Manipulator equipment with reliable clamping for industrial production

Abstract

The invention discloses mechanical arm equipment with reliable clamping for industrial production, and relates to the technical field of mechanical arms, the mechanical arm equipment comprises a multi-hinge claw arm mechanism and a connecting support installed at the top of the multi-hinge claw arm mechanism, a mechanical arm mechanism is arranged on one side of the multi-hinge claw arm mechanism, and a winding support is arranged on one side of the mechanical arm mechanism; the multi-hinge claw arm mechanism comprises a claw arm fixing sleeve, a splicing inserting hole is formed in the center of the top of the claw arm fixing sleeve, connecting inserting grooves are formed in the periphery of the splicing inserting hole, a first fixing plate is fixedly installed in the center of the bottom of the claw arm fixing sleeve, and a second fixing plate is fixedly connected to the bottom of an electric telescopic rod. The top of a workpiece is adsorbed through the adsorption effect of the top suction cup, the workpiece or goods needing to be clamped are preliminarily clamped and fixed through rotation of the first hinge claw arm, and rotation of the second hinge claw arm can be achieved through the second hinge rod to clamp the bottom of the workpiece or goods.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a manipulator device with reliable clamping for industrial production. Background Art

[0002] In the industrial production process, the corresponding parts are assembled for the products. The entire production process of the product is inseparable from the components that make up each part. The conveyor belt transportation method is convenient for reducing the labor intensity of parts during transportation and improving production efficiency. When assembling parts, manipulator equipment is needed to assist. The manipulator is an automatic operating device that imitates human hands and performs operations such as grabbing and moving objects according to a certain fixed procedure. The manipulator is the earliest industrial robot, which can replace people's heavy labor to realize mechanization of production.

[0003] Authorization announcement number CN 111482979 B discloses a manipulator for industrial production. When grasping an object, the adjusting piece is driven to rotate downward by the rotating shaft, and the gripper cooperates with the adjusting piece to shrink inward, so that the object is grasped inside the gripper, and the universal device under the gripper cooperates with the connecting rod to drive the auxiliary ball to slide and adjust in the card slot, so as to adjust the grasping of objects of different shapes and avoid the situation that the object slips off the gripper. When the object is grasped on the gripper, the universal device will adjust the stabilizing device so that the suction cup of the stabilizing device is attached to the surface of the object, and the suction cup will cooperate with the support block to compress downward, squeeze the air inside the colloid outward, and form a vacuum state inside, so as to firmly fix the object. When the object needs to be released, the air is ventilated inward through the straight channel and the hollow block, so that the gas blows the blocking plate, and the card block will loosen from the block, revealing the gap to introduce the gas into the colloid, causing the vacuum state to fail, thereby effectively improving the object handling capacity. However, the patent still has the following problems in actual use:

[0004] Although the industrial production robot can use the gripper to clamp and fix objects, different objects have different volumes and weights. When only a single gripper is used to clamp objects, objects of different volumes and weights cannot be stably clamped, which affects the stability of object clamping. When the clamping force is too large, the surface of the object will be damaged. When the clamping force is too small, the object will be unstable and fall off, affecting the stability of object clamping.

[0005] A reliable clamping robot device for industrial production is proposed to solve the above problems. Summary of the invention

[0006] The object of the present invention is to provide a reliable clamping robot device for industrial production, so as to solve the problem proposed in the above background technology that although the industrial production robot can use a gripper to clamp and fix objects, different objects have different volumes and weights. When only a single gripper is used to clamp objects, objects of different volumes and weights cannot be stably clamped, which affects the stability of object clamping. When the clamping force is too large, it will cause damage to the surface of the object. When the clamping force is too small, it will cause the object to fall off due to unstable clamping, affecting the problem of object clamping stability.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: A reliable clamping manipulator device for industrial production, comprising a multi-articulated claw arm mechanism, and a connecting support mounted on the top of the multi-articulated claw arm mechanism;

[0008] A manipulator mechanism is provided on one side of the multi-articulated claw arm mechanism, and a winding bracket is provided on one side of the manipulator mechanism;

[0009] Also includes:

[0010] The multi-articulated claw arm mechanism comprises a claw arm fixing sleeve, a splicing socket is provided at the top center of the claw arm fixing sleeve, connection slots are provided around the splicing socket, and a first fixing plate is fixedly installed at the bottom center of the claw arm fixing sleeve;

[0011] The first connecting spring is fixedly installed at the bottom of the first fixing plate, the bottom of the first fixing plate is slidably connected to an electric telescopic rod near the inner side of the first connecting spring, and the bottom of the first connecting spring is fixedly connected to a third clamping sliding sleeve;

[0012] Among them, the bottom of the electric telescopic rod is fixedly connected to the second fixing plate, the bottom of the second fixing plate is fixedly connected to the connecting sleeve, exhaust holes are symmetrically opened on both sides of the top of the connecting sleeve, and the bottom of the connecting sleeve is fixedly connected to the top suction cup.

