is arranged at the lower end position of the arm outer frame.
Preferably, the mounting piece consists of a plane turntable and an extension plate, the hydraulic cylinder is fixedly mounted on the plane turntable, and the arm outer frame is rotatably mounted in the bearing bracket through the extension plate;
the bearing support is provided with a guide arc groove, and the arm outer frame is integrally connected with a guide sliding block which is sleeved in the guide arc groove in a sliding way.
Preferably, the limiting part includes:
the double-sided rack is in meshed connection with the transmission gear, the double-sided rack is in rotary connection with the output end of the hydraulic cylinder, and the transmission gear is rotatably arranged in the arm outer frame through a central shaft matched with the double-sided rack;
the driven gear traction piece is rotatably arranged in the arm outer frame through a central shaft matched with the driven gear traction piece, and the driven gear traction piece is meshed with the transmission gear;
the arm outer frame comprises a guide straight groove and a moving rod positioned in the guide straight groove, wherein the guide straight groove is arranged at the outer wall position of the arm outer frame, and the moving rod is sleeved in the guide straight groove in a sliding manner;
the traction connecting rod is used for connecting the driven gear traction piece with the moving rod, and the first clamping piece is fixedly connected to the moving rod;
the limit part further includes:
the concave-shaped concave cavity is arranged in the first clamping piece through the inner wall of the first clamping piece;
the first telescopic rod and the pressurizing plate which is propped against the left wall surface and the right wall surface of the cross-shaped workpiece are sleeved in the inner wall of the concave cavity in a sliding manner, and the pressurizing plate is connected to one end of the first telescopic rod which is positioned in the concave cavity;
one end of the first reset spring is welded on the inner wall of the concave cavity in the shape of the Chinese character 'ao', and the other end of the first reset spring is fixedly connected with the pressurizing plate;
the second telescopic rod and the second reset spring are of T-shaped structures sleeved in the side walls of the two sides of the concave cavity in a sliding manner, the second reset spring is fixedly sleeved on one end of the second telescopic rod, which is positioned in the concave cavity, and the second reset spring is welded on the side walls of the concave cavity;
the steering pulley is fixedly arranged on the arm outer frame, and the traction rope is connected with the first telescopic rod and the second telescopic rod through the steering pulley;
the middle end of the second clamping piece is rotatably arranged on the side wall of the concave cavity in the shape of a Chinese character 'ao';
and the traction pull rod is used for the second telescopic rod and the second clamping piece.
Preferably, the driven gear traction piece is integrally formed by a half gear and an eccentric long rod, and two ends of the traction connecting rod are respectively connected with the eccentric long rod and the moving rod through pin shafts.
Preferably, the first return spring is sleeved on one end of the first telescopic rod, which is positioned in the concave cavity, and two ends of the traction pull rod are respectively connected with the second telescopic rod and one end of the second clamping piece through pin shafts.
Preferably, the bearing part includes:
the arm outer frame is provided with a connecting cavity and a driving frame positioned in the connecting cavity, and the double-sided rack and the driving frame are fixedly connected with high-pressure pistons sleeved in the connecting cavity in a sliding manner;
the opening and closing frame is of a structure with an opening at the front end, the pin shaft at the rear end of the opening and closing frame is arranged on the outer arm frame, and the pressurizing push rod is used for connecting the driving frame and the opening and closing frame;
the bearing tray is used for bearing the cross-shaped workpiece and is arranged in the opening at the front end of the opening-closing frame through a pin shaft;
the device comprises a limiting chute, a powerful spring and a limiting slide block, wherein the powerful spring and the limiting slide block are positioned in the limiting chute, the limiting chute is arranged in a bearing tray, one end of the powerful spring is welded in one end of the limiting chute, and the limiting slide block fixedly connected with the powerful spring is sleeved in the limiting chute in a sliding manner;
the limiting rod is used for connecting the arm outer frame and the limiting sliding block.
Preferably, the communicating cavity is of a type structure, and two ends of the limiting rod are respectively connected with the arm outer frame and the limiting slide block pin shaft.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the bearing support of the type structure is connected to the robot main body, the monitoring end, the control end, the driving motor and the hydraulic cylinder which are electrically connected are arranged by utilizing the bearing support, and the controller is utilized to realize the opening and closing control of the driving motor and the hydraulic cylinder, so that the arm outer frame provided with the limiting part and the bearing part can deflect according to the cross-shaped workpiece.
