Intelligent robot

Abstract

The invention discloses an intelligent robot, and relates to the technical field of industrial automation, the intelligent robot comprises a base, a conveying frame and a box body, the box body is conveyed through the conveying frame, when the box body moves to make contact with a termination plate, the box body stops moving, and at the moment, the subsequent box body is blocked through a mechanical arm, a mounting plate, a butt joint frame, a driving plate and a blocking plate; if a subsequent box body continues to advance, the grabbing action of a mechanical arm may be interfered or the position of a to-be-grabbed box body is deviated, so that the moving and taking efficiency is affected, when the box body is grabbed, the left side and the right side of the box body are clamped through a servo motor, a gear, a gear block plate and a clamping plate, and if the clamping force is too large, the box body may be sunken, and the box body is not damaged. And at the moment, a tooth block plate cannot move through a clamping rod and a triangular groove, and a clamping plate cannot move, so that the clamping injury prevention effect on the box body is achieved, accidental injury to an operator in the clamping process of the mechanical arm is prevented, and the safety of a working place is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, in particular to an intelligent robot. Background Art

[0002] As a key component of the automation end of industrial robots, intelligent robot arm grippers play an important role in many industries. Involving advanced sensor technology, precise mechanical structure design and intelligent control systems, the robot arm grippers can accurately grasp, transport and place various workpieces, materials and products.

[0003] The patent with the patent announcement number CN220097420U relates to the field of industrial automation technology. The patent discloses a mechanical gripper, which belongs to the field of warehousing and logistics technology, including a mechanical arm, a gripper frame, and a conveyor belt. The gripper frame is fixedly provided with a mounting plate, the mounting plate is fixedly provided on the mechanical arm, the gripper frame is provided with a hook part and a clamping part; the conveyor belt is provided below the gripper frame, and a pallet and a carton are placed on the conveyor belt. A fork is provided on the side of the pallet, and the pallet can be grasped by the hook part, and the carton can be grasped by the clamping part, so that one mechanical arm can complete two grasping operations. The patent has the advantage of saving space occupied by the production line.

[0004] In the above patent, one robot can complete two grasping operations. This patent has the advantage of saving space on the production line, but the current equipment has the following problems: if the position of the carton is offset or damaged, it may cause the entire workflow to be interrupted, thereby affecting production efficiency. The gripper without anti-pinch function may apply excessive pressure when grasping the carton, causing the carton to deform and break. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an intelligent robot that solves the problems raised in the above background technology.

[0006] To achieve the above purpose, the present invention is implemented through the following technical solutions: an intelligent robot, including a base, a conveying frame and a box body, the conveying frame is arranged on the left side of the base, the box body is arranged on the top of the conveying frame, the box body is transported by the conveying frame, a mechanical arm is arranged on the top of the base, the movable end of the mechanical arm is rotatably installed with a mounting plate, the inner wall of the mounting plate is provided with a servo motor, and also includes a removing device; wherein, the removing device includes a gear, a tooth block plate, a clamping plate, a clamping rod, a triangular groove, a driving plate, a stop plate, a No. 1 spring, a No. 2 spring and a docking frame, the gear is fixedly installed on the output end of the servo motor, the tooth block plate is slidably installed on the inner wall of the mounting plate, the clamping plate is slidably installed on the inner wall of the tooth block plate, and the clamping rod is slidably installed on the inner wall of the tooth block plate The left side of the triangular groove is provided at the bottom of the mounting plate, the driving plate is slidably mounted on the inner wall of the conveying frame, the stop plate is slidably mounted on the inner wall of the conveying frame, and the stop plate is fixedly mounted on the top of the conveying frame, the No. 1 spring is arranged between the tooth block plate and the clamping plate, and the clamping plate is reset by the No. 1 spring, and the No. 2 spring is arranged between the stop plate and the driving plate, and the stop plate is reset by the No. 2 spring, and the docking frame is fixedly mounted on the top of the conveying frame, and the left and right sides of the box body are clamped by the clamping plate. If the clamping force is too large, the box body may be concave. At this time, the clamping plate is forced to move to the left, so that the clamping rod moves upward, and the clamping rod moves upward and is inserted into the triangular groove, so that the tooth block plate cannot move, and the clamping plate cannot move, that is, the anti-clamping effect of the box body is achieved; Wherein, an auxiliary device for facilitating the grabbing of the box and a protective device for releasing the box are arranged above the conveying frame.

