An industrial robot for intelligent manufacturing

Abstract

The invention relates to the field of robot technology and discloses an industrial robot for intelligent manufacturing, the structure of which includes a base, a turntable, a movable arm, a connecting block, a suction cup top and a clamping mechanism. The invention has the following beneficial effects: by adding a clamping mechanism, after the suction cup lifts the goods, the goods are clamped from both sides by a clamping plate, and then a driving motor supports the bottom of the goods by rotating a support plate, and a hydraulic cylinder is provided on one side of the clamping plate, which can drive the support plate to rise and fall, so that the support plate can adapt to goods at different heights and distances, thereby increasing the practicality and flexibility of the clamping mechanism, and effectively avoiding the situation in which a traditional mechanical arm only relies on a suction cup to adsorb the top of a cargo carton and the goods inside fall down with gravity, causing the outer packaging carton to be damaged, or even the items inside the carton to fall from the bottom.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to an industrial robot for intelligent manufacturing. Background Art

[0002] With the advancement of science and technology, industries that previously required manual processing and manufacturing have begun to shift to automated technology. As a high-tech automated production equipment developed in recent decades, industrial robots and robotic arms play an extremely important role in the field of modern manufacturing technology. They are multifunctional machines that can automatically position and control and can be reprogrammed to change. They can be used to move objects to complete work in various environments.

[0003] However, the existing handling robot arms usually have a suction cup on the top of the robot arm, and the suction force of the suction cup is used to adsorb the top of the cargo carton to be transported, so as to realize the transportation of the object. However, this suction cup transportation method has great disadvantages. The suction cup only has a pulling force on the top of the object carton. When the object is lifted and transported, the internal cargo will fall down with gravity. At this time, it is very easy for the outer packaging carton to be damaged because it is only subjected to the pulling force of the suction cup on the top, and even the items inside the carton may fall from the bottom of the carton. This is very unsafe and does not protect the transported cargo. Summary of the invention

[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide an industrial robot for intelligent manufacturing, which has the function of preventing the goods from falling due to the weight of the goods when the robot arm is carrying the goods.

[0005] To solve the above problems, the present invention adopts the following technical solutions:

[0006] An industrial robot for intelligent manufacturing, the structure of which includes a base, a turntable located on the top of the base, a movable arm arranged on the top of the turntable, a connecting block arranged at one end of the movable arm away from the turntable, a suction cup top located on the connecting block, and a clamping mechanism arranged directly below the suction cup top.

[0007] As an optimization, the clamping mechanism includes a back plate, a slide groove provided on the back plate, a driving screw located in the slide groove, a connecting plate for cooperating with the driving screw, a clamping plate provided on the connecting plate, a base support assembly located on the side of the connecting plate away from the clamping plate, a hydraulic cylinder and a buffer device provided on the base support assembly. The clamping mechanism is a left-right symmetrical structure, and the hydraulic cylinder is used to drive the base support assembly to rise and fall.

[0008] The arrangement of the above-mentioned slide groove and driving screw rod can drive the connecting plate to move.

[0009] The arrangement of the clamping plate can clamp the goods from both sides when the suction cup top absorbs and transports the goods, thereby preventing the goods from falling.

[0010] The arrangement of the above-mentioned bottom support assembly can support the bottom of the goods after the clamping plate clamps the goods.

[0011] The arrangement of the buffer device can utilize the gravity and pressure of the cargo to squeeze the airbag so that the filled airbag expands and can clamp the cargo.

[0012] The arrangement of the hydraulic cylinder can adjust the height of the base assembly by means of the telescopic property of the hydraulic cylinder.

[0013] As an optimization, the clamping plate includes a toothed plate, spherical blocks and filling airbags arranged at the bottom of the toothed plate, and friction blocks arranged on the filling airbags. The spherical blocks and filling airbags are arranged alternately, the height of each group of spherical blocks is consistent with the height of the toothed plate, and the friction blocks are densely distributed on the filling airbags.

[0014] The arrangement of the toothed plate can increase the friction of the clamping plate through the staggered cooperation of the upper and lower toothed blocks, so that the goods can be clamped more tightly.

[0015] With the arrangement of the spherical block, when the clamping force of the toothed plate becomes loose, the goods may slide down, and the smooth surface of the spherical block can prevent the goods carton from being damaged when the goods slide down.

[0016] The arrangement of the filling airbag can fill the gap between the spherical block and the cargo after being inflated by the gas in the airbag, thereby increasing the clamping force on the cargo.

[0017] The provision of the friction block can increase the friction between the filled airbag and the cargo.

[0018] As an optimization, the base support assembly includes a U-shaped plate, a rotating shaft passing through the through hole of the U-shaped plate, a motor located at one end of the rotating shaft, a support seat arranged on the rotating shaft and movably engaged with a bearing, and a support plate arranged on one side of the U-shaped plate.