2. According to the invention, the double-sided rack driven to stretch by the hydraulic cylinder is arranged in the arm outer frame, the deflection movement of the driven gear traction piece is realized by utilizing the transmission gear, and the first clamping piece on the movable rod is further supported to carry out preliminary clamping and limiting on the cross-shaped workpiece from the left side and the right side.
3. According to the invention, the first clamping piece is provided with the concave-shaped concave cavities corresponding to the structures of the left end and the right end of the cross-shaped workpiece, the first telescopic rod and the second telescopic rod are arranged by utilizing the concave-shaped concave cavities, and the first telescopic rod is pressed and driven by the cross-shaped workpiece, so that the second clamping piece is supported by the second telescopic rod movably pulled by the first telescopic rod to deflect, and the cross-shaped workpiece is further clamped and limited from the front side and the rear side.
4. According to the invention, the driving frame pulled by the double-sided racks is arranged in the arm outer frame, the driving frame is utilized to pull the opening and closing frame arranged on the arm outer frame, and meanwhile, the limiting rod movably arranged on the arm outer frame is utilized to limit the bearing tray positioned in the opening and closing frame, so that the horizontally opened bearing tray can support the cross-shaped workpiece from the lower part, and the cross-shaped workpiece is prevented from sliding vertically.
Drawings
Fig. 1 is a schematic structural diagram of a pick-up intelligent robot according to the present invention;
fig. 2 is a bottom view of a pick-up intelligent robot according to the present invention;
FIG. 3 is a front cross-sectional view of a first thickness of a pick-up intelligent robot according to the present invention;
FIG. 4 is a top cross-sectional view of a pick-up intelligent robot according to the present invention;
FIG. 5 is a second thickness cross-sectional view of a pick-up intelligent robot according to the present invention;
fig. 6 is a schematic structural diagram of a carrying part of a pick-up intelligent robot according to the present invention;
FIG. 7 is a schematic side view of a prior art cross-shaped work piece structure;
fig. 8 is a schematic bottom view of a prior art cross-shaped work piece structure.
In the figure: 1. a bearing bracket; 101. a guide arc groove; 2. a monitoring end; 3. a control end; 4. a driving motor; 5. a mounting member; 501. a planar turntable; 502. an extension plate; 6. a hydraulic cylinder; 7. an arm outer frame; 701. a guide slide block; 8. double-sided racks; 9. a transmission gear; 10. driven gear traction member; 1001. a half gear; 1002. an eccentric long rod; 11. a guide straight groove; 12. a moving rod; 13. a traction link; 14. a first clamping member; 15. concave type concave cavity; 16. a first telescopic rod; 17. a pressurizing plate; 18. a first return spring; 19. a second telescopic rod; 20. a second return spring; 21. a diverting pulley; 22. a traction rope; 23. a second clamping member; 24. a traction pull rod; 25. a communication chamber; 2501. a high pressure piston; 26. a drive rack; 27. opening and closing the frame; 28. a carrying tray; 29. a booster push rod; 30. limiting sliding grooves; 31. a strong spring; 32. a limit sliding block; 33. and a limit rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 7-8, in order to clamp and take a cross-shaped workpiece, the following scheme is proposed:
referring to fig. 1-6, a pick-up intelligent robot includes a mechanical arm, wherein the mechanical arm includes a bearing bracket 1 mounted on a machine body through a universal joint, and the bearing bracket 1 is provided with:
the first part, the monitor end 2 and the control end 3 that the electricity is connected, monitor end 2 and control end 3 are all fixed mounting on bearing support 1, it should be noted that, monitor end 2 can adopt terminal camera equipment, utilizes it to gather the position state of cross work piece, and control end 3 carries out position state analysis to cross work piece according to the information of gathering.
The second part, driving motor 4 and by the installed part 5 of driving motor 4 control rotation, driving motor 4 fixed mounting is in bearing support 1, and driving motor 4 is opened and close by the control end 3 control, and installed part 5 passes through driving motor 4 output rotation suit in bearing support 1, makes driving motor 4 drive installed part 5 under the control action of control end 3 and deflects to make arm frame 7 deflect according to cross work piece position state.