[0007] According to the above technical solution, the gear is meshed with the gear block plate, and the gear is driven to rotate by rotating the output end of the servo motor. The top of the clamping rod is set as an arc surface, and the bottom of the clamping rod is set as an inclined surface. The movement of the clamping plate will contact the inclined surface of the clamping rod, so that the clamping rod 9 moves upward. A No. 3 spring is arranged between the driving plate and the docking frame, and the driving plate is reset by the No. 3 spring.

[0008] According to the above technical solution, the auxiliary device includes an electric push rod and a rotating frame. The fixed end of the electric push rod is rotatably installed on the surface of the gear block plate, and the rotating frame is rotatably installed on the left side of the gear block plate. The fixed end of the electric push rod is driven to move by the movement of the gear block plate.

[0009] According to the above technical solution, the auxiliary device also includes a connecting button and a supporting claw, one side of the connecting button is fixedly installed on the output end of the electric push rod, the other side of the connecting button is fixedly installed on the top of the rotating frame, and the supporting claw is fixedly installed on the top of the rotating frame. The movement of the connecting button causes the rotating frame to rotate downward, and the rotation of the rotating frame drives the supporting claw to move toward the bottom of the box, thereby finally contacting the bottom of the box and supporting its bottom.

[0010] According to the above technical solution, the auxiliary device also includes a slide rail frame, a rotating rod and a push plate. The slide rail frame is fixedly installed on the left side of the conveying frame, and the push plate is slidably installed on the circumferential surface of the slide rail frame. One side of the rotating rod is rotatably installed on the surface of the driving plate, and the other side of the rotating rod is rotatably installed on the surface of the push plate. The movement of the rotating rod drives the push plate to move along the slide rail frame, and the push plate will move toward the center of the conveying frame, at which time the box body that deviates from the center of the conveying frame will be centered.

[0011] According to the above technical solution, the protective device includes a fixed column and a fixed plate, the fixed column is fixedly installed on the front side of the rotating frame, one side of the fixed plate is sleeved on the circumferential surface of the fixed column, and the other side of the fixed plate is fixedly installed on the surface of the gear block plate. Because the fixed plate is sleeved on the circumferential surface of the fixed column, the fixed plate will not rotate when the fixed column rotates, and the movement of the fixed column drives the fixed plate to move.

[0012] According to the above technical solution, the protective device also includes an arc rod, a hinged button and a toggle rod. The arc rod is fixedly installed on the front side of the fixed column, the hinged button is fixedly installed on the inner wall of the fixed plate, and the toggle rod is rotatably installed on the circumferential surface of the hinged button. When the box is released, if it is directly dropped from a high altitude, it may cause damage to the box. At this time, the box contacts multiple toggle rods and compresses the No. 1 torsion spring, and the release of the box is buffered by continuous contact of multiple toggle rods.

[0013] According to the above technical solution, a No. 1 torsion spring is arranged between the toggle rod and the hinge button, and the No. 1 torsion spring is used to drive the toggle rod to reset. The toggle rod contacts the bottom of the box body, and the movement of the fixed plate drives the hinge button to move. The movement of the hinge button drives the toggle rod to move. At this time, the toggle rod is at the bottom of the box body.

[0014] The present invention provides an intelligent robot having the following beneficial effects: (1) In the present invention, the box is transported by the conveyor frame through the setting of the removal device. When the box moves to contact with the end plate, it stops moving. At this time, the subsequent boxes are blocked by the mechanical arm, the mounting plate, the docking frame, the drive plate, and the stop plate. If the subsequent boxes continue to move forward, it may interfere with the grasping action of the mechanical arm or cause the position of the box to be grasped to shift, thereby affecting the removal efficiency. When grasping the box, the left and right sides of the box are clamped by the servo motor, gears, tooth block plates, and clamping plates. If the clamping force is too large, the box may be dented. At this time, the tooth block plates cannot move through the clamping rods and triangular grooves, and the clamping plates cannot move, thereby achieving the effect of preventing the box from being pinched, preventing the mechanical arm from causing accidental injuries to the operator during the clamping process, and improving the safety of the workplace.

