Industrial robot based on automatic production line

Abstract

The invention discloses an industrial robot based on an automatic production line, and belongs to the technical field of automatic production lines, the industrial robot comprises a grabbing mechanism and a driving mechanism used for driving the grabbing mechanism to move, the grabbing mechanism comprises a mounting seat, a mounting box, a connecting plate, a connecting box, a monitoring mechanism and a clamping mechanism, the mounting seat is connected to the top of the mounting box through a first universal ball, the connecting plate is connected to the bottom of the mounting box through a second universal ball, and the connecting box is slidably connected to the bottom of the connecting plate; the clamping mechanism comprises a driving plate, an air cylinder, two rotating shafts and four clamping plates, and a plurality of clamping wheels are rotationally installed in the clamping plates. Through cooperation of the monitoring mechanism and the clamping mechanism, the gravity center position of a grabbed object can be adjusted while the object is grabbed, so that the balance of the object in the grabbing and carrying process is guaranteed, falling is avoided, and the use stability is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of automated production lines, and in particular to an industrial robot based on automated production lines. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in industrial fields. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] Industrial robots are usually needed to automatically grasp and move workpieces when used in automated production lines. For smaller workpieces, the clamping position has little effect on the clamping stability. However, when grasping larger workpieces, if the edge of the workpiece is grasped, the workpiece will become unstable and slip, and the accelerated movement during the transportation process will also cause damage to the workpiece itself. Therefore, we propose an industrial robot based on an automated production line to solve this problem. Summary of the invention

[0004] The purpose of the present invention is to provide an industrial robot based on an automated production line to solve the problems raised in the above background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An industrial robot based on an automated production line, comprising: a gripping mechanism and a driving mechanism for driving the gripping mechanism to move, the gripping mechanism comprising a mounting seat, a mounting box, a connection plate, a connection box, a monitoring mechanism and a clamping mechanism, the mounting seat being connected to the top of the mounting box via a first universal ball, the connection plate being connected to the bottom of the mounting box via a second universal ball, and the connection box being slidably connected to the bottom of the connection plate;

[0007] The clamping mechanism comprises a driving plate, a cylinder, two rotating shafts and four clamping plates, a plurality of clamping wheels are rotatably installed in the clamping plate, the top ends of the plurality of clamping wheels are fixedly connected with driven bevel gears, a driving motor is fixedly installed in the clamping plate, a driving shaft is fixedly connected to the output shaft of the driving motor, a plurality of active bevel gears are fixedly installed on the outer side of the driving shaft, the active bevel gears are meshed with the corresponding driven bevel gears, and a linkage rod is rotatably connected to the top of the clamping plate, a rotating rod is fixedly connected to the bottom end of the rotating shaft, both ends of the rotating rod are fixedly connected with round rods, the other end of the linkage rod is rotatably sleeved on the outer side of the corresponding round rod, and a transmission gear is fixedly installed on the rotating shaft, a first pressure sensor and two racks are fixedly connected to the inside of the driving plate, the two racks are respectively meshed with the corresponding transmission gears, and the output end of the cylinder is fixedly connected to the first pressure sensor;

[0008] The monitoring mechanism includes a controller, four side plates and four second pressure sensors, the four side plates are all slidably connected to the outside of the installation box, and the outsides of the four side plates are universally connected to a connecting plate, the bottom of the connecting plate is universally connected to the top of the connecting plate, and the side plate is movably abutted against the bottom of the corresponding second pressure sensor, the top of the second pressure sensor is fixedly connected to a baffle, and the baffle is fixedly connected to the outside of the installation box, and the controller is electrically connected to the first pressure sensor, the second pressure sensor, the drive motor and the cylinder.

[0009] Preferably, two ear plates are fixedly connected to the top of the connection box, and two first electric push rods are fixedly connected to the top of the connection plate, the output end of the first electric push rod is fixedly connected to the corresponding ear plate, and the first electric push rod is electrically connected to the controller, and the controller controls the first electric push rod and the drive motor to operate according to the pressure sensed by different second pressure sensors, when the second pressure sensor located on the front side senses the pressure, the controller controls the output end of the first electric push rod to extend and drive the connection box to move forward, when the second pressure sensor located on the rear side senses the pressure, the controller controls the output end of the first electric push rod to contract and drive the connection box to move backward, when the second pressure sensor located on the left side senses the pressure, the controller controls the output shaft of the drive motor to rotate forward, and when the second pressure sensor located on the right side senses the pressure, the controller controls the output shaft of the drive motor to reverse;

[0010] Two sliding holes are arranged on the top of the connecting plate, and the two ear plates are respectively slidably connected in the corresponding sliding holes.

