A multi-axis CNC robot for industrial production

Abstract

The present invention relates to the field of multi-axis numerical control technology, specifically a multi-axis numerical control robot for industrial production, comprising a base, a mechanical arm fixedly mounted on the base, a mechanical claw, the mechanical claw fixedly mounted on the mechanical arm, an adjusting device for adjusting the size of the mechanical claw provided on the mechanical claw, the mechanical claw comprising a mounting plate and an outer cover fixedly mounted on the mounting plate, the adjusting device comprising a slider, the slider slidably mounted on the mounting plate, the sliders are all fixedly mounted with adjusting screws, the outer cover is fixedly mounted with three adjusting motors, and the output ends of the three adjusting motors are respectively fixedly connected to the three adjusting screws. The present invention provides a mechanical claw with an adjusting device, and when grasping objects of different sizes, the size of the mechanical claw can be adjusted by the adjusting device, thereby solving the problem that when a multi-axis mechanical device grasps objects of different sizes and with an increased range width, a specific mechanical claw needs to be replaced in order to grasp objects of different sizes.

Description

Technical Field

[0001] The invention relates to the technical field of multi-axis numerical control, in particular to a multi-axis numerical control robot for industrial production. Background Art

[0002] Multi-axis mechanical equipment is a high-tech automated production equipment developed in recent decades. At present, multi-axis mechanical equipment is used in many fields, and the most common one is the multi-axis manipulator. Multi-axis manipulators are often used in welding, handling and other fields. When carrying objects, objects of different sizes and shapes need to be installed with specific mechanical claws. Although some mechanical claws can also grasp objects of different sizes, when grasping larger or smaller objects, due to the limited grasping range of the mechanical claws, it is necessary to replace the larger mechanical claws or smaller mechanical claws to grasp the objects, resulting in poor use of multi-axis manipulators.

[0003] Therefore, a multi-axis CNC robot for industrial production is proposed. Summary of the invention

[0004] The object of the present invention is to provide a multi-axis CNC robot for industrial production, which can solve the problems raised in the above-mentioned background technology by providing a mechanical claw with an adjustment device, and the size of the mechanical claw can be adjusted by the adjustment device.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A multi-axis CNC robot for industrial production, comprising:

[0007] Base;

[0008] A mechanical arm, wherein the mechanical arm is fixedly mounted on the base;

[0009] A mechanical claw, wherein the mechanical claw is fixedly mounted on the mechanical arm;

[0010] An adjusting device is provided on the mechanical claw for adjusting the size of the mechanical claw.

[0011] Preferably, the mechanical claw includes a mounting plate and an outer cover fixedly mounted on the mounting plate, the adjusting device includes three sliders, the three sliders are slidably mounted on the mounting plate, the three sliders are fixedly mounted with adjusting screws, three adjusting motors are fixedly mounted on the outer cover, the output ends of the three adjusting motors are respectively fixedly connected to the three adjusting screws, and a gripping module is provided on the slider.

[0012] Preferably, according to the multi-axis CNC robot for industrial production described in the claim, it is characterized in that: the grabbing module includes a grabbing motor fixedly mounted on a slider, a motor shaft is rotatably mounted on the slider, the motor shaft is fixedly connected to the output end of the grabbing motor, a No. 1 sprocket is fixedly mounted on one end of the motor shaft away from the grabbing motor, and a cross bar is fixedly mounted on the slider below the motor shaft;

[0013] A No. 1 connecting rod, the upper end of which is connected to the cross bar, a No. 1 rotating shaft is rotatably mounted on the lower end of the No. 1 connecting rod, a No. 2 sprocket is fixedly mounted on one end of the No. 1 rotating shaft away from the No. 1 connecting rod, and a No. 2 connecting rod is fixedly mounted on the other end, and a No. 3 sprocket is fixedly mounted on the middle of the No. 1 rotating shaft;

[0014] A No. 2 rotating shaft is rotatably mounted on the No. 2 connecting rod, a No. 5 sprocket is fixedly mounted on one end of the No. 2 rotating shaft away from the No. 2 connecting rod, a No. 3 connecting rod is fixedly mounted on the other end, and a No. 4 sprocket is fixedly mounted on the middle of the No. 2 rotating shaft;

[0015] A No. 3 rotating shaft is rotatably mounted on the No. 3 connecting rod, a No. 6 sprocket is fixedly mounted on one end of the No. 3 rotating shaft away from the No. 3 connecting rod, a No. 4 connecting rod is fixedly mounted on the other end, and a No. 7 sprocket is fixedly mounted on the middle of the No. 3 rotating shaft;

[0016] A No. 4 rotating shaft is rotatably mounted on the No. 4 connecting rod, a No. 9 sprocket is fixedly mounted on one end of the No. 4 rotating shaft away from the No. 4 connecting rod, a No. 5 connecting rod is fixedly mounted on the other end, and a No. 8 sprocket is fixedly mounted in the middle of the No. 4 rotating shaft;

[0017] A No. 5 rotating shaft is rotatably mounted on the No. 5 connecting rod, a No. 10 sprocket is fixedly mounted on one end of the No. 5 rotating shaft away from the No. 5 connecting rod, a No. 6 connecting rod is fixedly mounted on the other end, and a No. 11 sprocket is fixedly mounted in the middle of the No. 5 rotating shaft;

