Multi-axis mechanical arm for intelligent industrial robot

Abstract

The invention relates to a mechanical arm, in particular to a multi-shaft mechanical arm for an intelligent industrial robot, which comprises a mounting rail, a base, a rotary table, a main shaft, a secondary shaft and a wrist shaft, the base is connected with the mounting rail, the rotary table is rotatably connected to the base, the main shaft is connected with the rotary table, the secondary shaft is connected with the main shaft, and the wrist shaft is connected with the secondary shaft. The device further comprises a sliding rail, a lead screw, a delay sleeve, a clamping assembly, a bottom supporting assembly and a driving machine box. The mechanical arm solves the problem that when an existing mechanical arm carries heavy and large goods, bottom supporting is inconvenient to conduct on the goods, and then carrying safety is affected, through cooperation of a clamping assembly, a bottom supporting assembly and a delay sleeve, when the goods are clamped, the operation time of the bottom supporting assembly is delayed, and the carrying safety is improved. And after the goods are lifted through the mechanical arm, the bottom of the goods is supported through the bottom supporting assembly, and the safety of the mechanical arm in the goods carrying process is greatly improved.

Description

Technical Field

[0001] The invention relates to a mechanical arm, in particular to a multi-axis mechanical arm for an intelligent industrial robot. Background Art

[0002] The multi-axis robotic arm of an intelligent industrial robot is a device that can be automatically controlled, repeatedly programmed, and has multiple degrees of freedom. It is usually used to perform complex operations in three-dimensional space. The design of the multi-axis robotic arm enables it to perform linear motion on the X, Y, and Z axes, and achieve more flexible movements through the rotation axis. In addition, the multi-axis robotic arm can also work in collaboration with humans to further improve production efficiency and quality.

[0003] The multi-axis robotic arms of intelligent robots are widely used in industrial production, especially in automated production lines that require high flexibility and complex operations, such as loading and unloading, assembly and other tasks. At the same time, this equipment is also used when unloading goods in the factory and moving goods from the warehouse gate to the designated location. When facing goods with relatively small volume and weight, the upper surface of the goods is usually adsorbed by the robotic arms of intelligent industrial robots before being moved. When the goods to be moved are relatively large or heavy, the sides of the goods are usually clamped with plywood before being moved. However, since the goods are generally placed on the ground or stacked together, it is not convenient for the robotic arms of intelligent industrial robots to support the bottom of the goods during the clamping process, which makes the goods at risk of slipping between the plywood during transportation, and the safety is low.

[0004] In view of the above problems, some solutions are provided in the prior art. For example, a multi-axis palletizing robot arm with publication number CN116513797A flips the cargo to a certain angle by flipping the supporting mechanism so that one side of the cargo is against the load-bearing edge, and then clamps the cargo from the other direction. Although the solution provided in the prior art changes the direction of the force between the cargo and the clamping plate to a certain extent, the cargo needs to be transported at an angle. When facing some workpieces with relatively smooth surfaces, this transportation method will still make the cargo easy to slip from the clamping plate, and the safety is relatively low.

[0005] To this end, a multi-axis robotic arm for an intelligent industrial robot is proposed. Summary of the invention

[0006] The purpose of the present invention is to provide a multi-axis robotic arm for an intelligent industrial robot, which solves the problem of low safety of existing robotic arms when carrying heavy or large goods. In the clamping stage, the present invention first clamps the goods by a clamping assembly, and then delays the time for the bottom support assembly to start moving by a delay sleeve. When the robotic arm lifts the goods, the bottom support assembly extends into the bottom of the goods for supporting, which greatly improves the safety during transportation.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A multi-axis mechanical arm for an intelligent industrial robot comprises a mounting rail, a base, a turntable, a main shaft, a secondary shaft and a wrist shaft, wherein the base is connected to the mounting rail, the turntable is rotatably connected to the base, the main shaft is connected to the turntable, the secondary shaft is connected to the main shaft, the wrist shaft is connected to the secondary shaft, and further comprises a slide rail, a lead screw, a delay sleeve, a clamping assembly, a bottom supporting assembly and a drive chassis, wherein the slide rail is connected to the wrist shaft, the drive chassis is connected to the slide rail, the lead screw is connected to the slide rail, the delay sleeve, the clamping assembly and the bottom supporting assembly are all connected to the lead screw, and the clamping assembly The component and the bottom supporting assembly are connected by a delay sleeve, the lead screw includes a smooth section and a toothed section, and the lead screw is a smooth section, a toothed section and a smooth section from the middle to the end. The drive chassis drives the lead screw to rotate and drives the clamping assembly to move from the toothed section to the smooth section near the middle of the lead screw, and drives the bottom supporting assembly to move from the smooth section near the end to the toothed section through the delay sleeve after the clamping assembly moves for a specified time. When releasing the goods, the bottom supporting assembly moves from the toothed section to the smooth section near the end, and drives the clamping assembly to move from the smooth section near the middle to the toothed section through the delay sleeve.

