Intelligent collaborative production equipment based on industrial robot

Abstract

The application belongs to the technical field of intelligent production, and particularly relates to an intelligent collaborative production device based on an industrial robot, which comprises an arm body, a linkage L plate is installed on the arm body, an installation plate is arranged on the linkage L plate, the installation plate and the linkage L plate are connected through bolt connection, a linkage motor is fixedly installed on the installation plate, the linkage motor is connected with a double-action clamping unit, through the arrangement of electromagnets, pressure sensors and other devices, the protection of the brake spring and the linkage spring on the side of the first buffer pad is realized through the assistance of the pressure sensor and the electromagnet, the clamping of the first buffer pad on the part is more stable through the vibration of the clamping block when passing through the locking plate groove, meanwhile, the vibration can also make the clamped part be a barrel, and when the barrel contains objects, the objects in the barrel are shaken flat, the off-center caused by the uneven objects in the barrel is avoided, the clamping is prevented from falling off, and the convenience and stability of the equipment are improved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing technology, specifically an intelligent collaborative production equipment based on industrial robots. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] An industrial robot composite fixture and clamping method, with application number 2021102648019, includes a grinding plate, a sliding groove, a sliding groove plate, and sliding columns. The lower part of the grinding plate is provided with two sliding grooves, and the upper part of the sliding groove plate is fixedly connected to two sliding columns. The two sliding columns are slidably connected in the two sliding grooves respectively. This invention can clamp workpieces of various shapes. Furthermore, this invention facilitates the grinding of workpieces. However, when using this device, the fixture and the part are prone to mismatch, making it easy for the workpiece to fall off the clamp.

[0004] Because there are many types of mechanical parts nowadays, and industrial robots need to grip parts of various shapes, the grippers on the robot arm may not be compatible with the parts when gripping different shapes. This can cause the gripper to swing during movement after gripping the parts, making it easy for the parts to fall off the robot and resulting in low production efficiency.

[0005] Meanwhile, when the clamped part is an irregularly shaped part, the small contact area between the first buffer pad and the part makes the clamping of the part unstable. When the clamped part is a bucket, if the sand surface inside the bucket is uneven, the center of gravity of the bucket will not be in the center, and the bucket will fall off due to the shift of the center of gravity when it is clamped and moved. At the same time, when the part is continuously clamped, the actuating spring is also prone to damage due to long-term compression. Summary of the Invention

[0006] In view of the above situation and to overcome the shortcomings of the prior art, the present invention provides an intelligent collaborative production equipment based on industrial robots, which effectively solves the problems in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an intelligent collaborative production equipment based on an industrial robot, comprising an arm body, an actuator L-plate mounted on the arm body, an mounting plate provided on the actuator L-plate, the mounting plate and the actuator L-plate being connected by bolts, a linkage motor being fixedly mounted on the mounting plate, and the linkage motor being connected to a double-action clamping unit;

[0008] The dual-action clamping unit includes a mounting block disposed on the output end of the linkage motor. The output end of the linkage motor is provided with a linkage threaded shaft. The mounting block is connected to the mounting groove provided on the linkage threaded shaft. A driving ring is mounted on the linkage threaded shaft. The driving ring is connected to a clamping and stabilizing assembly. The linkage threaded shaft passes through a linkage base mounted on the arm body and is connected to a linkage bevel gear. The linkage bevel gear is connected to a control and anti-sway mechanism. First buffer pads are provided on both sides above the linkage base. A T-shaped moving plate and a positioning circular plate are provided on the side of the first buffer pad. An electromagnet is provided on the side of the T-shaped moving plate and the positioning circular plate that are close to each other. An actuating rod is provided on the side of the T-shaped moving plate. Multiple locking blocks are provided at the top of the actuating rod. A pressure sensor is provided on the side of the first buffer pad.

[0009] By incorporating devices such as electromagnets and pressure sensors, the equipment protects the braking spring and engagement spring on the first buffer pad side with the assistance of the pressure sensor and electromagnet. Furthermore, the vibration of the clamping block as it passes through the groove of the locking plate makes the clamping of the part by the first buffer pad more stable. At the same time, the vibration also makes the clamped part like a bucket, and when there are objects inside the bucket, it makes the objects inside the bucket level, avoiding the center of gravity shift caused by uneven objects inside the bucket, which would cause the clamp to fall off. This improves the convenience and stability of the equipment.

[0010] Preferably, the controlled-motion anti-sway mechanism includes an anti-motion bevel gear meshing with a linkage bevel gear, an anti-motion shaft mounted on the anti-motion bevel gear, the anti-motion shaft passing through an anti-motion base and connected to a drive pulley, the anti-motion base being fixedly connected to a double-motion connecting plate, the double-motion connecting plate being fixedly connected to a drive L-plate, the drive pulley being connected to a driven pulley via a transmission belt, a controlled-motion shaft mounted on the driven pulley, one end of the controlled-motion shaft being connected to the double-motion connecting plate, and the other end of the controlled-motion shaft being connected to a double-motion gear, the double-motion gear meshing with two double-motion racks, a double-motion square plate being fixedly mounted on the double-motion racks, and a double-motion rod being provided on the double-motion square plate.

[0011] Preferably, both ends of the double-acting rod are fixedly connected to the U-acting control plate, the U-acting control plate and the double-acting connecting plate are fixedly connected through an auxiliary L-plate, an extension rod is installed on the double-acting rack, the extension rod is connected to a sliding block, the sliding block is slidably connected to a sliding groove on the U-acting control plate, a sliding rod is installed on the sliding groove, a sliding spring is sleeved on the sliding rod, one end of the sliding spring is fixedly connected to the sliding groove, the other end of the sliding spring is fixedly connected to the sliding block, a braking block is installed on the sliding block, the braking block passes through a transverse groove and a limiting slide cylinder on the U-acting control plate, the limiting slide cylinder is connected to a self-adjusting mechanism, an extension base is installed on the extension rod, a rope is provided on the extension base, and the rope is connected to a limiting locking assembly.

[0012] Preferably, a linkage cross block is symmetrically installed on the linkage threaded shaft, and a guide block is symmetrically installed on the linkage cross block. The guide block is connected to a guide rod provided on the linkage base. A guide spring is sleeved on the guide rod. One end of the guide spring is fixedly connected to the guide block, and the other end of the guide spring is fixedly connected to the linkage base. A T-shaped moving plate is installed on the linkage cross block. A plurality of brake rods are provided on the T-shaped moving plate. One end of the brake rod is fixedly connected to the positioning circular plate, and the other end of the brake rod is fixedly connected to the contact plate.

