An industrial robot

Abstract

The invention discloses an industrial robot, belonging to the field of robots. In this scheme, a manufactured object is clamped by a mechanical claw, and the mechanical claw rotates following the rotation of an adjusting bearing. When current is led to a piezoelectric ceramic through a conductive wire, the piezoelectric ceramic expands upward rapidly through the limit of a flexible net after being energized. When the mechanical claw is closed, the variability is effectively reduced. A support platform is stuck between the mechanical claw and the manufactured object. Under the action of the electric field, a liquid-to-solid transition can occur in the anti-slip layer. When the anti-slip layer and the lower end of the mechanical claw are in contact with the clamped object, the contact area with the clamped object is increased, and the risk of the manufactured object falling off from the mechanical claw is effectively reduced. The repeated clamping movement of the mechanical claw causes one end of the extrusion block to squeeze the extrusion block in the mounting hole, and by squeezing the hollow extrusion capsule, lubricating grease is squeezed from the conduit to the rotation position of the mechanical claw through the hollow extrusion capsule, thereby reducing the wear of the mechanical claw.

Description

Technical Field

[0001] The present invention relates to the field of robots, and more particularly to an industrial robot. 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] The manipulator is a type of industrial robot. The manipulator is mainly composed of three parts: an actuator, a drive mechanism, and a control system. The hand is a component used to grasp the workpiece (or tool). There are various structural forms according to the shape, size, weight, material, and operation requirements of the grasped object, such as clamping type, holding type, and adsorption type. The motion mechanism enables the hand to complete various rotations (swings), movements, or compound movements to achieve the specified actions and change the position and posture of the grasped object. The independent movement modes of the motion mechanism, such as lifting, retracting, and rotating, are called the degrees of freedom of the manipulator. In order to grasp objects at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is the key parameter of the manipulator design. The more degrees of freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure. Generally, a special manipulator has 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motor of each degree of freedom of the manipulator, and receives information fed back by the sensor to form a stable closed-loop control. The core of the control system is usually composed of a microcontroller or a DSP or other microcontroller chip, and the desired function is achieved by programming it.

[0004] Currently, industrial robots cannot effectively combine the gripping, holding and adsorption types of manipulators, and cannot quickly perform further processing on manufactured objects, thereby reducing work efficiency. Therefore, an industrial robot is needed. Summary of the invention

[0005] 1. Technical problems to be solved

[0006] In view of the problems existing in the prior art, the purpose of the present invention is to provide an industrial robot. In this scheme, when the mechanical claws are closed to each other, the manufactured object is clamped. The mechanical claws rotate along with the rotation of the adjustment bearing. The angle of the manufactured object is adjusted by the clamping of the mechanical claws. When the current is led to the piezoelectric ceramic by the conductive wire, the piezoelectric ceramic expands upward rapidly through the limit of the flexible net after being energized. When the mechanical claws are closed, the variability is effectively reduced. The support table is stuck between the mechanical claws and the manufactured object. Under the action of the electric field, a liquid-to-solid transition can occur. When the electric field strength is much higher than the critical value of the electrorheological fluid, the electrorheological fluid becomes solid. When the anti-slip layer and the lower end of the mechanical claw are in contact with the clamped object, the contact area with the clamped object is increased, and the risk of the manufactured object falling off from the mechanical claw is effectively reduced. The repeated clamping movement of the mechanical claw causes one end of the extrusion block to squeeze the extrusion block in the mounting hole. By squeezing the hollow extrusion capsule, the lubricating grease is squeezed from the conduit to the rotation position of the mechanical claw through the hollow extrusion capsule, thereby reducing the wear of the mechanical claw.

[0007] 2. Technical solution

[0008] To solve the above problems, the present invention adopts the following technical solutions.

