CN117162074B - Industrial robot and control system of weight-bearing type - Google Patents
Industrial robot and control system of weight-bearing type Download PDFInfo
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- CN117162074B CN117162074B CN202311309234.XA CN202311309234A CN117162074B CN 117162074 B CN117162074 B CN 117162074B CN 202311309234 A CN202311309234 A CN 202311309234A CN 117162074 B CN117162074 B CN 117162074B
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- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000001105 regulatory effect Effects 0.000 claims abstract description 16
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 11
- 239000010959 steel Substances 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 74
- 238000007789 sealing Methods 0.000 claims description 31
- 238000004804 winding Methods 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 abstract description 11
- 230000002035 prolonged effect Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 7
- 230000000087 stabilizing effect Effects 0.000 description 7
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a weight-bearing type industrial robot and a control system, and particularly relates to the technical field of industrial robots. According to the weight-bearing type industrial robot and the control system, the L-shaped regulating mechanism, the labor-saving lifting mechanism and other structures are arranged, the lifting force of the device to goods is reduced by the pulley block consisting of the movable pulley, the fixed pulley I, the fixed pulley II and the steel wire rope, and the goods shaking is avoided by the L-shaped regulating mechanism, so that the metal fatigue of the device is reduced as much as possible, and the service life of the device is prolonged to a certain extent.
Description
Technical Field
The invention relates to the technical field related to industrial robots, in particular to a weight-bearing industrial robot and a control system.
Background
In the industrial field, industrial robots are often required to carry some small devices, industrial site parts, etc. in short distances, thereby reducing the heavy manual labor of humans.
Chinese patent document CN115257985a discloses a storage transfer robot with good stability, comprising: the installation shell comprises a bottom plate, a supporting plate and a top plate, wherein the supporting plate is vertically arranged on the bottom plate, the supporting plate and the top plate form a groove structure, and the top plate is covered on the groove structure; the conveying assembly comprises a crawler-type traveling assembly, and the crawler-type traveling assembly is arranged on one side of the bottom plate, which is far away from the supporting plate; the stabilizing assembly comprises a vertical stabilizing mechanism and a transverse stabilizing mechanism, the vertical stabilizing mechanism is arranged on the top plate, and the transverse stabilizing mechanism is arranged on the supporting plate. The scheme device can carry out spacingly to the upper portion of the goods on the bottom plate, has increased the stability of goods in the bottom plate upside, and the side to the goods carries out the centre gripping simultaneously fixedly, effectually prevents that the goods from producing on the bottom plate and moves sideways, increases the holistic stability of device, but still has following not enough:
the vertical stabilizing mechanism and the horizontal stabilizing mechanism in the scheme device are all independently carried out and are difficult to be matched with each other in a linkage mode for use, in addition, the scheme device cannot lighten lifting force to cargoes, metal fatigue is easy to cause, and the service life of the device is prolonged.
Disclosure of Invention
The invention mainly aims to provide a weight-bearing type industrial robot and a control system, which can effectively solve the problems that goods cannot be clamped in a multi-azimuth linkage manner and lifting force on the goods cannot be reduced.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the industrial robot comprises a movable base, wherein a control base is arranged in the middle of the upper end of the movable base, a rotary adjusting base column is rotatably connected in the middle of the upper end of the control base, an L-shaped adjusting mechanism is arranged at the upper part of the right end of the rotary adjusting base column, and a fixing mechanism for clamping goods is arranged at the bottom of the vertical part of the L-shaped adjusting mechanism;
the fixing mechanism comprises a limiting plate and a double-end screw rod which are horizontally arranged, the double-end screw rod is positioned above the limiting plate, the front part of the outer surface of the double-end screw rod and the rear part of the outer surface of the double-end screw rod are both in threaded connection with L-shaped clamping plates for clamping and fixing goods, the two L-shaped clamping plates are both sleeved on the outer side of the limiting plate and are in sliding connection with the limiting plate, a first motor is fixedly arranged at the front part of the upper end of the limiting plate, the output end of the first motor is connected with the double-end screw rod through a coupler, the water storage tanks are respectively arranged in the middle of the upper ends of the horizontal parts of the L-shaped clamping plates, water flows are filled in the water storage tanks, sealing plates used for extruding the water flows are slidably connected in the water storage tanks, the upper parts of the sealing plates extend to the outer sides of the water storage tanks, and limiting mechanisms used for fixing goods by means of pushing and extruding the water flows are respectively arranged on the upper parts of one ends, close to each other, of the vertical parts of the L-shaped clamping plates.
