Industrial robot for workshop production line

Abstract

The invention discloses an industrial robot of a workshop production line, and belongs to the technical field of industrial robots, the industrial robot comprises a supporting seat, four sliding grooves are formed in the inner wall of the bottom of the supporting seat, sliding plates are slidably mounted in the sliding grooves, and racks are fixedly connected to the sides, away from each other, of the four sliding plates; the transmission mechanism comprises a mounting box, a connecting ball, two linkage discs and two resistor strips, and the front side of the connecting ball is fixedly connected with a connecting seat; and the bottom end of the mechanical arm is fixedly connected to the supporting seat, and the other end of the mechanical arm is fixedly connected to one side of the mounting box. By means of the transmission mechanism, buffering can be achieved when the robot carries materials, damage is avoided, the carrying speed can be automatically reduced according to the materials, safe conveying is guaranteed, balance can be conducted when the robot is uneven in stress through cooperation of the heavy hammer, the air cylinder and the rack which are arranged in the supporting base, and safety and stability are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to an industrial robot for a workshop production line. Background Art

[0002] With the development of industrial production, production equipment is also diverse, and our requirements for production lines are getting higher and higher. However, the equipment on ordinary production lines cannot meet the current automated production needs, and consumes a lot of human resources, which wastes both production time and human and material resources. Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices for the industrial field. They can perform work automatically and rely on their own power and control capabilities to achieve various functions. It can accept human commands or run according to pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology.

[0003] However, current industrial robots cannot automatically adjust the handling speed according to the weight and handling status of the materials when handling materials, resulting in the inertia of the materials affecting the installation stability of the robot when handling materials; therefore, we propose an industrial robot for workshop production lines to solve this problem. Summary of the invention

[0004] The purpose of the present invention is to provide an industrial robot for a workshop production line to solve the problems raised in the above background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An industrial robot for a workshop production line, comprising:

[0007] A support seat, wherein four slide grooves are provided on the inner wall of the bottom of the support seat, and slide plates are slidably installed in the slide grooves, and racks are fixedly connected to the sides of the four slide plates away from each other, and a gear is meshed on the top of the rack, and a rotating arm is fixedly connected to one side of the gear, and a heavy hammer is fixedly connected to the other end of the rotating arm;

[0008] A transmission mechanism, the transmission mechanism includes an installation box, a connecting ball, two linkage disks and two resistance bars, and the front side of the connecting ball is fixedly connected to a connecting seat, the front end of the connecting seat is connected to an electric clamp, the two linkage disks are slidably connected in the installation box, and the sides of the two linkage disks close to each other are provided with conical grooves, the connecting ball movably abuts against the two conical grooves, the outer side of the resistance bar is slidably sleeved with two conductive cylinders, the outer side of the conductive cylinder is fixedly sleeved with an insulating cylinder, the front and rear sides of the insulating cylinder are rotatably connected with arc connecting rods, the other ends of the four arc connecting rods located on the same side of the linkage disk are hinged with the same hinge seat, and the two hinge seats are respectively fixedly connected to the other side of the corresponding linkage disk;

[0009] A robotic arm, wherein the bottom end of the robotic arm is fixedly connected to the support seat, and the other end of the robotic arm is fixedly connected to one side of the installation box. The robotic arm is used to control the movement of the installation box. An electric drive circuit is arranged inside the robotic arm, and the electric drive circuit can drive the robotic arm to operate. The two resistor bars are connected in series to the electric drive circuit, and the movement speed of the robotic arm is adjusted according to the resistance value of the resistor bars.

[0010] Preferably, the left and right sides and the front and rear sides of the bottom of the support seat are fixedly connected with pressure sensors, the bottom ends of the four pressure sensors are fixedly connected with the same bottom plate, and the two sides of the bottom of the support seat are fixedly connected with limit pins, and the top two sides of the bottom plate are provided with plug holes, and the two limit pins are movably plugged into the corresponding plug holes, and there is a gap between the limit pins and the plug holes;

[0011] A controller is fixedly connected to the top inner wall of the support seat, a fixing plate is fixedly connected to the bottom inner wall of the support seat, two cylinders are fixedly installed in the fixing plate, and push plates are fixedly connected to the output ends of the two cylinders, and the push plates are movably abutted against the other side of the corresponding slide plate;

[0012] The cylinder and the pressure sensor are electrically connected to the controller, and the controller controls the start-up of the corresponding cylinder according to the difference in values ​​monitored by the pressure sensors in opposite directions.

[0013] Preferably, two limit rods are fixedly installed in the slide groove, the slide plate is slidably sleeved on the outer side of the corresponding limit rods, and a return spring is fixedly connected to one side of the slide plate, and the other end of the return spring is fixedly connected to the other end of the corresponding slide groove.

[0014] Preferably, the top of the rotating arm is hinged with a lower connecting plate, the top of the lower connecting plate is fixedly connected with a first damper and a connecting spring, the other ends of the connecting spring and the damper are fixedly connected with the same upper connecting plate, and the top of the upper connecting plate is hinged on the top inner wall of the rack;

[0015] The interior of the gear is fixedly connected with a rotating shaft, and both ends of the rotating shaft are rotatably connected with brackets, and the brackets are fixedly mounted on the bottom inner wall of the support seat;

[0016] Two square holes are arranged on the outer side of the fixing plate, the pushing plate is slidably connected in the corresponding square holes, and a buffer pad is fixedly connected to the bottom of the heavy hammer.