[0009] An industrial robot comprises a pair of preset slide rails, a fixed slide table is slidably connected between the pair of preset slide rails, the upper end of the fixed slide table is rotatably connected to a robot body, an end of the robot body away from the fixed slide table is fixedly connected to an adjusting bearing, one end of the adjusting bearing is fixedly connected to a connecting rod, the lower end of the connecting rod is fixedly connected to a clamping platform, a plurality of uniformly distributed mechanical claws are installed on the outer end of the clamping platform, a plurality of mechanical claws are fixedly connected to a variable holding platform, a plurality of uniformly distributed piezoelectric ceramics are arranged inside the variable holding platform, a plurality of piezoelectric ceramics are fixedly connected with conductive wires, a flexible net is arranged inside the variable holding platform, the flexible net is located on the lower side of the piezoelectric ceramics, and a plurality of mechanical claws are fixedly connected between the A morphology changing device is connected, and a plurality of evenly distributed connecting wires are fixedly connected between the morphology changing device and the deformable holding platform. A lubrication device is arranged inside the clamping platform. In industrial manufacturing, the manipulator of an industrial robot is used for carrying, and the manufactured object is clamped by the mutual closure of mechanical claws. The mechanical claws rotate with the rotation of the adjusting bearing, and the angle of the manufactured object is adjusted by the clamping of the mechanical claws. When current is caused to the piezoelectric ceramics, the piezoelectric ceramics expand upward rapidly through the limit of the flexible net after being energized. When the mechanical claws are closed, the deformable holding platform is effectively reduced from being stuck between the mechanical claws and the manufactured object. The morphology changing device is used to make the mechanical claws have a holding function, and the lubrication device is used to improve the lubrication of the mechanical claws when they rotate, thereby effectively reducing the wear of the mechanical claws.

[0010] Furthermore, the morphology changing device includes an anti-slip layer, which is located on the lower side of the deformable supporting platform. A supporting net is fixedly connected between the inner walls of the anti-slip layer. The interior of the anti-slip layer is filled with electrorheological fluid, which is located on the outer side of the supporting net. The electrorheological fluid is a suspension under normal conditions and can transform from liquid to solid under the action of an electric field. When the electric field strength is much higher than the critical value of the electrorheological fluid, the electrorheological fluid becomes solid. When the anti-slip layer and the lower end of the mechanical claw are in contact with the clamped object, the contact area with the clamped object is increased, effectively reducing the risk of the manufactured object falling off the mechanical claw.

[0011] Furthermore, the lubrication device includes a hollow extrusion bag, which is located inside the clamping table, and the interior of the clamping table is filled with lubricating grease, and the lubricating grease is located on the outside of the hollow extrusion bag. A conduit is installed inside the mechanical claw, and the conduit is communicated with the interior of the clamping table. A guide fiber is installed inside the conduit. A mounting hole is drilled on the inner wall of the clamping table, and an extrusion block is provided inside the mounting hole. The lower end of the mechanical claw is fixedly connected to a C-shaped rod, and the end of the extrusion block away from the mechanical claw corresponds to the C-shaped rod. When the mechanical claw clamps the manufactured object, the repeated clamping movement of the mechanical claw causes one end of the extrusion block to squeeze the inside of the mounting hole, and by squeezing the hollow extrusion bag, the lubricating grease is squeezed from the conduit to the rotating position of the mechanical claw through the hollow extrusion bag, thereby reducing the wear of the mechanical claw.

[0012] Furthermore, the outer end of the guide fiber is fixedly connected to a plurality of evenly distributed extension fibers, and the end of the extension fiber away from the guide fiber is fixedly connected to an adsorption ball, and the outer end of the adsorption ball is coated with an oleophilic layer. When the lubricating grease passes through the catheter, the friction of the lubricating grease in the catheter is increased by the guide fiber, and it is not easy to leak from the catheter. When the mechanical claw is in a supporting state, the lubricating grease in the catheter is adsorbed by the adsorption ball, and the excessive discharge of the lubricating grease is reduced, thereby increasing the service life of the lubricating grease.

[0013] Furthermore, the lower ends of the plurality of said variable holding platforms are fixedly connected with electromagnetic adsorption coils, and the outer ends of said electromagnetic adsorption coils are fixedly connected with latex layers, so as to increase the contact area between the electromagnetic adsorption coils and the manufactured object and improve the adsorption effect of the mechanical claws.

[0014] Furthermore, the fixed slide and the robot body are both made of hot-formed steel technology, and the outer ends of the fixed slide and the robot body are coated with a hydrophobic layer, so that the fixed slide and the robot body have higher strength, improve the use efficiency of the fixed slide and the robot body, and dust in the workshop is not easy to adhere to their surface.

