Intelligent industrial robot

Abstract

The application discloses an intelligent industrial manipulator and belongs to the technical field of manipulators. The manipulator comprises a manipulator main body, a small arm is arranged on the inner side of the tail end of the manipulator main body, an end effector for clamping heavy objects is arranged on the other end of the small arm, a compensation assembly is connected to the small arm, and a winding assembly is connected to the manipulator main body and corresponds to the compensation assembly. In the application, a plurality of steel wires generate stable pulling force on the small arm, effectively limit the large downward rotation of the small arm when the small arm is out of control, generate stable pulling force on the small arm, effectively limit the large rotation of the small arm, avoid the inertia impact of the small arm, the end effector and the heavy objects on the manipulator main body, greatly reduce the risk of equipment damage, guarantee the safety of operating site personnel and equipment, timely stop the deterioration of the out-of-control condition, control the accident damage in the minimum range, and reduce potential economic loss and safety risk.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical hands, and particularly relates to an intelligent industrial mechanical hand. BACKGROUND

[0002] With the continuous development of the robot industry in China, the technology and research field has reached a certain level, and the industrial robot technology has also developed rapidly. Traditional industrial robots generally include a base, a rotating arm, a large arm and a small arm. At present, in the field of industrial automation and intelligent manufacturing, the load capacity and precision of robots are required to be higher and higher. Due to the structural limitation of traditional industrial robots, there are limitations in load capacity and working space.

[0003] Some invention patents in the technical field of mechanical hands are disclosed in the prior art. The invention patent with the publication number CN118990592B discloses an anti-skid mechanical claw for an industrial mechanical hand, and relates to the technical field of mechanical claws. Due to the inertia of the weight of the object, there is a tendency for the object to slide down between the object and the mechanical claw, so that the object falls off when being clamped and lifted. The anti-skid mechanical claw for the industrial mechanical hand cooperates the inclined surface block with the outer inclined plate, so that when the clamping plate is lifted after clamping the object, the friction between the clamping plate and the object is used to transmit the tendency to the inclined surface block and the connecting rod through the clamping plate when the object tends to slide down, so that the connecting rod and the inclined surface block simultaneously tend to slide down. The inclined surface of the outer inclined plate is adapted to the sliding of the inclined surface block. After the tendency to slide down appears, the clamping force of the clamping plate to the inner side is increased to limit the sliding of the object and prevent the object from sliding off during the movement of the clamped object. However, the technical scheme still has some deficiencies in the process of use. Since the small arm is relatively slender compared with the main structure of the mechanical arm, and directly bears the end effector and the weight grasped by the end effector, the small arm bears greater stress and wear compared with the main structure of the mechanical arm, so the wear speed of the small arm is also faster. When the small arm grasps the weight through the end effector, mechanical failure is prone to occur.

[0004] Based on this, the application designs an intelligent industrial mechanical hand to solve the above problems. SUMMARY

[0005] The purpose of the application is to solve the problem that the small arm of the existing intelligent industrial mechanical hand is relatively slender compared with the main structure of the mechanical arm, and directly bears the end effector and the weight grasped by the end effector, which makes the small arm bear greater stress and wear compared with the main structure of the mechanical arm, so the wear speed of the small arm is also faster, and mechanical failure is prone to occur when the small arm grasps the weight through the end effector, and an intelligent industrial mechanical hand is proposed.

[0006] In order to achieve the above purpose, the application adopts the following technical scheme:

[0007] Intelligent industrial manipulator, including manipulator main body, the inner side of the tail end of the manipulator main body is provided with a small arm, the other end of the small arm is provided with an end effector for clamping heavy objects, a compensation assembly is connected to the small arm, a winding assembly is connected to the compensation assembly on the manipulator main body, a linkage assembly is arranged between the winding assembly and the compensation assembly, the small arm is quickly inclined, and the winding assembly pulls the compensation assembly through the linkage assembly to make suction action.

