WO2021017583A1 - 一种自动调节式工业机器人 - Google Patents

一种自动调节式工业机器人 Download PDF

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Publication number
WO2021017583A1
WO2021017583A1 PCT/CN2020/091194 CN2020091194W WO2021017583A1 WO 2021017583 A1 WO2021017583 A1 WO 2021017583A1 CN 2020091194 W CN2020091194 W CN 2020091194W WO 2021017583 A1 WO2021017583 A1 WO 2021017583A1
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WO
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Prior art keywords
pipe
fixedly connected
wall
support
industrial robot
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PCT/CN2020/091194
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English (en)
French (fr)
Inventor
李萌
严石红
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南京涵铭置智能科技有限公司
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Publication of WO2021017583A1 publication Critical patent/WO2021017583A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • the invention relates to the technical field of industrial robots, in particular to an automatic adjustment type industrial robot.
  • An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can automatically perform work and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans, and it can also be run in accordance with pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology.
  • the general industrial robots in the palletizing and unloading work are limited by their own working heights. For high palletizing or large unloading heights, they cannot be palletized or unloaded, and multi-axis industrial robots are required for palletizing. Stacking or unloading, but multi-axis industrial robots are generally expensive and expensive to use, so an automatic adjustment industrial robot is needed.
  • An automatic adjustment type industrial robot proposed by the present invention includes a fixed pipe, the inner bottom wall of the fixed pipe is fixedly connected with a support pipe, the inner wall of the support pipe is slidably connected with a support column, and one end of the support column extends to The surface of the support tube, one end of the support column is fixedly connected with a mounting plate, the surface of the mounting plate is slidably connected to the inner wall of the fixed tube, the surface of the mounting plate is fixedly mounted with a rotating bearing, and the inner ring of the rotating bearing
  • a connecting column is fixedly connected, one end of the connecting column is fixedly connected with a connecting seat, the surface of the connecting seat is slidingly connected with the surface of the fixed pipe, and the surface of the connecting seat is fixedly mounted with a robot body;
  • a support plate is fixedly connected to the surface of the mounting plate, a support bearing is fixedly mounted on the surface of the support plate, a worm is fixedly connected to the inner ring of the support bearing, and a worm wheel is fixedly sleeved on the surface of the connecting column.
  • the surface of the worm wheel meshes with the surface of the worm, the surface of the mounting plate is fixedly mounted with a first motor, the output shaft of the first motor is fixedly connected to one end of the worm through a coupling, and the surface of the fixed pipe is fixedly mounted
  • the programmable PLC controller is electrically connected to the first motor through a wire;
  • the surface of the support pipe is fixedly connected with an oil inlet pipe, the inner wall of the oil inlet pipe is fixedly connected with the inner wall of the support pipe, and one end of the oil inlet pipe is fixedly connected with a pressurizing device, the pressurizing device includes an oil storage pipe and a motor base , The inner wall of the oil storage pipe is fixedly communicated with the inner wall of the oil inlet pipe.
  • the surface of the supporting column is fixedly provided with a limiting groove
  • the two limiting grooves are symmetrically distributed around the axis of the supporting column
  • the inner wall of the limiting groove is slidably connected to the limiting block
  • the limiting block The surface of the block is fixedly connected with the inner wall of the support tube.
  • the inside of the oil storage pipe, the inside of the oil inlet pipe and the inside of the support pipe are all provided with hydraulic oil
  • the inner wall of the oil storage pipe is slidingly connected with a piston
  • the surface of the piston is fixedly connected with a pressure pipe
  • the surface of the pressure pipe is slidingly connected with the inner wall of the oil storage pipe.
  • the inner wall of the pressure pipe is screwed with a pressure rod, and one end of the pressure rod extends to the surface of the oil storage pipe.
  • a second motor is fixedly mounted on the surface of the motor base, and the output shaft of the second motor is fixedly connected to one end of the pressure rod through a coupling.
  • the inner wall of the oil storage pipe is fixedly connected with a fixed bearing, and the surface of the inner ring pressure rod of the fixed bearing is fixedly connected.
  • the surface of the oil storage pipe is fixedly provided with a stop stroke groove
  • the inner wall of the stop stroke groove is fixedly communicated with the inner wall of the oil storage pipe
  • the surface of the pressure pipe is fixedly connected with a stop column
  • the stop The surface of the column is slidingly connected with the inner wall of the stop stroke groove.