[0015] Furthermore, the deformable supporting platform is made of high-toughness and high-temperature resistant rubber, and the inner wall of the deformable supporting platform is filled with plastic ions, so that when the deformable supporting platform is in a supporting state, the toughness of the deformable supporting platform is improved, the stability of the deformable supporting platform in supporting the manufactured object is improved, and it is not easy to break.

[0016] Furthermore, the mechanical claw adopts a multi-stage structure, and a plurality of suction cups are fixedly connected to the lower end wall of the mechanical claw, so as to facilitate clamping of irregular manufactured objects. The suction cups improve the adsorption effect of the mechanical claw and reduce the probability of the manufactured object falling out of the mechanical claw.

[0017] An industrial robot, the use method of which comprises the following steps:

[0018] S1. When the mechanical claws are closed to each other, the manufactured object is clamped, and the mechanical claws rotate along with the rotation of the adjustment bearing, and the angle of the manufactured object is adjusted by the clamping of the mechanical claws;

[0019] S2. When the current is led to the piezoelectric ceramic through the conductive wire, the piezoelectric ceramic expands upward rapidly through the limit of the flexible net after being energized, and the variability of the support table is effectively reduced when the mechanical claw is closed.

[0020] S3. Under the action of electric field, the transformation from liquid to solid can occur. When the electric field strength is much higher than the critical value of the electrorheological fluid, the electrorheological fluid becomes solid. When the anti-slip layer and the lower end of the mechanical claw come into contact with the clamped object, the contact area with the clamped object is increased.

[0021] S4. The repeated clamping movement of the mechanical claw causes one end of the extrusion block to squeeze the C-shaped rod in the mounting hole, and by squeezing the hollow extrusion bag, the lubricating grease is squeezed from the conduit to the rotating position of the mechanical claw through the hollow extrusion bag, thereby reducing the wear of the mechanical claw.

[0022] 3. Beneficial effects

[0023] Compared with the prior art, the advantages of the present invention are:

[0024] (1) This solution clamps the product when the mechanical claws are closed to each other. The mechanical claws rotate along with the rotation of the adjustment bearing. The angle of the product is adjusted by the clamping of the mechanical claws. When the current is induced to the piezoelectric ceramics through the conductive wire, the piezoelectric ceramics expand upward rapidly through the limit of the flexible net after being energized. When the mechanical claws are closed, the variability is effectively reduced. The support table is stuck between the mechanical claws and the product. Under the action of the electric field, a transformation from liquid to solid can occur. When the electric field strength is much higher than the critical value of the electrorheological fluid, the electrorheological fluid becomes solid. When the anti-slip layer and the lower end of the mechanical claw are in contact with the clamped object, the contact area with the clamped object is increased, effectively reducing the risk of the product falling off the mechanical claw. The repeated clamping movement of the mechanical claw causes one end of the extrusion block to squeeze the extrusion block in the mounting hole. By squeezing the hollow extrusion capsule, the lubricating grease is squeezed from the conduit to the rotation position of the mechanical claw through the hollow extrusion capsule, thereby reducing the wear of the mechanical claw.

[0025] (2) The morphology changing device includes an anti-slip layer, which is located on the lower side of the deformable holding platform. A support net is fixedly connected between the inner walls of the anti-slip layer. The interior of the anti-slip layer is filled with an electrorheological fluid, which is located on the outer side of the support net. The electrorheological fluid is a suspension under normal conditions and can transform from liquid to solid under the action of an electric field. When the electric field strength is much higher than the critical value of the electrorheological fluid, the electrorheological fluid becomes solid. When the anti-slip layer and the lower end of the mechanical claw are in contact with the clamped object, the contact area with the clamped object is increased, thereby effectively reducing the risk of the manufactured object falling out of the mechanical claw.

[0026] (3) The lubricating device includes a hollow extrusion bag, which is located inside the clamping table. The interior of the clamping table is filled with lubricating grease, which is located on the outside of the hollow extrusion bag. A conduit is installed inside the mechanical claw, which is communicated with the interior of the clamping table. A guide fiber is installed inside the conduit. A mounting hole is drilled on the inner wall of the clamping table. An extrusion block is provided inside the mounting hole. The lower end of the mechanical claw is fixedly connected with an end of the extrusion block away from the mechanical claw, which corresponds to the end of the extrusion block. When the mechanical claw clamps the product, the repeated clamping movement of the mechanical claw causes one end of the extrusion block to squeeze the inside of the mounting hole, thereby squeezing the hollow extrusion bag and squeezing the lubricating grease from the conduit to the rotating position of the mechanical claw through the hollow extrusion bag, thereby reducing the wear of the mechanical claw.

