An industrial robot arm

Abstract

The present application relates to the technical field of mechanical hand claw arm, 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 claw 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 claw seat is fixed to the bottom of the mounting seat; a claw arm assembly is arranged on the clamping claw seat and comprises a supporting shaft fixed in the clamping claw seat, and a driving frame is rotatably connected to the surface of the supporting shaft. The claw arm assembly can automatically charge during the opening and closing of the clamping claw, and can automatically start and clean the clamping block after a certain number of times of opening and closing of the clamping claw, so that the frequency of manual cleaning and labor cost are significantly reduced, and the automation degree of the production line is improved. The cleaning action of the clamping block occurs in the time period when the clamping claw releases the workpiece, so that the interference of the cleaning process on the normal work of the clamping claw is avoided.

Description

Technical Field

[0001] This invention relates to the field of robotic gripper technology, and in particular to an industrial robot robotic arm. Background Technology

[0002] In modern industrial production, industrial robots have become indispensable equipment, especially in automated assembly lines, material handling, and precision machining, where they significantly improve production efficiency and quality. The robotic arms within industrial robots, particularly their end effectors—the gripper arms—are responsible for the critical tasks of gripping, transporting, and releasing workpieces. However, existing gripper arms face a series of challenges when handling highly oily workpieces.

[0003] Specifically, during processing or storage, oily workpieces often have a layer of oil adhering to their surface. This oil not only increases the coefficient of friction between the workpiece and the robotic arm, but also has a certain degree of adhesion. When the robotic arm frequently grips and releases such workpieces, the oil gradually accumulates on the surface of the gripper arm, forming a layer of dirt that is difficult to remove. This dirt not only reduces the gripping accuracy and stability of the robotic arm, but also causes the workpiece to shift when it is released due to the adhesion of the oil. This shift is particularly noticeable when handling workpieces with small mass. Because the workpiece itself is light, the adhesion of the oil is enough to cause it to deviate from the predetermined position when released, resulting in inaccurate workpiece positioning, or even falling off the production line, causing production interruption and workpiece damage. This not only affects production efficiency, but also increases the defect rate and production costs. Existing technologies usually use the method of periodically cleaning the robotic 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 problems existing in the above-mentioned industrial robot robotic arms, the present invention is proposed.

[0005] Therefore, the problem that this invention aims to solve is that in the prior art, robotic grippers are prone to accumulating oil stains when handling oily workpieces, leading to workpiece displacement.

[0006] To solve the above technical problems, the present invention provides the following technical solution: an industrial robot arm, comprising a main body component including a robot base, a drive arm, a mounting base, and a gripper base, wherein the drive arm is disposed on the robot base, the mounting base is located at the end of the drive arm, and the gripper base is fixed to the bottom of the mounting base;

[0007] A claw arm assembly is disposed on the gripper seat, including a support shaft fixed inside the gripper seat, a drive frame rotatably connected to the surface of the support shaft, a drive shaft disposed inside the drive frame, a positioning pin disposed at the end of the drive shaft, the positioning pin being fixed inside the drive frame by bolts, a gripper rotatably connected to the surface of the drive shaft, a connecting post fixed to the surface of the gripper, the connecting post being rotatably connected to another drive frame, a clamping block fixed to one side of the gripper, and a clamping groove formed on one side of the clamping block.

[0008] As a preferred embodiment of the industrial robot robotic arm of the present invention, the claw arm assembly further includes a separating component disposed within the gripper, including a support sleeve fixed within the gripper, a first spring disposed within the support sleeve, a push rod fixed to one end of the first spring, the other end of the first spring fixed to the inner wall of the support sleeve, a separating rod fixed to the other end of the push rod, a chamfered edge on one side of the separating rod, and a gripping block extending from one side of the separating rod.

[0009] As a preferred embodiment of the industrial robot arm of the present invention, the claw arm assembly further includes a cleaning component, comprising a rotating rod rotatably connected to the gripper, a swing arm fixed to the end of the rotating rod, a cleaning rod provided on one side of the swing arm, a support column fixed to one side of the cleaning rod, a pulley fixed to the surface of the support column, and a sliding groove provided in the swing arm, wherein the pulley slides in the sliding groove.

