Mechanical arm of industrial robot

Abstract

The invention relates to the technical field of mechanical gripper arms, and discloses an industrial robot mechanical arm which comprises a main body assembly, a robot base, a driving arm, a mounting seat and a clamping jaw seat, the driving arm is arranged on the robot base, the mounting seat is located at the end of the driving arm, and the clamping jaw seat is fixed to the bottom of the mounting seat; and the claw arm assembly is arranged on the clamping claw seat and comprises a supporting shaft fixed in the clamping claw seat, and the surface of the supporting shaft is rotationally connected with a driving frame. By arranging the claw arm assembly, automatic energy charging can be achieved in the clamping claw opening and closing process, automatic starting is achieved after the clamping claw is opened and closed for a certain number of times, the clamping block is cleaned, the manual cleaning frequency and labor cost are remarkably reduced through the function, and the automation degree of a production line is improved; and the cleaning action on the clamping block occurs in the time period when the clamping jaw loosens the workpiece, so that the interference of the cleaning process on the normal work of the clamping jaw is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of manipulator claw arms, in particular to an industrial robot manipulator arm. Background Art

[0002] Industrial robots have become an indispensable and important equipment in modern industrial production, especially in the fields of automated assembly lines, material handling and precision machining, which have significantly improved production efficiency and quality. The robotic arms in industrial robots, especially their end effectors - the robotic gripper arms, undertake the key tasks of gripping, handling and releasing workpieces. However, when handling oily workpieces, existing robotic gripper arms face a series of challenges.

[0003] Specifically, during the processing or storage of oily workpieces, a layer of oil often adheres to the surface. This layer of oil not only increases the friction coefficient between the workpiece and the robot gripper arm, but also has a certain degree of adhesion. When the robot gripper arm frequently clamps and releases such workpieces, the oil will gradually accumulate on the surface of the gripper arm, forming a layer of dirt that is difficult to remove. This layer of dirt will not only reduce the clamping accuracy and stability of the robot arm, but also cause the workpiece to shift due to the adhesion of the oil when the workpiece is released. This deviation phenomenon is particularly obvious when processing workpieces with smaller mass. Since the workpiece itself is light in weight, the adhesion of the oil is sufficient to cause it to deviate from the predetermined position when released, resulting in inaccurate positioning of the workpiece, and it may even fall outside the production line, causing production interruption and damage to the workpiece, which not only affects production efficiency, but also increases the defective rate and production cost. The prior art usually adopts the method of regularly cleaning the robot gripper arm to remove surface oil. However, frequent manual cleaning not only increases labor costs, but may also cause production line shutdowns, affecting production efficiency. Summary of the invention

[0004] In view of the above-mentioned problems existing in the existing industrial robot manipulator arms, the present invention is proposed.

[0005] Therefore, the problem to be solved by the present invention is that the robot gripper arm in the prior art is prone to accumulate oil stains when processing oily workpieces, causing the workpiece to deviate.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an industrial robot mechanical arm, comprising a main body assembly, including a robot base, a driving arm, a mounting seat and a clamping claw seat, wherein the driving arm is arranged on the robot base, the mounting seat is located at the end of the driving arm, and the clamping claw seat is fixed to the bottom of the mounting seat; The claw arm assembly is arranged on the claw seat, including a support shaft fixed in the claw seat, the surface of the support shaft is rotatably connected to the drive frame, the drive shaft is arranged in the drive frame, a positioning pin is arranged at the end of the drive shaft, the positioning pin is fixed in the drive frame by bolts, the surface of the drive shaft is rotatably connected to the clamping jaw, the surface of the clamping jaw is fixed with a connecting column, the connecting column is rotatably connected to another drive frame, a clamping block is fixed on one side of the clamping jaw, and a clamping groove is opened on one side of the clamping block.

[0007] As a preferred solution of the industrial robot mechanical arm described in the present invention, wherein: the claw arm assembly also includes a separation piece, which is arranged in the clamp, including a support sleeve fixed in the clamp, a first spring is arranged in the support sleeve, a push rod is fixed to one end of the first spring, the other end of the first spring is fixed to the inner wall of the support sleeve, a separation rod is fixed to the other end of the push rod, one side of the separation rod is chamfered, and one side of the separation rod extends out of a clamping block.