[0018] A No. 6 rotating shaft is rotatably mounted on the No. 6 connecting rod, a No. 7 connecting rod is fixedly mounted on one end of the No. 6 rotating shaft close to the No. 6 connecting rod, and a No. 12 sprocket is fixedly mounted on the middle of the No. 6 rotating shaft;

[0019] The first sprocket is connected to the second sprocket by a chain, the third sprocket is connected to the fourth sprocket by a chain, the fifth sprocket is connected to the sixth sprocket by a chain, the seventh sprocket is connected to the eighth sprocket by a chain, the ninth sprocket is connected to the tenth sprocket by a chain, and the eleventh sprocket is connected to the twelve sprocket by a chain;

[0020] The diameter of the first sprocket is larger than that of the second sprocket, the diameter of the third sprocket is larger than that of the fourth sprocket, the diameter of the fifth sprocket is larger than that of the sixth sprocket, the diameter of the seventh sprocket is larger than that of the eighth sprocket, the diameter of the ninth sprocket is larger than that of the tenth sprocket, and the diameter of the eleventh sprocket is larger than that of the twelfth sprocket.

[0021] Preferably, the grabbing module is provided with a No. 1 shell, a No. 2 shell, a No. 3 shell, a No. 4 shell, a No. 5 shell, and a No. 6 shell; both ends of the No. 1 rotating shaft are rotatably connected to the No. 1 shell, both ends of the No. 2 rotating shaft are rotatably connected to the No. 2 shell, both ends of the No. 3 rotating shaft are rotatably connected to the No. 3 shell, both ends of the No. 4 rotating shaft are rotatably connected to the No. 4 shell, both ends of the No. 5 rotating shaft are rotatably connected to the No. 5 shell, both ends of the No. 6 rotating shaft are rotatably connected to the No. 6 shell, the No. 1 shell is hinged to the No. 2 shell, the No. 2 shell is hinged to the No. 3 shell, the No. 3 shell is hinged to the No. 4 shell, and the No. 5 shell is hinged to the No. 6 shell.

[0022] Preferably, a No. 1 tooth is provided at the end of the motor shaft away from the grabbing motor, a fixing plate is fixedly mounted on the slider, a cylinder is fixedly mounted on the fixing plate on the side close to the slider, a No. 2 tooth cooperates with the No. 1 tooth at the output end of the cylinder, and a connecting component is installed on the cylinder to assist the No. 1 tooth and the No. 2 tooth in stabilizing the connection.

[0023] Preferably, the connecting assembly comprises a one-way bearing, an inner ring of the one-way bearing is fixedly connected to the output end of the cylinder, and an outer ring of the one-way bearing is fixedly connected to the second gear.

[0024] Preferably, the No. 7 connecting rod is provided with a suction plate, and a plurality of suction cups are fixedly mounted on the suction plate.

[0025] Preferably, the suction plate is rotatably mounted on the seventh connecting rod, and a spring is connected between the suction plate and the seventh connecting rod.

[0026] Preferably, a rubber pad is fixedly mounted on the suction plate.

[0027] Preferably, a torque sensor is provided on the motor shaft, and the torque sensor is electrically connected to the grabbing motor, the suction cup, and the cylinder.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The present invention provides a mechanical claw with an adjustment device. When grasping objects of different sizes, the size of the mechanical claw can be adjusted through the adjustment device, thereby solving the problem that when a multi-axis mechanical device grasps objects of different sizes and with an increased range width, it is necessary to replace a specific mechanical claw to grasp objects of different sizes.

[0030] 2. The present invention provides a locking device. Since the gripping motor provides the gripping force for the mechanical claw when it grips an object, and the gripping motor rotates when it grips a heavy object, the motor shaft is locked by the locking device when the mechanical claw grips the object to prevent the gripping motor from rotating, thereby solving the problem of the mechanical claw loosening due to the loosening of the gripping motor when the mechanical claw grips a heavier object.

[0031] 3. The present invention provides a rotating suction plate with a suction cup on the connecting rod. When the mechanical claw grasps an object, the suction cup on the suction plate can suck the object, thereby solving the problem of insufficient grasping force of the mechanical claw when grasping an object. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0033] Figure 2 This is a schematic diagram of the structure of the mechanical claw of the present invention;

[0034] Figure 3 For the present invention Figure 2 A partial enlarged view of the middle part;

[0035] Figure 4 For the present invention Figure 3 A partial enlarged view of point B in the middle;

[0036] Figure 5 For the present invention Figure 2 A partial enlarged view of point C in the middle.

[0037] In the figure: 1. base; 2. robot arm; 3. torque sensor; 4. mounting plate; 5. outer cover; 6. slider; 7. grab motor; 8. motor shaft; 9. No. 6 housing; 10. No. 1 sprocket; 11. No. 2 sprocket; 12. No. 3 sprocket; 13. No. 4 sprocket; 14. No. 5 sprocket; 15. No. 6 sprocket; 16. No. 7 sprocket; 17. No. 8 sprocket; 18. No. 9 sprocket; 19. No. 10 sprocket; 20. No. 11 sprocket; 21. No. 12 sprocket; 22. adjusting screw; 23. adjusting motor; 24. No. 1 connecting rod; 25. No. 2 connecting rod; 26. No. 3 Connecting rod; 27, connecting rod No. 4; 28, connecting rod No. 5; 29, connecting rod No. 6; 30, connecting rod No. 7; 31, rotating shaft No. 1; 32, rotating shaft No. 2; 33, rotating shaft No. 3; 34, rotating shaft No. 4; 35, rotating shaft No. 5; 36, rotating shaft No. 6; 37, latch gear No. 1; 38, latch gear No. 2; 39, cylinder; 40, one-way bearing; 41, suction plate; 42, suction cup; 43, spring; 44, rubber pad; 45, fixing plate; 46, cross bar; 47, outer shell No. 1; 48, outer shell No. 2; 49, outer shell No. 3; 50, outer shell No. 4; 51, outer shell No. 5. DETAILED DESCRIPTION