[0027] (4) The outer end of the guide fiber is fixedly connected to a plurality of evenly distributed extension fibers, and the end of the extension fiber away from the guide fiber is fixedly connected to an adsorption ball. The outer end of the adsorption ball is coated with an oil-philic layer. When the lubricating grease passes through the catheter, the friction of the lubricating grease in the catheter is increased by the guide fiber, and it is not easy to leak from the catheter. When the mechanical claw is in a holding state, the lubricating grease in the catheter is adsorbed by the adsorption ball, which reduces the excessive discharge of the lubricating grease, thereby increasing the service life of the lubricating grease.

[0028] (5) The lower ends of the multiple variable holding platforms are fixedly connected to electromagnetic adsorption coils, and the outer ends of the electromagnetic adsorption coils are fixedly connected to latex layers, thereby increasing the contact area between the electromagnetic adsorption coils and the manufactured object and improving the adsorption effect of the mechanical claws.

[0029] (6) Both the fixed slide and the robot body are made of hot-formed steel. The outer ends of the fixed slide and the robot body are coated with a hydrophobic layer, which makes the fixed slide and the robot body have higher strength, improves the use efficiency of the fixed slide and the robot body, and prevents dust in the workshop from adhering to their surfaces.

[0030] (7) The deformable holding platform is made of high-toughness and high-temperature resistant rubber, and the inner wall of the deformable holding platform is filled with plastic ions, so that when the deformable holding platform is in a supporting state, the toughness of the deformable holding platform is improved, the stability of the deformable holding platform in supporting the manufactured object is improved, and it is not easy to break.

[0031] (8) The mechanical claw adopts a multi-stage structure, and a plurality of suction cups are fixedly connected to the lower end wall of the mechanical claw, which is convenient for clamping irregular manufactured objects. The suction cups improve the adsorption effect of the mechanical claw and reduce the probability of the manufactured object falling out of the mechanical claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0033] Figure 2 It is a schematic diagram of the top view of the mechanical claw of the present invention;

[0034] Figure 3 It is a schematic diagram of the cross-sectional structure of the deformable supporting platform of the present invention;

[0035] Figure 4 for Figure 3 The enlarged structural diagram at A in the middle;

[0036] Figure 5 It is a schematic diagram of the cross-sectional structure of the clamping platform of the present invention from top view;

[0037] Figure 6 It is a schematic diagram of the front cross-sectional structure of the clamping table of the present invention;

[0038] Figure 7 It is a schematic diagram of the front view structure of the guide limiter of the present invention.

[0039] Description of the numbers in the figure:

[0040] 1 preset slide rail, 2 fixed slide table, 3 robot body, 4 adjustment bearing, 5 connecting rod, 6 clamping table, 7 mechanical claw, 8 variable holding table, 9 electromagnetic adsorption coil, 10 piezoelectric ceramics, 1001 conductive wire, 11 flexible net, 12 anti-slip layer, 1201 connecting wire, 13 electrorheological fluid, 14 support net, 15 lubricating grease, 16 guide fiber, 17 hollow extrusion capsule, 18 extrusion block, 1801 C-shaped rod, 19 extension fiber, 20 adsorption ball. DETAILED DESCRIPTION

[0041] The following will combine the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all the embodiments. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] Embodiment 1:

[0045] See also Figure 1-3, an industrial robot, comprising a pair of preset slide rails 1, a fixed slide table 2 is slidably connected between the pair of preset slide rails 1, a robot body 3 is rotatably connected to the upper end of the fixed slide table 2, an end of the robot body 3 away from the fixed slide table 2 is fixedly connected to an adjusting bearing 4, one end of the adjusting bearing 4 is fixedly connected to a connecting rod 5, a lower end of the connecting rod 5 is fixedly connected to a clamping platform 6, a plurality of uniformly distributed mechanical claws 7 are installed on the outer end of the clamping platform 6, a deformable supporting platform 8 is fixedly connected between the plurality of mechanical claws 7, a plurality of uniformly distributed piezoelectric ceramics 10 are arranged inside the deformable supporting platform 8, a conductive wire 1001 is fixedly connected between the plurality of piezoelectric ceramics 10, a flexible net 11 is arranged inside the deformable supporting platform 8, and the flexible net 11 is located on the lower side of the piezoelectric ceramics 10, a shape changing device is fixedly connected between the plurality of mechanical claws 7, a plurality of uniformly distributed connecting wires 1201 are fixedly connected between the shape changing device and the deformable supporting platform 8, and a lubrication device is arranged inside the clamping platform 6.

[0046] See also Figure 4 The morphology changing device includes an anti-skid layer 12, which is located on the lower side of the deformable supporting platform 8. A supporting net 14 is fixedly connected between the inner walls of the anti-skid layer 12. The interior of the anti-skid layer 12 is filled with an electrorheological fluid 13, which is located on the outer side of the supporting net 14. The electrorheological fluid 13 is a suspension under normal conditions and can be transformed from liquid to solid under the action of an electric field. When the electric field intensity is much higher than the critical value of the electrorheological fluid 13, the electrorheological fluid 13 becomes solid. When the anti-skid layer 12 and the lower end of the mechanical claw 7 are in contact with the clamped object, the contact area with the clamped object is increased, effectively reducing the risk of the manufactured object falling off from the mechanical claw 7.

[0047] See also Figure 5-6 The lubricating device includes a hollow extrusion capsule 17, which is located inside the clamping platform 6. The interior of the clamping platform 6 is filled with lubricating grease 15, and the lubricating grease 15 is located on the outside of the hollow extrusion capsule 17. A conduit is installed inside the mechanical claw 7, and the conduit is communicated with the interior of the clamping platform 6. A guide fiber 16 is installed inside the conduit. A mounting hole is drilled on the inner wall of the clamping platform 6, and an extrusion block 18 is provided inside the mounting hole. A C-shaped rod 1801 is fixedly connected to the lower end of the mechanical claw 7, and one end of the extrusion block 18 away from the mechanical claw 7 corresponds to 1801. When the mechanical claw 7 clamps the manufactured object, the repeated clamping movement of the mechanical claw 7 causes one end of the extrusion block 18 to squeeze 1801 in the mounting hole, and the hollow extrusion capsule 17 is squeezed by 1801, and the lubricating grease 15 is squeezed from the conduit to the rotating position of the mechanical claw 7 through the hollow extrusion capsule 17, thereby reducing the wear of the mechanical claw 7.

[0048] See also Figure 7The outer end of the guide fiber 16 is fixedly connected to a plurality of evenly distributed extension fibers 19, and the end of the extension fiber 19 away from the guide fiber 16 is fixedly connected to an adsorption ball 20, and the outer end of the adsorption ball 20 is coated with an oleophilic layer. When the lubricating grease 15 passes through the catheter, the friction of the lubricating grease 15 in the catheter is increased by the guide fiber 16, and it is not easy to leak from the catheter. When the mechanical claw 7 is in a supporting state, the lubricating grease 15 in the catheter is adsorbed by the adsorption ball 20, which reduces the excessive discharge of the lubricating grease 15, thereby increasing the service life of the lubricating grease 15.

[0049] See also Figure 1-2 The lower ends of multiple variable supporting platforms 8 are fixedly connected with electromagnetic adsorption coils 9, and the outer ends of the electromagnetic adsorption coils 9 are fixedly connected with latex layers to increase the contact area between the electromagnetic adsorption coils 9 and the manufactured object and improve the adsorption effect of the mechanical claw 7. The fixed slide 2 and the robot body 3 are both made of hot-formed steel technology. The outer ends of the fixed slide 2 and the robot body 3 are coated with a hydrophobic layer, which makes the fixed slide 2 and the robot body 3 have higher strength, improves the use efficiency of the fixed slide 2 and the robot body 3, and the dust in the workshop is not easy to adhere to their surfaces.