[0008] A plurality of safety assemblies are sleeved on the shaft of the winding assembly, and a plurality of limiting assemblies are connected to the plurality of safety assemblies on the inner bottom of the winding assembly.

[0009] As a further description of the above technical solution:

[0010] The winding assembly comprises a combination seat connected to the manipulator main body, the combination seat is connected with a winding box, both ends of the winding box are connected with end covers, the same winding shaft is rotatably connected between the two end covers, a plurality of winding wheels are sleeved on the winding shaft corresponding to the inner side of the winding box, winding springs are sleeved on both ends of the winding shaft, and the winding shaft is elastically connected with the opposite surfaces of the two end covers through the two winding springs.

[0011] As a further description of the above technical solution:

[0012] The safety assembly comprises a combination sleeve sleeved on the winding shaft near the winding wheel, a ratchet gear and a sleeve are sleeved on the combination sleeve, and a safety piece is connected to the circumferential surface of the sleeve.

[0013] As a further description of the above technical solution:

[0014] The safety piece comprises two safety plates connected to the circumferential surface of the sleeve, the same safety shaft is rotatably connected between the two safety plates, the other end of the safety shaft is rotatably connected with a fixed plate, the fixed plate is connected to the circumferential surface of the sleeve, the other end of the safety shaft is sleeved with a switching spring, and the safety shaft is elastically connected with the end surface of the fixed plate through the switching spring.

[0015] The safety shaft is sleeved with a driving claw between the positions corresponding to the two safety plates, and a limiting plate for limiting the rotation angle of the driving claw is connected between the two safety plates.

[0016] As a further description of the above technical solution:

[0017] The limiting assembly comprises a limiting base connected to the inner bottom of the winding box, an arc-shaped sliding slot is formed on the inner arc surface of the limiting base, an arc-shaped sliding block is slidably connected in the arc-shaped sliding slot, an arc-shaped spring is connected to the end of the arc-shaped sliding block, and the arc-shaped sliding block is elastically supported and connected with the inner end surface of the arc-shaped sliding slot through the arc-shaped spring.

[0018] The end of the arc-shaped sliding plate is connected with a passive claw tooth corresponding to the active claw tooth, and a limiting piece is arranged between the arc-shaped sliding plate and the ratchet gear.

[0019] As a further description of the above technical solution:

[0020] The limiting piece comprises a limiting seat connected to the inner arc surface of the arc-shaped sliding plate, a limiting shaft is rotatably connected to the inner side of the limiting seat, a rotating shaft is rotatably connected to the side end surface of the arc-shaped sliding plate corresponding to the ratchet gear, a clamping tooth is rotatably connected to the other end of the rotating shaft, a pushing hole is formed on the end surface of the clamping tooth, and the other end of the limiting shaft is located in the pushing hole.

[0021] As a further description of the above technical solution:

[0022] The compensation assembly comprises a compensation tank connected to the small arm, a suction pipe is communicated with the end of the compensation tank, an electromagnetic valve is installed on the suction pipe, a tank cover is connected to the other end of the compensation tank, a compensation shaft is slidably sleeved on the inner side of the tank cover, a piston disc is sleeved in the compensation tank and connected to the end of the compensation shaft, a compensation spring is connected to the other end surface of the piston disc, the piston disc is elastically supported and connected with the inner bottom of the compensation tank through the compensation spring, and a limiting ring is clamped between the piston disc and the tank cover in the compensation tank.

[0023] As a further description of the above technical solution:

[0024] The linking assembly comprises a plurality of adapters connected to the other end of the compensation shaft, a steering shaft is rotatably connected to the inner side of the adapter, a steel wire rope is connected to the steering shaft, and the other end of the steel wire rope is wound on a corresponding winding wheel after passing through the winding opening.