[0038] The following will be combined with 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 of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0040] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it 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 connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] See also Figures 1 to 5 The present invention provides a multi-axis CNC robot for industrial production, and the technical solution is as follows:

[0042] A multi-axis CNC robot for industrial production, comprising:

[0043] Base 1;

[0044] A mechanical arm 2, wherein the mechanical arm 2 is fixedly mounted on the base 1;

[0045] A mechanical claw, which is fixedly mounted on the mechanical arm 2;

[0046] An adjusting device is provided on the mechanical claw for adjusting the size of the mechanical claw.

[0047] When in use, the mechanical arm 2 fixedly mounted on the base 1 drives the mechanical claw to move to the location of the object, and the object is grasped by the mechanical claw. During the grasping process, when grasping larger objects or smaller objects, the grasping range of the mechanical claw is adjusted by the adjustment device, and larger objects or smaller objects can be grasped without replacing the specific mechanical claw.

[0048] As an embodiment of the present invention, refer to Figure 2 The mechanical claw includes a mounting plate 4 and an outer cover 5 fixedly installed on the mounting plate 4. The adjusting device includes three sliders 6. The three sliders 6 are slidably installed on the mounting plate 4. The three sliders 6 are fixedly installed with adjusting screws 22. Three adjusting motors 23 are fixedly installed on the outer cover 5. The output ends of the three adjusting motors 23 are respectively fixedly connected to the three adjusting screws 22. A grabbing module is provided on the slider 6.

[0049] The adjusting motor 23 rotates, and the slider 6 is driven to slide by the adjusting screw 22, so that the mechanical claw can be enlarged or reduced, and the grasping range of the mechanical claw can be adjusted. When objects of different sizes are grasped by the grasping module on the slider 6, the grasping range of the mechanical claw can be adjusted when a mechanical claw grasps larger or smaller objects, without replacing the mechanical claw.

[0050] As an embodiment of the present invention, refer to Figure 5 The grabbing module includes a grabbing motor 7 fixedly mounted on a slider 6, a motor shaft 8 is rotatably mounted on the slider 6, the motor shaft 8 is fixedly connected to the output end of the grabbing motor 7, a first sprocket 10 is fixedly mounted on one end of the motor shaft 8 away from the grabbing motor 7, and a cross bar 46 is fixedly mounted on the slider 6 below the motor shaft 8;

[0051] A No. 1 connecting rod 24, the upper end of which is connected to the cross bar 46, a No. 1 rotating shaft 31 is rotatably mounted on the lower end of the No. 1 connecting rod 24, a No. 2 sprocket 11 is fixedly mounted on one end of the No. 1 rotating shaft 31 away from the No. 1 connecting rod 24, and a No. 2 connecting rod 25 is fixedly mounted on the other end, and a No. 3 sprocket 12 is fixedly mounted on the middle of the No. 1 rotating shaft 31;

[0052] A No. 2 rotating shaft 32 is rotatably mounted on the No. 2 connecting rod 25, a No. 5 sprocket 14 is fixedly mounted on one end of the No. 2 rotating shaft 32 away from the No. 2 connecting rod 25, and a No. 3 connecting rod 26 is fixedly mounted on the other end, and a No. 4 sprocket 13 is fixedly mounted on the middle of the No. 2 rotating shaft 32;

[0053] A third rotating shaft 33 is rotatably mounted on the third connecting rod 26, a sixth sprocket 15 is fixedly mounted on one end of the third rotating shaft 33 away from the third connecting rod 26, a fourth connecting rod 27 is fixedly mounted on the other end, and a seventh sprocket 16 is fixedly mounted on the middle of the third rotating shaft 33;

[0054] A fourth rotating shaft 34 is rotatably mounted on the fourth connecting rod 27, a ninth sprocket 18 is fixedly mounted on one end of the fourth rotating shaft 34 away from the fourth connecting rod 27, a fifth connecting rod 28 is fixedly mounted on the other end, and an eighth sprocket 17 is fixedly mounted on the middle of the fourth rotating shaft 34;

[0055] A No. 5 rotating shaft 35 is rotatably mounted on the No. 5 connecting rod 28, a No. 10 sprocket 19 is fixedly mounted on one end of the No. 5 rotating shaft 35 away from the No. 5 connecting rod 28, a No. 6 connecting rod 29 is fixedly mounted on the other end, and a No. 11 sprocket 20 is fixedly mounted on the middle of the No. 5 rotating shaft 35;

[0056] A sixth rotating shaft 36 is rotatably mounted on the sixth connecting rod 29, a seventh connecting rod 30 is fixedly mounted on one end of the sixth rotating shaft 36 close to the sixth connecting rod 29, and a twelfth sprocket 21 is fixedly mounted on the middle of the sixth rotating shaft 36;

[0057] The diameter of the first sprocket 10 is larger than that of the second sprocket 11 , the diameter of the third sprocket 12 is larger than that of the fourth sprocket 13 , the diameter of the fifth sprocket 14 is larger than that of the sixth sprocket 15 , the diameter of the seventh sprocket 16 is larger than that of the eighth sprocket 17 , the diameter of the ninth sprocket 18 is larger than that of the tenth sprocket 19 , and the diameter of the eleventh sprocket 20 is larger than that of the twelve sprocket 21 .