[0009] Through the above scheme, the lead screw is divided into a smooth section and a toothed section. In the stage of waiting to clamp goods, the clamping assembly is located in the toothed section, and the bottom supporting assembly is located in the smooth section near the end of the lead screw. When the clamping assembly moves to clamp goods, the clamping assembly moves from the toothed section to the smooth section near the middle of the lead screw. At the same time, under the action of the delay sleeve, the bottom supporting assembly starts to move after the clamping assembly moves for a period of time, and moves from the smooth section to the toothed section, and then moves to the bottom of the goods under the action of the lead screw to support the bottom, which effectively solves the problem that the existing robotic arm is inconvenient to support the bottom of goods when facing goods placed on the ground or stacked together, and improves the safety during the cargo handling process.

[0010] Preferably, a drive chassis is provided in the middle of the lead screw, and the drive chassis is fixedly connected to the inside of the slide rail. Buffer materials are provided on the left and right ends of the drive chassis, and two limit blocks are connected to the smooth section close to the drive chassis. The two limit blocks are located on both sides of the drive chassis, and the limit blocks are flat elliptical shapes.

[0011] After the clamping assembly moves from the toothed section to the smooth section near the middle of the lead screw, since there is no toothed drive limit and the bottom support assembly has not yet moved to a position that can limit the movement of the clamping assembly, during this short period of time, the clamping assembly is prone to slide left and right in a small range in the smooth section, which can easily lead to insufficient clamping force. Through the above scheme, the clamping assembly can cooperate with the limit block after moving to the specified position, thereby limiting the position of the clamping assembly and preventing it from deviating from the specified position.

[0012] Preferably, the thread directions of the toothed sections on both sides are opposite, and the diameter value of the toothed section is greater than the diameter value of the smooth section.

[0013] The clamping assembly and the bottom support assembly need to make the two groups of clamping plates or bottom support plates move synchronously when clamping and releasing goods. Therefore, the tooth directions of the two groups of toothed segments are set in opposite directions, so that the two groups of clamping plates and bottom support plates on the left and right sides of the drive chassis can approach or move away from the goods synchronously; because the tooth patterns of the toothed segments are concave patterns, the corresponding matching structure must be convex, so the diameter value of the smooth section is set to be smaller than the diameter value of the toothed segment, so that the clamping assembly and the bottom support assembly can move smoothly on the screw.

[0014] Preferably, the clamping assembly includes a slider 1, an extension tube 1 and a splint, the slider 1 is slidably connected inside the slide rail and sleeved on the lead screw, the extension tube 1 is connected to the side of the slider 1 away from the drive chassis, the splint is connected to the slider 1 and is located on the front side of the slide rail, and the connection between the slider 1 and the lead screw is processed with a male thread that can cooperate with the female thread on the toothed segment.

[0015] Through the above scheme, when the slider is located in the toothed section of the lead screw, the slider moves by cooperating with the male thread processed on the slider and the toothed section. The shape and size of the slider are the same as the track inside the slide rail. Therefore, when the slider moves to the smooth section with a smaller diameter value, the male thread on the slider will not contact the smooth section, thereby preventing the smooth section of the lead screw from being affected by the thread on the slider.

[0016] Preferably, the clamping assembly also includes a retaining ring 1, which is fixed to the end of the extension tube 1 away from the slider 1, the inner diameter of the retaining ring 1 is the same as the inner diameter of the extension tube 1, and the outer diameter of the retaining ring 1 is greater than the outer diameter of the extension tube 1.

[0017] Through the above solution, the extension tube 1 is slidably connected to the delay sleeve, and the outer diameter of the retaining ring 1 is greater than the outer diameter of the extension tube 1 so that the extension tube 1 will not separate from the delay sleeve.