[0013] Preferably, a one-way valve is fixedly installed on the bottom of the second fixed plate near the inner side of the connecting sleeve, and exhaust grooves are symmetrically provided on both sides of the one-way valve. A second connecting spring is fixedly installed on the inner side of the top of the one-way valve, and a sealing piston is fixedly connected to the bottom of the second connecting spring. The sealing piston is fit-fittingly connected to the bottom of the one-way valve, and the bottom of the sealing piston is fixedly connected to the first support block.

[0014] Preferably, a first hinged support is fixedly installed on the bottom of the claw arm fixing sleeve near the first fixing plate, the bottom of the first hinged support is rotatably connected to the first hinged rod, the bottom of the first hinged rod is rotatably connected to the first clamping sliding sleeve, the inside of the first clamping sliding sleeve is slidably connected to the first clamping sliding rod, one side of the first clamping sliding rod is slidably connected to the first clamping spring, the first clamping spring is fixedly connected to the first clamping sliding sleeve, and the first clamping sliding rod is fixedly installed on the inside of the third clamping sliding sleeve.

[0015] Preferably, a second articulated support is fixedly installed on the bottom of the first clamping sliding sleeve, the bottom of the second articulated support is rotatably connected to a first articulated claw arm, a second clamping sliding rod is fixedly installed inside the first articulated claw arm, the outer side of the second clamping sliding rod is slidably connected to a second clamping spring, the end of the second clamping spring is fixedly connected to the second clamping sliding sleeve, and the outer side of the second clamping sliding sleeve is rotatably connected to a second articulated rod.

[0016] Preferably, the end of the second articulated rod is rotatably connected to the second articulated claw arm, the middle part of the second articulated claw arm is rotatably connected to the articulated shaft, the articulated shaft is rotatably connected to the bottom of the first articulated claw arm, a plurality of protective pads are fixedly installed on one side of the top of the articulated shaft, a third articulated support is fixedly installed around the bottom of the third clamping sliding sleeve, the bottom of the third articulated support is rotatably connected to the third articulated rod, the end of the third articulated rod is rotatably connected to the fourth articulated support, and the fourth articulated support is fixedly connected to the first articulated claw arm.

[0017] Preferably, an opening and closing motor is fixedly installed at the inner center position of the connecting support, and the output end of the opening and closing motor is fixedly connected to a bevel gear transmission assembly, and the bevel gear transmission assembly is fixedly connected to an opening and closing threaded rod all around, and the outer sides of the opening and closing threaded rods are threadedly connected to an opening and closing threaded sleeve, and the bottom of the opening and closing threaded sleeve is fixedly connected to an opening and closing sliding block, and the opening and closing sliding block is engaged with the claw arm fixing sleeve through a connecting slot, and the connecting support is engaged with the claw arm fixing sleeve through a splicing jack.

[0018] Preferably, a first mechanical arm is fixedly connected to the top of the connecting support, a fixed rod is fixedly installed at the inner center position of the first mechanical arm, a power-off controller is fixedly installed in the middle of the fixed rod, protective sliding rods are fixedly installed around the inner periphery of the first mechanical arm, a protective sliding sleeve is symmetrically slidably connected to the outer side of the protective sliding rod, a first protective rotating rod is rotatably connected to the outer side of the protective sliding sleeve, two ends of the first protective rotating rods are rotatably connected to protective plates, a protective spring is fixedly connected between the two protective sliding sleeves, the inner side of the protective sliding sleeve is rotatably connected to the second protective rotating rod, and the end of the second protective rotating rod is rotatably connected to a touch head.

[0019] Preferably, the manipulator mechanism includes a fixed base, a stable support block is fixedly installed at the top center position of the fixed base, an electric turntable is fixedly installed on the top of the stable support block, the top of the electric turntable is rotatably connected to a lifting bracket, the top of the lifting bracket is fixedly installed with a lifting motor, the output end of the lifting motor is fixedly connected to a lifting threaded rod, the outer side of the lifting threaded rod is threadedly connected to a lifting threaded sleeve, the outer side of the lifting threaded sleeve is fixedly installed with a rotating support, the front side of the rotating support is symmetrically installed with a rotating support, a rotating motor is fixedly installed on one side of the rotating support, the output end of the rotating motor is fixedly connected to a rotating worm, one side of the rotating worm is meshingly connected to a rotating worm wheel, the inner side of the rotating worm wheel is fixedly connected to a rotating connecting shaft, the outer side of the rotating connecting shaft is fixedly installed with a second mechanical arm, and one side of the second mechanical arm is rotatably connected to a rotating connecting block.

[0020] Preferably, a roller bracket is symmetrically installed on the top of the lifting bracket, and a fixed pulley is rotatably connected to the inner side of the top of the roller bracket, the winding bracket is fixedly installed on one side of the lifting bracket, and a winding motor is fixedly installed on the front of the winding bracket, and a winding roller is fixedly connected to the output end of the winding motor, and a connecting steel wire rope is evenly wound on the outer side of the winding roller, and the connecting steel wire rope is fixedly connected to the first mechanical arm.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: the industrial production clamping reliable manipulator equipment utilizes the adsorption effect of the top suction cup to adsorb the top of the workpiece, utilizes the first hinged claw arm to rotate, thereby preliminarily clamping and fixing the workpiece or goods to be clamped, utilizes the second hinged rod to realize the rotation of the second hinged claw arm, clamps the bottom of the workpiece or goods, utilizes the electric turntable to realize the horizontal rotation of the lifting bracket, and utilizes the lifting motor to drive the lifting threaded rod to rotate, so that the lifting threaded sleeve drives the rotating support and the second mechanical arm to move up and down, thereby adjusting the height of the second mechanical arm, and the rotating motor drives the rotating worm to rotate, and utilizes the characteristics of the meshing connection between the rotating worm and the rotating worm wheel to make the rotating connecting shaft drive the second mechanical arm to rotate. The specific contents are as follows:

[0022] 1. By setting up a multi-articulated claw arm mechanism, not only can the adsorption effect of the top suction cup be utilized, but also the air can be discharged through the exhaust grooves on both sides of the one-way valve and the exhaust holes on the top of the connecting sleeve. Under the elastic force of the second connecting spring, the sealing piston is engaged and connected with the one-way valve, so as to adsorb the top of the workpiece, and the second fixed plate can be driven to shrink by the electric telescopic rod. Under the action of the third articulated support, the third articulated rod can drive the first articulated claw arm to rotate, so as to preliminarily clamp and fix the workpiece or goods to be clamped, and the elastic force of the second clamping spring can be used to drive the second clamping sliding sleeve to rotate on the second clamping sliding rod. The outer side of the second hinged rod can be slidably connected, and the second hinged claw arm can be rotated by using the second hinged rod. Under the action of the hinged shaft, the bottom of the workpiece or cargo is clamped, and the protective pad is used for protection to prevent the workpiece or cargo from sliding. The second fixed plate is further retracted by the electric telescopic rod, so that the second fixed plate drives the third clamping sliding sleeve to move, and the first hinged support is used to rotate the first hinged rod, so that the first clamping sliding sleeve squeezes the first clamping spring and drives the second hinged support and the first hinged claw arm to approach each other, thereby performing secondary clamping on the workpiece or cargo, improving the clamping stability of the workpiece or cargo, and when it is necessary to release the clamping When the cargo is loaded, the first support block can be driven to squeeze the sealing piston and the second connecting spring by continuing to squeeze the cargo or workpiece, so that air can enter the interior of the top suction cup, thereby making the top suction cup lose its adsorption capacity, and the first hinged claw arm and the second hinged claw arm can be expanded by extending the electric telescopic rod, so as to release the workpiece or cargo, and the bevel gear transmission assembly and the opening and closing threaded rod can be driven to rotate by the opening and closing motor, so that the opening and closing threaded sleeve drives the opening and closing sliding block to slide relatively, and when the opening and closing sliding block is engaged with the connecting slot, the installation and disassembly of the claw arm fixing sleeve can be realized, and the first hinged claw arm of corresponding size can be replaced according to cargo or workpieces of different sizes. The claw arm and the second articulated claw arm can stably clamp goods or workpieces. The first mechanical arm can be safely protected by setting a protective plate. The elastic force of the protective spring is used to achieve the buffering effect of the protective plate, thereby avoiding the collision of the manipulator during the grabbing of goods or workpieces, thereby preventing the manipulator from being damaged. When the collision force is large, the protective plate drives the first protective rotating rod to rotate, so that the two protective sliding sleeves are close to each other, and at the same time drives the second protective rotating rod to rotate. When the contact head contacts the power-off controller, the entire device can be powered off, thereby protecting the manipulator device.

[0023] 2. By setting up the manipulator mechanism, not only can the electric turntable be used to realize the horizontal rotation of the lifting bracket, but the lifting motor can also be used to drive the lifting threaded rod to rotate, so that the lifting threaded sleeve drives the rotating support and the second manipulator arm to move up and down, thereby adjusting the height of the second manipulator arm. The rotating motor drives the rotating worm to rotate, and the meshing connection between the rotating worm and the rotating worm wheel is utilized to make the rotating connecting shaft drive the second manipulator arm to rotate. The winding motor drives the winding roller to rotate, so that the connecting wire rope bypasses the fixed pulley and pulls the first manipulator arm to rotate. It can not only adjust the vertical rotation angle of the first manipulator arm, but also provide stable support for the first manipulator arm, thereby improving the overall stability of the manipulator equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure of the multi-articulated claw arm mechanism in the present invention;

[0026] Figure 3 It is a schematic diagram of the three-dimensional structure of the claw arm fixing sleeve in the present invention;

[0027] Figure 4 It is a schematic diagram of the three-dimensional structure of the first fixing plate in the present invention;

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of the first connecting spring in the present invention;

[0029] Figure 6 It is a schematic diagram of the three-dimensional structure of the cross section of the connecting sleeve in the present invention;

[0030] Figure 7 It is a schematic diagram of the three-dimensional structure of the cross section of the first articulated claw arm in the present invention;

[0031] Figure 8 A schematic diagram of the three-dimensional structure of the opening and closing sliding block in the present invention;

[0032] Fig. 9 It is a schematic diagram of the three-dimensional structure of the cross section of the first mechanical arm in the present invention;

[0033] Fig.10 It is a schematic diagram of the three-dimensional structure of the manipulator mechanism in the present invention;

[0034] Fig.11 It is a schematic diagram of the three-dimensional structure of the second mechanical arm in the present invention;

[0035] Fig.12 It is a schematic diagram of the three-dimensional structure of the rotating worm and the rotating worm wheel in the present invention.

