Electrical automation industrial manipulator

Abstract

The invention provides an electric automation industrial manipulator. The electrical automation industrial manipulator comprises a base motor. According to the electric automation industrial manipulator, the first supporting arm, the second supporting arm and the supporting plate are driven by the first motor, the second motor and the third motor to rotate correspondingly, space six-degree-of-freedom adjustment is achieved, and free rotation in a three-dimensional space is achieved in combination with the base motor to meet the requirements under different working conditions; the requirement for complex pose adjustment under the dynamic working condition of the conveying belt is met, preliminary workpiece positioning is completed by arranging the first clamping arm, the driving plate firstly drives the second clamping arm to be closed preferentially to complete workpiece positioning, the driving plate continues to drive the first clamping arm and the second clamping arm to be closed delayed to clamp the workpiece together, and the workpiece is adsorbed through a suction cup after clamping is stable to complete clamping; the movable air cylinder is arranged to drive the first clamping mechanism to adjust the span between the first clamping mechanism and the second clamping mechanism, and then the driving plate drives the first clamping arm and the second clamping arm to clamp so as to adapt to workpieces of different sizes.

Description

TECHNICAL FIELD

[0001] The application relates to the field of electric automation industrial manipulators, in particular to an electric automation industrial manipulator. BACKGROUND

[0002] Under the background of rapid development of intelligent manufacturing and industrial automation, industrial manipulators, as the core equipment for replacing manual work to complete repetitive, high-precision and high-risk operations, have been widely used in the fields of automobile manufacturing, 3C electronics, food processing and medical devices, and have become the key support for improving production efficiency, reducing labor costs and ensuring operation safety.

[0003] The existing electric automation industrial manipulator is driven by a motor to drive a driving shaft to work, the driving shaft drives a driving gear to rotate through a one-way bearing located on the outer side, thereby driving a second driven gear to rotate, at this time, the shaft drives a sleeve to rotate through a square shaft, the sleeve drives a worm to rotate, thereby driving a worm wheel to rotate, thereby driving two second reciprocating lead screws to rotate, at this time, two clamping jaws move to the opposite sides to clamp the to-be-clamped piece, at this time, the motor stops working, and the clamping is completed.

[0004] However, when clamping flexible and deformable objects or workpieces whose gravity is not in the center position, the existing electric automation industrial manipulator only relies on two clamping arms, which may cause unstable clamping and workpiece position deviation, and if the clamping force is continuously increased, the workpiece may be damaged and the manipulator may also be damaged.

[0005] Therefore, it is necessary to provide an electric automation industrial manipulator to solve the above technical problems. SUMMARY

[0006] The application provides an electric automation industrial manipulator, which solves the problems of unstable clamping and workpiece position deviation caused by only relying on two clamping arms.

[0007] To solve the above technical problems, the application provides an electric automation industrial manipulator, which comprises a base motor.

[0008] A base is fixedly installed at the top end of the output shaft of the base motor.

[0009] A mechanical hand mechanism is fixedly installed on one side of the base.

[0010] Two support plates are fixedly installed on the surface of the mechanical hand mechanism.

[0011] A base plate is fixedly installed at the bottom of the two support plates.

[0012] The adsorption mechanism is symmetrically fixed on the top of the base plate, and includes a suction cup cylinder fixed on the top of the base plate, an output shaft of the suction cup cylinder penetrating the bottom of the base plate and extending to the outside, and a suction cup fixed on one end of the output shaft of the suction cup cylinder, a vacuum generator fixed on one side of the suction cup through a fixed frame, and an output end of the vacuum generator fixedly connected with the suction cup.

[0013] The moving mechanism is fixed on the bottom of the base plate.

[0014] The first clamping mechanism is fixed on one side of the moving mechanism.

[0015] The second clamping mechanism is fixed on the top of the base plate.

[0016] The driving mechanism is used for driving the first clamping mechanism and the second clamping mechanism to clamp the workpiece together.