[0018] Preferably, the clamping assembly further comprises a limiting groove, which is arranged on the inner side of one end of the slider close to the driving chassis, and the inlet and outlet of the limiting groove are both processed with arc chamfers.

[0019] Through the above scheme, when slider 1 moves to the specified position, the rotating screw will drive the limit block into the limit groove inside slider 1, thereby limiting slider 1; at the same time, the inlet and outlet positions of the limit groove are processed into arc chamfers to facilitate the entry and exit of the limit block.

[0020] Preferably, the bottom support assembly includes a second slider, a second extension tube, a fixed block, a movable block and a bottom support plate, the second slider is slidably connected to the inside of the slide rail and is sleeved on the lead screw, the second extension tube is connected to one end of the second slider close to the drive chassis, the fixed block is connected to the second slider and is located on the lower side of the slide rail, the movable block is connected to the fixed block, the bottom support plate is connected to the movable block, and the connection between the second slider and the lead screw is processed with a male thread that can cooperate with the female thread on the toothed segment.

[0021] Through the above scheme, the structure of the connection between the slider 2 and the lead screw is the same as that of the slider 1 and has the same function, so that the slider 2 can move left and right in the toothed section and is not affected by the lead screw in the smooth section.

[0022] Preferably, the bottom support assembly also includes a retaining ring 2, which is fixed to the end of the extension tube 2 away from the slider 2, the inner diameter of the retaining ring 2 is the same as the inner diameter of the extension tube 2, the outer diameter of the retaining ring 2 is greater than the outer diameter of the extension tube 2, and the inner diameter of the retaining ring 2 is greater than the outer diameter of the extension tube 2.

[0023] Through the above scheme, the extension tube 2 is slidably connected to the delay sleeve, and the outer diameter value of the retaining ring 2 is greater than the outer diameter value of the extension tube 2, so that the extension tube 2 will not separate from the delay sleeve; in addition, the inner diameter value of the retaining ring 2 is greater than the outer diameter value of the retaining ring 1, so that the extension tube 1 and the retaining ring 1 can extend into the interior of the extension tube 2 and the retaining ring 2, effectively increasing the movement range of the extension tube 1 and the extension tube 2 in the delay sleeve.

[0024] Preferably, the bottom supporting assembly further comprises a sliding rod and a spring, the lower end of the sliding rod is fixedly connected to the movable block, the upper end of the sliding rod is slidably connected to the fixed block, the spring is sleeved on the sliding rod, and the two ends of the spring are respectively connected to the fixed block and the movable block.

[0025] When faced with goods placed on the ground, since the height of the bottom support plate is lower than the height of the bottom of the clamp, the clamp cannot clamp the goods near the bottom, that is, the bottom support plate will hit the side wall of the goods when moving, and the bottom support work cannot be achieved. Through the above scheme, when clamping the goods placed on the ground, the robotic arm moves downward so that the movable plate is squeezed by the ground. At this time, the movable plate moves upward relative to the fixed plate and drives the bottom support plate to move upward. At this time, the clamp can be used to clamp the goods near the bottom. When the robotic arm rises, the bottom support plate is reset to a height lower than the clamp, so that it can conveniently and effectively carry out bottom support transportation for the goods placed on the ground.

[0026] Preferably, the delay sleeve is sleeved on the outside of extension tube one and extension tube two, the inner diameter of the cylindrical hollow structure inside the delay sleeve is greater than the outer diameter of retaining ring two, the diameter of the opening of the delay sleeve near one end of extension tube one is smaller than the outer diameter of retaining ring one, and the diameter of the opening of the delay sleeve near one end of extension tube two is smaller than the outer diameter of retaining ring two.

[0027] Through the above scheme, the diameter values ​​of the two openings of the delay sleeve are respectively smaller than the outer diameter values ​​of retaining ring 1 and retaining ring 2, and at the same time, the diameter value of the internal cavity of the delay sleeve is larger than the outer diameter value of retaining ring 2, so that retaining ring 1 and retaining ring 2 can move in the delay sleeve and cannot be separated from the delay sleeve, and then the clamping assembly and the bottom support assembly are connected through the delay sleeve. At the same time, the setting relationship of extension tube 1 and extension tube 2 in the delay sleeve makes the movement between the clamping assembly and the bottom support assembly have a certain time difference, thereby realizing the applicability of the robot arm to goods placed on the ground.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The present invention solves the problem that the existing robot arm is inconvenient to support the bottom of the goods when carrying heavier and larger goods, thus affecting the safety of transportation. Through the cooperation of the clamping assembly, the bottom supporting assembly and the delay sleeve, the operation time of the bottom supporting assembly is delayed when clamping the goods. After the goods are lifted by the robot arm, the bottom supporting assembly is used to support the goods, which greatly improves the safety of the robot arm in the process of carrying goods.