[0036] In the figure: 1. multi-articulated claw arm mechanism; 101. claw arm fixing sleeve; 102. splicing jack; 103. connection slot; 104. first fixing plate; 105. first connection spring; 106. electric telescopic rod; 107. second fixing plate; 108. connection sleeve; 109. exhaust hole; 110. top suction cup; 111. one-way valve; 112. exhaust groove; 113. second connection spring; 114. sealing piston; 115. first support block; 116. first hinged support; 117. first hinged rod; 11 8. First clamping sliding sleeve; 119. First clamping sliding rod; 120. First clamping spring; 121. Second articulated support; 122. First articulated claw arm; 123. Second clamping sliding rod; 124. Second clamping spring; 125. Second clamping sliding sleeve; 126. Second articulated rod; 127. Second articulated claw arm; 128. Articulated shaft; 129. Protective pad; 130. Third articulated support; 131. Third articulated rod; 132. Fourth articulated support; 133. Connecting support; 134. Opening and closing motor ; 135, bevel gear transmission assembly; 136, opening and closing threaded rod; 137, opening and closing threaded sleeve; 138, opening and closing sliding block; 139, first mechanical arm; 140, fixed rod; 141, power-off controller; 142, protective sliding rod; 143, protective sliding sleeve; 144, first protective rotating rod; 145, protective plate; 146, protective spring; 147, second protective rotating rod; 148, touch head; 149, third clamping sliding sleeve; 2, mechanical arm mechanism; 201, fixed base; 202, stable support Block; 203, electric turntable; 204, lifting bracket; 205, lifting motor; 206, lifting threaded rod; 207, lifting threaded sleeve; 208, rotating support; 209, rotating bracket; 210, rotating motor; 211, rotating worm; 212, rotating worm wheel; 213, rotating connecting shaft; 214, second mechanical arm; 215, rotating connecting block; 216, roller bracket; 217, fixed pulley; 218, winding bracket; 219, winding motor; 220, winding roller; 221, connecting wire rope. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1-Figure 12The present invention provides a technical solution: a reliable clamping manipulator device for industrial production, comprising a multi-articulated claw arm mechanism 1, and a connecting support 133 installed on the top of the multi-articulated claw arm mechanism 1, a manipulator mechanism 2 is arranged on one side of the multi-articulated claw arm mechanism 1, and a winding bracket 218 is arranged on one side of the manipulator mechanism 2, the multi-articulated claw arm mechanism 1 comprises a claw arm fixing sleeve 101, a splicing socket 102 is provided at the top center position of the claw arm fixing sleeve 101, and connecting slots 103 are provided around the splicing socket 102, a first fixing plate 104 is fixedly installed at the bottom center position of the claw arm fixing sleeve 101, wherein a first connecting spring 105 is fixedly installed at the bottom of the first fixing plate 104, and an electric telescopic rod 106 is slidably connected to the inner side of the bottom of the first fixing plate 104 close to the first connecting spring 105, The bottom of the first connecting spring 105 is fixedly connected to a third clamping sliding sleeve 149, wherein the bottom of the electric telescopic rod 106 is fixedly connected to a second fixed plate 107, the bottom of the second fixed plate 107 is fixedly connected to a connecting sleeve 108, exhaust holes 109 are symmetrically provided on both sides of the top of the connecting sleeve 108, the bottom of the connecting sleeve 108 is fixedly connected to a top suction cup 110, and a one-way valve 111 is fixedly installed on the inner side of the bottom of the second fixed plate 107 close to the connecting sleeve 108. By utilizing the adsorption effect of the top suction cup 110, air can be discharged through the exhaust grooves 112 on both sides of the one-way valve 111 and the exhaust holes 109 on the top of the connecting sleeve 108. Under the elastic force of the second connecting spring 113, the sealing piston 114 is engaged and connected with the one-way valve 111, thereby adsorbing the top of the workpiece.