[0019] The above-mentioned support plate is arranged so that the bottom of the goods can be supported after the clamping plate clamps the goods.

[0020] As an optimization, the buffer device includes a lower base, an airbag and a spring arranged between the lower base and the upper base, a connecting port arranged at one end of the airbag, and a bellows located on the connecting port.

[0021] The arrangement of the spring can inflate the airbag to inhale air by means of elastic force when the cargo is placed.

[0022] The provision of the airbags can provide a buffering and shock-absorbing effect on the downward pressure of the cargo, and can also inflate the filling airbags.

[0023] The arrangement of the bellows has telescopic elasticity and can move along with the bottom bracket assembly without falling or breaking.

[0024] As an optimization, one end of the bellows is fixed and passes through the connecting plate, a hollow groove connected to the bellows is provided in the connecting plate, and the air inlet on the inner side of the filling airbag passes through the clamping plate and is connected to the hollow groove in the connecting plate.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The present invention relates to an industrial robot for intelligent manufacturing, which is additionally provided with a clamping mechanism. When the suction cup lifts the goods, the goods are clamped from both sides by the clamping plates, and then the driving motor supports the bottom of the goods by rotating the pallet. A hydraulic cylinder is provided on one side of the clamping plate, which can drive the pallet to move up and down, so that the pallet can adapt to goods at different heights and distances, thereby increasing the practicality and flexibility of the clamping mechanism. It can effectively avoid the situation in which the traditional mechanical arm only relies on the suction cup to adsorb the top of the cargo carton, and the goods inside fall down due to gravity, resulting in the outer packaging carton being damaged, or even the items inside the carton falling from the bottom.

[0027] (2) The present invention is an industrial robot for intelligent manufacturing. By adding a buffer device to a pallet, the compression of an airbag can buffer the gravity of the goods carried on the pallet. At the same time, the airbag is squeezed by the gravity of the goods to compress the airbag, and the gas is discharged into the filling airbag through a bellows, so that the filling airbag expands and squeezes the goods, so that the goods will not fall during transportation. At the same time, because the filling airbag is made of soft rubber, it will not cause damage to the goods when it is expanded and squeezed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of an industrial robot for intelligent manufacturing according to the present invention;

[0029] Figure 2 It is a schematic diagram of the opening structure of the clamping mechanism of the present invention;

[0030] Figure 3 It is a schematic diagram of the clamping structure of the clamping mechanism of the present invention;

[0031] Figure 4 It is a structural schematic diagram of the clamping plate of the present invention;

[0032] Figure 5 It is a structural schematic diagram of the bottom bracket assembly of the present invention;

[0033] Figure 6 It is a schematic diagram of the left side structure of the clamping mechanism of the present invention;

[0034] Figure 7 It is a structural schematic diagram of the buffer device of the present invention;

[0035] Figure 8 It is a schematic diagram of the planar structure of the filling airbag of the present invention in a contracted state;

[0036] Fig. 9 It is a schematic plan view of the structure of the filling airbag of the present invention in an expanded state.

[0037] The reference numerals in the figure are: base 1, turntable 2, movable arm 3, connecting block 4, suction cup top 5, clamping mechanism 6, bottom support assembly-61, driving screw-62, slide groove-63, back plate-64, connecting plate-65, clamping plate-66, buffer device-67, hydraulic cylinder-68, toothed plate-661, spherical block-662, filling airbag-663, friction block-664, U-shaped plate-611, rotating shaft-612, supporting seat-613, motor-614, support plate-615, lower base-671, upper base-672, spring-673, airbag-674, connecting port-675, bellows-676, hollow groove-41, air inlet-42. DETAILED DESCRIPTION

[0038] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, Figures 1 to 9 The structure of an underground distribution box according to an embodiment of the present invention is schematically shown, and the present invention is further described below in conjunction with specific embodiments.

[0039] Example 1

[0040] See also Figure 1-5 An industrial robot for intelligent manufacturing, whose structure includes a base 1, a turntable 2, a movable arm 3, a connecting block 4, a suction cup top 5, and a clamping mechanism 6. The turntable 2 is movably connected to the base 1, the movable arm 3 is fixed on the top of the turntable 2, the connecting block 4 is fixed at one end of the movable arm 3 away from the turntable 2, the suction cup top 5 is installed on the connecting block 4, and the clamping mechanism 6 is provided directly below the suction cup top 5, and the clamping mechanism 6 is fixed to the movable arm 3.