Preferably, one end of the two sealing plates, which are close to each other, and one end of the two L-shaped clamping plate, which is close to each other, are both inclined structures;
when the sealing plate moves up to the maximum height, the inclined surface of the sealing plate and the inclined surface on the horizontal part of the L-shaped clamping plate are in the same plane.
Preferably, the limiting mechanism comprises an L-shaped water pipe fixedly connected to the vertical portion of the L-shaped clamping plate, a push-pull rod is slidably connected to the inner surface of the vertical portion of the L-shaped water pipe, the lower end of the push-pull rod extends to the outer side of the L-shaped water pipe and is provided with a pressing plate, a supporting plate is fixedly mounted on the upper portion of the outer surface of the vertical portion of the L-shaped water pipe, springs are arranged on the left portion of the lower end and the right portion of the lower end of the supporting plate, and two springs are far away from one end of the supporting plate and are fixedly connected to the pressing plate.
Preferably, the spring is always in a compressed state.
Preferably, a water outlet groove communicated with the inner cavity of the L-shaped water through pipe is formed in one end, close to the L-shaped water through pipe, of the upper portion of the vertical portion of the L-shaped clamping plate, an E-shaped groove is formed in the inner wall of one side, far away from the L-shaped water through pipe, of the water outlet groove, and U-shaped grooves penetrating through the bottom wall of the water storage groove are formed in the bottom walls of the three vertical portions of the E-shaped groove.
Preferably, the L-shaped regulating mechanism comprises a mounting box which is rotationally connected to the rotary regulating base column, a U-shaped limiting support used for preventing goods from shaking is arranged on the right part of the lower end of the mounting box, the horizontal part of the U-shaped limiting support is sleeved on the outer side of the limiting plate and fixedly connected with the limiting plate, a through groove which horizontally penetrates through the side wall of the U-shaped limiting support and is used for allowing a double-end screw to pass is formed in the upper part of the horizontal part of the U-shaped limiting support, and a labor-saving lifting mechanism is jointly arranged on the inner side of the opening of the U-shaped limiting support and the inner cavity of the mounting box.
Preferably, the two vertical parts of the U-shaped limiting support are telescopic structures.
Preferably, the labor-saving lifting mechanism comprises a winding roller horizontally rotatably connected to the left part of the inner cavity of the installation box and a fixed pulley II and a fixed pulley I horizontally rotatably connected to the right part of the inner cavity of the installation box, a U-shaped installation plate is arranged in the middle of the bottom wall of the inner side of the opening of the U-shaped limit bracket, a movable pulley is arranged on the inner side of the opening of the U-shaped installation plate, a traction ring frame is arranged in the middle of the upper end of the movable pulley, a steel wire rope is arranged on the outer surface of a circular ring part on the upper part of the traction ring frame, a part of the steel wire rope, far away from the traction ring frame, sequentially bypasses the fixed pulley I, the movable pulley and the fixed pulley II and is fixedly connected to the winding roller, a motor II is arranged on the left part of the rear end of the installation box, and the output end of the motor II extends into the installation box and is fixedly connected with the winding roller.
The application also discloses a control system of the weight-bearing industrial robot, which is used for controlling the weight-bearing industrial robot of any one of the above.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, through arranging the structures such as the double-headed screw, the L-shaped clamping plates and the sealing plates, and utilizing the inclined surfaces on the sealing plates and the horizontal parts of the L-shaped clamping plates, goods are pushed onto the sealing plates by controlling the two L-shaped clamping plates to be close to each other, then the downward pressure of the goods on the horizontal parts of the L-shaped clamping plates is dispersed by utilizing water flow, so that the horizontal parts of the L-shaped clamping plates are not all born by the weight of the goods any more, the metal fatigue of the L-shaped clamping plates is reduced as much as possible, the service life of the fixing mechanism is prolonged, in addition, by arranging the limiting mechanism, the device can utilize the weight of the goods to promote the water flow, push the limiting mechanism to stretch to extrude the goods from top to bottom, so that the fixing mechanism can clamp and fix the goods at multiple angles, and the stability of the goods during carrying is improved.