[0025] As a further description of the above technical solution:

[0026] The plurality of execution clamps of the end effector are all connected with anti-skid pads, the anti-skid pads are hollow joint bodies, the plurality of anti-skid pads on one side are communicated through a combination pipe, one anti-skid pad on one side is communicated with a vacuum pipe, and the other end of the vacuum pipe is communicated with the compensation tank.

[0027] As described above, due to the adoption of the above technical solution, the beneficial effects of the present application are:

[0028] 1. In the present invention, multiple steel wire ropes generate stable pulling force on the forearm, effectively limiting the large-scale downward rotation of the forearm when the forearm is out of control, and avoiding the forearm, the end effector and heavy objects from hitting the main body of the robotic arm due to inertia, greatly reducing the risk of equipment damage and ensuring the safety of personnel and equipment on the operating site. This protection mechanism promptly stops the deterioration of the out-of-control situation, controls the accident hazards to the minimum range, and reduces potential economic losses and safety risks.

[0029] 2. In the present invention, dynamic adjustment of the suction force at the suction hole is achieved through the high-frequency on-off operation of the solenoid valve. The suction force is weakened when the solenoid valve is opened, and the suction force is strengthened when it is closed. This cyclic adjustment can flexibly adjust the force between the anti-slip pad and the heavy object according to the actual situation of the heavy object and the different stages of the transportation process, making the grasping more adaptable to various complex working conditions and further enhancing the stability of the grasping.

[0030] Multiple steel cables provide stable tension for the arm, limiting its large rotation in the event of a loss of control. This prevents the arm, end effector, and heavy objects from impacting the main arm due to inertia, reducing the risk of equipment damage and ensuring the safety of personnel and equipment. This protection mechanism can promptly curb the escalation of a loss of control, minimize the damage caused by accidents, and reduce economic losses and safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of an intelligent industrial robot proposed by the present invention;

[0032] Figure 2 This is a structural diagram of an intelligent industrial robot proposed by the present invention from another perspective;

[0033] Figure 3 This is a schematic diagram of the structure inside the winding box of an intelligent industrial robot proposed by the present invention;

[0034] Figure 4 The present invention proposes an intelligent industrial robot Figure 3 A schematic diagram of the enlarged structure of the winding component;

[0035] Figure 5 This is a structural diagram of the intelligent industrial robot proposed by the present invention with the winding component and the safety component separated;

[0036] Figure 6 This is a structural diagram of the winding component of the intelligent industrial robot proposed by the present invention after being disassembled from another perspective;

[0037] Figure 7 This is a schematic diagram of the structure of a disassembled compensation component in an intelligent industrial robot proposed by the present invention;

[0038] Figure 8 A structure schematic view of a middle limiting component of an intelligent industrial manipulator is provided in the present application;

[0039] Figure 9 An intelligent industrial manipulator is provided in the present application Figure 8 A structure schematic view of A place in the present application;

[0040] Figure 10 A structure schematic view of a rotating shaft in an intelligent industrial manipulator is provided in the present application.

[0041] Legend:

[0042] 1, manipulator main body; 2, small arm; 3, end effector; 4, winding assembly; 401, winding box; 402, end cover; 403, winding shaft; 404, winding wheel; 405, winding spring; 406, winding port; 407, combination seat; 5, compensation assembly; 501, compensation tank; 502, suction pipe; 503, electromagnetic valve; 504, tank cover; 505, compensation shaft; 506, piston disc; 507, compensation spring; 508, limiting ring; 6, safety assembly; 601, combination sleeve; 602, ratchet gear; 603, sleeve; 604, safety piece; 6041, safety plate; 6042, safety shaft; 6043, fixed plate; 6044, adapter spring; 6045, limiting plate; 6046, active claw tooth; 7, limiting component; 701, limiting base; 702, arc-shaped sliding groove; 703, arc-shaped spring; 704, arc-shaped sliding plate; 705, passive claw tooth; 706, limiting piece; 7061, limiting seat; 7062, limiting shaft; 7063, clamping tooth; 7064, push hole; 7065, rotating shaft; 8, link assembly; 801, adapter; 802, steering shaft; 803, steel wire rope; 9, non-slip mat; 10, vacuum pipe; 11, combination pipe. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0044] Please refer to the drawings in the embodiments of the present application Figure 1 - the drawings in the embodiments of the present application Figure 10The application provides a technical scheme: an intelligent industrial manipulator, which comprises a manipulator main body 1, a small arm 2 is installed on the inner side of the tail end of the manipulator main body 1, an end effector 3 for clamping heavy objects is installed on the other end of the small arm 2, a compensation assembly 5 is connected to the small arm 2, a winding assembly 4 is connected to the manipulator main body 1 corresponding to the compensation assembly 5, a linkage assembly 8 is arranged between the winding assembly 4 and the compensation assembly 5, and the small arm 2 is quickly inclined downward, and the winding assembly 4 pulls the compensation assembly 5 to perform a suction action through the linkage assembly 8.

