WO2022109891A1 - 一种多功能工业机器人机械手 - Google Patents

一种多功能工业机器人机械手 Download PDF

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Publication number
WO2022109891A1
WO2022109891A1 PCT/CN2020/131639 CN2020131639W WO2022109891A1 WO 2022109891 A1 WO2022109891 A1 WO 2022109891A1 CN 2020131639 W CN2020131639 W CN 2020131639W WO 2022109891 A1 WO2022109891 A1 WO 2022109891A1
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Prior art keywords
plate
rotating
slot
mounting plate
industrial robot
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PCT/CN2020/131639
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English (en)
French (fr)
Inventor
肖卫刚
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常熟智造激光装备研究院有限公司
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Publication of WO2022109891A1 publication Critical patent/WO2022109891A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Definitions

  • the invention relates to the technical field of robot manipulators, in particular to a multifunctional industrial robot manipulator.
  • Robot manipulators play an important role in mechanical production and processing due to their flexible clamping effect.
  • Patent No. CN201420072666.3 discloses a multi-functional industrial robot manipulator, including a slideway, two cylinders are fixedly installed at the bottom of the slideway, rolling steel rollers are installed at the left and right ends of the slideway, and two rolling steel rollers are respectively installed. Fixing plates are respectively fixed at the ends of the two rolling steel rollers, and the two rolling steel rollers are respectively connected with the cylinder through connecting rods. The two fixing plates are respectively fixed and installed from top to bottom.
  • the inner clamping part of the workpiece includes a clamping end and a fixed end, the fixed end is connected with the fixing plate, and the clamping end is a free end.
  • the robot can grasp not only cylindrical workpieces, but also round hole-shaped workpieces, realizing the multi-functionality of industrial robot grippers.
  • the manipulator can grasp both cylindrical workpieces and round-hole workpieces, realizing the multi-functionality of industrial robot grippers, it has the following disadvantages: 1.
  • the manipulator may be gripping heavier objects or clamping It is used in the context of lighter objects, but in the past, there was no distinction between the two types, and it was difficult to disassemble the manipulator; 2.
  • the stability of the manipulator during switching was not good; 3.
  • the heat dissipation effect of the rotating motor was not good. To this end, we propose a multifunctional industrial robotic manipulator.
  • the purpose of the present invention is to provide a multifunctional industrial robot manipulator, the manipulator can be used in the situation of clamping heavier objects or light objects, and can be differentiated and switched.
  • the stability effect of the rotary motor is good, the heat dissipation effect of the rotating motor is good, and the problems raised in the background art are solved.
  • a multifunctional industrial robot manipulator comprising a lower splicing plate, a fixed block, a first rotating motor, a second rotating motor and a V-shaped block, the top of the lower splicing plate is welded with A fixed block, a limit slot is set on the top of the fixed block and an insert block is sleeved in the limit slot, a mounting plate is connected to the top of the insert block, and one end of the top of the mounting plate is installed with a first rotating motor through the mounting seat, so The other end of the top of the mounting plate is installed with a water-cooling row through a reserved groove, the power output end of the first rotating motor is connected with a manipulator rotating arm, and one side of the end of the manipulator rotating arm is welded with a rotating groove, and the top of the rotating groove is One end is installed with a screw cap through a threaded groove, a rotating shaft is sleeved on the inner side of the rotating
  • a lower splicing plate is fixedly installed at the bottom of the splicing plate by connecting screws, a lower turning slot is pierced through the bottom of the lower splicing plate near the edge, and a second rotating motor and the second rotating motor are installed at the bottom of the lower splicing plate through fastening screws
  • a connecting plate is connected to the power output end of the upper splicing plate, an upper turning slot is set at the corresponding position of the bottom of the upper splicing plate and the lower turning slot, the upper turning slot is sleeved with a fixing ball and the bottom of the fixing ball is connected with a connecting rod through a fixing column,
  • the bottom of the connecting rod is connected with a connecting plate, and the bottom of the connecting plate is welded with a V-shaped block, one end of the bottom of the V-shaped block is provided with a limit slot, and the other side of the bottom of the V-shaped block is installed by bolts
  • a reinforcing rib is provided at the connection corner between the top end of the fixing block and the mounting plate.