[0039] Exhaust grooves 112 are symmetrically provided on both sides of the one-way valve 111, a second connecting spring 113 is fixedly installed on the inner side of the top of the one-way valve 111, a sealing piston 114 is fixedly connected to the bottom of the second connecting spring 113, the sealing piston 114 is fitted and connected to the bottom of the one-way valve 111, a first supporting block 115 is fixedly connected to the bottom of the sealing piston 114, a first hinged support 116 is fixedly installed around the bottom of the claw arm fixing sleeve 101 near the first fixing plate 104, and a first hinged rod 117 is rotatably connected to the bottom of the first hinged support 116. The bottom of the first hinged rod 117 is rotatably connected to the first clamping sliding sleeve 118, the first clamping sliding rod 119 is slidably connected inside the first clamping sliding sleeve 118, one side of the first clamping sliding rod 119 is slidably connected to the first clamping spring 120, the first clamping spring 120 is fixedly connected to the first clamping sliding sleeve 118, the first clamping sliding rod 119 is fixedly installed around the inside of the third clamping sliding sleeve 149, the bottom of the first clamping sliding sleeve 118 is fixedly installed with a second hinged support 121, the bottom of the second hinged support 121 is rotatably connected to the first clamping sliding sleeve 118, and the first clamping sliding rod 119 is fixedly installed around the inside of the third clamping sliding sleeve 149. A first hinged claw arm 122 is connected, a second clamping sliding rod 123 is fixedly installed inside the first hinged claw arm 122, a second clamping spring 124 is slidably connected to the outside of the second clamping sliding rod 123, an end of the second clamping spring 124 is fixedly connected to a second clamping sliding sleeve 125, a second hinged rod 126 is rotatably connected to the outside of the second clamping sliding sleeve 125, an end of the second hinged rod 126 is rotatably connected to a second hinged claw arm 127, a middle part of the second hinged claw arm 127 is rotatably connected to a hinge shaft 128, and the electric telescopic rod 10 is connected to the second hinged claw arm 127. 6 can drive the second fixed plate 107 to contract, and under the action of the third hinged support 130, the third hinged rod 131 can drive the first hinged claw arm 122 to rotate, so as to initially clamp and fix the workpiece or goods to be clamped, and the elastic force of the second clamping spring 124 can drive the second clamping sliding sleeve 125 to slide on the outside of the second clamping sliding rod 123, and the second hinged rod 126 can realize the rotation of the second hinged claw arm 127, and under the action of the hinge shaft 128, the bottom of the workpiece or goods is clamped.

[0040] The hinge shaft 128 is rotatably connected to the bottom of the first hinge claw arm 122, a plurality of protective pads 129 are fixedly installed on one side of the top of the hinge shaft 128, a third hinge support 130 is fixedly installed around the bottom of the third clamping sliding sleeve 149, the bottom of the third hinge support 130 is rotatably connected to the third hinge rod 131, the end of the third hinge rod 131 is rotatably connected to the fourth hinge support 132, the fourth hinge support 132 is fixedly connected to the first hinge claw arm 122, and a protective treatment is performed by the protective pad 129 to prevent the workpiece or cargo from sliding, and the electric telescopic rod 106 is used to continue to retract the second fixed plate 107, so that the second fixed plate 107 drives the third clamping sliding sleeve 149 to move, and the third hinge support 130 is used to rotate. An articulated support 116 rotates the first articulated rod 117, causing the first clamping sliding sleeve 118 to squeeze the first clamping spring 120 and drive the second articulated support 121 and the first articulated claw arm 122 to approach each other, thereby performing secondary clamping on the workpiece or goods, thereby improving the clamping stability of the workpiece or goods. When the clamped goods need to be released, the first support block 115 can be driven to squeeze the sealing piston 114 and the second connecting spring 113 by continuing to squeeze the goods or workpiece, so that air enters the interior of the top suction cup 110, thereby causing the top suction cup 110 to lose its adsorption capacity, and by extending the electric telescopic rod 106, the first articulated claw arm 122 and the second articulated claw arm 127 are expanded, thereby releasing the workpiece or goods.

[0041] An opening and closing motor 134 is fixedly installed at the inner center position of the connecting support 133, and the output end of the opening and closing motor 134 is fixedly connected to a bevel gear transmission assembly 135, and an opening and closing threaded rod 136 is fixedly connected to the four sides of the bevel gear transmission assembly 135, and the outer sides of the opening and closing threaded rod 136 are all threadedly connected to an opening and closing threaded sleeve 137, and the bottom of the opening and closing threaded sleeve 137 is fixedly connected to an opening and closing sliding block 138, and the opening and closing sliding block 138 is connected to the claw arm fixing sleeve 101 through the connecting slot 103, and the connecting support 133 is connected to the claw arm fixing sleeve 101 through the splicing socket 102, and the top of the connecting support 133 is fixed. A first mechanical arm 139 is connected, a fixed rod 140 is fixedly installed at the inner center position of the first mechanical arm 139, a power-off controller 141 is fixedly installed in the middle of the fixed rod 140, a protective sliding rod 142 is fixedly installed around the inner periphery of the first mechanical arm 139, a protective sliding sleeve 143 is symmetrically slidably connected to the outer side of the protective sliding rod 142, a first protective rotating rod 144 is rotatably connected to the outer side of the protective sliding sleeve 143, a protective plate 145 is rotatably connected to the ends of the two first protective rotating rods 144, a protective plate 145 is rotatably connected to the ends of the two first protective rotating rods 144, a protective spring 146 is fixedly connected between the two protective sliding sleeves 143, and the inner side of the protective sliding sleeve 143 is fixedly connected to the protective sliding sleeve 143. The second protection rotating rod 147 is rotatably connected to the side, and the end of the second protection rotating rod 147 is rotatably connected to the touch head 148. The bevel gear transmission assembly 135 and the opening and closing threaded rod 136 are driven to rotate by the opening and closing motor 134, so that the opening and closing threaded sleeve 137 drives the opening and closing sliding block 138 to slide relatively. When the opening and closing sliding block 138 is engaged with the connecting slot 103, the installation and disassembly of the claw arm fixing sleeve 101 can be realized. The first articulated claw arm 122 and the second articulated claw arm 127 of the corresponding size can be replaced according to the goods or workpieces of different sizes, so that the goods or workpieces can be stably clamped. The guard plate 145 can provide safety protection for the first robot arm 139. The elastic force of the protection spring 146 is used to achieve the buffering effect of the protection plate 145, thereby avoiding the robot arm from colliding during the grabbing of goods or workpieces, thereby preventing the robot arm from being damaged. When the collision force is large, the guard plate 145 drives the first protection rotating rod 144 to rotate, so that the two protection sliding sleeves 143 are close to each other, and at the same time drives the second protection rotating rod 147 to rotate. When the touch head 148 contacts the power-off controller 141, the entire equipment can be powered off, thereby protecting the robot arm equipment.