[0010] As a preferred embodiment of the industrial robot arm of the present invention, a support frame is fixed on one side of the clamping block, and an adjustment groove is formed on the surface of the support frame. A support rod is fixed on the other side of the cleaning rod, and an adjustment wheel is rotatably connected to the surface of the support rod. The adjustment wheel slides in the adjustment groove.

[0011] In a preferred embodiment of the industrial robot arm described in this invention, a movable rod is fixed to the end of the cleaning rod, a cleaning column is fixed to the surface of the movable rod, and the cleaning column is located on the surface of the clamping block.

[0012] In a preferred embodiment of the industrial robot arm of the present invention, the gripper arm assembly further includes a driving component disposed within the gripper, comprising a rotating shaft rotatably connected within the gripper, a driving disk fixed to the end of the rotating shaft, a driving block fixed to one side of the driving disk, a stabilizing rod fixedly connected within the gripper, a sliding rod fixed to one side of the stabilizing rod, a movable plate slidably disposed on the surface of the sliding rod, a driving groove formed within the movable plate, the driving block sliding within the driving groove, and a rotating sleeve rotatably connected to the surface of the driving block.

[0013] In a preferred embodiment of the industrial robot arm of the present invention: an adjusting rod is fixed to the surface of the rotating rod, a rotating column is rotatably connected to the end of the adjusting rod, a connecting block is fixed to the surface of the rotating column, a fixed column is fixed to one side of the moving plate, another connecting block is rotatably connected to the surface of the fixed column, a second spring is provided between the two connecting blocks, a limit ring is fixed inside the gripper, an adjusting plate is fixed to the surface of the rotating rod, a positioning groove is provided on the surface of the adjusting plate, and a release groove is provided on the surface of the drive plate.

[0014] In a preferred embodiment of the industrial robot arm of the present invention, the claw arm assembly further includes a power component disposed within the gripper, comprising a worm gear fixed to the surface of the rotating shaft, a first power rod rotatably connected within the gripper, a worm fixed to the surface of the first power rod, the worm meshing with the worm gear, a support block fixed within the gripper, the first power rod rotatably connected within the support block, a bevel gear fixed to the end of the first power rod, and a second power rod rotatably connected within another support block.

[0015] As a preferred embodiment of the industrial robot arm of the present invention, the power component further includes a half gear fixed to the surface of the drive shaft, a toothed plate slidably connected inside the gripper, the half gear and the toothed plate meshing, a support plate fixed to one side of the toothed plate, a third spring fixed to one side of the support plate, a fixing block fixed to the other end of the third spring, the fixing block fixed inside the gripper, and a limit post fixed inside the gripper.

[0016] In a preferred embodiment of the industrial robot arm described in this invention, a rotating wheel is fixed to the surface of the second power rod, a clamping plate is rotatably connected to the rotating wheel via a rotating shaft, a toothed ring is rotatably connected to the surface of the rotating wheel, the toothed ring and the toothed plate mesh, a slot is formed in the toothed ring, and the clamping plate is engaged in the slot.

[0017] The beneficial effects of this invention are as follows: By setting up a claw arm assembly, it can automatically charge during the opening and closing of the gripper and automatically start after the gripper has opened and closed a certain number of times to clean the gripping block. This function significantly reduces the frequency of manual cleaning and labor costs, and improves the automation level of the production line. The cleaning action of the gripping block occurs during the time when the gripper releases the workpiece, thereby avoiding interference with the normal operation of the gripper 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 on the surface of the gripper, which helps to improve the gripping accuracy and stability of the gripper and reduces the workpiece displacement and damage caused by oil. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0019] Figure 1 This is a structural diagram of an industrial robot's robotic arm.

[0020] Figure 2 This is a diagram showing the connection structure between the gripper and drive frame of an industrial robot arm.

[0021] Figure 3 This is a structural diagram of the claw arm component of an industrial robot's robotic arm.

[0022] Figure 4 This is a partial structural diagram of the gripping block of an industrial robot's robotic arm.

[0023] Figure 5 This is a diagram of the gripper structure of an industrial robot's robotic arm.

[0024] Figure 6 This is a structural diagram of the cleaning component of an industrial robot's robotic arm.

[0025] Figure 7 This is a partial structural diagram of the lever of an industrial robot's robotic arm.

[0026] Figure 8 This is a diagram showing the connection structure of the support rod and adjusting wheel of an industrial robot arm.

[0027] Figure 9 This is a schematic diagram showing the position of the limit posts on the robotic arm of an industrial robot.