  • reserved holes are provided through the bottom of the lower splicing plate near the edge, and the number of reserved holes is specifically set in multiple groups.
  • a closing plate is welded on the periphery of the insert block, and the closing plate and the top end of the fixing block are connected by fastening screws.
  • the end of the elongated buckle is clamped in the clamping slot.
  • a cooling fan is fixed and installed on the outer side of the water-cooled row by means of screws.
  • an airtight blocking plate is fixed and installed at one end of the turning groove by means of screws.
  • mounting holes are provided through the bottom of the quick-release mounting plate and the fixed mounting plate near the edge.
  • the invention is a multifunctional industrial robot manipulator.
  • the rotating shaft is driven by an external motor, and the rotation of the rotating shaft in the rotating slot is used to drive the rotating arm of the manipulator to rotate.
  • the first rotating motor When the first rotating motor is working, it can drive the rotating arm of the manipulator to rotate in another Rotating in one direction, the personnel can adjust the direction of the rotating arm of the manipulator, so that the quick release installation plate or the fixed installation plate is in the vertical direction, the personnel can turn on the second rotating motor, and drive the connecting plate to rotate during work, so that the quick release installation can be installed. Switch between the plate and the fixed installation plate, and use the quick-release installation plate and the installation hole at the bottom of the fixed installation plate near the edge to facilitate the installation of the mechanical gripper.
  • the mechanical clamp The hand is installed at the bottom of the quick release mounting plate.
  • the mechanical gripper can be installed at the bottom of the fixed mounting plate, so that the mechanical gripper can be installed in different situations.
  • the mechanical gripper is installed on the bottom of the quick release mounting plate, the personnel can apply force to the end of the long strip in the card slot, so that the long strip is released from the limit slot, which is convenient for the mechanical gripper. Do a quick disassembly.
  • the invention relates to a multifunctional industrial robot manipulator.
  • the mechanical gripper is switched, after the upper splicing plate and the lower splicing plate are spliced together, the upper turning slot and the lower turning slot are correspondingly connected, and the sliding of the fixing ball in the upper turning slot is used to prevent It can guide the rotation of the connecting rod and the connecting plate, so that the rotation of the connecting plate is more stable, so that the stable effect of the mechanical gripper during switching is better.
  • the invention is a multifunctional industrial robot manipulator, which utilizes the water-cooling head to facilitate the heat conduction of the heat generated by the first rotating motor and the second rotating motor when they work, utilizes the cooling water in the cooling water pipe to easily absorb the heat, and utilizes the function of the electromagnetic pump.
  • the water with heat enters the water-cooled row, and the heat at the inlet of the water-cooled row is easily dissipated by the cooling fan, thereby dissipating the heat of the first rotating motor and the second rotating motor, and greatly improving the heat dissipation effect.
  • FIG. 1 is a schematic diagram of the overall structure of a multifunctional industrial robot manipulator of the present invention.
  • FIG. 2 is a schematic diagram of the internal structure of a turning tank of a multifunctional industrial robot manipulator of the present invention.
  • Fig. 3 is a schematic diagram of an upper splicing plate, a lower splicing plate and a fixed ball of a multifunctional industrial robot manipulator of the present invention.
  • FIG. 4 is a schematic diagram of the installation structure of a quick-release mounting plate and a fixed mounting plate of a multifunctional industrial robot manipulator of the present invention.
  • the terms “installed”, “connected” and “arranged” should be understood in a broad sense, for example, it may be fixedly connected, arranged, or Removably connected, set, or integrally connected and set; the model of the electrical appliance provided in the present invention is for reference only.
  • different types of electrical appliances with the same function can be replaced according to the actual use situation, and for those of ordinary skill in the art, they can understand the specific meanings of the above terms in the present invention under specific circumstances.
  • a multifunctional industrial robot manipulator comprising a lower splice plate 20, a fixed block 1, a first rotating motor 5, a second rotating motor 6 and a V-shaped block 14,
  • a fixing block 1 is welded on the top of the lower splicing plate 20, a limiting slot 2 is provided on the top of the fixing block 1, and an inserting block 3 is sleeved inside the limiting slot 2, and a mounting plate 4 is connected to the top of the inserting block 3, so the One end of the top of the mounting plate 4 is installed with the first rotating motor 5 through the mounting seat, the other end of the top of the mounting plate 4 is installed with a water-cooling row 7 through a reserved slot, and the power output end of the first rotating motor 5 is connected with a manipulator to rotate.