[0013] Preferably, a brake spring is sleeved on the brake lever, one end of the brake spring is fixedly connected to the positioning circular plate, and the other end of the brake spring is fixedly connected to the T-shaped moving plate. Actuating rods are symmetrically installed on the moving plate, one end of the actuating rod is fixedly connected to the first moving plate, and the other end of the actuating rod is fixedly connected to the bonding block. Multiple bonding blocks are connected to the first buffer pad. An actuating spring is sleeved on the actuating rod, one end of the actuating spring is fixedly connected to the moving plate, and the other end of the actuating spring is fixedly connected to the bonding block.

[0014] Preferably, the limiting and locking assembly includes a winding wheel and a fixed pulley connected to the rope. The fixed pulley is connected to the anti-movement base via a drive shaft. A drive shaft is mounted on the winding wheel. One end of the drive shaft is connected to a spring, and the other end passes through the drive shaft on the anti-movement base and is connected to a driven bevel gear. The driven bevel gear meshes with a driving bevel gear. A drive threaded shaft is mounted on the driving bevel gear and is connected to the drive base. A drive cross plate is threaded onto the drive threaded shaft. A drive block is mounted on the drive cross plate and is connected to a drive rod. One end of the drive rod is fixedly connected to the drive base, and the other end is connected to the drive cross plate.

[0015] Preferably, a drive spring is sleeved on the drive rod, one end of the drive spring is fixedly connected to the reciprocating horizontal plate, and the other end of the drive spring is fixedly connected to the drive block. A contact rod is installed on the drive block, and a movable contact piece is provided on the contact rod. The movable contact piece is connected to a stationary contact piece provided inside the contact cylinder. A telescopic motor is provided on the moving rod, and the telescopic motor is connected to a square groove. The square groove is provided inside the moving rod. The output end of the telescopic motor is connected to a locking port. The locking port is provided on the locking rod. One end of the locking rod is connected to the second moving plate, and the other end of the locking rod is fixedly connected to the locking block. A locking spring is sleeved on the locking rod, one end of the locking spring is fixedly connected to the moving rod, and the other end of the locking spring is fixedly connected to the locking block.

[0016] Preferably, the self-adjusting mechanism includes a limiting slide rod slidably connected to the limiting slide cylinder. The limiting slide rod and the limiting slide cylinder are connected by a limiting spring. Positioning blocks are symmetrically installed on the limiting slide rod. The positioning blocks are connected to positioning grooves. Positioning rods are installed on the positioning grooves. Positioning springs are sleeved on the positioning rods. One end of the positioning springs is fixedly connected to the positioning grooves, and the other end of the positioning springs is fixedly connected to the positioning blocks. An extension plate is installed on the limiting slide rod. A stabilizing rod is provided on the extension plate. Multiple stabilizing rods are connected to the stabilizing plate. A second buffer pad is installed on the stabilizing plate. A stabilizing spring is sleeved on the stabilizing rod. One end of the stabilizing spring is fixedly connected to the extension plate, and the other end of the stabilizing spring is fixedly connected to the self-adjusting circular plate. A first pull ring is provided on the limiting slide rod.

[0017] Preferably, the limiting slide rod and the limiting slide cylinder are provided with positioning slots, the positioning slots are connected to positioning inserts, the positioning inserts are equipped with fully movable square plates, the fully movable square plates are provided with fully movable rods, one end of the fully movable rods is fixedly connected to the limiting slide cylinder, the other end of the fully movable rods is fixedly connected to fully movable circular plates, a fully movable spring is sleeved on the fully movable rods, one end of the fully movable springs is fixedly connected to the fully movable circular plates, the other end of the fully movable springs is connected to the fully movable square plates, the circular groove on the positioning inserts is connected to the circular rod, a retaining plate is installed on the circular rod, the retaining plate is connected to the retaining rod on the limiting slide cylinder, a retaining spring is sleeved on the retaining rod, one end of the retaining springs is fixedly connected to the retaining plate, the other end of the retaining springs is fixedly connected to the controlling circular plate, and the fully movable square plates are provided with second pull rings.

[0018] Preferably, the tightening and stabilizing assembly includes a first rubber layer disposed on the driving ring, the first rubber layer and a second rubber layer being connected in a mating manner, a tightening semi-ring being installed on the second rubber layer, the tightening semi-ring being connected to the lifting plate, lifting rods being symmetrically arranged on the lifting plate, a lifting spring being sleeved on one end of the lifting rod, one end of the lifting spring being fixedly connected to the lifting plate, the other end of the lifting spring being fixedly connected to the lifting plate, the other end of the lifting rod being fixedly connected to the connecting horizontal plate, the connecting horizontal plate being slidably connected to the connecting rod, one end of the connecting rod being fixedly connected to the connecting base on the driving L plate, the other end of the connecting rod being connected to the connecting plate, a tension spring being sleeved on the connecting rod, one end of the tension spring being fixedly connected to the connecting plate, the other end of the tension spring being fixedly connected to the connecting horizontal plate, and a locking box being symmetrically installed on the driving L plate, the locking box being connected in a mating manner with the locking rod on the lifting plate.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. Start the linkage motor to rotate the linkage threaded shaft. The linkage cross block moves within the guide rod through the guide block, causing the guide spring to be in a buffered state. This causes the two T-shaped moving plates to move towards each other, allowing the two first buffer pads to clamp parts of different shapes. At this time, the first buffer pads deform according to the different shapes of the parts, and after the parts are no longer clamped, they can quickly return to their planar state due to elasticity, thus fitting the parts. This causes several linkage rods to move to different degrees within the moving plates, which in turn causes several linkage springs and braking springs to be in a buffered state to different degrees, thereby clamping the parts. This avoids the mismatch between the clamps on traditional industrial robots and the parts when clamping them, thus preventing the parts from falling off the industrial robot, reducing the limitations of the device in use, and improving the efficiency of production and processing.

[0021] 2. By setting up an extension base, rope, and fixed pulley, the winding wheel rotates, causing the spring to be in a buffered state. This causes the drive threaded shaft to rotate, causing the drive cross plate to move within the drive rod via the drive block. This also causes the drive spring to be in a buffered state, allowing the contact rod to enter the contact cylinder. This causes the moving contact piece to contact the stationary contact piece. At this time, the moving rod passes through the locking plate on the first buffer pad, causing a locking block to pass through the grooves on the two locking plates. This causes the locking spring to be buffered and then reset. When the two contact pieces contact, a signal is sent to the PLC control board, which sends a start signal to the telescopic motor. This causes the output end of the telescopic motor to move and limit the locking rod to the current position, preventing the first buffer pad from resetting, thereby improving the clamping effect.

