CN214561032U

CN214561032U - Full-automatic combined industrial manipulator

Info

Publication number: CN214561032U
Application number: CN202022891007.0U
Authority: CN
Inventors: 秦志强; 邹毅; 周少斌; 韦卓澜
Original assignee: Liuzhou Hongjia Machinery Co ltd
Current assignee: Liuzhou Hongjia Machinery Co ltd
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2021-11-02
Anticipated expiration: 2030-12-03

Abstract

The utility model relates to the technical field of machining, in particular to a full-automatic combined industrial manipulator and a control method thereof, which comprises an mechanical arm, a controller, a negative pressure machine and a claw tool library, wherein the claw tool library comprises a plurality of claw tools and a cabinet body, and the claw tools and the mechanical arm are detachably arranged; a plurality of claw chambers are arranged on the cabinet body in an array manner, each claw chamber is internally provided with an electric claw, and each claw chamber stores a claw through the electric claw; the mechanical arm and the negative pressure machine are respectively connected with the controller; the mechanical arm of the utility model can be used with claws of electric components with different functions, thereby realizing a plurality of functions of welding, cutting, heat treatment, carving and the like; through the setting of claw utensil storehouse, the arm can be under the control of controller automatic connection, change different claw utensil in order to carry out different processing, and the work of many equipment under the prior art can be accomplished to an equipment.

Description

Full-automatic combined industrial manipulator

Technical Field

The utility model relates to the technical field of machining, in particular to full-automatic combination formula industrial robot.

Background

In the production and processing, cutting and welding all are very common processing mode, and lathe commonly used can only realize a certain processing in the cutting or a certain processing in the welding usually, and the use limitation is very big, even current machining center, like application number 201810798948.4's chinese utility model a machining center, application number 201520217581.4's chinese utility model a robot walking welding machining center, also can only accomplish cutting or welding alone, can not accomplish the technology processing of cutting and welding two kinds of differences simultaneously in a machine. Along with the high-speed development of science and technology, the period of production line upgrading is greatly shortened, the automation degree of processing equipment with single function is low, the upgrading difficulty is large, the processing equipment is easy to eliminate, a production line needs to be formed, multiple machines need to be matched and combined, the occupied space is large, the equipment is frequently replaced, the cost pressure is caused to the industry upgrading, and the equipment is not suitable for being used by research and development mechanisms with small scales.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problem, an object of the utility model is to provide a full-automatic combination formula industrial robot and control method thereof can integrate multiple processing mode, improves automated production ability, reduces the cost of industry upgrading.

In order to achieve the above purpose, the utility model adopts the technical proposal that:

a full-automatic combined industrial manipulator and a control method thereof comprise a mechanical arm, a controller, a negative pressure machine and a claw tool library, wherein a first connector is arranged at the forefront end of an arm part of the mechanical arm, the front end surface of the first connector is a first connection surface, a negative pressure interface is arranged on the first connector, the negative pressure interface penetrates through the first connector, one end of the negative pressure interface is positioned on the first connection surface, the other end of the negative pressure interface is far away from the first connection surface, the negative pressure machine is connected with one end of the negative pressure interface far away from the first connection surface, a first connection point group is further arranged on the first connection surface, and the first connection point group comprises a first power supply contact group and a first control contact group; the claw tool library comprises a plurality of claw tools and a cabinet body, each claw tool comprises a second connector and an electric component, a second connecting surface is arranged on each second connector, each second connector is detachably mounted on each first connector in a mode that each second connecting surface is connected with each first connecting surface, a sealing rubber ring is arranged on the position, corresponding to the corresponding negative pressure interface, of each second connecting surface, each sealing rubber ring is hermetically surrounded on the outer side of one end of each negative pressure interface when the second connector is connected with the corresponding first connector, the one end is the end, located on the corresponding first connecting surface, of each negative pressure interface, a second connecting contact group is arranged on the corresponding second connecting surface and corresponding to the corresponding first connecting contact group, each second connecting contact group comprises a second power supply contact group arranged corresponding to the position of the corresponding first power supply contact group, and a second control contact group arranged corresponding to the position of the corresponding first control contact group, and when the second connector is connected with the corresponding first connector, the second power supply contact group is connected with the first power supply contact group, the second control contact group is connected with the first control contact group, the electric component is arranged at one end of the second connector, which is back to the sealing rubber ring, and the electric component is connected with the second power supply contact group and the second control contact group; a plurality of claw chambers are arranged on the cabinet body in an array mode, chamber openings are formed in the claw chambers along the thickness direction of the cabinet body, electric clamping jaws are arranged in the claw chambers, the claws are placed in the claw chambers through the electric clamping jaws, each claw chamber stores one claw, the electric clamping jaws are in contact fit with the adjacent side faces of the second connecting faces to fix or loosen the corresponding claw, and the second connecting faces on the claws are arranged towards the chamber openings; the mechanical arm, the negative pressure machine and the electric clamping jaws are respectively connected with the controller, and the electric assembly is connected with the controller through the matching of the second connecting contact group and the first connecting contact group.