2. According to the invention, through arranging the L-shaped regulating mechanism, the labor-saving lifting mechanism and other structures, the lifting force of the device on goods is reduced by utilizing the pulley block consisting of the movable pulley, the fixed pulley I, the fixed pulley II and the steel wire rope, the metal fatigue of the device is reduced as much as possible, and the service life of the device is prolonged to a certain extent.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is another schematic view of FIG. 1;
FIG. 3 is a schematic structural view of the fixing mechanism of the present invention;
FIG. 4 is a cross-sectional view of an L-shaped cleat of the present invention;
fig. 5 is an enlarged view at a in fig. 4;
FIG. 6 is another perspective cross-sectional view of the L-shaped cleat of the present invention;
FIG. 7 is a schematic view of the structure of the L-shaped regulating mechanism of the present invention;
FIG. 8 is a schematic diagram of a labor-saving lifting mechanism according to the present invention;
FIG. 9 is a schematic view of the working state of the present invention;
fig. 10 is another view of fig. 9.
In the figure: 1. a movable base; 2. a control base; 3. rotating the adjusting base column; 4. an L-shaped regulating mechanism; 41. a mounting box; 42. a motor II; 43. a U-shaped limit bracket; 44. a through groove; 5. a fixing mechanism; 51. a limiting plate; 52. an L-shaped clamping plate; 53. a double-ended screw; 54. a motor I; 55. an E-shaped groove; 56. a U-shaped groove; 57. a water storage tank; 58. a sealing plate; 59. a water outlet tank; 6. a limiting mechanism; 61. an L-shaped water pipe; 62. a support plate; 63. a spring; 64. a push-pull rod; 65. pressing the plate; 7. a labor-saving lifting mechanism; 71. a U-shaped mounting plate; 72. a movable pulley; 73. pulling the ring frame; 74. a wire rope; 77. a fixed pulley I; 78. a fixed pulley II; 79. and (5) a wind-up roller.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
Example 1
As shown in fig. 1 and 2, the embodiment discloses an industrial robot with a weight, which comprises a movable base 1, wherein the movable base 1 is a crawler chassis, the advantages of deep-turning load operation are obvious and suitable for heavy load equipment due to large traction force of a crawler, the trafficability and climbing capacity of the crawler are super strong, the capability of resisting turning is good, the middle part of the upper end of the movable base 1 is provided with a control base 2, the middle part of the upper end of the control base 2 is rotationally connected with a rotary adjusting base column 3 for changing the direction of goods, so that the device can change the position of the goods by rotating the adjusting base column 3 when ascending and descending, the gravity of the device is changed, the toppling of the device is avoided, the upper part of the right end of the rotary adjusting base column 3 is provided with an L-shaped regulating mechanism 4, and the bottom of the vertical part of the L-shaped regulating mechanism 4 is provided with a fixing mechanism 5 for clamping the goods;
specifically, referring to fig. 3, the fixing mechanism 5 includes a limiting plate 51 and a double-end screw 53 that are horizontally placed, the double-end screw 53 is located above the limiting plate 51, the front part and the rear part of the outer surface of the double-end screw 53 are both in threaded connection with L-shaped clamping plates 52 for clamping and fixing the goods, so that by rotating the double-end screw 53, the two L-shaped clamping plates 52 are controlled to move in opposite directions, thereby clamping and transporting the goods, the two L-shaped clamping plates 52 are both sleeved on the outer side of the limiting plate 51 and are in sliding connection with the limiting plate 51, a first motor 54 is fixedly installed at the front part of the upper end of the limiting plate 51, and the output end of the first motor 54 is connected with the double-end screw 53 through a coupling;