[0022] 3. When the linked threaded shaft needs to rotate, pull the lifting plate upwards to limit its movement at the lifting rod, thus putting the lifting spring into a buffer state. This prevents the second rubber layer on the lifting plate from contacting the first rubber layer on the linked threaded shaft. Pulling the lifting plate backwards limits the movement of the connecting cross plate within the connecting rod, putting the tension spring into a buffer state. This moves the two locking rods above the locking box. Releasing the lifting plate resets the lifting spring, allowing the locking rods to enter the locking box. This ensures the linked threaded shaft can rotate normally without being affected by the resistance generated by the two rubber layers. This allows the double-action clamping unit to clamp or release parts. When the double-action clamping unit stops rotating, pulling the lifting plate upwards puts the lifting spring in a buffer state, causing the tension spring to reset and drive the connecting horizontal plate to reset. This moves the second rubber layer on the clamping half ring above the first rubber layer on the driving ring. By releasing the lifting plate, the lifting spring resets, allowing the first rubber layer to contact the second rubber layer, thereby increasing friction and greatly enhancing the friction when the linkage threaded shaft rotates. This prevents the linkage threaded shaft from being accidentally rotated by someone when the motor is turned off after the double-action clamping unit has completed its operation.

[0023] 4. When the linkage bevel gear rotates, it drives the meshing anti-moving bevel gear to rotate, causing the driving pulley to rotate via the transmission belt, which in turn causes the control shaft on the driven pulley to rotate. This, in turn, causes the double-moving gear to mesh with two double-moving racks, moving them to a limited position within the double-moving rod via the double-moving square plate. This puts the spring (not shown in the figure) in a buffered state, which in turn causes the extension rod on the double-moving rack to drive the sliding block to move to a limited position within the sliding groove. This puts the sliding spring on the sliding rod in a buffered state, causing the brake block on the sliding block to drive the limiting slide cylinder to move. This causes the two extension plates to move towards each other, which in turn causes the two... The second buffer pad clamps the end of the part, keeping the stabilizing spring in a buffered state. This prevents the part from swaying due to inertia during movement when clamping various parts, such as steel pipes of similar length. This improves the stability of the industrial robot when clamping parts. When the double-action clamping unit clamps the center of the part, control and anti-sway mechanisms can be symmetrically set on both sides of the linkage bevel gear to ensure the stability of the device during clamping. When the double-action clamping unit clamps one end of the part, the control and anti-sway mechanism can clamp the other end of the part to improve clamping stability.

[0024] 5. Pull the connecting plate upwards so that it moves to the upper limit of the connecting rod, causing the connecting spring to be in a buffered state. This releases the round rod from its limiting setting on the positioning insert rod. By pulling the second pull ring outwards, the fully movable square plate moves to the upper limit of the fully movable rod, causing the fully movable spring to be in a buffered state. This releases the positioning insert rod from its positioning slot, thus releasing its limiting setting on the limiting slide rod. By pulling the first pull ring, the limiting slide rod moves within the limiting slide cylinder, causing both the positioning spring and the limiting spring to be in a buffered state. This allows the control anti-sway mechanism to adjust its clamping length according to the length of different parts, reducing the limitations of the device during use.

[0025] 6. By setting up devices such as electromagnets and pressure sensors, the equipment protects the braking spring and engagement spring on the side of the first buffer pad with the assistance of pressure sensors and electromagnets. Furthermore, the vibration when the locking block passes through the groove of the locking plate makes the clamping of the part by the first buffer pad more stable. At the same time, the vibration can also make the clamped part into a bucket, and when there are objects in the bucket, it can make the objects in the bucket level, avoiding the center of gravity shift caused by uneven objects in the bucket, which would cause the clamp to fall off, thus improving the convenience and stability of the equipment. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0027] In the attached diagram:

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the mounting plate structure of the present invention;

[0030] Figure 3 This is a schematic diagram of the dual-action clamping unit structure of the present invention;

[0031] Figure 4 This is a schematic diagram of the controlled motion anti-sway mechanism of the present invention;

[0032] Figure 5 This is a schematic diagram of the first buffer pad structure of the present invention;

[0033] Figure 6 This is a schematic diagram of the telescopic motor structure of the present invention;

[0034] Figure 7 This is a schematic diagram of the clamping and stabilizing assembly structure of the present invention;

[0035] Figure 8 This is a schematic diagram of the double-moving square plate structure of the present invention;

[0036] Figure 9 This is a schematic diagram of the structure of the limiting positioning component of the present invention;

[0037] Figure 10 This is a schematic diagram of the self-adjusting mechanism structure of the present invention;

[0038] Figure 11 This is a schematic diagram of the extended fixed base structure of the present invention;

[0039] Figure 12 This is a partial structural schematic diagram from another perspective of the present invention.

[0040] In the diagram: 1. Arm body; 2. Driven L-plate; 3. Mounting plate; 4. Bolt; 5. Linkage motor; 6. Mounting block; 7. Linkage threaded shaft; 8. Mounting groove; 9. Driven ring; 10. Linkage base; 11. Linkage bevel gear; 12. Anti-movement bevel gear; 13. Anti-movement rotating shaft; 14. Anti-movement base; 15. Driving pulley; 16. Double-action connecting plate; 17. Transmission belt; 18. Driven pulley; 19. Control rotating shaft; 20. Double-action gear; 21. Double-action rack; 22. Double-action square plate; 23. Double-action rod; 24. U-action control plate; 25. Auxiliary L-plate; 26. Extension rod; 27. Sliding block; 28. Sliding groove; 29. ​​Sliding rod; 30. 31. Sliding spring; 32. Brake block; 33. Horizontal groove; 34. Limiting slide cylinder; 35. Extending fixed seat; 36. Rope; 37. Linkage horizontal block; 38. Guide block; 39. Guide rod; 40. Guide spring; 41. T-shaped moving plate; 42. Brake rod; 43. Positioning circular plate; 44. Attaching plate; 45. Brake spring; 46. Engaging rod; 47. Attaching block; 48. First buffer pad; 49. Engaging spring; 50. Winding wheel; 51. Fixed pulley; 52. Engaging shaft; 53. Rotating shaft; 54. Spring spring; 55. Rotating base; 56. Driven bevel gear; 57. Driving threaded shaft; 58. Driving base 59. Seat; 60. Drive cross plate; 61. Drive block; 62. Drive rod; 63. Reciprocating cross plate; 64. Drive spring; 65. Adhesive rod; 66. Moving contact piece; 67. Adhesive cylinder; 68. Stationary contact piece; 69. Telescopic motor; 70. Square slot; 71. Alternating rod; 72. Locking port; 73. Locking rod; 74. Locking spring; 75. Limiting slide rod; 76. Limiting spring; 77. Positioning block; 78. Positioning groove; 79. Positioning rod; 80. Positioning spring; 81. Extension plate; 82. Stabilizing rod; 83. Stabilizing plate; 84. Second buffer pad; 85. Stabilizing spring; 86. Self-adjusting circular plate; 87. First pull ring; 88. 89. Positioning slot; 90. Positioning rod; 91. Fully movable square plate; 92. Fully movable rod; 93. Fully movable round plate; 94. Fully movable spring; 95. Round groove; 96. Round rod; 97. Connecting plate; 98. Connecting rod; 99. Connecting spring; 100. Controlling round plate; 101. Second pull ring; 102. First rubber layer; 103. Second rubber layer; 104. Tightening half ring; 105. Lifting square plate; 106. Lifting rod; 107. Lifting round plate; 108. Connecting horizontal plate; 109. Connecting rod; 110. Connecting base; 111. Connecting round plate; 112. Tension spring; 113. Locking box; 114. Locking rod. Detailed Implementation