Preferably, still include the base, arm, controller, negative pressure machine and claw utensil storehouse are all installed on the base.

Preferably, the chamber openings of all the gripper chambers are aligned in the same direction.

Preferably, the claw chamber is further provided with a power door for opening or closing the chamber opening, and the power door is connected with the controller.

Preferably, the clamping surfaces of the electric jaws are covered with vulcanized rubber.

Preferably, the first connecting surface is provided with a plurality of positioning protrusions, the second connecting surface is provided with a plurality of positioning grooves corresponding to the positioning protrusions, and the positioning protrusions are clamped with the positioning grooves when the second connecting surface is connected with the first connecting surface, so that abnormal sliding or abnormal rotation of the claw relative to the mechanical arm is reduced.

Preferably, the end of the electric component, which faces away from the second connector, is provided with a 3D sensor, and the 3D sensor is connected with the controller through the cooperation of the second connection contact group and the first connection contact group.

Preferably, the powered assembly is a welding head.

Preferably, the motorized assembly is a biomimetic manipulator.

Preferably, the electrically powered component is an induction heating coil.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:

the utility model has the advantages that through the separated design of the mechanical arm and the claw tool, the mechanical arm can be matched with the claw tool of the electric component with different functions, thereby realizing a plurality of functions such as welding, cutting, heat treatment, carving and the like; through the arrangement of the claw tool library, the mechanical arm can be automatically connected and changed with different claw tools under the control of the controller to carry out different processing, one device can complete the work of a plurality of devices in the prior art, and only one clamping is needed for processing a plurality of workpieces, and the workpieces do not need to be transferred back and forth on different working sections, so that the production time is greatly shortened, and the working efficiency is greatly improved; the utility model discloses the 3D sensor that sets up can gather the structural information of waiting to process the department and feed back to the controller, calculate by the controller and judge whether should wait to process the department and be fit for carrying on the processing of next step, and automatic productivity is high; the utility model can realize different functions only by replacing different claws, thereby greatly reducing the difficulty of subsequent upgrading of the production line and reducing the cost of subsequent industry upgrading; because the utility model discloses have multiple automatic processing ability, area is far less than the combination of current multiple processing equipment, and some scientific research institutions that do not have large-scale delivery room use very much.

Drawings

Fig. 1 is a schematic view of a fully automatic combined industrial robot according to an embodiment of the present invention.

Fig. 2 is a partially enlarged view of a portion a in fig. 1.

Fig. 3 is a schematic view of a mechanical arm of a fully automatic combined industrial robot according to an embodiment of the present invention.

Fig. 4 is a partially enlarged view at B in fig. 3.

Fig. 5 is a schematic view of a cabinet body of a fully automatic combined industrial robot according to an embodiment of the present invention.

Fig. 6 is a schematic view of a gripper of a fully automatic combined industrial robot according to an embodiment of the present invention.

Fig. 7 is a schematic view of another direction of a gripper of a fully automatic combined industrial robot according to an embodiment of the present invention.

Fig. 8 is a schematic diagram of a control relationship of a fully automatic combined industrial robot according to an embodiment of the present invention.

Wherein: 1-mechanical arm, 11-first connector, 111-first connecting surface, 112-negative pressure interface, 113-first connecting contact group, 114-positioning projection, 2-controller, 3-negative pressure machine, 4-claw tool library, 41-claw tool, 411-second connector, 4111-second connecting surface, 4112-sealing rubber ring, 4113-second connecting contact group, 4114-positioning groove, 412-electric component, 413-3D sensor, 42-cabinet, 421-claw tool chamber, 4211-electric claw, 422-electric door and 5-base.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The accompanying drawings are only for illustrative purposes and are only schematic drawings rather than actual drawings, which are not intended to limit the present disclosure, and in order to better illustrate the embodiments of the present disclosure, some components of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product.

