Industrial grabbing manipulator with stress detection function

Abstract

The invention relates to the field of industrial manipulators, in particular to an industrial grabbing manipulator with stress detection, which comprises a manipulator body, a pressure detection device is fixedly mounted at the moving end of the manipulator body, a stand column is mounted at the bottom detection end of the pressure detection device, and an assembly table is fixedly mounted at the bottom of the stand column. The device comprises an assembling table, two symmetrical rotating shafts are rotationally connected to the two ends of the assembling table correspondingly, a mounting frame is welded between every two rotating shafts, a first sliding rod is welded between the two sides of each mounting frame, two arc-shaped rods are welded to the bottom of each first sliding rod, and a roller is rotationally connected to the bottom of each arc-shaped rod; and an arranged first motor and an arranged second motor drive a first cam and a second cam to rotate correspondingly, then a supporting rod and an inserting rod are made to shake left and right in a reciprocating mode, the bag body is vibrated by means of left-right reciprocating shaking of the supporting rod and the inserting rod, and then discharging of particulate matter retained in the bag body is promoted.

Description

Technical Field

[0001] The invention relates to the field of industrial manipulators, and in particular to an industrial grabbing manipulator with force detection function. Background Art

[0002] As the manufacturing industry continues to increase its requirements for production efficiency, product quality and work safety, traditional manual grasping and handling methods can no longer meet the needs of modern industrial production. Therefore, industrial grasping manipulators with high precision, high efficiency and high stability have emerged. The design of this manipulator is inspired by the simulation of the functions of human arms, aiming to achieve efficient and accurate grasping and handling of workpieces. In order to achieve this goal, the key components of the manipulator, such as the actuator, drive mechanism, control system and detection device, have been carefully designed and optimized. Among them, force detection is one of the core technologies of this manipulator. By installing precise sensors such as pressure sensors or torque sensors in the grasping components of the manipulator, the force exerted on the manipulator when grasping the workpiece can be monitored in real time. The currently widely used industrial grasping manipulator equipped with force detection function usually grasps the urea bag firmly first when performing the urea bag handling task, and then guides it to the vicinity of the aggregate pool. During this transfer process, the blade preset at the front end of the aggregate pool cuts an opening in the central area of ​​the bottom of the urea bag, allowing the particles in the bag to flow into the aggregate pool. However, in actual operation, since the crack is located in the center of the bottom of the bag, the four corners of the bag often become the main areas for particle retention, resulting in these particles failing to be effectively poured into the aggregate pool, but being sent to the recycling bin together with the urea bag. This has caused unnecessary loss of raw material resources to a certain extent. Summary of the invention

[0003] The purpose of the present invention is to solve the problems in the background technology and to propose an industrial grabbing robot with force detection function.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an industrial grasping manipulator with force detection for industrial use, comprising a manipulator arm main body, a pressure detection device is fixedly installed at the moving end of the manipulator arm main body, a column is installed at the bottom detection end of the pressure detection device, an assembly table is fixedly installed at the bottom of the column, two symmetrical rotating shafts are rotatably connected at both ends of the assembly table, a mounting frame is welded between each two rotating shafts, a sliding rod 1 is welded between the two sides of each mounting frame, two arc rods are welded at the bottom of each sliding rod 1, a roller is rotatably connected at the bottom of each arc rod, two support rods are slidably arranged on the outer peripheral wall of each sliding rod 1, a plurality of circular plates are welded on the outer peripheral wall of each sliding rod 1, and each sliding rod A plurality of springs are wound around an outer peripheral wall, and each spring is connected one by one between each circular plate and the side wall of the corresponding support rod. A motor is fixedly installed on the side wall of each mounting frame, and a transmission rod is fixedly installed on the output end of each motor. Two active bevel gears are welded on the outer peripheral wall of each transmission rod, and two rotating rods are rotatably connected to the side wall of each mounting frame. A driven bevel gear and a cam are respectively welded at both ends of each rotating rod, and each driven bevel gear is respectively meshed with its corresponding active bevel gear. The motor drives the transmission rod, the active bevel gear, the driven bevel gear, the rotating rod and the cam to rotate, and the rotating cam and the spring cooperate with each other to move the support rod to swing back and forth left and right.