[0058] The grabbing motor 7 rotates, thereby driving the motor shaft 8 to rotate. The rotation of the motor shaft 8 can drive the No. 1 connecting rod 24 to tilt. The No. 1 rotating shaft 31 is rotatably connected to the No. 1 connecting rod 24. Through the chain transmission of the No. 1 sprocket 10 and the No. 2 sprocket 11, the rotation of the motor shaft 8 drives the No. 1 rotating shaft 31 to rotate. The No. 2 connecting rod 25 is fixedly connected to the No. 1 rotating shaft 31. The No. 1 rotating shaft 31 is fixedly connected to the No. 2 connecting rod 25. The rotation of the No. 1 rotating shaft 31 drives the No. 2 connecting rod 25 to tilt. The No. 2 rotating shaft 32 is rotatably connected to the No. 2 connecting rod 25. Through the chain transmission of the No. 3 sprocket 12 and the No. 4 sprocket 13, the rotation of the No. 1 rotating shaft 31 drives the No. 2 rotating shaft 32 to rotate. The No. 3 connecting rod 26 The second rotating shaft 32 is fixedly connected, the second rotating shaft 32 rotates to drive the third connecting rod 26 to tilt, the third rotating shaft 33 is rotatably connected to the third connecting rod 26, through the chain transmission of the fifth sprocket 14 and the sixth sprocket 15, the second rotating shaft 32 rotates to drive the third rotating shaft 33 to rotate, the third rotating shaft 33 is fixedly connected to the fourth connecting rod 27, the third rotating shaft 33 rotates to drive the fourth connecting rod 27 to tilt, the fourth rotating shaft 34 is rotatably connected to the fourth connecting rod 27, through the chain transmission of the seventh sprocket 16 and the eighth sprocket 17, the third rotating shaft 33 rotates to drive the fourth rotating shaft 34 to rotate, the fourth rotating shaft 34 is fixedly connected to the fifth connecting rod 28, and the fourth rotating shaft 34 rotates to drive the fifth The connecting rod 28 is tilted, the fifth rotating shaft 35 is rotatably connected to the fifth connecting rod 28, through the chain transmission of the ninth sprocket 18 and the tenth sprocket 19, the fourth rotating shaft 34 rotates to drive the fifth rotating shaft 35 to rotate, the fifth rotating shaft 35 is fixedly connected to the sixth connecting rod 29, the fifth rotating shaft 35 rotates to drive the sixth connecting rod 29 to tilt, the sixth rotating shaft 36 is rotatably connected to the sixth connecting rod 29, through the chain transmission of the eleventh sprocket 20 and the twelve sprocket 21, the fifth rotating shaft 35 rotates to drive the sixth rotating shaft 36 to rotate, the sixth rotating shaft 36 is fixedly connected to the seventh connecting rod 30, the sixth rotating shaft 36 rotates to drive the seventh connecting rod 30 to tilt, because the diameter of the first sprocket 10 is larger than that of the second sprocket. The diameter of sprocket No. 11 is larger than the diameter of sprocket No. 4, the diameter of sprocket No. 3 is larger than the diameter of sprocket No. 4, the diameter of sprocket No. 3 is larger than the diameter of sprocket No. 3, the diameter of sprocket No. 3 is larger than the diameter of sprocket No. 3, the diameter of sprocket No. 3 is larger than the diameter of sprocket No. 3, the diameter of sprocket No. 3 is larger than the diameter of sprocket No. 3, the diameter of sprocket No. 3 is larger than the diameter of sprocket No. 3, the diameter of sprocket No. 3 is larger than the diameter of sprocket No. 3, the diameter of sprocket No. 3 is larger than the diameter of sprocket No. 3.

[0059] As an embodiment of the present invention, refer to Figure 3The grabbing module is provided with a No. 1 shell 47, a No. 2 shell 48, a No. 3 shell 49, a No. 4 shell 50, a No. 5 shell 51, and a No. 6 shell 9. Both ends of the No. 1 rotating shaft 31 are rotatably connected to the No. 1 shell 47, both ends of the No. 2 rotating shaft 32 are rotatably connected to the No. 2 shell 48, both ends of the No. 3 rotating shaft 33 are rotatably connected to the No. 3 shell 49, both ends of the No. 4 rotating shaft 34 are rotatably connected to the No. 4 shell 50, both ends of the No. 5 rotating shaft 35 are rotatably connected to the No. 5 shell 51, both ends of the No. 6 rotating shaft 36 are rotatably connected to the No. 6 shell 9, the No. 1 shell 47 is hinged to the No. 2 shell 48, the No. 2 shell 48 is hinged to the No. 3 shell 49, the No. 3 shell 49 is hinged to the No. 4 shell 50, and the No. 5 shell 51 is hinged to the No. 6 shell 9.

[0060] By arranging shell No. 1 47, shell No. 2 48, shell No. 3 49, shell No. 4 50, shell No. 5 51, and shell No. 6 9 on the grasping module, the components are hinged to each other. During the contraction of the grasping module, the object will first contact the shell, thereby preventing the object from contacting the sprocket and affecting the transmission of the sprocket, causing the grasping module to be unable to grasp the object.