[0015] (2) The invention, through the setting of auxiliary devices, can center the box that is off the center of the conveyor frame through the drive plate, rotating rod and push plate. When the box is centered, the robot arm can more easily locate and grasp the box, reducing the error in the grasping process, thereby reducing the adjustment time of the robot arm and enabling it to complete the grasping action faster. After the box is clamped, the bottom of the box is supported by the electric push rod, connecting button, rotating frame and supporting claws to prevent the box from falling during the movement. If the box falls, it needs to be re-grabbed and placed, which will affect the continuity of the production process and reduce production efficiency. The anti-drop function can ensure that the robot arm accurately grasps and stably transports the box in one time, reducing the interruption and adjustment time caused by falling.

[0016] (3) The invention, through the setting of the protective device, blocks the front and rear sides of the box body through the rotating frame, the fixed column and the arc rod, so as to prevent the box body from moving forward and backward due to inertia during the movement. When the box body is released, if it is directly dropped from a high altitude, it may cause damage to the box body. At this time, the box body contacts with multiple toggle rods and compresses the No. 1 torsion spring, and the release of the box body is buffered by the continuous contact of the multiple toggle rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the position structure of the termination plate and the docking frame of the present invention; Figure 3 This is a schematic diagram of the position structure of the gear and the gear block plate of the present invention; Figure 4 For the present invention Figure 3 A schematic diagram of the structure enlargement of part A; Figure 5 It is a schematic diagram of the position structure of the driving plate and the docking frame of the present invention; Figure 6 For the present invention Figure 5 A schematic diagram of the structure of part B in the middle is enlarged; Figure 7 It is a schematic diagram of the position structure of the supporting claw and the toggle rod of the present invention.

[0018] In the figure: 1. base; 2. mechanical arm; 3. mounting plate; 4. conveyor frame; 5. box; 6. gear; 7. tooth block plate; 8. clamping plate; 9. clamping rod; 10. triangular groove; 11. driving plate; 12. stop plate; 13. termination plate; 14. spring No. 1; 15. spring No. 2; 16. docking frame; 20. electric push rod; 21. rotating frame; 22. connecting button; 23. supporting claw; 24. slide rail frame; 25. rotating rod; 26. push plate; 30. fixing column; 31. fixing plate; 32. arc rod; 33. hinge button; 34. toggle rod. DETAILED DESCRIPTION

[0019] 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.

[0020] See also Figure 1 - Figure 6 , one embodiment of the present invention is: an intelligent robot, including a base 1, a conveying frame 4 and a box 5, the conveying frame 4 is arranged on the left side of the base 1, the box 5 is arranged on the top of the conveying frame 4, a mechanical arm 2 is arranged on the top of the base 1, and the movable end of the mechanical arm 2 is rotatably installed with a mounting plate 3, and the inner wall of the mounting plate 3 is provided with a servo motor, and also includes a removal device; wherein the removal device includes a gear 6, a tooth block plate 7, a clamping plate 8, a clamping rod 9, a triangular groove 10, a driving plate 11, a stop plate 12, a termination plate 13, a first spring 14, a second spring 15 and a docking frame 16, the gear 6 is fixedly installed at the output end of the servo motor, the tooth block plate 7 is slidably installed on the inner wall of the mounting plate 3, the clamping plate 8 is slidably installed on the inner wall of the tooth block plate 7, the clamping rod 9 is slidably installed on the left side of the tooth block plate 7, and the triangular groove 10 is opened at the bottom of the mounting plate 3, the driving plate 11 is slidably mounted on the inner wall of the conveying frame 4, the retaining plate 12 is slidably mounted on the inner wall of the conveying frame 4, the terminating plate 13 is fixedly mounted on the top of the conveying frame 4, the No. 1 spring 14 is arranged between the tooth block plate 7 and the clamping plate 8, and the clamping plate 8 is driven to reset by the arranged No. 1 spring 14, the No. 2 spring 15 is arranged between the retaining plate 12 and the driving plate 11, and the retaining plate 12 is driven to reset by the arranged No. 2 spring 15, the docking frame 16 is fixedly mounted on the top of the conveying frame 4, the subsequent box body 5 is blocked by the retaining plate 12, and the movement of the box body 5 is buffered by the No. 2 spring 15. If the subsequent box body 5 continues to move forward, it may interfere with the grasping action of the robot arm 2 or cause the position of the box body 5 to be grasped to shift, thereby affecting the removal efficiency; The gear 6 is meshed with the tooth block plate 7. The rotation of the gear 6 causes the tooth block plates 7 on both sides to move inward. The top of the clamping rod 9 is set as an arc surface, and the bottom of the clamping rod 9 is set as an inclined surface. A No. 3 spring is set between the driving plate 11 and the docking frame 16, and the driving plate 11 is reset by the set No. 3 spring.

