Industrial robot mechanical arm and use method thereof

Abstract

The invention discloses an industrial robot mechanical arm and a use method thereof, and relates to the technical field of industrial robots, comprising a mechanical arm and a mechanical claw, wherein the mechanical claw further comprises a fixed block, the fixed block is equipped with a connecting rod, the connecting rod is equipped with a limit plate and a movable block, the movable block is equipped with a cylinder, the cylinder is equipped with a piston rod, the piston rod is assembled with the fixed block, the fixed block is equipped with a fixed rod, the fixed rod is equipped with a diamond block, the movable block is equipped with a first operating panel, the diamond block is equipped with a second operating panel, the second operating panel is equipped with a guide block, and the guide block is assembled with the first operating panel. The high-precision industrial robot mechanical arm solves the problem that when the existing ordinary mechanical arm mechanically clamps the workpiece, the number of the mechanical claws is small, the object grasped cannot be exactly in the middle of the claw, the clamping force cannot be well controlled by the claw, and the grasping effect of the claw is poor.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to an industrial robot mechanical arm and a use method thereof. Background Art

[0002] An industrial robot is a machine device that can automatically perform various industrial tasks. They are usually composed of a mechanical structure, an electronic control system, and a program control system. Industrial robots perform precise and efficient operations on production lines and can replace or assist manpower in completing repetitive, tedious, or dangerous tasks. The application scope of industrial robots is very wide, including automobile manufacturing, electronic product assembly, metal processing, logistics warehousing and other fields. They can perform various tasks, such as welding, assembly, handling, spraying, grinding, quality inspection, etc. Through programming and sensor technology, industrial robots can achieve highly flexible movements and precise operations, thereby improving production efficiency, quality, and safety.

[0003] Existing industrial robots use the mechanical claws on their robotic arms to transfer workpieces between production lines. Transfer generally includes three sets of actions: grabbing, transferring, and placing. However, existing industrial robots still have the following problems during use:

[0004] When the existing ordinary robotic arms clamp workpieces through mechanical claws, the number of clamps is small, the clamped object cannot be exactly in the middle of the clamps, and the clamping force cannot be well controlled by the clamps, resulting in poor clamping effect of the clamps. In addition, the existing clamps clamp the workpieces through rotation adjustment, and the clamps are easy to damage some packaging bags containing the workpieces. Therefore, it is very necessary to involve an industrial robot robotic arm and a method of using the same in the existing field of industrial robot technology. Summary of the invention

[0005] The present invention aims to provide an industrial robot manipulator and a method of using the same to solve the above problems.

[0006] The present invention is achieved through the following technical solutions:

[0007] A high-precision industrial robot mechanical arm, comprising a mechanical arm and a mechanical claw, wherein the mechanical claw further comprises a fixed block, wherein the symmetrical sides of the fixed block are symmetrically fixedly equipped with connecting rods, one end of the two connecting rods is fixedly equipped with a limit plate, and movable blocks are movably equipped on the two connecting rods, wherein one movable block is fixedly equipped with a cylinder, and the output end of the cylinder is fixedly equipped with a piston rod, and one end of the piston rod is fixedly assembled with the fixed block, and the fixed block is fixedly equipped with a fixed rod, and the fixed rod is movably equipped with a diamond block, and the movable blocks are fixedly equipped with a first operating panel, and the diamond block is symmetrically fixedly equipped with a second operating panel, and the second operating panel is symmetrically fixedly equipped with a second operating panel. The working plates are respectively close to the two ends of the diamond block, and the second operating plate is movably equipped with a guide block, and the other end of the guide block is movably assembled with the first operating plate. The fixed block is symmetrically fixedly equipped with assembly blocks, and the assembly blocks are located on both sides of the diamond block. One end of the two assembly blocks is fixedly equipped with a connecting block, and the connecting block is located on one side of the diamond block. An assembly box is fixedly equipped on the connecting block, and moving openings are penetrated on the symmetrical sides of the assembly box. A mounting tube is fixedly equipped on the connecting block, and an adjusting rod is movably equipped at one end of the mounting tube. One end of the adjusting rod moves inside the mounting tube, and one end of the adjusting rod is fixedly equipped with an adjusting block.