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] Example 1

[0043] like Figures 1 to 12 As shown, the present invention includes an arm body 1, on which a drive L-plate 2 is mounted. A mounting plate 3 is provided on the drive L-plate 2, and the mounting plate 3 and the drive L-plate 2 are connected by bolts 4. A linkage motor 5 is fixedly mounted on the mounting plate 3, and the linkage motor 5 is connected to a double-action clamping unit. The double-action clamping unit includes a mounting block 6 located on the output end of the linkage motor 5. The mounting block 6 is connected to a mounting groove 8 on a linkage threaded shaft 7. A drive ring 9 is mounted on the linkage threaded shaft 7, and the drive ring 9 is connected to a tightening and stabilizing assembly. The linkage threaded shaft 7 passes through a linkage base 10 mounted on the arm body 1 and is connected to a linkage bevel gear 11. The linkage bevel gear 11 is connected to a control and anti-sway mechanism. A linkage cross block 36 is symmetrically mounted on the linkage threaded shaft 7, and a guide block 37 is symmetrically mounted on the linkage cross block 36. The guide block 37 is connected to a guide rod 38 on the linkage base 10. A guide spring 39 is fitted on the 38. One end of the guide spring 39 is fixedly connected to the guide block 37, and the other end is fixedly connected to the linkage base 10. A T-shaped moving plate 40 is installed on the linkage cross block 36. Several brake rods 41 are provided on the T-shaped moving plate 40. One end of the brake rod 41 is fixedly connected to the positioning circular plate 42, and the other end is fixedly connected to the contact moving plate 43. A brake spring 44 is fitted on the brake rod 41. One end of the brake spring 44 is fixedly connected to the positioning circular plate 42, and the other end is fixedly connected to the T-shaped moving plate 40. Actuating rods 45 are symmetrically installed on the contact moving plate 43. One end of the actuating rod 45 is fixedly connected to the first moving plate, and the other end is fixedly connected to the contact block 46. Several contact blocks 46 are connected to the first buffer pad 47. Actuating spring 48 is fitted on the actuating rod 45. One end of the actuating spring 48 is fixedly connected to the contact moving plate 43, and the other end is fixedly connected to the contact block 46.

[0044] By activating the linkage motor 5, the linkage threaded shaft 7 rotates, and the linkage cross block 36 moves within the guide rod 38 through the guide block 37, causing the guide spring 39 to be in a buffered state. This causes the two T-shaped moving plates 40 to move towards each other, allowing the two first buffer pads 47 to clamp parts of different shapes. At this time, the first buffer pads 47 deform according to the different shapes of the parts, and after not clamping the parts, they can quickly return to their planar state due to elasticity, thus fitting the parts. This causes several actuating rods 45 to move to different degrees within the actuating plate 43, which in turn causes several actuating springs 48 and braking springs 44 to be in a buffered state to different degrees, thereby clamping the parts. This avoids the mismatch between the clamps on traditional industrial robots and the parts when clamping them, thus preventing the parts from falling off the industrial robot, reducing the limitations of the device in use, and improving the efficiency of production and processing.

[0045] The anti-sway control mechanism of this embodiment includes an anti-sway bevel gear 12 that meshes with the linkage bevel gear 11. An anti-sway rotating shaft 13 is mounted on the anti-sway bevel gear 12. The anti-sway rotating shaft 13 passes through the anti-sway base 14 and is connected to the driving pulley 15. The anti-sway base 14 is fixedly connected to the double-action connecting plate 16. The double-action connecting plate 16 is fixedly connected to the driving L-plate 2. The driving pulley 15 is connected to the driven pulley 18 via a transmission belt 17. A control rotating shaft 19 is mounted on the driven pulley 18. One end of the control rotating shaft 19 is connected to the double-action connecting plate 16, and the other end is connected to the double-action gear 20. The double-action gear 20 meshes with two double-action racks 21. A double-action square plate 22 is fixedly mounted on the double-action racks 21. A double-action rod 23 is provided on the double-action square plate 22. Both ends of the double-action rod 23 are fixed to the U-action control plate 24. The connection is configured such that the U-shaped control plate 24 and the double-acting connecting plate 16 are fixedly connected via an auxiliary L-plate 25. An extension rod 26 is mounted on the double-acting rack 21, and the extension rod 26 is connected to the sliding block 27. The sliding block 27 is slidably connected to the sliding groove 28 on the U-shaped control plate 24. A sliding rod 29 is mounted on the sliding groove 28, and a sliding spring 30 is sleeved on the sliding rod 29. One end of the sliding spring 30 is fixedly connected to the sliding groove 28, and the other end is fixedly connected to the sliding block 27. A brake block 31 is mounted on the sliding block 27, and the brake block 31 passes through the transverse groove 32 on the U-shaped control plate 24 and the limiting slide cylinder 33. The limiting slide cylinder 33 is connected to the self-adjusting mechanism. An extension base 34 is mounted on the extension rod 26, and a rope 35 is mounted on the extension base 34. The rope 35 is connected to the limiting locking assembly.