[0028] Figure 10 This is a cross-sectional view of the rotating wheel of an industrial robot's robotic arm.

[0029] Figure 11 This is a partial structural diagram of the rotating wheel of an industrial robot's robotic arm.

[0030] Figure 12 This is a structural diagram of the drive component for an industrial robot's robotic arm.

[0031] Figure 13 This is a diagram showing the connection structure between the fixed column and the moving plate of an industrial robot's robotic arm.

[0032] Figure 14 This is a cross-sectional view of the support sleeve AA of an industrial robot's robotic arm.

[0033] In the diagram: Main component 100; Robot base 101; Drive arm 102; Mounting seat 103; Gripper seat 104; Gripper arm assembly 200; Support shaft 201a; Drive frame 201b; Drive shaft 201c; Positioning pin 201d; Gripper 201e; Connecting column 201f; Gripping block 201g; Gripping groove 201g-1; Separator 202; Support sleeve 202a; First spring 202b; Push rod 202c; Separator rod 202d; Chamfer 202d-1; Cleaning component 203; Rotating rod 203a; Swing rod 203b; Cleaning rod 203c; Support column 203d; Pulley 203e; Slide 203b-1; Support frame 203f; Adjustment groove 203f-1; Support rod 203g; Adjustment wheel 203h; Moving rod 203i; Cleaning column 203j; Drive component 204; Rotation Shaft 204a; Drive disc 204b; Drive block 204c; Stabilizer bar 204d; Slide bar 204e; Moving plate 204f; Drive groove 204f-1; Rotating sleeve 204g; Adjusting rod 204h; Rotating column 204i; Connecting block 204j; Fixed column 204k; Two springs 204l; Limiting ring 204m; Adjusting disc 204n; Positioning groove 204n-1; Release groove 204b- 1; Power component 205; Worm gear 205a; First power rod 205b; Worm 205c; Support block 205d; Bevel gear 205e; Second power rod 205f; Half gear 205g; Gear plate 205h; Support plate 205i; Third spring 205j; Fixing block 205k; Limiting post 205l; Rotating wheel 205m; Clamping plate 205n; Gear ring 205o; Clamping groove 205o-1. Detailed Implementation

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0035] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0036] 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 phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0037] Example 1, referring to Figures 1-14This is the first embodiment of the present invention. This embodiment provides an industrial robot arm. The industrial robot arm includes a main body component 100, including a robot base 101, a drive arm 102, a mounting base 103, and a gripper base 104. The drive arm 102 is disposed on the robot base 101, the mounting base 103 is located at the end of the drive arm 102, and the gripper base 104 is fixed to the bottom of the mounting base 103.

[0038] The robot base 101 is used to support the drive arm 102, the drive arm 102 is used to drive the mounting base 103 to move, and the mounting base 103 is used to fix and support the gripper base 104. The working principle of the main component 100 is existing technology and will not be described in detail here.

[0039] The claw arm assembly 200 is mounted on the gripper base 104 and includes a support shaft 201a fixed inside the gripper base 104. A drive frame 201b is rotatably connected to the surface of the support shaft 201a. A drive shaft 201c is disposed inside the drive frame 201b. A positioning pin 201d is provided at the end of the drive shaft 201c. The positioning pin 201d is fixed inside the drive frame 201b by bolts. A gripper 201e is rotatably connected to the surface of the drive shaft 201c. A connecting post 201f is fixed to the surface of the gripper 201e. The connecting post 201f is rotatably connected to another drive frame 201b. A clamping block 201g is fixed to one side of the gripper 201e. A clamping groove 201g-1 is provided on one side of the clamping block 201g.

[0040] The support shaft 201a supports the drive frame 201b. The gripper seat 104 contains a drive mechanism for rotating the drive frame 201b on the surface of the support shaft 201a. This drive mechanism is existing technology and will not be described in detail here. The two drive frames 201b on the grippers 201e are arranged in parallel. At this time, the two grippers 201e are parallel to each other. The drive mechanism in the gripper seat 104 drives the drive frame 201b to deflect, causing the two grippers 201e to move closer or further apart, thereby... The clamping groove 201g-1 of the clamping block 201g clamps the workpiece. The clamping block 201g is made of rubber with strong support, which allows the clamping block 201g to stably clamp the workpiece without causing damage. The positioning pin 201d is fixed to the surface of the drive shaft 201c. The setting of the positioning pin 201d can stably fix the drive shaft 201c in the drive frame 201b, so that the drive shaft 201c rotates synchronously when the drive frame 201b deflects.