  • a turning groove 12 is welded on one side of the end of the rotating arm 11 of the manipulator, a screw cap 13 is installed on one end of the top of the turning groove 12 through a threaded groove, and a rotating shaft 18 is sleeved inside the turning groove 12.
  • the rotating arms 11 are connected by the rotating shaft 18 and the rotating groove 12.
  • the upper splicing plate 19 is connected to the lower part of the top of the rotating arm 11 of the manipulator.
  • the bottom of the lower splicing plate 20 is provided with a lower turning slot 24 near the edge.
  • the bottom of the lower splicing plate 20 is installed with a second rotating motor 6 through fastening screws and the power output end of the second rotating motor 6 is connected with a connecting plate 21.
  • the bottom of the upper splicing plate 19 is provided with an upper turning slot 23 at a position corresponding to the lower turning slot 24.
  • the upper turning slot 23 is sleeved with a fixing ball 25 and the bottom of the fixing ball 25 is connected with a connecting rod 22 through a fixing column.
  • the bottom of the connecting rod 22 is connected with a connecting plate 21, the bottom of the connecting plate 21 is welded with a V-shaped block 14, the bottom side of the V-shaped block 14 is provided with a limit slot 27 at both ends, and the bottom of the V-shaped block 14 is another.
  • a fixed mounting plate 17 is installed on one side by bolts, a card slot 28 is opened on one side of the top of the limit slot 27, and a long strip buckle 29 is sleeved inside the limit slot 27 and the long strip buckle 29
  • the bottom is connected with a quick-release mounting plate 15, and a water-cooling head 9 is installed on the heating end side of the second rotating motor 6 and the first rotating motor 5 through screws, and the water-cooling head 9 and the water-cooling row 7 are cooled by
  • the water delivery pipe 16 is connected, and an electromagnetic pump 10 is provided on one end of the cooling water delivery pipe 16 close to the water cooling row 7 .
  • a reinforcing rib is provided at the connecting corner of the top of the fixing block 1 and the mounting plate 4 .
  • the strength of the connection between the fixing block 1 and the mounting plate 4 can be improved by the reinforcing ribs.
  • the bottom of the lower splicing plate 20 is provided with reserved holes at the bottom close to the edge, and the number of reserved holes is specifically set as multiple groups.
  • the stability of the lower splicing plate 20 when it is connected to the external connection surface through the use of external screws can be effectively improved by using a plurality of groups of reserved holes.
  • a closing plate 26 is welded on the periphery of the insert block 3 , and the closing plate 26 and the top end of the fixing block 1 are connected by fastening screws.
  • a person can apply force to the end of the elongated buckle 29 , so that the elongated buckle 29 comes out of the limiting slot 27 .
  • a cooling fan 8 is fixed and installed on the outer side of the water cooling row 7 by screws.
  • the heat exhausted by the water cooling row 7 is conveniently and rapidly dissipated by using the cooling fan 8 .
  • an airtight blocking plate is fixed and installed at one end of the rotating groove 12 by screws.
  • the position of the rotating shaft 18 in the rotating groove 12 can be limited by the airtight blocking plate.
  • the quick release mounting plate 15 and the fixed mounting plate 17 are provided with mounting holes through the bottom near the edge.
  • a lighter gripper and a heavier gripper can be installed on the bottoms of the quick release mounting plate 15 and the fixed mounting plate 17 through the mounting holes, respectively.
  • the present invention is a multifunctional industrial robot manipulator, including a fixed block 1, a limit slot 2, an insert block 3, a mounting plate 4, a first rotating motor 5, a second rotating motor 6, a water cooling row 7, and a cooling fan 8 , water cooling head 9, electromagnetic pump 10, manipulator rotating arm 11, rotating groove 12, screw cover 13, V-shaped block 14, quick-release mounting plate 15, cooling water pipe 16, fixed mounting plate 17, rotating shaft 18, upper splicing plate 19 , lower splicing plate 20, connecting plate 21, connecting rod 22, upper turning slot 23, lower turning slot 24, fixing ball 25, closing plate 26, limit slot 27, card slot 28, long strip buckle 29, components All are general standard parts or parts known to those skilled in the art, and their structures and principles are known to those skilled in the art through technical manuals or through conventional experimental methods.