[0021] When the present embodiment is working, the box body 5 is transported by the conveying frame 4. When the box body 5 moves to contact with the stopping plate 13, the box body 5 stops moving. At this time, the mounting plate 3 is driven to move by the mechanical arm 2. When the mounting plate 3 moves to overlap with the inner wall of the docking frame 16, the mechanical arm 2 moves vertically downward. The mechanical arm 2 moves downward and contacts with the driving plate 11, so that the driving plate 11 moves downward and compresses the No. 3 spring. The driving plate 11 moves downward and drives the abutment plate 12 to move. The subsequent box body 5 is blocked by the abutment plate 12, and the No. 2 spring 15 is compressed when the box body 5 contacts the abutment plate 12. The movement of the box body 5 is buffered by the No. 2 spring 15. If the subsequent box body 5 continues to move forward, it may interfere with the grasping action of the mechanical arm 2 or make the position of the box body 5 to be grasped The position is offset, thereby affecting the removal efficiency. When grabbing the box body 5, the output end of the servo motor rotates to drive the gear 6 to rotate. The rotation of the gear 6 makes the tooth block plates 7 on both sides move inward. The movement of the tooth block plates 7 drives the clamping plate 8 to move, and the left and right sides of the box body 5 are clamped by the clamping plate 8. If the clamping force is too large, the box body 5 may be dented. At this time, the clamping plate 8 is forced to move to the left and compress the No. 1 spring 14. The movement of the clamping plate 8 will contact the inclined surface of the clamping rod 9, so that the clamping rod 9 moves upward. The upward movement of the clamping rod 9 will be inserted into the triangular groove 10, and the tooth block plate 7 cannot move, and the clamping plate 8 cannot move, that is, the box body 5 is prevented from being pinched. The effect of preventing accidental injury to the operator during the clamping process of the robot arm 2 is prevented, thereby improving the safety of the workplace.

[0022] See also Figure 1 - Figure 7 On the basis of the above embodiment, in another embodiment of the present invention, an auxiliary device for facilitating the grabbing of the box body 5 and a protective device for releasing the box body 5 are arranged above the conveying frame 4, and the auxiliary device includes an electric push rod 20 and a rotating frame 21. The fixed end of the electric push rod 20 is rotatably mounted on the surface of the gear plate 7, and the rotating frame 21 is rotatably mounted on the left side of the gear plate 7. The output end of the electric push rod 20 moves downward to drive the connecting button 22 to move, and the movement of the connecting button 22 causes the rotating frame 21 to rotate downward.

[0023] The auxiliary device also includes a connecting button 22 and a supporting claw 23. One side of the connecting button 22 is fixedly installed on the output end of the electric push rod 20, and the other side of the connecting button 22 is fixedly installed on the top of the rotating frame 21. The supporting claw 23 is fixedly installed on the top of the rotating frame 21 to prevent the box 5 from falling during the movement. If the box 5 falls, it needs to be re-grabbed and placed, which will affect the continuity of the production process and reduce production efficiency. The anti-drop function can ensure that the robot arm 2 accurately grabs and stably transports the box 5 at one time, reducing the interruption and adjustment time caused by falling.