Referring to fig. 1-8, in a preferred embodiment of the present invention, a fully automatic combined industrial robot includes a robot arm 1, a controller 2, a negative pressure machine 3 and a claw library 4, a first connector 11 is disposed at a foremost end of an arm portion of the robot arm 1, a front end surface of the first connector 11 is a first connection surface 111, a negative pressure interface 112 is disposed on the first connector 11, the negative pressure interface 112 penetrates through the first connector 11, one end of the negative pressure interface 112 is disposed on the first connection surface 111, and the other end is far away from the first connection surface 111, the negative pressure machine 3 is connected to one end of the negative pressure interface 112 far away from the first connection surface 111, a first connection point group 113 is further disposed on the first connection surface 111, and the first connection point group 113 includes a first power supply contact group and a first control contact group; the claw tool library 4 comprises a plurality of claw tools 41 and a cabinet body 42, each claw tool 41 comprises a second connector 411 and an electric component 412, a second connection surface 4111 is arranged on the second connector 411, the second connector 411 is detachably mounted on the first connector 11 in a manner that the second connection surface 4111 is connected with the first connection surface 111, a sealing rubber ring 4112 is arranged on the second connection surface 4111 corresponding to the position of the negative pressure port 112, the sealing rubber ring 4112 tightly surrounds the outer side of one end of the negative pressure port 112 when the second connector 411 is connected with the first connector 11, the one end is the end of the negative pressure port 112 on the first connection surface 111, the second connection contact group 4113 is arranged on the second connection surface 4111 corresponding to the position of the first connection contact group 113, the second connection contact group 4113 comprises a second power supply contact group arranged corresponding to the position of the first power supply contact group, and a second control contact group arranged corresponding to the position of the first control contact group, when the second connector 411 is connected with the first connector 11, the second power supply contact group is connected with the first power supply contact group, the second control contact group is connected with the first control contact group, the electric component 412 is arranged at one end of the second connector 411, which is opposite to the sealing rubber ring 4112, and the electric component 412 is connected with both the second power supply contact group and the second control contact group; a plurality of claw chambers 421 are arranged on the cabinet 42 in an array manner, the claw chambers 421 are provided with chamber openings along the thickness direction of the cabinet 42, electric claws 4211 are arranged in the claw chambers 421, the claws 41 are placed in the claw chambers 421 through the electric claws 4211, each claw chamber 421 stores one claw 41, the electric claws 4211 are in contact fit with the adjacent side surface of the second connecting surface 4111 to fix or release the corresponding claw 41, and the second connecting surface 4111 on the claw 41 faces the chamber openings; the mechanical arm 1, the negative pressure machine 3 and the electric claws 4211 are respectively connected with the controller 2, and the electric component 412 is connected with the controller 2 through the matching of the second connection contact group 4113 and the first connection contact group 113.

The specific position between the robot arm 1 and the gripper library 4 in this embodiment may be specifically arranged according to the actual situation of the production workshop, and after the relative positions of the robot arm 1 and the gripper library 4 are fixed, the present embodiment needs to be debugged to ensure that the first connectors 11 of the robot arm 1 can reach the designated positions of each gripper chamber 421 in a one-to-one correspondence manner under the control of the control system, so as to ensure that the first connectors 11 can be accurately connected with the second connectors 411 of the grippers 41; the embodiment can also be provided with a base 5, and when leaving the factory, the mechanical arm 1, the controller 2, the negative pressure machine 3 and the claw tool library 4 are all installed on the base 5, so that the relative positions of the mechanical arm 1 and the claw tool library 4 can be determined in advance, and the debugging of the embodiment can be completed together when leaving the factory, so that the later debugging work of the embodiment is reduced.

In order to simplify the movement track of the mechanical arm 1 when the claw 41 is replaced, reduce the structural complexity of the present embodiment, facilitate the debugging of the present embodiment, and make the present embodiment more neat and beautiful, preferably, the opening directions of all the claw chambers 421 are the same; in order to reduce the contamination of the internal parts of the claw 41 and the claw chamber 421 to be used due to the contact with the external environment, referring to fig. 5, preferably, the claw chamber 421 is further provided with an electric door 422 for opening or closing the chamber opening, the electric door 422 is connected to the controller 2, when the mechanical arm 1 takes and places the claw 41 or performs maintenance, the electric door 422 of the corresponding claw chamber 421 in which the claw 41 is located is opened, and when the mechanical arm 1 is not in use, the electric door 422 is kept closed; in order to reduce the abrasion on the second connecting piece caused by the contact matching of the electric claws 4211 and the second connecting piece, the clamping surface of the electric claws 4211 is preferably covered with vulcanized rubber; in order to improve the connection stability between the first connection surface 111 and the second connection surface 4111, preferably, the first connection surface 111 is provided with a plurality of positioning protrusions 114, the second connection surface 4111 is provided with a plurality of positioning grooves 4114 corresponding to the plurality of positioning protrusions 114, and when the second connection surface 4111 is connected to the first connection surface 111, the positioning protrusions 114 are engaged with the positioning grooves 4114, so as to reduce the abnormal sliding or abnormal rotation of the claw 41 relative to the robot arm 1.