  • the surface of the oil storage pipe is fixedly connected with a vertical plate
  • the two vertical plates are symmetrically distributed around the axis of the stop stroke groove
  • the surfaces of the vertical plates are respectively fixedly installed with a first limit switch and
  • the second limit switch, the first limit switch and the second limit switch are respectively electrically connected to the second motor through wires.
  • the surface of the robot body is slidably connected to the first functional ring and the second functional ring, the surfaces of the first functional ring and the second functional ring are both threadedly connected with a fixing bolt, and one end of the fixing bolt is connected to the robot The surface of the body is plugged.
  • a telescopic tube is fixedly connected to the surface of the first functional ring
  • a telescopic rod is slidingly connected to the inner wall of the telescopic tube
  • an adjusting bolt is threadedly connected to the surface of the telescopic tube
  • one end of the adjusting bolt is connected to the telescopic rod.
  • the first proximity switch is fixedly installed on one end of the telescopic rod
  • the second proximity switch is fixedly installed on the lower surface of the first functional ring
  • the first proximity switch and the second proximity switch are respectively connected by wires It is electrically connected to the second motor
  • an induction block is fixedly connected to the surface of the second functional ring.
  • the programmable PLC controller is fixedly installed on the surface of the fixed pipe.
  • the programmable PLC controller is electrically connected to the first motor through a wire.
  • the programmable PLC controller controls the forward and reverse rotation of the first motor.
  • the industrial robot body performs circumferential movement, thereby achieving the problem of automatically controlling the circumferential rotation of the worker robot.
  • the first and second proximity switches control the forward and reverse rotation of the second motor, adjust the length of the support column extending from the support tube, and adjust the working height of the industrial robot body to achieve It automatically controls the working height of industrial robots and has the effect of simple structure and low cost, thereby solving the problem that the existing general industrial robots cannot be palletized or unloaded when the palletizing height or the unloading height is large.
  • Axis industrial robots are used for palletizing or unloading, but multi-axis industrial robots are generally expensive and costly.
  • the first limit switch has the effect of automatically stopping after the second motor drives the industrial robot to reset, and the second limit switch can prevent stacking Or the unloading height is too high, causing the entire device to over-travel, resulting in damage to the device, and the effect of automatically controlling the forward rotation of the second motor to stop.
  • Fig. 1 is a schematic diagram of an automatic adjustment industrial robot proposed by the present invention
  • Fig. 2 is an enlarged view of the structure at A in Fig. 1 of an automatic adjusting industrial robot proposed by the present invention
  • Fig. 3 is a perspective view of the fixed pipe structure of an automatically adjustable industrial robot proposed by the present invention.
  • FIG. 4 is a cross-sectional view of the support tube structure of an automatically adjustable industrial robot proposed by the present invention.
  • Figure 5 is a cross-sectional view of the telescopic tube structure of an automatically adjustable industrial robot proposed by the present invention
  • Fig. 6 is a top view of the programmable PLC controller structure of an automatically adjustable industrial robot proposed by the present invention.
  • an automatic adjustment type industrial robot as shown in Figure 1-2, includes a fixed pipe 1, the inner bottom wall of the fixed pipe 1 is fixedly connected with a support pipe 2, and the inner wall of the support pipe 2 is slidably connected with a support Column 3, one end of the support column 3 extends to the surface of the support tube 2, one end of the support column 3 is fixedly connected with a mounting plate 4, the surface of the mounting plate 4 is slidingly connected to the inner wall of the fixed pipe 1, and the surface of the mounting plate 4 is fixedly installed with Rotating bearing 5, the inner ring of the rotating bearing 5 is fixedly connected with a connecting column 6, one end of the connecting column 6 is fixedly connected with a connecting seat 7, the surface of the connecting seat 7 is slidingly connected with the surface of the fixed pipe 1, and the surface of the connecting seat 7 is fixedly installed There is a robot body 8;
  • the surface of the support column 3 is fixedly provided with a limit slot 18, the two limit slots 18 are symmetrically distributed around the axis of the support column 3, and the inner wall of the limit slot 18 is slidably connected to the limit block 19, and the surface of the limit block 19 and The inner wall of the support tube 2 is fixedly connected;
  • the surface of the mounting plate 4 is fixedly connected with a support plate 9, the surface of the support plate 9 is fixedly mounted with a support bearing 10, the inner ring of the support bearing 10 is fixedly connected with a worm 11, and a connecting column
  • the surface of 6 is fixedly sleeved with a worm wheel 12, the surface of the worm wheel 12 is meshed with the surface of the worm 11, the surface of the mounting plate 4 is fixedly mounted with a first motor 13, and the output shaft of the first motor 13 is connected to one end of the worm 11 through a coupling
  • a programmable PLC controller 14 is fixedly installed on the surface of the fixed pipe 1, the model of the programmable PLC controller 14 is CPU224XP, and the programmable PLC controller 14 is electrically connected to the first motor 13 through wires;
  • the programmable PLC controller 14 is fixedly installed on the surface of the fixed pipe 1.