  • connection between power components, electrical devices, and the adapted monitoring computer and power supply through wires For the specific connection method, please refer to the following working principle.
  • the electrical connection between the electrical components is completed in sequence, and the detailed connection methods are used. , is a well-known technology in the art, the following mainly introduces the working principle and process, and will not explain the electrical control.
  • the rotating shaft 18 is driven by an external motor, and the rotation of the rotating shaft 18 in the rotating groove 12 is used to drive the manipulator.
  • the rotating arm 11 rotates.
  • the first rotating motor 5 When the first rotating motor 5 is working, it can drive the rotating arm 11 of the manipulator to rotate in another direction.
  • the personnel can adjust the direction of the rotating arm 11 of the manipulator, so that the quick-release mounting plate 15 or the fixed mounting plate 17 is located at the position of the rotating arm 11.
  • personnel can open the second rotating motor 6, and drive the connecting plate 21 to rotate during operation, so that the quick release mounting plate 15 and the fixed mounting plate 17 can be switched, and the bottom of the quick release mounting plate 15 and the fixed mounting plate 17 can be used.
  • the mounting hole near the edge is convenient for the installation of the mechanical gripper. When the workpiece to be clamped by the mechanical gripper is light, the mechanical gripper can be installed at the bottom of the quick release mounting plate 15.
  • the mechanical gripper When the mechanical gripper needs to be clamped When the workpiece is heavy, the mechanical gripper can be installed on the bottom of the fixed mounting plate 17, so that the mechanical gripper can be installed in different situations. Apply force to the end of the elongated buckle 29 in the card slot 28 to make the elongated buckle 29 come out of the limit slot 27, thereby facilitating the rapid disassembly of the mechanical gripper.