[0046] When the linkage bevel gear 11 rotates, it drives the meshing anti-moving bevel gear 12 to rotate, causing the driving pulley 15 to rotate via the transmission belt 17, which in turn causes the control shaft 19 on the driven pulley 18 to rotate. This, in turn, causes the double-moving gear 20 to mesh with the two double-moving racks 21 to move, which then move within the double-moving rod 23 via the double-moving square plate 22. This puts the spring in a buffered state, which in turn causes the extension rod 26 on the double-moving rack 21 to drive the sliding block 27 to move within the sliding groove 28. This puts the sliding spring 30 on the sliding rod 29 in a buffered state, causing the brake block 31 on the sliding block 27 to drive the limiting slide cylinder 33 to move, which in turn causes the two extension plates 8 to move. The two second buffer pads 84 move towards each other, thereby clamping the end of the part and putting the stabilizing spring 85 in a buffered state. This prevents the part from swaying due to inertia during movement when clamping various parts, such as steel pipes of similar length. This improves the stability of the industrial robot when clamping parts. When the double-action clamping unit clamps the center of the part, a control and anti-sway mechanism can be symmetrically set on both sides of the linkage bevel gear 11 to ensure the stability of the device during clamping. When the double-action clamping unit clamps one end of the part, the control and anti-sway mechanism can clamp the other end of the part to improve the stability of the clamping.

[0047] The limiting and locking assembly of this embodiment includes a winding wheel 49 and a fixed pulley 50 connected to the rope 35. The fixed pulley 50 is connected to the anti-movement base 14 via a drive shaft 51. A drive shaft 52 is mounted on the winding wheel 49. One end of the drive shaft 52 is connected to a spring 53, and the other end passes through a drive base 54 on the anti-movement base 14 and is connected to a driven bevel gear 55. The driven bevel gear 55 meshes with a driving bevel gear 56. A drive threaded shaft 57 is mounted on the driving bevel gear 56. The drive threaded shaft 57 is connected to a drive base 58. A drive cross plate 59 is threaded onto the drive threaded shaft 57. A drive block 60 is mounted on the drive cross plate 59. The drive block 60 is connected to a drive rod 61. One end of the drive rod 61 is fixedly connected to the drive base 58, and the other end is connected to the drive cross plate 62. The drive rod 61 is fitted with a drive spring 63. One end of the drive spring 63 is fixedly connected to the reciprocating horizontal plate 62, and the other end is fixedly connected to the drive block 60. The drive block 60 is equipped with a contact rod 64, which is provided with a movable contact piece 65. The movable contact piece 65 is connected to a stationary contact piece 67 provided in the contact cylinder 66. The contact between the two is connected to the telescopic motor 68. The telescopic motor 68 is connected to a square groove 69, which is located in the moving rod 70. The output end of the telescopic motor 68 is connected to a locking port 71, which is located on the locking rod 72. One end of the locking rod 72 is connected to the second moving plate, and the other end is fixedly connected to the locking block 73. The locking rod 72 is fitted with a locking spring 74, one end of which is fixedly connected to the moving rod 70, and the other end is fixedly connected to the locking block 73.

[0048] When the extension rod 26 moves, it extends the fixed base 34, the rope 35, and the fixed pulley 50, causing the winding wheel 49 to rotate. This causes the spring spring 53 to be in a buffered state, which in turn causes the drive threaded shaft 57 to rotate. This causes the drive cross plate 59 to move within the drive rod 61 via the drive block 60, which in turn causes the drive spring 63 to be in a buffered state. This causes the contact rod 64 to enter the contact cylinder 66, causing the moving contact piece 65 to contact the stationary contact piece 67. At this time, the moving rod 70 passes through the locking plate on the first buffer pad 47, causing a locking block 73 to pass through the grooves on the two locking plates. This causes the locking spring 74 to be buffered and then reset. When the two contacts are in contact, a signal is sent to the PLC control board, which sends a start signal to the telescopic motor 68. This causes the output end of the telescopic motor 68 to move and limit the locking rod 72 to the current position, preventing the first buffer pad 47 from resetting, thereby improving the clamping effect.

[0049] The self-adjusting mechanism of this embodiment includes a limiting slide rod 75 slidably connected to the limiting slide cylinder 33. The limiting slide rod 75 and the limiting slide cylinder 33 are connected by a limiting spring 76. Positioning blocks 77 are symmetrically installed on the limiting slide rod 75. The positioning blocks 77 are connected to the positioning groove 78. A positioning rod 79 is installed on the positioning groove 78. A positioning spring 80 is sleeved on the positioning rod 79. One end of the positioning spring 80 is fixedly connected to the positioning groove 78, and the other end is fixedly connected to the positioning block 77. An extension plate 81 is installed on the limiting slide rod 75. A stabilizing rod 82 is provided on the extension plate 81. Several stabilizing rods 82 are connected to a stabilizing plate 83. A second buffer pad 84 is installed on the stabilizing plate 83. A stabilizing spring 85 is sleeved on the stabilizing rod 82. One end of the stabilizing spring 85 is fixedly connected to the extension plate 81, and the other end is fixedly connected to the self-adjusting circular plate 86. A first pull ring 8 is provided on the limiting slide rod 75. 7. The limiting slide rod 75 and the limiting slide cylinder 33 are provided with positioning slots 88, which are connected to the positioning rod 89. The positioning rod 89 is equipped with a fully movable square plate 90, and the fully movable square plate 90 is provided with a fully movable rod 91. One end of the fully movable rod 91 is fixedly connected to the limiting slide cylinder 33, and the other end is fixedly connected to the fully movable circular plate 92. A fully movable spring 93 is sleeved on the fully movable rod 91, and one end of the fully movable spring 93 is fixedly connected to the fully movable circular plate 92. The other end is connected to the fully movable square plate 90. The circular groove 94 on the positioning rod 89 is connected to the circular rod 95. The circular rod 95 is equipped with a kinetic plate 96. The kinetic plate 96 is connected to the kinetic rod 97 on the limiting slide cylinder 33. The kinetic spring 98 is sleeved on the kinetic rod 97. One end of the kinetic spring 98 is fixedly connected to the kinetic plate 96, and the other end is fixedly connected to the control circular plate 99. The fully movable square plate 90 is equipped with a second pull ring 100.