[0008] As a preferred solution of the industrial robot mechanical arm described in the present invention, wherein: the claw arm assembly also includes a cleaning part, including a rotating rod rotatably connected to the clamp, a rocker arm is fixed to the end of the rotating rod, a cleaning rod is arranged on one side of the rocker arm, a support column is fixed on one side of the cleaning rod, a pulley is fixed on the surface of the support column, a slide groove is opened in the rocker arm, and the pulley slides in the slide groove.

[0009] As a preferred solution of the industrial robot mechanical arm described in the present invention, wherein: a support frame is fixed to one side of the clamping block, an adjustment groove is opened on the surface of the support frame, a support rod is fixed to the other side of the cleaning rod, an adjustment wheel is rotatably connected to the surface of the support rod, and the adjustment wheel slides in the adjustment groove.

[0010] As a preferred solution of the industrial robot mechanical arm of the present invention, wherein: a moving rod is fixed to the end of the cleaning rod, a cleaning column is fixed to the surface of the moving rod, and the cleaning column is located on the surface of the clamping block.

[0011] As a preferred solution of the industrial robot mechanical arm described in the present invention, wherein: the claw arm assembly also includes a driving part, which is arranged in the clamp, including a rotating shaft rotatably connected to the clamp, a driving disk is fixed at the end of the rotating shaft, a driving block is fixed on one side of the driving disk, a stabilizing rod is fixedly connected in the clamp, a sliding rod is fixed on one side of the stabilizing rod, a moving plate slides on the surface of the sliding rod, a driving groove is opened in the moving plate, the driving block slides in the driving groove, and a rotating sleeve is rotatably connected to the surface of the driving block.

[0012] As a preferred solution of the industrial robot mechanical arm described in the present invention, wherein: an adjusting rod is fixed to the surface of the rotating rod, the end of the adjusting rod is rotatably connected to a rotating column, a connecting block is fixed to the surface of the rotating column, a fixed column is fixed to one side of the movable plate, the other connecting block is rotatably connected to the surface of the fixed column, a second spring is arranged between the two connecting blocks, a limiting ring is fixed in the clamping jaw, an adjusting disk is fixed to the surface of the rotating rod, a positioning groove is provided on the surface of the adjusting disk, and a release groove is provided on the surface of the driving disk.

[0013] As a preferred solution of the industrial robot mechanical arm described in the present invention, wherein: the claw arm assembly also includes a power part, which is arranged in the clamp, including a worm gear fixed to the surface of the rotating shaft, a first power rod is rotatably connected in the clamp, a worm is fixed on the surface of the first power rod, the worm and the worm gear are meshed, a support block is fixed in the clamp, the first power rod is rotatably connected in the support block, a bevel gear is fixed at the end of the first power rod, and a second power rod is rotatably connected in the other support block.

[0014] As a preferred solution of the industrial robot mechanical arm described in the present invention, wherein: the power part also includes a half gear fixed to the surface of the drive shaft, a tooth plate is slidably connected in the clamp, the half gear and the tooth plate are meshed, a support plate is fixed on one side of the tooth plate, a third spring is fixed on one side of the support plate, a fixed block is fixed on the other end of the third spring, the fixed block is fixed in the clamp, and a limiting column is also fixed in the clamp.

[0015] As a preferred solution of the industrial robot mechanical arm described in the present invention, wherein: a rotating wheel is fixed on the surface of the second power rod, a clamping plate is rotatably connected to the rotating wheel through a rotating shaft, a gear ring is rotatably connected to the surface of the rotating wheel, the gear ring and the gear plate are meshed, a clamping groove is opened in the gear ring, and the clamping plate is clamped in the clamping groove.

[0016] The beneficial effects of the present invention are as follows: by setting up the claw arm assembly, it can automatically charge during the opening and closing process of the jaws, and automatically start after the jaws are opened and closed a certain number of times to clean the clamping block. This function significantly reduces the frequency of manual cleaning and labor costs, and improves the degree of automation of the production line; the cleaning action of the clamping block occurs during the time period when the jaws release the workpiece, thereby avoiding interference with the normal operation of the jaws during the cleaning process. This design ensures the continuity and efficiency of the production line, and will not interrupt or reduce production efficiency due to cleaning work; automatic cleaning effectively reduces the accumulation of oil stains on the surface of the jaws, helps to improve the clamping accuracy and stability of the jaws, and reduces the problems of workpiece deviation and damage caused by oil stains. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 This is a structural diagram of an industrial robot arm.