[0008] Preferably, the mounting tube and the adjusting rod are equipped with telescopic springs, and two ends of the telescopic springs are fixedly assembled with the connecting block and the adjusting block respectively.

[0009] Preferably, the movable block is fixedly equipped with a first mounting plate, the first mounting plate is located on one side of the first operating plate, the symmetrical sides of the adjustment block are fixedly equipped with a second mounting plate, the second mounting plates are movably equipped with a traction rod, the other end of the traction rod is movably equipped with the first mounting plate, and the traction rod is movably equipped with the movable port.

[0010] Preferably, the surface of the assembly box is provided with a plurality of traction openings in an annular shape, the traction openings are fixedly provided with assembly rods, the assembly rods are movably provided with guide blocks, and one end of the guide blocks is fixedly provided with a claw hook.

[0011] Preferably, the claw hooks are all inclined inwards, and the distances from the claw hooks to the center of the surface of the assembly box are all the same.

[0012] Preferably, a plurality of first guide plates are fixedly mounted in an annular shape on the adjustment block, a second guide plate is fixedly mounted on one end of the guide block, a mounting block is movably mounted on the second guide plate, and one end of the mounting block is movably mounted corresponding to the first guide plate.

[0013] Preferably, a mounting base is fixedly mounted on the bottom of the robotic arm, and a robotic claw is fixedly mounted on one end of the robotic arm.

[0014] The present invention also discloses a working method of the above-mentioned high-precision industrial robot mechanical arm, and the specific steps are as follows:

[0015] S1. The mounting base at the bottom of the robot arm is fixedly installed on the production line. As the workpiece on the production line is transported, the robot arm is started so that the robot arm drives the mechanical claw to adjust the position so that the workpiece is located inside the claw hook on the mechanical claw;

[0016] S2. Start the cylinder. Under the thrust of the piston rod, one of the movable blocks moves on the connecting rod. Under the coordinated action of the guide block and the diamond block, the two movable blocks move in opposite directions on the connecting rod. When the movable block moves toward the limit plate, the limit plate pulls the adjustment block to move through the traction rod. One end of the adjustment rod moves inside the mounting tube, the telescopic spring contracts, and the adjustment block moves toward the connecting block. At the same time, the adjustment block pulls the mounting block to move the guide block on the assembly rod, and the claw hook grabs the workpiece.

[0017] S3. After the claw hook grabs the workpiece, the robot arm transfers the grabbed workpiece to another production line.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0019] 1. The present invention starts the cylinder, and under the thrust of the piston rod, one of the movable blocks moves on the connecting rod. Under the coordinated action of the guide block and the diamond block, the two movable blocks move in opposite directions on the connecting rod. When the movable block moves toward the limit plate, the limit plate pulls the adjusting block to move through the traction rod, and one end of the adjusting rod moves inside the mounting tube. The telescopic spring contracts, and the adjusting block moves toward the connecting block. At the same time, the adjusting block pulls the mounting block to move the guide block on the assembly rod, and the claw hook grabs the workpiece. The spacing between the claw hooks becomes smaller, which is convenient for grabbing the workpiece and prevents the workpiece from moving out from between the claw hooks to affect the grabbing effect.

[0020] 2. The present invention increases the coordination between multiple claw hooks, thereby improving the gripping effect of the claw hooks on the workpiece.

[0021] 3. The guide block of the present invention moves on the assembly rod, so that the claw hook moves horizontally, which facilitates the claw hook to grab the workpiece and does not cause damage to the workpiece in the loading bag, thereby improving the use effect.

[0022] 4. The robot arm of the present invention clamps the workpiece by means of a mechanical claw, making it convenient to transport the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0024] Figure 1 This is a schematic diagram of the assembly structure of the high-precision industrial robot mechanical arm and mechanical claw of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the high-precision industrial robot mechanical arm of the present invention;

[0026] Figure 3 It is a schematic diagram of the cooperation between the mechanical claw and the assembly box of the present invention;

[0027] Figure 4 It is a schematic diagram of the cross-sectional structure of the mechanical claw of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of the mechanical claw of the present invention;

[0029] Figure 6 It is a side view of the mechanical claw structure of the present invention.