  • the programmable PLC controller 14 is electrically connected to the first motor 13 through wires.
  • the programmable PLC controller 14 controls the first motor 13 Reverse, control the industrial robot body 8 to perform circumferential movement, thereby achieving the problem of automatically controlling the circumferential rotation of the worker robot;
  • the surface of the support pipe 2 is fixedly connected with an oil inlet pipe 15, the inner wall of the oil inlet pipe 15 is fixedly connected with the inner wall of the support pipe 2, and one end of the oil inlet pipe 15 is fixedly connected with a pressurizing device.
  • the pressurizing device includes an oil storage pipe 16 and a motor base 17.
  • the inner wall of the oil storage pipe 16 is in fixed communication with the inner wall of the oil inlet pipe 15;
  • the inside of the oil storage pipe 16, the inside of the oil inlet pipe 15 and the inside of the support pipe 2 are all provided with hydraulic oil.
  • the inner wall of the oil storage pipe 16 is slidingly connected with a piston 20, and the surface of the piston 20 is fixedly connected with Pressure tube 21, the surface of the pressure tube 21 is slidingly connected with the inner wall of the oil storage tube 16.
  • the inner wall of the pressure tube 21 is threadedly connected with a pressure rod 22, one end of the pressure rod 22 extends to the surface of the oil storage tube 16, the motor base 17
  • the second motor 23 is fixedly installed on the surface of the second motor.
  • the models of the first motor 13 and the second motor 23 are both 0.25KW-4.KW, and the output shaft of the second motor 23 is fixedly connected to one end of the pressure rod 22 through a coupling ,
  • the inner wall of the oil storage pipe 16 is fixedly connected with a fixed bearing 24, and the surface of the inner ring pressure rod 22 of the fixed bearing 24 is fixedly connected;
  • the surface of the oil storage pipe 16 is fixedly provided with a stop stroke groove 25, the inner wall of the stop stroke groove 25 is fixedly connected with the inner wall of the oil storage pipe 16, and the surface of the pressure pipe 21 is fixedly connected with a stop column 26.
  • the inner wall of the stop stroke groove 25 is slidably connected.
  • the surface of the oil storage pipe 16 is fixedly connected with a vertical plate 27.
  • the two vertical plates 27 are symmetrically distributed around the axis of the stop stroke groove 25.
  • the surfaces of the vertical plates 27 are respectively fixedly installed
  • the first limit switch 28 and the second limit switch 29, the first limit switch 28 and the second limit switch 29 are all XCE145 models, the first limit switch 28 and the second limit switch 29 are connected to each other through wires
  • the second motor 23 is electrically connected.
  • the surfaces of the robot body 8 are slidably connected to the first function ring 30 and the second function ring 31.
  • the surfaces of the first function ring 30 and the second function ring 31 are screwed with fixing bolts 32 to fix One end of the bolt 32 is inserted into the surface of the robot body 8;
  • the first limit switch 28 has the effect of automatically stopping after the second motor 23 drives the industrial robot to reset, and the second limit switch 29 has Prevent the stacking or unloading height from being too high, causing the entire device to over-travel, resulting in damage to the device, and automatically control the effect of the second motor 23 to stop forward rotation;
  • the surface of the first functional ring 30 is fixedly connected with a telescopic tube 33, the inner wall of the telescopic tube 33 is slidably connected with a telescopic rod 34, the surface of the telescopic tube 33 is threadedly connected with an adjusting bolt 35, and one end of the adjusting bolt 35 is inserted into the surface of the telescopic rod 34.