[0011] Preferably, a locking mechanism for fixing four side panels is provided in the connecting box, and the locking mechanism includes a rotating motor, a rotating frame and four locking plates. The outer sides of the side panels are provided with card holes, and the four locking plates are movably carded in the corresponding card holes respectively, and an arc-shaped connecting rod is hinged on the top of the locking plate, and the other end of the arc-shaped connecting rod is hinged on the top of the rotating frame, and the rotating frame is fixedly connected to the output shaft of the rotating motor, and the rotating motor is fixedly connected in the mounting box.

[0012] Preferably, a signal light is provided on the top of the controller. When the pressure value sensed by any one of the second pressure sensors reaches a preset value, the controller controls the signal light to light up; when the pressure values ​​sensed by the four second pressure sensors do not reach the preset value, the controller controls the signal light to light up and controls the output shaft of the rotating motor to reverse.

[0013] Preferably, the bottom of the mounting seat is universally rotatably connected to four second electric push rods, the output ends of the second electric push rods are universally rotatably connected to the top of the mounting box, a first hemispherical cover is fixedly installed on the top of the mounting box, the first hemispherical cover is movably sleeved on the outside of the first universal ball, a first hemispherical groove adapted to the first universal ball is opened on the top of the mounting box, and the top end of the first universal ball is fixedly connected to the bottom of the mounting seat;

[0014] A second hemispherical cover is fixedly connected to the bottom of the installation box, and the second hemispherical cover is movably sleeved on the outside of the second universal ball. Two hemispherical grooves adapted to the second universal ball are opened at the bottom of the installation box, and the bottom end of the second universal ball is fixedly connected to the top of the connecting plate.

[0015] Preferably, a T-shaped guide rail is fixedly connected to the top of the connection box, and the connection plate is slidably sleeved on the outer side of the T-shaped guide rail;

[0016] Two slide rails are fixedly connected to both sides of the bottom of the connection box, and two slide seats are fixedly connected to the top of the clamping plate. The slide seats are slidably sleeved on the outer sides of the corresponding slide rails.

[0017] Preferably, the driving plate is slidably connected in the connection box, and the cylinder is fixedly connected in the connection box, and the two rotating shafts are rotatably connected to both sides of the bottom of the connection box respectively.

[0018] Preferably, the outer side of the clamping wheel is fixedly sleeved with an anti-slip ring;

[0019] The front and rear sides and the left and right sides of the installation box are fixedly connected with vertical rails, and the side panels are slidably sleeved in the corresponding vertical rails;

[0020] Guide frames are fixedly installed on the front and rear inner walls and the left and right inner walls of the installation box, and the locking plates are slidably sleeved on the outer sides of the corresponding guide frames. The sides of the four locking plates close to each other are fixedly connected with compression springs, and the other ends of the compression springs are fixedly connected to the corresponding guide frames.

[0021] Preferably, the driving mechanism comprises a moving seat, a first mounting frame and two second mounting frames, the moving seat is slidably mounted in the first mounting frame, a first motor is fixedly mounted on the side wall of the first mounting frame, a first screw rod is fixedly mounted on the output shaft of the first motor, and the moving seat is threadedly sleeved on the outside of the first screw rod;

[0022] A second screw rod is rotatably mounted in the second mounting frame, square plates are fixedly mounted on both sides of the first mounting frame, the two square plates are respectively slidably connected in the corresponding second mounting frame, and the two square plates are respectively threadedly sleeved on the outer sides of the corresponding second screw rods, a second motor is fixedly mounted on the front side of the second mounting frame, and the front ends of the two second screw rods are respectively fixedly mounted on the output shafts of the corresponding second motors;

[0023] Support columns are fixedly installed on both the front and rear sides of the bottom of the second installation frame, a crossbeam is fixedly installed between two adjacent support columns, and the controller is fixedly installed on the top of one of the second installation frames;

[0024] The third electric push rods are fixedly mounted on the four corners of the top of the moving seat, and the output end of the third electric push rod is fixedly mounted on the top of the mounting seat.

[0025] The beneficial effects of the present invention are:

[0026] 1. In the present invention, the industrial robot based on the automated production line controls two second motors to operate synchronously, drives two second screws to rotate synchronously, and the two second screws drive the first mounting frame to move forward and backward through the thread transmission with the corresponding square plate. The first motor drives the first screw to rotate, and the first screw drives the moving seat to move left and right through the thread transmission with the moving seat. The mounting seat is driven up and down by starting the third electric push rod, thereby realizing three-way control of the grasping mechanism, so that the clamping plate moves to the outside of the object to be clamped.