[0045] A plurality of safety assemblies 6 are sleeved on the shaft center of the winding assembly 4, and a plurality of limiting assemblies 7 are connected to the inner bottom of the winding assembly 4 corresponding to the plurality of safety assemblies 6.

[0046] Specifically, the winding assembly 4 comprises a combined seat 407 connected to the manipulator main body 1, a winding box 401 connected to the combined seat 407, end covers 402 connected to the two ends of the winding box 401, a winding shaft 403 rotationally connected between the two end covers 402, a plurality of winding wheels 404 sleeved on the winding shaft 403 corresponding to the inner side of the winding box 401, winding springs 405 sleeved on the two ends of the winding shaft 403, and the winding shaft 403 being elastically connected to the opposite faces of the two end covers 402 through the two winding springs 405. The safety assembly 6 comprises a combined sleeve 601 sleeved on the winding shaft 403 close to the winding wheel 404, a ratchet gear 602 and a sleeve 603 sleeved on the combined sleeve 601, safety pieces 604 connected to the circumferential surface of the sleeve 603, the safety pieces 604 comprising two safety plates 6041 connected to the circumferential surface of the sleeve 603, a safety shaft 6042 rotationally connected between the two safety plates 6041, a fixed plate 6043 rotationally connected to the other end of the safety shaft 6042 and connected to the circumferential surface of the sleeve 603, and a connecting spring 6044 sleeved on the other end of the safety shaft 6042 and elastically connected to the end face of the fixed plate 6043.

[0047] The safety shaft 6042 is sleeved with a driving claw tooth 6046 at a position corresponding to the two safety plates 6041, limiting plates 6045 are connected between the two safety plates 6041 and used for limiting the rotation angle of the driving claw tooth 6046, the limiting assembly 7 comprises a limiting base 701 connected to the inner bottom of the winding box 401, an arc-shaped sliding groove 702 is formed in the inner arc surface of the limiting base 701, an arc-shaped sliding block is slidably connected in the arc-shaped sliding groove 702, an arc-shaped spring 703 is connected to the end of the arc-shaped sliding block, the arc-shaped sliding block is elastically supported and connected to the inner end face of the arc-shaped sliding groove 702 through the arc-shaped spring 703, and an arc-shaped sliding plate 704 connected with the arc-shaped sliding block is slidably connected to the inner arc surface of the limiting base 701.