[0017] Preferably, both sides of the connecting ball are fixedly connected with a first buffer spring, the other end of the first buffer spring is fixedly connected with a side plate, the top and bottom of the side plate are fixedly connected with a second buffer spring, the other end of the second buffer spring is fixedly connected with a transverse plate, the front and rear sides of the transverse plate are fixedly connected with a third buffer spring, the other end of the third buffer spring is fixedly connected with a baffle, and the baffle is fixedly connected to the inside of the installation box;

[0018] A circular hole is opened on one side of the connecting ball, and a connecting column is fixedly connected between the two side plates, and the connecting column is slidably connected in the circular hole, and a guide column is fixedly connected between the two horizontal plates on the same side, and the side plates are slidably sleeved on the outer sides of the corresponding guide columns, and a guide rod is slidably connected inside the horizontal plate, and both ends of the guide rod are fixedly connected to the corresponding baffles respectively;

[0019] The top and bottom of the side plate are both fixedly connected with a second damper, and the other end of the second damper is fixedly connected to the corresponding transverse plate;

[0020] A limiting plate is fixedly connected to the inner wall of the bottom of the circular hole, a limiting groove is provided at the bottom of the connecting column, and the limiting plate is slidably connected in the limiting groove.

[0021] Preferably, ear plates are fixedly connected to both sides of the linkage disk, two fixed platforms are fixedly connected to the top inner wall and the bottom inner wall of the installation box, a fourth buffer spring and a vertical rod are fixedly connected to the outer side of the fixed platform, the other end of the fourth buffer spring is fixedly connected to the corresponding ear plate, and the ear plate is slidably sleeved on the outer side of the corresponding vertical rod, and the other end of the vertical rod is integrally formed with a circular protrusion;

[0022] A square protrusion is integrally formed on the outer side of the insulating cylinder, and slide rails are fixedly connected to the top inner wall and the bottom inner wall of the installation box, and the square protrusion is slidably sleeved on the outer side of the corresponding slide rail.

[0023] Preferably, a third damper is fixedly connected to both the top inner wall and the bottom inner wall of the installation box, and a connecting plate is fixedly connected to the other end of the third damper, and the connecting plate is fixedly connected to the outer side of the corresponding linkage disk.

[0024] Preferably, the electric clamp comprises a mounting seat, a driving motor, a driving seat and four arc-shaped clamps, one end of the arc-shaped clamp is hinged with an outer connecting frame and an inner connecting frame, the other ends of the outer connecting frame and the inner connecting frame are hinged on the outside of the mounting seat, adjacent outer connecting frames and inner connecting frames are parallel to each other, and the outer side of the driving seat is hinged with four driving plates, the other ends of the driving plates are hinged inside the corresponding inner connecting frames;

[0025] The driving motor is fixedly installed in the mounting seat, a driving screw is fixedly connected to the output shaft of the driving motor, and the driving seat is threadedly sleeved on the outer side of the driving screw.

[0026] Preferably, a rotating plate is rotatably connected to the rear side of the installation box, linkage columns are fixed to the rear sides of the two linkage disks, an arc plate is rotatably sleeved on the outer side of the linkage column, and the other end of the arc plate is rotatably connected to the outer side of the corresponding linkage column;

[0027] The rear side of the installation box is provided with two long slots, and the linkage column is slidably connected in the corresponding long slots;

[0028] A through hole is provided on the front side of the installation box, and the connecting seat passes through the through hole.

[0029] Preferably, both ends of the resistor bar are fixedly connected to conductive rods, an insulating ring is fixedly sleeved on the outer side of the conductive rod, and the insulating ring is fixedly connected to the inside of the corresponding fixing platform.

[0030] Preferably, the robotic arm includes a base, a first joint, a second joint, a third joint and a mounting plate, the first joint is rotationally connected between the base and the second joint, and the third joint is rotationally connected between the second joint and the mounting plate.

[0031] The beneficial effects of the present invention are:

[0032] 1. In the present invention, the industrial robot of a workshop production line is installed on the workshop production line through a bottom plate, and the mechanical arm is started and controlled to operate through the electric power inside the mechanical arm, thereby driving the first joint, the second joint, the third joint and the mounting plate to rotate, thereby controlling the transmission mechanism and the electric clamp to move in different directions and angles. When the electric clamp is moved to the material grabbing position, the driving motor is started to drive the driving screw to rotate, and the driving screw drives the driving seat to approach the driving motor through the threaded transmission with the driving seat, and drives the four inner connecting frames to rotate inwardly through the four driving plates, thereby driving the four arc-shaped clamps to approach inwardly to realize material grabbing, and then the movement of the electric clamp is controlled by the mechanical arm to realize automatic handling and placement of the material;