[0041] Specifically, the clamping mechanism 6 includes a bottom support assembly 61, a driving screw rod 62, a slide groove 63, a back plate 64, a connecting plate 65, a clamping plate 66, a buffer device 67, and a hydraulic cylinder 68. The back plate 64 is provided with a slide groove 63, and the driving screw rod 62 is installed on the slide groove 63. The back plate 64 is provided with two connecting plates 65 that match the driving screw rod 62. The clamping plates 66 are installed on the opposite surfaces of the two connecting plates 65. The side of the connecting plate 65 away from the clamping plate 66 is provided with a bottom support assembly 61 and a hydraulic cylinder 68. The bottom support assembly 61 is fixedly connected to the connecting plate 65 through the hydraulic cylinder 68. The hydraulic cylinder 68 is used to drive the bottom support assembly 61 to rise and fall. A buffer device 67 is fixed, and the arrangement of the above-mentioned slide groove 63 and the driving screw 62 can drive the connecting plate 65 to move. The arrangement of the above-mentioned clamping plate 66 can clamp the goods from both sides to prevent the goods from falling when the suction cup top 5 adsorbs and transports the goods. The arrangement of the above-mentioned bottom support assembly 61 can support the bottom of the goods after the clamping plate 66 clamps the goods. The arrangement of the above-mentioned buffer device 67 can squeeze the airbag 674 with the help of the gravity and pressure of the goods so that the filling airbag 663 expands to clamp the goods. The arrangement of the above-mentioned hydraulic cylinder 68 can adjust the height of the bottom support assembly 61 with the help of the retractability of the hydraulic cylinder 68.

[0042] Specifically, the clamping plate 66 is composed of a toothed plate 661, a spherical block 662, a filling airbag 663 and a friction block 664. The toothed plate 661 is fixed to the connecting plate 65. The spherical block 662 and the filling airbag 663 are fixed to the bottom of the toothed plate 661. The spherical block 662 and the filling airbag 663 are alternately arranged. The filling airbag 663 is densely covered with friction blocks 664. The height of each group of spherical blocks 662 is consistent with the height of the toothed plate 661. The arrangement of the toothed plate 661 can increase the clamping force by staggered cooperation of the toothed blocks one above and one below. The friction force of the tightening plate 66 makes the goods clamped tighter. The setting of the above-mentioned spherical block 662 can prevent the goods from slipping when the clamping force of the toothed plate 661 becomes loose. The smooth surface of the spherical block 662 can prevent the damage of the cargo carton when the goods slide. The setting of the above-mentioned filling airbag 663 can inflate the gap between the spherical block 662 and the goods with the help of the gas of the airbag 674, thereby increasing the clamping force of the goods. The setting of the above-mentioned friction block 664 can increase the friction between the filling airbag 663 and the goods.

[0043] Specifically, the bottom support assembly 61 includes a U-shaped plate 611, a rotating shaft 612, a support seat 613, a motor 614, and a support plate 615. The U-shaped plate 611 is movably connected with a rotating shaft 612 that passes through a through hole on the U-shaped plate 611. One end of the rotating shaft 612 is connected to the output shaft of the motor 614. The rotating shaft 612 is movably connected with a support seat 613 through a bearing. A hydraulic cylinder 68 is fixed to the top of the support seat 613. A support plate 615 is installed on one side of the U-shaped plate 611. The arrangement of the above-mentioned support plate 615 can support the bottom of the cargo when the clamping plate 66 clamps the cargo.

[0044] Working principle: When the robot arm is ready to start carrying goods, it drives the movable arm 3 to move above the goods, and then starts the multiple groups of suction cups on the suction cup top 5 to adsorb the top of the cargo carton. After the adsorption is completed, the movable arm 3 is driven to lift the cargo carton. When the goods are lifted, the driving screw 62 in the slide 63 is driven to move the two groups of connecting plates 65 and gradually move closer to the middle until the two groups of clamping plates 66 clamp the carton from both sides and stop. At this time, the toothed plate 661 on the clamping plate 66 increases the friction of the carton, so that the clamping plate 66 can clamp the carton firmly, and then the motor 6 is driven. 14 operates to drive the rotating shaft 612 to rotate. Because the U-shaped plate 611 is fixedly connected to the rotating shaft 612, the U-shaped plate 611 can rotate with the supporting plate 615 along with the rotating shaft 612 until it rotates to a fixed angle to support the bottom of the cargo carton, so that the carton will not fall. When the height of the cargo is too high, the hydraulic cylinder 68 is driven to be extended and retracted. The extension and retraction of the hydraulic cylinder 68 can drive the supporting plate 615 to descend through the supporting seat 613. When it descends to the bottom of the cargo, the driving motor 614 drives the supporting plate 615 to rotate to support the bottom of the cargo.