[0005] In the above-mentioned industrial grabbing manipulator with force detection, two L-shaped plates are welded on the top of the assembly table, and electric telescopic rods are fixedly installed on the top of the two L-shaped plates, and tooth blocks are fixedly installed on the bottom telescopic ends of the two electric telescopic rods. A transmission gear is welded on the side of each rotating shaft away from the assembly table, and every two transmission gears are respectively meshed with each tooth block. The arranged electric telescopic rod drives the tooth block to move upward. Since the tooth block is meshed with the transmission gear, the upward-moving tooth block will drive the transmission gear to rotate, and the transmission gear will drive the rotating shaft and the mounting frame to flip downward. The arranged support rod passes through the gap between two adjacent conveying rollers on the roller conveyor and flips to the bottom of the bag body, so as to support the bottom of the bag body, which enhances the stability of the bag body transfer.

[0006] In the above-mentioned industrial grabbing manipulator with force detection, a sliding bar 2 is welded between the two sides of the mounting frame, a plurality of vertical plates are slidably arranged on the outer peripheral wall of the sliding bar 2, a mounting plate is welded between the bottoms of each two vertical plates, a plug rod is welded at the bottom of each mounting plate, a plurality of square plates are welded on the outer peripheral wall of the sliding bar 2, a plurality of springs 2 are wound around the outer peripheral wall of the sliding bar 2, and each spring 2 is connected one-to-one between each square plate and the side wall of each vertical plate, a motor 2 is fixedly installed on the side wall of the mounting frame, and the output of the motor 2 A transmission rod 2 is fixedly installed at one end, and two active bevel gears 2 are welded on the outer peripheral wall of the transmission rod 2. Two rotating rods 2 are rotatably connected to the side wall of the mounting frame. Two driven bevel gears 2 and cams 2 are respectively welded at both ends of the two rotating rods 2, and the two driven bevel gears 2 are respectively meshed with their corresponding active bevel gears 2. The set motor 2 drives the cam 2 to rotate, and the rotating cam 2 and spring 2 cooperate with each other to move the insertion rod to reciprocate left and right. The bag body is vibrated by means of the reciprocating left and right shaking of the support rod and the insertion rod, thereby promoting the discharge of the particles retained in the bag body.

[0007] In the above-mentioned industrial grasping robot with force detection, a special-shaped rack is slidably arranged on the side wall of the inner cavity of the support rod, a concave block is welded on the top of the special-shaped rack, a spring three is wound around the outer peripheral wall of the special-shaped rack, and the spring three is connected between the bottom of the concave block and the side wall of the inner cavity of the support rod, and when the support rod swings back and forth left and right, the arranged roller will intermittently push the concave block and the special-shaped rack downward along the concave surface of the concave block.

[0008] In the above-mentioned industrial grabbing robot with force detection, a rotating rod three is rotatably connected between the side walls at both ends of the inner cavity of the support rod, a linkage gear is welded on the outer peripheral wall of the rotating rod three, and the linkage gear is meshed with the special-shaped rack, and rocker arms are welded at both ends of the rotating rod three. The intermittent downward-moving special-shaped rack will drive the linkage gear to move back and forth in the forward and reverse directions, and the set linkage gear will drive the rotating rod three and the rocker arm to swing back and forth in the forward and reverse directions. The four corners of the bottom of the bag body are hit by means of the rocker arm that swings back and forth in the forward and reverse directions, so as to further promote the discharge of the particles retained in the bag body.

[0009] In the above-mentioned industrial grabbing manipulator with force detection, a plurality of sections of elastic telescopic rods are fixedly installed in the grooves on the surface of the swing arm, and the telescopic rods of the plurality of sections of elastic telescopic rods are connected with wear-resistant cloth strips, and the two ends of the wear-resistant cloth strips are respectively connected to the two ends of the swing arm, and initially, the plurality of sections of elastic telescopic rods are contracted due to the influence of the weight of the bag body; as the particulate matter is continuously poured out, the mass of the bag body decreases accordingly, and the plurality of sections of elastic telescopic rods are reset upward under the action of their own elastic force and lift up the four corners of the bottom of the bag body to assist in unloading the bag body; in addition, the reset plurality of sections of elastic telescopic rods lift up the wear-resistant cloth strips, which makes it difficult for the swing arm to push the bag body toward the bottom center direction of the limit plate when it swings, which reduces the risk of the bag body detaching from the support rod and the insertion rod to a certain extent.