[0033] 2. In the present invention, the industrial robot of the workshop production line described above, when acceleration, deceleration and turning transportation occur during the material handling process, the material causes a lag between movement and the installation box due to its own inertia, and calmly drives the connecting ball to move relatively in the installation box. The left and right movement of the connecting ball relative to the installation box can pull and compress the first buffer spring, and the up and down movement of the connecting ball relative to the installation box can drive the side plate to move up and down synchronously, and calmly pull and compress the second buffer spring and the second damper. The forward and backward movement of the connecting ball relative to the installation box can pull and compress the third buffer spring, thereby achieving buffering of the material through the second damper, the first buffer spring, the second buffer spring and the third buffer spring, reducing the impact of the material during rapid movement;

[0034] 3. In the present invention, in the industrial robot of the workshop production line, when the connecting ball moves forward and backward and left and right relative to the installation box, it can push the two linkage disks away from each other by abutting with the conical groove. When the connecting ball moves upward relative to the installation box, it can push the upper linkage disk to move upward, and drive the rotating plate to rotate through the cooperation of the upper linkage column and the arc plate. The rotating plate drives the lower linkage disk to move downward through the cooperation with the arc plate and the linkage column below. Similarly, when the connecting ball moves upward relative to the installation box and pushes the upper linkage disk to move upward, it will also drive the lower linkage disk to move downward, so that the linkage ball can drive the two linkage disks away from each other when moving in any direction relative to the installation box, so that the linkage disk is buffered by the fourth buffer spring to achieve further buffering protection for the material;

[0035] 4. In the present invention, in the industrial robot of the workshop production line, the two linkage disks drive the corresponding articulated seats to move synchronously while moving away from each other, and drive the conductive cylinders located outside the same resistor bar to move away from each other through the corresponding arc-shaped connecting rods, so that the overlapping area between the conductive cylinder and the resistor bar becomes smaller, so that the short-circuited length of the resistor bar becomes shorter, and the resistance of the resistor bar connected to the power drive circuit increases, thereby reducing the operating speed of the robot arm. As the mass of the material increases, its inertia increases, and the lag between the connecting ball and the installation box increases, so that the distance between the two linkage disks becomes larger, so that the operating speed of the robot arm can be further reduced to ensure the safe handling of materials with large mass and avoid safety risks caused by excessive speed;

[0036] 5. In the present invention, the industrial robot of the workshop production line, during the material handling process, controls the acceleration, deceleration and rotational movement of the materials, which will cause the support seat and the mechanical arm to be affected by the inertia force of the materials, resulting in uneven force on the support seat. The pressure on the support seat is monitored by four pressure sensors, and the monitoring structure is transmitted to the controller. The pressure is calculated and analyzed by the controller, and the operation of the corresponding cylinder is controlled by the controller. Specifically, when the pressure difference value between the left pressure sensor and the right pressure sensor exceeds the preset pressure difference safety threshold, the controller controls the extension of the lower cylinder, thereby pushing the lower push plate to move to the right, and pushing the skateboard and rack on the right to move to the right, thereby driving the gear, rotating arm and heavy hammer on the right to rotate counterclockwise, thereby controlling the heavy hammer on the right to accelerate the counterclockwise rotation, giving the support seat The right side provides downward pressure to prevent the left side of the support seat from being overly stressed and causing the support arm to tip to the left. Similarly, when the pressure difference between the right pressure sensor and the left pressure sensor exceeds the preset pressure difference safety threshold, the controller controls the cylinder below to contract, thereby pushing the push plate below to move to the left, and pushing the slide plate and rack on the right to move to the left, thereby driving the gear, rotating arm and weight on the left to rotate counterclockwise, thereby controlling the weight on the left to accelerate clockwise rotation, providing downward pressure on the left side of the support seat, and calmly preventing the right side of the support seat from being overly stressed and causing the support arm to tip to the right; similarly, when the pressure difference sensed by the front and rear pressure sensors exceeds the preset pressure difference safety threshold, the upper cylinder is controlled to extend and contract accordingly, thereby driving the weight on the front or rear side to flip, so as to prevent the device from tipping over, and at the same time improve the stability of the base plate installation;

[0037] 6. In the present invention, the industrial robot of the workshop production line can achieve buffering when the robot is transporting materials to avoid damage through the transmission mechanism set up, and can automatically lower the transportation speed according to the materials to ensure safe transportation. The cooperation of the heavy hammer, cylinder and rack set in the support seat can balance the robot when uneven force occurs to ensure safety and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the three-dimensional structure of an industrial robot for a workshop production line proposed by the present invention;

[0039] Figure 2 This is a schematic diagram of the three-dimensional structure of an industrial robot for a workshop production line proposed by the present invention from another perspective;

[0040] Figure 3 The cross-sectional structure diagram of the support base proposed by the present invention;

[0041] Figure 4 for Figure 3 A partial enlarged view of part A;

[0042] Figure 5 This is a schematic diagram of the three-dimensional structure of the weight, gear, rack and cylinder proposed in the present invention;

[0043] Figure 6 It is a front view cross-sectional structural schematic diagram of the transmission mechanism proposed by the present invention;

[0044] Figure 7 for Figure 6 A partial enlarged view of part B;

[0045] Figure 8 It is a side cross-sectional structural schematic diagram of the transmission mechanism proposed by the present invention;