[0048] The end of the arc-shaped slide plate 704 is connected with a passive claw tooth 705 corresponding to the active claw tooth 6046, the arc-shaped slide plate 704 and the ratchet gear 602 are provided with a limiting piece 706, the limiting piece 706 comprises a limiting seat 7061 connected to the inner arc surface of the arc-shaped slide plate 704, the inner side of the limiting seat 7061 is rotationally connected with a limiting shaft 7062, the side end surface of the arc-shaped slide plate 704 is rotationally connected with a rotating shaft 7065 corresponding to the ratchet gear 602, the other end of the rotating shaft 7065 is rotationally connected with a clamping tooth 7063, the end surface of the clamping tooth 7063 is provided with a pushing hole 7064, the other end of the limiting shaft 7062 is located in the pushing hole 7064, the compensation assembly 5 comprises a compensation tank 501 connected to the small arm 2, the end of the compensation tank 501 is communicated with a suction pipe 502, the suction pipe 502 is provided with an electromagnetic valve 503, the other end of the compensation tank 501 is connected with a tank cover 504, the inner side of the tank cover 504 is slidingly sleeved with a compensation shaft 505, the end of the compensation shaft 505 is connected with a piston disc 506 sleeved in the compensation tank 501, the other end surface of the piston disc 506 is connected with a compensation spring 507, the piston disc 506 is elastically supported in the compensation tank 501 through the compensation spring 507, the compensation tank 501 is clamped with a limiting ring 508 between the piston disc 506 and the tank cover 504, the linkage assembly 8 comprises a plurality of adapter joints 801 connected to the other end of the compensation shaft 505, the inner side of the adapter joint 801 is rotationally connected with a steering shaft 802, the steering shaft 802 is connected with a steel wire rope 803, the other end of the steel wire rope 803 is wound around the corresponding winding wheel 404 after passing through the winding opening 406.

[0049] The embodiment is characterized in that: the heavy object is grabbed by the mechanical arm body, the small arm 2 and the end effector 3, and the heavy object is transported, in the process of transporting the heavy object, the small arm 2 is relatively thin relative to the mechanical arm body, and directly bears the end effector 3 and the heavy object grabbed by the end effector 3, so that the small arm 2 is more quickly worn relative to the mechanical arm body, when the small arm 2 is mechanically out of control by grabbing the heavy object through the end effector 3, the end effector 3 and the heavy object will drive the other end of the small arm 2 to rotate downward on the inner side of the end of the mechanical arm body at a high speed, in the initial stage, the compensation shaft 505 pulls the plurality of adapter sleeves 801 through the plurality of adapter sleeves 801 rotatably installed on the inner side, the other end of the steel wire rope 803 is gradually separated from the winding wheel 404 under the action of the tension, and the winding wheel 404 drives the winding shaft 403 to rotate in the winding box 401, in the process, on the one hand, the winding shaft 403 twists the winding spring 405 to be elastically deformed, and on the other hand, the winding shaft 403 drives the plurality of ratchet gears 602 to synchronously rotate through the plurality of combined sleeves 601, the active pawl tooth 6046 does a large amplitude centrifugal motion in the process of rapidly rotating, the active pawl tooth 6046 rotates in the inner side of the two safety plates 6041 through the safety shaft 6042, and twists the adapter spring 6044 to be elastically deformed, after the active pawl tooth 6046 rotates by a certain angle, the active pawl tooth 6046 is blocked by the limiting plate 6045, at this time, the active pawl tooth 6046 stops rotating, when the active pawl tooth 6046 is connected with the passive pawl tooth 705, the active pawl tooth 6046 pushes the arc-shaped sliding plate 704 through the passive pawl tooth 705, the arc-shaped sliding plate 704 slides in the arc-shaped sliding groove 702 through the arc-shaped sliding block, and presses the arc-shaped spring 703 to be elastically deformed, the arc-shaped sliding plate 704 slides through the limiting seat 7061 to drive the limiting shaft 7062 to slide in the push top hole 7064, the clamping tooth 7063 is driven by the limiting shaft 7062 to rotate through the rotating shaft 7065, until the clamping tooth 7063 is engaged with the ratchet gear 602, at this time, the plurality of ratchet gears 602 stop rotating under the action of the plurality of clamping teeth 7063, since the plurality of ratchet gears 602 are fixedly connected with the winding shaft 403 through the plurality of combined sleeves 601, the winding shaft 403 also stops rotating, and the part of the steel wire rope 803 wound on the winding wheel 404 cannot be released, at this time, the plurality of steel wire ropes 803 pull the compensation shaft 505 through the plurality of adapter sleeves 801, the compensation shaft 505 pulls the piston disc 506 to slide in the compensation tank 501, and pulls the compensation spring 507 to be elastically deformed, when the piston disc 506 is connected with the limiting ring 508, the piston disc 506 cannot slide in the compensation tank 501, the plurality of steel wire ropes 803 generate a pulling force on the small arm 2, so that the small arm 2 can rotate downward at a large amplitude when the small arm 2 is mechanically out of control, and the small arm 2, the end effector 3 and the heavy object are prevented from being damaged by the inertia impact on the mechanical arm body.