[0027] 2. In the present invention, an industrial robot based on an automated production line drives a driving plate to move horizontally by starting an air cylinder, and the driving plate drives two racks to move synchronously. The two racks drive two rotating shafts to rotate synchronously by meshing with corresponding transmission gears, and drive the rotating rod to rotate synchronously. The rotating rod drives the corresponding round rod to perform circular motion. The round rod drives two clamping plates located on the same side to approach each other by cooperating with the linkage rod, so that the anti-skid ring on the outer side of the clamping wheel abuts against the outer side of the object to be clamped. When the pressure sensed by the first pressure sensor reaches a preset value, the cylinder is controlled to stop running by the controller, thereby completing the clamping;

[0028] 3. In the present invention, an industrial robot based on an automated production line drives a rotating frame to rotate by starting a rotating motor. The rotating frame drives four locking plates to approach each other by cooperating with four arc-shaped connecting rods, and compresses the compression springs so that the locking plates are disengaged from the corresponding card holes, thereby releasing the fixation of the four side plates to release the fixation of the connecting plate. At this time, when the center of gravity of the object is not directly below the second universal ball, the connecting plate will tilt due to uneven force, thereby driving the corresponding side plate to move through the connecting plate, and sensing the movement of the side plate through the corresponding second pressure sensor. When the second pressure sensor located on the front side senses pressure, the controller controls the output end of the first electric push rod to extend and drive the connecting box to move forward, thereby driving the object to move forward. When the second pressure sensor located on the rear side senses pressure, the controller controls the output end of the first electric push rod to contract and drive the connecting box to move backward, thereby driving the object to move backward. The second pressure sensor located on the left side When pressure is sensed, the controller controls the output shaft of the driving motor to rotate forward, and drives the driving shaft to rotate forward. The driving shaft drives the multiple clamping wheels to rotate forward through the meshing of multiple active bevel gears and corresponding driven bevel gears, thereby driving the object to move to the left. When the second pressure sensor on the right side senses pressure, the controller controls the output shaft of the driving motor to reverse, thereby driving the multiple clamping wheels to reverse, thereby driving the object to move to the right, so that the center of gravity of the object can be automatically adjusted so that its center of gravity gradually approaches directly below the second universal ball. When the pressures sensed by the four second pressure sensors are all within a preset range, the controller controls the output shaft of the rotating motor to reverse, thereby driving the rotating frame to reverse, and the rotating frame drives the four locking plates to move in the opposite direction, so that the four locking plates are inserted into the corresponding card holes, thereby locking the side plates and the connecting plates. By starting the third electric push rod, the installation box is driven to rotate relative to the first universal ball, thereby adjusting the angle of the object, so that the three-dimensional transportation of the object can be achieved in cooperation with the driving mechanism.

[0029] 4. In the present invention, the industrial robot based on the automated production line can adjust the center of gravity of the grasped object while grasping the object through the cooperation of the monitoring mechanism and the clamping mechanism, so as to ensure the balance of the object during the grasping and carrying process, avoid falling, and ensure stability in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the three-dimensional structure of an industrial robot based on an automated production line proposed by the present invention;

[0031] Figure 2 This is a schematic cross-sectional view of an industrial robot based on an automated production line proposed by the present invention;

[0032] Figure 3 A schematic diagram of the three-dimensional structure of the grabbing mechanism proposed by the present invention;

[0033] Figure 4 A schematic diagram of the three-dimensional structure of the gripping mechanism proposed by the present invention from another perspective;

[0034] Figure 5 It is a cross-sectional structural schematic diagram of the grabbing mechanism proposed by the present invention;

[0035] Figure 6 for Figure 5 A partial enlarged schematic diagram of part A;

[0036] Figure 7 for Figure 5 A partial enlarged schematic diagram of part B in FIG.

[0037] Figure 8 It is a schematic diagram of a partial three-dimensional structure of the grabbing mechanism proposed by the present invention;

[0038] Fig. 9 This is a three-dimensional structural schematic diagram of the clamping mechanism and the connection box proposed by the present invention;

[0039] Fig.10 It is a three-dimensional structural schematic diagram of the clamping mechanism proposed by the present invention;

[0040] Fig.11 This is a three-dimensional structural schematic diagram of the connection box and the connection plate proposed by the present invention;

[0041] Fig.12 This is a schematic diagram of the three-dimensional structure of the clamping plate and the anti-slip ring proposed by the present invention;

[0042] Fig.13 This is an exploded three-dimensional structural schematic diagram of the clamping plate, the clamping wheel and the driving shaft proposed by the present invention;

[0043] Fig.14This is a schematic diagram of the three-dimensional structure of the driving mechanism proposed by the present invention.