[0046] Fig. 9 It is a partial three-dimensional structural schematic diagram of the transmission mechanism proposed by the present invention;

[0047] Fig.10 A schematic diagram of a three-dimensional structure of a transmission mechanism proposed by the present invention from another perspective;

[0048] Fig.11 This is a schematic diagram of the three-dimensional structure of the resistor strip and the ear plate proposed in the present invention;

[0049] Fig.12 This is a schematic cross-sectional view of the resistor strip and the ear plate proposed in the present invention;

[0050] Fig.13 This is a schematic diagram of the three-dimensional structure of the side plate, the horizontal plate and the baffle plate proposed by the present invention;

[0051] Fig.14 Schematic diagram of the cross-sectional structure of the electric gripper proposed by the present invention

[0052] Fig.15 This is a schematic diagram of the three-dimensional structure of the electric gripper proposed in the present invention.

[0053] In the figure: 1, support seat; 101, bottom plate; 102, pressure sensor; 103, limit pin; 104, controller; 2, mechanical arm; 201, base; 202, first joint; 203, second joint; 204, third joint; 205, installation plate; 3, transmission mechanism; 301, installation box; 302, connecting ball; 3021, connecting seat; 303, limit plate; 304, connecting column; 305, first buffer spring; 306, side plate; 307, second buffer spring; 308, second damper; 309, cross plate; 310, guide rod; 311, third buffer spring;

[0054] 312, baffle; 313, guide column; 4, electric clamp; 401, arc-shaped clamp; 402, external connecting frame;

[0055] 403, inner connecting frame; 404, driving plate; 405, driving seat; 406, driving screw; 407, driving motor; 408, mounting seat; 5, linkage disk; 501, ear plate; 502, vertical rod; 503, fourth buffer spring; 504, fixed platform; 505, rotating plate; 506, arc plate; 507, linkage column; 508, third damper; 6, resistor bar; 601, conductive cylinder; 602, insulating cylinder; 603, conductive rod; 604, insulating ring; 605, arc connecting rod; 606, hinged seat; 607, slide rail; 7, heavy hammer; 8, buffer pad; 9, rotating arm; 10, gear; 11, rack; 12, slide plate; 13, push plate; 14, cylinder; 15, fixed plate; 16, upper connecting disk; 17, first damper; 18, connecting spring; 19, reset spring. DETAILED DESCRIPTION

[0056] 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.

[0057] Reference Figure 1 - Fig.15 , an industrial robot for a workshop production line, comprising:

[0058] A support base 1, wherein four slide grooves are provided on the inner wall of the bottom of the support base 1, wherein slide plates 12 are slidably installed in the slide grooves, wherein the four slide plates 12 are fixedly connected to racks 11 on the sides away from each other, wherein the top of the racks 11 is meshed with a gear 10, wherein a rotating arm 9 is fixedly connected to one side of the gear 10, and a weight 7 is fixedly connected to the other end of the rotating arm 9;

[0059] Transmission mechanism 3, transmission mechanism 3 includes installation box 301, connecting ball 302, two linkage disks 5 and two resistance bars 6, and the front side of connecting ball 302 is fixedly connected with connecting seat 3021, the front end of connecting seat 3021 is connected with electric clamp 4, the two linkage disks 5 are slidably connected in the installation box 301, and the sides of the two linkage disks 5 close to each other are provided with conical grooves, the connecting ball 302 is movably abutted in the two conical grooves, the outer side of resistance bar 6 is slidably sleeved with two conductive cylinders 601, the outer side of conductive cylinder 601 is fixedly sleeved with insulating cylinder 602, the front and rear sides of insulating cylinder 602 are rotatably connected with arc connecting rod 605, the other ends of four arc connecting rods 605 located on the same side of linkage disk 5 are hinged with the same hinge seat 606, and the two hinge seats 606 are respectively fixedly connected to the other side of the corresponding linkage disk 5;

[0060] The robotic arm 2 has its bottom end fixedly connected to the support base 1, and the other end of the robotic arm 2 is fixedly connected to one side of the installation box 301. The robotic arm 2 is used to control the movement of the installation box 301. An electric drive circuit is provided in the robotic arm 2. Two resistor bars 6 are connected in series to the electric drive circuit. The movement speed of the robotic arm 2 is adjusted according to the resistance value of the resistor bars 6.

[0061] In this embodiment, pressure sensors 102 are fixedly connected to the left and right sides and the front and rear sides of the bottom of the support seat 1, the bottom ends of the four pressure sensors 102 are fixedly connected to the same bottom plate 101, and the two sides of the bottom of the support seat 1 are fixedly connected to limit pins 103, and the top two sides of the bottom plate 101 are provided with plug holes, and the two limit pins 103 are movably plugged into the corresponding plug holes, and there is a gap between the limit pins 103 and the plug holes;

[0062] A controller 104 is fixedly connected to the top inner wall of the support base 1, and a fixing plate 15 is fixedly connected to the bottom inner wall of the support base 1. Two cylinders 14 are fixedly installed in the fixing plate 15. The output ends of the two cylinders 14 are fixedly connected to push plates 13, and the push plates 13 are movably abutted against the other side of the corresponding slide plate 12.