[0030] 2. The lead screw is divided into multiple smooth sections and toothed sections, and the toothed sections of the lead screws on both sides of the driving chassis are in opposite directions, so that the screws can drive the splints on both sides to move synchronously when they rotate; in addition, a limit block is provided on the smooth section of the lead screw close to the driving chassis, so that the position of the slider can be limited after it moves to the specified position, avoiding a small range of fluctuation in the clamping force of the splint, thereby ensuring the clamping effect of the splint.

[0031] 3. The clamping assembly and the bottom supporting assembly are connected by a delay sleeve, and the setting relationship of the extension tube 1 and the extension tube 2 in the delay sleeve makes the movement between the clamping assembly and the bottom supporting assembly have a certain time difference, thereby realizing the applicability of the robot arm to the goods placed on the ground, so that when clamping the goods, the bottom supporting assembly can move to the bottom of the goods after the clamping assembly clamps the goods for a certain period of time, reserving time for the robot arm to lift the goods. When releasing the goods, the clamping assembly releases the goods after the bottom supporting assembly moves out of the bottom of the goods for a certain period of time, avoiding the movement of the bottom supporting plate causing the position of the goods to shift, ensuring the accuracy of the release position, and at the same time improving the safety of the robot arm in the process of transporting goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the lead screw part of the present invention;

[0034] Figure 3 It is a structural schematic diagram of the slide rail of the present invention;

[0035] Figure 4 It is a schematic diagram of the installation structure of the clamping assembly and the bottom supporting assembly on the lead screw of the present invention;

[0036] Figure 5 A structural cross-sectional view of a portion of the slider of the present invention;

[0037] Figure 6 It is a structural cross-sectional view of the bottom supporting assembly of the present invention;

[0038] Figure 7 It is a structural cross-sectional view of the combination of the clamping assembly, the delay sleeve and the bottom supporting assembly of the present invention;

[0039] Figure 8 This is a state diagram of the bottom supporting component of the present invention.

[0040] In the figure: 1. mounting rail; 2. base; 3. turntable; 4. main axis; 5. secondary axis; 6. wrist axis; 7. slide rail; 8. lead screw; 9. delay sleeve; 10. clamping assembly; 1001. slider 1; 1002. extension tube 1; 1003. clamping plate; 1004. retaining ring 1; 1005. limiting groove; 11. bottom supporting assembly; 1101. slider 2; 1102. extension tube 2; 1103. fixed block; 1104. movable block; 1105. bottom supporting plate; 1106. retaining ring 2; 1107. slide rod; 1108. spring; 12. drive chassis; 13. limiting block; a. smooth section; b. toothed section. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] See also Figures 1 to 8 The present invention provides a multi-axis mechanical arm for an intelligent industrial robot, and the technical solution is as follows:

[0043] For details, please refer to Figure 1 , Figure 2 and Figure 3A multi-axis robotic arm for an intelligent industrial robot comprises a mounting rail 1, a base 2, a turntable 3, a main axis 4, a secondary axis 5 and a wrist axis 6. The mounting rail 1 is divided into two rail steels arranged front and back and one rail steel arranged left and right. The two rail steels arranged front and back are respectively erected at high places on both sides of the warehouse, and then one rail steel arranged left and right is slidably connected between the two rail steels arranged front and back. The base 2 is slidably connected to the mounting rail 1, so that the robotic arm can move within the coverage of the mounting rail 1. The turntable 3 is rotatably connected to the base 2, the main axis 4 is connected to the turntable 3, the secondary axis 5 is connected to the main axis 4, the wrist axis 6 is connected to the secondary axis 5, the turntable 3, the main axis 4 is connected to the turntable 3, the secondary axis 5 is connected to the main axis 4, the wrist axis 6 is connected to the secondary axis 5, The shaft 4, the secondary shaft 5 and the wrist shaft 6 cooperate with each other to enable the robot arm to move flexibly within a certain space. It also includes a slide rail 7, a lead screw 8, a delay sleeve 9, a clamping assembly 10 and a bottom support assembly 11. The slide rail 7 is connected to the wrist shaft 6. The interior of the slide rail 7 is provided with a cavity for accommodating the movement of the clamping assembly 10 and the bottom support assembly 11. The main part of the cavity is rectangular. At the same time, the front and lower sides of the slide rail 7 are provided with grooves connected to the cavity. The groove of the slide rail 7 on the lower side is in the shape of an inverted trapezoid. When the robot arm is transporting goods or other situations, debris entering the slide rail 7 can fall out along the groove on the lower side, thereby preventing the debris from affecting the operation of the clamping assembly 10 and the bottom support assembly 11.