[0050] See also Figure 1-2 The deformable supporting platform 8 is made of high-toughness and high-temperature resistant rubber, and the inner wall of the deformable supporting platform 8 is filled with plastic ions, so that when the deformable supporting platform 8 is in a supporting state, the toughness of the deformable supporting platform 8 is improved, the stability of the deformable supporting platform 8 in supporting the product is improved, and it is not easy to break. The mechanical claw 7 adopts a multi-stage structure, and the lower end wall of the mechanical claw 7 is fixedly connected with a plurality of suction cups, which is convenient for clamping irregular products. The suction cups improve the adsorption effect of the mechanical claw 7 and reduce the probability of the product falling off from the mechanical claw 7.

[0051] An industrial robot, the use method of which comprises the following steps:

[0052] S1. When the mechanical claws 7 are closed to each other, the manufactured object is clamped, and the mechanical claws 7 rotate along with the rotation of the adjustment bearing 4, and the angle of the manufactured object is adjusted by the clamping of the mechanical claws 7;

[0053] S2. When the current is induced to the piezoelectric ceramic 10 through the conductive wire 1001, the piezoelectric ceramic 10 expands upward rapidly through the limit of the flexible net 11 after being energized, and the variability of the holding platform 8 is effectively reduced when the mechanical claw 7 is closed, and the holding platform 8 is stuck between the mechanical claw 7 and the product;

[0054] S3. Under the action of the electric field, the liquid-to-solid transition can occur. When the electric field strength is much higher than the critical value of the electrorheological fluid 13, the electrorheological fluid 13 becomes solid. When the anti-slip layer 12 and the lower end of the mechanical claw 7 are in contact with the clamped object, the contact area with the clamped object is increased.

[0055] S4. The repeated clamping movement of the mechanical claw 7 causes one end of the extrusion block 18 to squeeze 1801 in the mounting hole, and the hollow extrusion bag 17 is squeezed through 1801. The lubricating grease 15 is squeezed from the conduit to the rotating position of the mechanical claw 7 through the hollow extrusion bag 17, thereby reducing the wear of the mechanical claw 7.

[0056] In this solution, when the mechanical claws 7 are closed to each other, the manufactured object is clamped. The mechanical claws 7 rotate along with the rotation of the adjusting bearing 4. The angle of the manufactured object is adjusted by the clamping of the mechanical claws 7. When the current is led to the piezoelectric ceramic 10 through the conductive wire 1001, the piezoelectric ceramic 10 expands upward rapidly through the limit of the flexible net 11 after being energized. When the mechanical claws 7 are closed, the variability is effectively reduced. The supporting platform 8 is stuck between the mechanical claws 7 and the manufactured object. Under the action of the electric field, the liquid can be transformed into a solid. The electric field strength is much higher than that of the electric field. When the critical value of the rheological fluid 13 is reached, the electrorheological fluid 13 becomes solid. When the anti-slip layer 12 and the lower end of the mechanical claw 7 are in contact with the clamped object, the contact area with the clamped object is increased, effectively reducing the risk of the manufactured object falling off from the mechanical claw 7. The repeated clamping movement of the mechanical claw 7 causes one end of the extrusion block 18 to squeeze 1801 in the mounting hole, and the hollow extrusion capsule 17 is squeezed through 1801. The lubricating grease 15 is squeezed from the conduit to the rotating position of the mechanical claw 7 through the hollow extrusion capsule 17, thereby reducing the wear of the mechanical claw 7.

[0057] The above is only a preferred specific implementation manner of the present invention; but the protection scope of the present invention is not limited thereto; any technician familiar with the technical field within the technical scope disclosed by the present invention; any equivalent replacement or change based on the technical solution and improved concept of the present invention shall be covered by the protection scope of the present invention.