  • the mechanical gripper is switched , after the upper splicing plate 19 and the lower splicing plate 20 are spliced, the upper turning slot 23 and the lower turning slot 24 are correspondingly connected, and the sliding of the fixing ball 25 in the upper turning slot 23 can be used to rotate the connecting rod 22 and the connecting plate 21.
  • the heat dissipation fan 8 is used to facilitate the heat dissipation at the inlet of the water-cooled row 7, so as to dissipate heat from the first rotating motor 5 and the second rotating motor 6, which greatly improves the heat dissipation effect.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种多功能工业机器人机械手，包括下拼接板(20)、固定块(1)、第一转动电机(5)、第二转动电机(6)和V形块(14)，下拼接板(20)顶部焊接有固定块(1)，固定块(1)顶部开设有限位槽(2)且限位槽(2)内套设有插块(3)，插块(3)顶部连接有安装板(4)，安装板(4)顶部一端通过安装座安装有第一转动电机(5)，安装板(4)顶部另一端通过预留槽安装有水冷排(7)，第一转动电机(5)的动力输出端连接有机械手转动臂(11)，机械手转动臂(11)端部一侧焊接有转槽(12)，该机械手能在夹持较重物体或夹持较轻物体的情景下进行区分切换使用，机械手在拆卸时较为简单，切换时稳定效果佳，转动电机的散热效果佳。

Description

一种多功能工业机器人机械手 技术领域
本发明涉及机器人机械手技术领域，具体为一种多功能工业机器人机械手。
背景技术
机器人机械手由于其具有灵活的夹持效果，在机械生产加工等领域中起到重要作用。
专利号CN201420072666.3公开了一种多功能工业机器人机械手爪，包括滑道，所述滑道的底部分别固定安装两个气缸，滑道的左右两端分别安装滚动钢辊，两个滚动钢辊的末端分别固定固定板，两个滚动钢辊分别通过连杆与气缸连接，两个固定板从上到下分别依次固定安装孔形工件内夹紧件、圆弧形工件外部夹紧件，孔形工件内夹紧件包括夹紧端和固定端，固定端与固定板连接，夹紧端为自由端，通过在工业机器人的原有手爪上增加了孔形工件内夹紧件，使工业机器人既能抓取圆柱形工件，同时也能抓取圆孔形工件，实现工业机器人手爪的多功能化。
该机械手爪虽然既能抓取圆柱形工件，同时也能抓取圆孔形工件，实现工业机器人手爪的多功能化，但存在以下缺点：1、机械手可能在夹持较重物体或夹持较轻物体的情景下进行使用，但以往没有对这两种进行区分切换，机械手在拆卸时较为困难；2、机械手在切换时的稳定效果不佳；3、转动电机的散热效果不佳。为此，我们提出一种多功能工业机器人机械手。
发明内容
本发明的目的在于提供一种多功能工业机器人机械手，机械手能在夹持较重物体或夹持较轻物体的情景下进行使用，可以进行区分切换，机械手在拆卸时较为简单，机械手在切换时的稳定效果佳，转动电机的散热效果佳，解决了背景技术中所提出的问题。