[0050] By pulling the connecting plate 96 upwards, it moves to the upper limit of the connecting rod 97, causing the connecting spring 98 to be in a buffered state. This releases the round rod 95 from its limiting setting on the positioning insert rod 89. By pulling the second pull ring 100 outwards, the fully movable square plate 90 moves to the upper limit of the fully movable rod 91, causing the fully movable spring 93 to be in a buffered state. This releases the positioning insert rod 89 from its limiting slot 88, thus releasing its limiting setting on the limiting slide rod 75. By pulling the first pull ring 87, the limiting slide rod 75 moves within the limiting slide cylinder 33, thus releasing the positioning spring 80 and... All the limiting springs 76 are in a buffer state, which allows the control anti-sway mechanism to adjust its clamping length according to the length of different parts, reducing the limitations of the device during use. When the length is adjusted, by releasing the second pull ring 100, the full-motion spring 93 is reset and moves, which drives the full-motion square plate 90 to reset, so that the positioning rod 89 limits the limiting slide rod 75. When the locking plate 96 is released, the locking spring 98 is reset, and the round rod 95 limits the positioning rod 89, preventing it from moving due to non-human factors and improving the safety of the device during clamping.

[0051] The clamping and stabilizing assembly of this embodiment includes a first rubber layer 101 disposed on the driving ring 9. The first rubber layer 101 and a second rubber layer 102 are connected and fitted together. A clamping half-ring 103 is installed on the second rubber layer 102. The clamping half-ring 103 is connected to the lifting plate 104. Lifting rods 105 are symmetrically arranged on the lifting plate 104. A lifting spring 106 is sleeved on one end of the lifting rod 105. One end of the lifting spring 106 is fixedly connected to the lifting plate 104, and the other end is fixedly connected to the lifting circular plate 107. The other end of the lifting rod 105 is connected to... The connecting horizontal plate 108 is fixedly connected, and the connecting horizontal plate 108 is slidably connected to the connecting rod 109. One end of the connecting rod 109 is fixedly connected to the connecting base 110 on the connecting L plate 2, and the other end is connected to the connecting circular plate 111. A tension spring 112 is sleeved on the connecting rod 109. One end of the tension spring 112 is fixedly connected to the connecting circular plate 111, and the other end is fixedly connected to the connecting horizontal plate 108. A locking box 113 is symmetrically installed on the connecting L plate 2. The locking box 113 is connected to the locking rod 114 on the lifting square plate 104.

[0052] When the linkage threaded shaft 7 needs to rotate, pulling the lifting plate 104 upward causes it to move at the lifting rod 105, thus putting the lifting spring 106 in a buffered state. This prevents the second rubber layer 102 on the lifting plate 104 from contacting the first rubber layer 101 on the linkage threaded shaft 7. Pulling the lifting plate 104 backward causes the connecting cross plate 108 to move within the connecting rod 109, putting the tension spring 112 in a buffered state. This moves the two locking rods 114 above the locking box 113. Releasing the lifting plate 104 resets the lifting spring 106, allowing the locking rods 114 to enter the locking box 113, thus relieving the linkage threaded shaft 7 of the resistance generated by the two rubber layers. The double-action clamping unit can rotate normally, allowing it to clamp or release parts. When the double-action clamping unit stops rotating, pulling up the lifting plate 104 causes the lifting spring 106 to be in a buffer state, which in turn resets the tension spring 112 and drives the connecting plate 108 to reset. This causes the second rubber layer 102 on the clamping half ring 103 to move above the first rubber layer 101 on the driving ring 9. By releasing the lifting plate 104, the lifting spring 106 resets, allowing the first rubber layer 101 to contact the second rubber layer 102, thereby increasing the friction and greatly improving the friction when the linkage threaded shaft 7 rotates. This prevents the linkage threaded shaft 7 from being accidentally rotated by someone when the motor is turned off after the double-action clamping unit has completed its operation.

[0053] Example 2

[0054] Based on the intelligent collaborative production equipment based on industrial robots in Embodiment 1 above, although the device can prevent parts from falling off the industrial robot during use, there are some issues. When the clamped part is an irregularly shaped part, the small contact area between the first buffer pad 47 and the part makes the clamping of the part unstable. When the clamped part is a bucket containing objects, uneven sand surfaces inside the bucket can cause the bucket's center of gravity to be off-center, leading to the bucket falling off during clamping and movement due to the shift in the center of gravity. Furthermore, the actuating spring 48 is prone to damage due to prolonged compression during continuous clamping of parts. To solve these problems, we propose the following technical solutions:

[0055] like Figures 1 to 12 As shown, an electromagnet is provided on the side of the T-shaped moving plate 40 and the positioning circular plate 42 that are close to each other. A pressure sensor is provided on the side of the first buffer pad 47. The pressure sensor is used to detect the force when the part is clamped. When the electromagnets on the T-shaped moving plate 40 and the positioning circular plate 42 are energized, they generate a repulsive force, causing the positioning circular plate 42 to move away from the T-shaped moving plate 40.

[0056] In this embodiment, during use, the lifting plate 104 is held to raise the locking rod 114, and then the lifting plate 104 is held to move the locking rod 114 laterally and insert it into the locking box 113, thereby unlocking the linkage motor 5. Then, the industrial robot controls the arm 1 to move the equipment, moving the part between the two first buffer pads 47. The linkage motor 5 is started, causing the linkage threaded shaft 7 to rotate. The rotation of the linkage threaded shaft 7 drives the two first buffer pads 47 to move towards each other through the threaded engagement, thereby clamping the part between the two first buffer pads 47.

[0057] During the rotation of the linkage threaded shaft 7, the linkage threaded shaft 7 drives the rotation of the double-acting gear 20 through the linkage bevel gear 11, the anti-moving bevel gear 12, the driving pulley 15, the transmission belt 17, the driven pulley 18, and the control shaft 19. The rotation of the double-acting gear 20 drives the rotation of the rotating shaft 52 through the double-acting rack 21, the extension fixed seat 34, the rope 35, the fixed pulley 50, and the winding wheel 49. The rotation of the rotating shaft 52 drives the rotation of the drive threaded shaft 57 through the driven bevel gear 55 and the driving bevel gear 56. The rotation of the drive threaded shaft 57 drives the movement of the drive cross plate 59 through the threaded engagement, so that the drive cross plate 59 moves with the movement of the first buffer pad 47.

[0058] When the two first buffer pads 47 are attached to the surface of the part, the distance between the two first buffer pads 47 will be fixed. At this time, the drive plate 59 is still moving. When the locking block 73 on the upper end of the drive plate 59 continues to move through the groove of the locking plate on the side of the first buffer pad 47, due to the assistance of the locking spring 74, the locking block 73 retracts and then pops out when it passes through the groove, thereby causing the first buffer pad 47 to vibrate. Since the first buffer pad 47 is elastic, the vibration of the first buffer pad 47 will cause the air between the first buffer pad 47 and the part to be discharged, making the first buffer pad 47 fit more tightly with the part and improving the clamping effect of the equipment. Furthermore, when the clamped part is a bucket and there is an object inside the bucket, the vibration of the first buffer pad 47 will also flatten the object inside the bucket, so that the center of gravity of the bucket will not shift, ensuring the stability of the equipment.