[0018] Figure 2 This is the connection structure diagram of the gripper base and drive frame of the industrial robot manipulator arm.

[0019] Figure 3 This is a structural diagram of the claw arm assembly of an industrial robot manipulator.

[0020] Figure 4 This is a partial structural diagram of the clamping block of an industrial robot arm.

[0021] Figure 5 This is a structural diagram of the gripper of an industrial robot arm.

[0022] Figure 6 This is the structural diagram of the cleaning parts of the industrial robot arm.

[0023] Figure 7 This is a partial structural diagram of the swing arm of an industrial robot.

[0024] Figure 8 This is a structural diagram of the connection between the support rod and the adjustment wheel of the industrial robot arm.

[0025] Fig. 9 Schematic diagram of the position of the limit column of the industrial robot arm.

[0026] Fig.10 This is a cross-sectional structural diagram of the rotating wheel of an industrial robot arm.

[0027] Fig.11 This is a partial structural diagram of the rotating wheel of the industrial robot's mechanical arm.

[0028] Fig.12 This is the structural diagram of the drive components of an industrial robot arm.

[0029] Fig.13 This is the connection structure diagram of the fixed column and movable plate of the industrial robot arm.

[0030] Fig.14 This is a cross-sectional structural diagram of the support sleeve at AA of the industrial robot arm.

[0031] In the figure: main assembly 100; robot base 101; driving arm 102; mounting seat 103; clamping claw seat 104; claw arm assembly 200; supporting shaft 201a; driving frame 201b; driving shaft 201c; positioning pin 201d; clamping claw 201e; connecting column 201f; clamping block 201g; clamping groove 201g-1; separating member 202; supporting sleeve 202a; first spring 202b; push rod 202c; separating rod 202d; chamfer 202d-1; cleaning member 203; rotating rod 203a; swing rod 203b; cleaning rod 203c; supporting column 203d; pulley 203e; sliding groove 203b-1; supporting frame 203f; adjusting groove 203f-1; supporting rod 203g; adjusting wheel 203h; moving rod 203i; cleaning column 203j; driving member 204; rotating Shaft 204a; drive plate 204b; drive block 204c; stabilizer bar 204d; slide bar 204e; moving plate 204f; drive slot 204f-1; rotating sleeve 204g; adjusting rod 204h; rotating column 204i; connecting block 204j; fixed column 204k; two springs 204l; limiting ring 204m; adjusting plate 204n; positioning slot 204n-1; release slot 204b- 1; power member 205; worm wheel 205a; first power rod 205b; worm 205c; support block 205d; bevel gear 205e; second power rod 205f; half gear 205g; tooth plate 205h; support plate 205i; third spring 205j; fixed block 205k; limiting column 205l; rotating wheel 205m; clamping plate 205n; gear ring 205o; clamping groove 205o-1. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0033] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0035] Example 1, reference Figure 1 to Figure 14, which is the first embodiment of the present invention, and this embodiment provides an industrial robot manipulator arm. The industrial robot manipulator arm includes a main body component 100, including a robot base 101, a driving arm 102, a mounting seat 103 and a gripper seat 104. The driving arm 102 is arranged on the robot base 101, the mounting seat 103 is located at the end of the driving arm 102, and the gripper seat 104 is fixed to the bottom of the mounting seat 103.

[0036] The robot base 101 is used to support the driving arm 102, the driving arm 102 is used to drive the mounting seat 103 to move, and the mounting seat 103 is used to fix and support the clamping claw seat 104. The working principle of the main component 100 is the existing technology and will not be elaborated here.

[0037] The claw arm assembly 200 is arranged on the claw seat 104, and includes a support shaft 201a fixed in the claw seat 104. The surface of the support shaft 201a is rotatably connected to the drive frame 201b. The drive frame 201b is provided with a drive shaft 201c. The end of the drive shaft 201c is provided with a positioning pin 201d. The positioning pin 201d is fixed in the drive frame 201b by bolts. The surface of the drive shaft 201c is rotatably connected to the jaw 201e. The surface of the jaw 201e is fixed with a connecting column 201f. The connecting column 201f is rotatably connected to another drive frame 201b. A clamping block 201g is fixed on one side of the jaw 201e, and a clamping groove 201g-1 is opened on one side of the clamping block 201g.