为实现上述目的，本发明提供如下技术方案：一种多功能工业机器人机 械手，包括下拼接板、固定块、第一转动电机、第二转动电机和V形块，所述下拼接板顶部焊接有固定块，所述固定块顶部开设有限位槽且限位槽内套设有插块，所述插块顶部连接有安装板，所述安装板顶部一端通过安装座安装有第一转动电机，所述安装板顶部另一端通过预留槽安装有水冷排，所述第一转动电机的动力输出端连接有机械手转动臂，所述机械手转动臂端部一侧焊接有转槽，所述转槽顶部一端通过螺纹槽安装有旋盖，所述转槽内侧套设有转轴，所述机械手转动臂之间通过转轴和转槽进行连接，所述机械手转动臂顶端下部连接有上拼接板，所述上拼接板底部通过连接螺钉固定安装有下拼接板，所述下拼接板底部靠近边缘处贯穿开设有下转槽，所述下拼接板底部通过紧固螺钉安装有第二转动电机且第二转动电机的动力输出端连接有连接板，所述上拼接板底部与下转槽对应位置设置有上转槽，所述上转槽内套设有固定球且固定球底部通过固定柱连接有连接杆，所述连接杆底部连接有连接板，所述连接板底部焊接有V形块，所述V形块底部一侧两端均开设有限位插槽，所述V形块底部另一侧通过螺栓安装有固定安装盘，所述限位插槽顶端一侧开设有卡槽，所述限位插槽内套设有长条形卡扣且长条形卡扣底部连接有快拆安装盘，所述第二转动电机和第一转动电机的发热端一侧均通过螺钉安装有水冷头，所述水冷头与水冷排之间通过冷却输水管进行连接，所述冷却输水管上靠近水冷排一端设置有电磁泵。
作为本发明的一种优选实施方式，所述固定块顶端和安装板连接拐角处设置有加强筋。
作为本发明的一种优选实施方式，所述下拼接板底部靠近边缘处贯穿设置有预留孔且预留孔的数量具体设置为多组。
作为本发明的一种优选实施方式，所述插块外围焊接有封闭板，所述封闭板和固定块顶端之间通过紧固螺钉进行连接。
作为本发明的一种优选实施方式，所述长条形卡扣端部卡设于卡槽内。
作为本发明的一种优选实施方式，所述水冷排外侧通过螺钉固定安装有 散热风机。
作为本发明的一种优选实施方式，所述转槽一端通过螺丝固定安装有密闭堵板。
作为本发明的一种优选实施方式，所述快拆安装盘和固定安装盘底部靠近边缘处均贯穿设置有安装孔。
与现有技术相比，本发明的有益效果如下：
本发明一种多功能工业机器人机械手，转轴利用外部电机进行驱动，利用转轴在转槽内的转动，从而可以带动机械手转动臂进行转动，第一转动电机在工作时，可以带动机械手转动臂在另一方向上进行转动，人员可以调节机械手转动臂的方向，使得快拆安装盘或固定安装盘位于竖直方向，人员可以打开第二转动电机，工作时带动连接板进行转动，从而可以对快拆安装盘和固定安装盘进行切换，利用快拆安装盘和固定安装盘底部靠近边缘处的安装孔，方便对机械夹手进行安装，在机械夹手需要夹持的工件较轻时，可以将机械夹手安装在快拆安装盘底部，，在机械夹手需要夹持的工件较重时，可以将机械夹手安装在固定安装盘底部，进而可以对不同情况安装机械夹手进行区分切换，且在将机械夹手安装在快拆安装盘底部时，人员可以在卡槽内对长条形卡扣端部施力，使得长条形卡扣从限位插槽内脱出，进而方便对机械夹手进行快速拆卸。
本发明一种多功能工业机器人机械手，当机械夹手进行切换时，利用上拼接板和下拼接板拼接后，上转槽和下转槽对应贯通，利用固定球在上转槽内的滑动，可以对连接杆和连接板的转动起到导向作用，使得连接板的转动更加平稳，进而使得机械夹手在切换时的平稳效果更好。
本发明一种多功能工业机器人机械手，利用水冷头方便对第一转动电机和第二转动电机工作时产生的热量进行导热，利用冷却输水管内冷却水方便对热量进行吸收，利用电磁泵的作用使得带有热量的水进入水冷排内，利用散热风机方便进水冷排处的热量进行散发，从而对第一转动电机和第二转动 电机进行散热，大大提升了散热效果。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：
图1为本发明一种多功能工业机器人机械手的整体结构示意图。
图2为本发明一种多功能工业机器人机械手的转槽内部结构示意图。
图3为本发明一种多功能工业机器人机械手的上拼接板、下拼接板和固定球示意图。
图4为本发明一种多功能工业机器人机械手的快拆安装盘和固定安装盘安装结构示意图。
图中：1、固定块；2、限位槽；3、插块；4、安装板；5、第一转动电机；6、第二转动电机；7、水冷排；8、散热风机；9、水冷头；10、电磁泵；11、机械手转动臂；12、转槽；13、旋盖；14、V形块；15、快拆安装盘；16、冷却输水管；17、固定安装盘；18、转轴；19、上拼接板；20、下拼接板；21、连接板；22、连接杆；23、上转槽；24、下转槽；25、固定球；26、封闭板；27、限位插槽；28、卡槽；29、长条形卡扣。
具体实施方式
为使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“设置”应做广义理解，例如，可以是固定相连、设 置，也可以是可拆卸连接、设置，或一体地连接、设置；本发明中提供的用电器的型号仅供参考。对于本领域的普通技术人员而言，可以根据实际使用情况更换功能相同的不同型号用电器，对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