[0041] Specifically, the claw arm assembly 200 also includes a separating component 202, which is disposed within the gripper 201e. It includes a support sleeve 202a fixed within the gripper 201e, a first spring 202b disposed within the support sleeve 202a, a push rod 202c fixed to one end of the first spring 202b, and the other end of the first spring 202b fixed to the inner wall of the support sleeve 202a. A separating rod 202d is fixed to the other end of the push rod 202c. A chamfer 202d-1 is provided on one side of the separating rod 202d, and a clamping block 201g extends out from one side of the separating rod 202d.

[0042] The support sleeve 202a is used to support the first spring 202b, which 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.

[0043] When the gripper 201e clamps the workpiece, the clamping block 201g contacts the workpiece surface. 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 gripper 201e lowers the workpiece, the clamping block 201g begins to release the workpiece. At this time, under the restoring force of the first spring 202b, the separating rod 202d can extend slightly out of the clamping block 201g, thereby pushing the workpiece away from the clamping block 201g. The adhesion between the clamping block 201g and the workpiece will not occur. Moreover, the chamfer 202d-1 makes the contact area between the separating rod 202d and the workpiece smaller. Both grippers 201e are provided with the same separating element 202, so that the two separating rods 202d have the same pushing force on the workpiece, preventing the workpiece from shifting.

[0044] Specifically, the claw arm assembly 200 also includes a cleaning component 203, which includes a rotating rod 203a rotatably connected to the gripper 201e, a swing rod 203b fixed to the end of the rotating rod 203a, a cleaning rod 203c provided on one side of the swing rod 203b, a support column 203d fixed to one side of the cleaning rod 203c, a pulley 203e fixed to the surface of the support column 203d, and a sliding groove 203b-1 opened in the swing rod 203b, and the pulley 203e slides in the sliding groove 203b-1.

[0045] The rotating rod 203a is used to support the swing rod 203b, so that the swing rod 203b can swing stably. There are four sets of support columns 203d and pulleys 203e. By sliding multiple pulleys 203e in the slide groove 203b-1, the cleaning rod 203c can move stably in extension and retraction relative to the swing rod 203b.

[0046] 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, and an adjustment wheel 203h is rotatably connected to the surface of the support rod 203g. The adjustment wheel 203h slides in the adjustment groove 203f-1.

[0047] The support frame 203f is fixed inside the gripper 201e and can be used to support the gripping block 201g. The adjusting wheel 203h slides in the adjusting groove 203f-1, which allows the cleaning rod 203c to extend and retract relative to the swing arm 203b.

[0048] Specifically, a movable rod 203i is fixed to the end of the cleaning rod 203c, and a cleaning column 203j is fixed to the surface of the movable rod 203i. The cleaning column 203j is located on the surface of the clamping block 201g.

[0049] The cleaning column 203j is used to wipe the oil stains on the surface of the clamping block 201g. The preferred material for the cleaning column 203j is a cleaning cloth. When wiping with the cleaning cloth, it will not cause scratches or damage to the surface of the clamping block 201g.

[0050] When the swing arm 203b swings, the adjusting wheel 203h can slide from one end of the adjusting groove 203f-1 to the other end. At this time, the cleaning column 203j slides from the top to the bottom of the clamping block 201g, so that the cleaning column 203j always fits the clamping groove 201g-1 of the clamping block 201g.

[0051] Example 2, refer to Figures 1-14 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0052] Specifically, the claw arm assembly 200 also includes a drive component 204, which is disposed within the gripper 201e. It includes a rotating shaft 204a rotatably connected within the gripper 201e, a drive disk 204b fixed to the end of the rotating shaft 204a, a drive block 204c fixed to one side of the drive disk 204b, a stabilizing rod 204d fixedly connected within the gripper 201e, a sliding rod 204e fixed to one side of the stabilizing rod 204d, a movable plate 204f sliding on the surface of the sliding rod 204e, a drive groove 204f-1 formed within the movable plate 204f, a drive block 204c sliding within the drive groove 204f-1, and a rotating sleeve 204g rotatably connected to the surface of the drive block 204c.