[0024] The auxiliary device also includes a slide rail frame 24, a rotating rod 25 and a push plate 26. The slide rail frame 24 is fixedly installed on the left side of the conveying frame 4, and the push plate 26 is slidably installed on the circumferential surface of the slide rail frame 24. One side of the rotating rod 25 is rotatably installed on the surface of the driving plate 11, and the other side of the rotating rod 25 is rotatably installed on the surface of the push plate 26 to center the box 5 that is deviated from the center of the conveying frame 4. When the box 5 is centered, the robot arm 2 can more easily locate and grasp the box 5, reducing errors in the grasping process, thereby reducing the adjustment time of the robot arm 2, allowing it to complete the grasping action faster.

[0025] The protective device includes a fixed column 30 and a fixed plate 31. The fixed column 30 is fixedly installed on the front side of the rotating frame 21. One side of the fixed plate 31 is sleeved on the circumferential surface of the fixed column 30, and the other side of the fixed plate 31 is fixedly installed on the surface of the gear block plate 7. Because the fixed plate 31 is sleeved on the circumferential surface of the fixed column 30, the fixed plate 31 will not be driven to rotate when the fixed column 30 rotates.

[0026] The protective device also includes an arc rod 32, a hinge button 33 and a toggle rod 34. The arc rod 32 is fixedly installed on the front side of the fixed column 30, the hinge button 33 is fixedly installed on the inner wall of the fixed plate 31, and the toggle rod 34 is rotatably installed on the circumferential surface of the hinge button 33. The rotation of the arc rod 32 will block the front and rear sides of the box body 5 to prevent the box body 5 from moving forward and backward due to inertia during the movement.

[0027] A torsion spring No. 1 is arranged between the toggle rod 34 and the hinge button 33 , and the toggle rod 34 is driven to reset by the toggle spring No. 1, so that the toggle rod 34 contacts the bottom of the box body 5 .

[0028] When the present embodiment is working, the driving plate 11 moves downward to drive the rotating rod 25 to move, and the rotating rod 25 moves to drive the push plate 26 to move along the slide rail frame 24, and the push plate 26 will move toward the center of the conveying frame 4, at which time the box 5 that is deviated from the center of the conveying frame 4 will be centered. When the box 5 is centered, the robot arm 2 can more easily locate and grasp the box 5, reducing the error in the grasping process, thereby reducing the adjustment time of the robot arm 2, so that it can complete the grasping action faster, and the fixed end of the electric push rod 20 is driven to move by the movement of the tooth block plate 7, and after the box 5 is clamped After that, the output end of the electric push rod 20 moves downward to drive the connection button 22 to move, and the movement of the connection button 22 causes the rotating frame 21 to rotate downward, and the rotation of the rotating frame 21 drives the supporting claws 23 to move toward the bottom of the box body 5, so as to finally contact the bottom of the box body 5 and support its bottom to prevent the box body 5 from falling during the movement. If the box body 5 falls, it needs to be re-grabbed and placed, which will affect the continuity of the production process and reduce the production efficiency. The anti-falling function can ensure that the robot arm 2 accurately grasps and stably transports the box body 5 at one time, reducing the interruption and adjustment time caused by falling. The rotation of the rotating frame 21 drives the fixing column 30 to rotate, and the rotation of the fixing column 30 drives the arc rod 32 to rotate. The rotation of the arc rod 32 will block the front and rear sides of the box body 5 to prevent the box body 5 from moving forward and backward due to inertia during the movement. Because the fixing plate 31 is sleeved on the circumferential surface of the fixing column 30, the fixing plate 31 will not be driven to rotate when the fixing column 30 rotates. The movement of the fixing column 30 drives the fixing plate 31 to move, and the movement of the fixing plate 31 drives the hinge button 33 to move. The movement of the hinge button 33 drives the toggle rod 34 to move. At this time, the toggle rod 34 is at the bottom of the box body 5. When the box body 5 is released, if it is directly dropped from a high altitude, it may cause damage to the box body 5. At this time, the box body 5 contacts multiple toggle rods 34 and compresses the No. 1 torsion spring, and the release of the box body 5 is buffered by continuous contact of multiple toggle rods 34.