The electric component 412 of the present embodiment may be a welding head, a bionic mechanical arm, a laser engraving head, an induction heating ring, an electric drill, a milling cutter, a blower, etc., and the specific structure thereof is not described herein again.

Based on the above, the utility model provides a control method of full-automatic combination formula industrial robot, specifically as follows:

1. inputting a control program into the controller 2 and starting the embodiment according to the actual processing requirement;

2. the electric door 422 of the corresponding claw chamber 421 is opened under the control of the controller 2, the mechanical arm 1 contacts the first connection surface 111 with the second connection surface 4111 of the claw 41 in the claw chamber 421 under the control of the controller 2, the first connection point group 113 is correspondingly connected with the second connection point group 4113, the positioning protrusion 114 is connected with the positioning groove 4114, the positioning protrusion 114 is clamped with the positioning groove 4114, the negative pressure machine 3 operates, the first connection surface 111 is tightly attached to the corresponding second connection surface 4111 under the action of negative pressure, the sealing rubber ring 4112 surrounds the circumference of the negative pressure interface 112 and is attached to the first connection surface 111 to play a sealing role, and the consumption of negative pressure is reduced;

3. the controller controls the electric claw 4211 in the opened claw chamber to be separated from the second connector 411 of the claw 41 in the claw chamber 421 to release the claw 41, the first connector 11 of the mechanical arm 1 moves towards the direction far away from the cabinet 42 to take the claw 41 out of the cabinet 42, and the electric door 422 is closed;

4. the combination of the mechanical arm 1 and the gripper 41 processes the workpiece under a set control program;

5. the corresponding power door 422 is opened, the robot arm 1 feeds the claw 41 connected thereto into the corresponding claw chamber 421 in accordance with the initial state and orientation of the claw 41, the corresponding power claw 4211 grips the side surface of the second connector 411 of the claw 41, the negative pressure machine 3 reversely releases the negative pressure between the first connector 11 and the corresponding second connector 411, the first connector 11 is disengaged from the second connector 411, the robot arm 1 is controlled by the controller 2 to be separated from the claw chamber 421, and the corresponding power door 422 is closed.

Referring to fig. 7, preferably, a 3D sensor 413 is disposed at an end of the electric component 412 opposite to the second connector 411, the 3D sensor 413 is matched with the second connection contact group 4113 and the first connection contact group 113 to connect to the controller 2, the controller 2 is connected, the 3D sensor 413 may be a 3D sensor 413 commonly used by a TOF sensor or a structured light sensor, and after the electric component 412 of the claw 41 is aligned to the workpiece to be processed, the 3D sensor 413 collects structural information of the workpiece to be processed and feeds the information back to the controller 2, the controller 2 calculates and determines whether the workpiece to be processed is suitable for the next processing, if the controller 2 determines that the workpiece to be processed has a defect or has other factors unsuitable for the next processing, the processing is suspended and an alarm is sent to an operator to reduce the occurrence of damage or rejection of the claw 41, the automatic production capacity of the embodiment is further improved.

In the embodiment, through the separated design of the mechanical arm 1 and the claw 41, the mechanical arm 1 can be used in cooperation with the claw 41 of the electric component 412 with different functions, so that the embodiment can realize various functions such as welding, cutting, heat treatment, carving and the like; through the arrangement of the claw tool library 4, the mechanical arm 1 can be automatically connected and changed with different claw tools 41 under the control of the controller 2 to carry out different processing, one device can complete the work of a plurality of devices in the prior art, and for various processing of one workpiece, only one clamping is needed, and the back-and-forth transfer on different working sections is not needed, so that the production time is greatly shortened, and the working efficiency is greatly improved; in the embodiment, different functions can be realized by only replacing different claws 41, so that the difficulty of subsequent upgrading of the production line is greatly reduced, and the cost of subsequent industry upgrading is reduced; because this embodiment has multiple automatic processing ability, area is far less than the combination of current multiple processing equipment, and some scientific research institutions that do not have large-scale delivery room use very much.