[0063] The cylinder 14 , the pressure sensor 102 and the controller 104 are electrically connected. The controller 104 controls the corresponding cylinder 14 to start according to the value difference monitored by the pressure sensor 102 in the opposite direction.

[0064] In this embodiment, two limit rods are fixedly installed in the slide groove, the slide plate 12 is slidably sleeved on the outer side of the corresponding limit rods, and a return spring 19 is fixedly connected to one side of the slide plate 12, and the other end of the return spring 19 is fixedly connected to the other end of the corresponding slide groove.

[0065] In this embodiment, the top of the rotating arm 9 is hinged with a lower connecting plate, and the top of the lower connecting plate is fixedly connected with a first damper 17 and a connecting spring 18, and the other end of the connecting spring 18 and the damper is fixedly connected with the same upper connecting plate 16, and the top of the upper connecting plate 16 is hinged on the top inner wall of the rack 11; the inside of the gear 10 is fixedly connected with a rotating shaft, and both ends of the rotating shaft are rotatably connected with brackets, and the brackets are fixedly installed on the bottom inner wall of the support seat 1 to realize the rotation positioning of the gear 10; two square holes are provided on the outer side of the fixed plate 15, and the push plate 13 is slidably connected in the corresponding square holes, thereby guiding the push plate 13, and the bottom of the heavy hammer 7 is fixedly connected with a buffer pad 8 to realize the resetting of the heavy hammer 7.

[0066] In this embodiment, both sides of the connecting ball 302 are fixedly connected with a first buffer spring 305, the other end of the first buffer spring 305 is fixedly connected with a side plate 306, the top and bottom of the side plate 306 are fixedly connected with a second buffer spring 307, the other end of the second buffer spring 307 is fixedly connected with a cross plate 309, the front and rear sides of the cross plate 309 are fixedly connected with a third buffer spring 311, the other end of the third buffer spring 311 is fixedly connected with a baffle 312, and the baffle 312 is fixedly connected to the inside of the installation box 301; a round hole is opened on one side of the connecting ball 302, and the same buffer spring 312 is fixedly connected between the two side plates 306. A connecting column 304, the connecting column 304 is slidably connected in the circular hole, and a guide column 313 is fixedly connected between two horizontal plates 309 on the same side, the side plate 306 is slidably sleeved on the outer side of the corresponding guide column 313, and the inside of the horizontal plate 309 is slidably connected with a guide rod 310, and the two ends of the guide rod 310 are respectively fixedly connected to the corresponding baffle 312, so as to guide and buffer the connecting ball 302; the top and bottom of the side plate 306 are fixedly connected with a second damper 308, and the other end of the second damper 308 is fixedly connected to the corresponding horizontal plate 309, so as to further buffer the horizontal plate 309;

[0067] A limiting plate 303 is fixedly connected to the inner wall of the bottom of the circular hole, and a limiting groove is provided at the bottom of the connecting column 304, in which the limiting plate 303 is slidably connected.

[0068] In this embodiment, ear plates 501 are fixedly connected to both sides of the linkage disk 5, and two fixed platforms 504 are fixedly connected to the top inner wall and the bottom inner wall of the installation box 301, and the outer side of the fixed platform 504 is fixedly connected to the fourth buffer spring 503 and the vertical rod 502, and the other end of the fourth buffer spring 503 is fixedly connected to the corresponding ear plate 501, and the ear plate 501 is slidably sleeved on the outer side of the corresponding vertical rod 502, and the other end of the vertical rod 502 is integrally formed with a circular protrusion; a square protrusion is integrally formed on the outer side of the insulating tube 602, and a slide rail 607 is fixedly connected to the top inner wall and the bottom inner wall of the installation box 301, and the square protrusion is slidably sleeved on the outer side of the corresponding slide rail 607, thereby guiding the insulating tube 602.

[0069] In this embodiment, the third damper 508 is fixedly connected to the top inner wall and the bottom inner wall of the installation box 301 , and the other end of the third damper 508 is fixedly connected to a connecting plate, which is fixedly connected to the outer side of the corresponding linkage disk 5 .

[0070] In this embodiment, the electric clamp 4 includes a mounting seat 408, a driving motor 407, a driving seat 405 and four arc-shaped clamps 401, one end of the arc-shaped clamp 401 is hinged with an outer connecting frame 402 and an inner connecting frame 403, the other ends of the outer connecting frame 402 and the inner connecting frame 403 are hinged to the outside of the mounting seat 408, adjacent outer connecting frames 402 and inner connecting frames 403 are parallel to each other, and four driving plates 404 are hinged to the outside of the driving seat 405, and the other ends of the driving plates 404 are hinged to the inside of the corresponding inner connecting frames 403; the driving motor 407 is fixedly installed in the mounting seat 408, and a driving screw 406 is fixedly connected to the output shaft of the driving motor 407, and the driving seat 405 is threadedly sleeved on the outside of the driving screw 406.