  • a first proximity switch 36 is fixedly installed on one end of the telescopic rod 34
  • a second proximity switch 37 is fixedly installed on the lower surface of the first functional ring 30.
  • the models of the first proximity switch 36 and the second proximity switch 37 are LJ12A3- 4-Z/BX, the first proximity switch 36 and the second proximity switch 37 are respectively electrically connected to the second motor 23 through wires, and an induction block 38 is fixedly connected to the surface of the second functional ring 31;
  • the second motor 23 is controlled to rotate forward and backward through the first proximity switch 36 and the second proximity switch 37 to adjust the length of the support column 3 extending from the support tube 2 and adjust the industrial robot body 8
  • the working height of the industrial robot can automatically control the working height of the industrial robot and has the effect of simple structure and low cost, thereby solving the problem that the existing general industrial robots cannot be palletized or palletized when the palletizing or unloading height is high.
  • Unloading requires the use of multi-axis industrial robots for palletizing or unloading, but multi-axis industrial robots are generally expensive and costly.
  • the programmable PLC controller 14 controls the forward and reverse rotation of the first motor 13.
  • the output shaft of the first motor 13 rotates through the coupling moving the worm 11, the worm 11 drives the worm wheel 12 to rotate, the worm wheel 12 drives the connecting column 6 to rotate, and the connecting column 6 drives the connecting seat 7 and the robot body 8 to rotate, and controls the circumferential rotation of the robot body 8 for stacking or unloading;
  • the output shaft of the motor 23 drives the pressurizing rod 22 to rotate through the coupling, the pressurizing rod 22 threadedly rotates the pressurizing tube 21, the pressurizing tube 21 pushes the piston 20 to move, and the piston 20 squeezes the hydraulic oil into the support tube 2 to make the support column 3 jack up, the support column 3 pushes the mounting plate 4, the connecting seat 7 and the robot body 8 upwards, and stops when the first proximity switch 36 cannot sense the goods.