The above description is for the detailed description of the preferred possible embodiments of the present invention, but the embodiments are not intended to limit the scope of the present invention, and all equivalent changes or modifications accomplished under the technical spirit suggested by the present invention should fall within the scope of the present invention.

Claims

1. The utility model provides a full-automatic combination formula industrial robot, includes arm and controller, its characterized in that: the manipulator is characterized by further comprising a negative pressure machine and a claw tool library, wherein a first connector is arranged at the foremost end of the arm of the manipulator, the front end surface of the first connector is a first connection surface, a negative pressure interface is arranged on the first connector, the negative pressure interface penetrates through the first connector, one end of the negative pressure interface is located on the first connection surface, the other end of the negative pressure interface is far away from the first connection surface, the negative pressure machine is connected with one end, far away from the first connection surface, of the negative pressure interface, a first connection point group is further arranged on the first connection surface, and the first connection point group comprises a first power supply contact group and a first control contact group; the claw tool library comprises a plurality of claw tools and a cabinet body, each claw tool comprises a second connector and an electric component, a second connecting surface is arranged on the second connector, the second connector is detachably mounted on the first connector in a mode of being connected with the first connecting surface through the second connecting surface, a sealing rubber ring is arranged on the position, corresponding to the negative pressure interface, of the second connecting surface, the sealing rubber ring is tightly surrounded on the outer side of one end of the negative pressure interface when the second connector is connected with the first connector, the one end is the end, located on the first connecting surface, of the negative pressure interface, a second connecting contact group is arranged on the position, corresponding to the first connecting contact group, of the second connecting surface, the second connecting contact group comprises a second power supply contact group and a second control contact group, the second power supply contact group is arranged corresponding to the position of the first power supply contact group, and the second control contact group is arranged corresponding to the position of the first control contact group, when the second connector is connected with the first connector, the second power supply contact group is connected with the first power supply contact group, the second control contact group is connected with the first control contact group, the electric component is arranged at one end of the second connector, which is back to the sealing rubber ring, and the electric component is connected with the second power supply contact group and the second control contact group; a plurality of claw chambers are arranged on the cabinet body in an array mode, chamber openings are formed in the claw chambers along the thickness direction of the cabinet body, electric clamping jaws are arranged in the claw chambers, the claws are placed in the claw chambers through the electric clamping jaws, each claw chamber stores one claw, the electric clamping jaws are in contact fit with the adjacent side face of the second connecting face to fix or loosen the corresponding claw, and the second connecting face on each claw is arranged towards the chamber openings; the mechanical arm, the negative pressure machine and the electric clamping jaws are respectively connected with the controller, and the electric assembly is connected with the controller through the matching of the second connecting contact group and the first connecting contact group.

2. A fully automated modular industrial robot as claimed in claim 1, further comprising: the automatic vacuum machine further comprises a base, and the mechanical arm, the controller, the negative pressure machine and the claw tool library are all installed on the base.

3. A fully automated modular industrial robot as claimed in claim 1, further comprising: the opening directions of the chamber openings of all the claw chambers are consistent.

4. A fully automated modular industrial robot as claimed in claim 1, further comprising: the claw chamber is also provided with an electric door for opening or closing the chamber opening, and the electric door is connected with the controller.

5. A fully automated modular industrial robot as claimed in claim 1, further comprising: and the clamping surface of the electric clamping jaw is covered with vulcanized rubber.

6. A fully automated modular industrial robot as claimed in claim 1, further comprising: the first connecting surface is provided with a plurality of positioning bulges, the second connecting surface is provided with a plurality of positioning grooves corresponding to the positioning bulges, and the positioning grooves are clamped by the positioning bulges when the second connecting surface is connected with the first connecting surface.

7. A fully automated modular industrial robot as claimed in claim 1, further comprising: the electric component is provided with a 3D sensor at one end back to the second connector, and the 3D sensor is connected with the controller through the matching of the second connecting contact group and the first connecting contact group.

8. A fully automated modular industrial robot as claimed in claim 1, further comprising: the electric component is a welding head.

9. A fully automated modular industrial robot as claimed in claim 8, further comprising: the electric component is a bionic manipulator.

10. A fully automated modular industrial robot as claimed in claim 8, further comprising: the electric component is an induction heating coil.