[0017] Preferably, the mechanical hand mechanism includes a first motor fixed on one side of the base, a first rotating shaft rotatably installed between the bases, an output end of the first motor fixedly connected with one end of the first rotating shaft, two first supporting arms fixed on the surface of the first rotating shaft, four first connecting rods fixed between the two first supporting arms, a second motor fixed on one side of one of the first supporting arms, a second rotating shaft rotatably installed between the two first supporting arms, an output end of the second motor fixedly connected with one end of the second rotating shaft, two second supporting arms fixed on the surface of the second rotating shaft, four second connecting rods fixed between the two second supporting arms, a third motor fixed on one side of one of the second supporting arms, a third rotating shaft rotatably installed between the two second supporting arms, and the two supporting plates fixed on the surface of the third rotating shaft.

[0018] Preferably, the moving mechanism includes a moving cylinder fixed on the bottom of the base plate, a moving frame fixedly connected with the output end of the moving cylinder, a moving plate fixed on the top of the moving frame, and the moving plate slidably connected with a horizontal groove of the base plate.

[0019] Preferably, two sliding rods are fixed on the bottom of the base plate, and the moving plate is slidably connected with the two sliding rods.

[0020] Preferably, the driving mechanism is fixedly installed between the two support plates, the driving mechanism comprises a fixed plate fixedly installed between the two support plates, the bottom of the fixed plate is fixedly installed with a driving cylinder, and the output end of the driving cylinder is fixedly installed with a driving plate.

[0021] Preferably, the first clamping mechanism comprises first supports fixedly installed on one side of the moving frame, a first connecting rod rotatably installed between the two first supports, a first clamping arm fixedly installed on the surface of the first connecting rod, a first connecting plate fixedly installed on the top of the moving plate through a first spring, a first toothed plate fixedly installed on the bottom of the first connecting plate, and a first gear fixedly installed on the surface of the first connecting rod, the first toothed plate being engaged with the first gear.

[0022] Preferably, the second clamping mechanism comprises a second spring fixedly installed on the top of the base plate, a second connecting plate fixedly installed on the top end of the second spring, a second toothed plate fixedly installed on the bottom of the second connecting plate, two second supports fixedly installed on the bottom of the base plate in a symmetrical manner, a second connecting rod rotatably installed between the two second supports, a second clamping arm fixedly installed on the surface of the second connecting rod, a second gear fixedly installed on the surface of the second connecting rod, the second toothed plate being engaged with the second gear, and vertical grooves being formed in one side of the two support plates, the first connecting plate and the second connecting plate being in sliding connection with the vertical grooves.

[0023] Preferably, the bottom of the base plate is fixedly installed with a transmission mechanism, the transmission mechanism comprises a transmission support fixedly installed on the bottom of the base plate and a first bevel gear fixedly installed on the surface of the second connecting rod, the inside of the transmission support is rotatably installed with a transmission shaft, one end of the transmission shaft is fixedly installed with a second bevel gear engaged with the first bevel gear, and the other end of the transmission shaft is fixedly installed with a third bevel gear.

[0024] Preferably, the bottom of the base plate is rotatably installed with a cleaning mechanism, the cleaning mechanism comprises a cleaning shaft rotatably installed on the bottom of the base plate, a fourth bevel gear fixedly installed on the surface of the cleaning shaft engaged with the third bevel gear, a cleaning plate fixedly installed on the surface of the cleaning shaft, and a brush arranged on the top of the cleaning plate and matched with the bottom of the two suction cups.

[0025] Preferably, a fixing member is fixedly installed between the two support plates, a shooting assembly is fixedly installed on one side of the two support plates, and a pressure sensor is arranged on one side of the first clamping arm.

[0026] Compared with the related art, the electric automation industrial manipulator provided by the application has the following beneficial effects:

[0027] The electric automation industrial manipulator provided by the application is characterized in that: the first motor, the second motor and the third motor are arranged to drive the first supporting arm, the second supporting arm and the supporting plate to rotate, respectively, to realize six degrees of freedom adjustment in space; the base motor is arranged to realize three-dimensional space free rotation to meet the requirements of different working conditions; the first clamping arm is arranged to complete preliminary positioning of a workpiece; the driving plate is arranged to drive the second clamping arm to close first to complete positioning of the workpiece, and then the driving plate is arranged to drive the first clamping arm and the second clamping arm to close later to jointly clamp the workpiece; the suction cup is arranged to adsorb the workpiece after the clamping is stable to jointly complete clamping; the moving cylinder is arranged to drive the first clamping mechanism to adjust the span between the first clamping mechanism and the second clamping mechanism; and the driving plate is arranged to drive the first clamping arm and the second clamping arm to clamp to adapt to workpieces of different sizes. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 A structure schematic diagram of a preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure;