Claims

1. An industrial robot comprising a pair of preset slide rails (1), characterized in that: A fixed slide (2) is slidably connected between a pair of preset slide rails (1); the upper end of the fixed slide (2) is rotatably connected to a robot body (3); one end of the robot body (3) away from the fixed slide (2) is fixedly connected to an adjustment bearing (4); one end of the adjustment bearing (4) is fixedly connected to a connecting rod (5); the lower end of the connecting rod (5) is fixedly connected to a clamping platform (6); a plurality of uniformly distributed mechanical claws (7) are installed at the outer end of the clamping platform (6); a variable supporting platform (8) is fixedly connected between the plurality of mechanical claws (7); A plurality of evenly distributed piezoelectric ceramics (10) are provided inside the deformable holding platform (8), and conductive wires (1001) are fixedly connected between the plurality of piezoelectric ceramics (10). A flexible net (11) is provided inside the deformable holding platform (8), and the flexible net (11) is located on the lower side of the piezoelectric ceramics (10). A morphological change device is fixedly connected between the plurality of mechanical claws (7), and a plurality of evenly distributed connecting wires (1201) are fixedly connected between the morphological change device and the deformable holding platform (8). A lubrication device is provided inside the clamping platform (6); The morphology changing device comprises an anti-slip layer (12), the anti-slip layer (12) being located on the lower side of the deformable supporting platform (8), a support net (14) being fixedly connected between the inner walls of the anti-slip layer (12), the interior of the anti-slip layer (12) being filled with an electrorheological fluid (13), and the electrorheological fluid (13) being located on the outer side of the support net (14); The lubricating device comprises a hollow extrusion capsule (17), the hollow extrusion capsule (17) being located inside the clamping platform (6), the interior of the clamping platform (6) being filled with lubricating grease (15), the lubricating grease (15) being located outside the hollow extrusion capsule (17), the interior of the mechanical claw (7) being provided with a conduit, the conduit being communicated with the interior of the clamping platform (6), the interior of the conduit being provided with a guide fiber (16), the inner wall of the clamping platform (6) being provided with a mounting hole, the interior of the mounting hole being provided with an extrusion block (18), the lower end of the mechanical claw (7) being fixedly connected with a C-shaped rod (1801), the end of the extrusion block (18) away from the mechanical claw (7) corresponding to the C-shaped rod (1801); The outer end of the guide fiber (16) is fixedly connected to a plurality of evenly distributed extension fibers (19), one end of the extension fiber (19) away from the guide fiber (16) is fixedly connected to an adsorption ball (20), and the outer end of the adsorption ball (20) is coated with an oleophilic layer; The lower ends of the plurality of deformable supporting platforms (8) are all fixedly connected to an electromagnetic adsorption coil (9), and the outer ends of the electromagnetic adsorption coils (9) are fixedly connected to a latex layer; The mechanical claw (7) adopts a multi-stage structure, and a plurality of suction cups are fixedly connected to the lower end wall of the mechanical claw (7).

2. An industrial robot according to claim 1, characterized in that: The fixed slide (2) and the robot body (3) are both made of hot-formed steel, and the outer ends of the fixed slide (2) and the robot body (3) are both coated with a hydrophobic layer, so that the fixed slide (2) and the robot body (3) have relatively high strength.

3. An industrial robot according to claim 1, characterized in that: The deformable supporting platform (8) is made of high-toughness, high-temperature-resistant rubber, and the inner wall of the deformable supporting platform (8) is filled with plastic ions.

4. An industrial robot according to any one of claims 1 to 3, characterized in that: The method of use includes the following steps: S1. When the mechanical claws (7) are closed to each other, the manufactured object is clamped, and the mechanical claws (7) rotate along with the rotation of the adjustment bearing (4), and the angle of the manufactured object is adjusted by the clamping of the mechanical claws (7); S2, when current is induced to the piezoelectric ceramic (10) through the conductive wire (1001), the piezoelectric ceramic (10) expands upward rapidly through the limit of the flexible net (11) after being energized, and when the mechanical claw (7) is closed, the variability of the support platform (8) is effectively reduced and stuck between the mechanical claw (7) and the manufactured object; S3. Under the action of an electric field, a transformation from liquid to solid can occur. When the electric field strength is much higher than the critical value of the electrorheological fluid (13), the electrorheological fluid (13) becomes solid. When the anti-slip layer (12) and the lower end of the mechanical claw (7) are in contact with the clamped object, the contact area with the clamped object is increased. S4. The repeated clamping movement of the mechanical claw (7) causes one end of the extrusion block (18) to squeeze the C-shaped rod (1801) in the mounting hole, and the hollow extrusion bag (17) is squeezed through the C-shaped rod (1801). The lubricating grease (15) is squeezed from the conduit to the rotation position of the mechanical claw (7) through the hollow extrusion bag (17), thereby reducing the wear of the mechanical claw (7).

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