[0044] The lead screw 8 is connected to the slide rail 7, and the two ends of the lead screw 8 are rotatably connected to the left and right inner walls of the slide rail 7. A driving chassis 12 is provided in the middle of the lead screw 8, and a servo motor for driving the lead screw 8 to rotate is provided inside the driving chassis 12. The driving chassis 12 is fixedly connected to the middle of the internal cavity of the slide rail 7, and rubber pads are provided on the left and right ends of the driving chassis 12; the lead screw 8 includes a smooth section a and a toothed section b, and the lead screw 8 is a smooth section a, a toothed section b and a smooth section a from the middle to the end, and the toothed sections b of the two lead screws 8 located on both sides of the driving chassis 12 have opposite directions of tooth patterns, and the clamping assembly 10 and the bottom supporting assembly 11 are required when clamping and releasing goods. In order to make the two groups of clamping plates 1003 or the bottom supporting plate 1105 move synchronously, the tooth patterns of the two groups of tooth pattern segments b are set in opposite directions, so that the two groups of clamping plates 1003 and the bottom supporting plate 1105 on the left and right sides of the driving chassis 12 can synchronously approach or move away from the goods, and the diameter value of the tooth pattern segment b is greater than the diameter value of the smooth segment a. Since the tooth pattern of the tooth pattern segment b is a concave pattern, the corresponding matching structure must be convex, so the diameter value of the smooth segment a is set to be smaller than the diameter value of the tooth pattern segment b, so that the clamping assembly 10 and the bottom supporting assembly 11 can move smoothly on the lead screw 8; in addition, since the clamping assembly 10 moves from the tooth pattern segment b to the close After the smooth section a in the middle of the lead screw 8, since there is no toothed driving limit, and the bottom support assembly 11 has not yet moved to a position that can limit the movement of the clamping assembly 10, during this short period of time, the clamping assembly 10 is prone to slide left and right in a small range of the smooth section a, and the problem of insufficient clamping force is prone to occur. Therefore, the left and right ends of the lead screw 8 close to the drive chassis 12 are fixedly connected with limit blocks 13, and the limit blocks 13 are flat elliptical in shape, so that the clamping assembly 10 can cooperate with the limit blocks 13 after moving to the specified position, thereby limiting the position of the clamping assembly 10 and preventing it from deviating from the specified position; through the above scheme, the lead screw 8 is divided into a smooth section a and a toothed section b. In the stage of waiting for clamping goods, the clamping assembly 10 is located in the toothed section b, and the bottom supporting assembly 11 is located in the smooth section a near the end of the lead screw 8. When the clamping assembly 10 moves to clamp goods, the clamping assembly 10 moves from the toothed section b to the smooth section a near the middle of the lead screw 8. At the same time, under the action of the delay sleeve 9, the bottom supporting assembly 11 starts to move after the clamping assembly 10 has moved for a period of time, and moves from the smooth section a to the toothed section b, and then moves to the bottom of the goods under the action of the lead screw 8 for bottom supporting, which effectively solves the problem that the existing robotic arm is inconvenient to support the goods when facing goods placed on the ground or stacked together, and improves the safety during the cargo handling process.