[0044] In the figure: 1, mounting seat; 2, mounting box; 201, first hemispherical cover; 202, first universal ball; 203, second electric push rod; 204, second universal ball; 205, second hemispherical cover; 3, connecting plate; 4, connecting box; 401, T-shaped guide rail; 402, slide rail; 403, ear plate; 404, first electric push rod; 5, clamping plate; 501, linkage rod; 502, rotating rod; 503, round rod; 504, rotating shaft; 505, transmission gear; 506, rack; 507, driving plate; 508, first pressure sensor; 509, cylinder; 510, sliding seat; 6, clamping wheel; 601, anti-slip ring; 602, driving motor; 603, driven bevel gear; 604, active bevel gear; 605, drive shaft; 7, side plate; 701, connecting plate; 702, vertical rail; 703, second pressure sensor; 8, locking plate; 801, compression spring; 802, guide frame; 803, arc connecting rod; 804, rotating frame; 805, rotating motor; 9, moving seat; 901, third electric push rod; 10, signal light; 11, first mounting frame; 1101, first screw rod; 1102, first motor; 12, second mounting frame; 1201, square plate; 1202, second screw rod; 1203, second motor; 1204, support column; 1205, crossbeam; 13, controller. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0046] Reference Figure 1 - Fig.14 , an industrial robot based on an automated production line, comprising: a grasping mechanism and a driving mechanism for driving the grasping mechanism to move, the grasping mechanism comprising a mounting seat 1, a mounting box 2, a connecting plate 3, a connecting box 4, a monitoring mechanism and a clamping mechanism, the mounting seat 1 is connected to the top of the mounting box 2 through a first universal ball 202, the connecting plate 3 is connected to the bottom of the mounting box 2 through a second universal ball 204, and the connecting box 4 is slidably connected to the bottom of the connecting plate 3;

[0047] The clamping mechanism includes a driving plate 507, a cylinder 509, two rotating shafts 504 and four clamping plates 5, a plurality of clamping wheels 6 are rotatably installed in the clamping plate 5, the tops of the plurality of clamping wheels 6 are fixedly connected with driven bevel gears 603, a driving motor 602 is fixedly installed in the clamping plate 5, a driving shaft 605 is fixedly connected to the output shaft of the driving motor 602, a plurality of active bevel gears 604 are fixedly installed on the outer side of the driving shaft 605, the active bevel gears 604 are meshed with the corresponding driven bevel gears 603, and the top of the clamping plate 5 is rotatably connected A linkage rod 501 is connected, a rotation rod 502 is fixedly connected to the bottom end of a rotation shaft 504, round rods 503 are fixedly connected to both ends of the rotation rod 502, the other end of the linkage rod 501 is rotatably sleeved on the outer side of the corresponding round rod 503, and a transmission gear 505 is fixedly installed on the rotation shaft 504, a first pressure sensor 508 and two racks 506 are fixedly connected inside the driving plate 507, the two racks 506 are respectively meshed with the corresponding transmission gears 505, and the output end of the cylinder 509 is fixedly connected to the first pressure sensor 508;

[0048] The monitoring mechanism includes a controller 13, four side plates 7 and four second pressure sensors 703. The four side plates 7 are all slidably connected to the outside of the installation box 2, and the outsides of the four side plates 7 are universally connected to the connecting plate 701. The bottom of the connecting plate 701 is universally connected to the top of the connecting plate 3, and the side plates 7 are movably abutted against the bottom of the corresponding second pressure sensor 703. The top of the second pressure sensor 703 is fixedly connected to a baffle, and the baffle is fixedly connected to the outside of the installation box 2. The controller 13 is electrically connected to the first pressure sensor 508, the second pressure sensor 703, the drive motor 602 and the cylinder 509.

[0049] In this embodiment, the top of the connection box 4 is fixedly connected to two ear plates 403, and the top of the connection plate 3 is fixedly connected to two first electric push rods 404. The output end of the first electric push rod 404 is fixedly connected to the corresponding ear plate 403, and the first electric push rod 404 is electrically connected to the controller 13. The controller 13 controls the first electric push rod 404 and the drive motor 602 to operate according to the pressure sensed by the different second pressure sensors 703. When the second pressure sensor 703 located on the front side senses the pressure, the controller 13 controls the output end of the first electric push rod 404 to extend and drive the connection box 4 When moving forward, when the second pressure sensor 703 located on the rear side senses pressure, the controller 13 controls the output end of the first electric push rod 404 to contract and drives the connecting box 4 to move backward; when the second pressure sensor 703 located on the left side senses pressure, the controller 13 controls the output shaft of the driving motor 602 to rotate forward; when the second pressure sensor 703 located on the right side senses pressure, the controller 13 controls the output shaft of the driving motor 602 to reverse; two sliding holes are provided on the top of the connecting plate 3, and the two ear plates 403 are respectively slidably connected in the corresponding sliding holes, thereby facilitating the movement of the ear plates 403.