specifically, after the goods are placed on the horizontal parts of the two L-shaped clamping plates 52, the first motor 54 can be started to control the double-headed screw 53 to rotate, and then the double-headed screw 53 controls the two L-shaped clamping plates 52 to approach each other, so that the goods can be clamped and fixed by the vertical parts of the L-shaped clamping plates 52;
the metal fatigue refers to a process that materials and components gradually generate local permanent accumulated damage at one or a plurality of parts under the action of cyclic stress or cyclic strain, cracks are generated or complete fracture is suddenly generated after a certain number of cycles, when the materials and the structures are subjected to the load action of repeated changes, the stress value is not exceeding the strength limit of the materials all the time and is possibly damaged even lower than the elastic limit, the materials and the structures are damaged under the repeated action of alternating loads, namely the fatigue damage of the metal, the metal fatigue is unavoidable for each workpiece, therefore, in order to reduce the metal fatigue of the components in the fixing mechanism 5, further, referring to fig. 4, the middle parts of the upper ends of the horizontal parts of the two L-shaped clamping plates 52 are provided with water storage grooves 57, the water flow is filled in the water storage grooves 57, the sealing plates 58 for extruding the water flow are connected in a sliding manner, and the upper parts of the sealing plates 58 extend to the outer sides of the water storage grooves 57, and by taking the water flow as carriers, the sealing plates 58 and goods are conveniently supported, the goods pressure is conveniently dispersed by the water flow, so that the horizontal parts of the L-shaped clamping plates 52 are not subjected to the pressure of the goods, and the whole fatigue life of the fixing mechanism is prolonged, and the life of the metal clamping plates 52 is prolonged;
further, the end of the two sealing plates 58 close to each other and the end of the two L-shaped clamping plates 52 close to each other are both inclined surfaces, so that the goods resting on the ground can be pushed directly onto the horizontal portion of the L-shaped clamping plates 52 by the inclined surfaces of the sealing plates 58 and the horizontal portion of the L-shaped clamping plates 52;
further, when the sealing plate 58 is moved up to the maximum height, the inclined surface of the sealing plate 58 and the inclined surface on the horizontal portion of the L-shaped clamping plate 52 are in the same plane, so that the goods can be directly moved onto the sealing plate 58 by using the inclined surface on the horizontal portion of the L-shaped clamping plate 52 in the initial state, and the jamming is reduced;
as can be seen from the above, the motor 54 controls the double-headed screw 53 to rotate, then the double-headed screw 53 controls the two L-shaped clamping plates 52 in threaded connection to approach each other, when the horizontal portions of the L-shaped clamping plates 52 contact the goods, the goods are pushed onto the horizontal portions of the L-shaped clamping plates 52 by the inclined surfaces on the horizontal portions of the L-shaped clamping plates 52, and then the goods are smoothly pushed onto the sealing plates 58 in the process of continuously approaching the two L-shaped clamping plates 52 until the vertical portions of the L-shaped clamping plates 52 are closely attached to the goods.