[0029] Figure 2 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure; Figure 1 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure;

[0030] Figure 3 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure; Figure 1 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure;

[0031] Figure 4 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure; Figure 3 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure;

[0032] Figure 5 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure; Figure 1 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure;

[0033] Figure 6 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure; Figure 3 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure;

[0034] Figure 7 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure; Figure 1 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure;

[0035] Figure 8 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure; Figure 1 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure;

[0036] Figure 9 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure; Figure 7 A structure schematic diagram of another preferred embodiment of the electric automation industrial manipulator provided by the application is shown in the figure;

[0037] Figure 10Fig. 1 is a structural schematic diagram of a first embodiment of an electric automatic industrial manipulator according to the present application; Figure 8 Fig. 2 is a structural schematic diagram of a second clamping mechanism shown in Fig. 1;

[0038] Figure 11 Fig. 3 is a structural schematic diagram of a second embodiment of an electric automatic industrial manipulator according to the present application;

[0039] Figure 12 Fig. 4 is a structural schematic diagram of a first clamping mechanism shown in Fig. 3; Figure 11 Fig. 5 is an installation schematic diagram of a transmission mechanism shown in Fig. 3;

[0040] Figure 13 Fig. 6 is an installation schematic diagram of a cleaning mechanism shown in Fig. 3; Figure 12 Fig. 7 is a structural schematic diagram of a cleaning mechanism shown in Fig. 6;

[0041] Figure 14 Fig. 8 is a structural schematic diagram of a transmission mechanism shown in Fig. 5; Figure 12 Fig. 9 is a structural schematic diagram of a transmission mechanism shown in Fig. 8;

[0042] Figure 15 Fig. 10 is a structural schematic diagram of a cleaning mechanism shown in Fig. 6. Figure 12

[0043] Fig. 1 is a structural schematic diagram of a first embodiment of an electric automatic industrial manipulator according to the present application; DETAILED DESCRIPTION

[0044] The present application will be further described below in conjunction with the drawings and embodiments.

[0045] First embodiment​

[0046] Please refer to Figures 1-10 An electric automation industry robot, comprising: a base motor 1;

[0047] a base 2 fixedly installed on the top end of the output shaft of the base motor 1;

[0048] a robot mechanism 3 fixedly installed on one side of the base 2;

[0049] a support plate 4 fixedly installed on the surface of the robot mechanism 3;

[0050] a base plate 15 fixedly installed on the bottom of the two support plates 4;

[0051] suction mechanism 5, two suction mechanisms 5 are symmetrically fixedly installed on the top of the base plate 15, the suction mechanism 5 comprises a suction cup air cylinder 501 fixedly installed on the top of the base plate 15, the output shaft of the suction cup air cylinder 501 penetrates the bottom of the base plate 15 and extends to the outside, one end of the output shaft of the suction cup air cylinder 501 located on the bottom of the base plate 15 is fixedly installed with a suction cup 502, one side of the suction cup 502 is fixedly installed with a vacuum generator 503 through a fixed frame, and the output end of the vacuum generator 503 is fixedly connected with the suction cup 502;

[0052] a moving mechanism 11 fixedly installed on the bottom of the base plate 15;

[0053] a first clamping mechanism 7 fixedly installed on one side of the moving mechanism 11;

[0054] a second clamping mechanism 8 fixedly installed on the top of the base plate 15;

[0055] a driving mechanism 6 for driving the first clamping mechanism 7 and the second clamping mechanism 8 to clamp the workpiece together.

[0056] The mechanical hand mechanism 3 comprises a first motor 301 fixedly installed on one side of the base 2, a first rotating shaft 302 rotatably installed between the bases 2, one end of the first rotating shaft 302 fixedly connected with the output end of the first motor 301, two first supporting arms 303 fixedly installed on the surface of the first rotating shaft 302, four first connecting rods 304 fixedly installed between the two first supporting arms 303, one side of one of the first supporting arms 303 fixedly installed with a second motor 305, a second rotating shaft 306 rotatably installed between the two first supporting arms 303, one end of the second rotating shaft 306 fixedly connected with the output end of the second motor 305, two second supporting arms 307 fixedly installed on the surface of the second rotating shaft 306, four second connecting rods 308 fixedly installed between the two second supporting arms 307, one side of one of the second supporting arms 307 fixedly installed with a third motor 309, a third rotating shaft 310 rotatably installed between the two second supporting arms 307, and two supporting plates 4 fixedly installed on the surface of the third rotating shaft 310.