[0010] In the above-mentioned industrial grabbing manipulator with force detection, slide rails are welded on the side walls at both ends of the assembly table, and two tooth blocks are slidably arranged in the two slide rails in a one-to-one correspondence. The arranged slide rails enhance the stability of the tooth blocks when they move.

[0011] In the above-mentioned industrial grasping manipulator with force detection, a limit plate is fixedly installed on the bottom of the assembly table through a plurality of connecting rods. Under the action of the limit plate, the empty bag is detached from the support rod and the insertion rod and falls into the inner cavity of the collection box.

[0012] Compared with the existing technology, the advantages of the industrial gripping manipulator with force detection are:

[0013] 1. The multi-section elastic telescopic rods are reset upward under the action of their own elastic force and lift up the four corners of the bottom of the bag body to assist in unloading the bag body; in addition, the motors 1 and 2 are respectively driven by the cams 1 and 2 to rotate, so that the support rods and the insertion rods are reciprocated left and right, and the bag body is vibrated by the reciprocating left and right shaking of the support rods and the insertion rods, thereby promoting the unloading of the particles retained in the bag body;

[0014] 2. Use the swing rod that swings back and forth to hit the four corners of the bottom of the bag, so as to further promote the discharge of the particles trapped inside the bag; the left and right reciprocating support rod will drive the swinging swing rod to move synchronously, which increases the hitting range of the swing rod to a certain extent;

[0015] 3. After resetting, the multi-section elastic telescopic rod lifts up the wear-resistant cloth strip, which makes it difficult for the swing arm to push the bag body toward the center of the bottom of the limit plate when it swings. This reduces the risk of the bag body detaching from the support rod and the insertion rod to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1This is a schematic diagram of the structure of an industrial grabbing manipulator with force detection for industrial use proposed by the present invention;

[0017] Figure 2 For the present invention Figure 1 A schematic diagram of the enlarged structure of part A;

[0018] Figure 3 It is a schematic diagram of the structure of a motor of the present invention;

[0019] Figure 4 It is a schematic diagram of the structure of the mounting frame of the present invention;

[0020] Figure 5 For the present invention Figure 3 A schematic diagram of the enlarged structure of part B;

[0021] Figure 6 For the present invention Figure 3 An enlarged schematic diagram of the C-section structure;

[0022] Figure 7 It is a schematic diagram of the inner cavity structure of the support rod of the present invention;

[0023] Figure 8 It is a schematic diagram of the concave block structure of the present invention;

[0024] Fig. 9 For the present invention Figure 7 A schematic diagram of the enlarged structure of the D portion;

[0025] Fig.10 It is a schematic diagram of the structure of the special-shaped rack of the present invention;

[0026] Fig.11 It is a schematic diagram of the structure of the multi-section elastic telescopic rod of the present invention.

[0027] In the figure: 1. Robot arm body; 2. Pressure detection device; 3. Column; 4. Assembly table; 5. Rotating shaft; 6. Mounting frame; 7. Sliding rod 1; 8. Curved rod; 9. Roller; 10. Support rod; 11. Round plate; 12. Spring 1; 13. Motor 1; 14. Transmission rod 1; 15. Active bevel gear 1; 16. Rotating rod 1; 17. Driven bevel gear 1; 18. Cam 1; 19. L-shaped plate; 20. Electric telescopic rod; 21. Gear block; 22. Transmission gear; 23. Slide bar 2; 24, vertical plate; 25, mounting plate; 26, plug rod; 27, square plate; 28, spring 2; 29, motor 2; 30, transmission rod 2; 31, active bevel gear 2; 32, rotating rod 2; 33, driven bevel gear 2; 34, cam 2; 35, special-shaped rack; 36, concave block; 37, spring 3; 38, rotating rod 3; 39, linkage gear; 40, rocker arm; 41, multi-section elastic telescopic rod; 42, wear-resistant cloth strip; 43, slide rail; 44, limit plate. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] Reference Figure 1-Figure 11 An industrial grabbing robot with force detection for industrial use comprises a robot arm body 1, a pressure detection device 2 is fixedly installed at the moving end of the robot arm body 1, a column 3 is installed at the bottom detection end of the pressure detection device 2, an assembly table 4 is fixedly installed at the bottom of the column 3, and a limit plate 44 is fixedly installed at the bottom of the assembly table 4 through a plurality of connecting rods. When in use, the robot arm body 1 moves the assembly table 4 to the top of the urea bag to be transferred on the roller conveyor, and then the robot arm body 1 controls the device body to move downward and makes the limit plate 44 abut against the top of the bag body.