[0061] As an embodiment of the present invention, refer to Figure 4 A first latch tooth 37 is provided at one end of the motor shaft 8 away from the grabbing motor 7, a fixing plate 45 is fixedly mounted on the slider 6, a cylinder 39 is fixedly mounted on the fixing plate 45 on one side close to the slider 6, a second latch tooth 38 cooperates with the first latch tooth 37 at the output end of the cylinder 39, and a connecting component is installed on the cylinder 39 to assist the first latch tooth 37 and the second latch tooth 38 in stable connection.

[0062] During use, since the force source of the entire mechanical claw for grasping objects is the rotation of the grasping motor 7, when the clamped object is heavy, the grasping motor 7 may rotate and the mechanical claw may become loose. By setting the cylinder 39 to push the No. 2 tooth 38 at the output end to cooperate with the No. 1 tooth 37 on the motor shaft 8, since the output end of the cylinder 39 cannot rotate, the motor shaft 8 is locked, which can effectively prevent the mechanical claw from loosening.

[0063] As an embodiment of the present invention, refer to Figure 5 The connecting assembly includes a one-way bearing 40, the inner ring of the one-way bearing 40 is fixedly connected to the output end of the cylinder 39, and the outer ring of the one-way bearing 40 is fixedly connected to the second gear 38.

[0064] By providing a one-way bearing 40 at the connection between the No. 2 latch tooth 38 and the output end of the cylinder 39, when the No. 2 latch tooth 38 cooperates with the No. 1 latch tooth 37, it can rotate along the tooth shape, and the rotation direction is the rotation direction of the motor shaft 8 to grab the object. The No. 1 latch tooth 37 and the No. 2 latch tooth 38 are fully matched. Since the one-way bearing 40 can only rotate in one direction, the motor shaft 8 cannot drive the No. 2 latch tooth 38 to rotate in the direction of releasing the object, so the motor shaft 8 is locked to prevent the grabbing motor 7 from rotating. By providing the one-way bearing 40, it can be prevented that the No. 1 latch tooth 37 cannot lock the motor shaft 8 when the No. 2 latch tooth 38 and the No. 1 latch tooth 37 are not fully matched, and the grabbing motor 7 will still rotate when the mechanical claw grabs the object, thereby causing the mechanical claw to loosen and fail to grab the object.

[0065] As an embodiment of the present invention, refer to Figure 4 A suction plate 41 is provided on the seventh connecting rod 30 , and a plurality of suction cups 42 are fixedly mounted on the suction plate 41 .

[0066] When the mechanical claw grasps an object, there is only one contact point between the seventh connecting rod 30 and the object. When the grasping force is small, only one contact point cannot generate a large friction force on the object, so that the object cannot be grasped firmly. When the grasping force is large, the surface of the object will be scratched. By arranging a suction plate 41 with a suction cup 42 on the seventh connecting rod 30, the mechanical claw can suck the object when grasping the object, and the mechanical claw can grasp the object without a large grasping force; the suction cup 42 is connected to an external air pump through a hose (not shown in the text), and evenly distributed one-way valves are installed on the hose, and the outlet of the one-way valve is aligned with the hinge between the shells; when the suction cup 42 is sucking an object, the one-way valve is in a closed state. When the manipulator puts down the object, the suction cup blows air, and the one-way valve opens at the same time to blow air to the hinge between the shells to clean the dust on the mechanical claw.

[0067] As an embodiment of the present invention, refer to Figure 4 The suction plate 41 is rotatably mounted on the seventh connecting rod 30 , and a spring 43 is connected between the suction plate 41 and the seventh connecting rod 30 .

[0068] By setting the suction plate 41 and the No. 7 connecting rod 30 to be rotatably connected, when grabbing an object, the suction plate 41 rotates under the squeezing of the mechanical claw and the object, and finally completely fits on the surface of the object, which can improve the utilization rate of the suction cup 42 on the suction plate 41, thereby increasing the suction force of the suction plate 41 on the object, and can effectively prevent the problem that the mechanical claw cannot grasp the object due to insufficient grasping force. After the mechanical claw releases the object, the suction plate 41 returns to its original state under the pulling force of the spring 43 to avoid affecting the grasping of the next object.

[0069] As an embodiment of the present invention, refer to Figure 4 A rubber pad 44 is fixedly mounted on the suction plate 41 .

[0070] The surface of some objects is relatively rough. When the suction plate 41 is in contact with the object, the suction cup 42 will leak when sucking the object, causing the suction force of the suction cup 42 on the object to be weakened. By providing a rubber pad 44 on the suction plate 41, the problem of air leakage when the suction cup 42 sucks the object when the mechanical claw grabs the object with a rough surface can be effectively prevented. Providing the rubber pad 44 on the suction plate 41 can increase the friction between the suction plate 41 and the object, and can also effectively prevent the mechanical claw from scratching the object.

[0071] As an embodiment of the present invention, refer to Figure 5 A torque sensor 3 is provided on the motor shaft 8, and the torque sensor 3 is electrically connected to the grabbing motor 7, the suction cup 42, and the cylinder 39.

[0072] When grasping an object, too great a grasping force will damage the object, and too great a grasping force will scratch the surface of the object. The grasping of the object is completed by the rotation of the grasping motor 7. When grasping objects of different weights, the required grasping force is different. By setting a torque sensor 3 at the connection between the motor shaft 8 and the motor output end, when the torque is sufficient, the grasping motor 7 stops rotating. The grasping force of the grasping motor 7 can be controlled by the torque sensor 3, and the object can be sucked and the motor shaft 8 can be locked by the starting cylinder 39 when the grasping motor 7 stops.