[0053] The rotating shaft 204a is used to support the drive disk 204b, so that the drive disk 204b can rotate stably. When the drive disk 204b rotates, it can drive the drive block 204c to slide in the drive groove 204f-1, thereby causing the rotating sleeve 204g to drive the moving plate 204f to slide on the surface of the slide rod 204e.

[0054] Specifically, an adjusting rod 204h is fixed to the surface of the rotating rod 203a, and a rotating column 204i is rotatably connected to the end of the adjusting rod 204h. A connecting block 204j is fixed to the surface of the rotating column 204i. A fixed column 204k is fixed to one side of the moving plate 204f, and another connecting block 204j is rotatably connected to the surface of the fixed column 204k. A second spring 204l is provided between the two connecting blocks 204j. A limit ring 204m is fixed inside the gripper 201e. An adjusting disc 204n is fixed to the surface of the rotating rod 203a. A positioning groove 204n-1 is opened on the surface of the adjusting disc 204n, and a release groove 204b-1 is opened on the surface of the driving disc 204b.

[0055] 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 204n, the adjusting disk 204n can rotate. At 04n, the drive disk 204b will be engaged in the positioning groove 204n-1 of the adjustment disk 204n, preventing the adjustment disk 204n from rotating. There are two release grooves 204b-1 on the drive disk 204b, and the two release grooves 204b-1 are 180 degrees apart. There are two positioning grooves 204n-1 on the adjustment disk 204n, and the two positioning grooves 204n-1 are 90 degrees apart. The deflection range of the adjustment rod 204h is 90 degrees.

[0056] Specifically, the claw arm assembly 200 also includes a power component 205, which is disposed within the gripper 201e. This includes a worm gear 205a fixed to the surface of the rotating shaft 204a, a first power rod 205b rotatably connected within the gripper 201e, a worm gear 205c fixed to the surface of the first power rod 205b, the worm gear 205c meshing with the worm gear 205a, a support block 205d fixed within the gripper 201e, the first power rod 205b rotatably connected within the support block 205d, a bevel gear 205e fixed to the end of the first power rod 205b, and a second power rod 205f rotatably connected within another support block 205d.

[0057] 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. The two bevel gears 205e mesh with each other, so that the second power rod 205f can drive the first power rod 205b to rotate synchronously. The first power rod 205b can drive the worm wheel 205a to rotate through the worm 205c.

[0058] Specifically, the power component 205 also includes a half gear 205g fixed to the surface of the drive shaft 201c, a toothed plate 205h slidably connected inside the gripper 201e, the half gear 205g and the toothed plate 205h meshing, a support plate 205i fixed to one side of the toothed plate 205h, a third spring 205j fixed to one side of the support plate 205i, a fixing block 205k fixed to the other end of the third spring 205j, the fixing block 205k fixed inside the gripper 201e, and a limit post 205l fixed inside the gripper 201e.

[0059] The surface of the half gear 205g has teeth only within a 180-degree range. The third spring 205j is in a stretched state. The support plate 205i is used to pull the toothed plate 205h. The limiting post 205l is used to support the support plate 205i, thereby positioning the toothed plate 205h. The fixing block 205k is used to fix and support the other end of the third spring 205j.

[0060] When the drive frame 201b deflects, causing the two grippers 201e to move closer together to clamp the workpiece, the half gear 205g on the surface of the drive shaft 201c drives the toothed plate 205h to move. At this time, the third spring 205j begins to contract. When the teeth of the half gear 205g separate from the toothed plate 205h, the support plate 205i moves to the side of the limit post 205l, causing the toothed plate 205h to stay in place. At this time, the drive frame 201b can continue to deflect, causing the two grippers 201e to move closer together, thereby clamping and fixing the workpiece with the clamping block 201g. That is, the teeth of the half gear 205g separate from the toothed plate 205h first, and the clamping block 201g clamps and fixes the workpiece afterward, and there is a certain distance between the two. This distance ensures that the cleaning column 203j will not come into contact with the workpiece when it moves on the surface of the clamping block 201g.

[0061] Specifically, 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 toothed ring 205o is rotatably connected to the surface of the rotating wheel 205m. The toothed ring 205o and the toothed plate 205h mesh with each other. A groove 205o-1 is opened in the toothed ring 205o, and the clamping plate 205n is clamped in the groove 205o-1.