[0030] The reference numerals represent:

[0031] 100. Mounting base; 200. Robotic arm;

[0032] 300, mechanical claw; 301, fixed block; 302, connecting rod; 303, limit plate; 304, movable block; 305, assembly block; 306, connecting block; 307, assembly box; 308, moving port; 309, traction port; 310, assembly rod; 311, guide block; 312, claw hook; 313, cylinder; 314, piston rod; 315, adjustment block; 316, first mounting plate; 317, second mounting plate; 318, traction rod; 319, fixed rod; 320, diamond block; 321, first operating plate; 322, second operating plate; 323, guide block; 324, mounting tube; 325, adjustment rod; 326, telescopic spring; 327, first guide plate; 328, second guide plate; 329, mounting block. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and drawings. The schematic implementation modes and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention. It should be noted that the present invention is already in the actual development and use stage.

[0034] Embodiment 1, as Figures 1 to 6 As shown, it is a schematic diagram of a high-precision industrial robot arm structure in a preferred embodiment of the present invention, referring to Figure 3 - Figure 5A high-precision industrial robot arm includes a mechanical arm 200 and a mechanical claw 300. The mechanical claw 300 includes a fixed block 301. The symmetrical sides of the fixed block 301 are symmetrically fixedly equipped with connecting rods 302. One end of the two connecting rods 302 is fixedly equipped with a limit plate 303. The two connecting rods 302 are movably equipped with movable blocks 304. One of the movable blocks 304 is fixedly equipped with a cylinder 313. The output end of the cylinder 313 is fixedly equipped with a piston rod 314. One end of the piston rod 314 is fixedly assembled with the fixed block 301. The fixed block 301 is fixedly equipped with a fixed rod 319. The fixed rod 319 is movably equipped with a diamond block 320. The movable blocks 304 are fixedly equipped with There is a first operating plate 321, and a second operating plate 322 is symmetrically fixedly assembled on the diamond block 320, and the second operating plates 322 are respectively close to the two ends of the diamond block 320. The second operating plates 322 are movably assembled with guide blocks 323, and the other end of the guide block 323 is movably assembled with the first operating plate 321. The fixed block 301 is symmetrically fixedly assembled with assembly blocks 305, and the assembly blocks 305 are located on both sides of the diamond block 320. One end of the two assembly blocks 305 is fixedly assembled with a connecting block 306, and the connecting block 306 is located on one side of the diamond block 320. An assembly box 307 is fixedly assembled on the connecting block 306, and the symmetrical sides of the assembly box 307 are penetrated with a moving port 308. The connecting block 306 A mounting tube 324 is fixedly mounted on the top, and an adjusting rod 325 is movably mounted on one end of the mounting tube 324. One end of the adjusting rod 325 moves inside the mounting tube 324. An adjusting block 315 is fixedly mounted on one end of the adjusting rod 325. A telescopic spring 326 is fixedly mounted between the connecting block 306 and the adjusting block 315. The mounting tube 324 and the adjusting rod 325 are mounted on the inner side of the telescopic spring 326. A first mounting plate 316 is fixedly mounted on the movable block 304. The first mounting plate 316 is located on one side of the first operating plate 321. Second mounting plates 317 are fixedly mounted on the symmetrical sides of the adjusting block 315. A traction rod 318 is movably mounted on the second mounting plate 317. The other end of the traction rod 318 The end is movably assembled with the first mounting plate 316, and the traction rod 318 moves correspondingly on the moving opening 308. The surface of the assembly box 307 is provided with a plurality of traction openings 309 in an annular manner. The traction openings 309 are all fixedly assembled with assembly rods 310. The assembly rods 310 are all movably assembled with guide blocks 311. One end of the guide block 311 is fixedly assembled with a claw hook 312. The claw hook 312 is tilted inward. A plurality of first guide plates 327 are fixedly assembled with an annular arrangement on the adjustment block 315. One end of the guide block 311 is fixedly assembled with a second guide plate 328. The second guide plate 328 is movably assembled with a mounting block 329. One end of the mounting block 329 is movably assembled with the first guide plate 327.