[0073] Working principle: When in use, the mechanical arm 2 fixedly mounted on the base 1 drives the mechanical claw to move to the location of the object, and the mechanical claw is used to grab the object. During the grabbing process, when grabbing a larger object or a smaller object, the motor 23 is adjusted to rotate, and the slider 6 is driven to slide by the adjusting screw 22, so that the mechanical claw can be enlarged or reduced, and the grabbing range of the mechanical claw is adjusted. When grabbing objects of different sizes through the grabbing module on the slider 6, the grabbing range of the mechanical claw can be adjusted when a mechanical claw grabs larger or smaller objects. There is no need to replace the mechanical claw. The grabbing motor 7 rotates, thereby driving the motor shaft 8 to rotate. The rotation of the motor shaft 8 can drive the No. 1 connecting rod 24 to tilt, and the No. 1 rotating shaft 31 is rotatably connected to the No. 1 connecting rod 24, and the No. 1 sprocket is used. 10 and the chain transmission of the No. 2 sprocket 11, the motor shaft 8 rotates to drive the No. 1 rotating shaft 31 to rotate, the No. 2 connecting rod 25 is fixedly connected to the No. 1 rotating shaft 31, the No. 1 rotating shaft 31 is fixedly connected to the No. 2 connecting rod 25, the No. 1 rotating shaft 31 rotates to drive the No. 2 connecting rod 25 to tilt, the No. 2 rotating shaft 32 is rotatably connected to the No. 2 connecting rod 25, through the chain transmission of the No. 3 sprocket 12 and the No. 4 sprocket 13, the No. 1 rotating shaft 31 rotates to drive the No. 2 rotating shaft 32 to rotate, the No. 3 connecting rod 26 is fixedly connected to the No. 2 rotating shaft 32, the No. 2 rotating shaft 32 rotates to drive the No. 3 connecting rod 26 to tilt, the No. 3 rotating shaft 33 is rotatably connected to the No. 3 connecting rod 26, through the chain transmission of the No. 5 sprocket 14 and the No. 6 sprocket 15, the No. 2 rotating shaft 32 rotates to drive the No. 3 rotating shaft 33 to rotate, the No. 3 rotating shaft 33 is fixedly connected with the fourth connecting rod 27, the rotation of the third rotating shaft 33 drives the fourth connecting rod 27 to tilt, the fourth rotating shaft 34 is rotatably connected with the fourth connecting rod 27, through the chain transmission of the seventh sprocket 16 and the eighth sprocket 17, the rotation of the third rotating shaft 33 drives the fourth rotating shaft 34 to rotate, the fourth rotating shaft 34 is fixedly connected with the fifth connecting rod 28, the rotation of the fourth rotating shaft 34 drives the fifth connecting rod 28 to tilt, the fifth rotating shaft 35 is rotatably connected with the fifth connecting rod 28, through the chain transmission of the ninth sprocket 18 and the tenth sprocket 19, the rotation of the fourth rotating shaft 34 drives the fifth rotating shaft 35 to rotate, the fifth rotating shaft 35 is fixedly connected with the sixth connecting rod 29, the rotation of the fifth rotating shaft 35 drives the sixth connecting rod 29 to tilt, and the sixth rotating shaft 36 is rotatably connected with the sixth connecting rod 29, Through the chain transmission of the eleventh sprocket 20 and the twelve sprocket 21, the fifth rotating shaft 35 rotates to drive the sixth rotating shaft 36 to rotate, the sixth rotating shaft 36 is fixedly connected to the seventh connecting rod 30, and the sixth rotating shaft 36 rotates to drive the seventh connecting rod 30 to tilt. Since the diameter of the first sprocket 10 is larger than the diameter of the second sprocket 11, the diameter of the third sprocket 12 is larger than the diameter of the fourth sprocket 13, the diameter of the fifth sprocket 14 is larger than the diameter of the sixth sprocket 15, the diameter of the seventh sprocket 16 is larger than the diameter of the eighth sprocket 17, the diameter of the ninth sprocket 18 is larger than the diameter of the tenth sprocket 19, and the diameter of the eleventh sprocket 20 is larger than the diameter of the twelve sprocket 21, the mechanical claw finally realizes a complete arc shape to grasp the object, and the mutual transmission of multiple connecting rods expands the opening range of the mechanical claw.Thereby, the range of objects that the mechanical claw can grasp is expanded, and the three grasping modules can move independently. The three grasping