  • the first motor 13 drives the robot body 8 to move to the stacking or Palletizing or unloading at the unloading place;
  • the programmable PLC controller 14 controls the first motor 13 to drive the robot body 8 to rotate again in the circumferential direction.
  • the second proximity switch 37 is close to the sensing block 38, the second The proximity switch 37 sends out an electric signal to control the second motor 23 to reverse.
  • the second motor 23 reverses to drive the pressure pipe 21 to move in the reverse direction, and drives the piston 20 to release pressure on the hydraulic oil in the oil storage pipe 16, and the support column 3 expands and enters the support.
  • the support column 3 drives the mounting plate 4, the connecting seat 7 and the robot body 8 to move downwards.
  • the second motor 23 reverses and stops, and the industrial robot grasps again Take the goods that need to be palletized or put down the goods that need to be unloaded.

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Abstract

一种自动调节式工业机器人，包括固定管（1），固定管的內底壁固定连接有支撑管（2），支撑管的内壁滑动连接有支撑柱（3），支撑柱的一端延伸至支撑管的表面。该自动调节式工业机器人，通过设置加压装置，在使用时，通过第一接近开关（36）和第二接近开关（37）控制第二电机（23）正反转，调节支撑柱从支撑管内伸出的长度，调节工业机器人本体的工作高度，达到了自动控制工业机器人工作高度和具有结构简单，成本低的效果。

Description

一种自动调节式工业机器人 技术领域
本发明涉及工业机器人技术领域，尤其涉及一种自动调节式工业机器人。
 背景技术
工业机器人是面向工业领域的多关节机械手或多自由度的机器装置，它能自动执行工作，是靠自身动力和控制能力来实现各种功能的一种机器。它可以接受人类指挥，也可以按照预先编排的程序运行，现代的工业机器人还可以根据人工智能技术制定的原则纲领行动。
目前在码垛和卸货工作中的一般的工业机器人存在受自身的工作高度限制，对于需要码垛较高或卸货高度较大的情况下不能进行码垛或卸货，需要使用多轴工业机器人进行码垛或卸货，但是多轴工业机器人一般价格较高，使用成本大，所以需要一种自动调节式工业机器人。
 技术问题
基于现有的一般的工业机器人对于需要码垛较高或卸货高度较大的情况下不能进行码垛或卸货，需要使用多轴工业机器人进行码垛或卸货，但是多轴工业机器人一般价格较高，使用成本大的技术问题，本发明提出了一种自动调节式工业机器人。
 技术解决方案
本发明提出的一种自动调节式工业机器人，包括固定管，所述固定管的內底壁固定连接有支撑管，所述支撑管的内壁滑动连接有支撑柱，所述支撑柱的一端延伸至支撑管的表面，所述支撑柱的一端固定连接有安装板，所述安装板的表面与固定管的内壁滑动连接，所述安装板的表面固定安装有转动轴承，所述转动轴承的内圈固定连接有连接柱，所述连接柱的一端固定连接有连接座，所述连接座的表面与固定管的表面滑动连接，所述连接座的表面固定安装有机器人本体；
所述安装板的表面固定连接有支撑板，所述支撑板的表面固定安装有支撑轴承，所述支撑轴承的内圈固定连接有蜗杆，所述连接柱的表面固定套接有蜗轮，所述蜗轮的表面与蜗杆的表面啮合，所述安装板的表面固定安装有第一电机，所述第一电机的输出轴通过联轴器与蜗杆的一端固定连接，所述固定管的表面固定安装有可编PLC控制器，所述可编PLC控制器通过电线与第一电机电性连接；