[0035] Start the cylinder 313. Under the thrust of the piston rod 314, one of the movable blocks 304 moves on the connecting rod 302. Under the coordinated action of the guide block 323 and the diamond block 320, the two movable blocks 304 move in opposite directions on the connecting rod 302. When the movable block 304 moves toward the limit plate 303, the limit plate 303 pulls the adjustment block 315 to move through the traction rod 318. One end of the adjustment rod 325 moves inside the mounting tube 324. The telescopic spring 326 contracts, and the adjustment block 315 moves toward the connecting block 306. At the same time, the adjustment block 315 pulls the mounting block 329, so that the guide block 311 moves on the assembly rod 310, and the claw hook 312 grabs the workpiece.

[0036] At this time, the coordination between the multiple claw hooks 312 is increased, and the spacing between the claw hooks 312 becomes smaller, which makes it easier to grab the workpiece and prevents the workpiece from moving out from between the claw hooks 312, affecting the grabbing effect. At the same time, the guide block 311 moves on the assembly rod 310, allowing the claw hook 312 to translate, which makes it easier for the claw hook 312 to grab the workpiece and does not cause damage to the workpiece in the loading bag, thereby improving the use effect.

[0037] Reference Figures 3 to 5 The bottom of the robot arm 200 is fixedly equipped with a mounting base 100, and one end of the robot arm 200 is fixedly equipped with a mechanical claw 300. The robot arm 200 clamps the workpiece through the mechanical claw 300 to facilitate the transportation of the workpiece.

[0038] The present invention also discloses a working method of the above-mentioned high-precision industrial robot mechanical arm, and the specific steps are as follows:

[0039] S1. The mounting base 100 at the bottom of the robot arm 200 is fixedly mounted on the production line. As the workpiece on the production line is transported, the robot arm 200 is started so that the robot arm 200 drives the mechanical claw 300 to adjust the position so that the workpiece is located inside the claw hook 312 on the mechanical claw 300.

[0040] S2, start the cylinder 313, under the thrust of the piston rod 314, one of the movable blocks 304 moves on the connecting rod 302, under the coordinated action of the guide block 323 and the diamond block 320, the two movable blocks 304 move in opposite directions on the connecting rod 302, when the movable block 304 moves toward the limit plate 303, the limit plate 303 pulls the adjustment block 315 to move through the traction rod 318, one end of the adjustment rod 325 moves inside the mounting tube 324, the telescopic spring 326 contracts, and the adjustment block 315 moves toward the connecting block 306, and at the same time, the adjustment block 315 pulls the mounting block 329, so that the guide block 311 moves on the assembly rod 310, and the claw hook 312 grabs the workpiece;

[0041] S3. After the claw hook 312 grabs the workpiece, the robot arm 200 transfers the grabbed workpiece to another production line.