[0031] Furthermore, two L-shaped plates 19 are welded on the top of the assembly table 4, and electric telescopic rods 20 are fixedly installed on the tops of the two L-shaped plates 19. Gear blocks 21 are fixedly installed on the telescopic ends of the bottoms of the two electric telescopic rods 20. Two symmetrical rotating shafts 5 are rotatably connected at both ends of the assembly table 4. A mounting frame 6 is welded between every two rotating shafts 5. A transmission gear 22 is welded on the side of each rotating shaft 5 away from the assembly table 4, and every two transmission gears 22 are respectively meshed with each tooth block 21. A sliding rod 1 7 is welded between the two sides of each mounting frame 6. Two arc rods 8 are welded at the bottom of each sliding rod 1 7. A roller 9 is rotatably connected to the bottom of each arc rod 8. Two support rods 10 are slidably arranged on the outer peripheral wall of each sliding rod 1 7. A sliding rod 23 is welded between the two sides of the mounting frame 6. A plurality of vertical plates 24 are slidably arranged on the outer peripheral wall of the sliding rod 23. A mounting frame 6 is welded between the bottoms of every two vertical plates 24. The mounting plate 25 has an insertion rod 26 welded at the bottom of each mounting plate 25. When the electric telescopic rod 20 performs the contraction operation, the electric telescopic rod 20 drives the tooth block 21 to move upward, and the upward tooth block 21 drives the transmission gear 22 to rotate. The transmission gear 22 drives the rotating shaft 5 and the mounting frame 6 to flip downward, and the mounting frame 6 drives the insertion rod 26 and the support rod 10 to flip downward, which allows the insertion rod 26 to be inserted into the inner cavity of the bag body through the side of the bag body, thereby achieving limited fixation of the bag body; in addition, the support rod 10 is turned to the bottom of the bag body through the gap between two adjacent conveying rollers on the roller conveyor, so as to support the bottom of the bag body, which enhances the stability of the bag body transfer; wherein, slide rails 43 are welded on the side walls at both ends of the assembly table 4, and the two tooth blocks 21 are slidably arranged in the two slide rails 43 in a one-to-one correspondence, and the set slide rails 43 enhance the stability of the tooth block 21 when moving.

[0032] Furthermore, a plurality of circular plates 11 are welded on the outer peripheral wall of each slide bar 7, a plurality of springs 12 are wound around the outer peripheral wall of each slide bar 7, and each spring 12 is connected one by one between each circular plate 11 and the side wall of the corresponding support rod 10, a motor 13 is fixedly installed on the side wall of each mounting frame 6, a transmission rod 14 is fixedly installed on the output end of each motor 13, and two active bevel gears 15 are welded on the outer peripheral wall of each transmission rod 14, and each mounting frame 6 Two rotating rods 16 are rotatably connected to the side walls, and a driven bevel gear 17 and a cam 18 are respectively welded at both ends of each rotating rod 16, and each driven bevel gear 17 is respectively meshed with its corresponding active bevel gear 15, and a plurality of square plates 27 are welded on the outer peripheral wall of the sliding rod 23, and a plurality of springs 28 are wound around the outer peripheral wall of the sliding rod 23, and each spring 28 is connected between each square plate 27 and the side wall of each vertical plate 24 one by one, and the side of the mounting frame 6 is A motor 29 is fixedly mounted on the wall, a transmission rod 20 is fixedly mounted on the output end of the motor 20, two active bevel gears 20 are welded on the outer peripheral wall of the transmission rod 20, two rotating rods 20 are rotatably connected to the side wall of the mounting frame 6, and two driven bevel gears 20 and 21 are respectively welded on both ends of the two rotating rods 20, and the two driven bevel gears 20 and 22 are respectively meshed with their corresponding active bevel gears 20 and 23. The motor 13 is set to drive the transmission rod 14 and the active bevel gear 11. 5. The driven bevel gear 17, the rotating rod 16 and the cam 18 rotate, and the rotating cam 18 and the spring 12 cooperate with each other to move the support rod 10 to reciprocate left and right. Similarly, the motor 29 drives the cam 2 34 to rotate, and the rotating cam 2 34 and the spring 28 cooperate with each other to move the insertion rod 26 to reciprocate left and right. The reciprocating left and right shaking of the support rod 10 and the insertion rod 26 vibrates the bag body, thereby promoting the discharge of the particles retained in the bag body.