modules can form arc shapes of different sizes, so that the mechanical claw can grasp objects with irregular surfaces. By arranging No. 1 shell 47, No. 2 shell 48, No. 3 shell 49, No. 4 shell 50, No. 5 shell 51, and No. 6 shell 9 on the grasping module, the components are hinged to each other. During the contraction process of the grasping module, the object will first contact the shell, avoiding the object contacting the sprocket and affecting the transmission of the sprocket, which will cause the grasping module to be unable to grasp the object. Since the force of the entire mechanical claw to grasp the object comes from the rotation of the grasping motor 7, when the clamped object is heavy, it may cause the grasping motor 7 to rotate and the mechanical claw to loosen. By arranging the cylinder 39 to push the No. 2 tooth 38 at the output end to contact the electric The No. 1 latch tooth 37 on the machine shaft 8 cooperates, and since the output end of the cylinder 39 cannot rotate, the motor shaft 8 is locked, which can effectively prevent the mechanical claw from loosening. By providing a one-way bearing 40 at the connection between the No. 2 latch tooth 38 and the output end of the cylinder 39, when the No. 2 latch tooth 38 cooperates with the No. 1 latch tooth 37, it can rotate along the tooth shape, and the rotation direction is the rotation direction of the motor shaft 8 grabbing the object. The No. 1 latch tooth 37 is fully matched with the No. 2 latch tooth 38. Since the one-way bearing 40 can only rotate in one direction, the motor shaft 8 cannot drive the No. 2 latch tooth 38 to rotate in the direction of rotation of the loosened object at this time, so the motor shaft 8 is locked to prevent the grabbing motor 7 from rotating. By providing the one-way bearing 40, it can be prevented that the No. 1 latch tooth 37 cannot be locked when the No. 2 latch tooth 38 and the No. 1 latch tooth 37 are not fully matched. The motor shaft 8 is dead, and the grabbing motor 7 will still rotate when the mechanical claw grabs the object, which causes the mechanical claw to loosen and be unable to grab the object. A suction plate 41 with a suction cup 42 is set on the seventh connecting rod 30, so that the mechanical claw can suck the object when grabbing the object, and the mechanical claw can grab the object without a large grasping force. By setting the suction plate 41 and the seventh connecting rod 30 to be rotatably connected, when grabbing the object, the suction plate 41 rotates under the squeezing of the mechanical claw and the object, and finally completely fits on the surface of the object, which can improve the utilization rate of the suction cup 42 on the suction plate 41, thereby increasing the suction force of the suction plate 41 on the object, which can effectively prevent the problem of insufficient grasping force of the mechanical claw and the inability to grasp the object. After the mechanical claw releases the object, the suction plate 41 returns to its original state under the pulling force of the spring 43 to avoid affecting the next When grasping objects, some objects have rough surfaces. When the suction plate 41 is attached to the object, the suction cup 42 will leak when sucking the object, causing the suction force of the suction cup 42 on the object to be weakened. By setting a rubber pad 44 on the suction plate 41, the problem of leakage when the suction cup 42 sucks the object when the mechanical claw grasps the object with a rough surface can be effectively prevented. Setting a rubber pad 44 on the suction plate 41 can increase the friction between the suction plate 41 and the object, and can also effectively prevent the mechanical claw from scratching the object. When grasping the object, excessive grasping force will damage the object. Excessive grasping force will scratch the surface of the object. The grasping of the object is completed by the rotation of the grasping motor 7. When grasping objects of different weights, the required grasping force is different. By setting a torque sensor 3 at the connection between the motor shaft 8 and the motor output end, when the torque is sufficient,The grabbing motor 7 stops rotating, and the grabbing force of the grabbing motor 7 can be controlled by the torque sensor 3, and the object can be sucked and the motor shaft 8 can be locked with the starting cylinder 39 when the grabbing motor 7 stops.