[0050] Specifically, each of the plurality of execution clamps of the end effector 3 is connected with an antiskid pad 9, the antiskid pad 9 is a hollow joint body, the plurality of antiskid pads 9 located on one side are communicated through a combination pipe 11, one antiskid pad 9 located on one side is communicated with a vacuum pipe 10, and the other end of the vacuum pipe 10 is communicated with the compensation tank 501.

[0051] Specifically, in the process that the piston disc 506 is pulled by the compensation shaft 505, the suction pipe 502 is controlled to be high-frequency on-off by the electromagnetic valve 503, when the electromagnetic valve 503 is in the closed state, the compensation tank 501 cannot suck air through the suction pipe 502, the compensation tank 501 sucks air through the vacuum pipe 10 by using the suction holes opened on the surface of the antiskid pad 9, since the antiskid pad 9 is connected with the weight, the suction holes are in the blocked state, and thus the suction holes can generate suction force on the weight, when the electromagnetic valve 503 is in the open state, the suction pipe 502 is in the conducting state, the compensation tank 501 sucks air through the suction pipe 502, and the suction force at the suction holes gradually weakens, so that the law is continuously circulated, the resistance of the antiskid pad 9 to the weight can be effectively increased, and thus the weight can be prevented from falling to a certain extent.

[0052] Working principle, in use:

[0053] When the heavy object is controlled to be grabbed and carried by the mechanical arm, the mechanical arm body, the forearm 2 and the end effector 3 work cooperatively, however, in the process of carrying the heavy object, since the forearm 2 is more slender relative to the mechanical arm body structure, and directly bears the end effector 3 and the heavy object grabbed by the end effector 3, the forearm 2 bears greater stress and wear compared with the mechanical arm body, and thus the wear speed of the forearm 2 is faster, when the heavy object is grabbed by the forearm 2 through the end effector 3, if mechanical out-of-control occurs, the end effector 3 and the grabbed heavy object will drive the other end of the forearm 2 to rotate downward on the inside of the end of the mechanical arm body, at this time, the compensation shaft 505 starts the emergency protection mechanism:

[0054] In the initial stage, the compensation shaft 505 pulls the plurality of steel wire ropes 803 through the linkage components mounted inside the plurality of adapters 801, and under the action of the pulling force, the other end of the steel wire rope 803 gradually separates from the winding wheel 404, and the winding wheel 404 drives the winding shaft 403 to rotate in the winding box 401. In this process, on the one hand, the torsional force of the winding shaft 403 causes the winding spring 405 to elastically deform and store elastic potential energy, and on the other hand, the winding shaft 403 drives the plurality of ratchet gears 602 to rotate synchronously through the plurality of combination sleeves 601. When the ratchet gears 602 rotate rapidly, the active teeth 6046 thereon produce a large amplitude centrifugal motion due to the centrifugal force, and the active teeth 6046 rotate inside the two safety plates 6041 through the safety shaft 6042, while twisting the adapter spring 6044 to cause it to elastically deform. When the active teeth 6046 rotate to a certain angle, they will be stopped by the limiting plate 6045, and then when the active teeth 6046 are docked with the passive teeth 705, the active teeth 6046 push the arc-shaped sliding plate 704 through the passive teeth 705. The arc-shaped sliding plate 704 slides in the arc-shaped sliding groove 702 through the arc-shaped sliding block, and exerts pressure on the arc-shaped spring 703 to cause it to elastically deform. In the sliding process of the arc-shaped sliding plate 704, it drives the limiting shaft 7062 to slide in the push-up hole 7064 through the limiting seat 7061, and under the pushing of the limiting shaft 7062, the clamping teeth 7063 rotate through the rotating shaft 7065 until meshing with the ratchet gears 602. At this time, the plurality of ratchet gears 602 stop rotating under the restriction of the plurality of clamping teeth 7063, and since the plurality of ratchet gears 602 are fixedly connected with the winding shaft 403 through the plurality of combination sleeves 601, the winding shaft 403 also stops rotating. At the same time, the steel wire rope 803 wound on the winding wheel 404 cannot be released, and at this time, the plurality of steel wire ropes 803 exert a pulling force on the compensation shaft 505 through the plurality of adapters 801, and the compensation shaft 505 pulls the piston disc 506 to slide in the compensation tank 501 and stretches the compensation spring 507 to cause it to elastically deform. When the piston disc 506 slides to contact the limiting ring 508, the piston disc 506 cannot continue to slide in the compensation tank 501, and at this time, the plurality of steel wire ropes 803 generate a stable pulling force on the small arm 2, effectively limiting the large amplitude downward rotation of the small arm 2 when the small arm 2 loses control.

[0055] In the process of the piston disc 506 being pulled by the compensation shaft 505, the high-frequency on-off operation of the suction pipe 502 is realized by precisely controlling the electromagnetic valve 503. When the electromagnetic valve 503 is in the closed state, the air flow passage between the compensation tank 501 and the suction pipe 502 is cut off, at this time, the compensation tank 501 cannot suck the external air through the suction pipe 502, and the compensation tank 501 instead sucks the air through the vacuum pipe 10 and the suction hole pre-opened on the surface of the anti-skid pad 9. Since the anti-skid pad 9 is tightly connected with the weight, the suction hole is effectively blocked by the weight, thereby forming a negative pressure at the suction hole and generating a stable suction force on the weight. When the electromagnetic valve 503 is switched to the open state, the suction pipe 502 is in the conducting state, and the compensation tank 501 can quickly suck the external air through the suction pipe 502, so that the air pressure in the compensation tank 501 gradually rises, the negative pressure at the suction hole decreases, and the suction force also gradually decreases. According to the law of the closing and opening of the electromagnetic valve 503, the suction force at the suction hole can be continuously and dynamically adjusted, and the frictional resistance between the anti-skid pad 9 and the weight can be effectively increased.