Specifically, referring to fig. 5, a limiting mechanism 6 for fixing a cargo by pushing with a water flow is arranged at the upper part of one end of the vertical parts of the two L-shaped clamping plates 52, the limiting mechanism 6 comprises an L-shaped water pipe 61 fixedly connected to the vertical parts of the L-shaped clamping plates 52, a push-pull rod 64 is slidably connected to the inner surface of the vertical part of the L-shaped water pipe 61, the lower end of the push-pull rod 64 extends to the outer side of the L-shaped water pipe 61 and is provided with a pressing plate 65, the pressing plate 65 is positioned right above the sealing plate 58, a supporting plate 62 is fixedly arranged at the upper part of the outer surface of the vertical part of the L-shaped water pipe 61, springs 63 are arranged at the left part and the right part of the lower end of the supporting plate 62, one ends of the two springs 63 far from the supporting plate 62 are fixedly connected to the pressing plate 65, and the springs 63 are always in a compressed state;
when no water flow is pushed, the push-pull rod 64 and the pressing plate 65 move upwards under the traction of the spring 63, are far away from the goods as far as possible, so that the clamping of the L-shaped clamping plate 52 on the goods is avoided, when the limiting mechanism 6 is pushed by the water flow, the water flow pushes the push-pull rod 64 to move outwards, and therefore the pressing plate 65 is pushed to move downwards to be closely attached to the goods, and the goods are extruded and fixed from top to bottom;
specifically, referring to fig. 4-6, one end of the upper part of the vertical portion of the L-shaped clamping plate 52, which is close to the inner cavity of the L-shaped water pipe 61, is provided with a water outlet groove 59 which is communicated with the inner cavity of the L-shaped water pipe 61, one side inner wall of the water outlet groove 59, which is far away from the L-shaped water pipe 61, is provided with an E-shaped groove 55, water is also present in the E-shaped groove 55, so that the water in the water storage groove 57 is prevented from being insufficiently used, the shape of the E-shaped groove 55 can also increase the flow amount of the water, so that the water can flow into the inner cavity of the L-shaped water pipe 61 at a higher speed, the push-pull rod 64 is pushed to move downwards, thereby accelerating the clamping and fixing of the goods, the bottom walls of the three vertical portions of the E-shaped groove 55 are all provided with U-shaped grooves 56 penetrating through the bottom wall of the water storage groove 57, so that when the goods move onto the sealing plate 58, the water flow in the sealing plate 58 is pushed downwards by utilizing self-gravity to push the sealing plate 58, so that the water flow in the E-shaped groove 55 can finally flow into the inner cavity of the L-shaped water pipe 61 through the water outlet groove 59, the push-pull rod 64 and the push-pull rod 65 downwards to clamp the goods.
Therefore, the implementation of this example is:
the first motor 54 firstly controls the double-headed screw 53 to rotate, then the double-headed screw 53 controls the two L-shaped clamping plates 52 to mutually approach, when the horizontal parts of the L-shaped clamping plates 52 are contacted with goods, the goods are pushed onto the horizontal parts of the L-shaped clamping plates 52 by utilizing the inclined surfaces on the horizontal parts of the L-shaped clamping plates 52, then the goods are smoothly pushed onto the sealing plates 58 in the process that the two L-shaped clamping plates 52 are continuously approached until the vertical parts of the L-shaped clamping plates 52 are closely attached to the goods, and in the process that the goods stay on the sealing plates 58, the goods also utilize the gravity to press the sealing plates 58 to move downwards, and water flow in the sealing plates 58 is pushed into the E-shaped grooves 55 through the U-shaped grooves 56, so that the water flow can finally flow into the inner cavities of the L-shaped water through the water outlet grooves 59, the push pull rods 64 and the pressing plates 65 are pushed downwards, so that the fixing mechanism 5 can clamp and fix the goods at multiple angles.
Example two
According to the embodiment, on the basis of the first embodiment, the L-shaped regulating mechanism 4 is added so as to reduce the lifting force of the device on the goods, reduce metal fatigue as much as possible, and improve the service life of the device, as shown in fig. 7, the L-shaped regulating mechanism 4 comprises a mounting box 41 rotatably connected to the rotary regulating base column 3, the right part of the lower end of the mounting box 41 is provided with a U-shaped limiting bracket 43 for preventing the goods from shaking, the mounting box 41 and the U-shaped limiting bracket 43 jointly form an L shape, the horizontal part of the U-shaped limiting bracket 43 is sleeved outside a limiting plate 51 and fixedly connected with the limiting plate 51, so that the L-shaped regulating mechanism 4 can control the fixing mechanism 5 to move up and down to move the goods to other places, and the upper part of the horizontal part of the U-shaped limiting bracket 43 is provided with a through groove 44 which horizontally penetrates through the side wall of the U-shaped limiting bracket 43 for allowing the double-headed screw 53 to pass, so that the normal work of the fixing mechanism 5 is prevented from being influenced;