[0074] The electrical components appearing in this article are all connected to the external main controller and 220V AC power through a transformer, and the main controller can be a conventional known device that controls a computer, etc. The product model provided by the present invention is only used for the technical solution according to the structural characteristics of the product. The product will be adjusted and modified after purchase to make it more matching and consistent with the technical solution of the present invention. It is a technical solution for the best application of the technical solution. The model of its product can be replaced and modified according to the required technical parameters, which is well known to technical personnel in this field. Therefore, technical personnel in this field can clearly obtain the corresponding use effect through the technical solution provided by the present invention.

[0075] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-axis CNC robot for industrial production, characterized in that: include: Base (1); A mechanical arm (2), wherein the mechanical arm (2) is fixedly mounted on the base (1); A mechanical claw, the mechanical claw being fixedly mounted on the mechanical arm (2); An adjusting device, wherein the mechanical claw is provided with an adjusting device for adjusting the size of the mechanical claw; The mechanical claw comprises a mounting plate (4) and an outer cover (5) fixedly mounted on the mounting plate (4); the adjusting device comprises three sliders (6); the three sliders (6) are slidably mounted on the mounting plate (4); the three sliders (6) are all fixedly mounted with adjusting screws (22); three adjusting motors (23) are fixedly mounted on the outer cover (5); the output ends of the three adjusting motors (23) are respectively fixedly connected to the three adjusting screws (22); and a gripping module is provided on the slider (6); The grabbing module comprises a grabbing motor (7) fixedly mounted on a slider (6); a motor shaft (8) is rotatably mounted on the slider (6); the motor shaft (8) is fixedly connected to an output end of the grabbing motor (7); a first sprocket (10) is fixedly mounted on one end of the motor shaft (8) away from the grabbing motor (7); and a crossbar (46) is fixedly mounted on the slider (6) below the motor shaft (8); A No. 1 connecting rod (24), the upper end of the No. 1 connecting rod (24) is connected to the cross bar (46), the lower end of the No. 1 connecting rod (24) is rotatably mounted with a No. 1 rotating shaft (31), one end of the No. 1 rotating shaft (31) away from the No. 1 connecting rod (24) is fixedly mounted with a No. 2 sprocket (11), and the other end is fixedly mounted with a No. 2 connecting rod (25), and the middle part of the No. 1 rotating shaft (31) is fixedly mounted with a No. 3 sprocket (12); A No. 2 rotating shaft (32) is rotatably mounted on the No. 2 connecting rod (25), a No. 5 sprocket (14) is fixedly mounted on one end of the No. 2 rotating shaft (32) away from the No. 2 connecting rod (25), a No. 3 connecting rod (26) is fixedly mounted on the other end, and a No. 4 sprocket (13) is fixedly mounted in the middle of the No. 2 rotating shaft (32); A No. 3 rotating shaft (33) is rotatably mounted on the No. 3 connecting rod (26); a No. 6 sprocket (15) is fixedly mounted on one end of the No. 3 rotating shaft (33) away from the No. 3 connecting rod (26); a No. 4 connecting rod (27) is fixedly mounted on the other end; and a No. 7 sprocket (16) is fixedly mounted on the middle of the No. 3 rotating shaft (33); A fourth rotating shaft (34) is rotatably mounted on the fourth connecting rod (27), a ninth sprocket (18) is fixedly mounted on one end of the fourth rotating shaft (34) away from the fourth connecting rod (27), a fifth connecting rod (28) is fixedly mounted on the other end, and an eighth sprocket (17) is fixedly mounted on the middle of the fourth rotating shaft (34); A No. 5 rotating shaft (35) is rotatably mounted on the No. 5 connecting rod (28); a No. 10 sprocket (19) is fixedly mounted on one end of the No. 5 rotating shaft (35) away from the No. 5 connecting rod (28), and a No. 6 connecting rod (29) is fixedly mounted on the other end; and a No. 11 sprocket (20) is fixedly mounted on the middle of the No. 5 rotating shaft (35); A sixth rotating shaft (36) is rotatably mounted on the sixth connecting rod (29), a seventh connecting rod (30) is fixedly mounted on one end of the sixth rotating shaft (36) close to the sixth connecting rod (29), and a twelfth sprocket (21) is fixedly mounted on the middle of the sixth rotating shaft (36); The first sprocket (10) is connected to the second sprocket (11) by a chain, the third sprocket (12) is connected to the fourth sprocket (13) by a chain, the fifth sprocket (14) is connected to the sixth sprocket (15) by a chain, the seventh sprocket (16) is connected to the eighth sprocket (17) by a chain, the ninth sprocket (18) is connected to the tenth sprocket (19) by a chain, and the eleventh sprocket (20) is connected to the twelfth sprocket (21) by a chain; The diameter of the first sprocket (10) is greater than the diameter of the second sprocket (11), the diameter of the third sprocket (12) is greater than the diameter of the fourth sprocket (13), the diameter of the fifth sprocket (14) is greater than the diameter of the sixth sprocket (15), the diameter of the seventh sprocket (16) is greater than the diameter of the eighth sprocket (17), the diameter of the ninth sprocket (18) is greater than the diameter of the tenth sprocket (19), and the diameter of the eleventh sprocket (20) is greater than the diameter of the twelfth sprocket (21).

2. A multi-axis CNC robot for industrial production according to claim 1, characterized in that: The grabbing module is provided with a first housing (47), a second housing (48), a third housing (49), a fourth housing (50), a fifth housing (51), and a sixth housing (9); both ends of the first rotating shaft (31) are rotatably connected to the first housing (47); both ends of the second rotating shaft (32) are rotatably connected to the second housing (48); both ends of the third rotating shaft (33) are rotatably connected to the third housing (49); and both ends of the fourth rotating shaft (34) are rotatably connected to the second housing (48). Both ends of the No. 5 rotating shaft (35) are rotatably connected to the No. 5 housing (51), both ends of the No. 6 rotating shaft (36) are rotatably connected to the No. 6 housing (9), the No. 1 housing (47) is hinged to the No. 2 housing (48), the No. 2 housing (48) is hinged to the No. 3 housing (49), the No. 3 housing (49) is hinged to the No. 4 housing (50), and the No. 5 housing (51) is hinged to the No. 6 housing (9).

3. The multi-axis CNC robot for industrial production according to claim 1, characterized in that: A first latching tooth (37) is provided at one end of the motor shaft (8) away from the grabbing motor (7); a fixing plate (45) is fixedly mounted on the slider (6); a cylinder (39) is fixedly mounted on the fixing plate (45) on one side close to the slider (6); a second latching tooth (38) is matched with the first latching tooth (37) at the output end of the cylinder (39); and a connecting component is mounted on the cylinder (39) to assist in stably connecting the first latching tooth (37) and the second latching tooth (38).

4. A multi-axis CNC robot for industrial production according to claim 3, characterized in that: The connection assembly comprises a one-way bearing (40), the inner ring of the one-way bearing (40) is fixedly connected to the output end of the cylinder (39), and the outer ring of the one-way bearing (40) is fixedly connected to the second latching tooth (38).

5. The multi-axis CNC robot for industrial production according to claim 1, characterized in that: The seventh connecting rod (30) is provided with a suction plate (41), and a plurality of suction cups (42) are fixedly mounted on the suction plate (41).

6. The multi-axis CNC robot for industrial production according to claim 5, characterized in that: The suction plate (41) is rotatably mounted on the seventh connecting rod (30), and a spring (43) is connected between the suction plate (41) and the seventh connecting rod (30).

7. The multi-axis CNC robot for industrial production according to claim 5, characterized in that: A rubber pad (44) is fixedly mounted on the suction plate (41).

8. The multi-axis CNC robot for industrial production according to claim 5, characterized in that: The motor shaft (8) is provided with a torque sensor (3), and the torque sensor (3) is electrically connected to the grabbing motor (7), the suction cup (42) and the cylinder (39).

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