[0050] In this embodiment, a locking mechanism for fixing the four side panels 7 is provided in the connection box 4, and the locking mechanism includes a rotating motor 805, a rotating frame 804 and four locking plates 8. A card hole is opened on the outer side of the side panel 7, and the four locking plates 8 are movably connected in the corresponding card holes, and an arc-shaped connecting rod 803 is hinged on the top of the locking plate 8, and the other end of the arc-shaped connecting rod 803 is hinged on the top of the rotating frame 804, and the rotating frame 804 is fixedly connected to the output shaft of the rotating motor 805, and the rotating motor 805 is fixedly connected in the installation box 2.

[0051] In this embodiment, a signal light 10 is provided on the top of the controller 13. When the pressure value sensed by any second pressure sensor 703 reaches a preset value, the controller 13 controls the signal light 10 to light up, thereby reminding the staff that they are adjusting the center of gravity and not to control the drive mechanism to start; when the pressure values ​​sensed by the four second pressure sensors 703 do not reach the preset value, the controller 13 controls the signal light 10 to light up and controls the output shaft of the rotating motor 805 to reverse.

[0052] In this embodiment, the bottom of the mounting seat 1 is universally rotatably connected to four second electric push rods 203, and the output end of the second electric push rod 203 is universally rotatably connected to the top of the mounting box 2. The top of the mounting box 2 is fixedly installed with a first hemispherical cover 201, and the first hemispherical cover 201 is movably sleeved on the outside of the first universal ball 202. The top of the mounting box 2 is provided with a first hemispherical groove adapted to the first universal ball 202, and the top of the first universal ball 202 is fixedly connected to the bottom of the mounting seat 1; the bottom of the mounting box 2 is fixedly connected to a second hemispherical cover 205, and the second hemispherical cover 205 is movably sleeved on the outside of the second universal ball 204, and the bottom of the mounting box 2 is provided with a second hemispherical groove adapted to the second universal ball 204, and the bottom end of the second universal ball 204 is fixedly connected to the top of the connecting plate 3.

[0053] In this embodiment, the top of the connecting box 4 is fixedly connected to a T-shaped guide rail 401, and the connecting plate 3 is slidably sleeved on the outer side of the T-shaped guide rail 401, thereby guiding the connecting box 4; two slide rails 402 are fixedly connected to both sides of the bottom of the connecting box 4, and two sliding seats 510 are fixedly connected to the top of the clamping plate 5, and the sliding seats 510 are slidably sleeved on the outer sides of the corresponding slide rails 402, thereby guiding the sliding seats 501.

[0054] In this embodiment, the driving plate 507 is slidably connected in the connection box 4, and the cylinder 509 is fixedly connected in the connection box 4. The two rotating shafts 504 are rotatably connected to the two sides of the bottom of the connection box 4 respectively, and the outer side of the clamping wheel 6 is fixedly sleeved with an anti-skid ring 601, thereby achieving an anti-skid effect; the front and rear sides and the left and right sides of the installation box 2 are fixedly connected with vertical rails 702, and the side plates 7 are slidably sleeved in the corresponding vertical rails 702, thereby guiding the vertical movement of the side plates 7;

[0055] Guide frames 802 are fixedly installed on the front and rear inner walls and the left and right inner walls of the installation box 2, and the locking plates 8 are slidably sleeved on the outer sides of the corresponding guide frames 802. The four locking plates 8 are fixedly connected to the sides close to each other with compression springs 801, and the other ends of the compression springs 801 are fixedly connected to the corresponding guide frames 802, thereby assisting in positioning the locking plates 8.