[0042] The manipulator mechanism 2 includes a fixed base 201, a stable support block 202 is fixedly installed at the top center position of the fixed base 201, an electric turntable 203 is fixedly installed on the top of the stable support block 202, the top of the electric turntable 203 is rotatably connected to a lifting bracket 204, a lifting motor 205 is fixedly installed on the top of the lifting bracket 204, an output end of the lifting motor 205 is fixedly connected to a lifting threaded rod 206, the outer side of the lifting threaded rod 206 is threadedly connected to a lifting threaded sleeve 207, a rotating support 208 is fixedly installed on the outer side of the lifting threaded sleeve 207, a rotating support 209 is symmetrically installed on the front side of the rotating support 208, a rotating motor 210 is fixedly installed on one side of the rotating bracket 209, a rotating worm 211 is fixedly connected to the output end of the rotating motor 210, a rotating worm 211 is meshedly connected to a rotating worm wheel 212 on one side of the rotating worm 211, and a rotating worm wheel 212 is meshedly connected to the rotating worm wheel 212. A rotating connecting shaft 213 is fixedly connected to the inner side of 212, and a second mechanical arm 214 is fixedly installed on the outer side of the rotating connecting shaft 213. A rotating connecting block 215 is rotatably connected to one side of the second mechanical arm 214. A roller bracket 216 is symmetrically installed on the top of the lifting bracket 204, and a fixed pulley 217 is rotatably connected to the inner side of the top of the roller bracket 216. The electric turntable 203 is used to realize the horizontal rotation of the lifting bracket 204. At the same time, the lifting motor 205 is used to drive the lifting threaded rod 206 to rotate, so that the lifting threaded sleeve 207 drives the rotating support 208 and the second mechanical arm 214 to move up and down, thereby adjusting the height of the second mechanical arm 214. The rotating motor 210 drives the rotating worm 211 to rotate, and the meshing connection between the rotating worm 211 and the rotating worm wheel 212 is used to make the rotating connecting shaft 213 drive the second mechanical arm 214 to rotate.

[0043] The winding bracket 218 is fixedly installed on one side of the lifting bracket 204, and a winding motor 219 is fixedly installed on the front side of the winding bracket 218. The output end of the winding motor 219 is fixedly connected to a winding roller 220, and a connecting wire rope 221 is evenly wound around the outer side of the winding roller 220. The connecting wire rope 221 is fixedly connected to the first mechanical arm 139. The winding roller 220 is driven to rotate by the winding motor 219, so that the connecting wire rope 221 bypasses the fixed pulley 217 and pulls the first mechanical arm 139 to rotate, which can not only adjust the vertical rotation angle of the first mechanical arm 139, but also provide stable support for the first mechanical arm 139, thereby improving the overall stability of the manipulator equipment.

[0044] Working principle: Before using this reliable clamping robot for industrial production, it is necessary to check the overall condition of the device to make sure it can work normally. Figure 1 - Fig.12As shown, first, by utilizing the adsorption effect of the top suction cup 110, the air can be discharged through the exhaust grooves 112 on both sides of the one-way valve 111 and the exhaust hole 109 on the top of the connecting sleeve 108. Under the elastic force of the second connecting spring 113, the sealing piston 114 is engaged with the one-way valve 111, so that the top of the workpiece is adsorbed. The electric telescopic rod 106 can drive the second fixed plate 107 to contract. Under the action of the third hinged support 130, the third hinged rod 131 can drive the first The articulated claw arm 122 rotates to preliminarily clamp and fix the workpiece or cargo to be clamped. The elastic force of the second clamping spring 124 can drive the second clamping sliding sleeve 125 to slide on the outside of the second clamping sliding rod 123. The second articulated rod 126 can realize the rotation of the second articulated claw arm 127. Under the action of the articulated shaft 128, the bottom of the workpiece or cargo is clamped and protected by the protective pad 129 to prevent the workpiece or cargo from sliding.