[0057] The moving mechanism 11 comprises a moving cylinder 1101 fixedly installed on the bottom of the base plate 15, a moving frame 1102 fixedly connected with the output end of the moving cylinder 1101, a moving plate 1103 fixedly installed on the top of the moving frame 1102, and the moving plate 1103 in sliding connection with the horizontal groove of the base plate 15.

[0058] The bottom of the base plate 15 is fixedly installed with two slide rods 16, and the moving plate 1103 is in sliding connection with the two slide rods 16.

[0059] The driving mechanism 6 is fixedly installed between the two supporting plates 4, and comprises a fixed plate 601 fixedly installed between the two supporting plates 4, a driving cylinder 602 fixedly installed on the bottom of the fixed plate 601, and a driving plate 603 fixedly installed on the output end of the driving cylinder 602.

[0060] The first clamping mechanism 7 comprises two first supports 703 fixedly installed on one side of the moving frame 1102, a first connecting rod 704 rotatably installed between the two first supports 703, a first clamping arm 705 fixedly installed on the surface of the first connecting rod 704, a first connecting plate 702 fixedly installed on the top of the moving plate 1103 through a first spring 701, a first toothed plate 707 fixedly installed on the bottom of the first connecting plate 702, a first gear 706 fixedly installed on the surface of the first connecting rod 704, and the first toothed plate 707 in meshing connection with the first gear 706.

[0061] The second clamping mechanism 8 includes a second spring 801, which is fixedly installed on the top of the base plate 15. A second connecting plate 802 is fixedly installed on the top of the second spring 801, and a second tooth plate 807 is fixedly installed on the bottom of the second connecting plate 802. Two second brackets 803 are symmetrically fixedly installed on the bottom of the base plate 15. A second connecting rod 804 is rotatably installed between the two second brackets 803. A second clamping arm 805 is fixedly installed on the surface of the second connecting rod 804. A second gear 806 is fixedly installed on the surface of the second connecting rod 804. The second tooth plate 807 engages with the second gear 806. A vertical groove 17 is provided on one side of the two support plates 4. The first connecting plate 702 and the second connecting plate 802 are slidably connected to the vertical groove 17.

[0062] During actual use, the opposite sides of the first clamping arm 705 and the second clamping arm 805 are both polished to increase friction; the first clamping arm 705 does not contact the conveyor belt in the initial position; the second clamping arm 805 is placed parallel to the conveyor belt in the initial position.

[0063] The working principle of an electrical automation industrial manipulator provided by the present invention is as follows:

[0064] First, place the base motor 1 on one side of the conveyor belt. When using the electric automated manipulator, the manipulator mechanism 3 is controlled by an external control component to clamp the workpiece. By controlling the first motor 301 to start and drive the first rotating shaft 302 to rotate, the rotation angle of the two first arms 303 can be controlled. By controlling the second motor 305 to start and drive the second rotating shaft 306 to rotate, the rotation angle of the two second arms 307 can be controlled. By starting the third motor 309 to drive the third rotating shaft 310 to rotate, the rotation angle of the two support plates 4 can be controlled. Thus, the manipulator mechanism 3 can be controlled to rotate and move through the control component to better clamp the workpiece.

[0065] Then, in the process of conveying the workpiece on the conveyor belt, the first clamping arm 705 is placed vertically on the top of the conveyor belt according to the above process. At this time, the first clamping arm 705 does not contact the conveyor belt. When the workpiece contacts the first clamping arm 705, the driving cylinder 602 is started to drive the driving plate 603 to move downward. The driving plate 603 first contacts the second connecting plate 802 and drives the second tooth plate 807 to move downward during the downward pressure. The second tooth plate 807 engages the second gear 806 to drive the second connecting rod 804 to rotate. At this time, the second clamping arm 805 fixedly installed on the surface of the second connecting rod 804 rotates 90° and contacts the workpiece.