[0033] Furthermore, a special-shaped rack 35 is slidingly provided on the side wall of the inner cavity of the support rod 10, a concave block 36 is welded on the top of the special-shaped rack 35, a spring 37 is wound on the outer circumferential wall of the special-shaped rack 35, and the spring 37 is connected between the bottom of the concave block 36 and the inner cavity side wall of the support rod 10, and a rotating rod 38 is rotatably connected between the side walls at both ends of the inner cavity of the support rod 10, a linkage gear 39 is welded on the outer circumferential wall of the rotating rod 38, and the linkage gear 39 is meshed with the special-shaped rack 35, and a swing rod 40 is welded at both ends of the rotating rod 38. In the process of the support rod 10 reciprocating left and right, the roller 9 arranged will intermittently move along the concave surface of the concave block 36 The concave block 36 and the special-shaped rack 35 are pushed downward. Since the special-shaped rack 35 is meshed with the linkage gear 39, the intermittently downward-moving special-shaped rack 35 will drive the linkage gear 39 to move back and forth in both directions. The provided linkage gear 39 will drive the rotating rod 38 and the rocker arm 40 to swing back and forth in both directions. The four corners of the bottom of the bag body are struck by the rocker arm 40 that swings back and forth in both directions, so as to further promote the discharge of the particles retained in the bag body. Among them, the reciprocating swinging support rod 10 will drive the swinging rocker arm 40 to move synchronously, which increases the striking range of the rocker arm 40 to a certain extent.

[0034] Furthermore, a multi-section elastic telescopic rod 41 is fixedly installed in the groove on the surface of the swing rod 40, and the telescopic rods of the multi-section elastic telescopic rod 41 are connected with a wear-resistant cloth strip 42, and the two ends of the wear-resistant cloth strip 42 are respectively connected to the two ends of the swing rod 40. Initially, the multi-section elastic telescopic rod 41 is contracted due to the influence of the weight of the bag body; as the particulate matter is continuously poured out, the mass of the bag body decreases accordingly, and the multi-section elastic telescopic rod 41 is reset upward under the action of its own elastic force and lifts up the four corners of the bottom of the bag body to assist in bag unloading; in addition, the reset multi-section elastic telescopic rod 41 lifts up the wear-resistant cloth strip 42, which makes it difficult for the swing rod 40 to push the bag body toward the bottom center direction of the limit plate 44 when swinging, which reduces the risk of the bag body detaching from the support rod 10 and the insertion rod 26 to a certain extent.

[0035] Working principle: when in use, the robot arm body 1 moves the assembly table 4 to the top of the urea bag to be transferred on the roller conveyor, and then the robot arm body 1 controls the device body to move downward and makes the limit plate 44 abut against the top of the bag body; then the electric telescopic rod 20 performs a contraction operation, and the electric telescopic rod 20 drives the gear block 21 to move upward. Since the gear block 21 is meshed with the transmission gear 22, the upwardly moved gear block 21 will drive the transmission gear 22 to rotate, and the transmission gear 22 will drive the rotating shaft 5 and the mounting frame 6 to flip downward, and the mounting frame 6 will drive the insertion rod 26 and the support rod 10 to flip downward, which makes the insertion rod 26 inserted into the inner cavity of the bag body through the side of the bag body, thereby realizing the limited fixation of the bag body; in addition, the support rod 10 is set to pass through the gap between two adjacent conveying rollers on the roller conveyor and flip to the bottom of the bag body, so as to support the bottom of the bag body, which enhances the stability of the bag body transfer; wherein, the multi-section elastic telescopic rod 41 is set to shrink due to the influence of the weight of the bag body;