[0045] Example 2

[0046] See also Figure 1-9 , further implemented on the basis of Example 1: wherein the buffer device 67 in Example 1 includes a lower base 671, an upper base 672, a spring 673, an airbag 674, a connecting port 675, and a bellows 676, an airbag 674 is installed between the lower base 671 and the upper base 672, springs 673 are fixed on both sides of the lower base 671 and the upper base 672, a connecting port 675 is fixed at one end of the airbag 674, and a bellows 676 is installed on the connecting port 675, the arrangement of the above-mentioned spring 673, when the goods are placed, the airbag 674 can be inflated by elastic reset to inhale air, the arrangement of the above-mentioned airbag 673 can buffer and reduce shock for the downward pressure of the goods, and at the same time can inflate the filling airbag 663, the arrangement of the above-mentioned bellows 676 has telescopic elasticity, and can move with the bottom support assembly 61 without falling or breaking.

[0047] Specifically, one end of the bellows 676 is fixed and penetrates the connecting plate 65 , a hollow groove 41 connected to the bellows 676 is provided in the connecting plate 65 , and the air inlet 42 on the inner side of the filling airbag 663 penetrates the clamping plate 66 and is connected to the hollow groove 41 in the connecting plate 65 .

[0048] Working principle: When the robot arm is carrying goods and lifting the goods through the pallet 615, the goods will squeeze the buffer device 67 on the pallet 615 due to their own gravity and pressure. The airbag 674 installed in the buffer device 67 can play a buffering and shock-absorbing effect on the gravity squeezing of the goods. At the same time, as the goods are squeezed, the airbag 674 will be squeezed through the upper base 672 so that the gas in the airbag 674 will be discharged from the bellows 676 on the connecting port 675. The gas is transferred to the hollow groove 41 of the connecting plate 65 through the bellows 676, and then blown into the two groups of filling airbags 663 through the air inlet 42, so that the filling airbags 663 expand. The expanded filling airbags 663 can fill the gaps between the spherical blocks 662 and squeeze the goods at the same time, so that the goods will not slip on the clamping mechanism 6.

[0049] When the cargo is transported, the upper base 672 loses the gravity of the cargo, and the spring 673 has an elastic reset function, so the upper base 672 can be reset to the top. As the upper base 672 is reset, the airbag 674 will be reset together. As the airbag 674 expands and resets, it will perform an air suction movement, and the gas in the filling airbag 663 will be sucked into the airbag 674 through the bellows 676, causing the filling airbag 663 to retract until the next piece of cargo squeezes the airbag 674 to compress and exhaust the air, forming a cycle.

[0050] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0051] The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An industrial robot for intelligent manufacturing, comprising a base (1), a turntable (2) located on the top of the base (1), a movable arm (3) arranged on the top of the turntable (2), a connecting block (4) arranged at one end of the movable arm (3) away from the turntable (2), a suction cup top (5) located on the connecting block (4), and a clamping mechanism (6) arranged directly below the suction cup top (5), characterized in that: The clamping mechanism (6) comprises a back plate (64), a slide groove (63) provided on the back plate (64), a driving screw rod (62) located in the slide groove (63), a connecting plate (65) for cooperating with the driving screw rod (62), a clamping plate (66) provided on the connecting plate (65), a bottom support assembly (61) located on a side of the connecting plate (65) away from the clamping plate (66), a hydraulic cylinder (68) and a buffer device (67) provided on the bottom support assembly (61); The clamping plate (66) comprises a toothed plate (661), a spherical block (662) and a filling airbag (663) arranged at the bottom of the toothed plate (661), and a friction block (664) arranged on the filling airbag (663); The buffer device (67) comprises a lower base (671), an air bag (674) and a spring (673) arranged between the lower base (671) and the upper base (672), a connecting port (675) arranged at one end of the air bag (674), and a bellows (676) located on the connecting port (675); One end of the bellows (676) is fixed and penetrates the connecting plate (65), a hollow groove (41) connected to the bellows (676) is provided in the connecting plate (65), and the air inlet (42) on the inner side of the filling airbag (663) penetrates the clamping plate (66) and is connected to the hollow groove (41) in the connecting plate (65); The spherical blocks (662) and the filling airbags (663) are arranged alternately, the height of each group of the spherical blocks (662) is consistent with the height of the toothed plate (661), and the friction blocks (664) are densely distributed on the filling airbags (663); The bottom support assembly (61) comprises a U-shaped plate (611), a rotating shaft (612) passing through a through hole of the U-shaped plate (611), a motor (614) located at one end of the rotating shaft (612), a support seat (613) movably engaged with the rotating shaft (612) through a bearing, and a support plate (615) located at one side of the U-shaped plate (611).

2. The industrial robot for intelligent manufacturing according to claim 1, characterized in that: The clamping mechanism (6) is a bilaterally symmetrical structure, and the hydraulic cylinder (68) is used to drive the bottom support assembly (61) to rise and fall.

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