further, the two vertical parts of the U-shaped limiting support 43 are telescopic structures, so that the influence on the up-and-down movement of the fixing mechanism 5 is avoided;
specifically, referring to fig. 7-10, a labor-saving lifting mechanism 7 is jointly arranged at the inner side of the opening of the U-shaped limiting support 43 and the inner cavity of the mounting box 41, the labor-saving lifting mechanism 7 comprises a winding roller 79 horizontally rotatably connected to the left part of the inner cavity of the mounting box 41, a fixed pulley II 78 and a fixed pulley I77 horizontally rotatably connected to the right part of the inner cavity of the mounting box 41, a U-shaped mounting plate 71 is arranged in the middle of the bottom wall of the opening of the U-shaped limiting support 43, a movable pulley 72 is arranged at the inner side of the opening of the U-shaped mounting plate 71, a traction ring frame 73 is arranged in the middle of the upper end of the movable pulley 72, a steel wire rope 74 is arranged on the outer surface of a circular ring part at the upper part of the traction ring frame 73, a part of the steel wire rope 74, which is far away from the traction ring frame 73, sequentially bypasses the fixed pulley I77, the movable pulley 72 and the fixed pulley II 78 and is fixedly connected to the winding roller 79, a second motor 42 is arranged at the left part of the rear end of the mounting box 41, and an output end of the second motor 42 extends into the mounting box 41 and is fixedly connected to the winding roller 79;
the labor-saving lifting mechanism 7 utilizes a pulley block formed by the movable pulley 72, the fixed pulley 77, the fixed pulley 78 and the steel wire rope 74 to reduce the lifting force of the device on goods, because one force is equal to the force and the distance moved along the force direction, when a certain work is applied, the distance moved along the force direction is doubled, the force is only half of the original force, therefore, when the movable pulley 72 is used, the distance for pulling the rope is doubled when the work is applied, the labor is wasted by half, thereby reducing the lifting force of the device on the goods, reducing the metal fatigue as much as possible and prolonging the service life of the device.
Therefore, the implementation of this example is:
the second motor 42 controls the wind-up roller 79 to rotate, so as to wind up the steel wire rope 74, so that the steel wire rope 74 pulls the movable pulley 72 to move upwards to drive the U-shaped limiting support 43 to shrink, and accordingly the fixing mechanism 5 and the goods are pulled to move upwards, and the goods can be transported to a specified position by a follow-up device.
Example III
The application also discloses a control system of the weight-bearing industrial robot, which is used for controlling the weight-bearing industrial robot, and concretely comprises:
1. the clamping and fixing unit comprises a fixing mechanism 5, a limiting mechanism 6 and other structures;
2. the lifting unit comprises an L-shaped regulating mechanism 4, a labor-saving lifting mechanism 7 and other structures;
3. and the control unit comprises common control structures such as a PLC and the like.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides an industrial robot of weight-bearing, includes mobile base (1), its characterized in that: the middle part of the upper end of the movable base (1) is provided with a control base (2), the middle part of the upper end of the control base (2) is rotationally connected with a rotary adjusting base column (3), the upper part of the right end of the rotary adjusting base column (3) is provided with an L-shaped adjusting mechanism (4), and the bottom of the vertical part of the L-shaped adjusting mechanism (4) is provided with a fixing mechanism (5) for clamping cargoes;
the fixing mechanism (5) comprises a limiting plate (51) and a double-end screw rod (53) which are horizontally arranged, the double-end screw rod (53) is positioned above the limiting plate (51), the front part and the rear part of the outer surface of the double-end screw rod (53) are respectively in threaded connection with an L-shaped clamping plate (52) for clamping and fixing goods, the two L-shaped clamping plates (52) are respectively sleeved on the outer side of the limiting plate (51) and are in sliding connection with the limiting plate (51), a first motor (54) is fixedly arranged at the front part of the upper end of the limiting plate (51), the output end of the first motor (54) is connected with a double-headed screw (53) through a coupler, a water storage tank (57) is formed in the middle of the upper end of the horizontal part of the two L-shaped clamping plates (52), water flows are filled in the water storage tank (57), a sealing plate (58) for extruding the water flows is slidably connected in the water storage tank (57), the upper part of the sealing plate (58) extends to the outer side of the water storage tank (57), and a limiting mechanism (6) for fixing goods by pushing the water flows is arranged at the upper parts of one ends, close to each other, of the vertical parts of the two L-shaped clamping plates (52);