[0042] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-precision industrial robot arm, comprising a mechanical arm (200) and a mechanical claw (300), characterized in that: The mechanical claw (300) further comprises a fixed block (301), connecting rods (302) are symmetrically fixedly mounted on two symmetrical side surfaces of the fixed block (301), one end of the two connecting rods (302) is fixedly mounted with a limit plate (303), movable blocks (304) are movably mounted on the two connecting rods (302), a cylinder (313) is fixedly mounted on one of the movable blocks (304), a piston rod (314) is fixedly mounted on the output end of the cylinder (313), one end of the piston rod (314) is fixedly mounted on the fixed block (301), a fixed rod (319) is fixedly mounted on the fixed block (301), a rhombus block (320) is movably mounted on the fixed rod (319), a first operating plate (321) is fixedly mounted on each movable block (304), a second operating plate (322) is symmetrically fixedly mounted on the rhombus block (320), and the second operating plate (322) is respectively adjacent to both ends of the rhombus block (320). , the second operating plate (322) is movably equipped with a guide block (323), the other end of the guide block (323) is movably assembled with the first operating plate (321), the fixed block (301) is symmetrically fixedly equipped with assembly blocks (305), the assembly blocks (305) are located on both sides of the rhombus block (320), one end of the two assembly blocks (305) is fixedly equipped with a connecting block (306), the connecting block (306) is located on one side of the rhombus block (320), an assembly box (307) is fixedly equipped on the connecting block (306), and the symmetrical two side surfaces of the assembly box (307) are penetrated with a moving opening (308), the connecting block (306) is fixedly equipped with a mounting tube (324), one end of the mounting tube (324) is movably equipped with an adjusting rod (325), one end of the adjusting rod (325) moves inside the mounting tube (324), and one end of the adjusting rod (325) is fixedly equipped with an adjusting block (315); The surface of the assembly box (307) is provided with a plurality of traction openings (309) in an annular shape, each traction opening (309) is fixedly provided with an assembly rod (310), each assembly rod (310) is movably provided with a guide block (311), and each end of the guide block (311) is fixedly provided with a claw hook (312); The adjusting block (315) is annularly fixedly equipped with a plurality of first guide plates (327); one end of each guide block (311) is fixedly equipped with a second guide plate (328); each second guide plate (328) is movably equipped with a mounting block (329); one end of each mounting block (329) is movably assembled with respect to the first guide plate (327); When the adjusting block (315) moves in the direction of the connecting block (306), the adjusting block (315) pulls the mounting block (329) to cause the guide block (311) to move on the assembly rod (310), thereby enabling the claw hook (312) to grab the workpiece.

2. A high-precision industrial robot arm according to claim 1, characterized in that: The mounting tube (324) and the adjusting rod (325) are equipped with a telescopic spring (326), and two ends of the telescopic spring (326) are respectively fixedly assembled with the connecting block (306) and the adjusting block (315).

3. The high-precision industrial robot arm according to claim 1, characterized in that: The movable blocks (304) are fixedly mounted with first mounting plates (316), the first mounting plates (316) being located on one side of the first operating plate (321), the symmetrical sides of the adjustment blocks (315) are fixedly mounted with second mounting plates (317), the second mounting plates (317) are movably mounted with traction rods (318), the other end of the traction rods (318) is movably mounted with the first mounting plates (316), and the traction rods (318) are movably mounted with the movable openings (308) correspondingly.

4. The high-precision industrial robot arm according to claim 1, characterized in that: The claw hooks (312) are all inclined inwards, and the distances from the claw hooks (312) to the center of the surface of the assembly box (307) are all the same.

5. The high-precision industrial robot arm according to claim 1, characterized in that: The bottom of the mechanical arm (200) is fixedly equipped with a mounting base (100), and one end of the mechanical arm (200) is fixedly equipped with a mechanical claw (300).

6. A working method of a high-precision industrial robot arm according to any one of claims 1 to 5, characterized in that: The steps include: S1, the mounting base (100) at the bottom of the mechanical arm (200) is fixedly mounted on the production line, and as the workpiece on the production line is transported, the mechanical arm (200) is started, so that the mechanical arm (200) drives the mechanical claw (300) to adjust the position, so that the workpiece is located inside the claw hook (312) on the mechanical claw (300); S2, starting the cylinder (313), under the thrust of the piston rod (314), one of the movable blocks (304) moves on the connecting rod (302), under the coordinated action of the guide block (323) and the diamond block (320), the two movable blocks (304) move in opposite directions on the connecting rod (302), when the movable block (304) moves toward the limit plate (303), the limit plate (303) pulls the adjustment block (315) to move through the traction rod (318), one end of the adjustment rod (325) moves inside the mounting tube (324), the telescopic spring (326) contracts, the adjustment block (315) moves toward the connecting block (306), and at the same time, the adjustment block (315) pulls the mounting block (329), so that the guide block (311) moves on the assembly rod (310), and the claw hook (312) grabs the workpiece; S3. After the claw hook (312) grabs the workpiece, the robot arm (200) transfers the grabbed workpiece to another production line.

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