[0045] Secondly, the electric telescopic rod 106 is used to continue to retract the second fixed plate 107, so that the second fixed plate 107 drives the third clamping sliding sleeve 149 to move, and the first hinged support 116 is used to rotate the first hinged rod 117, so that the first clamping sliding sleeve 118 squeezes the first clamping spring 120 and drives the second hinged support 121 and the first hinged claw arm 122 to approach each other, thereby performing secondary clamping on the workpiece or goods, and improving the clamping stability of the workpiece or goods. When the clamped goods need to be released, the goods or workpieces can be squeezed continuously to drive the first support block 115 to squeeze the sealing piston 114 and the second connecting spring 113, so that air enters the interior of the top suction cup 110, so that the top suction cup 110 loses its adsorption capacity, and the electric telescopic rod 106 is extended to expand the first hinged claw arm 122 and the second hinged claw arm 127, so as to release the workpiece or goods, and the bevel gear transmission assembly 135 and the opening and closing threaded rod 136 are driven to rotate by the opening and closing motor 134, so that the opening and closing threaded sleeve 137 drives the opening and closing sliding block 138 to slide relative to each other. When the opening and closing sliding block 138 is engaged and connected with the connecting slot 103, the installation and disassembly of the claw arm fixing sleeve 101 can be realized. The first articulated claw arm 122 and the second articulated claw arm 127 of corresponding sizes can be replaced according to goods or workpieces of different sizes, so that the goods or workpieces can be stably clamped. By setting the protective plate 145, the first mechanical arm 139 can be safely protected. The elastic force of the protective spring 146 is utilized to achieve the buffering effect of the protective plate 145, thereby avoiding the collision of the manipulator during the grabbing of goods or workpieces, thereby causing damage to the manipulator. When the collision force is large, the protective plate 145 drives the first protective rotating rod 144 to rotate, so that the two protective sliding sleeves 143 are close to each other, and at the same time drives the second protective rotating rod 147 to rotate. When the touch head 148 contacts the power-off controller 141, the power-off of the entire equipment can be achieved, thereby protecting the manipulator equipment.

[0046] The electric turntable 203 is used to realize the horizontal rotation of the lifting bracket 204, and the lifting motor 205 is used to drive the lifting threaded rod 206 to rotate, so that the lifting threaded sleeve 207 drives the rotating support 208 and the second mechanical arm 214 to move up and down, thereby adjusting the height of the second mechanical arm 214, and the rotating motor 210 drives the rotating worm 211 to rotate, and the meshing connection between the rotating worm 211 and the rotating worm wheel 212 is used to drive the rotating connecting shaft 213 to drive the second mechanical arm 214 to rotate, and the winding motor 219 drives the winding roller 220 to rotate, so that the connecting wire rope 221 bypasses the fixed pulley 217 and pulls the first mechanical arm 139 to rotate, which can not only adjust the vertical rotation angle of the first mechanical arm 139, but also provide stable support for the first mechanical arm 139, thereby improving the overall stability of the manipulator equipment.

[0047] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A reliable clamping manipulator device for industrial production, comprising a multi-articulated claw arm mechanism (1), and a connecting support (133) mounted on the top of the multi-articulated claw arm mechanism (1); A manipulator mechanism (2) is provided on one side of the multi-articulated claw arm mechanism (1), and a winding bracket (218) is provided on one side of the manipulator mechanism (2); It is characterized in that Also includes: The multi-articulated claw arm mechanism (1) comprises a claw arm fixing sleeve (101), a splicing socket (102) is provided at the top center of the claw arm fixing sleeve (101), connection slots (103) are provided around the splicing socket (102), and a first fixing plate (104) is fixedly installed at the bottom center of the claw arm fixing sleeve (101); The first fixing plate (104) is fixedly mounted with a first connecting spring (105) at the bottom, an electric telescopic rod (106) is slidably connected to the inner side of the first connecting spring (105) at the bottom of the first fixing plate (104), and a third clamping sliding sleeve (149) is fixedly connected to the bottom of the first connecting spring (105); The bottom of the electric telescopic rod (106) is fixedly connected to a second fixing plate (107), the bottom of the second fixing plate (107) is fixedly connected to a connecting sleeve (108), exhaust holes (109) are symmetrically provided on both sides of the top of the connecting sleeve (108), and the bottom of the connecting sleeve (108) is fixedly connected to a top suction cup (110).

2. The reliable clamping robot device for industrial production according to claim 1 is characterized in that: A one-way valve (111) is fixedly installed at the bottom of the second fixing plate (107) near the inner side of the connecting sleeve (108), and exhaust grooves (112) are symmetrically provided on both sides of the one-way valve (111). A second connecting spring (113) is fixedly installed on the inner side of the top of the one-way valve (111), and a sealing piston (114) is fixedly connected to the bottom of the second connecting spring (113). The sealing piston (114) is fitted and connected to the bottom of the one-way valve (111), and a first supporting block (115) is fixedly connected to the bottom of the sealing piston (114).

3. The reliable clamping robot device for industrial production according to claim 2 is characterized in that: A first hinged support (116) is fixedly installed at the bottom of the claw arm fixing sleeve (101) near the first fixing plate (104), the bottom of the first hinged support (116) is rotatably connected to a first hinged rod (117), the bottom of the first hinged rod (117) is rotatably connected to a first clamping sliding sleeve (118), the interior of the first clamping sliding sleeve (118) is slidably connected to a first clamping sliding rod (119), one side of the first clamping sliding rod (119) is slidably connected to a first clamping spring (120), the first clamping spring (120) is fixedly connected to the first clamping sliding sleeve (118), and the first clamping sliding rod (119) is fixedly installed around the interior of a third clamping sliding sleeve (149).