[0038] The support shaft 201a is used to support the driving frame 201b. A driving mechanism for driving the driving frame 201b to rotate on the surface of the support shaft 201a is provided in the clamping jaw seat 104. The driving mechanism is a prior art and will not be described in detail here. The two driving frames 201b on the clamping jaw 201e are arranged in parallel. At this time, the two clamping jaws 201e are parallel to each other. The driving frame 201b is driven by the driving mechanism in the clamping jaw seat 104 to deflect, so that the two clamping jaws 201e can be moved closer to or farther away from each other, so as to make The clamping groove 201g-1 of the clamping block 201g clamps the workpiece. The clamping block 201g is made of rubber with strong support, so that the clamping block 201g can stably clamp the workpiece without causing damage to the workpiece. The positioning pin 201d is fixed to the surface of the driving shaft 201c. The setting of the positioning pin 201d can make the driving shaft 201c stably fixed in the driving frame 201b, so that the driving shaft 201c can rotate synchronously when the driving frame 201b is deflected.

[0039] Specifically, the claw arm assembly 200 also includes a separation piece 202, which is arranged in the clamping jaw 201e, including a support sleeve 202a fixed in the clamping jaw 201e, a first spring 202b is arranged in the support sleeve 202a, a push rod 202c is fixed at one end of the first spring 202b, the other end of the first spring 202b is fixed to the inner wall of the support sleeve 202a, a separation rod 202d is fixed at the other end of the push rod 202c, a chamfer 202d-1 is provided on one side of the separation rod 202d, and a clamping block 201g extends out from one side of the separation rod 202d.

[0040] The support sleeve 202a is used to support the first spring 202b. The first spring 202b is in a compressed state and is used to push the push rod 202c, so that the push rod 202c can push the separation rod 202d.

[0041] When the clamping jaw 201e clamps the workpiece, the clamping block 201g will contact the surface of the workpiece. At this time, the separating rod 202d is squeezed into the clamping block 201g by the workpiece, and the first spring 202b is compressed again. When the clamping jaw 201e puts down the workpiece, the clamping block 201g begins to loosen the workpiece. At this time, under the action of the reset elastic force of the first spring 202b, the separating rod 202d can slightly extend out of the clamping block 201g, thereby pushing the workpiece away from the clamping block 201g, and the adhesion between the clamping block 201g and the workpiece will not occur. The opening of the chamfer 202d-1 makes the contact area between the separating rod 202d and the workpiece smaller. The same separating piece 202 is provided in the two clamping jaws 201e, so that the two separating rods 202d have the same thrust on the workpiece to prevent the workpiece from shifting.

[0042] Specifically, the claw arm assembly 200 also includes a cleaning part 203, including a rotating rod 203a rotatably connected to the clamp 201e, a rocker bar 203b is fixed to the end of the rotating rod 203a, a cleaning rod 203c is arranged on one side of the rocker bar 203b, a support column 203d is fixed to one side of the cleaning rod 203c, a pulley 203e is fixed on the surface of the support column 203d, a slide groove 203b-1 is opened in the rocker bar 203b, and the pulley 203e slides in the slide groove 203b-1.

[0043] The rotating rod 203a is used to support the swing rod 203b so that the swing rod 203b can swing stably. There are four groups of support columns 203d and pulleys 203e. By sliding multiple pulleys 203e in the slide groove 203b-1, the cleaning rod 203c can be stably telescopically moved relative to the swing rod 203b.

[0044] Specifically, a support frame 203f is fixed on one side of the clamping block 201g, and an adjustment groove 203f-1 is opened on the surface of the support frame 203f. A support rod 203g is fixed on the other side of the cleaning rod 203c. An adjustment wheel 203h is rotatably connected to the surface of the support rod 203g, and the adjustment wheel 203h slides in the adjustment groove 203f-1.

[0045] The support frame 203f is fixed in the clamping claw 201e and can be used to support the clamping block 201g. By sliding the adjusting wheel 203h in the adjusting groove 203f-1, the cleaning rod 203c can be telescopically moved relative to the swing rod 203b.

[0046] Specifically, a moving rod 203i is fixed to the end of the cleaning rod 203c, a cleaning column 203j is fixed to the surface of the moving rod 203i, and the cleaning column 203j is located on the surface of the clamping block 201g.