[0036] After the bag body is fixed and supported, the mechanical arm body 1 drives the bag body to move toward the aggregate pool. During this process, the mechanical arm body 1 drives the bag body to pass through the blade on the front side of the aggregate pool. The blade cuts a crack at the bottom of the bag body, and the particles in the bag body pour through the crack into the aggregate pool at the bottom. As the particles continue to pour out, the mass of the bag body decreases, and the multi-section elastic telescopic rod 41 resets upward under the action of its own elastic force and lifts up the four corners of the bottom of the bag body, so as to assist the bag body in unloading.

[0037] The pressure detection device 2 is set to detect the weight of the particles in the bag. If the value of the pressure detection device 2 does not drop to the set value within the set time, it means that there are particles that have not been completely discharged in the bag. After detecting the electrical signal of the pressure detection device 2, the external controller controls the motor 13 and the motor 29 to operate synchronously. The motor 13 drives the transmission rod 14, the active bevel gear 15, the driven bevel gear 17, the rotating rod 16 and the cam 18 to rotate. The rotating cam 18 and the spring 12 cooperate with each other to move the support rod 10 to reciprocate left and right. Similarly, the motor 29 drives the cam 2 34 to rotate. The rotating cam 2 34 and the spring 28 cooperate with each other to move the insertion rod 26 to reciprocate left and right. The bag is vibrated by the reciprocating left and right shaking of the support rod 10 and the insertion rod 26, thereby promoting the discharge of the particles retained in the bag.

[0038] In addition, when the support rod 10 reciprocates left and right, the roller 9 will intermittently push the concave block 36 and the special-shaped rack 35 downward along the concave surface of the concave block 36. Since the special-shaped rack 35 is meshed with the linkage gear 39, the intermittently downward-moving special-shaped rack 35 will drive the linkage gear 39 to move forward and reversely, and the linkage gear 39 will drive the rotating rod 38 and the swing rod 40 to swing forward and reversely. The bag body is hit by the swing rod 40, so as to further promote the discharge of the particles retained in the bag body; wherein, the reciprocating swinging support rod 10 will drive the swinging swing rod 40 to move synchronously, which increases the striking range of the swing rod 40 to a certain extent; in addition, the multi-section elastic telescopic rod 41 after reset lifts the wear-resistant cloth strip 42, which makes it difficult for the swing rod 40 to push the bag body to move toward the bottom center direction of the limiting plate 44 when swinging, which reduces the risk of the bag body detaching from the support rod 10 and the insertion rod 26 to a certain extent;

[0039] When the value of the pressure detection device 2 drops to the specified value, it means that the particles in the bag have been discharged. The set mechanical arm body 1 transfers the empty bag to the top of the recycling box, and then the support rod 10 and the insertion rod 26 are reset to the initial position. The empty bag is detached from the support rod 10 and the insertion rod 26 under the action of the limit plate 44 and falls into the inner cavity of the collection box.

[0040] It is further explained that the above-mentioned fixed connection should be understood in a broad sense unless otherwise clearly specified and limited. For example, it can be welding, gluing, or one-piece molding, etc., which are conventional means well known to those skilled in the art.