The third part, pneumatic cylinder 6 and arm outer frame 7 are all through mounting 5 movable mounting in bearing support 1, and pneumatic cylinder 6 is opened and close by control end 3 control, makes pneumatic cylinder 6 drive double-sided rack 8 and carries out concertina movement under the control effect of control end 3 to realize the operation of spacing portion and loading part, arm outer frame 7 is front end open-ended cavity flat plate structure.
A fourth part, which is used for clamping and fixing the limiting part of the cross-shaped workpiece, the limiting part is controlled to be opened and closed by the driving motor 4 and the hydraulic cylinder 6 and is arranged through the outer arm frame 7, the limiting part clamps and limits the cross-shaped workpiece from four directions,
first, referring to fig. 2 to 5 of the specification, the stopper includes:
the double-sided rack 8 is in meshed connection with the transmission gear 9, the double-sided rack 8 is in rotary connection with the output end of the hydraulic cylinder 6, and the transmission gear 9 is rotatably arranged in the arm outer frame 7 through a central shaft matched with the transmission gear 9, and it is worth to say that in the process that the driving motor 4 drives the hydraulic cylinder 6 to deflect, the double-sided rack 8 is not driven to deflect because the double-sided rack 8 is movably connected with the hydraulic cylinder 6, and the double-sided rack 8 is only driven to do telescopic motion under the driving action of the hydraulic cylinder 6;
the driven gear traction piece 10, the driven gear traction piece 10 is rotatably installed in the arm outer frame 7 through a central shaft matched with the driven gear traction piece 10, the driven gear traction piece 10 is in meshed connection with the transmission gear 9, and referring to fig. 4 of the specification, the driven gear traction piece 10 is integrally formed by a half gear 1001 and an eccentric long rod 1002, two ends of a traction connecting rod 13 are respectively in pin shaft connection with the eccentric long rod 1002 and a moving rod 12, and the double-sided rack 8 can deflect the eccentric long rod 1002 in the telescoping process, so that the moving rod 12 is supported through the traction connecting rod 13;
the arm outer frame comprises a guide straight groove 11 and a moving rod 12 positioned in the guide straight groove 11, wherein the guide straight groove 11 is arranged at the outer wall position of the arm outer frame 7, and the moving rod 12 is sleeved in the guide straight groove 11 in a sliding manner;
the traction connecting rod 13 and a first clamping piece 14 used for clamping the left and right wall surfaces of the cross-shaped workpiece, the traction connecting rod 13 is used for connecting the driven gear traction piece 10 and the moving rod 12, the first clamping piece 14 is fixedly connected to the moving rod 12, and the first clamping piece 14 can clamp and limit the cross-shaped workpiece from the left and right directions in the opposite movement process;
secondly, the limit part still includes:
the concave-shaped concave cavity 15 is formed in the first clamping piece 14 through the inner wall of the first clamping piece 14;
the first telescopic rod 16 and the pressurizing plate 17 propped against the left wall surface and the right wall surface of the cross-shaped workpiece, the first telescopic rod 16 is sleeved in the inner wall of the concave-shaped cavity 15 in a sliding way, the pressurizing plate 17 is connected to one end of the first telescopic rod 16 positioned in the concave-shaped cavity 15, and the first clamping piece 14 extrudes the pressurizing plate 17 in the process of clamping the cross-shaped workpiece so as to realize the driving of the limiting part;
the first return spring 18, one end of the first return spring 18 is welded on the inner wall of the concave cavity 15 in the shape of a Chinese character 'ao', and the other end of the first return spring 18 is fixedly connected with the pressurizing plate 17, so that the return movement of the first telescopic rod 16 can be realized under the action of the elasticity of the first return spring 18;
the second telescopic rod 19 and the second reset spring 20, the second telescopic rod 19 is of a T-shaped structure which is sleeved in the side walls of the two sides of the concave cavity 15 in a sliding manner, the second reset spring 20 is fixedly sleeved on one end of the second telescopic rod 19 positioned in the concave cavity 15, the second reset spring 20 is welded on the side wall of the concave cavity 15, and the reset motion of the second telescopic rod 19 can be realized under the elastic action of the second reset spring 20;
the steering pulley 21 and the traction rope 22, the steering pulley 21 is fixedly arranged on the arm outer frame 7, and the traction rope 22 is connected with the first telescopic rod 16 and the second telescopic rod 19 through the steering pulley 21, so that the telescopic movement precision of the second telescopic rod 19 is prevented from being influenced by the elastic factors of the traction rope 22, and a steel rope or a metal chain is preferred, so that the accurate traction driving of the first telescopic rod 16 on the second telescopic rod 19 is realized;
the second clamping piece 23 is used for clamping the front wall surface and the rear wall surface of the cross-shaped workpiece, and the middle end of the second clamping piece 23 is rotatably arranged on the side wall of the concave cavity 15 in the shape of a Chinese character 'ao';
the traction pull rod 24, the traction pull rod 24 is used for the second telescopic rod 19 and the second clamping piece 23, and the second telescopic rod 19 which stretches horizontally drives the second clamping piece 23 through the traction pull rod 24, so that the cross-shaped workpiece is further limited and fixed by the second clamping pieces 23 which are symmetrically arranged front and back.