[0045] As an embodiment of the present invention, refer to Figure 4 , Figure 5 and Figure 7The clamping assembly 10 includes a slider 1001, an extension tube 1002 and a clamping plate 1003. The slider 1001 is slidably connected to the internal cavity of the slide rail 7 and is sleeved on the lead screw 8. The extension tube 1002 is connected to the end of the slider 1001 away from the drive chassis 12. The clamping plate 1003 is connected to the slider 1001 and is located on the front side of the slide rail 7. The connection between the slider 1001 and the lead screw 8 is processed with a male thread that can cooperate with the female thread on the toothed segment b. When the slider 1001 is located at the toothed segment b of the lead screw 8, the slider 1001 moves by cooperating with the male thread processed on the slider 1001 and the toothed segment b. The shape and size of the slider 1001 are the same as the track inside the slide rail 7. Therefore, when the slider 1001 moves to the smooth segment a with a smaller diameter value, the male thread on the slider 1001 will not contact the smooth segment a, thereby preventing the smooth segment a of the lead screw 8 from being affected by the slider 10 The end of the extension tube 1002 away from the slider 1001 is connected with a retaining ring 1004, the retaining ring 1004 is in a circular ring shape, the inner diameter of the retaining ring 1004 is the same as the inner diameter of the extension tube 1002, and the outer diameter of the retaining ring 1004 is greater than the outer diameter of the extension tube 1002. Through this arrangement, when the extension tube 1002 is slidably connected with the delay sleeve 9, the extension tube 1002 will never leave the range of the delay sleeve 9. The clamping assembly 10 also includes a limit groove 1005, which is arranged on the inner side of one end of the slider 1001 close to the drive chassis 12, and the inlet and outlet of the limit groove 1005 are processed with arc chamfers to facilitate the entry and exit of the limit block 13. When the slider 1001 moves to the specified position, the rotating screw 8 will drive the limit block 13 to enter the limit groove 1005 in the slider 1001, thereby limiting the slider 1001.

[0046] As an embodiment of the present invention, refer to Figure 4 , Figure 6 and Figure 7The bottom supporting assembly 11 includes a slider 1101, an extension tube 1102, a fixed block 1103, a movable block 1104 and a bottom supporting plate 1105. The slider 1101 is slidably connected to the inside of the slide rail 7 and is sleeved on the lead screw 8. The structure of the connection between the slider 1101 and the lead screw 8 is the same as that of the slider 1001. Both are processed with male threads that can cooperate with the female threads on the tooth pattern section b and have the same function, which can enable the slider 1101 to move left and right in the tooth pattern section b and not be affected by the lead screw 8 in the smooth section a; the extension tube 1102 is connected to one end of the slider 1101 close to the drive chassis 12, and the end of the extension tube 1102 away from the slider 1101 is connected to a retaining ring 1106, and the retaining ring 1106 is connected to the end of the slider 1101 close to the drive chassis 12. 06 is the same as the inner diameter of the extension tube 1102, the outer diameter of the retaining ring 1106 is greater than the outer diameter of the extension tube 1102, the inner diameter of the retaining ring 1106 is greater than the outer diameter of the extension tube 1102, and the inner diameter of the retaining ring 1106 is greater than the outer diameter of the retaining ring 1004. When the extension tube 1102 is slidably connected with the delay sleeve 9, the outer diameter of the retaining ring 1106 is greater than the outer diameter of the extension tube 1102, so that the extension tube 1102 will not separate from the delay sleeve 9; in addition, the inner diameter of the retaining ring 1106 is greater than the outer diameter of the retaining ring 1004, so that the extension tube 1002 and the retaining ring 1004 can extend into the interior of the extension tube 1102 and the retaining ring 1106, effectively increasing the moving range of the extension tube 1002 and the extension tube 1102 in the delay sleeve 9.

[0047] The fixed block 1103 is connected to the slider 1101 and is located at the lower side of the slide rail 7, the movable block 1104 is connected to the fixed block 1103, the bottom support plate 1105 is connected to the movable block 1104, a cavity is provided between the movable block 1104 and the fixed block 1103, a slide bar 1107 and a spring 1108 are provided in the cavity, the lower end of the slide bar 1107 is fixedly connected to the movable block 1104, the upper end of the slide bar 1107 is slidably connected to the fixed block 1103, the spring 1108 is sleeved on the slide bar 1107, and the two ends of the spring 1108 are respectively connected to the fixed block 1103 and the movable block 1104. When facing the goods placed on the ground, due to the height of the bottom support plate 1105, The height is lower than the bottom of the splint 1003, so the splint 1003 cannot clamp the cargo near the bottom, that is to say, the bottom supporting plate 1105 will hit the side wall of the cargo when moving, and thus the bottom supporting work cannot be achieved. Through the above scheme, when clamping the cargo placed on the ground, the robotic arm moves downward so that the movable block 1104 is squeezed by the ground. At this time, the movable block 1104 moves upward relative to the fixed block 1103, and drives the bottom supporting plate 1105 to move upward. At this time, the splint 1003 can be used to clamp the cargo near the bottom. When the robotic arm rises, the bottom supporting plate 1105 is reset to a height lower than the splint 1003, so that it can conveniently and effectively carry out bottom supporting transportation for the cargo placed on the ground.