[0047] The cleaning column 203j is used to wipe the oil stains on the surface of the clamping block 201g. The preferred material of the cleaning column 203j is a cleaning cloth. When the cleaning cloth is wiped, it will not cause scratches or damage to the surface of the clamping block 201g.

[0048] When the rocker arm 203b swings, the adjusting wheel 203h can slide from one end of the adjusting slot 203f-1 to the other end. At this time, the process corresponds to the cleaning column 203j sliding from the top to the bottom of the clamping block 201g, so that the cleaning column 203j always fits the clamping slot 201g-1 of the clamping block 201g.

[0049] Example 2, reference Figure 1 to Figure 14 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0050] Specifically, the claw arm assembly 200 also includes a driving member 204, which is arranged in the clamp 201e, including a rotating shaft 204a rotatably connected to the clamp 201e, a driving disk 204b is fixed at the end of the rotating shaft 204a, a driving block 204c is fixed on one side of the driving disk 204b, a stabilizing rod 204d is fixedly connected in the clamp 201e, a sliding rod 204e is fixed on one side of the stabilizing rod 204d, a movable plate 204f is slid on the surface of the sliding rod 204e, a driving groove 204f-1 is opened in the movable plate 204f, the driving block 204c slides in the driving groove 204f-1, and a rotating sleeve 204g is rotatably connected to the surface of the driving block 204c.

[0051] The rotating shaft 204a is used to support the driving disk 204b so that the driving disk 204b can rotate stably. When the driving disk 204b rotates, it can drive the driving block 204c to slide in the driving groove 204f-1, so that the rotating sleeve 204g drives the moving plate 204f to slide on the surface of the sliding rod 204e.

[0052] Specifically, an adjusting rod 204h is fixed on the surface of the rotating rod 203a, and the end of the adjusting rod 204h is rotatably connected to a rotating column 204i, a connecting block 204j is fixed on the surface of the rotating column 204i, a fixed column 204k is fixed on one side of the movable plate 204f, and another connecting block 204j is rotatably connected to the surface of the fixed column 204k, a second spring 204l is arranged between the two connecting blocks 204j, a limiting ring 204m is fixed in the clamp 201e, an adjusting disk 204n is fixed on the surface of the rotating rod 203a, a positioning groove 204n-1 is provided on the surface of the adjusting disk 204n, and a release groove 204b-1 is provided on the surface of the driving disk 204b.

[0053] The rotating rod 203a can drive the adjusting rod 204h to deflect, so that the adjusting rod 204h stretches the second spring 204l through the rotating column 204i and the connecting block 204j. The limiting ring 204m is used to position the deflection angle of the adjusting rod 204h. When the release groove 204b-1 of the driving disk 204b is located on one side of the adjusting disk 204n, the adjusting disk 204n can rotate. When the release groove 204b-1 of the driving disk 204b is away from the adjusting disk 2 04n, the driving disk 204b will be stuck in the positioning groove 204n-1 of the adjusting disk 204n, so that the adjusting disk 204n cannot rotate. There are two release grooves 204b-1 on the driving disk 204b, and the interval between the two release grooves 204b-1 is 180 degrees. There are two positioning grooves 204n-1 on the adjusting disk 204n, and the two positioning grooves 204n-1 are 90 degrees apart. The deflection range of the adjusting rod 204h is 90 degrees.

[0054] Specifically, the claw arm assembly 200 also includes a power member 205, which is arranged in the clamp 201e, including a worm gear 205a fixed on the surface of the rotating shaft 204a, a first power rod 205b is rotatably connected in the clamp 201e, a worm 205c is fixed on the surface of the first power rod 205b, the worm 205c is meshed with the worm gear 205a, a support block 205d is fixed in the clamp 201e, the first power rod 205b is rotatably connected in the support block 205d, a bevel gear 205e is fixed at the end of the first power rod 205b, and a second power rod 205f is rotatably connected in another support block 205d.

[0055] There are two bevel gears 205e, which are fixed to the ends of the first power rod 205b and the second power rod 205f respectively, and the two bevel gears 205e are meshed with each other, so that the second power rod 205f can drive the first power rod 205b to rotate synchronously, and the first power rod 205b can drive the worm wheel 205a to rotate through the worm 205c.