[0062] A compression spring is provided on one side of the clamping plate 205n to support it, allowing the clamping plate 205n to be engaged in the clamping slot 205o-1. When the two grippers 201e approach each other, the toothed plate 205h begins to move upward. At this time, the toothed plate 205h drives the toothed ring 205o to rotate, while the clamping plate 205n slides across the surface of the clamping slot 205o-1, preventing the toothed ring 205o from driving the rotating wheel 205m to rotate. When the two grippers 201e move away from each other, the toothed plate 205h begins to move downward. At this time, the toothed ring 205o can drive the rotating wheel 205m to rotate through the clamping plate 205n, thereby causing the rotating wheel 205m to drive the first power rod 205b to rotate through the second power rod 205f.

[0063] In summary, the present invention has the following beneficial effects:

[0064] 1. It can automatically charge during the opening and closing of the gripper 201e, and automatically start after the gripper 201e opens and closes a certain number of times to clean the gripping block 201g. This function significantly reduces the frequency of manual cleaning and labor costs, and improves the automation level of the production line.

[0065] 2. The cleaning action of the clamping block 201g occurs during the time period when the gripper 201e releases the workpiece, thereby avoiding interference with the normal operation of the gripper 201e 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 the cleaning work.

[0066] 3. Automatic cleaning effectively reduces the accumulation of oil on the surface of the 201e gripper, which helps to improve the clamping accuracy and stability of the 201e gripper and reduces workpiece displacement and damage caused by oil.

[0067] When in use, as the robotic arm is working normally, the two grippers 201e will continuously move closer and further apart.

[0068] When the two grippers 201e approach each other, the half gear 205g drives the toothed plate 205h to start moving upward. At this time, the toothed plate 205h drives the toothed ring 205o to rotate, while the clamping plate 205n slides over the surface of the clamping groove 205o-1, so that the toothed ring 205o cannot drive the rotating wheel 205m to rotate.

[0069] When the two grippers 201e move away from each other, the toothed plate 205h begins to move downwards. At this time, the toothed ring 205o can drive the rotating wheel 205m to rotate through the clamping plate 205n. This causes the rotating wheel 205m to drive the first power rod 205b to rotate through the second power rod 205f. The first power rod 205b can drive the worm wheel 205a to rotate through the worm gear 205c. The worm wheel 205a drives the drive disk 204b to rotate through the rotating shaft 204a. When the drive disk 204b rotates, it can drive the drive block 204c to slide within the drive groove 204f-1. The rotating sleeve 204g causes the moving plate 204f to slide on the surface of the slide rod 204e. At this time, the moving plate 204f stretches the second spring 204l through the fixed column 204k and the connecting block 204j, causing the second spring 204l to be stretched again. In the initial process of the second spring 204l being stretched, the second spring 204l begins to deflect towards the adjusting rod 204h. During this process, the adjusting rod 204h will not deflect, and at the same time, the adjusting disk 204n will not rotate, so that the release groove 204b-1 on the driving disk 204b will be released during this process. Move the driving plate 204b away from the adjusting plate 204n, and position the driving plate 204b within the positioning groove 204n-1 of the adjusting plate 204n. This positions the adjusting plate 204n and prevents it from rotating. After the two springs 204l and the adjusting rod 204h coincide, as the moving plate 204f continues to move, the two springs 204l begin to move away from the adjusting rod 204h. At this time, the tension of the two springs 204l can cause the adjusting rod 204h to deflect. However, the adjusting plate 204n is limited by the driving plate 204b, preventing it from rotating. The rotating rod 203a cannot drive the adjusting rod 204h to deflect until the moving plate 204f moves to the other end of its stroke. Then, another release groove 204b-1 on the surface of the drive plate 204b moves to the side of the adjusting plate 204n, allowing the adjusting plate 204n to rotate. Under the reset pull of the two springs 204l, the adjusting rod 204h can be deflected. This causes the rotating rod 203a to drive the swing rod 203b and the cleaning rod 203c to move, so that the cleaning rod 203c drives the cleaning column 203j to clean the surface of the clamping block 201g.

[0070] Since the drive disk 204b can only rotate during the time period when the two grippers 201e are far apart, the cleaning rod 203c cleans the clamping block 201g during the time period after the grippers 201e release the workpiece.