[0066] Then, the driving plate 603 continues to move downward. At this time, the driving plate 603 contacts the first connecting plate 702 at the same time. In the process of the first connecting plate 702 pressing down, the first tooth plate 707 is also driven to move downward. The first tooth plate 707 engages the first gear 706. In the process of the first gear 706 rotating, it drives the first clamping arm 705 to rotate. At this time, the first clamping arm 705 and the second clamping arm 805 clamp the workpiece at the same time to provide clamping force. At this time, the two suction cup cylinders 501 are started to drive the two suction cups 502 to move downward, and the vacuum generator 503 is started to adsorb when the suction cup 502 contacts the workpiece, assisting the first clamping arm 705 and the second clamping arm 805 to complete the clamping of the workpiece together.

[0067] Finally, when the workpiece is small, after the second clamping arm 805 contacts the workpiece, the moving cylinder 1101 is started to drive the moving frame 1102 to move. The moving frame 1102 slides on the slide rod 16 and drives the moving plate 1103 to move. At this time, the first clamping mechanism 7 starts to move horizontally, stops after contacting the workpiece, and then the driving plate 603 continues to move downward to complete the clamping of the workpiece.

[0068] Compared with related technologies, the electrical automation industrial robot provided by the present invention has the following beneficial effects:

[0069] The first arm 303, the second arm 307 and the support plate 4 are driven to rotate by the first motor 301, the second motor 305 and the third motor 309 respectively to realize six-degree-of-freedom adjustment in space. Combined with the base motor 1, free rotation in three-dimensional space can be realized to meet the needs under different working conditions and adapt to the complex posture adjustment needs under the dynamic working conditions of the conveyor belt. The workpiece is initially positioned by setting the first clamping arm 705, and the driving plate 603 first drives the second clamping arm 805 to close first to complete the positioning of the workpiece. The driving plate 603 continues to drive the first clamping arm 705 and the second clamping arm 805 to delay closing and jointly clamp the workpiece. The suction cup 502 adsorbs the workpiece after the clamping is stable to complete the clamping. The moving cylinder 1101 is set to drive the first clamping mechanism 7 to adjust the span between the second clamping mechanism 8, and the driving plate 603 then drives the first clamping arm 705 and the second clamping arm 805 to clamp to adapt to workpieces of different sizes.

[0070] Second embodiment

[0071] Please refer to Figures 11-15 Based on the electric automated industrial robot provided in the first embodiment of this application, the second embodiment of this application proposes another electric automated industrial robot. The second embodiment is merely a preferred embodiment of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0072] Specifically, the second embodiment of the present application provides an electrical automation industrial manipulator, which is different from the first embodiment in that a transmission mechanism 9 is fixedly installed at the bottom of the base plate 15, the transmission mechanism 9 comprises a transmission bracket 902 and a first bevel gear 901, the transmission bracket 902 is fixedly installed at the bottom of the base plate 15, the first bevel gear 901 is fixedly installed on the surface of the second connecting rod 804, a transmission shaft 903 is rotatably installed in the transmission bracket 902, a second bevel gear 904 is fixedly installed at one end of the transmission shaft 903, the second bevel gear 904 engages with the first bevel gear 901, and a third bevel gear 905 is fixedly installed at the other end of the transmission shaft 903.

[0073] A cleaning mechanism 10 is rotatably installed at the bottom of the base plate 15, the cleaning mechanism 10 comprises a cleaning shaft 1001, the cleaning shaft 1001 is rotatably installed at the bottom of the base plate 15, a fourth bevel gear 1002 is fixedly installed on the surface of the cleaning shaft 1001, the fourth bevel gear 1002 engages with the third bevel gear 905, a cleaning plate 1003 is fixedly installed on the surface of the cleaning shaft 1001, and a brush 1004 is arranged at the top of the cleaning plate 1003 and is installed in fit with the bottom of the two suction cups 502.

[0074] A fixing piece 13 is fixedly installed between the two support plates 4, a shooting assembly 14 is fixedly installed on one side of the two support plates 4, and a pressure sensor 12 is arranged on one side of the first clamping arm 705.

[0075] In actual use, the brush 1004 is fitted with the two suction cups 502, and the first clamping arm 705 and the second clamping arm 805 provide clamping force for the workpiece after completing workpiece positioning.