[0056] Specifically, the power part 205 also includes a half gear 205g fixed on the surface of the driving shaft 201c, a tooth plate 205h is slidably connected in the clamp 201e, the half gear 205g and the tooth plate 205h are meshed, a support plate 205i is fixed on one side of the tooth plate 205h, a third spring 205j is fixed on one side of the support plate 205i, a fixed block 205k is fixed on the other end of the third spring 205j, the fixed block 205k is fixed in the clamp 201e, and a limiting column 205l is also fixed in the clamp 201e.

[0057] The surface of the half gear 205g has teeth only within a range of 180 degrees. The third spring 205j is in a stretched state. The support plate 205i is used to pull the tooth plate 205h. The limiting column 205l is used to support the support plate 205i, thereby positioning the tooth plate 205h. The fixed block 205k is used to fix and support the other end of the third spring 205j.

[0058] When the driving frame 201b deflects and drives the two clamping jaws 201e to approach each other to clamp the workpiece, the half gear 205g on the surface of the driving shaft 201c can drive the tooth plate 205h to move. At this time, the third spring 205j begins to shrink. When the teeth of the half gear 205g and the tooth plate 205h are separated, the support plate 205i just moves to the side of the limiting column 205l, so that the tooth plate 205h stays in place. At this time, the driving frame 201b can continue to deflect, so that the two clamping jaws 201e are close to each other, so that the clamping block 201g clamps and fixes the workpiece, that is, the teeth of the half gear 205g and the tooth plate 205h are separated in front, and the clamping block 201g clamps and fixes the workpiece in the back, and there is a certain distance between the two. This distance can prevent the cleaning column 203j from contacting the workpiece when it moves on the surface of the clamping block 201g.

[0059] Specifically, a rotating wheel 205m is fixed on the surface of the second power rod 205f, and a clamping plate 205n is rotatably connected to the rotating wheel 205m through a rotating shaft. A gear ring 205o is rotatably connected to the surface of the rotating wheel 205m, and the gear ring 205o is meshed with the gear plate 205h. A clamping slot 205o-1 is opened in the gear ring 205o, and the clamping plate 205n is clamped in the clamping slot 205o-1.

[0060] A compression spring is provided on one side of the card plate 205n, which is used to support the card plate 205n so that the card plate 205n can be clamped in the slot 205o-1. When the two clamping jaws 201e approach each other, the tooth plate 205h starts to move upward. At this time, the tooth plate 205h drives the gear ring 205o to rotate, and the card plate 205n will slide on the surface of the slot 205o-1, so that the gear ring 205o cannot drive the rotating wheel 205m to rotate. When the two clamping jaws 201e move away from each other, the tooth plate 205h starts to move downward. At this time, the gear ring 205o can drive the rotating wheel 205m to rotate through the card plate 205n, so that the rotating wheel 205m drives the first power rod 205b to rotate through the second power rod 205f.

[0061] In summary, the present invention has the following beneficial effects: 1. It can automatically charge energy during the opening and closing process of the clamping jaw 201e, and automatically start after the clamping jaw 201e opens and closes a certain number of times to clean the clamping block 201g. This function significantly reduces the frequency and labor cost of manual cleaning and improves the degree of automation of the production line; 2. The cleaning action of the clamping block 201g occurs during the period when the clamping jaw 201e releases the workpiece, thereby avoiding interference of the cleaning process with the normal operation of the clamping jaw 201e. This design ensures the continuity and efficiency of the production line, and the production efficiency will not be interrupted or reduced due to the cleaning work; 3. Automatic cleaning effectively reduces the accumulation of oil on the surface of the clamp 201e, helps to improve the clamping accuracy and stability of the clamp 201e, and reduces the workpiece deviation and damage caused by oil.

[0062] During use, when the robotic arm is working normally, the two clamping jaws 201e will repeatedly move closer to and further away from each other.

[0063] When the two clamping jaws 201e approach each other, the half gear 205g drives the tooth plate 205h to start moving upward. At this time, the tooth plate 205h drives the gear ring 205o to rotate, and the clamping plate 205n slides on the surface of the clamping groove 205o-1, so that the gear ring 205o cannot drive the rotating wheel 205m to rotate.