[0029] 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. An intelligent robot, comprising a base (1), a conveyor frame (4) and a box (5), characterized in that: The conveying frame (4) is arranged on the left side of the base (1), the box (5) is arranged on the top of the conveying frame (4), a mechanical arm (2) is arranged on the top of the base (1), a mounting plate (3) is rotatably mounted on the movable end of the mechanical arm (2), a servo motor is arranged on the inner wall of the mounting plate (3), and a removal device is also included; The removal device comprises a gear (6), a tooth block plate (7), a clamping plate (8), a clamping rod (9), a triangular groove (10), a driving plate (11), a stop plate (12), a stop plate (13), a first spring (14), a second spring (15) and a docking frame (16), wherein the gear (6) is fixedly mounted on the output end of the servo motor, the tooth block plate (7) is slidably mounted on the inner wall of the mounting plate (3), the clamping plate (8) is slidably mounted on the inner wall of the tooth block plate (7), and the clamping rod (9) is slidably mounted on the inner wall of the tooth block plate (7). On the left side, the triangular groove (10) is formed at the bottom of the mounting plate (3), the driving plate (11) is slidably mounted on the inner wall of the conveying frame (4), the retaining plate (12) is slidably mounted on the inner wall of the conveying frame (4), the terminating plate (13) is fixedly mounted on the top of the conveying frame (4), the first spring (14) is arranged between the tooth block plate (7) and the clamping plate (8), the second spring (15) is arranged between the retaining plate (12) and the driving plate (11), and the docking frame (16) is fixedly mounted on the top of the conveying frame (4); Wherein, an auxiliary device for facilitating the grasping of the box body (5) and a protective device for releasing the box body (5) are arranged above the conveying frame (4).

2. An intelligent robot according to claim 1, characterized in that: The gear (6) is meshed with the tooth block plate (7), the top of the clamping rod (9) is arranged as an arc surface, the bottom of the clamping rod (9) is arranged as an inclined surface, and a No. 3 spring is arranged between the driving plate (11) and the docking frame (16).

3. An intelligent robot according to claim 2, characterized in that: The auxiliary device comprises an electric push rod (20) and a rotating frame (21), wherein the fixed end of the electric push rod (20) is rotatably mounted on the surface of the gear block plate (7), and the rotating frame (21) is rotatably mounted on the left side of the gear block plate (7).

4. An intelligent robot according to claim 3, characterized in that: The auxiliary device further comprises a connecting button (22) and a supporting claw (23), one side of the connecting button (22) being fixedly mounted on the output end of the electric push rod (20), the other side of the connecting button (22) being fixedly mounted on the top of the rotating frame (21), and the supporting claw (23) being fixedly mounted on the top of the rotating frame (21).

5. An intelligent robot according to claim 4, characterized in that: The auxiliary device further comprises a slide rail frame (24), a rotating rod (25) and a push plate (26); the slide rail frame (24) is fixedly mounted on the left side of the conveying frame (4); the push plate (26) is slidably mounted on the circumferential surface of the slide rail frame (24); one side of the rotating rod (25) is rotatably mounted on the surface of the driving plate (11); and the other side of the rotating rod (25) is rotatably mounted on the surface of the push plate (26).

6. An intelligent robot according to claim 5, characterized in that: The protective device comprises a fixed column (30) and a fixed plate (31), wherein the fixed column (30) is fixedly mounted on the front side of the rotating frame (21), one side of the fixed plate (31) is sleeved on the circumferential surface of the fixed column (30), and the other side of the fixed plate (31) is fixedly mounted on the surface of the gear block plate (7).

7. An intelligent robot according to claim 6, characterized in that: The protective device further comprises an arc rod (32), a hinge button (33) and a toggle rod (34); the arc rod (32) is fixedly mounted on the front side of the fixed column (30); the hinge button (33) is fixedly mounted on the inner wall of the fixed plate (31); and the toggle rod (34) is rotatably mounted on the circumferential surface of the hinge button (33).

8. An intelligent robot according to claim 7, characterized in that: A first torsion spring is arranged between the toggle rod (34) and the hinge button (33), and the toggle rod (34) is in contact with the bottom of the box body (5).

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