所述支撑管的表面固定连接有进油管，所述进油管的内壁与支撑管的内壁固定连通，所述进油管的一端固定连接有加压装置，所述加压装置包括储油管和电机底座，所述储油管的内壁与进油管的内壁固定连通。
优选地，所述支撑柱的表面固定开设有限位槽，两个所述限位槽以支撑柱的轴线为中心呈对称分布，所述限位槽的内壁滑动连接有限位块，所述限位块的表面与支撑管的内壁固定连接。
优选地，所述储油管的内部、进油管的内部和支撑管的内部均设置有液压油，所述储油管的内壁滑动连接有活塞，所述活塞的表面固定连接有加压管，所述加压管的表面与储油管的内壁滑动连接。
优选地，所述加压管的内壁螺纹连接有加压杆，所述加压杆的一端延伸至储油管的表面。
优选地，所述电机底座的表面固定安装有第二电机，所述第二电机的输出轴通过联轴器与加压杆的一端固定连接。
优选地，所述储油管的内壁固定连接有固定轴承，所述固定轴承的内圈加压杆的表面固定连接。
优选地，所述储油管的表面固定开设止动行程槽，所述止动行程槽的内壁与储油管的内壁固定连通，所述加压管的表面固定连接有止动柱，所述止动柱的表面与止动行程槽的内壁滑动连接。
优选地，所述储油管的表面固定连接有立板，两个所述立板以止动行程槽的轴线为中心呈对称分布，所述立板的表面分别固定安装有第一限位开关和第二限位开关，所述第一限位开关和第二限位开关分别通过电线与第二电机电性连接。
优选地，所述机器人本体的表面分别滑动连接第一功能环和第二功能环，所述第一功能环和第二功能环的表面均螺纹连接有固定螺栓，所述固定螺栓的一端与机器人本体的表面插接。
优选地，所述第一功能环的表面固定连接有伸缩管，所述伸缩管的内壁滑动连接有伸缩杆，所述伸缩管的表面螺纹连接有调节螺栓，所述调节螺栓的一端与伸缩杆的表面插接，所述伸缩杆的一端固定安装有第一接近开关，所述第一功能环的下表面固定安装有第二接近开关，所述第一接近开关和第二接近开关分别通过电线与第二电机电性连接，所述第二功能环的表面固定连接有感应块。
 有益效果
1、通过设置固定管的表面固定安装有可编PLC控制器，可编PLC控制器通过电线与第一电机电性连接，在使用时，可编PLC控制器控制第一电机正反转，控制工业机器人本体进行周向运动，从而达到了自动控制工人机器人周向转动的问题。
2、通过设置加压装置，在使用时，通过第一接近开关和第二接近开关控制第二电机正反转，调节支撑柱从支撑管内伸出的长度，调节工业机器人本体的工作高度，达到了自动控制工业机器人工作高度和具有结构简单，成本低的效果，从而解决了现有一般的工业机器人对于需要码垛较高或卸货高度较大的情况下不能进行码垛或卸货，需要使用多轴工业机器人进行码垛或卸货，但是多轴工业机器人一般价格较高，使用成本大的问题。
3、通过设置第一限位开关和第二限位开关，在使用时，第一限位开关具有在第二电机带动工业机器人进行复位后自动停止的效果，第二限位开关具有防止码垛或卸货高度过高，造成整个装置超程，导致装置损坏，自动控制第二电机正转停止的效果。
 附图说明
图1为本发明提出的一种自动调节式工业机器人的示意图；
图2为本发明提出的一种自动调节式工业机器人的图1中A处结构放大图；
图3为本发明提出的一种自动调节式工业机器人的固定管结构立体图；
图4为本发明提出的一种自动调节式工业机器人的支撑管结构剖视图；
图5为本发明提出的一种自动调节式工业机器人的伸缩管结构剖视图；
图6为本发明提出的一种自动调节式工业机器人的可编PLC控制器结构俯视图。
图中：1、固定管；2、支撑管；3、支撑柱；4、安装板；5、转动轴承；6、连接柱；7、连接座；8、机器人本体；9、支撑板；10、支撑轴承；11、蜗杆；12、蜗轮；13、第一电机；14、可编PLC控制器；15、进油管；16、储油管；17、电机底座；18、限位槽；19、限位块；20、活塞；21、加压管；22、加压杆；23、第二电机；24、固定轴承；25、止动行程槽；26、止动柱；27、立板；28、第一限位开关；29、第二限位开关；30、第一功能环；31、第二功能环；32、固定螺栓；33、伸缩管；34、伸缩杆；35、调节螺栓；36、第一接近开关；37、第二接近开关；38、感应块。
 本发明的实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。
参照图1-6，一种自动调节式工业机器人，如图1-2所示，包括固定管1，固定管1的内底壁固定连接有支撑管2，支撑管2的内壁滑动连接有支撑柱3，支撑柱3的一端延伸至支撑管2的表面，支撑柱3的一端固定连接有安装板4，安装板4的表面与固定管1的内壁滑动连接，安装板4的表面固定安装有转动轴承5，转动轴承5的内圈固定连接有连接柱6，连接柱6的一端固定连接有连接座7，连接座7的表面与固定管1的表面滑动连接，连接座7的表面固定安装有机器人本体8；
支撑柱3的表面固定开设有限位槽18，两个限位槽18以支撑柱3的轴线为中心呈对称分布，限位槽18的内壁滑动连接有限位块19，限位块19的表面与支撑管2的内壁固定连接；