4. The reliable clamping robot device for industrial production according to claim 3 is characterized by: A second hinged support (121) is fixedly installed at the bottom of the first clamping sliding sleeve (118), and a first hinged claw arm (122) is rotatably connected to the bottom of the second hinged support (121). A second clamping sliding rod (123) is fixedly installed inside the first hinged claw arm (122), and a second clamping spring (124) is slidably connected to the outer side of the second clamping sliding rod (123). The end of the second clamping spring (124) is fixedly connected to the second clamping sliding sleeve (125), and the outer side of the second clamping sliding sleeve (125) is rotatably connected to the second hinged rod (126).

5. The reliable clamping robot device for industrial production according to claim 4 is characterized in that: The end of the second articulated rod (126) is rotatably connected to the second articulated claw arm (127), the middle of the second articulated claw arm (127) is rotatably connected to the articulated shaft (128), the articulated shaft (128) is rotatably connected to the bottom of the first articulated claw arm (122), a plurality of protective pads (129) are fixedly installed on one side of the top of the articulated shaft (128), a third articulated support (130) is fixedly installed around the bottom of the third clamping sliding sleeve (149), the bottom of the third articulated support (130) is rotatably connected to the third articulated rod (131), the end of the third articulated rod (131) is rotatably connected to the fourth articulated support (132), and the fourth articulated support (132) is fixedly connected to the first articulated claw arm (122).

6. The reliable clamping robot device for industrial production according to claim 1 is characterized in that: An opening and closing motor (134) is fixedly installed at the inner center position of the connecting support (133); the output end of the opening and closing motor (134) is fixedly connected to a bevel gear transmission assembly (135); the bevel gear transmission assembly (135) is fixedly connected to an opening and closing threaded rod (136) on all sides; the outer sides of the opening and closing threaded rod (136) are all threadedly connected to an opening and closing threaded sleeve (137); the bottom of the opening and closing threaded sleeve (137) is fixedly connected to an opening and closing sliding block (138); the opening and closing sliding block (138) is snap-fitted and connected to the claw arm fixing sleeve (101) through a connecting slot (103); and the connecting support (133) is snap-fitted and connected to the claw arm fixing sleeve (101) through a splicing socket (102).

7. The reliable clamping robot device for industrial production according to claim 6 is characterized by: The top of the connecting support (133) is fixedly connected to a first mechanical arm (139); a fixed rod (140) is fixedly installed at the inner center position of the first mechanical arm (139); a power-off controller (141) is fixedly installed in the middle of the fixed rod (140); protective sliding rods (142) are fixedly installed around the inner periphery of the first mechanical arm (139); a protective sliding sleeve (143) is symmetrically slidably connected to the outer side of the protective sliding rod (142); a first protective rotating rod (144) is rotatably connected to the outer side of the protective sliding sleeve (143); a protective plate (145) is rotatably connected to the ends of the two first protective rotating rods (144); a protective spring (146) is fixedly connected between the two protective sliding sleeves (143); a second protective rotating rod (147) is rotatably connected to the inner side of the protective sliding sleeve (143); and a contact head (148) is rotatably connected to the end of the second protective rotating rod (147).

8. The reliable clamping robot device for industrial production according to claim 7 is characterized in that: The manipulator mechanism (2) comprises a fixed base (201), a stable support block (202) is fixedly mounted at the top center position of the fixed base (201), an electric turntable (203) is fixedly mounted on the top of the stable support block (202), a lifting bracket (204) is rotatably connected to the top of the electric turntable (203), a lifting motor (205) is fixedly mounted on the top of the lifting bracket (204), an output end of the lifting motor (205) is fixedly connected to a lifting threaded rod (206), an outer side of the lifting threaded rod (206) is threadedly connected to a lifting threaded sleeve (207), and an outer side of the lifting threaded sleeve (207) is fixedly mounted to the lifting motor (205). A rotating support (208) is fixedly installed, a rotating bracket (209) is symmetrically installed on the front of the rotating support (208), a rotating motor (210) is fixedly installed on one side of the rotating bracket (209), an output end of the rotating motor (210) is fixedly connected to a rotating worm (211), one side of the rotating worm (211) is meshingly connected to a rotating worm wheel (212), the inner side of the rotating worm wheel (212) is fixedly connected to a rotating connecting shaft (213), the outer side of the rotating connecting shaft (213) is fixedly installed with a second mechanical arm (214), and one side of the second mechanical arm (214) is rotatably connected to a rotating connecting block (215).

9. The reliable clamping robot device for industrial production according to claim 8, characterized in that: A roller bracket (216) is symmetrically mounted on the top of the lifting bracket (204); a fixed pulley (217) is rotatably connected to the inner side of the top of the roller bracket (216); the winding bracket (218) is fixedly mounted on one side of the lifting bracket (204); a winding motor (219) is fixedly mounted on the front of the winding bracket (218); a winding roller (220) is fixedly connected to the output end of the winding motor (219); a connecting steel wire rope (221) is evenly wound around the outer side of the winding roller (220); and the connecting steel wire rope (221) is fixedly connected to the first mechanical arm (139).

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