[0071] In this embodiment, a rotating plate 505 is rotatably connected to the rear side of the installation box 301, and linkage columns 507 are fixed to the rear sides of the two linkage disks 5. An arc plate 506 is rotatably sleeved on the outer side of the linkage column 507, and the other end of the arc plate 506 is rotatably connected to the outer side of the corresponding linkage column 507; two long slot holes are opened on the rear side of the installation box 301, and the linkage columns 507 are slidably connected in the corresponding long slot holes; a through hole is opened on the front side of the installation box 301, and the connecting seat 3021 passes through the through hole.

[0072] In this embodiment, both ends of the resistor bar 6 are fixedly connected to conductive rods 603 , and an insulating ring 604 is fixedly sleeved on the outer side of the conductive rod 603 . The insulating ring 604 is fixedly connected to the inside of the corresponding fixing platform 504 .

[0073] In this embodiment, the robotic arm 2 includes a base 201, a first joint 202, a second joint 203, a third joint 204 and a mounting plate 205. The first joint 202 is rotationally connected between the base 201 and the second joint 203, and the third joint 204 is rotationally connected between the second joint 203 and the mounting plate 205.

[0074] In this embodiment, when in use, the industrial robot is installed on the workshop production line through the base plate 101, and the mechanical arm 2 is started and controlled to operate through the electric drive power inside the mechanical arm 2, thereby driving the first joint 202, the second joint 203, the third joint 204 and the mounting plate 205 to rotate, thereby controlling the transmission mechanism 3 and the electric clamp 4 to move in different directions and angles. When the electric clamp 4 is moved to the material grabbing position, the drive motor 407 is started to drive the drive screw 406 to rotate. The drive screw 406 drives the drive seat 405 to approach the drive motor 407 through the threaded transmission with the drive seat 405, and drives the four inner connecting frames 403 to rotate inwardly through the four drive plates 404, thereby driving the four arc-shaped clamps 401 to move inwardly to realize material grabbing, and then the electric clamp 4 is controlled to move through the mechanical arm 2 to realize automatic handling and placement of materials;

[0075] When acceleration, deceleration and turning occur during the material handling process, the material will lag behind the installation box 301 due to its own inertia, and the connecting ball 302 will be driven to move relatively in the installation box 301. The left and right movement of the connecting ball 302 relative to the installation box 301 can pull and compress the first buffer spring 305. The up and down movement of the connecting ball relative to the installation box 301 can drive the side plate 306 to move up and down synchronously, and the second buffer spring 307 and the second damper 308 can be pulled and compressed. The forward and backward movement of the connecting ball 302 relative to the installation box 301 can pull and compress the third buffer spring 311, so that the second damper 308, the first buffer spring 305, the second buffer spring 307 and the third buffer spring 311 can realize the buffering of the material, and reduce the impact of the material during the rapid movement.

[0076] When the connecting ball 302 moves forward and backward and left and right relative to the installation box 301, it can push the two linkage disks 5 away from each other by abutting against the conical groove. When the connecting ball 302 moves upward relative to the installation box 301, it can push the upper linkage disk 5 to move upward, and drive the rotating plate 505 to rotate through the cooperation of the upper linkage column 507 and the arc plate 506. The rotating plate 505 drives the lower linkage disk 5 to move downward through the cooperation with the lower arc plate 506 and the linkage column 507. Similarly, when the connecting ball 302 moves upward relative to the installation box 301 and pushes the upper linkage disk 5 to move upward, it will also drive the lower linkage disk 5 to move downward, so that the movement of the linkage ball in any direction relative to the installation box 301 can drive the two linkage disks 5 to move away from each other, so that the linkage disk 5 is buffered by the fourth buffer spring 503 to achieve further buffering protection for the material;

[0077] When the two linkage disks 5 move away from each other, they drive the corresponding articulated seats 606 to move synchronously, and drive the conductive cylinders 601 located outside the same resistor bar 6 to move away from each other through the corresponding arc-shaped connecting rods 605, so that the overlapping area between the conductive cylinder 601 and the resistor bar 6 becomes smaller, so that the short-circuited length of the resistor bar 6 becomes shorter, and the resistance of the resistor bar 6 connected to the power drive circuit increases, thereby reducing the operating speed of the robot 2. As the mass of the material increases, its inertia increases, and the hysteresis between the connecting ball 302 and the installation box 301 increases, so that the distance between the two linkage disks 5 becomes larger, so that the operating speed of the robot 2 can be further reduced to ensure the safe handling of materials with large mass and avoid safety risks caused by excessive speed.