如图1、图2和图6所示，安装板4的表面固定连接有支撑板9，支撑板9的表面固定安装有支撑轴承10，支撑轴承10的内圈固定连接有蜗杆11，连接柱6的表面固定套接有蜗轮12，蜗轮12的表面与蜗杆11的表面啮合，安装板4的表面固定安装有第一电机13，第一电机13的输出轴通过联轴器与蜗杆11的一端固定连接，固定管1的表面固定安装有可编PLC控制器14，可编PLC控制器14的型号为CPU224XP，可编PLC控制器14通过电线与第一电机13电性连接；
通过设置固定管1的表面固定安装有可编PLC控制器14，可编PLC控制器14通过电线与第一电机13电性连接，在使用时，可编PLC控制器14控制第一电机13正反转，控制工业机器人本体8进行周向运动，从而达到了自动控制工人机器人周向转动的问题；
支撑管2的表面固定连接有进油管15，进油管15的内壁与支撑管2的内壁固定连通，进油管15的一端固定连接有加压装置，加压装置包括储油管16和电机底座17，储油管16的内壁与进油管15的内壁固定连通；
如图1-4所示，储油管16的内部、进油管15的内部和支撑管2的内部均设置有液压油，储油管16的内壁滑动连接有活塞20，活塞20的表面固定连接有加压管21，加压管21的表面与储油管16的内壁滑动连接，加压管21的内壁螺纹连接有加压杆22，加压杆22的一端延伸至储油管16的表面，电机底座17的表面固定安装有第二电机23，第一电机13和第二电机23的型号均为 0.25KW-4.KW，第二电机23的输出轴通过联轴器与加压杆22的一端固定连接，储油管16的内壁固定连接有固定轴承24，固定轴承24的内圈加压杆22的表面固定连接；
储油管16的表面固定开设止动行程槽25，止动行程槽25的内壁与储油管16的内壁固定连通，加压管21的表面固定连接有止动柱26，止动柱26的表面与止动行程槽25的内壁滑动连接，储油管16的表面固定连接有立板27，两个立板27以止动行程槽25的轴线为中心呈对称分布，立板27的表面分别固定安装有第一限位开关28和第二限位开关29，第一限位开关28和第二限位开关29的型号均为XCE145，第一限位开关28和第二限位开关29分别通过电线与第二电机23电性连接，机器人本体8的表面分别滑动连接第一功能环30和第二功能环31，第一功能环30和第二功能环31的表面均螺纹连接有固定螺栓32，固定螺栓32的一端与机器人本体8的表面插接；
通过设置第一限位开关28和第二限位开关29，在使用时，第一限位开关28具有在第二电机23带动工业机器人进行复位后自动停止的效果，第二限位开关29具有防止码垛或卸货高度过高，造成整个装置超程，导致装置损坏，自动控制第二电机23正转停止的效果；
第一功能环30的表面固定连接有伸缩管33，伸缩管33的内壁滑动连接有伸缩杆34，伸缩管33的表面螺纹连接有调节螺栓35，调节螺栓35的一端与伸缩杆34的表面插接，伸缩杆34的一端固定安装有第一接近开关36，第一功能环30的下表面固定安装有第二接近开关37，第一接近开关36和第二接近开关37的型号均为LJ12A3-4-Z/BX，第一接近开关36和第二接近开关37分别通过电线与第二电机23电性连接，第二功能环31的表面固定连接有感应块38；
通过设置加压装置，在使用时，通过第一接近开关36和第二接近开关37控制第二电机23正反转，调节支撑柱3从支撑管2内伸出的长度，调节工业机器人本体8的工作高度，达到了自动控制工业机器人工作高度和具有结构简单，成本低的效果，从而解决了现有一般的工业机器人对于需要码垛较高或卸货高度较大的情况下不能进行码垛或卸货，需要使用多轴工业机器人进行码垛或卸货，但是多轴工业机器人一般价格较高，使用成本大的问题。
工作原理：在使用时，工业机器人在码垛或者下卸货时，通过可编PLC控制器14控制第一电机13正反转，第一电机13的输出轴通过联轴器动蜗杆11转动，蜗杆11带动蜗轮12转动，蜗轮12带动连接柱6转动，连接柱6带动连接座7和机器人本体8转动，控制机器人本体8的周向转动，进行码垛或卸货；
当需要码垛或者卸货高度超出工业机器人工作范围后，通过调节第一功能环30的位置，调节第一接近开关36和第二接近开关37的位置，然后通过伸缩管33和伸缩杆34配合调节第一接近开关36与码垛或卸货货物的距离，在工业机器人周向转动时，第一接近开关36与货物表面接近，第一接近开关36发出电信号控制第二电机23正转，第二电机23的输出轴通过联轴器带动加压杆22转动，加压杆22螺纹转动加压管21，加压管21推动活塞20运动，活塞20挤压液压油进入支撑管2内将支撑柱3顶起，支撑柱3推动安装板4、连接座7和机器人本体8向上运动，当第一接近开关36感应不到货物时停止，此时第一电机13带动机器人本体8运动到码垛或卸货处进行码垛或卸货；
在机器人本体8将货物码垛放下或卸货夹取后，可编PLC控制器14控制第一电机13带动机器人本体8再次周向转动，当第二接近开关37与感应块38接近时，第二接近开关37发出电信号，控制第二电机23反转，第二电机23反转带动加压管21反向运动，带动活塞20对储油管16内的液压油释放压力，支撑柱3伸缩进入支撑管2内，支撑柱3带动安装板4、连接座7和机器人本体8向下运动，在止动柱26与第一限位开关28接触后，第二电机23反转停止，工业机器人再次抓取需要码垛的货物或者放下需要卸货货物。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。