The fifth part is configured to support a bearing part for supporting the cross-shaped workpiece, where the bearing part is in transmission connection with the limiting part, and the bearing part is disposed at a lower end position of the arm outer frame 7, and referring to fig. 3 and 6 of the specification, the bearing part includes:
the connecting cavity 25 and the driving frame 26 positioned in the connecting cavity 25 are of type structures, the connecting cavity 25 is arranged on the arm outer frame 7, the double-sided rack 8 and the driving frame 26 are fixedly connected with high-pressure pistons 2501 which are sleeved in the connecting cavity 25 in a sliding manner, the two high-pressure pistons 2501 are driven by pressing in the connecting cavity 25, and the driving frame 26 is driven to move reversely by the double-sided rack 8 so as to drive the opening and closing frame 27;
the opening and closing frame 27 and the pressurizing push rod 29, the opening and closing frame 27 is of a structure with an opening at the front end, the rear end pin shaft of the opening and closing frame 27 is arranged on the arm outer frame 7, and the pressurizing push rod 29 is used for connecting the driving frame 26 and the opening and closing frame 27;
the bearing tray 28 is used for bearing the cross-shaped workpiece, the bearing tray 28 is arranged in the opening at the front end of the opening and closing frame 27 through a pin shaft, the bearing tray 28 extends along with the opening and closing frame 27, and the bearing tray 28 is opened under the limiting action of the limiting rod 33 so as to support the cross-shaped workpiece;
the limiting chute 30, a powerful spring 31 and a limiting slide block 32 which are positioned in the limiting chute 30, wherein the limiting chute 30 is arranged in the bearing tray 28, one end of the powerful spring 31 is welded in one end of the limiting chute 30, and the limiting slide block 32 fixedly connected with the powerful spring 31 is sleeved in the limiting chute 30 in a sliding way;
the limiting rod 33, the limiting rod 33 is used for connecting the arm outer frame 7 and the limiting slide block 32, the position difference of the limiting rod 33 is compensated by utilizing the horizontally moving limiting slide block 32, and the opening and closing movement adjustment of the bearing tray 28 is ensured.
On this basis, further explanation is given:
first, the mounting piece 5 comprises plane carousel 501 and extension board 502, and pneumatic cylinder 6 fixed mounting is on plane carousel 501, and arm outer frame 7 is installed in bearing support 1 through extension board 502 rotation.
Second, a guiding arc groove 101 is formed in the bearing bracket 1, and a guiding sliding block 701 sleeved in the guiding arc groove 101 is integrally connected to the arm outer frame 7, so as to provide guiding and limiting effects for the arm outer frame 7 in deflection movement.
Third, the first return spring 18 is sleeved on one end of the first telescopic rod 16 located in the concave cavity 15, and two ends of the traction pull rod 24 are respectively connected with one end of the second telescopic rod 19 and one end of the second clamping piece 23 through pin shafts.
Fourth, the both ends of gag lever post 33 are connected with arm outer frame 7 and limit slider 32 round pin axle respectively.
It should be noted that, the specific model specification of the driving motor 4 and the hydraulic cylinder 6 needs to be determined by selecting a model according to the actual specification of the device, and the specific model selection calculation method adopts the prior art in the field, so that the description is omitted.