[0059] As the linkage threaded shaft 7 continues to rotate, the second buffer pad 84 clamps the other side of the part. During this process, the clamping force of the two first buffer pads 47 on the part gradually increases. At this time, when the pressure sensor detects that the clamping force on the part exceeds the set threshold, the electromagnets on the T-shaped moving plate 40 and the positioning circular plate 42 are energized to generate a repulsive force. This causes the positioning circular plate 42 to move away from the T-shaped moving plate 40 to counteract the clamping force generated by the continued rotation of the linkage threaded shaft 7, and to protect the brake spring 44 and the engagement spring 48. This keeps the detection value of the pressure sensor at the critical value of the set threshold, ensuring both the clamping force on the part and the protection of the brake spring 44 and the engagement spring 48.

[0060] After the second buffer pad 84 clamps the other side of the part, the telescopic motor 68 is started, so that the output end of the telescopic motor 68 is inserted into the locking port 71, thereby locking the locking block 73 and locking the distance between the two first buffer pads 47. This ensures that the two first buffer pads 47 will not be affected by the shaking during the shaking process, thus ensuring the stability of the equipment.

[0061] This invention, by incorporating devices such as electromagnets and pressure sensors, uses the assistance of these sensors and electromagnets to protect the braking spring 44 and the engagement spring 48 on the side of the first buffer pad 47. Furthermore, the vibration of the locking block 73 as it passes through the groove of the locking plate makes the clamping of the part by the first buffer pad 47 more stable. At the same time, the vibration also makes the clamped part resemble a bucket, and when an object is placed inside the bucket, it flattens the object, preventing the center of gravity from shifting due to unevenness and causing the clamp to fall off. This improves the convenience and stability of the equipment.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent collaborative production equipment based on industrial robots, characterized in that: Includes an arm body (1), on which a drive L plate (2) is installed, and a mounting plate (3) is provided on the drive L plate (2). The mounting plate (3) and the drive L plate (2) are connected by bolts (4). A linkage motor (5) is fixedly installed on the mounting plate (3), and the linkage motor (5) is connected to the double-action clamping unit. The double-acting clamping unit includes a mounting block (6) disposed on the output end of the linkage motor (5). The output end of the linkage motor (5) is provided with a linkage threaded shaft (7). The mounting block (6) is connected to the mounting groove (8) provided on the linkage threaded shaft (7). A driving ring (9) is mounted on the linkage threaded shaft (7). The driving ring (9) is connected to the clamping and stabilizing assembly. The linkage threaded shaft (7) passes through the linkage base (10) mounted on the arm body (1) and is connected to the linkage bevel gear (11). A bevel gear (11) is connected to a control and anti-sway mechanism. A first buffer pad (47) is provided on both sides above the linkage base (10). A T-shaped moving plate (40) and a positioning circular plate (42) are provided on the side of the first buffer pad (47). An electromagnet is provided on the side of the T-shaped moving plate (40) and the positioning circular plate (42) that are close to each other. An agitator (70) is provided on the side of the T-shaped moving plate (40). A plurality of locking blocks (73) are provided at the top of the agitator (70). A pressure sensor is provided on the side of the first buffer pad (47). A linkage horizontal block (36) is symmetrically installed on the linkage threaded shaft (7). A T-shaped moving plate (40) is installed on the linkage horizontal block (36). A number of brake rods (41) are provided on the T-shaped moving plate (40). One end of the brake rod (41) is fixedly connected to the positioning circular plate (42), and the other end of the brake rod (41) is fixedly connected to the moving plate (43). A brake spring (44) is fitted on the brake lever (41). One end of the brake spring (44) is fixedly connected to the positioning circular plate (42), and the other end of the brake spring (44) is fixedly connected to the T-shaped moving plate (40). Actuating rods (45) are symmetrically installed on the moving plate (43). One end of the actuating rod (45) is fixedly connected to the first moving plate, and the other end of the actuating rod (45) is fixedly connected to the bonding block (46). Multiple bonding blocks (46) are connected to the first buffer pad (47). Actuating spring (48) is fitted on the actuating rod (45). One end of the actuating spring (48) is fixedly connected to the moving plate (43), and the other end of the actuating spring (48) is fixedly connected to the bonding block (46).

2. The intelligent collaborative production equipment based on industrial robots according to claim 1, characterized in that: The controlled anti-sway mechanism includes an anti-sway bevel gear (12) meshing with the linkage bevel gear (11). An anti-sway rotating shaft (13) is mounted on the anti-sway bevel gear (12). The anti-sway rotating shaft (13) passes through the anti-sway base (14) and is connected to the driving pulley (15). The anti-sway base (14) is fixedly connected to the double-action connecting plate (16). The double-action connecting plate (16) is fixedly connected to the driving L plate (2). The driving pulley (15) is connected to the drive belt (17). A control shaft (19) is installed on the driven pulley (18), one end of the control shaft (19) is connected to the double-acting connecting plate (16) for transmission, and the other end of the control shaft (19) is connected to the double-acting gear (20). The double-acting gear (20) meshes with two double-acting racks (21). A double-acting square plate (22) is fixedly installed on the double-acting rack (21), and a double-acting rod (23) is provided on the double-acting square plate (22).

3. The intelligent collaborative production equipment based on industrial robots according to claim 2, characterized in that: The two ends of the double-acting rod (23) are fixedly connected to the U-acting control plate (24). The U-acting control plate (24) and the double-acting connecting plate (16) are fixedly connected through the auxiliary L-plate (25). An extension rod (26) is installed on the double-acting rack (21). The extension rod (26) is connected to the sliding block (27). The sliding block (27) is slidably connected to the sliding groove (28) provided on the U-acting control plate (24). A sliding rod (29) is installed on the sliding groove (28). A sliding spring (30) is sleeved on the sliding rod (29). One end of the spring (30) is fixedly connected to the sliding groove (28), and the other end of the sliding spring (30) is fixedly connected to the sliding block (27). A brake block (31) is installed on the sliding block (27). The brake block (31) passes through the transverse groove (32) and the limiting slide cylinder (33) provided on the U-movement control plate (24). The limiting slide cylinder (33) is connected to the self-adjusting mechanism. An extension base (34) is installed on the extension rod (26). A rope (35) is provided on the extension base (34). The rope (35) is connected to the limiting positioning assembly.