[0064] When the two clamping jaws 201e move away from each other, the tooth plate 205h starts to move downward, and the tooth ring 205o can drive the rotating wheel 205m to rotate through the clamping plate 205n, so that the rotating wheel 205m drives the first power rod 205b to rotate through the second power rod 205f, and the first power rod 205b drives the worm wheel 205a to rotate through the worm 205c, and the worm wheel 205a drives the driving disk 204b to rotate through the rotating shaft 204a. When the driving disk 204b rotates, it can drive the driving block 204c to slide in the driving groove 204f-1. The second spring 204l is stretched again by the moving plate 204f through the fixing column 204k and the connecting block 204j. In the initial process of the second spring 204l being stretched, the second spring 204l begins to deflect toward the adjusting rod 204h. During this process, the adjusting rod 204h does not deflect, and the adjusting disk 204n does not rotate. In this process, the release slot 204b-1 on the driving disk 204b is not rotated. The second spring 204l is moved away from the adjusting rod 204h, and the driving plate 204b is located in the positioning groove 204n-1 of the adjusting plate 204n, so as to position the adjusting plate 204n and prevent the adjusting plate 204n from rotating. After the second spring 204l and the adjusting rod 204h overlap, as the moving plate 204f continues to move, the second spring 204l can start to move away from the adjusting rod 204h. At this time, the tension of the second spring 204l can cause the adjusting rod 204h to deflect. However, at this time, the adjusting plate 204n is limited by the driving plate 204b, so that the adjusting plate 204n cannot rotate, so that The rotating rod 203a is unable to drive the adjusting rod 204h to deflect until the movable plate 204f moves to the other end of its stroke, and the other release groove 204b-1 on the surface of the driving disk 204b moves to the side of the adjusting disk 204n, so that the adjusting disk 204n can rotate, so that under the action of the reset tension of the second spring 204l, the adjusting rod 204h can be deflected, thereby driving the swing rod 203b and the cleaning rod 203c to move through the rotating rod 203a, so that the cleaning rod 203c drives the cleaning column 203j to clean the surface of the clamping block 201g.

[0065] Since the driving disk 204b can be driven to rotate only during the time period when the two clamping jaws 201e are away from each other, the cleaning rod 203c cleans the clamping block 201g during the time period after the clamping jaws 201e release the workpiece.

[0066] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An industrial robot arm, characterized in that: include, A main body component (100) comprises a robot base (101), a driving arm (102), a mounting seat (103) and a clamping claw seat (104), wherein the driving arm (102) is arranged on the robot base (101), the mounting seat (103) is located at the end of the driving arm (102), and the clamping claw seat (104) is fixed to the bottom of the mounting seat (103); The claw arm assembly (200) is arranged on the claw seat (104), and comprises a support shaft (201a) fixed in the claw seat (104); the surface of the support shaft (201a) is rotatably connected to a driving frame (201b); a driving shaft (201c) is arranged in the driving frame (201b); a positioning pin (201d) is arranged at the end of the driving shaft (201c); the positioning pin (201d) is fixed in the driving frame (201b) by bolts; a clamping jaw (201e) is rotatably connected to the surface of the driving shaft (201c); a connecting column (201f) is fixed on the surface of the clamping jaw (201e); the connecting column (201f) is rotatably connected to another driving frame (201b); a clamping block (201g) is fixed on one side of the clamping jaw (201e); and a clamping groove (201g-1) is provided on one side of the clamping block (201g).

2. The industrial robot arm according to claim 1, characterized in that: The claw arm assembly (200) further comprises a separation member (202), which is arranged in the clamping jaw (201e) and comprises a support sleeve (202a) fixed in the clamping jaw (201e), wherein a first spring (202b) is arranged in the support sleeve (202a), a push rod (202c) is fixed to one end of the first spring (202b), the other end of the first spring (202b) is fixed to the inner wall of the support sleeve (202a), a separation rod (202d) is fixed to the other end of the push rod (202c), a chamfer (202d-1) is provided on one side of the separation rod (202d), and a clamping block (201g) is extended out from one side of the separation rod (202d).

3. The industrial robot arm according to claim 2, characterized in that: The claw arm assembly (200) further comprises a cleaning member (203), comprising a rotating rod (203a) rotatably connected to the clamping claw (201e), a swing rod (203b) being fixed to the end of the rotating rod (203a), a cleaning rod (203c) being provided on one side of the swing rod (203b), a supporting column (203d) being fixed on one side of the cleaning rod (203c), a pulley (203e) being fixed on the surface of the supporting column (203d), a sliding groove (203b-1) being provided in the swing rod (203b), and the pulley (203e) sliding in the sliding groove (203b-1).