[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An industrial grasping manipulator with force detection, comprising a manipulator body (1), characterized in that: A pressure detection device (2) is fixedly installed at the moving end of the mechanical arm body (1), a column (3) is installed at the bottom detection end of the pressure detection device (2), an assembly platform (4) is fixedly installed at the bottom of the column (3), two symmetrical rotating shafts (5) are rotatably connected at both ends of the assembly platform (4), a mounting frame (6) is welded between each two rotating shafts (5), a sliding rod (7) is welded between the two sides of each mounting frame (6), two arc rods (8) are welded at the bottom of each sliding rod (7), a roller (9) is rotatably connected at the bottom of each arc rod (8), two support rods (10) are slidably arranged on the outer peripheral wall of each sliding rod (7), a plurality of circular plates (11) are welded on the outer peripheral wall of each sliding rod (7), and each A plurality of springs (12) are wound around the outer peripheral wall of the slide rod (7), and each spring (12) is connected one by one between each circular plate (11) and the side wall of the corresponding support rod (10). A motor (13) is fixedly mounted on the side wall of each mounting frame (6), and a transmission rod (14) is fixedly mounted on the output end of each motor (13). Two active bevel gears (15) are welded on the outer peripheral wall of each transmission rod (14). Two rotating rods (16) are rotatably connected to the side wall of each mounting frame (6), and a driven bevel gear (17) and a cam (18) are respectively welded at both ends of each rotating rod (16), and each driven bevel gear (17) is respectively meshed with its corresponding active bevel gear (15).

2. The industrial grabbing manipulator with force detection according to claim 1 is characterized in that: Two L-shaped plates (19) are welded on the top of the assembly table (4), electric telescopic rods (20) are fixedly installed on the tops of the two L-shaped plates (19), gear blocks (21) are fixedly installed on the bottom telescopic ends of the two electric telescopic rods (20), and a transmission gear (22) is welded on the side of each rotating shaft (5) away from the assembly table (4), and every two transmission gears (22) are respectively meshed with each gear block (21).

3. The industrial grabbing manipulator with force detection according to claim 1 is characterized in that: A sliding rod (23) is welded between the two sides of the mounting frame (6), a plurality of vertical plates (24) are slidably arranged on the outer peripheral wall of the sliding rod (23), a mounting plate (25) is welded between the bottoms of each two vertical plates (24), a plug rod (26) is welded at the bottom of each mounting plate (25), a plurality of square plates (27) are welded on the outer peripheral wall of the sliding rod (23), a plurality of springs (28) are wound around the outer peripheral wall of the sliding rod (23), and each spring (28) is connected one by one to each square plate (27) and each vertical plate. A second motor (29) is fixedly mounted on the side wall of the mounting frame (6), a second transmission rod (30) is fixedly mounted on the output end of the second motor (29), two second active bevel gears (31) are welded on the outer peripheral wall of the second transmission rod (30), two second rotating rods (32) are rotatably connected to the side wall of the mounting frame (6), two second driven bevel gears (33) and second cams (34) are respectively welded at both ends of the two second rotating rods (32), and the two second driven bevel gears (33) are respectively meshed with their corresponding second active bevel gears (31).

4. The industrial grabbing manipulator with force detection according to claim 1 is characterized in that: A special-shaped rack (35) is slidably arranged on the inner cavity side wall of the support rod (10), a concave block (36) is welded on the top of the special-shaped rack (35), a spring three (37) is wound on the outer peripheral wall of the special-shaped rack (35), and the spring three (37) is connected between the bottom of the concave block (36) and the inner cavity side wall of the support rod (10).

5. The industrial grabbing manipulator with force detection according to claim 4 is characterized in that: A rotating rod (38) is rotatably connected between the side walls at both ends of the inner cavity of the support rod (10), a linkage gear (39) is welded on the outer peripheral wall of the rotating rod (38), and the linkage gear (39) is meshed with the special-shaped rack (35), and a swing rod (40) is welded at both ends of the rotating rod (38).

6. The industrial grabbing manipulator with force detection according to claim 5, characterized in that: A plurality of elastic telescopic rods (41) are fixedly installed in the groove on the surface of the swing rod (40), and the telescopic rods of the plurality of elastic telescopic rods (41) are connected to wear-resistant cloth strips (42), and the two ends of the wear-resistant cloth strips (42) are respectively connected to the two ends of the swing rod (40).

7. The industrial grabbing manipulator with force detection according to claim 2, characterized in that: Slide rails (43) are welded on the side walls at both ends of the assembly platform (4), and the two tooth blocks (21) are slidably arranged in the two slide rails (43) in a one-to-one correspondence.

8. The industrial grabbing manipulator with force detection according to claim 1, characterized in that: A limiting plate (44) is fixedly mounted on the bottom of the assembly platform (4) via a plurality of connecting rods.

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