[0071] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An industrial robot arm, characterized in that: include, The main components include a robot base, a drive arm, a mounting base, and a gripper base. The drive arm is mounted on the robot base, the mounting base is located at the end of the drive arm, and the gripper base is fixed to the bottom of the mounting base. A claw arm assembly is disposed on the gripper seat, including a support shaft fixed inside the gripper seat, a drive frame rotatably connected to the surface of the support shaft, a drive shaft disposed inside the drive frame, a positioning pin disposed at the end of the drive shaft, the positioning pin being fixed inside the drive frame by bolts, a gripper rotatably connected to the surface of the drive shaft, a connecting post fixed to the surface of the gripper, the connecting post being rotatably connected to another drive frame, a clamping block fixed to one side of the gripper, and a clamping groove formed on one side of the clamping block; The claw arm assembly also includes a separating component disposed within the gripper, including a support sleeve fixed within the gripper, a first spring disposed within the support sleeve, a push rod fixed to one end of the first spring, the other end of the first spring fixed to the inner wall of the support sleeve, a separating rod fixed to the other end of the push rod, a chamfered edge on one side of the separating rod, and a gripping block extending from one side of the separating rod; The claw arm assembly further includes a cleaning component, comprising a rotating rod rotatably connected within the gripper, a swing arm fixed to the end of the rotating rod, a cleaning rod provided on one side of the swing arm, a support column fixed to one side of the cleaning rod, a pulley fixed to the surface of the support column, a sliding groove formed in the swing arm, the pulley sliding within the sliding groove, a support frame fixed to one side of the gripping block, an adjustment groove formed on the surface of the support frame, a support rod fixed to the other side of the cleaning rod, an adjustment wheel rotatably connected to the surface of the support rod, the adjustment wheel sliding within the adjustment groove; a movable rod fixed to the end of the cleaning rod, a cleaning column fixed to the surface of the movable rod, the cleaning column being located on the surface of the gripping block.

2. The industrial robot arm as described in claim 1, characterized in that: The claw arm assembly also includes a driving component disposed within the gripper, comprising a rotating shaft rotatably connected within the gripper, a driving disk fixed to the end of the rotating shaft, a driving block fixed to one side of the driving disk, a stabilizing rod fixedly connected within the gripper, a sliding rod fixed to one side of the stabilizing rod, a movable plate slidably disposed on the surface of the sliding rod, a driving groove formed within the movable plate, the driving block sliding within the driving groove, and a rotating sleeve rotatably connected to the surface of the driving block.

3. The industrial robot arm as described in claim 2, characterized in that: An adjusting rod is fixed to the surface of the rotating rod, and a rotating column is rotatably connected to the end of the adjusting rod. A connecting block is fixed to the surface of the rotating column. A fixed column is fixed to one side of the moving plate, and another connecting block is rotatably connected to the surface of the fixed column. A second spring is provided between the two connecting blocks. A limit ring is fixed inside the gripper. An adjusting disc is fixed to the surface of the rotating rod. A positioning groove is opened on the surface of the adjusting disc, and a release groove is opened on the surface of the driving disc.

4. The industrial robot arm as described in claim 2 or 3, characterized in that: The claw arm assembly also includes a power component disposed within the gripper, including a worm gear fixed to the surface of the rotating shaft, a first power rod rotatably connected within the gripper, a worm fixed to the surface of the first power rod, the worm meshing with the worm gear, a support block fixed within the gripper, the first power rod rotatably connected within the support block, a bevel gear fixed to the end of the first power rod, and a second power rod rotatably connected within another support block.

5. The industrial robot arm as described in claim 4, characterized in that: The power component also includes a half gear fixed to the surface of the drive shaft. A toothed plate is slidably connected inside the gripper. The half gear and the toothed plate mesh. A support plate is fixed to one side of the toothed plate. A third spring is fixed to one side of the support plate. A fixing block is fixed to the other end of the third spring. The fixing block is fixed inside the gripper. A limit post is also fixed inside the gripper.

6. The industrial robot arm as described in claim 5, characterized in that: A rotating wheel is fixed on the surface of the second power rod. A clamping plate is rotatably connected to the rotating wheel via a rotating shaft. A toothed ring is rotatably connected to the surface of the rotating wheel. The toothed ring and the toothed plate mesh with each other. A slot is opened in the toothed ring, and the clamping plate is engaged in the slot.

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