4. The intelligent collaborative production equipment based on industrial robots according to claim 1, characterized in that: Guide blocks (37) are symmetrically installed on the linkage block (36). The guide blocks (37) are connected to the guide rods (38) provided on the linkage base (10). A guide spring (39) is sleeved on the guide rods (38). One end of the guide spring (39) is fixedly connected to the guide block (37), and the other end of the guide spring (39) is fixedly connected to the linkage base (10).

5. The intelligent collaborative production equipment based on industrial robots according to claim 3, characterized in that: The limiting locking assembly includes a winding wheel (49) and a fixed pulley (50) connected to the rope (35). The fixed pulley (50) is connected to the anti-movement base (14) via a drive shaft (51). A drive shaft (52) is mounted on the winding wheel (49). One end of the drive shaft (52) is connected to a spring (53), and the other end of the drive shaft (52) passes through a drive base (54) on the anti-movement base (14) and is connected to a driven bevel gear (55). The driven bevel gear (55) meshes with the drive shaft. A drive bevel gear (56) is connected, and a drive threaded shaft (57) is installed on the drive bevel gear (56). The drive threaded shaft (57) is connected to the drive base (58) in a transmission connection. A drive cross plate (59) is threaded on the drive threaded shaft (57). A drive block (60) is installed on the drive cross plate (59). The drive block (60) is connected to the drive rod (61). One end of the drive rod (61) is fixedly connected to the drive base (58), and the other end of the drive rod (61) is connected to the reciprocating cross plate (62).

6. The intelligent collaborative production equipment based on industrial robots according to claim 5, characterized in that: A drive spring (63) is sleeved on the drive rod (61). One end of the drive spring (63) is fixedly connected to the reciprocating horizontal plate (62), and the other end of the drive spring (63) is fixedly connected to the drive block (60). A moving rod (64) is installed on the drive block (60). A moving contact piece (65) is provided on the moving rod (64). The moving contact piece (65) is connected to a stationary contact piece (67) provided inside the moving cylinder (66). A telescopic motor (68) is provided on the moving rod (70). The telescopic motor (68) is connected to the square groove (69). The connection is configured such that the square groove (69) is located inside the moving rod (70), the output end of the telescopic motor (68) is connected to the lock (71), the lock (71) is located on the locking rod (72), one end of the locking rod (72) is connected to the second moving plate, the other end of the locking rod (72) is fixedly connected to the locking block (73), a locking spring (74) is sleeved on the locking rod (72), one end of the locking spring (74) is fixedly connected to the moving rod (70), and the other end of the locking spring (74) is fixedly connected to the locking block (73).

7. The intelligent collaborative production equipment based on industrial robots according to claim 3, characterized in that: The self-adjusting mechanism includes a limiting slide rod (75) slidably connected to the limiting slide cylinder (33). The limiting slide rod (75) and the limiting slide cylinder (33) are connected by a limiting spring (76). Positioning blocks (77) are symmetrically installed on the limiting slide rod (75). The positioning blocks (77) are connected to the positioning groove (78). A positioning rod (79) is installed on the positioning groove (78). A positioning spring (80) is sleeved on the positioning rod (79). One end of the positioning spring (80) is fixedly connected to the positioning groove (78), and the other end of the positioning spring (80) is fixedly connected to the positioning groove (78). The positioning block (77) is fixedly connected. An extension plate (81) is installed on the limiting slide rod (75). A stabilizing rod (82) is provided on the extension plate (81). Multiple stabilizing rods (82) are connected to a stabilizing plate (83). A second buffer pad (84) is installed on the stabilizing plate (83). A stabilizing spring (85) is sleeved on the stabilizing rod (82). One end of the stabilizing spring (85) is fixedly connected to the extension plate (81). The other end of the stabilizing spring (85) is fixedly connected to the self-adapting circular plate (86). A first pull ring (87) is provided on the limiting slide rod (75).

8. The intelligent collaborative production equipment based on industrial robots according to claim 7, characterized in that: The limiting slide rod (75) and the limiting slide cylinder (33) are provided with positioning slots (88). The positioning slots (88) are connected to the positioning insert rod (89). The positioning insert rod (89) is equipped with a fully movable square plate (90). The fully movable square plate (90) is provided with a fully movable rod (91). One end of the fully movable rod (91) is fixedly connected to the limiting slide cylinder (33), and the other end of the fully movable rod (91) is fixedly connected to the fully movable circular plate (92). A fully movable spring (93) is sleeved on the fully movable rod (91). One end of the fully movable spring (93) is fixedly connected to the fully movable circular plate (92). The other end of (93) is connected to the fully movable square plate (90). The circular groove (94) on the positioning rod (89) is connected to the circular rod (95). A kinetic plate (96) is installed on the circular rod (95). The kinetic plate (96) is connected to the kinetic rod (97) on the limiting slide cylinder (33). A kinetic spring (98) is sleeved on the kinetic rod (97). One end of the kinetic spring (98) is fixedly connected to the kinetic plate (96). The other end of the kinetic spring (98) is fixedly connected to the control circular plate (99). A second pull ring (100) is provided on the fully movable square plate (90).

9. The intelligent collaborative production equipment based on industrial robots according to claim 1, characterized in that: The tightening and stabilizing assembly includes a first rubber layer (101) disposed on the driving ring (9), the first rubber layer (101) and a second rubber layer (102) being connected in a mating manner, a tightening half ring (103) being installed on the second rubber layer (102), the tightening half ring (103) being connected to the lifting plate (104), the lifting plate (104) being symmetrically provided with lifting rods (105), a lifting spring (106) being sleeved on one end of the lifting rod (105), one end of the lifting spring (106) being fixedly connected to the lifting plate (104), the other end of the lifting spring (106) being fixedly connected to the lifting round plate (107), and the other end of the lifting rod (105) being connected to the connecting cross plate (10). 8) Fixed connection: The connecting horizontal plate (108) and the connecting rod (109) are slidably connected. One end of the connecting rod (109) is fixedly connected to the connecting base (110) provided on the connecting L plate (2). The other end of the connecting rod (109) is connected to the connecting circular plate (111). A tension spring (112) is sleeved on the connecting rod (109). One end of the tension spring (112) is fixedly connected to the connecting circular plate (111). The other end of the tension spring (112) is fixedly connected to the connecting horizontal plate (108). A locking box (113) is symmetrically installed on the connecting L plate (2). The locking box (113) is connected to the locking rod (114) provided on the lifting square plate (104).

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