[0076] The working principle of the electrical automation industrial manipulator provided by the embodiment is as follows:

[0077] Firstly, the pressure sensor 12 detects during movement of the first clamping arm 705, and the first clamping arm 705 pushes a small-size workpiece to move towards the second clamping arm 805, so that the pressure sensor 12 realizes real-time monitoring and accurate regulation and control of clamping force of the small-size workpiece, protects fragile workpieces from damage caused by excessive force, ensures stable clamping and accurate positioning, and improves the adaptability to workpieces of different specifications.

[0078] Then, when the second connecting rod 804 preliminarily drives the second clamping arm 805 to position the rotation process of the workpiece, the second connecting rod 804 drives the meshing second bevel gear 904 to rotate through the first bevel gear 901, the second bevel gear 904 drives the third bevel gear 905 to rotate through the transmission shaft 903, the third bevel gear 905 drives the meshing fourth bevel gear 1002 to rotate, and the fourth bevel gear 1002 drives the cleaning shaft 1001 to rotate. At this time, the cleaning plate 1003 rotates to drive the brush 1004 to clean the oil stains and debris and other impurities at the bottom of the two suction cups 502, and then the suction cup 502 performs adsorption on the workpiece.

[0079] Finally, in the reset process, the suction cup 502 is reset first, and then the driving plate 603 moves upward. At this time, the first spring 701 and the second spring 801 drive the first connecting plate 702 and the second connecting plate 802 to rise, respectively. At this time, the brush 1004 cleans the impurities at the bottom of the suction cup 502 again and completes the reset.

[0080] By setting the fixing piece 13, the two support plates 4 are stabilized, and the mechanical hand structure 3 is adapted by identifying the workpiece posture through the shooting assembly 14.

[0081] Compared with the related art, the electric automation industrial mechanical hand provided by the embodiment has the following advantages

[0082] Beneficial effects:

[0083] By setting the pressure sensor 12, real-time monitoring and precise control of the clamping force of the small-size workpiece are realized, which can not only protect fragile workpieces from damage caused by excessive force, but also ensure stable clamping and accurate positioning, and at the same time, the adaptability of the equipment to workpieces of different specifications is improved. By setting the brush 1004, the cleaning of the suction cup 502 is completed synchronously during the workpiece positioning process, avoiding adsorption failure of the suction cup 502. The suction cup 502 is reset first to separate from the workpiece. The driving plate 603 moves upward. The first spring 701 and the second spring 801 release potential energy and rebound to drive the brush 1004 to clean the bottom of the suction cup 502 again. The residual impurities are removed by using mechanical energy without additional energy consumption. By setting the fixing piece 13, the vibration of the support plate 4 can be inhibited to stabilize the structure. By setting the shooting assembly 14, the workpiece posture is identified by machine vision.

[0084] The above description is only an embodiment of the present application, and does not limit the patent range of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields based on the content of the specification and drawings of the present application, are also included in the patent protection range of the present application.

Claims

1. An electrical automation industrial robot, characterized in that: include: Base motor; A base, the base being fixedly mounted on the top end of the output shaft of the base motor; A manipulator mechanism, the manipulator mechanism being fixedly mounted on one side of the base; Support plates, both of which are fixedly mounted on the surface of the manipulator mechanism; A base plate, the base plate being fixedly mounted on the bottom of the two support plates; Adsorption mechanism, two adsorption mechanisms are symmetrically fixedly installed on the top of the substrate, the adsorption mechanism includes a suction cup cylinder, the suction cup cylinder is fixedly installed on the top of the substrate, the output shaft of the suction cup cylinder passes through the bottom of the substrate and extends to the outside, the suction cup is fixedly installed on one end of the output shaft of the suction cup cylinder located at the bottom of the substrate, a vacuum generator is fixedly installed on one side of the suction cup through a fixing frame, and the output end of the vacuum generator is fixedly connected to the suction cup; A moving mechanism, wherein the moving mechanism is fixedly mounted on the bottom of the base plate; a first clamping mechanism, wherein the first clamping mechanism is fixedly mounted on one side of the moving mechanism; a second clamping mechanism, the second clamping mechanism being fixedly mounted on the top of the substrate; A driving mechanism is used to drive the first clamping mechanism and the second clamping mechanism to jointly clamp the workpiece.