[0048] The delay sleeve 9 is sleeved on the outside of the extension tube 1002 and the extension tube 2 1102, the inner diameter of the cylindrical hollow structure inside the delay sleeve 9 is greater than the outer diameter of the retaining ring 2 1106, the diameter of the opening of the delay sleeve 9 close to the extension tube 1002 is smaller than the outer diameter of the retaining ring 1004, and the diameter of the opening of the delay sleeve 9 close to the extension tube 2 1102 is smaller than the outer diameter of the retaining ring 2 1106, so that the retaining ring 1004 and the retaining ring 2 1106 can move in the delay sleeve 9 and cannot be separated from the delay sleeve 9, and then the clamping assembly 10 and the bottom supporting assembly 11 are connected through the delay sleeve 9, and at the same time, the setting relationship of the extension tube 1002 and the extension tube 2 1102 in the delay sleeve 9 makes the movement between the clamping assembly 10 and the bottom supporting assembly 11 have a certain time difference.

[0049] The specific working principle is as follows: when clamping goods, first the base 2 moves on the mounting rail 1 to make the robot arm close to the goods to be transported, and then driven by the turntable 3, the main shaft 4, the secondary shaft 5 and the wrist shaft 6, the slide rail 7 moves to one side of the goods, and at the same time, the two clamping plates 1003 are located on both sides of the goods to be transported, and driven by the servo motor inside the driving chassis 12, the lead screw 8 rotates and drives the two clamping plates 1003 to move synchronously and clamp the goods between the two clamping plates 1003, and then the main shaft 4, the secondary shaft 5 and the wrist shaft 6 cooperate to lift the goods vertically, and at the same time, under the action of the delay sleeve 9, the slider 1101 moves to the toothed section on the lead screw 8 b and, under the action of the lead screw 8, drives the bottom support plate 1105 to move to the bottom of the cargo for bottom support, and finally transports the cargo to the designated position through the mounting rail 1; when the cargo needs to be released at the designated position, the lead screw 8, driven by the servo motor inside the driving chassis 12, rotates in the opposite direction and drives the slider 2 1101 on the toothed segment b to drive the bottom support plate 1105 to move to the left and right sides, completing the bottom support work for the cargo, and then the main shaft 4, the secondary shaft 5 and the wrist shaft 6 cooperate to put the cargo down, and at the same time, under the action of the delay sleeve 9, the slider 1001 moves from the smooth section a to the toothed segment b, and drives the clamping plate 1003 to gradually move away from the cargo, completing the clamping and transportation.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-axis mechanical arm for an intelligent industrial robot, comprising a mounting rail (1), a base (2), a turntable (3), a main axis (4), a secondary axis (5) and a wrist axis (6), characterized in that: The invention also comprises a slide rail (7), a lead screw (8), a delay sleeve (9), a clamping assembly (10), a bottom supporting assembly (11) and a drive chassis (12), wherein the slide rail (7) is connected to the wrist shaft (6), the drive chassis (12) is connected to the slide rail (7), the lead screw (8) is connected to the slide rail (7), the delay sleeve (9), the clamping assembly (10) and the bottom supporting assembly (11) are all connected to the lead screw (8), the clamping assembly (10) and the bottom supporting assembly (11) are connected via the delay sleeve (9), the lead screw (8) comprises a smooth section (a) and a toothed section (b), and the lead screw (8) is sequentially The driving chassis (12) drives the lead screw (8) to rotate and drives the clamping assembly (10) to move from the toothed segment (b) to the smooth segment (a) near the middle of the lead screw (8), and drives the bottom support assembly (11) to move from the smooth segment (a) near the end to the toothed segment (b) through the delay sleeve (9) after the clamping assembly (10) moves for a specified time. When releasing the goods, the bottom support assembly (11) moves from the toothed segment (b) to the smooth segment (a) near the end, and drives the clamping assembly (10) to move from the smooth segment (a) near the middle to the toothed segment (b) through the delay sleeve (9).