[0056] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can make equivalent replacements or changes to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An intelligent industrial manipulator, comprising a manipulator body (1), a small arm (2) mounted on the inner side of the tail end of the manipulator body (1), and an end effector (3) for clamping a heavy object mounted on the other end of the small arm (2), characterized in that: The small arm (2) is connected to a compensation component (5), and the manipulator body (1) is connected to a reeling component (4) corresponding to the compensation component (5). A link component (8) is provided between the reeling component (4) and the compensation component (5). When the small arm (2) is tilted downward quickly, the reeling component (4) pulls the compensation component (5) through the link component (8) to perform a suction action. A plurality of safety components (6) are mounted on the axis of the winding component (4), and a plurality of limit components (7) are connected to the inner bottom of the winding component (4) corresponding to the plurality of safety components (6); The winding assembly (4) includes a combination seat (407) connected to the manipulator body (1), a winding box (401) is connected to the combination seat (407), both ends of the winding box (401) are connected to end covers (402), a same winding shaft (403) is rotatably connected between the two end covers (402), a plurality of winding wheels (404) are sleeved on the inner side of the winding box (401) corresponding to the winding shaft (403), both ends of the winding shaft (403) are sleeved with winding springs (405), and the winding shaft (403) is elastically connected to the opposite surfaces of the two end covers (402) through the two winding springs (405); The safety component (6) comprises a combination sleeve (601) mounted on the reel (403) near the reel wheel (404), the combination sleeve (601) being respectively mounted with a ratchet gear (602) and a sleeve (603), and a safety element (604) being connected to the circumferential surface of the sleeve (603); The safety member (604) includes two safety plates (6041) connected to the circumferential surface of the sleeve (603), the two safety plates (6041) are rotatably connected to a common safety shaft (6042), the other end of the safety shaft (6042) is rotatably connected to a fixed plate (6043), the fixed plate (6043) is connected to the circumferential surface of the sleeve (603), the other end of the safety shaft (6042) is sleeved with a transfer spring (6044), and the safety shaft (6042) is elastically transferred to the end surface of the fixed plate (6043) via the transfer spring (6044); An active claw (6046) is mounted on the safety shaft (6042) at a position corresponding to the position between the two safety plates (6041), and a limit plate (6045) is connected between the two safety plates (6041) for limiting the rotation angle of the active claw (6046). The limiting assembly (7) includes a limiting base (701) connected to the inner bottom of the winding box (401), an arc-shaped slide groove (702) is provided on the inner arc surface of the limiting base (701), an arc-shaped slider is slidably connected in the arc-shaped slide groove (702), an end of the arc-shaped slider is connected to an arc spring (703), the arc-shaped slider is elastically supported and connected to the inner end surface of the arc-shaped slide groove (702) through the arc spring (703), and an arc-shaped slide plate (704) connected to the arc-shaped slider is slidably connected on the inner arc surface of the limiting base (701); The end of the arc-shaped slide (704) is connected to a passive claw (705) corresponding to the active claw (6046), and a limiting member (706) is provided between the arc-shaped slide (704) and the ratchet gear (602); The limiting member (706) includes a limiting seat (7061) connected to the inner arc surface of the arc-shaped slide (704); the inner side of the limiting seat (7061) is rotatably connected to a limiting shaft (7062); the side end surface of the arc-shaped slide (704) is rotatably connected to a rotation shaft (7065) corresponding to the ratchet gear (602); the other end of the rotation shaft (7065) is rotatably connected to a latch (7063); the end surface of the latch (7063) is provided with a push-out hole (7064); and the other end of the limiting shaft (7062) is located in the push-out hole (7064).

2. The intelligent industrial robot according to claim 1, characterized in that: The compensation assembly (5) includes a compensation tank (501) connected to the forearm (2), the end of the compensation tank (501) is connected to a suction pipe (502), the suction pipe (502) is installed with a solenoid valve (503), the other end of the compensation tank (501) is connected to a tank cover (504), the inner side of the tank cover (504) is slidably sleeved with a compensation shaft (505), the end of the compensation shaft (505) is connected to a piston disc (506) sleeved in the compensation tank (501), the other end surface of the piston disc (506) is connected to a compensation spring (507), the piston disc (506) is elastically supported and connected to the inner bottom of the compensation tank (501) through the compensation spring (507), and a limiting ring (508) is clamped between the corresponding piston disc (506) in the compensation tank (501) and the tank cover (504).

3. The intelligent industrial robot according to claim 1, characterized in that: The link assembly (8) includes a plurality of adapters (801) connected to the other end of the compensation shaft (505), the inner side of the adapter (801) is rotatably connected to a steering shaft (802), the steering shaft (802) is connected to a steel wire rope (803), and the other end of the steel wire rope (803) passes through a winding port (406) and is wound around and connected to a corresponding winding wheel (404).

4. The intelligent industrial robot according to claim 1, characterized in that: The multiple execution claws of the end effector (3) are all connected to an anti-slip pad (9), and the anti-slip pad (9) is a hollow joint body. The multiple anti-slip pads (9) located on one side are connected through a combination pipe (11), and one anti-slip pad (9) located on one side is connected to a vacuum tube (10), and the other end of the vacuum tube (10) is connected to the compensation tank (501).

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