[0056] In this embodiment, the driving mechanism includes a moving seat 9, a first mounting frame 11 and two second mounting frames 12. The moving seat 9 is slidably mounted in the first mounting frame 11. A first motor 1102 is fixedly mounted on the side wall of the first mounting frame 11. A first screw rod 1101 is fixedly mounted on the output shaft of the first motor 1102. The moving seat 9 is threadedly sleeved on the outer side of the first screw rod 1101, thereby driving the moving seat 9 to move left and right; a second screw rod 1202 is rotatably mounted in the second mounting frame 12, and square plates 1201 are fixedly mounted on both sides of the first mounting frame 11. The two square plates 1201 are respectively slidably connected in the corresponding second mounting frame 12, and the two square plates 1201 are respectively threadedly sleeved on the outer sides of the corresponding second screw rods 1202. A second motor 1203 is fixedly installed on the front side of the second mounting frame 12, and the front ends of the two second screw rods 1202 are respectively fixedly installed on the output shafts of the corresponding second motors 1203, thereby driving the first mounting frame 11 to move forward and backward; support columns 1204 are fixedly installed on both the front and rear sides of the bottom of the second mounting frame 12, and a crossbeam 1205 is fixedly installed between two adjacent support columns 1204. The controller 13 is fixedly installed on the top of one of the second mounting frames 12, thereby achieving stable support for the second mounting frame 12; third electric push rods 901 are fixedly installed on the four corners of the top of the moving seat 9, and the output end of the third electric push rod 901 is fixedly installed on the top of the mounting seat 1, thereby driving the mounting seat 1 to move up and down.

[0057] In this embodiment, when in use, by controlling the two second motors 1203 to operate synchronously, the two second screw rods 1202 are driven to rotate synchronously, and the two second screw rods 1202 drive the first installation frame 11 to move forward and backward through the thread transmission with the corresponding square plate 1201, and the first motor 1102 is started to drive the first screw rod 1101 to rotate, and the first screw rod 1101 drives the moving seat 9 to move left and right through the thread transmission with the moving seat 9, and the mounting seat 1 is driven to move up and down by starting the third electric push rod 901, so as to realize the three-way control of the grasping mechanism, so that the clamping plate 5 moves to the outside of the object to be clamped;

[0058] The driving plate 507 is driven to move horizontally by starting the cylinder 509, and the driving plate 507 drives the two racks 506 to move synchronously. The two racks 506 drive the two rotating shafts 504 to rotate synchronously by meshing with the corresponding transmission gears 505, and drive the rotating rod 502 to rotate synchronously. The rotating rod 502 drives the corresponding round rod 503 to perform circular motion. The round rod 503 drives the two clamping plates 5 on the same side to approach each other by cooperating with the linkage rod 501, so that the anti-skid ring 601 on the outer side of the clamping wheel 6 abuts against the outer side of the object to be clamped. When the pressure sensed by the first pressure sensor 508 reaches the preset value, the cylinder 509 is controlled to stop running through the controller 13, thereby completing the clamping;

[0059] By starting the rotating motor 805 to drive the rotating frame 804 to rotate, the rotating frame 804 cooperates with the four arc-shaped connecting rods 803 to drive the four locking plates 8 to approach each other and compress the compression spring 801, so that the locking plate 8 is disengaged from the corresponding clamping hole, thereby releasing the fixation of the four side plates 7 and releasing the fixation of the connecting plate 3. At this time, when the center of gravity of the object is not located directly below the second universal ball 204, the connecting plate 3 will tilt due to uneven force, thereby driving the corresponding side plate 7 to move through the connecting plate 701, and through the corresponding second pressure spring 801 ... The sensor 703 senses the movement of the side plate 7. When the second pressure sensor 703 located on the front side senses the pressure, the controller 13 controls the output end of the first electric push rod 404 to extend and drive the connection box 4 to move forward, thereby driving the object to move forward. When the second pressure sensor 703 located on the rear side senses the pressure, the controller 13 controls the output end of the first electric push rod 404 to contract and drive the connection box 4 to move backward, thereby driving the object to move backward. When the second pressure sensor 703 located on the left side senses the pressure, the controller 13 controls the drive The output shaft of the driving motor 602 rotates forward, and drives the driving shaft 605 to rotate forward. The driving shaft 605 drives the multiple clamping wheels 6 to rotate forward through the meshing of the multiple active bevel gears 604 and the corresponding driven bevel gears 603, thereby driving the object to move to the left. When the second pressure sensor 703 located on the right side senses the pressure, the controller 13 controls the output shaft of the driving motor 602 to reverse, thereby driving the multiple clamping wheels 6 to reverse, thereby driving the object to move to the right, so that the center of gravity of the object can be automatically adjusted so that its center of gravity gradually approaches directly below the second universal ball 204. When the pressures sensed by the four second pressure sensors 703 are all within the preset range, the controller 13 controls the output shaft of the rotating motor 805 to reverse, thereby driving the rotating frame 804 to reverse, and the rotating frame 804 drives the four locking plates 8 to move in the opposite direction, so that the four locking plates 8 are inserted into the corresponding card holes, thereby locking the side plate 7 and the connecting plate 3. By starting the third electric push rod 901, the installation box 2 is driven to perform universal rotation relative to the first universal ball 202, thereby adjusting the angle of the object, so that the three-dimensional transportation of the object can be realized in cooperation with the driving mechanism.