请参阅图1-4，本发明提供一种技术方案：一种多功能工业机器人机械手，包括下拼接板20、固定块1、第一转动电机5、第二转动电机6和V形块14，所述下拼接板20顶部焊接有固定块1，所述固定块1顶部开设有限位槽2且限位槽2内套设有插块3，所述插块3顶部连接有安装板4，所述安装板4顶部一端通过安装座安装有第一转动电机5，所述安装板4顶部另一端通过预留槽安装有水冷排7，所述第一转动电机5的动力输出端连接有机械手转动臂11，所述机械手转动臂11端部一侧焊接有转槽12，所述转槽12顶部一端通过螺纹槽安装有旋盖13，所述转槽12内侧套设有转轴18，所述机械手转动臂11之间通过转轴18和转槽12进行连接，所述机械手转动臂11顶端下部连接有上拼接板19，所述上拼接板19底部通过连接螺钉固定安装有下拼接板20，所述下拼接板20底部靠近边缘处贯穿开设有下转槽24，所述下拼接板20底部通过紧固螺钉安装有第二转动电机6且第二转动电机6的动力输出端连接有连接板21，所述上拼接板19底部与下转槽24对应位置设置有上转槽23，所述上转槽23内套设有固定球25且固定球25底部通过固定柱连接有连接杆22，所述连接杆22底部连接有连接板21，所述连接板21底部焊接有V形块14，所述V形块14底部一侧两端均开设有限位插槽27，所述V形块14底部另一侧通过螺栓安装有固定安装盘17，所述限位插槽27顶端一侧开设有卡槽28，所述限位插槽27内套设有长条形卡扣29且长条形卡扣29底部连接有快拆安装盘15，所述第二转动电机6和第一转动电机5的发热端一侧均通过螺钉安装有水冷头9，所述水冷头9与水冷排7之间通过冷却输水管16进行连接，所述冷却输水管16上靠近水冷排7一端设置有电磁泵10。
其中，所述固定块1顶端和安装板4连接拐角处设置有加强筋。
本实施例中如图1所示通过加强筋可以提升固定块1和安装板4连接处的强度。
其中，所述下拼接板20底部靠近边缘处贯穿设置有预留孔且预留孔的数量具体设置为多组。
本实施例中如图1所示通过多组预留孔可以有效提升下拼接板20利用外部螺钉穿过与外部连接面进行连接时的稳定性。
其中，所述插块3外围焊接有封闭板26，所述封闭板26和固定块1顶端之间通过紧固螺钉进行连接。
本实施例中如图1所示通过利用封闭板26与固定块1进行紧固连接，可以有效提升插块3和固定块1连接固定效果。
其中，所述长条形卡扣29端部卡设于卡槽28内。
本实施例中如图4所示通过人员可以对长条形卡扣29端部进行施力，使得长条形卡扣29从限位插槽27内脱出。
其中，所述水冷排7外侧通过螺钉固定安装有散热风机8。
本实施例中如图1所示通过利用散热风机8方便对水冷排7排出的热量进行快速散热。
其中，所述转槽12一端通过螺丝固定安装有密闭堵板。
本实施例中如图2所示通过密闭堵板可以对转轴18在转槽12内的位置进行限位。
其中，所述快拆安装盘15和固定安装盘17底部靠近边缘处均贯穿设置有安装孔。
本实施例中如图1和图4所示通过安装孔可以分别将较轻的机械夹手和较重的机械夹手安装在快拆安装盘15和固定安装盘17底部。
工作原理：本发明一种多功能工业机器人机械手，包括固定块1、限位槽2、插块3、安装板4、第一转动电机5、第二转动电机6、水冷排7、散 热风机8、水冷头9、电磁泵10、机械手转动臂11、转槽12、旋盖13、V形块14、快拆安装盘15、冷却输水管16、固定安装盘17、转轴18、上拼接板19、下拼接板20、连接板21、连接杆22、上转槽23、下转槽24、固定球25、封闭板26、限位插槽27、卡槽28、长条形卡扣29，部件均为通用标准件或本领域技术人员知晓的部件，其结构和原理都为本领域技术人员可通过技术手册得知或通过常规实验方法获知，在本装置空闲处，将上述中所有电器件，其指代动力元件、电器件以及适配的监控电脑和电源通过导线进行连接，具体连接手段，应参考下述工作原理中，各电器件之间先后工作顺序完成电性连接，其详细连接手段，为本领域公知技术，下述主要介绍工作原理以及过程，不再对电气控制做说明，工作时，转轴18利用外部电机进行驱动，利用转轴18在转槽12内的转动，从而可以带动机械手转动臂11进行转动，第一转动电机5在工作时，可以带动机械手转动臂11在另一方向上进行转动，人员可以调节机械手转动臂11的方向，使得快拆安装盘15或固定安装盘17位于竖直方向，人员可以打开第二转动电机6，工作时带动连接板21进行转动，从而可以对快拆安装盘15和固定安装盘17进行切换，利用快拆安装盘15和固定安装盘17底部靠近边缘处