[0078] And in the process of transporting materials, since the materials are controlled to accelerate, decelerate and rotate, the support seat and the mechanical arm 2 will be affected by the inertia force of the materials, resulting in uneven force on the support seat 1. The pressure on the support seat 1 is monitored by four pressure sensors 102, and the monitoring results are transmitted to the controller 104. The pressure is calculated and analyzed by the controller 104, and the operation of the corresponding cylinder 14 is controlled by the controller 104. Specifically, when the pressure difference value between the left pressure sensor 102 and the right pressure sensor 102 exceeds the preset pressure difference safety threshold, the controller 104 controls the lower cylinder 14 to extend, thereby pushing the lower push plate 13 to move right, and pushing the right slide plate 12 and rack 11 to move right, thereby driving the right gear 10, rotating arm 9 and weight 7 to rotate counterclockwise, thereby controlling the right weight 7 to accelerate the counterclockwise rotation, and providing downward pressure to the right side of the support seat 1. , calmly avoiding the left side of the support seat 1 from being overly stressed and causing the support arm 2 to tip to the left. Similarly, when the pressure difference between the right pressure sensor 102 and the left pressure sensor 102 exceeds the preset pressure difference safety threshold, the controller 104 controls the cylinder 14 below to contract, thereby pushing the push plate 13 below to move to the left, and pushing the slide plate 12 and rack 11 on the right to move to the left, thereby driving the gear 10, rotating arm 9 and weight 7 on the left to rotate counterclockwise, thereby controlling the weight 7 on the left to accelerate clockwise rotation, providing downward pressure on the left side of the support seat 1, and calmly avoiding the right side of the support seat 1 from being overly stressed and causing the support arm 2 to tip to the right; similarly, when the pressure difference sensed by the front and rear pressure sensors 102 exceeds the preset pressure difference safety threshold, the cylinder 14 above is controlled to extend and contract accordingly, thereby driving the weight 7 on the front or rear side to flip over, so as to avoid the device tipping over, and at the same time improve the stability of the installation of the base plate 101.

[0079] The above is a detailed introduction to an industrial robot for a workshop production line provided by the present invention. Specific embodiments are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An industrial robot for a workshop production line, characterized in that: include: A support seat (1), wherein four slide grooves are provided on the inner wall of the bottom of the support seat (1), wherein a slide plate (12) is slidably installed in the slide groove, and a rack (11) is fixedly connected to the side of the four slide plates (12) that are away from each other, and a gear (10) is meshed at the top of the rack (11), and a rotating arm (9) is fixedly connected to one side of the gear (10), and a heavy hammer (7) is fixedly connected to the other end of the rotating arm (9); The transmission mechanism (3) comprises an installation box (301), a connecting ball (302), two linkage disks (5) and two resistance bars (6), and the front side of the connecting ball (302) is fixedly connected to a connecting seat (3021), the front end of the connecting seat (3021) is connected to an electric clamp (4), the two linkage disks (5) are slidably connected in the installation box (301), and the two linkage disks (5) are provided with conical grooves on the sides close to each other, and the connecting ball (302) is movable. The resistor bar (6) is movably abutted in the two conical grooves, two conductive cylinders (601) are slidably sleeved on the outer side of the resistor bar (6), an insulating cylinder (602) is fixedly sleeved on the outer side of the conductive cylinder (601), and arc-shaped connecting rods (605) are rotatably connected on both the front and rear sides of the insulating cylinder (602), and the other ends of the four arc-shaped connecting rods (605) located on the same side of the linkage disk (5) are hinged to the same hinge seat (606), and the two hinge seats (606) are respectively fixedly connected to the other side of the corresponding linkage disk (5); A mechanical arm (2), wherein the bottom end of the mechanical arm (2) is fixedly connected to the support seat (1), and the other end of the mechanical arm (2) is fixedly connected to one side of the installation box (301); the mechanical arm (2) is used to control the movement of the installation box (301); an electric drive circuit is arranged inside the mechanical arm (2); two of the resistor bars (6) are connected in series to the electric drive circuit; and the movement speed of the mechanical arm (2) is adjusted according to the resistance value of the resistor bars (6).

2. The industrial robot for a workshop production line according to claim 1, characterized in that: The left and right sides and the front and rear sides of the bottom of the support seat (1) are fixedly connected with pressure sensors (102); the bottom ends of the four pressure sensors (102) are fixedly connected with the same bottom plate (101); and the two sides of the bottom of the support seat (1) are fixedly connected with limit pins (103); the top sides of the bottom plate (101) are provided with plug holes; the two limit pins (103) are movably plugged into the corresponding plug holes, and there is a gap between the limit pins (103) and the plug holes; A controller (104) is fixedly connected to the top inner wall of the support seat (1), a fixing plate (15) is fixedly connected to the bottom inner wall of the support seat (1), two cylinders (14) are fixedly installed in the fixing plate (15), and push plates (13) are fixedly connected to the output ends of the two cylinders (14), and the push plates (13) are movably abutted against the other side of the corresponding slide plate (12); The cylinder (14), the pressure sensor (102) and the controller (104) are electrically connected, and the controller (104) controls the corresponding cylinder (14) to start according to the difference in values ​​monitored by the pressure sensor (102) in opposite directions.

3. The industrial robot for a workshop production line according to claim 1, characterized in that: Two limit rods are fixedly installed in the slide groove, the slide plate (12) is slidably sleeved on the outer sides of the corresponding limit rods, and a return spring (19) is fixedly connected to one side of the slide plate (12), and the other end of the return spring (19) is fixedly connected to the other end of the corresponding slide groove.