Claims (10)

  1. 一种自动调节式工业机器人，包括固定管（1），其特征在于：所述固定管（1）的內底壁固定连接有支撑管（2），所述支撑管（2）的内壁滑动连接有支撑柱（3），所述支撑柱（3）的一端延伸至支撑管（2）的表面，所述支撑柱（3）的一端固定连接有安装板（4），所述安装板（4）的表面与固定管（1）的内壁滑动连接，所述安装板（4）的表面固定安装有转动轴承（5），所述转动轴承（5）的内圈固定连接有连接柱（6），所述连接柱（6）的一端固定连接有连接座（7），所述连接座（7）的表面与固定管（1）的表面滑动连接，所述连接座（7）的表面固定安装有机器人本体（8）；
    所述安装板（4）的表面固定连接有支撑板（9），所述支撑板（9）的表面固定安装有支撑轴承（10），所述支撑轴承（10）的内圈固定连接有蜗杆（11），所述连接柱（6）的表面固定套接有蜗轮（12），所述蜗轮（12）的表面与蜗杆（11）的表面啮合，所述安装板（4）的表面固定安装有第一电机（13），所述第一电机（13）的输出轴通过联轴器与蜗杆（11）的一端固定连接，所述固定管（1）的表面固定安装有可编PLC控制器（14），所述可编PLC控制器（14）通过电线与第一电机（13）电性连接；
    所述支撑管（2）的表面固定连接有进油管（15），所述进油管（15）的内壁与支撑管（2）的内壁固定连通，所述进油管（15）的一端固定连接有加压装置，所述加压装置包括储油管（16）和电机底座（17），所述储油管（16）的内壁与进油管（15）的内壁固定连通。
  2. 根据权利要求1所述的一种自动调节式工业机器人，其特征在于：所述支撑柱（3）的表面固定开设有限位槽（18），两个所述限位槽（18）以支撑柱（3）的轴线为中心呈对称分布，所述限位槽（18）的内壁滑动连接有限位块（19），所述限位块（19）的表面与支撑管（2）的内壁固定连接。
  3. 根据权利要求1所述的一种自动调节式工业机器人，其特征在于：所述储油管（16）的内部、进油管（15）的内部和支撑管（2）的内部均设置有液压油，所述储油管（16）的内壁滑动连接有活塞（20），所述活塞（20）的表面固定连接有加压管（21），所述加压管（21）的表面与储油管（16）的内壁滑动连接。
  4. 根据权利要求3所述的一种自动调节式工业机器人，其特征在于：所述加压管（21）的内壁螺纹连接有加压杆（22），所述加压杆（22）的一端延伸至储油管（16）的表面。
  5. 根据权利要求4所述的一种自动调节式工业机器人，其特征在于：所述电机底座（17）的表面固定安装有第二电机（23），所述第二电机（23）的输出轴通过联轴器与加压杆（22）的一端固定连接。
  6. 根据权利要求5所述的一种自动调节式工业机器人，其特征在于：所述储油管（16）的内壁固定连接有固定轴承（24），所述固定轴承（24）的内圈加压杆（22）的表面固定连接。
  7. 根据权利要求6所述的一种自动调节式工业机器人，其特征在于：所述储油管（16）的表面固定开设止动行程槽（25），所述止动行程槽（25）的内壁与储油管（16）的内壁固定连通，所述加压管（21）的表面固定连接有止动柱（26），所述止动柱（26）的表面与止动行程槽（25）的内壁滑动连接。
  8. 根据权利要求7所述的一种自动调节式工业机器人，其特征在于：所述储油管（16）的表面固定连接有立板（27），两个所述立板（27）以止动行程槽（25）的轴线为中心呈对称分布，所述立板（27）的表面分别固定安装有第一限位开关（28）和第二限位开关（29），所述第一限位开关（28）和第二限位开关（29）分别通过电线与第二电机（23）电性连接。
  9. 根据权利要求8所述的一种自动调节式工业机器人，其特征在于：所述机器人本体（8）的表面分别滑动连接第一功能环（30）和第二功能环（31），所述第一功能环（30）和第二功能环（31）的表面均螺纹连接有固定螺栓（32），所述固定螺栓（32）的一端与机器人本体（8）的表面插接。
  10. 根据权利要求9所述的一种自动调节式工业机器人，其特征在于：所述第一功能环（30）的表面固定连接有伸缩管（33），所述伸缩管（33）的内壁滑动连接有伸缩杆（34），所述伸缩管（33）的表面螺纹连接有调节螺栓（35），所述调节螺栓（35）的一端与伸缩杆（34）的表面插接，所述伸缩杆（34）的一端固定安装有第一接近开关（36），所述第一功能环（30）的下表面固定安装有第二接近开关（37），所述第一接近开关（36）和第二接近开关（37）分别通过电线与第二电机（23）电性连接，所述第二功能环（31）的表面固定连接有感应块（38）。
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