[0060] The above is a detailed introduction to an industrial robot based on an automated production line provided by the present invention. Specific embodiments are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An industrial robot based on an automated production line, characterized in that: include: A gripping mechanism and a driving mechanism for driving the gripping mechanism to move, the gripping mechanism comprising a mounting seat (1), a mounting box (2), a connecting plate (3), a connecting box (4), a monitoring mechanism and a clamping mechanism, the mounting seat (1) being connected to the top of the mounting box (2) via a first universal ball (202), the connecting plate (3) being connected to the bottom of the mounting box (2) via a second universal ball (204), and the connecting box (4) being slidably connected to the bottom of the connecting plate (3); The clamping mechanism comprises a driving plate (507), a cylinder (509), two rotating shafts (504) and four clamping plates (5); a plurality of clamping wheels (6) are rotatably mounted in the clamping plate (5); the top ends of the plurality of clamping wheels (6) are fixedly connected to driven bevel gears (603); a driving motor (602) is fixedly mounted in the clamping plate (5); a driving shaft (605) is fixedly connected to the output shaft of the driving motor (602); a plurality of active bevel gears (604) are fixedly mounted on the outer side of the driving shaft (605); the active bevel gears (604) are meshed with the corresponding driven bevel gears (603); and the top end of the clamping plate (5) is rotatably connected to the driven bevel gears (603). A linkage rod (501) is connected, the bottom end of the rotating shaft (504) is fixedly connected to a rotating rod (502), both ends of the rotating rod (502) are fixedly connected to round rods (503), the other end of the linkage rod (501) is rotatably sleeved on the outer side of the corresponding round rod (503), and a transmission gear (505) is fixedly installed on the rotating shaft (504), a first pressure sensor (508) and two racks (506) are fixedly connected inside the driving plate (507), the two racks (506) are respectively engaged with the corresponding transmission gears (505), and the output end of the cylinder (509) is fixedly connected to the first pressure sensor (508); The monitoring mechanism comprises a controller (13), four side plates (7) and four second pressure sensors (703), wherein the four side plates (7) are all slidably connected to the outside of the installation box (2), and the outside of the four side plates (7) are all hinged with a universal rotation connection (701), the bottom of the connecting plate (701) is universally rotatably connected to the top of the connecting plate (3), and the side plates (7) are movably abutted against the bottom of the corresponding second pressure sensor (703), the top of the second pressure sensor (703) is fixedly connected to a baffle, and the baffle is fixedly connected to the outside of the installation box (2), and the controller (13) is electrically connected to the first pressure sensor (508), the second pressure sensor (703), the drive motor (602) and the cylinder (509).

2. The industrial robot based on an automated production line according to claim 1, characterized in that: The top of the connection box (4) is fixedly connected to two ear plates (403), the top of the connection plate (3) is fixedly connected to two first electric push rods (404), the output end of the first electric push rod (404) is fixedly connected to the corresponding ear plate (403), and the first electric push rod (404) is electrically connected to the controller (13), and the controller (13) controls the operation of the first electric push rod (404) and the drive motor (602) according to the pressure sensed by the second pressure sensor (703). When the second pressure sensor (703) located on the front side senses the pressure, the controller (13) controls the operation of the first electric push rod (404) and the drive motor (602). The controller (13) controls the output end of the first electric push rod (404) to extend and drive the connection box (4) to move forward. When the second pressure sensor (703) located at the rear side senses pressure, the controller (13) controls the output end of the first electric push rod (404) to contract and drive the connection box (4) to move backward. When the second pressure sensor (703) located on the left side senses pressure, the controller (13) controls the output shaft of the drive motor (602) to rotate forward. When the second pressure sensor (703) located on the right side senses pressure, the controller (13) controls the output shaft of the drive motor (602) to rotate reversely. Two sliding holes are provided on the top of the connecting plate (3), and the two ear plates (403) are respectively slidably connected in the corresponding sliding holes.

3. The industrial robot based on an automated production line according to claim 1, characterized in that: A locking mechanism for fixing four side plates (7) is provided in the connection box (4), and the locking mechanism comprises a rotating motor (805), a rotating frame (804) and four locking plates (8). A clamping hole is provided on the outer side of the side plate (7), and the four locking plates (8) are movably clamped in the corresponding clamping holes. An arc-shaped connecting rod (803) is hinged on the top of the locking plate (8), and the other end of the arc-shaped connecting rod (803) is hinged on the top of the rotating frame (804). The rotating frame (804) is fixedly connected to the output shaft of the rotating motor (805), and the rotating motor (805) is fixedly connected in the installation box (2).