4. The industrial robot for a workshop production line according to claim 2, characterized in that: The top of the rotating arm (9) is hinged with a lower connecting plate, the top of the lower connecting plate is fixedly connected with a first damper (17) and a connecting spring (18), the other ends of the connecting spring (18) and the damper are fixedly connected with the same upper connecting plate (16), and the top of the upper connecting plate (16) is hinged on the top inner wall of the rack (11); The gear (10) is fixedly connected to a rotating shaft inside, and both ends of the rotating shaft are rotatably connected to brackets, and the brackets are fixedly mounted on the bottom inner wall of the support seat (1); Two square holes are provided on the outer side of the fixing plate (15), the pushing plate (13) is slidably connected in the corresponding square holes, and a buffer pad (8) is fixedly connected to the bottom of the weight (7).

5. The industrial robot for a workshop production line according to claim 1, characterized in that: Both sides of the connecting ball (302) are fixedly connected with a first buffer spring (305), the other end of the first buffer spring (305) is fixedly connected with a side plate (306), the top and bottom of the side plate (306) are fixedly connected with a second buffer spring (307), the other end of the second buffer spring (307) is fixedly connected with a transverse plate (309), the front and rear sides of the transverse plate (309) are fixedly connected with a third buffer spring (311), the other end of the third buffer spring (311) is fixedly connected with a baffle (312), and the baffle (312) is fixedly connected to the inside of the installation box (301); A circular hole is provided on one side of the connecting ball (302); a same connecting column (304) is fixedly connected between the two side plates (306); the connecting column (304) is slidably connected in the circular hole; and a same guide column (313) is fixedly connected between the two transverse plates (309) located on the same side; the side plates (306) are slidably sleeved on the outer sides of the corresponding guide columns (313); a guide rod (310) is slidably connected inside the transverse plate (309); and both ends of the guide rod (310) are fixedly connected to the corresponding baffle plates (312) respectively; The top and bottom of the side plate (306) are both fixedly connected with a second damper (308), and the other end of the second damper (308) is fixedly connected to the corresponding transverse plate (309); A limiting plate (303) is fixedly connected to the inner wall of the bottom of the circular hole, a limiting groove is provided at the bottom of the connecting column (304), and the limiting plate (303) is slidably connected in the limiting groove.

6. The industrial robot for a workshop production line according to claim 1, characterized in that: Both sides of the linkage disk (5) are fixedly connected with ear plates (501); the top inner wall and the bottom inner wall of the installation box (301) are fixedly connected with two fixed platforms (504); the outer side of the fixed platform (504) is fixedly connected with a fourth buffer spring (503) and a vertical rod (502); the other end of the fourth buffer spring (503) is fixedly connected with the corresponding ear plate (501), and the ear plate (501) is slidably sleeved on the outer side of the corresponding vertical rod (502); the other end of the vertical rod (502) is integrally formed with a circular protrusion; The outer side of the insulating cylinder (602) is integrally formed with a square protrusion, and the top inner wall and the bottom inner wall of the installation box (301) are fixedly connected with a slide rail (607), and the square protrusion is slidably sleeved on the outer side of the corresponding slide rail (607).

7. The industrial robot for a workshop production line according to claim 1, characterized in that: A third damper (508) is fixedly connected to both the top inner wall and the bottom inner wall of the installation box (301), and a connecting plate is fixedly connected to the other end of the third damper (508), and the connecting plate is fixedly connected to the outer side of the corresponding linkage disk (5).

8. The industrial robot for a workshop production line according to claim 1, characterized in that: The electric clamp (4) comprises a mounting seat (408), a driving motor (407), a driving seat (405) and four arc-shaped clamps (401), one end of the arc-shaped clamp (401) is hinged with an outer connecting frame (402) and an inner connecting frame (403), the other ends of the outer connecting frame (402) and the inner connecting frame (403) are hinged on the outside of the mounting seat (408), adjacent outer connecting frames (402) and inner connecting frames (403) are parallel to each other, and four driving plates (404) are hinged on the outside of the driving seat (405), and the other ends of the driving plates (404) are hinged inside the corresponding inner connecting frames (403); The driving motor (407) is fixedly mounted in the mounting seat (408); a driving screw (406) is fixedly connected to the output shaft of the driving motor (407); and the driving seat (405) is threadedly sleeved on the outer side of the driving screw (406).

9. The industrial robot for a workshop production line according to claim 1, characterized in that: The rear side of the installation box (301) is rotatably connected to a rotating plate (505), and the rear sides of the two linkage disks (5) are fixed with linkage columns (507), and the outer side of the linkage column (507) is rotatably sleeved with an arc plate (506), and the other end of the arc plate (506) is rotatably connected to the outer side of the corresponding linkage column (507); The rear side of the installation box (301) is provided with two long slots, and the linkage column (507) is slidably connected in the corresponding long slots; A through hole is provided on the front side of the installation box (301), and the connection seat (3021) passes through the through hole.

10. The industrial robot for a workshop production line according to claim 6, characterized in that: Both ends of the resistor bar (6) are fixedly connected to conductive rods (603), the outer side of the conductive rod (603) is fixedly sleeved with an insulating ring (604), and the insulating ring (604) is fixedly connected to the inside of the corresponding fixed platform (504). The mechanical arm (2) comprises a base (201), a first joint (202), a second joint (203), a third joint (204) and a mounting plate (205), the first joint (202) is rotatably connected between the base (201) and the second joint (203), and the third joint (204) is rotatably connected between the second joint (203) and the mounting plate (205).

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