4. The industrial robot arm according to claim 3, characterized in that: A support frame (203f) is fixed on one side of the clamping block (201g), an adjustment groove (203f-1) is provided on the surface of the support frame (203f), a support rod (203g) is fixed on the other side of the cleaning rod (203c), an adjustment wheel (203h) is rotatably connected to the surface of the support rod (203g), and the adjustment wheel (203h) slides in the adjustment groove (203f-1).

5. The industrial robot arm according to claim 4, characterized in that: A moving rod (203i) is fixed to the end of the cleaning rod (203c), a cleaning column (203j) is fixed to the surface of the moving rod (203i), and the cleaning column (203j) is located on the surface of the clamping block (201g).

6. The industrial robot arm according to claim 5, characterized in that: The claw arm assembly (200) further comprises a driving member (204), which is arranged in the clamping jaw (201e) and comprises a rotating shaft (204a) rotatably connected to the clamping jaw (201e); a driving disk (204b) is fixed to the end of the rotating shaft (204a); a driving block (204c) is fixed to one side of the driving disk (204b); a stabilizing rod (204d) is fixed to the inside of the clamping jaw (201e); a sliding rod (204e) is fixed to one side of the stabilizing rod (204d); a moving plate (204f) is slidably provided on the surface of the sliding rod (204e); a driving groove (204f-1) is provided in the moving plate (204f); the driving block (204c) slides in the driving groove (204f-1); and a rotating sleeve (204g) is rotatably connected to the surface of the driving block (204c).

7. The industrial robot arm according to claim 6, characterized in that: An adjusting rod (204h) is fixed on the surface of the rotating rod (203a); the end of the adjusting rod (204h) is rotatably connected to a rotating column (204i); a connecting block (204j) is fixed on the surface of the rotating column (204i); a fixed column (204k) is fixed on one side of the movable plate (204f); the other connecting block (204j) is rotatably connected to the surface of the fixed column (204k); a second spring (204l) is arranged between the two connecting blocks (204j); a limiting ring (204m) is fixed in the clamping jaw (201e); an adjusting disk (204n) is fixed on the surface of the rotating rod (203a); a positioning groove (204n-1) is provided on the surface of the adjusting disk (204n); and a releasing groove (204b-1) is provided on the surface of the driving disk (204b).

8. The industrial robot arm according to claim 6 or 7, characterized in that: The claw arm assembly (200) further comprises a power member (205), which is arranged in the clamping jaw (201e) and comprises a worm gear (205a) fixed to the surface of the rotating shaft (204a); a first power rod (205b) is rotatably connected in the clamping jaw (201e); a worm (205c) is fixed on the surface of the first power rod (205b); the worm (205c) and the worm gear (205a) are meshed; a support block (205d) is fixed in the clamping jaw (201e); the first power rod (205b) is rotatably connected in the support block (205d); a bevel gear (205e) is fixed at the end of the first power rod (205b); and a second power rod (205f) is rotatably connected in the other support block (205d).

9. The industrial robot arm according to claim 8, characterized in that: The power member (205) further comprises a half gear (205g) fixed to the surface of the drive shaft (201c); a tooth plate (205h) is slidably connected in the clamp (201e); the half gear (205g) and the tooth plate (205h) are meshed; a support plate (205i) is fixed to one side of the tooth plate (205h); a third spring (205j) is fixed to one side of the support plate (205i); a fixed block (205k) is fixed to the other end of the third spring (205j); the fixed block (205k) is fixed in the clamp (201e); and a limiting column (205l) is also fixed in the clamp (201e).

10. The industrial robot arm according to claim 9, characterized in that: A rotating wheel (205m) is fixed on the surface of the second power rod (205f), a clamping plate (205n) is rotatably connected to the rotating wheel (205m) via a rotating shaft, a gear ring (205o) is rotatably connected to the surface of the rotating wheel (205m), the gear ring (205o) and the gear plate (205h) are meshed, a clamping groove (205o-1) is provided in the gear ring (205o), and the clamping plate (205n) is clamped in the clamping groove (205o-1).

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