The invention can explain its functional principle by the following modes of operation:
the robot judges the state of the cross-shaped workpiece through the monitoring end 2;
the driving motor 4 is controlled to be started through the control end 3, and the output end of the driving motor 4 drives the arm outer frame 7 to deflect through the mounting piece 5, so that the arm outer frame 7 drives the limiting part and the bearing part to synchronously deflect, and the limiting part corresponds to the cross-shaped workpiece;
the hydraulic cylinder 6 is controlled to be opened through the control end 3, the output end of the hydraulic cylinder 6 drives the double-sided rack 8 to shrink so as to drive the transmission gear 9 to rotate, the transmission gear 9 drives the eccentric long rod 1002 to deflect through the half gear 1001 which is in meshed connection with the transmission gear 9, the eccentric long rod 1002 presses the moving rod 12 through the traction connecting rod 13, so that the moving rod 12 horizontally moves in the guide straight groove 11, and the moving rod 12 drives the first clamping piece 14 to horizontally move so as to clamp the cross-shaped workpiece from the left side and the right side;
the cross-shaped workpiece positioned in the first clamping piece 14 presses the pressurizing plate 17, so that the pressurizing plate 17 extends outwards in the first clamping piece 14 to squeeze the first return spring 18, the first telescopic rod 16 pulls the second telescopic rod 19 through the traction rope 22, the second telescopic rod 19 extends outwards in the first clamping piece 14 and simultaneously presses the second return spring 20, the second telescopic rod 19 pulls the second clamping piece 23 through the traction pull rod 24, the second clamping piece 23 deflects in two sides of the concave-shaped cavity 15, and the free ends of the second telescopic rod are utilized to clamp the cross-shaped workpiece in the front-back two-side directions;
the double-sided rack 8 drives one high-pressure piston 2501 at the upper end to move, the other high-pressure piston 2501 subjected to extrusion drives the driving frame 26 to extend reversely, the opening and closing frame 27 is extruded through the pressurizing push rod 29, so that the opening and closing frame 27 is opened, meanwhile, the limiting sliding block 32 slides in the limiting sliding groove 30 under the tensile force of the limiting rod 33 to extrude the powerful spring 31, so that the bearing tray 28 opens reversely in the opening and closing frame 27, extends to the lower end of the cross-shaped workpiece from the lower position conveniently, supports the cross-shaped workpiece from the lower end and supports the cross-shaped workpiece.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. The utility model provides an intelligent robot takes, includes robotic arm, its characterized in that, robotic arm includes load-bearing support (1) of installing on the machine main part through the universal joint, and is provided with on load-bearing support (1):
the monitoring end (2) and the control end (3) are electrically connected, and the monitoring end (2) and the control end (3) are fixedly arranged on the bearing bracket (1);
the device comprises a driving motor (4) and a mounting piece (5) controlled to rotate by the driving motor (4), wherein the driving motor (4) is fixedly arranged on a bearing bracket (1), the driving motor (4) is controlled to be opened and closed by a control end (3), and the mounting piece (5) is sleeved in the bearing bracket (1) in a rotating way through the output end of the driving motor (4);
the hydraulic cylinder (6) and the arm outer frame (7) are movably arranged in the bearing bracket (1) through the mounting piece (5), and the hydraulic cylinder (6) is controlled to be opened and closed by the control end (3);
the limiting part is used for clamping and fixing the cross-shaped workpiece, the limiting part is controlled to be opened and closed by the driving motor (4) and the hydraulic cylinder (6) and is arranged through the arm outer frame (7), and the limiting part clamps and limits the cross-shaped workpiece from four directions;
the bearing part is used for bearing and supporting the cross-shaped workpiece, the bearing part is in transmission connection with the limiting part, and the bearing part is arranged at the lower end position of the arm outer frame (7).
2. The intelligent robot according to claim 1, wherein the mounting piece (5) is composed of a plane turntable (501) and an extension plate (502), the hydraulic cylinder (6) is fixedly mounted on the plane turntable (501), and the arm outer frame (7) is rotatably mounted in the bearing bracket (1) through the extension plate (502);
a guide arc groove (101) is formed in the bearing support (1), and a guide sliding block (701) sleeved in the guide arc groove (101) in a sliding manner is integrally connected to the arm outer frame (7).