2. The multi-axis mechanical arm for an intelligent industrial robot according to claim 1, characterized in that: The drive chassis (12) is fixedly connected to the inside of the slide rail (7); the left and right ends of the drive chassis (12) are provided with buffer materials; the smooth section (a) close to the drive chassis (12) is connected to two limit blocks (13); the two limit blocks (13) are located on both sides of the drive chassis (12); and the limit blocks (13) are flat elliptical in shape.

3. The multi-axis mechanical arm for an intelligent industrial robot according to claim 2, characterized in that: The thread directions of the toothed sections (b) on both sides are opposite, and the diameter of the toothed sections (b) is greater than the diameter of the smooth sections (a).

4. The multi-axis mechanical arm for an intelligent industrial robot according to claim 3, characterized in that: The clamping assembly (10) comprises a slider (1001), an extension tube (1002) and a clamping plate (1003); the slider (1001) is slidably connected to the inside of the slide rail (7) and sleeved on the lead screw (8); the extension tube (1002) is connected to the side of the slider (1001) away from the drive chassis (12); the clamping plate (1003) is connected to the slider (1001) and is located on the front side of the slide rail (7); and the connection between the slider (1001) and the lead screw (8) is processed with a male thread that can cooperate with the female thread on the toothed section (b).

5. The multi-axis mechanical arm for an intelligent industrial robot according to claim 4, characterized in that: The clamping assembly (10) further comprises a retaining ring (1004), the inner diameter of the retaining ring (1004) being the same as the inner diameter of the extension tube (1002), and the outer diameter of the retaining ring (1004) being greater than the outer diameter of the extension tube (1002).

6. The multi-axis mechanical arm for an intelligent industrial robot according to claim 4, characterized in that: The clamping assembly (10) further comprises a limiting groove (1005), wherein the limiting groove (1005) is arranged on the inner side of one end of the slider (1001) close to the driving chassis (12), and the inlet and outlet of the limiting groove (1005) are both processed with arc chamfers.

7. The multi-axis mechanical arm for an intelligent industrial robot according to claim 5, characterized in that: The bottom supporting assembly (11) comprises a second slider (1101), a second extension tube (1102), a fixed block (1103), a movable block (1104) and a bottom supporting plate (1105); the second slider (1101) is slidably connected to the inside of the slide rail (7) and sleeved on the lead screw (8); the second extension tube (1102) is connected to one end of the second slider (1101) close to the drive chassis (12); the fixed block (1103) is connected to the second slider (1101) and is located at the lower side of the slide rail (7); the movable block (1104) is connected to the fixed block (1103); the bottom supporting plate (1105) is connected to the movable block (1104); and a male thread capable of cooperating with a female thread on the tooth pattern section (b) is processed at the connection between the second slider (1101) and the lead screw (8).

8. The multi-axis mechanical arm for an intelligent industrial robot according to claim 7, characterized in that: The bottom support assembly (11) also includes a second retaining ring (1106), the inner diameter of the second retaining ring (1106) is the same as the inner diameter of the second extension tube (1102), the outer diameter of the second retaining ring (1106) is greater than the outer diameter of the second extension tube (1102), and the inner diameter of the second retaining ring (1106) is greater than the outer diameter of the first retaining ring (1004).

9. The multi-axis mechanical arm for an intelligent industrial robot according to claim 7, characterized in that: The bottom supporting assembly (11) further comprises a sliding rod (1107) and a spring (1108); the lower end of the sliding rod (1107) is fixedly connected to the movable block (1104); the upper end of the sliding rod (1107) is slidably connected to the fixed block (1103); the spring (1108) is sleeved on the sliding rod (1107); and the two ends of the spring (1108) are respectively connected to the fixed block (1103) and the movable block (1104).

10. The multi-axis mechanical arm for an intelligent industrial robot according to claim 8, characterized in that: The delay sleeve (9) is sleeved on the outside of extension tube one (1002) and extension tube two (1102); the inner diameter of the cylindrical hollow structure inside the delay sleeve (9) is greater than the outer diameter of retaining ring two (1106); the radius of the opening of the delay sleeve (9) close to one end of extension tube one (1002) is smaller than the outer diameter of retaining ring one (1004); the radius of the opening of the delay sleeve (9) close to one end of extension tube two (1102) is smaller than the outer diameter of retaining ring two (1106).

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