的安装孔，方便对机械夹手进行安装，在机械夹手需要夹持的工件较轻时，可以将机械夹手安装在快拆安装盘15底部，，在机械夹手需要夹持的工件较重时，可以将机械夹手安装在固定安装盘17底部，进而可以对不同情况安装机械夹手进行区分切换，且在将机械夹手安装在快拆安装盘15底部时，人员可以在卡槽28内对长条形卡扣29端部施力，使得长条形卡扣29从限位插槽27内脱出，进而方便对机械夹手进行快速拆卸，当机械夹手进行切换时，利用上拼接板19和下拼接板20拼接后，上转槽23和下转槽24对应贯通，利用固定球25在上转槽23内的滑动，可以对连接杆22和连接板21的转动起到导向作用，使得连接板21的转动更加平稳，进而使得机械夹手在切换时的平稳效果更好，利用水冷头9方便对第一转动电机5和第二转动电机6工作时产生的热 量进行导热，利用冷却输水管16内冷却水方便对热量进行吸收，利用电磁泵10的作用使得带有热量的水进入水冷排7内，利用散热风机8方便进水冷排7处的热量进行散发，从而对第一转动电机5和第二转动电机6进行散热，大大提升了散热效果。
以上显示和描述了本发明的基本原理和主要特征和本发明的优点，对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。

Claims (8)

  1. 一种多功能工业机器人机械手，包括下拼接板(20)、固定块(1)、第一转动电机(5)、第二转动电机(6)和V形块(14)，其特征在于：所述下拼接板(20)顶部焊接有固定块(1)，所述固定块(1)顶部开设有限位槽(2)且限位槽(2)内套设有插块(3)，所述插块(3)顶部连接有安装板(4)，所述安装板(4)顶部一端通过安装座安装有第一转动电机(5)，所述安装板(4)顶部另一端通过预留槽安装有水冷排(7)，所述第一转动电机(5)的动力输出端连接有机械手转动臂(11)，所述机械手转动臂(11)端部一侧焊接有转槽(12)，所述转槽(12)顶部一端通过螺纹槽安装有旋盖(13)，所述转槽(12)内侧套设有转轴(18)，所述机械手转动臂(11)之间通过转轴(18)和转槽(12)进行连接，所述机械手转动臂(11)顶端下部连接有上拼接板(19)，所述上拼接板(19)底部通过连接螺钉固定安装有下拼接板(20)，所述下拼接板(20)底部靠近边缘处贯穿开设有下转槽(24)，所述下拼接板(20)底部通过紧固螺钉安装有第二转动电机(6)且第二转动电机(6)的动力输出端连接有连接板(21)，所述上拼接板(19)底部与下转槽(24)对应位置设置有上转槽(23)，所述上转槽(23)内套设有固定球(25)且固定球(25)底部通过固定柱连接有连接杆(22)，所述连接杆(22)底部连接有连接板(21)，所述连接板(21)底部焊接有V形块(14)，所述V形块(14)底部一侧两端均开设有限位插槽(27)，所述V形块(14)底部另一侧通过螺栓安装有固定安装盘(17)，所述限位插槽(27)顶端一侧开设有卡槽(28)，所述限位插槽(27)内套设有长条形卡扣(29)且长条形卡扣(29)底部连接有快拆安装盘(15)，所述第二转动电机(6)和第一转动电机(5)的发热端一侧均通过螺钉安装有水冷头(9)，所述水冷头(9)与水冷排(7)之间通过冷却输水管(16)进行连接，所述冷却输水管(16)上靠近水冷排(7)一端设置有电磁泵(10)。
  2. 根据权利要求1所述的一种多功能工业机器人机械手，其特征在 于：所述固定块(1)顶端和安装板(4)连接拐角处设置有加强筋。
  3. 根据权利要求1所述的一种多功能工业机器人机械手，其特征在于：所述下拼接板(20)底部靠近边缘处贯穿设置有预留孔且预留孔的数量具体设置为多组。
  4. 根据权利要求1所述的一种多功能工业机器人机械手，其特征在于：所述插块(3)外围焊接有封闭板(26)，所述封闭板(26)和固定块(1)顶端之间通过紧固螺钉进行连接。
  5. 根据权利要求1所述的一种多功能工业机器人机械手，其特征在于：所述长条形卡扣(29)端部卡设于卡槽(28)内。
  6. 根据权利要求1所述的一种多功能工业机器人机械手，其特征在于：所述水冷排(7)外侧通过螺钉固定安装有散热风机(8)。
  7. 根据权利要求1所述的一种多功能工业机器人机械手，其特征在于：所述转槽(12)一端通过螺丝固定安装有密闭堵板。
  8. 根据权利要求1所述的一种多功能工业机器人机械手，其特征在于：所述快拆安装盘(15)和固定安装盘(17)底部靠近边缘处均贯穿设置有安装孔。
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