2. An electrical automation industrial robot according to claim 1, characterized in that: The robot mechanism includes a first motor, the first motor is fixedly mounted on one side of the base, a first rotating shaft is rotatably mounted between the bases, one end of the first rotating shaft is fixedly connected to the output end of the first motor, two first arms are fixedly mounted on the surface of the first rotating shaft, four first connecting rods are fixedly mounted between the two first arms, a second motor is fixedly mounted on one side of one of the first arms, a second rotating shaft is rotatably mounted between the two first arms, one end of the second rotating shaft is fixedly connected to the output end of the second motor, two second arms are fixedly mounted on the surface of the second rotating shaft, four second connecting rods are fixedly mounted between the two second arms, a third motor is fixedly mounted on one side of one of the second arms, a third rotating shaft is rotatably mounted between the two second arms, and both support plates are fixedly mounted on the surface of the third rotating shaft.

3. The electrical automation industrial robot according to claim 1, characterized in that: The moving mechanism includes a moving cylinder, which is fixedly installed at the bottom of the base plate. The output end of the moving cylinder is fixedly connected to a moving frame, and the top of the moving frame is fixedly installed with a moving plate, which is slidably connected to the transverse groove opened in the base plate.

4. The electrical automation industrial robot according to claim 3, characterized in that: Two sliding bars are fixedly mounted on the bottom of the base plate, and the movable plate is slidably connected to the two sliding bars.

5. The electrical automation industrial robot according to claim 1, characterized in that: The driving mechanism is fixedly installed between the two support plates. The driving mechanism includes a fixed plate, which is fixedly installed between the two support plates. A driving cylinder is fixedly installed on the bottom of the fixed plate, and the output end of the driving cylinder is fixedly installed with the driving plate.

6. The electrical automation industrial robot according to claim 3, characterized in that: The first clamping mechanism includes a first bracket, two of the first brackets are fixedly installed on one side of the movable bracket, a first connecting rod is rotatably installed between the two first brackets, a first clamping arm is fixedly installed on the surface of the first connecting rod, a first connecting plate is fixedly installed on the top of the movable plate through a first spring, a first tooth plate is fixedly installed on the bottom of the first connecting plate, a first gear is fixedly installed on the surface of the first connecting rod, and the first tooth plate engages with the first gear.

7. The electrical automation industrial robot according to claim 6, characterized in that: The second clamping mechanism includes a second spring, the second spring is fixedly mounted on the top of the base plate, a second connecting plate is fixedly mounted on the top of the second spring, a second tooth plate is fixedly mounted on the bottom of the second connecting plate, two second brackets are symmetrically fixedly mounted on the bottom of the base plate, a second connecting rod is rotatably mounted between the two second brackets, a second clamping arm is fixedly mounted on the surface of the second connecting rod, a second gear is fixedly mounted on the surface of the second connecting rod, the second tooth plate engages with the second gear, a vertical groove is opened on one side of the two support plates, and the first connecting plate and the second connecting plate are slidably connected to the vertical groove.

8. The electrical automation industrial robot according to claim 7, characterized in that: A transmission mechanism is fixedly installed at the bottom of the base plate, and the transmission mechanism includes a transmission bracket and a first bevel gear. The transmission bracket is fixedly installed at the bottom of the base plate, and the first bevel gear is fixedly installed on the surface of the second connecting rod. A transmission shaft is rotatably installed inside the transmission bracket, and a second bevel gear is fixedly installed at one end of the transmission shaft, and the second bevel gear engages with the first bevel gear. A third bevel gear is fixedly installed at the other end of the transmission shaft.

9. The electrical automation industrial robot according to claim 8, characterized in that: A cleaning mechanism is rotatably mounted on the bottom of the substrate, and the cleaning mechanism includes a cleaning shaft, which is rotatably mounted on the bottom of the substrate, a fourth bevel gear is fixedly mounted on the surface of the cleaning shaft, and the fourth bevel gear engages with the third bevel gear, and a cleaning plate is fixedly mounted on the surface of the cleaning shaft, and a brush is provided on the top of the cleaning plate, and the brush is adapted to be mounted on the bottom of the two suction cups.

10. The electrical automation industrial robot according to claim 6, characterized in that: A fixing piece is fixedly installed between the two support plates, a shooting assembly is fixedly installed on one side of the two support plates, and a pressure sensor is provided on one side of the first clamping arm.

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