4. The industrial robot based on an automated production line according to claim 1, characterized in that: A signal light (10) is provided on the top of the controller (13). When the pressure value sensed by any one of the second pressure sensors (703) reaches a preset value, the controller (13) controls the signal light (10) to light up; when the pressure values ​​sensed by the four second pressure sensors (703) do not reach the preset value, the controller (13) controls the signal light (10) to light up and controls the output shaft of the rotating motor (805) to reverse.

5. The industrial robot based on an automated production line according to claim 1, characterized in that: The bottom of the mounting seat (1) is universally connected to four second electric push rods (203), the output ends of the second electric push rods (203) are universally connected to the top of the mounting box (2), the top of the mounting box (2) is fixedly mounted with a first hemispherical cover (201), the first hemispherical cover (201) is movably sleeved on the outside of the first universal ball (202), the top of the mounting box (2) is provided with a first hemispherical groove adapted to the first universal ball (202), and the top end of the first universal ball (202) is fixedly connected to the bottom of the mounting seat (1); The bottom of the installation box (2) is fixedly connected to a second hemispherical cover (205), the second hemispherical cover (205) is movably sleeved on the outside of the second universal ball (204), and the bottom of the installation box (2) is provided with two hemispherical grooves adapted to the second universal ball (204), and the bottom end of the second universal ball (204) is fixedly connected to the top of the connecting plate (3).

6. The industrial robot based on an automated production line according to claim 1, characterized in that: The top of the connection box (4) is fixedly connected to a T-shaped guide rail (401), and the connection plate (3) is slidably sleeved on the outside of the T-shaped guide rail (401); Two slide rails (402) are fixedly connected to both sides of the bottom of the connection box (4), and two slide seats (510) are fixedly connected to the top of the clamping plate (5), and the slide seats (510) are slidably sleeved on the outer sides of the corresponding slide rails (402).

7. The industrial robot based on an automated production line according to claim 1, characterized in that: The driving plate (507) is slidably connected in the connection box (4), and the cylinder (509) is fixedly connected in the connection box (4). The two rotating shafts (504) are rotatably connected to both sides of the bottom of the connection box (4).

8. The industrial robot based on an automated production line according to claim 3, characterized in that: The outer side of the clamping wheel (6) is fixedly sleeved with an anti-slip ring (601); The front and rear sides and the left and right sides of the installation box (2) are fixedly connected with vertical rails (702), and the side panels (7) are slidably sleeved in the corresponding vertical rails (702); Guide frames (802) are fixedly mounted on the front and rear inner walls and the left and right inner walls of the installation box (2); the locking plates (8) are slidably sleeved on the outer sides of the corresponding guide frames (802); the sides of the four locking plates (8) close to each other are fixedly connected with compression springs (801); the other ends of the compression springs (801) are fixedly connected to the corresponding guide frames (802).

9. The industrial robot based on an automated production line according to claim 1, characterized in that: The driving mechanism comprises a moving seat (9), a first mounting frame (11) and two second mounting frames (12); the moving seat (9) is slidably mounted in the first mounting frame (11); a first motor (1102) is fixedly mounted on a side wall of the first mounting frame (11); a first screw rod (1101) is fixedly mounted on an output shaft of the first motor (1102); and the moving seat (9) is threadedly sleeved on the outer side of the first screw rod (1101); A second screw rod (1202) is rotatably mounted in the second mounting frame (12), square plates (1201) are fixedly mounted on both sides of the first mounting frame (11), the two square plates (1201) are respectively slidably connected in the corresponding second mounting frame (12), and the two square plates (1201) are respectively threadedly sleeved on the outer sides of the corresponding second screw rods (1202), a second motor (1203) is fixedly mounted on the front side of the second mounting frame (12), and the front ends of the two second screw rods (1202) are respectively fixedly mounted on the output shafts of the corresponding second motors (1203); Support columns (1204) are fixedly installed on both the front and rear sides of the bottom of the second installation frame (12), a crossbeam (1205) is fixedly installed between two adjacent support columns (1204), and the controller (13) is fixedly installed on the top of one of the second installation frames (12); A third electric push rod (901) is fixedly mounted at each of the four corners of the top of the movable seat (9), and an output end of the third electric push rod (901) is fixedly mounted on the top of the mounting seat (1).

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