3. The intelligent robot of claim 1, wherein the limiting portion comprises:
the double-sided rack (8) is in meshed connection with the transmission gear (9), the double-sided rack (8) is in rotary connection with the output end of the hydraulic cylinder (6), and the transmission gear (9) is rotatably arranged in the arm outer frame (7) through a central shaft matched with the double-sided rack;
the driven gear traction piece (10) is rotatably arranged in the arm outer frame (7) through a central shaft matched with the driven gear traction piece (10), and the driven gear traction piece (10) is in meshed connection with the transmission gear (9);
the arm rest (7) comprises a guide straight groove (11) and a moving rod (12) positioned in the guide straight groove (11), wherein the guide straight groove (11) is arranged at the outer wall position of the arm rest (7), and the moving rod (12) is sleeved in the guide straight groove (11) in a sliding manner;
the device comprises a traction connecting rod (13) and first clamping pieces (14) for clamping left and right wall surfaces of a cross-shaped workpiece, wherein the traction connecting rod (13) is used for connecting a driven gear traction piece (10) and a moving rod (12), and the first clamping pieces (14) are fixedly connected to the moving rod (12);
the limit part further includes:
the concave-shaped concave cavity (15) is formed in the first clamping piece (14) through the inner wall of the first clamping piece (14);
the first telescopic rod (16) is in sliding sleeve connection with a pressurizing plate (17) which is abutted against the left wall surface and the right wall surface of the cross-shaped workpiece, the first telescopic rod (16) is arranged in the inner wall of the concave cavity (15), and the pressurizing plate (17) is connected to one end of the first telescopic rod (16) which is positioned in the concave cavity (15);
the first reset spring (18), one end of the first reset spring (18) is welded on the inner wall of the concave cavity (15), and the other end of the first reset spring (18) is fixedly connected with the pressurizing plate (17);
the second telescopic rod (19) and the second reset spring (20), wherein the second telescopic rod (19) is of a T-shaped structure sleeved in the side walls of the two sides of the concave-shaped cavity (15) in a sliding manner, the second reset spring (20) is fixedly sleeved on one end of the second telescopic rod (19) positioned in the concave-shaped cavity (15), and the second reset spring (20) is welded on the side walls of the concave-shaped cavity (15);
the steering pulley (21) and the traction rope (22), the steering pulley (21) is fixedly arranged on the arm outer frame (7), and the traction rope (22) is connected with the first telescopic rod (16) and the second telescopic rod (19) through the steering pulley (21);
the middle end of the second clamping piece (23) is rotatably arranged on the side wall of the concave cavity (15);
and the traction pull rod (24) is used for the second telescopic rod (19) and the second clamping piece (23).
4. A pick-up intelligent robot according to claim 3, wherein the driven gear traction member (10) is integrally formed by a half gear (1001) and an eccentric long rod (1002), and both ends of the traction connecting rod (13) are respectively in pin connection with the eccentric long rod (1002) and the moving rod (12).
5. A pick-up intelligent robot according to claim 3, wherein the first return spring (18) is sleeved on one end of the first telescopic rod (16) located in the concave cavity (15), and two ends of the traction pull rod (24) are respectively connected with one end of the second telescopic rod (19) and one end of the second clamping piece (23) through pin shafts.
6. A pick-up intelligent robot according to claim 3, wherein the carrying part comprises:
the high-pressure piston 2501 which is sleeved in the communication cavity (25) in a sliding way is fixedly connected to the double-sided rack (8) and the driving frame (26);
the opening and closing frame (27) and the pressurizing push rod (29), wherein the opening and closing frame (27) is of a type structure with an opening at the front end, the rear end pin shaft of the opening and closing frame (27) is arranged on the arm outer frame (7), and the pressurizing push rod (29) is used for connecting the driving frame (26) and the opening and closing frame (27);
the bearing tray (28) is used for bearing the cross-shaped workpieces, and the bearing tray (28) is arranged in the front end opening of the opening-closing frame (27) through a pin shaft;
the device comprises a limiting chute (30), a powerful spring (31) and a limiting slide block (32) which are positioned in the limiting chute (30), wherein the limiting chute (30) is arranged in a bearing tray (28), one end of the powerful spring (31) is welded in one end of the limiting chute (30), and the limiting slide block (32) fixedly connected with the powerful spring (31) is sleeved in the limiting chute (30) in a sliding manner;
the limiting rod (33), the limiting rod (33) is used for connecting the arm outer frame (7) and the limiting slide block (32).
7. The intelligent robot of claim 6, wherein the communication cavity (25) is of a type structure, and two ends of the limiting rod (33) are respectively connected with the arm outer frame (7) and the limiting slide block (32) through pin shafts.
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