one end of each sealing plate (58) close to each other and one end of each horizontal part of each L-shaped clamping plate (52) close to each other are of an inclined surface structure;
when the sealing plate (58) moves up to the maximum height, the inclined surface of the sealing plate (58) and the inclined surface on the horizontal part of the L-shaped clamping plate (52) are in the same plane;
the limiting mechanism (6) comprises an L-shaped water pipe (61) fixedly connected to the vertical part of the L-shaped clamping plate (52), a push-pull rod (64) is slidably connected to the inner surface of the vertical part of the L-shaped water pipe (61), the lower end of the push-pull rod (64) extends to the outer side of the L-shaped water pipe (61) and is provided with a pressing plate (65), a supporting plate (62) is fixedly arranged on the upper part of the outer surface of the vertical part of the L-shaped water pipe (61), springs (63) are respectively arranged on the left part and the right part of the lower end of the supporting plate (62), and one ends, far away from the supporting plate (62), of the two springs (63) are fixedly connected to the pressing plate (65);
one end of the upper part of the vertical part of the L-shaped clamping plate (52) close to the L-shaped water through pipe (61) is provided with a water outlet groove (59) communicated with the inner cavity of the L-shaped water through pipe (61), one side inner wall of the water outlet groove (59) far away from the L-shaped water through pipe (61) is provided with an E-shaped groove (55), and the bottom walls of the three vertical parts of the E-shaped groove (55) are provided with U-shaped grooves (56) penetrating through the bottom wall of the water storage groove (57).
2. The weight-bearing industrial robot of claim 1, wherein: the spring (63) is always in a compressed state.
3. The weight-bearing industrial robot of claim 1, wherein: the L-shaped regulating mechanism (4) comprises a mounting box (41) which is rotationally connected to a rotary regulating base column (3), a U-shaped limiting support (43) used for preventing goods from shaking is arranged on the right portion of the lower end of the mounting box (41), the horizontal portion of the U-shaped limiting support (43) is sleeved on the outer side of a limiting plate (51) and fixedly connected with the limiting plate (51), a through groove (44) which horizontally penetrates through the side wall of the U-shaped limiting support (43) and is used for allowing a double-head screw (53) to pass is formed in the upper portion of the horizontal portion of the U-shaped limiting support (43), and a labor-saving lifting mechanism (7) is jointly arranged on the inner side of an opening of the U-shaped limiting support (43) and the inner cavity of the mounting box (41).
4. A weight-bearing industrial robot according to claim 3, characterized in that: the two vertical parts of the U-shaped limiting support (43) are of telescopic structures.
5. A weight-bearing industrial robot according to claim 3, characterized in that: the labor-saving lifting mechanism (7) comprises a winding roller (79) horizontally rotatably connected to the left part of an inner cavity of a mounting box (41), a fixed pulley II (78) and a fixed pulley I (77) horizontally rotatably connected to the right part of the inner cavity of the mounting box (41), a U-shaped mounting plate (71) is arranged in the middle of the bottom wall of the inner side of the opening of the U-shaped limiting support (43), a movable pulley (72) is arranged on the inner side of the opening of the U-shaped mounting plate (71), a traction ring frame (73) is arranged in the middle of the upper end of the movable pulley (72), a steel wire rope (74) is arranged on the outer surface of a circular ring part on the upper part of the traction ring frame (73), one part of the steel wire rope (74) is far away from the traction ring frame (73) and sequentially bypasses the fixed pulley I (77), the movable pulley II (78) and the fixed pulley II (78) and is fixedly connected to the winding roller (79), a motor (42) is arranged on the left part of the rear end of the mounting box (41), and the output end of the motor II (42) extends into the mounting box (41) and is fixedly connected with the winding roller (79).
6. A control system for a weight-bearing industrial robot, characterized by: the system comprising an industrial robot of any one of claims 1-5.
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